基于电磁力控制的非接触式二维力触觉再现系统

Non-contact two-dimensional haptic rendering system based on electromagnetic force control

力触觉再现提供了操作者与虚拟物体间的双向信息和能量交互,有效提高了虚拟现实等应用系统的真实感、沉浸感和操作效率,成为人机交互的新兴技术和研究热点。本文实现了一种新型的基于电磁力控制的二维力触觉再现系统,该系统由二维背景电磁场产生和控制模块、指尖穿戴式永磁铁、人手位置检测模块和中央控制模块组成。基于ANSYS有限元分析,确定了系统中背景电磁铁线圈和指尖永磁铁的最优参数,获得指尖永磁铁所受电磁力与二维可控背景电磁铁驱动电流、指尖电磁铁位置的映射关系,形成离线仿真数据。提出了基于离线仿真数据实时插值的二维力触觉再现中电磁力控制方法。在实现系统原型的基础上,开展了作用力阈值感知基础实验和三维虚拟物体识别实验。实验结果表明,两种三维虚拟物体的识别实验成功率分别为85.7%和71.4%,有效验证了本文所设计力触觉再现方法的有效性。

Being a cutting-edge technique and hot topic in human-computer interaction, the haptic rendering provides bidirectional information and energy communication between human operators and the virtual environment(VE), which effectively enhances the level of reality and immersion and operating efficiency of virtual reality applications. This article proposes a novel two-dimensional(2 D) haptic interface through electromagnetic force control, which consists of the two-dimensional background electromagnetic field generation and control module, fingertip-mounted permanent magnet, position tracking module, and central control module. The optimized parameter configuration for the electromagnetic coils and fingertip magnet is obtained with the ANSYS-based finite element analysis, which further reveals the relationship between the electromagnetic force, the driving currents for the 2 D background magnetic field, and the position of the fingertip magnet. With the offline data for this relationship, a real-time interpolation-based force generation method is proposed for this 2 D haptic rendering. Based on the proposed haptic interface prototype system, several experiments are carried out, including the force perception threshold experiment, and virtual object recognition experiment. Experimental results verify the efficacy of the proposed 2 D haptic interface with the success rates for the two virtual object recognition experiments being 85.7% and 71.4%, respectively.