Experimental device for electromagnetic environment pressing of hand controller

Abstract

The invention relates to the technical field of medical equipment electromagnetic compatibility performance detection, in particular to a hand controller electromagnetic environment pressing experiment device which comprises a control box, a Z-axis driving mechanism, a pressing device, an X-axis driving mechanism and a Y-axis driving mechanism. Control hardware is arranged in the control box; the two X-axis driving mechanisms are symmetrically arranged, the Y-axis driving mechanisms are arranged at the output ends of the two X-axis driving mechanisms, and the Z-axis driving mechanisms are arranged at the output ends of the Y-axis driving mechanisms; and the pressing device is arranged on the output end of the Z-axis driving mechanism and is used for realizing simulated pressing operation of the hand controller key. By adopting a completely non-magnetic material and a non-magnetic actuation principle, stable operation of the detection device in an electromagnetic environment is realized, the device not only can accurately position a key of the hand controller, but also can simulate a pressing operation in a real use scene, provides reliable technical guarantee for anti-interference performance detection of the hand controller, and is suitable for popularization and application. And the blank of the application of the existing detection technology in the electromagnetic environment is effectively filled.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetic compatibility performance testing of medical equipment, and in particular to an experimental device for electromagnetic environment pressing of a hand controller. Background Art

[0002] In recent years, with the aging population, the demand for electric operating tables has increased significantly. As medical devices, pre-market effectiveness and safety evaluations are essential. As the core component controlling the movement of the operating table, the performance of the hand controller is directly related to the safety and accuracy of surgical procedures.

[0003] When evaluating the electromagnetic compatibility of an electric operating table, manual control of the hand controller is required to ensure the operation of the table throughout the test. For example, during the electromagnetic compatibility radiation immunity test, the hand controller of the electric operating table needs to be operated to simulate human operation. This requires a person to enter a darkroom to operate or use existing testing equipment. This requires personnel to operate in the darkroom for a long time. During the test, the human body may block part of the uniform radiation field, affecting the accuracy of the test results. To overcome the shortcomings of manual operation, the industry is also actively researching related testing equipment. However, the current research on testing equipment still faces many technical bottlenecks: 1. Metal tools in the testing equipment may become reflectors of electromagnetic waves in an electromagnetic field environment, and may be transformed into dangerous projectiles due to the effect of the magnetic field; 2. The auxiliary equipment is large in size and may interfere with the uniformity of the magnetic field and affect the accuracy of the test results; 3. In terms of experimental device design, although the pneumatic solution can avoid electromagnetic interference problems, the high noise generated during operation will interfere with the normal operation of the test equipment; the linear motor solution has high-precision motion control capabilities, but may generate eddy currents due to electromagnetic induction, destroying the stability of the magnetic field; although the piezoelectric ceramic drive solution runs quietly, its limited travel range makes it difficult to meet the multi-button detection requirements of the hand controller.

[0004] Therefore, there is an urgent need for a detection device that uses non-magnetic materials and non-magnetic actuation principles to fill the gap in hand controller detection technology in electromagnetic field environments. Summary of the Invention

[0005] (1) Purpose of the invention To address existing deficiencies, the present invention aims to provide an experimental device for testing the electromagnetic environment of a hand controller. By employing completely non-magnetic materials and a non-magnetic actuation principle, the device achieves stable operation in an electromagnetic environment. This device not only accurately locates hand controller buttons but also simulates real-world pressing operations, providing reliable technical support for testing the anti-interference performance of hand controllers and effectively filling a gap in existing detection technology for electromagnetic environment applications.

[0006] (2) Technical solution To achieve the above object, the technical solution adopted by the present invention is: An experimental device for electromagnetic environment pressing with a hand controller, comprising a control box, a Z-axis drive mechanism, a presser, an X-axis drive mechanism, and a Y-axis drive mechanism; A control box, which has built-in control hardware for controlling the device in an electromagnetic environment; The Z-axis drive mechanism, X-axis drive mechanism, and Y-axis drive mechanism have the same structure and operating principle. Two symmetrical groups of X-axis drive mechanisms are provided. Each group of X-axis drive mechanisms has a Y-axis drive mechanism attached to its output end, and each group of Y-axis drive mechanisms has a Z-axis drive mechanism attached to its output end. These drive mechanisms work together to achieve precise positioning of the hand controller's buttons and simulate pressing operations. The presser is installed on the output end of the Z-axis drive mechanism and is used to realize the simulated pressing operation of the hand controller button.

