CN109189230A - Pen type power-tactile representation device and its force control method towards touch-screen applications - Google Patents
Pen type power-tactile representation device and its force control method towards touch-screen applications Download PDFInfo
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- CN109189230A CN109189230A CN201811275324.0A CN201811275324A CN109189230A CN 109189230 A CN109189230 A CN 109189230A CN 201811275324 A CN201811275324 A CN 201811275324A CN 109189230 A CN109189230 A CN 109189230A
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- liquid damper
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
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- General Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Position Input By Displaying (AREA)
Abstract
A kind of pen type power-tactile representation device and its force control method towards touch-screen applications disclosed by the invention is for the improvement for realizing device and method used in force feedback in patent of invention ZL201610111304.4.Device improvement includes: that (1) increases displacement sensor；(2) magnetic rheological liquid damper is combined with voice coil motor, forms mixing force feedback actuator；(3) Hall sensor is increased in magnetic rheological liquid damper, and uses flux density encapsulation technique.Virtual interacting power is divided into low frequency force signal and high frequency force signal two parts by the force-feedback control method of proposition, and magnetic rheological liquid damper and voice coil motor is respectively adopted to reproduce.The integrated hall sensors in magnetic rheological liquid damper solve the problems, such as that damper power output caused by hysteresis effect can not be by Accurate Prediction and control.The device high-precision within the scope of big power output can reproduce virtual interacting power to user, and improve the sense of reality and continuity that user uses the device and touch screen interaction.
Description
Technical field
The invention belongs to the man-machine interactive interface devices more particularly to one kind of field of human-computer interaction can accurately reproduce virtually
Pen type power-the tactile representation device and force-feedback control method of reciprocal force.
Background technique
The power haptic interaction with virtual environment is realized on the touchscreen, needs to touch using the power for adapting to smart machine portability
Feel interface arrangement.Nowadays, have a large amount of research to be applied to different types of device and touch screen interaction, pen device is with it
Advantage in terms of portable and natural interaction causes a large amount of concerns of people.Some of them pen-based input equipment has been put into
Business application, such as Apple Pencil of American Apple Inc, the Microsoft Surface Pen of MS and Korea Spro
Samsung S-Pen of Samsung of state etc..These equipment are useful for the accuracy for improving touch screen operation.However,
In order to adapt to the portability of mobile terminal, existing pen type power haptic device is laid particular emphasis on mostly during pursuing miniaturization
Haptic stimulus is generated in interactive operations such as user's click, slidings, but seldom the force information generated in interaction is expressed.
In order to reproduce virtual interacting power, in patent of invention " pen type power-tactile towards multimedia mobile terminal interactive application
Transcriber " in (ZL201610111304.4), we have been described above a kind of pen type haptic feedback device.The device only makes
It is provided for user by power feedback with a Direct Action Type magnetic rheological liquid damper, and joined spring in one end of damper, with
Reduce influence of the initial damping force to force feedback accuracy.Although magnetic rheological liquid damper has than active actuators (such as motor)
Bigger power-volume ratio, but there is also some disadvantages, such as: (1) due to being influenced by initial damping force and hysteresis effect,
Its power output accurately cannot be predicted and be controlled；(2) magnetic rheological liquid damper is inadequate to the response accuracy of high frequency force signal；
(3) due to passive characteristic, damper can not automatically reset.
Summary of the invention
Goal of the invention: the purpose of the present invention is aiming at the problem that background technique is proposed, to patent of invention
The force feedback structure of device improves in ZL201610111304.4, by mutually tying magnetic rheological liquid damper with voice coil motor
It closes to form mixing force feedback actuator；And propose that one kind can accurately reproduce virtual interacting power when executing linear motion
Force-feedback control method, to improve the sense of reality and continuity that user uses the device and touch screen interaction.
