ABSTRACT This study proposes a methodology to deliver contact information on construction robots to the remote operator by transmitting measured collision vibrations, which are often beyond the human-perceivable range. We focus on the human capacity to discriminate the envelope of high-frequency vibrations as an essential cue to perceive contact materials and collision conditions. The proposed method preserves the envelope shapes with amplitude-modulated waves with a single carrier frequency in the human sensitive range. In the preliminary experiments, a miniature shovel digging experiment confirmed that the proposed method improves the discriminability of the contact materials and sliding velocities. A psychophysical experiment also showed that the participants could discriminate the envelope differences irrespective of the carrier frequency. The proposed method was applied to the tactile transmission system for a construction robot developed in the ImPACT program. A vibration sensor was attached on the robot arm, and the vibrotactile feedback was applied to the operator's wrist. Performance evaluations under a delicate teleoperated task (insertion of a bar into bricks) showed that the peak force was reduced by the proposed method significantly for two out of the three participants. The results show that our proposal could improve the maneuverability of teleoperation. GRAPHICAL ABSTRACT

中文翻译：

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支持建筑机器人精细遥操作的高频振动信号触觉反馈系统

摘要 本研究提出了一种方法，通过传输测量的碰撞振动，将建筑机器人的联系信息传递给远程操作员，这些振动通常超出人类可感知的范围。我们专注于人类区分高频振动包络的能力，作为感知接触材料和碰撞条件的基本线索。所提出的方法保留了具有人类敏感范围内单个载波频率的调幅波的包络形状。在初步实验中，微型铲挖掘实验证实，所提出的方法提高了接触材料和滑动速度的可辨别性。一项心理物理实验还表明，参与者可以区分包络差异，而不管载波频率如何。将所提出的方法应用于在 ImPACT 程序中开发的建筑机器人的触觉传输系统。机器人手臂上安装了一个振动传感器，并将振动触觉反馈应用于操作者的手腕。在精细的远程操作任务（将杆插入砖块）下的性能评估表明，对于三名参与者中的两人，所提出的方法显着降低了峰值力。结果表明，我们的建议可以提高遥操作的可操作性。图形概要 在精细的远程操作任务（将杆插入砖块）下的性能评估表明，对于三名参与者中的两人，所提出的方法显着降低了峰值力。结果表明，我们的建议可以提高遥操作的可操作性。图形概要 在精细的远程操作任务（将杆插入砖块）下的性能评估表明，对于三名参与者中的两人，所提出的方法显着降低了峰值力。结果表明，我们的建议可以提高遥操作的可操作性。图形概要