Multi-point force haptic reproduction system and method based on three-dimensional hall effect

Abstract

The application discloses a multi-point force tactile reproduction system and method based on three-dimensional Halbach effect; a fingertip magnet module is worn on a user's finger, a three-dimensional controllable background electromagnetic field is generated by exciting a three-dimensional Halbach background electromagnet module, and force acting on the fingertip magnet module is regulated and controlled; the three-dimensional Halbach background electromagnet module is composed of an inner one-dimensional laminated coil and an outer two-dimensional array electromagnet; the one-dimensional laminated coil is composed of a plurality of hollow disc-shaped laminated coils, and a cylindrical space in the one-dimensional laminated coil is an operation space; the outer two-dimensional array electromagnet is composed of a plurality of two-dimensional coil units and a magnetic medium material wrapped outside the coil units, and a three-dimensional Halbach array is formed by adjusting currents of the one-dimensional laminated coil and the outer two-dimensional array electromagnet coil units, so that a three-dimensional electromagnetic field with an enhanced interior and weakened exterior in the operation space is generated.

Description

Technical Field

[0001] This invention belongs to the field of force and tactile reproduction technology in human-computer interaction, and particularly relates to a multi-point force and tactile reproduction system and method based on the three-dimensional Heilbeck effect. Background Technology

[0002] Force-haptic technology is a technique that simulates real tactile feedback through devices, allowing users to experience tactile information such as force, vibration, and texture in virtual or remote environments. It overcomes the limitations of visual and auditory interaction alone, enabling bidirectional information transmission between humans and machines. This enhances the immersion and realism of human-computer interaction. Currently, force-haptic technology is widely used in virtual reality (VR), remote operation, medical rehabilitation, and education and training.

[0003] Currently, force-haptic reproduction technology has made significant progress, with various force-haptic reproduction devices of different structures developed, some of which have already been commercialized. However, compared with a truly natural force-haptic interaction experience, there is still a gap. Traditional haptic reproduction devices based on mechanical linkages or wearable devices often restrict hand movement, making it difficult for operators to interact realistically with the environment. In addition, most commercial devices are not only expensive but also typically only provide single-point interaction. To overcome the shortcomings of traditional devices, such as complex structures and restrictions on hand movement, researchers have proposed non-contact force-haptic reproduction methods, mainly including technical approaches based on air pressure, acoustic radiation force, and electromagnetic force.

[0004] In 2013, Gupta et al. developed AirWave, a non-contact force-haptic reproduction device based on air vortex rings, achieving a spatial resolution of less than 10 cm within a 2.5-meter distance. Benjamin et al. proposed UltraHaptics, a three-dimensional haptic reproduction device based on acoustic radiation force, which creates three-dimensional haptic graphics in the air using a two-dimensional phased array of ultrasonic transducers, allowing users to perceive the shape of virtual objects without wearing a device. Ahsan et al. proposed a perceptual transparency rendering algorithm to precisely adjust the parameters of the ultrasonic phased array, ensuring stable haptic perception output. Methods based on air pressure and acoustic radiation force can achieve natural interaction and have advantages such as low cost, low power consumption, and controllable force, but they typically only provide coarse force feedback with low resolution and accuracy, and perform poorly in occluded environments. In contrast, methods based on electromagnetic force show greater potential, enabling fine, multi-dimensional, and unconstrained multi-point force-haptic reproduction.

[0005] Alber et al. proposed a handheld force-haptic device called Hedgehog, which consists of an omnidirectional electromagnet and an array of spherical pins. The device generates skin tactile sensation in the user's palm through the extension and retraction of movable permanent magnet pins. It can achieve a tactile force of up to 200 mN under maximum load. However, the device restricts the movement of the human hand, and the hand can only feel the force when holding the device.

[0006] Langerak et al. proposed Omni, a force-haptic feedback system based on an omnidirectional spherical electromagnet. The device consists of an iron core and three orthogonal coils outside the core. By controlling the current in the three orthogonal coils interwoven within the spherical electromagnet, and using a handheld tool embedded with a permanent magnet, it can sense radial and tangential attractive and repulsive forces up to 2N. The system detects the position of the permanent magnet on the joystick using eight integrated Hall sensors, achieving a detection accuracy of 6.9 mm after a single calibration. While the system is highly integrated, it has a small operating space and requires a handheld tool for force-haptic feedback, making the interaction method less intuitive and natural.

[0007] In the patent application CN 115904116A entitled "Multi-point Force Tactile Reproduction Method and System Based on Hellbeck Array", a three-dimensional controllable magnetic field is generated by combining a two-dimensional Hellbeck array and a one-dimensional stacked coil. However, this device can only generate an enhanced two-pole electromagnetic field of a two-dimensional Hellbeck array. This application can achieve a three-dimensional controllable enhanced magnetic field by modifying the control strategy of the two-dimensional Hellbeck array to enhance the two-pole electromagnetic field, the two-dimensional Hellbeck array to enhance the quadrupole field, and the axial Hellbeck array to enhance the axial magnetic field. In addition, this patent expands the scope of protection in the use of fingertip magnets by adding the method of using permanent magnets to achieve single-point force tactile reproduction. It also innovatively adds an iron core structure to the original fingertip electromagnet structure. The addition of the iron core structure will not weaken the control effect of the fingertip electromagnet's magnetic moment, but will increase the force on the fingertip electromagnet in the magnetic field. Summary of the Invention

[0008] To address the aforementioned technical problems, the present invention aims to propose an electromagnetic force-tactile reproduction system based on a three-dimensional Hellbeck array structure. This system enhances the magnetic field within the operating space by controlling the three-dimensional Hellbeck electromagnet array, and achieves force-tactile reproduction through the multi-point force-tactile reproduction method based on the three-dimensional Hellbeck effect.

[0009] This invention provides a multi-point force tactile reproduction system based on the three-dimensional Hellbeck effect. The multi-point force tactile reproduction system consists of a three-dimensional Hellbeck background electromagnet array module, a fingertip magnet module, a three-dimensional Hellbeck background electromagnet driving module, a fingertip magnet driving module, a fingertip position detection module, a system central control module, and a display module.

[0010] The three-dimensional Hellbeck background electromagnet array module is based on a three-dimensional Hellbeck electromagnet array, which is used to generate the Hellbeck effect, enhancing the magnetic field inside the operating space and weakening the magnetic field outside the operating space. The fingertip magnet module is used to provide feedback force to the human hand. The three-dimensional Hellbeck background electromagnet drive module is used to receive control signals from the central control module and drive the three-dimensional Hellbeck background electromagnet array module to generate a corresponding magnetic field. The fingertip magnet drive module is used to receive control signals from the central control module and drive the fingertip magnet module. The fingertip position detection module is used to detect the position of the fingertip in real time and send the collected fingertip position information to the system central control module. The system central control module calculates whether force feedback is needed based on the finger position information sent by the fingertip position detection module, and calculates the magnitude of the driving current of the three-dimensional Hellbeck background electromagnet array module based on the magnitude and direction of the feedback force, and controls the background electromagnet drive module to output excitation current to realize the force tactile reproduction on the fingertip magnet module. The display module is used to provide a visual display platform for the virtual scene.

[0011] Furthermore, the three-dimensional Heilbeck background electromagnet array module consists of an inner layer of one-dimensional stacked coils and an outer layer of two-dimensional arrayed coils; the one-dimensional stacked coils are composed of... A coaxial hollow disk-shaped coil constitute, The smallest central x-axis coordinate is denoted as The subscripts are increased sequentially according to the increasing x-axis coordinates of the center, with the largest x-axis coordinate being denoted as . The cylindrical space inside the hollow disc-shaped coil serves as the operating space for the entire system to reproduce the force and tactile sensation.

[0012] The two-dimensional array coil includes Two-dimensional electromagnet unit , The two-dimensional Hellbeck circular electromagnet array with the smallest central x-axis coordinate is denoted as The first subscript increases sequentially with the x-axis coordinate of the center point, and the two-dimensional Hellbeck circular electromagnet array with the largest center point x-axis coordinate is denoted as [array name missing]. Each two-dimensional Hellbeck circular electromagnet array element located in the positive z-axis direction is denoted as ; In the same two-dimensional Heilbeck circular electromagnet array Medium two-dimensional electromagnet unit The second subscript increases sequentially in a clockwise direction; the two-dimensional array coil also contains a magnetic medium material located inside the two-dimensional electromagnet unit. Two-dimensional electromagnet units surround the one-dimensional stacked coil, totaling [number missing] units. Each of the two-dimensional Heilbeck circular electromagnet arrays contains [number] electromagnets. Each of the two-dimensional electromagnet units is connected using a closed iron core to ensure the continuity of the magnetic circuit.

[0013] The two-dimensional electromagnet unit consists of radial coil units. and tangential coil unit The radial coil unit, when energized, generates a magnetic moment that points towards the center of the circumferential array or in the opposite direction to the center, thus providing a radial magnetic moment; the tangential coil unit, when energized, generates a magnetic moment that points towards the tangential direction of the circumferential array, thus providing a tangential magnetic moment; the radial coil unit encloses the tangential coil unit; the hollow disc-shaped coil, when energized, generates a magnetic moment that points towards the axial direction of the coil, thus providing an axial magnetic moment.

