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《工程(英文)》 >> 2018年 第4卷 第6期 doi: 10.1016/j.eng.2018.10.003

一种具有大工作空间的轻量级力反馈手套

a State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100083, China

b Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China

c Department of Mechanical Engineering, University of Auckland, Auckland 1142, New Zealand

收稿日期: 2018-03-12 修回日期: 2018-06-25 录用日期: 2018-10-23 发布日期: 2018-10-30

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摘要

在虚拟现实场景中,佩戴力反馈手套是一种有效的增强穿戴者与虚拟物体交互沉浸感的方法。这种手套的设计难点在于需要提供足够大的手指运动工作空间,在模拟自由空间和约束空间交互时提供所需的力反馈感觉,以及确保一个轻量级的结构。本文提出了一种将气动驱动器安装在使用者手背侧的力反馈手套。该手套采用了一种凸轮连杆组合机构,利用带有弯曲滑槽和三个运动副的连杆将阻力从气缸活塞杆传递到指尖。为了得到穿戴者指尖反馈力的一个较大的法向分量,通过分析带有三个运动副的连杆上的力平衡,计算出了滑槽的轮廓。本文研制了质量为245 g 的五指力反馈手套样机,建立了可穿戴的力测量系统,对自由空间和约束空间的力反馈性能进行了定量评价。实验结果表明,该手套在自由空间模拟中平均阻力小于0.1 N,在约束空间模拟中指尖力最大为4 N。实验进一步证实,这种手套能够保证手指的自由移动以及模拟典型的抓取操作手势。

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