面向动作技能训练的力觉交互系统实验研究  

Experimental evaluation of haptic enabled interactive motor skill training system

作　　者：王党校[1] 张玉茹[1] 姚冲[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《系统仿真学报》2006年第z2期403-407,410,共6页Journal of System Simulation

基　　金：中国博士后基金和国家自然科学基金(50575011)。

摘　　要：力觉交互仿真引入到虚拟现实系统中,可以增强系统的交互性和沉浸感。针对动作技能训练的一般要求,选用汉字书法模拟为对象进行实验研究。首先简介了基于有序笔画的汉字力觉渲染架构、快速碰撞检测算法和虚拟力模型。基于Phantomdesktop?重点开展两类实验:稳定性实验以及动作既能训练效果实验。实验结果证明,渲染算法保证了笔画密集处和笔画转换时的碰撞检测结果唯一性,实现了交互状态转换时的稳定的力觉反馈。不同人的操作实验表明力觉导引对于不熟悉汉字笔画结构的外国留学生,训练效果好于本国学生。力反馈训练前后书写成绩的对比证明了人的肌肉运动记忆在动作技能训练的重要作用。Haptic display can enhance interactivity and immersion of virtual reality systems. Chinese handwriting training was selected as a benchmark to study motor skill training by haptic interaction method. Strokes sequence based rendering architecture, corresponding collision detection and virtual force model were briefly introduced. Experiment platform was constructed using Phantom desktop?. Experiments were classified into two categories. First kind of experiment focuses on stability and fidelity of the rendering algorithm on various strokes and characters handwriting training. Result illustrates validity of the rendering algorithm to achieve expected collision detection result within neighboring area of strokes clusters and at corner points of complex strokes, and stability can be maintained even when frequent switch occurs between the virtual pen’s tip and the virtual paper, or between the virtual pen’s tip and adjacent strokes. Second kind of experiment focuses on effect of force feedback during motor skill training. Writing efficiency and accuracy under force feedback is better than without force feedback. For novice trainee, the effect of using haptic training is especially apparent. However, the effect of native trainees is not apparent as expected, which is concluded that small-scale repetition is not enough for cultivating kinesthetic memory.

关 键 词：力觉渲染 汉字书法模拟 笔画序列 实验评价 运动记忆 

分 类 号：T391.9[一般工业技术]