机械臂力反馈手柄的力觉差别阈限测量与应用

Measurement and Application of Force Difference Threshold in Robotic Manipulator Force Feedback Handle

目的探讨机械臂力反馈手柄典型推拉、旋转操作的反馈力感知特性,获取手柄推拉、旋转操作反馈力差别阈限、韦伯分数及机械臂状态告警反馈力设计。方法采用心理物理量测量的最小变化法,基于机械臂工效实验平台的位移、姿态力反馈手柄,力反馈手柄测试控制软件,针对性进行了手柄推拉、旋转操作的反馈力差别阈限测量;开展了告警状态的推拉、旋转反馈力测量与分析设计。结果给出了推拉操作、旋转操作反馈力差别阈限估算的韦伯定律修正公式;建议推拉告警反馈力变化不小于力刺激差别阈限的10倍,旋转告警反馈力变化不小于力刺激差别阈限的8倍。结论研究及获取的机械臂力反馈手柄的反馈力差别阈限及韦伯分数、告警反馈力数据,可为机械臂力反馈手柄的反馈力感知、设计提供参考。

Objective To explore the feedback force perception characteristics of typical push-pull and rotation operation of the robotic manipulator force feedback handle,and thus obtain the feedback force difference threshold,Weber fraction and robotic manipulator state feedback force design parameters. Methods Based on the force feedback handles of the robotic manipulator ergonomic experimental platform and the force feedback handle test control software,the feedback force difference threshold of the handle push-pull and rotation operation was measured with the minimum change method of psychophysical measurement. In addition,the feedback force of handle push-pull and rotation operation for alarming emergency was measured and analyzed. Results The Weber＇s law correction formulas for estimating the difference threshold of feedback force for pushpull operation and rotation operation were given respectively. It was recommended that the push-pull alarm feedback force change should not be less than 10 times the difference threshold of the force stimulus,and the rotational alarm feedback force change should not be less than 8 times the difference threshold of the force stimulus. Conclusion The study on feedback force difference threshold and alarm feedback force of the manipulator force feedback handle could provide reference for the feedback force perception and design of the manipulator force feedback handle.