Tactile Displays with Parallel Mechanism

摘要

Since more intuitive and realistic interaction between human and computer/robot has been requested, haptics has emerged as a promising element in the field of user interfaces. Particularly for tasks like real manipulation and exploration, the demand for interaction enhanced by haptic information is on the rise. Researchers have proposed a diverse range of haptic devices. Force feedback type haptic devices with robotic link mechanisms have been applied to teleoperation system, game interfaces, medical simulators, training simulators, and interactive design software, among other domains. However, compared to force feedback interfaces, tactile displays, haptic devices providing skin sense, have not been deeply studied. This is at least partly due to the fact that the miniaturization and the arrangement necessary to construct such systems require more advanced mechanical and electronic components. A number of researchers have proposed tactile display systems. In order to provide tactile sensation to the skin, work has looked at mechanical, electrical and thermal stimulation. Most mechanical methods involve an array of pins driven by linear actuation mechanisms with plural number of solenoids, piezoelectric actuators, or pneumatic actuators. In order to realize such compact arrangement of stimulators, parallel mechanisms have been commonly adopted. This chapter deals with parallel mechanisms for tactile displays and their specialized designs for miniaturization and feasibility. In addition, the chapter also covers application of tactile displays for human-computer/robot interfaces.