논문 초록

A flexible multimodal tactile display for delivering shape and material information
The growing complexity of telemanipulation tasks calls for increased realism and intuitiveness of theinteraction between the user and the master control. Humans perceive multiple haptic features of anobject such as its stiffness, temperature, and shape, and rely on this multimodal information to achievedexterous manipulation. However, to date, remote manipulators rarely provide haptic information to theoperator. Moreover, current multimodal displays are often too rigid and bulky to be integrated into themanipulator. Thus, to improve the quality of teleoperation, there is a high demand for flexible devicesthat are capable of matching the skin’s curvature while delivering multimodal haptic information to theoperator. In this paper, we present a flexible tactile display delivering tactile and thermal stimuli to theuser’s skin. We propose a hybrid electromagnetic-pneumatic actuation to operate a 2 × 2 array of tactilecells. Each cell provides a repetitive stimulation with a force and an indentation that are above the humanperception threshold for the finger, palm, and forearm. In addition, the temperature of the display’s sur-face is controlled using a Peltier element attached to an air-cooled heatsink. By providing a reproduciblecooling gradient, our display simulates common materials encountered in the daily environment. Userstudy results show that (1) the tactile stimulation is perceived well and (2) the identification rates ofobjects simulated with the display were comparable to those obtained with real objects. Unlike previousdevices, the thermal stimulation is delivered while the display is in constant contact with the user’s skin,a necessary requirement for teleoperation. These results demonstrate the potential of our device as apromising tactile display for providing haptic feedback in teleoperation.
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