虛擬觸覺系統中的力回饋修正與展現

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姓名

劉恒愷(Heng-Kai Liu) 查詢紙本館藏

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資訊工程學系

論文名稱

虛擬觸覺系統中的力回饋修正與展現
(Force Feedback Refinement and Force Rendering for Virtual Haptic System)

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摘要(中)

在本論文的研究中，我們提出了力回饋的修正 (force-feedback refinement) 與觸力的展現 (force rendering) 技術應用於我們所發展的虛擬觸覺系統中。由於研究經費的限制，我們所使用的力回饋器有些粗糙，操作會感覺到許多阻力因而影響到力回饋與觸覺表現的逼真度。因此在本研究中，我們提出力回饋的修正方法 (force-feedback refinement) 來消除這些阻力，目的就是要讓使用者感覺到他們在操作一個無阻力的器具；另一方面，我們也提出展現力道與觸感的方法 (force rendering)，讓使用者可以感覺到虛擬環境中物體的形狀及其表面的特性，例如摩擦力 (friction) 及紋理的特性 (texture)。為了要增進展現效率，我們採用一個快速的碰撞偵測方法，可以有效的提高視覺展現的速度 (frame rate)；另外，為了要讓觸覺的感受更加平順，我們也採用多執行緒 (multi-thread) 的方法，提高觸覺回饋的頻率 (haptic servo rate)。在我們所建構的虛擬環境中，使用者可以即時 (real time) 的看到及感觸到虛擬的物體。

摘要(英)

In this paper, we develop two techniques: force feedback refinement and force rendering for our virtual haptic system. Due to the limitation of research budget, our surgical instruments are coarse and involve undesired forces. The force feedback refinement technique is just proposed to eliminate the undesired forces such that users can feel as if they control frictionless and weightless instruments. On the other hand, the force rendering technique is proposed to display the force feeling on surface details such as the shape of an object, the friction force of the object, and the texture property of the object. To improve the rendering performance, a fast collision detection algorithm is adopted to speed up the process of force rendering and a multi-thread technique is employed to increase the haptic servo rate. Based on the proposed haptic system, users can interact with virtual environments and have realistic haptic feeling of virtual objects in real time.

關鍵字(中)

★ 觸覺回饋的頻率
★ 視覺展現的速度
★ 紋理
★ 觸力的展現
★ 力回饋的修正
★ 多執行緒
★ 即時

關鍵字(英)

★ haptic servo rate
★ frame rate
★ texture
★ force rendering
★ force-feedback refinement
★ multi-thread
★ real time

論文目次

Abstract ii
Contentsiii
List of Figuresv
List of Tablesviii
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 System overview 2
1.2.1 Haptic interface 2
1.2.2 Force-feedback refinement 2
1.2.3 Collision detection 3
1.2.4 Force rendering 3
1.3 Thesis organization 4
Chapter 2 Related Works 5
2.1 Computer haptics 5
2.1.1 Haptic display of shapes 5
2.1.2 Haptic display of surface details 9
2.2 Collision detection 11
2.2.1 Simple collision detection algorithm 11
2.2.2 Axis-aligned bounding box trees 12
Chapter 3 Force Feedback Refinement 15
3.1 Mechanical model 15
3.2 Force feedback refinement 17
3.2.1 Force feedback refinement method 18
3.2.2 Measure undesired forces 19
Chapter 4 Force Rendering 20
4.1 Haptic display of shapes 20
4.2 Haptic display of surface details 21
4.2.1 Friction forces 21
4.2.2 Texture forces 22
4.3 Haptic smoothing 23
Chapter 5 Integrated Environment for Haptic Simulation 25
5.1 A haptic environment for haptic simulation 25
5.1.1 The complexity of a haptic environment 25
5.1.2 Constructing and rendering a haptic environment 25
5.1.3 Virtual stylus control 27
5.2 Fast collision detection algorithm 28
Chapter 6 Experiments 29
6.1 Experiments on force feedback refinement 29
6.2 Experiments on force rendering 37
6.2.1 Experiments on haptic display of shapes 37
6.2.2 Experiments on haptic smoothing 38
6.2.3 Experiments on haptic friction forces 40
6.2.4 Experiments on haptic texture force 40
Chapter 7 Conclusions 42
References 43

參考文獻

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指導教授

曾定章(Din-chang Tseng)

審核日期

2000-7-6

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