Fundamental Solutions for High-Fidelity Human Haptic Interaction

这项研究旨在开发创新的解决方案，以应对与计算机生成的虚拟环境(VE)提供可靠的触摸沉浸式触觉交互这一根本挑战。触觉是一种机械模拟技术，它通过一种被称为触觉接口的致动手持机制，实现用户和VE之间的动觉交互。这种技术的新兴应用是在机器人康复和基于机器人的医疗训练模拟器中。*触觉系统、接口和VE的互连设计承诺为用户带来真正的操纵感。现有的挑战源于它们的驱动和控制系统的局限性。触觉接口主要是在直接驱动下驱动的，不能输出人类水平的力。这些执行机构通常需要在远离其额定工作区域的低速时提供最大扭矩，这影响了它们的性能并缩短了它们的使用寿命。此外，与VE的数字化实施相关的延迟以及用户和VE注入的有功能量可能会严重影响交互质量和稳定性。*我们将通过开发包括控制算法和硬件电子设备在内的核心技术，在组件和系统级别寻求整体方法。我们将利用人类用户的稳定作用，以及在稳定性和性能之间实现最佳平衡的数字和模拟控制策略，来彻底改变最先进的触觉控制技术。这将导致下一代高保真接口的模拟触觉伺服马达的设计。利用电力电子技术的最新进展，我们将开发一种独特的执行器，可以在几乎为零的速度下保持高扭矩。拟议中的计划侧重于多用户协作触觉，将对界面质量和触觉体验产生重大影响，为新应用的开发和医疗、娱乐和其他行业的广泛采用铺平道路。随着触觉技术与虚拟现实技术的迅速融合，拟议项目的结果将使加拿大处于这一技术浪潮的前沿，并培养实现这一潜力所需的高素质人才。*四名博士、五名硕士和两名暑期本科生将接受机电一体化和生物医学工程方面的培训。

This research aims at developing innovative solutions to the fundamental challenges in providing reliable touch-immersive haptic interaction with computer-generated virtual environments (VE). Haptics is a mechanical simulation technology that enables kinesthetic interaction between a user and a VE through an actuated hand-held mechanism, known as haptic interface. Emerging applications of such technology is in robotic rehabilitation and robotic-based medical training simulators.******Haptic systems, interconnection of the interface and VE, are designed with the promise of bringing a true sense of manipulation to the users. The existing challenges stem from limitations in their actuation and control systems. Haptic interfaces are primarily actuated in direct drive and cannot output human-level forces. These actuators are often required to provide maximum torque at low speeds far from their nominal operating region, which affects their performance and reduces their life time. Moreover, the latency associated with the digital implementation of VE and the active energy that is injected by the user and VE can severely compromise the interaction quality and stability.*******We will seek a holistic approach both at the component and system levels through the development of core technologies that would include control algorithms and hardware electronics. We will revolutionize the state-of-the-art haptic control technology by taking advantage of the stabilizing role of human users, and digital and analog control strategies for optimum trade-offs between stability and performance. This will lead to the design of an analog haptic servomotor for the next generation of high fidelity interfaces. Harnessing the recent advances in power electronics, we will develop a unique actuator that can maintain high torques at virtually zero speed. The proposed program, with a focus on multiuser collaborative haptics, will have a significant impact on the quality of interfaces and haptic experience, paving the way for the development of new applications and widespread adoption by healthcare, entertainment, and other industries. As haptic technology rapidly integrates with virtual reality technology, the outcome of the proposed program will place Canada in the forefront of this technological wave, and train the highly qualified personnel necessary to realize this potential.******Four PhD, five Master's and two summer undergraduate students will receive training in mechatronics and biomedical engineering.***