CN206546552U - A kind of texture haptic display interface arrangement based on ER fluid - Google Patents
A kind of texture haptic display interface arrangement based on ER fluid Download PDFInfo
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- CN206546552U CN206546552U CN201720275222.3U CN201720275222U CN206546552U CN 206546552 U CN206546552 U CN 206546552U CN 201720275222 U CN201720275222 U CN 201720275222U CN 206546552 U CN206546552 U CN 206546552U
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Abstract
The utility model discloses a kind of texture haptic display interface arrangement based on ER fluid, the interface arrangement includes box-like base, the many longitudinal elasticity arranged in length and breadth wires 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 arranged with polarity identical electrode, it is provided with flexible cover plate and longitudinal elasticity wire, the opposite polarity electrode of transverse elasticity wire, ER fluid is forming chain structure along direction of an electric field under electric field action；Purpose is that solving existing reproducing texture force touch uses the drawbacks of power haptic interaction device is present, and then offer one kind may be such that operator obtains the more preferable sense of reality and feeling of immersion in virtual environment, control of the operator to virtual objects and the interface arrangement for finding out ability to virtual environment can also be improved.
Description
Technical field
The utility model belongs to technical field of virtual reality, and in particular to a kind of texture haptic display based on ER fluid
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 to real-world object carry out tactilely-perceptible process, realize to far or dummy object surface texture information perception and reproduction.
Texture haptic display technology is provided the user with to dummy object more truly with naturally contacting by texture tactilely-perceptible, more preferably
Ground improves the Consumer's Experience in virtual environment.It is used 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 by the surface texture of real-world object to give birth to
Object in work.Texture force touch is an important component of haptic feedback research, reproducing texture force touch technology master
Study and how the texture information of body surface by tactile representation device is fed back into operator.The technology can make operator more
Perceptual object surface, obtains more real touch feeling well.By the combination of texture haptic technology and virtual reality technology, no
It only may be such that operator obtains the more preferable sense of reality and feeling of immersion in virtual environment, operator can also be improved to virtual objects
Control with ability is found out to virtual environment.
In recent years, with the research and development of texture force touch technology, its application is also increasingly wider, in medical science, work
The fields such as industry, remote operating, art, education, amusement suffer from being widely applied.In medical domain, it can be realized with the technology
Tele-medicine, doctor perceives the texture sense of touch of human organ in operative site by haptic apparatus, obtains more accurately pathology
Information, improves the success rate of operation, it is possible to achieve simulation surgery training, reduces intern's training input；By texture tactile skill
Art introduces virtual workpiece assembling link, can strengthen the sense of reality of the operator to component assembly；In teleoperation, it can pass through
Haptic apparatus experiences true environment where teleoperation robot, and Manipulation of the machine people's system goes to complete the task under specific environment；
Texture haptic display technology is applied on virtual art museum and exhibition, visitor can be made to pass through tactile sense reproduction equipment
The precious art work or historical relic is touched, the more preferable understanding to artistic work is obtained, meets the cognitive need of visitor；In education
In field, student can be made to recognize more material properties in classroom, reduce student and contacted with the direct of dangerous goods；
In show business, 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 which 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 designed, convenient
Operator uses.Man-machine interaction structure is defined as by Bailenson：Control or dress for operator for experience power tactile change
Mechanical structure.Ground at present the power haptic interaction device that ingeniously goes out 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.This method needs the vibration array module of design specialized, when human hand 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 one vibrating motor of each contact correspondence, 16 vibrating motors provide relevant position to contact array simultaneously
Pulling force, and using cable actuator transmitted at vibrating motor pulling force to needle-like array-so as to realizing texture information expression again
It is existing.Konyo and Yoshida et al. devise a kind of equipment that dummy contact is reproduced using a variety of 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, used mostly by motor
Rigid structure is connected, the less stable when simulating object texture, is easily produced distortion, particularly can not be simulated compliance object
Texture, and simulate object texture when can only single-point simulation, it is impossible to simulate dynamic texture.Using dot matrix texture tactile
Array can preferably simulate object texture, but dot matrix texture haptic display interface arrangement is produced by vibrating motor mostly at present
Vibration simulation object texture, stability is bad, and vibration information and real texture information still have gap, user line
Manage the tactile sense of reality still not strong, equally there is also compliance object texture can not be simulated the problem of, and driven by motor
Dot matrix texture haptic configuration is extremely complex, and volume is big, weight weight.
