CN209086868U - Pressure-type haptic effect device - Google Patents
Pressure-type haptic effect device Download PDFInfo
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- CN209086868U CN209086868U CN201821844395.3U CN201821844395U CN209086868U CN 209086868 U CN209086868 U CN 209086868U CN 201821844395 U CN201821844395 U CN 201821844395U CN 209086868 U CN209086868 U CN 209086868U
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- pressure
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- motor
- effect device
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Abstract
The utility model discloses a kind of pressure-type haptic effect device comprising control module, motor and the arm of force.In Teleoperation Systems, control module generates driving signal according to the collected pressure signal of robotic end, and motor drives the arm of force to cause to squeeze to the skin of user, generates pressure tactile according to driving signal output torque.Therefore, the pressure-type haptic effect device of the utility model can simulate pressure, generate pressure more clearer than mode of vibration and feel, help the collision of user's perception and other objects in environment.
Description
Technical field
The embodiments of the present invention are related to a kind of pressure-type haptic effect device.
Background technique
The skin of the mankind can perceive information abundant, for example (skin is when body surface slides for temperature, pressure, texture
Wait the microvibration information generated) etc..
In teleoperation robot field, by the way that haptic feedback functions are arranged, so that operator obtains REMOTE MACHINE people and ring
The physical message contacted between border.Haptic feedback functions include information collecting device (such as pressure sensor in robot) and
Haptic effect device (vibrating motor on such as control-rod), for manipulating people's long-range sensing collision in remote control robot manipulating task
Information.In existing haptic feedback mode, using more electric one is vibration is installed in gloves, clothes or control handle
Machine, after the pressure that robot probe to object collides, the vibrating motor of corresponding position is vibrated, and provides sense to manipulator
Know.The shortcomings that this mode, is, feels to feel different with caused by pressure caused by vibrating, more complicated in environmental information
In the case where, inaccurate modality of sensation can cause the confused of operator.
Utility model content
The purpose of this utility model is that in view of the above-mentioned drawbacks in the prior art, providing one kind can produce clear pressure
The pressure-type haptic effect device of feeling.
To realize above-mentioned purpose of utility model, the utility model adopts the technical scheme that a kind of pressure-type tactile effect
Answer device, including control module, motor and the arm of force, wherein control module receives the collected pressure signal of robotic end, and root
Driving signal is generated according to pressure signal, motor connect with control module signal, is mechanically connected with the arm of force, and motor is according to driving signal
Output torque drives arm of force rotation.
In addition, the utility model also provides following attached technical scheme:
Motor is direct current direct driving motor or servo motor.
Motor and the arm of force are fixedly mounted on bandage, seat or handle.
Compared with the prior art, the advantage of the pressure-type haptic effect device of the utility model is: it includes control mould
Block, motor and the arm of force.In remote control system, control module generates driving letter according to the collected pressure signal of robotic end
Number, motor drives the arm of force to cause to squeeze to the skin of user according to driving signal output torque, generates pressure tactile.Cause
This, the pressure-type haptic effect device of the utility model can simulate pressure, generate feeling of stress more clearer than mode of vibration
Feel, helps the collision of user's perception and other objects in environment.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, embodiment or the relevant technologies will be retouched below
Attached drawing needed in stating is briefly described, it should be apparent that, it is practical new that the accompanying drawings in the following description merely relates to this
Some embodiments of type, are not limitation of the utility model.
Fig. 1 is the motor of pressure-type haptic effect device and the arm of force is mounted on structural schematic diagram on bandage.
Fig. 2 is that the arm of force of Fig. 1 is in lifting status schematic diagram.
Fig. 3 is that the arm of force of Fig. 1 is in pressed status schematic diagram.
Fig. 4 is the wearing schematic of the pressure-type haptic effect device of Fig. 1.
Fig. 5 is the motor of pressure-type haptic effect device and the arm of force is mounted on structural schematic diagram on handle, the arm of force in figure
In lifting status.
Fig. 6 is the motor of pressure-type haptic effect device and the arm of force is mounted on structural schematic diagram on handle, the arm of force in figure
In pressed status.
Fig. 7 is the structural schematic diagram of the motor and arm of force installation of pressure-type haptic effect device on the seat,
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have
Body embodiment makees further unrestricted detailed description to technical solutions of the utility model.
See Fig. 1-7.Pressure-type haptic effect device includes control module (not shown), motor 1 and the arm of force 2.
Control module is connect with the pressure sensor signal in Teleoperation Systems.In Teleoperation Systems
In, pressure sensor may be mounted at the position of REMOTE MACHINE people surface any need measurement pressure, such as arm outside, gripper
End etc..The pressure value measured passes control module back by network.The principle of membrane-type pressure sensors is to be squeezed
When, laminar resistance material generates change in resistance, and increased resistance value is directly proportional to stress value, by measuring the circuit of resistance,
Pressure value can be measured.Control module generates driving signal according to the pressure signal that pressure sensor is passed back.
