Development of Visual Haptic Display Using Flexible Sheet

提出了一种利用柔性片来呈现虚拟软物体的视触觉显示系统。1.柔性片如橡胶，在张紧时变硬，松开时变软。因此，如果改变施加到片材的偏置张力，则用户在直接触摸片材时可以感觉到不同的顺应性。我们开发了一个触觉显示器，它包括两个操纵器和一个半透明的柔性片，片的两侧固定到操纵器。我们实现了一种控制方法，通过使用机械手拉动片材来改变片材的顺应性。然后我们测量了薄板的力-位移曲线。结果表明，该系统可以通过改变偏置张力来产生可变的纸张柔度。我们还开发了一种控制方法，用于移动片材的操纵器，使得它可以是用户手指触摸的点处的虚拟对象的切平面。我们进行了一个主动触摸实验：抚摸一个vi ...更多信息 2.在视觉显示方面，提出了一种将变形后的虚拟软物体的三维CG图像从背面直接投影到薄片上的方法。首先，通过立体摄像机测量用户手指的三维位置，并获得虚拟对象被推入的深度。其次，用有限元法计算了物体的变形。第三，将变形物体的三维CG图像从其背面直接投影到片材上。然后，用户通过立体眼镜看到片材上的虚拟对象。当用户使用上述触觉显示来触摸虚拟对象时，投影在片材上的CG图像由于片材的移动和被按压片材的按压而失真。因此，我们开发了一种方法来纠正这种CG图像失真。从用户的角度对校正后的图像进行了准确性评价，验证了图像校正的有效性。3.通过将触觉显示和视觉显示相结合，用户可以看到虚拟软物体的三维CG图像并直接触摸它。他们可以通过推动来感受物体的顺应性，通过主动触摸来感受物体的形状。少

A visual haptic display system using flexible sheet for presenting virtual soft objects is developed.1.A flexible sheet such as rubber becomes hard when it is tensioned; it becomes soft when loosened. Hence, if the bias tension applied to the sheet is changed, users can feel different compliance when they touch the sheet directly. We developed a haptic display which consists of two manipulators and one translucent flexible sheet; both sides of the sheet are fixed to the manipulators. We implemented a control method of varying the sheet compliance by pulling the sheet using the manipulators. Then we measured the force-displacement curve of the sheet. As a result we showed that this system can generate variable sheet compliance by changing the bias tension. We also developed a control method for the manipulators of moving the sheet so that it may be a tangential plane of a virtual object at the point which a user's finger touches. We performed an experiment of active touch: stroking a vi … More rtual cylinder with a finger.2.As a visual display we proposed a method of projecting three dimensional CG image of a deformed virtual soft object directly on the sheet from its backside. First the three-dimensional position of a user's finger is measured by stereo cameras and obtained how deep the virtual object is pushed. Second the deformation of the object is calculated by finite element method. Third the three dimensional CG image of the deformed object is projected directly on the sheet from its backside. Then the user sees the virtual object on the sheet through stereoscopic glasses. When the user touches the virtual object using the above-mentioned haptic display, the CG image projected on the sheet is distorted by the movement of the sheet and the depression of the pushed sheet. Thus we developed a method of correcting this CG image distortion. We evaluated the accuracy of the corrected image seen from the user's viewpoint and showed the effectiveness of this image correction.3.By integrating the above-mentioned haptic display and visual display, the users can see the three-dimensional CG image of a virtual soft object and touch it directly. They can feel the compliance of the object by pushing and the shape of the object by active touch. Less