DE102004049938B4 - Device and method for the simulation of haptic perceptible vibrations of an object - Google Patents

Abstract

Device for simulating haptically perceptible vibrations of an object (1), having an object holder (7) into which the object (1) can be fixed and connected directly or indirectly to an actuator unit (3) via a force-moment sensor (6) a vibration actuator (5) at least operatively connected to the object holder (7), and an expanding and driving unit (8) that controls both the actuator unit (3) and the vibration actuator (5) based on at least the force Torque sensor (6) generates generated measuring signals, wherein
The object (1) has at least one manually operable input means, by means of which at least two mutually distinguishable operating states of the device can be selected simulated,
A sensor for detecting the input means is provided, which generates a sensor signal representing the selected operating state, which can be fed to the expansion and control unit for controlling the actuator unit and the vibration actuator;
In the expansion and control unit (8), a vibration model is implemented, in which object-specific vibration pattern information contains ...

Description

Technical area

The The invention relates to a device and a method for the simulation of haptic perceptible vibrations of an object.

at the development and redesign of small technical devices that portable and designed for the manual operation are provided, such as. Drills, grinders, chainsaws to just to name a few, both for the private and for the professional Are designed in addition to the technical functional characteristics the devices also and in particular the external appearance due to the design of the housing a crucial role, which undoubtedly not least also one huge Has an influence on the purchase decision. Mindful of this fact be great Efforts and expenses accepted, the corresponding housing design both from a functional point of view as well as under aspects of taste acceptance by the respective target audience. at However, the definition of a special housing design, it applies next the purely external appearance, which must withstand a visual assessment of a buyer's audience, also the housing ergonomics to take into account the latter is used by a user of the small appliance via the haptic perception senses perceived, arising from the temperature, pain, the tactile perception as well as the attitudes (position, movement, Balance, strength).

By the tactile perception can be at touches of objects, preferably by hand, surface texture, roughness as well also vibrations are detected. In particular, the assets vibration maximum sensitive to the question, gives the question of the so-called vibro-tactile Features Hand carried powered small appliances one size Importance.

The vibro-tactile characteristics of powered motor powered small appliances determine themselves by the in the device occurring mechanical vibration frequencies, the associated vibration amplitudes and the associated Waveform, for example, in the form of a rectangular, sinusoidal or sawtooth wave.

Though are used in a manner known per se in the design and the design interpretation of housing prototypes hand-held, powered small appliances aspects of the device ergonomics checked, such as. the weight, occurring forces and moments that are weight-related in handling the prototype arise, as well as the size and location the handles and switches as well as their accessibility and operability, but the vibro-tactile properties can be compared with today's Means barely or at all do not check. A such verifiability would one presuppose vibro-tactile man-machine interface, based those of the operational vibration characteristics and their immediate ones Effects on the tactile perception of a given user can be examined. In the context of such investigations, for example, combinations of vibration frequencies and amplitudes are found which are extremely disturbing perceived by the user can be ultimately, the acceptance of such a product on the market decisively impaired can be.

In spite of their apparent relevance, there are currently no human-machine interfaces that the effects of mechanical excitations caused by the small appliance and the be transmitted to the user at this intended handles represent can.

absolutely are known matrix trained tactile perceptible needle displays for displaying symbols For example, the Braille, which are palpable with your fingers. further developments such matrix-shaped tactile displays currently in the research stage, aim at the variable, digital design of surface structures which can also be felt with the fingers.

A more fundamental Alternative for one Human-machine interface for detecting tactile vibration stimuli provide vibration actuators as an accessory to data gloves The latter are merely for detecting the joint positions the hand as well as the finger, whereby the along the fingers attached Vibrating actuators, consisting of electric motors with eccentrics, only can be operated at different speeds, ie different Spend frequencies. Amplitudes and waveforms are not adjustable.

