| 生物软组织力反馈触觉建模测试系统研制 |
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| 引用本文： | 陈孝凯,徐晶晶,曾庆军.生物软组织力反馈触觉建模测试系统研制[J].传感器与微系统,2009,28(4):76-78. |
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| 作者姓名： | 陈孝凯 徐晶晶 曾庆军 |
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| 作者单位： | 江苏科技大学电子信息学院,江苏镇江,212003 |
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| 摘 要： | 设计了一种结构新颖的用于生物软组织力反馈触觉建模的测试系统。阐述了系统结构与工作原理，介绍了系统的机械设计、硬件电路和系统软件。系统采用计算机测量并控制带有力和位置传感器的单自由度机械手，通过插针实验与动物软组织交互得到软组织的力反馈触觉模型。以猪肝为标本进行实验，实验结果和现有的理论模型较为符合，该系统可以用于软组织触觉建模实验研究。
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| 关 键 词： | 软组织 力反馈 触觉模型 传感器 |
Development of test system for biological soft tissue force feedback haptic modeling |
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| CHEN Xiao-kai,XU Jing-jing,ZENG Qing-jun.Development of test system for biological soft tissue force feedback haptic modeling[J].Transducer and Microsystem Technology,2009,28(4):76-78. |
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| Authors: | CHEN Xiao-kai XU Jing-jing ZENG Qing-jun |
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| Affiliation: | (School of Electronics Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China) |
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| Abstract: | A novel test system which is used in biological soft tissue force feedback haptic modeling is designed. The structure and working principle, hardware circuit and software of system are illustrated. The one-degree of freedom manipulator with force and position sensor is controlled and measured by a computer. A biological soft tissue force feedback haptic model is got by interactive experiment of needle insertion and animal soft tissue. A experiment to the liver of the pig is done. The experiment result shows that the model is in line with the theory,so this system can be used for the experiment research of modeling of the soft tissue. |
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| Keywords: | soft tissue force feedback haptic model sensor |
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