Cargando…
Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System
The ultrasonic phased array as an emerging interactive tool is increasingly used for aerial tactile interaction. However, there is almost no method to achieve remote variable force feedback through the ultrasonic phased array as far as we know. This article presents a force tactile feedback method f...
Autores principales: | , , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8038776/ https://www.ncbi.nlm.nih.gov/pubmed/33917486 http://dx.doi.org/10.3390/s21072560 |
_version_ | 1783677453688897536 |
---|---|
author | Liu, Yang Li, Xiaoling Lai, Jiarui Zheng, Ziming Zhu, Huijin Li, Min |
author_facet | Liu, Yang Li, Xiaoling Lai, Jiarui Zheng, Ziming Zhu, Huijin Li, Min |
author_sort | Liu, Yang |
collection | PubMed |
description | The ultrasonic phased array as an emerging interactive tool is increasingly used for aerial tactile interaction. However, there is almost no method to achieve remote variable force feedback through the ultrasonic phased array as far as we know. This article presents a force tactile feedback method for teleoperating robot systems that tracks the five fingers and forms a focus on the fingertips. First, the perceived size of the focus depends on the input parameters. The influence of the parameters on the physical output pressure intensity was obtained through physical test experiments. Then, the absolute threshold and difference threshold of human perception were studied through psychophysical experimental methods. Finally, the input parameters were selected according to the experimental results. According to the collected data, the construction of the force regression model was completed, and different parameters were mapped to the perceived intensity. The contact force generated in the actual operation is fed back to the haptic system, and the constructed model automatically adjusts the control parameters to ensure that the user’s hand presents a sensory output corresponding to the intensity change. The entire force feedback system is evaluated, and results show that the system shows good perceptual quality. |
format | Online Article Text |
id | pubmed-8038776 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-80387762021-04-12 Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System Liu, Yang Li, Xiaoling Lai, Jiarui Zheng, Ziming Zhu, Huijin Li, Min Sensors (Basel) Article The ultrasonic phased array as an emerging interactive tool is increasingly used for aerial tactile interaction. However, there is almost no method to achieve remote variable force feedback through the ultrasonic phased array as far as we know. This article presents a force tactile feedback method for teleoperating robot systems that tracks the five fingers and forms a focus on the fingertips. First, the perceived size of the focus depends on the input parameters. The influence of the parameters on the physical output pressure intensity was obtained through physical test experiments. Then, the absolute threshold and difference threshold of human perception were studied through psychophysical experimental methods. Finally, the input parameters were selected according to the experimental results. According to the collected data, the construction of the force regression model was completed, and different parameters were mapped to the perceived intensity. The contact force generated in the actual operation is fed back to the haptic system, and the constructed model automatically adjusts the control parameters to ensure that the user’s hand presents a sensory output corresponding to the intensity change. The entire force feedback system is evaluated, and results show that the system shows good perceptual quality. MDPI 2021-04-06 /pmc/articles/PMC8038776/ /pubmed/33917486 http://dx.doi.org/10.3390/s21072560 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Liu, Yang Li, Xiaoling Lai, Jiarui Zheng, Ziming Zhu, Huijin Li, Min Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
title | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
title_full | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
title_fullStr | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
title_full_unstemmed | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
title_short | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
title_sort | construction of ultrasonic tactile force feedback model in teleoperation robot system |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8038776/ https://www.ncbi.nlm.nih.gov/pubmed/33917486 http://dx.doi.org/10.3390/s21072560 |
work_keys_str_mv | AT liuyang constructionofultrasonictactileforcefeedbackmodelinteleoperationrobotsystem AT lixiaoling constructionofultrasonictactileforcefeedbackmodelinteleoperationrobotsystem AT laijiarui constructionofultrasonictactileforcefeedbackmodelinteleoperationrobotsystem AT zhengziming constructionofultrasonictactileforcefeedbackmodelinteleoperationrobotsystem AT zhuhuijin constructionofultrasonictactileforcefeedbackmodelinteleoperationrobotsystem AT limin constructionofultrasonictactileforcefeedbackmodelinteleoperationrobotsystem |