未來工作

對於我們所設計出的鎖定形式導引，仍然有許多需要改進以及調整的空間，

首先的問題是力回饋範圍的大小以及導引參數的調整，較小的力回饋範圍固然可 以限制住使用者的移動進而讓使用者更精準的往目標物前進，但是過於狹窄的範 圍將造成震盪的情形發生，我們希望在未來回饋力的計算部份，加入速度方面的 控制，將可以減少震盪的產生，減少虛擬導引本身的誤差。

在本實驗中由於目標物的體積限定在一定的範圍內，針對相似大小的物體我 們設計了對應的力回饋範圍以及導引參數，將來若要對不同大小的物體進行夾 取，勢必將進行範圍以及參數的調整，我們期望屆時能找出描寫物體體積、力回 饋範圍與參數間的關係式，以達到對使用者最大的輔助效果。

其次是Bezier 演算法控制點的選定問題，Bezier 演算法固然可以由控制點得 到想要的近似曲線，但是我們發現隨控制點的移動，近似曲線與原來的路徑誤差 也會改變，此時我們就必須跟著調整控制點以達到最小的誤差，如何找出更適合 的控制點數量以及如何設定更佳的位置，也是日後必須解決的問題。

由於夾取的動作在進行搬運的過程中是最講求精確的部份，因此我們在這次 的實驗中僅對夾取的部份進行實驗，將來我們將對更複雜的動作以及物體進行實 驗，並探討鎖定式導引在其他的動作中對於操作效率的影響，未來也將對力感測 器作進一步的應用，在更複雜的動作中使用力感測器，提供使用者對遠端環境更 擬真的感受。

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