Also exist so-called haptic man-machine interfaces with which either by an artificial Ansteuerkinematik, in the form of a so-called. External or exo-skeletal movement processes holistic or only in partial areas on the human body can be transmitted, or with those on the other hand in Form so-called force-releasing Gelenkarmsysteme object-dependent forces can be output, for example. With manual operation on the human hand. Such force-releasing Gelenkarmsysteme be used, for example, in teleoperations and are used for tactile Recognition of a microsurgical procedure by means of a surgical operation performed at a separate location by the surgeon. Likewise, such articulated arm systems allow experiments or operations to be carried out at an extraterrestrial location, such as in a ground-based laboratory, such as the space station ISS, from a terrestrial location, where the user experiences moments and forces occurring at the point of manipulation by the force-giving Articulated arm system can be reproduced simulated.

ever mechanically stable design of such force-releasing articulated arm systems, which can also be designed as haptic robot systems, the Force and torque amounts accordingly be scaled.

Out The publication US 2002/0119432 A1 is a dental training simulator especially with the dental students handling of medical instruments, such as, for example, drills, pimples, scalpels or pliers to learn about system-simulated teeth. Furthermore the system is also suitable for teaching dental Treatment methods. The device described is intended to be a preferably realistic simulation of haptic perceptible forces and Moments involved in handling such a medical instrument during the Allow treatment to occur. For this purpose, the training simulator in particular the real medical Instrument during but the treatment occurring or perceptible forces also simulate vibrations (when using a drill). The training simulator includes a haptic man-machine interface, a computer as well a display device. The computer controls both the M-M interface and the Display.

In the document DE 101 30 485 C2 a programmable joint simulator is described. This medical training simulator is used for power and motion feedback to simulate altered biomechanical characteristics of human or animal body sections with joints. The disclosed simulator includes a model body, a model body mount attached to an actuator unit, a force and moment sensor connected to the actuator unit, a drive unit, a display device, and a speaker system via which specific sound, sound or voice information can be output.

Furthermore, through the documents US 5,898,599 A and WO 98/19222 A1 discloses other haptic human-machine interfaces which can be eradicated via an actuator unit with at least three independently controllable degrees of freedom.

Presentation of the invention

Of the Invention is based on the object, a device and a Specify method with which it is possible to perceive haptic Vibrations of an object, for example in the form of a motor-driven Small appliance, designed to be portable and thus manually manageable to simulate. The Simulation serves primarily for the prototype production of such small appliances even before a prototype with complete training of its technical interior is realized. The device according to the invention and the method is meant to be more hand-held to developers and designers and power-driven small appliances help the ergonomic Design of the device housing under the To optimize the aspect of vibro-tactile properties.

Also should the solution according to the device as well the procedure the development effort as well as the associated Reduce costs significantly, it applies in particular for the prototype construction in addition the previously known requirements in terms of functional properties as well as the visual appearance and the haptic effect on the user Properties to consider with, yet before a costly prototype is made.

The solution the object underlying the invention is specified in claim 1. The subject of claim 12 is a method of simulation haptic perceptible vibrations of an object. The idea of the invention advantageous further-forming features are the subject of the dependent claims and in particular the description with reference to the embodiment refer to.

The device for the simulation of haptic perceptible vibrations of an object has an object position in which the object is preferably fixable in a detachable manner and is connected via a force-moment sensor directly or indirectly to an actuator unit. In a preferred embodiment, the actuator unit may represent a robot with a manipulator end arm, on which the object is fixed via the object holder. The robot unit is preferably designed as a six-axis articulated robot, on whose manipulator end arm the object can be freely pivoted and positioned in a translatory and rotational manner about all spatial axes. The device also has a vibration actuator, which is at least in operative connection with the object holder, so that the object can be subjected to a predeterminable vibration or vibration pattern. For driving both the vibration actuator and the actuator unit, an evaluation and control unit is provided, which actuates the actuator unit and the vibration actuator on the basis of measurement signals originating at least from the force-moment sensor. The object has at least one manually operable input means via which at least two mutually distinguishable operating states of the device can be selected simulated. Furthermore, a sensor for detecting the input means is provided, which generates a sensor signal representing the selected operating state, which can be fed to the evaluation and control unit for controlling the actuator unit and the vibration actuator. Finally, in the evaluation and control unit, a vibration model is implemented, in which object-specific vibration pattern information is included, from which under specification of an object-related operating state for driving the vibration actuator, a specific vibration pattern information consisting of frequency, amplitude can be selected.

