CN101504541B - Tactility representation system and method - Google Patents
Tactility representation system and method Download PDFInfo
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- CN101504541B CN101504541B CN 200810006237 CN200810006237A CN101504541B CN 101504541 B CN101504541 B CN 101504541B CN 200810006237 CN200810006237 CN 200810006237 CN 200810006237 A CN200810006237 A CN 200810006237A CN 101504541 B CN101504541 B CN 101504541B
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Abstract
The invention provides a touched reproduction system, which is characterized by comprising an access module for accessing touched reproduction information files, a program control module for reading and analyzing the touched reproduction information files from the access module to generate a systematic touched reproduction instruction sequence and send the reproduction instruction sequence to an actuating mechanism, and the actuating mechanism for performing corresponding operations according to the instruction sequence sent by the program control module so as to achieve the behavior output of the touched reproduction. The invention also provides a method for processing touched information. Through the technical proposal of the invention, highly complex but precise movement behavior reproduction is achieved through a simple and low-cost mechanical device.
Description
Technical field
The present invention relates to the information handling system that action behavior reappears, but relate to a kind of expanded application particularly in health care, the tactility representation system of massage apparatus.
Background technology
Existing action behavior playback system, and health care, massage apparatus, the control information that its mechanical action reappears are the program curings in the equipment of being built in, and therefore said existing system and equipment can only be realized the reproduction mode of some kinds of action behaviors of former design definition; And said existing system and equipment, the mechanical hook-up that its action behavior reappears is the mechanical mechanism according to several fixing manner of execution of design phase regulation, can't realize former design mechanical action in addition in operational phase; In addition, said existing system and equipment are the system's structures that comes the echomotism behavior to reproduce with specific action behavior output unit such as mechanical wheel, shaking device, Air Pressure Unit and working method, in order to realize the action behavior of high complexity, need extremely complicated mechanical mechanism, otherwise be difficult to realize that fine and smooth accurate action behavior reproduces.
Therefore said existing system and equipment can only realize that the action behavior of design phase definition reproduces, and the device structure complexity, the production cost height, define the expansionary application of device resource, reproduce in order to realize new action behavior, can only design and develop said new system and equipment.
Summary of the invention
In view of the above problems, one of purpose of the present invention is to provide a kind of information handling system of action behavior reproduction, alleged tactility representation system namely, it can solve action behavior playback system of the prior art, and health care, the above-mentioned said defective that can't realize former design mechanical action in addition in operational phase of massage apparatus; Another object of the present invention is to provide a kind of information handling system of action behavior reproduction, it can solve action behavior playback system of the prior art, and health care, massage apparatus above-mentioned said in order to realize the action behavior of high complexity, need extremely complicated mechanical mechanism, otherwise be difficult to realize the problem of fine and smooth accurate action behavior reproduction.
According to an aspect of the present invention, provide a kind of tactility representation system, this system comprises: access module is used for access by sense of touch information reproduction file; Program control module, be used for reading, resolving by sense of touch information reproduction file from access module, generation system by sense of touch reproduction instruction sequence, and to topworks's transmission reproduction instruction sequence, topworks, the instruction sequence that is used for sending according to program control module is carried out corresponding operation, with the behavior output that realizes being reproduced by sense of touch.
Wherein, above-mentioned tactility representation system, its physics constitute and comprise a kind of in the following constituted mode:
(1) device that is integrated of access module, program control module and topworks;
(2) access module, program control module and topworks be separated from each other, the device of absolute construction separately, and be connected by interface circuit between each device and communicate;
(3) topworks be separated with the device that is constituted by access module and program control module, independent device, and topworks can be connected to communicate with the device that is made of access module and program control module by interface circuit; Or
(4) access module be separated with the device that is constituted by program control module and topworks, independent device, and access module can communicate with being connected with device that topworks constitutes by program control module by interface circuit.
(5) program control module be separated with the device that is constituted by access module and topworks, independent device, and program control module can communicate with being connected with device that topworks constitutes by access module by interface circuit.
In above-mentioned tactility representation system, system is open program control structure, can load, move by access module different editions, renewable upgrading by sense of touch information reproduction file, realize different being reproduced by the behavior of sense of touch.
In above-mentioned tactility representation system, access module and/or program control module can be to utilize the storage of computing machine, read-write, calculation resources and executive program to realize.
In above-mentioned tactility representation system, access module is to have device or the data terminal that comprises data storage reading capability.
In above-mentioned tactility representation system, topworks comprises: instruction module, and be used for to receive, store that program control module sends by sense of touch reproduction instruction sequence, and will be ranked by sense of touch reproduction instruction sequence, export to the driver module order; Driver module, be used for to receive that instruction module sends by the sense of touch reproduction instruction, and will be explained the driving instruction of the equipment that convert to by the sense of touch reproduction instruction, drive output unit; Perhaps reproduced topworks for matrix form by sense of touch, drive the on-off circuit array that instruction is used for driving the matrix form output unit; Output unit, the driving that is used for exporting according to driver module is instructed, and at appointed positions output physical action, realizes the behavior output of being reproduced by sense of touch; And interface circuit, be used for realizing communicating by letter of program control module and instruction module.
In above-mentioned tactility representation system, the formation of output unit comprises following at least a constituted mode:
Basic execution module is reproduced behavior for what the single machinery of output referred to by sense of touch;
Compound execution module is combined by plural basic execution module, is used for exporting simultaneously two machineries and refers to above be reproduced behavior by sense of touch; Perhaps
The matrix output module is used in a position of appointment, or simultaneously on several positions, output is reproduced behavior by sense of touch.
In above-mentioned tactility representation system, basic execution module comprises: mechanical arm, and it is movable parts, is used in the above mechanical fist being installed and refers to; The machinery fist refers to, is used for behavior is reproduced in output by sense of touch physical action; Gearing is used for driving device arm and mechanical fist and refers to be subjected to displacement; And the physical action output unit, comprise following at least a physical action for generation of also exporting: pressure, temperature, electromagnetic field.
In above-mentioned tactility representation system, mechanical fist refers to be loaded on the mechanical arm, and can move along the mechanical arm direction; The machinery fist refers to it is to have the functional part that mechanical fist or machinery one of refer at least, and for generation of physical action, and mechanical fist refers to can produce at least the physical action that one of comprises in pressure, temperature, the electromagnetic field.
