摘要
液桥操作是空间站遥科学实验的重要内容,为保证人与远程空间实验设备的同步交互操作需求,对交互操作精确性和实时性有严格要求。针对空间液桥实验中拉桥、清桥等典型操作的随动控制任务,为达到自然沉浸的交互式效果,研制了基于LeapMotion手势交互控制并融合振动触觉反馈的三维沉浸式液桥实验系统。提出了一种基于位置控制的手势识别算法与模糊控制算法,实验验证该算法记忆负荷小,识别准确率为97.68%。实验结果表明视触融合的交互性效果优于单一视觉反馈效果,将LeapMotion多手势识别、振动触觉反馈与三维沉浸显示有机融合,为空间遥科学实验提供了新型的自然交互方式。
Space liquid bridge experiment is a typical space telescience experiment,which has the potential to synchronize the interaction between the human users and remote space laboratory equipment,and has high requirements on manipulation accuracy and real-time interactivity.Typical tasks in space liquid bridge experiment include bridge pulling,and clearance process etc.In order to achieve the effect of natural and immersive interaction for these tasks,a control strategy based on Leap Motion gesture interaction control and vibrotactile feedback is developed.A gesture recognition algorithm and fuzzy control algorithm based on position control are developed,and the experimental results show that the algorithms have a small memory load and a high recognition accuracy of 97.68%.We perform comparative experiments on single visual feedback and visual-tactile feedback,which verifies that the interactive effect of the visual-tactile feedback is superior to the single visual feedback.Experimental results validate that by combining Leap Motion multi-finger recognition,vibrotactile feedback and immersive display,the proposed syatem is able to achieve the goal of natural interaction for space telescience experiment.
作者
宋梦
刘诗怡
于歌
郭丽丽
王党校
Meng SONG;Shiyi LIU;Ge YU;Lili GUO;Dangxiao WANG(State Key Lab of Virtual Reality Technology and Systems,Beihang University,Beijing 100191,China;Beijing Advanced Innovation Center for Biomedical Engineering,Beihang University,Beijing 100191,China;Peng Cheng Laboratory,Shenzhen 518055,China;Technology and Engineering Center for Space Utilization Chinese Academy of Sciences,Beijing 100094,Chin)
基金
国家重点研发计划重点项目(2017YFB1002803)
国家自然科学基金(61572055,61633004)。
