High-Fidelity Haptic Interaction with Three-Dimensional Environments using Lorentz Magnetic Levitation

*** 9802191霍利斯：这个项目建立在先前NSF拨款IRI9420869的结果之上：“磁悬浮触觉界面”。先前的拨款开发了一种基于洛伦兹磁悬浮的计算机用户触觉界面（力/扭矩反馈）交互能力。用户与一个移动部件交互，该部件具有悬浮在桌面上方的三个旋转和三个平移自由度（DOF）。结合基于物理的仿真方法的进步，它通过六自由度（DOF）位置输入和六自由度力/扭矩输出到用户的手上，以大约10微米的分辨率和大约75赫兹的位置带宽，为计算机用户提供了令人信服的真实触觉（触觉）交互。目前的努力旨在使几项技术增强，并定量测量这种方法的心理物理有效性。将触觉交互与虚拟环境和远程操作环境进行比较，并将两者与真实环境进行比较，以定量地阐明这些模式之间的差异。人们正在探索鲁棒“缓存”虚拟环境中与触觉相关的局部区域的方法，以顺利同步视觉和触觉显示。在人机界面的设计中采用心理物理方法，为进行心理物理测量提供一个可控的环境。最后，使用开发的实验系统进行详细的心理物理测量，以定量测量所提供的真实程度。从这项工作中获得的知识为触觉界面设计的工程科学提供了所需的信息，同时有助于阐明触觉交互本身的本质。* * *

*** 9802191 Hollis This project builds on results from previous NSF grant IRI9420869: "Magnetic Levitation Haptic Interfaces." The previous grant developed a haptic interface (force/torque feedback) interaction capability for computer users based on Lorentz magnetic levitation. The user interacts with a single moving part with three rotational and three translational degrees of freedom (DOF) floating above the desktop. Combined with advances in physically-based simulation methods, it provided computer users convincingly real haptic (sense of touch) interaction with computers through six-degree-of-freedom (DOF) position input and 6-DOF force/torque output to the user's hand at resolutions of approximately 10 microns and a position bandwidth of approximately 75 Hz. The present effort seeks to make several technology enhancements and to quantitatively measure the psychophysical effectiveness of this approach. Comparisons are being made for haptic interaction with virtual environments and telemanipulation environments, and both of these with real environments to quantitatively clarify the differences between these modes. Methods for robustly "caching" local haptically-relevant regions of the virtual environment are being explored to smoothly synchronize the visual and haptic displays. Psychophysical methods are employed in the design of the human-computer interface to provide a controlled setting for conducting psychophysical measurements. Finally, detailed psychophysical measurements are being performed with the developed experimental system to quantitatively measure the degree of reality provided. The knowledge gained from this work provides needed information for the engineering science of haptic interface design while helping to elucidate the nature of haptic interaction itself. ***