Technical solution: the technical scheme is that pen type power-tactile representation device towards touch-screen applications, the dress
It sets including capacitor nib, connecting cylinder, displacement sensor, lantern ring, connecting rod, cylinder-shaped shell, magnetic rheological liquid damper, voice coil electricity
Machine, square pen shell, vibrating motor, rechargeable battery, telemetry circuit, piezo-ceramic vibrators, toggle switch and lid；
The magnetic rheological liquid damper includes left piston bar, piston, right piston bar；
The connecting cylinder and square pen shell is attached with cylinder-shaped shell by tight fit, to form the master of device
Body structure；The tube port position of the connecting cylinder has internal screw thread, and capacitor nib is threadably secured the tube port position in connecting cylinder, uses
In the interaction and positioning of realization device and touch screen；Institute's displacement sensors are fixed on inside connecting cylinder, are hindered with magnetorheological fluid
The left piston bar of Buddhist nun's device is connected through a screw thread；The set ring set, can be sliding in the external freedom of connecting cylinder in the outside of connecting cylinder
It is dynamic；The right end of lantern ring is opened there are two aperture, and connecting rod can run through two apertures by tight fit and be attached, and the length of connecting rod
It spends identical as the diameter of lantern ring；The part that connecting cylinder is connect with cylinder-shaped shell offers notch, and connecting rod can transport in notch
It is dynamic；The magnetic rheological liquid damper limit is fixed in cylinder-shaped shell, and the left end of left piston bar is provided with connecting hole, connecting rod
By being tightly fixed in connecting hole；The voice coil motor is fixed on inside square pen shell, moving-coil and magnetorheological fluid damp
The right piston bar of device is connected through a screw thread；When finger, which holds lantern ring, to be moved left and right on connecting cylinder, lantern ring can pass through connecting rod
The moving-coil of left piston bar, piston, right piston bar and voice coil motor is driven to move together；Rechargeable battery, vibrating motor, observing and controlling electricity
Road, piezo-ceramic vibrators, toggle switch are located in square pen shell；Telemetry circuit by conducting wire respectively with displacement sensor, magnetic
Rheology fluid damper, voice coil motor, vibrating motor, rechargeable battery, piezo-ceramic vibrators, toggle switch connection；Described group
Dynamic switch sections are exposed to outside square pen shell；The lid for opening and closing is provided on the square pen shell.
As a further preferred solution, the magnetic rheological liquid damper further includes shell, and shell is both ends open
Tubular structure, the both ends of shell are respectively equipped with the capping with through-hole, are equipped with piston in shell；The inner wall of the shell and piston
There is the annular gap of a very little between outer wall, the workspace as magnetorheological fluid；The two sides of the piston respectively with left piston
Bar and right piston bar are connected through a screw thread, and left piston bar and right piston bar both pass through the through-hole of the capping of respective side；The left side
Piston rod and right piston bar periphery are filled with magnetorheological fluid；The piston is integrated with hall sensing close to the side of left piston bar
Device, Hall sensor are directly contacted with the magnetorheological fluid in workspace；The capping is successively arranged towards piston direction to be placed on
The waterproof sponge of left piston bar or right piston bar, circular magnetic loop, aluminium ring and sealing ring, to realize the magnetic to magnetic rheological liquid damper
Sealing；There is the excitation coil as made of enameled wire coiling on the spool of the piston；The right end of excitation coil has lead-out wire, leads to
The aperture crossed inside piston right end and right piston bar is drawn.
