【作者】 孙权；

【导师】 朱延河；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2010， 硕士

【摘要】 多通道、多媒体、智能化是人机交互技术的发展趋势,利用人的多种感觉通道和动作通道(视觉,听觉,触觉,嗅觉等),以并行和非精确方式与计算机系统进行交互,极大地提高了人机交互的自然性和高效性。触觉作为人类认识和感知外部世界的重要信息通道,被广泛应用于人机交互技术的研究中。针对虚拟现实以及遥操作系统,触觉的模拟与再现是增强系统真实感,营造沉浸效果的重要因素。因此,设计一个能够准确、实时地再现触觉特性的人机接口装置显得尤为重要。基于挤压气膜效应,本文设计并开发一种具有实时性、快速性的触觉再现人机接口装置。首先,通过对触觉产生机理及挤压气膜效应进行分析,确定了基于挤压气膜效应的触觉再现方式。根据挤压气膜产生机理及压电学相关理论选择可产生弯曲振动的双晶片作为振动主体。并设计了压电陶瓷支架、振动装置壳体等相关机械结构及手指位置检测系统等相关电路。其次,对触觉再现的核心部分压电振子的结构根据承载力、共振频率、振动的理论振幅、压电陶瓷安全工作功率等约束条件,进行优化,确定能满足触觉再现的最优化结构。再次,为了获得压电振子驱动信号与摩擦系数间的对应关系,进行了摩擦力标定试验,根据试验结果得出了15种质感触觉和4种纹理触觉的控制信号。并开发了便于操作者使用的人机交互界面。最后,根据上述设计做出样机,进行实验分析,通过对20名受试者进行调查,证实了本装置的有效性。并设计复杂质感触觉再现和纹理再现实验,验证变摩擦触觉再现装置对复杂质感触觉和纹理触觉的再现能力。更多还原

【Abstract】 Multi-channel, multi-media and intelligence are the development trends of human-computer interaction technology. It will break the traditional limitations of visual feedback of human-computer interaction and greatly improve the natural human-computer interaction and high efficiency to interact with computer systems in a parallel and non-precision approach, using a variety of people feeling channels, such as visual, auditory, touch, and smell, etc.Tactile has been widely used in virtual reality system and telepresence system as an important information channel for human knowledging and perceiving world. In virtual reality system and telepresence system, haptic display is an important mathod enhancing interactive vitality and immersion. By the development of virtual reality technology and interactive telerobot technology, it is very important and necessary to design a man-machine interface, which can realize real-time and precision of haptic display. This paper presents a novel real-time precision tactile display based on air squeeze film effectFirstly, the way of tactile representation has been determined through analyzing the mechanism of tactile and the effect of gas film squeezing. According to the mechanism of gas film squeezing and the related theory of Piezoelectricity, the duplex crystal able to generate bending vibration has been selected as the vibration subject. Meanwhile, related mechanical structures, such as the frame made of Piezoelectric and shells of vibration devices and related circuits for figure positioning have been designed.Secondly, to satisfy the optimized structure of tactile representation, the structure of the piezoelectric vibrator, which is the core of tactile representation, has been optimized according to the constraints such as bearing capacity, resonance frequency, theoretical amplitude of vibration and the safe working power of Piezoelectric, etc.Then, the corresponding relation between the driving signals of piezoelectric vibrator and the friction coefficient has been defined by test. And according to the test results, the control signals for twelve kinds of friction tactile and four kinds of textural have been designed. Moreover, the software of human-computer interactive convenient to use has been programmed.Lastly, experiment analysis of the prototype constructed according to the design above verified the feasibility of tactile representation based on the effect of gas film squeezing. Through the investigation of 20 tested people, effectiveness of the device to most groups has been validated.更多还原