CN106843506A - A kind of texture haptic display interface arrangement - Google Patents
A kind of texture haptic display interface arrangement Download PDFInfo
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- CN106843506A CN106843506A CN201710168781.9A CN201710168781A CN106843506A CN 106843506 A CN106843506 A CN 106843506A CN 201710168781 A CN201710168781 A CN 201710168781A CN 106843506 A CN106843506 A CN 106843506A
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- box
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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Abstract
The invention discloses a kind of texture haptic display interface arrangement, the interface arrangement includes box-like base, the many longitudinal elasticity wires for arranging in length and breadth are provided with box-like base, transverse elasticity wire, longitudinal elasticity wire, free end corresponding to transverse elasticity wire is fixed by the fixing pipe that insulate with box-like base side wall respectively, ER fluid is full of in box-like base, box-like base is fixedly arranged above flexible cover plate, longitudinal elasticity wire, one end of free end corresponding to transverse elasticity wire is respectively provided with polarized identical electrode, it is provided with flexible cover plate and longitudinal elasticity wire, the opposite polarity electrode of transverse elasticity wire；The drawbacks of being existed using power haptic interaction device present invention aim at the existing reproducing texture force touch of solution, and then offer one kind may be such that operator obtains the more preferable sense of reality and feeling of immersion in virtual environment, can also improve control of the operator to virtual objects and the interface arrangement for finding out ability to virtual environment.
Description
Technical field
The invention belongs to technical field of virtual reality, and in particular to a kind of texture haptic display for realizing man-machine interaction
Interface arrangement.
Background technology
Texture haptic display technology is a kind of human-computer interaction technology of the tactilely-perceptible mechanism based on people, technical modelling people
Body carries out the process of tactilely-perceptible to real-world object, realize to far or dummy object surface texture information perception with reproduce.
Texture haptic display technology by texture tactilely-perceptible provide the user with to dummy object more truly with naturally contact, more preferably
Improve Consumer's Experience in virtual environment.As a key areas in haptic feedback, reproducing texture force touch skill
Art is of increased attention.
Surface texture is an important attribute of real-world object, and people is described and distinguished in life by the surface texture of real-world object
Object.Texture force touch is an important component of haptic feedback research, and reproducing texture force touch technology is mainly ground
Study carefully and how the texture information of body surface is fed back into operator by tactile representation device.The technology can make operator preferably
Perceptual object surface, obtains more real touch feeling.By the combination of texture haptic technology and virtual reality technology, not only may be used
So that operator obtains the more preferable sense of reality and feeling of immersion in virtual environment, control of the operator to virtual objects can also be improved
System finds out ability with to virtual environment.
In recent years, with the research and development of texture force touch technology, its range of application is also increasingly wider, in medical science, industry, distant
The fields such as operation, art, education, amusement suffer from being widely applied.In medical domain, long-range doctor can be realized with the technology
Treat, doctor perceives the texture sense of touch of human organ in operative site by haptic apparatus, obtains more accurately pathological information, carries
The success rate of height operation, it is possible to achieve sham operated training, reduces intern's training input；Texture haptic technology is introduced empty
Intend workpiece assembling link, the sense of reality of the operator to component assembly can be strengthened；In teleoperation, can be by haptic apparatus
Experience true environment where teleoperation robot, and Manipulation of the machine people's system goes to complete the task under specific environment；Texture is touched
Feel that reproducing technology is applied in virtual art museum and exhibition, visitor can be made to pass through tactile sense reproduction equipment and touch preciousness
The art work or historical relic, obtain to the more preferable understanding of artistic work, meet the cognitive need of visitor；In education sector,
Can make student that more material properties are recognized in classroom, reduce the directly contact of student and dangerous goods；In show business
In, player can preferably be immersed in virtual world by power haptic apparatus, obtain more preferable game experiencing.
In reproducing texture force touch, in order to tactile when simulating people's contact object is, it is necessary to by power haptic interaction device,
The equipment is referred to as touch feedback or force feedback equipment.Power haptic interaction device is a kind of can produce by computer drives
The computer peripheral of raw force feedback.General power haptic interaction device all has the Man Machine Interface held and do not design, convenient
Operator uses.Be defined as man-machine interaction structure by Bailenson：For experience power tactile changes what is controlled for operator or dressed
Mechanical structure.At present ground ingeniously go out power haptic interaction device according to its free degree difference can be divided into 2DOF, 3DOF,
6DOF power haptic interaction device.In addition to by means of haptic device equipment, Distributed Multi vibration simulation can also be used
The method of texture.The method needs the vibration array module of design specialized, when staff touches vibration array module, in the module
Vibration unit feed back the tactile data that as needed and produce correspondence vibration, by controlling vibration unit and vibration frequency
Size allows people to obtain texture tactile impressions information.Such as Sarakoglou have developed a kind of pulling type needle-like array, and the array is by 4 × 4
Individual contact is constituted, and each contact one vibrating motor of correspondence, 16 vibrating motors provide relevant position to contact array simultaneously
Pulling force, and transmitted from vibrating motor pulling force using cable actuator to needle-like array-so as to realize texture information expression again
It is existing.Konyo and Yoshida et al. devise a kind of equipment that dummy contact is reproduced using various vibration frequencies, and the equipment is worn
The finger tip of finger is worn over, by changing time of vibration, vibration frequency and the amplitude of haptic stimulus as the response of the motion of hand,
So as to produce the virtual sense of touch of roughness, pressure and frictional force.
