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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。
Abstract:Surface tactile representation technology can display characteristics of the displayed contents through our bare fingers, realizing efficient and natural interaction on multimedia terminal screens. However, most studies in this field focus on the force tactile interaction device, and do not systematically analyze the surface tactile representation device. Moreover, their performance evaluation methods for the devices are too subjective to provide an objective and reliable evaluation standard. Based on the sufficient studies of the existing tactile representation technology, this paper focuses on supplementing and improving the surface tactile representation technology in the last decade. We divide surface tactile representation devices into five types:Vibration, stress, air squeeze-film, electrostatic and electrotactile devices. Then, we introduce and analyze the typical devices from working principles, device structures and performance indexes in detail. Finally, advantages and disadvantages of these devices are summarized. In addition, to solve the problem that the existing evaluation method is too rough and subjective, this paper presents an evaluation method to the surface tactile representation technology and seven evaluation indexes such as manufacturing difficulty and work area are used to comprehensively evaluate the performance of the surface tactile representation devices. Expert evaluation method and analytic hierarchy process are used to obtain the weights of four devices under each evaluation index. We also obtain the performance sorting of four kinds of devices in multimedia terminal application, providing reference for selection and evaluation of the surface tactile representation devices in other fields. Finally, we summarize the shortages of the existing devices and discuss the future research and improvement directions.
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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 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 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 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
Bij (或Cij) 含义 1 i与j同等重要 3 i比j稍微重要一些 5 i明显比j重要 7 i比j重要很多 9 与j相比，i极其重要 2，4，6，8 判断标准的中间值 倒数 如果i与j的重要程度是Bij，则j与i的重要程度Bji=1/Bij 
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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
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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
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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
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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
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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
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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
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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
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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
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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
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