虚拟质量和时间延迟对触觉染稳定性的影响
IEEE transactions on haptics
|December 12, 2025
概括
触觉设备 (HD) 中的虚拟质量模拟影响稳定性和透明度. 这项研究提供了用于预测稳定性极限的方程,表明虚拟质量可以显著增加可染的刚度,即使有时间延迟.
科学领域:
- 触觉设备和人与计算机的交互
- 机器人和控制系统 机器人和控制系统
- 虚拟现实和模拟技术
背景情况:
- 虚拟质量模拟改变触觉设备 (HD) 的表面质量,影响系统的透明度和稳定性.
- 负虚拟质量减少了表面质量,提高了透明度,但降低了稳定性.
- 积极的虚拟质量增加了表面质量,以提高透明度为代价提高了稳定性.
研究的目的:
- 为了分析一个触觉装置的稳定性,模拟一个虚拟的质量弹阻尼器系统与恒定时间延迟.
- 导出闭式方程来预测在变化的虚拟减缓和时间延迟下稳定性边界.
- 为了研究虚拟质量对可染的虚拟弹刚度的影响.
主要方法:
- 数学分析来导出闭式稳定方程用于触觉设备模拟.
- 虚拟环境的模拟,包括带有时间延迟的质量,弹和阻尼器元素.
- 使用专门的测试台进行实验验证,以验证理论预测.
主要成果:
- 闭式方程可以预测虚拟减缓和时间延迟的稳定性边界.
- 最大可染的虚拟质量是物理质量的两倍;最小是其负数,发生在零时间延迟时.
- 时间延迟的增加减少了可染的虚拟质量的范围; 虚拟质量可以在理论上增加可染的刚度高达5.8倍.
结论:
- 由此得出的方程通过虚拟质量模拟准确地预测触觉设备的稳定性极限.
- 虚拟质量显著增强可化的刚性,实验结果与理论预测非常相匹配.
- 时间延迟需要仔细调整虚拟参数,并且可能需要非零的最低刚度以保持稳定.
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