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表面触觉再现技术现状和评估方法

燕学智 李瑞格 武秋爽

燕学智, 李瑞格, 武秋爽等 . 表面触觉再现技术现状和评估方法[J]. 北京航空航天大学学报, 2018, 44(10): 2078-2095. doi: 10.13700/j.bh.1001-5965.2017.0790
引用本文: 燕学智, 李瑞格, 武秋爽等 . 表面触觉再现技术现状和评估方法[J]. 北京航空航天大学学报, 2018, 44(10): 2078-2095. doi: 10.13700/j.bh.1001-5965.2017.0790
YAN Xuezhi, LI Ruige, WU Qiushuanget al. Status and evaluation method of surface tactile representation technology[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(10): 2078-2095. doi: 10.13700/j.bh.1001-5965.2017.0790(in Chinese)
Citation: YAN Xuezhi, LI Ruige, WU Qiushuanget al. Status and evaluation method of surface tactile representation technology[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(10): 2078-2095. doi: 10.13700/j.bh.1001-5965.2017.0790(in Chinese)

表面触觉再现技术现状和评估方法

doi: 10.13700/j.bh.1001-5965.2017.0790
基金项目: 

国家自然科学基金 61631010

国家重点研发计划 2016YFB10013

详细信息
    作者简介:

    燕学智  男, 博士, 副教授, 硕士生导师。主要研究方向:触觉再现、人机交互、超声定位

    李瑞格  女, 硕士研究生。主要研究方向:触觉再现、虚拟现实、人机交互

    武秋爽  女, 硕士研究生。主要研究方向:触觉再现、虚拟现实、人机交互

    通讯作者:

    燕学智, E-mail:yanxz@jlu.edu.cn

  • 中图分类号: TP399

Status and evaluation method of surface tactile representation technology

Funds: 

National Natural Science Foundation of China 61631010

National Key R & D Program of China 2016YFB10013

More Information
  • 摘要:

    表面触觉再现技术可通过裸指触摸屏幕来感知物体特性,在多媒体终端实现高效自然的交互,具有巨大的研究价值,因而得到国内外研究学者的广泛关注。然而,现有研究多集中于力觉交互设备,未对表面触觉再现设备进行系统分析,且对设备的各项性能评价过于主观,未给出客观可信的表面触觉再现技术评估标准。首先,在充分研究现有表面触觉再现技术的基础上,重点对近十年表面触觉再现技术进行补充和完善。将表面触觉再现设备分为振动式、压力式、压膜式、静电力式和电刺激式,重点从工作原理、装置构成和性能指标等方面对典型设备进行详细分析和介绍,总结设备在触觉表达方面存在的优缺点。然后,针对现有评价方式过于粗糙和主观的问题,提出一种表面触觉再现技术的评估方法。通过制造难度、工作区间等7种评价指标全面评价设备的性能,采用专家打分法和层次分析法获得振动式、压力式、压膜式、静电力式4种设备在每种评价指标下的权重,并对4种设备在多媒体终端应用中的性能优劣进行排序,为不同领域下选择和评价表面触觉再现设备提供参考。最后,总结现有设备的不足,讨论其未来的研究和改进方向。

     

  • 图 1  2类振动式表面触觉再现设备

    Figure 1.  Two types of vibratory surface tactile representation device

    图 2  Ikei表面触觉再现装置原理及结构[17]

    Figure 2.  Principle and structure of surface tactile representation device by Ikei[17]

    图 3  Hayward表面触觉再现设备[16]

    Figure 3.  Surface tactile representation device by Hayward[16]

    图 4  触觉显示样机[18]

    Figure 4.  Tactile display prototype[18]

    图 5  SemFeel设备[19]

    Figure 5.  SemFeel device[19]

    图 6  T-mobile设备[20]

    Figure 6.  T-mobile device[20]

    图 7  磁针式触觉感知系统[22]

    Figure 7.  Tactile perception system using magnet needles[22]

    图 8  气动和针型触觉再现设备结构[23]

    Figure 8.  Structure of tactile representation device using air and pin[23]

    图 9  可穿戴触觉显示设备的3D结构[25]

    Figure 9.  3D structure of wearable tactile display device[25]

    图 10  空气压膜效应原理

    Figure 10.  Principle of air squeeze-film effect

    图 11  T-PaD设备[28]

    Figure 11.  T-PaD device[28]

    图 12  LATPaD设备[29]

    Figure 12.  LATPaD device[29]

    图 13  STIMTAC设备[32]

    Figure 13.  STIMTAC device[32]

    图 14  SlickFeel设备[33]

    Figure 14.  SlickFeel device[33]

    图 15  SlickFeel设备工作原理

    Figure 15.  Principle of SlickFeel device

    图 16  手指电荷分布情况

    Figure 16.  Charge distribution in fingers

    图 17  基于静电力的表面触觉再现力学模型

    Figure 17.  Surface tactile representation mechanical model based on electrostatic force

    图 18  触觉再现系统原理[41]

    Figure 18.  Principle of tactile representation system[41]

    图 19  TeslaTouch设备[42]

    Figure 19.  TeslaTouch device[42]

    图 20  TeslaTouch设备原理[42]

