Minitype haptic rendering method based on active and passive devices

A passive device, tactile reproduction technology, applied in tactile transmission signal systems, instruments, computer parts, etc., can solve the problems of high energy density, small torque/volume ratio, and inability to accurately control magnetorheological dampers. Improve fidelity and immersion, large torque/volume ratio, and high precision

Active Publication Date: 2017-10-03
SOUTHEAST UNIV
View PDF4 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These actuators have their own advantages and disadvantages: for example, the DC motor is simple to control and can be precisely controlled, but the...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Minitype haptic rendering method based on active and passive devices
  • Minitype haptic rendering method based on active and passive devices
  • Minitype haptic rendering method based on active and passive devices

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0027] Such as figure 1 As shown, the force haptic reproduction device includes a bracket 1, an actuator fixed on both sides of the bracket 1, a force haptic transmission device 2 connected with the output shaft of the actuator, and a force / torque sensor 3 provided at the end of the force haptic transmission device 2, The force / torque sensor is used to measure the actual force / torque to form a feedback loop; the actuator is composed of a magnetorheological damper 4 and a DC motor 5, the output shaft of the DC motor and the output shaft of the magnetorheological damper Connected.

[0028] A high-precision and small-scale force tactile reproduction method based on active / passive devices, the specific steps are as follows:

[0029] Step (A): Construct the above-mentioned equipment, calibrate the magnetorheological damper and DC motor, and obtain the relationship between the input current and output torque; the magnetorheological damper is made of ferromagnetic materials, One of the i...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a minitype haptic rendering method based on active and passive devices. The method comprises the steps of firstly conducting calibration on a magnetorheological damper and a continuous current dynamo, and obtaining a relationship of an input current and output torque; converting an expected force/torque value to a current of the magnetorheological damper to input, the corresponding torque is output through the magnetorheological damper, and exerting the torque to the body of an operation person through a force tactile transmission device; secondly, measuring actually exerted force/torque through a sensor installed at a force/torque point of action, comparing an actually output force/torque value with the expected force/torque value, and calculating a force/torque error; finally, converting the force/torque error to an input signal of the continuous current dynamo, and driving the continuous current dynamo to generate torque corresponding to the error. According to the minitype haptic rendering method based on the active and passive devices, minitype devices can output large-range and high-precision force/torque, thus haptic rendering equipment is more light and exquisite, and the fidelity of haptic interaction is improved; the method can be widely applied to the fields of virtual reality, teleoperation robot control, medical service and the like.

Description

Technical field [0001] The invention relates to a force tactile reproduction method, in particular to a high-precision small force tactile reproduction method based on active and passive devices. Background technique [0002] Force tactile reproduction refers to the process in which users touch, feel, and manipulate virtual or remote objects through force tactile reproduction devices to obtain the characteristics of virtual or remote objects and perceive information about virtual or remote objects. Through the force tactile reproduction device, the operator can interact with the virtual or remote environment in a natural way, thereby producing an immersion consistent with the real environment. Force tactile sensing has broad application prospects in virtual reality, teleoperation robots and medical fields. . [0003] Actuating devices are an important part of force tactile reproduction equipment and an important part of transmitting force tactile stimulation. The characteristics o...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06F3/01
CPCG06F3/011G06F3/016G08B6/00
Inventor 宋爱国秦欢欢李会军徐宝国曾洪
Owner SOUTHEAST UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap