Manufacture Of Finger-following Force/Tactile Display Device

Nowadays, the HCI(Human-computer Interaction Techniques) have been widely used in the field of teleopertion, virtual reality etc. The HCI includes many human senses, in which the visual sense and the sense of hearing are mostly studied, but only by using those two kinds of human senses can't make a person feels real in the virtual reality. To solve this problem, scientists are trying to find some new ways, such as using the sense of force and the tactile sense, these two could impove the HCI strongly.By analyzing and referring to the existing haptic/tactile devices, a device is designed in this thesis. It is a device which can display virtual tactile sense in a broad range and also has the ability of changing its tactile sense display following the location of the operator's finger. This thesis shows that how a human could has tactile sense biologically, then a method of tactile representation using squeeze film air bearings generated by piezoelectric bending elements is presented. By combining the bending element to a 1 DOF robot, a prototype of this device is made.Then the bearing capacity of the squeeze film air bearing is caculated. A fuction is given to caculate the bearing capacity of the squeeze film air bearing generated by a thin bender ring.A experiment is taken to define the relationship of the friction coefficient and the driving voltage of the power source. Several driving voltages is designed in order to display the tactile senses of six commen objects and nine complicated objects. After that the control system is built and the HCI programme is composed.Finally, a prototype of the device is constructed and several experiments are performed, by analyzing the results, the availability of the prototype is proved.