Haptic illusions: experiments on human manipulation and perception of "virtual objects".
Haptic illusions: experiments on human manipulation and perception of "virtual objects".
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触觉错觉：关于人类操纵和感知“虚拟物体”的实验。
DOI：
10.1101/sqb.1990.055.01.086
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
Mussa-Ivaldi,FA
中科院分区：
文献类型：
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作者：
Hogan,N;Kay,BA;Fasse,ED;Mussa-Ivaldi,FA
方法实验装置。图1所示的实验装置的特点是一个独特的计算机控制的机械手，它基本上是一个两自由度的机器人手臂，被限制在一个水平面内移动。坐着的受试者抓住安装在力/扭矩传感器上的手柄，该传感器依次安装在操纵器的末端。受试者手臂的运动也被限制在水平面上，仅允许肩部和肘部运动。两个力矩电机由电流控制放大器驱动，安装在机械臂的连杆上。光学编码器测量连杆的角位置。安装在力矩电机上的模拟转速计的数字化输出测量连杆的角速度。
METHODSExperimental apparatus. The experimental apparatus shown schematically in Figure 1 featured a unique computer-controlled manipulandum that was essentially a two-degree-of-freedom robot arm constrained to move in a horizontal plane. Seated subjects grasped a handle mounted on a force/torque transducer that was mounted, in turn, on the end of the manipulandum. Motion of the subjects' arms was also constrained to the horizontal plane, with motion allowed at the shoulder and elbow only. Two torque motors driven by current-controlled amplifiers were mounted on the links of the robot arm. Optical encoders measured the angular position of the links. The digitized output of analog tachometers mounted on the torque motors measured the angular speed of the links.