【摘 要】
：
Simulating the softness property of object is quite a challenge in virtual reality system. A novel softness display system was developed based on the principle
【机 构】
：
School of Instrument Science and Engineering
【基金项目】
：
国家自然科学基金;国家重点基础研究发展计划(973计划)
论文部分内容阅读
Simulating the softness property of object is quite a challenge in virtual reality system. A novel softness display system was developed based on the principle of deformable length of elastic element control ( DLEEC). In the system, the equivalent stiffness of the device is adjustable, and is inversely proportional to the third power of the deformable length of elastic beam. PD position control is employed to guarantee the accurate softness display. The softness of the virtual objects in large scale can be felt with the softness display device. Compared with other haptic devices, the device is passive and exert the react force only when the operator "actively touch" the virtual objects. The stability of the softness display system was analyzed. It was theoretical proved that the system satisfied the criteria of wide impedance range"Z-width", and the performance was superior to an active system. The experimental results were presented.
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