基于磁流变液的力/触觉再现系统研究进展

摘要

力/触觉再现技术是当前新兴的研究领域.介绍了最近10年来基于磁流变液的力/触觉再现系统的国内外研究进展情况.总结了基于磁流变液的力/触觉再现技术的研究内容,包括执行装置的结构设计、模型研究以及再现系统控制研究,讨论了基于磁流变液的力/触觉再现系统开发过程中的关键技术.如提高便携式触觉接口中执行装置的力矩/重量比.减小静态力、克服被动系统力/触觉表达局限性,指出了今后发展的趋势.阐述了基于磁流变液的力/触觉再现系统的优势,并展望了其应用前景.%The haptic display technology is a frontier research area currently. The developments of magneto-rheological fluids based haptic display systems in the last decade are introduced. Magnetorheological fluids based haptic display technique includes actuator design, modeling and display system control, some key issues are discussed, such as a high torque/weight ratio in portable haptie interfaces, a low static force and a limita-tion on presenting haptic of passive type systems. And the developing direction of a magnetorheological fluids based haptic display system in the future is pointed out. Finally the advantages of the system are presented and the application prospect is forecasted.