虚拟环境热触觉的显示装置与材质识别实验

Thermal tactile display device and material discrimination experiments in virtual environment

基于半无限体模型,研究了热触觉感知的机理.设计了热触觉显示装置,通过控制半导体制冷器的温度变化来实现热触觉显示.该装置的控温范围为-10～60℃,温度分辨率和精度分别为0.02和0.1℃,升温或降温速率大于10℃/s.定制了柔性镍金属薄片式温度传感器,尺寸为8 mm×20 mm×0.6 mm,时间常数τ<0.15 s.检测了手指与物体接触面处手指皮肤的实时温度变化,并基于此温度变化控制热触觉显示装置,使热触觉接触面的温度变化无限逼近真实热触觉的手指皮肤的温度变化,从而复现人手指触摸真实物体的热触觉.开展了虚拟环境材质识别实验,材质识别正确率在70%以上.实验结果表明,该热触觉显示装置和热触觉复现方法能够复现真实的热触觉,有很强的真实感和沉浸感.

Based on semi-infinite model,the mechanism of thermal tactile perception was studied.The thermal tactile display device（TTDD）,on which thermal tactile display can be realized by controlling the temperature of semiconductor cooler,was designed.Temperature range of the device is-10 to 60 ℃.The temperature resolution and the accuracy of the device are 0.02 and 0.1 ℃ respectively,and heating or cooling rate is greater than 10 ℃ / s.The flexible thin-film temperature sensor of nickel was customized.The dimension of the sensor is 8 mm×20 mm×0.6 mm and the time constant is less than 0.15 s.At the contact surface between fingers and object,the real-time temperature of finger skin（RTFS） was measured.The temperature of the contact surface of the TTDD was controlled to approximate the RTFS as much as possible,which is the way to reproduce the thermal tactile perception of the real world.In the virtual environment,the experiments of material discrimination were carried out and the rate of correctness is above 70%.Experimental results show that the TTDD and the method of reproducing thermal tactile perception can reproduce the thermal tactile perception of the real world with a strong sense of reality and immersion.