Texture force measuring method in force tactile representation

A technology of tactile reproduction and measurement method, applied in the direction of measurement force, measurement device, instrument, etc., can solve the problems of deviation of measurement results and original situation, inaccurate measurement, change of connection state and dynamic characteristics, etc., to achieve the effect of increasing realism

Active Publication Date: 2013-12-11
SOUTHEAST UNIV
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Problems solved by technology

The main problem with this method is "uncertainty". Adding sensors to the system will change the original connection

Method used

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  • Texture force measuring method in force tactile representation
  • Texture force measuring method in force tactile representation
  • Texture force measuring method in force tactile representation

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Experimental program
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Embodiment Construction

[0031] The technical solution of the present invention will be described in detail below in conjunction with the embodiments and the accompanying drawings.

[0032] refer to figure 1 , the method for measuring texture force in the force-tactile reproduction of the present invention: the hand controller of the force-tactile reproduction device controls the virtual probe to approach the virtual texture surface, and performs collision detection in the virtual texture force model, and the virtual probe and the texture surface occur The output force of the force haptic device is 0 before the collision. After the virtual probe collides with the virtual texture surface, the vertical force of the virtual force is calculated respectively. and horizontal force Vertical Finally, force the virtual texture via the hand controller output.

[0033] refer to figure 2 , a schematic diagram of the experiment of the present invention: when the virtual probe touches the textured surface, ...

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Abstract

The invention discloses a texture force measuring method in force tactile representation. The texture force is decomposed to an acting force in the vertical direction and an acting force in the horizontal direction by considering surface factors of an objective texture and movement speed and active press force in the exploring process with human hands. The acting force in the vertical direction is divided into an objective factor acting force and a subjective factor acting force, wherein the objective factor acting force is determined by height of a microcosmic contour on the surface of the texture measured and surface stiffness characteristic. In consideration of change of normal acceleration in the contact process reflecting changes of speed and pressure of human hands in the moving process, the subjective factor acting force is the function of the normal acceleration, and the normal acceleration in simulation is a linear interpolation function of the measured acceleration under different pressures and at different speeds. The acting force in the horizontal direction can be frictional resistance when a probe streaks the surface of the texture and is determined by the pressure in the vertical direction and the dynamic friction coefficient of the texture material.

Description

technical field [0001] The invention belongs to the field of force-tactile reproduction of texture, and relates to a force-tactile expression method of texture. Background technique [0002] At present, the texture haptic expression technology is mainly based on the contour characteristics of the textured surface to establish a haptic model when it is in contact with the textured surface, and reproduce the haptic sensation through a haptic reproduction device. The modeling methods of texture expression based on haptic feedback devices are mainly divided into three categories: establishing a haptic expression model of texture based on geometric constraints and physical models; extracting contour features of textured surfaces from images to establish a haptic expression model; actually measuring real The outline or vibration information of the texture, the texture information is reproduced by virtual reality technology. [0003] There are two types of measuring instruments fo...

Claims

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Application Information

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IPC IPC(8): G01L1/00
Inventor 吴涓李明王路刘威宋爱国
Owner SOUTHEAST UNIV
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