Planar three-degree-of-freedom pen-type force-sense interaction device

Abstract

The invention discloses a plane three-degree-of-freedom pen-type force-sense interaction device, which is composed of four drive modules (1-A, 1-B, 1-C, 1-D) and an interactive pen (2). The drive module is composed of a screw locking fixture, a DC motor, an encoder, a sheave and a wire rope, etc. The interactive pen is a pen-like grip-type operating handle. The device is used in combination with a flat display device (3), and the four drive modules are respectively fixed on the four corner edges of the device, and the user can directly write, draw or create, select, translate, and rotate on the screen of the device by holding the interactive pen The screen displays objects in the scene, while being able to feel the feedback force and torque when interacting with the scene. The device has input and output of three degrees of freedom. The input is the two-dimensional position of the pen tip of the interactive pen and the angle of rotation of the pen tip, and the output is the feedback force of the pen tip in two directions on the plane and the torque around the pen body. The present invention can be applied to fields such as games, teaching, drawing exercises 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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