Design And Implementation Of Virtual Table Tennis Racket Based On Tactile Force Feedback

With the rapid development of social economy and the gradual improvement of people's living standards,people pay more and more attention to their own health.The best way to keep healthy is to exercise.Table tennis,as a national sport in China,is suitable for all ages and has many fans.However,the traditional table tennis is restricted by the venue and time,and it is not easy for the players to master the skills.The longterm wrong movement posture may cause damage to the body.Virtual reality technology can alleviate these problems to some extent.Therefore,the health system of table tennis physical sensation based on tactile force feedback has high research value and broad application prospect.However,the process of table tennis is difficult to simulate,and the interaction of fine force feedback is one of the bottlenecks.In view of this situation,this paper designs and implements a virtual table tennis racket software and hardware system which simulates the subtle force feedback in traditional table tennis.In this paper,through the study of table tennis,the micro force feedback data of racket in table tennis is extracted.By using the data optimization technology based on the least square method to preprocess the micro force feedback data,the correlation model between the racket and the force feedback device is constructed.Then,a micro force feedback method based on push-pull electromagnet is proposed.Finally,the software and hardware system of virtual table tennis racket based on tactile force feedback is designed and implemented,and the micro force feedback effect of virtual table tennis racket is evaluated through experiments.The main research work is as follows:1.A micro force feedback measurement method based on FSR flexible membrane pressure sensor is designed.According to the FSR pressure sensor technology,the membrane pressure sensor is fitted between the rubber and the racket surface of the experimental racket,and the micro force feedback data is captured from the interactive process of table tennis.Then,the inertial sensor is attached to the back center of mass of the experimental racket to obtain the attitude information of the racket.Finally,the micro force feedback data in the process of table tennis is obtained by data acquisition card and voltage resistance conversion module.2.The least square method is used to preprocess the micro force feedback data,and a correlation model between the racket and the force feedback device based on the inertial sensor is constructed.The model is constructed by different hitting types and the captured micro force feedback data,and the hitting types are related by the attitude information of the racket.The acceleration and gyroscope data of the virtual racket are captured by the inertial sensor,and the correlation model is constructed by the attitude information of the racket and the input voltage parameters of the force feedback device.3.A micro force feedback method based on push-pull electromagnet is designed.According to the push-pull electromagnet technology,the method uses the characteristics that the push-pull electromagnet can output the corresponding micro impact force under different driving voltage,and uses the micro variable impact to realize the micro feedback force.Through the experiment,the force feedback device is fitted with the micro force feedback parameters of different impact types,and the PWM pulse width modulation method is used to enable the force feedback device to output the corresponding impact force through the attitude data of the subject.4.The software and hardware system of virtual table tennis racket can output corresponding micro force feedback according to different types of hitting.Through the experiment to evaluate the effect of micro force feedback,the final experimental results show that the fitting effect is good.