Pen type power-tactile representation device force control method towards touch-screen applications, the force control method include with
Lower step:
Step 1: building magnetic rheological liquid damper and voice coil motor calibrating platform, the platform include D.C. regulated power supply,
Dynamometer, position driver, oscillograph and fixed device, carry out the rating test of magnetic rheological liquid damper, magnetorheological fluid damp
Device is fixed on calibrating platform, and the pull ring of dynamometer and the connecting hole on the left of magnetic rheological liquid damper are connected by wirerope, is surveyed
Power meter is fixed on the driver of position, and D.C. regulated power supply provides controllable electricity for the excitation coil in magnetic rheological liquid damper
Stream；Under different levels of current, position driver drives dynamometer at the uniform velocity pulls the piston of magnetic rheological liquid damper, make its with
Relative motion occurs for shell；The resistance for the magnetic rheological liquid damper that oscilloscope display and record are measured by dynamometer and Hall sensor
Buddhist nun's power and the magnetic induction intensity on magnetorheological fluid workspace is acted on, carry out the rating test of voice coil motor, used and magnetic current
The rating test of liquescent damper is identical to do device and test method, obtains power-electric current of magnetic rheological liquid damper respectively as a result,
Power-electric current of relation curve, power-magnetic induction intensity relation curve and magnetic induction intensity-current relationship curve and voice coil motor
Relation curve；
Step 2: the smart machine with touch screen is placed horizontally on desktop, pen type power-tactile representation device and intelligence
Equipment establishes connection by bluetooth, and initializes the virtual scene shown on smart machine；
Step 3: the hand of user is held device and is slided on the surface of touch screen, when device is virtual in virtual scene
When agency collides with dummy object, specific vibration prompt is generated by vibrating motor；
Step 4: user makes the capacitor nib of device keep opposing stationary and vertical with touch screen, connects according to vibration prompt
Use thumb and forefinger lantern ring, press down on；
Step 5: during pressing, virtual interacting power is accurately reproduced to user according to following force-feedback control algorithm,
Process is as follows:
(A) the displacement P of the displacement sensor record lantern ring in devicem, and by PmIt is mapped in virtual scene in real time, virtually
Scene is pierced into the depth of dummy object according to virtual protocol, calculates virtual interacting power Fobj；Meanwhile user can be seen by vision
Observe the deformation of dummy object；
(B) virtual interacting power FobjLow-pass filter is first passed through, smoothed out power F is obtainedo′bj, and hindered using magnetorheological fluid
Buddhist nun's device reproduces it, specifically: Fo′bjIt is corresponded to according to the magnetic induction intensity of magnetic rheological liquid damper-power relation curve
Target magnetic induction intensity value B；Numerical control constant-current supply is first according to power-current relationship curve of magnetic rheological liquid damper to magnetic current
Liquescent damper output drive electric current Id；It is strong that actual measurement magnetic induction on magnetorheological fluid workspace is applied to by Hall sensor measurement
Spend B '；B ' is compared as amount of negative feedback with B, and the difference DELTA B of the two swashs numerical control constant-current supply output through PID controller
Encourage electric current IdIt is adjusted；
(C) according to the power of magnetic rheological liquid damper-magnetic induction intensity relation curve, by B ' acquisition magnetic rheological liquid damper
Reality output power Fd；Compare FobjWith Fd, the difference DELTA F of power is obtained, then Δ F is the F that low-pass filter filters outobjIn high frequency
Part；
(D) Δ F is reproduced by the advantage that voice coil motor has high frequency response characteristic good；According to power-electricity of voice coil motor
Flow relation curve obtains corresponding driving current Iv, and voice coil motor power output F is driven by H bridge motor driverv；By FdWith
FvIt is overlapped and feeds back to user, then realize accurate force-feedback control process；
Step 6: after the range for according to pressing depth reaching device of user, vibrating motor generates another specific vibration
Prompt, user stop pressing lantern ring；After device and touch screen are detached from by user, voice coil motor immediately resets lantern ring.
The utility model has the advantages that compared with prior art, the invention has the following advantages that
1, the mixing force feedback actuator and control method that master proposed by the present invention passively combines, are both utilized magnetorheological fluid
The advantage that damper power output range is big, power-volume ratio is big, low energy consumption, and combine voice coil motor and be able to respond high frequency power letter
Number characteristic, so as within the scope of big power output it is high-precision to user reproduce virtual interacting power.
2, for the present invention by the integrated hall sensors in magnetic rheological liquid damper, the reality that can obtain damper in real time is defeated
Power output has well solved the problem of damper power output caused by hysteresis effect can not be by Accurate Prediction and control；Meanwhile it keeping away
Exempt from force feedback system using expensive force snesor.