With Help the device according to the solution Is it possible, a form model of a prototype to be developed in detail a manually operated, motorized small device under largely realistic Operating conditions under the aspect of verification of the particular still to be constructed small appliance to simulate expected vibro-tactile properties. To this Purposes is the vibration actuator motor, preferably electric motor drivable and capable of vibration modes or vibrations of different Generate frequencies, amplitudes and waveforms that or transferred directly to the object become. For controlled vibration excitation of the vibration actuator by means of which ultimately one possible realistic To create a vibrational pattern, that of one to be developed motor-driven small appliance is to be modeled, a so-called vibration module is implemented in the evaluation and control unit, in the object-specific vibration pattern information included are from which under specification of an object-related operating condition for Actuation of the vibration actuator a specific vibration pattern information, consisting of frequency, amplitude and waveform, is selectable. The vibration model is based on theoretical or empirical Vibration information that the small device to be developed or constructed under Specification of certain technical components, such as type and number the motor drives, shape, size and arrangement of handle parts or grip surfaces or the addition of tool or auxiliary components, in its vibration or to describe vibration properties.

The vibration pattern information contained in the vibration model stored in a database structure and can therefore be retrieved quickly become. Since manually operated, motor-driven small appliances usually provided on the device Have input means over the For example, a stepless speed control can be made, are on the formed as a form model object according to the Training of the later Prototype suitable input means whose position or Position are detected by sensors. Depending on the operation and preselection of an input device choose that Vibration model from a suitable vibration pattern information, with which the vibration actuator is driven to ultimately that over the Object holder connected to the vibration actuator shape model into suitable vibrations. By touching the vibrationally shaped model, simulatively a given Operating state of the small appliance to be simulated corresponds to the handle provided for this purpose. or touch surfaces can a subjective impression about the vibro-tactile properties of the device are conveyed, so that ultimately a judgment about the haptic properties of an electrical value to be depreciated small appliance possible is.

Thus, in the vibration model, which is closely networked in the case of a variable speed small appliance with a speed model, stored a variety of vibration pattern information describing both operating conditions of a small appliance in which the small appliance is exclusively in contact with the small appliance leading or holding a user's hand, or in which the small device to be simulated is brought into contact with further objects, for example. In the case of a percussion drill to be simulated via a corresponding drilling attachment in a wall of certain hardness is driven. The latter cases are also contained in the vibration model, which describe the vibration or vibration behavior of a small appliance to be simulated as a function of certain additional tools, such as different drill diameters, and depending on the type and physical strength of objects in contact with the small appliance to be simulated , such as a wall into which a drill penetrates. The last-described case, which corresponds to a targeted collision of the small appliance to be simulated with an object, requires a thoroughly complex combination of information in order to generate a largely realistic, sensitive vibration pattern for controlling the vibration actuator. Thus, on the one hand, after an appropriate choice of an additional tool, an object to be machined and a predetermined speed operated with the small appliance, to determine the force with which a user presses the small appliance to be simulated against a fictitious object, for example. A wall. The force measurement is performed by means of the force-moment sensor which is directly or indirectly connected to the object designed as a molded model. Depending on the force acting on the simulator to be simulated in the form of the above-mentioned mold model, an assumed tool attachment and an assumed material hardness of an object to be machined, for example. A gypsum wall, a fictitious speed is determined, which is a real machine in the given Constellation would assume, resulting in a specific vibration pattern information in the context of the vibration model, with which the vibration actuator is driven.

