Research On Haptic Interface And Interaction Technology Based On Ultrasonic Phased Array And Cable-drive Mechanism

In the process of exploring the virtual environment and manipulating the virtual object,the haptic feedback device can provide various characteristic information of the virtual environment for the operator.Ultrasonic haptics is a non-contact haptic feedback emerging in recent years.Based on the characteristics of a high degree of freedom,large workspace,safety,stability,and reliability,ultrasonic tactile feedback has shown broad application prospects in multimedia technology,vehicle driving,and augmented reality.However,there is currently a lack of real-time and accurately controlled ultrasonic tactile rendering models,and there is a lack of research on the perception of ultrasound tactile rendering images.Moreover,its weak tactile feedback intensity further limits its application in human-computer interaction.In response to the above shortcomings,in this thesis,an accurate and controllable ultrasound tactile rendering model is established by comprehensively considering multiple input parameters of the ultrasound array,and in-depth analysis and evaluation of the perception of ultrasound tactile rendered images are conducted for the first time,two new methods for ultrasound tactile rendering of concave-convex surfaces are proposed.A multi-mode haptic device integrated by an ultrasonic array and a cable-driven parallel mechanism is designed,and a multimodal haptic compound rendering method combining ultrasound tactile and cable-driven force is proposed.(1)Aiming at the issue of difficulty in real-time and accurate control of tactile point rendering,a new modeling method for ultrasonic tactile rendering is proposed,and the models are established.This method combines multiple influencing factors,such as input amplitude,rendering frequency,focus position,and modulation waveform.Furthermore,the absolute threshold of ultrasonic tactile perception is measured through experiments,the relationship between focus output pressure and perceived intensity is evaluated,and an ultrasonic tactile rendering algorithm is proposed.Finally,the accuracy and reliability of the ultrasound tactile rendering models are verified and evaluated using an experimental platform.(2)Aiming at the lack of in-depth analysis and evaluation of the perceived effect of ultrasound tactile rendered images,the perception of ultrasound tactile rendered images is analyzed and evaluated.Aiming at the issue of difficulty in rendering spatial distance of concave-convex surfaces for ultrasonic tactile rendering,two new ultrasonic rendering methods are proposed.The relationship between focus movement speed and perception intensity is analyzed,and the perceived effect of various rendered images is further analyzed and evaluated,including detection and identification threshold measurement of line images,identification of line image’s directionality,two-and three-dimensional shapes.The research results have a guiding significance for ultrasonic tactile image rendering.Based on the above research,two new methods for the ultrasonic tactile rendering of concave-convex surfaces are proposed.The experimental results show that compared to traditional rendering methods,these two new rendering methods can help operators better perceive the image information of concave-convex surfaces.(3)Aiming at the problem of ultrasonic focus’ s weak output intensity,which makes it difficult to achieve high-intensity haptic rendering,this thesis designs and constructs a new multimodal haptic device based on an ultrasonic phased array and cable-driven parallel mechanism,and proposes a new compound haptic rendering method based on ultrasonic tactile and cable-driven force.Firstly,a cable-driven parallel mechanism suitable for phased array integration is designed and constructed.Experiments are conducted to evaluate the cable-driven force feedback device,the results show it can provide stable and reliable force feedback.Secondly,the integration of an ultrasound array and a cable-driven mechanism is designed and constructed,and the perceived characteristics of multimodal haptic stimuli are analyzed.The perception threshold of ultrasound tactile under the action of the cable-driven force is obtained.Once again,a multimodal haptic compound algorithm is proposed,users can perceive both ultrasonic tactile and cable-driven force feedback simultaneously through this device.Finally,experiment results show that multimodal haptic rendering is better than individual ultrasonic tactile or cable-driven force feedback,to help users manipulate virtual objects accurately and sensitively,and obtain more feature information about rendering objects.