虚拟环境热触觉的显示装置与材质识别实验

基于半无限体模型,研究了热触觉感知的机理.设计了热触觉显示装置,通过控制半导体制冷器的温度变化来实现热触觉显示.该装置的控温范围为-10 ～60℃,温度分辨率和精度分别为0.02和0.1℃,升温或降温速率大于10℃/s.定制了柔性镍金属薄片式温度传感器,尺寸为8mm×20 mm ×0.6 mm,时间常数τ＜0.15 s...

Thermal tactile display device and material discrimination experiments in virtual environment

Based on semi-infinite model,the mechanism of thermal tactile perception was studied.The thermal tactile display device(TTDD),on which thermal tactile display can be realized by controlling the temperature of semiconductor cooler,was designed.Temperature range of the device is-10 to 60 ℃.The temperature resolution and the accuracy of the device are 0.02 and 0.1 ℃ respectively,and heating or cooling rate is greater than 10 ℃ / s.The flexible thin-film temperature sensor of nickel was customized.The dimension of the sensor is 8 mm×20 mm×0.6 mm and the time constant is less than 0.15 s.At the contact surface between fingers and object,the real-time temperature of finger skin(RTFS) was measured.The temperature of the contact surface of the TTDD was controlled to approximate the RTFS as much as possible,which is the way to reproduce the thermal tactile perception of the real world.In the virtual environment,the experiments of material discrimination were carried out and the rate of correctness is above 70%.Experimental results show that the TTDD and the method of reproducing thermal tactile perception can reproduce the thermal tactile perception of the real world with a strong sense of reality and immersion.