CN1323341C - Skeleton style force sensing device - Google Patents
Skeleton style force sensing device Download PDFInfo
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- CN1323341C CN1323341C CNB2004100482301A CN200410048230A CN1323341C CN 1323341 C CN1323341 C CN 1323341C CN B2004100482301 A CNB2004100482301 A CN B2004100482301A CN 200410048230 A CN200410048230 A CN 200410048230A CN 1323341 C CN1323341 C CN 1323341C
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- 230000001105 regulatory effect Effects 0.000 claims description 5
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- 238000010586 diagram Methods 0.000 description 2
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Abstract
The present invention provides a skeleton style force sensing feedback device which relates to the technical field of a computer and is applied to a man machine contact interactive interface in a virtual reality system. The device comprises a proportion electromagnet execution element, a steel cable-spring tube driving mechanism, and a skeleton mechanism arranged on a hand part, wherein as an execution element, the proportion electromagnet transfers driving force to the fingers of the hand through the steel cable-spring tube driving mechanism and the skeleton mechanism; an embedded closed-loop control system is based on DSP. The present invention causes the proportion electromagnet to generate driving force with controllable strength by controlling current, the force is transferred to the finger end by a driving mode of a steel cable-spring tube structure, and the feedback force acts on the fingers of a manipulator. In order to control the feedback force accurately, the present invention adopts the embedded control system based on the DSP so as to fast and exactly tail a control command of the feedback force in a virtual environment. The present invention can generate certain constraint to the partial motion of the finger to effectively prevent virtual fingers being embedded into a virtual object.
Description
Technical field
The present invention relates to field of computer technology, is a kind of computer man-machine interacting interface, is applied to the man-machine haptic interface in the virtual reality system, the power feel telepresenc system in the teleoperation of robot field.
Background technology
Among virtual environment, can allow one of key factor that the user produces " feeling of immersion " be that can the user remove to operate dummy object with his hand or other active position of health, and in operation, experience the real acting force of dummy object.Data glove can the operator is flexible and changeable gesture and attitude information send virtual reality system in real time to, thereby can generate in real time virtual hand and dummy object near or away from image, make the operator naturally and understandably oneself consciousness or mode of operation are sent in the interactive object and go.If data glove does not provide power to feel and just is difficult to allow the user that the truly feels of grasping object are arranged by feedback function.For example, in actual life, when the people grasped a water tumbler, the shape of finger should be consistent with the profile of cup, sometimes for shift or give vent to the indignation mood and hold cup with strength, hand can be felt numbness or pain.In virtual environment, when holding dummy object, if do not feel reacting force, the motion to user's finger does not apply certain constraint, although may see the object of running in one's hands this moment on Visual Display, user's hand may be held into cup always inward.Therefore there is not power to feel that the system of retroactive effect has two shortcomings at least: at first to be to lack the sense of reality; Secondly, the unpractical like this image of cup occurs for fear of holding into, has to add some physical constraint condition in vision is calculated, and this has brought trouble for the calculating of visual pattern aspect.Power feels that feedback assembly can solve this class problem effectively.
First device for force feedback is Goertz etc. in the remote control system under the nuclear environment of being used for of the exploitation fifties.Afterwards, Brooks leader's research group is in the early 1990s the force feedback interface of this mechanical arm as virtual reality system.1992, Burdea etc. developed a kind of light force feedback gloves " Rutgers Master ".The device for force feedback that various commercial uses then occurred, for example: " PHANToM
TM" (Massie, Salisbury, 1994), " Impulse Engine " (Jackson and Rosenberg, 1995), " CyberGrasp
TM" (Immersion, 1998).In addition, recent years are along with the development of computer game, and the application of joystick with force feedback function is also more and more general.
Summary of the invention
The purpose of this invention is to provide a kind of power and feel and be skeleton construction by feedback assembly, is that a kind of power that is used for virtual reality system is felt feedback interface, has characteristics such as the activity space of dexterity, light, easy-to-use, reliable, safety, permission is big.
For achieving the above object, technical solution of the present invention provides a kind of skeleton power feel feedback assembly, is used for the power feel feedback interface of virtual reality system, comprising:
The proportion electro-magnet executive component, wire rope-bourdon tube gear train and three parts of skeleton mechanism that are installed in hand, proportion electro-magnet is as executive component, by wire rope-bourdon tube gear train and the skeleton mechanism transmission of drive force finger to finger; And
Embedded closed-loop control system based on DSP.
