CN108845512B - Large-texture touch reappearance force compensation system and method - Google Patents
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Abstract
The invention provides a large-texture haptic rendering force compensation system and method, wherein a haptic rendering terminal comprises two parts, including: an interactive plate and force feedback glove; the interactive flat plate generates the most basic local surface slope of the large texture, the extrusion force direction and the height difference, the force feedback glove compensates the contact area and the extrusion force of the fingers, and the large texture touch reappearance is completed by primary and secondary matching of the two. When a user operates the system, the interactive flat plate detects the position of the finger in real time, and makes three-degree-of-freedom motion according to the position of the finger, so that the local surface slope, the extrusion force direction and the height difference of the large texture are reproduced; meanwhile, the force feedback glove lifts or presses the finger according to the position of the finger to compensate the contact area and the extrusion force between the interactive flat plate and the operating finger, so that the contact area and the extrusion force are consistent with the actual large texture condition of the finger contact as much as possible. Its advantage does: the interactive flat plate ensures the authenticity of the extrusion force direction; the force feedback glove ensures the authenticity of the change of the area of the finger contact and the change of the extrusion force; the combination of the two can more realistically reproduce a large-grained haptic sensation.
Description
Technical Field
The invention relates to the field of large-texture touch reproduction, in particular to a large-texture touch reproduction force compensation system and method.
Background
In recent years, in the field of force/touch reproduction, research on touch reproduction of surface texture of an object has been rapidly developed. According to the spatial or geometric characteristics of the surface texture of an object, it can be classified into "fine texture" and "large texture". Wherein, the fine texture is the texture with the space gap at millimeter level and below; "macrotexture" is defined relative to fine texture, with spatial separation on the order of centimeters and above, and is mainly represented by the slope and height information of radians.
Furthermore, the research and development of large-texture haptic rendering devices is a hot spot in the field of force/haptic rendering today. And the extrusion radian reproduction is a currently popular radian reproduction mode. The main principle is as follows: the dynamic interactive flat plate does multi-degree-of-freedom movement, and is extruded by the fingers operated by the user to stimulate the skin and muscles of the fingers to generate radian touch information. Such as large-texture haptic rendering systems: great waves et al, "a large texture haptic reproduction system" patent publication 104407707a, which can reproduce local surface slopes and height differences in curvature to a greater extent. However, a problem arises in that it is not possible to reproduce the change in the finger contact area in a more detailed manner, for example, when a user touches a sinusoidal large texture, the finger contact area is small when the wave crest and the downward slope are present, the finger contact area is large when the wave trough and the upward slope are present, and the effect of reproducing the change in the area by the interactive tablet extrusion radian is not obvious. When the change in the finger contact area cannot be accurately reproduced, the distribution of the pressing force to the finger is greatly deviated, and the effect of the large-texture haptic reproduction is greatly reduced.
Disclosure of Invention
The invention mainly aims to overcome the defects in the prior art and provide a large-texture touch reappearing force compensation system and method.
The invention adopts the following technical scheme:
a macro-textured haptic reproduction force compensation system, characterized by: the device comprises an interactive flat plate, force feedback gloves, a main controller, an auxiliary controller, a first transmission mechanism and a second transmission mechanism; the interactive flat panel is used for detecting the position of a finger; the first transmission mechanism is connected with the interactive flat plate to drive the interactive flat plate to move in three degrees of freedom to realize touch reappearance; the force-feedback glove is for wearing by a user; the second transmission mechanism is connected with the force feedback glove to drive the finger part to move; the main controller is connected with the interactive flat plate, the first transmission mechanism and the auxiliary controller to control the first transmission mechanism to work according to the finger position and the large-texture touch model to realize radian reproduction, and meanwhile, the auxiliary controller calculates the area difference of the finger contact point according to the finger position and the large-texture touch model to control the second transmission mechanism to work to perform force compensation.
Preferably, the first transmission mechanism comprises an X-axis moving device, a Y-axis moving device and a rotating device; the X-axis moving device is provided with a first sliding table; the Y-axis moving device is arranged on the first sliding table and is provided with a second sliding table; the rotating device is arranged on the second sliding table and is connected with the interactive flat plate; the main controller is connected with the X-axis moving device, the Y-axis moving device and the rotating device.
