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題名 ELAXO：呈現多樣化手指抓握與旋轉之阻力回饋
ELAXO: Rendering Versatile Resistive Force Feedback for Fingers Grasping and Twisting作者 張仲毅
Zhang, Zhong-Yi貢獻者 蔡欣叡<br>陶亞倫
Tsai, Hsin-Ruey<br>Tao, Ya-Lun
張仲毅
Zhang, Zhong-Yi關鍵詞 觸覺回饋
形狀渲染
阻力回饋
可穿戴設備
虛擬現實
Haptic feedback
Shape rendering
Resistive force feedback
Wearable device
Virtual reality日期 2022 上傳時間 5-Oct-2022 09:26:49 (UTC+8) 摘要 觸覺回饋不僅增強了虛擬現實的沉浸感，還提供了專家在VR培訓中的觸覺提示，例如在VR工廠培訓中施多少力可以正確卡緊卡榫或鎖緊螺絲，這些回饋可以提高培訓效果表現。除了這些應用，VR環境中還存在著各種複雜的操作。儘管先前的研究已經實現了虛擬物體的形狀、彈性、按壓或抓握阻力的觸覺回饋，可是對於可穿戴設備的觸覺回饋裝置，很少討論或探索扭轉或轉動虛擬物體時的旋轉阻力。因此，我們提出了一種可穿戴設備ELAXO，將連續阻力和連續旋轉阻力相結合，分別在抓握和扭轉的應用中提供有彈性和沒有彈性的阻力。ELAXO是一種帶有指環、馬達煞車和彈力帶的外骨骼穿戴式裝置。馬達煞車實現了形狀模擬，並在阻力的有回彈力模式和無回彈力模式之間切換。可分離和可旋轉的指環和彈力帶在抓握和扭轉過程中提供連續的阻力。我們進行了一項Just-Noticeable Difference Study研究，以分別了解用戶在四種條件下對於阻力的可區分性，四個模式包含阻力和旋轉阻力，與分別有回彈力和無回彈力。然後進行了一項 VR體驗研究，以驗證 ELAXO 的多功能阻力回饋增強了 VR 體驗。
Haptic feedback not only enhances immersion in virtual reality (VR) but also delivers experts’ haptic sensation tips in VR training, e.g., properly clamping a tenon and mortise joint or tightening a screw in the assembly of VR factory training, which could even im-prove the training performance. However, various and complicated manipulation is in different scenarios. Although haptic feedback of virtual objects’ shape, stiffness or resistive force in pressing or grasping is achieved by previous research, rotational resistive force when twisting or turning virtual objects is seldom discussed or explored, especially for a wearable device. Therefore, we propose a wearable device, ELAXO, to integrate continuous resistive force and continuous rotational resistive force with or without resilience in grasping and twisting, respectively. ELAXO is an exoskeleton with rings, mechanical brakes and elastic bands. The brakes achieve shape rendering and switch between with and without resilience modes for the resistive force. The detachable and rotatable rings and elastic bands render continuous resistive force in grasping and twisting. We conducted a just noticeable difference (JND) study to understand users’ distinguishability in the four conditions, resistive force and rotational resistive force with and without resilience, separately. A VR study was then performed to verify that the versatile resistive force feedback from ELAXO enhances the VR experiences.參考文獻 [1] Alexander Achberger, Fabian Aust, Daniel Pohlandt, Kresimir Vidackovic, and Michael Sedlmair. 2021. STRIVE: String-Based Force Feedback for Automotive Engineering. In The 34th Annual ACM Symposium on User Interface Software and Technology (Virtual Event, USA) (UIST ’21). Association for Computing Machinery, New York, NY, USA, 841–853. https://doi.org/10.1145/3472749.3474790[2] Merwan Achibet, Adrien Girard, Anthony Talvas, Maud Marchal, and Anatole Lécuyer. 2015. Elastic-Arm: Human-scale passive haptic feedback for augmenting interaction and perception in virtual environments. In 2015 IEEE Virtual Reality (VR). IEEE, 63–68.