Described power feel feedback assembly, its described proportion electro-magnet executive component comprises proportion electro-magnet, support, the last plane of proportion electro-magnet and the baseplane of box support are connected; Be provided with the connecting rod displacement amplifying mechanism in the room of box support, the connecting rod displacement amplifying mechanism comprises moving iron core, bearing, connecting rod, back-moving spring, wherein, be positioned at the rack side wall bottom, bearing is horizontally located on the two side, and quadrature is fixed with connecting rod on the bearing, and bearing is the turning axle of connecting rod; Axial line by bearing is started at, and hangs down at 1/3rd places of connecting rod to establishing a moving iron core, and moving iron core upper end links to each other with connecting rod by the flexible cord body, and the lower end is towards magnetic field, proportion electro-magnet top; Be provided with back-moving spring above the distal head of connecting rod, back-moving spring lower end and connecting rod upper surface are affixed, and upper end and support upper cover plate lower surface are affixed, and back-moving spring is an extension spring, and the position that the spring center axis is relative all is provided with through hole on connecting rod and upper cover plate.
Described power feel feedback assembly, its described wire rope-bourdon tube gear train is made up of bourdon tube and wire rope, and bourdon tube is placed in the periphery circle of wire rope; Bourdon tube lower end and upper cover plate upper surface are connected, and top and skeleton mechanism are connected; The wire rope lower end pass on the upper cover plate with connecting rod on through hole, and the connecting rod that passes in back-moving spring center and the connecting rod displacement amplifying mechanism is dynamically connected, the other end stretches out from bourdon tube is suitable for reading.
Described power feel feedback assembly, its described skeleton mechanism, form by skeleton, setting nut, clamp nut, pulley, fingerstall and fixed cover, wherein, the skeleton main body is the hollow framework, respectively there is the support of kicking up at the angle on the framework two, and a support is provided with setting nut, and another support is provided with pulley; The setting nut on support and the support is passed in bourdon tube upper end, comes the front and back position of regulating spring pipe by the rotation of setting nut, and bourdon tube is fixed on the skeleton; One circle " V " type groove is arranged on the pulley side Zhou Yuan, and the wire rope that stretches out from bourdon tube is suitable for reading is walked around pulley via " V " type groove, contacts with pulley is moving, and its terminal head is affixed with fingerstall, and the finger of fingerstall and finger is suitable; Skeleton hollow framework base is an arcwall face, and arcwall face is suitable with finger, is equipped with fixed cover on the arcwall face, and arc portion mid point is connected with bolt on the fixed cover, and bolt is connected with clamp nut after passing skeleton hollow framework upper side frame.
Described power feels that feedback assembly, its described fingerstall are annular, and the positive bottom of annular fingerstall is a hard gasket, and the hard gasket upper surface is provided with pressure transducer, and pressure transducer contacts with the finger of finger.
Described power feel feedback assembly, its described embedded closed-loop control system based on DSP, it is by the real-time steering order that receives from virtual reality system of serial port, finger tip power is felt that the output signal of the force transducer in the feedback assembly is as feedback, by embedded INTELLIGENT PID CONTROL ALGORITHM feedback force is carried out closed-loop control, the feasible feedback force tracking Control instruction rapidly and exactly that acts on operator's finger.
Described power feel feedback assembly, it can feel feedback to the local motion of pointing certain constraint be arranged in operator's finger tips generation power, can prevent effectively that virtual finger from unnecessarily embedding in the dummy object.
The present invention has characteristics such as the activity space of dexterity, light, easy-to-use, reliable, safety, permission is big.This power feels that the executive component of feedback assembly adopts proportion electro-magnet, can make it produce the driving force of controlled amount by controlling its electric current; System adopts the kind of drive of wire rope-bourdon tube structure that the driving force of proportion electro-magnet is delivered to finger tip; Finger tip power feels that feedback assembly is a kind of skeleton mechanism that is installed on the finger, and it acts on feedback force on the operator's finger.
