带有双手力觉反馈的人机交互系统设计  

Design of human-machine system with two-handed force feedback

作　　者：秦欢欢 宋爱国[1] 莫依婷 曾欣 邵斌澄 Qin Huanhuan;Song Aiguo;Mo Yiting;Zeng Xin;Shao Bincheng(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]东南大学仪器科学与工程学院

出　　处：《仪器仪表学报》2018年第7期66-73,共8页Chinese Journal of Scientific Instrument

基　　金：国家重点研发计划(2016YFB1001301);国家自然科学基金重点项目(91648206,U1713210);苏州市科技计划(SGC201653)项目资助

摘　　要：力觉反馈可以在人机交互的过程中营造出沉浸感,而双手可以实现比单手更为复杂、精细的操作。因此,设计了一种带有双手力觉反馈的人机交互系统。该系统使用两个多自由度力觉反馈装置捕捉、跟踪操作人员手部位置并提供力反馈。系统实验结果表明,该系统可在500 mm×500 mm×420 mm工作空间内精确跟踪双手位置,跟踪误差小于0.8 mm,并可提供高达20 N的反馈力和0.4 N·m的反馈力矩。通过应用实例验证了系统的有效性。实例任务结果表明,带有双手力觉反馈的任务完成时间大大短于单手力觉反馈和无力觉反馈的任务完成时间。Force feedback can construct the immersion sense during human-machine interaction. Two-hand can realize more complicated and delicate manipulation than one-hand. Therefore,the human-machine system with two-handed force feed back is designed in this study. This system uses two multi-DOF force feedback devices to track hand position and provide force feedback. System experimental results indicate that this system can track position and orientation of two hands precisely within 500 mm × 500 mm × 420 mm and the tracking error is within 0. 8 mm. The maximum feedback force and torque reach 20 N and 0. 4 N·m,respectively. An application example is also implemented to evaluate the system efficiency. Example results demonstrate that the task completion time with twohanded force feedback is much shorter than that with one-handed force feedback and that without force feedback.

关 键 词：人机交互 双手力觉反馈 多自由度力觉反馈装置 

分 类 号：TH89[机械工程—仪器科学与技术] TP249[机械工程—精密仪器及机械]