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中文摘要：
为提高柔性触觉再现的精度和实时性，本文设计了一种基于改变弹性梁有效长度的新型柔性触觉再现装置，文中讨论了该装置的设计思路和设计内容。本装置较以往的弹性梁装置有很大的改进，首先在机械结构上，使用舵机代替步进电机，减小了体积，结构更加紧凑，控制精度提高。其次在数据采集方面，使用CCD线阵将弹性梁末端位移的测量变为非接触式测量，减小了接触测量产生的阻尼误差，从而使交互的舒适性与效率得到提高，实现自然和谐的人机交互。
英文摘要：
A portable real time haptic display interface device, which focuses on the smart control of elastic steel beam＇s effective deformable length, is proposed in this paper. The device is further developed than former haptic display instrument. At first, servo is used to change the effective deformable length of the elastic steel beam in stead of step motor,it is smaller and more compact. Secondly, not-contact position measurement using CCD as the essential part is introduced to measure the moving of the end of the steal beam, which reduce the measurement error effectively. The proposed device is much comfortable and effective when it is used to display haptic. It will make the operating process a natural and convenient course.
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