Development of Embedded Sensor System for 5-DOF Finger-Wearable Tactile Interface

In this study, we develop an embedded sensor system for a previously devised finger-wearable tactile interface, named HaptiCube, that can display five-degrees-of-freedom (5-DOF) tactile feedback. However, owing to the absence of embedded sensors, it could not provide the desired tactile feedback pro...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2021-08, Vol.26 (4), p.1728-1736
Main Authors: Lim, Byeongkyu, Lee, Changhun, Hwang, Donghyun
Format: Article
Language:English
Subjects:
Actuators
Control systems design
Controllers
DC motors
Degrees of freedom
Embedded sensor system
Embedded sensors
Force
Fuzzy control
fuzzy proportional-integral-derivative (PID) controller
Haptic interfaces
Magnetic induction
Proportional integral derivative
Self tuning
Sensor systems
Sensors
Sensory feedback
shape memory alloy (SMA) actuator
Shape memory alloys
Springs
Tactile sensors
Torquemeters
Touch
Virtual environments
wearable tactile device
Wearable technology
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Summary:In this study, we develop an embedded sensor system for a previously devised finger-wearable tactile interface, named HaptiCube, that can display five-degrees-of-freedom (5-DOF) tactile feedback. However, owing to the absence of embedded sensors, it could not provide the desired tactile feedback properly. Therefore, a sensor system for the HaptiCube was designed while ensuring that implementing the sensor system does not significantly increase the size and weight of the device. Furthermore, the HaptiCube can simultaneously provide two different tactile feedbacks, i.e., 3-DOF touch/pressure and 2-DOF shear. Hence, the primary consideration factors for developing a sensor system are compact and lightweight characteristics and simultaneous measurement capability of touch/pressure and shear. The developed sensor system consists of two different sensors, i.e., a 3-DOF force/torque sensor and 2-DOF magnetic displacement sensor. In addition, a self-tuning fuzzy proportional-integral-derivative controller was designed for controlling the nonlinearity of shape memory alloy actuators. The improved working performances of the device based on the proposed sensor system and controller were experimentally investigated. In addition, the tests with human subjects were conducted to verify the selective stimulation of 5-DOF tactile feedback and usability of the device in virtual environments.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2021.3077700