Haptic gas pedal feedback

Active driver support systems either automate a control task or present warnings to drivers when their safety is seriously degraded. In a novel approach, utilising neither automation nor discrete warnings, a haptic gas pedal (accelerator) interface was developed that continuously presents car-following support information, keeping the driver in the loop. This interface was tested in a fixed-base driving simulator. Twenty-one drivers between the ages of 24 and 30 years participated in a driving experiment to investigate the effects of haptic gas pedal feedback on car-following behaviour. Results of the experiment indicate that when haptic feedback was presented to the drivers, some improvement in car-following performance was achieved, while control activity decreased. Further research is needed to investigate the effectiveness of the system in more varied driving conditions. Haptics is an under-used modality in the application of human support interfaces, which usually draw on vision or hearing. This study demonstrates how haptics can be used to create an effective driver support interface.     

力反馈柔性虚拟夹具辅助遥操作

针对未知环境遥操作的操作安全性与操作性能之间相互矛盾的问题,提出并实现一种力反馈柔性虚拟夹具方法.该方法通过引入柔性系数调节机器人倾向于期望运动方向的程度,将离线任务规划与操作者手动控制的优势相结合,在获得一定的操作性能的同时,具有避开离线任务规划路径中障碍的能力,保证了遥操作的安全性.在此基础上,将虚拟力反馈方法融合...     

虚拟现实的力触觉交互技术发展现状与趋势

虚拟现实通过模拟人的视觉、听觉、力触觉等,使人处于一种与真实世界非常逼真的虚拟世界中,来感受、体验和评价虚拟世界中的场景和设备。力触觉在虚拟现实环境中有其突出优越性,力触觉使得虚拟现实环境变得真实,是唯一的既可接受周围环境输入又可以对周围环境输出的感知通道,可极大增强可视化表达的效果。虚拟现实的力触觉交互技术包括力触觉再现技术和虚拟环境的力触觉建模。介绍了这两方面的发展现状、存在的问题和今后的发展趋势。     

A Survey of Haptic Rendering Techniques

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.     

用于实时柔性触觉再现的平行菱形链连接模型

精度高且实时性好的柔性触觉变形模型是实现触觉再现系统的关键。提出了一种新的基于物理意义的平行菱形链连接触觉变形模型,系统中各个链结构单元相对位移的叠加对外等效为物体表面的变形,与之相连的弹簧弹性力的合力等效为物体表面的接触力。使用Delta 6-DOF手控器,建立了触觉再现实验系统,对柔性体的接触变形和实时虚拟触觉反馈进行仿真, 实验结果表明所提出的模型不仅计算简单,而且能够保证触觉接触力和形变计算具有较高精度,满足虚拟现实系统对精细作业和实时性的要求。     

力／触觉再现设备的研究现状与应用

力/触觉再现技术作为一种新兴的人机交互模式在虚拟现实系统得到较多应用。力/触觉再现设备是力/触觉再现系统实现过程中必不可少的环节,受到广泛的重视和研究。讨论了力/触觉再现设备的种类和特点,分类介绍了国内外力/触觉再现设备的研究现状,并作了分析比较。最后讨论了力/触觉再现设备在不同领域的应用,并探讨了其未来的研究发展趋势。     

弹性体力/触觉框架模型

在力/触觉建模技术中,高效的实时性与基于物理意义的准确性是与生俱来的一对矛盾.为了提高实时性与准确性的和谐程度,提出一种分析虚拟柔性体力/变形关系的框架结构模型.在柔性体内部建立一定数量并相互独立的钢架结构,运用虚功原理计算每根钢架上节点的位移;根据接触点和节点的分布,采用分水岭法将柔性体表面分割成若干区域,通过本区域内节点和接触点的位移插值计算区域内顶点的变形,进而得到柔性体的整体变形.仿真实验结果表明,该模型简便、实时性好,在具体的虚拟建模力反馈工作中可操作性强.     

悬浮空间中的触觉反馈在多对象选择任务中的作用

在触控交互中,缺少触觉反馈会造成用户操作水平的降低和用户体验的下降.前人研究对在触控交互中增加触觉反馈这一方法进行了探索.然而,由于现有触摸屏技术仅能在用户点击屏幕后检测用户手指的位置,触觉反馈也只能在用户点击屏幕之后发挥作用.新的传感技术可以在触摸屏上方的悬浮空间(hover space)内提前检测到手指的位置.利用多对象选择任务(multi-target pointing task)比较了在悬浮空间中增加4种反馈方式对用户操作水平和用户体验的影响.实验结果显示,增加的点击振动反馈受到了用户的普遍青睐.然而,增加的触觉反馈对于用户的操作效率和正确率却没有影响.根据这些结果和前人的研究,提出了在悬浮空间中增加触觉反馈的设计建议.     

