新型气动力反馈数据手套的设计的研究
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摘要
虚拟现实是利用计算机模拟建立的三维空间的虚拟场景,结合外围人机交互设备,给予操作者视觉、听觉、力觉和触觉等各个感官的模拟,使操作者如同身临其境,可以如同现实一样去感知三维空间的事物及其特性。虚拟现实的三大特性是：沉浸感、交互性和构想性。人实际认识事物很大程度上是通过人手来实现的,因此研究人手与虚拟场景的交互操作是非常重要的,为了增强人手与虚拟场景的沉浸感和交互性,操作者借助的外围接口设备显得很关键。
本文研究的重点就是在对现有力反馈数据手套进行研究和分析的基础之上,研制了一种基于低摩擦气缸为驱动器的新型力反馈数据手套,设计的力反馈数据手套样机具有输出力大、摩擦力小和重量轻等特点,并且能够较好地实现力反馈数据手套关节角度测量和反馈力输出这两大通用功能。
首先,以人手骨骼模型为出发点,分析人手的运动特性,建立了人手运动简图模型。探讨了力反馈数据手套控制的对象——虚拟手模型的建立方法、碰撞检测算法、抓取技术和虚拟力计算。
其次,通过选用低摩擦气缸作为驱动器和相关机械结构的设计,研制了一种新型力反馈数据手套。通过研究角度传感器和位移传感器的原理,设计了人手-手套整体的姿态间接测量方法。
然后,针对所设计的力反馈数据手套进行量化分析。建立了人手-手套整体的运动学模型,得到并求解其运动学方程组,以实现位姿反馈。设计了气动回路,得到力反馈的控制模型。同时,对设计的力反馈数据手套的性能参数：重量、摩擦力和运动范围进行了评估和计算。
最后,针对设计的力反馈数据手套设计了实验系统,进行了低摩擦气缸静特性、人手关节角度测量和力反馈控制三个实验,得到了手套驱动器输出力的计算公式、人手弯曲时关节角度的变化曲线和模拟虚拟操作时的力触觉功能。
Virtual Reality is giving simulation of the operator's vision, hearing and feeling by making use of the three-dimension virtual scene in the computer and with the help of human-interaction equipment, so that the operator seems have self participation to perception the three-dimension's things and their features as reality. Virtual Reality has three characteristics:Immersion, Interaction and Imagination. Actually, people acknowledge things by hands at most time, so it is very important to research interaction between the hand and virtual scene. Therefore, the human-interaction equipment plays a key role in the interaction, so as to enhance the immersion and interaction.
The main point of this paper is design a new type of force feedback data glove, which using low-friction cylinders as its actuator, on the base of research on existing data gloves at home and abroad. The glove has three characteristics with big output force, low-friction and light weight. What's more, the glove realized common glove's two functions very well, which is joint measurement and feedback force output.
First, the hand's kinematics characteristics are analyzed on the base of the hand skeleton model, so that it gains kinematics diagram. Then, it investigates establishing method, collision detection algorithm, grasp technology and virtual force calculation of the virtual hand model, which is controlled by the force feedback data glove.
Secondly, a new type of force feedback data glove has been designed via choosing low-friction cylinder and designing mechanical structure. And, a joint measurement method has been designed via investigation on the principle of the angle sensor and the translation sensor.
Then, quantitative analysis has been made on the designed glove. Kinematics model has been established on hand-glove to gain the kinematics equations and its solution, so as to realize the hand position feedback. The force feedback control model has been established via design proper pneumatic circuit. Meanwhile, estimation and calculation have been made on the glove property parameters, which are weight, friction and range of motion.
Finally, experimental system has been designed on the glove to do three experiments, which are low-friction cylinder static characteristic, hand joint measurement and force feedback control, and it gains calculation formula of the glove actuator, hand joint change curve with hand bending and simulating force haptic with virtual operation.
