一种提高基于线绳的力反馈设备显示阻抗范围的方法

提出一种通过动态调整线绳预紧力提高基于线绳的力反馈设备显示阻抗范围的方法．介绍了基于线绳的力反馈设备的基本结构，从能量耗散的角度分析了线绳张力对设备显示高刚度虚拟物体时稳定性的影响，并分析线绳预紧力与力觉交互透明性之间的关系．为同时满足稳定性和透明性的要求，根据设备操作末端与虚拟物体的接触状态，对线绳的预紧力进行动态调整．实验结果表明，该方法能够在保持设备透明性的同时，有效提高其稳定性，从而提高设备显示的阻抗范围．

A Method for Increasing Impedance Range of String-based Force Feedback Device

A method for increasing impedance range of string-based force feedback device by adjusting the pretightingforce dynamically is proposed. The basic structure of string-based force feedback device is presented, and an energydissipation-based approach is used to analyze the influence of string tension on the stability of haptic display when renderinghigh-stiffness virtual objects. And the relationship between string pretightening force and force interaction transparency isanalyzed. In order to meet the requirements of stability and transparency simultaneously, string pretighting force is adjusteddynamically according to the contact state between the end-effector and virtual objects. Experimental results show that thismethod can tradeoff stability and transparency, thereby enlarge the achievable impedance range.