Preferably, the second transmission mechanism comprises a linear motor, a base, a connecting rod group and a lantern ring; the base is fixed on the back of the hand of the force feedback glove and is provided with a revolute pair; the linear motor is positioned on the base, and an output shaft of the linear motor is connected with one end of the connecting rod group; the connecting rod group is rotatably connected with the revolute pair, the other end of the connecting rod group is rotatably connected with the lantern ring, and the lantern ring is fixedly sleeved on the finger part of the force feedback glove.
Preferably, the linkage comprises a first connecting rod, a transmission rod and a second connecting rod; one end of the first connecting rod is rotatably connected with the output shaft, the other end of the first connecting rod is rotatably connected with one end of the transmission rod, the transmission rod is rotatably connected with the revolute pair, the other end of the transmission rod is rotatably connected with one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected with the lantern ring.
Preferably, the transmission rod is L-shaped.
Preferably, the main controller and the auxiliary controller are connected by a CAN bus.
Preferably, the force feedback glove is made of acrylic sheet materials.
A large-texture haptic reproduction force compensation method, characterized by: firstly, a user wears a force feedback glove to touch an interactive flat plate, the interactive flat plate detects the position of a finger, and a main controller controls a first transmission mechanism to act and work the interactive flat plate to move in three degrees of freedom according to the position of the finger and a large-texture touch model to realize radian reproduction; meanwhile, the auxiliary controller calculates the area difference of the finger contact points according to the finger position and the large-texture touch model so as to control the second transmission mechanism to work and drive the finger parts of the power feedback gloves to move to realize force compensation.
Preferably, the difference in contact area of the finger is the difference in contact area between the large texture haptic model and the interaction pad at the position of the finger.
Preferably, the curvature reconstruction includes reconstructing a local surface slope and a squeezing force direction of the macro-textured haptic model, and the force compensation is to compensate for a contact area and a squeezing force magnitude between the interactive tablet and the finger.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
in the large texture touch reappearing force compensation system and the method, when a user wears the force feedback glove and touches the interactive flat plate, the main controller controls the movable flat plate to move in three degrees of freedom, and the local surface slope and the extrusion force direction of large textures are reappeared; meanwhile, the main controller transmits the touch position information of the user finger to the auxiliary controller, and the auxiliary controller lifts or presses the user finger up or down according to the position of the finger, for example, lifts the finger up on a wave crest and a downhill and presses the finger down on a wave trough and an uphill, so that the change of the contact area and the change of the extrusion force in the large texture touch are compensated, and the large texture touch is reproduced more really.
All parts of the force feedback glove part adopt acrylic plates as processing raw materials, and the acrylic plates have the characteristics of light weight, long service life, strong impact resistance, convenient maintenance and easy cleaning, and are very suitable for selecting the material of the force feedback glove.
Drawings
FIG. 1 is a schematic view of the detailed structure and components of a force-feedback glove of the present invention;
FIG. 2 is a schematic view of a slider-crank mechanism and a planar four-bar linkage of the force feedback glove of the present invention;
FIG. 3 is a schematic view of an "L" shaped rigid rod configuration of the force feedback glove of the present invention;
FIG. 4 is a schematic representation of the kinematic principle of the force-feedback glove of the present invention;
FIG. 5 is a schematic view of an interactive tablet;
FIG. 6 is a schematic view of a control system according to the present invention;
wherein: 1. the device comprises a first connecting rod, a first transmission part, a first support, a second transmission part, a linear motor, a first transmission part, a second connecting rod, a second transmission part, a third transmission part, a fourth transmission part, a fifth transmission part, a sixth transmission part, a.
Detailed Description
The invention is further described below by means of specific embodiments.
Referring to fig. 1 to 6, a macro-texture haptic rendering force compensation system includes an interactive plate 18, a force feedback glove 14, a main controller 19, an auxiliary controller 20, a first actuator and a second actuator, etc. The interactive pad 18, which may be a touch pad such as a capacitive touch screen, may display a touch interactive interface, detect finger position, and move on command to produce the most basic local surface slope of the macro texture, extrusion force direction, i.e., height difference, etc.
