气动点触觉再现分析与实验研究

Experiment research and analysis on pneumatic point tactile display

为研究模拟再现虚拟物体的几何形状、材质以及粗糙度等属性信息,提出基于单喷嘴喷气再现点触觉的方法,并建立手指皮肤和喷嘴的流固耦合有限元模型.将触摸小球时采用有限元模型的计算结果作为标准来分析气动喷嘴再现点触觉.提出有效触感宽度的概念,结合应变能密度及SS率等表征触觉的物理量分析了喷嘴直径、接触高度和入口压力对点触觉的影响.实验表明,分析结论与实验结果相符,为气动喷嘴设计提供了很好的参考依据.

A point tactility display method using single pneumatic nozzle was developed, and a fluidstructure coupled finite ele ment model of the finger skin and nozzle was established to sim ulate and display the detailed status of virtual object on geometry including a point or an edge, the surface texture and roughness. The calculation results by using finite element model when touching balls were regarded as criterion to analyze the point tactility. The concept of available tactile width was proposed, and physical quantities such as strain energy density and SS rate were used to analyze the effects of nozzle diameter, touching height and inlet pressure on point tactility. Experimental results indicate that the conclusions match well with the test results, which provides good reference to pneumatic nozzle design.