Six-degree-of-freedom Force Tactile Feedback Technology Merged Mass Center Shift And Vibration

Current virtual reality systems can visually render realistic 3D objects and simulate the movement of 3D objects,but lack the haptic experience of simulating 3D objects,and the mapping of visual information and haptic information is often very difficult.People want to explore a richer experience,where they can touch and perceive virtual objects while seeing them.In this study,combining the center of mass shift and vibration force feedback technology,a haptic device that can present 6-DOF force feedback is designed to provide users with intuitive and true 6-DOF force haptics to guide users' hand movements and explore more abundant experience.This study also establishes a center of mass motion model,proves that the center of mass shift unit can generate three free rotational force haptic feedbacks,proposes a center of mass posture adjustment algorithm,realizes the rotation of the center of mass around any axis,and verifies that the handle can produce continuous translation and rotation force feedback,when the two force feedback technologies act simultaneously,they will not affect each other.Users can correctly recognize and perceive the direction of translation and rotation movements by using this device.By adding visual feedback,it enriches the user experience,determines the mapping relationship between the frequency of tactile rotation force feedback and the frequency of visual object movement,and determines the tactile translation force.The mapping relationship between the feedback input current and the visual frequency of object motion.The main work and innovation of this paper are as follows:(1)The structure fusion scheme of the force haptic feedback technology that combines the center of mass shift and vibration is designed to ensure the compactness and aesthetics of the overall structure to facilitate user operation.The driving circuit and Bluetooth interface protocol for controlling the vibration of the motor are designed,which can present the user with three free translation force feedbacks.(2)The functional fusion scheme of the two is studied.First,it is proved that the center shift unit can generate rotational force feedback,which is the basis of functional fusion;then a center of mass posture adjustment algorithm that can present three free rotational force feedbacks is proposed;the interactive interface of the user function can present the rotation and translation force feedback individually or simultaneously.(3)The performance of the device was evaluated: verifying whether the device can generate six-degree-of-freedom force feedback;verifying whether the user can perceive six-degree-of-freedom force feedback;and determining the relationship between the speed of visual object movement and tactile perception during the visual+ tactile interaction.In this paper,force tactile feedback technology merged mass center shift and vibration is studied from basic theory,device structure,hardware device,software driver,algorithms and applications.A six-degree-of-freedom force tactile feedback platform with fusion of center shift and vibration was established,a center motion model was established,and a human-machine interaction interface was designed to realize the control of the center shift unit and the vibration motor unit by the host computer.It also evaluates the performance of the force feedback device in many aspects,and provides a reference for research and development of haptic technology based on force feedback.