CN1663751A - Method and device for robot tactile reproduction based on water jet stimulation - Google Patents
Method and device for robot tactile reproduction based on water jet stimulation Download PDFInfo
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Abstract
The invention relates to the robot touch reappearing method based on water-jet stimulation and its equipment. The local computer receives the remote robot tough information through the communication network, and its output ports connect each information control ends of the water-jet stimulation equipment to control the temperature, the jet pressure of the water-jet and the on-and-off of the nozzle and the water-pressure origin so as to provide the remote robot touch information for the local operator in water flow stimulation pattern. The jet water column stimulation at the finger ends of the operator comprises the pressure slope tough stimulation produced the water pressure and the temperature slope touch stimulation produced by the difference of jet temperature and operator body temperature, and the two slope function together.
Description
Technical field
The present invention relates to a kind of device that is used for distant tactile sensing device of robot's information regeneration, especially can make the operator obtain gentle comfortable touch feeling and true robot tactile sense reproduction water jet stimulation device safely and effectively.
Background technology
Tactile sensing device of robot's telepresenc reproducing technology can strengthen in the remote operation system operator effectively to far contact the perception of situation with object from mechanical arm, makes the very fast and complete operation task exactly of operator.Follow the tracks of to grasp, accurate operation, and when having dysopias such as not having illumination, narrow space, it is particularly important that the haptic capabilities of robot seems.By distant robot; the Science Explorations of mankind nowadays and science exploration activity are deep to ocean floor; go up and space; as far as solar system celestial bodies such as Mars; the technological means of tactile sense reproduction and implement device are directly being represented the development level of sense of touch telepresenc, and sense of touch telepresenc reproducing technology has become the technical development urgent need of master-slave mode teleoperation robot.
The technology of tactile sense reproduction realizes comprising visual rendition and directly reproduces dual mode, wherein, direct mode be meant by tactile representation device will be far the tactile data that obtains of robot sensor be converted to corresponding stimulation and put on operator's finger, to reappear real sense of touch; Visual manner then is meant tactile data far away is shown to the operator by display, though this mode is directly perceived, but because approach sense of vision monopolizing to operator's display screen, often do not allow that the tactile data reproduction is operated under this mode, and visual rendition also comes like that naturally not as directly reproducing.Directly the stimulation form of tactile sense reproduction is varied.The direct playback system of studying both at home and abroad at present mainly contains
[5]: jet stimulation, vibratory stimulation, electro photoluminescence and neuromuscular stimulation etc.In numerous tactile sense reproduction implementations, accomplish simple and practical, be convenient to install, feel the comfortable further further investigation that truly is still waiting.The disadvantage of jet tactile feedback is that its bandwidth is less, about 10Hz.The weak point of vibrotactile feedback is the proper motion that finger was installed or hindered in complex structure inconvenience, and in addition, the energy conversion efficiency of vibrotactile feedback is low, easily causes too much heating and pain, and noise is also bigger during dither.Neuromuscular stimulation formula tactile feedback is different from the tactile feedback technology of alternate manner, and it is not stimulation applications person's a skin, but electro photoluminescence is directly put on somatosensory cortex (Silvermintz, 1988).If do suitablely, operator's brain can be appreciated that the finger of he (she) has touched object, owing to stimulating electrode invades in the skin, and the possibility of damaging neuromuscular system is arranged, and at present, also unlikely is applied in the remote handling system.It is little that electro photoluminescence has a volume, is convenient to install and be connected with computing machine, favored by the researchist, and its major defect is easily to cause uncomfortable feeling (as tingling sensation), and dynamic range is little, and consistance is relatively poor.We are by the data of room and time two passages simultaneously to be encoded form this up-to-date scientific discovery about brain to obtaining of tactile data according to Israel Neurobiology expert Ehud doctor Ahissar, take the lead in having proposed having solved the tingling sensation and the time availability difficulty of electro-tactile representation preferably based on the twin-channel electro-tactile representation method of space-time.But, electric touch is owing to adopt electric current to directly act on human body, and supply voltage is up to positive and negative 70V, therefore always there is part operation person to have psychological stress and misgivings (part operation person even be not ready to attempt), thereby cause that the microcirculating state of when injected organism tissue obviously changes under the stimulating electrode, and then influence the electro photoluminescence effect, increase the tactile sense reproduction difficulty.
