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针对遥操作和虚拟操作的需要,提出了一种新颖的基于弹性梁有效变形长度控制的柔性触觉感知再现方法,并研制了实时柔性触觉感知再现装置。该装置通过调节弹性梁的有效变形长度,快速控制弹性梁的刚度变化,从而使操作者实时地感知到虚拟操作或遥操作对象的刚度和柔软性,准确地识别对象的物理特性和分类。
In order to meet the need of teleoperation and virtual operation, a novel method of flexible tactile sensing based on the effective deformation length control of elastic beam is proposed, and a real-time flexible tactile sensing and reproducing device is developed. By adjusting the effective deformation length of the elastic beam, the device can quickly control the change of the rigidity of the elastic beam so as to enable the operator to sense the rigidity and softness of the virtual operation or teleoperation object in real time and accurately identify the physical characteristics and classification of the object.