基于多模式触/力觉交互的坦克射手协调高速率精准调炮操作技能训练方法研究

项目名称： 基于多模式触/力觉交互的坦克射手协调高速率精准调炮操作技能训练方法研究

项目编号： No.60803070

项目类型： 青年科学基金项目

立项/批准年度： 2009

项目学科： 无线电电子学、电信技术

项目作者： 刘冠阳

作者单位： 北京航空航天大学

项目金额： 18万元

中文摘要： 面向坦克射手协调高速率精准调炮操作专业技能训练的需要，项目组以人类生理学和心理学关于技能增长的研究结论为指导，探索利用触/力觉人机交互技术和计算机网络技术实现"手把手"专业技能示教。网络连接的两台触觉交互设备可以供异地操作者模拟"手把手"训练中的手部固连，控制交互设备的反馈输出可以实现操作者彼此的运动感受和动作纠正。以单机版系统和在线示教系统为区分，项目组分别开发了力觉导引和智能纠正算法，网络在线示教算法和沉浸式分自由度共享控制算法，用于实现专家对学员的技能传达，并且符合人类技能增长规律: 技能感知、动作练习、技能纠正与固化。训练效果评价实验和训练方法对比实验结果充分表明基于触/力觉交互技术实现"手把手"技能示教的有效性和相对传统训练方法的先进性，项目组研究成果为应用计算机网络技术和触/力觉交互技术在更广泛的领域中实现人类专业技能示教奠定了基础。

中文关键词： 高速率精准操作技能训练；触觉人机交互；力觉导引与智能纠正；"手把手"专业技能示教；沉浸式分自由度共享控制

英文摘要： Based on the theory of physiology and psychology for human motor skill training, "hand in hand" mode of skill transimission is implemented by using networked haptic interaction systems for tank gunnery skill training.Two specially designed haptic devices located in a local network can make the two users feel each other and correct each other like gathering their hands together based on haptic control algorithms.Haptic guidance,networked real-time training and immersive separate dof control schemes are proposed for skill training, which can meet the requirements of human motor skill increasing: skill perceiving, skill practice and skill correction.Haptic guidance scheme computes the output torque to control the motion of haptic device and exerts guiding torques to users when a computer is considered as the teacher. Networked real-time training method and separate dof control method can implement teacher-student direct training which simulates "hand in hand" training like traditional handwriting practice. Experimental results testify the effectiveness of such haptic based training systems and proposed haptic algorithms.It can be evaluated that the novel haptic based training methods can benefit students more than that of oral teaching and practising methods.The achievements can support further researches in haptic based human motor skill training.

英文关键词： High precision and high speed motor skill training;Haptic interaction; Haptic guidance;"Hand in hand" skill training;Immersive separate dof control