大型多目标环境下具有触觉反馈的双手虚拟装配训练平台

Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology Pub Date : 2016-11-02 DOI:10.1145/2993369.2993386

M. Sagardia, T. Hulin, K. Hertkorn, Philipp Kremer, Simon Schätzle

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引用次数: 19

摘要

我们提出了一个虚拟现实平台，该平台解决并集成了当前虚拟装配领域的一些具有挑战性的研究课题:具有几种复杂几何形状的现实和实际场景，手和手臂的双手六自由度触觉交互，以及大型工作空间中的直观导航。我们特别关注我们的碰撞计算框架，它能够使用基于惩罚和约束的触觉渲染方法的组合在1 kHz显示僵硬和稳定的力。在实时仿真中支持与多个任意几何图形的交互，以及多个接口，允许协作训练体验。提供了一个示例性汽车装配序列的性能结果，显示了系统的就绪性。

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A platform for bimanual virtual assembly training with haptic feedback in large multi-object environments

We present a virtual reality platform which addresses and integrates some of the currently challenging research topics in the field of virtual assembly: realistic and practical scenarios with several complex geometries, bimanual six-DoF haptic interaction for hands and arms, and intuitive navigation in large workspaces. We put an especial focus on our collision computation framework, which is able to display stiff and stable forces in 1 kHz using a combination of penalty- and constraint-based haptic rendering methods. Interaction with multiple arbitrary geometries is supported in realtime simulations, as well as several interfaces, allowing for collaborative training experiences. Performance results for an exemplary car assembly sequence which show the readiness of the system are provided.

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Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology

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