博碩士論文 87325036 詳細資訊




以作者查詢圖書館館藏 以作者查詢臺灣博碩士 以作者查詢全國書目 勘誤回報 、線上人數:8 、訪客IP:3.81.28.94
姓名 劉恒愷(Heng-Kai Liu)  查詢紙本館藏   畢業系所 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)
相關論文
★ 適用於大面積及場景轉換的視訊錯誤隱藏法★ 多頻譜衛星影像融合與紅外線影像合成
★ 腹腔鏡膽囊切除手術模擬系統★ 飛行模擬系統中的動態載入式多重解析度地形模塑
★ 以凌波為基礎的多重解析度地形模塑與貼圖★ 多重解析度光流分析與深度計算
★ 體積守恆的變形模塑應用於腹腔鏡手術模擬★ 互動式多重解析度模型編輯技術
★ 以小波轉換為基礎的多重解析度邊線追蹤技術(Wavelet-based multiresolution edge tracking for edge detection)★ 基於二次式誤差及屬性準則的多重解析度模塑
★ 以整數小波轉換及灰色理論為基礎的漸進式影像壓縮★ 建立在動態載入多重解析度地形模塑的戰術模擬
★ 以多階分割的空間關係做人臉偵測與特徵擷取★ 以小波轉換為基礎的影像浮水印與壓縮
★ 外觀守恆及視點相關的多重解析度模塑★ 腹腔鏡手術模擬系統中的流血特效
檔案 [Endnote RIS 格式]    [Bibtex 格式]    [相關文章]   [文章引用]   [完整記錄]   [館藏目錄]   [檢視]  [下載]
  1. 本電子論文使用權限為同意立即開放。
  2. 已達開放權限電子全文僅授權使用者為學術研究之目的,進行個人非營利性質之檢索、閱讀、列印。
  3. 請遵守中華民國著作權法之相關規定,切勿任意重製、散佈、改作、轉貼、播送,以免觸法。

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 [1] Basdogan, C., C.-H. Ho, M. A. Srinivasan, S. D. Small, and S. L. Dawson, “Force interactions in laparoscopic simulations: haptic rendering of soft tissues,” in Proc. of The Medicine Meets Virtual Reality Conference, San Diego, CA, Jan.19-22, 1998, pp.385-391.
[2] Basdogan, C., C.–H. Ho, and M. A. Srinivasan, “A ray-based haptic rendering technique for displaying shape and texture of 3D objects in virtual environments,” in Proc. of The ASME Dynamic Systems and Control Division, Dollas, TX, Nov.15-21, 1997, pp.77-84.
[3] Bergen, G. V. D., “Efficient collision detection of complex deformable models using AABB trees,” Journal of Graphics Tools, 2(4):1-14, 1997.
[4] Foley, J. D, A. van Dam, S. K. Feiner, and J. F. Hughes, eds., Computer Graphics, Addision-Wesley, Massachusetts, 1992.
[5] Gottschalk, S., M. C. Lin, and D. Manocha, OBBTree: A Hierarchical Structure for Rapid Interference Detection, Technical report TR96-013, Department of Computer Science, University of N. Carolina, Chapel Hill, 1996.
[6] Ho, C.–H., “Efficient point-based rendering techniques for haptic display of virtual objects,” in Teleoperators and Virtual Environments, MIT press, Cambridge, MA, 1999, pp.466-491.
[7] Kuo, B. C., Automatic Control Systems, Prentice-Hall, New Jersey, 1995.
[8] Mark, W. R., S. C. Randolph, M. Finch, J. M. Van Verth, and R. M. Taylor II, “Adding force feedback to graphics systems: issues and solutions,” in Proc. of SIGGRAPH, New Orleans, Aug.4-9, 1996, pp.447-452.
[9] Massie, T. H., and J. K. Salisbury, “The PHANToM haptic interface: a device for probing virtual objects”, in Proc. of the ASME Dynamic systems and Control Division, Chicago, IL, Nov.6-11, 1994, pp295-301.
[10] Massie, T. H., Initial Haptic Explorations with The Phantom: Virtual Touch Through Point Interaction, M.S. Thesis, Department of Mechanical Engineering, MIT, Cambridge, MA, 1996.
[11] Max, N. L., and B. G. Becker, “Bump shading for volume textures,” IEEE Computer Graphics and Application, Vol.14, pp.18-20, July, 1994.
[12] Minsky, M. M., M. Ouhyoung, O. Steele, F. P. Brooks, and M. Behensky, “Feeling and seeing: issues in force display,” ACM Computer Graphics, Vol.24, No.2, pp236-244, 1990.
[13] Morgenbesser, H. B., Force Shading for Haptic Shape Perception in Haptic Virtual Environments, M.S. Thesis, Department of Mechanical Engineering, MIT, Cambridge, MA, 1995.
[14] Ouhyoung, M., W. -N. Tsai, M. –C. Tsai, J. –R. Wu, C. –H. Huang, and T. –J. Yang, “A low-cost force feedback joystick and its use in pc video games,” IEEE Trans. on Consumer Electronics, Vol.41, No.3, pp.787-794, 1995.
[15] Srinivasan, M. A., and C. Basdogan, “Haptics in virtual environments: taxonomy, research status, and challenges,” Computers and Graphics, Vol.21, No.4, pp.393-404, 1997.
[16] Zilles, C. B., and J. K. Salisbury, “A constraint-based god-object method for haptic display,” in IEEE Int. Conf. on Intelligent Robots and Systems, Pittsburgh, Aug.5-9, 1995, pp.146-151.
指導教授 曾定章(Din-chang Tseng) 審核日期 2000-7-6
推文 facebook   plurk   twitter   funp   google   live   udn   HD   myshare   reddit   netvibes   friend   youpush   delicious   baidu   
網路書籤 Google bookmarks   del.icio.us   hemidemi   myshare   

若有論文相關問題,請聯絡國立中央大學圖書館推廣服務組 TEL:(03)422-7151轉57407,或E-mail聯絡  - 隱私權政策聲明