3, the present invention reproduces virtual interacting power medium-high frequency part in addition to using voice coil motor, is also eliminated using voice coil motor
The initial damping force of damper, and the working condition of damper is resetted, user can be improved using the device and is touched
Shield the sense of reality and continuity of interaction.
4, vibrating tactile prompt is applied to during reproducing virtual interacting power by the present invention, can both eliminate vision and judge
The error introduced when contact condition, and can inform that in time user stops pressing operation, avoids use after the stroke of pressing
Family is pressed using long-time of the bigger power to touch screen.
5, the pen type power/tactile representation device of the invention designed and accurate force-feedback control method are with portable, structure is tight
Gather, low energy consumption, the range of force feedback is big and precision is high, interactive process is continuous controllable and a variety of reproduction modes combine it is aobvious
Work advantage can be widely applied to a variety of smart machines with touch screen, for promoting the sense of reality of people and touch screen interaction, because
This has a vast market application prospect.
6, the mixing force feedback actuator proposed by the present invention with Hall sensor, due to the big and essence with power output range
High significant advantage is spent, it is more to can be widely applied to robot, virtual reality, remote operating, medical treatment, auto industry, aerospace etc.
A application environment.
Detailed description of the invention
Fig. 1 is pen type power-tactile representation device general structure schematic diagram；
Fig. 2 is pen type power-tactile representation device surface structure schematic diagram；
Fig. 3 is the structural schematic diagram of the magnetic rheological liquid damper with Hall sensor；
Fig. 4 is the force-feedback control algorithm flow chart for accurately reproducing virtual interacting power.
Specific embodiment
To keep purpose and the technical method of the embodiment of the present invention clearer, below in conjunction with the attached of the embodiment of the present invention
Figure, carries out clear, complete description to the technical solution of the embodiment of the present invention.Obviously, described embodiment is of the invention
A part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art
The movable every other embodiment of institute under the premise of being not necessarily to creative work, belongs to the range that the present invention is protected.
As shown in Figure 1, Figure 2 and Figure 3, a kind of pen type power-tactile representation device and its power control towards touch-screen applications
Method, including device improves and force-feedback control method two parts.
The device includes capacitor nib 1, connecting cylinder 2, displacement sensor 3, lantern ring 4, connecting rod 5, cylinder-shaped shell 6, magnetic
Rheology fluid damper 7, voice coil motor 8, square pen shell 9, vibrating motor 10, rechargeable battery 11, telemetry circuit 12, piezoelectric ceramics
Vibrator 13, toggle switch 14 and lid 15.
The magnetic rheological liquid damper 7 includes left piston bar 701, piston 709, right piston bar 711.
Connecting cylinder 2 and square pen shell 9 are attached with cylindrical shape shell 6 by tight fit, to form the main body of device
Structure.The tube port position of the connecting cylinder 2 has internal screw thread, and capacitor nib 1 is threadably secured in the tube port position of connecting cylinder 2, uses
In the interaction and positioning of realization device and touch screen.Institute's displacement sensors 3 are fixed on inside connecting cylinder 2, with magnetorheological fluid
The left piston bar 701 of damper 7 is connected through a screw thread.Outside of 4 sets of the lantern ring in connecting cylinder 2, can be in the outer of connecting cylinder 2
Portion is free to slide.The right end of lantern ring 4 is opened there are two aperture, and connecting rod 5 can be attached by tight fit through two apertures, and
The length of connecting rod 5 is identical as the diameter of lantern ring 4.The part that connecting cylinder 2 is connect with cylinder-shaped shell 6 offers notch, connects
Bar 5 can move in notch.The limit of magnetic rheological liquid damper 7 is fixed in cylinder-shaped shell 6, left piston bar 701
Left end is provided with connecting hole 702, and connecting rod 5 is by being tightly fixed in connecting hole 702.The voice coil motor 8 is fixed on rectangular
Inside shell 9, the right piston bar 711 of moving-coil and magnetic rheological liquid damper 7 is connected through a screw thread.Therefore, when finger holds set
For ring 4 when moving left and right on connecting cylinder 2, lantern ring 4 can drive left piston bar 701, piston 709, right piston bar by connecting rod 5
711 and the moving-coil of voice coil motor 8 move together.Rechargeable battery 11, vibrating motor 10, telemetry circuit 12, piezoelectric ceramic vibration
Device 13, toggle switch 14 are located in square pen shell 9.Telemetry circuit 12 is hindered with displacement sensor 3, magnetorheological fluid respectively by conducting wire
Buddhist nun's device 7, voice coil motor 8, vibrating motor 10, rechargeable battery 11, piezo-ceramic vibrators 13, toggle switch 14 connect.It is described
14 part of toggle switch is exposed to outside square pen shell 9.
