臺灣博碩士論文加值系統

在虛擬實境(Virtual Reality，VR)這塊領域上，觸覺的研究才逐漸起步，假若VR領域上的觸覺感受能發展完善，使得模擬出來的觸覺相當接近真實世界的感覺，則必能使人類能更沉浸於建構出來的虛擬世界。本篇是透過觸覺感知儀器“Phantom Omni Haptic Device”來建模重現出真實物體的軟硬度，建構出軟硬度的力學模型是由物體質量、彈性及阻尼係數所組合而成，而我們透過加速度計、壓力感測器…等設備來量測所需資訊；本研究將透過C++程式語言來模擬重現出物體的軟硬度。

實驗後段我們將套用田口方法，讓十位試驗者評估由模擬出的軟硬度與真實物體的相似情況；田口實驗所設計的直交表(Orthogonal Array)能有系統地選取部份實驗組合來進行試驗，並達到所需的實驗目的，即能在少量的實驗下，達到品質的最佳化，實驗結果並以信號/雜音比(Signal-to-Noise Ratio，S/N比)做為評估系統品質穩定的依據，以及利用變異數分析 (Analysis of Variance，ANOVA)來評估各參數設計對品質目標的影響度。

In the field of virtual reality (VR), the tactile sensation of human was developing slowly last decade. If the tactile sensation of human could be simulated more real, it will increase human immersed in the VR environment. In this paper, the “Phantom Omni Haptic Device” is used for re-present different type hardness of real objects. We constructed the mechanical models of virtual objects that are combined the mass, spring and damping. In order to obtain these parameters, the accelerometer, force sensors et al. were used for identification. In this research, we use the C++ programming language to re-present the hardness of real objects in VR world.

Then let ten subjects touched on different type hardness of virtual objects to compare created by “Phantom Haptic Device” with real objects. Further for decreasing the cost of experiments, the Taguchi method was employed. Because of the orthogonal array of Taguchi method can make most effective with the least number of experiments such that not only experimental time, but also the cost. The experimental results used the signal-to-noise ratio to evaluate the quality of system stability, and the analysis of variance to evaluate the goal of quality through the design parameters, respectively.

中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
表目錄 VII
圖目錄 VIII
第一章 緒論 1
1.1研究背景 1
1.2研究動機與目的 5
1.3研究流程簡述 6
1.4論文章節結構 8
第二章 文獻探討 9
2.1 Phantom儀器互動情況 9
2.2 OpenHaptics簡介 10
2.3 Phantom程式流程 12
2.4場景座標系統 15
2.4.1一般3D場景設置 15
2.4.2 Phantom的3D場景設置 17
第三章 國內外研究情況 19
第四章 研究方法 22
4.1力學探討 22
4.2 Runge-Kutta演算法 .24
4.3多媒體計時器(MMTimer) 24
4.4田口方法 25
4.4.1田口方法簡介 25
4.4.2田口方法實例 25
4.4.2.1參數設計 25
4.4.2.2直交表設計 27
4.4.2.3實驗評分標準 27
4.4.2.4實驗流程 27
4.4.2.5實驗結果分析 28
4.4.2.6回應表 29
4.4.2.7變異數分析(ANOVA分析) 29
4.4.2.8實驗結果驗證 30
4.4.2.9實驗探討 30
4.4.3本研究之田口方法應用 31
第五章 實驗程序 32
5.1實驗設備 32
5.1.1加速度計 32
5.1.2壓力感測器 35
5.1.3 D/A擷取卡及A/D擷取卡 38
5.1.4個人電腦配備 39
5.1.5材質固定器及磅秤 39
5.2實驗材質 40
5.3座標校正 41
5.3.1水平座標校正 42
5.3.2垂直座標校正 46
5.4實驗流程 49
5.4.1實驗流程敘述 49
5.4.2程式流程敘述 51
5.5實驗結果分析 52
5.5.1材質參數的鑑別 52
5.5.2實驗數據 52
5.5.3實驗遭遇問題 54
5.6田口方法置入 54
5.6.1置入目的 54
5.6.2參數設計 55
5.6.3直交表設計 56
5.6.4實驗評分標準 56
5.6.5田口實驗流程 57
5.6.6實驗數據分析 57
5.6.7回應表 58
5.6.8變異數分析(ANOVA分析) 59
5.6.9實驗驗證及分析 59
第六章 結論 61
6.1成果探討 61
6.2問題探討 63
6.2.1硬材質的模擬 63
6.2.2加速度的量測 63
6.3未來展望 63
6.3.1材質部分 63
6.3.2設備部分 63
6.3.3程式部分 64
參考文獻 65
附錄一 68

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