Research and Development on Micro Haptics Technology for Recording of Imperceptible Haptic Information

本课题旨在实现基于触觉反馈控制技术的微观运动工程支持。在此基础上，推动了在微米/纳米尺度下具有高控制性能的新型触觉技术的研究。研究成果可以概括为以下五点。(1)研制了微触觉系统原型。(2)重新定义了触觉通信特性的性能指标。在此基础上，提出了一种考虑变传动比的双边控制方法。(3)建立了基于离散傅立叶级数展开的运动模态分解新理论。(4)提出了一种新的控制方法，用于不同结构系统间的触觉通信。(5)开发了基于网络的实时触觉通信实验系统。

This project aimed at the realization of engineering support for microscopic motion on the basis of haptic feedback control technique. Then, the research on new haptics technology which has high control performance in micrometer/nanometer scale was driven. The research achievements can be summarized as the following five points. (1) A prototype of micro haptic system was developed. (2) The performance index for haptic communication characteristic was newly defined. Then, a new bilateral control method taking variable transmission ratio into account was developed. (3) A new theory for motion modal decomposition based on discrete Fourier series expansion was established. (4) A new control technique for haptic communication between systems with different configuration was developed. (5) The experimental system for the network-based real-time haptic communication was developed.