一种基于实际测量的纹理力触觉表达方法

Design and Implementation of Measurement-based Texture Force Rendering

纹理是物体表面微观结构分布特征的体现。当人手与纹理表面接触时,会感觉到凹凸不平的触感及纹理触觉。纹理触觉的显示是增强虚拟环境真实感,提高对环境的感知和控制能力不可缺少的要素。提出了一种基于实际压力测量值的纹理力计算模型,并利用力反馈装置实现纹理力触觉表达的方法。它首先利用带有力传感器的机械臂在纹理表面扫描,然后对所测量的法向纹理力信号进行数据处理,并建立法向束缚力和切向摩擦力的计算模型。虚拟纹理触觉再现时,接触力通过3自由度PHANTOM Omni手控器实时作用于操作者。由于纹理力特征来源于实际测量同时又考虑到心理学研究所发现的人的探索速度对纹理感知的影响,使得所再现的纹理力具有较高的真实感。进行了实验并证明了方法的有效性。

Texture is a form of the microstructure details of object surface. When the object surface is explored by fingers, haptic texture is induced and leads to the perception of roughness. Accurate rendering of tactile texture is essential for realistic virtual environment and improving the performance of control..4 haptic texture display approach was introduced based on real force measurements. The contact force was measured by simply stroking the surface with a micro force sensor mounted on the end of robotic arm. The variable force was analyzed and used for modeling the constraint force in virtual environment. The contact force was rendered and applied to the operator with 3-DOF PHANTOM Omni device. This method represents the physical feature of surface and take into account the velocity factor identified by psychophysics studies which garantees the high fidelity of rendering system. The simulation experiments were carried out and validity and practicability were proved.