[0014] Furthermore, the fingertip magnet module includes a fingertip permanent magnet module or a fingertip electromagnet module, wherein the fingertip permanent magnet module is used to realize single-point force tactile reproduction, and the fingertip electromagnet module is used to realize multi-point force tactile reproduction. The fingertip permanent magnet module is composed of a permanent magnet and a wearable permanent magnet frame, and the wearable permanent magnet frame is used to fix the permanent magnet for the operator to wear.

[0015] The fingertip electromagnet module consists of multiple fingertip miniature electromagnets. It consists of a wearable electromagnet frame. The fingertip miniature electromagnet It consists of three sets of orthogonally stacked coil structures and an iron core. The stacked coil structures are used to control the magnetization direction of the iron core. The wearable electromagnet frame is used to fix the fingertip electromagnet module for the operator to wear.

[0016] Furthermore, the three-dimensional Hahlbeck background electromagnet driving module consists of an embedded central control system and an electric coil driving board. The embedded central control system is used to receive the PWM duty cycle information sent by the system central control module and control the electric coil driving board to generate a PWM signal that can drive the three-dimensional Hahlbeck background electromagnet array module to generate a three-dimensional Hahlbeck effect. The fingertip magnet driving module is used to receive the PWM duty cycle information sent by the system central control module and control the magnitude and direction of the magnetic moment of the fingertip electromagnet.

[0017] The fingertip position detection module consists of a vision sensor, used to collect the position of the fingertip in real time and send the fingertip position information to the system's central control module;

[0018] The system's central control module is composed of an Intel NUC microcomputer, which is responsible for receiving fingertip position information sent by the fingertip position detection module, running the force feedback algorithm, and sending the energization status and PWM duty cycle information of the coils in the three-dimensional Helbeck background electromagnet array module and the fingertip electromagnet module.

[0019] Furthermore, the operation method of the multi-point force tactile reproduction system includes the following:

[0020] Adjusting the radial coil in the two-dimensional electromagnet unit and tangential coil The current can cause the magnetic moment generated by the two-dimensional electromagnet unit to be in any direction in the YZ plane. The angle between the direction of the magnetic moment and the z-axis and two-dimensional electromagnet unit The position and the angle between the z-axis satisfy When the Heilbeck dipole magnetic field is formed, When the radial coil current in the two-dimensional electromagnet unit forms a Heilbeck quadrupole magnetic field; and tangential coil current satisfy ,in and When (C is a constant), a two- or four-pole array of Halebec electromagnets is constructed, which enhances the internal operating space and weakens the external one. If This current excitation method is called the two-pole Hale-Becker magnetic field excitation method. This current excitation method is called the four-pole Hale-Becker magnetic field excitation method.

[0021] Adjust the hollow disc-shaped coil current It can generate a magnetic moment in the positive (or negative) x-axis direction, and adjust two two-dimensional electromagnet units that are symmetrical about the axis. and radial coil and Two-dimensional electromagnet units respectively and A hollow disk-shaped coil generates a magnetic moment pointing in (outside) the operating space. Radial coil and By constructing a Hellbeck array, a one-dimensional Hellbeck enhanced magnetic field in the positive x-axis direction can be generated.

[0022] Based on the above-described reproduction system, this application also provides a multi-point force-tactile reproduction method based on the three-dimensional Hellbeck effect. The force-tactile reproduction method is based on the aforementioned multi-point force-tactile reproduction system based on the three-dimensional Hellbeck effect, and includes the following steps:

[0023] Step 1: Construction of virtual work scene and force-tactile reproduction model; Based on the cylindrical operating space inside the three-dimensional Heilbeck background electromagnet array module, a virtual work scene is constructed, including virtual operating space, virtual objects and fingertip proxy points. The force-tactile reproduction model reflects the mapping relationship between the position of the human hand and the force when the human hand interacts with the object.

[0024] Step two: Obtain the fingertip position information; establish a three-dimensional coordinate system A in the operating space. The fingertip position detection module in the three-dimensional operating space can be used to obtain the fingertip magnet based on the three-dimensional coordinate system A in real time. pose information And feedback is given to the central control module, wherein , and The three-dimensional coordinate information of the position of the nth fingertip magnet , and This refers to the rotation angle information of the nth fingertip magnet;

[0025] Step 3: Obtain offline simulation data of electromagnetic force based on finite element simulation; use finite element simulation to analyze the correspondence between the magnetic force on the fingertip magnet and the excitation current of each two-dimensional electromagnet unit, the excitation current of the hollow disk-shaped coil, and the fingertip position, and obtain the corresponding discrete data. The offline simulation data will be used for the subsequent implementation of the force tactile reproduction method.

[0026] Step 4: Calculate the magnetic force on the fingertip magnet; Based on the constructed virtual scene, force tactile reproduction model, and fingertip pose information, calculate and generate the force exerted by the operator's fingertip on the virtual object at the current moment as the target force F in the control method.

[0027] Step 5: The central control module, based on the target force F calculated in Step 4 and the offline simulation data obtained in Step 3, excites the outer two-dimensional array electromagnet to generate a two-dimensional Halebec effect on the YZ parallel plane and excites the radial coil unit and the one-dimensional stacked coil to generate a Halebec effect in the X direction, thereby forming a three-dimensional force tactile reproduction.

[0028] Furthermore, the three-dimensional coordinate system A is characterized as follows: the origin of the three-dimensional coordinate system A is established at the center of the entire cylindrical operating space, the x-axis is established in the axial direction of the cylindrical operating space, the z-axis is established in the direction perpendicular to the horizontal plane when the entire multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect is placed on the horizontal plane for normal use, and the y-axis is established in the direction perpendicular to the XOZ plane. The three-dimensional coordinate system A satisfies the right-handed spiral coordinate system.

[0029] The force experienced by the fingertip magnet module in the magnetic field is: , In the formula This represents the magnetic moment of a fingertip magnet. This indicates the magnetic flux density of the background electromagnetic field at the location of the fingertip magnet. For gradient operators, This indicates the magnetic force experienced by the fingertip magnet. These represent the magnitudes of the magnetic force acting on the fingertip magnet in the x, y, and z directions, respectively. The magnetic force acting on the fingertip magnet can be adjusted by changing the intensity of the background electromagnetic field. The regulation, especially the magnetic moment of the fingertip electromagnet. The calculation formula is: In the formula The relative permeability of the core material. Let be the area enclosed by the a-th coil that generates a magnetic moment in the x-axis direction on the fingertip electromagnet. Let be the area enclosed by the b-th coil that generates the magnetic moment in the y-axis direction on the fingertip electromagnet. Let be the area enclosed by the c-th coil that generates the magnetic moment in the z-axis direction on the fingertip electromagnet, and let nx, ny, and nz represent the number of turns of the coil that generates the magnetic moments in the x-axis, y-axis, and z-axis directions on the fingertip electromagnet, respectively. , and These represent the magnitudes of the currents in the coils that generate magnetic moments along the x-axis, y-axis, and z-axis of the fingertip electromagnet, respectively. , and These represent the unit vectors in the x, y, and z directions, respectively.

[0030] Furthermore, the single-point force tactile reproduction control method is as follows:

[0031] The chosen solution involves the operator wearing a fingertip permanent magnet module. When the virtual hand comes into contact with a virtual object, the fingertip position detection module acquires the pose information P of the fingertip permanent magnet. The YZ two-dimensional Hellbeck electromagnet array and the axial one-dimensional Hellbeck electromagnet array are simultaneously excited according to the pose information.

[0032] The excitation method for a single-point YZ two-dimensional Heilbeck electromagnet array is as follows:

[0033] Based on the position information P of the permanent magnet at the fingertip Two-dimensional Heilbeck electromagnet circular array center point coordinates , find The smallest two-dimensional circular array of Heilbeck electromagnets The required two-dimensional force is obtained based on the two-dimensional target force components Fy and Fz. Find the circumferential array of two-dimensional Hellbeck electromagnets middle The two-dimensional electromagnet unit it points to ;

[0034] According to two-dimensional forces The N or S pole of the two-pole Hellbeck magnetic field is determined by comparing it with the offline simulation data obtained in step three, and then the N or S pole of the two-pole Hellbeck magnetic field is generated in the two-dimensional electromagnet unit. At the location; gradually increase the size of the two-dimensional Hellbeck electromagnet circular array. The current in the radial or tangential coil of the two-dimensional electromagnet unit eventually generates the force through the two-pole Halebeck array. ;

[0035] If the maximum saturation current is passed through the radial or tangential coil of a two-dimensional electromagnet unit... or At that time, the force generated by the two-pole Hellbeck array Still smaller Then, the two-dimensional Halebec electromagnet circular array is excited according to the four-pole Halebec magnetic field generation method described above. First, based on two-dimensional forces The N or S pole of the four-pole Halebeck magnetic field is determined by comparing it with the offline simulation data obtained in step three, and then the N or S pole of the four-pole Halebeck magnetic field is generated in the two-dimensional electromagnet unit. At the location; gradually increase the size of the two-dimensional Hellbeck electromagnet circular array. The current in the radial or tangential coil of the two-dimensional electromagnet unit eventually generates the force of the four-pole Halebeck array. If the maximum saturation current is passed through the radial or tangential coil of a two-dimensional electromagnet unit... or Force generated by the time quadrupole Heilbeck array Still smaller Then at this time Defined as the saturation output value of the force on the YZ plane.

