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CN115005975A - Master hand clamping device capable of simultaneously superposing force feedback and tactile vibration feedback and control method thereof - Google Patents

Master hand clamping device capable of simultaneously superposing force feedback and tactile vibration feedback and control method thereof Download PDF

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CN115005975A
CN115005975A CN202210513579.6A CN202210513579A CN115005975A CN 115005975 A CN115005975 A CN 115005975A CN 202210513579 A CN202210513579 A CN 202210513579A CN 115005975 A CN115005975 A CN 115005975A
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feedback
force
frequency
force feedback
voice coil
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鞠锋
蒋民杰
罗小冬
洪衍
陈柏
吴洪涛
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery

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  • Engineering & Computer Science (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

本发明公开了一种能同时叠加力反馈和触觉振动反馈的主手夹持装置及其控制方法，能够直观地将夹取动作命令传递给手术机器人从手末端器械，并将器械夹取力通过力反馈的方式精确反馈到操作人员手指，使操作人员能逼真地感受到手术器械施加到组织的夹取力，增强其操作的临场感；此外，也可以同时通过对操作人员手指施加振动刺激来进行过力提醒，或者根据夹取的生物组织的硬度等特性施加不同频率或幅值的振动来帮助操作人员辨别组织类型，或者根据手术器械偏离预定操作轨迹的程度施加不同频率或幅值的振动刺激来辅助操作人员控制从手器械沿预定轨迹移动以便开展更加精准的手术操作，降低手术难度。

Figure 202210513579

The invention discloses a master hand clamping device capable of superimposing force feedback and tactile vibration feedback at the same time and a control method thereof, which can intuitively transmit a clamping action command to a surgical robot slave hand end instrument, and pass the instrument clamping force through The force feedback method is accurately fed back to the operator's finger, so that the operator can realistically feel the gripping force applied by the surgical instrument to the tissue and enhance the presence of the operation; Carry out over-force reminders, or apply vibrations of different frequencies or amplitudes according to the hardness and other characteristics of the clamped biological tissue to help the operator identify the type of tissue, or apply vibrations of different frequencies or amplitudes according to the degree to which the surgical instrument deviates from the predetermined operating trajectory Stimulation to assist the operator to control the movement of the hand instruments along a predetermined trajectory to carry out more precise surgical operations and reduce the difficulty of surgery.

