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標題: | 重現表面粗糙度與連續橫向觸摸感受之擬真觸覺回饋手套 A Realistic Tactile Feedback Glove for Reproducing Surface Roughness and Continual Lateral Stroking Perceptions |
作者: | Ping-Hua Lin 林品樺 |
指導教授: | 陳湘鳳(Shana Smith) |
關鍵字: | 觸覺回饋,穿帶是力回饋裝置: 表面紋理重現,橫向觸摸移動,虛擬實境,類神經網路,觸覺感知實驗, Tactile Feedback,Wearable Haptics Feedback glove,Surface Texture Reproducing,Lateral Stroking Movement,Virtual Reality,Neural Network,Tactile Sensation Experiment., |
出版年 : | 2017 |
學位: | 碩士 |
摘要: | Haptic feedback devices had been widely applied in virtual reality (VR) environment and other commercial products. Both tactile and kinesthetic haptic feedback methods had been studied and developed. Although, there are many researches had been done for discussing the pros and cons of those haptic feedback assisted systems. There are no researchers had tried to recreate the realistic lateral stroking movement in tactile feedback for mimicking human’s exploratory lateral motion. In other word, it is a difficult and challenging task to utilize now-existing devices to reproduce the texture information stimuli combining with the same continual perception like physical hand lateral touching.
This research is dedicated to recreate the lateral stroking stimuli to use’s fingertips through a customized developed wearable tactile feedback glove and the corresponding VR environment. First of all, roughness was chosen as the reproduced surface property, and the parameters which affect human tactile perceptions were determined. Second, the vertical acceleration, lateral velocity, lateral acceleration, and normal contact force were all recorded through lateral motion on physical templates with different roughness. Next, the neural network algorithm was applied to find the non-linear relationship between vertical acceleration and the other factors mentioned above. Then, piezoelectric actuator was used to reproduce roughness stimuli. Finally, according to the properties of human’s glabrous mechanoreceptor on fingers, the representation methods was designed for bring the continual tactile perception to user. Moreover, the tactile sensation experiment was conducted for two purposes, comparing both roughness rating and realistic rating between physical templates and the stimuli we designed. The results shows that our tactile feedback system can be regarded as a solid surface texture reproducing approach ( r^2>0.9 ). Furthermore, the modulation representation method had been perceived as the most realistic to physical continual lateral stroking. Nevertheless, the tactual retaliation effect had been observed through the interfering on tactile communication, and the levels of roughness might be another factor to this effect. In summary, this study not only contributes to reproducing realistic roughness and continual lateral stroking perceptions, but also demonstrates the possibility of realizing virtual objects with realistic surface texture. This technology can easily be applied to augmented reality (AR) and remote haptic feedback systems. Hopefully, in the very next future, this research would be the milestone of bridging the virtual environments and the real physical world. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78012 |
DOI: | 10.6342/NTU201700387 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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