CHS: Small: Interactive Haptic Assembly and Docking for 3D Shapes

CHS：小型：3D 形状的交互式触觉组装和对接

• 批准号: 1526249
• 负责人: Horea Ilies
• 金额: $ 49.75万
• 依托单位: University of Connecticut
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-09-01 至 2021-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1526249&HistoricalAwards=false
• 关键词: CHS; Small; Interactive; Haptic; Assembly

Haptic human-computer interaction mechanisms and systems play a critical role in a variety of engineering and scientific activities that rely on the fundamental task of virtual object assembly, from protein docking, drug design and tele-surgery, to advanced manufacturing, rehabilitation, robotics, teleoperation and consumer applications. One of the key long-standing challenges in developing such practical interactive systems is the lack of a proper formulation of the guidance forces that effectively assist the user in the exploration of the virtual environment, from repulsing collisions to attracting proper contact. A secondary difficulty is that of achieving an efficient implementation that can maintain an acceptable haptic refresh rate. Current state-of-the art solutions to these open problems have been developed for severely restricted classes of shapes and motions, and rely heavily on heuristics that exploit drastic geometric limitations. To address these issues, the PI's goal of this research is to develop a purely geometric model for an artificial energy field that favors spatial relations leading to proper assembly of arbitrarily complex shapes. Project outcomes will lead to effective interaction mechanisms for intelligent human-computer or human-robot systems and will open the doors to the development of generic and fully automated assembly planners while simultaneously unlocking new levels of expression and productivity in activities that rely on interactive assembly tasks in a broad range of industrial, scientific and consumer applications, in domains as diverse as 3D user interfaces, engineering, and medical and assistive technologies. The PI's industrial partnerships will facilitate aggressive and widespread technology transfer. To these ends, the energy function is expressed in terms of a convolution of shape-dependent affinity fields that rely on the novel concept of a space-continuous, well-defined, and robust density function, called the Skeletal Density Functions (SDF), whose sublevel sets in the limit are related to an implicit definition of the medial axis. Importantly, the proposed energy field leads to the first practical and automatic approach to detect key features that contribute to proper alignment or assembly, as well as the geometric constraints required for virtual assembly. Moreover, the proposed approach completely avoids the heuristic recipes and manual intervention that are common to existing methods for haptic assembly. The PI's preliminary results show that this research can unify the two haptic interaction phases of free motion and precision assembly, which are common in current haptic simulations, into a single interaction mode, and suggest a generic and automatic constraint model for the so-called virtual fixtures, with no restrictive assumption on the types of the assembly features and shapes involved.

触觉人机交互机制和系统在依赖于虚拟对象组装的基本任务的各种工程和科学活动中发挥着关键作用，从蛋白质对接，药物设计和远程手术，到先进制造，康复，机器人，远程操作和消费者应用。 在开发这种实用的交互式系统的关键的长期存在的挑战之一是缺乏一个适当的制定的指导部队，有效地帮助用户在虚拟环境的探索，从排斥碰撞，吸引适当的接触。 第二个困难是实现可以保持可接受的触觉刷新率的有效实现。 这些开放问题的现有技术的解决方案已经开发了严格限制类的形状和运动，并在很大程度上依赖于利用激烈的几何限制的几何学。 为了解决这些问题，PI这项研究的目标是为人工能量场开发一个纯几何模型，该模型有利于空间关系，从而正确组装任意复杂形状。 项目成果将为智能人机或人机系统带来有效的交互机制，并将为通用和全自动装配规划器的开发打开大门，同时在广泛的工业，科学和消费应用中依赖于交互式装配任务的活动中解锁新的表达和生产力水平，在3D用户界面，工程，以及医疗和辅助技术。 PI的工业伙伴关系将促进积极和广泛的技术转让。 为此，能量函数表示依赖于空间连续的，定义明确的，和强大的密度函数，称为Skeleton密度函数（SDF），其子级集的限制有关的中轴的隐式定义的新概念的形状依赖的亲和场的卷积。 重要的是，所提出的能量场导致第一个实用和自动的方法来检测有助于正确对齐或装配的关键特征，以及虚拟装配所需的几何约束。 此外，所提出的方法完全避免了启发式配方和人工干预是常见的现有方法的触觉组装。 PI的初步研究结果表明，这项研究可以统一的两个触觉交互阶段的自由运动和精密装配，这是常见的在当前的触觉模拟，到一个单一的交互模式，并建议一个通用的和自动的约束模型，所谓的虚拟夹具，没有限制性的假设的装配功能和形状的类型。