Haptic Display Interface Technology In Soft Environment

Haptic display device is a kind of important human-computer interface device. By the development of virtual reality technology and interactive telerobot technology, it is very important and necessary to design a man-computer interface, which can realize real-time and precision of stiffness display.This thesis brings forward a totally new design scheme of man-computer interface device, which can realize real time stiffness display. This device based on the smart control of the thin elastic beam's effective deformable length. The stiffness of the thin elastic beam can be quickly and smoothly changed by controlling the deformable length of the beam. This haptic display device includes a feed screw and nuts gearing and the position of nuts is controlled by the DC servo motor. So, this device could replicate the stiffness of a virtual object or remote object with wide range to the fingertip of human operator as if he directly touches with the soft environment, and assure the real-time and precision of stiffness display. This real time haptic display interface device has characteristics of mensurability and wide range of quick stiffness display and small dimensions. It can be widely used in the field of telerobot and virtual reality.The principle of the method, and the software and hardware system design methods of the haptic display interface device are introduced. A series of experiments which aim at research on human stiffness characteristics are designed.