用软电液压驱动器实现高精度力反馈，可远程操控机器人
A Novel Kinesthetic Haptic Feedback Device Driven by Soft Electrohydraulic Actuators
- 采用软电液压驱动器实现稳定可控的力反馈输出
- 响应速度快，支持高分辨率力控与变频振动模拟
- 无需额外振动部件，适合机器人遥操作等场景
由于驱动机制的限制，开发具备先进触觉渲染能力的运动觉触觉设备极具挑战。本文提出一种新型软电液压执行器，并以此为驱动单元构建运动觉触觉装置。建立了数学模型并开展实验测试，验证了该装置能够稳定输出可控力反馈。实验表明，该装置具有快速响应特性。借助软电液压执行器易于控制的特性，实现了高分辨率可控力反馈输出。此外，通过调节驱动高压波形，无需额外振动部件即可实现变频触觉振动。基于此装置构建了遥操作机器人系统，展示了其在机器人领域作为力反馈系统的应用潜力。
原文摘要 · Abstract (English)
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic haptic device utilizing it as the driving unit. We established a mathematical model and conducted testing experiments to demonstrate the device's ability to stably output controllable feedback force. Our experiments also demonstrates that this device exhibits fast response characteristics. By utilizing the easily controllable nature of the soft electrohydraulic actuator, we were able to achieve high-resolution controllable feedback force output. Furthermore, by modulating the waveform of the driving high voltage, the device acquired the capability to render variable frequency haptic vibration without adding any extra vibration actuator. Using this kinesthetic haptic device, we built a teleoperated robotic system, showcasing the device's potential application as a haptic force feedback system in the field of robotics.
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