中文摘要：

当用户与触摸屏交互时，有效和实时的力触觉交互技术对于增强现实感和沉浸感是非常重要的。设计了一种面向触摸屏图像信息感知的手指外骨架可穿戴式力触觉交互装置，利用平面四连杆机构作为外骨架传动机构，结合直流电机作为执行机构可为用户手部提供连续可控的力觉反馈，通过振动电机和压电陶瓷致动器提供两种类型的振动触觉反馈。该装置体积小、重量轻，功耗小，使用蓝牙通信，可扩展性强，方便使用及携带。为了表达图像中虚拟物体的空间力触觉信息，引入了实时的力触觉建模算法。当用户穿戴该装置在图像上滑动时，图像的一些特征信息将通过蓝牙与装置通信，包括每个像素点的形状高度和图像的边缘轮廓信息，能够使用户获得丰富的力触觉感受。最后，进行力触觉交互实验来评估该装置在表达触摸屏中图像的高度、轮廓和纹理等方面的性能。

英文摘要：

When users interact with touch screen, effective and real-time haptie interaction technology is very important to enhance the sense of reality and immersion. In this work, a finger-skeleton wearable haptic interactive device is designed to interact with images on a touch screen. The device can provide continuously controllable force feedback for the finger by planar four-bar linkage and DC motor. Two types of vibrotactile feedbacks by a linear resonant actuator and piezo-ceramic actuator can also be provided. The device uses Bluetooth technique and rechargeable battery to achieve miniaturization and portability, which is small size and light weight. In order to display space haptic information of virtual objects in an image, real-time haptic modeling algorithm is introduced. When operator uses the haptic device to slide on an image, feature information of the image can be transmitted to the device via Bluetooth, including the height of each pixel, the edges of an image and the shape of virtual objects, so that operator can get multi-mode haptic sensation. Finally, haptic interaction experiments are carried out to evaluate the performance of the haptic device in displaying the height, contour and edge of an image.