In above-mentioned tactility representation system, basic execution module: the gearing that has at least a mechanical arm, mechanical fist to refer to and have two above transmission direction; The kind of drive that mechanical arm and mechanical fist refer to can be mode slide rail or screw rod; The machinery fist refers to and can be subjected to displacement along the direction of mechanical arm, and it is crossing or vertical with the movable direction of mechanical arm, and mechanical fist refer to plane of motion that itself and mechanical arm constitute or curved surface intersect or vertical direction on, export the physical action that one of comprises at least in pressure, temperature or the electromagnetic field.
In above-mentioned tactility representation system, the matrix output module has following feature: each unit in the matrix is separate, and built-in at least following one of them electric component in the matrix unit: piezoelectric device, can convert the electrical signal to mechanical force, electrothermal device, can convert electric energy to heat energy, and field effect device, can convert electric energy to field energy.
In above-mentioned tactility representation system, also comprise by the tactile impressions information collector, constituted by a plurality of separate matrix units by the tactile impressions information collector, wherein, the built-in sensor that one of comprises at least in pressure transducer, temperature sensor, the emf sensor in the matrix unit, be used for to gather that the body that is touched produces when being subjected to extraneous physical action comprise different time, position be subjected to physical action by tactile impressions information, wherein, one of comprised in the following parameter or its set by tactile impressions information: time, position, physical action type and intensity.
In above-mentioned tactility representation system, be to comprise file specification and the computer documents that is recorded by the sense of touch information reproduction by sense of touch information reproduction file, can pass through the real-time or non real-time transmission of network, or copying by storage medium, the information of carrying out issue, information is downloaded and information sharing.
In above-mentioned tactility representation system, file specification comprises:
(1) copyright statement information;
(2) version information of data layout;
(3) version requirement of control program;
(4) the storage format statement of being recorded by the sense of touch information reproduction;
(5) the restricted information that is recorded by the sense of touch information reproduction comprises the numerical value interval, sampling parameter, the parameter of application point, the physical unit of data of extreme value, dimension, the coordinate of physical parameter;
(6) by the instruction of sense of touch information reproduction;
Comprised by sense of touch information reproduction record: the physical action parameter of time parameter, position of action point parameter, application point.
According to another aspect of the present invention, provide a kind of by the tactile impressions information disposal route, may further comprise the steps: step S102, gather by tactile impressions information; Step S104 will be converted to numerical information by tactile impressions information, generate by the tactile impressions information data; Step S106 will be generated by sense of touch information reproduction record by the tactile impressions information data; And step S108, will by sense of touch information reproduction recording processing become can be performed by sense of touch information reproduction file.
Above-mentioned by the tactile impressions information disposal route in, had one of following data record format by sense of touch information reproduction record,
(1) time series data record format is arranged with sequential, by the physical action parameter of each coordinate points in the sense of touch zone of action;
(2) coordinate data record format is with tactic each volume coordinate and the corresponding physical operational factors constantly of application point; Perhaps
(3) instruction record format is with the behavior reproduction instruction sequence of sequential arranging system definition.
Above-mentioned by the tactile impressions information disposal route in, be that data processing method generated by one of following by sense of touch information reproduction record:
(1) by the sequential record that is directly generated by the tactile impressions information data; Perhaps
(2) be executable by the tactile impressions information file by one or more treatment conversion in following: the record that noise processed, data screening, level and smooth, data record format conversion, data compression generate.
Above-mentioned by the tactile impressions information disposal route in, can be general coded format by the storage format of tactile impressions information file, also can be proprietary data layout.
Above-mentioned by the tactile impressions information disposal route in, data compression process is included in each physical action zone and only gets the maximal value that acts on this regional physical action.
Above-mentioned by the tactile impressions information disposal route in, comprised time, position and physical action intensity by tactile impressions information.
Tactility representation system of the present invention, be based on scalable, issue by sense of touch information reproduction file, adopt open program control principle and not fixedly the mechanical output unit that limits of manner of execution realize that the touch behavior of being reproduced by sense of touch copies.
The message processing flow of tactility representation system of the present invention is, 1. based on gather by tactile impressions information; 2. record produces by the touch behavioural information of sense of touch (coordinate, time, physical action type and intensity), and the set of this information is described by sense of touch information reproduction file after namely being; 3. system reproduces topworks according to by the record of sense of touch information reproduction file by afterwards alleged sense of touch, reproduces by the touch behavior of sense of touch; 4. thereby realized being reproduced by sense of touch of action object.
Wherein said is can upgrade, upgrade by sense of touch information reproduction file, can copy and online transmission, the computer documents of different editions, described tactility representation system can load, read, move different editions by sense of touch information reproduction file, driving does not have the fixedly mechanical output unit of action definition, realizes being reproduced by the sense of touch behavior of different editions.
System has adopted the mechanical output unit of on-fixed mode of operation, its said output unit has the move mode of high-freedom degree, be easy to realize various complicated mechanical action behaviors according to program control instruction, the realization of the action behavior of its high complexity, accurate exquisiteness is determined by the program control module of system with by sense of touch information reproduction file, therefore the physical construction of output unit can be terse, and cost of manufacture is cheap.
The user of described tactility representation system can pass through file copy, online download obtain redaction by sense of touch information reproduction file, make original system can realize being reproduced by the sense of touch behavior of redaction.Therefore, based on the present invention, at existing multimedia messages, on the internet information switching plane, in information (literal, voice, music such as existing lexigraphy, vision, the sense of hearings, image, animation) on the basis of class, increased reproducible, the issue, share and download by sense of touch information reproduction class, for the development that promotes infotech and internet information switching technology provides opportunity to develop.
By technical scheme of the present invention, realized, the action behavior playback system, and health care, massage apparatus can realize that by terse and mechanical hook-up that cost is cheap high complexity and accurate action behavior reproduce, design based on open stored program controlled, can make original same mechanical actuating mechanism realize different editions, output is reproduced in novel action, device resource is maximized the use.Simultaneously based on by the feature of the applicability of tactile impressions information and the property issued, not only be not easy to use the person and pass through file copy, the online download, obtain redaction by sense of touch information reproduction file, and can be on existing multimedia messages and internet information switching plane, increase reproducible, issue, share and download by sense of touch information reproduction class, for the development that promotes infotech and internet information switching technology provides opportunity to develop.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not constitute improper restriction of the present invention.In the accompanying drawings:
Fig. 1 shows according to an embodiment of the invention by the synoptic diagram of tactile impressions information playback system;
Fig. 2 shows according to an embodiment of the invention by the formation of tactile impressions information collector and principle of work;
Fig. 3 shows according to an embodiment of the invention by the time of tactile impressions information collector, position and the relation exported by tactile impressions information;
Fig. 4 shows according to an embodiment of the invention by the data processing principle of tactile impressions information;
Fig. 5 shows the principle that matrix form is according to an embodiment of the invention reproduced by sense of touch;
Fig. 6 shows the formation synoptic diagram of separate type tactility representation system according to an embodiment of the invention;
Fig. 7 shows matrix form is according to an embodiment of the invention reproduced output unit by the sense of touch behavior formation;
Fig. 8 shows matrix form is according to an embodiment of the invention reproduced topworks by sense of touch formation synoptic diagram;
Fig. 9 shows the principle of being reproduced by sense of touch of mechanical type Virtual Space matrix according to an embodiment of the invention;
Figure 10 a, Figure 10 b show the basic execution module of slide rail type according to an embodiment of the invention;
Figure 11 shows the basic execution module of screw drive formula according to an embodiment of the invention;
Figure 12 shows the synoptic diagram that mechanical according to an embodiment of the invention fist refers to;
Show two output unit that refers to according to an embodiment of the invention at Figure 13;
Figure 14 shows according to an embodiment of the invention three output units that refer to;
Figure 15 shows tactility representation system according to an embodiment of the invention and uses example;
Figure 16 shows according to an embodiment of the invention by the generation disposal route of tactile impressions information file, and
Figure 17 shows according to an embodiment of the invention by the tactile impressions information disposal route.
Embodiment
As the information handling system of a kind of action behavior reproduction that the present invention relates to, but just expanded application is in health care particularly, and massage apparatus is example, describes embodiments of the present invention with reference to the accompanying drawings in detail.
The present invention can be applied to move playback system and equipment, the action playback system that comprises various mechanical massages, health care facility etc., action of the present invention is reproduced machinery and is referred to not only can realize accurate action reproduction, and can realize long-range action control by network, long-range massage, online game also can be applied to other specific people's behavior playback system.
The principle of the present invention to be reproduced by tactile impressions information and behavior, solved the action behavior playback system, the described problem of background technology of health care, massage apparatus etc., solve the problem of the restriction use of program curing system control with open program control concept, replace original system mode mechanically based on program control concept, reproduce in order to realize the action behavior of high complexity, reduce equipment cost.With the mode of space matrix gather by tactile impressions information and output human body different parts by the touch behavior of sense of touch, by gather, quantize to generate by the tactile impressions information file, can pass through file copy, online upgrading, renewal of downloading the program control information of realization, make same equipment, the demand of reproducing by the various new action behaviors of being finished by the tactile impressions information file of being upgraded, upgrading.
Based on the present invention, at multimedia messages, or on the internet information switching plane, based on information (literal such as existing lexigraphy, vision, the sense of hearings, voice, music, image, animation) the basis on, increased reproducible, issue, share and download by sense of touch information reproduction class, for the development that promotes infotech and internet information switching technology provides opportunity to develop.
Wherein, the present invention is said by the sense of touch information reproduction, and when referring to be subjected to the extraneous physical action of in one's hands or other behavior objects at certain position of human body, human body is the reflective information that produces of physical action to external world.And realizing robot, the research field of mechanical hand, hand is when touching object, and hand, finger often are called tactile impressions information to the sensory information of temperature, speed, strength etc., in fact refer to autonomous induction information touch (touch), the haptic (sense of touch) of the hand of hand when touching.For the saying of the tactile impressions information of distinguishing the mechanical hand research field, the present invention has adopted by the saying of sense of touch information reproduction.
The people's is certain position of human body on area of space by the sense of touch behavior, at the physical action that is subjected to pressure that the external world imposes, motion, temperature, electromagnetic field etc. and the reflection on the neural array that produces, the intensity of its reflection imposes the intensity of physical action in the external world.System adopts by sense of touch space matrix algorithm, gather, the record different parts by sense of touch type and intensity, the action reproducer by formed by the sense of touch space matrix by the control of tactile impressions information, realize by the reproduction of sense of touch behavior.The present invention namely can be applicable to the action playback system of existing mechanical displacement mode and massage, health care facility, also can be applicable to matrix form action playback system and massage, health care facility.
One, the description of system's formation
Fig. 1 shows the synoptic diagram of tactility representation system according to an embodiment of the invention;
As shown in Figure 1, system by by tactile impressions information collector 102, analog to digital converter 104, control desk 112, externally connected with display screen 114, program control module 116, interface circuit 118, reproduced topworks 120 etc. by sense of touch and constitute.
System is by being gathered by tactile impressions information by tactile impressions information collector 102, pass through analog to digital conversion, generate numerical information by tactile impressions information data 106, handled (noise processed, data screening, level and smooth by tactile impressions information data 106 by data necessary, data record format conversion, data compression etc.) generate by sense of touch information reproduction record, write file specification etc. by sense of touch information reproduction record,, issue reproducible to generate, download by sense of touch information reproduction file 108, described file is read by sense of touch information reproduction storage read module 110.Being reproduced program control module 116 by sense of touch reads, resolves by sense of touch information reproduction record from being stored read module 110 by the sense of touch information reproduction by interface circuit, and pass through interface circuit 118 to reproduced the program control instruction of topworks's 120 transmissions by sense of touch, reproduced by the sense of touch behavior according to the program control instruction sequence realization of program control module 116 transmissions by sense of touch reproduction topworks 120 and export.
If system uses computing machine, PC, PDA etc. to have the equipment of CPU executive routine ability, being reproduced program control module 116 and stored 110 of read modules by the sense of touch information reproduction by sense of touch is an executable program utilizing Computer Storage, calculation resources, by sense of touch information reproduction file 108 can be the copy copy, can be a computer documents of downloading from the Internet or being stored in the computing machine or in the peripheral hardware, also can be a CD of computer cd machine.And the peripheral hardware that is equivalent to a computing machine by sense of touch reproduction topworks 120 of system, the program control instruction of sending according to computing machine realizes being reproduced by the sense of touch behavior.
Be used for storage, read by the equipment of sense of touch information reproduction file by sense of touch information reproduction storage read module 110.Access module 110 can be the former configuration of system, also can be that CD, hard disk etc. have all equipment of depositing with read functions of file.Also can utilize iPod, MP3, CD player (CD player with data output function), mobile phone etc. to have the equipment of file storage and read functions as being stored read module by the sense of touch information reproduction.
Being reproduced program control module 116 by sense of touch is program execution mechanism, be responsible for reading in real time, resolving by the tactile impressions information record from access module 110, and send the instruction sequence that machinery refers to displacement (or corresponding matrix unit number), physical action output intensity to reproduced topworks 120 by sense of touch in real time.Program control instruction transmits to topworks 120 by USB, 1394, Wireless FPDP such as (wireless).
Reproduced topworks 120 according to the instruction sequence of program control module 116 by sense of touch, produce the physical influence output of pressure, temperature or electromagnetic field etc. in appointed positions.
Externally connected with display screen 114 is to be optional module according to access module 110 and program control module 116 types, and when using PC as access module and program control module, externally connected with display screen 114 can default.
Control desk 112 is used for that system resets, fine position, time arrange, circulation and adjust by the output intensity of sense of touch etc.When using computing machine, control desk 112 is executable programs.
Two, by the tactile impressions information acquisition principle
Fig. 2 shows according to an embodiment of the invention by the formation of tactile impressions information collector and principle of work.
Illustrated among Fig. 2 at two-dimensional space and gathered by the principle of tactile impressions information; Matrix form by each matrix unit of tactile impressions information collector in the physical influence sensor groups of built-in pressure, temperature, electromagnetic field etc. or the sensor of one of them, be used for gathering the physical influence that action behavior produces.
Other positions when finger 206 or human body, perhaps can produce power, temperature, the behavior object of physical influences such as electromagnetism has movement in matrix area 202, during physical behavio(u)rs such as the application of force, will produce pressure in the corresponding collector matrix unit 204 of collector matrix, temperature, the physical influence of electromagnetic field etc., the corresponding sensor in unit will produce reflection output as the nervous system of human body in the matrix, the position relationship description behavior object of each unit of matrix by arranging, or the physical action of human body is at two-dimensional space, or causing on the three dimensions reflected that by sense of touch the amplitude of the reflection output of sensor has been described the intensity that is reflected by sense of touch.By the parameters such as intensity of time, space and physical influence describe human body by the sense of touch behavior, the parameter that these that gather are orderly or the set of these parameters are exactly that we are said by tactile impressions information.
System is handled by analog to digital conversion and required data by tactile impressions information sequential output, is logged in real time on the storage mediums such as CD, hard disk, USB flash disk or tape, generate describe by the sense of touch process by the tactile impressions information data.
Can transmit by network for making by the tactile impressions information data, or copying by storage medium, the information of carrying out issue, information download, information sharing and read for the file of dissimilar behavior reproducers, to be carried out data processing such as noise processed, data screening, level and smooth, data record format conversion, data compression by the tactile impressions information data, and writing the processing of applications such as file specification, generation can issue, executable by sense of touch information reproduction file.
Comprised file specification by sense of touch information reproduction file and by sense of touch information reproduction record, file specification has defined spendable unit type, operating system etc., also should comprise,
1, copyright statement information
2, the version information of data layout
3, the version requirement of control program
4, stated by the storage format of sense of touch data
5, by the restricted information of sense of touch data, as the numerical value interval of the extreme value of physical parameter, dimension, coordinate, sampling parameter, the parameter of application point, physical unit of data etc.
6, by the instruction of sense of touch information reproduction
Deng explanation.
Deposited by sense of touch information reproduction record by the data field of sense of touch information reproduction file.Each is by sense of touch information reproduction record block, corresponding to sometime by the volume coordinate of sense of touch application point and physical action parameter.Each action is reproduced machinery and is referred to corresponding one-dimension array, and N machinery refers to the set of corresponding N dimension matrix data.Two-dimensional space for example, only have pressure output by the sense of touch information reproduction be recorded as A (t, x, y, p).
By sense of touch information reproduction file, store by coding, conversion or after encrypting.Can be proprietary data layout by the storage format of sense of touch information reproduction file, also can be with coding, mode records such as modulation in existing other common store/encoding file formats.
The relation that time, position has been shown among Fig. 3 and has been exported by tactile impressions information, wherein the output of ordinate can be pressure, temperature, electromagnetic intensity etc. by the tactile impressions information output valve, depend on the configuration of collector sensor in the reality.A11-a13 among the figure, a21-a23, and a31-a33 represents corresponding matrix unit a11-a13 respectively, matrix unit a21-a23, and matrix unit a31-a33A by tactile impressions information.
Fig. 4 shows according to an embodiment of the invention by the data processing principle of tactile impressions information;
In gatherer process, finger or behavior object impose physical action in matrix 402 certain unit, when pressing, unit 404 around point of application matrix unit also can produce corresponding reflection output, Fig. 4 has illustrated the output model that a finger or certain behavior object press and produce, in actual applications, as long as capture the mechanical point of application 406, just can realize being reproduced by the sense of touch behavior by adjusting the output intensity of reproducing topworks.When adopting mechanical type to be reproduced execution pattern by sense of touch, each action is reproduced machinery and is referred at synchronization an application point to be arranged.This conclusion makes the compression output data quantity become possibility, in data handling procedure, finds out the Center of Pressure point, namely exports maximal value (determining the output of Axy unit), and the output valve of ignoring other unit can greatly reduce document size and reduce output noise.As shown in Figure 3, ignore a1x and a2x, determine that a3x is believable output unit.
