Disclosed in the present invention is a small haptic reproduction method based on active and passive devices. The method comprises the following steps: first, calibrate a magnetorheological damper and a direct current motor, and obtain the relationship between an input current and output torque; convert an expected force/torque value into a current input of the magnetorheological damper, output corresponding torque by the magnetorheological damper, and apply the torque on the body of an operator by means of a tactile transmission device; second, a sensor installed at a force/torque application point measures actually applied force/torque, compares the actual output with the expected force/torque value, and calculates a force/torque error; finally, convert the force/torque error into an input signal of the direct current motor, and drive the direct current motor to generate torque corresponding to the error. The present invention enables small devices to output large-scale and high-precision force/torque, thus making a haptic reproduction device lighter and more compact, and improving the fidelity of haptic interaction; the invention can be widely applied in the fields of virtual reality, teleoperation robot control, and medical service.
SMALL HAPTIC REPRODUCTION METHOD BASED ON ACTIVE AND PASSIVE DEVICES