Summary of the invention
Technical matters: the problems referred to above that the objective of the invention is to realize existence at the technology of existing tactile sense reproduction, a kind of robot tactile sense reproduction method and device based on water jet stimulation is provided, this tactile representation device provides sensation by water jet stimulation for the operator, has the clear effective characteristics of the comfortable sense of touch of safety.
Technical scheme: the technical solution adopted for the present invention to solve the technical problems is: according to sense of touch slope theory, proposition can realize that pressure-temperature merges the water jet tactile sense reproduction method of tactile sense reproduction, and carries out the design of water jet tactile representation device.
Sense of touch slope theory is the description about sense of touch formation condition key element, be meant that the strong and weak pressure with the when injected organism tissue surface of sense of touch that environmental stimuli excites (also can be suction, its value can just can be born, for pressure is represented in timing, represent suction when negative) or the isoparametric distribution of temperature relevant, there is a Gradient distribution in the physical element that forms sense of touch around the sense of touch application point in the distribution of amount, when this Gradient distribution that and if only if reaches a certain threshold value, can arouse the tactile response of the thigmoreceptor of biosome, we are referred to as the sense of touch slope to the Gradient distribution of each physical element that excites sense of touch, the slope is steep more, and sense of touch is strong more.
Example about the sense of touch slope in the life is a lot, as when adopting tip object chafe, can observe the pit that forms by pressure ramp clearly around the contact point, and when inserting finger in the cold water, because taking away heat, cold water forms a Temperature Distribution slope at the interphase place that finger contacts with cold water, thereby sense of touch is very obvious, though and underwater portion cold water is also taken away heat, but the heat that finger tip is taken away everywhere is equal substantially, therefore though finger tip has partly born pressure but owing to there is not the formation temperature slope, thereby sense of touch does not have the interphase place obvious.Careful each that investigate at one's side produces the example of sense of touch, and almost each example can be understood the formation mechanism of sense of touch from the angle on pressure and temperature slope.Just pressure ramp is bigger to the contribution of sense of touch in some example, and in other examples, then is that temperature ramp is bigger to the contribution of sense of touch.Have only pressure ramp in the life and do not have temperature ramp or have only temperature ramp and do not have the sense of touch example of pressure ramp may exist hardly, but in some cases, certain type slope accounts for leading role, and the negligible situation of the effect on another kind of slope is very general.Tip object chafe is exactly that pressure ramp is leading as previously mentioned, when the tip object very sharp-pointed, temperature is near body temperature, and the contact area of itself and skin is very little, when being unlikely to influence the Temperature Distribution of skin surface, temperature ramp can be ignored fully to the contribution of sense of touch, insert situation in the water for finger, when the finger skin just slightly contacts with the water surface, refer to that short suffered pressure (or suction) is the buoyancy (or the water surface to absorption affinity of finger tip skin) of water to finger tip, this power is very faint, pressure ramp also can be ignored fully to the contribution of sense of touch, at this moment then be that temperature ramp plays a leading role, especially touch to as if frozen water or hot water the time, sense of touch is particularly evident, the contribution of Here it is temperature ramp, on the contrary, when finger probeed in the warm water close with body temperature, main body was then not obvious usually for the sensation whether finger touches warm water.
In general, when applying sense of touch formation pressure ramp,, therefore form the temperature ramp of haptic stimulus inevitably because always there is the difference of some temperature in the temperature on carrier of exerting pressure and human body surface.The carrier and the skin temperature difference are big more, and the temperature ramp of formation is just steep more, and the haptic stimulus of operator's impression is just obvious more, otherwise sense of touch is then very inresponsive.
