面向多点交互的多模态振动反馈触觉再现系统  

Vibration feedback based multi-modal haptic rendering system for multi-contact interaction

作　　者：陆熊[1] 林闽旭 高永强 黄晓梅[1] 陈春晓[1] 刘佳[2] LU Xiong;LIN Minxu;GAO Yongqiang;HUANG Xiaomei;CHEN Chunxiao;LIU Jia(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;School of Automation, Nanjing University of Information Science & Technology, Nanjing 210044, China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106 [2]南京信息工程大学自动化学院,江苏南京210044

出　　处：《国防科技大学学报》2021年第3期52-57,共6页Journal of National University of Defense Technology

基　　金：国家自然科学基金面上基金资助项目(61773205,61773219);南京航空航天大学基本科研业务费专项资助项目(NS2019018);南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj20190307)。

摘　　要：近年来,多点交互和多模态融合的力触觉再现系统由于能够进一步提高人机交互的真实感,已经成为该领域的研究热点。基于Leap Motion的多手指位置检测模块、振动触觉再现模块、NRF51822蓝牙通信模块、视觉再现模块和CHAI3D构建的虚拟环境等,设计实现了多点自然交互的、触觉和视觉相融合多模态触觉再现系统。为了验证系统的可行性和有效性,开展了虚拟物体轮廓感知实验和立方体放置任务实验。实验结果表明:虚拟物体轮廓感知实验平均识别率为87.9%;相比单一视觉再现模式,视觉和触觉再现融合模式完成相同任务的时间能节省47.7%。所设计的多点交互触觉再现系统,具有成本低、体积小和控制方法简单等优点,为促进多模态人机交互技术的发展和广泛应用奠定了重要基础。In recent years,multi-modal haptic rendering featured with multi-contact interaction has become a research focus in the human-computer interaction due to its ability to further enhancing the sense of reality.A multi-modal haptic rendering system for multi-contact interaction was presented,which is composed of Leap Motion sensor based multi-finger position detection module,vibration-based tactile rendering module,NRF51822 blue-tooth communication module,visual rendering module,and CHAI3D based virtual environment.To verify the efficacy and effectiveness of the proposed system,the virtual object contour recognition experiments and object pick-and-place experiments were carried out.Experiment results show that the average success rate for distinguishing geometric virtual objects is 87.9%,and the pick-and-place experiment with combined haptic rendering and visual rendering can lead to an average time saving of 47.7%,compared with that of single visual rendering condition.The proposed multi-contact haptic system features the virtues of low cost,small size,and simple control strategy,which lays out a profound foundation for the further development and application of multi-modal human-computer interaction.

关 键 词：Leap Motion 人机交互 手指位置检测 振动触觉再现 多点交互 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]