Multirate analysis of haptic interaction stability with deformable objects
Multirate analysis of haptic interaction stability with deformable objects
复制标题
可变形物体触觉交互稳定性的多速率分析
DOI：
10.1109/cdc.2002.1184625
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
J. Salisbury
中科院分区：
文献类型：
--
作者：
F. Barbagli;D. Prattichizzo;J. Salisbury
描述一种技术，该技术允许多个用户以稳定的方式与一组可变形的缓慢模拟对象进行触觉交互。在过去，各种研究人员使用被动理论来解决稳定性问题，以避免必须模拟人类操作员关闭触觉回路。然而，如果不使用高更新率，这些解决方案都无法很好地发挥作用，因此在与缓慢模拟的虚拟环境（如具有高度精确可变形对象的环境）进行触觉交互的情况下就会失效。对于具有力反馈的手术模拟来说尤其如此，其中精度是一个关键问题，并且复杂性可以达到很高的水平。本文提出的技术是基于局部模型的概念，用于适应可变形物体的触觉交互。这种方法允许多个用户稳定地与同一对象进行交互，同时感受其他用户对同一对象的影响。通过一个简单的实例，给出了使用PHANTOM触觉接口的实验结果。
Describes a technique for allowing multiple users to haptically interact with a set of deformable slowly-simulated objects in a stable manner. Stability has been approached in the past by various researchers using passivity theory in order to avoid having to model the human operator closing the haptic loop. None of these solutions however can work well without the use of high update rates and thus break down in the case of haptic interaction with slowly simulated virtual environments such as the ones featuring highly precise deformable objects. This is particularly true for the case of surgical simulation with force feedback, where precision is a key issue and where complexity can reach high levels. The techniques presented in the paper are based on the concepts of a local model for haptic interaction adapted to deformable objects. Such approach allows multiple users to stably interact with a same object while feeling the influence of other users on the same object. Experimental results employing a PHANTOM haptic interface are proposed for a simple example.