可穿戴皮肤拉伸感知反馈设备设计
毕业论文关键词：皮肤拉伸，可穿戴设备，触觉反馈，系统建模，参数拟合
Title: A Wearable Haptic Skin Stretch Feedback Device Design
Abstract A new wearable skin stretch feedback device prototype was designed in this project. The device consists of three main parts, which are motion actuator, body and vibration absorber. After the design of the device, a mechanical model was developed to describe the system formed by the device and skin. The model contains four elements, which are device mass Mf, skin mass MS, spring stiffness K and damper C. The device was attached to a subject’s wrist afterwards, aiming to find the resonate frequency f of the system. According to the data collected in the experiment, best estimation of Ms, C and K values were calculated. This project realized skin stretch technology. This key technology can be used in the haptic feedback of gait retraining. Also, this project will be the foundation of future skin stretch feedback research and guide future haptic feedback paradigms research.
Keywords: Skin stretch, Wearable device, Tactile feedback, System modeling, Parameter fitting
目次
1引言1
1.1选题背景及意义..1
1.2国内外发展现状1
1.3论文的主要内容..3
2生物学原理及机械模型的建立.3
2.1生物学原理.4
2.2机械模型..4
2.3本章小结..6
3触觉反馈设备设计6
3.1反馈设备设计方案.6
3.2运动执行机构选型.8
3.3硅胶减震垫设计..8
3.4反馈设备外壳设计..10
3.5本章小结12
4控制系统设计.12
4.1控制电路设计.12
4.2控制信号设计.13
4.3控制程序设计及其仿真14
4.4本章小结17
5实验设计及数据分析.17
5.1设定实验范式.17
5.2视频录制18
5.3图像处理19
5.4本章小结25
6模型参数计算.25
6.2本章小结26
结论.27
致谢.28
参考文献29
图2.1皮肤-反馈设备机械模型.5
图3.1拉伸触觉反馈设备示意图及实物图.7
图3.2触觉拉伸反馈设备工程图..7
图3.3音圈电机示意图及实物图..8
图3.4硅胶垫模具三文示意图9
图3.5成型的硅胶垫及其模具.10
图3.6塑料外壳三视图.10
图3.73D打印机外观及打印软件界面图.11
图3.8塑料外壳三文模型示意图及实物图..11
图3.9四种质量不同的金属外壳示意图12
图4.1设备电路实物图.13
图4.2输入信号示意图.14
图4.3Proteus电路仿真图..16
图5.1反馈设备安装示意图..17
图5.2高速相机拍摄场景18
图5.3标签实物图19
图5.4图像处理流程图.20
图5.5裁剪前后对比图.21
图5.6滤波前后图像对比22
图5.7边缘检测效果图.22
图5.8标定色块示意图.23
图5.9不同质量外壳对应的位置-频率图.23
图5.10包络线示意图24
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