Haptic rendering enables people to touch, perceive, and manipulate virtual objects in a virtual environment. Using six cascaded identical hollow disk electromagnets and a small permanent magnet attached to an operator's finger, this paper proposes and develops an untethered haptic interface through magnetic field control. The concentric hole inside the six cascaded electromagnets provides the workspace, where the 3D position of the permanent magnet is tracked with a Microsoft Kinect sensor. The driving currents of six cascaded electromagnets are calculated in real-time for generating the desired magnetic force. Offline data from an FEA (finite element analysis) based simulation, determines the relationship between the magnetic force, the driving currents, and the position of the permanent magnet. A set of experiments including the virtual object recognition experiment, the virtual surface identification experiment, and the user perception evaluation experiment were conducted to demonstrate the proposed system, where Microsoft HoloLens holographic glasses are used for visual rendering. The proposed magnetic haptic display leads to an untethered and non-contact interface for natural haptic rendering applications, which overcomes the constraints of mechanical linkages in tool-based traditional haptic devices.
翻译:在虚拟环境中,Hapic 投影使人们能够触摸、感知和操控虚拟物体。使用六个级联式空心磁磁盘和连接操作器手指的小型永久磁铁,本文通过磁场控制提出并开发一个不接带的偶然界面。六级联电子磁网中的同心洞提供了工作空间,永久磁的3D位置用微软Kinect传感器跟踪。六级联电子磁网的驱动流是实时计算产生所希望的磁力的。基于FEA(精密元素分析)模拟的离线数据,决定磁力、驱动电流和永久磁力位置之间的关系。进行了一系列实验,包括虚拟物体识别实验、虚拟表面识别实验和用户感知评估实验,以演示拟议的系统,其中微软霍洛伦斯的光谱眼镜用于视觉造影。拟议的磁精度显示导致一个不交错的和非接触界面,用于自然焦力转换应用,从而克服了基于工具的传统机件的机械联系的限制。