Figure 202210513579

Description

Master hand clamping device capable of simultaneously superposing force feedback and tactile vibration feedback and control method thereof
Technical Field
The invention relates to the technical field of a master hand clamping device, in particular to a master hand clamping device capable of simultaneously superposing force feedback and tactile vibration feedback and a control method thereof.
Background
With the development of surgical robotics, more and more robot-assisted minimally invasive surgical systems are being applied to clinical surgery. At present, the operation mode of the surgical robot is mainly a master-slave operation mode. The master hand is directly operated by a doctor and used for transmitting data to a remote slave hand (a surgical instrument at the tail end of a surgical robot) in a wireless or wired transmission mode after operation information such as the motion track of the hand of the doctor is acquired, and controlling the slave hand to perform surgical operation on the surgical site of a patient. The doctor obtains the information of the operation position through the picture fed back to the display by the endoscope. The existing master-slave operation surgical robot lacks force feedback and vibration feedback and can only provide visual feedback. So that doctors can not accurately operate the focus area under the condition of poor visual field in narrow space. To overcome this problem, the physician should be able to feel the force exerted on the tissue and be able to make an over-force reminder. The master operator hand therefore needs to be able to receive the contact force signal from the hand clamp and to be able to make force and over-force reminders.
In the existing force feedback main hand clamping devices in the market, although the main hand clamping device capable of providing force feedback and vibration feedback exists, the force feedback and the vibration feedback are respectively realized by two sets of different drivers, so that the structure is complex, the size is large, and the cost is high. There is also a lack of master hand clamping devices and control methods that use a single actuator to achieve force and vibration superimposed feedback at the same time. In addition, most force feedback main hand clamping devices are provided with rotary motors, linear motion of the air cylinder is converted into opening and closing motion of the clamping handle through the air cylinder and the slider-crank mechanism, and force feedback is achieved. An external air pump is needed in the scheme, so that the whole system is complicated, and the hand movement and the immersive experience of a doctor are influenced.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a master hand clamping device capable of simultaneously superposing force feedback and tactile vibration feedback and a control method thereof, which can enable an operator to vividly feel the clamping force applied to tissues by a surgical instrument, enhance the telepresence of the operation of the operator and reduce the operation difficulty.
In order to solve the above technical problem, the present invention provides a master hand holding device capable of simultaneously superimposing force feedback and tactile vibration feedback, including: the voice coil motor comprises a shell base, a clamping mechanism, a transmission mechanism and a force feedback voice coil motor; the clamping mechanism comprises two symmetrical clamping handles, the tail ends of the clamping handles are hinged to the shell base, the force feedback voice coil motor is connected with the shell base through bolts, the transmission mechanism comprises a transmission slide rod and a connecting rod, the tail end of the transmission slide rod is connected with a force feedback voice coil motor rotor through a bolt and is fixed on a central axis of the shell base through a linear bearing, and two ends of the connecting rod are respectively hinged to the clamping handles and the transmission slide rod.
Preferably, the tail end of the clamping handle detects the opening and closing angle of the handle through an angle sensor to track the opening and closing actions of fingers of a doctor.
Preferably, the middle end of the clamping handle is connected with a transmission sliding rod inside the shell base through a connecting rod to form a crank sliding block mechanism, and two ends of the transmission sliding rod are fixed on a central axis of the shell base through linear bearings and can slide along the central axis to transmit the output force of the force feedback voice coil motor to the clamping handle.
Preferably, the force feedback voice coil motor comprises a permanent magnet stator, a coil and a rotor, the coil is wound on the rotor, the rotor is driven to move by Lorentz force in a magnetic field formed by the permanent magnet stator after the coil is electrified, and the direction and the size of the output force of the force feedback voice coil motor are changed by changing the direction and the size of current in the coil.
Correspondingly, the control method of the master hand clamping device capable of simultaneously superposing force feedback and tactile vibration feedback comprises the following steps:
step 1, calculating a low-frequency current command by a force feedback regulator according to a force F applied to a doctor finger by the force feedback regulator
Figure BDA0003640488790000021
Figure BDA0003640488790000022
Wherein alpha is a proportionality coefficient;
step 2, low-frequency current command
Figure BDA0003640488790000023
Subtracting the low frequency current feedback signal
Figure BDA0003640488790000024
