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1.
Haptic Direct-Drive Robot Control Scheme in Virtual Reality   总被引:3,自引:0,他引:3  
This paper explores the use of a 2-D (Direct-Drive Arm) manipulator for mechanism design applications based on virtual reality (VR). This article reviews the system include a user interface, a simulator, and a robot control scheme. The user interface is a combination of a virtual clay environment and human arm dynamics via robot effector handler. The model of the VR system is built based on a haptic interface device behavior that enables the operator to feel the actual force feedback from the virtual environment just as s/he would from the real environment. A primary stabilizing controller is used to develop a haptic interface device where realistic simulations of the dynamic interaction forces between a human operator and the simulated virtual object/mechanism are required. The stability and performance of the system are studied and analyzed based on the Nyquist stability criterion. Experiments on cutting virtual clay are used to validate the theoretical developments. It was shown that the experimental and theoretical results are in good agreement and that the designed controller is robust to constrained/unconstrained environment.  相似文献   

2.
The HAPTEX system aims to develop a new multi-sensory environment for the immersive exploration of textiles. HAPTEX is based on a multi-layer/multi-thread architecture that optimizes the computational speed and integrates three different types of sensory feedback: vision, tactile and haptic. Such kind of environment is suitable for demanding VR applications such as the online marketing of novel textiles or garments, however it requires the design of a high performance multi-point haptic interface. The present work focuses on the haptic device design and describes how demanding requirements can be met by integrating on a high performance device a force sensor to achieve closed loop control. The methodology for the dimensioning of a motion based explicit force control on the basis of the dynamic parameters will be discussed and the specific implementation for the HAPTEX system presented.  相似文献   

3.
Haptic technologies and applications have received enormous attention in the last decade. The incorporation of haptic modality into multimedia applications adds excitement and enjoyment to an application. It also adds a more natural feel to multimedia applications, that otherwise would be limited to vision and audition, by engaging as well the user’s sense of touch, giving a more intrinsic feel essential for ambient intelligent applications. However, the improvement of an application’s Quality of Experience (QoE) by the addition of haptic feedback is still not completely understood. The research presented in this paper focuses on the effect of haptic feedback and what it potentially adds to the experience of the user as opposed to the traditional visual and auditory feedback. In essence, it investigates certain issues regarding stylus-based haptic education applications and haptic-enhanced entertainment videos. To this end, we used two haptic applications: the haptic handwriting learning tool to experiment with force feedback haptic interaction and the tactile YouTube application for tactile haptic feedback. In both applications, our analysis shows that the addition of haptic feedback will increase the QoE in the absence of fatigue or discomfort for this category of applications. This implies that the incorporation of haptic modality (both force feedback as well as tactile feedback) has positively contributed to the overall QoE for the users.  相似文献   

4.
Haptic feedback has the potential to provide superior performance in computer-integrated surgery and training. This paper discusses the design of a user interface that is capable of providing force feedback in all the degrees of freedom (DOFs) available during endoscopic surgery. Using the Jacobian matrix of the haptic interface and its singular values, methods are proposed for analysis and optimization of the interface performance with regard to the accuracy of force feedback, the range of applicable forces, and the accuracy of control. The haptic user interface is used with a sensorized slave robot to form a master–slave test-bed for studying haptic interaction in a minimally invasive environment. Using the master–slave test-bed, teleoperation experiments involving a single degree of freedom surgical task (palpation) are conducted. Different bilateral control methods are compared based on the transparency of the master–slave system in terms of transmitting the critical task-related information to the user in the context of soft-tissue surgical applications.  相似文献   

5.
The aim of this study is to identify the effects of force feedback haptic applications developed in virtual reality environments (VREs), which is an important field of study in computer science and engineering, on gifted students’ attitudes towards chemistry education in learning process. A 3D 6 DOF (Degree of Freedom) haptik device (Phantom Omni?) has been used to develop the algorithm in this study. It can be used to transmit force and motion using a haptic device. Visual C++ was choosen as the software development environment. OpenGL? and Haptic Device Application Programming Interface have been used for rendering graphics. At the 3D image creation state Wrap 1200?, which is a kind of head-mounted display, has been chosen. The sample of this study consists of 52 students identified as gifted and are attending 6th and 7th grades at the Istanbul Science &; Art Center in Istanbul. The experimental group studied chemical bonds using an application developed by using a force feedback haptic device in VRE and the control group studied it by traditional teaching methods. The study reveals that there is a relation between using force feedback haptic applications which are developed in VREs and gifted students’ attitudes towards educational programs.  相似文献   

