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

摘要：

针对目前虚拟实验热触觉装置缺乏的现状，设计了一种基于PTC（Positive Temperature Coefficient）加热片的热触觉感知复现系统。该系统利用HTC VIVE的红外定位，将虚拟环境下热源的空间位置映射为现实环境下制热模块的空间位置。根据虚拟实验中不同位置和不同温度的热源，使用两个步进电机控制热源的位置和方向，并提供4个自由度的热源定位方法；使用PID控制算法控制PTC加热片产生热风的温度，获得不同的热触觉感知。该系统以一种非接触式的触觉感知来呈现虚拟实验的热触觉，保证了热触觉产生的真实性。通过铝热反应虚拟实验，验证该系统的实用性，结果表明该系统的热触觉再现能够提高虚拟实验的真实感受，补偿触觉上缺失的热反馈。

关键词: 热触觉, 虚拟实验, 正温度系数（PTC）, PID