Obtaining low frequency current error
Figure BDA0003640488790000025
A low frequency current controller to
Figure BDA0003640488790000026
As input, and calculates the low-frequency driving voltage V by using a control algorithm (such as PID control, fuzzy control, sliding mode control, etc.) L ；
Step 3, low-frequency driving voltage V L And a high frequency driving voltage V H Add to obtain PWM voltage V PWM The voltage converter will be V PWM Converting into PWM pulse voltage with pulse width modulation, and applying to phase line of voice coil motor via H-bridge circuit, or applying V to phase line of voice coil motor via linear power amplifier PWM After linear amplification, the linear amplification is directly loaded on a phase line of the voice coil motor;
step 4, measuring phase current I of the voice coil motor by the current sensor sense A low-pass filter I sense The low-frequency component in the low-frequency current feedback signal is extracted
Figure BDA0003640488790000027
High pass filter will sense The high-frequency component in the signal is extracted as a high-frequency current feedback signal
Figure BDA0003640488790000028
Extracting the amplitude of the high-frequency current signal through the phase-locked loop as a high-frequency current amplitude feedback signal
Figure BDA0003640488790000029
Step 5, high-frequency current amplitude command
Figure BDA00036404887900000210
Subtracting the high frequency current amplitude feedback signal
Figure BDA00036404887900000211
Obtaining high frequency current amplitude error
Figure BDA0003640488790000031
A high-frequency current controller to
Figure BDA0003640488790000032
As input, and calculating the amplitude of the high-frequency driving voltage by using a control algorithm (such as PID control, fuzzy control, sliding mode control, etc.)
Figure BDA0003640488790000033
And 6, selecting the allowed output signal by the signal gating module according to the value of the mode, wherein when the mode is equal to 1
Figure BDA0003640488790000034
Wherein
Figure BDA0003640488790000035
The amplitude of the high-frequency driving voltage which is directly set by a person,
Figure BDA0003640488790000036
for the amplitude of the high-frequency driving voltage selected to be output, when mode is 2
Figure BDA0003640488790000037
High frequency voltage generator using high frequency drive voltage amplitude
Figure BDA0003640488790000038
And the frequency of the input high-frequency driving voltage
Figure BDA0003640488790000039
Calculating to generate high frequency driving voltage
Figure BDA00036404887900000310
Where t is time and φ is phase.
Preferably, in step 4, the current sensor is a hall current sensor and a current sampling resistor, the current sampling resistor is a resistor connected in series, and the current is measured by measuring the voltage at two ends of the resistor.
The invention has the beneficial effects that: the invention can intuitively transmit the clamping action command to the surgical robot from the end of the hand to the instrument, and accurately feed back the clamping force of the instrument to the fingers of the operator in a force feedback mode, so that the operator can vividly feel the clamping force applied to the tissue by the surgical instrument, and the operation telepresence is enhanced; in addition, the excessive force reminding can be performed by applying vibration stimulation to the fingers of the operator, or the vibration with different frequencies or amplitudes can be applied according to the characteristics of the hardness and the like of the clamped biological tissues to help the operator to distinguish the tissue type, or the vibration stimulation with different frequencies or amplitudes can be applied according to the degree of the deviation of the surgical instrument from the preset operation track to assist the operator to control the slave hand instrument to move along the preset track so as to perform more accurate surgical operation, so that the surgical difficulty is reduced.
Drawings
FIG. 1 is a schematic structural diagram of the apparatus of the present invention.
FIG. 2 is a schematic view of the internal structure of the apparatus of the present invention.
Fig. 3 is a schematic view of the working principle of the device of the present invention.
Fig. 4 is a schematic cross-sectional view of a voice coil motor according to the present invention.
FIG. 5 is a flow chart illustrating a control method according to the present invention.
Detailed Description
As shown in fig. 1 and 2, a master hand grip device capable of simultaneously superimposing force feedback and tactile vibration feedback, comprises: the voice coil motor comprises a shell base, a clamping mechanism, a transmission mechanism and a force feedback voice coil motor; the clamping mechanism comprises two symmetrical clamping handles, the tail ends of the clamping handles are hinged to the shell base, the force feedback voice coil motor is connected with the shell base through bolts, the transmission mechanism comprises a transmission slide rod and a connecting rod, the tail end of the transmission slide rod is connected with a force feedback voice coil motor rotor through a bolt and is fixed on a central axis of the shell base through a linear bearing, and two ends of the connecting rod are respectively hinged to the clamping handles and the transmission slide rod.
