Simultaneous remote haptic collaboration for assembling tasks
Simultaneous remote haptic collaboration for assembling tasks
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用于组装任务的同步远程触觉协作
DOI：
10.1007/s00530-007-0108-7
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发表时间：
2007
影响因子：
3.9
通讯作者：
Iglesias R
中科院分区：
文献类型：
--
作者：
Iglesias R
使用触觉设备的独立虚拟环境(VE)已被证明对机械部件的装配/拆卸模拟非常有用。如今，协同触觉虚拟环境(CHVEs)也在不断涌现。开发了一种新的对等协作触觉装配模拟器(CHAS)，通过该模拟器，两个用户可以同时使用触觉设备执行装配任务。解决了两个主要挑战：虚拟场景同步(一致性)和提供可靠和有效的触觉反馈。设计了一种一致性维护方案来解决实现一致性的挑战。结果表明，一致性是有保证的。此外，还开发了一种力平滑算法，该算法在恶劣的网络条件下改善了力反馈的质量。拉贝恩(西班牙)和贝尔法斯特女王大学(北爱尔兰)之间的一系列实验室实验和几项真实试验已经证实，当两个用户执行远程组装(将一个用户的对象与另一个用户抓住的对象进行组装)时，CHAS可以提供足够的触觉交互。此外，当抓握物体之间发生碰撞(依赖碰撞)时，触觉反馈通常提供令人满意的触觉感觉。在定性研究的基础上，研究表明，在依赖碰撞的远程装配过程中获得的触觉反馈可以继续提高用户之间仅就视觉反馈而言的共生感。
Stand-alone virtual environments (VEs) using haptic devices have proved useful for assembly/disassembly simulation of mechanical components. Nowadays, collaborative haptic virtual environments (CHVEs) are also emerging. A new peer-to-peer collaborative haptic assembly simulator (CHAS) has been developed whereby two users can simultaneously carry out assembly tasks using haptic devices. Two major challenges have been addressed: virtual scene synchronization (consistency) and the provision of a reliable and effective haptic feedback. A consistency-maintenance scheme has been designed to solve the challenge of achieving consistency. Results show that consistency is guaranteed. Furthermore, a force-smoothing algorithm has been developed which is shown to improve the quality of force feedback under adverse network conditions. A range of laboratory experiments and several real trials between Labein (Spain) and Queen’s University Belfast (Northern Ireland) have verified that CHAS can provide an adequate haptic interaction when both users perform remote assemblies (assembly of one user’s object with an object grasped by the other user). Moreover, when collisions between grasped objects occur (dependent collisions), the haptic feedback usually provides satisfactory haptic perception. Based on a qualitative study, it is shown that the haptic feedback obtained during remote assemblies with dependent collisions can continue to improve the sense of co-presence between users with regard to only visual feedback.
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影响因子：
4.2
作者：
C. Gunn
通讯作者：
C. Gunn
DOI：
--
发表时间：
2004
期刊：
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影响因子：
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DOI：
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发表时间：
2005
期刊：
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影响因子：
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作者：
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DOI：
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发表时间：
2004
期刊：
影响因子：
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作者：
Felix G. Hamza;Charles E. Hughes;Jannick P. Rolland
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DOI：
--
发表时间：
2004
期刊：
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影响因子：
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作者：
D. Roberts;R. Wolff
通讯作者：
R. Wolff