Robot tactile sense reproduction method based on water jet stimulation and apparatus therefor

Abstract

The invention relates to the robot touch reappearing method based on water-jet stimulation and its equipment. The local computer receives the remote robot tough information through the communication network, and its output ports connect each information control ends of the water-jet stimulation equipment to control the temperature, the jet pressure of the water-jet and the on-and-off of the nozzle and the water-pressure origin so as to provide the remote robot touch information for the local operator in water flow stimulation pattern. The jet water column stimulation at the finger ends of the operator comprises the pressure slope tough stimulation produced the water pressure and the temperature slope touch stimulation produced by the difference of jet temperature and operator body temperature, and the two slope function together.

Description

technical field [0001] The invention relates to a device for reproducing tactile information of a telerobot, in particular to a real, safe and effective tactile reproduction water jet stimulation device for a robot that enables an operator to obtain a mild and comfortable tactile experience. Background technique [0002] Robot tactile telepresence reproduction technology can effectively enhance the operator's perception of the contact between remote manipulator and object in the remote operation system, so that the operator can quickly and accurately complete the operation task. The tactile ability of the robot is particularly important when tracking grasping, fine manipulation, and visual obstacles such as no lighting and narrow spaces. With the help of remote robots, the scientific exploration and scientific exploration activities of today's human beings go deep into the ocean floor, into space, and as far as planets in the solar system such as...

AI Technical Summary

Problems solved by technology

The biggest disadvantage of jet haptic feedback is that it has a small bandwidth, about 10Hz

The disadvantage of vibratory tactile feedback is that the structure is complex and inconvenient to install or hinder the normal movement of fingers. In addition, the energy conversion efficiency of vibratory tactile feedback is low, which can easily cause excessive heat and pain, and the noise is also louder when high-frequency vibration

However, due to the use of electric current to directly act on the human body, and the power supply voltage is as high as plus or minus 70V, there are always some operators who have psychological tension and concerns (some operators are not even willing to try), which leads to the stimulation of the body tissue under the electrodes. The state of microcirculation changes significantly, which in turn affects the effect of electrical stimulation and increases the difficulty of tactile reproduction

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