[3] Merwan Achibet, Benoît Le Gouis, Maud Marchal, Pierre-Alexandre Leziart, Ferran Argelaguet, Adrien Girard, Anatole Lécuyer, and Hiroyuki Kajimoto. 2017. FlexiFingers: Multi-finger interaction in VR combining passive haptics and pseudo-haptics. In 2017 IEEE Symposium on 3D User Interfaces (3DUI). IEEE, 103–106.[4] Hrvoje Benko, Christian Holz, Mike Sinclair, and Eyal Ofek. 2016. NormalTouch and TextureTouch: High-Fidelity 3D Haptic Shape Rendering on Handheld Virtual Reality Controllers. In Proceedings of the 29th Annual Symposium on User Interface Software and Technology (Tokyo, Japan) (UIST ’16). 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Providing Haptics to Walls & Heavy Objects in Virtual Reality by Means of Electrical Muscle Stimulation. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems (Denver, Colorado, USA) (CHI ’17). Association for Computing Machinery, New York, NY, USA, 1471–1482. https://doi.org/10.1145/3025453.3025600[21] Ken Nakagaki, Artem Dementyev, Sean Follmer, Joseph A. Paradiso, and Hiroshi Ishii. 2016. ChainFORM: A Linear Integrated Modular Hardware System for Shape Changing Interfaces. In Proceedings of the 29th Annual Symposium on User Interface Software and Technology (Tokyo, Japan) (UIST ’16). Association for Computing Machinery, New York, NY, USA, 87–96. https://doi.org/10.1145/2984511.2984587[22] Ken Nakagaki, Daniel Fitzgerald, Zhiyao (John) Ma, Luke Vink, Daniel Levine, and Hiroshi Ishii. 2019. InFORCE: Bi-Directional ‘Force’ Shape Display for Haptic Interaction. 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國立政治大學
數位內容碩士學位學程
109462016資料來源 http://thesis.lib.nccu.edu.tw/record/#G0109462016 資料類型 thesis dc.contributor.advisor 蔡欣叡<br>陶亞倫 zh_TW dc.contributor.advisor Tsai, Hsin-Ruey<br>Tao, Ya-Lun en_US dc.contributor.author (Authors) 張仲毅 zh_TW dc.contributor.author (Authors) Zhang, Zhong-Yi en_US dc.creator (作者) 張仲毅 zh_TW dc.creator (作者) Zhang, Zhong-Yi en_US dc.date (日期) 2022 en_US dc.date.accessioned 5-Oct-2022 09:26:49 (UTC+8) - dc.date.available 5-Oct-2022 09:26:49 (UTC+8) - dc.date.issued (上傳時間) 5-Oct-2022 09:26:49 (UTC+8) - dc.identifier (Other Identifiers) G0109462016 en_US dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/142172 - dc.description (描述) 碩士 zh_TW dc.description (描述) 國立政治大學 zh_TW dc.description (描述) 數位內容碩士學位學程 zh_TW dc.description (描述) 109462016 zh_TW dc.description.abstract (摘要) 觸覺回饋不僅增強了虛擬現實的沉浸感，還提供了專家在VR培訓中的觸覺提示，例如在VR工廠培訓中施多少力可以正確卡緊卡榫或鎖緊螺絲，這些回饋可以提高培訓效果表現。除了這些應用，VR環境中還存在著各種複雜的操作。儘管先前的研究已經實現了虛擬物體的形狀、彈性、按壓或抓握阻力的觸覺回饋，可是對於可穿戴設備的觸覺回饋裝置，很少討論或探索扭轉或轉動虛擬物體時的旋轉阻力。因此，我們提出了一種可穿戴設備ELAXO，將連續阻力和連續旋轉阻力相結合，分別在抓握和扭轉的應用中提供有彈性和沒有彈性的阻力。ELAXO是一種帶有指環、馬達煞車和彈力帶的外骨骼穿戴式裝置。馬達煞車實現了形狀模擬，並在阻力的有回彈力模式和無回彈力模式之間切換。可分離和可旋轉的指環和彈力帶在抓握和扭轉過程中提供連續的阻力。我們進行了一項Just-Noticeable Difference Study研究，以分別了解用戶在四種條件下對於阻力的可區分性，四個模式包含阻力和旋轉阻力，與分別有回彈力和無回彈力。然後進行了一項 VR體驗研究，以驗證 ELAXO 的多功能阻力回饋增強了 VR 體驗。 