10kHzの更新周波数による高解像度ハプティックレンダリング(<特集>五感情報インタフェース)

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This paper describes a haptic controller for force feedback system. It is necessary that the frequency of device control is higher than 1kHz. Standard PC environments, however, have no real time operating system, and PC also controls the virtual world simultaneously. Therefore, it is difficult to guarantee the quality of frequency. On the other side, a virtual wall is generally implemented in impedance control with spring-damper model. In the case of usual 1kHz control, high impedance virtual wall is oscillated. When we display very stiff virtual wall, we try to get the parameters of maximum stable impedance, but the virtual wall displayed with these parameters can not satisfy user's request. In this research,we have developed the High Definition Haptic Controller with SuperH4 processor, and put this controller between the PC and the haptic device for the function distribution and the quality of frequency. In order to realize high frequency of device control, the controller also complements haptic information from primitive geometry and impedance of virtual wall. The SPIDAR, wire driven haptic display, is implemented in this controller, and it realizes 10kHz control frequency. Consequently, it became possible to display a very hard and high-resolution virtual wall stably. This means that the High Definition Haptic Controller presents stable haptic and high quality sensation in the virtual environments.
日本バーチャルリアリティ学会の論文
2004-09-30

10kHzの更新周波数による高解像度ハプティックレンダリング(<特集>五感情報インタフェース)

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