A Proposal of a High Definition Haptic Rendering for Stability and Fidelity
A Proposal of a High Definition Haptic Rendering for Stability and Fidelity
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提高稳定性和保真度的高清触觉渲染提案
DOI：
10.1109/icat.2006.24
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Makoto Sato
中科院分区：
文献类型：
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作者：
K. Akahane;S. Hasegawa;Y. Koike;Makoto Sato
在本文中，我们提出了一个10 kHz的高清晰度的触觉渲染，可以显示在实时视频速率（60 Hz），在一般的VR应用。我们的建议要求在多速率系统中的保真度和稳定性，其中频率比近似为160倍。为了满足这两个标准，还有一些问题需要解决。从仅获得稳定性的角度出发，我们可以采用虚拟耦合的方法将力觉显示器和虚拟物体连接起来。但由于其耦合阻抗较低，不利于保真度的实现和操作质量的提高。因此，我们已经开发了一个多速率系统与两级上采样的保真度和稳定的触觉感觉。第一级上采样实现了虚拟耦合的稳定性，第二级实现了10 kHz触觉渲染的保真度，以补偿耦合过程中丢失的触觉质量。我们证实，我们提出的系统可以通过计算机模拟和6DOF触觉接口（SPIDAR-G）与刚性对象模拟引擎实现触觉渲染的稳定性和保真度。
In this paper, we propose a 10 kHz high definition haptic rendering which can display on real-time video-rate (60Hz) in general VR applications. Our proposal requires both fidelity and stability in the multi-rate system, which the frequency ratio approximates at 160 times. For satisfying two criteria, there are some problems to be resolved. In the view of getting only stability, we can use a virtual coupling method to link a haptic display and a virtual object. Due to low its coupling impedance, this method isn't good for realization of fidelity and quality of manipulation. Therefore, we have developed a multi-rate system with two level up-sampling for both fidelity and stability of haptic sensation. The first level up-sampling achieves stability with the virtual coupling, and the second level achieves fidelity with 10kHz haptic rendering to compensate the haptic quality lost from the coupling process. We confirmed that our proposed system could achieve both the stability and fidelity of haptic rendering through a computer simulation and a 6DOF haptic interface (SPIDAR-G) with a rigid object simulation engine.