Quantitative Analysis of 3D Haptic Performance and Perception

该项目涉及与三维(3D)、计算(虚拟)和真实环境的高性能触觉(触觉)交互。主要的研究目标是定量地确定在3D触觉/视觉虚拟和远程真实环境中可以实现多少真实感。该方法基于使用洛伦兹磁悬浮的六自由度(6-DOF)触觉交互技术。手指、手和手腕的本体感觉(动觉)以及皮肤中的触觉都参与了相互作用。Lorentz悬浮提供了比传统技术更高的带宽和运动分辨率。该项目包括：i)增加直接力-扭矩传感，结合阻抗和导纳型设备的优点；ii)创建高度逼真的3D钉孔虚拟环境；iii)开发具有屈曲现象的弹性变形环境；iv)比较受试者与虚拟、真实和远程-真实环境的交互作用；以及v)一套心理物理实验的性能，以定量衡量所提供的现实程度。这种方法提供的触觉交互透明度的定量表征与纯粹的工程测量或纯粹的主观评估形成了鲜明的对比。研究结果为触觉界面设计的工程科学提供了知识，同时有助于阐明人类触觉交互过程的本质。这可能导致未来触觉技术在计算机增强设计、医疗培训、远程操纵和远程呈现系统、车辆驾驶模拟以及复杂多维数据集的探索中的广泛使用。该项目具有重要的教育影响，包括在本科生和研究生课程中学习触觉。

The project concerns high-performance haptic (sense of touch) interaction with three-dimensional (3D) computed (virtual) and real environments. The principal research objective is to quantitatively determine how much reality is achievable in 3D haptic/visual virtual and remote real environments. The approach is based on six-degree-of-freedom (6-DOF) haptic interaction technology using Lorentz magnetic levitation. Both proprioceptive (kinesthetic) senses of the fingers, hand, and wrist as well as the tactile senses in the skin are involved in the interaction. Lorentz levitation provides higher bandwidths and motion resolutions than are available with traditional technologies. The project includes i) adding direct force-torque sensing, combining favorable aspects of both impedance- and admittance-type devices; ii) the creation of a highly realistic 3D peg-in-hole virtual environment; iii) development of an elastic deformation environment with buckling phenomena; iv) comparison of subjects' interaction with virtual, real, and remote-real environments, and v) performance of a suite of psychophysical experiments to quantitatively measure the degree of reality provided. The quantitative characterization of haptic interaction transparency afforded by this approach contrasts markedly with pure engineering measurements or purely subjective evaluations. The research results provide knowledge for the engineering science of haptic interface design while helping to elucidate the nature of the human haptic interaction process. This could lead to the future widespread use of haptic technology for computer augmented design, medical training, telemanipulation and telepresence systems, vehicle piloting simulation, and the exploration of complex multi-dimensional data sets. The project has an important educational impact which includes the study of haptics in undergraduate and graduate course work.