The texture haptic display interface arrangement that presently, there are mostly just with commercialized power haptic interaction device such as Phantom,
Falcon, Delta and Sigma etc., these equipment have compared with multiple degrees of freedom, but are all driven by motor, use rigid structure mostly
Connection, the less stable when object texture is simulated, easily produces distortion, cannot particularly simulate the texture of compliance object,
And simulate object texture when can only single-point simulation, it is impossible to simulate dynamic texture.Using dot matrix texture tactile array energy
Enough preferably simulation object textures, but the vibration that dot matrix texture haptic display interface arrangement is produced by vibrating motor mostly at present
Simulation object texture, stability is bad, and vibration information and real texture information are still present gap, user texture tactile
The sense of reality is not still strong, and equally there is also cannot simulate the problem of compliance object texture, and drive dot matrix by motor
Texture haptic configuration is extremely complex, and volume is big, weight weight.
The content of the invention
The present invention provides a kind of texture haptic display interface arrangement for realizing man-machine interaction, it is therefore intended that solve existing
The drawbacks of reproducing texture force touch is existed using power haptic interaction device, and then offer one kind may be such that operator in virtual ring
The more preferable sense of reality and feeling of immersion are obtained in border, control of the operator to virtual objects and the spy to virtual environment can also be improved
Know the interface arrangement of ability.
The present invention is achieved through the following technical solutions：
A kind of texture haptic display interface arrangement, the interface arrangement includes box-like base（1）, box-like base（1）Inside it is provided with
The many longitudinal elasticity wires for arranging in length and breadth（5）, transverse elasticity wire（4）, longitudinal elasticity wire（5）, transverse elasticity wire（4）
Corresponding free end is respectively by the fixing pipe that insulate（8）With box-like base（1）Side wall is fixed, box-like base（1）It is interior fully charged
Rheology liquid（10）, box-like base（1）It is fixedly arranged above flexible cover plate（6）, longitudinal elasticity wire（5）, transverse elasticity wire（4）Institute
One end of corresponding free end is respectively provided with polarized identical electrode, flexible cover plate（6）On be provided with and longitudinal elasticity wire
（5）, transverse elasticity wire（4）Opposite polarity electrode.
Further Technological improvement plan is the present invention：
The longitudinal elasticity wire（5）, transverse elasticity wire（4）One end is respectively arranged with longitudinal positive electrode（7）, horizontal positive electrode
（2）, compliant conductive cover plate（6）On be provided with negative electrode（3）.
Further Technological improvement plan is the present invention：
The longitudinal elasticity wire（5）, transverse elasticity wire（4）It is made by metallic resilient material.
Further Technological improvement plan is the present invention：
The flexible cover plate（6）It is made up of metal material.
Further Technological improvement plan is the present invention：
A kind of texture haptic display interface arrangement according to claim 1 and 2, it is characterised in that：The box-like base（1）
It is made up of insulating materials.
The present invention compared with prior art, with following obvious advantage：
First, the present invention uses emerging electro-rheological technology, ER fluid to produce electric rheological effect under electric field action, makes sign electricity
The apparent viscosity of rheology liquid flow variation characteristic changes, can moment from Newtonian liquid state change be class solid state, and
And the process is reversible, therefore the ER fluid scope applicable when object texture is simulated is wider, can simulate range in stiffness very big
The texture of object, the advantage for particularly having uniqueness in body tissue texture is simulated.
2nd, interface arrangement of the present invention is dissipative type, therefore good stability, and fidelity is high during simulation object texture.
3rd, the texture information of present invention simulation real-world object, with more authenticity.
4th, the present invention can simulate the dynamic texture information of object by controlling the size of electric field or whetheing there is.
5th, simple structure of the present invention, whole device simple structure, compact, machining accuracy requirement is not also high.
6th, present invention control is simple, and electric field signal has clear and definite functional relation with ER fluid rigidity signal, therefore only
Different electric fields need to be applied just can exactly control its rigidity such that it is able to simulate different types of texture information.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is principle of the invention schematic diagram.
