Servo mechanism based active force/touch sense feedback system and work method thereof

Abstract

The invention discloses a servo mechanism based active force / touch sense feedback system and a work method thereof. The system is composed of a computer, a motion tracking sensor and a force / touch sense feedback mechanism and a controller. Hand motion data is collected in real time through the motion tracking sensor and sent to the computer, and collision detection of the hand and a tool or a control in a virtual environment is conducted. When the hand does not make contact with the tool or the control, the computer conducts hand motion locus prediction and motion planning and drives the force-touch sense feedback mechanism to conduct servo motion; when the tool or the control is operated with the hand, the force / touch sense feedback mechanism tail end drives the corresponding tool or control to reach the target position of a hand operation, touch sense feedback is provided, and meanwhile the computer conducts real-time collision response and force sense generation, drives the force / touch sense feedback mechanism to output force and provides active force sense feedback. By means of the system, the immersion and interaction of a virtual reality system can be improved, the size is small, the flexibility is high, and the system can be applied to the fields of virtual surgery, virtual driving and the like.

Description

technical field [0001] The invention belongs to the field of virtual reality, in particular to the field of force / tactile interaction, and relates to an active force / tactile feedback system based on a servo mechanism and a working method thereof. Background technique [0002] Virtual operating systems, such as virtual assembly, virtual maintenance, virtual surgery, and virtual driving, can be used for teleoperation, training of relevant personnel, etc., and have the advantages of lower cost, higher efficiency, and higher safety. At present, the research on virtual reality systems mostly focuses on visual and auditory feedback, and the research on force / tactile feedback is immature, which hinders the further improvement of immersion and interactivity. [0003] At present, force / haptic feedback devices mainly include wearable and desktop types. Wearable devices include exoskeletons, data gloves, etc., such as Immersion's Cyber ​​Grasp data gloves, Dexta Robotics' Dexmo gloves...

AI Technical Summary

Problems solved by technology

[0004] In order to achieve a larger range of interaction, so that the hands can operate tools or spaces in a larger space range, the semi-virtual reality cockpit solution developed by Nanjing University of Aeronautics and Astronautics uses a 1:1 physical control panel to provide force / tactile feedback , a larger range of interaction can be obtained, but the physical panel is large in size, and the design of the controls on it is fixed, the flexibility is not good, and the application scenarios are limited

Based on the TOPIT (Touched Objects Positioned InTime) technology developed by STRICOM, a subsidiary of the US Department of Defense, a servo-mechanical system with a small number of controls is used to provide force / tactile feedback. The same type of controls can be simulated by the same physical control, which simplifies the control panel and Manipulation mechanism, and different types of control panels can be simulated by changing the software, but the mechanical system is still large in size, and the range of motion of the control is a two-dimensional plane area, which cannot realize interaction in three-dimensional space

In addition, these two solutions can only provide passive blocking and cannot provide active kinesthetic feedback

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