可攜性力感系統於3D環境之研發與應用

Abstract

由於電腦網路使用的普遍性與方便性，人與人間的互動不再因為距離而受到限制，也發展出許多的遠端應用。目前的遠端呈現，聲音與影像都已相當普遍且技術上也相當成熟，但對於力感呈現方面，卻相對的少，大多數的力感呈現方式還停留在有向或無向的固定式震動居多。因此本論文主要是建置一個可攜性的力感系統，連結現有的力回饋裝置，將所架構的系統藉由TCP / IP網路通訊協定於遠端及近端相互傳遞資訊，並建立一個3D的虛擬環境使遠端及近端的力回饋裝置能互動；此外，我們也將討論在所建置的虛擬世界裡，如何對虛擬物體施力與力感的反應等。為了提供逼真的物理反應，我們引入物理法則。我們成功地發展出互動的遠端操控模擬，並提供使用者真實的感受。

Along with the prevalence and convenience of the computer network, human interaction is no longer limited by the distance. Meanwhile, there have been many researches in teleoperation and telepresence. For telepresence, techniques in sound and image are now quite mature. By contrast, the sense of force is not yet well tackled; as most of them are implemented in the forms of fixed patterns. Therefore, in this thesis, we develop a portable force reflection system, using the force feedback joystick and corresponding softwares. We use the Internet as a command transmission medium via the TCP/IP protocol, and build the 3D environment using the virtual reality(VR) technology. Key issues for system implementation are discussed, including system structure, signal flow, and force management. To obtain ware realistic feeling, we intrude physics rules into object formulation. With the proposed system, the operator can manipulate the force feedback joystick to experience quite realistic feeling in a VR environment.