电磁力反馈中磁场特性分析与线圈姿态计算  

Coil magnetic field characteristics analysis and coil spatial pose calculation in magnetic haptic feedback

作　　者：朱炜煦 袁志勇[1] 童倩倩[1] 

机构地区：[1]武汉大学计算机学院,武汉430072

出　　处：《电子测量与仪器学报》2016年第4期590-597,共8页Journal of Electronic Measurement and Instrumentation

基　　金：国家自然科学基金(61373107);北航虚拟现实技术与系统国家重点实验室开放基金(BUAA-VR-13KF-15)项目资助

摘　　要：电磁力反馈技术是人机交互领域的重要研究方向。电磁力反馈技术能克服机械力反馈技术的摩擦力误差、连接积累误差、操作空间有限等问题,但是线圈的空间姿态摆放对电磁力反馈交互性能影响很大。针对该问题,采用有限元法分析线圈磁场特性并提出了一种基于交互应用需求计算线圈姿态的算法。首先,分析了线圈磁场的盲区特性、线圈的姿态对电流与磁场变化关系的影响及磁场随线圈姿态变化的规律。在此基础上,采用概率云描述了交互应用需求并提出了一种针对不同交互应用需求计算线圈姿态的方法。最后通过实验验证了该线圈姿态算法能大幅提高电磁力反馈交互性能。Magnetic haptic feedback technology shows great importance in human-computer interaction,which has the ability to overcome the shortage of mechanical haptic feedback,such as friction error,joint accumulative error, limited operation range etc.Nevertheless,the spatial pose of coil enormously impacts the interactive performance. To solve this problem,the coil’s magnetic field characteristics is analyzed using finite element method,and an al-gorithm to calculate the coil spatial pose corresponding to the interactive requirement is presented.First,we ana-lyzed the coil’s magnetic field characteristics,discussed how the coil spatial pose impacts the relation between coil current and magnetic field,and summarized a regular pattern in which magnetic field changes with the variation of coil spatial pose.On this basis,we used probability-cloud to describe the interactive requirements,and proposed an algorithm of calculating the coil spatial pose using probability-cloud corresponding to various interactive require-ments.At last,we demonstrated the experimental verification of the algorithm.

关 键 词：电磁力反馈 磁场盲区特性 有限元法 概率云 交互应用需求 线圈姿态计算 

分 类 号：TN98[电子电信—信息与通信工程] TP39[自动化与计算机技术—计算机应用技术]