The device improvement is by passive actuator magnetic rheological liquid damper 7 and 8 phase knot of active actuators voice coil motor
It closes, forms mixing force feedback actuator.
As shown in figure 3, the magnetic rheological liquid damper 7 further includes shell 708, shell 708 is the tubulose knot of both ends open
Structure, the both ends of shell 708 are respectively equipped with the capping 703 with through-hole, are equipped with piston 709 in shell 708.The shell 708 it is interior
There is the annular gap of a very little between wall and the outer wall of piston 709, the workspace as magnetorheological fluid.The piston 709
Two sides are connected through a screw thread with left piston bar 701 and right piston bar 711 respectively, and left piston bar 701 and right piston bar 711 both pass through
The through-hole of the capping 703 of respective side.The left piston bar 701 and 711 periphery of right piston bar are filled with magnetorheological fluid 706.Institute
State piston 709 and be integrated with Hall sensor 707 close to the side of left piston bar 701, Hall sensor 707 in workspace
Magnetorheological fluid directly contacts.The capping 703 is successively arranged towards 709 direction of piston is placed on left piston bar 701 or right piston bar
711 waterproof sponge 713, circular magnetic loop 704, aluminium ring 712 and sealing ring 705, to realize the flux density to magnetic rheological liquid damper
Envelope.There is the excitation coil 710 as made of enameled wire coiling on the spool of the piston 709.The right end of excitation coil 710 has extraction
Line 714 is drawn by the aperture inside 709 right end of piston and right piston bar 711.
Pen type power/tactile representation device of the invention is a kind of autonomous device, at work, is needed logical with smart machine
It crosses bluetooth and establishes data communication.When virtual protocol of the device in virtual scene and dummy object collide, user passes through
Vibration prompt determines the position that collision occurs, and avoids the uncertainty that vision judges contact condition.Device uses magnetorheological
Fluid damper reproduces the overall trend of virtual interacting power, and Hall sensor measurement is applied to the magnetic induction on magnetorheological fluid workspace
Intensity, so that power-magnetic induction intensity relation curve using calibration obtains the reality output power of magnetic rheological liquid damper.Meanwhile
The error between virtual interacting power and reality output power is compensated using voice coil motor.By reproducing virtual interacting power respectively
In low frequency and high frequency section, and be superimposed this two parts power, a wide range of and high-precision virtual interacting power can be provided a user.
Specifically, as shown in figure 4, the accurate force-feedback control method the following steps are included:
Step 1: building magnetic rheological liquid damper and voice coil motor calibrating platform, the platform include D.C. regulated power supply,
Dynamometer, position driver, oscillograph and fixed device.For the rating test of magnetic rheological liquid damper, magnetorheological fluid damp
Device is fixed on calibrating platform, and the pull ring of dynamometer and the connecting hole 702 on the left of magnetic rheological liquid damper are connected by wirerope,
Dynamometer is fixed on the driver of position, and D.C. regulated power supply provides for the excitation coil 710 in magnetic rheological liquid damper can
The electric current of control.Under different levels of current, position driver drives dynamometer at the uniform velocity pulls the piston of magnetic rheological liquid damper
709, make it that relative motion occur with shell 708.The magnetic current that oscilloscope display and record are measured by dynamometer and Hall sensor
The damping force of liquescent damper and act on the magnetic induction intensity on magnetorheological fluid workspace.Calibration examination for voice coil motor
It tests, does device and test method using identical as the rating test of magnetic rheological liquid damper.Obtain magnetorheological fluid respectively as a result,
The power of damper-current relationship curve, power-magnetic induction intensity relation curve and magnetic induction intensity-current relationship curve, Yi Jiyin
Enclose power-current relationship curve of motor；
Step 2: the smart machine with touch screen is placed horizontally on desktop, pen type power-tactile representation device and intelligence
Equipment establishes connection by bluetooth, and initializes the virtual scene shown on smart machine；
Step 3: the hand of user is held device and is slided on the surface of touch screen, when device is virtual in virtual scene
When agency's (such as virtual bead, virtual probe) and dummy object collide, specific vibration is generated by vibrating motor 10 and is mentioned
Show；
Step 4: user makes the capacitor nib 1 of device keep opposing stationary and vertical with touch screen, connects according to vibration prompt
Use thumb and forefinger lantern ring 4, press down on；
Step 5: during pressing, virtual interacting power is accurately reproduced to user according to following force-feedback control algorithm,
Process is as follows:
(A) displacement sensor 3 in device records the displacement P of lantern ring 4m, and by PmIt is mapped in virtual scene in real time, it is empty
Quasi- scene is pierced into the depth of dummy object according to virtual protocol, calculates virtual interacting power Fobj；Meanwhile user can pass through vision
Observe the deformation of dummy object；
(B) virtual interacting power FobjLow-pass filter is first passed through, smoothed out power F is obtainedo′bj, and hindered using magnetorheological fluid
Buddhist nun's device reproduces it；Specifically: Fo′bjIt is corresponded to according to the magnetic induction intensity of magnetic rheological liquid damper-power relation curve
Target magnetic induction intensity value B；Numerical control constant-current supply is first according to power-current relationship curve of magnetic rheological liquid damper to magnetic current
Liquescent damper output drive electric current Id；It is strong that actual measurement magnetic induction on magnetorheological fluid workspace is applied to by Hall sensor measurement
Spend B '；B ' is compared as amount of negative feedback with B, and the difference DELTA B of the two swashs numerical control constant-current supply output through PID controller
Encourage electric current IdIt is adjusted；
(C) according to the power of magnetic rheological liquid damper-magnetic induction intensity relation curve, by B ' acquisition magnetic rheological liquid damper
Reality output power Fd；Compare FobjWith Fd, the difference DELTA F of power is obtained, then Δ F is the F that low-pass filter filters outobjIn high frequency
Part；
(D) Δ F is reproduced by the advantage that voice coil motor has high frequency response characteristic good；According to power-electricity of voice coil motor
Flow relation curve obtains corresponding driving current Iv, and voice coil motor power output F is driven by H bridge motor driverv；By FdWith
FvIt is overlapped and feeds back to user, then realize accurate force-feedback control process；
Step 6: after the range for according to pressing depth reaching device of user, vibrating motor generates another specific vibration
Prompt, user stop pressing lantern ring 4；After device and touch screen are detached from by user, voice coil motor 8 immediately answers lantern ring 4
Position.
