Development of Visual Haptic Display Using Flexible Sheet

使用柔性板材开发视觉触觉显示器

基本信息

批准号：
17560226
负责人：
INOUE Kenji
金额：
$ 2.3万
依托单位：
Osaka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2006
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-17560226/
关键词：
Virtual reality User interface Intelligent robotics Haptics

项目摘要

A visual haptic display system using flexible sheet for presenting virtual soft objects is developed.1.A flexible sheet such as rubber becomes hard when it is tensioned; it becomes soft when loosened. Hence, if the bias tension applied to the sheet is changed, users can feel different compliance when they touch the sheet directly. We developed a haptic display which consists of two manipulators and one translucent flexible sheet; both sides of the sheet are fixed to the manipulators. We implemented a control method of varying the sheet compliance by pulling the sheet using the manipulators. Then we measured the force-displacement curve of the sheet. As a result we showed that this system can generate variable sheet compliance by changing the bias tension. We also developed a control method for the manipulators of moving the sheet so that it may be a tangential plane of a virtual object at the point which a user's finger touches. We performed an experiment of active touch: stroking a vi … More rtual cylinder with a finger.2.As a visual display we proposed a method of projecting three dimensional CG image of a deformed virtual soft object directly on the sheet from its backside. First the three-dimensional position of a user's finger is measured by stereo cameras and obtained how deep the virtual object is pushed. Second the deformation of the object is calculated by finite element method. Third the three dimensional CG image of the deformed object is projected directly on the sheet from its backside. Then the user sees the virtual object on the sheet through stereoscopic glasses. When the user touches the virtual object using the above-mentioned haptic display, the CG image projected on the sheet is distorted by the movement of the sheet and the depression of the pushed sheet. Thus we developed a method of correcting this CG image distortion. We evaluated the accuracy of the corrected image seen from the user's viewpoint and showed the effectiveness of this image correction.3.By integrating the above-mentioned haptic display and visual display, the users can see the three-dimensional CG image of a virtual soft object and touch it directly. They can feel the compliance of the object by pushing and the shape of the object by active touch. Less

开发了使用灵活的纸张来展示虚拟软体物体的视觉触觉显示系统。1。柔性纸（例如橡胶）在其固定时会变得难度。放松时会变得柔软。因此，如果更改了应用于工作表的偏差张力，则用户直接触摸工作表时会感觉不同。我们开发了一个触觉显示，由两个操纵器和一张半透明的柔性纸组成。纸的两侧均固定在操纵器上。我们通过使用操纵器拉动工作表来实现一种控制板的控制方法。然后，我们测量了板的力置位曲线。结果，我们表明该系统可以通过更改偏置张力来生成可变板的合规性。我们还开发了一种控制纸的操纵器的控制方法，以便在用户的手指触摸时，它可能是虚拟对象的切向平面。我们进行了一个主动触摸的实验：触发VI…用手指进行更多的rtual圆柱体。2。视觉显示时，我们提出了一种直接从背面直接在纸上在纸上直接在纸上投射三维CG图像的方法。首先，用户手指的三维位置是通过立体声摄像机测量的，并获得了虚拟物体的深度。其次，对象的变形是通过有限元方法计算的。第三，变形对象的三维CG图像直接从其背面投射在纸板上。然后，用户通过立体眼镜在纸张上看到虚拟对象。当用户使用上述触觉显示器触摸虚拟对象时，纸张上投影的CG图像会因纸的运动和推纸的凹陷而扭曲。我们开发了一种纠正此CG图像失真的方法。我们从用户的角度评估了校正图像的准确性，并显示了此图像校正的有效性。3。通过集成上述触觉显示和视觉显示，用户可以看到虚拟柔软对象的三维CG图像并直接触摸它。他们可以通过触摸通过推动和对象的形状来感受对象的合规性。较少的