Three, reproduced by the sense of touch behavior
Defined tactility representation system as shown in Figure 1 among the present invention, can be by sense of touch information reproduction storage read module, by the tactile impressions information program control module with by the integral type equipment of sense of touch behavior reproduction execution module, also can be three module separate type systems, or the system that makes up of other modes.When system uses computing machine, being reproduced program control module and stored read module by the sense of touch information reproduction by sense of touch then is an executable program of computing machine, being reproduced topworks by sense of touch then is the module of separate type, the peripheral hardware that is equivalent to a computing machine, the program control instruction of sending according to computing machine realizes by the reproduction of sense of touch behavior.
By sense of touch reproduce topworks have accept program control, can be in two dimension or three dimensions displacement or produce the electromechanical assembly of physical influences outputs such as pressure, temperature and electromagnetic field in specified position, or has an electromechanical equipment that space matrix that physical influence output elements such as pressure, temperature, electromagnetism constitute is arranged, according to program control instruction, in the physical influence output that the matrix unit of assigned address produces pressure or temperature or electromagnetism etc., realize being reproduced by the behavior of sense of touch and being copied by sense of touch.
1. matrix form is reproduced topworks by sense of touch
Fig. 5 shows the principle that matrix form is according to an embodiment of the invention reproduced by sense of touch;
The matrix form system mode, as shown in the figure, adopt the space matrix of no mechanical displacement to arrange by the sense of touch output mode, determine the output unit of matrix by point-to-point correlative positional relation, the output of the machinery by being determined corresponding unit by the touch sensitive mode of tactile impressions information and intensity, temperature, electromagnetic field etc.In order to realize being exported by the physics of sense of touch, the built-in mechanical force that electric energy can be changed in each matrix unit, the output mechanism of similar piezoelectric device etc. also can built-inly can change into electric energy the electrothermal device of heat energy and the field effect device that generates an electromagnetic field by electric energy.Wherein, 502 are the fixing back cushion of output unit, the 504 behavior reproduction output units that reproduced by sense of touch for matrix form.
Fig. 6 shows the formation synoptic diagram of separate type tactility representation system according to an embodiment of the invention;
This figure has illustrated the formation of separate type matrix tactility representation system.Being reproduced program control module and stored read module by the sense of touch information reproduction by sense of touch is an executable program that is loaded in the computing machine, executive routine is from being stored in being read, resolving by sense of touch information reproduction record by sense of touch information reproduction file in 602 li in computing machine or the peripheral hardware, reproduced topworks 604 (shown in Figure 8) to matrix form by sense of touch by computer port and send program control instruction, realize being reproduced by the sense of touch behavior by reproduced topworks 604 by sense of touch.Built-in electromagnetic device or the electric voltage device (as shown in Figure 7) that can produce physical influence (pressure, temperature, electromagnetic field) etc. in each matrix unit.Computing machine communicates by output port (USB, RS232C or Wireless AP etc.) and by sense of touch reproduction topworks 604.
Fig. 7 shows matrix form is according to an embodiment of the invention reproduced output unit by the sense of touch behavior formation; This matrix form behavior is reproduced output unit 702 and is made of substrate 704, electroheat member 706 and piezoelectric device 708, wherein piezoelectric device 708 is the electromagnetic force conductive features that produces power by electromagnetic energy, piezoelectric ceramics for example, it is by the output of electric energy converting to force, and this electroheat member can produce heat energy by electric energy.
Fig. 8 shows matrix form is according to an embodiment of the invention reproduced topworks by sense of touch formation synoptic diagram;
Interface circuit 810 among the figure communicates for the program control module of above-mentioned FPDP (USB, RS232C or Wireless AP etc.) with system.This matrix form is reproduced topworks by sense of touch and is comprised that interface circuit 810, instruction module 808, driver module 806, physical influence output executing mechanism 804 and matrix form are by sense of touch reproduction output unit 802.
2. mechanical type is reproduced topworks by sense of touch
Except above-mentioned matrix form is reproduced topworks by sense of touch, the present invention has also realized the action playback system of mechanical shift mode.
Fig. 9 shows the principle of being reproduced by sense of touch of mechanical type Virtual Space matrix according to an embodiment of the invention;
The mechanical shift mode, as shown in Figure 9, adopt concept definition volume coordinate and the position of Virtual Space matrix, system passes through by the position in the tactile impressions information, displacement information, movement and the location that machinery refers to reproduced in program control action, simultaneously by by the output of the touch sensitive mode of tactile impressions information and the program control machinery of intensity, temperature, electromagnetic field etc.Wherein 902 refer to that for mechanical fist 904 is the Virtual Space.
For realize open program control be main tactility representation system, its mechanical actuating unit that is reproduced by sense of touch should be structure terse, easy control.Mechanical type of the present invention is reproduced topworks by sense of touch and has adopted the terse physical construction of orthoscopic, has guaranteed to be subject to program control characteristics.See the following stated for details.
Figure 10 shows the basic execution module of slide rail type according to an embodiment of the invention; Figure 11 shows the basic execution module of screw drive formula according to an embodiment of the invention;
The topworks's (seeing Figure 15) of being reproduced by sense of touch of one embodiment of the invention is formed by being reproduced output unit 1502, driver module 1508, instruction module 1510 and interface circuit 1512 by the sense of touch behavior.
The behavior of being reproduced topworks by sense of touch of one embodiment of the invention is reproduced output unit and is constituted by basic execution module (as Figure 10 a, Figure 10 b and shown in Figure 11) or by the compound execution module (as Figure 13, shown in Figure 14) that a plurality of basic execution modules are combined into.Basic execution module be by movably mechanical arm 1004, mechanical fist refer to 1006, the gearing (not shown) constituted.Shown in Figure 10 a, 10b, mechanical arm 1004 is installed on the support frame 1002 of output unit, wherein mechanical arm 1004 can move at slide rail 1010,1012, and mechanical arm 1004 and mechanical fist refer to 1006 be can be subjected to program control, driving by gearing realizes that mechanical fist refers to 1006 displacement, and refers to export physical action by mechanical fist.