[0007] Furthermore, the Y-axis drive mechanism includes a guide rail, a slider, a wiring bin and a fixed seat. The fixed seat is equipped with a guide rail inside, and a slidable and adjustable slider is installed on the guide rail. The right end of the fixed seat is the wiring bin, and a long reset spring is provided in the left area of ​​the slider at the bottom of the fixed seat. The right end of the long reset spring is in contact with the slider. Two parallel nickel-titanium alloy wires B are provided on the right side of the bottom of the fixed seat. The left end of the nickel-titanium alloy wire B is connected to a displacement amplifier, and its right end is connected to a conductive wire. The left end of the displacement amplifier is in contact with the right end of the slider.

[0008] Furthermore, a positioning rod is fixedly provided at the bottom of the left end surface of the slider, and the right end of the long return spring is sleeved on the positioning rod; An alloy wire fixing hole is provided at the bottom left end of the wiring bin, and the nickel-titanium alloy wire B extends into the wiring bin through the alloy wire fixing hole. The nickel-titanium alloy wire B on the right side of the alloy wire fixing hole forms an acute angle θ=30°±5° with the horizontal.

[0009] Furthermore, the diameter of the nickel-titanium alloy wire B is Φ0.4±0.02 mm, the length of the nickel-titanium alloy wire of the X-axis drive mechanism and the Z-axis drive mechanism is 150 mm, and the length of the nickel-titanium alloy wire of the Y-axis drive mechanism is 200 mm; The long return spring is made of non-magnetic stainless steel 316L, has a stiffness coefficient of 0.8N / mm, and a pre-tensioning force set to 1.8 times the sliding friction of the platform.

[0010] Furthermore, the displacement amplifier is a bridge-type micro-displacement amplification mechanism, which adopts a fully symmetrical design, consists of a rigid beam and a right-angled notch flexible hinge, and is integrally processed by wire cutting technology.

[0011] Furthermore, the presser includes a shell, a short return spring, a pressing rod, a pressure sensor and a nickel-titanium alloy wire A. The shell is fixedly connected to the slider of the Z-axis drive mechanism. A movable plate that can be slid up and down is provided inside the shell. A pressing rod is fixedly connected to the bottom of the movable plate. The lower end of the pressing rod extends from the through hole at the bottom of the shell, and a pressure sensor is also provided on its lower end. A group of limit blocks is provided on the upper side of the movable plate, and two groups of limit blocks are symmetrically provided on the lower side. The upper group of limit blocks is provided with a short return spring, and the lower two groups of limit blocks are provided with nickel-titanium alloy wire A.

[0012] Furthermore, the control hardware includes: Main controller: ARM Cortex-M7 microprocessor; Driving circuit: It is a constant current source module with an adjustable output current range of 0.1-3A and a current resolution of 10mA; Feedback components: including an optical encoder for monitoring the position of the platform and a temperature sensor attached to the surface of the alloy wire.

[0013] Furthermore, the optical encoder adopts 200PPR ceramic grating, and the temperature sensor adopts PT100 platinum resistor.

[0014] Furthermore, the structural components of each shaft driving mechanism and the presser are made of non-magnetic materials.

[0015] (3) Beneficial effects Compared with the prior art, the present invention has the following beneficial effects: 1. By utilizing completely non-magnetic materials and a non-magnetic actuation principle, this invention enables the detection device to operate stably in electromagnetic environments. This device not only accurately locates hand controller buttons but also simulates real-world pressing operations, providing reliable technical support for testing the anti-interference performance of hand controllers and effectively filling a gap in existing detection technologies for electromagnetic environment applications.

[0016] 2. In the present invention, the nickel-titanium alloy wire B is arranged at a non-orthogonal angle to the mobile platform, and the axial contraction is amplified into the platform displacement by using the trigonometric function relationship. The displacement amplification and force transmission efficiency are optimized through mechanical decomposition, and the inherent limitation of the short stroke of the nickel-titanium alloy wire material is solved by combining it with the displacement amplifier. This is of great significance in solving the use of nickel-titanium alloy wire in high magnetic field environments and meets the needs of multi-key detection.

