CN-121979386-A - Three-dimensional force touch sense reproduction system and method based on planar halbach array magnetic moment vector regulation

CN121979386ACN 121979386 ACN121979386 ACN 121979386ACN-121979386-A

Abstract

The invention discloses a three-dimensional force touch reproduction method and a three-dimensional force touch reproduction system based on planar halbach array magnetic moment vector regulation, wherein a three-dimensional controllable electromagnetic field is generated by exciting a planar array electromagnet, exciting current of the planar array electromagnet is regulated, electromagnetic acting force born by a fingertip magnet module is regulated, electromagnetic force simulation discrete data when the fingertip magnet module is positioned at a real operation space discrete grid point are obtained through calculation by using a finite element simulation method, a data design control strategy is analyzed, namely force feedback on a three-dimensional space is realized through determining exciting current of each coil of the planar halbach array electromagnet through relative positions and expected stress of the fingertip magnet module in the operation space, and the three-dimensional force touch reproduction method provided by the invention creatively provides the electromagnetic field for regulating each position in the real operation space through the planar halbach array magnetic moment vector regulation method, and realizes three-dimensional force touch feedback with large-scale and accurate regulation of feedback force and direction by combining the fingertip magnet module.

Inventors

LU XIONG
YU YONGBO
ZHAO RUIXIN
ZHAO ZIRUI
LIU JIAN

Assignees

南京航空航天大学

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (6)

