Electromagnetic tactile representation system and method and magnetic field prediction control method

Abstract

The invention discloses an electromagnetic tactile representation system and method and a magnetic field prediction control method. According to the system, three pose-adjustable iron core coils are used for exciting an electromagnetic field and are matched with an operating rod with a permanent magnet at the top end to generate dynamically-changed magnetic force feedback so as to generate virtualtouch meeting the dynamic sensing frequency of transverse pulling, vertical extruding and the like of human skin. The invention designs a prediction control method with a variable model according tothe linear relation between the duty ratio of driving voltage and exciting current and the superposition mode of a plurality of coil magnetic fields. According to the method, a magnetic field prediction model is adjusted in real time by utilizing the pose of each coil and the position of an operating rod, and an optimal control quantity in a limited current range is calculated by combining an objective function comprehensively considering a magnetic field generation error and smoothness, so that a coil array is accurately controlled to generate a magnetic field required by tactile representation. The dynamic electromagnetic tactile device is combined with an accurate magnetic field generation control algorithm, so that the immersion of the electromagnetic tactile representation system is ensured.

Description

technical field [0001] The invention belongs to the technical field of virtual reality, and relates to an electromagnetic tactile reproduction system and method, in particular to a dynamic and accurate electromagnetic tactile reproduction system, method and magnetic field prediction control method for tracking the magnetic field of an electromagnetic coil array, thereby Dynamically and accurately simulate haptic feedback in virtual reality. Background technique [0002] The reproduction of human skin touch not only allows users to touch and perceive objects, but also allows them to manipulate objects to complete two-way interaction with virtual objects, which plays a unique role in virtual reality technology ([Document 1]). Human skin touch can be divided into two parts: force perception and tactile perception. Force perception mainly includes information such as the magnitude of force, spatial position, and time change perceived by mechanoreceptors such as muscles and joint...

AI Technical Summary

Problems solved by technology

[0020] Aiming at the problem that existing electromagnetic tactile devices cannot generate tactile feedback for two-way real-time interaction, the present invention demonstrates a dynamic and accurate electromagnetic tactile reproduction system

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