High-Fidelity Haptic Interaction with Three-Dimensional Environments using Lorentz Magnetic Levitation

使用洛伦兹磁悬浮与三维环境进行高保真触觉交互

• 批准号: 9802191
• 负责人: Ralph Hollis
• 金额: $ 60.09万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1998
• 资助国家: 美国
• 起止时间: 1998-09-01 至 2003-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9802191&HistoricalAwards=false
• 关键词: Fidelity; Haptic; Interaction; Three; Dimensional

*** 9802191 Hollis This project builds on results from previous NSF grant IRI9420869: "Magnetic Levitation Haptic Interfaces." The previous grant developed a haptic interface (force/torque feedback) interaction capability for computer users based on Lorentz magnetic levitation. The user interacts with a single moving part with three rotational and three translational degrees of freedom (DOF) floating above the desktop. Combined with advances in physically-based simulation methods, it provided computer users convincingly real haptic (sense of touch) interaction with computers through six-degree-of-freedom (DOF) position input and 6-DOF force/torque output to the user's hand at resolutions of approximately 10 microns and a position bandwidth of approximately 75 Hz. The present effort seeks to make several technology enhancements and to quantitatively measure the psychophysical effectiveness of this approach. Comparisons are being made for haptic interaction with virtual environments and telemanipulation environments, and both of these with real environments to quantitatively clarify the differences between these modes. Methods for robustly "caching" local haptically-relevant regions of the virtual environment are being explored to smoothly synchronize the visual and haptic displays. Psychophysical methods are employed in the design of the human-computer interface to provide a controlled setting for conducting psychophysical measurements. Finally, detailed psychophysical measurements are being performed with the developed experimental system to quantitatively measure the degree of reality provided. The knowledge gained from this work provides needed information for the engineering science of haptic interface design while helping to elucidate the nature of haptic interaction itself. ***

*** 9802191 Hollis 该项目建立在之前 NSF 拨款 IRI9420869 的成果之上：“磁悬浮触觉界面”。 先前的资助为基于洛伦兹磁悬浮的计算机用户开发了触觉界面（力/扭矩反馈）交互功能。用户与浮动在桌面上方的具有三个旋转自由度和三个平移自由度 (DOF) 的单个移动部件进行交互。 结合基于物理的模拟方法的进步，它通过六自由度 (DOF) 位置输入和六自由度力/扭矩输出到用户的手，以大约 10 微米的分辨率和大约 75 Hz 的位置带宽，为计算机用户提供令人信服的真实触觉（触觉）交互。 目前的努力旨在进行多项技术改进，并定量测量这种方法的心理物理有效性。 我们正在将触觉交互与虚拟环境和远程操作环境进行比较，并将这两种环境与真实环境进行比较，以定量地阐明这些模式之间的差异。 正在探索稳健地“缓存”虚拟环境的局部触觉相关区域的方法，以平滑地同步视觉和触觉显示。 人机界面的设计采用心理物理学方法，为进行心理物理学测量提供受控设置。 最后，正在使用开发的实验系统进行详细的心理物理测量，以定量测量所提供的现实程度。 从这项工作中获得的知识为触觉界面设计的工程科学提供了所需的信息，同时有助于阐明触觉交互本身的本质。 ***