| 摘要 |
A man-machine interface is dis- closed which provides force and texture information to sensing body parts. The interface is comprised of a force actuat- ing device (900) that produces a force which is transmitted to force applying de- vice (902). The force applying device ap- plies the generated force to a pressure sensing body part. A force sensor (909) on the force applying , device measures the actual force applied to the pressure sensing body part, while angle sensors (911) measure the angles of relevant joint body parts. A computing device (911) uses the,joint body part position informa- tion a determine a desired force value to be applied to pressure sensing body part. The computing device combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force actuating device. In this manner, the computing device may control the actua l force applied to a pressure sensing body part to a desired force which depends upon the positions of related joint body parts. In addition, the interface is comprised of a displace- ment actuating device (901) which produces a displacement which is transmitt ed to a displacement applying device (902) (e:g.; a texture simulator). The displacement applying device applies the generated displacement to a pressure sensing body part. The for- ce applying device and displacement applying device may be combined to simultaneously provide force and displacement infor- mation to apressure sensing body part:
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