Haptic guidance can be beneficial for aiding or training human users in many applications, such as teleoperation, rehabilitation, and navigation. Existing world-grounded haptic devices can provide effective multi-degree-of-freedom movement guidance. Wearable or holdable haptic devices can enable larger workspaces and unencumbered movement, but their use in guidance beyond one or two degrees of freedom has been limited. A holdable haptic device, called the Pantogripper, was previously presented in a study demonstrating its intuitive, directional guidance cues in four separate degrees of freedom. Here, using the same device, we present a controller for providing continuous closed-loop guidance for path following. In a human study, participants followed translation and rotation guidance from the device to successfully traverse three 3D paths with either no visual feedback or only a visual preview of the paths. Results indicate promise for holdable haptic devices to effectively provide high-degree-of-freedom movement guidance when visual guidance is unavailable or unsuitable.

中文翻译：

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连续闭环 4 自由度可保持触觉引导

触觉引导有助于在许多应用中帮助或培训人类用户，例如远程操作、康复和导航。现有的基于世界的触觉设备可以提供有效的多自由度运动指导。可穿戴或可手持触觉设备可以实现更大的工作空间和不受阻碍的运动，但它们在超过一两个自由度的指导中的使用受到限制。一种名为 Pantogripper 的可手持触觉设备之前曾在一项研究中介绍过，展示了其在四个独立自由度中的直观、定向引导提示。在这里，使用相同的设备，我们提出了一个控制器，用于为路径跟踪提供连续的闭环引导。在一项人体研究中，参与者遵循设备的平移和旋转指导，成功穿越三个 3D 路径，没有视觉反馈或只有路径的视觉预览。结果表明，当视觉引导不可用或不合适时，手持式触觉设备有望有效提供高自由度的运动引导。