Figure 11 has illustrated the basic execution module of screw drive formula, and wherein, mechanical arm 1104 is installed on the support frame 1102 of output unit, and servomotor 1112,1114 drives drive screws 1108,1110, so that mechanical fist is referred to that 1106 move to appointed positions.Although the basic execution module of the slide rail type among Figure 10 has different frame modes with the basic execution module of screw drive formula among Figure 11, basic execution module has the gearing of a mechanical arm, two above directions at least; The machinery fist refers to the direction displacement along mechanical arm, and crossing with the movable direction of mechanical arm, or vertical; The machinery fist refers in the intersecting of the plane of motion (or curved surface) that constitutes with mechanical arm, or on the vertical direction, the physical action of output pressure, temperature, electromagnetic field etc.In actual applications one output unit that reproduced by the sense of touch behavior by sense of touch information reproduction topworks is that the combination of several basic execution modules constitutes.
Figure 12 shows mechanical according to an embodiment of the invention fist and refers to;
A mechanical type behavior is reproduced output unit and is comprised a basic execution module at least, perhaps the device that is combined into by several basic execution modules.
In Figure 12, illustrated the structure that this mechanical fist refers to.Wherein, this structure comprises: the support 1202 that mechanical fist refers to, mechanical arm 1204, mechanical fist 1206, machinery refer to 1208, hot-air mouth 1210, servounit refer to drive link 1212, mechanical fist drive link 1214, hold-down nut 1216.The action principle of this mechanism is as follows:
According to by the physical parameter of sense of touch information reproduction record definition, refer to 1208 generation finger pressures by mechanical force F1 driving device, or press or palm pressure by mechanical force F2 generation fist.Mechanical force F1, F2 can pass through air pressure pump, electromagnetic mode or electromechanical drive and produce, and the power of F1, F2, beginning and ending time are by being defined by the physical parameter of tactile impressions information.The mechanical fist of Figure 11 refers to 1106 principles of also having illustrated to produce by hot-air mouth temperature, and is same, the height of temperature, and zero-time is by the physical parameter defined that is recorded by the sense of touch information reproduction.According to the needs of practical application, mechanical fist refers to it is only to have mechanical fist or the mechanical functional part that refers to one of them, for generation of the physical pressure effect.
Figure 13 shows two output unit that refers to according to an embodiment of the invention; Wherein, show that the support frame 1302 that comprises output unit, mechanical fist refer to 1308,1310, mechanical arm 1304,1306.This device can be used for being reproduced by the sense of touch behavior of back.
Figure 14 shows according to an embodiment of the invention three output units that refer to;
Wherein, mechanical fist refer to 1410,1412,1414 with mechanical arm 1404,1406,1408 concrete structure with above-mentioned the same, just two support frames 1402 of output unit form ridgeds, this device can be used for being reproduced by the sense of touch behavior of cervical vertebra etc.
Figure 15 has illustrated tactility representation system according to an embodiment of the invention to use example;
For the whole principle of compositionality that is reproduced topworks by sense of touch is described, Figure 15 has illustrated only to have finger pressure and has been reproduced topworks by what single basic execution module constituted by sense of touch.Behavior output unit 1502, mechanical arm 1504, machinery refer to 1506 comprising being reproduced by sense of touch, driver module 1508, instruction module 1510, interface circuit 1512, servomotor 1514, servomotor 1516, drive screw 1518, drive screw 1520, air pressure pump 1522, an air pressure joint door solenoid valve 1524.Interface circuit 1512 among the figure communicates for the program control module of above-mentioned FPDP (USB, RS232C or Wireless AP etc.) with tactility representation system, reproduced instruction sequence that the driver module of topworks transmits according to system's program control module by sense of touch and generate the driving instruction that gearing and mechanical fist refer to the physical action output device, respectively gearing and mechanical fist are referred to that output unit carries out control, the action that refers to the driving device fist.
As shown in figure 15, gearing by servomotor 1514 and drive screw 1518,1520 constitute, the instruction sequence that driver module 1508 transmits according to system's program control module generates the displacement drive instruction of servomotor 1514, and control machinery refers to that 1506 move to assigned address.Forcing pump has been adopted in the output of the mechanical finger pressure power in this example, and the instruction sequence that driver module transmits according to system's program control module generates the driving instruction of solenoid valve, controls mechanical finger pressure intensity of force.System can realize by the reproduction process of sense of touch behavior by the variation of orderly, a continuous movement and pressure output.
Four, handled by sense of touch information reproduction file and data
By sense of touch information reproduction file, by the set of sense of touch reproducing information data.The data layout that is recorded by the sense of touch information reproduction can have three kinds of mode records:
1. record is by the data of sense of touch virtual condition.Namely record each continuous moment, by the physical parameter of each coordinate points in the sense of touch zone of action.
2. record is by each volume coordinate and corresponding physical parameter constantly of sense of touch application point.
3. record is arranged with sequential, and the behavior reproduction instruction sequence of system definition, and this instruction can be the proprietary instruction at particular device, also can be and device-independent universal command.
By collect by the sense of touch data after treatment, be the matrix by the time series arrangement, in the representative sometime of each matrix, the physical quantity on the discrete coordinates point of sample space.With these matrix datas, direct record just forms the 1st the most original class by tactile impressions information in order.
When At represents moment t, physical data (as power, the temperature etc.) matrix on the sample plane XY that sampling obtains, wherein a
Xy(x, the numerical value of y) locating is (for the sampling of multiparameter, a for denotation coordination
XyCan be considered as vector data).
Primary sources file F1 is matrix A
tTime series.
F1＝A
0，A
1，…，A
t＝(a
11，…，a
1x，…，a
1y…a
xy)
0，(a
11，…，a
1x，…，a
1y…a
xy)
1，…，(a
11，…，a
1x，…，a
1y…a
xy)
t
Data among the first kind file F1 can be with the virgin state record, also can be with the compress mode record.Compression algorithm by the correlativity between calculating and At and the At+1 to reduce data redundancy.
Application point when the sample space has in limited time, and after handling through data, the sampled data matrix of acquisition is sparse matrix.Can be with the mode record of the 2nd class file format for sparse matrix.
Nonzero element in the sparse matrix is with the form record of tlv triple, namely
A
nt＝(x，y，a)
t
Expression t samples n application point constantly in volume coordinate (x, the physical quantity of y) locating (for the sampling of multiparameter, a can be considered as vector data).
The second class file F2 is the time series of tlv triple Ant.
