| 基于气动人工肌肉力反馈数据手套的柔性物体力觉再现 |
| |
| 引用本文： | 孙中圣,包钢,李小宁.基于气动人工肌肉力反馈数据手套的柔性物体力觉再现[J].南京理工大学学报(自然科学版),2009,33(6). |
| |
| 作者姓名： | 孙中圣 包钢 李小宁 |
| |
| 作者单位： | 1. 南京理工大学,机械工程学院,江苏,南京,210094
2. 哈尔滨工业大学,机电工程学院,黑龙江,哈尔滨,150008 |
| |
| 基金项目： | 国家自然科学基金，高等学校博士学科点专项科研基金新教师项目 |
| |
| 摘 要： | 为了模拟抓取虚拟环境中柔性物体的力觉感知,该文对以气动人工肌肉作为驱动器的外骨架力反馈数据手套进行了研究.利用气动人工肌肉的等压特性,建立了柔性物体模拟的数学模型,通过改变气动人工肌肉的充气压力改变其刚度系数,实现对不同柔性物体的模拟.实验结果表明:在相同的手指弯曲角度下,手指的受力随着气动人工肌肉充气压力的增大而增大,因而能够模拟抓取虚拟环境中柔性物体的力觉感知.
|
| 关 键 词： | 虚拟现实 气动 力反馈 数据手套 柔性物体 |
Force Display of Soft Object of Force Feedback Data Gloves Based on Pneumatic Artificial Muscle |
| |
| SUN Zhong-sheng,BAO Gang,LI Xiao-ning.Force Display of Soft Object of Force Feedback Data Gloves Based on Pneumatic Artificial Muscle[J].Journal of Nanjing University of Science and Technology(Nature Science),2009,33(6). |
| |
| Authors: | SUN Zhong-sheng BAO Gang LI Xiao-ning |
| |
| Institution: | SUN Zhong-sheng1,BAO Gang2,LI Xiao-ning1(1.School of Mechanical Engineering,NUST,Nanjing 210094,China,2.School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150008,China) |
| |
| Abstract: | In order to simulate the force perception of grasping soft objects in a virtual environment, the exoskeleton force feedback data gloves using pneumatic artificial muscles as actuators are researched. The mathematical model of soft object simulation is established according to constant pressure characteristics of pneumatic muscle, and by changing the charge pressure in the pneumatic muscle to change its stiffness, the soft object with different stiffness is simulated. The experimental results demonstrate that the finger force increases with the increase of charge pressure in the pneumatic muscle in the case of the same bending angle, and the force perception of grasping the soft object can be displayed. |
| |
| Keywords: | virtual reality pneumatics force feedback data gloves soft objects |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
