CN102335064A - Colored touch and visual system, touch display writer, and touch display writing unit and method - Google Patents

Abstract

The invention discloses a colored touch and visual system, a touch display writer, a touch display writing unit and a touch display writing method. The touch display writing unit comprises a probe with a contact tip, at least one first actuator, at least one second actuator and a third actuator, wherein the first actuator and the second actuator are coupled with the probe, so that the tip of the probe moves in one or more first directions and in the first traverse direction through the starting of the actuators; the traverse direction has a first vector which is different from that of the first directions in an x-y plane; and the third actuator is coupled with the probe.

Description

Colour touches visual system, sense of touch shows that write device, sense of touch show writing unit and method

Technical field

The invention relates to that a kind of vision replaces system, and particularly touch visual system, sense of touch demonstration write device, sense of touch demonstration writing unit and method relevant for a kind of colour.

Background technology

Multiple distinct methods is suggested the vision that loses in order to recovery or strengthens existing vision, and said method comprises that vision prosthesis and vision replace.

Vision prosthesis is made up of embedded nerve stimulator usually, and embedded nerve stimulator can couple the outer formula camera of wearing.Vision prosthesis can provide originally has vision but because the visual deterioration disease causes blind people to recover a little vision, and success recover blind person's vision through vision prosthesis according to the mode that the blind person loses vision.And lose the vision that sees through vision prosthesis recovery blind person of the mode success of vision according to the blind person.Prosthese on the retina was once advocated, and saw through the prosthese on some organization development retinas.It is blind that this mode can apply to successfully that the visual perception degenerates and to be caused, and optic nerve can develop fully before morbidity is blind, wherein causes for example retinitis pigmentosa and the senile macular degeneration of disease that the visual perception degenerates.The subretinal implanted microchip that prosthesis system uses is for developing the research institution of Daniel V.Palanker in History of United States of America University of Denver; And its research is described in people such as D.Palanker and was published in J.Neural Eng. in 2005; Vol.2; People such as the paper of pp.S105-S120 by name " Design of a high-resolution optoelectronic retinal prosthesis ", D.V.Palanker deliver the 7th; 047; The United States Patent (USP) (patent name is " Neural prosthesis based onphotomechanical deflectors and tactile sensory cells ") of No. 080 United States Patent (USP) (patent name is " Self-sufficient retinal prosthesis powered by intraocular photovoltaic cells ") and the 7th, 447, No. 547.Robert Greenberg and propose a kind of implanted retina microchip array the colleagues of Second Sight Medical Products company; It is described in people such as Robert Greenberg and delivers the 7th; 263; No. 403 and the 7th, 499, No. 754 United States Patent (USP) (patent name is " Retinal prosthesis ").Alan Y.Chow and its colleague in Optobionics company have proposed a kind of subretinal implanted low-light electric diode array; In order to the treatment retinitis pigmentosa; It is described in people such as Alan Y.Chow and is published in Arch.Ophthalmol. in 2004; Vol.122,469 of pp.460 are called the paper of " The Artificial SiliconRetina Microchip for the Treatment of Vision Loss From Retinitis Pigmentosa ".

The retina prosthese need be implanted from the outside, and it not only has the risk of implanted prosthetics, and has the risk at the place running electronic installation of pressing close to nervous tissue.As stated, vision prosthesis is suitable for originally having vision and because of the blind case of degenerative disorders.Because prosthese is positioned over inside ofeye, it mainly in order to the treatment impaired vision, and can't strengthen its vision to the people that vision is arranged ideally.

Because some cause, the vision substitution technique can be more perfect.Generally speaking, if impaired in the human body, then can cause blind by the ability of retina transmission sensory information to brain.In vision replacement system, can see through the int visual processes of connection path to obtain data from another kind of perceptual model (for example sense of touch), recover visual experience with this.See through vision and replace, information transfers to visual centre by the sense of touch sense organ, and image can understood and be regarded as to its information.In vision replacement system, video capturing device (like digital camera) can produce signal to represent received image, and this image is processed and transfers to a stimulator array, and this stimulator is the sense of touch sense organ that is configured to stimulate a certain zone of experimenter.Replace system to give an example with some visions of next proposition.

