面向磁悬浮视触觉交互的多速率系统框架

非接触式磁悬浮视触觉交互克服了机械式交互的固有摩擦，具有广阔应用前景，但存在交互过程中虚拟工具穿透物体、图形渲染与触觉渲染速率不一致等问题。针对上述问题，提出面向磁悬浮视触觉交互的多速率系统框架，通过扩展三自由度（3-DOF）单射线触觉渲染方法，利用多射线对虚拟工具进行建模，避免工具穿透，实现六自由度（6-DOF）触觉渲染；通过多速率并行，实现速率不一致模块间相互协同；通过构建映射滤波算法，实现视觉定位数据到虚拟工具位姿的稳定映射。实验结果表明，该系统能有效避免交互过程中的穿透现象，并提供稳定、真实的视触觉反馈。

Multirate Systematic Framework for Magnetic Levitation Visuo-Haptic Interaction

Contactless magnetic levitation visuo-haptic interaction eliminates the inherent friction in the mechanical interactions and has promising prospects. However, there exist some problems in manipulating processes such as the unrealistic penetrations between the virtual tool and other virtual objects, the running velocity conflict between haptic rendering and graphical rendering. Aiming at these problems, a multirate systematic framework for magnetic levitation visuo-haptic interaction is proposed. By extending 3-DOF ray-based haptic rendering methods, a 6-DOF haptic rendering method is proposed which models the virtual tool using multiple rays avoiding penetrations. To handle the running velocity conflict, a multirate parallelization is performed. In addition, a mapping algorithm from the binocular positioning data to the positions of virtual tool is proposed. Experimental results demonstrate that this system can prevent penetrations efficiently and produce stable and realistic visuo-haptic feedback.