Around a user as possible realistic To enable simulation of a small appliance in use, is required in addition to the specifically controlled vibration control of the small appliance simulating form model, in addition also a simulation of the caused by the mass of the simulating small appliance Gravity as well as by the operating situation or mode of operation through the simulated small appliance caused moments of force, especially in cases where the simulated small appliance comes into collision with at least one other object. For weight As well as torque simulation, it applies the actuator unit, which in one preferred embodiment as Six-axis robot is trained to control accordingly. Because the Actuator unit in the device according to the invention represents part of the mechanical properties of the small appliance to be simulated, have to for controlling the actuator unit, a mechanical model and some physical quantities of the to be simulated small appliance be based on. So it applies with the actuator unit those opposing forces as well Generate counter moments that a user in a particular Operating situation to be expected from the small appliance to be simulated Has.

the for controlling the actuator unit underlying mechanical Model, the so-called force-moment model, is a mass m to pretend which corresponds to the small device to be simulated. With the assumed Mass m and the measured by means of the force-moment sensor Force F, which the user to the formed as a model model object exerts let yourself the desired acceleration a and the desired speed v of the simulating small appliance determine.

Furthermore it is the moment of inertia J of fact to be realized small appliance pretend to be measured by means of the force-moment sensor Torque M exerted by the user on the shape model, the desired angular acceleration α and the desired angular velocity ω of an actually realized small appliance to investigate. With the help of the kinematic parameters described above a, v, α and ω, which are all in the way of simple physical laws let derive create a force-moment model, with the free manageability a small appliance can be simulated in a realistic way.

in the Trap of a controlled, simulated by the user induced collision of the simulated by the mold model small appliance, must be to the full extent kinematic simulation of a related operating situation additional Parameters into the force-moment model, on the basis of which Actuator unit for generating largely realistic against forces or counter moments can be controlled. In such a collision case have to for example, additional frictional forces between the simulating small appliance and an object in collision. Be for example. Assume that the small appliance to be simulated is a drill is acted on, so when putting on the rotating drill attachment on a wall a restoring moment formed, which should be considered in a suitable manner. This restoring moment is summed up with the detected by means of the force-moment sensor moments and considering the moment of inertia evaluated the drill. Depending on the size of the determined moments of force dependent on the existing moment of inertia could a rotational movement of the small appliance to be simulated by the actuator unit, d. H. the robot itself is executed. All Movements of the small appliance to be simulated with the exception of the above described vibrations are realized by the actuator unit, so, for example, the target speed and target acceleration.

With Using the models described above, namely the vibration model, the speed model and the force-moment model, all in the evaluation and control unit are implemented in a modular manner and each formed as a database structures in which the kinematic and vibro-tactile properties of the small appliance to be realized stored are, can simulate the tactile perceptible by a user properties.

An extension of the device according to the invention additionally provides a so-called sound model with which a sound system simulated to the small appliance to be simulated can be generated by means of a suitable loudspeaker system. The sound model, like all other models, preferably in the Extender and drive unit is implemented, but need not necessarily be generated from the fictitious speed, which is derived from the speed model, a specific sound that can be expected from a small device to be realized. In addition, the sound model additionally takes into account additional components attached to the small appliance, such as, for example, tool attachments and the type and hardness of objects to be machined with the small appliance and ultimately also the force applied by the user to the small appliance to be simulated. Depending on the above influencing variables, a set of sounds is selected from the multitude of noise pattern information stored in the sound model, which is brought to the acoustic representation via a corresponding loudspeaker system. Which special noise pattern information for a specific constellation, which is defined by the input variables mentioned above, is stored in a database and can be called up quickly.

In a further extension of the device according to the invention is a so-called scene model provided, preferably as it were of all other models modular in the evaluation and control unit is integrated. The scene model includes the spatial and geometric description of the small appliance to be simulated in its external shape if necessary with all at the small appliance to be attached additional components. All included in the scene model Graphic information is about a suitable projection system, for example using a beamer system on a projection screen for one User visually perceptible. In addition to the graphic display option of the small appliance to be simulated, whose position, shape and color are freely selectable by the user, contains the scene model also contains objects, the one with the small appliance are to be processed, such as in the case of a simulated impact drill, a wall to be drilled, in the case of a power saw, a branch to be sawn or to be paid Tree, or in the case of a grinding device to be ground board. The position of the simulated small appliance within the on the projection screen graphically represented virtual world can be assisted by the user a suitable input means, for example. A joystick are changed. From the geometric information of the scene model can be determined whether a simulated contact between the simulated small device and a takes place in the virtual image representation represented object. These Information is important for the control of the actuator designed as a robot, the represents this collision as a blockade in the movement of the form model. The resulting force or drag that a user on the shape model exercises and ultimately has effects on vibration, speed and noise, goes as a selective control variable in the Speed, sound and in the vibration model.

