MRI: Instrument Development: High-Fidelity Magnetic Levitation Haptic Systems

这个项目，开发，复制，分发，并使用一个新的磁悬浮触觉接口系统，提供直接的电动交互与一个单一的移动部分，允许高保真度六自由度（6-DOF）的传感和力/扭矩能力（不像目前可用的触觉系统，类似于小，背驱动的机器人手臂与电机，编码器，枢轴，链接，和传输元件）。触觉接口允许计算机用户与计算信息进行机械交互以及视觉交互。使用新方法，用户抓住桌面高设备的自由悬浮手柄（manipulgiant），在6个自由度中操纵它，为基于物理的3D模拟环境提供位置和力/扭矩信息，包括重力、硬接触、柔性变形、摩擦和纹理属性。运行模拟为机械手提供6自由度力/扭矩输出，从而为手提供6自由度力/扭矩输出。手指、手和手腕的本体感受（动觉）感觉以及皮肤中的触觉感觉都参与交互。原型磁悬浮触觉系统提供了更高的带宽和分辨率比其他现有的技术传达微妙的摩擦和纹理信息给用户的一个重要考虑。该项目将大大降低成本，大大提高目前原型系统的性能，使用最先进的制造技术复制八个新系统。开发的系统将分发给全国七名触觉研究人员。新系统为支持七项新的独立研究工作提供了基础。因此，涉及六所大学的八个项目构成了该项目的一部分。 霍勒贝克，犹他州：研究和显示手动控制动态，帮助确定人类如何交互以组装、拆卸和操纵CAD对象 Hollis，CMU：了解双手操作并调查盲人是否可以从触觉通信中受益 豪，哈佛：作为频率响应函数的触觉的成本效益权衡，提供对基本触觉感知和运动控制机制的见解，以及成本效益触觉接口的指南 詹姆斯，CMU：一种新的可变形绘制算法，用于一大类灵活的模型，使计算机图形学和虚拟环境模拟技术成为可能 哈提卜，斯坦福大学：触觉显示的新控制算法使新的桌面触觉应用成为可能 派，罗格斯：具有紧密同步的声音和接触力的新型音频-触觉接口增强了对使用触觉接口呈现的接触的人类感知的理解 Tan，Purdue：理解感知维度，纹理感知，信息的多模态渲染许多研究工作涉及本科生，一些来自代表性不足的群体。&高保真触觉技术在K-12教育中具有巨大的潜力。

This project, developing, replicating, distributing, and using a new magnetic levitation haptic interface system, provides direct electrodynamic interaction with a single moving part permitting high-fidelity six-degree-of-freedom (6-DOF) sensing and force/torque capability (unlike currently available haptic systems which resemble small, back-driven robot arms with motors, encoders, pivots, links, and transmission elements). Haptic interfaces allow computer users to interact mechanically, as well as visually, with computed information. With the new method, the user grasps the freely-levitated handle (manipulandum) of a desktop-high device, maneuvering it in 6-DOFs to provide position and force/torque information to a physically-based 3D simulated environment with gravity, hard contact, flexible deformation, friction, and texture attributes. The running simulation provides 6-DOF force/torque output to the manipulandum, and consequently to the hand. Both the proprioceptive (kinesthetic) senses of the fingers, hand, and wrist as well as the tactile senses in the skin are involved in the interaction. The prototype magnetic levitation haptic system provides higher bandwidths and resolutions than other existing techniques-an important consideration for conveying subtle friction and texture information to the user. Dramatically reducing cost, this project will greatly improve the performance of the current prototype system, replicating eight new systems using state-of-the-art manufacturing techniques. The developed systems will be distributed to seven haptic researchers in the nation. The new systems provide a basis for supporting seven new independent research efforts. Thus, eight projects, involving six universities, form part of the project. Hollerback, Utah: investigating and displaying manual control dynamics, assisting in determining how humans interact to assemble, disassemble, and manipulate CAD objects Hollis, CMU: understanding two-handed manipulation and investigating whether blind persons can benefit from haptic communication Howe, Harvard: cost-benefit tradeoff for haptics as a function of frequency response, providing insights into fundamental tactile perception and motor control mechanisms and guidelines for cost-effective haptic interfaces James, CMU: new deformable rendering algorithms for a large class of flexible models enabling technology for computer graphics and virtual environment simulation Khatib, Stanford: new control algorithms for haptic display enable new desktop haptic applications Pai, Rutgers: new kinds of audio-haptic interfaces with tightly synchronized sounds and contact forces enhancing understanding of human perception of contact rendered using a haptic interface Tan, Purdue: understanding perceptual dimensionality, texture perception, & multimodal rendering of informationMany of the research efforts involve undergraduate students, some from under-represented groups. High-fidelity haptics has enormous potential for K-12 education.