Measurement and Application of Force Difference Threshold in Robotic Manipulator Force Feedback Handle
Tan Lifen
Tian Zhiqiang
Wang Chunhui
Abstract：Objective To explore the feedback force perception characteristics of typical push-pull and rotation operation of the robotic manipulator force feedback handle, and thus obtain the feedback force difference threshold, Weber fraction and robotic manipulator state feedback force design parameters. Methods Based on the force feedback handles of the robotic manipulator ergonomic experimental platform and the force feedback handle test control software, the feedback force difference threshold of the handle push-pull and rotation operation was measured with the minimum change method of psychophysical measurement. In addition, the feedback force of handle push-pull and rotation operation for alarming emergency was measured and analyzed. Results The Weber's law correction formulas for estimating the difference threshold of feedback force for pushpull operation and rotation operation were given respectively. It was recommended that the push-pull alarm feedback force change should not be less than 10 times the difference threshold of the force stimulus, and the rotational alarm feedback force change should not be less than 8 times the difference threshold of the force stimulus. Conclusion The study on feedback force difference threshold and alarm feedback force of the manipulator force feedback handle could provide reference for the feedback force perception and design of the manipulator force feedback handle.
Keywords：handle of manipulatorfeedback forcejust noticeable difference
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 229-236 )