Using Pot-Magnets to Enable Stable and Scalable Electromagnetic Tactile Displays
Using Pot-Magnets to Enable Stable and Scalable Electromagnetic Tactile Displays
复制标题
使用罐状磁铁实现稳定且可扩展的电磁触觉显示器
DOI：
--
复制
发表时间：
2017
影响因子：
2.9
通讯作者：
H. Shea
中科院分区：
文献类型：
--
作者：
J. Zárate;H. Shea
我们提出了一个可扩展的触觉显示器的电磁（EM）致动器的基础上的设计，制造，表征和心理物理测试。显示器由一个4 × 4的taxel阵列组成，每个taxel都可以处于升高或降低的位置，从而产生不同的静态配置。在设计密集封装的EM致动器阵列时，最具挑战性的方面之一是获得大的致动力，同时在相邻的taxel之间仅产生弱的相互作用。在这项工作中，我们介绍了一个轻量级的和有效的磁屏蔽架构。每个磁轭的移动部分是嵌入铁磁罐中的圆柱形永磁体，形成罐式磁体。平面微线圈阵列吸引或排斥每个罐形磁体。这种配置将相邻磁体之间的相互作用减少了一个数量级以上，而线圈/磁体相互作用仅减少了10%。对于8 mm间距的4 mm直径销，我们使用1.7 W获得0.55 mm的位移和40 mN的力。我们测量了两种驱动配置下的力与位移曲线不同的人类感知的准确性。我们在拉式配置中获得了91%的正确答案，在推式配置中获得了100%的正确答案。
We present the design, fabrication, characterization, and psychophysical testing of a scalable haptic display based on electromagnetic (EM) actuators. The display consists of a 4 × 4 array of taxels, each of which can be in a raised or a lowered position, thus generating different static configurations. One of the most challenging aspects when designing densely-packed arrays of EM actuators is obtaining large actuation forces while simultaneously generating only weak interactions between neighboring taxels. In this work, we introduce a lightweight and effective magnetic shielding architecture. The moving part of each taxel is a cylindrical permanent magnet embedded in a ferromagnetic pot, forming a pot-magnet. An array of planar microcoils attracts or repels each pot-magnet. This configuration reduces the interaction between neighboring magnets by more than one order of magnitude, while the coil/magnet interaction is only reduced by 10 percent. For 4 mm diameter pins on an 8 mm pitch, we obtained displacements of 0.55 mm and forces of 40 mN using 1.7 W. We measured the accuracy of human perception under two actuation configurations which differed in the force versus displacement curve. We obtained 91 percent of correct answers in pulling configuration and 100 percent in pushing configuration.