1. The three-dimensional force touch sense reproduction system based on planar halbach array magnetic moment vector regulation is characterized by comprising a planar halbach array electromagnet module, a planar halbach array electromagnet excitation module, a fingertip magnet module, a fingertip position detection module, a central control module and a power supply module, The planar halbach array electromagnet module consists of an electromagnet array with mxn formed by a plurality of array subunits with the same structure, wherein a single array subunit array consists of three-dimensional orthogonal coils and an iron core, the iron core is a cube with block-shaped bulges on the left side and the right side, and a Y-axis coil in the three-dimensional orthogonal coils is tightly wound on the iron core and is tightly attached to a Z-axis coil and an X-axis coil; The planar halbach array electromagnet driving module generates PWM waves through a driving chip to generate and output current with adjustable size and direction, and provides exciting current for a three-dimensional orthogonal coil in the planar halbach array electromagnet module; the fingertip magnet module consists of a wearable fingerstall and fingertip magnets, wherein the wearable fingerstall is used for being worn on a fingertip and accommodating the fingertip magnets, and the fingertip magnets are placed in corresponding spaces of the wearable fingerstall; the fingertip position detection module is composed of a gesture recognition sensor and is used for recognizing a human hand and acquiring the three-dimensional position of the human fingertip in space; The central control module consists of an embedded microcontroller and a PC, wherein the PC is used for creating a virtual scene, connecting a gesture recognition sensor to acquire a fingertip three-dimensional position, creating a fingertip proxy point in the virtual scene according to the fingertip three-dimensional position to display the fingertip position, providing visual feedback for a user through a display, and running a force feedback algorithm; the power module uses a direct-current stabilized power supply to provide current excitation for the planar halbach array electromagnet module.
2. The three-dimensional force touch reproduction system based on planar halbach array magnetic moment vector control of claim 1, wherein the wearable fingerstall is manufactured by 3D printing, and the permanent magnet is a neodymium-iron-boron permanent magnet.
3. The three-dimensional force haptic reproduction system based on planar halbach array magnetic moment vector manipulation of claim 1, wherein the fingertip position detection module uses leap motion a gesture recognizer.
4. A three-dimensional force haptic reproduction method based on planar halbach array magnetic moment vector manipulation, characterized in that the method uses a three-dimensional force haptic reproduction system based on planar halbach array magnetic moment vector manipulation as claimed in claim 1, the method comprising the steps of: Establishing a virtual scene, namely establishing a virtual scene comprising a virtual finger and a virtual object model, and establishing a space mapping relation between a real operation space above a planar halbach array electromagnet module and the virtual scene and a three-dimensional position mapping relation between a real hand and a virtual hand; Step two, electromagnetic acting force simulation discrete data calculation, which is to divide a real operation space above a planar halbach array electromagnet module into grids by using a three-dimensional grid unit according to the precision requirement to form discrete grid nodes in the three-dimensional space, analyze the corresponding relation between electromagnetic force born by a fingertip magnet module at the discrete grid nodes and excitation current of each coil in the planar halbach array electromagnet module and the position of the fingertip permanent magnet module by using a finite element method, and form electromagnetic acting force simulation discrete data represented by a multidimensional matrix and comprising the electromagnetic force born by the fingertip magnet module, the position coordinates of the fingertip magnet module and the excitation current of each coil in the planar halbach array electromagnet module; detecting the position of the finger tip of the person by using a position detection module to obtain the real-time three-dimensional position of the permanent magnet or the electromagnet in the finger tip magnet module; calculating the acting force required by the fingertip magnet module, namely calculating the electromagnetic acting force required by the fingertip magnet module at the current moment based on a force touch interaction model between a human fingertip and a virtual object in a virtual scene; The method comprises the steps of generating a magnetic field in a working space by using a planar halbach array electromagnet module, generating electromagnetic acting force by acting on a fingertip magnet module, carrying out current excitation on each coil of the planar array electromagnet by using the halbach effect, providing current excitation for each coil in the planar halbach array electromagnet module by using a planar halbach array excitation coil driving module and a power module according to the position of the fingertip magnet detected in the step three and the required electromagnetic force direction and the size calculated in the step four, and generating a local enhanced magnetic field in a specified direction at any target position to determine the electromagnetic force direction; And if the interaction is stopped, the system continuously waits for the next interaction between the human finger tip and the virtual object in the virtual scene, and closes the whole force touch reproduction system by exiting the virtual environment.
5. The three-dimensional force touch reproduction method based on planar halbach array magnetic moment vector regulation and control according to claim 4, wherein the vector direction of each array subunit magnetic moment is controlled by regulating the exciting current proportion of each subunit three-dimensional orthogonal coil of the planar halbach array, and a local enhanced magnetic field with a specified direction is generated at any target position, and the method is specifically realized as follows: The relation expression of the simulated discrete data of the electromagnetic acting force applied to the fingertip magnet module, which is obtained by using a finite element method, is specifically: ; ; ; ; ; ; ; Wherein, the Representing electromagnetic acting force applied by a finger tip magnet in the finger tip magnet module and decomposing the electromagnetic acting force into scalars in X, Y, Z three directions 、、 , 、、 Respectively representing electromagnetic acting force of the fingertip magnet module in the direction X, Y, Z acted by the ith row and jth column array subunits in a magnetic field space; The method comprises the steps of generating a local enhanced magnetic field above a planar halbach array electromagnet module by regulating the excitation current and the direction of three-dimensional orthogonal coils in each array subunit in the planar array electromagnet module, changing the magnetic moment vector direction of a single array electromagnet by regulating the current excitation proportion of the three-dimensional coils in a single array subunit, moving the position of the local enhanced magnetic field to act on a fingertip magnet module, generating electromagnetic acting force in any direction in an operation space on the planar halbach array electromagnet module, and increasing or decreasing the excitation current in the same proportion on the premise of not changing the current excitation proportion and increasing or decreasing the electromagnetic acting force on the premise of not changing the electromagnetic acting force direction.
6. The three-dimensional force touch reproduction method based on planar halbach array magnetic moment vector modulation of claim 4, wherein the scalar in the X-direction Representation of Size and dimensions of (2) The parameters are related to, among other things, The three-dimensional position of the fingertip magnet module relative to the center of the ith row and jth column array subunit in the plane array electromagnet is shown, Representing the excitation current in the X-axial coil, the Y-axial coil and the Z-axial coil in a single array subunit; , , wherein Represents the maximum current of the planar halbach array excitation coil when the driving voltage is full, Duty cycle information representing the X-axis coil excitation current PWM signal in the ith row and jth column array subunits, Duty cycle information representing the Y-axis coil excitation current PWM signal in the ith row and jth column array subunits, Duty cycle information representing the Z-axis coil excitation current PWM signal in the ith row and jth column array subunits, And Respectively representing the row number and column number of array subunits in planar halbach array electromagnet module subunit and scalar quantity in Y direction Representation of Size and dimensions of (2) Parameter-dependent, scalar in Z-direction Representation of Size and dimensions of (2) The parameters are related.