It is the vision replacement system of electractile display that Paul Bach-y-Rita proposes a kind of, and electractile display comprises electrod-array, and electractile display is the tongue that is disposed at the experimenter.People such as the above-mentioned Paul of being found in Bach-y-Rita are published in the article that Jour.Rehabilitation Research andDevelopment is called " Form Perception with a 49-point electrotactile stimulusarray on the tongue:A technical note " in 1998; And Paul Bach-y-Rita etc. the people delivered the 6th; 430, No. 450 United States Patent (USP) (patent name is " Tongue-based tactile outputdevice ").K.Kasmarek and continue to carry out the development of electrotactile stimulation device in the colleague of the hot university of University of Wisconsin-Madison.The electric touch tongue display system of a standard comprises tongue display unit, controller and camera, and the ongoing effort of Wicab company is developed a kind of device and is suitable for commercial the use.This system can provide gray level information, but color information can't be provided.When tongue otherwise used, this device can't be used in tongue, for example ate or spoke as people.

Method in order to expression vision, audition and modification tactile data to skin is published in IEEE Trans.Biomed.Eng. for inquiring in people such as Kurt A.Kaczmarek in January, 1991; Vol.38 is in the article of No.1. " Electrotactile and Vibrotactile Displays for Sensory SubstitutionSystems " by name.Tactile stimulus can be mechanical sense of touch, electric touch or hot sense of touch.

Assist blind person and the foundation of visually impaired Russian republic, it develops a kind of visual system that touches with tactual displays, and it attaches the experimenter's of being hung on back.This display comprises an electrod-array.Camera receive image and transmit represent image signal to computer, then computer to signal handle to and transmit the electronics pulse wave electrode in the array so far.

Kirchhoff-Institut fur Physik (Kirchhoff physics Institute) in the Ruprecht-Karls university of Heidelberg, Germany proposes a kind of vision modus ponens system that touches; It utilizes a kind of virtual haptic display (virtual tactile display; VTD), and the virtual haptic display receive data from camera chain device with image processing ability.People such as the above-mentioned Thorsten of being found in Maucher are published in the paper of the ICCHP2000 " The Heidelberg TactileVision Substitution System " by name of Karlsruhe 2000 July.The virtual haptic display comprises a portable sense of touch output unit, and each portable sense of touch output unit has portable piezo-activator, and portable piezo-activator is disposed in the standard braille matrix.The sense of touch output unit scans large stretch of input area.This system comprises that (Complementary metal-oxide-semiconductor, CMOS) the super large-scale integration crystal of camera and special use is to obtain image and to carry out pre-process for complementary metal oxide semiconductors (CMOS).Kirchhoff physics Institute proposes a kind of pneumatic tactual displays in addition, and its tactile stimulus puts on skin for seeing through compressed air-driven piston array.Above-mentioned reference is from the website of Kirchhoff physics Institute, and its network address is http://www.kip.uni-heidelberg.de/.

Summary of the invention

According to one embodiment of the invention; Sense of touch shows that writing unit comprises probe and one first actuator and at least one second actuator; Wherein this probe has contact tip; This first actuator and this second actuator couple this probe, the startup that activates with this first actuator and second cause this probe tip on the z direction displacement and at the first horizontal top offset, this first primary vector of laterally having on the x-y plane.

In certain embodiments, sense of touch shows that writing unit comprises the 3rd actuator, and it couples this probe.

In certain embodiments, the startup of first actuator causes the displacement of this probe tip on the z direction, and the startup of second actuator causes at the first horizontal top offset.And in the embodiment with the 3rd actuator, the startup of the 3rd actuator causes this probe tip in second transversely the displacement, this second secondary vector of laterally having on the x-y plane.