zh_TW dc.description.abstract (摘要) Haptic feedback not only enhances immersion in virtual reality (VR) but also delivers experts’ haptic sensation tips in VR training, e.g., properly clamping a tenon and mortise joint or tightening a screw in the assembly of VR factory training, which could even im-prove the training performance. However, various and complicated manipulation is in different scenarios. Although haptic feedback of virtual objects’ shape, stiffness or resistive force in pressing or grasping is achieved by previous research, rotational resistive force when twisting or turning virtual objects is seldom discussed or explored, especially for a wearable device. Therefore, we propose a wearable device, ELAXO, to integrate continuous resistive force and continuous rotational resistive force with or without resilience in grasping and twisting, respectively. ELAXO is an exoskeleton with rings, mechanical brakes and elastic bands. The brakes achieve shape rendering and switch between with and without resilience modes for the resistive force. The detachable and rotatable rings and elastic bands render continuous resistive force in grasping and twisting. We conducted a just noticeable difference (JND) study to understand users’ distinguishability in the four conditions, resistive force and rotational resistive force with and without resilience, separately. A VR study was then performed to verify that the versatile resistive force feedback from ELAXO enhances the VR experiences. en_US dc.description.tableofcontents CHAPTER1.Introduction .p1CHAPTER2.Related Work .p52.1.Haptic Shape Rendering .p52.2.Resistive Force Feedback .p62.3.Rotational Resistive Force Feedback .p8CHAPTER3.FingerX .p103.1.Design Considerations .p113.2.Hardware Implementation .p123.3.Software Control Flow .p203.4.Resisitve Force Measurement .p23CHAPTER4.JUST NOTICEABLE DIFFERENCE STUDY .p264.1.Participants and Apparatus .p284.2.Task and Procedure .p284.3.Results and Discussion .p30CHAPTER5.VR EXPERIENCE STUDY .p335.1.Participants and Apparatus .p355.2.Task and Procedure .p365.3.Results and Discussion .p38CHAPTER6.LIMITATIONS AND FUTURE WORK .p42CHAPTER7.CONCLUSION .p45REFERENCES .p47 zh_TW dc.format.extent 24625653 bytes - dc.format.mimetype application/pdf - dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0109462016 en_US dc.subject (關鍵詞) 觸覺回饋 zh_TW dc.subject (關鍵詞) 形狀渲染 zh_TW dc.subject (關鍵詞) 阻力回饋 zh_TW dc.subject (關鍵詞) 可穿戴設備 zh_TW dc.subject (關鍵詞) 虛擬現實 zh_TW dc.subject (關鍵詞) Haptic feedback en_US dc.subject (關鍵詞) Shape rendering en_US dc.subject (關鍵詞) Resistive force feedback en_US dc.subject (關鍵詞) Wearable device en_US dc.subject (關鍵詞) Virtual reality en_US dc.title (題名) ELAXO：呈現多樣化手指抓握與旋轉之阻力回饋 zh_TW dc.title (題名) ELAXO: Rendering Versatile Resistive Force Feedback for Fingers Grasping and Twisting en_US dc.type (資料類型) thesis en_US dc.relation.reference (參考文獻) [1] Alexander Achberger, Fabian Aust, Daniel Pohlandt, Kresimir Vidackovic, and Michael Sedlmair. 2021. 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