Research On Electromagnetic Force Control Based Two Dimensional Haptic Interface

As an important part of human-machine interaction technology,haptic rendering enables operators to sense and touch virtual objects initiatively,which enhances the sense of reality and immersion of the virtual reality system.Therefore,haptic rendering has important research significance.The traditional haptic rendering technology like wearable and force-feedback joystick has some limitations on the movement of the operator and does not accord with the natural way of interaction in real life.In this paper,based on the background of natural human-computer interaction,an untethered haptic rendering method based on electromagnetic force control is developed.In order to generate and control the electromagnetic force effectively,the electromagnetic field generation and control principle are firstly analyzed.Secondly,the electromagnetic force exerted by the electromagnetic field and the permanent magnet is analyzed by ANSYS finite element method.According to the result of theoretical analysis,the overall scheme of two-dimensional haptic rendering system based on electromagnetic force control is designed.The hardware system of the haptic rendering system mainly includes two-dimensional background magnetic field generation and control module built by SA306 A driver chip and TM4C1294 control module,hand position detection module and a central control module based on Intel NUC microcomputer.Based on the hardware system,a software system of haptic rendering system is designed and realized,including Kinect-based hand position detection module,electromagnet PWM drive module,current ADC acquisition module,Intel NUC central control module and TM4C1294 electromagnet drive control Communication modules between modules..In order to obtain effective electromagnetic force,a two-dimensional electromagnetic force control method based on discrete simulation data is proposed based on finite element simulation analysis data,and the mapping relationship between electromagnetic force,space position and electromagnet current is determined.In order to validate the validity of the haptic rendering system designed in this paper,we first carry out the electromagnetic force threshold sensing experiment,and based on the threshold-based sensing experiment,we carry out the 3D virtual object recognition experiment.The experimental results show that the success rate of 3D virtual object recognition experiments is high,which verifies the validity of the system.The two-dimensional untethered haptic rendering system based on electromagnetic force control,which is researched in this paper,can be used as a universal haptic interface device,which lays an important foundation for the development of haptic rendering for natural interaction.