一种三维力反馈手控器_吴剑锋.pdfVIP

23 10 传 感 技 术 学 报 Vol． 23 No． 10 第 卷 第 期 20 10 10 CHINESE JOURNAL OF SENSORS AND ACTUATORS Oct． 20 10 年 月 * A Three-Dimensional Force Reflecting Hand Controller * WU Jianf eng ，SONG Aiguo ，LI Jianqing (School of Instrument Science and Engineering ，Southeast University ，NanJing 210096 ，China) Abstract :A three-dimensional force reflecting hand controller (3D FRHC)has been designed for force tactile per- ception． The principle of 3D FRHC has been introduced and the control circuit of the 3D FRHC has been de- signed． Three motor drivers were used to control the torque output． Three motor encoders can be used to obtain code information generated by movement of hand． The USB interface of C8051F340 can facilitate the communica- tion of control data ，also two FIFO buffers reduce the controller＇s real-time requirements greatly． In final ，a virtual environment experiment of elastic ball movement within limited space has been used to verify the function of the 3D FRHC． The results show that the 3D FRHC can meet the requirement of force tactile perception． Key words :hand controller ;force feedback ;tactile ;virtual reality EEACC :7320G ;7230 doi :10． 3969 /j ． issn． 1004 － 1699． 2010． 10． 011 一种三维力反馈手控器* * ， ， 吴剑锋 宋爱国 李建清 ( ， 210096) 东南大学仪器科学与工程学院 南京 摘 要: ， 。 结合力触觉感知的需要 设计了一种具有三维力反馈的手控器 介绍了三维力反馈手控器的工作原理及其控制电 ， ，