The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs an...The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively communicate with the equipment by tactile feedback. This helps the user to control the equipment safely and skillfully. Considering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are compared. Furthermore, we confirm the effectiveness of reaction force feedback to operate the joystick device safely and skillful controlling a mobile robot in an unknown environment.展开更多
The highly sensitive and power efficient tactile sensors can provide grippers with vertical and shear forces from interactions with objects. In an ocean environment with low visual distance and high noise, sea otters ...The highly sensitive and power efficient tactile sensors can provide grippers with vertical and shear forces from interactions with objects. In an ocean environment with low visual distance and high noise, sea otters can rely on their palms to accurately identify and grasp target objects without damage. Inspired by the structure of the sea otter’s palm, this paper proposes a distributed liquid metal-based three-dimensional biomimetic underwater triboelectric palm-like tactile sensor (UPTS) for feedback-controlled grippers. The device is mainly composed of a flexible shell, a flexible cover, a flexible support, a triboelectric sensing unit and a fixed shell. The force acting on the flexible cover causes the flexible cover and sensing unit to deform, so that the sensing unit undergoes a contact-separation process, thereby generating an electrical signal. UPTS has the capability to identify the magnitude and direction of force, with a direction recognition error angle within 5 degrees. Additionally, it can distinguish the hardness and shape of objects, achieving an accuracy rate of 100% and 99.75% respectively for the tested objects. The results indicate that UPTS can provide force feedback for underwater grippers, thereby assisting the grippers in better completing salvage task.展开更多
Predicting user states in future and rendering visual feedbacks accordingly can effectively reduce the visual experienced delay in the tactile Internet(TI). However, most works omit the fact that different parts in an...Predicting user states in future and rendering visual feedbacks accordingly can effectively reduce the visual experienced delay in the tactile Internet(TI). However, most works omit the fact that different parts in an image may have distinct prediction requirements, based on which different prediction models can be used in the predicting process, and then it can further improve predicting quality especially under resources-limited environment. In this paper, a hybrid prediction scheme is proposed for the visual feedbacks in a typical TI scenario with mixed visuo-haptic interactions, in which haptic traffic needs sufficient wireless resources to meet its stringent communication requirement, leaving less radio resources for the visual feedback. First, the minimum required number of radio resources for haptic traffic is derived based on the haptic communication requirements, and wireless resources are allocated to the haptic and visual traffics afterwards. Then, a grouping strategy is designed based on the deep neural network(DNN) to allocate different parts from an image feedback into two groups to use different prediction models, which jointly considers the prediction deviation thresholds, latency and reliability requirements, and the bit sizes of different image parts. Simulations show that, the hybrid prediction scheme can further reduce the visual experienced delay under haptic traffic requirements compared with existing strategies.展开更多
目的探讨触觉反馈对下腰痛(Low back pain,LBP)患者多裂肌活动的影响。方法纳入20名健康成人(对照组)和20名慢性LBP患者(LBP组),在L5节段将两个肌电图(EMG)电极放置于两侧多裂肌位置。施术者将手与参与者的多裂肌部位进行直接、连续的接...目的探讨触觉反馈对下腰痛(Low back pain,LBP)患者多裂肌活动的影响。方法纳入20名健康成人(对照组)和20名慢性LBP患者(LBP组),在L5节段将两个肌电图(EMG)电极放置于两侧多裂肌位置。施术者将手与参与者的多裂肌部位进行直接、连续的接触,以施加触觉反馈,分别在有、无触觉反馈的情况下,记录以下体位时的EMG信号:①参与者静息状态时,记录EMG活动信号3次;②参与者对侧臂抬起期间,记录EMG信号5次。将对照组右侧和LBP组患侧的相对EMG值进行统计学分析。结果①在静息状态期间,两组有、无触觉反馈时的相对EMG值均无显著组间差异(P=0.829),但总体而言,触觉反馈条件下EMG值显著降低(P=0.013)。②在对侧臂抬高期间,两组间有、无触觉反馈时的相对EMG值均无显著组间差异(P=0.878),但总体而言,触觉反馈条件下EMG值显著降低(P=0.010)。结论无论是常人抑或LBP患者,触觉反馈对其腰椎多裂肌活动均具有抑制作用,甚至可能降低预期的治疗效果。展开更多
文摘The human tongue has superior movement and tactile sensations. For individuals with severe disabilities, a tongue operated interface device can be used to operate life-support equipment, such as powered wheelchairs and robotic manipulators. A joystick-type device can directly translate various tongue motions to external equipment behavior. In addition, the user can interactively communicate with the equipment by tactile feedback. This helps the user to control the equipment safely and skillfully. Considering these factors, in a previous study [1], we developed a novel tongue-operated joystick device with reaction force feedback mechanism. We described the design process including the analysis of human tongue movement and tactile sensations and showed fundamental performances of reaction force feedback with the prototype device. In this study, we discuss the shape of the operational part that is used by the tongue. Two types of operational tools are prepared and their operability and perception of reaction force feedback are compared. Furthermore, we confirm the effectiveness of reaction force feedback to operate the joystick device safely and skillful controlling a mobile robot in an unknown environment.