[0017] 3. Through a time-sharing multiplexing drive strategy, an "X→Y→Z" sequential operation sequence is adopted, and a heat preservation current is used to maintain the intermediate position, avoiding power conflicts and thermal management problems caused by simultaneous multi-axis movement.

[0018] 4. Fully non-magnetic sensing closed loop: The multi-modal non-magnetic feedback system of optical encoder + temperature sensor achieves precise motion control without electromagnetic interference.

[0019] 5. Passive vibration suppression mechanism: Anti-vibration design based on pure mechanical preload (reset spring) and intelligent interruption logic, which can cope with gradient field disturbances in electromagnetic environments without the need for additional electromagnetic components. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 : Schematic diagram of the overall structure of the device.

[0021] Figure 2 : Schematic diagram of the structure of the Y-axis drive mechanism in the device.

[0022] Figure 3 : Overall cross-sectional view of the Y-axis drive mechanism.

[0023] Figure 4 : Right side sectional view of the Y-axis drive mechanism.

[0024] Figure 5 : Front cross-sectional view of the presser.

[0025] Figure 6 : Schematic diagram of the displacement amplifier.

[0026] Figure 7 : Diagram of the device in use when performing a pressing experiment on the hand controller.

[0027] In the figure: 1. Control box; 2. Z-axis drive mechanism; 3. Presser; 31. Housing; 32. Short reset spring; 33. Limit block; 34. Moving plate; 35. Pressing push rod; 36. Pressure sensor; 37. Nitinol wire A; 38. Through hole; 4. X-axis drive mechanism; 5. Y-axis drive mechanism; 51. Guide rail; 52. Slider; 53. Routing compartment; 54. Fixed seat; 55. Long reset spring; 56. Displacement amplifier; 57. Nitinol wire B; 58. Alloy wire fixing hole; 59. Positioning rod; 510. Conductive wire. DETAILED DESCRIPTION

[0028] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] Example: like Figures 1 to 7 As shown, an experimental device for electromagnetic environment pressing with a hand controller includes a control box 1, a Z-axis driving mechanism 2, a pressing device 3, an X-axis driving mechanism 4, and a Y-axis driving mechanism 5; Control box 1, which has built-in control hardware for controlling the device in an electromagnetic environment; The Z-axis drive mechanism 2, X-axis drive mechanism 4, and Y-axis drive mechanism 5 have the same structure and operating principle. Two symmetrical groups of X-axis drive mechanisms 4 are provided. The output ends of the two groups of X-axis drive mechanisms 4 are connected to the Y-axis drive mechanisms 5, and the output ends of the Y-axis drive mechanisms 5 are connected to the Z-axis drive mechanism 2. These drive mechanisms work together to achieve precise positioning of the hand controller's buttons and simulate pressing operations. The presser 3 is installed on the output end of the Z-axis driving mechanism 2 and is used to realize the simulated pressing operation of the hand controller button.

[0030] By adopting this technical solution, using completely non-magnetic materials and a non-magnetic actuation principle, the detection device can operate stably in electromagnetic environments. This device not only accurately locates hand controller buttons but also simulates real-world pressing operations, providing reliable technical support for testing hand controller anti-interference performance and effectively filling a gap in existing detection technology for electromagnetic environment applications.

[0031] In this embodiment, the Y-axis drive mechanism 5 includes a guide rail 51, a slider 52, a wiring compartment 53 and a fixed seat 54. The fixed seat 54 is equipped with a guide rail 51 inside, and a slidable and adjustable slider 52 is installed on the guide rail 51. The right end of the fixed seat 54 is the wiring compartment 53. A long reset spring 55 is provided in the left area of ​​the slider 52 at the bottom of the fixed seat 54. The right end of the long reset spring 55 is in contact with the slider 52. Two parallel nickel-titanium alloy wires B57 are provided on the right side of the bottom of the fixed seat 54. The left end of the nickel-titanium alloy wire B57 is connected to the displacement amplifier 56, and its right end is connected to the conductive wire 510. The left end of the displacement amplifier 56 is in contact with the right end of the slider 52.