[0036] The method for generating the Heilbeck effect in the x-direction and thus providing excitation force in the x-direction for the fingertip permanent magnet module is as follows:

[0037] The operating space is divided into two regions along the x-direction, denoted as the x+ region and the x- region. Based on the pose information P of the fingertip permanent magnet... Determine whether the fingertip permanent magnet is located in the x+ or x- region. If it is located in the x+ region, excite the two-dimensional electromagnet unit and the hollow disk-shaped coil to generate a Halebeck magnetic field that enhances the magnetic field in the x- direction in the x+ region and weakens the magnetic field in the x- direction in the x- region. If it is located in the x- region, excite the two-dimensional electromagnet unit and the hollow disk-shaped coil to generate a Halebeck magnetic field that enhances the magnetic field in the x- direction in the x- region and weakens the magnetic field in the x- direction in the x+ region.

[0038] Furthermore, the Halebec magnetic field excitation control method for enhancing the magnetic field in the x+ region and weakening the magnetic field in the x- region in the x- direction includes the following methods:

[0039] (1) One approach is to pass current through all the disc-shaped hollow coils. The magnetic moment generated is directed towards the x+ region, exciting a two-dimensional circular array of Hellbeck electromagnets. The radial coils of all two-dimensional electromagnet units, if Round the decimal part to the nearest integer; the excitation current is... This generates a magnetic moment pointing into the operating space. Every two two-dimensional electromagnet units located opposite each other in the same circumferential array position and the hollow coil of the disk form a Heilbeck array that is enhanced in the x+ direction.

[0040] Another approach is to pass current through all the disc-shaped hollow coils. The magnetic moment generated is directed towards the x-region, thus exciting a two-dimensional Hellbeck electromagnet array. The radial coils of all two-dimensional electromagnet units, if If it is a decimal, take the integer part. The current is... This generates a magnetic moment pointing out of the operating space. Every two two-dimensional electromagnet units located opposite each other in the same circumferential array position and the hollow coil of the disk form a Heilbeck array that is enhanced in the x+ direction.

[0041] according to Based on the direction and the offline simulation data obtained in step three, select a suitable scheme; gradually increase and Until the force generated by the Heilbeck electromagnet array in the x direction ;

[0042] (2) If or When the maximum saturation current value is reached Still smaller Then continue to incentivize and In a two-dimensional Hellbeck electromagnet array, the radial coils of all two-dimensional electromagnet units are adjusted until the excitation current is adjusted to the force generated by the Hellbeck electromagnet array in the x-direction. If the excitation current reaches the saturation value Still smaller Then the radial coils of the remaining two-dimensional electromagnet units in the two-dimensional Hellbeck electromagnet array are excited until the force generated by the Hellbeck electromagnet array in the x-direction continues. When all radial coils of the two-dimensional electromagnet unit are excited and the excitation current is the maximum saturation current, if Still smaller Then at this time Defined as the saturation output value of the axial force;

[0043] The Heilbeck magnetic field excitation control method, which enhances the magnetic field in the x- region in the x-direction and weakens the magnetic field in the x+ region in the x-direction, adjusts the current of the hollow disc coil to the reverse of the original current based on the two excitation schemes of enhancing the magnetic field in the x+ region and weakening the magnetic field in the x- region, so that the direction of the magnetic moment generated by the hollow disc coil changes to the opposite direction of the original.

[0044] Furthermore, the multi-point force tactile reproduction control method is as follows:

[0045] The chosen solution involves the operator wearing a fingertip electromagnet module, which is then used to obtain the fingertip electromagnet's position and orientation information via a fingertip position detection module. The YZ two-dimensional Hellbeck electromagnet array and the axial one-dimensional Hellbeck electromagnet array are simultaneously excited according to the pose information.

[0046] The excitation method for the multi-point YZ two-dimensional Heilbeck electromagnet array is as follows:

[0047] (1) Calculate the pose information of multiple fingertips wearing fingertip electromagnets. x-axis position information minimum value Maximum value and median value , The center coordinate of the x-axis is The position of the fingertip electromagnet is denoted as The center coordinate of the x-axis is located at The position of the fingertip electromagnet is denoted as The center coordinate of the x-axis is located at The position of the fingertip electromagnet is denoted as ,according to , , and the location of the two-dimensional Heilbeck electromagnet circular array Find them respectively , and The smallest two-dimensional circular array of Heilbeck electromagnets , and ,use Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet, using Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet, using Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet;

[0048] (2) Regarding the control strategy for realizing single-point force tactile reproduction on a single fingertip electromagnet using a single two-dimensional Halbec electromagnet circular array, using a two-dimensional Halbec electromagnet circular array With fingertip electromagnet Explanation: Based on the two-dimensional target force Find the circumferential array of two-dimensional Hellbeck electromagnets Target force The two-dimensional electromagnet unit it points to The two-dimensional Halebec electromagnet circular array is excited according to the described two-pole Halebec magnetic field excitation method. The specific excitation method is to generate the N pole of the two-pole Hellbeck magnetic field in the two-dimensional electromagnet unit. At the location, and simultaneously, based on the target force The direction of the maximum safe current excitation is determined based on the direction of the offline simulation data obtained in step three, and then according to... The fingertip electromagnet module is excited in the direction of the maximum safe current; the current in the radial or tangential coil of the two-dimensional electromagnet unit is gradually increased until the force generated by the two-pole Hellbeck array is reached. If the maximum saturation current is passed through the radial or tangential coil of a two-dimensional electromagnet unit... or Force generated by the time-diode Heilbeck array Still smaller Then, it is excited according to the four-pole Heilbeck magnetic field excitation method described above. The specific excitation method is to generate the N pole of the four-pole Hellbeck magnetic field in the two-dimensional electromagnet unit. At the location, and at the same time, first according to The direction of the maximum safe current excitation is determined based on the direction of the offline simulation data obtained in step three, and then according to... The fingertip electromagnet module is excited in the direction of the maximum safe current; the current in the radial or tangential coil of the two-dimensional electromagnet unit is gradually increased until the force generated by the four-pole Halebec array is reached. ;

[0049] (3) If , and Each fingertip electromagnet is a different two-dimensional Hellbeck electromagnet circular array. By individually exciting each fingertip electromagnet according to the control strategy of reproducing single-point force tactile sensation on a single fingertip electromagnet using the single two-dimensional Hellbeck electromagnet circular array, the force tactile sensation of the corresponding fingertip can be reproduced. , and When identical two-dimensional Hellbeck electromagnet circular arrays exist, the two-dimensional Hellbeck electromagnet circular array providing force tactile reproduction for only one fingertip electromagnet is excited according to the control strategy of single-point force tactile reproduction on a single fingertip electromagnet of the single two-dimensional Hellbeck electromagnet circular array. If a fingertip in the same circular array touches a virtual object, and a fingertip does not touch a virtual object, then the fingertip electromagnet touching the virtual object is excited according to the control strategy of single-point force tactile reproduction on a single fingertip electromagnet of the single two-dimensional Hellbeck electromagnet circular array, causing the fingertip electromagnet to feel force tactile reproduction. Then, according to the steps described above... The offline simulation data is used to excite the fingertip electromagnets that have not touched the virtual object to resist magnetization. When the fingertips in the same circular array touch the virtual object, the control strategy of the single two-dimensional Hellbeck electromagnet circular array to realize single-point force tactile reproduction on a single fingertip electromagnet is used. Each fingertip electromagnet will have a set of control strategies for the single two-dimensional Hellbeck electromagnet circular array to realize single-point force tactile reproduction on a single fingertip electromagnet. By superimposing the excitation methods of all the fingertip electromagnets, the excitation method of the circular array controlling multiple fingertip electromagnets to generate multi-point force tactile reproduction can be obtained.

[0050] Furthermore, the method for exciting the Hellbeck electromagnet array in the x-direction to provide the fingertip electromagnet module with an excitation force in the x-direction is as follows:

[0051] (1) Based on the hollow disc-shaped coil The location of the center point , and two-dimensional Heilbeck electromagnet disk array , , find The smallest hollow disk-shaped coil and envoy The smallest two-dimensional circular array of Heilbeck electromagnets ,Will to This is denoted as an empty disk-shaped coil group. ,Will to This is denoted as a two-dimensional Heilbeck electromagnet disk array. ;

[0052] (2) For a two-dimensional Heilbeck electromagnet disk array group The radial coils of all the two-dimensional electromagnet units are subjected to a maximum saturation current to generate a magnetic moment pointing inward into the operating space, thus supplying the idle disk-shaped coil group with a magnetic moment. Applying maximum saturation current to all the hollow disk-shaped coils generates a magnetic moment pointing in the negative x-axis direction. This intensifies the axial magnetic field in the area where the fingertip electromagnet is located within the operating space. The fingertip electromagnet module not touching the virtual object should be excited to resist the magnetization effect of the Helbeck axial magnetic field on the iron core. The fingertip electromagnet module touching the virtual object should be excited according to the offline simulation data obtained in step three, causing the magnetic moment of the fingertip electromagnet module to point in the negative x-axis direction. In either the positive or negative direction, gradually increase the excitation current of each fingertip electromagnet until all the fingertip electromagnet modules exert a force in the x-direction on the Hellbeck electromagnet array. Equal to the target force ;

[0053] The magnetic field generated by the three-dimensional Hellbeck electromagnet array is obtained by superimposing magnetic fields in three orthogonal directions: According to the Biot-Savart law, the electromagnetic force on the fingertip electromagnet in the magnetic field can be calculated by superimposing the electromagnetic forces in the x, y, and z directions. .

