一种提高基于线绳的力反馈设备显示阻抗范围的方法

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林理平, 吴平东, 黄杰, 李建. 一种提高基于线绳的力反馈设备显示阻抗范围的方法[J]. 机器人, 2010, 32(5): 630-634,641.. LIN Liping, WU Pingdong, HUANG Jie, LI Jian. A Method for Increasing Impedance Range of String-based Force Feedback Device. ROBOT, 2010, 32(5): 630-634,641..

摘要提出一种通过动态调整线绳预紧力提高基于线绳的力反馈设备显示阻抗范围的方法．介绍了基于线绳的力反馈设备的基本结构，从能量耗散的角度分析了线绳张力对设备显示高刚度虚拟物体时稳定性的影响，并分析线绳预紧力与力觉交互透明性之间的关系．为同时满足稳定性和透明性的要求，根据设备操作末端与虚拟物体的接触状态，对线绳的预紧力进行动态调整．实验结果表明，该方法能够在保持设备透明性的同时，有效提高其稳定性，从而提高设备显示的阻抗范围．

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关键词 ：力反馈, 虚拟现实, 稳定性, 透明性

Abstract：A method for increasing impedance range of string-based force feedback device by adjusting the pretighting force dynamically is proposed.The basic structure of string-based force feedback device is presented,and an energy-dissipation-based approach is used to analyze the influence of string tension on the stability of haptic display when rendering high-stiffness virtual objects.And the relationship between string pretightening force and force interaction transparency is analyzed.In order to meet the requirements of stability and transparency simultaneously,string pretighting force is adjusted dynamically according to the contact state between the end-effector and virtual objects.Experimental results show that this method can tradeoff stability and transparency,thereby enlarge the achievable impedance range.

Key words： force feedback virtual reality stability transparency

收稿日期: 2009-10-26 录用日期: 2010-04-08

TP24

基金资助:国家自然科学基金资助项目（60674052）

通讯作者: 黄杰 E-mail: bit_huangjie@bit.edu.cn

作者简介: 林理平（1983- ），男，博士生．研究领域：虚拟现实与力觉人机交互技术．
吴平东（（1940- ），男，教授，博士生导师．研究领域：网络环境下的运动控制，脑科学，虚拟现实与人机交互．
黄杰（1973- ），男，博士，讲师．研究领域：网络环境下的运动控制，虚拟现实与力觉人机交互技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I5/630

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