Deformable Model-Based Methods for Shape Control of a Haptic Jamming Surface
Deformable Model-Based Methods for Shape Control of a Haptic Jamming Surface
复制标题
基于可变形模型的触觉干扰表面形状控制方法
DOI：
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发表时间：
2017
影响因子：
5.2
通讯作者：
A. Okamura
中科院分区：
文献类型：
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作者：
Andrew A. Stanley;A. Okamura
触觉干扰，同时控制机械性能和表面变形的触觉显示器通过粒子干扰和运动学的方法，显示出作为一个有形的，形状变化的人机界面的承诺。以前的研究介绍了设备设计，并描述了单个干扰细胞的力-位移相互作用。本文分析了多单元阵列的形状输出能力。弹簧-质量可变形体仿真结合了触觉干扰表面的三个驱动输入的模型：节点钉扎、腔室加压和单元干扰。来自深度相机的12单元原型的表面测量在加压测试期间将质量和刚度参数拟合到设备，并验证模型对于各种致动序列的准确性。该模拟器用于开发一种算法，该算法生成用于任何大小的触觉干扰阵列的致动输入序列，以匹配所需的表面输出形状。从地形图和三维固体物体模型中提取的数据用于评估形状匹配算法，并评估增加阵列大小和分辨率的效用。结果表明，离散的拉普拉斯算子应用于输入是一个合适的预测的相关系数之间的期望的形状和设备的输出。
Haptic Jamming, the approach of simultaneously controlling mechanical properties and surface deformation of a tactile display via particle jamming and pneumatics, shows promise as a tangible, shape-changing human-computer interface. Previous research introduced device design and described the force-displacement interactions for individual jamming cells. The work in this article analyzes the shape output capabilities of a multi-cell array. A spring-mass deformable body simulation combines models of the three actuation inputs of a Haptic Jamming surface: node pinning, chamber pressurization, and cell jamming. Surface measurements of a 12-cell prototype from a depth camera fit the mass and stiffness parameters to the device during pressurization tests and validate the accuracy of the model for various actuation sequences. The simulator is used to develop an algorithm that generates a sequence of actuation inputs for a Haptic Jamming array of any size in order to match a desired surface output shape. Data extracted from topographical maps and three-dimensional solid object models are used to evaluate the shape-matching algorithm and assess the utility of increasing array size and resolution. Results show that a discrete Laplace operator applied to the input is a suitable predictor of the correlation coefficient between the desired shape and the device output.
DOI：
10.1016/j.cma.2010.06.037
发表时间：
2010-12-15
影响因子：
7.2
作者：
Joldes GR;Wittek A;Miller K
通讯作者：
Miller K