建立一個具有擬真多點觸覺力回饋的虛擬實境組裝系統

Development of a Virtual Reality Assembly System with Realistic Multi-Point Haptic Feedback

李子魁(Tzu-Kuei Lee)

指導教授 ： 陳湘鳳

國立臺灣大學/工學院/機械工程學研究所/碩士(2014年)

https://doi.org/10.6342/NTU.2014.10747

摘要

虛擬實境於組裝拆卸的應用在近年來被廣泛的討論與實現，相較於在真實空間中操作，使用者在虛擬環境中操作可以達到降低操作成本、操作危險性，以及重複操作等好處。因此，如何模擬虛擬環境使其更接近真實環境與符合使用者操作習慣，便成為虛擬實境研究人員致力解決的問題。本篇論文將介紹一個組裝拆卸的互動系統，提供使用者在視覺之外，更真實的觸覺感受。本研究利用微型喇叭作為觸覺回饋的致動器，安裝在使用者的指腹上以提供多點觸覺回饋，模擬使用者碰觸物品後所受到的觸覺回饋。本研究利用Unity3D物理引擎，建立虛擬環境以及虛擬物件；利用兩組資料手套以及頭部動態追蹤裝置，進行人機互動；藉由雙手的抓取模擬，提高虛擬實境的真實感；搭配3D立體視覺系統，呈現一個更完善、更接近真實的虛擬實境。本研究設計一虛擬的組裝流程進行人因測試，以測試使用者對此系統的感受。結果顯示，本研究所實現的虛擬實境系統對於使用者的操作有正面的影響。

關鍵字

虛擬實境 ； 觸覺力回饋 ； 組裝 ； 資料手套 ； 微型喇叭 ； 組裝拆卸 ； 3D視覺

並列摘要

Applications of assembly and disassembly in virtual reality are increasingly discussed and implemented in recent years. Compared to real world manipulation, users can complete necessary tasks in virtual reality at lowered cost, less potential hazards, and ability for repeat manipulation. Therefore, the realistic simulation of real world interaction and user behavior has become the most important issue for researchers. To reach this goal, this paper proposes a virtual reality interactive assembly and disassembly system to provide not only visual but also haptic feedback for potential users. Micro speakers are mounted on the fingertips of the user, acting as actuators to provide haptic feedback. By controlling the input signal of each micro speaker independently, multi-tactile feedback can be achieved to simulate the feeling of grasping or touching an object in the real world. Along with realistic virtual environment and models built by Unity3D graphic program, data glove and head tracking devices as a human-computer interaction system and a 3D stereo visual system, used dual data-glove to improve the realistic of grasping gesture, to a well thought-out design can be realized at acceptable cost. Assembly processes with the virtual environment system are designed as user test in this thesis to determine user response. The user test result shows that the virtual environment system this thesis implemented has a positive effect on user evaluation of a virtual reality environment.

並列關鍵字

Virtual reality ； tactile haptic feedback ； data glove, micro speaker ； assembly and disassembly ； 3D stereo visual

參考文獻

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