Design And Research Of Flexible Haptic Feedback Actuator

Haptic feedback is a technology that stimulates the human epidermal perception system in a variety of ways and reproduces the human tactile perception.Different from the sense of sight and hearing in the human senses,the sense of touch is extremely difficult to reproduce due to its complex generation mechanism.Tactile sensation plays an indispensable role in daily life that interacts with the outside world or in complex task operations,which gaves birth to the development of the field of haptic feedback.Whether in the field of space teleoperation or virtual reality(VR)and other human-computer interaction,real-time touch is urgently needed by operators who are performing tasks.Compared with the reproduction of audio and video,real-time haptic feedback is more important for remote operation which enables the operator to accurately complete the operation task.Among the many feedback methods,the flexible driving technology has been deeply studied by researchers because of its simple driving method,diverse structure,and perfect compatibility with the human body.Flexible actuators can be more perfectly suitable for the above fields with the advantage of perfectly compatible with the human body,deforms with the movement of the human body,and provides a sense of touch while driving.Based on the principle of Maxwell electric adsorption and hydraulic transmission,the electro-hydraulic flexible actuator was designed that can be applied to haptic feedback.The following contents is mainly stuided in this paper:(1)According to Maxwell electric field force principle,the electro-hydraulic flexible actuator was designed.The feasibility of the actuator was verified through theoretical modeling and finite element software simulation analysis.The optimal size of each component of the actuator and the influence of each component on the driving process of the actuator are obtained.Then a high-voltage flexible actuator with a special insulation layer is designed.(2)A complete actuator output characteristic measurement platform was built.The influence of the oil injection volume of the actuator on the output displacement of the actuator was found in the experiment,and the optimal oil injection volume of the actuator was obtained.The relationship between the voltage and the output displacement and output force of the actuator was established,and the best output voltage method suitable for the actuator that the high-frequency square wave voltage is applied.(3)A complete tactile feedback operating system for remote operation was designed and built which including a tactile feedback glove that can realize feedback at the proximal end and a remote manipulator that can remotely operate at the far end.By matching the data of the force sensor at the end of the manipulator and the proximal tactile feedback actuator,the goal of outputting different magnitudes of displacement according to the different magnitude of the force of the tactile sensor is achieved which proved that the flexible actuator is applied to wearable devices.