In this study, we develop an embedded sensor system for a previously devised finger-wearable tactile interface, named HaptiCube, that can display five-degrees-of-freedom (5-DOF) tactile feedback. However, owing to the absence of embedded sensors, it could not provide the desired tactile feedback properly. Therefore, a sensor system for the HaptiCube was designed while ensuring that implementing the sensor system does not significantly increase the size and weight of the device. Furthermore, the HaptiCube can simultaneously provide two different tactile feedbacks, i.e., 3-DOF touch/pressure and 2-DOF shear. Hence, the primary consideration factors for developing a sensor system are compact and lightweight characteristics and simultaneous measurement capability of touch/pressure and shear. The developed sensor system consists of two different sensors, i.e., a 3-DOF force/torque sensor and 2-DOF magnetic displacement sensor. In addition, a self-tuning fuzzy proportional-integral-derivative controller was designed for controlling the nonlinearity of shape memory alloy actuators. The improved working performances of the device based on the proposed sensor system and controller were experimentally investigated. In addition, the tests with human subjects were conducted to verify the selective stimulation of 5-DOF tactile feedback and usability of the device in virtual environments.

中文翻译：

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开发用于五自由度手指可穿戴触觉界面的嵌入式传感器系统


在这项研究中，我们为之前设计的手指佩戴触觉界面开发了一种嵌入式传感器系统，名为 HaptiCube，可以显示五自由度 (5-DOF) 触觉反馈。然而，由于缺乏嵌入式传感器，它无法正确提供所需的触觉反馈。因此，设计了适用于 HaptiCube 的传感器系统，同时确保实施传感器系统不会显着增加设备的尺寸和重量。此外，HaptiCube可以同时提供两种不同的触觉反馈，即3-DOF触摸/压力和2-DOF剪切。因此，开发传感器系统的首要考虑因素是紧凑、轻量的特性以及同时测量触摸/压力和剪切的能力。所开发的传感器系统由两种不同的传感器组成，即3-DOF力/扭矩传感器和2-DOF磁位移传感器。此外，设计了一种自整定模糊比例积分微分控制器来控制形状记忆合金执行器的非线性。对基于所提出的传感器系统和控制器的设备改进的工作性能进行了实验研究。此外，还进行了人体测试，以验证五自由度触觉反馈的选择性刺激以及设备在虚拟环境中的可用性。