基于力反馈技术的汉字书法录制播放培训系统.pdfVIP

第19 卷增刊2 系 统 仿 真 学 报? Vol. 19 Suppl.2 2007 年10 月 Journal of System Simulation Oct., 2007 基于录制播放的书法动作技能培训 吴 俊, 王党校, 张玉茹 （北京航空航天大学机器人研究所, 北京 100083 ） 摘 要：研究了利用机器人进行辅助书法培训的方法，克服了传统手把手教学中存在的身体干涉、 要求教师数量多等不足。基于录制播放的思想，通过力觉交互设备记录专家书写过程中的动作技能 信息，存储为标准的力觉文件，然后，控制交互设备带着受训者再现此动作，从而使受训者感知书 写过程的运动信息。分析了动作的速度、轨迹曲率对播放性能的影响，提出了基于斜率和标准螺旋 曲线的播放性能评价标准，得到速度、曲率的增大会导致播放效果变差的结论，为力觉信息文件的 修改和编辑提供了理论指导。通过实验对此书法技能再现系统进行了验证。 关键词：动作技能培训；力觉交互；录制播放；评价 中图分类号：TP391 文献标识码：A 文章编号：1004-731X (2007) A calligraphy motor skill training system based on record-play method WU Jun, WANG Dang-xiao, ZHANG Yu-ru (Robotics Institute, Beihang University, Beijing 100083, China) Abstract: To overcome the body intervention and high teacher-student ratio in the traditional hand by hand motor skill training process, robot assisted motor skill training method is developed. Based on the record-play method, the handwriting trajectory of an expert is first recorded using a haptic device, saved as a standard haptic file, then displayed to the student by control of the device. By this way, the student can have a vivid sensation of the movement in handwriting. The influence of the speed and curvature of the skill to the performance of the display process is analyzed. A criterion based on slope similarity and the Archimedes Spiral Line is proposed to evaluate the performance. The result shows higher speed and bigger curvature will lower the performance, and this can serve as guidance for the haptic file modification