A dual-flywheel ungrounded haptic feedback system provides single-axis moment pulses for clear direction signals
A dual-flywheel ungrounded haptic feedback system provides single-axis moment pulses for clear direction signals
复制标题
双飞轮不接地触觉反馈系统提供单轴力矩脉冲以提供清晰的方向信号
DOI：
10.1109/haptics.2016.7463148
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
A. Okamura
中科院分区：
文献类型：
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作者：
Julie M. Walker;Michael Raitor;Alex Mallery;Heather Culbertson;Philipp J. Stolka;A. Okamura
飞轮旋转提供了一种用于无接地动觉（力）反馈的方法，但是使用单个飞轮产生力矩脉冲的设备固有地在与所需扭矩正交的方向上产生不期望的扭矩。我们提出了一种新颖的双飞轮陀螺力矩触觉装置，能够在三维空间中的孤立轴上传递短力矩脉冲。绕轴旋转单个旋转飞轮会产生绕正交轴的反作用力矩。将两个沿相反方向旋转的飞轮产生的力矩相加，消除了陀螺效应引起的力矩分量，留下绕恒定轴的力矩。双飞轮系统的动态模型和扭矩输出测量表明，双飞轮方法可产生绕任何 3D 轴的力矩，而没有正交力矩分量。我们假设该系统提供易于辨别的触觉反馈，用户可以将其解释为方向信号。原型设备和用户研究通过实验证明，双飞轮系统产生的力矩脉冲会产生易于辨别的方向信号。
Flywheel rotation provides a means for ungrounded kinesthetic (force) feedback, but devices that use a single flywheel to generate moment pulses inherently generate undesirable torque in directions orthogonal to the desired torque. We present a novel dual-flywheel gyro-moment haptic device capable of delivering short moment pulses about isolated axes in three-dimensional space. Rotating a single spinning flywheel about an axis creates a reaction moment about an orthogonal axis. Summing the moments created by two flywheels spinning in opposite directions eliminates moment components due to gyroscopic effects, leaving a moment about a constant axis. A dynamic model and torque output measurements of the dual-flywheel system demonstrate that the dual-flywheel approach generates moments about any 3D axis with no orthogonal moment components. We hypothesize that this system presents easily discernible haptic feedback that users can interpret as a direction signal. A prototype device and user study demonstrate experimentally that moment pulses generated by the dual-flywheel system resulted in easily distinguishable direction signals.