The content of the invention
The utility model provides a kind of texture haptic display interface arrangement based on ER fluid, it is therefore intended that solve existing
Reproducing texture force touch uses the drawbacks of power haptic interaction device is present, 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 and spy to virtual environment of the operator to virtual objects can also be improved
Know the interface arrangement of ability.
The utility model is achieved through the following technical solutions：
A kind of texture haptic display interface arrangement based on ER fluid, the interface arrangement includes box-like base（1）, box
Shape base（1）Inside it is provided with the four longitudinal elasticity wires arranged in length and breadth（5）, four pieces transverse elasticity wires（4）, longitudinal elasticity leads
Line（5）, transverse elasticity wire（4）Corresponding free end passes through the fixing pipe that insulate respectively（8）With box-like base（1）Side wall is consolidated
It is fixed, box-like base（1）It is interior to be full of ER fluid（10）, box-like base（1）It is fixedly arranged above flexible cover plate（6）, longitudinal elasticity leads
Line（5）, transverse elasticity wire（4）One end of corresponding free end is respectively arranged with polarity identical electrode, flexible cover plate（6）
On be provided with and longitudinal elasticity wire（5）, transverse elasticity wire（4）Opposite polarity electrode, the ER fluid under electric field action
（10）Chain structure is being formed along direction of an electric field.
The further Technological improvement plan of the utility model is：
The longitudinal elasticity wire（5）, transverse elasticity wire（4）One end is respectively arranged with longitudinal positive electrode（7）, laterally just
Electrode（2）, compliant conductive cover plate（6）On be provided with negative electrode（3）.
The further Technological improvement plan of the utility model is：
The longitudinal elasticity wire（5）, transverse elasticity wire（4）It is made by metallic resilient material.
The further Technological improvement plan of the utility model is：
The flexible cover plate（6）It is made up of metal material.
The further Technological improvement plan of the utility model is：
The box-like base（1）It is made up of insulating materials.
The utility model compared with prior art, with following obvious advantage：
First, the utility model uses emerging electro-rheological technology, and ER fluid produces electric rheological effect under electric field action,
The apparent viscosity of sign ER fluid rheological behavior is changed, can moment from Newtonian liquid state change be class solid
State, and the process is reversible, therefore the ER fluid scope applicable when simulating object texture is wider, can simulate rigidity model
The texture of very big object is enclosed, the advantage for particularly having uniqueness in simulation body tissue texture.
2nd, the utility model interface arrangement is dissipative type, therefore stability is good, and fidelity is high during simulation object texture.
3rd, the utility model simulates the texture information of real-world object, with more authenticity.
4th, the utility model can simulate the dynamic texture information of object by controlling the size of electric field or whetheing there is.
5th, the utility model is simple in construction, and whole device is simple in construction, compact, and machining accuracy requires also not high.
6th, the utility model control is simple, and electric field signal has clear and definite functional relation with ER fluid rigidity signal, because
This, which need to apply different electric fields, just can control its rigidity exactly, so as to simulate different types of texture information.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is the utility model principle schematic.
Embodiment
The utility model includes the box-like base 1 that an insulating materials is made, the transverse direction that four metallic resilient materials are made
Elastic wire 4, the longitudinal elasticity wire 5 that four metallic resilient materials are made, four horizontal positive electrodes 2, four longitudinal positive electrodes
7, a negative electrode 3,6,16 insulation fixing pipes 8 of flexible cover plate for being made up of metal material, appropriate ER fluid
9.In box-like base 1, four transverse elasticity wires 4 and four longitudinal elasticity wires 5, transverse elasticity wire 4 and longitudinal elasticity are set
Wire 5 is fixed on box-like base 1 by the fixing pipe 8 that insulate, and one end of four transverse elasticity wires 4 sets four horizontal strokes respectively
To positive electrode 2, one end of four longitudinal elasticity wires 5 sets four longitudinal positive electrodes 7 respectively, and one is set on flexible cover plate 6
Negative electrode 3, is full of on ER fluid 9, ER fluid 9 in box-like base 1 and is covered with compliant conductive cover plate 6, flexible cover plate 6 is consolidated
Due on box-like base 1.
