Thermal Tactile Experiment Device Based on Fuzzy PID Controller and Perception Experiments

Using thermal tactile sensing mechanism based on semi-infinite body model, and combining with the advantages of maximum proportional controller, fuzzy and PID controller, a thermal tactile perception and reproduction experiment device (TTPRED) was designed based on the composite control strategy of threshold switching. The finger difference threshold measurement experiment of thermal tactile was carried out and the finger thermal tactile difference threshold was measured. The experiment results show that, the temperature control range of TTPRED is from −10°C to 130°C, the temperature resolution and precision are 0.01°e and ±0.1 °C respectively, the maximum heating or cooling rate is greater than 12 °C, and the TTPRED can realize the temperature output of the specific waveform quickly and accurately. The experiment results of psychophysical experiment will provide the experimental foundations and technical support for the further study of thermal tactile perception and reproduction.