The first transmission mechanism is connected with the interactive flat plate 18 and is used for driving the interactive flat plate 18 to move in three degrees of freedom to realize touch reappearance. Specifically, the X-axis moving device 15, the Y-axis moving device 16, the rotating device 17, and the like are included. The X-axis moving device 15 is provided with a first slide table, etc., which can be controlled to slide along the X-axis. The Y-axis moving device 16 is mounted on the first slide table and provided with a second slide table which can be controlled to slide along the Y-axis. The rotating device 17 is installed on the second sliding table and connected with the interactive flat plate 18, and an output shaft of the rotating device 17 is connected with the interactive flat plate 18 to drive the interactive flat plate 18 to rotate. The X-axis moving device 15, the Y-axis moving device 16, and the rotating device 17 are all implemented by ac servo motors, the X-axis moving device 15 and the Y-axis moving device 16 may be linear motors, and the rotating device 17 may be a rotating motor.
The force feedback glove 14 is adapted to be worn by a user and is controlled to move to compensate for the contact area between the finger and the interactive tablet 18 and the amount of squeezing force. The force feedback glove 14 is made of acrylic sheet material and includes a back of the hand and fingers 8. The second actuator is coupled to the force-feedback glove 14 to drive movement thereof. The second transmission mechanism specifically comprises a linear motor 4, a base 9, a connecting rod group, a lantern ring 10 and the like. This linear electric motor 4 is piezoelectric type linear electric motor, and piezoelectric type linear electric motor response speed is fast, and the motion precision is high, can reach nanometer precision, and the device is miniaturized, can effectively reduce the whole weight of device, greatly reduces the complexity of user's bearing burden and device.
The linkage comprises a first connecting rod 1, a transmission rod 13 and a second connecting rod 7, wherein one end of the first connecting rod 1 is connected with an output shaft 5 of a linear motor 4, the first connecting rod and the output shaft are rotatably connected through a second revolute pair R2, and the first connecting rod 1 can convert the linear motion of the output shaft 5 into rotation. The other end of the first connecting rod 1 is rotatably connected with one end of the transmission rod 13 through a first revolute pair R1, and the end of the transmission rod 13 is linked with the first connecting rod 1. The other end of the transmission rod 13 is rotatably connected with one end of the second connecting rod 7 through a fourth revolute pair R4, and the other end of the second connecting rod 7 is rotatably connected with the lantern ring 10 through a fifth revolute pair R5. The ring 10 is fixedly sleeved on the finger portion 8 of the force feedback glove 14 and is linked with the second link 7. The transmission rod 13 is L-shaped and is provided with a first transmission part 2 and a second transmission part 6, the length of the first transmission part 2 is smaller than that of the second transmission part 6, the output line speed can be amplified, and the amplification factor is the ratio of the second transmission part 6 to the first transmission part 2.
The base 9 is fixed on the back of the hand of the force feedback glove 14 and is provided with a bracket 3, a revolute pair, namely a third revolute pair R3, is arranged on the bracket 3, and the bracket 3 is rotatably connected with the transmission rod 13 through the third revolute pair R3, namely when one end of the transmission rod 13 is pulled by the first connecting rod 1 to turn downwards, the other end of the transmission rod 13 turns upwards, and the moving directions of the two ends of the transmission rod 13 are opposite. The linear motor 4 is located on the base 9, and its output shaft 5 is connected to the first link 1.
The main controller 19 is connected with the interactive flat plate 18, the X-axis moving device 15, the Y-axis moving device 16 and the rotating device 17 of the first transmission mechanism, and the auxiliary controller 20, and the main controller 19 is connected with the auxiliary controller 20 through a CAN bus. The main controller 19 is provided with a large texture touch module which can control the first transmission mechanism to work according to the position of the finger and the large texture touch model, so that the interactive flat plate 18 moves along the X axis (left and right), the Y axis (up and down) and rotates in three degrees of freedom, thereby realizing the radian representation. Meanwhile, the main controller 19 sends the finger position to the auxiliary controller 20, a large texture touch model is arranged in the auxiliary controller 20, the large texture touch model calculates the area difference of the finger contact point according to the finger position and the large texture touch model, and controls the second transmission mechanism to work, so that the glove lifting or pressing finger parts 8 are enabled to perform force compensation, for example, the finger parts 8 are lifted at the wave crest and the downhill, and the finger parts 8 are pressed at the wave trough and the uphill, so that the change of the contact area and the change of the extrusion force in the large texture touch are compensated, and the large texture touch is more truly reproduced.
The interactive flat plate 18 ensures the authenticity of the direction of the extrusion force, the force feedback glove 14 ensures the authenticity of the change of the area of the finger contact and the change of the size of the extrusion force, and the combination of the two can truly reproduce the large texture touch sense. The fingers 8 of the force feedback glove 14 of the present invention may include a thumb, an index finger, a middle finger, a ring finger and a little finger, and the second transmission mechanism may be one of the fingers, two of the fingers or even five of the fingers, or a plurality of second transmission mechanisms may control the corresponding fingers 8 respectively. The collar 10 is worn at a second joint of the user's digit 8, for example the index finger.
The invention also provides a compensation method for the large-texture touch reappearance force, firstly, a user wears a force feedback glove 14 to touch the interactive flat plate 18, the interactive flat plate 18 detects the position of a finger in real time, and the main controller 19 controls the first transmission mechanism to work according to the position of the finger and the large-texture touch model to work the interactive flat plate 18 to move in three degrees of freedom to realize radian reappearance; meanwhile, the auxiliary controller 20 calculates the area difference of the finger contact points according to the finger position and the large-texture touch model to control the second transmission mechanism to work and drive the finger part of the power feedback glove 14 to move so as to realize force compensation.
The radian reappearance comprises reappearance of the local surface slope, the extrusion force direction and the like of the large-texture touch model, and the force compensation is to compensate the contact area between the interaction panel 18 and the finger, the extrusion force magnitude and the like. The difference in finger contact area is the difference in contact area between the large texture haptic model and the finger position in the interactive tablet 18. The contact area difference is converted into the motion magnitude of the finger part 8, the force feedback glove 14 is controlled to press down or lift up the user operating finger, and the finger area change information and the extrusion force magnitude information in the large texture touch are compensated.
For example, a sine big texture with a period of 8cm and an amplitude of 3mm is reproduced, and the specific calculation method is as follows:
the contact surface is approximately regarded as an ellipsoid, from which it follows that the finger contact area is approximately:
s＝JIab
wherein: a is a finger contact surface long semi-axis, and b is a finger contact surface short semi-axis. The difference in finger contact area results from the difference between the major axis a and the minor axis b. In addition, the minor axis b is determined by the angle theta between the major axis a and the tangent of the finger contact point. According to statistics and fitting, the variable relation of each part is as follows:
1. when a sine big texture is touched, the relation between the half major axis a and the real-time position x of the finger is represented by the following piecewise function:
when x is more than 0.0cm and less than 5.0cm,
2a＝0.003xs-0.116x4+1.096x3-2.919x2+0.921x+17.01；
when x is more than 5.0cm and less than 8.0cm,
2a＝0.003x5-0.116x4+1.096x3-2.1738x2-7.34484x+30.4992；
2. when the sine big texture is touched, the relation between the included angle theta and the real-time position x of the finger is calculated in the following mode, firstly, the included angle phi between the finger and the horizontal direction is calculated;
when x is more than 0.0cm and less than 4.0cm,
when x is more than 4.0cm and less than 8.0cm,
and then, calculating the included angle 0 according to the finger position x (the result is an angle system):
3. when the sine big texture is touched, the relation between the short half shaft b and the long half shaft a and the included angle theta is formed;
2b＝-2.159+0.1498*θ+0.6771*2a-0.0009487θ2+0.0009932*2a*θ
-0.009273*4a2；
because the interactive flat plate 18 simulates the local surface slope of the large texture, the included angle theta of the tangent line of the finger contact point and the included angle beta of the finger and the interactive flat plate 18 are consistent. Therefore, both angles are replaced with θ in the following description.
