一种改进的主/被动结合的力反馈技术

An improved hybrid active/passive force feedback technique

根据虚拟现实、遥操作机器人系统和远程外科手术等领域的需要,针对主、被动力反馈存在的问题,在现有的主/被动混合型力反馈实现方法的基础上,提出了一种改进的串联弹性元件的主/被动相结合的力反馈实现方法,自行研制了制动力矩可控的磁流变液制动器用于实现被动力反馈,给出了该制动器的设计原理,建立了动力学模型。利用研制出的磁流变液制动器,组建了简单的能够实现主/被动力反馈功能的实验系统,利用不同弹性系数的弹簧模拟不同的实验环境及极端情况,对实验系统进行了力跟踪实验,实验结果验证了所提方法的有效性。

In order to overcome the disadvantage of the force feedback systems now available, an improved approach, which introduces a series elastic component to a hybrid active/passive force feedback system, is presented for the application of virtual reality, tele-robotic system, tele-surgery, and so on. A magneto-rheological fluid （MRF） based brake with controllable torque is developed for the passive force feedback. The principle is introduced and the kinetics model is developed. With the brake a simple experimental system is set up and experiments simulating different conditions by springs with different elastic constant are done on it, the validity is verified by the results.