The solution according to the device allowed using preferably all of the above individual models a largely realistic Impart impression to a user, leaving an appraisal a small appliance through haptic, acoustic as well as through visual perception the user possible is. The advantage of the device according to the invention is to have virtually representable prototypes in their on one User with all his senses holistic-looking properties to test and evaluate, without losing the developmental and costly effort of an actual realization of a device prototypes to have to afford. With the help of the device according to the solution can thus speeding up development processes of the mentioned small appliances and, above all, be cost-reduced.

Of the solution according to the device is a solution according to the method for the simulation of haptic perceptible vibrations of an object underlying, which is characterized by the subsequent process steps. First it is a manually operable To provide an object that corresponds to a simulated small appliance, preferably to make a shape model which is attached to an actuator unit, preferably in the form of a six-axis robot is added, through which the object is three-dimensional both translational and rotationally deflectable. The appended to the actuator unit Mold model is also medium or directly with a vibration actuator coupled so that the examined to be simulated darzustellende small appliance can be selectively placed in vibration or vibration. to Simulation of intended operating conditions, the take the small appliance to be assessed can, the vibration actuator with predetermined vibration patterns so that a user can enjoy the vibrotactile properties of the to be simulated small appliance can experience and assess directly.

In order to present the vibro-tactile properties of the small object to be simulated as realistically as possible, the actuator unit on which the small appliance to be simulated is mounted in the form of a mold model, on the basis of acting on the small appliance to be simulated forces and moments and a predetermined mass and an inertial moment of the small appliance to be simulated. The activation of the vibration actuator takes place on the basis of the vibration pattern of the manually operable mold model. In this case, a vibration model is implemented in the expansion and control unit, in the object-specific vibration pattern information are contained, from which under specification of an object-related operating state for driving the vibration actuator, a specific vibration pattern information, consisting of frequency, amplitude is selected.

On get that way the user the impression as would he independently simulates the device to be simulated in hold the hand, passing through the vibration actuator in the mold model caused vibrations a realistic operating condition simulate. By means of suitable selectable Vibrationsmustern and the actuator unit driving motion patterns the user holding the model in the hand can make an impression of the small appliance to be simulated obtained, which covers the entire range of applications of the small appliance. That's how it feels or learns the user under the vibration characteristics of a small device under Low or full load conditions. Likewise, the user feels the small device in the case complete Freedom of contact or in interaction with any predetermined Subject against which the small appliance is simulated.

In Advantageous extension of the method according to the invention Is it possible generate a background noise with the help of a loudspeaker system the company-dependent represents a simulated use of a corresponding small appliance. Around additionally to give a visual impression of a novel small appliance, will also to the user a suitably mounted projection screen a virtually representable Image of the small appliance to be tested within a function-specific scene in which the small appliance is used for specific purposes can be projected. The angle of view as well as the position of the graphically illustrated small appliance within the virtual scene can be viewed by the user with the help of a suitable input device, such as joysticks free chosen become.

A further embodiment of the method according to the invention and the The method underlying apparatus relates to the temperature perception ability the user. So the small devices are driven by a motor, whereby On the one hand they are put into vibration, on the other hand operationally also a warming which it also applies simulates perceptible to the user display. These are in the grip areas of the form model Heating elements provided, the grip areas or areas in dependence to increase the service life and performance. Thus it is the user possible, to gain an impression of how the device to be simulated during a heated functionally specific use. Also the temperature perception is in addition to the tactile perception a sense of perception of the parent haptic sense of perception.

