CISE Postdoctoral Program: Robust Haptic Display of Dynamical Virtual Environments

9625756高露洁，詹姆斯E。 西北大学 CISE博士后项目：动态虚拟环境的鲁棒触觉显示 该奖项支持助理布伦特R。吉莱斯皮。 为了提供直接的交互，并更有效地沉浸他们的用户，虚拟环境的设计者现在可以选择渲染对象的触觉（触摸）感觉，这要归功于新的和蓬勃发展的领域的触觉接口技术。 然而，目前，触觉显示的保真度是有限的。 必须对虚拟对象的机械阻抗进行限制，或者必须要求接口控制器具有异常的计算能力，以免在用户和虚拟对象之间出现持续的甚至不稳定的振动。 这项博士后研究旨在通过开发仿真和控制方法来消除这些障碍，这些方法可以保证不存在不稳定的振动和其他非物理交互行为。 该研究首先指出，如果对整个耦合动力学系统（包括人体肢体）进行建模，则可以完全补偿采样数据和计算延迟的不稳定影响。 在线系统识别的耦合的人的肢体被集成到控制器的设计，以允许对人类的一部分的主动行为。 并行的理论处理和硬件/软件开发的努力，扩展的方法，以动态对象和对象的运动约束的变化。 ***

9625756 Colgate, James E. Northwestern University CISE Postdoctoral Program: Robust Haptic Display of Dynamical Virtual Environments This award supports associate Brent R. Gillespie. To provide for direct interaction and to more effectively immerse their users, the designers of virtual environments now have the option to render objects for the haptic (touch) senses, thanks to the new and flourishing field of haptic interface technology. At present, however, the fidelity of haptic display is limited. Restrictions must be placed on the mechanical impedance of the virtual object or exceptional computational power must be demanded of the interface controller lest sustained or even unstable vibrations arise between user and virtual object. This postdoctoral research aims to remove these obstacles by developing simulation and control methods which guarantee the absence of unstable vibrations and other non-physical interactive behaviors. The research begins by noting that the destabilizing effects of sampled-data and computational delays can be fully compensated out if the entire coupled dynamical system is modeled, including the human limb. On-line system identification of the coupled human limb is integrated into the controller design to allow for active behavior on the part of the human. Concurrent theoretical treatments and hardware/software development efforts are employed to extend the methods to dynamical objects and objects which are subject to changes in kinematic constraint. ***