MIMO Output Estimation With Reduced Multirate Sampling for Real-Time Haptic Rendering
MIMO Output Estimation With Reduced Multirate Sampling for Real-Time Haptic Rendering
复制标题
通过减少多速率采样进行 MIMO 输出估计以实现实时触觉渲染
DOI：
10.1109/tro.2007.895069
复制
发表时间：
2007
影响因子：
7.8
通讯作者：
D. Lee
中科院分区：
文献类型：
--
作者：
Kyungno Lee;D. Lee
提出了一种用于实时多输入多输出（MIMO）触觉渲染的输出估计方法。触觉系统采用基于物理的变形模型，例如有限元模型和质量弹簧模型。这些基于物理的高保真变形模型必须处理虚拟对象的复杂几何形状、材料属性和真实行为。这导致了沉重的计算负担和时间延迟，使得反射力通常不能在1 kHz下计算，1 kHz是触觉系统稳定性的安全频率。较低的更新率的触觉回路和计算时间延迟也恶化了触觉系统的真实感。这个问题是解决所提出的MIMO输出估计方法。触觉系统被设计为具有两个采样时间T和JT，分别用于触觉回路和图形回路。基于物理的变形的动态被捕获在一个离散的和确定性的输入输出模型。MIMO输出估计方法的最小二乘算法和输出误差估计模型。针对变形模型输入输出关系的变化，设计了P矩阵重置算法。在线调整离散投入产出模型的参数。从估计的输入-输出模型以高速率计算样本间输出，并跟踪从变形模型计算的正确输出。该方法使得能够以较低的更新速率进行图形渲染，并且以较高的更新速率进行触觉渲染。证明了该方法的收敛性，并通过线性张量-质量和线性质量-弹簧模型的仿真验证了该方法的性能。
This paper presents an output-estimation method with reduced multirate sampling for real-time multi-input-multi-output (MIMO) haptic rendering. Haptic systems employ physics-based deformation models such as finite-element models and mass-spring models. These physics-based deformation models for high fidelity have to deal with complex geometries, material properties, and realistic behavior of virtual objects. This incurs heavy computational burden and time delays so that the reflective force often cannot be computed at 1 kHz which is a safe frequency for stability of the haptic systems. Lower update rates of the haptic loop and the computational time delay also deteriorate the realism of the haptic system. This problem is resolved by the proposed MIMO output-estimation method. The haptic system is designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. Dynamics of the physics-based deformation is captured in a discrete and deterministic input-output model. The MIMO output estimation method is developed drawing on a least-squares algorithm and an output-error estimation model. The P-matrix resetting algorithm is also designed to deal with the changing input-output relationship of the deformation model. The parameters of the discrete input-output model are adjusted online. Intersample outputs are computed from the estimated input-output model at a high rate, and traces the correct output computed from the deformation model. This method enables graphics rendering at a lower update rate, and haptic rendering at a higher update rate. Convergence of the proposed method is proved, and performance is demonstrated through simulation with both a linear tensor-mass and a linear mass-spring models.