气动多点载荷下手指触觉动态感知机理

Dynamic perception mechanism of finger tactility under pneumatic multi-point loading

为再现物体的纹理和滑动等触觉信息,针对气动喷嘴式触觉接口设备对手指在多点动态压力载荷作用下的力学响应和触觉感知机理进行了研究。建立了三维非线性手指和多喷嘴有限元模型,运用流固耦合方法计算手指变形以及应变能密度的时间和空间历程响应,分析了动态载荷、手指力学响应和触觉感知之间的内在联系,得到了当正弦压力频率、幅值改变时手指变形动态变化的规律。该文研究结果为触觉的动态感知再现提供理论依据,可直接应用于气动喷嘴触觉接口的设计。

To display the tactile information about texture and slippage, the finger mechanical response to multi-point dynamic pressure loading and tactile perception mechanism are researched for air jet tactile interface device. The three-dimensional nonlinear finite element model with multi-nozzles is established,and the temporal and spatial responses of finger deformation and strain energy density are calculated by the fluid-structure interaction method. The relationship between dynamic loading,finger mechanical response and tactile perception is analyzed,and the dynamic variation of finger deformation is obtained when the amplitude and frequency of the sinusoidal pressure are changed . The research results provide a theoretical basis for tactile display of dynamic perception and can be applied to the design of air jet tactile interface.