表面触觉再现技术现状和评估方法

燕学智; 李瑞格; 武秋爽

doi:10.13700/j.bh.1001-5965.2017.0790

表面触觉再现技术现状和评估方法

doi: 10.13700/j.bh.1001-5965.2017.0790

吉林大学通信工程学院, 长春 130022

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
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- 被引次数: 0
出版历程
- 收稿日期: 2017-12-25
- 录用日期: 2018-01-12
- 网络出版日期: 2018-10-20

Status and evaluation method of surface tactile representation technology

College of Communication Engineering, Jilin University, Changchun 130022, China

Funds:

National Natural Science Foundation of China 61631010

National Key R & D Program of China 2016YFB10013

More Information

Corresponding author: YAN Xuezhi, E-mail:yanxz@jlu.edu.cn

摘要

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。
- 表面触觉再现技术 /
- 触觉再现设备 /
- 性能评估方法 /
- 研究现状 /
- 人机交互
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.
- surface tactile representation technology /
- tactile representation device /
- performance evaluation method /
- research status /
- human computer interaction

HTML全文

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

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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]

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图 3 Hayward表面触觉再现设备^[16]

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

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图 4 触觉显示样机^[18]

Figure 4. Tactile display prototype^[18]

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图 5 SemFeel设备^[19]

Figure 5. SemFeel device^[19]

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图 6 T-mobile设备^[20]

Figure 6. T-mobile device^[20]

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图 7 磁针式触觉感知系统^[22]

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

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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]

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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]

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图 10 空气压膜效应原理

Figure 10. Principle of air squeeze-film effect

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图 11 T-PaD设备^[28]

Figure 11. T-PaD device^[28]

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图 12 LATPaD设备^[29]

Figure 12. LATPaD device^[29]

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图 13 STIMTAC设备^[32]

Figure 13. STIMTAC device^[32]

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图 14 SlickFeel设备^[33]

Figure 14. SlickFeel device^[33]

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图 15 SlickFeel设备工作原理

Figure 15. Principle of SlickFeel device

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图 16 手指电荷分布情况

Figure 16. Charge distribution in fingers

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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

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图 18 触觉再现系统原理^[41]

Figure 18. Principle of tactile representation system^[41]

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图 19 TeslaTouch设备^[42]

Figure 19. TeslaTouch device^[42]

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图 20 TeslaTouch设备原理^[42]

Figure 20. Principle of TeslaTouch device^[42]

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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

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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

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图 23 电触觉替代视觉系统^[49]

Figure 23. ETVSS^[49]

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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]

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图 25 电刺激式表面触觉再现设备^[51]

Figure 25. Electrotactile surface tactile representation device^[51]

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图 26 改进的电刺激式表面触觉再现设备^[52]

Figure 26. Improved electrotactile device^[52]

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图 27 电子皮肤和电刺激阵列设备^[53]

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

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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]

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图 29 集成表面触觉再现设备^[57]

Figure 29. Integrated surface tactile representation device^[57]

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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

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表 1 判断矩阵标度及其含义^[60]

Table 1. Judgement matrix scale and meaning^[60]

B_ij (或C_ij)	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B_ij，则j与i的重要程度B_ji=1/B_ij

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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

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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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