According to one embodiment of the invention; Sense of touch shows that writing unit comprises pedestal, probe, at least one first and one second actuator; Wherein pedestal has the summit, and probe is positioned on the summit and has contact tip, and first actuator and second actuator are coupled to first position and second position of pedestal; Startup with this first actuator causes the displacement of first position on first direction; Wherein this first direction has the primary vector on the z direction, and causes the displacement of second position on second direction with the startup of this second actuator, and wherein this second direction has the secondary vector on the z direction.

In certain embodiments, sense of touch shows that writing unit comprises the 3rd actuator, and it couples the 3rd position of pedestal, causes the displacement of the 3rd position on third direction with the startup of this 3rd actuator, and wherein this third direction has the 3rd vector on the z direction.

In certain embodiments, first position, second position and the 3rd position are seated on the pedestal side with respect to the summit.

In certain embodiments; The gap of first position and the second position displacement, or the gap of first position and second position and the 3rd one of them displacement of the position inclination and the probe that cause pedestal in transversely a displacement, wherein this laterally has the primary vector on the x-y plane.

According to one embodiment of the invention, sense of touch shows that write device comprises that a plurality of above-mentioned senses of touch show writing unit, and these senses of touch show that writing unit is supported in the x-y array.

According to one embodiment of the invention, touch visual system and comprise that above-mentioned sense of touch shows write device, image processor and image sensor.This image processor RGB image information of self imaging pick off in the future converts the form and aspect information with two or more attributes into.And sense of touch shows that the actuator in the write device starts for the attribute that sees through information.

According to one embodiment of the invention, the method that produces the color tactual stimulation at the position of experimenter's skin comprises: with this position of probe alignment, wherein this probe has a contact tip; Move this contact tip one first distance at this position along the normal to a surface direction of skin, this first distance is relevant with an attribute of the form and aspect model of color.And, at this position, at least one this contact tip one second distance that laterally moves in the plane of parallel skin surface, this second distance is relevant with at least one additional attribute of color.

In different embodiments of the invention, can provide a colored tactual displays with auxiliary blind person or sight impaired individuals, and the vision that strengthens visual person.The present invention need not operate on and other invasive step realizes.

For letting the above-mentioned feature and advantage of the present invention can be more obviously understandable, hereinafter is special lifts embodiment, and cooperates appended graphic elaborating as follows.

Description of drawings

Figure 1A is the COLOR COMPOSITION THROUGH DISTRIBUTION presentation graphs of RGB (RGB) colour model.

Figure 1B and Fig. 1 C are the distribution schematic diagram of tinge model.

Fig. 2 illustrates and is the perspective diagram according to the sense of touch display device of one embodiment of the invention.

Fig. 3 A and Fig. 3 B illustrate and are the tinge corresponding relation sketch map according to a fixed position on the sense of touch display device of one embodiment of the invention and the skin.

Fig. 4 illustrates and is the implementation flow chart according to the sense of touch display device of one embodiment of the invention.

Fig. 5 illustrates and is the perspective view according to the color vision array of one embodiment of the invention.

Fig. 6 illustrates and is the perspective view according to the color vision array of another embodiment of the present invention.

Fig. 7 A illustrates and is the generalized concept sketch map according to the primary element that touches visual system of one embodiment of the invention.

Fig. 7 B illustrates to be disposed at experimenter's sketch map according to the primary element that touches visual system of one embodiment of the invention.

Fig. 8 A illustrates to write the perspective view of pattern in contrast (GTG value) according to one embodiment of the invention sense of touch display device.

Fig. 8 B illustrates to write the perspective view of pattern in color according to the sense of touch display device of one embodiment of the invention.

Fig. 9 A and Fig. 9 B illustrate for the actuator according to the sense of touch display device of the embodiment of the invention be the perspective view of different configuration modes in the device probe.

Figure 10 illustrates to according to the device probe of one embodiment of the invention and the exploded perspective view of actuator.

Figure 11 A, Figure 11 B and Figure 11 C illustrate the sketch map for the sense of touch display device with probe and actuator of Figure 10, and wherein Figure 11 B is a front view, and Figure 11 A is first (top) plane graph, and Figure 11 C is second (bottom) plane graph.