F2＝A
10，…，A
n0，A
12，…，A
n2，…，A
1t，…，A
nt
Data among the secondary sources file F2 can be with the virgin state record, also can be with the compress mode records, and the tlv triple of adjacent time period also can be with the form record of difference, as Ant=Ant-Ant+1; Then:
F2＝A
10，…，A
n0，ΔA
12，…，ΔA
n2，…，ΔA
1t，…，ΔA
nt
For the application point condition of limited of sample space, also the state variation of application point can be converted to the mechanical type transcriber and device-independent operational order direct record operational order in the file.As the grammer to the move of application point n can be:
MOV?n，x，y，a；
MOV is move, and n is the application point numbering, and x, y are coordinates of targets, and a represents action.
The possible data mode of the 3rd class file as:
MOV?1，10，20，100
MOV 2,30,30,98 ← be ready to service data
The above operation of RUN ← execution
WAIT 5 ← lasting 5ms
Can be used the file layout record of independent definition by sense of touch information reproduction file, also can utilize existing file format record.
Be to use mp3 file to record second and third class data for utilizing the existing file format record may be got mode by of sense of touch information reproduction file.
With the mp3 file storage by a kind of possible generation treatment scheme of sense of touch information reproduction file as shown in figure 16, may further comprise the steps:
1. will be encoded by the sense of touch data;
2. use carrier wave that data stream is modulated;
3. induce voice to carry out low-pass filtering to operation;
After the filtering with the modulation carried out mixing by the sense of touch data;
5. take a sample afterwards/quantize;
6. carry out the MP3 coding then;
7. generate mp3 file at last.
When using the storage of mp3 file form by sense of touch information reproduction file, information extraction is the inverse process of generative process.Use similar treatment scheme, can also will be recorded in the audio file of other type by sense of touch information reproduction file.
With the data that the first kind is stored by the tactile impressions information storage mode, regard continuous data bitmap as, the storage of so another kind of use existing file form is to use the mpeg file coding compression first kind by sense of touch information reproduction file by the possible mode of sense of touch data.
Figure 17 show according to the embodiment of the invention by the process flow diagram of the disposal route of sense of touch information reproduction;
This method may further comprise the steps: step S102, gather by tactile impressions information; Step S104 is converted to numerical information with described by tactile impressions information, generates by the tactile impressions information data; Step S106 is generated by sense of touch information reproduction record by the tactile impressions information data described; And step S108, with described by sense of touch information reproduction recording processing become can be performed by sense of touch information reproduction file.
Wherein, had one of following data record format by sense of touch information reproduction record,
(1) time series data record format is arranged with sequential, by the physical action parameter of each coordinate points in the sense of touch zone of action;
(2) coordinate data record format is with tactic each volume coordinate and the corresponding physical operational factors constantly of application point; Perhaps
(3) instruction record format is with the behavior reproduction instruction sequence of sequential arranging system definition.
Wherein, be that data processing method generated by one of following by sense of touch information reproduction record:
(1) by the sequential record that is directly generated by the tactile impressions information data; Perhaps
(2) be executable by the tactile impressions information file by one or more treatment conversion in following: the record that noise processed, data screening, level and smooth, data record format conversion, data compression generate.
Can be general coded format by the storage format of tactile impressions information file, also can be proprietary data layout.
In addition, data compression process is included in each physical action zone and only gets the maximal value that acts on this regional physical action.
In addition, comprised time, position and physical action intensity by tactile impressions information.
In sum, by technical scheme of the present invention, realized following technique effect: of the present inventionly can be realized not only that by the tactile impressions information playback system accurate action reproduces, and can realize long-range action control, long-range massage, online game, also can be applied to the system of other specific people's behavior reproduction by network; And simplified complex mechanical construction in the existing therapeutic massage equipment, improved dirigibility; And be upgradeable, can realize multiple action by the information in the updated stored read module, this has greatly expanded the function of existing therapeutic massage equipment.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (17)
1. tactility representation system is characterized in that described system comprises:
Access module is used for access by sense of touch information reproduction file;
Program control module, be used for reading, resolving from described access module described by sense of touch information reproduction file, generate described system by sense of touch reproduction instruction sequence, and send described reproduction instruction sequence to topworks,
Described topworks is used for carrying out corresponding operation according to the described instruction sequence that described program control module sends, with the behavior output that realizes being reproduced by sense of touch;
Wherein, described system is open program control structure, can by described access module load, move different editions, renewable upgrading described by sense of touch information reproduction file, realize different being reproduced by the behavior of sense of touch;
Wherein, described topworks comprises:
Instruction module be used for to receive, stores described by sense of touch reproduction instruction sequence that described program control module sends, and is ranked by sense of touch reproduction instruction sequence described, exports to the driver module order;
Driver module be used for to receive described by the sense of touch reproduction instruction that described instruction module sends, and described the explanation by the sense of touch reproduction instruction driven output unit at the driving instruction of the equipment that converts to; Perhaps reproduced topworks for matrix form by sense of touch, described driving instruction is used for driving the on-off circuit array of matrix form output unit;
Described output unit is used for instructing according to the described driving that described driver module is exported, and at appointed positions output physical action, realizes the behavior output of being reproduced by sense of touch; And
Interface circuit is used for realizing communicating by letter of described program control module and described instruction module.
2. tactility representation system according to claim 1 is characterized in that, the physics of described tactility representation system constitutes and comprises a kind of in the following constituted mode:
(1) device that is integrated of described access module, described program control module and described topworks;
(2) described access module, described program control module and described topworks be separated from each other, the device of absolute construction separately, and be connected by interface circuit between each described device and communicate;
(3) described topworks be separated with the device that is constituted by described access module and described program control module, independent device, and described topworks can be connected to communicate with the described device that is made of described access module and described program control module by interface circuit;
(4) described access module be separated with the device that is constituted by described program control module and described topworks, independent device, and described access module can communicate with being connected with device that described topworks constitutes by described program control module by interface circuit; Or
(5) described program control module be separated with the device that is constituted by described access module and described topworks, independent device, and described program control module can communicate with being connected with device that described topworks constitutes by described access module by interface circuit.
3. tactility representation system according to claim 1 and 2 is characterized in that, described access module and/or described program control module are to utilize the storage of computing machine, read-write, calculation resources and executive program to realize.
