小型化柔性触觉再现装置  

Portable Real Time Haptic Display Interface Device

作　　者：王楠[1] 刘佳[2,1] 宋爱国[1] 张小瑞[2,1] 

机构地区：[1]东南大学仪器科学与工程学院远程测控技术江苏省重点实验室,江苏南京210096 [2]南京信息工程大学信息与控制学院,江苏南京210044

出　　处：《测控技术》2010年第4期97-99,102,共4页Measurement & Control Technology

基　　金：国家973资助项目(2002CB312102);国家自然科学基金资助项目(60475034;60643007;60675047);国家863资助项目(2006AA04Z246);江苏省高校自然科学研究资助项目(09KJB460008)

摘　　要：提出了一种小型化的具有实时触觉反馈作用的人机接口装置的设计方法,以控制弹性梁的有效变形长度为核心,保证了触觉再现的实时性和准确性,从而可以在操作者指端大范围再现虚拟对象或远程对象的刚度。介绍了该小型化人机触觉再现接口装置的硬件设计和软件设计。该实时触觉再现接口具有尺寸小、刚度再现范围大,可方便与鼠标相结合等特点,可广泛应用于遥操作机器人和虚拟现实领域。A design scheme of man-computer interface,which can realize real time haptic stiffness display,is proposed.It focuses on the smart control of elastic element＇s effective deformable length,and assures the real-time and precision of haptic display,which could replicate the haptic of a virtual object or remote object with wide range to the fingertip of human operator.The mechanical design,sensors system design,step-motor control system design and data acquisition system design of the man-computer haptic display interface device are introduced.This real time haptic display interface device has characteristics of small dimensions and wide range of stiffness display.In addition,it can be combined with a computer mouse conveniently.Generally speaking,this device can be widely used in the fields of telerobot and virtual reality.

关 键 词：触觉再现 人机接口 虚拟现实 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]