基金supported by the Scientific Research Fund of the Educational Department of Liaoning Province(No.LJKZ0055)Dalian Outstanding Young Scientific and Technological Talents Project(No.2021RJ11)the Open Fund of National Center for International Research of Subsea Engineering Technology and Equipment(No.3132023354).
文摘The highly sensitive and power efficient tactile sensors can provide grippers with vertical and shear forces from interactions with objects. In an ocean environment with low visual distance and high noise, sea otters can rely on their palms to accurately identify and grasp target objects without damage. Inspired by the structure of the sea otter’s palm, this paper proposes a distributed liquid metal-based three-dimensional biomimetic underwater triboelectric palm-like tactile sensor (UPTS) for feedback-controlled grippers. The device is mainly composed of a flexible shell, a flexible cover, a flexible support, a triboelectric sensing unit and a fixed shell. The force acting on the flexible cover causes the flexible cover and sensing unit to deform, so that the sensing unit undergoes a contact-separation process, thereby generating an electrical signal. UPTS has the capability to identify the magnitude and direction of force, with a direction recognition error angle within 5 degrees. Additionally, it can distinguish the hardness and shape of objects, achieving an accuracy rate of 100% and 99.75% respectively for the tested objects. The results indicate that UPTS can provide force feedback for underwater grippers, thereby assisting the grippers in better completing salvage task.
基金supported by the National Natural Science Foundation of China (61771070)。
文摘Predicting user states in future and rendering visual feedbacks accordingly can effectively reduce the visual experienced delay in the tactile Internet(TI). However, most works omit the fact that different parts in an image may have distinct prediction requirements, based on which different prediction models can be used in the predicting process, and then it can further improve predicting quality especially under resources-limited environment. In this paper, a hybrid prediction scheme is proposed for the visual feedbacks in a typical TI scenario with mixed visuo-haptic interactions, in which haptic traffic needs sufficient wireless resources to meet its stringent communication requirement, leaving less radio resources for the visual feedback. First, the minimum required number of radio resources for haptic traffic is derived based on the haptic communication requirements, and wireless resources are allocated to the haptic and visual traffics afterwards. Then, a grouping strategy is designed based on the deep neural network(DNN) to allocate different parts from an image feedback into two groups to use different prediction models, which jointly considers the prediction deviation thresholds, latency and reliability requirements, and the bit sizes of different image parts. Simulations show that, the hybrid prediction scheme can further reduce the visual experienced delay under haptic traffic requirements compared with existing strategies.
文摘目的探讨触觉反馈对下腰痛(Low back pain,LBP)患者多裂肌活动的影响。方法纳入20名健康成人(对照组)和20名慢性LBP患者(LBP组),在L5节段将两个肌电图(EMG)电极放置于两侧多裂肌位置。施术者将手与参与者的多裂肌部位进行直接、连续的接触,以施加触觉反馈,分别在有、无触觉反馈的情况下,记录以下体位时的EMG信号:①参与者静息状态时,记录EMG活动信号3次;②参与者对侧臂抬起期间,记录EMG信号5次。将对照组右侧和LBP组患侧的相对EMG值进行统计学分析。结果①在静息状态期间,两组有、无触觉反馈时的相对EMG值均无显著组间差异(P=0.829),但总体而言,触觉反馈条件下EMG值显著降低(P=0.013)。②在对侧臂抬高期间,两组间有、无触觉反馈时的相对EMG值均无显著组间差异(P=0.878),但总体而言,触觉反馈条件下EMG值显著降低(P=0.010)。结论无论是常人抑或LBP患者,触觉反馈对其腰椎多裂肌活动均具有抑制作用,甚至可能降低预期的治疗效果。