The sense of touch slope can be described as with formula: H
∑=F (g (P), h (T), r (X))
Wherein, g (P) is the pressure ramp function, and h (T) is the temperature ramp function, and r (X) is the ramp function of other unknown parameters.The sense of touch ramp function is the comprehensive of pressure, temperature and other unknown parameter ramp functions, and each ramp function is to the contribution on sense of touch slope.
So-called water jet tactile sense reproduction technology, be meant that utilization is applied to the human body surface of operator's finger tip with the current of certain speed injection, to form the pressure ramp of certain intensity, simultaneously because current can be taken away certain heat, can form certain temperature ramp again, two kinds of factor reciprocations form touch feeling clearly at operator's finger tip.In concrete enforcement, can also in the stable current post of water velocity, apply the unordered vibration of low frequency of certain intensity, causing the instantaneous irregular variation of operator's skin surface pressure (time channel), thereby eliminate the time availability of operator's haptic stimulus.Because the water jet tactile sense reproduction can be placed on the fixed position with water circulation device and control system, and the dependence precision processing technology is made thin slice very thin and that be designed to have certain flexibility with contact array, also because, water jet can not cause the tingling sensation of operator's when injected organism tissue, be easy to be accepted by the operator, therefore, water jet tactile sense reproduction technology and device can solve current tactile sense reproduction difficulty, for the operator provides gentle comfortable touch feeling.
Robot tactile sense reproduction device based on water jet stimulation of the present invention comprises computing machine, hot-tub, water cooling pond, supercharger, low frequency vibrator, sense of touch pond, variable valve, variable valve, water-water jet and electromagnetic valve group; Wherein, hot-tub, water cooling pond link to each other with the water inlet end of water-water jet by hot water variable valve, cold water variable valve respectively, and the water side of water-water jet is by supercharger, low frequency vibrator, electromagnetic valve group contacting feeling pond; The control end and the computing machine of supercharger, low frequency vibrator, hot water variable valve, cold water variable valve join.
The sense of touch pond is by base, the pad pin, seal cover board, pipe-line, shower nozzle, the jet pipe locating slot, pilot hole on the shower nozzle, nozzle, the cascading water hole, air intake opening and freeing port constitute, base and bottom, sense of touch pond, adopt the screw connection between seal cover board and the strip pad pin and form an enclosure space, respectively have some half slots on seal cover board and the base faying face, be mounted to the manhole of whole back formation stationary nozzle pipeline, pilot hole is used for the location of shower nozzle on the shower nozzle of bottom, sense of touch pond, the nozzle that links to each other with shower nozzle at the bottom of the sense of touch pond is pressed N * M dot matrix and is arranged, there is the cascading water hole bottom, sense of touch pond on four angles, perisporium has air admission hole, osculum is arranged on the seal cover board, and the Position Design of air admission hole and osculum is in lateral location.When base is thin when being difficult for processing pipe-line locating slot, pipe-line can weld or the mode of glue bond is fixed on the base.
The tactile sense reproduction method of the robot tactile sense reproduction device based on water jet stimulation of the present invention is by the mode of water jet stimulation the tactile data of distant Work robot to be reproduced in operator's finger tip; thereby the tactile data of distant Work robot is offered local operator; realize local operator to far distant tactile sensing device of robot's information perception, robot arm far on sensory function as the extension of local operator arm.
Water jet comprises the temperature ramp haptic stimulus that the difference of jet water temperature and operator's body temperature produces because the pressure ramp haptic stimulus that hydraulic action produces reaches at the haptic stimulus of when injected organism tissue epidermises such as operator's finger tip, two kinds of slopes stimulate acting in conjunction, produce pressure-temperature in operator's skin surface and merge artificial sense of touch.
In the jet water column, apply the unordered vibration of certain low frequency, to cause the instantaneous irregular variation of operator's skin surface jet hydraulic pressure, thereby can avoid the time availability of tactile sense reproduction effectively, and help the gentle relatively comfortable touch feeling of operator's acquisition.
