Haptics plays an important role in training users to assemble mechanical components such as airplane or car parts. Because mechanical components are often geometrically complex, efficient collision detection and 6-DoF haptic rendering of contact are required for virtual assembly, and this has been extensively explored in prior work. However, as our work shows, this alone is not sufficient for efficient virtual assembly training. Our work asks how to augment 6-DoF haptic rendering of contact to maximize virtual assembly training efficiency, and proposes and measures several visual and haptic guidance strategies. Our visual strategies consist of displaying animations of the correct assembly path, motion indicator cues, and close-ups on difficult assembly path sections. Our haptic guidance consists of forces and torques that correct the trainee's deviation from the path. We investigate several haptic guidance strategies, including continuous forces and torques, force/torque nudging and anti-forces/torques. We designed a user study to evaluate the training efficiency of our proposed strategies quantitatively, using ANOVA and Tukey statistics. Our main finding is that the most efficient training approach is to use haptic rendering of contact in combination with visual animation-based guidance. Continuous forces, nudging, anti-forces and motion indicator cues were measured to be less effective.

中文翻译：

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评估基于六自由度触觉渲染的虚拟装配训练的效率

触觉在培训用户组装飞机或汽车零件等机械部件方面发挥着重要作用。由于机械部件的几何形状通常很复杂，因此虚拟装配需要有效的碰撞检测和 6-DoF 触觉渲染，这在先前的工作中已得到广泛探索。然而，正如我们的工作所示，仅凭这一点还不足以进行高效的虚拟装配培训。我们的工作询问如何增强接触的 6-DoF 触觉渲染以最大化虚拟装配训练效率，并提出和测量几种视觉和触觉引导策略。我们的视觉策略包括显示正确装配路径的动画、运动指示器提示以及困难装配路径部分的特写。我们的触觉指导包括纠正受训者的力和扭矩' s 偏离路径。我们研究了几种触觉引导策略，包括连续力和扭矩、力/扭矩轻推和反力/扭矩。我们设计了一项用户研究，使用 ANOVA 和 Tukey 统计量来定量评估我们提出的策略的训练效率。我们的主要发现是，最有效的训练方法是将接触的触觉渲染与基于视觉动画的指导相结合。连续力、轻推、反力和运动指示器提示被测量为不太有效。我们的主要发现是，最有效的训练方法是将接触的触觉渲染与基于视觉动画的指导相结合。连续力、轻推、反力和运动指示器提示被测量为不太有效。我们的主要发现是，最有效的训练方法是将接触的触觉渲染与基于视觉动画的指导相结合。连续力、轻推、反力和运动指示器提示被测量为不太有效。