Magnetic Levitation Haptic Interfaces

这个项目的进步知识如何给计算机用户令人信服的真实的触觉（触觉）与计算机的互动。 虽然在这一领域已经取得了一些进展，主要是通过使用反向驱动的机器人式操纵器，但这是一种新的方法， 质的飞跃 的 这样的功能：用户通过抓取arigid与计算机交互 一种工具，其行为描述是计算的，使用该工具与计算环境进行交互， 是 语义上有意义的 的 应用程序. 同时，环境在工具的手柄上施加用户感觉到的真实力和扭矩。 视觉是提供计算机用户即时的，高保真的，令人信服的真实的与计算环境的交互之一。 新的触觉接口方法是基于最近开发的磁悬浮技术，以及最近在基于物理的模拟艺术的强劲进展。 磁悬浮技术使用洛伦兹力以六个自由度稳定地悬浮和控制刚体（包括用户交互的手柄），为触觉交互提供了新的且迄今为止未探索的物理基础。 新的模拟方法基于专用技术，承诺比通用技术更简单，更快，更强大。 强大的现实物理模拟，加上高带宽的六自由度力反射，有可能大大提高的感觉，性能和虚拟环境系统的能力，在广泛的人类活动中使用的艺术状态。

This project advances knowledge about how to give computer users convincingly real haptic (sense of touch) interaction with computers. While there has been some progress in this area, chiefly through the use of back-driven robotic-like manipulators, this is a substantially new approach which promises a qualitative leap in improvement of such capabilities: A user interacts with the computer by grasping arigid tool whose behavioral description is computed, employing this tool to interact with computed environments which are semantically meaningful in terms of the application. At the same time, the environment exerts realistic forces and torques on the tool's handle which are felt by the user. The vision is one of providing the computer user immediate, high-fidelity, convincingly real interaction with computed environments. The new haptic interface approach is based on a recently developed magnetic levitation technology, and on recent strong advances in the art of physically-based simulation. The magnetic levitation technology uses Lorentz forces to stably levitate and control a rigid body (which includes the handle through which the user interacts) in six degrees of freedom, giving a new and heretofore unexplored physical basis for haptic interaction. The new simulation methods are based on special-purpose techniques that promise to be simpler, faster, and more robust than their generic counterparts. Robust realistic physical simulation, coupled with high- bandwidth six-degree-of-freedom force reflection, has the potential to greatly improve the state of the art in the feel, performance, and capabilities of virtual environment systems for use in a wide range of human activities.