Wearable haptic display by the use of a Particle Mechanical Constraint
Wearable haptic display by the use of a Particle Mechanical Constraint
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使用粒子机械约束的可穿戴触觉显示器
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
S. Kawamura
中科院分区：
文献类型：
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作者：
T. Mitsuda;S. Kuge;M. Wakabayashi;S. Kawamura
粒子机械约束是一个柔软的乙烯管，它包裹着聚苯乙烯泡沫塑料珠。它有6个自由度，包括压缩，伸长，弯曲和扭曲。通过排出内部空气，PMC固化并将所有自由度约束为任意形状。PMC的刚度与内部空气压力成比例。粘度实际上也通过改变与PMC转化速度成比例的内部空气压力来控制。通过使用PMC，我们开发了一种可穿戴触觉显示器，它提供了一种接触墙壁和在具有粘性的水中移动的感觉。我们还开发了一种上肢矫形器，可以限制肩部和肘部的运动。PMC作为可穿戴人机界面是合适的，因为它轻，软，安全。此外，它是一种固有的被动器械，在断裂时不会施加过大的力。
A Particle Mechanical Constraint is a soft vinyl tube that envelops Styrofoam beads. It has 6 degrees-of-freedom including compression, elongation, bending and twisting. By exhausting the inside air the PMC solidifies and constraints all degrees-of-freedom in an arbitrary shape. The stiffness of the PMC is proportional to the inside air pressure. Viscosity is also controlled virtually by changing the inside air pressure in proportion to the speed of transformation of the PMC. By the use of a PMC, we developed a wearable haptic display that provides a sensation of contacting a wall and moving in water with viscosity. We also developed an upper-limb orthotic that constrains shoulder and elbow movements. PMC is adequate as a wearable human interface because it is light, soft and safe. In addition, it is an inherently passive device that never exerts excessive force when broken.