CHS: Small: Interactive Haptic Assembly and Docking for 3D Shapes

CHS：小型：3D 形状的交互式触觉组装和对接

• 批准号: 1526249
• 负责人: Horea Ilies
• 金额: $ 49.75万
• 依托单位: University of Connecticut
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-09-01 至 2021-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1526249&HistoricalAwards=false
• 关键词: CHS; Small; Interactive; Haptic; Assembly

Haptic human-computer interaction mechanisms and systems play a critical role in a variety of engineering and scientific activities that rely on the fundamental task of virtual object assembly, from protein docking, drug design and tele-surgery, to advanced manufacturing, rehabilitation, robotics, teleoperation and consumer applications. One of the key long-standing challenges in developing such practical interactive systems is the lack of a proper formulation of the guidance forces that effectively assist the user in the exploration of the virtual environment, from repulsing collisions to attracting proper contact. A secondary difficulty is that of achieving an efficient implementation that can maintain an acceptable haptic refresh rate. Current state-of-the art solutions to these open problems have been developed for severely restricted classes of shapes and motions, and rely heavily on heuristics that exploit drastic geometric limitations. To address these issues, the PI's goal of this research is to develop a purely geometric model for an artificial energy field that favors spatial relations leading to proper assembly of arbitrarily complex shapes. Project outcomes will lead to effective interaction mechanisms for intelligent human-computer or human-robot systems and will open the doors to the development of generic and fully automated assembly planners while simultaneously unlocking new levels of expression and productivity in activities that rely on interactive assembly tasks in a broad range of industrial, scientific and consumer applications, in domains as diverse as 3D user interfaces, engineering, and medical and assistive technologies. The PI's industrial partnerships will facilitate aggressive and widespread technology transfer. To these ends, the energy function is expressed in terms of a convolution of shape-dependent affinity fields that rely on the novel concept of a space-continuous, well-defined, and robust density function, called the Skeletal Density Functions (SDF), whose sublevel sets in the limit are related to an implicit definition of the medial axis. Importantly, the proposed energy field leads to the first practical and automatic approach to detect key features that contribute to proper alignment or assembly, as well as the geometric constraints required for virtual assembly. Moreover, the proposed approach completely avoids the heuristic recipes and manual intervention that are common to existing methods for haptic assembly. The PI's preliminary results show that this research can unify the two haptic interaction phases of free motion and precision assembly, which are common in current haptic simulations, into a single interaction mode, and suggest a generic and automatic constraint model for the so-called virtual fixtures, with no restrictive assumption on the types of the assembly features and shapes involved.

触觉人类计算机的互动机制和系统在各种工程和科学活动中起着至关重要的作用，这些工​​程和科学活动依赖于虚拟对象组装的基本任务，从蛋白质对接，药物设计和电视手术到高级制造，康复，机器人，机器人，远程处理，远程处理和消费者应用。 开发这种实用互动系统的主要长期挑战之一是缺乏适当的指导力来制定指导力，这些指导力有效地帮助用户探索虚拟环境，从排斥碰撞到吸引适当的接触。 次要的困难是实现可以维持可接受的触觉刷新率的有效实施。 当前针对这些开放问题的最新解决方案已针对严格限制的形状和动作制定，并严重依赖于利用严重几何限制的启发式方法。 为了解决这些问题，这项研究的目标是为人工能量场开发一个纯粹的几何模型，该模型有利于空间关系，从而导致适当地组装任意复杂形状。 项目成果将导致智能人类计算机或人类机器人系统的有效互动机制，并将为开发通用和完全自动化的组装计划师的发展开发，同时在依赖工业，科学和消费者在各种工程方面的互动汇编任务中依赖互动式汇编任务的活动中的新表达和生产力，同时使用了多样化的工具和工程。 PI的工业合作伙伴关系将促进积极进取的技术转移。 对于这些目的，能量函数是根据形状依赖性亲和力场的卷积表示的，这些亲和力磁场依赖于空间连续，定义良好且强大的密度函数的新颖概念，称为骨骼密度函数（SDF），其超级级别设置在极限中与内侧轴的隐式定义有关。 重要的是，提出的能量场导致了第一种实用和自动方法，以检测有助于适当对齐或组装的关键特征，以及虚拟组装所需的几何约束。 此外，拟议的方法完全避免了触觉组装方法共有的启发式食谱和手动干预。 PI的初步结果表明，这项研究可以统一自由运动和精确组装的两个触觉相互作用阶段，在当前的触觉模拟中很常见，成为单个相互作用模式，并建议对所谓的虚拟固定装置进行通用和自动的约束模型，而无需对涉及组件类型的限制性假设。