The application discloses a three-dimensional coil combination excitation
pose detection
system and method for force tactile
reproduction, which comprises a three-dimensional background
electromagnet module, a fingertip
electromagnet module, a background
electromagnet driving module, a fingertip
voltage sensing module and a central control module. The three-dimensional background electromagnet is of an inner-outer layer nested type, the inner layer is a one-dimensional laminated coil electromagnet, and the outer layer is a two-dimensional
array coil electromagnet. Some three-dimensional background electromagnet coils are selected to have electromagnetic
pose detection and force tactile
reproduction functions, so that electromagnetic
pose detection based on three-dimensional coil combination excitation and position
grid optimization is realized. A cost function is established according to the fingertip electromagnet module induction
voltage theoretical value obtained through
simulation and the actual measured value of the induction
voltage obtained through the
voltage sensing module, and the pose of the fingertip electromagnet, namely the position information and the rotation angle information, are solved and obtained. The interactive force that a virtual hand receives in a virtual interactive environment is calculated, and a
control signal is output to the electromagnet driving module, so that force tactile
reproduction is realized.