摘要
力/触觉反馈是虚拟现实交互技术中一种重要的交互形式。磁流变液执行器是最具发展潜力的力/触觉反馈装置。提出了一种适用于手指力反馈的便携式圆筒磁流变液执行器的设计方法,导出了基于B ingham塑性模型的阻力矩公式,分析了磁流变液特性和执行器结构参数对阻力矩的影响,并通过有限元分析进行优化设计,执行器的直径为31 mm,高度为38 mm,重200 g。实验测定了阻力矩和输入电流之间的关系,并采用二次多项式拟合。输入电流为0.6 A时,执行器产生的阻力矩为255 N.mm,结果表明,该执行器产生的阻力矩足以阻止手指抓取虚拟物体。
Haptic feedback is a crucial sensorial modality in virtual reality interactions.Magnetorheological fluid（MRF） actuator is considered to be one of the most promising haptic devices.A design method of portable cylindrical MRF actuator is proposed,which is used for displaying force feedback to the finger of the user.A torque formula based on Bingham plastic model is presented,the influences of the properties of MRF and the structural parameters of the actuator on the torque are analyzed.The actuator was designed and optimally analyzed with finite element analysis;it is 31 mm in diameter,38 mm in height and 200 g in weight.An experiment was conducted to determine the relationship between torque and current;and quadratic-multinomial fitting was applied.The actuator can produce 255 N·mm torque at 0.6 A.Results show that the actuator is powerful enough to restrict or stop the motion of the finger as the user grasps a virtual object.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2010年第9期1921-1926,共6页
Chinese Journal of Scientific Instrument
基金
国家863高技术项目(2008AA040202
2009AA01Z311)资助
关键词
虚拟现实
力反馈
磁流变液执行器
有限元分析
virtual reality
force feedback
magnetorheological fluid actuator
finite element analysis
