Plane three-freedom-degree pen type force sense interactive device

Abstract

The invention discloses a plane three-freedom-degree pen type force sense interactive device. The force sense interactive device disclosed by the invention comprises four drive modules (1-A), (1-B), (1-C) and (1-D) and an interactive pen (2), wherein the drive modules comprise a helical locking clamp, a direct current motor, an encoder, a rope wheel, a rope and the like; and the interactive pen is a pen-shaped handheld operating handle. The device disclosed by the invention is combined with plane display equipment (3); the four drive modules are respectively fixed on the four angle edges of the equipment; and a user holds the interactive pen to directly write and draw on the screen of the equipment or establish, select, translate and rotate an object in a display scene of the screen and can simultaneously sense a feedback force and torsion when being interactive with the scene. The device disclosed by the invention is provided with the inputs and outputs of three freedom degrees, wherein the inputs are the two-dimensional position of an interactive pen point and the rotating angle of the pen point; and the outputs are the feedback force in the two directions of a plane of the pen point and the torsion around a pen body. The interactive device disclosed by the invention can be applied to the fields of game, teaching, painting practice and the like.

Description

technical field [0001] The invention relates to a plane three-degree-of-freedom pen-type force-sense interaction device, which can be fixed on various plane display devices to realize direct interaction with scenes displayed on the plane display devices and output feedback force and torque during interaction. Background technique [0002] Because the pen-type human-computer interaction method is more natural and efficient than the mouse and keyboard input methods, it has attracted more and more attention and has been widely used, such as in handheld PDA equipment, whiteboards, computer external writing boards, drawing boards, etc. There are many related products. However, in the existing pen-based interactive systems, the two-dimensional motion trajectory of the pen tip of the interactive pen on the plane is generally captured as the system input, and the input of the third degree of freedom of the interactive pen, that is, the input of rotation around the pen holder, is not...

AI Technical Summary

Problems solved by technology

At present, in the field of three-dimensional space interaction, there is a system that integrates visual and force sense display, but there is no system that integrates two-dimensional visual display and force sense display.

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