1、東南大學(xué)碩士學(xué)位論文基于智能材料的力觸覺反饋數(shù)據(jù)手套研制姓名：鄭水華申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：測(cè)試計(jì)量技術(shù)及儀器指導(dǎo)教師：王愛民20070401AbstractTeleprcsencejsthecoreofhumanmachineinteractionInateleoperationsystemwithtelepresenceinformationincludingvision，force，tactilitymotionoftheremo

2、teslaverobotanditsenvironmentareredisplayedatthelocaloperatorside，theoperatorwillfeellikebeingintherealenvironmentoftheremoteslaverobotsothathecanperformtelemanipulationtaskeffective啊Force／tactiletelepresencetechniqueiso

3、neofthemajorformsoftelepreseneetechnologiesItisveryimportantinimplementingtheremotetaskThekeytechniquetealizehapticsisthedesignofahapticdevicewhichsimulatesthehumanInthispaperweworkonremoteteleoperationroboticssystem，whi

4、chisassignedbythe973projectWedevelopElectrorheologicalfluidsandMagnetorheoligicalfluidsbasedhaptieinterfacesrespectivelyAnalysisofthefeedbackforceisintroducedandfinallyanexperimentisdoneontheinterfaeeThenecessaryofthefor

5、cefeedbackinterfaceispresentedinthechapterone，soasthecomponentsofthepaperTheexperimentdemonstrationoftheteleoperationroboticsystemisintroducedinthechaptertwo，thedatagloveonwhichthedevelopedforcefeedbackinterfacewillmount

6、edandtheoutsourcing6doftrackingdevicearealsointroducedInthechapterthree，theElectrorheologicalfluidsandtheEiectrorheologicaleffectareintroducedrespectivelyfirstlythenthedesignmethodincludingtheprinciple，thestructure，andth

7、econtrolmethodispresentedTheMagnetorheoligicalfluidsandMagnetorheoligicaleffectageintroducedrespectivelyfirstlyinthechapterfourandthenthedesignoftheforcefeedbackdevicebasedonMagnetorheoligicalfluidsispresentedindetail，in

8、cludingthemodeoftheMagnetorheoligicalfluidsbaseddevices，thespecialfactorofMagnetorheoligicaIfluidsusedinforcefeedbacktheprinciple，theparameterdesign，themagneticcircuitdesign，thestructureandthecontrolmethodoftheforcefeedb

9、ackinterfaceInthechapterfive，thetheoryoftheelectromagnetismandElectromagneticFiniteElementAnalysisareintroducedandtheMagnetorheoligicalfluidsbasedforcefeedbackinterfaceisanalyzedbytheElectromagneticFiniteElementAnalysiss

10、oftwareTheexperimentsaredoneonthedevelopedinterfacesinthechaptersixFirstlyaquasistaticforceexperimentisdoneontheElectrorheologicalfluidsbasedinterfaceinwhichtheElectrorheologicalfluiddevelopedbyTsinghuaUniversityisadopte