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Comparison of Three Feedback Modalities for Haptics Sensation in Remote Machine Manipulation
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2021-03-31 , DOI: 10.1109/lra.2021.3070301
Masaki Haruna , Kawaguchi Noboru , Masaki Ogino , Toshiaki Koike-Akino

Previous studies have verified the usefulness of visual haptics for achieving the appropriate grasping force and task success rate to operate remote machines. However, its capabilities have not been evaluated objectively and quantitatively. We comprehensively compare three feedback modalities (i.e., sound, vibration, and light) for providing pseudo-haptic information on contact with an object, which we apply to grasping an object with a remotely operated robot arm. Experimental results verify that the light modality (i.e., visual haptics) minimizes the grasping force and processing load in the operator's brain. We then develop a prototype of a remote machine to demonstrate the feasibility of visual haptic feedback. We consider three implementations (i.e., a light-emitting diode, model-based superimposition, and model-less superimposition) to verify the performance. The results show that visual haptics can stabilize the performance of delicate tasks such as grasping and carrying fragile raw eggs and potato chips. We demonstrate that our visual haptics method (i.e., superimposing haptic information as images on the contact points of the robot's fingertips) can significantly improve the operability of remote machines without the need for highly complex and expensive interfaces.

中文翻译:

远程机器操纵中触觉感知的三种反馈方式的比较

先前的研究已经证实了视觉触觉对于实现操作远程机器的适当抓握力和任务成功率的有用性。但是,其功能尚未得到客观和定量的评估。我们全面比较了三种反馈方式(即声音,振动和光),以提供与物体接触的伪触觉信息,这些信息适用于通过遥控机器人手臂抓取物体。实验结果证明,光的方式(即视觉触觉)可以最大程度地减少操作员大脑中的抓握力和处理负荷。然后,我们开发了远程机器的原型,以演示视觉触觉反馈的可行性。我们考虑了三种实现方式(即发光二极管,基于模型的叠加,和无模型叠加)以验证效果。结果表明,视觉触觉可以稳定诸如抓握和携带易碎的生鸡蛋和薯片之类的精细任务的性能。我们证明了我们的视觉触觉方法(即,将触觉信息作为图像叠加在机器人指尖的接触点上)可以显着提高远程机器的可操作性,而无需高度复杂且昂贵的界面。
更新日期:2021-04-27
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