[0032] When the long return spring 55 is unstressed, i.e., in its initial state, the displacement amplifier 56 is connected to the nickel-titanium alloy wire B57, and the right side of the nickel-titanium alloy wire B57 is connected to the fixing seat 54, both of which are in a relaxed state. When the nickel-titanium alloy wire B57 is energized, it contracts, and the displacement amplifier 56 receives a tensile force, which in turn drives the slider 52 in motion. However, the displacement amplifier 56 amplifies the displacement, effectively increasing the travel of the slider 52 driven by the nickel-titanium alloy wire B57.

[0033] It should be noted that after the nickel-titanium alloy wire B57 is energized, since the nickel-titanium alloy can plastically deform at low temperatures, it will restore the preset shape when heated to the critical temperature, generating a huge contraction force. This principle is used for driving, and the nickel-titanium alloy wire B57 will produce axial contraction during contraction, and its shape will change from a straight line before heating to a shortened straight line.

[0034] In this embodiment, a positioning rod 59 is fixedly provided at the bottom position of the left end surface of the slider 52 , and the right end of the long return spring 55 is sleeved on the positioning rod 59 .

[0035] In this embodiment, a wire fixing hole 58 is defined at the bottom left end of the wiring compartment 53. A nickel-titanium wire B57 extends through the hole 58 and into the wiring compartment 53. The nickel-titanium wire B57 to the right of the hole 58 forms an acute angle θ = 30° ± 5° with the horizontal. The nickel-titanium wire B57 is arranged at a non-orthogonal angle of 25°-35° to the mobile platform. Mechanical decomposition is used to achieve displacement amplification and optimize force transmission efficiency. Axial contraction is amplified into platform displacement using trigonometric functions. This, combined with a bridge-type amplification structure, addresses the inherent limitation of the nickel-titanium wire's short travel range.

[0036] In this embodiment, the diameter of the nickel-titanium alloy wire B57 is Φ0.4±0.02 mm, the length of the nickel-titanium alloy wire of the X-axis drive mechanism 4 and the Z-axis drive mechanism 2 is 150 mm, and the length of the nickel-titanium alloy wire of the Y-axis drive mechanism 5 is 200 mm.

[0037] In this embodiment, the long return spring 55 is made of non-magnetic stainless steel 316L, and its stiffness coefficient is 0.8N / mm. It is used to provide a pulling force opposite to the contraction direction of the nickel-titanium alloy wire B57. The pre-tension is set to 1.8 times the sliding friction force of the platform, about 2.5N.

[0038] In this embodiment, the displacement amplifier 56 is a bridge-type micro-displacement amplifier mechanism with a fully symmetrical design. It consists of a rigid beam and a right-angled flexible hinge, fabricated entirely using wire-cut machining. Its typical structure resembles a "bridge," with bilateral symmetry. Input force applied to the driving points at either end causes the bridge arms to slightly bend around the central flexible hinge, resulting in a greater displacement at the output end than at the input end.

[0039] In this embodiment, the presser 3 includes a shell 31, a short return spring 32, a pressing rod 35, a pressure sensor 36 and a nickel-titanium alloy wire A37. The shell 31 is fixedly connected to the slider 52 of the Z-axis drive mechanism 2. A movable plate 34 that can be slid up and down is provided inside the shell 31. A pressing rod 35 is fixedly connected to the bottom of the movable plate 34. The lower end of the pressing rod 35 extends from the through hole 38 at the bottom of the shell 31, and a pressure sensor 36 is also provided on its lower end. A group of limit blocks 33 is provided on the upper side of the movable plate 34, and two groups of limit blocks 33 are symmetrically provided on the lower side. The short return spring 32 is provided on the upper group of limit blocks 33, and the nickel-titanium alloy wire A37 is provided on the two groups of limit blocks 33 on the lower side.

[0040] Among them, the presser 3 is used to simulate human hand pressing to realize the simulated pressing operation of the hand controller button. The pressure sensor 36 has a range of 0-50N and real-time feedback of the force with an accuracy of ±0.5N to ensure the accuracy of the pressing. The driving logic of the nickel-titanium alloy wire A37 is the same as that of the nickel-titanium alloy wire B57. The contraction caused by the temperature change when the power is turned on pushes the moving plate 34, which drives the push rod to press down to realize the pressing of the hand controller button.

