Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System
The ultrasonic phased array as an emerging interactive tool is increasingly used for aerial tactile interaction. However, there is almost no method to achieve remote variable force feedback through the ultrasonic phased array as far as we know. This article presents a force tactile feedback method f...
| Main Authors: | , , , , , |
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| Format: | Article |
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MDPI AG
2021-04-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/7/2560 |
| _version_ | 1797538676296646656 |
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| author | Yang Liu Xiaoling Li Jiarui Lai Ziming Zheng Huijin Zhu Min Li |
| author_facet | Yang Liu Xiaoling Li Jiarui Lai Ziming Zheng Huijin Zhu Min Li |
| author_sort | Yang Liu |
| collection | DOAJ |
| description | The ultrasonic phased array as an emerging interactive tool is increasingly used for aerial tactile interaction. However, there is almost no method to achieve remote variable force feedback through the ultrasonic phased array as far as we know. This article presents a force tactile feedback method for teleoperating robot systems that tracks the five fingers and forms a focus on the fingertips. First, the perceived size of the focus depends on the input parameters. The influence of the parameters on the physical output pressure intensity was obtained through physical test experiments. Then, the absolute threshold and difference threshold of human perception were studied through psychophysical experimental methods. Finally, the input parameters were selected according to the experimental results. According to the collected data, the construction of the force regression model was completed, and different parameters were mapped to the perceived intensity. The contact force generated in the actual operation is fed back to the haptic system, and the constructed model automatically adjusts the control parameters to ensure that the user’s hand presents a sensory output corresponding to the intensity change. The entire force feedback system is evaluated, and results show that the system shows good perceptual quality. |
| first_indexed | 2024-03-10T12:34:49Z |
| format | Article |
| id | doaj.art-69d4d03baac740f6a0a126ed11f32f50 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T12:34:49Z |
| publishDate | 2021-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-69d4d03baac740f6a0a126ed11f32f502023-11-21T14:23:02ZengMDPI AGSensors1424-82202021-04-01217256010.3390/s21072560Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot SystemYang Liu0Xiaoling Li1Jiarui Lai2Ziming Zheng3Huijin Zhu4Min Li5School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710000, ChinaThe ultrasonic phased array as an emerging interactive tool is increasingly used for aerial tactile interaction. However, there is almost no method to achieve remote variable force feedback through the ultrasonic phased array as far as we know. This article presents a force tactile feedback method for teleoperating robot systems that tracks the five fingers and forms a focus on the fingertips. First, the perceived size of the focus depends on the input parameters. The influence of the parameters on the physical output pressure intensity was obtained through physical test experiments. Then, the absolute threshold and difference threshold of human perception were studied through psychophysical experimental methods. Finally, the input parameters were selected according to the experimental results. According to the collected data, the construction of the force regression model was completed, and different parameters were mapped to the perceived intensity. The contact force generated in the actual operation is fed back to the haptic system, and the constructed model automatically adjusts the control parameters to ensure that the user’s hand presents a sensory output corresponding to the intensity change. The entire force feedback system is evaluated, and results show that the system shows good perceptual quality.https://www.mdpi.com/1424-8220/21/7/2560ultrasound arraytactile interactionforce feedbackteleoperation systemregression model |
| spellingShingle | Yang Liu Xiaoling Li Jiarui Lai Ziming Zheng Huijin Zhu Min Li Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System Sensors ultrasound array tactile interaction force feedback teleoperation system regression model |
| title | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
| title_full | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
| title_fullStr | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
| title_full_unstemmed | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
| title_short | Construction of Ultrasonic Tactile Force Feedback Model in Teleoperation Robot System |
| title_sort | construction of ultrasonic tactile force feedback model in teleoperation robot system |
| topic | ultrasound array tactile interaction force feedback teleoperation system regression model |
| url | https://www.mdpi.com/1424-8220/21/7/2560 |
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