磁流变液装置及其在力反馈数据手套中的应用

Magnetorheological Fluid Devices and the Applications in Force Feedback Data Glove

在传统数据手套的基础上,利用磁流变液这种智能材料的力学性能,设计了一种带力反馈功能的新型数据手套。该新型力再现数据手套的核心部件是其硬度可控装置。文中对硬度可控装置的原理、结构和控制电路等进行了详细的阐述。在机器人遥控操作中,利用这种新型数据手套结合图形仿真,操作者能够在本地虚拟环境中,充分掌握远地机器人与真实环境之间相互作用的关系,实现良好的力觉临场感。

On the base of the traditional data glove, a new data glove with the function of force feedback is designed making use of the force characteristic of magnetorheological fluid. The key component of the novel data glove is the Stiffness Controllable Unit （SCU） . The principle, structure and control circuit of the SCU are presented in detail in the paper. Combining with graphic simulation, the operator can control the action of robot and feel the actual force exerted by the environment in the telemanipulation.