The tail end of the clamping handle detects the opening and closing angle of the handle through an angle sensor (such as a rotary potentiometer) to track the opening and closing actions of fingers of a doctor. The middle end of the clamping handle is connected with a transmission slide bar inside the shell base through a connecting rod to form a crank slide block mechanism, and two ends of the transmission slide bar are fixed on a central axis of the shell base through linear bearings and can slide along the central axis to transmit the output force of the force feedback voice coil motor to the clamping handle.
As shown in fig. 3, the force feedback voice coil motor includes a permanent magnet stator, an energizing coil and a mover, the coil is wound on the mover, the mover is driven by lorentz force in a magnetic field formed by the permanent magnet stator after the coil is energized, and the direction and magnitude of the output force of the force feedback voice coil motor are changed by changing the direction and magnitude of the current in the coil.
As shown in fig. 4, a sensor is arranged on the slave hand clamp to detect the clamping force or the tissue hardness, and after the master hand receives the force or hardness signal, the master hand controls the voice coil motor to generate force and vibration according to the received signal and feeds the force and vibration back to the fingers of the user through the transmission device and the clamping handle. Meanwhile, the clamp receives an opening and closing angle signal sent by the main hand and is used for executing operation along with the opening and closing movement of the clamping handle of the main hand.
As shown in fig. 5, a control method of a master hand grip apparatus capable of simultaneously superimposing force feedback and tactile vibration feedback, includes the steps of:
step 1, calculating a low-frequency current command by a force feedback regulator according to a force F applied to a doctor finger by the force feedback regulator
Figure BDA0003640488790000041
Figure BDA0003640488790000042
Wherein alpha is a proportionality coefficient;
step 2, low-frequency current command
Figure BDA0003640488790000043
Subtracting the low frequency current feedback signal
Figure BDA0003640488790000044
Obtaining low frequency current error
Figure BDA0003640488790000045
A low frequency current controller to
Figure BDA0003640488790000046
As input and using a control algorithm to calculate the low frequency drive voltage V L ；
Step 3, low-frequency driving voltage V L And a high-frequency drive voltage V H Add to obtain PWM voltage V PWM The voltage converter will be V PWM Converting into PWM pulse voltage with pulse width modulation, and loading onto phase line of voice coil motor via H-bridge circuit, or using linear power amplifier to output V PWM After linear amplification, the linear amplification is directly loaded on a phase line of the voice coil motor;
step 4, measuring phase current I of the voice coil motor by the current sensor sense A low-pass filter I sense The low-frequency component in the low-frequency current feedback signal is extracted
Figure BDA0003640488790000047
High pass filter coupling I sense The high-frequency component in the signal is extracted as the high-frequency current feedback signal
Figure BDA0003640488790000048
Extracting the amplitude of the high-frequency current signal through the phase-locked loop as a high-frequency current amplitude feedback signal
Figure BDA0003640488790000049
Step 5, high frequency powerStream amplitude command
Figure BDA0003640488790000051
Subtracting the high frequency current amplitude feedback signal
Figure BDA0003640488790000052
Obtaining high frequency current amplitude error
Figure BDA0003640488790000053
A high-frequency current controller to
Figure BDA0003640488790000054
As input and using a control algorithm to calculate the high frequency drive voltage amplitude
Figure BDA0003640488790000055
And 6, selecting the allowed output signal by the signal gating module according to the value of the mode, wherein when the mode is equal to 1
Figure BDA0003640488790000056
Wherein
Figure BDA0003640488790000057
The amplitude of the high-frequency driving voltage is directly set by a worker,
Figure BDA0003640488790000058
for the amplitude of the high-frequency driving voltage selectively output, when mode is 2
Figure BDA0003640488790000059
High frequency voltage generator using high frequency drive voltage amplitude
Figure BDA00036404887900000510
And the frequency of the input high-frequency driving voltage
Figure BDA00036404887900000511
Calculating to generate high frequency driving voltage
Figure BDA00036404887900000512
Where t is time and phi is phase.
The invention can provide clamping action and track the opening and closing action of fingers to control the opening and closing of the slave manipulator clamp. And the doctor can accurately sense the clamping force of the mechanical arm through the device, and further can sense the force applied to the tissue. Meanwhile, when the force applied by a doctor is too large, the handle can vibrate to remind the doctor, and can generate vibration with different amplitudes or frequencies according to the force, or apply vibration with different frequencies or amplitudes according to the characteristics of the hardness and the like of the clamped biological tissue to help the operator to distinguish the tissue type, or apply vibration stimulation with different frequencies or amplitudes according to the degree of the deviation of the surgical instrument from the preset operation track to assist the operator to control the slave hand instrument to move along the preset track so as to carry out more accurate surgical operation, and reduce the surgical difficulty. The sensory feedback (except visual feedback) of a doctor in the operation process is increased, the probability of tissue damage caused by lack of strength perception is reduced, and the operation safety is improved.

