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

* 9802191 Hollis该项目建立在先前NSF资助IRI 9420869的结果之上：“磁悬浮触觉接口。“以前的赠款开发了一个触觉接口（力/扭矩反馈）的交互能力，为计算机用户的基础上洛伦兹磁悬浮。用户与漂浮在桌面上方的具有三个旋转和三个平移自由度（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6-DOF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，向计算机用户提供令人信服的真实的触觉（触觉）与计算机的交互。 目前的努力，旨在使几个技术的增强，并定量测量这种方法的心理物理效果。 正在进行比较与虚拟环境和telemanipulation环境的触觉交互，这两个与真实的环境定量澄清这些模式之间的差异。 正在探索用于鲁棒地“缓存”虚拟环境的本地触觉相关区域的方法，以平滑地同步视觉和触觉显示。 在人机界面的设计中采用心理物理学方法，以提供用于进行心理物理学测量的受控设置。 最后，详细的心理物理测量正在进行与开发的实验系统，以定量测量所提供的现实程度。 从这项工作中获得的知识提供了必要的信息，为工程科学的触觉界面设计，同时有助于阐明触觉交互本身的性质。 ***

*** 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. ***