论文标题：Pneumatic actuator and flexible piezoelectric sensor for soft virtual reality glove system

期刊：Scientific Reports

作者：Kahye Song, Sung Hee Kim, Sungho Jin, Sohyun Kim, Sunho Lee, Jun-Sik Kim, Jung-Min Park, Youngsu Cha

发表时间：2019/07/18

数字识别码： 10.1038/s41598-019-45422-6

根据《科学报告》发表的一项原理论证研究，一种轻量手套可以与虚拟现实互动，提供触觉反馈，让佩戴者可以感受并握住虚拟对象。

具体而言，这种手套利用传感器探测佩戴者的动作，再利用致动器提供物理反馈（借由振动等机械刺激），使佩戴者可以感受虚拟现实中的对象。虽然之前研发出来的致动器已能够准确再现虚拟对象的纹理，但是却无法提供有关其形状的信息。

韩国科学技术研究院的Youngsu Cha及同事研发的这种手套系统允许佩戴者操控一只虚拟的手捡拾虚拟现实中的物体，并感受其形状。当佩戴者用手拾起一件物品——在本例中为一个虚拟的国际象棋中的马——手指动作会被手套的传感器探测到。传感器收集到的数据通过蓝牙传输到软件程序中，软件程序在屏幕上再现虚拟手的相应动作。抓取虚拟对象会触发作者开发出来的一系列软硅树脂致动器，致动器接收到来自虚拟现实环境的信号，导致制动器内的空气移动并扩张中心处的硅树脂。佩戴者的指尖感受到发生膨胀的硅树脂，就像碰触到虚拟对象一样，从而可以感受到虚拟对象的形状，进而将其拾起并握住。

之前的致动器需要庞大的外部空气压缩机，而作者的手套系统则不需要。作者认为通过与不同的软件相连，这一手套系统或能应用于不同的虚拟现实环境中。

图1

摘要：The desire to directly touch and experience virtual objects led to the development of a tactile feedback device. In this paper, a novel soft pneumatic actuator for providing tactile feedback is proposed and demonstrated. The suggested pneumatic actuator does not use an external air compressor but it is operated by internal air pressure generated by an electrostatic force. By using the actuator, we designed a glove to interact with virtual reality. The finger motions are detected by attached flexible piezoelectric sensors and transmitted to a virtual space through Bluetooth for interconnecting with a virtual hand. When the virtual finger touches the virtual object, the actuators are activated and give the tactile feedback to the real fingertip. The glove is made of silicone rubber material and integrated with the sensors and actuators such that users can wear them conveniently with light weight. This device was tested in a virtual chess board program, wherein the user picked up virtual chess pieces successfully.

（来源：科学网）