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標題: | 使用感知頻道分離方法重現遠端表面紋理之觸感 Reproduce Tactile Perception for Remote Surface Textures Using Frequency-Channel Segregation Method |
作者: | Po-Hung Lin 林柏宏 |
指導教授: | 陳湘鳳(Shana Smith) |
關鍵字: | 紋理重現,振動觸覺回饋,遠端操作系統,觸覺回饋,壓電致動器,觸覺感知, surface texture reproduction,vibrotactile feedback,teleoperation system,haptic feedback,piezo-electric actuators,tactile perception, |
出版年 : | 2018 |
學位: | 碩士 |
摘要: | 近年來,觸覺回饋技術被廣泛應用在各式的產品中幫助使用者獲得更多的環境資訊。在本研究中,我們開發了一個即時的遠端觸覺回饋重現系統,可以在本地端的使用者手指上重現遠端機械手臂觸摸材質表面的紋理感受。
本研究所採用之材質紋理重現方法為使用一PVDF壓電薄膜做為振動感測器,裝置在遠端的機械手臂前端作為紋理擷取模組,當使用者透過系統操作遠端機械手臂時,擷取模組紀錄材質表面的紋理振動訊號。針對人體無毛皮膚內的振動資訊受器特性,本研究開發一基於振動頻道分離方法,開發一新穎之紋理振動呈現模式。將所記錄的紋理振動訊號透過資料的處理,拆解成高頻成分與低頻成分的資訊。並透過兩個壓電致動器組成的振動觸覺回饋裝置,呈現給使用者一個具有空間資訊與頻率資訊差異的複合式資訊,藉此提升使用者分辨遠端材質紋理的正確性。 最後,進行人因測試,比較這個基於振動頻道分離方法的新穎觸覺回饋呈現模式,與傳統的複合觸覺回饋呈現模式的效果。結果發現,在材質紋理分辨測試中,使用本研究所開發的方法進行遠端材質紋理的重現,正確率有顯著的提升。另外,透過使用者的訪談回饋,也發現本研究所開發的回饋呈現方法,更進一步的提高了紋理重現的真實感。 Nowadays, haptic feedback technology has been applied to many applications to help users acquiring more information concerning surrounding environments. In this research, a real-time teleoperation system was developed to bring realistic tactile sensation concerning object surface texture from a remote location to the local users. A force sensor and a PVDF sensor were used to design a data recording device, which was attached to a remote slave robot arm, for recording physical surface texture information. Moreover, based on the different sensitivity frequency ranges of the mechanoreceptors in human glabrous skin, a novel feedback device was designed to trigger frequency-channel-segregated vibrotactile stimulus. Two bending piezo-electric actuators were used to trigger different stimulation intensities with different frequency ranges. Finally, a user test was conducted to compare the novel rendering method, based on frequency-channel segregation, with traditional rendering methods, based on frequency integration. User test results showed that the developed vibrotactile feedback method can significantly increase the discrimination of remote surface textures. The user interview also showed that the new rendering method is able to enhance the feeling of three-dimension and realism of the simulated texture information. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/79090 |
DOI: | 10.6342/NTU201802938 |
全文授權: | 有償授權 |
電子全文公開日期: | 2023-08-21 |
顯示於系所單位: | 機械工程學系 |
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