Description

Three-dimensional force touch sense reproduction system and method based on planar halbach array magnetic moment vector regulation Technical Field The invention belongs to the technical field of force touch reproduction in man-machine interaction, and particularly relates to a three-dimensional force touch reproduction method based on planar halbach array magnetic moment vector regulation. Background Humans rely on a variety of sensory pathways such as visual, auditory, olfactory, and electrotactile to acquire and understand external environmental information. The force touch reproduction technology constructs a unique and bidirectional man-machine interaction way, so that a user can explore a virtual or remote environment in an active mode, and the limitation of unidirectional perception modes such as vision, hearing and the like is made up, thereby occupying a key position in a multi-mode perception system. In recent years, with the rapid development of force touch feedback technology in man-machine interaction, the force touch feedback technology has been widely applied in various fields such as industrial manufacturing, medical simulation, education training and entertainment, and various types of force touch reproduction devices have been induced. Early force-sensing devices, such as exoskeletal or force-feedback joystick structures, typically rely on motors and mechanical transmission systems to achieve force feedback, with problems of inadequate force sense reproduction, significant mechanical delays, cumbersome structure, and narrow operating space due to limitations of the motion mechanism itself. In order to overcome the limitations of the conventional haptic reproduction device in terms of operability, realism and safety, to achieve accurate and real-time haptic perception of virtual objects by users, various haptic reproduction methods for natural interaction are gradually proposed and continuously developed, including wearable haptic devices mainly fixed to the body of an operator. For example, the university of first-aid research team developed a soft, jointless exoskeleton glove named Exo-Glove based on soft tendon routing and under-actuated adaptation mechanisms. The device may provide directional motion feedback to the wearer, with advantages in terms of enhanced wearing comfort and adaptation. Zheng Yukai et al focused on fingertip force feedback and proposed a force feedback glove based on a hybrid cam-link structure and pneumatic drive, which had an overall mass of only 245 grams, and developed in light weight design. In order to further solve the possible safety risk of the active force feedback device in the fault state, prince and the like propose a five-finger passive force feedback glove adopting a variable ratio lever mechanism, and reliable force sense transmission is realized through a pure mechanical structure. In addition, aiming at the defects of the traditional wearing equipment in softness and surface touch reproduction, PAGNANELLI G and the like, a finger touch system based on fabric is developed, the height of the fabric is regulated and controlled by virtue of pneumatic driving so as to transmit fine softness and sliding sense, and the equipment has the characteristics of compact structure and light weight. A novel non-contact force touch system capable of enhancing the perception of the rigidity information of the virtual human tissue is developed by the university of Chinese and Wuhan in China. The system mainly comprises a virtual scene display module, a binocular vision tracking module, a touch operation pen provided with a permanent magnet, a magnetic module array with adjustable distance and angle and an electromagnet array drive. The system captures the information of the touch operation pen in real time by using the visual tracking module and transmits the information to the virtual scene, and calculates the magnitude of output force by using the established model so as to obtain the driving current of the electromagnet, and the driving adjustment current is equal to the magnitude of the required current so as to generate an electromagnetic field required by interaction, so that an operator realizes perception touch reproduction. However, the distribution of coils in the system is only a relatively suitable choice, and the optimal coil gesture determination and the overall comfort of the device are required to be further improved. Disclosure of Invention Aiming at the technical problems, the invention aims to provide a novel electromagnetic field control method, and when a fingertip permanent magnet or an electromagnet needs to generate electromagnetic acting force in any direction in a three-dimensional space at a certain position in a real operation space, the traditional coil array cannot always meet or generate smaller electromagnetic acting force. The method has the advantages that the halbach array is utilized to enhance the local magnetic field of the opera