基于触觉反馈和运动约束的虚拟装配操作

该文将人对虚拟对象的抓取分为两个过程,然后分别对这两个过程的触觉反馈进行模拟,使用户产生真实的操作感觉。然后根据零件在装配过程中受到的约束,对零件的运动进行约束,同时提出基于虚拟工具的运动轴线与连接件的轴线对齐的方法对虚拟工具的运动进行约束,从而实现自然直观的交互手段。     

Effects of using a force feedback haptic augmented simulation on the attitudes of the gifted students towards studying chemical bonds in virtual reality environment

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.     

Unpacking students' conceptualizations through haptic feedback

While it is clear that the use of computer simulations has a beneficial effect on learning when compared to instruction without computer simulations, there is still room for improvement to fully realize their benefits for learning. Haptic technologies can fulfill the educational potential of computer simulations by adding the sense of touch. Visuohaptic simulations may not only help students visualize these concepts, but they may also have the capability of enriching the learning experience and enhancing retention. To provide additional insights about how students conceptualize abstract and difficult concepts in science, this study proposes a sequencing approach. The research questions are: (1) what are undergraduate students' ways of conceptualizing electric fields through haptic feedback? And (2) what are undergraduate students' perceptions of using visuohaptic simulations for their learning of electric force concepts? Participants included nine undergraduate students who participated in a think aloud procedure. Data were analysed qualitatively using open coding followed by axial coding. The results suggest that students' conceptualized electric force concepts through embodied haptic experiences by inferring force–distance relationship, sign inference, shape of field and indirectly inferring the concept of electric potential. Students also perceived the value of using visual plus haptic simulations to help them understand and retain concepts.     

Why do drivers maintain short headways in fog? A driving-simulator study evaluating feeling of risk and lateral control during automated and manual car following

Drivers in fog tend to maintain short headways, but the reasons behind this phenomenon are not well understood. This study evaluated the effect of headway on lateral control and feeling of risk in both foggy and clear conditions. Twenty-seven participants completed four sessions in a driving simulator: clear automated (CA), clear manual (CM), fog automated (FA) and fog manual (FM). In CM and FM, the drivers used the steering wheel, throttle and brake pedals. In CA and FA, a controller regulated the distance to the lead car, and the driver only had to steer. Drivers indicated how much risk they felt on a touchscreen. Consistent with our hypothesis, feeling of risk and steering activity were elevated when the lead car was not visible. These results might explain why drivers adopt short headways in fog. Practitioner Summary: Fog poses a serious road safety hazard. Our driving-simulator study provides the first experimental evidence to explain the role of risk-feeling and lateral control in headway reduction. These results are valuable for devising effective driver assistance and support systems.     

3-d.o.f. Wire Driven Planar Haptic Interface

A 4-wire driven 3-d.o.f. planar haptic device, called the Feriba-3, is described. The particular geometric configuration of the end-effector ensures a closed form kinematic pose solution and good manipulability. Moreover, the structural arrangement adopted makes the Feriba-3 a well-performing haptic device, whose major features are low inertia, low friction, and full dexterity in a large workspace. The manipulability analysis has been performed by introducing a complete set of manipulability indices.     

Investigating the effects of multimodal feedback through tracking state in pen-based interfaces

A tracking state increases the bandwidth of pen-based interfaces. However, this state is difficult to detect with default visual feedback. This paper reports on two experiments that are designed to evaluate multimodal feedback for pointing tasks (both 1D and 2D) in tracking state. In 1D pointing experiments, results show that there is a significant effect for input types on movement time while feedback type and the use of different hands for receiving feedback (i.e. the dominant or non-preferred hand) do not affect movement time significantly. We also report that there is a significant effect for feedback types and input device types on error rate while the choice of hand (used for detecting feedback vibrations) does not affect the error rate significantly. In the 2D pointing experiment, results show that there are no significant effects for either input type or the use of different hands on movement time while feedback type affects movement time significantly. Results for both the 1D and 2D pointing tasks show that tactile plus visual feedback can improve accuracy and audio is not efficient to give user feedback in tracking state. This paper proposes several guidelines for feedback design in tracking state. We believe these results can aid designers of pen-based interfaces.     

