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Haptic sensors interfaces for robotic telemanipulation and interactive virtual environments

用于机器人远程操作和交互式虚拟环境的触觉传感器接口

基本信息

批准号：
6726-2006
负责人：
Petriu, Emil
金额：
$ 2.55万
依托单位：
University of Ottawa
依托单位国家：
加拿大
项目类别：
Discovery Grants Program - Individual
财政年份：
2008
资助国家：
加拿大
起止时间：
2008-01-01 至 2009-12-31
项目状态：
已结题

来源：
https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=389404
关键词：
Haptic sensors interfaces robotic telemanipulation

项目摘要

Haptics is an emergent sensory representation medium for robotic telemanipulation and model-based multimedia virtual reality applications, where it adds the sense of touch and force to the video and CAD geometric representations. The main objective of proposed research is the development of new haptic robot sensors and interfaces, composite geometric & haptic object models, and robust real-time computing techniques for robotic telemanipulation and interactive virtual environments. An experimental haptic interactive virtual environment will be developed to evaluate the new concepts. The short term-objectives are: - Development of more efficient haptic robot sensors for robotic telemanipulation systems; - Study of new concepts for the development of haptic interfaces for object manipulation in interactive virtual environments and robotic telemanipulation systems; - Development of new instrumentation and sensor data fusion techniques for the production of geometric & haptic composite object models which are conformal representations of real physical objects, accounting for their geometric shape and elastic behaviour while interacting through direct contact with other objects; - Study of new computing techniques for the storage and real-time rendering of the composite geometric & haptic object models.

触觉是机器人远程操作和基于模型的多媒体虚拟现实应用的新兴感觉表示媒体，它将触觉和力的感觉添加到视频和CAD几何表示中。建议的研究的主要目标是开发新的触觉机器人传感器和接口，复合几何和触觉对象模型，机器人远程操作和交互式虚拟环境的鲁棒实时计算技术。一个实验性的触觉交互式虚拟环境将被开发，以评估新的概念。短期目标是：- 为机器人远程操作系统开发更有效的触觉机器人传感器; -研究在交互式虚拟环境和机器人远程操作系统中开发触觉接口的新概念;- 开发新的仪器和传感器数据融合技术，用于生成几何和触觉复合对象模型，这些模型是真实的物理对象的保形表示，考虑到它们的几何形状和弹性行为，同时通过与其他对象的直接接触进行交互; -研究用于存储和实时渲染复合几何和触觉对象模型的新计算技术。