关键词: 热触觉, 虚拟实验, 正温度系数（PTC）, PID

Abstract:

In view of the current situation that the virtual experiment lacks thermal tactile device, a thermal tactile temperature perception?reconstruction system based on PTC（Positive Temperature Coefficient）heater is designed. This system maps the spatial position of heat source in virtual environment into the spatial position of heating module in real environment by using infrared positioning of HTC VIVE. According to the heat source of different positions and different temperatures in the virtual experiment, two stepper motors are used to control the position and direction of the heat source, and a heat source location method with four degrees of freedom is provided; PID control algorithm is used to control the hot wind temperature which is generated by PTC heater to obtain different thermal tactile perception. The system presents the thermal tactile sensation of virtual experiment with a non-contact tactile sensation, which guarantees the authenticity of thermal tactile sensation. Finally, the practicability of the system is verified by the virtual aluminothermic reaction experiment, and the results show that the thermal tactile sense of the system can improve the real feeling in the virtual experiment and compensate the missing thermal feedback in the tactile sense.

Key words: thermal tactile, virtual experiment, Positive Temperature Coefficient（PTC）, PID