Flexible Tactile Force Reproduced Based On Magnetic Drive Design And Research

In recent years,wearable devices have gradually become a research popular spot in the aspect of human extrasensory simulation technology,among which virtual reality（VR）and augmented reality（AR）two traditional technologies are particularly prominent,which enhance human experience of virtual world by stimulating vision and hearing respectively,and simulate the perception of real world.Is one of the most widely used head-mounted displays,accelerator and speakers,the equipment is the basis of computer generates 3D environment alone,the independent environment can be more realistically simulate the need by means of superposition of scenes,and the virtual scene can also according to user’s reaction to make corresponding change,realize the man-machine interaction.However,compared with the research depth of visual and auditory technologies,there are still many technical gaps in the field of tactile reproduction that are worthy of further research.However,with the rapid development of flexible electronics,bionics and material science,flexible wearable devices with tactile reproduction function emerge one after another.Due to the tactile information function of human-computer interaction,flexible wearable devices have become one of the important frontier research directions in the fields of health and medical rehabilitation,exoskeleton robot,intelligent prosthesis and other fields,and have brought emerging commercial value to the medical consumption,rehabilitation and other markets.At the same time,the technical requirements of miniaturization,flexibility and efficient output capacity have also become the difficulties and challenges faced by flexible wearable devices.Thesis mainly studies a flexible wearable tactile reproduction device based on electromagnetic drive.Tactile force reproduction module is the main actuator of the device,which is composed of the electromagnetic drive unit and the passive support unit.The electromagnetic drive unit uses the electric coil under the action of alternating current to generate an ordered change of electromagnetic field so that the miniature magnet can do up and down reciprocating motion.The passive support unit is made of flexible materials through the origami process,which provides support and restraint for the movement of the electromagnetic drive unit.The length,width and height of the module are 10 mm,10 mm and 1.65 mm,respectively.The weight is about 330 mg,and the maximum vibration force of 524 m N can be output at the voltage frequency of 120 Hz.The skin tactile feeling is obvious.In addition,the control development board matching the flexible tactile force reproduction actuator is designed independently,which can not only control the vibration frequency and size of the tactile force reproduction module,but also solve the problem of non-portable power supply.Finally,the control module,flexible tactile force reproduction array and independent power supply are integrated into a functional flexible wearable device,which is about 78 g and can be fitted to a specific part of the human body for massage.The device meets the basic requirements of miniaturization and flexibility of flexible wearable devices,and provides some reference ideas for the emerging field of modern flexible wearable devices.