Robotic & Magnetic Interface for Force Interactions with Virtual Reality

机器人

• 批准号: 9420809
• 负责人: Greg Luecke
• 金额: $ 21.05万
• 依托单位: Iowa State University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1995
• 资助国家: 美国
• 起止时间: 1995-06-15 至 1998-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9420809&HistoricalAwards=false
• 关键词: Robotic; & Magnetic; Interface; Force

The objective of this research is to develop a haptic interface system that allows force interactions with computer-generated virtual reality graphical displays. This system is based on coupling the human hand with a robotic manipulator using electromagnetic principles. The development and interfacing of the mechanical hardware used to implement the force feedback system is a major aspect of the research. A six degree of freedom robot manipulator is used as the motion platform for the force interface device and to provide reactions for the electromagnetic forces. The robot will hold the magnetic force generation device near the hand of the user, using position and orientation tracking to follow the motion of the user's hand. Virtual forces will be computed from the interactions between objects and the user's hand in the virtual environment and transmitted to the human by energizing electrical coils attached to the finger tips of the user. Development of a virtual environment for studying real-time interactions is also a part of the research. Geometric models of the virtual objects will be developed and displayed using a head mounted display coupled with a Silicon Graphics, Inc., Onyx Reality Engine. The position of the user's head will provide visual orientation of the graphics scene. The motion of the user's hand will be measured using the relative position of the robot. Finally, strategies for real time motion and collision detection of the objects in the virtual environment will be developed.

本研究的目的是开发一种触觉界面系统，允许与计算机生成的虚拟现实图形显示进行力交互。该系统基于电磁原理将人手与机械臂耦合。用于实现力反馈系统的机械硬件的开发和接口是研究的一个主要方面。采用六自由度机械臂作为力界面装置的运动平台，并对电磁力进行反作用力。机器人将磁力产生装置固定在用户的手附近，利用位置和方向跟踪来跟踪用户的手的运动。虚拟力将从虚拟环境中物体与用户的手之间的相互作用中计算出来，并通过连接在用户指尖上的通电线圈传递给人类。开发用于研究实时交互的虚拟环境也是研究的一部分。虚拟物体的几何模型将被开发并使用头戴式显示器与Silicon Graphics， Inc.， Onyx Reality Engine相结合来显示。用户头部的位置将提供图形场景的视觉方向。用户的手的运动将通过机器人的相对位置来测量。最后，研究了虚拟环境中物体的实时运动和碰撞检测策略。