Figure 12 A illustrates the perspective view that is arranged at experimenter's skin surface for configuration like the array of the sense of touch display device of Figure 11 A, Figure 11 B and Figure 11 C.

Figure 12 B illustrates the mobile by different way perspective view with expression different color value of skin that faces toward the experimenter into the sense of touch display device array like Figure 12 A.

Figure 13 illustrates to look the perspective view of array according to the color of another embodiment of the present invention.

Figure 14 A illustrates and is the generalized concept sketch map according to the primary element that touches visual system of one embodiment of the invention.

Figure 14 B illustrates to be disposed at experimenter's sketch map according to the primary element that touches visual system of one embodiment of the invention.

Figure 15 illustrates and is the implementation flow chart according to the sense of touch display device of one embodiment of the invention.

[main element symbol description]

C, C ': row

R: redness

R ', R ": OK

G: green

B: blueness

H: form and aspect

L: brightness

S: saturation

V: brightness value

11: skin

20,52,62,64,1201,1201 ', 1202,1202 ', 1203,1203 ', 1204,1204 ', 1302: writing unit

21,1185,1291,1292,1293,1294,1291 ', 1292 ', 1293 ', 1392: contact tip

22,82,92,1184: probe

24,26,28,84,86,88,94,96,98,1084,1084 ' and 1084 ", 1261,1261 ', 1261 ", 1262,1262 ', 1262 ", 1263,1263 ', 1263 ", 1264,1264 ', 1264 ", 1361,1361 ', 1361 ": actuator

25,27,29,73,75,85,87,89,95,97,99: couple relation

31: the position

32: contact point

33,33 ': color ring partly

34: brightness range

36: angle

38, d: distance

50,60,1300: array

56,66: eyelid retractor

63,65: the zone

72,1402: image sensor

74,1404: image processor

76,80,81,90,91,1406: the image write device

1080: sense of touch display device/writing unit/groups of holders

1082,1082 ', 1082 ": end

1085,1085 ', 1085 ": the axle part

1182,1213,1214,1312: pedestal

1183,1183 ' and 1183 ": the corner

1200: dotted line

The specific embodiment

The present invention will do further explain according to diagram, and the diagram embodiments of the invention that illustrate are two to select a form.The icon that is illustrated is for expression characteristic of the present invention and be relevant to further feature and structure, and the invention is not restricted to illustrated size.In order to make icon clearer, in the embodiment of the invention that icon illustrated, the corresponding relation of element and other element is for being illustrated in other icon, and the non-all labels again of icon, so that the element in the icon of the present invention is distinguished easily.In addition, those skilled in the art can then not be illustrated in the icon through the part technical characterictic that its knowledge is understood, so that icon is clearer.

Color is generally defined by three components, and in different colour models, the value that sees through above-mentioned three components of projection is described three-D volumes, and it is general as Descartes (Cartesian) component in Euclid (Euclidean) space.With RGB (red-green-blue, RGB) colour model is an example, its COLOR COMPOSITION THROUGH DISTRIBUTION is shown in Figure 1A; The rgb color model is to show with the cube that utilizes the nonnegative number numerical value between 0～1 scope, and will be on the summit (0,0; 0) black is appointed as initial point, and along the numerical value that three (R, G, B) gain in strength, is positioned at summit (1 and arrive; 1,1) white, wherein white is the diagonal subtend position of black.And the RGB three-component (r, g, b) representative in this cube, its surface or along the three-dimensional coordinate of the given color point on its limit.