[0041] In this embodiment, the control hardware includes: Main controller: uses ARM Crtex-M7 microprocessor, provides high-performance computing capabilities, coordinates multi-axis drive and feedback data; Drive circuit: This is a constant current source module that achieves precise heating control of the nickel-titanium alloy wire. Its output current is adjustable in the range of 0.1-3A, with a current resolution of 10mA to ensure drive accuracy. The heating current is 1.2A, the holding current is 0.3A, and the pressing pulse is 2.0A for 0.3 seconds. Feedback components: including an optical encoder for monitoring the position of the platform and a temperature sensor attached to the surface of the alloy wire.

[0042] Furthermore, the optical encoder uses a 200PPR ceramic grating, which can monitor the position of the slider 52 with a resolution of 5μm, forming a closed-loop control with the main controller. The temperature sensor uses a PT100 platinum resistor, attached to the surface of the alloy wire, and monitors the temperature in real time with an accuracy of ±1°C to prevent overheating and failure. Combined with the constant current source algorithm, it can achieve precise temperature control of the alloy wire and extend its service life.

[0043] It should be noted that the control box 1 uses the existing control software to write a dedicated experimental control method for the new requirements, ensuring that it is not interfered with in the electromagnetic environment and can meet the control of the existing dedicated requirements. The motion timing logic of the device is: 1. Initialization calibration: The Z axis is raised to a safe height of 5mm from the button surface; X / Y axis return to zero in turn; 2. Target positioning stage: a. X-axis movement: Calculate the target position coordinate X; Apply 1.2A current to heat the X-axis NiTi alloy wire; Maintain 0.3A holding current to prevent cooling and shrinkage; b. Y-axis movement: Drive the Y axis to Y in the same way; 3. Press execution phase: The pulse current is 2.0A for 0.3 seconds to excite the Z-axis nickel-titanium alloy wire; The pressing head presses the button surface 2mm with a force of 3N; Natural cooling reset time after power failure ≤ 3 seconds; 4. Reset phase: The Z axis is reset first; The Y-axis and X-axis return to the origin in sequence and are pulled by the return spring.

[0044] In this embodiment, the structural components of each shaft driving mechanism and the presser 3 are made of non-magnetic materials to ensure that there is no interference in the electromagnetic environment.

[0045] The working principle of the experimental device for electromagnetic environment pressing with a hand controller: After the device is connected, the control software starts the initialization program, the Z-axis drive mechanism 2 is lifted to a safe height of 5 mm from the target surface, the X / Y axis is zeroed, and the encoder coordinates are zeroed; After receiving the command, the X-axis drive mechanism 4 drives the nickel-titanium alloy wire B57 to contract by a 1.2A current, which is amplified by the displacement amplifier 56 and drives the slider 52 to the target X coordinate, maintaining a 0.3A holding current to prevent retraction; The Y-axis driving mechanism 5 is driven to the target Y coordinate in the same way; The Z-axis drive mechanism 2 applies a 2.0A pulse current for 0.3 seconds to excite the nickel-titanium alloy wire B57. The presser 3 presses down 2mm with a force of 3N. After power is turned off, the device cools naturally. The reset time is ≤3 seconds. After the pressing is completed, the Z-axis drive mechanism is first powered off and cooled for ≤3 seconds to reset, and the Y / X-axis drive mechanism returns to the origin under the action of the long reset spring 55, completing one experimental cycle.

[0046] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. Any obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. An experimental device for electromagnetic environment pressing using a hand controller, characterized by: It comprises a control box (1), a Z-axis driving mechanism (2), a presser (3), an X-axis driving mechanism (4) and a Y-axis driving mechanism (5); A control box (1) having built-in control hardware for controlling the device in an electromagnetic environment; The Z-axis drive mechanism (2), the X-axis drive mechanism (4) and the Y-axis drive mechanism (5) have the same composition structure and operating principle, wherein the X-axis drive mechanism (4) is symmetrically provided with two groups, the output ends of the two groups of X-axis drive mechanisms (4) are provided with Y-axis drive mechanisms (5), and the output end of the Y-axis drive mechanism (5) is provided with a Z-axis drive mechanism (2), and each drive mechanism cooperates to achieve precise positioning and simulated pressing operation of the hand controller button; The presser (3) is mounted on the output end of the Z-axis drive mechanism (2) and is used to implement a simulated pressing operation of a hand controller button.

