当前位置: X-MOL 学术IEEE Trans. Haptics › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Wearable Artificial Fingers With Skin Vibration and Multi-Axis Force Sensors
IEEE Transactions on Haptics ( IF 2.9 ) Pub Date : 2021-04-28 , DOI: 10.1109/toh.2021.3074174
Kaho Shirakawa , Yoshihiro Tanaka , Masatoshi Hashimoto , Etsuko Watarai , Takanori Igarashi

Tactile sensations are based on stimulation elicited on the skin through mechanical interactions between the skin and an object. Hence, it is important to consider skin properties as well as objects. In this article, we aim to develop wearable artificial fingers for quantitative evaluations reflecting individual differences in human fingers. In a previous study, a wearable skin vibration sensor was attached to artificial fingers and it was demonstrated that the skin vibrations differed according to the dimension of surface ridge and the artificial finger is useful for roughness evaluation. This article improved the artificial finger to measure the contact force and friction in addition to the skin vibration. A small three-axis force sensor was embedded into the base of the finger, and normal and friction forces were estimated via a multi-regression method. Furthermore, artificial fingers with different hardness were prepared and six different textures were used to investigate tactile evaluation. Experimental results showed that the artificial fingers could measure normal and friction forces along with the skin vibration and were useful to evaluate textures. Resulting distributions of the vibration intensity and friction coefficient were different for the soft and hard artificial fingers, indicating the complex influence of skin properties on tactile sensations.

中文翻译:

具有皮肤振动和多轴力传感器的可穿戴人工手指

触觉是基于通过皮肤和物体之间的机械相互作用在皮肤上引起的刺激。因此,重要的是要考虑皮肤属性以及对象。在本文中,我们的目标是开发可穿戴的人工手指,用于定量评估反映人类手指的个体差异。在之前的一项研究中,将可穿戴皮肤振动传感器连接到人造手指,并证明皮肤振动根据表面脊的尺寸而不同,人造手指可用于粗糙度评估。本文改进了人造手指,以测量除皮肤振动外的接触力和摩擦力。一个小的三轴力传感器被嵌入手指根部,法向力和摩擦力是通过多重回归方法估计的。此外,制备了具有不同硬度的人造手指,并使用六种不同的纹理来研究触觉评估。实验结果表明,人造手指可以测量法向力和摩擦力以及皮肤振动,可用于评估纹理。软和硬人造手指的振动强度和摩擦系数的结果分布不同,表明皮肤特性对触觉的复杂影响。实验结果表明,人造手指可以测量法向力和摩擦力以及皮肤振动,可用于评估纹理。软硬人工手指的振动强度和摩擦系数分布不同,表明皮肤特性对触觉的复杂影响。实验结果表明,人造手指可以测量法向力和摩擦力以及皮肤振动,可用于评估纹理。软和硬人造手指的振动强度和摩擦系数的结果分布不同,表明皮肤特性对触觉的复杂影响。
更新日期:2021-06-18
down
wechat
bug