To guide pedestrians to navigate in a strange city and reduce the cognitive overload suffered when walking, thermal change direction, vibration stimulation direction, intensity variation and body location are employed...To guide pedestrians to navigate in a strange city and reduce the cognitive overload suffered when walking, thermal change direction, vibration stimulation direction, intensity variation and body location are employed to construct four-parameter compound tactons.They are mapped to four different types of navigation message： route attribute, intersection type, distance and heading direction. One psychological experiment was conducted. The derived confusion matrices were used to investigate recognition rates and information transfer for compound tactons,and non-parameter tests were employed to analyze the effect of each parameter on the number of correct responses.Experimental results show that the overall identification rate for four-parameter tactons is 88.72% by using different tactile parameters,and 19.64 icons can be identified reliably in all 32 tactile icons according to the information transfer value. Thermal changes can be an effective supplement to vibrotactile icons. This suggests that compound tactons will be a promising method of conveying complex information when navigating in a virtual or real urban environment.展开更多
To improve the sense of reality on perception, an improved algorithm of 3D shape haptic rendering is put forward based on a finger mounted vibrotactile device. The principle is that the interactive information and the...To improve the sense of reality on perception, an improved algorithm of 3D shape haptic rendering is put forward based on a finger mounted vibrotactile device. The principle is that the interactive information and the shape information are conveyed to users when they touch virtual objects at mobile terminals by attaching the vibrotactile feedback on a fingertip. The extraction of shape characteristics, the interactive information and the mapping of shape in formation of vibration stimulation are key parts of the proposed algorithm to realize the real tactile rendering. The contact status of the interaction process, the height information and local gradient of the touch point are regarded as shape information and used to control the vibration intension, rhythm and distribution of the vibrators. With different contact status and shape information, the vibration pattern can be adjusted in time to imitate the outlines of virtual objects. Finally, the effectiveness of the algorithm is verified by shape perception experiments. The results show that the improved algorithm is effective for 3D shape haptic rendering.展开更多
Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleopera...Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.展开更多
基金The Natural Science Foundation of Jiangsu Province(No.BK2012560)the Research Fund for the Doctoral Program of Higher Education of China(No.20130092110060)
文摘To guide pedestrians to navigate in a strange city and reduce the cognitive overload suffered when walking, thermal change direction, vibration stimulation direction, intensity variation and body location are employed to construct four-parameter compound tactons.They are mapped to four different types of navigation message： route attribute, intersection type, distance and heading direction. One psychological experiment was conducted. The derived confusion matrices were used to investigate recognition rates and information transfer for compound tactons,and non-parameter tests were employed to analyze the effect of each parameter on the number of correct responses.Experimental results show that the overall identification rate for four-parameter tactons is 88.72% by using different tactile parameters,and 19.64 icons can be identified reliably in all 32 tactile icons according to the information transfer value. Thermal changes can be an effective supplement to vibrotactile icons. This suggests that compound tactons will be a promising method of conveying complex information when navigating in a virtual or real urban environment.
基金The National Natural Science Foundation of China(No.61473088)Six Talent Peaks Projects in Jiangsu Province
文摘To improve the sense of reality on perception, an improved algorithm of 3D shape haptic rendering is put forward based on a finger mounted vibrotactile device. The principle is that the interactive information and the shape information are conveyed to users when they touch virtual objects at mobile terminals by attaching the vibrotactile feedback on a fingertip. The extraction of shape characteristics, the interactive information and the mapping of shape in formation of vibration stimulation are key parts of the proposed algorithm to realize the real tactile rendering. The contact status of the interaction process, the height information and local gradient of the touch point are regarded as shape information and used to control the vibration intension, rhythm and distribution of the vibrators. With different contact status and shape information, the vibration pattern can be adjusted in time to imitate the outlines of virtual objects. Finally, the effectiveness of the algorithm is verified by shape perception experiments. The results show that the improved algorithm is effective for 3D shape haptic rendering.
文摘Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.