The above is only embodiments of the present invention, and the description thereof is more specific and detailed, and but it cannot be understood as right
The limitation of the invention patent range.It should be pointed out that for those of ordinary skill in the art, not departing from the present invention
Under the premise of design, various modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (3)
1. pen type power-tactile representation device towards touch-screen applications, it is characterised in that: the device includes capacitor written (1), connects
Connect cylinder (2), displacement sensor (3), lantern ring (4), connecting rod (5), cylinder-shaped shell (6), magnetic rheological liquid damper (7), voice coil
Motor (8), square pen shell (9), vibrating motor (10), rechargeable battery (11), telemetry circuit (12), piezo-ceramic vibrators
(13), toggle switch (14) and lid (15)；
The magnetic rheological liquid damper (7) includes left piston bar (701), piston (709), right piston bar (711)；
The connecting cylinder (2) and square pen shell (9) is attached with cylinder-shaped shell (6) by tight fit, to form dress
The main structure set；The tube port position of the connecting cylinder (2) has internal screw thread, and capacitor nib (1) is threadably secured in connection
The tube port position of cylinder (2), for realizing the interaction and positioning of device and touch screen；Institute's displacement sensors (3) are fixed on connecting cylinder
(2) internal, it is connected through a screw thread with the left piston bar (701) of magnetic rheological liquid damper (7)；The lantern ring (4), which covers, to be connected
The outside of cylinder (2), can slide in the external freedom of connecting cylinder (2)；The right end of lantern ring (4) is opened there are two aperture, connecting rod (5)
It can be attached by tight fit through two apertures, and the length of connecting rod (5) is identical as the diameter of lantern ring (4)；Connecting cylinder
(2) part connecting with cylinder-shaped shell (6) offers notch, and connecting rod (5) can move in notch；The magnetorheological fluid resistance
Buddhist nun's device (7) limit is fixed in cylinder-shaped shell (6), and the left end of left piston bar (701) is provided with connecting hole (702), connecting rod
(5) by being tightly fixed in connecting hole (702)；The voice coil motor (8) is fixed on square pen shell (9) inside, moving-coil
It is connected through a screw thread with the right piston bar (711) of magnetic rheological liquid damper (7)；When finger holds lantern ring (4) on connecting cylinder (2)
When moving left and right, lantern ring (4) can by connecting rod (5) drive left piston bar (701), piston (709), right piston bar (711) and
The moving-coil of voice coil motor (8) moves together；Rechargeable battery (11), vibrating motor (10), telemetry circuit (12), piezoelectric ceramic vibrator
Dynamic device (13), toggle switch (14) are located in square pen shell (9)；Telemetry circuit (12) by conducting wire respectively with displacement sensor
(3), magnetic rheological liquid damper (7), voice coil motor (8), vibrating motor (10), rechargeable battery (11), piezo-ceramic vibrators
(13), toggle switch (14) connects；The toggle switch (14) is partially exposed to square pen shell (9) outside；The square pen shell (9)
On be provided with lid (15) for opening and closing.
2. pen type power-tactile representation device according to claim 1 towards touch-screen applications, it is characterised in that: described
Magnetic rheological liquid damper (7) further includes shell (708), and shell (708) is the tubular structure of both ends open, and the two of shell (708)
End is respectively equipped with the capping (703) with through-hole, is equipped with piston (709) in shell (708)；The inner wall of the shell (708) and work
Filling in has annular gap, the workspace as magnetorheological fluid between the outer wall of (709)；The two sides of the piston (709) respectively with
Left piston bar (701) and right piston bar (711) are connected through a screw thread, and left piston bar (701) and right piston bar (711) both pass through respectively
From the through-hole of the capping (703) of side；The left piston bar (701) and right piston bar (711) periphery are filled with magnetorheological fluid
(706)；The piston (709) is integrated with Hall sensor (707), Hall sensor close to the side of left piston bar (701)
(707) it is directly contacted with the magnetorheological fluid in workspace；The capping (703) is successively arranged set towards piston (709) direction
In the waterproof sponge (713) of left piston bar (701) or right piston bar (711), circular magnetic loop (704), aluminium ring (712) and sealing ring
(705), to realize the magnetic seal to magnetic rheological liquid damper；Have on the spool of the piston (709) and is formed by enameled wire coiling
Excitation coil (710)；The right end of excitation coil (710) has lead-out wire (714), passes through piston (709) right end and right work
It draws in the internal hole of stopper rod (711).