In the water jet tactile representation device; hot-tub and water cooling pond have temperature sensing and control circuit separately respectively; the cold water that hot water that hot-tub flows out and water cooling pond flow out mixes the jet water temperature that obtains expecting through hot water variable valve and cold water variable valve respectively again at the water-water jet place; current after mixed obtain meeting the jet hydraulic pressure that tactile sense reproduction requires behind supercharger; this jet hydraulic pressure obtains particular water temperature through low frequency vibrator and the water jet that becomes during pressure again; these current via computer-controlled electromagnetic valve group after the jet nozzle in the sense of touch pond sprays to operator's finger tip; form the artificial sense of touch of water jet, thereby the tactile data of far distant robot is offered local operator.
The input of local computer receives the tactile data from distant robot, and with the gating of the output port of this information by computing machine (as the parallel port etc.) control electromagnetic valve group, thereby forms the local artificial water jet sense of touch that matches with tactile data far away.Simultaneously, computing machine also is the adjusting and the control center of each parameter of water jet tactile representation device, and the temperature of water jet, pressure and vibration strong or weak etc. all can carry out online adjusting by the man-machine interface of computing machine.
Beneficial effect: water jet tactile sense reproduction technology can overcome uncomfortable sensation or the sense of insecurity of operator in other tactile sense reproduction technological means well, avoid the time availability difficulty of tactile sense reproduction, and can realize that pressure-temperature merges tactile sense reproduction, for the operator provides gentle comfortable authentic clearly touch feeling.
This technology has important facilitation to development Chinese Space and the distant operative intelligence Robotics of ocean floor.This achievement is except that can be applicable to tactile sensing device of robot's information regeneration, has important value for setting up the sensory information transaction module and improving virtual reality technology, also has important value for military fields such as unmanned battlefield, chemical defence, rescues, along with the network technology develop rapidly, can be widely used in also that tele-medicine, long-range manufacturing, sensory function substitute and civil area such as interaction entertainment.
Description of drawings
Fig. 1 is a principle schematic of the present invention.Computing machine 1, hot-tub 2, water cooling pond 3, supercharger 4, low frequency vibrator 5, sense of touch pond 6, hot water variable valve 7, cold water variable valve 8, water-water jet 9, electromagnetic valve group 10 are wherein arranged.
Fig. 2 is the structural representation in sense of touch pond.Pilot hole 18, nozzle 19, cascading water hole 20, air intake opening 21 and freeing port 22 on wherein tactile pond 6, base 12, pad pin 13, seal cover board 14, pipe-line 15, shower nozzle 16, jet pipe locating slot 17, the shower nozzle.
Fig. 3 is the man-machine control interface of tactile sense reproduction embodiment.
Embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is further specified.
Fig. 1 is a water jet haptic stimulus device principle schematic provided by the invention.Structurally water jet robot tactile sense reproduction stimulating apparatus is made up of computing machine 1, hot-tub 2, water cooling pond 3, supercharger 4, low frequency vibrator 5, sense of touch pond 6, variable valve 7, variable valve 8, water-water jet 9 and electromagnetic valve group 10 etc.The input of local computer 1 is from the tactile data of distant robot; and this information handled the gating of the output port of back by computing machine (as the parallel port etc.) control electromagnetic valve group, thereby form the local artificial water jet sense of touch that matches with tactile data far away.Simultaneously, computing machine also is the adjusting and the control center of each parameter of water jet tactile representation device, the temperature of water jet, pressure and vibration strong or weak etc. all can carry out online adjusting by the man-machine interface of computing machine, wherein, because it is constant that the power of low-frequency vibration keeps in haptic stimulus usually, thereby low-frequency vibration intensity also can adopt manual mode to regulate.In addition, hot-tub 2 and water cooling pond 3 are sources of the jet water body of tactile sense reproduction, and both all have independently temperature sensing and control loop, flow out for ease of water body, and hot-tub 2 and water cooling pond 3 can be kept certain hydraulic pressure.