[0054] Beneficial effects: This patent designs a magnetic multi-point force tactile reproduction system that can generate a three-dimensional Hellbeck effect. By using the multi-point force tactile reproduction method of the magnetic multi-point force tactile reproduction system based on the three-dimensional Hellbeck effect provided by this patent, a three-dimensional directional controllable magnetic field with a greater magnetic induction intensity can be generated inside the operating space, thereby providing greater force feedback to users wearing fingertip magnet modules. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of a multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect;

[0056] Figure 2 This is a schematic diagram of the Halebec effect generated in three directions;

[0057] Figure 3 This is a flowchart of a multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect. Detailed Implementation

[0058] This invention provides a multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect. To make the purpose, control method and effect of this invention easier to understand, the invention will be clearly and completely explained below with reference to the examples and accompanying drawings. It should be noted that the implementation described here is only a part of the examples of this invention, and not all of them.

[0059] Example 1: This example is a multi-point force tactile reproduction system based on the three-dimensional Hellbeck effect. The magnetic force tactile reproduction system consists of a three-dimensional Hellbeck background electromagnet array module, a fingertip magnet module, a three-dimensional Hellbeck background electromagnet drive module, a fingertip magnet drive module, a fingertip position detection module, a system central control module, and a display module.

[0060] The three-dimensional Halebeck background electromagnet array module is based on a three-dimensional Halebeck array, which is used to generate the Halebeck effect that enhances the magnetic field inside the operating space and weakens the magnetic field outside the operating space.

[0061] The fingertip magnet module includes a fingertip permanent magnet module or a fingertip electromagnet module, wherein the fingertip permanent magnet module is used to realize single-point force tactile reproduction, and the fingertip electromagnet module is used to realize multi-point force tactile reproduction.

[0062] The background electromagnet drive module is used to receive control signals from the central control module and to drive the three-dimensional Heilbeck background electromagnet array module to generate a corresponding magnetic field.

[0063] The fingertip electromagnet drive module is used to receive control signals from the central control module and to drive the fingertip electromagnet module.

[0064] The fingertip position detection module is used to detect the position of the fingertip in real time and send the collected fingertip position information to the system's central control module;

[0065] The system's central control module calculates whether force feedback is needed based on the finger position information sent by the fingertip position detection module, and calculates the magnitude of the driving current of the three-dimensional Heilbeck background electromagnet array module based on the magnitude and direction of the feedback force. It then controls the background electromagnet driving module to output the excitation current, thereby realizing the reproduction of force tactile sensation on the fingertip magnet module.

[0066] The display module is used to provide a visual display platform for virtual scenes.

[0067] The three-dimensional Heilbeck background electromagnet array module consists of an inner layer of one-dimensional stacked coils and an outer layer of two-dimensional arrayed coils; the one-dimensional stacked coils are composed of... A coaxial hollow disk-shaped coil (The smallest central x-axis coordinate is denoted as) The subscripts are increased sequentially according to the increasing x-axis coordinate of the center, with the largest x-axis coordinate being denoted as . The hollow disc-shaped coil is composed of a cylindrical space inside, which serves as the operating space for the entire system to reproduce the force and tactile sensation; the outer two-dimensional array electromagnet is composed of... It consists of two-dimensional Helbeck circular electromagnet arrays, each of which is composed of... Two-dimensional electromagnet unit , The structure is as follows: the two-dimensional Hellbeck circular electromagnet array with the smallest x-axis coordinate at its center point is denoted as... The first subscript is increased sequentially according to the increasing x-axis coordinate of the center point. The two-dimensional Hellbeck circular electromagnet array with the largest center point x-axis coordinate is denoted as . In each two-dimensional Heilbeck circular electromagnet array , In the diagram, the two-dimensional electromagnet element located in the positive z-axis direction is denoted as... In the same two-dimensional Helbeck circular electromagnet array, the second subscript of the two-dimensional electromagnet unit increases sequentially in a clockwise direction; each two-dimensional electromagnet unit Radial coil unit and tangential coil unit The system comprises a radial coil unit whose magnetic moment, when energized, points towards the center of the two-dimensional Hellbeck circular electromagnet array or in the opposite direction to provide a radial magnetic moment; a tangential coil unit whose magnetic moment, when energized, points towards the tangential direction of the circular array to provide a tangential magnetic moment; a radial coil unit encloses a tangential coil unit; and all two-dimensional electromagnet units are connected using a closed iron core, forming a closed disk-shaped iron core structure to ensure the continuity of the magnetic circuit.

[0068] The two-dimensional electromagnet unit consists of radial coil units. and tangential coil unit The radial coil unit, when energized, generates a magnetic moment that points towards the center of the circumferential array or in the opposite direction to the center, thus providing a radial magnetic moment; the tangential coil unit, when energized, generates a magnetic moment that points towards the tangential direction of the circumferential array, thus providing a tangential magnetic moment; the radial coil unit encloses the tangential coil unit; the hollow disc-shaped coil, when energized, generates a magnetic moment that points towards the axial direction of the coil, thus providing an axial magnetic moment.

[0069] Furthermore, the fingertip permanent magnet module consists of a permanent magnet and a wearable permanent magnet frame, the wearable permanent magnet frame being used to fix the permanent magnet and facilitate wearing by the operator; the fingertip electromagnet module consists of multiple fingertip miniature electromagnets. The fingertip micro electromagnet is composed of a wearable electromagnet frame and three sets of orthogonally stacked coil structures and an iron core. The three orthogonally stacked coil structures are used to control the magnetization direction of the iron core. The addition of the iron core can make the magnetic moment of the fingertip micro electromagnet larger, providing the user with greater electromagnetic force feedback. The wearable electromagnet frame is used to fix the fingertip electromagnet module and facilitate the operator to wear it.

[0070] Furthermore, the background electromagnet driving module consists of an embedded central control system and an electric coil driving board. The embedded central control system is used to receive the PWM duty cycle information sent by the system central control module and control the coil driving board to generate a PWM signal that can drive the three-dimensional Hahlbeck background electromagnet array module to generate a three-dimensional Hahlbeck effect. The fingertip electromagnet driving module is used to receive the PWM duty cycle information sent by the system central control module and control the magnitude and direction of the magnetic moment of the fingertip electromagnet.

[0071] Furthermore, the fingertip position detection module is composed of a vision sensor, which is used to collect the position of the fingertip in real time and send the fingertip position information to the central control module of the system.

[0072] Furthermore, the system's central control module is composed of an Intel NUC microcomputer, responsible for receiving fingertip position information sent by the fingertip position detection module, running the force feedback algorithm, and sending the energization status and PWM duty cycle information of the coils in the three-dimensional Helbeck background electromagnet array module and the fingertip electromagnet module.

[0073] Furthermore, the outer two-dimensional circular array can form a two-pole Halebeck magnetic field and a four-pole Halebeck magnetic field, when the two-dimensional electromagnet unit The angle between the direction of the magnetic moment and the z-axis and two-dimensional electromagnet unit The position and the angle between the z-axis satisfy When a two-pole Halebeck magnetic field is formed, This forms a four-pole Halebeck magnetic field;

[0074] Furthermore, the two-pole Hellbeck field enhances the magnetic field inside the operating space and weakens the magnetic field outside the operating space. The operating space's YZ plane has only one magnet-like N pole and one S pole, with an angle of 180° between them. The magnetic field lines on the YZ plane are parallel, pointing from the N pole to the S pole. The four-pole Hellbeck field enhances the magnetic field inside the operating space and weakens the magnetic field outside. The operating space's YZ plane has two magnet-like N poles and one S pole, with the two N poles separated by an angle of 180° and the N pole and S pole separated by an angle of 90°. The magnetic field on the YZ plane points from the N pole to the S pole. When the two-dimensional electromagnet unit... When the magnetic moment of the two-dimensional electromagnet unit is parallel to the Z-axis and points in the positive direction of the Z-axis. The system will generate one S pole of the two-pole enhanced electromagnetic field or four-pole enhanced electromagnetic field of the Hellbeck array within the operating space. The remaining Hellbeck magnetic poles can be determined by the included angle distance.

[0075] Furthermore, when the radial coil current in the two-dimensional electromagnet unit... and tangential coil current satisfy ,in and When C is a constant, a two-pole or four-pole array of Hellbeck electromagnets is formed to enhance the internal space and weaken the external space. The magnetic moment distribution of the two-dimensional electromagnet units of the rotating YZ plane circular array can realize a two-dimensional Hellbeck enhanced magnetic field in any direction within the YZ plane inside the operating space.

[0076] Furthermore, adjust the hollow disc-shaped coil. current Capable of generating a magnetic moment in the positive (or negative) x-axis direction, adjusting the selected two-dimensional Hellbeck circular electromagnet array. Two two-dimensional electromagnet units symmetrical about the axis. and radial coil and Two-dimensional electromagnet units respectively and The hollow disk-shaped coil generates a magnetic moment pointing inwards (outside) the operating space. Radial coil and A Hellbeck array is formed, generating a one-dimensional Hellbeck enhanced magnetic field in the positive x-axis direction.

