The “Haptic Camera”: A Technique for Characterizing and Playing Back Haptic Properties of Real Environments
The “Haptic Camera”: A Technique for Characterizing and Playing Back Haptic Properties of Real Environments
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“触觉相机”：一种表征和回放真实环境触觉特性的技术
DOI：
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发表时间：
1996
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影响因子：
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通讯作者：
Karon E Maclean
中科院分区：
文献类型：
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作者：
Karon E Maclean
在模拟触觉反馈的一些应用中，不仅需要显示器感觉稳定和足够逼真：它必须类似于高保真的特定真实设备，模拟已经存在或将存在的物理环境提供的反馈。开发了一种自动化的触觉表征技术，该技术利用触觉显示器本身在严格的位置控制下探测真实环境，同时测量相互作用力。假设模型结构可以是非线性的和全局不连续的，但分段连续的，并通过应用适当选择的位置轨迹来对连续的高阶参数进行改进。采用一台单自由度直线电机，行程90 mm，峰值作用力60N，配置位置和力传感器，既作为测头又作为力显示。
该算法在一个真实的环境上进行了测试，该环境是一个具有非线性、顺应性主导阻抗的拨动开关。由于实际设备的性质，只提取了刚度；这种零阶分段线性模型假设与测量轨迹非常接近，测量和处理时间不到30秒。与其他表征方法相比，这在回放保真度方面有了很大的改进。未来的工作包括在高阶系统上测试该算法。
In some applications of simulated haptic feedback, it is necessary not only that the display feel stable and adequately realistic: it must resemble with high fidelity a particular real device, emulating the feedback supplied by a physical environment that does or will exist. An automated haptic characterization technique was developed in which the haptic display itself is used under tight position control to probe the real environment while measuring interaction forces. A model structure is assumed which may be nonlinear and globally discontinuous but piecewise continuous, and is refined for successively higher-order parameters by application of appropriately chosen position trajectories. A one degree-of-freedom linear-acting motor with 90 mm stroke, a peak force of 60 N and equipped with position and force sensors was used as both a probe and a force display.
This algorithm was tested on one real environment, a toggle switch with a nonlinear, compliance-dominated impedance. Because of the nature of the real device, only stiffnesses were extracted; this zero-order, piecewise linear model assumption provided a close fit to the measured trajectory with under 30 seconds of measurement and processing time. This was a substantial improvement in playback fidelity over that achieved by other characterization methods. Future work includes testing the algorithm on higher order systems.