Claims (6)

1.一种能同时叠加力反馈和触觉振动反馈的主手夹持装置，其特征在于，包括：外壳基座、夹持机构、传动机构和力反馈音圈电机；夹持机构包括两个对称的夹持手柄，夹持手柄末端铰接于外壳基座，力反馈音圈电机通过螺栓与外壳基座相连，传动机构包括传动滑杆和连杆，传动滑杆末端通过螺栓与力反馈音圈电机动子相连，并由直线轴承固定于外壳基座中轴线上，连杆两端分别铰接于夹持手柄和传动滑杆。1. a main hand clamping device capable of superimposing force feedback and tactile vibration feedback simultaneously, is characterized in that, comprises: shell base, clamping mechanism, transmission mechanism and force feedback voice coil motor; clamping mechanism comprises two symmetrical The end of the gripping handle is hinged to the shell base, the force feedback voice coil motor is connected to the shell base through bolts, the transmission mechanism includes a transmission slide rod and a connecting rod, and the end of the transmission slide rod is connected to the force feedback voice coil motor through bolts. The motor is connected and fixed on the central axis of the shell base by a linear bearing, and the two ends of the connecting rod are hinged to the clamping handle and the transmission sliding rod respectively. 2.如权利要求1所述的能同时叠加力反馈和触觉振动反馈的主手夹持装置，其特征在于，夹持手柄末端通过角度传感器检测手柄的开合角度，跟踪医生手指的开合动作。2. The main hand gripping device capable of superimposing force feedback and tactile vibration feedback simultaneously as claimed in claim 1, wherein the gripping handle end detects the opening and closing angle of the handle by an angle sensor, and tracks the opening and closing action of the doctor's finger . 3.如权利要求1所述的能同时叠加力反馈和触觉振动反馈的主手夹持装置，其特征在于，夹持手柄中端通过连杆与外壳基座内部的传动滑杆相连，形成一个曲柄滑块机构，传动滑杆两端通过直线轴承固定于外壳基座中轴线上，并能沿中轴线滑动，将力反馈音圈电机输出力传递至夹持手柄。3. The main hand clamping device capable of superimposing force feedback and tactile vibration feedback simultaneously as claimed in claim 1, is characterized in that, the middle end of the clamping handle is connected with the transmission slide bar inside the housing base through the connecting rod, forming a In the crank-slider mechanism, the two ends of the transmission sliding rod are fixed on the central axis of the housing base through linear bearings, and can slide along the central axis to transmit the output force of the force feedback voice coil motor to the clamping handle. 4.如权利要求1所述的能同时叠加力反馈和触觉振动反馈的主手夹持装置，其特征在于，力反馈音圈电机包括永磁体定子、通电线圈和动子，线圈缠绕在动子上，当线圈通电后在永磁体定子形成的磁场中受到洛伦兹力带动动子运动，通过改变线圈中电流的方向和大小来改变力反馈音圈电机输出力方向和大小。4. The main hand clamping device capable of simultaneously superimposing force feedback and tactile vibration feedback as claimed in claim 1, wherein the force feedback voice coil motor comprises a permanent magnet stator, an energized coil and a mover, and the coil is wound around the mover. Above, when the coil is energized, the mover is moved by the Lorentz force in the magnetic field formed by the permanent magnet stator, and the direction and size of the output force of the force feedback voice coil motor are changed by changing the direction and size of the current in the coil. 5.一种如权利要求1所述的能同时叠加力反馈和触觉振动反馈的主手夹持装置的控制方法，其特征在于，包括如下步骤：5. a control method of the main hand gripping device capable of superimposing force feedback and tactile vibration feedback simultaneously as claimed in claim 1, is characterized in that, comprises the steps: 步骤1、力反馈调节器根据需要施加在医生手指上的力F计算出低频电流命令
Figure FDA0003640488780000011
Figure FDA0003640488780000012
其中α为比例系数；Step 1. The force feedback regulator calculates the low-frequency current command according to the force F applied to the doctor's finger as needed
Figure FDA0003640488780000011
Figure FDA0003640488780000012
where α is the proportional coefficient; 步骤2、低频电流命令
Figure FDA0003640488780000013
减去低频电流反馈信号
Figure FDA0003640488780000014
得到低频电流误差Ie L，低频电流控制器以
Figure FDA0003640488780000015
作为输入并利用控制算法计算出低频驱动电压VL；Step 2. Low frequency current command
Figure FDA0003640488780000013
Subtract the low frequency current feedback signal