    Figure 20.  Principle of TeslaTouch device[42]

    图 21  静电力表面触觉再现移动学习终端

    Figure 21.  Electrostatic surface tactile display mobile learning terminal

    图 22  静电力表面触觉再现设备实现流程

    Figure 22.  Implementation process of electrostatic surface tactile representation device

    图 23  电触觉替代视觉系统[49]

    Figure 23.  ETVSS[49]

    图 24  Kajimoto表面触觉再现设备结构[50]

    Figure 24.  Structure of surface tactile representation device by Kajimoto[50]

    图 25  电刺激式表面触觉再现设备[51]

    Figure 25.  Electrotactile surface tactile representation device[51]

    图 26  改进的电刺激式表面触觉再现设备[52]

    Figure 26.  Improved electrotactile device[52]

    图 27  电子皮肤和电刺激阵列设备[53]

    Figure 27.  E-skin and electrode array device[53]

    图 28  组合表面触觉再现设备实验装置[55]

    Figure 28.  Combination surface tactile representation devices[55]

    图 29  集成表面触觉再现设备[57]

    Figure 29.  Integrated surface tactile representation device[57]

    图 30  设备性能评价的递阶层次结构模型

    Figure 30.  Hierarchical structure model for device performance evaluation

    表  1  判断矩阵标度及其含义[60]

    Table  1.   Judgement matrix scale and meaning[60]

    Bij (或Cij) 含义
    1 ij同等重要
    3 ij稍微重要一些
    5 i明显比j重要
    7 ij重要很多
    9 j相比,i极其重要
    2,4,6,8 判断标准的中间值
    倒数 如果ij的重要程度是Bij,则ji的重要程度Bji=1/Bij
    下载: 导出CSV

    表  2  平均随机一致性指标[62]

    Table  2.   Mean random consistency index[62]

    n RI
    1 0
    2 0
    3 0.52
    4 0.89
    5 1.12
    6 1.24
    7 1.36
    8 1.41
    9 1.46
    下载: 导出CSV

    表  3  表面触觉再现设备的制造难度权重

    Table  3.   Manufacture difficulty weight of surface tactile representation devices

    设备 权重
    振动式 0.434 1
    压力式 0.111 3
    压膜式 0.187 8
    静电力式 0.266 9
    CR 0.042 4
    下载: 导出CSV

    表  4  表面触觉再现设备的工作区间权重

    Table  4.   Operating range weight of surface tactile representation devices

    设备 权重
    振动式 0.345 4
    压力式 0.135 8
    压膜式 0.198 6
    静电力式 0.320 1
    CR 0.014 2
    下载: 导出CSV

    表  5  表面触觉再现设备的可调范围权重

    Table  5.   Adjustable range weight of surface tactile representation devices

    设备 权重
    压力式 0.244 2
    压膜式 0.315 9
    静电力式 0.327 3
    CR 0.053 2
    下载: 导出CSV

    表  6  表面触觉再现设备的感知强度权重

    Table  6.   Perceptual intensity weight of surface tactile representation devices

    设备 权重
    振动式 0.422 0
    压力式 0.263 6
    压膜式 0.185 4
    静电力式 0.129 0
    CR 0.051 3
    下载: 导出CSV

    表  7  表面触觉再现设备的功率损耗权重

    Table  7.   Power loss weight of surface tactile representation devices

    设备 权重
    振动式 0.306 4
    压力式 0.129 5
    压膜式 0.102 3
    静电力式 0.461 8
    CR 0.042 9
    下载: 导出CSV

    表  8  表面触觉再现设备的再现效果权重

    Table  8.   Represented effect weight of surface tactile representation devices

    设备 权重
    振动式 0.069 7
    压力式 0.133 5
    压膜式 0.251 1
    静电力式 0.545 7
    CR 0.074 1
    下载: 导出CSV

    表  9  表面触觉再现设备的用户体验权重

    Table  9.   User experience weight of surface tactile representation devices

    设备 权重
    振动式 0.144 1
    压力式 0.105 0
    压膜式 0.177 3
    静电力式 0.573 6
    CR 0.048 9
    下载: 导出CSV

    表  10  准则层和方案层对目标层的合成权重

    Table  10.   Synthetical weight of criterion layer and scheme layer for target layer

    性能评价指标(权值) 振动式设备 压力式设备 压膜式设备 静电力式设备
    制造难度(0.075 1) 0.236 6 0.099 1 0.132 4 0.101 7
    工作区间(0.039 3) 0.188 3 0.120 9 0.140 0 0.122 0
    可调范围(0.064 3) 0.061 4 0.217 5 0.222 7 0.124 7
    感知强度(0.094 6) 0.230 0 0.234 8 0.130 7 0.049 1
    功率损耗(0.111 3) 0.167 0 0.115 3 0.072 1 0.176 0
    再现效果(0.207 4) 0.038 0 0.118 9 0.177 0 0.207 9
    用户体验(0.407 9) 0.078 5 0.093 5 0.125 0 0.218 6
    合成权重 0.109 4 0.124 0 0.137 9 0.177 0
    下载: 导出CSV
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  • 收稿日期:  2017-12-25
  • 录用日期:  2018-01-12
  • 网络出版日期:  2018-10-20

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