Water jet tactile sense reproduction method of the present invention is the finger tip that the tactile data of distant Work robot is passed to the operator by the mode of water jet stimulation; water jet in the stimulation of finger tip on the one hand because hydraulic action can produce the pressure ramp haptic stimulus at operator's finger tip; on the other hand because the difference of jet water temperature and operator's body temperature also will produce the temperature ramp haptic stimulus at operator's finger tip; two kinds of slopes stimulate acting in conjunction; thereby the tactile data of distant Work robot is offered local operator; realize local operator to far distant tactile sensing device of robot's information perception, robot arm far on sensory function then as the extension of local operator arm.
Under the control of robot system, far tactile data transmits in real time and is stored among the haptic data file dcj.dat of local computer.Under the laboratory environment, this haptic data can be obtained by being installed in the touch sensor of master-slave mode robot from the finger end, also can provide by the relevant square icon of the man-machine control interface gating shown in the accompanying drawing 3 by the operator, square icon is corresponding one by one with sense of touch nozzle on the tactile sense reproduction array, the operator can make it become the water-jet tactile of white (as icon in the accompanying drawing 31 and icon 4) with this icon corresponding nozzle place of gating by grey by clickable icon, also clickable icon makes it be become grey and be turn-offed the water-jet tactile at respective nozzle place by white once more, selected icon, the relevant contacts gated information promptly is written among the haptic data file dcj.dat in real time.
Press " determining " button in the accompanying drawing 3 control interfaces, haptic system software is about to haptic data and reads from the dcj.dat file, after resolving, the corresponding sense of touch gating of output port output tactile data control signal from computing machine, this control signal links to each other with electromagnetic valve group 10 after driving, the height variation of control signal level can make solenoid valve conduction or close, thereby the pipe-line that control links to each other with each nozzle of water jet tactile array and the UNICOM and the shutoff of pressure water source, pipe-line links to each other with sense of touch pond 6.The structure in sense of touch pond 6 as shown in Figure 2.In the accompanying drawing 2, the below in sense of touch pond 6 is bases 12, and pad pin 13 and seal cover board 14 are arranged between base 12 and the sense of touch pond, forms the space of a sealing at the bottom of pad pin 13, seal cover board 14, base 12 and the sense of touch pond, can prevent effectively that the outer of water jet water body from rushing down.There is the semicircle hole seal cover board 14 belows, and the pipe-line 15 that links to each other with shower nozzle 16 passes between this semicircle hole and base 12, and link to each other with pressure water source by electromagnetic valve group 10.Jet pipe locating slot 17 is arranged on the base 12, this locating slot pilot hole 18 on the shower nozzle of 12 bottoms, sense of touch pond can effectively be located jet pipe and shower nozzle, when base 12 is very thin, when being not easy to process jet pipe locating slot 17, jet pipe 15 also can be directly welded on the base 12.The nozzle 19 that links to each other with shower nozzle 16 is arranged at the bottom of the sense of touch pond, the distribution of nozzle 19 at the bottom of the sense of touch pond generally pressed N * M dot matrix and arranged, in the accompanying drawing 22 * 2 arrays, pressure flow sprays to operator's finger tip human body surface by nozzle 19 stimulates the required pressure and temperature slope of artificial sense of touch for the operator provides, and finally realizes wanting the artificial sense of touch of the water jet that coincide with robot finger tip tactile data far away at operator's finger tip.Between sense of touch pond and the operator's when injected organism tissue every with the good water proof soft cloth of heat conductivility, thereby reach not only water proof but also can transmit the purpose of pressure ramp and temperature ramp.For the water body that makes the nozzle ejection is discharged sense of touch pond 6 rapidly, 6 bottom design have cascading water hole 20 in the sense of touch pond, design has freeing port 22 on seal cover board, water body in the sense of touch pond 6 promptly in time pumps outside the pond by the water pump that links to each other with freeing port 22, in addition, between sense of touch pond 6 and base 12, also be filled with the water-absorbing sponge body, with the water body in the fast Absorption sense of touch pond 6, for preventing to form negative pressure in the sense of touch pond, air intake opening 21 is arranged in the design of sense of touch pond 6 perisporiums.
