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中文摘要：
针对遥操作和虚拟操作的需要，提出了一种新颖的基于弹性梁有效变形长度控制的柔性触觉感知再现方法，并研制了实时柔性触觉感知再现装置。该装置通过调节弹性梁的有效变形长度，快速控制弹性梁的刚度变化，从而使操作者实时地感知到虚拟操作或遥操作对象的刚度和柔软性，准确地识别对象的物理特性和分类。
英文摘要：
A novel method based on deformable length of elastic element control to realize the softness display for ritual operation and teleopertion is proposed, and the real time softness display interface device has been developed. The softness display device can quickly change the displayed stiffness by controlling the deformable length of the elastic element, so that the human fingertip can feel it as if he directly touches with the virtual ob ject or remote object by interacting with the device, thus he can accurately distinguish and classify the different objects.
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