Motor 1 selects direct current direct driving motor or DC servo motor, connect with control module signal, receives driving letter
Number, and be mechanically connected with the arm of force 2, the control arm of force 2 rotates.The requirement of motor 1 is: first, drive the arm of force 2 to far from skin direction
When swing, it should be able to stop in specified position, prevent arm of force inordinate rotation, implementation method can be installation stop member
Or control rotational angle；Second, under conditions of motor internal resistance is fixed, current of electric is directly proportional to output torque, utilizes motor
This characteristic come control the arm of force generation pressure value.If it is the motor for adjusting torque by voltage, then generated when the arm of force
When pressure is less than goal pressure, driving voltage can be increased, the arm of force is made to generate bigger pressure；When the pressure that the arm of force generates is greater than target
When pressure, driving voltage can be reduced, reduce arm of force pressure.If it is the motor for passing through angular adjustment torque, then when the arm of force produces
When raw pressure is less than goal pressure, rotational angle can be increased, the arm of force is made to generate bigger pressure；When the pressure that the arm of force generates is greater than
When goal pressure, rotational angle can be reduced, reduce arm of force pressure.By the above negative feedback process, the arm of force can be made to generate
Pressure is close to goal pressure.
2 shape of the arm of force can flexible setting, depending on specifically used environment.The present embodiment provides one of which to select, the arm of force 2
Including connecting shaft 2a, connecting lever 2b and contact 2c, connecting shaft 2a therein is connect with the output shaft (not shown) of motor 1, connecting lever 2b
It is L-shaped, wherein one end connect with connecting shaft 2a, the other end and contact 2c connection, contact 2c is blunt circle head, is used for and human body
It is in contact.Motor 1 drives the arm of force 2 to rotate, and the arm of force applies pressure to human body, so that simulate that REMOTE MACHINE people occurred touches
Hit information.
As shown in figure 4, motor 1 and the arm of force 2 can be fixed when pressure sensor 100 is mounted on robot arm 101
It is mounted on bandage 3, bandage 3 can be fixed on the limbs of operator.As illustrated in figs. 5-7, when pressure sensor 100 is mounted on
When in robot trunk 102, motor 1 and the arm of force 2 can also be mounted on the device stable with operator relative position, such as seat
On chair and handle.When installing on the seat, the positions such as thigh and back of operator and seat keep opposing stationary, and the arm of force can
Pressure is formed at back and big leg outer side to feel；When being mounted on handle, the hand and handle of operator is opposing stationary, the arm of force
Pressure can be formed in the back of the hand to feel.
The course of work of the pressure-type haptic effect device of the present embodiment is as follows:
The pressure sensor being mounted in robot detects the collision with external object, and generates pressure signal, and passes
Back to control module, control module generates driving signal according to pressure signal, and motor is according to driving signal output torque, motor band
The dynamic original arm of force without contacting human body presses to human body, so that human body is generated compression and feels.When the collision of robot and external object
After disappearance, the pressure signal of pressure sensor becomes nothing, and control module controls motor reversal, and the arm of force is disengaged with human body.Especially
Illustrate, the arm of force between human body at a distance from should be maintained at proper range, guarantee that human skin is not when operator carries out normal operating
The arm of force can be touched.
It should be pointed out that above-mentioned preferred embodiment is only to illustrate the technical ideas and features of the present invention, purpose
It is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly, this reality can not be limited with this
With novel protection scope.All equivalent change or modifications according to made by the spirit of the present invention essence, should all cover in this reality
Within novel protection scope.
Claims (3)
1. a kind of pressure-type haptic effect device, it is characterised in that: including control module, motor and the arm of force, wherein control module
The collected pressure signal of robotic end is received, and driving signal is generated according to pressure signal, motor and control module signal connect
It connects, be mechanically connected with the arm of force, motor drives arm of force rotation according to driving signal output torque.
2. pressure-type haptic effect device according to claim 1, it is characterised in that: the motor is direct current direct driving motor
Or servo motor.
3. pressure-type haptic effect device according to claim 1, it is characterised in that: the motor and the arm of force are fixed
It is mounted on bandage, seat or handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821844395.3U CN209086868U (en) | 2018-11-09 | 2018-11-09 | Pressure-type haptic effect device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821844395.3U CN209086868U (en) | 2018-11-09 | 2018-11-09 | Pressure-type haptic effect device |
Publications (1)
| Publication Number | Publication Date |
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| CN209086868U true CN209086868U (en) | 2019-07-09 |
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ID=67123309
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821844395.3U Active CN209086868U (en) | 2018-11-09 | 2018-11-09 | Pressure-type haptic effect device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220026325A1 (en) * | 2020-07-24 | 2022-01-27 | Ta Instruments-Waters Llc | Haptic feedback for configuring materials testing systems |
-
2018
- 2018-11-09 CN CN201821844395.3U patent/CN209086868U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220026325A1 (en) * | 2020-07-24 | 2022-01-27 | Ta Instruments-Waters Llc | Haptic feedback for configuring materials testing systems |
| US11555767B2 (en) * | 2020-07-24 | 2023-01-17 | Ta Instruments-Waters Llc | Haptic feedback for configuring materials testing systems |
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