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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Passive Multirate Wave Communications for Haptic Interaction in Slow Virtual Environments
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Passive Multirate Wave Communications for Haptic Interaction in Slow Virtual Environments

机译：慢速虚拟环境中用于触觉交互的无源多速率波通信

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摘要

Haptic interaction in slow virtual environments (VEs) can become unstable due to the phase lag introduced in the control loop by the slow update rate of the VE. Increasing the physical damping and/or limiting the contact stiffness rendered to users can mitigate the destabilizing effect of the low VE update rate. However, large physical damping and compliant virtual contacts decrease the sense of presence in VEs, especially during interaction with rigid virtual objects. To increase the maximum virtual contact stiffness that can be rendered to users without increasing the interface damping, this paper proposes a control strategy based on multirate wave communications between a haptic interface and a VE updated at a slow and fixed rate. The multirate wave communications are shown to be guaranteed passive only if the decrease of the wave sampling rate at the connection between the haptic interface and the VE does not cause aliasing. Therefore, an antialiasing low-pass filter is placed before the wave rate drop in the communications. The passivity condition is verified analytically and numerically for multirate haptic interaction in VEs with various contact stiffnesses and update rates. The transparency of haptic interaction in slow VEs to which users connect via passive multirate wave communications is investigated analytically in the frequency domain. Experiments validate that passive multirate wave communications can render stiffer contact in slow VEs than conventional direct coupling, and illustrate the destabilizing effect of the aliasing caused by the sampling rate drop in the communications.
机译：慢虚拟环境（VE）中的触觉交互作用可能由于VE的慢更新速率而引入到控制循环中的相位滞后而变得不稳定。增加物理阻尼和/或限制提供给用户的接触刚度可以减轻低VE更新率的不稳定影响。但是，较大的物理阻尼和柔顺的虚拟接触会降低VE中的存在感，尤其是在与刚性虚拟对象进行交互时。为了增加在不增加界面阻尼的情况下可以呈现给用户的最大虚拟接触刚度，本文提出了一种基于触觉界面和以固定速率缓慢更新的VE之间的多速率波通信的控制策略。仅在触觉接口与VE之间的连接处的波采样率降低不会引起混叠的情况下，多速率波通信才被证明是被动的。因此，在通信中的波率下降之前放置一个抗混叠低通滤波器。对于具有各种接触刚度和更新速率的VE中的多速率触觉交互，通过分析和数字验证了无源条件。通过频域分析研究了用户通过无源多速率波通信连接到的慢速VE中的触觉交互的透明性。实验证明，与传统的直接耦合相比，无源多速率波通信可以在慢速VE中提供更牢固的接触，并说明了通信中采样率下降引起的混叠的不稳定作用。

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