Short description of invention

The Invention will be described below without limiting the general inventive concept of exemplary embodiments described by way of example with reference to the drawings. It demonstrate:

1 Schematic representation of a solution according trained test device for the assessment of vibro-tactile properties of an object using the example of a percussion drill and

2 Display of all system components with their logical links.

Ways to execute the Invention, industrial applicability

In 1 is a system structure for the simulation of haptic perceptible vibrations of an object 1 represented, which is designed as a molded model of a percussion drill. The shape of the outer design of a percussion drill 1 points to a user 2 operable input means, such as a speed controller, via which the user 2 can predetermine a desired speed simulatively. Of course, this is the shape model 1 only a design cover in which no electrical components are included, so that the speed controller is merely a working dummy.

The following with reference to 1 described device allows the user 2 a haptic impression of the as a model of shape 1 trained impact drill under simulated operating conditions to ultimately be able to make a statement about whether the present housing design is connected in conjunction with the housed inside the housing electrical components with ergonomically favorable vibrotactile properties.

This is what the in 1 illustrated human-machine interface an actuator 3 in the form of a robot, preferably a six-axis robot, on its manipulator end arm 4 a vibration actuator 5 is appropriate. The vibration actuator 5 is end with a force-moment sensor 6 connected, via an object holder 7 that the impact drill 1 representing molding model is attached. Alternatively to the in 1 specified arrangement of the force Mom th sensor 6 It is also possible, the force-moment sensor 6 between the Manipulatorendarm 4 and the vibration actuator 5 to install. To the impact model representing the impact model 1 in one for the user 2 as a realistically perceptible vibration or vibration state to enable the user 2 a haptic impression that he receives the simulated impact drill 1 by hand and self-supporting in the hands holds, for example. In a simulated operating condition in which the percussion drill is operated at a predetermined speed via the speed controller, is the vibration actuator 5 for generating the device and speed-specific vibrations to control accordingly. Likewise, it is the robot 3 in a way to drive, so that the user 2 the impression that he has the simulated impact drill 1 cantilevered in the hands, ie the user 2 must be the dead weight of the hammer drill 1 feel in his hands as well as those of the percussion drill 1 delivered, depending on the operating state of the forces and torques on the hands of the user 2 act. If, for example, the simulated impact drill is pressed virtually against a wall, then the robot is 3 as well as the vibration actuator 5 in a similar way, so that the user 2 his sensitive perception of the hands gives the impression that he is driving the impact drill against a wall with increased effort.

For a realistic simulation of a device-specific operating state, the robot 3 , the vibration actuator 5 , the force-moment sensor 6 as well as possibly on the simulated percussion drill 1 attached input means whose position or setting can be detected by sensors, with an expanding and driving unit 8th connected via which the individual system components are controlled in a corresponding manner. On the logical coupling of all in 1 In the following, the illustrated components should be referred to the schematized system component representation in FIG 2 directed.

In addition, the illustrated system construction is by a projector 9 as well as a projection surface 10 complements the projector 9 depicts a virtual scene, the intended operating situation of the percussion drill 1 equivalent. The user 2 looks on the screen 10 his in the virtual environment virtually converted hands, the impact drill 1 take. The on the projection screen 10 The virtual scene displayed is based on that of the user 2 on the shape model 1 acting forces determined using the force-moment sensor 6 be recorded. In this way it is possible to visualize even virtual scenarios in which the user 2 the impact drill can lead with a suitably provided tool attachment against a wall. To complete the perceptual spectrum of the user is a speaker system 11 provided with one of the on the projection screen 10 virtually illustrated operating situation dependent noise is generated, allowing the user 2 ultimately both the vibrotactile properties of the hammer drill 1 , a visual impression of the impact drill in operation 1 and gives an acoustic impression of the expected noise emanating from such a percussion drill.

In 2 are shown in an overview of all logic operations of the system components, which has a preferred embodiment of a device according to the invention for assessing the vibration characteristics hand-held small devices, shown using the example of a percussion drill. Starting from the user 2 can the on the form model of the hammer drill 1 provided switch and regulator positions, which provides a corresponding prototype, by the user 2 be changed. The sensor-sensed switch positions are incorporated into a speed model that determines from a current speed and the user inputs a new speed that may be either higher or lower than the current speed. The newly determined by the speed model speed is included in a sound model and in a vibration model. The sound model controls the acoustic output, while the vibration model sets the correct frequency, amplitude and waveform to drive the vibration actuator. Thus, the user hears the operation of simulated illustrated impact drill and feels the vibration of the device over his hands.

