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作品数:2 被引量:14H指数:2
相关作者:包钢李小宁孙中圣更多>>
相关机构:哈尔滨工业大学南京理工大学更多>>
发文基金:国家教育部博士点基金国家自然科学基金更多>>
相关领域:自动化与计算机技术更多>>

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基于气动人工肌肉力反馈数据手套的柔性物体力觉再现被引量:10
2009年
为了模拟抓取虚拟环境中柔性物体的力觉感知,该文对以气动人工肌肉作为驱动器的外骨架力反馈数据手套进行了研究。利用气动人工肌肉的等压特性,建立了柔性物体模拟的数学模型,通过改变气动人工肌肉的充气压力改变其刚度系数,实现对不同柔性物体的模拟。实验结果表明:在相同的手指弯曲角度下,手指的受力随着气动人工肌肉充气压力的增大而增大,因而能够模拟抓取虚拟环境中柔性物体的力觉感知。
孙中圣包钢李小宁
关键词:虚拟现实气动力反馈数据手套
Experimental Research of Force Feedback Dataglove Based on Pneumatic Artificial Muscle被引量:4
2009年
Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information between computer and operator. The exoskeleton force feedback dataglove is designed taking the pneumatic artificial muscle as actuator, meanwhile, its structure and work principle are introduced, and the force control problem is analyzed and researched by experiment. The mathematic model of grasping rigid object for finger is established. Considering the friction of tendon-sheath system and finger deformation, the closed-loop force control for a single joint, a single finger and multi-fingers are studied respectively by the feedforward proportional-integral(PI) control method with variable arguments. On the premise of the force smoothness, the control error of the force exerted on the finger joint is in the range of ±0.25 N, which meets the requirement of force feedback. By experimental analysis, the reason of force fluctuation is that the finger joint has a small amplitude quiver, and the consistent change tendency of the force between proximal interphalangeal(PIP) joint and distal interphalangeal(DIP) joint results from their angle coupling relationship.
SUN ZhongshengBAO GangLI Xiaoning
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