The present invention has adopted the embedded control system based on DSP, and embedded INTELLIGENT PID CONTROL ALGORITHM makes this power feel feedback system can follow the tracks of the feedback force steering order of virtual environment rapidly and accurately.When this system can provide feedback force the operator for virtual reality system, local motion to finger produces certain constraint, prevent that effectively virtual finger from unnecessarily embedding in the dummy object, thereby make the operator can remove " touch " and " sensation " mutual with it simulation object, experience real more feedback force, to strengthen " interactive " and " feeling of immersion " of virtual reality system.
Description of drawings
Fig. 1 is the skeleton power feel of the present invention feedback assembly synoptic diagram;
Fig. 2 is proportion electro-magnet of the present invention and connecting rod displacement amplifying mechanism synoptic diagram;
Fig. 3 is power feel feedback assembly finger ends structural drawing of the present invention;
Fig. 4 is the structural drawing of control system of the present invention.
Embodiment
As shown in Figure 1 and Figure 2, skeleton power feels that the physical construction of feedback assembly mainly comprises the proportion electro-magnet executive component, wire rope-bourdon tube gear train and three ingredients of skeleton mechanism that are installed in hand.The electromagnet executive component comprises proportion electro-magnet 1, support 2, and the last plane of proportion electro-magnet 1 and the baseplane of box support 2 are connected; In the room of box support 2, be provided with the connecting rod displacement amplifying mechanism, the connecting rod displacement amplifying mechanism comprises moving iron core 21, bearing 22, connecting rod 23, back-moving spring 24, wherein, be positioned at support 2 lower sidewall, bearing 22 is horizontally located on the two side, quadrature is fixed with connecting rod 23 on the bearing 22, and bearing 22 is the turning axle of connecting rod 23; Axial line by bearing 22 is started at, and hangs down at 1/3rd places of connecting rod 23 and establishes a moving iron core 21, and moving iron core 21 upper ends link to each other with connecting rod 23 by flexible cord body (present embodiment is a wire rope), and the lower end is towards magnetic field, proportion electro-magnet 1 top; Above the distal head of connecting rod 23, be provided with back-moving spring 24, back-moving spring 24 lower ends and connecting rod 23 upper surfaces are affixed, and upper end and support 2 upper cover plate lower surfaces are affixed, and back-moving spring 24 is an extension spring, the position that the spring center axis is relative all is provided with through hole on connecting rod 23 and upper cover plate.
Wire rope-bourdon tube gear train 3 is made up of bourdon tube 31 and wire rope 32, and bourdon tube 31 is placed in the periphery circle of wire rope 32.Bourdon tube 31 lower ends and upper cover plate upper surface are connected, and top and skeleton 4 are connected.Wire rope 32 lower ends pass on the upper cover plate with connecting rod 23 on through hole, and the connecting rod 23 that passes in back-moving spring 24 centers and the connecting rod displacement amplifying mechanism is dynamically connected, the other end stretches out from bourdon tube 31 is suitable for reading.
Skeleton mechanism is made up of skeleton 4, setting nut 5, clamp nut 6, pulley 7, fingerstall 8 and fixed cover 9.Wherein, skeleton 4 main bodys are the hollow framework, and respectively there is the support of kicking up at the angle on the framework two, and a support is provided with setting nut 5, and another support is provided with pulley 7.The setting nut 5 on support and the support is passed in bourdon tube 31 upper ends, comes the front and back position of regulating spring pipe 31 by the rotation of setting nut 5, and bourdon tube 31 is fixed on the skeleton 4.One circle " V " type groove is arranged on the pulley 7 side Zhou Yuan, and the wire rope 32 that stretches out from bourdon tube 31 is suitable for reading is walked around pulley 7 via " V " type groove, and with pulley 7 moving contacts, its terminal head is affixed with fingerstall 8, and fingerstall 8 is suitable with the finger of pointing 10.Skeleton 4 hollow framework bases are an arcwall face, and arcwall face is suitable with finger 10, is equipped with fixed cover 9 on the arcwall face, and arc portion mid point is connected with bolt on the fixed cover 9, and bolt is connected with clamp nut 6 after passing skeleton 4 hollow framework upper side frames.
