Haptics Feedback Hand Wearable Device Besed On Electrostatic Adhesive Clutch

With the development of virtual reality technology,researchers are constantly pursuing for the ultimate reality feeling from the virtual feedback.People gradually became unsatisfied by the single visual feedback and began to pursue multiple sensory interaction experiences.Studying haptic feedback is the key to improving the virtual reality experience.Force feedback technology has also become a research hotspot.Considering the importance of force feedback technology,this paper proposes a wearable device with haptic force feedback hand based on electrostatic attraction.The flexible electrodes inside the device make the device light,thin and portable.The device can simulate virtual rigid force and virtual elastic force.Firstly,this paper analyzed the electrostatic attraction model and the contact model of elastic body,including the calculation method of electrostatic attraction force and the force-deformation model.In this paper,the relationship between the contact model and the electrostatic attraction force is established,and the influence of the parameters on the model is analyzed.Secondly,the basic performance of electrostatic attraction was tested,and the electrostatic attraction force and response time were tested separately.The test results were compared with human hand perception ability to provide theoretical support for the design of force feedback wearable devices.Thirdly,we conducted a force perception experiment and tested human subjective evaluation of the created virtual force.By subjective evaluation,this work also assesses the reality level of the test platform and the wearable device integrating electrostatic clutches.Finally,based on the principle advantages of electrostatic attraction,the electrostatic attraction brake and the force feedback hand wearable device were designed and manufactured.The true feedback force during the working process of the device was tested.The feasibility of the device was verified by the subjective evaluation of the test participants.Finally,the safety analysis of the device was carried out from the theoretical and experimental point of view.