2. The experimental device for electromagnetic environment pressure control using a hand controller according to claim 1, characterized in that: The Y-axis driving mechanism (5) includes a guide rail (51), a slider (52), a wiring compartment (53) and a fixed seat (54). The fixed seat (54) is equipped with a guide rail (51) inside, and a slidable and adjustable slider (52) is equipped on the guide rail (51). The right end of the fixed seat (54) is the wiring compartment (53). A long return spring (55) is provided in the left area of ​​the slider (52) at the bottom of the fixed seat (54). The right end of the long return spring (55) is in contact with the slider (52). Two parallel nickel-titanium alloy wires B (57) are provided on the right side of the bottom of the fixed seat (54). The left end of the nickel-titanium alloy wire B (57) is connected to a displacement amplifier (56), and the right end is connected to a conductive wire (510). The left end of the displacement amplifier (56) is in contact with the right end of the slider (52).

3. The experimental device for electromagnetic environment pressure control using a hand controller according to claim 2, characterized in that: A positioning rod (59) is fixedly provided at the bottom of the left end surface of the slider (52), and the right end of the long return spring (55) is sleeved on the positioning rod (59); An alloy wire fixing hole (58) is provided at the bottom of the left end of the wiring bin (53), and the nickel-titanium alloy wire B (57) passes through the alloy wire fixing hole (58) and extends into the wiring bin (53). The nickel-titanium alloy wire B (57) on the right side of the alloy wire fixing hole (58) forms an acute angle θ=30°±5° with the horizontal.

4. The experimental device for electromagnetic environment pressure control using a hand controller according to claim 2, characterized in that: The diameter of the nickel-titanium alloy wire B (57) is Φ0.4±0.02 mm, the length of the nickel-titanium alloy wire of the X-axis drive mechanism (4) and the Z-axis drive mechanism (2) is 150 mm, and the length of the nickel-titanium alloy wire of the Y-axis drive mechanism (5) is 200 mm; The long return spring (55) is made of non-magnetic stainless steel 316L, has a stiffness coefficient of 0.8N / mm, and a pre-tensioning force set to 1.8 times the sliding friction force of the platform.

5. The experimental device for electromagnetic environment pressure control using a hand controller according to claim 2, characterized in that: The displacement amplifier (56) is a bridge-type micro-displacement amplification mechanism, adopts a fully symmetrical design, consists of a rigid beam and a right-angle notch flexible hinge, and is integrally processed by wire cutting technology.

6. The experimental device for electromagnetic environment pressure control using a hand controller according to claim 1, characterized in that: The presser (3) includes a shell (31), a short return spring (32), a press rod (35), a pressure sensor (36) and a nickel-titanium alloy wire A (37). The shell (31) is fixedly connected to the slider (52) of the Z-axis drive mechanism (2). A movable plate (34) that can slide up and down is provided inside the shell (31). The bottom of the movable plate (34) is fixedly connected to a press rod (35). The lower end of the press rod (35) extends from a through hole (38) at the bottom of the shell (31), and a pressure sensor (36) is also provided on its lower end. A group of limit blocks (33) is provided on the upper side of the movable plate (34), and two groups of limit blocks (33) are symmetrically provided on the lower side. The upper group of limit blocks (33) is provided with a short return spring (32), and the lower two groups of limit blocks (33) are provided with a nickel-titanium alloy wire A (37).

7. The experimental device for electromagnetic environment pressure control using a hand controller according to claim 1, characterized in that: The control hardware includes: Main controller: ARM Cortex-M7 microprocessor; Driving circuit: It is a constant current source module with an adjustable output current range of 0.1-3A and a current resolution of 10mA; Feedback components: including an optical encoder for monitoring the position of the platform and a temperature sensor attached to the surface of the alloy wire.

8. The experimental device for electromagnetic environment pressure control using a hand controller according to claim 7, characterized in that: The optical encoder adopts 200PPR ceramic grating, and the temperature sensor adopts PT100 platinum resistor.

9. The experimental device for electromagnetic environment pressure control using a hand controller according to claim 1, characterized in that: The structural components of each shaft driving mechanism and the presser (3) are all made of non-magnetic materials.

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