Haptic Orientation Guidance Using Two Parallel Double-Gimbal Control Moment Gyroscopes.
Haptic Orientation Guidance Using Two Parallel Double-Gimbal Control Moment Gyroscopes.
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DOI：
10.1109/toh.2017.2713380
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发表时间：
2018-04
影响因子：
2.9
通讯作者：
Okamura AM
中科院分区：
文献类型：
--
作者：
Walker JM;Culbertson H;Raitor M;Okamura AM
本文提出了一种由两个双框架控制力矩陀螺仪（CMGs）组成的系统，用于提供非接地的运动触觉反馈。通过旋转第二个飞轮与第一个飞轮相对，并通过相反的轨迹旋转它们，可以消除不希望的陀螺仪效应，隔离单个扭矩轴。这就产生了一个与飞轮旋转速度和旋转速度成正比的力矩脉冲。在一个方向上快速旋转CMG万向节，然后更慢地重置它们，产生重复的扭矩脉冲，指示明确的方向提示。我们提出了该系统产生的力矩的数学模型，并验证了我们的装置的性能与该模型相匹配。利用这些不对称的力矩脉冲，我们在两个研究中为参与者提供触觉线索。在第一项研究中，用户只需识别扭矩提示的方向。在第二项研究中，我们使用扭矩脉冲来引导用户到目标方向。两项研究的表现表明，该系统有潜力为需要非接地触觉反馈的应用提供有用的指导。
This paper presents a system of two double-gimbal control moment gyroscopes (CMGs) for providing ungrounded kinesthetic haptic feedback. By spinning a second flywheel opposite the first, and rotating them through opposite trajectories, undesired gyroscopic effects can be eliminated, isolating a single torque axis. This produces a moment pulse proportional to the flywheel spin speed and rotation speed. Rotating the CMG gimbals quickly in one direction, then resetting them more slowly generates repeated torque pulses indicating a clear direction cue. We present the mathematical model for moments produced by this system and verify that the performance of our device matches this model. Using these asymmetric moment pulses, we provide haptic cues to participants in two studies. In the first study, users simply identify the direction of torque cues. In the second study, we use the torque pulses to guide users to target orientations. Performance in both studies shows that this system has the potential to provide useful guidance for applications where ungrounded haptic feedback is desired.