Minitype haptic rendering method based on active and passive devices

Abstract

The invention discloses a minitype haptic rendering method based on active and passive devices. The method comprises the steps of firstly conducting calibration on a magnetorheological damper and a continuous current dynamo, and obtaining a relationship of an input current and output torque; converting an expected force / torque value to a current of the magnetorheological damper to input, the corresponding torque is output through the magnetorheological damper, and exerting the torque to the body of an operation person through a force tactile transmission device; secondly, measuring actually exerted force / torque through a sensor installed at a force / torque point of action, comparing an actually output force / torque value with the expected force / torque value, and calculating a force / torque error; finally, converting the force / torque error to an input signal of the continuous current dynamo, and driving the continuous current dynamo to generate torque corresponding to the error. According to the minitype haptic rendering method based on the active and passive devices, minitype devices can output large-range and high-precision force / torque, thus haptic rendering equipment is more light and exquisite, and the fidelity of haptic interaction is improved; the method can be widely applied to the fields of virtual reality, teleoperation robot control, medical service and the like.

Description

Technical field [0001] The invention relates to a force tactile reproduction method, in particular to a high-precision small force tactile reproduction method based on active and passive devices. Background technique [0002] Force tactile reproduction refers to the process in which users touch, feel, and manipulate virtual or remote objects through force tactile reproduction devices to obtain the characteristics of virtual or remote objects and perceive information about virtual or remote objects. Through the force tactile reproduction device, the operator can interact with the virtual or remote environment in a natural way, thereby producing an immersion consistent with the real environment. Force tactile sensing has broad application prospects in virtual reality, teleoperation robots and medical fields. . [0003] Actuating devices are an important part of force tactile reproduction equipment and an important part of transmitting force tactile stimulation. The characteristics o...

AI Technical Summary

Problems solved by technology

These actuators have their own advantages and disadvantages: for example, the DC motor is simple to control and can be precisely controlled, but the torque / volume ratio is small; the magnetorheological damper has high energy density, small size, and large output, but it cannot be precisely controlled.

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