Adjust the flow size that the hot water flow scroll bar in the accompanying drawing 3 can be regulated the variable valve 7 that links to each other with hot-tub 2, regulate the flow size that the cold water flow scroll bar in the accompanying drawing 3 can be regulated the variable valve 8 that links to each other with water cooling pond 3, the cold water that hot water that variable valve 7 flows out and variable valve 8 flow out is mixed at water-water jet 9 places can be met the jet water temperature that tactile sense reproduction requires.
The water jets of adjusting in the accompanying drawing 3 presses scroll bar to regulate supercharger, thereby water jets is compressed into the online adjusting of row, " low-frequency vibration " scroll bar of adjusting in the accompanying drawing 3 can carry out online adjusting to the power of low-frequency vibration effect, because it is constant that the power of low-frequency vibration effect keeps in the tactile sense reproduction implementation process usually, so low-frequency vibration intensity can also adopt the manual adjustments mode.
That the artificial sense of touch of water jet that the present invention obtains has is safe and reliable, sense of touch is stablized authentic and valid characteristics, apply the unordered oscillating action of low frequency and then can avoid the time availability of tactile sense reproduction effectively, and help the gentle relatively comfortable touch feeling of operator's acquisition.
Claims (5)
1, a kind of robot tactile sense reproduction device based on water jet stimulation is characterized in that this device comprises computing machine (1), hot-tub (2), water cooling pond (3), supercharger (4), low frequency vibrator (5), sense of touch pond (6), variable valve (7), variable valve (8), water-water jet (9) and electromagnetic valve group (10); Wherein, hot-tub (2), water cooling pond (3) link to each other with the water inlet end of water-water jet (9) by hot water variable valve (7), cold water variable valve (8) respectively, and the water side of water-water jet (9) is by supercharger (4), low frequency vibrator (5), electromagnetic valve group (10) contacting feeling pond (6); The control end and the computing machine (1) of supercharger (4), low frequency vibrator (5), hot water variable valve (7), cold water variable valve (8) join.
2, robot tactile sense reproduction device based on water jet stimulation according to claim 1, it is characterized in that sense of touch pond (6) is by base (12), pad pin (13), seal cover board (14), pipe-line (15), shower nozzle (16), jet pipe locating slot (17), pilot hole on the shower nozzle (18), nozzle (19), cascading water hole (20), air intake opening (21) and freeing port (22) constitute, base (12) and bottom, sense of touch pond (6), adopt the screw connection between seal cover board (14) and the strip pad pin (13) and form an enclosure space, respectively have some half slots on seal cover board (14) and base (12) faying face, be mounted to the manhole of whole back formation stationary nozzle pipeline (15), pilot hole (18) is used for the location of shower nozzle (16) on the shower nozzle of bottom, sense of touch pond (6), the nozzle (19) that links to each other with shower nozzle (16) at the bottom of the sense of touch pond is pressed N * M dot matrix and is arranged, there is cascading water hole (20) bottom, sense of touch pond (6) on four angles, perisporium has air admission hole (21), osculum (22) is arranged on the seal cover board, and the Position Design of air admission hole (21) and osculum (22) is in lateral location.
3, a kind of tactile sense reproduction method that is applicable to the described robot tactile sense reproduction device based on water jet stimulation of claim 1; it is characterized in that the tactile data of distant Work robot being reproduced in operator's finger tip by the mode of water jet stimulation; thereby the tactile data of distant Work robot is offered local operator; realize local operator to far distant tactile sensing device of robot's information perception, robot arm far on sensory function as the extension of local operator arm.
4, the tactile sense reproduction method of the robot tactile sense reproduction device based on water jet stimulation according to claim 3, it is characterized in that water jet comprises the temperature ramp haptic stimulus that the difference of jet water temperature and operator's body temperature produces because the pressure ramp haptic stimulus that hydraulic action produces reaches at the haptic stimulus of when injected organism tissue epidermises such as operator's finger tip, two kinds of slopes stimulate acting in conjunction, produce pressure-temperature in operator's skin surface and merge artificial sense of touch.
