Embodied Auxetic Intelligence in a Glove-Type Wearable Haptic Interface Connecting Humans to Robots and the Metaverse

被引：0

作者：

Oh, Saewoong ^{[1
]}

Jang, Jaehyung ^{[1
,2
]}

Ji, Wonhee ^{[1
]}

Yang, Yang ^{[1
]}

Khan, Mannan ^{[1
]}

Majidi, Carmel ^{[3
]}

Ryu, Jee-Hwan ^{[1
,2
]}

Oh, Il-Kwon ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Natl Creat Res Initiat Funct Antagonist Nanoengn, 291 Daehak Ro, Daejeon 34142, South Korea

[2] Korea Adv Inst Sci & Technol KAIST, Dept Civil & Environm Engn, 291 Daehak Ro, Daejeon 34141, South Korea

[3] Carnegie Mellon Univ, Dept Mech Engn, Pittsburgh, PA 15213 USA

来源：

ADVANCED FUNCTIONAL MATERIALS | 2025年

基金：

新加坡国家研究基金会;

关键词：

auxetic; embodied mechanical intelligence; shape memory alloy; wearable haptics; AUGMENTED REALITY; FEEDBACK;

D O I：

10.1002/adfm.202502222

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

The versatility of fingers stems from their ability to interact with surroundings by taking poses, performing various grasping modes, and making dynamic bending motions. However, conventional glove-type wearable interfaces often fail to fully engage the structural diversity and dynamic motions of fingers, providing tactile feedback to limited areas and restricting the full utilization of finger versatility for rich interactions. Here, a glove-type auxetic wearable haptic (GAWH) interface that employs an auxetic meta-design to offer embodied mechanical intelligence is introduced. This unique design ensures the positioning of haptic-effective regions on all finger joints with high conformability, despite the variations in finger sizes among individuals. The GAWH delivers multimodal tactile feedback including static pressure, dynamic vibration, and variable stiffness with high spatial resolution to all joints. This enables users to interact with objects through diverse grasping modes and enhanced perception. Consequently, the GAWH provides real-time meta-linkage to virtual reality, allowing users to perform grasping tasks intuitively. Additionally, the GAWH facilitates interaction between humans and robots by enabling users to understand how robots feel during haptic-assisted teleoperation. Overall, this work establishes a foundation for wearable haptic interfaces that can simultaneously enhance versatility, adaptability, and diversity, leveraging the full potential of the versatile fingers.

引用

页数：14