基于振动和磁力式重力场的多点力触觉再现系统  

Vibration tactile and magnetic gravity based multi-point haptic rendering

作　　者：陆熊[1] 雷雄文 章传龙 吴云龙 宋爱国[2] LU Xiong;LEI Xiongwen;ZHANG Chuanlong;WU Yunlong;SONG Aiguo(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]东南大学仪器科学与工程学院,南京210096

出　　处：《东南大学学报(自然科学版)》2025年第2期603-610,共8页Journal of Southeast University:Natural Science Edition

基　　金：国家自然科学基金资助项目(61773205);江苏省自然科学基金资助项目(BK20211186);国家级大学生创新创业训练计划资助项目(202410287014Z).

摘　　要：力触觉再现技术能够有效提高人机交互的质量,拓宽人机交互的应用领域。针对现有力触觉再现往往仅提供单一力觉或触觉再现的局限性,以及面向人手灵巧操作的交互需求,本文提出了一种基于振动触觉和磁力式重力场的多点力触觉再现系统。该系统由基于振子的触觉再现模块,电磁铁阵列重力场再现模块,人手位置检测模块,穿戴于操作者大拇指、食指、中指的3个指尖振动和重力感知模块组成。基于Ansys Maxwell有限元分析和实验验证,确定了以3×3的电磁铁阵列为基本单元的反向电流激励模式,进一步提出三维位置自适应的重力场激励算法,实现了7 cm×7 cm×20 cm范围内的振动触觉反馈和重力场感知。开展了6人参与的多模式物品抓取和放置实验。相对无力触觉反馈模式,提供振动和重力场力触觉反馈时的平均任务用时减少了44%,验证了本文设计的多点力触觉再现系统的有效性。Haptic rendering effectively enhances the performance and quality of human-computer interaction,causing broader application fields.To address the limitation of existing haptic rendering systems,i.e.,usually only providing force or tactile feedback,and to fulfill the requirements for dexterous operations,this paper presents a vibration tactile and magnetic gravity based multi-point haptic rendering system,which comprises a vibration based tactile rendering module,an electromagnet array based gravity rendering module,a finger position detection module,and three(thumb,index finger,and middle finger)fingertip-mounted wearable vibration and gravity sensation modules.Using finite element analysis with Ansys Maxwell and experimental validation,a 3×3 electromagnetic array-based opposite current actuation strategy and 3D position adaptively tracking-based gravity force rendering method were proposed,creating the multi-point haptic display with a workspace of 7 cm×7 cm×20 cm.Six-participant-involved experiments of object grab-and-place tasks under different modes were conducted.Compared with the interaction mode without haptic feedback,the mode with vibration tactile and magnetic gravity based haptic feedback reduces the average task completion time by 44%,which verifies the effectiveness of our proposed multi-point haptic rendering system.

关 键 词：多点力触觉再现 振动触觉再现 磁力式重力场再现 物品抓取和放置 有限元仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]