本文研究的重点就是在对现有力反馈数据手套进行研究和分析的基础之上,研制了一种基于低摩擦气缸为驱动器的新型力反馈数据手套,设计的力反馈数据手套样机具有输出力大、摩擦力小和重量轻等特点,并且能够较好地实现力反馈数据手套关节角度测量和反馈力输出这两大通用功能。
首先,以人手骨骼模型为出发点,分析人手的运动特性,建立了人手运动简图模型。探讨了力反馈数据手套控制的对象——虚拟手模型的建立方法、碰撞检测算法、抓取技术和虚拟力计算。
其次,通过选用低摩擦气缸作为驱动器和相关机械结构的设计,研制了一种新型力反馈数据手套。通过研究角度传感器和位移传感器的原理,设计了人手-手套整体的姿态间接测量方法。
然后,针对所设计的力反馈数据手套进行量化分析。建立了人手-手套整体的运动学模型,得到并求解其运动学方程组,以实现位姿反馈。设计了气动回路,得到力反馈的控制模型。同时,对设计的力反馈数据手套的性能参数：重量、摩擦力和运动范围进行了评估和计算。
最后,针对设计的力反馈数据手套设计了实验系统,进行了低摩擦气缸静特性、人手关节角度测量和力反馈控制三个实验,得到了手套驱动器输出力的计算公式、人手弯曲时关节角度的变化曲线和模拟虚拟操作时的力触觉功能。
Virtual Reality is giving simulation of the operator's vision, hearing and feeling by making use of the three-dimension virtual scene in the computer and with the help of human-interaction equipment, so that the operator seems have self participation to perception the three-dimension's things and their features as reality. Virtual Reality has three characteristics:Immersion, Interaction and Imagination. Actually, people acknowledge things by hands at most time, so it is very important to research interaction between the hand and virtual scene. Therefore, the human-interaction equipment plays a key role in the interaction, so as to enhance the immersion and interaction.
The main point of this paper is design a new type of force feedback data glove, which using low-friction cylinders as its actuator, on the base of research on existing data gloves at home and abroad. The glove has three characteristics with big output force, low-friction and light weight. What's more, the glove realized common glove's two functions very well, which is joint measurement and feedback force output.
First, the hand's kinematics characteristics are analyzed on the base of the hand skeleton model, so that it gains kinematics diagram. Then, it investigates establishing method, collision detection algorithm, grasp technology and virtual force calculation of the virtual hand model, which is controlled by the force feedback data glove.
Secondly, a new type of force feedback data glove has been designed via choosing low-friction cylinder and designing mechanical structure. And, a joint measurement method has been designed via investigation on the principle of the angle sensor and the translation sensor.
Then, quantitative analysis has been made on the designed glove. Kinematics model has been established on hand-glove to gain the kinematics equations and its solution, so as to realize the hand position feedback. The force feedback control model has been established via design proper pneumatic circuit. Meanwhile, estimation and calculation have been made on the glove property parameters, which are weight, friction and range of motion.
Finally, experimental system has been designed on the glove to do three experiments, which are low-friction cylinder static characteristic, hand joint measurement and force feedback control, and it gains calculation formula of the glove actuator, hand joint change curve with hand bending and simulating force haptic with virtual operation.
引文
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[30]金钺,侯文君.基于虚拟手简化面法向距离的抓取碰撞检测算法.中国机械工程,2008,19(9)：356-359.
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[2]原魁,朱海兵,杜清秀.一种虚拟现实系统接触交互接口.中国体视学与图像分析,2001,9：153-156.
[3]王爱民,戴金桥.一种基于电流变液体的力反馈装置.传感技术学报,2007,4：774-777.
[4]Virtual technologies,1999.Cyber Grasp user's Guide. Virtual Technologies.Inc, paloalto, CA.
[5]M.Bouzit Design, Implementation and Testing of a data glove with Force Feedback for Virtual and Real Objects Telemanipulation (doctoral dissertation). Doctor degree dissertation, University of Pierre ET Marie Curie,1996:12～45.
[6]Mourad Bouzit, George Popescu, Grigore Burdea and Rares Boian. The Rutgers Master II-ND Force Feedback Glove. IEEE VR 2002 on Haptics Symposium,2002,3:256-263.
[7]Pe'ter Korondil, Pe'ter T. Szemesl. Sliding Mode Friction compensation for a 20 DOF Sensor Glove. Journal of Dynamic Systems, Measurement, and Control,2000,12:611-615.
[8]Tatsuya Koyama, Ikuo Yamano. Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation.2002 IEEE conference on Intelligent and Systems, 2002,10:2905-2910.
[9]Paul Richard. Virtual reality graphics simulation with force feedback. International Journal In Computer Simulation 5,287-303,1995:287-303.
[10]齐曼,张珩.数据手套的研究现状.计算机仿真,1996,12：58-60.