The user can also exert forces on the simulated impact drill, which are detected and measured by a force-torque sensor. This from the user 2 on the percussion drill 1 applied force is low-pass filtered to that of the vibration actuator on the percussion drill 1 filter out high-frequency vibrations. The thus selected low-frequency component of force is fed together with specifiable data with respect to the weight m and the moment of inertia J of the impact drill shown simulated a force-torque model from these data, the resulting local target acceleration a and the desired position of the impact drill representing Form model determined. These data are fed to the robot, which ultimately approaches the position of the mold model representing the impact drill.

Also the output signals of the robot located force-moment sensor are passed through a low-pass filter to avoid that higher-frequency forces, the by holding the high-frequency oscillating mass by the User generated to be returned to the drive unit of the robot.

Furthermore, it is for the user 2 possible, insofar as he still has a hand free to change his own position or angle by means of a joystick in a virtual environment shown on a projection screen. The navigation comprises both at least the virtual image of the user's hands as well as the three-dimensional model of the impact drills to be tested. When navigating with the help of the joystick so the observer's perspective and the three-dimensional model of the impact drill to be tested are moved together. Such a combination of a virtual observer and an object or tool coupled thereto is also referred to in the language of virtual reality as a head-up display (HUD). Thus, the illustrated model of the device under test can be considered a HUD.

The with the help of the force-moment model certain acceleration, movement and position of the impact drill to be tested is also on Scene model passed along with the position of the user a graphic 3D scene generated and over represents a projector visually perceptible on a projection screen. On This way, the user can on the one hand the use of the virtual Virtual prototyping on the other hand are also typical work situations the impact drill representable. So it is, for example, conceivable that the user his virtually illustrated impact drill to a Bringing in the wall and starts to drill a hole. The associated stress situation is implemented with the force-moment model, with the changing power relations forwarded to the sound, vibration and speed model, which ultimately causes the background noise, which over to the user the forces acting on the shape model and moments as well as the vibration pattern of the virtually imitated Change impact drill.

All in all can be with the proposed structure very comprehensive perceptual aspects a virtual prototype of a hand-held, motor-driven small appliance represent. In addition to the graphic and acoustic representation especially haptic and tactile properties considered. The solution-based approach, a parameterizable in its output behavior vibration actuator to use unlike anything available today technical possibilities the direct, subjective evaluation of different vibration states the user himself.

1

Object, shape model

2

user

3

actuator robot

4

manipulator intestine

5

vibration actuator

6

Force-torque sensor

7

object holder

8th

Ausweite- and drive unit

9

projector

10

projection

11

speaker

Claims (15)

