6-Dof Series Haptic Device Function Improve And Interactive Performance Research

As an interface for human-computer interaction,the force feedback device truly feeds back the force sense information in the virtual environment to the operator,which greatly improves the interaction and presence of operation.At present,there is still a big gap between the research of force feedback devices in China and abroad,not only in the performance of force feedback devices,but also in the development of interactive application programs.In view of the above problems,this paper takes the 6-DOF series force feedback device independently developed by the laboratory as the research object,and researches the force feedback device from the device and application development levels.The main contents are as follows:(1)At the equipment level,the function of the equipment end-effector and gravity compensation is optimized.A general-purpose expandable end-effector was developed,and a bluetooth gyroscope was used to collect angle,which solved the problems of poor universality,bulkiness and inflexible operation of the original end-effector.Based on the new end-effector,the static balance method is used to research the passive gravity compensation again,and the dynamic simulation is used to optimize the balance equation.The experimental results show that the residual gravity is 59% lower than the original compensation scheme.(2)The experimental verification method for evaluating the interactive performance of force feedback device is studied.The experimental evaluation method is designed according to the interactive performance index,and the interactive performance is quantitatively studied through the psychophysical method.Finally,the interactive performance of three different types of force feedback devices is evaluated,which verifies the effectiveness of the evaluation method.(3)At the application development level,it focuses on solving the problems of interactive penetration effects and device-host communication in virtual operation of objects.The speed control multi-point anti-penetration algorithm based on Phys X physics engine is proposed to achieve multi-point collision non-penetration;the development of dynamic link library solves the problem of device API and Unity3 D cross-programming language communication;Finally,the anti-penetration algorithm is applied to two different devices,verifying the versatility of the communication scheme and anti-penetration algorithm.(4)The haptic interactive application program interface(HIAPI)based on Unity3 D is developed.Firstly,the software framework of HIAPI is designed as application layer and device layer,and then the location and output force algorithm of the existing device layer are optimized;six force interaction algorithms and other interface functions are designed in the application layer;Finally,apply HIAPI developed application examples,tested function functions,verified the validity of application examples on different devices,and verified that HIAPI is universal.