Deformation Matching: Force Computation based on Deformation Optimization
Deformation Matching: Force Computation based on Deformation Optimization
复制标题
变形匹配：基于变形优化的力计算
DOI：
10.1109/toh.2022.3142053
复制
发表时间：
2022
影响因子：
2.9
通讯作者：
Nojima Takuya
中科院分区：
文献类型：
--
作者：
Hirota Koichi;Ujitoko Yusuke;Sakurai Sho;Nojima Takuya
通过模拟对象模型和用户模型之间的接触来计算在与虚拟对象交互期间要呈现给用户的触觉信息。在模拟中，分布力被施加到用户的手的皮肤组织上的接触区域，并且导致皮肤组织的变形。由分布力引起的皮肤变形是器械应呈现的目标接触状态。然而，大多数多点触觉显示器不具有足够的自由度（DoF）来表示目标接触状态。本文提出了“变形匹配”的概念和公式，由此计算输出力，以最小化目标皮肤变形和皮肤变形之间的误差，可以实现有限的自由度设备的输出力。为了比较，还提出了“力匹配”的传统概念。这两个概念之间的差异，在人类感知的摩擦力的表达进行了研究，通过实验，使用针阵列触觉显示器能够刺激128点。结果表明，变形匹配比力匹配对摩擦系数的感知更敏感，对摩擦方向的感知更准确。
The tactile information to be presented to a user during interaction with a virtual object is calculated by simulating the contact between the object model and user model. In the simulation, a distributed force is applied to the contact area on the skin tissue of users’ hands and results in deformation of the skin tissue. The skin deformation caused by the distributed force is the target contact state that should be presented by the device. However, most multipoint haptic displays do not have sufficient degrees of freedom (DoF) to represent the target contact state. This paper presents the concept and formulation of “deformation matching,” whereby the output force is calculated to minimize the error between the target skin deformation and skin deformation that can be realized by the limited DoF device's output force. For comparison, the conventional concept of “force matching” was also formulated. The difference in human perception between these two concepts in the expression of friction was investigated through experiments using a pin-array tactile display capable of stimulating 128 points. It was demonstrated that the perception of the friction coefficient was more sensitive and the perception of the friction direction was more accurate in deformation matching than in force matching.