Research On Wearable Force Haptic Reconstruction Device For Texture Perception

Texture is an important information of object surface.Objects can be sensed and manipulated through haptic.In the field of human-computer interaction,operators can feel shape and roughness of texture passively or actively through haptic technology.The study of haptic reconsrtuction of texture can compensate for the lack of haptic in the interaction.Texture sensor is used to collect texture signals on object surface,which are used to reconsrtuct haptic signals.Texture reconsrtuction technology allows the texture to be moved to the far end.It has broad prospects in teleoperation robot,multi-mode sensing technology and virtual reality.In view of the lack of research on texture perception and wearable haptic reconsrtuction device in China,this thesis conducts in-depth research on texture detection and texture reconsrtuction technology.A scheme of texture perception and wearable haptic reconsrtuction is proposed.The texture signal acquisition and recognition was carried out by simulating the process by human actively perceive textures.A wearable haptic reconsrtuction device was designed for force-tactile representation of the collected texture files.The research of this thesis are as follows:(1)A PVDF based texture measurement device was designed to simulate human hand perception,which can collect texture informations of flexible object surface.A software for data processing of texture is designed,and the collected texture is classified by neural network.Six kinds of texture information are collected for classification experiment,and the recognition rate is up to 98.8%.(2)A haptic reconsrtuction algorithm based on the statistical characteristics of the texture collected is proposed,which can express the texture height based on the texture data collected by the device mentioned in this paper.This algorithm is suitable for the texture surface with uniform texture distribution and small grid.(3)A design of wearable haptic reconsrtuction device and the structure of the exoskeleton type make haptic feedback of the finger grasping force possible.The haptic of texture can be expressed using dc motor and linear motor.The virtual interaction scenarios is designed base on Unity3 D.The posture of hands is captured and tracked in real time using Leap Motion.The whole device is miniaturized and portable,which can express the force and tactile of texture efficiently and in real-time.