When the interactive plate 18 is touched, the relationship between the half-length axis a' and the real-time position x of the finger is represented by the following fitting formula:
2a′＝-0.022x4+0.304x3-1.051x2+0.160x+10.7；
when the interactive flat plate 18 is touched, the angle theta between the real-time position x of the finger and the interactive flat plate 18 is the same as the fitting formula of the sine big texture;
when the interactive flat plate 18 is touched, the relationship between the minor semi-axis b 'and the major semi-axis a' and the included angle theta is obtained;
2b′＝-2.159+0.1498*θ+0.6771*2a′-0.0009487*θ2+0.0009932* 2a′*θ-0.009273*4a′2；
according to the above variables of each part, the areas of the two touch modes are respectively calculated, and a difference value Δ s can be obtained by making a difference, and the difference value is an area compensation value to be compensated for by the force feedback glove 14, as follows:
Δs＝JI*a*b-JI*a’*b’
the sizes of all parts of the second transmission mechanism can be determined by calculation of an analytical method, wherein the first connecting rod 1, the first transmission part 2 and the bracket 3 form a crank-link mechanism, and the geometrical conditions to be met are as follows: l1＞12+l3；
Wherein: l1Being a first connecting rod 1A length;
l2the length of the first transmission part 2;
l3is the height difference between the third revolute pair R3 and the second revolute pair R2 in the vertical direction.
The crank connecting rod mechanism has the following relevant kinematic relation formula:
wherein: the horizontal right direction is defined as the positive direction, as shown by the direction of the broken line in FIG. 4
l2The length of the first transmission part 2;
ω2is the second included angle
Rotational angular velocity, that is, angular velocity at which the first transmission unit 2 rotates about the third revolute pair R3;
Vsis the moving speed of the output shaft 5 of the piezoelectric linear motor.
The second transmission part 6 and the second connecting rod 7 form a planar four-bar kinematic chain 12, and the kinematic relation formula is as follows:
wherein: the horizontal right direction is defined as the positive direction, as shown by the direction of the broken line in FIG. 4
hl3The length of the fingers 8;
dl2the length of the second transmission part 6;
dl1is the length of the second link 7;
dl7is the length shown at 22 in fig. 4, i.e., the distance from the fifth revolute pair R5 to the center of the collar 10;
the fifth angle in fig. 4 is an angle between the second link 7 and the horizontal positive direction by taking R4 as the rotation center;
the sixth angle in fig. 4 is an angle between the second link 7 and the horizontal positive direction by taking R5 as the rotation center;
ω7is a seventh included angle
Rotational angular velocity;
ω6is a sixth included angle
Rotational angular velocity;
ω5is a fifth included angle
The rotational angular velocity of (a);
ω4is a fourth included angle
The rotational angular velocity of (a);
the sizes of all parts of the plane four-bar motion chain 12 can be determined by an experimental method due to complex calculation, the sizes of all parts do not need to meet the sum condition of the bar lengths, and the whole part forms a double-rocker mechanism.
The first revolute pair R1, the second revolute pair R2, the third revolute pair R3, the fourth revolute pair R4 and the fifth revolute pair R5 all use micro bearings with the outer diameter of 5mm and the inner diameter of 2mm, and each revolute pair consists of two micro bearings and a connecting rod.
In addition, the piezoelectric linear motor may be selected from piezo motors, and its main parameters are: the output force is 20N, the maximum self-sustaining force is 22N, the motion speed range is 0-10mm/s, the motion positioning precision is less than 1nm, the maximum voltage is 48V, and the normal operation temperature is-20 ℃ to 70 ℃.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (10)
1. A macro-textured haptic reproduction force compensation system, characterized by: the device comprises an interactive flat plate, force feedback gloves, a main controller, an auxiliary controller, a first transmission mechanism and a second transmission mechanism; the interactive flat panel is used for detecting the position of a finger; the first transmission mechanism is connected with the interactive flat plate to drive the interactive flat plate to move in three degrees of freedom to realize touch reappearance; the force-feedback glove is for wearing by a user; the second transmission mechanism is connected with the force feedback glove to drive the finger part to move; the main controller is connected with the interactive flat plate, the first transmission mechanism and the auxiliary controller to control the first transmission mechanism to work according to the finger position and the large-texture touch model to realize radian reproduction, the main controller transmits the touch position information of the finger of the user to the auxiliary controller, and meanwhile, the auxiliary controller calculates the area difference of the finger contact according to the finger position and the large-texture touch model to control the second transmission mechanism to work to perform force compensation.