下颌骨拼接与导板设计的力反馈虚拟手术研究

传统的颅颌面术前规划与手术训练缺少力的触觉反馈，导致医生在手术建模与导板设计的过程效率低下。针对提高医生术前规划效率和训练的效果，设计了一种基于力反馈的颅颌面虚拟手术仿真平台。该系统采用力反馈机制与碰撞检测机制，能够对模型进行选取并移动而达到对下颌骨精确拼接的效果，同时能够设计出相应的导板。实验结果证明使用该平台进行颅颌面手术术前规划和导板设计更有效率，仿真结果的实时性和真实性也较高。     

Haptic feedback and control of a flexible surgical endoscopic robot

A flexible endoscope could reach the potential surgical site via a single small incision on the patient or even through natural orifices, making it a very promising platform for surgical procedures. However, endoscopic surgery has strict spatial constraints on both tool-channel size and surgical site volume. It is therefore very challenging to deploy and control dexterous robotic instruments to conduct surgical procedures endoscopically. Pioneering endoscopic surgical robots have already been introduced, but the performance is limited by the flexible neck of the robot that passes through the endoscope tool channel. In this article we present a series of new developments to improve the performance of the robot: a force transmission model to address flexibility, elongation study for precise position control, and tissue property modeling for haptic feedback. Validation experiment results are presented for each sector. An integrated control architecture of the robot system is given in the end.     

Post-error expression of speed and force while performing a simple,monotonous task with a haptic pen

Control errors often occur in repetitive and monotonous tasks, such as manual assembly tasks. Much research has been done in the area of human error identification; however, most existing systems focus solely on the prediction of errors, not on increasing worker accuracy. The current study examines force responses before, during and after errors in a simulated assembly line task in order to determine an optimal feedback system for error reduction. Confirming previous findings, enhanced movement speed and reduced force occurred before erroneous trials and slowing occurred after erroneous trials. Given the results, we suggest a haptic feedback system which stimulates users to exert increased force levels after completing an erroneous task in order to increase degree of control and re-build worker confidence and thereby reduce overall error rate.     

A Virtual Simulation System for Ship Marine Auxiliary Boiler with Force and Haptic Feedback

Because of the limitation on the traditional training system for auxiliary boiler, a virtual simulation system is designed according to the actual situation and operational requirements of the real marine auxiliary boiler system. Based on force and haptic feedback, and Vega API, the proposed virtual simulation system uses PHANTOM Desktop as the interactive interface, applying 3DS MAX and Creator to construct the virtual environment. The system realized the human-computer interaction, and can satisfy the users＇ immersion of touch and vision, meeting the auxiliary boiler system operating and management training to some extent.     

Relationships between driving simulator performance and driving test results

This article is considered relevant because: 1) car driving is an everyday and safety-critical task; 2) simulators are used to an increasing extent for driver training (related topics: training, virtual reality, human – machine interaction); 3) the article addresses relationships between performance in the simulator and driving test results–a relevant topic for those involved in driver training and the virtual reality industries; 4) this article provides new insights about individual differences in young drivers' behaviour. Simulators are being used to an increasing extent for driver training, allowing for the possibility of collecting objective data on driver proficiency under standardised conditions. However, relatively little is known about how learner drivers' simulator measures relate to on-road driving. This study proposes a theoretical framework that quantifies driver proficiency in terms of speed of task execution, violations and errors. This study investigated the relationships between these three measures of learner drivers' (n = 804) proficiency during initial simulation-based training and the result of the driving test on the road, occurring an average of 6 months later. A higher chance of passing the driving test the first time was associated with making fewer steering errors on the simulator and could be predicted in regression analysis with a correlation of 0.18. Additionally, in accordance with the theoretical framework, a shorter duration of on-road training corresponded with faster task execution, fewer violations and fewer steering errors (predictive correlation 0.45). It is recommended that researchers conduct more large-scale studies into the reliability and validity of simulator measures and on-road driving tests.     

基于虚拟仿真的并联构型手控器动力学建模与力反馈控制

为了对结构复杂的并联构型手控器进行力反馈操作,提出一种基于虚拟仿真的动力学建模与控制方法.首先分析Maryland构型的手控器并建立其数学模型,同时在Sim Mechanics仿真环境下建立其物理仿真模型,其中仿真模型能够根据实验环境与标定参数直接进行修正补偿.通过对比两种模型的驱动结果,证实修正后的仿真模型精度更高,可应用于动力学控制.最后按控制需求,在仿真模型基础上设计碰撞模块,搭建出半实物仿真系统,完成了根据碰撞信号在操作过程中生成水平反馈力的实验.其中手控器的受力情况与系统的仿真结果一致,证实了控制方法的可行性和准确性.