| 实时触觉再现接口的设计与实现 |
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| 引用本文： | 祝钦,宋爱国,李建清.实时触觉再现接口的设计与实现[J].传感技术学报,2005,18(4):814-817. |
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| 作者姓名： | 祝钦 宋爱国 李建清 |
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| 作者单位： | 东南大学仪器科学与工程系,南京,210096;东南大学仪器科学与工程系,南京,210096;东南大学仪器科学与工程系,南京,210096 |
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| 基金项目： | 科技部科研项目，中国科学院资助项目 |
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| 摘 要： | 提出了一种具有实时触觉反馈作用的人机接口装置的设计方法,以控制弹性梁的有效变形长度为核心,保证了触觉再现的实时性和准确性,从而可以在操作者指端大范围再现虚拟对象或远程对象的刚度.介绍了该人机触觉再现接口装置的机械设计、传感器系统、直流伺服控制系统以及数据采集系统的设计.该实时触觉再现接口具有尺寸小、刚度再现范围大等特点,可广泛应用于遥操作机器人和虚拟现实领域.
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| 关 键 词： | 触觉再现 传感器 直流伺服电机 数据采集 |
| 文章编号： | 1005-9490（2005）04-0814-04 |
| 收稿时间： | 2005-01-07 |
| 修稿时间： | 2005年1月7日 |
Design and Realization of Real Time Stiffness Display Interface Device |
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| ZH U Qin,SON G A i??guo,L I J ian??qing.Design and Realization of Real Time Stiffness Display Interface Device[J].Journal of Transduction Technology,2005,18(4):814-817. |
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| Authors: | ZH U Qin SON G A i??guo L I J ian??qing |
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| Affiliation: | Department of Instrument Science and Engineering, Southeast University, Nanjing 210096, China |
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| Abstract: | A design scheme of man-computer interface,which can realize real time stiffness display,is proposed.It focuses on the smart control of elastic element's effective deformable length,and assures the real-time and precision of stiffness display,which could replicates the stiffness of a virtual object or remote object with wide range to the fingertip of human operator. The mechanical design,sensors system design,DC Servo control system design and data acquisition system design of the man-computer stiffness display interface device are introduced.This real time stiffness display interface device has characteristics of small dimensions and wide range of stiffness display.It can be widely used in the fields of telerobot and virtual reality. |
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| Keywords: | stiffness display sensor DC servo motor data acquisition |
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