NRI: FND: COLLAB: Intuitive, Wearable Haptic Devices for Communication with Ubiquitous Robots

NRI：FND：COLLAB：用于与无处不在的机器人通信的直观、可穿戴触觉设备

基本信息

批准号：
1830163
负责人：
Allison Okamura
金额：
$ 35.68万
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：
2018-09-01 至 2022-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830163&HistoricalAwards=false
关键词：
NRI FND COLLAB Intuitive Wearable

项目摘要

This National Robotics Initiative (NRI) project will promote the progress of science and beneficially impact human health and quality of life by developing wearable soft robotic devices with distributed tactile stimulation that enable new forms of communication. Human-robot interactions will be commonplace in the near future. In applications such as self-driving cars and physically assistive devices, interaction will require effective and intuitive bidirectional communication. Transferring information through vision and sound can be slow and inappropriate in many circumstances. This project focuses on haptic (touch-based) robotics to enable communication in a salient but private manner that alleviates demands on other sensory channels. This project serves the national interest by advancing knowledge in the fields of human perception, psychology and neuroscience, while developing novel, convergent technology that integrates concepts across the fields of robotics, haptics, and control engineering. Project results will be disseminated through tactile haptic devices for education and publicly available software and data. The project aims to broaden participation of underrepresented groups in engineering through outreach programs, public lab tours, and the mentoring of female and minority graduate students, undergraduates, and high school students.Wearable haptic systems have the potential to enable private, salient communication between humans and intelligent systems through an underutilized sensory channel (somatosensation). In this research, information will be transmitted through the haptic channel via wearable, ubiquitous, soft robotic devices that provide both passive and active touch interactions with the human user. This research is comprised of four main objectives. First, a characterization of human perception of the forearm will set the requirements for the frequency, amplitude, directions, spacing, and temporal actuation patterns for a two-dimensional array of haptic stimulators that are able to convey a range of haptic cues. Second, the project will develop a wearable, soft, haptic device able to stimulate the skin of one forearm, while also providing mechanical stimuli that are intended to be explored by the fingertips of the other hand. Third, the project will develop rendering algorithms for the haptic device that take into consideration human perceptual abilities for passive stimulation of the arm and active exploration by the fingertips. Fourth, the project team will create application scenarios to evaluate and refine the system. Wearable haptic systems have potential to improve human health and well-being through a variety of applications including: physical cueing for rehabilitation/movement therapy; explosive ordnance defusing; feedback from assistive devices including mobile robots in the home; tactile communication to enable design and e-commerce; immersion in virtual worlds for education; and the facilitation of remote interaction between people.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.

该国家机器人倡议（NRI）项目将通过开发具有分布式触觉刺激的可穿戴软机器人设备来促进科学进步，并有益地影响人类健康和生活质量，从而实现新的通信形式。在不久的将来，人机交互将变得司空见惯。在自动驾驶汽车和物理辅助设备等应用中，交互需要有效且直观的双向通信。在许多情况下，通过视觉和声音传递信息可能很慢且不合适。该项目重点关注触觉（基于触摸的）机器人技术，以显着但私密的方式实现通信，从而减轻对其他感官通道的需求。该项目通过推进人类感知、心理学和神经科学领域的知识，同时开发整合机器人、触觉和控制工程领域概念的新颖、融合技术来服务于国家利益。项目结果将通过用于教育的触觉设备以及公开可用的软件和数据来传播。该项目旨在通过外展计划、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，扩大工程领域代表性不足的群体的参与。可穿戴触觉系统有潜力实现人与人之间的私人、显着沟通通过未充分利用的感觉通道（体感）和智能系统。在这项研究中，信息将通过可穿戴、无处不在的软机器人设备通过触觉通道传输，这些设备提供与人类用户的被动和主动触摸交互。这项研究由四个主要目标组成。首先，人类对前臂感知的表征将为能够传达一系列触觉提示的二维触觉刺激器阵列设定频率、幅度、方向、间距和时间驱动模式的要求。其次，该项目将开发一种可穿戴、柔软的触觉设备，能够刺激一只前臂的皮肤，同时还提供旨在由另一只手的指尖探索的机械刺激。第三，该项目将为触觉设备开发渲染算法，考虑到人类对手臂被动刺激和指尖主动探索的感知能力。第四，项目组将创建应用场景来评估和完善系统。可穿戴触觉系统有潜力通过各种应用来改善人类健康和福祉，包括：用于康复/运动治疗的物理提示；爆炸物的拆除；来自辅助设备（包括家庭移动机器人）的反馈；触觉交流以实现设计和电子商务；沉浸在虚拟世界中进行教育；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

期刊论文数量（15）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality

虚拟现实中两指操作的触觉反馈从指尖重新定位到手腕

DOI：
10.1109/iros47612.2022.9981392
发表时间：
2022
期刊：
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
影响因子：
0
作者：
Palmer, Jasmin E.;Sarac, Mine;Garza, Aaron A.;Okamura, Allison M.
通讯作者：
Okamura, Allison M.

Perceived Intensities of Normal and Shear Skin Stimuli Using a Wearable Haptic Bracelet

DOI：
10.1109/lra.2021.3140132
发表时间：
2019-11
期刊：
IEEE Robotics and Automation Letters
影响因子：
5.2
作者：
M. Sarac;Tae Myung Huh;Hojung Choi;M. Cutkosky;Massimiliano Di Luca;A. Okamura
通讯作者：
M. Sarac;Tae Myung Huh;Hojung Choi;M. Cutkosky;Massimiliano Di Luca;A. Okamura

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
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.

3-DoF Wearable, Pneumatic Haptic Device to Deliver Normal, Shear, Vibration, and Torsion Feedback

3 自由度可穿戴式气动触觉设备，可提供法向、剪切、振动和扭转反馈

DOI：
10.1109/whc.2019.8816084
发表时间：
2019
期刊：
IEEE World Haptics Conference (WHC
影响因子：
0
作者：
Yoshida, Kyle T.;Nunez, Cara M.;Williams, Sophia R.;Okamura, Allison M.;Luo, Ming
通讯作者：
Luo, Ming

AFREEs: Active Fiber Reinforced Elastomeric Enclosures