Proportion electro-magnet 1 has characteristics such as volume is little, driving force big, control is simple among the present invention, and therefore skeleton power feels that feedback assembly adopts proportion electro-magnet 1 as executive component.The rated current of the proportion electro-magnet 1 of skeleton employing is 0.8A, and maximum displacement is 7mm, and maximum power output is 45N.If directly adopt specified output displacement, can not satisfy power well and feel that feedback assembly is to pointing the needs of dynamic range.The specified power output of 45N has then exceeded the requirement to feedback force.Therefore, power feels that feedback assembly has adopted the displacement of enlarger Comparative Examples electromagnet 1 to amplify.
Skeleton 4 among the present invention is of paramount importance parts in the whole device, and it is fixed on user's the finger 10 and plays supporting role.Interior rib-loop through special finished setting nut 5 can closely cooperate with the outer rib-loop of bourdon tube 31.Rotation setting nut 5 can be regulated the extension elongation L of wire rope 32 and bourdon tube 31, with the size of the person's that adapts to the different operating hand.Wire rope 32 passes pulley 7 " V " type groove and links to each other with fingerstall 8, and the employing of pulley 7 has reduced the friction force of wire rope 32 motions greatly.Fixed cover 9 is used for the hand of skeleton 4 with the user is fixed together.Regulating clamp nut 6 can lifting fixed cover 9, to regulate skeleton 4 and the fixing tightness of hand.The user just can carry out dismounting easily under the situation that need not stranger's help like this.Whole skeleton 4 adopts wimet aluminium warp cutting processing to form, and is very light, thereby the user does not have the sense of bearing a heavy burden.
Proportion electro-magnet 1 top electromagnetic field produces a downward driving force F1 to moving iron core 21 effects, because of moving iron core 21 links to each other with connecting rod 23, also provides a downward driving force F1 for connecting rod 23.The other end of connecting rod 23 links to each other with the wire rope 32 of wire rope-bourdon tube gear train 3.Between the skeleton 4 of support 2 upper cover plates and skeleton mechanism, 31 one-tenth extended states of bourdon tube.This state can play effect of contraction to the motion of wherein wire rope 32 on the one hand, makes it not produce flexural fold; One and support 2 internal reset springs 24 corresponding to reset forces on moving iron core 21, have been applied on the other hand, for resetting fast of electromagnet 1 provides power.Exactly because the existence of back-moving spring 24 reset forces just makes electromagnet 1 can do two-way to-and-fro movement under the control of electric current.
As shown in Figure 2, the length of two arm of forces is respectively L1 and L2, wherein L2=3L1.The driving force that the moving iron core 21 of 1 pair of proportion electro-magnet produces is F1, then to tensile force f 2=1/3F1 that wire rope-bourdon tube gear train 3 produces.The driving stroke of the wire rope 32 of 1 pair of wire rope of proportion electro-magnet-bourdon tube gear train 3 has enlarged 3 times, has reached 21mm, makes this device have enough big displacement.
In power was felt feedback assembly, for feedback force is carried out closed-loop control, necessary detection effect was in the size of user's feedback force.Some systems obtain feedback force indirectly by detecting motor drive current, and have on the wire rope of some systems in gear train the installing force sensor measure feedback force.Device of the present invention adopts the method for installing force sensor in fingerstall, and directly detection power feels that feedback assembly is applied to the acting force of operator's finger tip.As shown in Figure 3, be fingerstall 8 structural representations, wire rope 32 is walked around through " V " of pulley 7 type groove, be dynamically connected with the top of annular fingerstall 8, the positive bottom of annular fingerstall 8 is a hard gasket 81, and hard gasket 81 upper surfaces are provided with pressure transducer 82, and pressure transducer 82 contacts with the finger of finger 10.Because force transducer of the present invention is directly feedback force to be detected at the application point place, so testing result is more accurate.The force transducer that this device adopts is the FSR that American I nterlink electronics, inc. produces.This thickness is that the force transducer of 0.25mm has good pliability and force-responsive characteristic, and its dynamometry scope is 0.098N-98N.
When device of the present invention provides force feedback for the operator, under the driving of proportion electro-magnet 1, wire rope 32 is drawing fingerstall 8 and producing feedback force on operator's finger tip, pressure transducer 82 detects the size of feedback force, and, make the feedback force that acts on finger tip follow desired feedback force in real time its feedback quantity as the power closed loop controller.
