Development and Analysis of Wearable Force Display

我们提出并制作了一种新型的可穿戴力显示装置样机。通过原型，我们研究了系统与IPT（沉浸式投影技术）集成时的技术要求和解决方案。在可穿戴力显示器的方案和原型方面，我们提出了设计的指导原则，并规定了可用性的定量分析方法。我们设计了一种不限制用户移动性的设备机制。考虑到这个方案，我们为用户实现了携带约束较少的最佳界面，从而扩展了用户的工作区域，特别是在身体的上前部。在设备与IPT的集成方面，我们开发了软件环境，以实现视觉和触觉显示的同步。一般来说，与视觉显示相比，触觉显示需要更高的刷新率才能实现顺畅的通信。因此，视觉和触觉显示需要分别计算，但同时共享模型信息。针对这一需求，我们提出并安装了一个名为“触觉服务器”的系统。实验证明，该系统能够很好地实现视觉和触觉环境，扩展感官显示。我们期望这个环境适合许多用户的虚拟协作工作。据说触觉对管理合作工作是有效的。因此，我们采用触觉服务器的思想来垄断异地间的触觉信息，实现异地间的虚拟协作环境。我们进行了多次实验，证明了远程协作工作环境的有效性。

We proposed and made a prototype of a new force display device which is wearable. With the prototype, we examined technical requirement and solution when to integrate the system with IPT (Immersive Projection Technology).In terms of the proposal and prototype of a wearable force display, we proposed a guideline of the design and specified a means of quantitative analysis for its usability.We planned a mechanism of the device not to constrain user's mobility. Taking this plan into consideration, we realized the optimum interface for a user which is less constrained to carry so as to extend a user's working area especially around upper front of the body.Talking about the integration of the device with IPT, we developed software environment in order to synchronize visual and haptic display. In general, it is said haptic display requires high refreshing rate comparing to that of visual display for smooth communication. Therefore, visual and haptic display needs to be computed separately, but at the same time, share the model information.The concrete solution for the requirement, we proposed and installed the system called "haptic server." We verified the system is in well function to realize the visual and haptic environment to expand sensory display. We expect this environment will fit virtual cooperative work by many users. It is said sense of touch is effective to manage cooperative work.Therefore we applied the idea of haptic server to monopolize haptic information among remote places and realized virtual cooperative environment among remote places. We conducted several experiments and proved the efficiency of the environment for tele-cooperative work.