水射流机器人触觉临场感再现技术研究

Research on robot tactile representation based on water-jet technology

介绍了一种新型水射流机器人触觉再现技术。该技术采用水射流提供机器人临场感触觉再现所需的压力刺激,触点阵列各触点处有一个与压力水源相连的开口水射流喷头,喷头与压力水源之间有电磁阀控制水射流的通断,当需要通过触点阵列为操作者提供触觉感觉时,触觉阵列相应触点处的喷头即与压力水源连通并喷射压力水流,水射流在操作者的皮肤表面形成压力斜坡,从而使操作者获得触觉感觉,由于水流可以带走皮肤表面的能量,因此操作者皮肤表面水流接触处还将形成温度斜坡触觉。压力斜坡和温度斜坡共同作用可以为操作者提供压力温度融合触觉感觉。

This pater presents a new kind of water jet tactile representation technology, which uses water jet as a pressure stimulus to robot telepresence. There is an open water jet nozzle connected to a pressure waterhead at each element of the tactile array. A solenoid valve is fitted between the nozzle and the waterhead so as to control the on/off of the fluidic jet. When an artificial tactile is desired for the user, the corresponding nozzles standing for tactile information are connected to the pressure waterhead, and the water jet will result in a ramp distribution of pressure on the surface of the user＇s finger, thus causing the user to feel an artificial tactile sensation. As the water can take the heat away from the skin of the finger, there should be also a ramp distribution of temperature which will cause a tactile sensation of another type. The pressure ramp and the temperature ramp stimulate together and finally provide a pressure-temperature fusion tactile for the user.