[0077] Example 2: Based on the above device, the present invention provides a multi-point force tactile reproduction method for a multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect, comprising the following steps:

[0078] Step 1: Construction of virtual work scene and force-tactile reproduction model; Based on the cylindrical operating space inside the 3D Heilbeck background electromagnet array module, a virtual work scene is constructed, including virtual operating space, virtual objects and fingertip proxy points. The force-tactile reproduction model reflects the mapping relationship between the position of the human hand and the force when the human hand interacts with the object.

[0079] Step two: Obtain the fingertip position information; establish a three-dimensional coordinate system A in the operating space. The fingertip position detection module in the three-dimensional operating space can be used to obtain the fingertip magnet based on the three-dimensional coordinate system A in real time. pose information And feedback is given to the central control module, wherein , and The three-dimensional coordinate information of the position of the nth fingertip magnet , and This is the rotation angle information for the nth fingertip magnet.

[0080] Step 3: Obtain discrete simulation data of electromagnetic force based on finite element simulation; use finite element simulation to analyze the correspondence between the magnetic force on the fingertip magnet and the excitation current of each two-dimensional electromagnet unit, the excitation current of the hollow disk-shaped coil, and the fingertip position, and obtain the corresponding discrete data. This offline simulation data will be used for the subsequent implementation of the force tactile reproduction method.

[0081] Step 4: Calculate the magnetic force on the fingertip magnet; Based on the constructed virtual scene, force tactile reproduction model and fingertip pose information, calculate and generate the force that the operator's fingertip experiences when interacting with the virtual object at the current moment, as the target force F in the control method.

[0082] Step 5: The central control module, based on the target force F calculated in Step 4 and the offline simulation data obtained in Step 3, excites the outer two-dimensional array electromagnet to generate a two-dimensional Halebec effect on the YZ parallel plane and excites the radial coil unit and the one-dimensional stacked coil to generate a Halebec effect in the X direction, thereby forming a three-dimensional force tactile reproduction.

[0083] Furthermore, the three-dimensional coordinate system A is characterized as follows: the origin of the three-dimensional coordinate system A is established at the center of the entire cylindrical operating space; the x-axis is established in the axial direction of the cylindrical operating space; when the entire multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect is placed on a horizontal plane and used normally, the z-axis is established in the direction perpendicular to the horizontal plane; and the y-axis is established in the direction perpendicular to the XOZ plane. The three-dimensional coordinate system A satisfies the right-handed spiral coordinate system.

[0084] Furthermore, the magnetic force experienced by the magnet module in the magnetic field: , In the formula This represents the magnetic moment of a fingertip magnet. This indicates the magnetic flux density of the background electromagnetic field at the location of the fingertip magnet. For gradient operators, This indicates the magnetic force experienced by the fingertip magnet. These represent the magnitudes of the magnetic force acting on the fingertip magnet in the x, y, and z directions, respectively. The magnetic force acting on the fingertip magnet can be adjusted by changing the intensity of the background electromagnetic field. Regulation.

[0085] Furthermore, the magnetic moment of the fingertip electromagnet The calculation formula is: In the formula The relative permeability of the core material. Let be the area enclosed by the a-th coil that generates a magnetic moment in the x-axis direction on the fingertip electromagnet. Let be the area enclosed by the b-th coil that generates the magnetic moment in the y-axis direction on the fingertip electromagnet. Let be the area enclosed by the c-th coil that generates the magnetic moment in the z-axis direction on the fingertip electromagnet, and let nx, ny, and nz represent the number of turns of the coil that generates the magnetic moments in the x-axis, y-axis, and z-axis directions on the fingertip electromagnet, respectively. , and These represent the magnitudes of the currents in the coils that generate magnetic moments along the x-axis, y-axis, and z-axis of the fingertip electromagnet, respectively. , and These represent the unit vectors in the x, y, and z directions, respectively.

[0086] Furthermore, the multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect is as follows when realizing single-point force tactile reproduction control:

[0087] The fingertip magnet module uses a permanent magnet module solution. The operator wears the permanent magnet module, and when the virtual hand comes into contact with a virtual object, the fingertip position detection module obtains the position and pose information P of the permanent magnet. The YZ two-dimensional Hellbeck electromagnet array and the axial one-dimensional Hellbeck electromagnet array are simultaneously excited according to the pose information.

[0088] The excitation method for a single-point YZ two-dimensional Heilbeck electromagnet array is as follows: based on the pose information P of the fingertip permanent magnet... Two-dimensional Heilbeck electromagnet circular array center point coordinates , find The smallest two-dimensional circular array of Helbeck electromagnets (If there are two circular arrays of two-dimensional Hellbeck electromagnets with the smallest distance, select the one closer to the negative x-axis.) The required two-dimensional force is obtained based on the two-dimensional target force components Fy and Fz. Find the circumferential array of two-dimensional Hellbeck electromagnets middle The two-dimensional electromagnet unit it points to According to two-dimensional forces The N or S pole of the two-pole Hellbeck magnetic field is determined by comparing it with the offline simulation data obtained in step three, and then the N or S pole of the two-pole Hellbeck magnetic field is generated in the two-dimensional electromagnet unit. At the location; gradually increase the size of the two-dimensional Hellbeck electromagnet circular array. The current in the radial or tangential coil of the two-dimensional electromagnet unit eventually generates the force through the two-pole Halebeck array. If the maximum saturation current is passed through the radial or tangential coil of a two-dimensional electromagnet unit... or At that time, the force generated by the two-pole Hellbeck array Still smaller Then, the two-dimensional Halebec electromagnet circular array is excited according to the four-pole Halebec magnetic field generation method described above. First, based on two-dimensional forces The N or S pole of the four-pole Halebeck magnetic field is determined by comparing it with the offline simulation data obtained in step three, and then the N or S pole of the four-pole Halebeck magnetic field is generated in the two-dimensional electromagnet unit. At the location; gradually increase the size of the two-dimensional Hellbeck electromagnet circular array. The current in the radial or tangential coil of the two-dimensional electromagnet unit eventually generates the force of the four-pole Halebeck array. If the maximum saturation current is passed through the radial or tangential coil of a two-dimensional electromagnet unit... or Force generated by the time quadrupole Heilbeck array Still smaller Then at this time Defined as the saturation output value of the force on the YZ plane.

[0089] The excitation method for generating the Heil-Becker effect in the x-direction is as follows: The operating space is divided into two regions in the x-direction, denoted as the x+ region and the x- region. Based on the pose information P of the fingertip permanent magnet... Determine whether the fingertip permanent magnet is located in the x+ or x- region. If it is located in the x+ region, excite the two-dimensional electromagnet unit and the hollow disk-shaped coil to generate a Halebeck magnetic field that enhances the magnetic field in the x- direction in the x+ region and weakens the magnetic field in the x- direction in the x- region. If it is located in the x- region, excite the two-dimensional electromagnet unit and the hollow disk-shaped coil to generate a Halebeck magnetic field that enhances the magnetic field in the x- direction in the x- region and weakens the magnetic field in the x- direction in the x+ region.

[0090] By using specific electromagnets in the y and z directions to "cooperate" with electromagnets in the X direction to form a Hellbeck array, the magnetic field generated by this Hellbeck array is basically only in the x direction (that is, it only produces forces in the x direction), and the magnetic field strength is stronger than the magnetic induction strength of ordinary electromagnets that are only energized in the x direction (Hellbeck effect), so the magnitude of the force on the fingertip magnet module can be increased.

[0091] Furthermore, the Heilbeck magnetic field excitation control method for enhancing the magnetic field in the x-direction of the x+ region and weakening the magnetic field in the x-direction of the x- region is as follows: One approach is to pass current through all the disk-shaped hollow coils. The magnetic moment generated is directed towards the x+ region, exciting a two-dimensional circular array of Hellbeck electromagnets. The radial coils of all two-dimensional electromagnet units, if Round the decimal part to the nearest integer; the excitation current is... This generates a magnetic moment pointing inward into the operating space. Two two-dimensional electromagnet units positioned opposite each other in the same circular array, together with the hollow disk-shaped coils, form a Heilbeck array enhanced in the x+ direction. Another approach is to pass current through all the hollow disk-shaped coils. The magnetic moment generated is directed towards the x-region, thus exciting a two-dimensional Hellbeck electromagnet array. The radial coils of all two-dimensional electromagnet units, if If it is a decimal, take the integer part. The current is... This generates a magnetic moment pointing outwards from the operating space. Two two-dimensional electromagnet units positioned opposite each other in the same circular array, along with the hollow coil on the disk, form a Heilbeck array with enhanced x+ direction. The specific choice of which scheme to use depends on... The direction is determined based on the offline simulation data obtained in step three, and the value is gradually increased. and Until the force generated by the Heilbeck electromagnet array in the x direction ,if or When the maximum saturation current value is reached Still smaller Then continue to incentivize and In a two-dimensional Hellbeck electromagnet array, the radial coils of all two-dimensional electromagnet units are adjusted until the excitation current is adjusted to the force generated by the Hellbeck electromagnet array in the x-direction. If the excitation current reaches the saturation value Still smaller Then the radial coils of the remaining two-dimensional electromagnet units in the two-dimensional Hellbeck electromagnet array are excited until the force generated by the Hellbeck electromagnet array in the x-direction continues. When all radial coils of the two-dimensional electromagnet unit are excited and the excitation current is the maximum saturation current, if Still smaller Then at this time Defined as the saturation output value of axial force;

[0092] Furthermore, the Heilbeck magnetic field excitation control method, which enhances the magnetic field in the x- region in the x-direction and weakens the magnetic field in the x+ region in the x-direction, adjusts the current of the hollow disc coil to the reverse of the original current based on the two excitation schemes of enhancing the magnetic field in the x+ region and weakening the magnetic field in the x- region, so that the direction of the magnetic moment generated by the hollow disc coil changes to the opposite direction of the original.