In some color used, the form and aspect colour model is the actual received mode of emulation color more effectively.Figure 1B and Fig. 1 C represent the form and aspect colour model.Figure 1B illustrates form and aspect-saturation-brightness, and (hue-saturation-lightness, color space HSL) are the two cones that illustrated.The z axle is represented brightness, and can arrive white (top) from black (bottom) along the z axle.Distance to the z axle on the x-y plane is represented saturation.The angle of x-y planar circular z axle is represented form and aspect, and wherein redness is 0 degree angle.Color with a given brightness value is to be positioned at and the vertical color ring of z axle, and full saturation color is the edge that is positioned at the color ring.Fig. 1 C illustrates that (hue-saturation-value, color space HSV) are the vertebral body that is illustrated, and wherein black color dots is positioned at the bottom, and full saturation color is around the circle that is positioned at the top into form and aspect-saturation-brightness value.Z axle representative luminance value, and can be from black (bottom) arrival white (central authorities of top circle) along the z axle.Distance to the z axle on the x-y plane is represented saturation.And the angle of x-y planar circular z axle is represented form and aspect, and wherein redness is 0 degree angle.

As the image capture unit of camera and so on, use the rgb color model.Rgb signal direct conversion capable of using (straightforward transformation) mode converts the form and aspect model into.With next proposition known method, RGB (RGB) coordinate (it can be provided by the digitized video array) that illustrates rgb space converts the spatial form and aspect-saturation of form and aspect-brightness (HSL) vector into, or form and aspect-saturation-brightness value (HSV) vector.Said method can be with reference to the described article of network address http://en.wikipedia.org/wiki/HSL_and_HSV.

Make r, g, b ∈ [0,1] are respectively redness, green and blue coordinate in rgb space.

Making max is the maximum of r, g, b, and min is the minima of r, g, b.

In order to find out the spatial form and aspect angle of HSL or HSV h ∈ [0,360], its account form is following:

The numerical value of h is generally spent between 360 degree in 0 by normalization, and when max equaled min (that is, GTG), h was 0, though form and aspect do not have geometric meaning at this, is 0 at this saturation s.Likewise, when brightness l equaled 0 or 1, it was arbitrarily that the s value is chosen as 0.

In HSV and HSL system, the definition of form and aspect is identical, but other component is then different.

Seek spatial saturation s of HSL and brightness l, s wherein, l ∈ [0,1], its account form is following:

$l=\frac{1}{2}(\max +\min )$

$s=\left\{\begin{array}{cc}0,& \mathrm{if}\max =\min \\ \frac{\max -\min }{\max +\min }=\frac{\max -\min }{2l},& \mathrm{ifl}\≤\frac{1}{2}\\ \frac{\max -\min }{2-(\max +\min )}=\frac{\max -\min }{2-2l},& \mathrm{ifl}>\frac{1}{2}\end{array}\right\}$

The definition of spatial saturation s numerical value of HSV and brightness value v is following, s wherein, v ∈ [0,1].

$s=\left\{\begin{array}{cc}0,& \mathrm{if}\max =0\\ \frac{\max -\min }{2(\max +\min )}=\frac{\max -\min }{2-2l},& \mathrm{otherwise}\end{array}\right\}$

v＝max

In cartesian coordinate system, the scope of HSV vector and HSL vector is a cube, but because form and aspect are actually cycle characteristics, locates to launch to convert into a linear coordinate so needn't or be not suitable at the point of contact 0 (red).In view of the above, the above-mentioned spatial visual hue circle that is usually directed to.Cylinder and cone (HSL space for two vertebral bodys) the most often are depicted as and use, and spherical or other color body also is available describing.

Fig. 2 illustrates and is the sense of touch display device (" writing unit ") 20 according to one embodiment of the invention, and it is arranged on the zone of experimenter's skin 11.The x-y-z coordinate shows the usefulness as reference, and skin generally is positioned on the x-y plane.Writing unit has packaged type probe 22, and probe 22 has contact tip 21.First actuator 24 (actuator A) couples (25) probe 22 in the following manner, and promptly when one started, first actuator 24 moved the tip 21 of probe 22 on a direction, this direction have the z direction near or away from a vector of the contact point on the skin 32.Itself can have the z axle this device, and first actuator makes the tip of probe move along the z axle.Second actuator 26 (actuator B) couples (27) probe 22 in the following manner, and promptly when one started, second actuator 26 caused the tip 21 of probe 22 transversely to be moved one, and this laterally has the primary vector on the x-y plane.The 3rd actuator 28 (actuator C) couples (29) probe 22 in the following manner, and promptly when one started, the 3rd actuator 28 caused the tip 21 of probe 22 transversely to be moved at another, this another laterally have a secondary vector on the x-y plane.

