遠端操控模擬實驗

器人在虛擬場景中移動的座標點位置資訊，將這些相對遠端環境的位置資訊透過

圖 4.15 虛擬實境家用機器人遠端操控模擬系統架構圖

(a)未接觸到牆面 (b)接觸到牆面

圖4.16 虛擬實境家用機器人之遠端操控模擬情形：(a)未接觸到牆面和(b)接觸到 牆面

(d) (a)

(e) (b)

(f) (c)

圖 4.17 虛擬實境家用機器人之遠端操控模擬之結果：(a)主控端的位置命令, (b)主控 端預測的位置軌跡, (c)主控端預測的虛擬力, (d)遠端的位置軌跡, (e)遠端產 生的碰觸力,和(f)雙向來回的延遲時間

第五章

式更有利於系統控制。

2. 本論文是利用WorldToolKit (WTK)的軟體工具來模擬虛擬實境，但若要利用 此工具來模擬出物體的物理特性時，則其效果及性能的表現就不是那麼的好

4. 當使用者為小朋友或是老年人以及對Laparoscopic impulse engine裝置不熟 悉者而言，比較不易去操控此裝置，所以必須將操控介面簡單化，讓個年齡 層的人都可以輕易來操控，故必須發展一操控介面，像是掌上型的控制器，

讓此控制介面都按鈕化，使用者只需來壓按鈕即可以來做遠端超控的任務；

另一方面也必須發展更多的輔助策略，來幫助使用者執行完成任務。

5. 由於本論文中所採用的多執行緒方法，這架構它可能只適合此地方，在未來

若要將此系統做更多的發展及應用時，這多執行緒的寫法架構要改寫，才不 會發生可能會有不穩定的現象發生，讓此系統可以做多方面的發展應用。

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