力触觉增强的虚拟现实工厂系统  

Force Haptic-Enhanced Virtual Reality Factory System

作　　者：徐文彪 许驰[2,3,4] 史洪岩 李琳[3,4] XU Wenbiao;XU Chi;SHI Hongyan;LI Lin(College of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142,Liaoning,China;Key Laboratory of Networked Control Systems,Chinese Academy of Sciences,Shenyang 110016,Liaoning,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,Liaoning,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,Liaoning,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110142 [2]中国科学院网络化控制系统重点实验室,辽宁沈阳110016 [3]中国科学院沈阳自动化研究所,辽宁沈阳110016 [4]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《应用科学学报》2023年第1期71-79,共9页Journal of Applied Sciences

基　　金：国家自然科学基金(No.62173322,No.92267108);中国科学院青年创新促进会基金(No.2019202);辽宁省自然科学基金(No.2019-ZD-0069)资助。

摘　　要：现有虚拟现实工厂只能依靠头戴式显示器和手柄进行单向的视、听觉虚拟操作,难以进行双向的沉浸式触觉交互。针对此问题,采用力反馈控制器设计了一种力触觉增强的虚拟现实工厂系统。以Unity3D为基础,采用3DMax对工厂内多类型工具和零部件进行三维视觉建模,并通过反射探针、光照探针等组件进行立体化视觉增强。在此基础上,为虚拟空间物体增加刚体、碰撞体、关节等组件,建立虚拟空间的触觉反馈模型,实现了力反馈控制器与虚拟空间物体的实时触觉交互。实验表明:系统可提供重力、摩擦力、恒力等多种力触觉感知,支持对20余种工具、零部件的触摸、抓取等触感操作,能感受模型、轮廓以及质量等物理属性,实现了虚拟工厂中“视触听”多维立体化的沉浸式操作。Existing virtual reality factories that depend on helmets and handles can only provide one-way visual and auditory sensing for virtual operation,and cannot support immersive two-way tactile interaction.To deal with the problem,a haptics-enhanced virtual reality factory system is developed using force feedback controller. With Unity3D, 3DMaxis used to model multiple kinds of tools and parts with 3D vision in the factory, andenhances their stereo vision by components such as reflection probes and light probes.Furthermore, by integrating components such as rigid bodies, collision bodies, joints to thevirtual model, a tactile feedback model for the virtual space is established, which supportsthe real-time interaction between the haptic controller and virtual bodies. Experimentsshow that the system can provide a variety of force tactile perception capabilities such asmass, friction, and constant force. It supports tactile operations by touching and graspingmore than 20 tools and parts, where the model, contour, and other physical attributes suchas mass are provided. In this way, the system realizes the immersive operation experienceof multi-dimensional audio-visual-haptic operation in the virtual factory.

关 键 词：虚拟现实 触觉感知 力反馈控制器 虚拟工厂 三维视觉 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]