個人の触覚知覚を学習するウェアラブル入出力インターフェース
A wearable input/output interface learns personalized models of haptic perception
36チャネル電気触覚アレイと静電容量タッチセンシングを統合したウェアラブルデバイスで、ユーザーごとに異なる触覚知覚位置を計測し、個人適応型の知覚モデルを構築して触覚レンダリングを実現した研究。
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著者: Wen Li, E. Magnus Adams, Zijie Xu, Jiawen Yao, Aybala Esmer, Xiaoyue Ni, Bozhi Tian, Pedro Lopes
分類: cs.RO
原文アブストラクト
Wearable haptic interfaces deliver physical stimuli to the skin, yet perceived locations vary widely across users and diverge from actuator locations, particularly for emergent tactile-feedback techniques. We developed a wearable haptic input/output (I/O) device integrating a 36-channel electrotactile array with capacitive touch sensing, enabling stimulation and user-reported percept locations to be registered within the same body-referenced coordinate frame. In 24 participants, the device revealed electrotactile and referred-thermal perceptual maps with notable interparticipant variability. Despite this variability, both modalities retained electrode-pair-specific spatial structure across participants. Tactile and thermal percepts also showed spatial correspondence, whose strength varied across participants. These findings motivated our human-in-the-loop calibration framework, which adapts a forward-prediction strategy to individual users and generates personalized perceptual models. These models enabled inverse rendering by selecting stimulation patterns predicted to generate a target percept for a specific user. Using these models, we demonstrate personalized haptic rendering in haptic-guided robot teleoperation, visual-to-haptic sensory substitution, interpersonal haptic communication, and virtual reality (VR). Together, this platform provides a route toward adaptive haptic interfaces that measure, model, and render according to each user's perception.