3. pen type power-tactile representation device power controlling party according to the claims 1 and 2 towards touch-screen applications
Method, which is characterized in that the force control method the following steps are included:
Step 1: the calibrating platform of building magnetic rheological liquid damper and voice coil motor, which includes D.C. regulated power supply, dynamometry
Meter, position driver, oscillograph and fixed device, carry out the rating test of magnetic rheological liquid damper, magnetic rheological liquid damper is solid
Due on calibrating platform, the pull ring of dynamometer and the connecting hole (702) on the left of magnetic rheological liquid damper are connected by wirerope, are surveyed
Power meter is fixed on the driver of position, and D.C. regulated power supply is that the excitation coil (710) in magnetic rheological liquid damper provides electricity
Stream；Under different levels of current, position driver drives dynamometer at the uniform velocity pulls the piston (709) of magnetic rheological liquid damper,
Make it that relative motion occur with shell (708)；Oscilloscope display and record are measured magnetorheological by dynamometer and Hall sensor
The damping force of fluid damper and the magnetic induction intensity on magnetorheological fluid workspace is acted on, carries out the rating test of voice coil motor,
Device and test method are done using identical as the rating test of magnetic rheological liquid damper, obtains magnetorheological fluid resistance respectively as a result,
The power of Buddhist nun's device-current relationship curve, power-magnetic induction intensity relation curve and magnetic induction intensity-current relationship curve and voice coil
The power of motor-current relationship curve；
Step 2: the smart machine with touch screen is placed horizontally on desktop, pen type power-tactile representation device and smart machine
Connection is established by bluetooth, and initializes the virtual scene shown on smart machine；
Step 3: the hand of user is held transcriber and is slided on the surface of touch screen, when device is virtual in virtual scene
When agency collides with dummy object, by the vibration prompt of vibrating motor (10) generation；
Step 4: user makes the capacitor written (1) of device keep opposing stationary and vertical with touch screen, then according to vibration prompt
Using thumb and forefinger lantern ring (4), press down on；
Step 5: during pressing, virtual interacting power is reproduced to user according to following force-feedback control algorithm, process is as follows:
(A) the displacement P of the displacement sensor in device (3) record lantern ring (4)m, and by PmIt is mapped in virtual scene in real time, it is empty
Quasi- scene is pierced into the depth of dummy object according to virtual protocol, calculates virtual interacting power Fobj；Meanwhile user can pass through vision
Observe the deformation of dummy object；
(B) virtual interacting power FobjLow-pass filter is first passed through, smoothed out power F is obtainedo′bj, and use magnetic rheological liquid damper
It is reproduced, specifically: Fo′bjCorresponding mesh is obtained according to the magnetic induction intensity of magnetic rheological liquid damper-power relation curve
Mark the value B of magnetic induction intensity；Numerical control constant-current supply is first according to power-current relationship curve of magnetic rheological liquid damper to magnetorheological fluid
Damper output drive electric current Id；The actual measurement magnetic induction intensity being applied to by Hall sensor measurement on magnetorheological fluid workspace
B′；B ' is compared as amount of negative feedback with B, the excitation that the difference DELTA B of the two exports numerical control constant-current supply through PID controller
Electric current IdIt is adjusted；
(C) according to the power of magnetic rheological liquid damper-magnetic induction intensity relation curve, by the reality of B ' acquisition magnetic rheological liquid damper
Power output Fd；Compare FobjWith Fd, the difference DELTA F of power is obtained, then Δ F is the F that low-pass filter filters outobjIn high frequency section；
(D) Δ F is reproduced by the high frequency response of voice coil motor；According to the power of voice coil motor-current relationship curve, obtain corresponding
Driving current Iv, and voice coil motor power output F is driven by H bridge motor driverv；By FdWith FvIt is overlapped and feeds back to user,
Then realize accurate force-feedback control process；
Step 6: after the range for according to pressing depth reaching device of user, vibrating motor generates another specific vibration and mentions
Show, user stops pressing lantern ring (4)；After device and touch screen are detached from by user, voice coil motor (8) immediately to lantern ring (4) into
Row resets.
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