Fig. 3 A and Fig. 3 B are that the sense of touch display device that illustrates writing unit example as shown in Figure 2 is the tactual stimulation that it(?) how can the contact site on skin forms color informationization.The x-y-z coordinate illustrates the usefulness as reference, and skin generally is positioned on the x-y plane.Embodiment via Fig. 3 A can know that it illustrates the spatial geometry about the HSL at the position on the skin 31.As shown in the figure, the different luminance levels of the part 33 and 33 in the two color rings ' lay respectively at.Brightness range 34 finds expression in the z axle.Form and aspect find expression on the x-y plane angle 36 around the z axle.Saturation shows perpendicular to the distance 38 on the x-y plane of z axle for seeing through.This z axle is the position 31 towards skin 11.Fig. 3 B illustrate into according to the HSL space of one embodiment of the invention and sense of touch display device and with skin on the relation of contact site.Like overlapping the demonstration of the geometry of writing unit and color space, see through moving of probe 22 that first actuator 24 starts, it makes the displacement of probe pinpoint end points 21 on the z direction, definable brightness; See through moving of probe 22 that second actuator 26 starts, it makes the displacement of probe end points 21 on the direction with primary vector on the x-y plane, definable color phase; See through moving of probe 22 that the 3rd actuator 28 starts, it makes the displacement of probe end points 21 on the direction with secondary vector on the x-y plane, definable saturation.

Said apparatus can use like following mode.Please with reference to Fig. 4, this device is positioned over original position, and wherein probe tip is in abutting connection with the contact site of experimenter's skin surface, and the z axle of device generally is the planar normal of skin surface that is oriented in above-mentioned position.When device was positioned at original position, this tip can contact or contacting skin position almost.Color information is uploaded the actuator of device so far.Actuator A response monochrome information and starting, traveling probe tip be towards skin part, and by the skin surface of compressing into and push this position.Actuator B and C response form and aspect information and saturation infromation and start are with in first laterally and second transversely traveling probe is most advanced and sophisticated.Through stopping to start actuator, then this device can return back to original position.The experimenter can feel the moment touch feeling of the color that information that probe tip uploads as correspondence in the displacement of skin surface is represented.During lateral displacement, this tip can slip over skin surface, and can make with lubricator so that promote most advanced and sophisticated sliding, and lubricant is jelly, oils and fats, ointment etc. for example.Perhaps, the tip can not slip over skin surface, can make experimenter's perception through the extension of experimenter's skin so that laterally move, and the skin on the contact site can pass through processing to increase frictional force most advanced and sophisticated and skin.

In a structure, displacement and color information are proportional, make that the displacement range in the z direction is relevant to brightness range, are relevant to hue range in the displacement range of an x-y direction, are relevant to the saturation scope in the displacement range of the 2nd x-y direction.For example, actuator A displacement meeting lets the experimenter experience the pressure at skin part, and actuator can be designed as to bigger brightness or less brightness bigger displacement is provided.And for example, actuator C can be designed as to higher or lower saturation bigger displacement (slipping over skin or extension skin) is provided.

In another structure, other parameter of some displacements can be proportional with color information.For example, the tip is can how many displacements quicker, and the velocity interval of displacement can be proportional with color information.For example, the displacement of actuator A can be designed as to bigger or less brightness displacement faster is provided.And for example, the displacement of actuator C can be designed as to higher or than low saturation displacement faster is provided.