[0093] Furthermore, the multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect is as follows when realizing multi-point force tactile reproduction control:

[0094] The fingertip magnet module uses a fingertip electromagnet module solution. The operator wears the fingertip electromagnet module and obtains the position and posture information of the fingertip electromagnet through the fingertip position detection module. The YZ two-dimensional Hellbeck electromagnet array and the axial one-dimensional Hellbeck electromagnet array are simultaneously excited according to the pose information.

[0095] The excitation method for a multi-point YZ two-dimensional Heilbeck electromagnet array is as follows: Take That is, the positional information of multiple fingers wearing fingertip electromagnets. x-axis position information The smallest one in the middle. ,Right now The largest one, excluding After finding the smallest and largest, the remaining one is denoted as... ;,according to , , and the location of the two-dimensional Heilbeck electromagnet circular array Find them respectively , and The smallest two-dimensional circular array of Helbeck electromagnets , and ,use Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet, using Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet, using Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet, if , and Each fingertip electromagnet is a different two-dimensional Hellbeck electromagnet circular array. By individually exciting each fingertip electromagnet according to the control strategy of reproducing single-point force tactile sensation on a single fingertip electromagnet using the single two-dimensional Hellbeck electromagnet circular array, the force tactile sensation of the corresponding fingertip can be reproduced. , and When identical two-dimensional Hellbeck electromagnet circular arrays exist, the two-dimensional Hellbeck electromagnet circular array providing force tactile reproduction for only one fingertip electromagnet is excited according to the control strategy of single-point force tactile reproduction on a single fingertip electromagnet of the single two-dimensional Hellbeck electromagnet circular array. If a fingertip in the same circular array touches a virtual object, and a fingertip does not touch a virtual object, then the fingertip electromagnet touching the virtual object is excited according to the control strategy of single-point force tactile reproduction on a single fingertip electromagnet of the single two-dimensional Hellbeck electromagnet circular array, causing the fingertip electromagnet to feel force tactile reproduction. Then, according to the steps described above... The offline simulation data is used to excite the fingertip electromagnets that have not touched the virtual object to resist magnetization. When the fingertips in the same circular array touch the virtual object, the control strategy of the single two-dimensional Hellbeck electromagnet circular array to realize single-point force tactile reproduction on a single fingertip electromagnet is followed. Each fingertip electromagnet will have a set of control strategies for the single two-dimensional Hellbeck electromagnet circular array to realize single-point force tactile reproduction on a single fingertip electromagnet. By superimposing the excitation methods of all the fingertip electromagnets, the excitation method of the circular array controlling multiple fingertip electromagnets to generate multi-point force tactile reproduction can be obtained.

[0096] The excitation method for the Heilbeck electromagnet array in the x-direction is as follows: based on the hollow disk-shaped coil The location of the center point , and two-dimensional Heilbeck electromagnet disk array , , find The smallest hollow disk-shaped coil and envoy The smallest two-dimensional circular array of Helbeck electromagnets ,Will to This is denoted as an empty disk-shaped coil group. ,Will to This is denoted as a two-dimensional Heilbeck electromagnet disk array. ,Give The radial coils of all the two-dimensional electromagnet units are subjected to a maximum saturation current to generate a magnetic moment pointing inward into the operating space, thus supplying the idle disk-shaped coil group with a magnetic moment. Applying maximum saturation current to all the hollow disk-shaped coils generates a magnetic moment pointing in the negative x-axis direction. This intensifies the axial magnetic field in the area where the fingertip electromagnet is located within the operating space. The fingertip electromagnet module not touching the virtual object should be excited to resist the magnetization effect of the Helbeck axial magnetic field on the iron core. The fingertip electromagnet module touching the virtual object should be excited according to the offline simulation data obtained in step three, causing the magnetic moment of the fingertip electromagnet module to point in the negative x-axis direction. In either the positive or negative direction, gradually increase the excitation current of each fingertip electromagnet until all the fingertip electromagnet modules exert a force in the x-direction on the Hellbeck electromagnet array. Equal to the target force .

[0097] The application also includes an array of electromagnets that excite the y and z directions. By using specific electromagnets in the y and z directions in combination with electromagnets in the x direction, a Halebeck array can be formed. The magnetic field generated by this Halebeck array is basically only in the x direction (that is, it only produces force in the x direction), and the magnetic field strength is stronger than the magnetic induction intensity of ordinary electromagnets that are only energized in the x direction (Halebeck effect). Therefore, it can increase the magnitude of the force on the fingertip magnet module.

[0098] Furthermore, the magnetic field generated by the three-dimensional Hellbeck electromagnet array can be obtained by superimposing magnetic fields in three orthogonal directions: According to the Biot-Savart law, the vectors in the three orthogonal directions can be calculated separately. The electromagnetic force on the fingertip magnet in the magnetic field can be obtained by superimposing the electromagnetic forces in the x, y, and z directions. .

[0099] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. However, the scope of protection of the present invention is not limited thereto. Any modifications or substitutions made within the scope of the present invention are within the scope of protection of the present invention.

Claims

1. A multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect, characterized in that, The multi-point force tactile reproduction system consists of a three-dimensional Heilbeck background electromagnet array module, a fingertip magnet module, a three-dimensional Heilbeck background electromagnet drive module, a fingertip magnet drive module, a fingertip position detection module, a system central control module, and a display module. The three-dimensional Halebeck background electromagnet array module consists of an inner layer of one-dimensional stacked coils, an outer layer of two-dimensional array electromagnets, and an iron core. This module generates the Halebeck effect, which enhances the magnetic field inside the operating space and weakens the magnetic field outside. The fingertip magnet module, primarily composed of permanent magnets or electromagnets, provides feedback force to the hand under the influence of the background electromagnetic field. The three-dimensional Halebeck background electromagnet drive module comprises an embedded central control system and a coil drive board. It receives control signals from the central control module and then drives the three-dimensional Halebeck background electromagnet array module to generate the corresponding magnetic field. The fingertip magnet... The driving module receives control signals from the central control module and drives the fingertip magnet module. The fingertip position detection module detects the fingertip position in real time and sends the collected fingertip position information to the system central control module. The system central control module calculates whether force feedback is needed based on the finger position information sent by the fingertip position detection module, and calculates the magnitude of the driving current of the three-dimensional Helbeck background electromagnet array module based on the magnitude and direction of the feedback force. It then controls the background electromagnet driving module to output excitation current, thereby realizing the force tactile reproduction on the fingertip magnet module. The display module provides a visual display platform for the virtual scene.

2. The multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect according to claim 1, characterized in that, The three-dimensional Heilbeck background electromagnet array module consists of an inner layer of one-dimensional stacked coils, an outer layer of two-dimensional arrayed electromagnets, and an iron core; the inner layer of one-dimensional stacked coils is composed of... A coaxial hollow disk-shaped coil constitute, The subscripts of the hollow disk-shaped coils are numbered in ascending order according to the x-coordinate of their respective center points, with the hollow disk-shaped coil having the smallest x-coordinate at its center point denoted as . The point with the largest x-axis coordinate is denoted as . The direction of the magnetic moment generated when the hollow disc-shaped coil is energized is pointed in the axial direction of the coil to provide axial magnetic moment. The cylindrical space inside the hollow disc-shaped coil is the operating space for the force tactile reproduction of the entire system. The outer two-dimensional array electromagnet is composed of It consists of two-dimensional Helbeck circular electromagnet arrays, each of which is composed of... Two-dimensional electromagnet unit , The structure is as follows: the two-dimensional Hellbeck circular electromagnet array with the smallest x-axis coordinate at its center point is denoted as... The first subscript is increased sequentially according to the increasing x-axis coordinate of the center point. The two-dimensional Hellbeck circular electromagnet array with the largest center point x-axis coordinate is denoted as . In each two-dimensional Heilbeck circular electromagnet array , In the diagram, the two-dimensional electromagnet element located in the positive z-axis direction is denoted as... In the same two-dimensional Helbeck circular electromagnet array, the second subscript of the two-dimensional electromagnet unit increases sequentially in a clockwise direction; each two-dimensional electromagnet unit Radial coil unit and tangential coil unit The system comprises two electromagnets: the radial coil unit, when energized, generates a magnetic moment that points towards or opposite to the center of the two-dimensional Hellbeck circular electromagnet array to provide a radial magnetic moment; the tangential coil unit, when energized, generates a magnetic moment that points towards the tangential direction of the circular array to provide a tangential magnetic moment; the radial coil unit encloses the tangential coil unit; all two-dimensional electromagnet units are connected using a closed iron core, forming a closed disk-shaped iron core structure to ensure the continuity of the magnetic circuit.

3. The multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect according to claim 1, characterized in that, The fingertip magnet module includes a fingertip permanent magnet module or a fingertip electromagnet module. The fingertip permanent magnet module is used to realize single-point force tactile reproduction, and the fingertip electromagnet module is used to realize multi-point force tactile reproduction. The fingertip permanent magnet module is composed of a permanent magnet and a wearable permanent magnet frame. The wearable permanent magnet frame is used to fix the permanent magnet for the operator to wear. The fingertip electromagnet module consists of multiple fingertip miniature electromagnets. It consists of a wearable electromagnet frame. The fingertip miniature electromagnet It consists of three sets of orthogonally stacked coil structures and an iron core. The stacked coil structures are used to control the magnetization direction of the iron core. The wearable electromagnet frame is used to fix the fingertip electromagnet module for the operator to wear.

