CISE Postdoctoral Program: Robust Haptic Display of Dynamical Virtual Environments

CISE博士后项目：动态虚拟环境的鲁棒触觉显示

基本信息

批准号：
9625756
负责人：
James Colgate
金额：
$ 4.62万
依托单位：
Northwestern University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
1996
资助国家：
美国
起止时间：
1996-03-15 至 1998-02-28
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=9625756&HistoricalAwards=false
关键词：
CISE Postdoctoral Program Robust Haptic

项目摘要

9625756 Colgate, James E. Northwestern University CISE Postdoctoral Program: Robust Haptic Display of Dynamical Virtual Environments This award supports associate Brent R. Gillespie. To provide for direct interaction and to more effectively immerse their users, the designers of virtual environments now have the option to render objects for the haptic (touch) senses, thanks to the new and flourishing field of haptic interface technology. At present, however, the fidelity of haptic display is limited. Restrictions must be placed on the mechanical impedance of the virtual object or exceptional computational power must be demanded of the interface controller lest sustained or even unstable vibrations arise between user and virtual object. This postdoctoral research aims to remove these obstacles by developing simulation and control methods which guarantee the absence of unstable vibrations and other non-physical interactive behaviors. The research begins by noting that the destabilizing effects of sampled-data and computational delays can be fully compensated out if the entire coupled dynamical system is modeled, including the human limb. On-line system identification of the coupled human limb is integrated into the controller design to allow for active behavior on the part of the human. Concurrent theoretical treatments and hardware/software development efforts are employed to extend the methods to dynamical objects and objects which are subject to changes in kinematic constraint. ***

9625756高露洁（Colgate），詹姆斯（James E. 为了提供直接互动并更有效地沉浸在用户中，虚拟环境的设计师现在可以选择为触觉（触摸）感官提供对象，这要归功于触觉界面技术的新领域。然而，目前，触觉显示的保真度有限。必须对虚拟对象的机械阻抗进行限制或接口控制器的特殊计算能力，以免用户和虚拟对象之间发生持续甚至不稳定的振动。这项博士后研究旨在通过开发模拟和控制方法来消除这些障碍，从而确保没有不稳定的振动和其他非物理互动行为。该研究首先指出，如果整个耦合的动力系统建模，包括人体肢体，则可以完全补偿采样数据的不稳定效应和计算延迟。耦合人肢的在线系统识别已整合到控制器设计中，以允许人类的主动行为。同时采用理论处理和硬件/软件开发工作将方法扩展到受运动限制变化的动态对象和对象。 ***