實驗(yan)名稱：力反(fan)饋手部可(ke)穿戴設備的安全性研(yan)究

　　研究方向：針對虛擬現(xian)實(shi)技術中力反(fan)饋設備(bei)的需求，提出一(yi)種基于靜電(dian)(dian)吸附(fu)的觸覺力反(fan)饋手部可穿(chuan)戴設備(bei)，其內部柔性電(dian)(dian)極使得該設備(bei)具(ju)有輕薄(bo)、便攜(xie)的優點，可以實(shi)現(xian)剛性力和彈性力兩(liang)種反(fan)饋效果。

　　實(shi)驗(yan)(yan)目的(de)：搭(da)建一(yi)套高分辨率(lv)電噴印三維工作實(shi)驗(yan)(yan)平臺(tai)，首先在載玻片上(shang)進行實(shi)驗(yan)(yan)驗(yan)(yan)證理論與數(shu)值模擬的(de)正確性，然后在PET膜(mo)上(shang)實(shi)驗(yan)(yan)研究不同工藝(yi)參(can)數(shu)（電壓、氣壓、噴印速度）對噴印納米銀導電墨水(shui)成(cheng)型性能的(de)影響(xiang)規律。

　　測試(shi)設備：數據(ju)采集卡(ka)、高(gao)壓放大(da)器、距離(li)傳感器、力傳感器、材(cai)料試(shi)驗機等。

　　圖(tu)(tu)：控制方法示意(yi)圖(tu)(tu)

　　實驗過程：

　　該設(she)備(bei)的(de)(de)(de)安全(quan)性主要指的(de)(de)(de)是其用(yong)電(dian)(dian)(dian)(dian)(dian)(dian)安全(quan)，設(she)備(bei)所(suo)(suo)使(shi)用(yong)電(dian)(dian)(dian)(dian)(dian)(dian)源為(wei)(wei)ATA-7015高壓(ya)(ya)放(fang)(fang)大器(qi)(qi)(qi)(qi)(qi)，由采集卡(ka)的(de)(de)(de)輸(shu)出(chu)端(duan)向其輸(shu)入信號(hao)。靜(jing)電(dian)(dian)(dian)(dian)(dian)(dian)吸(xi)附(fu)制(zhi)動器(qi)(qi)(qi)(qi)(qi)在(zai)工作(zuo)(zuo)(zuo)過程(cheng)中相(xiang)當于一(yi)個(ge)電(dian)(dian)(dian)(dian)(dian)(dian)容(rong)器(qi)(qi)(qi)(qi)(qi)，靜(jing)電(dian)(dian)(dian)(dian)(dian)(dian)吸(xi)附(fu)制(zhi)動器(qi)(qi)(qi)(qi)(qi)的(de)(de)(de)工作(zuo)(zuo)(zuo)面積保(bao)持不變(bian)，所(suo)(suo)以(yi)整(zheng)個(ge)工作(zuo)(zuo)(zuo)過程(cheng)電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)都為(wei)(wei)0。并且在(zai)使(shi)用(yong)該設(she)備(bei)時人手(shou)(shou)佩戴薄(bo)絕緣(yuan)手(shou)(shou)套(tao)，對(dui)手(shou)(shou)部進(jin)行二(er)次保(bao)護(hu)。在(zai)充放(fang)(fang)電(dian)(dian)(dian)(dian)(dian)(dian)瞬(shun)(shun)間(jian)(jian)(jian)，電(dian)(dian)(dian)(dian)(dian)(dian)容(rong)器(qi)(qi)(qi)(qi)(qi)充電(dian)(dian)(dian)(dian)(dian)(dian)和(he)放(fang)(fang)電(dian)(dian)(dian)(dian)(dian)(dian)導致電(dian)(dian)(dian)(dian)(dian)(dian)路產(chan)生(sheng)電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)，本文測試了(le)靜(jing)電(dian)(dian)(dian)(dian)(dian)(dian)吸(xi)附(fu)制(zhi)動器(qi)(qi)(qi)(qi)(qi)在(zai)開(kai)啟電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)和(he)關(guan)(guan)閉電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)瞬(shun)(shun)間(jian)(jian)(jian)的(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)與時間(jian)(jian)(jian)的(de)(de)(de)變(bian)化關(guan)(guan)系，開(kai)啟電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)瞬(shun)(shun)間(jian)(jian)(jian)的(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)、電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)和(he)時間(jian)(jian)(jian)的(de)(de)(de)關(guan)(guan)系如圖(tu)2所(suo)(suo)示，關(guan)(guan)閉電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)瞬(shun)(shun)間(jian)(jian)(jian)的(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)、電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)和(he)時間(jian)(jian)(jian)的(de)(de)(de)關(guan)(guan)系如圖(tu)3所(suo)(suo)示。由測試結(jie)果可以(yi)看(kan)出(chu)300V電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)下的(de)(de)(de)充電(dian)(dian)(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)為(wei)(wei)5mA，放(fang)(fang)電(dian)(dian)(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)為(wei)(wei)6mA。有(you)(you)研究表(biao)明，6mA以(yi)下的(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)會使(shi)人產(chan)生(sheng)疼痛感，但不會對(dui)人體造成傷害。即使(shi)絕緣(yuan)手(shou)(shou)套(tao)破裂所(suo)(suo)以(yi)該電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)在(zai)人體能(neng)承受的(de)(de)(de)安全(quan)范圍內。假設(she)靜(jing)電(dian)(dian)(dian)(dian)(dian)(dian)吸(xi)附(fu)制(zhi)動器(qi)(qi)(qi)(qi)(qi)被(bei)擊穿，絕緣(yuan)手(shou)(shou)套(tao)被(bei)破壞，本文的(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)源設(she)備(bei)具有(you)(you)短路保(bao)護(hu)功能(neng)，會立即將電(dian)(dian)(dian)(dian)(dian)(dian)壓(ya)(ya)降為(wei)(wei)0。綜(zong)上所(suo)(suo)述，電(dian)(dian)(dian)(dian)(dian)(dian)容(rong)器(qi)(qi)(qi)(qi)(qi)本身工作(zuo)(zuo)(zuo)電(dian)(dian)(dian)(dian)(dian)(dian)流(liu)(liu)(liu)為(wei)(wei)0，絕緣(yuan)手(shou)(shou)套(tao)的(de)(de)(de)保(bao)護(hu)作(zuo)(zuo)(zuo)用(yong)以(yi)及(ji)電(dian)(dian)(dian)(dian)(dian)(dian)源的(de)(de)(de)短路保(bao)護(hu)這三重(zhong)保(bao)護(hu)也就保(bao)證了(le)該設(she)備(bei)的(de)(de)(de)安全(quan)性。