The embedded control system of the DSP (TMS320LF2407 Digital Signal Processor) based on TI company has been adopted in the control of the skeleton power feel of the present invention feedback assembly, and system architecture as shown in Figure 4.Its high speed serial communication mouth can be realized the full-duplex communication up to the 115200bps baud rate, and it receives steering order from the host computer of operation virtual reality emulation program in real time, and this instruction is the specified rate of skeleton power feel feedback assembly closed-loop control.High-resolution A/D converter is gathered skeleton power in real time and is felt that feedback assembly is applied to the acting force of user's finger tip, and calculates the current margin of error.The powerful arithmetic capability that the DSP kernel has, it calculates current controlled quentity controlled variable by current error in real time according to INTELLIGENT PID CONTROL ALGORITHM, makes system's size of tracking Control rapidly and exactly, makes the operator experience real feedback force.
Claims (7)
1, a kind of skeleton power is felt feedback assembly, and the power that is used for virtual reality system is felt and be it is characterized in that feedback interface comprising:
The proportion electro-magnet executive component, the mechanical part of wire rope-bourdon tube gear train and the three of the skeleton mechanism composition that is installed in hand, and based on the embedded closed-loop control system electric part of DSP, proportion electro-magnet as executive component can produce rectilinear motion and with the proportional driving force of input current, wire rope-bourdon tube gear train is with the driving force of proportion electro-magnet skeleton mechanism and the fingerstall finger that is passed to finger by being fixed on people's hand; Based on the embedded closed-loop control system of DSP with the output of the built-in pressure transducer of fingerstall as feedback signal, the power that fingerstall acts on the finger is carried out accurate closed-loop control, allow skeleton power feel that user's generation power of feedback assembly feels feedback.
2, skeleton power feel feedback assembly as claimed in claim 1 is characterized in that described proportion electro-magnet executive component comprises proportion electro-magnet, support, and the last plane of proportion electro-magnet and the baseplane of box support are connected; Be provided with the connecting rod displacement amplifying mechanism in the room of box support, the connecting rod displacement amplifying mechanism comprises moving iron core, bearing, connecting rod, back-moving spring, wherein, be positioned at the rack side wall bottom, bearing is horizontally located on the two side, and quadrature is fixed with connecting rod on the bearing, and bearing is the turning axle of connecting rod; Axial line by bearing is started at, and hangs down at 1/3rd places of connecting rod to establishing a moving iron core, and moving iron core upper end links to each other with connecting rod by the flexible cord body, and the lower end is towards magnetic field, proportion electro-magnet top; Above the distal head of connecting rod, be provided with back-moving spring, back-moving spring lower end and connecting rod upper surface are affixed, and upper end and support upper cover plate lower surface are affixed, and back-moving spring is an extension spring, the position that the back-moving spring central axis is relative all is provided with through hole on connecting rod and support upper cover plate.
3, skeleton power feel feedback assembly as claimed in claim 1 is characterized in that described wire rope-bourdon tube gear train is made up of bourdon tube and wire rope, and bourdon tube is placed in the periphery circle of wire rope; Bourdon tube lower end and support upper cover plate upper surface are connected, and top and skeleton mechanism are connected; The wire rope lower end pass on the upper cover plate with connecting rod on through hole, and the connecting rod that passes in back-moving spring center and the connecting rod displacement amplifying mechanism is dynamically connected, the other end stretches out from bourdon tube is suitable for reading.
4, skeleton power feel feedback assembly as claimed in claim 1, it is characterized in that, described skeleton mechanism, form by skeleton, setting nut, clamp nut, pulley, fingerstall and fixed cover, wherein, the skeleton main body is the hollow framework, and respectively there is the support of kicking up at the angle on the framework two, one support is provided with setting nut, and another support is provided with pulley; The setting nut on support and the support is passed in bourdon tube upper end, comes the front and back position of regulating spring pipe by the rotation of setting nut, and bourdon tube is fixed on the skeleton; One circle " V " type groove is arranged on the pulley side Zhou Yuan, and the wire rope that stretches out from bourdon tube is suitable for reading is walked around pulley via " V " type groove, contacts with pulley is moving, and its terminal head is affixed with fingerstall, and the finger of fingerstall and finger is suitable; Skeleton hollow framework base is an arcwall face, and arcwall face is suitable with finger, is equipped with fixed cover on the arcwall face, and arc portion mid point is connected with bolt on the fixed cover, and bolt is connected with clamp nut after passing skeleton hollow framework upper side frame.
