摘要
针对设计的基于气动人工肌肉的外骨架式力反馈数据手套,分析影响力反馈的各种因素。对制动气囊的最大静摩擦力进行了理论计算,并对制动气囊充放气过程对力反馈的影响进行了实验研究。对手指关节自由运动时受到的阻力进行测量,由于阻力会对力反馈产生影响,提出了减小影响的方法。分析由于手指皮肤的变形引起的角度变化对力反馈的影响,并通过实验分析了人的反应对力反馈的影响。
In view of the exoskeleton force feedback dataglove based on pneumatic artificial muscles, the factors effecting on force feedback were analyzed. The maximum static friction of brake chamber was calculated, and the effect of its charging and discharging on force display was studied by experiment. The resistance was measured when finger moves freely, and the method for decreasing its effect on force display was proposed. The influence of angle variation caused by the deformation of finger skin on force feedback was analyzed, and the effect of human response on it was experimentally demonstrated.
出处
《机床与液压》
北大核心
2008年第10期21-23,共3页
Machine Tool & Hydraulics
基金
国家自然科学基金资助项目(50375034)
关键词
数据手套
力反馈
制动气囊
皮肤变形
Dataglove
Force feedback
Brake chamber
Deformation of skin
