多热源温度触觉复现装置的设计与实现

Design and realization of thermal tactile display device with multiple heat sources

设计了一种能提供真实感的、基于物理意义的温度触觉复现设备.首先研究了人体与各种不同材质物体之间接触过程的传热过程,据此设计了一个可通过控制珀尔贴表面温度的变化来模拟这一过程的装置.该装置复现部分是由4个15 mm×15 mm的珀尔贴构成的4个独立热源,在温度控制部分增加了反馈和接触检测电路.系统能实现较高的升降温速率,通过对表面温度实时精确控制,可复现各种不同的温度变化曲线.在此基础上提出了一种创新的、基于温度补偿曲线的方法来模拟人手指触摸不同材质时的感觉.多热源复现装置小巧灵活,将来可方便地集成于机器人灵巧手上.最后,通过一系列的温度触觉复现实验,证明了本装置的有效性.

The main objective of this study is to design a device that can display real-life thermal tactile sensation based on physics model.First,the heat transfer process,occurred in the contact between the human body and a variety of different material objects,was studied.Accordingly a device was designed to simulate this process by controlling the surface temperature of Peltier.The device display section consisted of four 15mm×15mm Peltier that constituted four separate heat source,and the feedback and contact detection circuit was added to the temperature control part.System can achieve a higher cooling rate and precise control of real-time surface temperature,which can reproduce a variety of temperature curve.On this basis,an innovative method of ＂temperature compensation curve＂ is used to simulate the feeling of human finger while touching the different materials.The thermal tactile display device with multiple heat sources is compact and flexible,and can be easily integrated to dexterous robot hands.Finally,the effectiveness of the device is proved through a series of thermal tactile display experiment.