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Robot tactile sense reproduction method based on water jet stimulation and apparatus therefor

A tactile reproduction, water jet technology, applied in instruments, manipulators, computer control and other directions, can solve the problems of hindering the normal movement of fingers, complex structure, low energy conversion efficiency of vibration and tactile feedback, etc., to avoid difficulties in time adaptation, gentle and comfortable Clear and true tactile sensation, realizing the effect of pressure-temperature fusion tactile reproduction

Inactive Publication Date: 2005-09-07
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The biggest disadvantage of jet haptic feedback is that it has a small bandwidth, about 10Hz
The disadvantage of vibratory tactile feedback is that the structure is complex and inconvenient to install or hinder the normal movement of fingers. In addition, the energy conversion efficiency of vibratory tactile feedback is low, which can easily cause excessive heat and pain, and the noise is also louder when high-frequency vibration
However, due to the use of electric current to directly act on the human body, and the power supply voltage is as high as plus or minus 70V, there are always some operators who have psychological tension and concerns (some operators are not even willing to try), which leads to the stimulation of the body tissue under the electrodes. The state of microcirculation changes significantly, which in turn affects the effect of electrical stimulation and increases the difficulty of tactile reproduction

Method used

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  • Robot tactile sense reproduction method based on water jet stimulation and apparatus therefor
  • Robot tactile sense reproduction method based on water jet stimulation and apparatus therefor
  • Robot tactile sense reproduction method based on water jet stimulation and apparatus therefor

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Embodiment Construction

[0024] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] figure 1 It is a schematic diagram of the principle of the water jet tactile stimulator provided by the present invention. Structurally, the water jet robot tactile reproduction stimulation device consists of a computer 1, a hot water pool 2, a cold water pool 3, a supercharger 4, a low-frequency vibrator 5, a tactile pool 6, a regulating valve 7, a regulating valve 8, a water mixer 9 and an electromagnetic Valve group 10 etc. are made up. The input of the local computer 1 comes from the tactile information of the remote robot, and after the information is processed, the gate of the electromagnetic valve group is controlled through the output port of the computer (such as a parallel port, etc.), thereby forming a local artificial water system that matches the remote tactile information. Jet Haptics. At the same time, ...

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Abstract

The invention relates to the robot touch reappearing method based on water-jet stimulation and its equipment. The local computer receives the remote robot tough information through the communication network, and its output ports connect each information control ends of the water-jet stimulation equipment to control the temperature, the jet pressure of the water-jet and the on-and-off of the nozzle and the water-pressure origin so as to provide the remote robot touch information for the local operator in water flow stimulation pattern. The jet water column stimulation at the finger ends of the operator comprises the pressure slope tough stimulation produced the water pressure and the temperature slope touch stimulation produced by the difference of jet temperature and operator body temperature, and the two slope function together.

Description

technical field [0001] The invention relates to a device for reproducing tactile information of a telerobot, in particular to a real, safe and effective tactile reproduction water jet stimulation device for a robot that enables an operator to obtain a mild and comfortable tactile experience. Background technique [0002] Robot tactile telepresence reproduction technology can effectively enhance the operator's perception of the contact between remote manipulator and object in the remote operation system, so that the operator can quickly and accurately complete the operation task. The tactile ability of the robot is particularly important when tracking grasping, fine manipulation, and visual obstacles such as no lighting and narrow spaces. With the help of remote robots, the scientific exploration and scientific exploration activities of today's human beings go deep into the ocean floor, into space, and as far as planets in the solar system such as...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00G05B15/00
Inventor 帅立国况迎辉姜昌金周山明周芝庭张力刘新宁方仕雄杨莉
Owner SOUTHEAST UNIV
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