Specific embodiment
The box-like base 1 that the present invention is made including an insulating materials, the transverse elasticity that four metallic resilient materials are made
Wire 4, the longitudinal elasticity wire 5 that four metallic resilient materials are made, four horizontal positive electrodes 2, four longitudinal positive electrodes 7, one
Root negative electrode 3,6, the 16 insulation fixing pipes 8 of flexible cover plate being made up of metal material, appropriate ER fluid 9.
Box-like base 1 sets four transverse elasticity wires 4 and four longitudinal elasticity wires 5, transverse elasticity wire 4 and longitudinal elasticity wire
5 are fixed on box-like base 1 by the fixing pipe 8 that insulate, and one end of four transverse elasticity wires 4 is being respectively provided with four transverse directions just
Electrode 2, one end of four longitudinal elasticity wires 5 is respectively provided with four longitudinal positive electrodes 7, and a negative electricity is set on flexible cover plate 6
Pole 3, is full of ER fluid 9 in box-like base 1, is covered with compliant conductive cover plate 6 on ER fluid 9, and flexible cover plate 6 is fixed on
On box-like base 1.
The present invention is as follows for realizing the texture haptic display interface arrangement operation principle of man-machine interaction：Texture haptic display
Interface arrangement is as shown in Figure 1 and Figure 2.When the applied voltage between the positive electrode and negative electrode of certain root electrode, elastic wire with it is soft
Electric field is produced between property conductive cover plate, the electric field is perpendicular to elastic wire and points to compliant conductive cover plate, under the electric field action,
ER fluid is forming chain structure along direction of an electric field, and the ER fluid hardness above the root elastic wire becomes big, and voltage is bigger,
Electric field is stronger, and chain structure is stronger, and hardness is bigger, and the presence of texture can be just felt when operator touches flexible cover plate.
Can reflect different when in different laterally or longitudinally applied voltages between elastic wire and flexible cover plate, on flexible cover plate
Texture information and shape information, when in different, laterally or longitudinally applying, revocation are electric in turn between elastic wire and flexible cover plate
During pressure, dynamic texture information can be reflected on flexible cover plate.
According to the difference of actual object texture size and shape, can by increase horizontal and vertical elastic wire quantity,
Change the density of setting between wire, so as to effectively simulate the texture of object.Compliance according to actual object is different, can be with
The voltage of elastic wire and flexible cover plate is applied to by changing, so as to improve the authenticity of operator's texture sense of touch.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned implementation method, also includes
Constituted technical scheme is combined by above technical characteristic.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (5)
1. a kind of texture haptic display interface arrangement, it is characterised in that：The interface arrangement includes box-like base（1）, box-like bottom
Seat（1）Inside it is provided with many longitudinal elasticity wires for arranging in length and breadth（5）, transverse elasticity wire（4）, longitudinal elasticity wire（5）, it is horizontal
To elastic wire（4）Corresponding free end is respectively by the fixing pipe that insulate（8）With box-like base（1）Side wall is fixed, box-like bottom
Seat（1）It is interior full of ER fluid（10）, box-like base（1）It is fixedly arranged above flexible cover plate（6）, longitudinal elasticity wire（5）, laterally
Elastic wire（4）One end of corresponding free end is respectively provided with polarized identical electrode, flexible cover plate（6）On be provided with
Longitudinal elasticity wire（5）, transverse elasticity wire（4）Opposite polarity electrode.
2. a kind of texture haptic display interface arrangement according to claim 1, it is characterised in that：The longitudinal elasticity wire
（5）, transverse elasticity wire（4）One end is respectively arranged with longitudinal positive electrode（7）, horizontal positive electrode（2）, flexible cover plate（6）On set
It is equipped with negative electrode（3）.
3. a kind of texture haptic display interface arrangement according to claim 1 and 2, it is characterised in that：The longitudinal elasticity
Wire（5）, transverse elasticity wire（4）It is made by metallic resilient material.
4. a kind of texture haptic display interface arrangement according to claim 1 and 2, it is characterised in that：The flexible cover plate
（6）It is made up of metal material.
5. a kind of texture haptic display interface arrangement according to claim 1 and 2, it is characterised in that：The box-like base
（1）It is made up of insulating materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710168781.9A CN106843506A (en) | 2017-03-21 | 2017-03-21 | A kind of texture haptic display interface arrangement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710168781.9A CN106843506A (en) | 2017-03-21 | 2017-03-21 | A kind of texture haptic display interface arrangement |
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| CN106843506A true CN106843506A (en) | 2017-06-13 |
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| CN201710168781.9A Pending CN106843506A (en) | 2017-03-21 | 2017-03-21 | A kind of texture haptic display interface arrangement |
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