NSF Young Investigator: Force-Reflecting System for Computer Aided Design Applications

9457981长期这项研究通过探索力反射触觉环境在计算机辅助设计、远程机器人和虚拟现实应用中的潜力来解决人、机器和电子媒体之间的交互作用。这项研究借鉴了对人类触觉识别、力反射和触觉模拟方案以及螺丝系统理论的深入理解。力反射触觉环境由可调节的左/右触觉手印组成，每个手印安装在独立的六个平行的力反射平台上。手印模拟了各种触觉上重要的属性，如质地、硬度和导热系数。六个自由度的平行反力平台与上肢接合，约束手部沿规定的几何轮廓运动。整个系统结构紧凑，重量轻，足以放在一个公文包里。这种新颖的力反射触觉环境旨在快速开发计算机设计的产品，操纵远程物理对象(远程机器人和机器人外科手术)，以及与计算机生成的非物理对象交互(虚拟现实)。

9457981 Long This research addresses the interaction between humans, machines, and electronic media by exploring the potential of Force- Reflecting Haptic-Environment for Computer-Aided Design, Telerobotics, and Virtual Reality applications. The research draws upon an indepth understanding of haptic recognition in humans, force-reflection and haptic-simulation schemes, and screw-systems theory. The force-reflecting haptic-environment is comprise of adjustable left/right haptic hand-imprints, each mounted on separate six degree-of-freedom in-parallel force-reflecting plat- forms. the hand-imprints simulate various haptically important properties such as texture, hardness, and thermal conductivity. The six degree-of-freedom in-parallel force-reflecting platforms, which engage the upper limbs, constrain hand motion along prescribed geometric contours. The entire system is compact and light enough to place in a brief case. This novel force-reflecting haptic-environment is intended for rapid development of computer-designed products, manipulation of remote physical objects (telerobotics and robotics-surgery), and interaction with computer-generated non-physical objects (virtual reality).