4. tactility representation system according to claim 1 and 2 is characterized in that, described access module is to have device or the data terminal that comprises data storage reading capability.
5. tactility representation system according to claim 1 is characterized in that, the formation of described output unit comprises following a kind of constituted mode:
Basic execution module is reproduced behavior for what the single machinery of output referred to by sense of touch;
Compound execution module is combined by plural described basic execution module, is used for exporting simultaneously two machineries and refers to above be reproduced behavior by sense of touch; Perhaps
The matrix output module is used in a position of appointment, or simultaneously on several positions, output is reproduced behavior by sense of touch.
6. tactility representation system according to claim 5 is characterized in that, described basic execution module comprises:
Mechanical arm, it is movable parts, is used in the above mechanical fist being installed and refers to;
The machinery fist refers to, is used for behavior is reproduced in output by sense of touch physical action;
Gearing is used for driving described mechanical arm and described mechanical fist refers to be subjected to displacement; And
The physical action output unit comprises following at least a physical action for generation of also exporting: pressure, temperature, electromagnetic field.
7. tactility representation system according to claim 6 is characterized in that, described mechanical fist refers to be loaded on the described mechanical arm, and can move along described mechanical arm direction; Described mechanical fist refers to it is to have the functional part that mechanical fist or machinery one of refer at least, and for generation of physical action, and described mechanical fist refers to can produce at least the physical action that one of comprises in pressure, temperature, the electromagnetic field.
8. tactility representation system according to claim 5 is characterized in that, described basic execution module:
The gearing that has at least a mechanical arm, mechanical fist to refer to and have two above transmission direction;
The kind of drive that described mechanical arm and described mechanical fist refer to is mode slide rail or screw rod;
Described mechanical fist refers to and can be subjected to displacement along the direction of described mechanical arm, and intersects with the movable direction of described mechanical arm or vertical, and
Described mechanical fist refer to the plane of motion that itself and described mechanical arm constitute or curved surface intersect or vertical direction on, export the physical action that one of comprises at least in pressure, temperature or the electromagnetic field.
9. tactility representation system according to claim 5 is characterized in that, described matrix output module has following feature:
Each unit in the matrix is separate, and built-in at least following one of them electric component in the matrix unit:
Piezoelectric device can convert the electrical signal to mechanical force,
Electrothermal device can convert electric energy to heat energy, and
Field effect device can convert electric energy to field energy.
10. tactility representation system according to claim 1 and 2 is characterized in that, also comprise by the tactile impressions information collector,
Describedly constituted by a plurality of separate matrix units by the tactile impressions information collector, wherein, the built-in sensor that one of comprises at least in pressure transducer, temperature sensor, the emf sensor in the described matrix unit, be used for to gather that the body that is touched produces when being subjected to extraneous physical action comprise different time, position be subjected to physical action by tactile impressions information, wherein, describedly one of comprised in the following parameter or its set by tactile impressions information: time, position, physical action type and intensity.
11. tactility representation system according to claim 1, it is characterized in that, described is to comprise file specification and the computer documents that is recorded by the sense of touch information reproduction by sense of touch information reproduction file, can pass through the real-time or non real-time transmission of network, or copying by storage medium, the information of carrying out issue, information is downloaded and information sharing.
12. tactility representation system according to claim 11 is characterized in that:
Described file specification comprises:
(1) copyright statement information;
(2) version information of data layout;
(3) version requirement of control program;
(4) the storage format statement of being recorded by the sense of touch information reproduction;
(5) the restricted information that is recorded by the sense of touch information reproduction comprises the numerical value interval, sampling parameter, the parameter of application point, the physical unit of data of extreme value, dimension, the coordinate of physical parameter;
(6) by the instruction of sense of touch information reproduction;
The described record by the sense of touch information reproduction comprises: the physical action parameter of time parameter, position of action point parameter, application point.
13. one kind by the tactile impressions information disposal route, it is characterized in that may further comprise the steps:
Step S102 gathers by tactile impressions information;
Step S104 is converted to numerical information with described by tactile impressions information, generates by the tactile impressions information data;
Step S106 is generated by sense of touch information reproduction record by the tactile impressions information data described; And
Step S108, with described by sense of touch information reproduction recording processing become can be performed by sense of touch information reproduction file;
Wherein, described had one of following data record format by sense of touch information reproduction record,
(1) time series data record format is arranged with sequential, by the physical action parameter of each coordinate points in the sense of touch zone of action;
(2) coordinate data record format is with tactic each volume coordinate and the corresponding physical operational factors constantly of application point; Perhaps
(3) instruction record format is with the behavior reproduction instruction sequence of sequential arranging system definition.
14. according to claim 13ly be it is characterized in that by the tactile impressions information disposal route that described is that data processing method generated by one of following by sense of touch information reproduction record:
(1) by the described sequential record that is directly generated by the tactile impressions information data; Perhaps
(2) be executable described by the tactile impressions information file by one or more treatment conversion in following: the record that noise processed, data screening, level and smooth, data record format conversion, data compression generate.
15. according to claim 13 by the tactile impressions information disposal route, it is characterized in that described storage format by the tactile impressions information file is general coded format, or proprietary data layout.
16. according to claim 14 by the tactile impressions information disposal route, it is characterized in that described data compression process is included in each physical action zone and only gets the maximal value that acts on this regional physical action.
17. according to each is described by the tactile impressions information disposal route in the claim 13 to 16, it is characterized in that describedly being comprised time, position and physical action intensity by tactile impressions information.
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|---|---|---|---|---|
| JP3446256B2 (en) * | 1993-09-03 | 2003-09-16 | 株式会社日立製作所 | Control method and apparatus for FA system |
| CN1819045A (en) * | 2004-12-02 | 2006-08-16 | 索尼株式会社 | Reproduction apparatus, reproduction method, reproduction program, record medium, and data structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3446256B2 (en) * | 1993-09-03 | 2003-09-16 | 株式会社日立製作所 | Control method and apparatus for FA system |
| CN1819045A (en) * | 2004-12-02 | 2006-08-16 | 索尼株式会社 | Reproduction apparatus, reproduction method, reproduction program, record medium, and data structure |
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