6.
This paper demonstrates a haptic device for interaction with a virtual environment. The force control is added by visual feedback that makes the system more responsive and accurate. There are two popular control methods widely used in haptic controller design. First, is impedance control when user motion input is measured, and then, the reaction force is fed back to the operator. The alternative method is admittance control, when forces exerted by user are measured and motion is fed back to the user. Both, impedance and admittance control are also basic ways for interacting with a virtual environment. In this paper, several experiments were performed to evaluate the suitability of force-impedance control for haptic interface development. The difference between conventional application of impedance control in robot motion control and its application in haptic interface development is investigated. Open loop impedance control methodology is implemented for static case and a general-purpose robot under open loop impedance control was developed as a haptic device, while a closed loop model based impedance control was used for haptic controller design in both static and dynamic case. The factors that could affect to the performance of a haptic interface are also investigated experimentally using parametric studies. Experimental results for 1 DOF rotational motion and 2 DOF planar translational motion systems are presented. The results show that the impedance control aided by visual feedback broaden the applicability of the haptic device and makes the system more responsive and accurate.
J. SasiadekEmail:
  相似文献   

7.
Haptic devices (force feedback interfaces) show great promise for use in the design of CAD models. However, current haptic systems are used primarily to verify rather than to interact with CAD systems to design a model.The paper discusses a haptic-based CAD system—Virtual DesignWorks. It is the world's first haptic application for the design of CAD models based on component technology (COM+). With haptic devices, the system allows engineers, in virtual space, to directly touch a native B-Rep CAD model, and deform it by pushing, pulling and dragging its surfaces in a natural three-dimensional environment. Virtual DesignWorks adopts the novel COM-based haptic model, which demonstrates significant advantages compared to the traditional haptic models. Force feedback gives designers the greatest flexibility for the design of complex surfaces, and haptics has the potential to become a critical interface for design applications.  相似文献   

8.
This research aims to develop a combined sense system that uses both the force feedback and visual feedback to establish the shape of microscopic features of a microsample. It is thought that the efficiency of minute procedures would be improved if the operator could obtain a sense of force while using a manipulator. We used a cantilever to touch a minute object and obtain a reaction force from the degree of bending. We made a haptic device which gives a sense of that force to the operator, who can feel the force when a user touches a sample with a cantilever. In addition, when the haptic device is used in simulations, the user can feel a force just as if the user had touched a sample.  相似文献   

9.
Traditional, hands-on dissection of an animal is common practice in many classrooms to aid in the study of anatomy and biology. More specifically, virtual dissection environments have been developed making it possible to study the inner workings of animals without cutting them up. In this paper, we present a novel virtual reality dissection simulator, where a user can dissect an animal (i.e. frog) and its organs using a 3D force feedback haptic device. The simulator uses force feedback as part of a multimodal cue to provide guidance and performance feedback to the user. This paper highlights methodologies which are used for addressing some of the key challenges involved in designing and developing simulators, such as: modelling and mechanics of deformation, collision detection between multiple deformable bodies, and haptic feedback.  相似文献   

10.
A Survey of Haptic Rendering Techniques   总被引:3,自引:0,他引:3  
Computer Graphics technologies have developed considerably over the past decades. Realistic virtual environments can be produced incorporating complex geometry for graphical objects and utilising hardware acceleration for per pixel effects. To enhance these environments, in terms of the immersive experience perceived by users, the human's sense of touch, or haptic system, can be exploited. To this end haptic feedback devices capable of exerting forces on the user are incorporated. The process of determining a reaction force for a given position of the haptic device is known as haptic rendering. For over a decade users have been able to interact with a virtual environment with a haptic device. This paper focuses on the haptic rendering algorithms which have been developed to compute forces as users manipulate the haptic device in the virtual environment.  相似文献   

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