Abstract
Nowadays, haptic feedback technology has been applied to many applications to help users acquiring more information concerning surrounding environments. In this research, a real-time teleoperation system was developed to bring vibrotactile sensation concerning object surface texture from a remote location to the local users. A force sensor and a PVDF sensor were used to design a data recording device, which was attached to a remote slave robot arm, for recording physical surface texture information. Based on the different sensitivity frequency ranges of the mechanoreceptors in human glabrous skin, a novel tactile rendering device was designed to trigger frequency-channel-segregated vibrotactile stimuli in the master’s side. Two bending piezoelectric actuators were used to trigger different stimulation intensities with different frequency ranges. To examine the efficacy of the teleoperation system, a tactile discrimination test was conducted. Users were asked to match the simulated surface textures with physical surface textures. The correctness of the discrimination test was about 87.5%. The results also showed that the developed system can produce realistic remote surface textures in real time.
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Lin, PH., Smith, S. (2019). A Teleoperation System for Reproducing Tactile Perception Using Frequency Channel Segregation. In: Kajimoto, H., Lee, D., Kim, SY., Konyo, M., Kyung, KU. (eds) Haptic Interaction. AsiaHaptics 2018. Lecture Notes in Electrical Engineering, vol 535. Springer, Singapore. https://doi.org/10.1007/978-981-13-3194-7_11
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DOI: https://doi.org/10.1007/978-981-13-3194-7_11
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