【摘要】 力/触觉再现技术是遥操作、飞行器仿真培训以及增强型虚拟现实等系统的有益补充。准确度高、噪声低且计算快速的速度估算是确保高效力/触觉再现系统实现的重要环节之一。从位移数据峰值信息出发,提出了一种自适应分段速度估算方法。相对现有的有限步长差分法在采样率较高时容易引入噪声分量和自适应回溯窗法在低速运动时需要较长计算时间等缺点,自适应分段法在确保估算准确度和光滑度的基础上同时具备计算快速的特性,从而能够满足力/触觉再现技术所需的准确性和实时性要求。文章最后建立了力/触觉再现实验系统,通过实验验证了该速度估算方法的有效性和快速性。更多还原

【Abstract】 Fast and efficient velocity estimation is often a challenging task in haptic rendering which shows more and more importance in teleoperation system,aerocraft simulation system and augmented virtual reality system.Based on the peak information of displacement data,an adaptive segment method is presented for real-time velocity estimation.While the plain finite difference method tends to induce noise components at high sampling rate and the adaptive windowing method requires considerable computing time under slow motion,the adaptive segment method can achieve considerable accurate and smooth velocity estimation with constant low computational load,which makes it qualified for haptic rendering processes and other application systems.The proposed method was testified and proved through comparison experiments with a prototype haptic rendering system built on a Delta 6-DOF haptic device.更多还原