5, the tactile sense reproduction method of the robot tactile sense reproduction device based on water jet stimulation according to claim 3, it is characterized in that in the jet water column, applying the unordered vibration of certain low frequency, to cause the instantaneous irregular variation of operator's skin surface jet hydraulic pressure, thereby can avoid the time availability of tactile sense reproduction effectively, and help the gentle relatively comfortable touch feeling of operator's acquisition.
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Cited By (7)
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| CN102331839A (en) * | 2011-09-09 | 2012-01-25 | 河南科技学院 | A CRT type fluidic tactile display |
| CN102346459A (en) * | 2011-10-09 | 2012-02-08 | 东南大学 | Cutting process offline coordination method of multi-beam type water jet cutting system |
| CN102438506A (en) * | 2009-04-01 | 2012-05-02 | 艾瑞尔·安吉斯·奥德里奥索拉·奥兰迪 | Device and method for assessing thermal pain and vibration sensitivity |
| CN103512725A (en) * | 2013-10-25 | 2014-01-15 | 东南大学 | Water-jet tactile adequate stimulus measuring device |
| CN106197777A (en) * | 2016-01-28 | 2016-12-07 | 西北工业大学 | Finger ring type combination array transmitter and the method using this transmitter measurement underwater manipulator haptic force |
| CN109364494A (en) * | 2018-11-29 | 2019-02-22 | 白银桦新石农业科技发展有限公司 | A kind of amusement on water suspension bridge protective device |
| CN112969983A (en) * | 2018-11-14 | 2021-06-15 | 索尼集团公司 | Information processing system, tactile sensation presentation apparatus, tactile sensation presentation method, and recording medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6230135B1 (en) * | 1999-02-02 | 2001-05-08 | Shannon A. Ramsay | Tactile communication apparatus and method |
| JP4344965B2 (en) * | 1999-08-18 | 2009-10-14 | ソニー株式会社 | Stretchable membrane and control method thereof, tactile sense presentation device using stretchable membrane, artificial skin device, manipulator, and control method thereof |
| JP3913496B2 (en) * | 2001-05-28 | 2007-05-09 | 独立行政法人科学技術振興機構 | Tactile detection system |
| CN1318191C (en) * | 2003-12-01 | 2007-05-30 | 东南大学 | Space-time double channel robot tactility rendition current stimulation method and apparatus |
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2005
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| CN102438506A (en) * | 2009-04-01 | 2012-05-02 | 艾瑞尔·安吉斯·奥德里奥索拉·奥兰迪 | Device and method for assessing thermal pain and vibration sensitivity |
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| CN102331839A (en) * | 2011-09-09 | 2012-01-25 | 河南科技学院 | A CRT type fluidic tactile display |
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| CN103512725A (en) * | 2013-10-25 | 2014-01-15 | 东南大学 | Water-jet tactile adequate stimulus measuring device |
| CN103512725B (en) * | 2013-10-25 | 2016-02-03 | 东南大学 | A kind of water-jet tactile adequate stimulus measurement mechanism |
| CN106197777A (en) * | 2016-01-28 | 2016-12-07 | 西北工业大学 | Finger ring type combination array transmitter and the method using this transmitter measurement underwater manipulator haptic force |
| CN106197777B (en) * | 2016-01-28 | 2019-01-04 | 西北工业大学 | Finger ring type combination array transmitter and the method that underwater manipulator haptic force is measured using the transmitter |
| CN112969983A (en) * | 2018-11-14 | 2021-06-15 | 索尼集团公司 | Information processing system, tactile sensation presentation apparatus, tactile sensation presentation method, and recording medium |
| CN109364494A (en) * | 2018-11-29 | 2019-02-22 | 白银桦新石农业科技发展有限公司 | A kind of amusement on water suspension bridge protective device |
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