一种基于超声相控阵的触觉感知装置及方法

Tactile sensing device and method based on ultrasonic phased array

Abstract

本发明公开了一种基于超声相控阵的触觉感知装置及方法,包括触觉感知控制端、相控阵控制单元、功率放大单元、相控阵超声换能器和声耦合与绝缘层。本发明通过触觉感知控制端将激励超声换能器各阵元发射超声波的激励信号指令传输至超声相控阵控制单元,由超声相控阵控制单元生成激励超声换能器各阵元发射超声波的激励信号,并将激励信号经由功率放大单元放大后输入至相控阵超声换能器各个阵元,驱动其发射超声波。通过控制相控阵超声换能器各个阵元激励信号的参数使得超声波聚集在需要产生触觉感知的空间位置,进而在目标位置产生触觉感知。
The invention discloses a tactile sensing device and a method based on an ultrasonic phased array. The device comprises a tactile sensing control end, a phased array control unit, a power amplification unit, a phased array ultrasonic transducer and an acoustic coupling and insulating layer, wherein the tactile sensing control end transmits an excitation signal instruction for exciting array elements of the ultrasonic transducer to emit ultrasonic to the ultrasonic phased array control unit; the ultrasonic phased array control unit generates an excitation signal for exciting the array elements of the ultrasonic transducer to emit the ultrasonic; the excitation signal is amplified by the power amplification unit and then inputted to the array elements of the phased array ultrasonic transducer; and then the array elements of the ultrasonic transducer are driven to emit the ultrasonic. The ultrasonic is gathered in a spatial position requiring tactile sensing generation by controlling parameters of the excitation signal for the array elements of the phased array ultrasonic transducer, and tactile sensing is further generated in a target position.

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