一种基于指套式振动反馈装置的三维形状触觉再现改进算法

摘要

To improve the sense of reality on perception,an improved algorithm of 3D shape haptic rendering is put forward based on a finger mounted vibrotactile device.The principle is that the interactive information and the shape information are conveyed to users when they touch virtual objects at mobile terminals by attaching the vibrotactile feedback on a fingertip.The extraction of shape characteristics,the interactive information and the mapping of shape in formation of vibration stimulation are key parts of the proposed algorithm to realize the real tactile rendering.The contact status of the interaction process,the height information and local gradient of the touch point are regarded as shape information and used to control the vibration intension,rhythm and distribution of the vibrators.With different contact status and shape information,the vibration pattern can be adjusted in time to imitate the outlines of virtual objects.Finally,the effectiveness of the algorithm is verified by shape perception experiments.The results show that the improved algorithm is effective for 3D shape haptic rendering.%为了提高感知真实感,基于指套式振动触觉反馈装置提出了一种改进的三维形状触觉渲染算法.其原理是通过在手指指尖上反馈振动触觉,从而在触摸移动终端中的虚拟物体时将交互信息和形状信息传达给用户.形状特征的提取、交互信息以及振动刺激形状信息的映射是该算法实现真实触觉渲染的关键步骤.交互过程的接触状态、触摸点的高度信息和局部梯度被视为形状信息,用来控制振动器的振动强度、节奏和分布.通过不同的接触状态和形状信息,可以及时调整振动模式来模拟虚拟物体的轮廓.最后,利用形状感知实验验证了算法的有效性.结果表明,改进后的算法对于三维形状触觉渲染是有效的.