Quantitative Analysis of 3D Haptic Performance and Perception

3D 触觉性能和感知的定量分析

• 批准号: 0413085
• 负责人: Ralph Hollis
• 金额: --
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-11-15 至 2009-10-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0413085&HistoricalAwards=false
• 关键词: Quantitative; Analysis; 3D; Haptic; Performance

The project concerns high-performance haptic (sense of touch) interaction with three-dimensional (3D) computed (virtual) and real environments. The principal research objective is to quantitatively determine how much reality is achievable in 3D haptic/visual virtual and remote real environments. The approach is based on six-degree-of-freedom (6-DOF) haptic interaction technology using Lorentz magnetic levitation. Both proprioceptive (kinesthetic) senses of the fingers, hand, and wrist as well as the tactile senses in the skin are involved in the interaction. Lorentz levitation provides higher bandwidths and motion resolutions than are available with traditional technologies. The project includes i) adding direct force-torque sensing, combining favorable aspects of both impedance- and admittance-type devices; ii) the creation of a highly realistic 3D peg-in-hole virtual environment; iii) development of an elastic deformation environment with buckling phenomena; iv) comparison of subjects' interaction with virtual, real, and remote-real environments, and v) performance of a suite of psychophysical experiments to quantitatively measure the degree of reality provided. The quantitative characterization of haptic interaction transparency afforded by this approach contrasts markedly with pure engineering measurements or purely subjective evaluations. The research results provide knowledge for the engineering science of haptic interface design while helping to elucidate the nature of the human haptic interaction process. This could lead to the future widespread use of haptic technology for computer augmented design, medical training, telemanipulation and telepresence systems, vehicle piloting simulation, and the exploration of complex multi-dimensional data sets. The project has an important educational impact which includes the study of haptics in undergraduate and graduate course work.

该项目涉及高性能触觉（触觉）与三维（3D）计算（虚拟）和真实的环境的交互。 主要的研究目标是定量地确定有多少现实是可实现的三维触觉/视觉虚拟和远程真实的环境。 该方法是基于六度的自由度（6-DOF）触觉交互技术，使用洛伦兹磁悬浮。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。洛伦兹悬浮提供了比传统技术更高的带宽和运动分辨率。 该项目包括：i）增加直接力-扭矩传感，结合阻抗型和导纳型设备的有利方面; ii）创建高度逼真的3D钉孔虚拟环境; iii）开发具有屈曲现象的弹性变形环境; iv）比较受试者与虚拟、真实的和远程真实的环境的交互，以及v）进行一套心理物理学实验以定量测量所提供的真实程度。触觉交互透明度的定量表征提供了这种方法与纯工程测量或纯粹的主观评价显着对比。 研究结果提供了触觉界面设计的工程科学知识，同时有助于阐明人类触觉交互过程的性质。 这可能导致触觉技术在未来广泛用于计算机增强设计、医疗培训、远程操纵和远程呈现系统、车辆驾驶模拟以及复杂多维数据集的探索。该项目具有重要的教育影响，其中包括在本科和研究生课程工作的触觉研究。