The utility model is used to realize that the texture haptic display interface arrangement operation principle of man-machine interaction is as follows：Texture tactile
Reproduce interface arrangement as shown in Figure 1 and Figure 2.When applying voltage between the positive electrode and negative electrode in certain root electrode, elastic wire
Electric field is produced between compliant conductive cover plate, the electric field is perpendicular to elastic wire and points to compliant conductive cover plate, made in the electric field
Under, ER fluid becomes big in the ER fluid hardness formed along direction of an electric field above chain structure, the root elastic wire, voltage
Bigger, electric field is stronger, and chain structure is stronger, and hardness is bigger, and texture can be just felt when operator touches flexible cover plate
In the presence of.When in different laterally or longitudinally application voltage between elastic wire and flexible cover plate, it can reflect on flexible cover plate
Different texture informations and shape information, when it is different laterally or longitudinally apply in turn between elastic wire and flexible cover plate,
When cancelling voltage, 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.It is different according to the compliance of actual object, 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 utility model scheme is not limited only to the technological means disclosed in above-mentioned embodiment, also
Including being combined constituted technical scheme by above technical characteristic.It should be pointed out that for the ordinary skill of the art
For personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and moistened
Decorations are also considered as protection domain of the present utility model.
Claims (5)
1. a kind of texture haptic display interface arrangement based on ER fluid, it is characterised in that：The interface arrangement includes box-like
Base（1）, box-like base（1）Inside it is provided with the four longitudinal elasticity wires arranged in length and breadth（5）, four pieces transverse elasticity wires（4）,
Longitudinal elasticity wire（5）, transverse elasticity wire（4）Corresponding free end passes through the fixing pipe that insulate respectively（8）With box-like base
（1）Side wall is fixed, box-like base（1）It is interior to be full of ER fluid（10）, box-like base（1）It is fixedly arranged above flexible cover plate（6）, indulge
To elastic wire（5）, transverse elasticity wire（4）One end of corresponding free end is respectively arranged with polarity identical electrode, soft
Property cover plate（6）On be provided with and longitudinal elasticity wire（5）, transverse elasticity wire（4）Opposite polarity electrode, under electric field action
ER fluid（10）Chain structure is being formed along direction of an electric field.
2. a kind of texture haptic display interface arrangement based on ER fluid according to claim 1, it is characterised in that：Institute
State longitudinal elasticity wire（5）, transverse elasticity wire（4）One end is respectively arranged with longitudinal positive electrode（7）, horizontal positive electrode（2）, it is soft
Property cover plate（6）On be provided with negative electrode（3）.
3. a kind of texture haptic display interface arrangement based on ER fluid according to claim 1 or 2, its feature exists
In：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 based on ER fluid according to claim 1 or 2, its feature exists
In：The flexible cover plate（6）It is made up of metal material.
5. a kind of texture haptic display interface arrangement based on ER fluid according to claim 1 or 2, its feature exists
In：The box-like base（1）It is made up of insulating materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720275222.3U CN206546552U (en) | 2017-03-21 | 2017-03-21 | A kind of texture haptic display interface arrangement based on ER fluid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720275222.3U CN206546552U (en) | 2017-03-21 | 2017-03-21 | A kind of texture haptic display interface arrangement based on ER fluid |
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| CN206546552U true CN206546552U (en) | 2017-10-10 |
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| CN201720275222.3U Expired - Fee Related CN206546552U (en) | 2017-03-21 | 2017-03-21 | A kind of texture haptic display interface arrangement based on ER fluid |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843506A (en) * | 2017-03-21 | 2017-06-13 | 淮阴师范学院 | A kind of texture haptic display interface arrangement |
| CN113687713A (en) * | 2021-07-14 | 2021-11-23 | 北京航空航天大学 | Texture presenting device and manufacturing method thereof |
| CN114385006A (en) * | 2021-12-27 | 2022-04-22 | 鹏城实验室 | Notebook computer flexible touch pad capable of displaying touch |
-
2017
- 2017-03-21 CN CN201720275222.3U patent/CN206546552U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843506A (en) * | 2017-03-21 | 2017-06-13 | 淮阴师范学院 | A kind of texture haptic display interface arrangement |
| CN113687713A (en) * | 2021-07-14 | 2021-11-23 | 北京航空航天大学 | Texture presenting device and manufacturing method thereof |
| CN113687713B (en) * | 2021-07-14 | 2023-07-18 | 北京航空航天大学 | Texture presenting device and manufacturing method thereof |
| CN114385006A (en) * | 2021-12-27 | 2022-04-22 | 鹏城实验室 | Notebook computer flexible touch pad capable of displaying touch |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171010 |
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| CF01 | Termination of patent right due to non-payment of annual fee |