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2019 Vol.38, Issue 4 Preview Page

Research Article

Haptic recognition of the palm using ultrasound radiation force and its application

초음파 방사힘을 이용한 손바닥의 촉각 인식과 응용

Sun Ae Kim1
,
Tae Yang Kim1
,
Yeol Eum Lee1
,
Soo Yeon Lee1
,
Mok Kun Jeong1∗
,
Sung Jae Kwon2
김 선애1
,
김 태양1
,
이 열음1
,
이 수연1
,
정 목근1∗
,
권 성재2
1대진대학교 전기 및 전자공학부
2대진대학교 휴먼IT융합학부
∗Corresponding Author
31 July 2019. pp. 467-475
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Abstract

A high-intensity ultrasound wave generates acoustic streaming and acoustic radiation forces when propagating through a medium. An acoustic radiation force generated in a three-dimensional space can produce a solid tactile sensation, delivering spatial information directly to the human skin. We placed 154 ultrasound transmit elements with a frequency of 40 kHz on a concave circular dish, and generated an acoustic radiation force at the focal point by transmitting the ultrasound wave. To feel the tactile sensation better, the transmit elements were excited by sine waves whose amplitude was modulated by a 60 Hz square wave. As an application of ultrasonic tactile sensing, a region where tactile sense is formed in the air is used as an indicator for the position of the hand. We confirmed the utility of ultrasonic tactile feedback by implementing a system that provides the number of fingers to a machine by receiving the shape of the hand at the focal point where the tactile sense is detected.

Keywords
Haptics
Acoustic streaming
Acoustic radiation force
Concave disk transducer
40 kHz ultrasound
High-intensity ultrasound

고출력의 초음파는 매질을 진행하면 음향 흐름과 음향 방사힘을 만들어낸다. 공기를 매질로 하는 3차원 공간상에 음향 방사힘을 발생시키면 입체적인 촉감을 형성할 수 있으므로 공간적인 정보를 직접 피부에 촉각으로 전달할 수 있다. 본 논문은 40 kHz의 작은 초음파 송신자 154개를 묶어 오목한 형태로 배열시켜서 초음파를 송신하여 집속 초점에서 음향 방사힘을 발생시켰다. 초음파 음장의 초점의 근처에서 음향 방사힘에 의한 촉각을 확인하였다. 촉각 감도를 올리기 위하여 송신 초음파를 60 Hz의 구형파로 진폭 변조를 하였다. 초음파 촉각의 응용으로 음향 방사힘이 형성되는 허공에 촉각이 감지되는 영역을 형성시켜서, 손의 위치를 지정하는 지시자로 사용하였다. 촉각이 감지되는 초점 위치에 있는 손의 모양을 영상 입력으로 받아서 손가락의 개수를 기계에 피드백하는 시스템을 구현함으로써 초음파를 이용한 촉각의 유용성을 확인하였다.

키워드
햅틱스
음향 흐름
음향 방사힘
오목 디스크 트랜스듀서
40 kHz 초음파
고강도 초음파
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Information
  • Publisher :The Acoustical Society of Korea
  • Publisher(Ko) :한국음향학회
  • Journal Title :The Journal of the Acoustical Society of Korea
  • Journal Title(Ko) :한국음향학회지
  • Volume : 38
  • No :4
  • Pages :467-475
  • Received Date : 2019-04-29
  • Revised Date : 2019-06-24
  • Accepted Date : 2019-07-01
  • DOI :https://doi.org/10.7776/ASK.2019.38.4.467
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