The haptic scissors: cutting in virtual environments
The haptic scissors: cutting in virtual environments
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触觉剪刀：在虚拟环境中进行切割
DOI：
10.1109/robot.2003.1241696
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
H. Jafry
中科院分区：
文献类型：
--
作者：
A. Okamura;R. Webster;Jason T. Nolin;K. Johnson;H. Jafry
“触觉剪刀”是一种在虚拟环境中创造切割感觉的设备。剪刀有两个运动和力反馈自由度，一个用于切割（单刃旋转），一个用于平移。为了实现真实的切削仿真，提出了一种同时显示平移力和切削力的算法。在之前的工作中，我们使用切割生物组织的过滤数据来创建切割经验的“触觉记录”。在这里，我们考虑两种切割模型：一种基于真实组织数据，另一种是分析的。基于真实组织的模型是原始数据的分段线性经验模型。实验结果表明，用户无法区分这些模型和之前创建的触觉记录。分析模型结合摩擦力、假定的材料特性和使用者运动（位置和速度）来确定显示的切削力。
The "haptic scissors" is a device that creates the sensation of cutting in virtual environments. The scissors have two degrees of freedom of motion and force feedback, one for cutting (single blade rotation) and one for translation. An algorithm was developed to simultaneously display translational and cutting forces for a realistic cutting simulation. In previous work, we use filtered data from cutting biological tissues to create "haptic recordings" of the cutting experience. Here, we consider two cutting models: one based on real tissue data and one that is analytical. The model based on real tissue is a segmented linear empirical model of the original data. Experimental results show that users cannot differentiate between these models and the haptic recordings created earlier. The analytical model uses a combination of friction, assumed material properties, and user motion (position and velocity) to determine the displayed cutting forces.