基于气动喷嘴的线面触觉再现分析与实验

Experiment and Analysis on Line and Surface Tactile Display Based on Pneumatic Nozzle

针对气动喷嘴阵列喷气再现线面触觉问题,建立手指皮肤和喷嘴的流固耦合有限元模型。提出均布系数的概念表征线面载荷的均匀性和连续性。分析喷嘴直径、喷嘴间距和入口压力对线触觉的影响,确定气动喷嘴的设计标准。通过实验确定了能够再现逼真线面触觉的入口压力,并验证了分析得出的结论,为气动触觉广泛应用于虚拟装配、遥操作等领域打下良好的基础。

In view of the line and surface tactility displayed by the pneumatic nozzle array, a fluid --structure coupled finite element model of the finger skin and nozzle was established. The concept of uniform coefficient which could characterize the uniformity and continuity of the line and surface tactil- ity was proposed. The effects of nozzle diameter, nozzle space and inlet pressure on line and surface tactility were analyzed, and the design parameters of nozzle array were determined. The inlet pressure suitable for displaying the realistic perception was determined, and the conclusions were validated by experiments. The research on pneumatic tactile display is to lay a solid foundation for further applica-tions in virtual assembly system and telepresence system.