期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 4, 期 2, 页码 1641-1646出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2896933
关键词
Wearable robots; haptics and haptic interfaces; social human-robot interaction; soft robot applications; affective tactile stimulation
类别
资金
- EPSRC Doctoral Training Partnership
- Royal Academy of Engineering
- Office of the Chief Science Adviser for National Security under the UK Intelligence Community Postdoctoral Fellowship Programme
- Royal Academy of Engineering as a Chair in Emerging Technologies
- EPSRC [EP/M020460/1, EP/R02961X/1, EP/M026388/1]
- EPSRC [EP/R02961X/1, 1953736, 1942591, EP/M020460/1] Funding Source: UKRI
Currently, the majority of wearable robotic haptic feedback devices rely on vibrations for relaying sensory information to the user. While this can be very effective, vibration as a physical stimulation is limited in modality and is uncommon in the natural world. In many cases, for human-robot and human-human interaction, a more natural, affective tactile interaction is needed to provide comfortable and varied stimuli. In this letter, we present the super-cutaneous wearable electrical empathic stimulator (SCWEES), a tactile device that gently stretches and squeezes the surface of the skin. Our hypothesis is that this device can create a pleasant, unobtrusive sensation that can be used to mediate social interactions or to deliver subtle alerts. We describe the design of the SCWEES, a lightweight 3D-printed semi-flexible structure that attaches to the skin at two points and actuates via two shape-memory alloy coil actuators. We evaluate the SCWEES through a range of human interaction experiments: stimulation strength and pleasantness, contraction and extension, and the conveyance of non-disruptive notifications. Quantitative and qualitative results show that the SCWEES generates a pleasant sensation, can convey useful information in human-machine interactions, and delivers affective stimulation that is less disruptive than conventional vibratory tactile stimulation when the user is engaged in a task.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据