Figure FDA0003640488780000014
To obtain the low-frequency current error I e L , the low-frequency current controller is given by
Figure FDA0003640488780000015
As input and using the control algorithm to calculate the low frequency drive voltage VL ; 步骤3、低频驱动电压VL和高频驱动电压VH相加得到PWM电压VPWM，电压变换器将VPWM转换成脉冲宽度调制的PWM脉冲电压并通过H-桥电路加载到音圈电机的相线上，或用线性功率放大器将VPWM线性放大后直接加载到音圈电机的相线上；Step 3. The low frequency driving voltage VL and the high frequency driving voltage V H are added to obtain the PWM voltage V PWM . The voltage converter converts V PWM into a pulse width modulated PWM pulse voltage and loads it to the voice coil motor through the H-bridge circuit. phase line, or use a linear power amplifier to linearly amplify V PWM and directly load it on the phase line of the voice coil motor; 步骤4、电流传感器测量音圈电机的相电流Isense，低通滤波器将Isense中的低频分量提取出来作为低频电流反馈信号
Figure FDA0003640488780000016
高通滤波器将Isense中的高频分量提取出来作为高频电流反馈信号
Figure FDA0003640488780000021
Figure FDA0003640488780000022
经锁相环提取出高频电流信号的幅值作为高频电流幅值反馈信号
Figure FDA0003640488780000023
Step 4. The current sensor measures the phase current Isense of the voice coil motor, and the low-pass filter extracts the low-frequency component in Isense as a low-frequency current feedback signal
Figure FDA0003640488780000016
The high-pass filter extracts the high-frequency components in I sense as the high-frequency current feedback signal
Figure FDA0003640488780000021
Figure FDA0003640488780000022
The amplitude of the high-frequency current signal is extracted by the phase-locked loop as the feedback signal of the high-frequency current amplitude.
Figure FDA0003640488780000023
 步骤5、高频电流幅值命令
Figure FDA0003640488780000024
减去高频电流幅值反馈信号
Figure FDA0003640488780000025
得到高频电流幅值误差
Figure FDA0003640488780000026
高频电流控制器以
Figure FDA0003640488780000027
作为输入并利用控制算法计算出高频驱动电压幅值
Figure FDA0003640488780000028
Step 5. High frequency current amplitude command
Figure FDA0003640488780000024
Subtract the high frequency current amplitude feedback signal
Figure FDA0003640488780000025
Get the high frequency current amplitude error
Figure FDA0003640488780000026
high frequency current controller with
Figure FDA0003640488780000027
As input and using the control algorithm to calculate the high frequency drive voltage amplitude
Figure FDA0003640488780000028
 步骤6、信号选通模块通过mode的值来选择其允许的输出信号，mode＝1时
Figure FDA0003640488780000029
其中
Figure FDA00036404887800000210
为人工直接设定的高频驱动电压幅值，
Figure FDA00036404887800000211
为被选择输出的高频驱动电压幅值，mode＝2时
Figure FDA00036404887800000212
高频电压生成器利用高频驱动电压幅值
Figure FDA00036404887800000213
和输入的高频驱动电压频率
Figure FDA00036404887800000214
计算生成高频驱动电压
Figure FDA00036404887800000215
其中t为时间，φ为相位。Step 6. The signal gating module selects its allowable output signal through the value of mode, when mode=1
Figure FDA0003640488780000029
in
Figure FDA00036404887800000210
is the high-frequency drive voltage amplitude that is manually set directly,
Figure FDA00036404887800000211
It is the amplitude of the high-frequency drive voltage to be selected for output, when mode=2
Figure FDA00036404887800000212
High-frequency voltage generators utilize high-frequency drive voltage amplitudes
Figure FDA00036404887800000213
and the input high frequency drive voltage frequency
Figure FDA00036404887800000214
Computational generation of high-frequency drive voltages
Figure FDA00036404887800000215
where t is time and φ is phase. 6.如权利要求5所述的能同时叠加力反馈和触觉振动反馈的主手夹持装置的控制方法，其特征在于，步骤4中，电流传感器为霍尔电流传感器、电流采样电阻。6. The control method of the main hand gripping device capable of simultaneously superimposing force feedback and tactile vibration feedback as claimed in claim 5, wherein in step 4, the current sensor is a Hall current sensor and a current sampling resistor.
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