HCC: Medium: Collaborative Research: Force Feedback for Fingertips

HCC：媒介：协作研究：指尖力反馈

• 批准号: 1302422
• 负责人: James Colgate
• 金额: $ 80万
• 依托单位: Northwestern University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-06-01 至 2017-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1302422&HistoricalAwards=false
• 关键词: HCC; Medium; Collaborative; Research; Force

Surface haptics is the creation of programmable haptic effects on physical surfaces such as touch screens and touch pads. Unlike traditional force feedback devices that require the operator to grasp an end effector, surface haptic devices must provide feedback directly to the fingertips. With the dramatic rise of touch screen interfaces in recent years, many approaches to surface haptics have been explored, including vibrotactile, shape morphing, and variable friction. The PI and his team have pioneered an approach in which the surface generates controlled shear forces on each fingertip. Force Feedback for Fingertips (F3), gives fingertips the opportunity to interact with physics-based virtual environments, much like force feedback devices enable the whole hand to do. With F3, fingers can interact with virtual objects that have mass, stiffness and damping as well as more complicated dynamics (e.g., collisions, mechanisms, and force fields). By coordinating haptic effects at multiple fingertips, even more compelling illusions can be generated.The technology, underlying science, and application of F3 are, however, still in their infancy. F3 works by coupling lateral vibrations to some form of rectification. For example, one approach involves high-frequency lateral vibrations of the surface synchronized with a friction reduction effect, resulting in a slip-push transition at each oscillation. The friction is modulated by means of electrostatic forces or acoustical stimulation. Current approaches work at ultrasonic frequencies, but little is known about the mechanical or electrical behavior of fingertips at these frequencies, or how energy transfer from a surface to the finger can be optimized.This research will produce new knowledge in three main areas: the physical underpinnings of F3, device design and interaction design. First, both tribological and acoustic measurements will be made to elucidate the mechanisms by which shear forces are generated. A high-bandwidth tribometer and optical imaging system will allow friction to be studied, and a custom-built exciter will allow the propagation of acoustic energy in the fingertip to be studied. Laser Doppler vibrometry will be used to measure surface wave propagation while magnetic resonance elastography will be used to study shear wave propagation within the subcutaneous tissues. Fractional calculus and finite element techniques will then be used to build biologically plausible models of fingertip tribology and mechanics that match the data. Second, a new generation of high-performance F3 devices will be developed. Armed with good models, it will be possible to design impedance-matched devices so that force production is maximized and energy wastage is minimized. Additionally, these new devices will provide control over the force vector at each of multiple fingertip locations. Thirdly, novel multi-finger interactions will be designed. The key idea is that sophisticated percepts, such as "objects" that can be grasped and that feel as though they are moving relative to the surface, can emerge from properly coordinated fingertip forces due to Gestalt-like grouping principles.Broader Impacts: Historically, the PI and his team have had greatest impact when providing technology to and collaborating with colleagues in human-computer interaction. Inspired by this, an open source F3 kit will be developed and shared. In addition, undergraduate and high school students will participate in the research, developing software routines and sample applications for the open source kit. Finally, the kit will be integrated with two pedagogical innovations already implemented by the investigators: flipped classrooms and portable laboratories.

表面触觉是对触摸屏和触摸垫等物理表面的可编程触觉作用的创造。 与需要操作员掌握末端效应器的传统力反馈设备不同，表面触觉设备必须直接提供反馈。 近年来，随着触摸屏界面的急剧升高，已经探索了许多表面触觉的方法，包括纤维状骨架，形状变形和可变摩擦。 PI和他的团队开创了一种方法，其中表面在每个指尖上产生受控的剪切力。指尖的力量反馈（F3）使指尖有机会与基于物理的虚拟环境进行互动，就像力量反馈设备可以使整个手做到。 使用F3，手指可以与具有质量，刚度和阻尼的虚拟物体以及更复杂的动态（例如碰撞，机制和力场）相互作用。 通过在多个指尖协调触觉效果，可以产生更引人注目的幻想。但是，F3的技术，潜在的科学和应用仍处于起步阶段。 F3通过将横向振动与某种形式的整流形式耦合来起作用。 例如，一种方法涉及与摩擦减少效果同步的表面的高频横向振动，从而导致每次振荡下的滑移过渡。 摩擦是通过静电力或声学刺激调节的。 当前的方法在超声波频率上起作用，但对这些频率下指尖的机械或电气行为知之甚少，或者可以优化从表面到手指的能量转移。这项研究将在三个主要领域中产生新知识：F3的物理基础，设备设计和交互设计。 首先，将进行摩擦学测量和声学测量，以阐明产生剪切力的机制。 高带宽摩擦仪和光学成像系统将允许研究摩擦，并且定制的兴奋剂将允许研究指尖中的声能传播。 激光多普勒振动法将用于测量表面波传播，同时将使用磁共振弹性图来研究皮下组织内的剪切波传播。 然后，将使用分数微积分和有限元技术来构建与数据相匹配的指尖摩擦学和力学上的生物合理模型。 其次，将开发新一代的高性能F3设备。 具有良好的模型，可以设计阻抗匹配的设备，以最大化力产生并将能量浪费最小化。 此外，这些新设备将在多个指尖位置中的每个设备提供对力矢量的控制。 第三，将设计新颖的多指相互作用。 关键的想法是，诸如可以掌握的“物体”，感觉就像它们相对于表面移动的“物体”，可能会从适当的配位指尖力量中出现，这是由于格雷特（Gestalt）的分组原理的影响：历史上：从历史上看，Pi和他的团队在为人类和协作中的技术提供了最大的影响，并具有最大的影响力。 受此启发的启发，将开发和共享一个开源F3套件。 此外，本科生和高中生将参加研究，开发软件程序和开源套件的样品应用程序。 最后，该套件将与研究人员已经实施的两项教学创新集成：翻转的教室和便携式实验室。