4. The multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect according to claim 1, characterized in that, The three-dimensional Hellbeck background electromagnet drive module consists of an embedded central control system and a coil drive board. The embedded central control system is based on pulse width modulation (PWM) and receives the PWM duty cycle information sent by the central control module to control the coil drive board to drive the two-dimensional Hellbeck circular electromagnet array. Generates a two-dimensional Halebec effect on the YZ parallel plane and drives the radial coil unit. and one-dimensional stacked coils The Heilbeck effect in the X direction is generated. The fingertip magnet driving module is also based on the pulse width modulation method. It receives the PWM duty cycle information sent by the central control module of the system and controls the magnitude and direction of the magnetic moment of the fingertip electromagnet. The fingertip position detection module consists of a visual sensor (such as Leap Motion2) and is used to collect the position of the fingertip in real time and send the fingertip position information to the central control module of the system. The system's central control module is composed of an Intel NUC microcomputer, responsible for receiving fingertip position information sent by the fingertip position detection module, executing the force feedback algorithm, and sending the energization status and PWM duty cycle information of the coils in the three-dimensional Helbeck background electromagnet array module and the fingertip electromagnet module.

5. The multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect according to claim 1, characterized in that, The multi-point force tactile reproduction system is based on the Halebec multimodal magnetic field modulation method, that is, using different Halebec arrays for excitation according to the force requirements, specifically: For the selected two-dimensional Helbeck circular electromagnet array ,set up Radial coils of each two-dimensional electromagnet unit and tangential coil excitation current and Enables the two-dimensional electromagnet unit The generated magnetic moment is in any direction in the YZ plane. Consider a two-dimensional electromagnet unit. The angle between the direction of the magnetic moment and the z-axis is... Two-dimensional electromagnet unit The position makes an angle with the z-axis. When the radial coil current in the two-dimensional electromagnet unit and tangential coil current satisfy ,in and When (C is a constant), a two- or four-pole array of Halebec electromagnets is constructed, which enhances the internal operating space and weakens the external one. This forms a Heilbeck electromagnet diode array. This forms a Halbec electromagnet quadrupole array; The hollow disc-shaped coil is configured current Capable of generating magnetic moments in the positive (or negative) x-axis direction, adjusting the selected two-dimensional Hellbeck circular electromagnet array. Two two-dimensional electromagnet units symmetrical about the axis. and radial coil and Two-dimensional electromagnet units respectively and The hollow disk-shaped coil generates a magnetic moment pointing inwards (outside) the operating space. Radial coil and A Hellbeck array is formed, generating a one-dimensional Hellbeck enhanced magnetic field in the positive x-axis direction.

6. A multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect, characterized in that, The force-tactile reproduction method is based on the multi-point force-tactile reproduction system based on the three-dimensional Heilbeck effect, and the method generally includes the following steps: Step 1: Construction of virtual work scene and force-tactile reproduction model; Based on the cylindrical operating space inside the three-dimensional Heilbeck background electromagnet array module, a virtual work scene is constructed, including virtual operating space, virtual objects and fingertip proxy points. The force-tactile reproduction model reflects the mapping relationship between the position of the human hand and the force when the human hand interacts with the object. Step two: Obtain the fingertip position information; establish a three-dimensional coordinate system A in the operating space. The fingertip position detection module in the three-dimensional operating space can be used to obtain the fingertip magnet based on the three-dimensional coordinate system A in real time. pose information And feedback is given to the central control module, wherein , and The three-dimensional coordinate information of the position of the nth fingertip magnet , and This refers to the rotation angle information of the nth fingertip magnet; Step 3: Obtain offline simulation data of electromagnetic force based on finite element simulation; use finite element simulation to analyze the correspondence between the magnetic force on the fingertip magnet and the excitation current of each two-dimensional electromagnet unit, the excitation current of the hollow disk-shaped coil, and the fingertip position, and obtain the corresponding discrete data. The offline simulation data will be used for the subsequent implementation of the force tactile reproduction method. Step 4: Calculate the magnetic force on the fingertip magnet; Based on the constructed virtual scene, force tactile reproduction model, and fingertip pose information, calculate and generate the force exerted by the operator's fingertip on the virtual object at the current moment as the target force F in the control method. Step 5: The central control module, based on the target force F calculated in Step 4 and the offline simulation data obtained in Step 3, excites the outer two-dimensional array electromagnet to generate a two-dimensional Halebec effect on the YZ parallel plane and excites the radial coil unit and the one-dimensional stacked coil to generate a Halebec effect in the X direction, thereby forming a three-dimensional force tactile reproduction.

7. The multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect according to claim 6, characterized in that, The three-dimensional coordinate system A is characterized as follows: the origin of the three-dimensional coordinate system A is established at the center of the entire cylindrical operating space, the x-axis is established in the axial direction of the cylindrical operating space, the z-axis is established in the direction perpendicular to the horizontal plane when the entire multi-point force tactile reproduction system based on the three-dimensional Heilbeck effect is placed on the horizontal plane for normal use, and the y-axis is established in the direction perpendicular to the XOZ plane. The three-dimensional coordinate system A satisfies the right-handed spiral coordinate system. The force experienced by the fingertip magnet module in the magnetic field is: , In the formula This represents the magnetic moment of a fingertip magnet. This indicates the magnetic flux density of the background electromagnetic field at the location of the fingertip magnet. For gradient operators, This indicates the magnetic force experienced by the fingertip magnet. These represent the magnitudes of the magnetic force acting on the fingertip magnet in the x, y, and z directions, respectively. The magnetic force acting on the fingertip magnet can be adjusted by changing the intensity of the background electromagnetic field. The regulation, especially the magnetic moment of the fingertip electromagnet. The calculation formula is: In the formula The relative permeability of the core material. Let be the area enclosed by the a-th coil that generates a magnetic moment in the x-axis direction on the fingertip electromagnet. Let be the area enclosed by the b-th coil that generates the magnetic moment in the y-axis direction on the fingertip electromagnet. Let be the area enclosed by the c-th coil that generates the magnetic moment in the z-axis direction on the fingertip electromagnet, and let nx, ny, and nz represent the number of turns of the coil that generates the magnetic moments in the x-axis, y-axis, and z-axis directions on the fingertip electromagnet, respectively. , and These represent the magnitudes of the currents in the coils that generate magnetic moments along the x-axis, y-axis, and z-axis of the fingertip electromagnet, respectively. , and These represent the unit vectors in the x, y, and z directions, respectively.

8. The multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect according to claim 7, characterized in that, The control method for single-point force tactile reproduction in the system is as follows: The chosen solution involves the operator wearing a fingertip permanent magnet module. When the virtual hand comes into contact with a virtual object, the fingertip position detection module acquires the pose information P of the fingertip permanent magnet. The YZ two-dimensional Hellbeck electromagnet array and the axial one-dimensional Hellbeck electromagnet array are simultaneously excited according to the pose information. The excitation method for a single-point YZ two-dimensional Heilbeck electromagnet array is as follows: Based on the position information P of the permanent magnet at the fingertip Two-dimensional Heilbeck electromagnet circular array center point coordinates , find The smallest two-dimensional circular array of Heilbeck electromagnets The required two-dimensional force is obtained based on the two-dimensional target force components Fy and Fz. Find the circumferential array of two-dimensional Hellbeck electromagnets middle The two-dimensional electromagnet unit it points to ; According to two-dimensional forces The N or S pole of the two-pole Hellbeck magnetic field is determined by comparing it with the offline simulation data obtained in step three, and then the N or S pole of the two-pole Hellbeck magnetic field is generated in the two-dimensional electromagnet unit. At the location; gradually increase the size of the two-dimensional Hellbeck electromagnet circular array. The current in the radial or tangential coil of the two-dimensional electromagnet unit eventually generates the force through the two-pole Halebeck array. ; If the maximum saturation current is passed through the radial or tangential coil of a two-dimensional electromagnet unit... or At that time, the force generated by the two-pole Hellbeck array Still smaller Then, the two-dimensional Halebec electromagnet circular array is excited according to the four-pole Halebec magnetic field generation method described above. First, based on two-dimensional forces The N or S pole of the four-pole Halebeck magnetic field is determined by comparing it with the offline simulation data obtained in step three, and then the N or S pole of the four-pole Halebeck magnetic field is generated in the two-dimensional electromagnet unit. At the location; gradually increase the size of the two-dimensional Hellbeck electromagnet circular array. The current in the radial or tangential coil of the two-dimensional electromagnet unit eventually generates the force of the four-pole Halebeck array. If the maximum saturation current is passed through the radial or tangential coil of a two-dimensional electromagnet unit... or Force generated by the time quadrupole Heilbeck array Still smaller Then at this time Defined as the saturation output value of the force acting on the YZ plane; The method for generating the Heilbeck effect in the x-direction and thus providing excitation force in the x-direction for the fingertip permanent magnet module is as follows: The operating space is divided into two regions along the x-direction, denoted as the x+ region and the x- region. Based on the pose information P of the fingertip permanent magnet... Determine whether the fingertip permanent magnet is located in the x+ or x- region. If it is located in the x+ region, excite the two-dimensional electromagnet unit and the hollow disk-shaped coil to generate a Halebeck magnetic field that enhances the magnetic field in the x- direction in the x+ region and weakens the magnetic field in the x- direction in the x- region. If it is located in the x- region, excite the two-dimensional electromagnet unit and the hollow disk-shaped coil to generate a Halebeck magnetic field that enhances the magnetic field in the x- direction in the x- region and weakens the magnetic field in the x- direction in the x+ region.

