摘要
介绍了一种基于水射流刺激的机器人触觉显示器及触觉再现系统。该触觉显示器采用6根内径为2 mm的紫铜管折弯焊接构成2×3射流阵列并经环氧树脂包封而成,射流水压由微型水泵提供并经柔性塑料软管与喷嘴连接。讨论了射流水柱高度及射流时延问题。由该触觉显示器组建的触觉再现系统上的实验表明该触觉显示器可以较好地满足主从机器人触觉信息反馈的需求,并具有温和舒服安全有效的特点。
A robot tactile display and representation system based on water-jet technology is introduced. Six seamless copper tubes whose inner diameter is 2mm are first bent and jointed together, and then sealed with epoxy resin to construct the 2 × 3 water-jet tactile display, and the water-jet pressure is supplied by the micro water pump which is connected to the nozzles with flexible plastic tubes. The water column height of water-jet and time delay problem are also discussed. Experiments on the tactile representation system constructed by this tactile display show that it can perfectly satisfy the need of tactile feedback in robot filled with safe and comfortable characteristics.
出处
《测控技术》
CSCD
2006年第11期68-70,73,共4页
Measurement & Control Technology
基金
国家自然科学基金资助项目(60475033)
关键词
射流触觉
触觉再现
触觉显示器
water jet tactile
tactile representation
tactile display
