Research on high precision force display method by a multi-fingered haptic device

研究了利用对置式多指力觉装置实现高精度力显示的方法。主要研究了三个方面的问题：多指力觉交互界面的优化设计、力觉手和手臂协同运动的冗余力控制以及包括柔性物体变形和多接触点约束力计算的力觉绘制。(1)多指力觉界面的优化设计：提出了基于最大化人手与力觉手相交工作空间的手指布局优化方法。(2)冗余力控制：多指触觉接口是一个冗余机器人。我们提出了一种新的冗余控制，优化的性能指标，包括触觉手和手臂关节规范的可操作性。该方法在宽的工作空间中保持人与触觉手之间的接触，并减少操作者的不安感。(3)柔性物体的力觉绘制：提出了多接触点柔性物体力觉绘制的真实的实时计算方法。该方法基于有限元法。考虑了变形的非线性。(4)摩擦力矩：提出了抓取虚拟物体时摩擦力矩的计算方法。为了在虚拟现实环境中呈现摩擦力矩，研制了一种由手指保持器、球和电机组成的小型装置。(5)医学触诊训练系统的应用：为了显示多指触觉接口的有效性，已经开发了乳房触诊训练系统。在该系统中，上述技术已被实现，并显示出作为医疗触诊训练系统的高潜力。

Research on high precision force display method by opposed multi-fingered haptic device is presented. Mainly three topics are studied : optimum design of multi-fingered haptic interface opposed to human hand, redundant force control with cooperative motions with haptic hand and arm, and haptic rendering including computation of deformation of flexible object and constraint force at multi contact points.(1) Optimum design of multi-fingered haptic interface : Optimum finger layout based on maximizing an intersection work space between human hand and haptic hand is presented.(2) Redundant force control : Multi-fingered haptic interface is a redundant robot. We proposed a novel redundancy control which optimizes a performance index consisting of the manipulability of the haptic hand and arm joint norm. This method keep a contact between human and haptic hands in wide work space and reduce a sense of uneasiness of operator.(3) Haptic rendering of flexible object : Real time computation method of haptic rendering of flexible object with multi-contact points is developed. This method is based on a finite element method. Non-linearity of deformation is taken into consideration.(4) Frictional moment : Computational method of frictional moment at grasping a virtual object is presented. To present frictional moment in virtual reality environment, a compact device which consists of finger holder, ball, and motor has been developed.(5) Application of medical palpation training system : To show the effectiveness of multi-fingered haptic interface, breast palpation training system has been developed. In this system, above mentioned technologies have been implemented and high potential as a medical palpation training system has been shown.