Research On Rapid Prototyping Environment System Of Virtual Haptic Device

Virtual environment-based haptic feedback technology is a technology that enables an operator to control the movement of objects in a virtual environment simulated by a computer through a haptic device,and to experience the virtual force sensation generated by a collision.In the past few decades,the rapid development of haptic feedback technology has made it widely used in various fields.Especially in the field of stroke patients with upper limb rehabilitation is signification compared to traditional physical therapy.However,the basic technology research on haptic feedback systems in China is still immature.In this context,this paper intends to develop an environmental system for rapid prototyping of virtual haptic devices.The so-called environmental system refers to the configuration of a specific user-customizable robot in the system,which can provide users with haptic information feedback during operation.The core goal of this paper is to develop a three-degree-of-freedom robot and its supporting environmental system.We have done the following four parts around this goal:(1)Designing a robot with three degrees of freedom.The robot needs to have low mass,high stiffness and other characteristics.And it is required that the friction between joints should be as small as possible during the operation;(2)Establishing master and slave computer communication system.the main function of this communication system is to detect displacement information and control the operation of the motor.And realizing two-way real-time communication with the virtual environment of the host computer through serial communication;(3)Setting up a virtual environment in the host computer,which receives the displacement information of the host computer and converts it into torque information to feed back to the haptic device;(4)Designing experiments verify whether the three-degree-of-freedom robot can implement haptic feedback in the environmental system.The conclusions of the research in this thesis are as follows:(1)Experiments show that the virtual haptic feedback system developed in this paper can simulate the real force haptic well when the graphic refresh frequency is above 30HZ,and the haptic feedback frequency is above 500HZ;2)The environmental system developed in this paper realizes the modular combination between haptic devices and virtual environments,which proves that the haptic devices can be customized;(3)Adopting low-level connection and modular development can effectively reduce the difficulty and cost of haptic feedback system development.The contributions of this paper mainly include the following two points:(1)Verifying the feasibility of quickly building a personalized virtual haptic device in the system environment developed in this paper;(2)Providing a cost-effective commercial haptic device for the application of robot-assisted human rehabilitation system which is expected to be promoted in the rehabilitation medical market after subsequent equipment optimization.