共查询到18条相似文献,搜索用时 171 毫秒
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针对目前柔顺性触觉接口设备存在的容易失真的问题,提出了一种基于电机和磁流变液混合驱动的柔顺性触觉接口装置。在简单介绍了磁流变液的基础上,讨论了基于磁流变液被动驱动器的结构和原理,该驱动器采用多转子设计思路以增大力输出范围。利用磁流变液驱动器能够模拟肌体组织的黏滞性,电机能够模拟肌体组织的弹性,将驱动器与电机串联实现肌体组织的柔顺性再现,同时利用电机补偿驱动器非有益阻尼力,增强装置的保真效果。在此基础上设计了柔顺性触觉接口装置,对装置模拟自由空间、不同的变形程度柔顺性物体受力进行了介绍,分析了装置的控制方法,最后加工了触觉装置原型,开展了不同柔顺度虚拟肌体组织柔顺性再现实验,实验结果验证了所设计装置及控制方法的有效性。 相似文献
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作为新兴的人机交互技术,触觉再现技术能够再现虚拟物体的表面特性,提高虚拟现实系统的真实性。在目前现有的触觉再现技术中,基于摩擦力控制的触觉再现技术能够实现连续的、精细的纹理触觉再现,已成为触觉再现领域的一个研究热点。因此,设计一套基于摩擦力控制的触觉再现系统就显得尤为重要。基于此,文中利用空气压膜效应原理,设计了一套基于摩擦力控制的触觉再现系统,该系统能够实现虚拟纹理的触觉输出。文中首先描述了空气压膜效应的产生机理,然后详细讲述了该触觉再现系统的整体构成,最后,通过一系列的触觉感知实验验证了该系统的有效性。 相似文献
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基于音波技术的时空双通道机器人触觉再现系统研究 总被引:1,自引:0,他引:1
介绍了一种基于音波播放的时空双通道机器人触觉再现系统.系统采用音波播放技术提供触觉再现所需要的电流刺激信号和空间触点选通信号.时间通道的电流刺激控制信号和空间通道的触点选通信息均由音波处理软件根据系统需要预先设计生成.计算机声卡输出的双声道音波信号分别对应于时空两个通道的控制信息.上述信号进一步处理后将提供触觉再现刺激电流并选通相应触点.该触觉再现系统能够为操作者提供温和舒服的触觉感受. 相似文献
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针对虚拟环境力/触觉再现系统中作用力计算的实时性要求,研究了Windows操作系统下循环控制的实现方法:时间查询法、多媒体定时器法和基于实时扩展RTX(real-time extension)的方法.利用Delta 6-DOF力/触觉手控器建立了一个基于PC的力/触觉再现原型系统,分别在系统空载、并存网络通信、并存音频播放和并存视频播放4种系统负载状态下对3种实现方法进行了实验.实验结果表明,基于RTX的方法能够获得较理想的实时循环控制性能,适用于力/触觉再现等需要较高实时性计算循环的应用系统. 相似文献
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柔顺性触觉再现的研究难点主要集中在对触觉机理了解不深入、动态的感知过程、装置性能有限等方面.介绍了当前几种有代表性的柔顺性触觉再现装置:基于电流变液的触觉再现装置、气囊触觉再现装置、气动阵列触觉再现装置和基于弹性梁触觉再现装置.在此基础上讨论了这些装置的优缺点,并进行了比较.最后总结了柔顺性触觉再现技术的发展思路. 相似文献
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在电磁式力触觉再现系统中,电磁铁线圈绕制质量的好坏直接决定了力触觉再现的真实感和沉浸感。该系统基于手摇绕线机、步进电机、电缸平移台、张力控制器、STM32单片机等模块,设计开发了大尺寸电磁铁线圈自动绕制系统。研究了以STM32为核心的精准排线控制算法,实现了大尺寸空盘片骨架自动绕线排线工作。以实际绕制的线圈为研究对象,通过与人工绕制线圈的效果对比,验证了排线算法的可靠性和稳定性;通过测量线圈的电阻值与理想值的对比,证明了线圈绕制质量的可行性。该系统为大尺寸线圈绕制提供了有效的解决方案,对促进力触觉的发展具有重要的研究意义。 相似文献
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虚拟对象是采用计算机软件技术在特定设备中模拟实现真实的物体和环境,用于解决不适合对真实物体或环境进行操作的问题,并将控制对象与控制系统相分离。本文介绍了采用GE RX3i进行机械手分拣装置虚拟对象的设计与应用。 相似文献
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Haptic Direct-Drive Robot Control Scheme in Virtual Reality 总被引:3,自引:0,他引:3
Ming-Guo Her Kuei-Shu Hsu Tian-Syung Lan M. Karkoub 《Journal of Intelligent and Robotic Systems》2002,35(3):247-264
This paper explores the use of a 2-D (Direct-Drive Arm) manipulator for mechanism design applications based on virtual reality (VR). This article reviews the system include a user interface, a simulator, and a robot control scheme. The user interface is a combination of a virtual clay environment and human arm dynamics via robot effector handler. The model of the VR system is built based on a haptic interface device behavior that enables the operator to feel the actual force feedback from the virtual environment just as s/he would from the real environment. A primary stabilizing controller is used to develop a haptic interface device where realistic simulations of the dynamic interaction forces between a human operator and the simulated virtual object/mechanism are required. The stability and performance of the system are studied and analyzed based on the Nyquist stability criterion. Experiments on cutting virtual clay are used to validate the theoretical developments. It was shown that the experimental and theoretical results are in good agreement and that the designed controller is robust to constrained/unconstrained environment. 相似文献
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增强现实(augmented reality,AR)技术可以将虚拟的物体合并到现实场景中,并能支持用户与其进行交互,它已经成为虚拟现实研究中的一个重要领域,也是人机界面技术发展的一个重要方向。为了使人们对其有所了解,该文首先概略描述了这个领域的主要研究内容和进展情况,并详细介绍了增强现实中的支撑技术、开发工具和相关理论;然后针对当前AR应用的现状,分析了实现中的难点问题,并给出了与AR普及应用密切相关的一些系统框架和开发平台的描述,最后介绍了几个典型的AR应用实例。 相似文献
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This paper presents an interactive digital painting system that allows a user to draw graffiti on a virtual 3D canvas with a digital spray can. The system visualizes a stereoscopic representation of the canvas by tracking the user's head. It also emulates real‐time spray painting by tracking the spray can in the user's hand as well as sensing the button pressure of the spray device. After painting a 3D object, the user can interact with the object on the display and see it flying in the 3D environment through a tracked head‐mounted display. As demonstrated in the results of our evaluation, we verified that the system resembles real graffiti in regard to a natural and realistic graffiti experience. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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Humans can perceive a wide and small surface undulation that is hundreds micrometers in height and hundreds millimeters in width by scanning the surface with their whole fingers and palm in the distal and proximal directions. We developed a wearable haptic device that presents a surface undulation to the hand. The device is composed of nine independent stimulator units that control the heights of nine finger pads of the index finger, the middle finger, and the ring finger (three units on each finger) according to the virtual surface. Three experiments are carried out to evaluate the haptic perception by the haptic device. A first experiment shows that the perceived dimensions are diminished as compared to the dimensions applied by the haptic device. On the basis of this result, the applied dimensions are calibrated to match the virtual surface undulation to the real surface undulation. A second experiment shows that the shape of gently-curved surfaces can be estimated with the haptic display. A third experiment shows that the discrimination threshold is not different between the virtual surface undulation and the real surface undulation. These experimental results show the applicability of the haptic device as a haptic interface. 相似文献