[11]崔洋,包钢,王祖温.虚拟现实技术中力／触觉反馈的研究现状.机床与液压,2008,7：1-4.
[12]戴金桥,王爱民.基于数据手套的力觉再现装置的设计.传感技术学报,2004,9：359-362.
[13]孙中圣,包钢,李小宁.基于气动人工肌肉力反馈数据手套的柔性物体力觉再现.南京理工大学学报,2009,12：713-716.
[14]祖超,王博亮,闵小平.虚拟手术仿真中的力反馈研究.厦门大学学报,2009,1：31-35.
[15]刘海波,席振鹏.力反馈主手研究现状及其力控制方法研究.自动化技术与应用,2008,3：1-6.
[16]杨元栋,杨泽红,贾培发.虚拟现实力反馈设备的设计与实现.计算机工程与应用,2001,23：151-153.
[17]王爱民,戴金桥.基于液体智能材料的被动力反馈数据手套.测控技术,2007,11：10-12.
[18]戴金桥,王爱民,宋爱国.适用于力反馈数据手套的被动力觉驱动器.东南大学学报,2010,1：123-127.
[19]Marwan. Gharaybeh, Grigore C. Burdea. Investigation of a shape memory alloy actuator for detours force feedback masters. Advanced Robotics of Japan,1995,3.
[20]Grigore C. Burdea. A Virtual-Reality-Based Telerehabilitation System with Force Feedback. IEEE Transaction On Information Technology In Biomedicine,2000,4(1):317-330.
[21]Andrew Heuser, Hristian Kourtev. Telerehabilitation Using the Rutgers Master II Glove Following Carpal Tunnel Release Surgery:Proof-of-Concept. IEEE Transactions On Neural Systems And Rehabilitation Engineering,2007,15(1):88-93.
[22]V. Popescu, G. Burdea. Virtual Reality Simulation Modeling for a Haptic Glove. Department of Electrical and Computer Engineering Center for Computer Aids for Industrial Productivity:77-82.
[23]Mourad Bouzit, Grigore Burdea. The Rutgers Master Ⅱ—New Design Force Feedback Glove. IEEE/ASME TRANSACTIONS ON MECHATRONICS,2002,7 (2):256-263.
[24]Maria Claudia F. Castro, Alberto Cliquet, Jr. A Low-Cost Instrumented Glove for Monitoring Forces During Object Manipulation. IEEE TRANSACTIONS ON REHABILITATION ENGINEERING, 1997,5(2):140-147.
[25]Yoseph Bar-Cohen, Constantinos Mavroidis. Virtual reality robotic telesurgery simulations using MEMICA haptic system. Annual International Symposium on Smart Structures and Materials,5-8 March,2001.
[26]Costas S. Tzafestas. Whole-Hand Kinesthetic Feedback and Haptic Perception in Dexterous Virtual Manipulation. IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART A:SYSTEMS AND HUMANS,2003,33(1):55-59.
[27]高龙琴,王爱民,黄惟一.基于18-传感器数据手套手部交互模型的建立.传感技术学报,2007,20(3)：11-14.
[28]杨文珍,高曙明.基于人手指力学特性的虚拟手接触力生成.浙江大学学报,2008,42(12)：25-29.
[29]任程,戴树岭.基于数据手套的逼真虚拟手的实现.系统仿真学报,2008,20(22)：6214-6217.
[30]金钺,侯文君.基于虚拟手简化面法向距离的抓取碰撞检测算法.中国机械工程,2008,19(9)：356-359.
[31]王天柱,李文辉.基于组件的虚拟手建模及碰撞检测.吉林大学学报,2006,44(4)：11-16.
[32]张珩.人体手部建模与分析.计算机仿真,1996,15(2)：24-28.
[33]王党校,张玉茹.实时力觉交互中的虚拟力计算及渲染方法.系统仿真学报,2004,16(7)：1-6.
[34]邓华林,马等着.虚拟装配中的虚拟手交互技术.计算机应用技术,2005,32(6)：99-103.
[35]付宜利,刘诚.虚拟装配中基于生理约束的虚拟手建模与抓持规划.计算机集成制造系统,2009,15(4)：77-82.
[36]程成,杨益平.虚拟装配中虚拟手构造及双手交互模式研究.和谐人机环境,2008：336-342.
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