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手臂运动感知和交互平台研究
其他题名Study on Arm Motion Perception and Interaction Platform
叶龙茂
学位类型工学硕士
导师杜清秀
2011-05-31
学位授予单位中国科学院研究生院
学位授予地点中国科学院自动化研究所
学位专业计算机应用技术
关键词运动感知 力觉交互 手臂建模 碰撞检测 惯性跟踪 Motion Perception Force Interaction Arm Modeling Collision Detection Inertial Tracking
摘要虚拟现实追求更加直观、自然的人机交互,而人与构成虚拟场景的虚拟物体的交互是其核心研究内容之一。正如在现实世界中人手操作物体是人与现实世界交互的基本行为,在虚拟环境中,与虚拟三维物体的交互也往往与人手有关。借助于三维跟踪器、数据手套和力觉反馈装置等人体运动感知和交互设备,可将人手映射到虚拟环境中的虚拟手上。此时,虚拟手作为真实人手的化身来操纵三维虚拟物体,并将操作过程中虚拟手与虚拟环境的接触和碰撞等信息反馈到人手上。因此,手臂运动感知和交互技术作为虚拟现实系统人机交互的重要接口和形式,可以更大程度地满足虚拟现实系统对沉浸感的要求。 本论文主要围绕手臂运动感知和交互这一关键技术展开,首先系统地研究了具有视觉、运动和力觉真实感的虚拟手臂建模,其次,从研究交互方式着手,对碰撞检测算法、变形处理算法和力觉反馈算法进行了研究,最后集成上述技术和方法,设计并实现了一个手臂运动感知和交互平台。本论文的主要贡献总结如下: 1. 提出了一种适合自然交互需求的虚拟手臂模型,该模型充分考虑了运动感知单元的特性和系统的实时性要求,实验结果表明,该几何和运动学模型可以满足虚拟现实应用对实时交互和沉浸感的要求。 2. 提出了一种简单有效的反馈力计算算法,并改进了E-GJK碰撞检测算法,从而改善了离散碰撞检测算法固有的刺穿和遗漏问题,实验结果表明,在实时碰撞检测计算和反馈力的真实感之间获得了平衡,能够给用户以真实的力觉体验。 3. 设计并实现了一个手臂运动感知和交互平台,该平台集成了课题组自主研发的微惯性运动跟踪装置、无线数据手套等人机交互设备和上述运动感知及交互方法。 关键词:运动感知, 力觉交互, 手臂建模, 碰撞检测, 惯性跟踪
其他摘要Intuitive and natural human-computer interaction is what we pursue in virtual reality (VR). One of its main researches concentrates on the interaction between human and virtual object. In the real world, the basic action that human interacts with world is using arm to manipulate object. Similarly, in the virtual environment, interaction with three dimensional (3D) virtual object is commonly related with arm. Utilizing human-computer perception and interaction devices such as three dimensional tracking unit, data glove and force feedback device, human arm can be mapped to virtual arm in virtual environment. In this way, as the avatar of real arm, virtual arm can manipulate 3D virtual object and can feed back the contact and collision information in VR to real human arm. Therefore, as an important kind of human-computer interaction interface, arm motion perception and interaction platform can greatly fulfill the immersion requirement of VR system. This paper mainly focuses on key technology about arm motion perception and interaction platform. Firstly researches about sense of reality of virtual arm’s geometric model, kinematic model and feedback force model are introduced. Then from the aspect of interaction method, researches about collision detection algorithm, deformation process algorithm and feedback force calculation algorithm are presented. Finally, through integrating of the above technology, an arm motion perception and interaction platform is designed and implemented. The paper’s main contribution can be summarized as follow: 1. A virtual arm model that is more suitable for natural interaction application is proposed. The model fully considers the motion perception devices’ characteristics and system’s real-time requirement. The experiments show that the geometric and kinematic model can fully satisfy the requirements of real-time interaction and immersion in virtual reality application. 2. A simple yet effective force feedback algorithm is proposed. An improvement of the E-GJK algorithm is presented. It can improve the puncture and skip problem 手臂运动感知和交互平台研究 IV that is inherent in digital collision detection algorithm. The experiments show that it can get the balance between real-time collision detection and the sense of reality of feedback force. Therefore, the operator would feel the real sense of force feedback. 3. An arm motion perception and interaction platform is designed and implemented. The platform integrate...
馆藏号XWLW1539
其他标识符200728014628051
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/7517
专题毕业生_硕士学位论文
推荐引用方式
GB/T 7714
叶龙茂. 手臂运动感知和交互平台研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2011.
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