| Haptic rendering is to simulate the surface tactile properties such as roughness and hardness of the object by generating physical stimuli,when contacting the surface of an object through a specific hardware device.The previous haptic rendering method mainly studied how to design and control the device to produce the same physical stimulus as when touching a real object.This simulation method is haptic recording and displaying,which realizes the equivalent of virtual tactile reproduction data and real interactive data.But the brain processes the objective signals received by tactile receptors,and different forms of interaction in haptic interaction affect the formation of tactile sensation.The ideal haptic rendering method should achieve the consistency of human subjective perception,rather than the consistency of objective physical parameter stimulation.Therefore,it is necessary to analyze the human subjective perception mechanism and establish a haptic control model consistent with the subjective perception characteristics,to realize the haptic rendering.In this paper,a method of haptic fusion rendering based on tactile perception is studied.The main idea is to select the most relevant haptic features based on the rule of the tactile perception reflected by the subjective perception model,and then establish a control model between the haptic features and the device control parameters.Using the feedback form of force and vibration,the texture surface stiffness,roughness,viscosity and other dimensions are expressed together.To achieve haptic rendering in line with actual perception,this paper studies the rendering methods from three aspects.(1)Before studying the relationship between force tactile stimulation and subjective tactile perception,the quantitative research on tactile perception space is carried out.In the quantitative description of haptic perception,the non metric multidimensional scale analysis method is improved.By adding a penalty factor in the metric spatial coordinate fitting algorithm,the uncertainty problem of perceptual experimental data is changed into a probability statistical problem,and the accuracy of perceptual spatial measurement is improved.(2)Secondly,according to the previously established haptic perception model from objective to subjective,the most relevant objective characteristic parameters are determined,and the perception model is transformed into a haptic control model expressed by force and vibration stimulation fusion.(3)Finally,a haptic rendering system based on the fusion of force and vibration stimulation is designed and implemented,and different samples are rendered.Through two kinds of psychophysical experiments,this method is compared with the tactile sensation produced by other expression methods,and then compared with the tactile sensation produced by real sample interaction,which proves the effectiveness of the method. |