　　圖2：開啟(qi)電(dian)壓瞬間電(dian)壓電(dian)流(liu)變化(hua)

　　從圖2可(ke)以看出，靜(jing)電(dian)(dian)(dian)吸(xi)附(fu)制(zhi)(zhi)(zhi)動器(qi)(qi)在外加電(dian)(dian)(dian)壓開(kai)啟(qi)(qi)瞬(shun)間(jian)相當于(yu)一個平行板電(dian)(dian)(dian)容(rong)器(qi)(qi)，在開(kai)啟(qi)(qi)電(dian)(dian)(dian)壓時(shi)(shi)(shi)，電(dian)(dian)(dian)容(rong)器(qi)(qi)處于(yu)充(chong)電(dian)(dian)(dian)過程，充(chong)電(dian)(dian)(dian)時(shi)(shi)(shi)間(jian)約為1.2ms，而本文測得(de)靜(jing)電(dian)(dian)(dian)吸(xi)附(fu)制(zhi)(zhi)(zhi)動器(qi)(qi)的響應時(shi)(shi)(shi)間(jian)約為40ms，電(dian)(dian)(dian)容(rong)器(qi)(qi)充(chong)電(dian)(dian)(dian)時(shi)(shi)(shi)間(jian)與靜(jing)電(dian)(dian)(dian)吸(xi)附(fu)制(zhi)(zhi)(zhi)動器(qi)(qi)吸(xi)附(fu)響應時(shi)(shi)(shi)間(jian)差距較大這(zhe)是由于(yu)靜(jing)電(dian)(dian)(dian)吸(xi)附(fu)制(zhi)(zhi)(zhi)動器(qi)(qi)開(kai)啟(qi)(qi)瞬(shun)間(jian)需(xu)要排除內部空氣達到完全吸(xi)附(fu)狀(zhuang)態，這(zhe)就(jiu)導致了(le)在開(kai)啟(qi)(qi)電(dian)(dian)(dian)壓瞬(shun)間(jian)，靜(jing)電(dian)(dian)(dian)吸(xi)附(fu)需(xu)要短暫的響應時(shi)(shi)(shi)間(jian)。

　　圖(tu)3：關(guan)閉電(dian)壓瞬(shun)間電(dian)壓電(dian)流變(bian)化

　　從圖3中(zhong)可知，靜(jing)電(dian)吸(xi)(xi)附形成的(de)(de)(de)電(dian)容(rong)器在放(fang)(fang)電(dian)時(shi)(shi)的(de)(de)(de)響應(ying)時(shi)(shi)間(jian)(jian)為1.5ms，而(er)靜(jing)電(dian)吸(xi)(xi)附制(zhi)(zhi)動器釋(shi)放(fang)(fang)的(de)(de)(de)響應(ying)時(shi)(shi)間(jian)(jian)約為40ms，這是由(you)于電(dian)壓去掉之(zhi)(zhi)后，靜(jing)電(dian)吸(xi)(xi)附薄膜(mo)電(dian)極(ji)之(zhi)(zhi)間(jian)(jian)存在范(fan)德華力和參與電(dian)荷的(de)(de)(de)影響，導(dao)致靜(jing)電(dian)吸(xi)(xi)附制(zhi)(zhi)動器釋(shi)放(fang)(fang)也(ye)需要一(yi)定的(de)(de)(de)響應(ying)時(shi)(shi)間(jian)(jian)，但是開啟和釋(shi)放(fang)(fang)這二(er)者的(de)(de)(de)響應(ying)時(shi)(shi)間(jian)(jian)均為40ms，是不(bu)影響靜(jing)電(dian)吸(xi)(xi)附模擬的(de)(de)(de)反(fan)饋力效果的(de)(de)(de)真實性的(de)(de)(de)。

　　實驗結果：

　　該力反(fan)饋可穿戴設備(bei)從靜電吸附制動器(qi)的(de)工作原理論證(zheng)了其安全性，并且(qie)該設備(bei)通過絕緣(yuan)手套(tao)以及電源的(de)短路保(bao)(bao)(bao)護(hu)(hu)進行(xing)了多方面(mian)保(bao)(bao)(bao)護(hu)(hu)以保(bao)(bao)(bao)證(zheng)使用者的(de)安全。

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