柔顺性触觉再现技术的研究

Overview on the Development of Compliance Haptic Display

柔顺性触觉再现的研究难点主要集中在对触觉机理了解不深入、动态的感知过程、装置性能有限等方面。介绍了当前几种有代表性的柔顺性触觉再现装置:基于电流变液的触觉再现装置、气囊触觉再现装置、气动阵列触觉再现装置和基于弹性梁触觉再现装置。在此基础上讨论了这些装置的优缺点,并进行了比较。最后总结了柔顺性触觉再现技术的发展思路。

The difficulties of compliance haptic display are mainly focused on three aspects： not deeply understanding the haptic mechanism, dynamic apperceiving progress and limitation of the device performance. Four compliance haptic display devices are described： compliance haptic interface using electro-rheological fluids, compliance haptic interface using air chamber, pneumatically actuated pin display and stiffness display device based On elastic beam. The merits and the deficiencies of the devices are presented. Then four devices are compared in several aspects. Finally, the researching and developing tendency is also discussed.