Study of haptics display and texture rendering method

“Haptic Interface”的含义是利用力反馈和人的触觉与计算机实现交互通信的界面方法，这种方法的重要性在与虚拟现实技术相关的一个领域，特别是信息技术、医疗、工业、体育、娱乐等领域得到公认。在触觉设备的开发中，必须满足系统的高责任安全性、用户的安全性等重要要求。因此，传统的设备通常更大、更重、更昂贵，否则，其他设备之间的软件兼容性是一个难题。对触觉呈现信息进行高效管理和共享的需求已经显现。在此基础上，提出了吸收各触觉设备不兼容性的平台或系统。到目前为止，我们已经开发出了“简单的触觉显示器”，具有高灵敏度，高输出扭矩，小尺寸的形状。该显示器的目的是展示更多的触觉信息，同时保持便携性。触觉显示器不仅能显示力反馈，还能显示振动触觉信息。此外，还开发了一种用于显示器的触觉显示管理框架。在设计概览中，我们提出了对象表示数据的分类和这些数据格式。在这种分类中，触觉分为4种类型：表面特征、材料特征、热传导特征和形状动力学特征。我们使用了其中的一些模式，包括触觉和温度数据。测试了触觉显示器的频率响应。然后进行了与木材和铝接触时的振动触觉表现实验。研究了一种表面粗糙度的表示方法。在粗糙度呈现实验中，我们使用数码相机拍摄的图像和图像处理技术来制备粗糙度数据。结果表明，简单的触觉显示器提供了足够的频率响应来呈现接触时的振动触觉信息和感知虚拟物体的表面粗糙度。该系统通过对粗糙度图案参数进行更精细的加工，可以提供更充分的表现。少

The meaning of "Haptic Interface" is the interface method that achieves interactive communication with computer using force feedback and tactile sense of human, the importance of this method is recognized in an area of VR technology related, especially, information technologies, medical treatments, industry, sports, amusement, etc. In the haptic device development, the devices must be satisfied some important specifications : high responsibility security for systems, security for users, etc. Therefore conventional devices are usually larger, heavy, and expensive Otherwise, software compatibility between other devices is a hard problem. The needs of efficient management and sharing for haptic presentation information have been appeared. Then the platform or system that absorbs incompatibility of each haptic device, are proposed.Thus far, we have developed "simple haptic display", that has high sensitive, high output torque, and small sized shape. The purpose of the display is to present … More various haptic information with keeping portability. The haptic display do not only present force feedback but also vibrotactile information. And also a haptic presentation management framework for the display has been developed.In the design over view, we propose the categorization of the object presentation data and these data format. In this categorization, touch sense is classified into 4 types : surface, material characteristics, heat conduction, and shape dynamics features. We used some of these patterns, including tactile and temperature data.The frequency response of the haptic display was examined. Then the experiments of the vibrotactile presentation at contact with wood and aluminum were presented. And a method of the surface roughness presentation was also investigated. At the roughness presentation experiment, we prepared roughness data using pictures that are taken by digital camera and image processing techniques.Results showed that the simple haptic display provide sufficient frequency response for presenting the vibrotactile information at contact and perceiving a surface roughness of virtual objects. This system can provide more sufficient presentation by turning the roughness pattern parameters more finely. Less