Hybrid Haptic Rendering with Motor and Damper
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Solution Overview
Problem
Current haptic rendering devices face challenges in achieving high-precision and large-range force/torque output due to limitations in control precision and torque/volume ratio, with single active or passive devices failing to provide optimal performance.
Innovation Solution
A minitype haptic rendering method combining a direct current motor as an active device and a magnetorheological damper as a passive device, using calibration curves and feedback loops to precisely control force/torque output, where the direct current motor compensates for errors generated by the magnetorheological damper to achieve precise control and high torque/volume ratio.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a direct current motor is used as an active device, then control precision is improved, but torque/volume ratio deteriorates
Solution Approach 1:
The patent combines a magnetorheological damper (passive device with high torque/volume ratio) and a direct current motor (active device with precise control) into a hybrid executing device. The damper provides high force output in a small volume while the motor provides precise control, and their outputs are superposed to achieve both high torque/volume ratio and control precision simultaneously.
2Power
If a magnetorheological damper is used as a passive device, then torque/volume ratio is improved, but control precision deteriorates
Solution Approach 1:
The patent implements a feedback control mechanism where a force/torque sensor measures the actual output force/torque, compares it with the expected output, and feeds back the error to the direct current motor. The motor compensates for the control precision limitations of the magnetorheological damper by adjusting its output based on the feedback error signal.
Solution Approach 2:
The direct current motor acts as an intermediary compensating device that bridges the control precision gap of the magnetorheological damper. The motor receives error signals from the feedback loop and generates compensatory torque to achieve the desired force/torque output precision.
3Device complexity
If a single active or passive device is used, then device complexity is reduced, but force/torque output performance deteriorates
Solution Approach 1:
The patent segments the force/torque output function into two parts: the magnetorheological damper handles the high-force output requirement while the direct current motor handles the precision control requirement. This functional segmentation allows each component to optimize for its specific role, achieving high performance without excessive overall complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables high-precision and large-range force/torque output, enhancing the fidelity and immersion of haptic interaction, making the device more portable and suitable for applications in virtual reality, teleoperation, and medical services, particularly for simulating complex human tissues and organs.
Implementation Method 1
a magnetorheological damper has a high energy density, a small volume and a high force output
Implementation Method 2
the direct current motor is simple in control and can be precisely controlled
Data Source
AI summary
The present invention discloses a minitype haptic rendering method based on active and passive devices, which comprises the following steps of: firstly, calibrating a magnetorheological damper and a direct current motor, and obtaining a relationship between an input current and an output torque; converting an expected force/torque value to a current input of the magnetorheological damper, outputting a corresponding torque through the magnetorheological damper, and applying the torque to a body of an operator through a haptic transmission device; secondly, measuring an actually applied force/torque by a sensor mounted at a force/torque application point, comparing an actually outputted force/torque value with the expected force/torque value, and calculating a force/torque error; and finally, converting the force/torque error to an input signal of the direct current motor, and driving the direct current motor to generate a torque corresponding to the error.