2. A macro-textured haptic reproduction force compensation system as claimed in claim 1 further comprising: the first transmission mechanism comprises an X-axis moving device, a Y-axis moving device and a rotating device; the X-axis moving device is provided with a first sliding table; the Y-axis moving device is arranged on the first sliding table and is provided with a second sliding table; the rotating device is arranged on the second sliding table and is connected with the interactive flat plate; the main controller is connected with the X-axis moving device, the Y-axis moving device and the rotating device.
3. A macro-textured haptic reproduction force compensation system as claimed in claim 1 wherein: the second transmission mechanism comprises a linear motor, a base, a connecting rod group and a lantern ring; the base is fixed on the back of the hand of the force feedback glove and is provided with a revolute pair; the linear motor is positioned on the base, and an output shaft of the linear motor is connected with one end of the connecting rod group; the connecting rod group is rotatably connected with the revolute pair, the other end of the connecting rod group is rotatably connected with the lantern ring, and the lantern ring is fixedly sleeved on the finger part of the force feedback glove.
4. A macro-textured haptic reproduction force compensation system as claimed in claim 3 wherein: the connecting rod group comprises a first connecting rod, a transmission rod and a second connecting rod; one end of the first connecting rod is rotatably connected with the output shaft, the other end of the first connecting rod is rotatably connected with one end of the transmission rod, the transmission rod is rotatably connected with the revolute pair, the other end of the transmission rod is rotatably connected with one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected with the lantern ring.
5. A macro-textured haptic reproduction force compensation system as claimed in claim 4 wherein: the transmission rod is L-shaped.
6. A macro-textured haptic reproduction force compensation system as claimed in claim 1 wherein: the main controller and the auxiliary controller are connected by adopting a CAN bus.
7. A macro-textured haptic reproduction force compensation system as claimed in claim 1 wherein: the force feedback gloves are made of acrylic plates.
8. A large-texture haptic reproduction force compensation method, characterized by: the large-texture haptic rendering force compensation system of any one of claims 1 to 7 is adopted, firstly, a user wears a force feedback glove to touch an interactive flat plate, the interactive flat plate detects the position of a finger, and a main controller controls a first transmission mechanism to work according to the position of the finger and a large-texture haptic model to work and the interactive flat plate to move in three degrees of freedom to achieve radian rendering; meanwhile, the main controller transmits the information of the touch position of the finger of the user to the auxiliary controller, and the auxiliary controller calculates the area difference of the finger touch point according to the finger position and the large-texture touch model so as to control the second transmission mechanism to work and drive the finger parts of the power feedback gloves to move to realize force compensation.
9. A macro-textured haptic reproduction force compensation method as claimed in claim 8, wherein: and the difference of the contact areas of the fingers is the difference of the contact areas of the positions of the fingers in the large-texture touch model and the interactive flat plate.
10. A macro-textured haptic reproduction force compensation method as claimed in claim 9, wherein: the radian representation comprises the reproduction of the local surface slope and the extrusion force direction of the large-texture touch model, and the force compensation is the compensation of the contact area and the extrusion force between the interactive flat plate and the finger.
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| CN104407707A (en) * | 2014-12-08 | 2015-03-11 | 厦门大学 | Large texture haptic representation system |
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| CN103439030B (en) * | 2013-09-17 | 2015-10-07 | 东南大学 | Texture force measuring method in a kind of haptic feedback |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104407707A (en) * | 2014-12-08 | 2015-03-11 | 厦门大学 | Large texture haptic representation system |
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