用机械臂让虚拟行走更真实，支持踩不同地形的触觉反馈。
Design and Development of a Locomotion Interface for Virtual Reality Lower-Body Haptic Interaction
- 用双平面机械臂实现双脚自由度与脚后跟自然抬起。
- 系统采样率1000Hz，可精准响应用户推力并生成行走动作。
- 适合做虚拟现实体感交互研究，尤其关注下肢触觉反馈。
本文提出并实现了名为ForceBot的下肢动觉交互系统，可在虚拟现实中实现用户行走时对不同虚拟地形的触觉反馈。系统采用两组平面机械臂结构，为每只脚提供两个自由度，并实现被动脚后跟抬升。设计基于运动捕捉数据和动态仿真，优化人机工作空间与硬件选型。系统框架采用开源机器人软件，搭配自研供电系统，支持以1000 Hz速率运行的EtherCAT实时通信。通过阻抗控制器调节人机交互力，并结合行走算法模拟虚拟地形。性能评估通过三项测量验证了用户输入力与输出人机交互运动之间的关系。该平台在大工作空间、紧凑占地面积的基础上，提供了初步用户数据，展现出利用平面机械臂实现虚拟地形交互的独特优势。
原文摘要 · Abstract (English)
This work presents the design, build, control, and preliminary user data of a locomotion interface called ForceBot. It delivers lower-body haptic interaction in virtual reality (VR), enabling users to walk in VR while interacting with various simulated terrains. It utilizes two planar gantries to give each foot two degrees of freedom and passive heel-lifting motion. The design used motion capture data with dynamic simulation for ergonomic human-robot workspace and hardware selection. Its system framework uses open-source robotic software and pairs with a custom-built power delivery system that offers EtherCAT communication with a 1,000 Hz soft real-time computation rate. This system features an admittance controller to regulate physical human-robot interaction (pHRI) alongside a walking algorithm to generate walking motion and simulate virtual terrains. The system's performance is explored through three measurements that evaluate the relationship between user input force and output pHRI motion. Overall, this platform presents a unique approach by utilizing planar gantries to realize VR terrain interaction with an extensive workspace, reasonably compact footprint, and preliminary user data.
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