Multi-coil electromagnetic type haptic feedback device and method

Abstract

The invention discloses a multi-coil electromagnetic type haptic feedback device and a multi-coil electromagnetic type haptic feedback method, wherein the multi-coil electromagnetic type haptic feedback device comprises a base, n electromagnetic coils and an operating rod; the electromagnetic coils are arranged on the base; the inside of each electromagnetic coil is a magnetic conductive iron core; each electromagnetic coil is externally wound by copper wires; each electromagnetic coil is connected with the driving coil control circuit of an embedded control system; one electromagnetic coil as a magnetic field compensation coil is arranged in the center axis position of the base; the other electromagnetic coils are used as magnetic field generation coils, and are distributed on the base at equal intervals in a manner of encircling the center axis in an operating space; the gestures of the coils can be regulated according to the demands of a human-machine interaction application case; the positions of the coils can be dynamically changed according to the demands of different human-machine interaction applications; the operating rod is composed of a magnet and a handle, and is used for interacting with the magnetic field in an operable effective magnetic field space produced by the coils. The multi-coil electromagnetic type haptic feedback device and the multi-coil electromagnetic type haptic feedback method have the advantages that the magnetic induction intensity of the coils produced in the operating space is improved, the motion range of the operating rod is enlarged, and the problems brought by mechanical friction and mechanical coupling in a mechanical force feedback device are prevented.

Description

technical field [0001] The invention relates to the technical field of electromagnetic tactile feedback in human-computer interaction, in particular to a multi-coil electromagnetic force tactile feedback device and method. Background technique [0002] The virtual surgery system is a frontier research topic in the medical field today. Researchers can use technologies such as virtual reality to realize three-dimensional visualization of medical imaging data, and perform real-time operations on the visualized data, thereby establishing a virtual environment that can be used for pre-surgery planning. In the virtual environment, force haptic feedback technology is a bridge between the virtual reality system and the real environment. The haptic interaction technology of virtual reality and human-computer interaction includes haptic reproduction technology and haptic modeling of virtual environment. In the prior art, most of them are electromechanical tactile feedback devices, wh...

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Problems solved by technology

[0004] Aiming at the problems of hysteresis, complexity of joints, and friction in mechanical virtual surgery devices, the present invention proposes a multi-coil electromagnetic force tactile feedback device and method to overcome the defects of the prior art

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