力反馈汉字书法模拟的任务规划和逼真度评价方法

Task Planning and Fidelity Evaluation in Force Enabled Chinese Calligraphy Simulation System

交互过程的任务规划和逼真度评价是力反馈模拟系统的两个重要问题。目标是针对汉字书写模拟建立人的触觉技能表达和逼真度评价模型。提出了分层任务规划方法。在任务层,将汉字的力觉引导过程分为形状引导和笔顺引导;在表达层,提出了状态变化图谱,描述笔尖与纸面的交互状态序列;在设备层,将上述状态序列映射为交互设备的控制指令序列。基于分层规划建立了交互状态空间映射匹配度模型,作为逼真度评价指标。采用力反馈设备Phantom desktop?进行了系统实验,证明上述规划方法可以满足实时力觉引导的控制规律设计要求,逼真显示汉字书写过程的交互力。提出的逼真度指标可以定量地评价力觉显示的训练效果。

Task planning and fidelity evaluation are two fundamental issues in many haptic simulation systems. The aim is to develop the model of task planning and the criteria of fidelity evaluation for real-time Chinese calligraphy simulation system. A three-level hierarchical structure of task planning was proposed to represent the model of human haptic skill. In the task level, the force display was divided into two groups with respect to the structural and sequential information of strokes. In the representation level, a statusflow chart was proposed to describe the process of interaction between the virtual pen and the virtual paper. This process was then transformed into a series of control signals in the device level. The difference in the trajectory between the haptic device and the predefined Chinese character was measured to evaluate the simulation fidelity. The approach was tested on an experimental system using Phantom desktop. The system performance proves the effectiveness in the task planning and the fidelity evaluation for real-time Chinese calligraphy simulation.