CHS: Small: Collaborative Research: Wearable Fingertip Haptic Devices for Virtual and Augmented Reality: Design, Control, and Predictive Tracking

CHS：小型：协作研究：用于虚拟和增强现实的可穿戴指尖触觉设备：设计、控制和预测跟踪

• 批准号: 1812966
• 负责人: Allison Okamura
• 金额: $ 32.67万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-08-01 至 2022-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1812966&HistoricalAwards=false
• 关键词: CHS; Small; Collaborative; Research; Wearable

In the real world, people rely heavily on haptic (force and tactile) feedback to manipulate and explore objects. However, in virtual and augmented reality environments, haptic sensations must be artificially generated. Advances in both sensing and feedback are needed to create more realistic virtual scenarios for human interaction, education, and training. This research will implement wearable fingertip haptic feedback systems that enhance human perception and task performance in virtual and augmented reality, and will provide the field of computer-mediated haptics with important new design and rendering insights for a promising form of wearable haptic device. Successful development of fingertip haptic devices and improved tracking methods will lower the cost of integrating haptic technology into virtual reality, and yield more realistic and compelling virtual experiences. Effective haptic feedback systems for virtual reality utilizing the developed technologies will have broad impact by improving human health and well-being through a myriad of applications such as training for critical tasks like surgery and defusing of explosive ordnance, tactile communication to enable design and e-commerce, and immersion in virtual worlds for enhanced education and training. Project outcomes will be disseminated through demonstrations of educational applications, expansion of an online course on haptics, and publicly available software and data. Outreach programs, public lab tours, and mentoring of female and minority graduate students, undergraduates, and high school students will broaden participation of underrepresented groups in engineering.This project has three main technical components. First, instrumented objects will be developed that measure force interactions and integrate that data with external measurements of finger pose. Second, new wearable haptic devices will be developed that use a combination of local kinesthetic feedback and skin deformation to provide realistic haptic feedback with minimal encumbrance. Modular haptic device designs will facilitate rapid testing of various design choices. Then the basic design will be optimized in terms of control strategy, degrees of freedom, skin contact conditions, and finger grounding to best match the real-world grasping and manipulation data collected earlier. Third, predictive tracking algorithms will be developed for grasping based on characteristic behaviors observed in real-world grasping and manipulation data. All of the haptic devices and tracking methods will be evaluated both in virtual and in augmented reality environments.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

在现实世界中，人们严重依赖触觉（力和触觉）反馈来操纵和探索物体。 然而，在虚拟和增强现实环境中，触觉必须是人工生成的。 需要在传感和反馈方面取得进步，为人类互动、教育和培训创建更真实的虚拟场景。 这项研究将实现可穿戴指尖触觉反馈系统，增强虚拟和增强现实中的人类感知和任务表现，并将为计算机介导的触觉领域提供重要的新设计和渲染见解，以实现有前途的可穿戴触觉设备形式。 指尖触觉设备的成功开发和改进的跟踪方法将降低将触觉技术集成到虚拟现实中的成本，并产生更真实和引人注目的虚拟体验。 利用已开发技术的有效虚拟现实触觉反馈系统将通过无数应用改善人类健康和福祉，例如手术和拆除爆炸物等关键任务的培训、触觉通信以实现设计和电子化，从而产生广泛的影响。商业，以及沉浸在虚拟世界中以加强教育和培训。 项目成果将通过教育应用演示、触觉在线课程扩展以及公开可用的软件和数据来传播。 外展计划、公共实验室参观以及对女性和少数族裔研究生、本科生和高中生的指导将扩大工程领域代表性不足群体的参与。该项目由三个主要技术组成部分组成。 首先，将开发测量力相互作用的仪器对象，并将该数据与手指姿势的外部测量值相结合。 其次，将开发新的可穿戴触觉设备，结合局部动觉反馈和皮肤变形，以最小的阻碍提供逼真的触觉反馈。 模块化触觉设备设计将有助于快速测试各种设计选择。 然后，基础设计将在控制策略、自由度、皮肤接触条件和手指接地方面进行优化，以最好地匹配之前收集的现实世界的抓取和操作数据。 第三，将根据在现实世界抓取和操作数据中观察到的特征行为来开发用于抓取的预测跟踪算法。 所有触觉设备和跟踪方法都将在虚拟和增强现实环境中进行评估。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation

• DOI: 10.1109/robosoft54090.2022.9762107
• 发表时间: 2022-03-27
• 期刊: 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)
• 作者: Zhenishbek Zhakypov;A. Okamura
• 通讯作者: A. Okamura

Predicting Hand-Object Interaction for Improved Haptic Feedback in Mixed Reality

预测手与物体的交互以改善混合现实中的触觉反馈

• DOI: 10.1109/lra.2022.3148458
• 发表时间: 2022-04
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Salvato, M.;Heravi, Negin;Okamura, Allison M.;Bohg, Jeannette
• 通讯作者: Bohg, Jeannette

A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback

用于法向、剪切和扭转反馈的 4 自由度并行折纸触觉设备

• DOI: 10.1109/lra.2022.3144798
• 发表时间: 2022-04
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Williams, Sophia R.;Suchoski, Jacob M.;Chua, Zonghe;Okamura, Allison M.
• 通讯作者: Okamura, Allison M.

Effects of Different Hand-Grounding Locations on Haptic Performance With a Wearable Kinesthetic Haptic Device

不同的手接地位置对可穿戴动觉触觉设备触觉性能的影响

• DOI: 10.1109/lra.2018.2890198
• 发表时间: 2019-04
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Nisar, Sajid;Martinez, Melisa Orta;Endo, Takahiro;Matsuno, Fumitoshi;Okamura, Allison M.
• 通讯作者: Okamura, Allison M.

Body-Mounted Vibrotactile Stimuli: Simultaneous Display of Taps on the Fingertips and Forearm

身体安装振动触觉刺激：同时显示指尖和前臂上的轻敲

• DOI: 10.1109/toh.2020.3042955
• 发表时间: 2021-04
• 期刊: IEEE Transactions on Haptics
• 影响因子: 2.9
• 作者: Williams, Sophia R.;Okamura, Allison M.
• 通讯作者: Okamura, Allison M.