[1]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,(06):713-716.
 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,2009,(06):713-716.
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基于气动人工肌肉力反馈数据手套的柔性物体力觉再现
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2009年06期
页码:
713-716
栏目:
出版日期:
2009-12-30

文章信息/Info

Title:
Force Display of Soft Object of Force Feedback Data Gloves Based on Pneumatic Artificial Muscle
作者:
孙中圣 1 包 钢 2 李小宁 1
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
Author(s):
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
关键词:
虚拟现实 气动 力反馈 数据手套 柔性物体
Keywords:
virtual reality pneumatics force feedback data gloves soft objects
分类号:
TP391.9
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。
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.

参考文献/References:

[ 1] MavroidisC, Pfeifer C, Celestino J, et a.l Controlled compliance haptic interface using electro-rheological fluids[A]. Proceedings of SPIEConference onElec-tro-Active Polymer Actuators andDevices[ C]. Bel-l ingham, WA, USA: SPIE, 2000. 300- 310.
[ 2] FujitaK, OhmoriH. Anew softness display interface by dynamic fingertipcontact area control[A]. Proc of the 5thWorldMult-iConference onSystemics, Cyber-netics and Informatics[ C]. Orlando, USA: SCI, 2001. 78- 82.
[ 3] TanakaY, KanamoriT. Dynamic force display device by pneumatic pressure control[ A]. Proceedings of FifthTriennial International SymposiumonFluidCon-tro,l Measurement andVisualization[ C]. Hayama, Japan: Flucome, 1997. 719- 723.
[ 4] TakaiwaM, NoritsuguT, FujieK. Recognitionof e-lastic characteristic of object using pneumatic parallel manipulator[A]. Proceedingsof the41stSICEAnnual Conference[C]. Washington, DC, USA: IEEECom-puter Society, 2002. 1724-1727.
[ 5] 孙中圣. 具有力觉和触觉的气动数据手套关键技术的研究[D]. 哈尔滨: 哈尔滨工业大学机械工程学院, 2007. 20-25.
[ 6] 隋立明. 气动人工肌肉驱动关节的特性及其在仿人臂中的应用研究[ D]. 哈尔滨: 哈尔滨工业大学机械工程学院, 2004. 15-20.

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备注/Memo

备注/Memo:
基金项目: 国家自然科学基金( 50905089);高等学校博士学科点专项科研基金新教师项目( 200802881002)
作者简介: 孙中圣( 1978- ),男, 博士,主要研究方向: 气动力反馈数据手套、触觉模拟再现与虚拟现实等, E-mail: billsun1978@163. com。
更新日期/Last Update: 2012-11-19