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Force Display of Soft Object of Force Feedback Data Gloves Based on Pneumatic Artificial Muscle


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Force Display of Soft Object of Force Feedback Data Gloves Based on Pneumatic Artificial Muscle
SUN Zhong-sheng1BAO Gang2LI Xiao-ning1
1.School of Mechanical Engineering,NUST,Nanjing 210094,China;2.School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150008,China
virtual reality pneumatics force feedback data gloves soft objects
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.


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Last Update: 2012-11-19