9. The multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect according to claim 8, characterized in that, The Heilbeck magnetic field excitation control method that enhances the magnetic field in the x-direction of the x+ region and weakens the magnetic field in the x-direction of the x- region includes the following methods: (1) One approach is to pass current through all the disc-shaped hollow coils. The magnetic moment generated is directed towards the x+ region, exciting a two-dimensional circular array of Hellbeck electromagnets. The radial coils of all two-dimensional electromagnet units, if Round the decimal part to the nearest integer; the excitation current is... This generates a magnetic moment pointing into the operating space. Every two two-dimensional electromagnet units located opposite each other in the same circumferential array position and the hollow coil of the disk form a Heilbeck array that is enhanced in the x+ direction. Another approach is to pass current through all the disc-shaped hollow coils. The magnetic moment generated is directed towards the x-region, thus exciting a two-dimensional Hellbeck electromagnet array. The radial coils of all two-dimensional electromagnet units, if If it is a decimal, take the integer part. The current is... This generates a magnetic moment pointing out of the operating space. Every two two-dimensional electromagnet units located opposite each other in the same circumferential array position and the hollow coil of the disk form a Heilbeck array that is enhanced in the x+ direction. according to Based on the direction and the offline simulation data obtained in step three, select a suitable scheme; gradually increase and Until the force generated by the Heilbeck electromagnet array in the x direction ; (2) If or When the maximum saturation current value is reached Still smaller Then continue to incentivize and In a two-dimensional Hellbeck electromagnet array, the radial coils of all two-dimensional electromagnet units are adjusted until the excitation current is adjusted to the force generated by the Hellbeck electromagnet array in the x-direction. If the excitation current reaches the saturation value Still smaller Then the radial coils of the remaining two-dimensional electromagnet units in the two-dimensional Hellbeck electromagnet array are excited until the force generated by the Hellbeck electromagnet array in the x-direction continues. When all radial coils of the two-dimensional electromagnet unit are excited and the excitation current is the maximum saturation current, if Still smaller Then at this time Defined as the saturation output value of the axial force; The Heilbeck magnetic field excitation control method, which enhances the magnetic field in the x- region in the x-direction and weakens the magnetic field in the x+ region in the x-direction, adjusts the current of the hollow disc coil to the reverse of the original current based on the two excitation schemes of enhancing the magnetic field in the x+ region and weakening the magnetic field in the x- region, so that the direction of the magnetic moment generated by the hollow disc coil changes to the opposite direction of the original.

10. The multi-point force tactile reproduction method based on the three-dimensional Heilbeck effect according to claim 7, characterized in that, The multi-point XYZ three-dimensional force tactile reproduction control method is as follows: The chosen solution involves the operator wearing a fingertip electromagnet module, which is then used to obtain the fingertip electromagnet's position and orientation information via a fingertip position detection module. The YZ two-dimensional Hellbeck electromagnet array and the axial one-dimensional Hellbeck electromagnet array are simultaneously excited according to the pose information. The excitation method for the multi-point YZ two-dimensional Heilbeck electromagnet array is as follows: (1) Calculate the pose information of multiple fingertips wearing fingertip electromagnets. x-axis position information minimum value Maximum value and median value , The center coordinate of the x-axis is The position of the fingertip electromagnet is denoted as The center coordinate of the x-axis is located at The position of the fingertip electromagnet is denoted as The center coordinate of the x-axis is located at The position of the fingertip electromagnet is denoted as ,according to , , and the location of the two-dimensional Heilbeck electromagnet circular array Find them respectively , and The smallest two-dimensional circular array of Heilbeck electromagnets , and ,use Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet, using Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet, using Achieve Two-dimensional force-tactile reproduction on the YZ plane of an electromagnet; (2) Regarding the control strategy for realizing single-point force tactile reproduction on a single fingertip electromagnet using a single two-dimensional Halbec electromagnet circular array, using a two-dimensional Halbec electromagnet circular array With fingertip electromagnet Explanation: Based on the two-dimensional target force Find the circumferential array of two-dimensional Hellbeck electromagnets Target force The two-dimensional electromagnet unit it points to The two-dimensional Halebec electromagnet circular array is excited according to the described two-pole Halebec magnetic field excitation method. The specific excitation method is to generate the N pole of the two-pole Hellbeck magnetic field in the two-dimensional electromagnet unit. At the location, and simultaneously, based on the target force The direction of the maximum safe current excitation is determined based on the direction of the offline simulation data obtained in step three, and then according to... The fingertip electromagnet module is excited in the direction of the maximum safe current; the current in the radial or tangential coil of the two-dimensional electromagnet unit is gradually increased until the force generated by the two-pole Hellbeck array is reached. If the maximum saturation current is passed through the radial or tangential coil of a two-dimensional electromagnet unit... or Force generated by the time-diode Heilbeck array Still smaller Then, it is excited according to the four-pole Heilbeck magnetic field excitation method described above. The specific excitation method is to generate the N pole of the four-pole Hellbeck magnetic field in the two-dimensional electromagnet unit. At the location, and at the same time, first according to The direction of the maximum safe current excitation is determined based on the direction of the offline simulation data obtained in step three, and then according to... The fingertip electromagnet module is excited in the direction of the maximum safe current; the current in the radial or tangential coil of the two-dimensional electromagnet unit is gradually increased until the force generated by the four-pole Halebec array is reached. ; (3) If , and Each fingertip electromagnet is a different two-dimensional Hellbeck electromagnet circular array. By individually exciting each fingertip electromagnet according to the control strategy of reproducing single-point force tactile sensation on a single fingertip electromagnet using the single two-dimensional Hellbeck electromagnet circular array, the force tactile sensation of the corresponding fingertip can be reproduced. , and When identical two-dimensional Hellbeck electromagnet circular arrays exist, the two-dimensional Hellbeck electromagnet circular array providing force tactile reproduction for only one fingertip electromagnet is excited according to the control strategy of single-point force tactile reproduction on a single fingertip electromagnet of the single two-dimensional Hellbeck electromagnet circular array. If a fingertip in the same circular array touches a virtual object, and a fingertip does not touch a virtual object, then the fingertip electromagnet touching the virtual object is excited according to the control strategy of single-point force tactile reproduction on a single fingertip electromagnet of the single two-dimensional Hellbeck electromagnet circular array, causing the fingertip electromagnet to feel force tactile reproduction. Then, according to the steps described above... The offline simulation data is used to excite the fingertip electromagnets that have not touched the virtual object to resist magnetization. When the fingertips in the same circular array touch the virtual object, the control strategy of the single two-dimensional Hellbeck electromagnet circular array to realize single-point force tactile reproduction on a single fingertip electromagnet is followed. Each fingertip electromagnet will have a set of control strategies for the single two-dimensional Hellbeck electromagnet circular array to realize single-point force tactile reproduction on a single fingertip electromagnet. By superimposing the excitation methods of all the fingertip electromagnets, the excitation method of the circular array to control multiple fingertip electromagnets to generate multi-point force tactile reproduction can be obtained. The method for exciting the Hellbeck electromagnet array in the x-direction to provide a force in the x-direction for the fingertip electromagnet module is as follows: (1) Based on the hollow disc-shaped coil The location of the center point , and two-dimensional Heilbeck electromagnet disk array , , find The smallest hollow disk-shaped coil and envoy The smallest two-dimensional circular array of Heilbeck electromagnets ,Will to This is denoted as an empty disk-shaped coil group. ,Will to This is denoted as a two-dimensional Heilbeck electromagnet disk array. ; (2) For a two-dimensional Heilbeck electromagnet disk array group The radial coils of all the two-dimensional electromagnet units are subjected to a maximum saturation current to generate a magnetic moment pointing inward into the operating space, thus supplying the idle disk-shaped coil group with a magnetic moment. Applying maximum saturation current to all the hollow disk-shaped coils generates a magnetic moment pointing in the negative x-axis direction. This intensifies the axial magnetic field in the area where the fingertip electromagnet is located within the operating space. The fingertip electromagnet module not touching the virtual object should be excited to resist the magnetization effect of the Helbeck axial magnetic field on the iron core. The fingertip electromagnet module touching the virtual object should be excited according to the offline simulation data obtained in step three, causing the magnetic moment of the fingertip electromagnet module to point in the negative x-axis direction. In either the positive or negative direction, gradually increase the excitation current of each fingertip electromagnet until all the fingertip electromagnet modules exert a force in the x-direction on the Hellbeck electromagnet array. Equal to the target force ; The magnetic field generated by the three-dimensional Hellbeck electromagnet array is obtained by superimposing magnetic fields in three orthogonal directions: According to the Biot-Savart law, the electromagnetic force on the fingertip electromagnet in the magnetic field can be calculated by superimposing the electromagnetic forces in the x, y, and z directions. .

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