打造可自然移动的大型触觉反馈装置，让虚拟体验更真实。
HapticGiant: A Novel Very Large Kinesthetic Haptic Interface with Hierarchical Force Control
- 采用分层优化力控算法，支持复杂机械结构与自由空间力反馈。
- 实验验证系统能有效处理关节约束、奇点等限制条件。
- 适合沉浸式虚拟现实、人机交互研究者使用。
虚拟现实与触觉技术研究长期致力于提升沉浸感。尽管高端头戴显示设备已商业化，但肌动触觉接口仍面临工作空间有限、自由度不足及运动学不匹配人体手臂等问题。本文提出 HapticGiant，一种新型大规模肌动触觉接口，旨在尽可能贴合人体手臂特性，并支持自然用户移动同时提供完整触觉反馈。该接口采用新颖的阻抗型力控方案，通过分层优化实现任意串联运动链与笛卡尔阻抗的渲染。值得注意的是，所提控制方案原生考虑系统限制，包括关节与笛卡尔约束及奇点问题。实验结果验证了 HapticGiant 及其控制方案的有效性，为高度沉浸式虚拟现实应用铺平道路。
原文摘要 · Abstract (English)
Research in virtual reality and haptic technologies has consistently aimed to enhance immersion. While advanced head-mounted displays are now commercially available, kinesthetic haptic interfaces still face challenges such as limited workspaces, insufficient degrees of freedom, and kinematics not matching the human arm. In this paper, we present HapticGiant, a novel large-scale kinesthetic haptic interface designed to match the properties of the human arm as closely as possible and to facilitate natural user locomotion while providing full haptic feedback. The interface incorporates a novel admittance-type force control scheme, leveraging hierarchical optimization to render both arbitrary serial kinematic chains and Cartesian admittances. Notably, the proposed control scheme natively accounts for system limitations, including joint and Cartesian constraints, as well as singularities. Experimental results demonstrate the effectiveness of HapticGiant and its control scheme, paving the way for highly immersive virtual reality applications.
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