Study of haptics display and texture rendering method

“触觉接口”的含义是利用力反馈和人的触觉与计算机实现交互式通信的接口方法，这种方法的重要性在VR技术相关的领域，特别是信息技术，医疗，工业，体育，娱乐等领域得到了认可。在触觉设备开发中，设备必须满足一些重要的规格：系统的高责任安全性、用户的安全性等。因此，常规设备通常较大、较重且昂贵。否则，其它设备之间的软件兼容性是一个难题。对触觉呈现信息的有效管理和共享的需求已经出现。到目前为止，我们已经开发出“简单的触觉显示器”，具有高灵敏度，高输出扭矩，和小尺寸的形状。显示的目的是呈现 ...更多信息 保持便携性的各种触觉信息。触觉显示器不仅提供力反馈，而且提供振动触觉信息。在总体设计中，提出了对象表示数据的分类和数据格式。在这种分类中，触觉被分为4种类型：表面，材料特性，热传导和形状动力学特征。我们使用了其中的一些模式，包括触觉和温度数据。触觉显示的频率响应进行了检查。然后进行了与木材和铝接触时的振动触觉呈现实验。并对表面粗糙度的表示方法进行了研究。在粗糙度呈现实验中，我们使用数码相机拍摄的照片和图像处理技术准备粗糙度数据，结果表明，简单的触觉显示提供了足够的频率响应，用于呈现接触时的振动触觉信息和感知虚拟物体的表面粗糙度。该系统可以通过更精细地调整粗糙度图案参数来提供更充分的呈现。少

The meaning of "Haptic Interface" is the interface method that achieves interactive communication with computer using force feedback and tactile sense of human, the importance of this method is recognized in an area of VR technology related, especially, information technologies, medical treatments, industry, sports, amusement, etc. In the haptic device development, the devices must be satisfied some important specifications : high responsibility security for systems, security for users, etc. Therefore conventional devices are usually larger, heavy, and expensive Otherwise, software compatibility between other devices is a hard problem. The needs of efficient management and sharing for haptic presentation information have been appeared. Then the platform or system that absorbs incompatibility of each haptic device, are proposed.Thus far, we have developed "simple haptic display", that has high sensitive, high output torque, and small sized shape. The purpose of the display is to present … More various haptic information with keeping portability. The haptic display do not only present force feedback but also vibrotactile information. And also a haptic presentation management framework for the display has been developed.In the design over view, we propose the categorization of the object presentation data and these data format. In this categorization, touch sense is classified into 4 types : surface, material characteristics, heat conduction, and shape dynamics features. We used some of these patterns, including tactile and temperature data.The frequency response of the haptic display was examined. Then the experiments of the vibrotactile presentation at contact with wood and aluminum were presented. And a method of the surface roughness presentation was also investigated. At the roughness presentation experiment, we prepared roughness data using pictures that are taken by digital camera and image processing techniques.Results showed that the simple haptic display provide sufficient frequency response for presenting the vibrotactile information at contact and perceiving a surface roughness of virtual objects. This system can provide more sufficient presentation by turning the roughness pattern parameters more finely. Less