虛擬環(huán)境的力覺(jué)建模及力覺(jué)感知接口技術(shù)研究.pdf

1、東南大學(xué)博士學(xué)位論文虛擬環(huán)境的力覺(jué)建模及力覺(jué)感知接口技術(shù)研究姓名：吳涓申請(qǐng)學(xué)位級(jí)別：博士專業(yè)：測(cè)試計(jì)量技術(shù)及儀器指導(dǎo)教師：宋愛(ài)國(guó)20050201東南大學(xué)博士學(xué)位論文AbstractⅥ咖aIhapticrcnderin唇arisinginrecentyears，hasbeenwideIyusedinm越y(tǒng)fieldssuchasteIe—roboLsu曙icalsimulation，Virtualprototypedesign，a11dn

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9、tima協(xié)risusedtoexnap01atetheforcescomputedbylhedeformablemodelt0gobeyondinteractiVitytohaptic陀altimeComparcdwithmemethodsofconstantextr叩oiationandlinearextr叩ol砒ionovernme，theex訂印ol“onfunctionisbasedontheexperienceda詛a11dc

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12、eratorpressesitactiVe】yEvaluationofthedeVjcesjsaccomplishedItcandispIayrigidsurf如eduringcon詛ctingwithavirtualobject1naddition，thebasicconc。ptsofstab訂時(shí)issuesarediscussed，andanimpmvedPo，PCstabilitycontroImemodisdevelopedan

13、dexperimentsDerfbrmedFinally，aSapartofHighTechProjecI“theresearchontelerobotcontr01”，atestplatformofmonitorsystemfortelerobotwithvariabletimedelayisestablishe出Keywords：Hapticrende—ng，hapticmodelir唱，“nualreality：hapticdeV