一种新型的力反馈实现方法

针对虚拟现实和遥操作机器人技术的需要,提出了一种实现力反馈新技术.电流变液是一种智能材料,在电场作用下其流变学特性如粘度能够在几毫秒时间内发生连续可逆的变化.利用电流变液的这种特殊性能,采用类似汽缸和活塞的结构设计了一种力反馈装置,汽缸与活塞分别作为电场的两极,它们之间充满电流变液,当有电场存在时电流变液粘度发生变化,从而阻碍活塞相对汽缸的运动,产生连续可调的阻力.阐述了力反馈装置的设计方法,建立了结构模型和动力学模型,提出了由该装置实现的力反馈数据手套及其控制方法,最后进行虚拟碰撞实验验证了所提出方法的有效性.

Novel technique for force feedback

A novel technique for force feedback is presented for the virtual reality and tele-robotics.Electrorheological fluids are smart materials that experience continuous and reverse changes in rheological properties(such as viscosity) in a few milliseconds in the presence of an electric field.A force feedback interface is developed on basis of this special characteristic of the electrorheological fluids.A quasi-cylinder and quasi-piston is adopted in interface design,the cylinder and the piston act as the electrodes of an electric field which is filled with electrorheological fluid.When an electric field is applied the apparent viscosity increases,the relative motion between the cylinder and piston is resisted,thus a continuously tunable resistance is produced.The designing method of the force feedback interface is presented,the structural and mathematical model are developed,and the control method of the force feedback data glove based on the interface is presented.Finally,a virtual collision experiment is provided to verify the validity of the design.