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
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[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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