基于静电吸附的触觉力反馈手部可穿戴设备

HAPTICS FEEDBACK HAND WEARABLE DEVICE BESED ON ELECTROSTATIC ADHESIVE CLUTCH

毛建军

11849009

硕士

机械工程领域工程

王宏强

2020-06-03

2020-07-20

哈尔滨工业大学

深圳

随着虚拟现实技术的发展，人们对虚拟体验的真实性要求越来越高，逐渐不能满足视觉这种单一的反馈形式，开始追求高维度的多重感官交互体验，研发触觉反馈是提高虚拟现实体验的关键，力反馈技术也成为了虚拟现实技术发展的重要方向之一。本文针对虚拟现实技术中力反馈设备的需求，提出一种基于静电吸附的触觉力反馈手部可穿戴设备，其内部柔性电极使得该设备具有轻薄、便携的优点，可以实现刚性力和弹性力两种反馈效果。本文首先对静电吸附和弹性体接触模型进行分析，介绍了静电吸附的基本原理及吸附力的计算方法，然后对人手接触弹性体的力-变形模型进行了讨论，建立了接触模型与静电吸附力的联系，并分析了参数对模型的影响。对静电吸附的基本性能进行了试验研究，分别测试了静电吸附力的大小和响应时间，将试验结果与人的手部感知能力进行对比，为力反馈可穿戴设备的设计提供理论支持。利用搭建的测试平台进行了力感知试验，测试了人的手部对于静电吸附力所模拟的虚拟力的主观评价，通过参与者对静电吸附力模拟的不同场景的主观体验进一步说明静电吸附力模拟的虚拟场景的真实性和可靠性。基于静电吸附的原理和性能优势设计并制作了静电吸附制动器和力反馈手部可穿戴设备，通过试验测试了设备工作过程中的真实反馈力，通过试验参与者对可穿戴设备的主观评价试验对设备的可行性进行了验证，最后从理论和试验的角度对该设备进行了安全性分析。

With the development of virtual reality technology, researchers are constantly pursuing for the ultimate reality feeling from the virtual feedback. People gradually became unsatisfied by the single visual feedback and began to pursue multiple sensory interaction experiences. Studying haptic feedback is the key to improving the virtual reality experience. Force feedback technology has also become a research hotspot. Considering the importance of force feedback technology, this paper proposes a wearable device with haptic force feedback hand based on electrostatic attraction. The flexible electrodes inside the device make the device light, thin and portable. The device can simulate virtual rigid force and virtual elastic force.Firstly, this paper analyzed the electrostatic attraction model and the contact model of elastic body, including the calculation method of electrostatic attraction force and the force-deformation model. In this paper, the relationship between the contact model and the electrostatic attraction force is established, and the influence of the parameters on the model is analyzed.Secondly, the basic performance of electrostatic attraction was tested, and the electrostatic attraction force and response time were tested separately. The test results were compared with human hand perception ability to provide theoretical support for the design of force feedback wearable devices.Thirdly, we conducted a force perception experiment and tested human subjective evaluation of the created virtual force. By subjective evaluation, this work also assesses the reality level of the test platform and the wearable device integrating electrostatic clutches.Finally, based on the principle advantages of electrostatic attraction, the electrostatic attraction brake and the force feedback hand wearable device were designed and manufactured. The true feedback force during the working process of the device was tested. The feasibility of the device was verified by the subjective evaluation of the test participants. Finally, the safety analysis of the device was carried out from the theoretical and experimental point of view.

虚拟现实 静电吸附 力反馈 可穿戴设备 力感知

virtual reality electrostatic attraction force feedback wearable device force perception

中文

联合培养

南方科技大学

毛建军. 基于静电吸附的触觉力反馈手部可穿戴设备[D]. 深圳. 哈尔滨工业大学,2020.