Abdulali Arsen, Rakhmatov Ruslan, Ogay Tatyana, Jeon Seokhee
Department of Computer Engineering, Kyung Hee University, Yongin-si 446-701, Korea.
Sensors (Basel). 2018 Jan 15;18(1):237. doi: 10.3390/s18010237.
This article presents a new data-driven model design for rendering force responses from elastic tool deformation. The new design incorporates a six-dimensional input describing the initial position of the contact, as well as the state of the tool deformation. The input-output relationship of the model was represented by a radial basis functions network, which was optimized based on training data collected from real tool-surface contact. Since the input space of the model is represented in the local coordinate system of a tool, the model is independent of recording and rendering devices and can be easily deployed to an existing simulator. The model also supports complex interactions, such as self and multi-contact collisions. In order to assess the proposed data-driven model, we built a custom data acquisition setup and developed a proof-of-concept rendering simulator. The simulator was evaluated through numerical and psychophysical experiments with four different real tools. The numerical evaluation demonstrated the perceptual soundness of the proposed model, meanwhile the user study revealed the force feedback of the proposed simulator to be realistic.
本文提出了一种新的数据驱动模型设计，用于根据弹性工具变形生成力响应。新设计包含一个六维输入，描述接触的初始位置以及工具变形状态。该模型的输入输出关系由径向基函数网络表示，该网络基于从实际工具-表面接触收集的训练数据进行了优化。由于模型的输入空间在工具的局部坐标系中表示，因此该模型独立于记录和渲染设备，并且可以轻松部署到现有的模拟器中。该模型还支持复杂的相互作用，例如自碰撞和多接触碰撞。为了评估所提出的数据驱动模型，我们构建了一个定制的数据采集装置，并开发了一个概念验证渲染模拟器。通过使用四种不同的实际工具进行数值和心理物理学实验对模拟器进行了评估。数值评估证明了所提出模型在感知上的合理性，同时用户研究表明所提出模拟器的力反馈是真实的。