Device for simulating haptic perceptible vibrations of an object ( 1 ), with an object holder ( 7 ) into which the object ( 1 ) and via a force-moment sensor ( 6 ) directly or indirectly with an actuator unit ( 3 ), a vibration actuator ( 5 ), at least with the object holder ( 7 ) is in operative connection with an expansion and control unit ( 8th ), which both the actuator unit ( 3 ) as well as the vibration actuator ( 5 ) on the basis of at least the force-moment sensor ( 6 ) generates measured signals, wherein - the object ( 1 ) has at least one manually operable input means via which at least two mutually distinguishable operating states of the device are selectable, a sensor for detecting the input means is provided, which generates a selected operating state representing the sensor signal, the extension and control unit ( 8th ) for controlling the actuator unit ( 3 ) as well as the vibration actuator ( 5 ), and - in the expansion and control unit ( 8th ) a vibration model is implemented, in which object-specific vibration pattern information is contained, from which, given an object-related operating state for driving the vibration actuator ( 5 ) a certain vibration pattern information consisting of frequency and / or amplitude is selectable. Device according to claim 1, characterized in that the object ( 1 ) is a shape model of a manually operated, motor driven device. Apparatus according to claim 1 or 2, characterized in that the force-moment sensor ( 6 ) provides at least one strain gauge. Device according to one of claims 1 to 3, characterized in that the actuator unit ( 3 ) a robot unit with a manipulator ( 4 ) is where the force-moment sensor ( 6 ) is attached. Device according to one of claims 1 to 4, characterized in that the vibration actuator ( 5 ) is driven by an electric motor and generates vibration modes or vibrations with different frequencies, amplitudes and waveforms, which are transmitted via the object holder ( 7 ) on the object ( 1 ) are transferable. Device according to one of claims 1 to 5, characterized in that the object holder ( 7 ) with the vibration actuator ( 5 ) connected via the force-moment sensor ( 6 ) with the actuator unit ( 3 ), or that the object holder ( 7 ) with the force-moment sensor ( 6 ) connected via the vibration actuator ( 5 ) with the actuator unit ( 3 ) connected is. Device according to one of claims 1 to 6, characterized in that in the expanding and driving unit ( 8th ) a sound model is implemented in which object-specific noise pattern information is contained, from which, given an object-related operating state for driving a loudspeaker system ( 11 ) a certain noise pattern information is selectable. Device according to claim 1 to 7, characterized in that the manually operable input means simulates a speed controller, by means of which a speed control of an engine contained in the device is vornehmbar vornehmbar, and that in the expander and drive unit ( 8th ) a speed model is implemented, in which object-specific speed information is included, from which, given a specific position of the speed controller for controlling the vibration actuator ( 5 ) and / or the speaker system ( 11 ) a specific speed information is selectable. Device according to one of claims 1 to 8, characterized in that in the evaluation and control unit ( 8th ) a force-torque model is implemented, in which object-specific variables such as mass m and moment of inertia J of the object are included, which are used to determine movement quantities for the actuator unit ( 3 ) serve. Device according to one of claims 1 to 9, characterized in that in the expanding and driving unit ( 8th ) a scene model is implemented in which via a projection system ( 9 . 10 ) Visually perceptible, virtually representable information is included, comprising the shaping of the object in a virtual environment, and that a navigation means is provided, through which the object ( 1 ) can be navigated in the virtual environment and an object-specific mode of operation can be simulated. Apparatus according to claim 9 or 10, characterized in that in the expander and drive unit ( 8th ) a collision model is implemented, in which, depending on one between the object ( 1 ) and an object occurring collision correction quantities for the force-moment model are included, by the movement quantities for the actuator unit ( 3 ) can be influenced. Method for simulating haptic perceptible vibrations of an object ( 1 ) characterized by the following method steps: - providing a manually operable object ( 1 ), Joining the object ( 1 ) to an actuator unit ( 3 ) through which the object ( 1 ) is three-dimensionally deflectable, and coupling a vibration actuator ( 5 ) directly or indirectly to the object ( 1 ), - controlling the vibration actuator ( 5 ) with a predeterminable oscillation pattern and - activation of the actuator unit ( 3 ) based on the object ( 1 ) acting forces and moments and a predetermined mass m and an inertial moment J of the object, wherein - the driving of the vibration actuator ( 5 ) takes place on the basis of the vibration pattern of a manually operated, preferably motor-driven device, wherein the object is a shape model of the device, and - in an evaluation and control unit ( 8th ) a vibration model is implemented, in which object-specific vibration pattern information is contained, from which, given an object-related operating state for driving the vibration actuator ( 5 ) a specific vibration pattern information consisting of frequency and / or amplitude is selected. A method according to claim 12, characterized in that the driving of the actuator unit ( 3 ) takes place in accordance with simulated, largely realistically trapped handling properties of a device simulated by means of the object. Method according to claim 12 or 13, characterized that an acoustically perceptible operating noise of a simulated by the object equipment dependent on a specifiable operating state of the device is generated artificially. Method according to one of claims 12 to 14, characterized in that by means of projection technology, a virtual environment for a Be perceived visually in which the object ( 1 ) in a predeterminable environment, and that the object ( 1 ) within the virtual environment by means of an input means navigable and simulated in a predetermined operation is applicable.