Haptic sensors interfaces for robotic telemanipulation and interactive virtual environments

触觉是一种用于机器人遥操作和基于模型的多媒体虚拟现实应用的紧急感觉表示媒介，它将触觉和力添加到视频和CAD几何表示中。研究的主要目标是开发新的触觉机器人传感器和接口，复合几何和触觉对象模型，以及用于机器人遥操作和交互虚拟环境的健壮实时计算技术。将开发一个实验性的触觉交互虚拟环境来评估新概念。短期目标是：-为机器人远程操控系统开发更高效的触觉机器人传感器；-研究为交互虚拟环境和机器人远程操控系统中的对象操纵开发触觉界面的新概念；-开发新的仪器和传感器数据融合技术，用于生产几何和触觉复合对象模型，这些模型是真实物理对象的共形表示，说明它们的几何形状和弹性行为，同时通过与其他对象的直接接触进行交互；-研究用于存储和实时渲染复合几何和触觉对象模型的新计算技术。

Haptics is an emergent sensory representation medium for robotic telemanipulation and model-based multimedia virtual reality applications, where it adds the sense of touch and force to the video and CAD geometric representations. The main objective of proposed research is the development of new haptic robot sensors and interfaces, composite geometric & haptic object models, and robust real-time computing techniques for robotic telemanipulation and interactive virtual environments. An experimental haptic interactive virtual environment will be developed to evaluate the new concepts. The short term-objectives are: -  Development of more efficient haptic robot sensors for robotic telemanipulation systems; -  Study of new concepts for the development of haptic interfaces for object manipulation in interactive virtual environments and robotic telemanipulation systems; -  Development of  new instrumentation and sensor data fusion techniques for the production of geometric & haptic composite object models which are conformal representations of real physical objects, accounting for their geometric shape and elastic behaviour while interacting through direct contact with other objects; -  Study of new computing techniques for the storage and real-time rendering of the composite geometric & haptic object models.