5, skeleton power feel feedback assembly as claimed in claim 1 is characterized in that described fingerstall is an annular, and the positive bottom of annular fingerstall is a hard gasket, and the hard gasket upper surface is provided with pressure transducer, and pressure transducer contacts with the finger of finger.
6, skeleton power feel feedback assembly as claimed in claim 1, it is characterized in that, described embedded closed-loop control system based on DSP, it is by the real-time steering order that receives from virtual reality system of serial port, finger tip power is felt that the output signal of the force transducer in the feedback assembly is as feedback, by the INTELLIGENT PID CONTROL ALGORITHM that DSP is embedded feedback force is carried out closed-loop control, the feasible feedback force tracking Control instruction exactly that acts on operator's finger.
7, skeleton power feel feedback assembly as claimed in claim 1 is characterized in that it can feel feedback to the local motion of pointing certain constraint be arranged in operator's finger tips generation power, can prevent effectively that virtual finger from unnecessarily embedding in the dummy object.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100482301A CN1323341C (en) | 2004-06-15 | 2004-06-15 | Skeleton style force sensing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100482301A CN1323341C (en) | 2004-06-15 | 2004-06-15 | Skeleton style force sensing device |
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| CN1713114A CN1713114A (en) | 2005-12-28 |
| CN1323341C true CN1323341C (en) | 2007-06-27 |
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| CNB2004100482301A Expired - Fee Related CN1323341C (en) | 2004-06-15 | 2004-06-15 | Skeleton style force sensing device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7868489B2 (en) * | 2006-01-24 | 2011-01-11 | Nippon Telegraph And Telephone Corporation | Acceleration generator and pseudo force sense generator |
| CN108453762B (en) * | 2018-05-03 | 2023-10-31 | 广东省智能制造研究所 | Glove for virtual reality control and tension mechanism thereof |
| CN109116992B (en) * | 2018-08-31 | 2020-12-04 | 北京航空航天大学 | Collision response system for virtual hand force feedback interaction |
| CN109620412A (en) * | 2019-01-21 | 2019-04-16 | 北京理工大学 | Device for force feedback and lung puncture robot |
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|---|---|---|---|---|
| JPH07191791A (en) * | 1993-12-27 | 1995-07-28 | Nec Corp | Virtual keyboard |
| CN2374876Y (en) * | 1999-03-04 | 2000-04-19 | 中国科学院自动化研究所 | Finger force sense feedback device |
| CN1262750A (en) * | 1998-03-12 | 2000-08-09 | 皇家菲利浦电子有限公司 | Multiple pressure sensors by using per finger of glove for virtual full typing |
| US6110130A (en) * | 1997-04-21 | 2000-08-29 | Virtual Technologies, Inc. | Exoskeleton device for directly measuring fingertip position and inferring finger joint angle |
| WO2001061672A1 (en) * | 2000-02-18 | 2001-08-23 | Prima Industries Establishment | Virtual reality testdrive system |
| US6413229B1 (en) * | 1997-05-12 | 2002-07-02 | Virtual Technologies, Inc | Force-feedback interface device for the hand |
-
2004
- 2004-06-15 CN CNB2004100482301A patent/CN1323341C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07191791A (en) * | 1993-12-27 | 1995-07-28 | Nec Corp | Virtual keyboard |
| US6110130A (en) * | 1997-04-21 | 2000-08-29 | Virtual Technologies, Inc. | Exoskeleton device for directly measuring fingertip position and inferring finger joint angle |
| US6413229B1 (en) * | 1997-05-12 | 2002-07-02 | Virtual Technologies, Inc | Force-feedback interface device for the hand |
| CN1262750A (en) * | 1998-03-12 | 2000-08-09 | 皇家菲利浦电子有限公司 | Multiple pressure sensors by using per finger of glove for virtual full typing |
| CN2374876Y (en) * | 1999-03-04 | 2000-04-19 | 中国科学院自动化研究所 | Finger force sense feedback device |
| WO2001061672A1 (en) * | 2000-02-18 | 2001-08-23 | Prima Industries Establishment | Virtual reality testdrive system |
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| CN1713114A (en) | 2005-12-28 |
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