摘要
本文对电触觉的实现作了实验性研究．提出了在操作者手指上实现触觉再现的电极形状和分布以及刺激电流波形，并由此给出了实现遥作机器人触觉临场感的系统构成及实现方案．该系统可使操作者遥感到从机器人机械手指与点，线，面等形状物体的接触，位置分辨力可达２．２ｍｍ．
In this paper, an experimental study on realization of electrotactility is conducted. The shapes and distribution of electrodes and stimulation current waveforms are proposed to realize the finger electrotactility. Then, the system construction and realization scheme are presented to realize tactile telepresence for telerobot. The system enables the operator to feel the slave manipulator touching with objects which have point, line and plain shapes. The position resolving power is 2.2mm.
出处
《机器人》
EI
CSCD
北大核心
1997年第5期333-337,共5页
Robot
基金
国家863智能机器人传感技术网点实验室资助课题