The array of several above-mentioned writing units can make the array that is used to provide a plurality of corresponding positions on color information to the skin, makes the experimenter can experience chromatic image.Fig. 5 illustrates several unitary simplification rectangular arrays 50.Writing unit 52 is fixed on the eyelid retractor 56.The contact point resolution of the image of experiencing is to be decided by array middle probe tip distance each other, that is to say that the most advanced and sophisticated density of array middle probe is high more, and the resolution of image is good more.Distance between adjacent writing unit among Fig. 5 along the label d that string indicated, and simplify in array at this, probe tip is roughly equably on x and y direction and separates.

Writing unit in the probe array can be other configuration mode.For example, well-known, the human vision zone has than the better resolution of other outer peripheral areas in the zonule of central authorities, so the configurable one-tenth of writing unit is higher than other outer peripheral areas in the density of middle section.The example of above-mentioned array is an array 60 shown in Figure 6.Writing unit 62 and 64 is fixed on the eyelid retractor 66.Writing unit 62 is arranged among Fig. 6 in the zone 63 with the dotted lines territory with higher density, and writing unit 64 is to be arranged in the outer peripheral areas 65 than low-density.

The parameter of some skin perception possibly is compelled design limit in the resolution of contact point.Comment about the skin perception of tactual displays; Can consult " S.A.Brewster et al., " Tactile Displays " in A.Helal et al., eds.; The Engineering Handbook on Smart Technology forAging; Disability and Independence, John Wiley and Sons, 2008 ".For instance, different body positions have different sensitivity and different spaces acuity, and are suggested like various skin site such as finger tip, forearm, thigh, hypogastric region, backs.Finger tip has the critical point that low contact is distinguished, the distance between two adjacent stimulation points can be low to moderate 0.9 centimetre (mm), and this critical point meeting is along with pushing or displacement (skin is depression) difference in various degree.And for instance, the sensitivity of specific part and space acuity can be according to not changing to some extent in the speed of the time interval between continuous dislocation on this position and indivedual displacement.And for instance, sensitivity and space acuity possibly receive the influence of the speciality of skin own, for example skin smooth or skin hirsutism, and possibly change to some extent along with experimenter's age.

For sensitivity and space acuity, can select to have the skin site of low marginal value, but on the other hand, for other purpose of image perception, the skin site that also can select other not to be used.For instance; During the image impression, allow the experimenter to use whole fingers fully, in the case; Then can suitably utilize other skin site beyond the finger tip to carry out the image perception, even the sensitivity of other skin site and space acuity can be low than finger tip.

Aspect Machine Design, the big I of writing unit is forced to the design limit of probe tip density, and according to the size of writing unit, the distance of the probe tip of two adjacency may exceed the tactual space resolution of specific region of skin in array.At this, the probe tip density in the array is restricted, and the zone of this array (and the skin under the array) may become big to hold the probe tip of sufficient amount.

Please, on the whole, comprise three general functions in order to realize the system that touches the vision array with reference to Fig. 7 A, that is the chromatic image sensing, image sensor 72 utilized; Chromatic image is handled, and utilizes image processor 74; And the sense of touch color writes, and utilizes image write device 76.Data exchange between (73) chromatic image pick off 72 and chromatic image processor 74, and exchange between (75) chromatic image processor 74 and image write device 76.Above-mentioned exchanges data can see through wired and wireless mode.

Image sensor 72 can be digital imaging device, for example digital camera.For example, image sensor can comprise the CMOS image sensor.Photo-opportunity receives incident illumination, and produces the signal of representing image.Camera can transmit the signal like RGB (R-G-B).

Image processor 74 can for example be that computer is (like personal computer; PC); It is programmed with the image of reception from image sensor, and carries out conversion to convert RGB (this is for giving an example) on pixel formula (pixel-by-pixel) basis form and aspect color representation mode (for example HSV or HSL).For instance, above-mentioned conversion can be accomplished through the JAVA program.To each pixel, the output of image processor comprises the form and aspect color information that has comparative information.

Image write device 76 comprises the writing unit array, and each writing unit comprises a probe and at least two (optional three) actuators, and these actuators couple probe and can start with traveling probe most advanced and sophisticated.First actuator (actuator A) is used to make probe tip on the z direction, to move.It is mobile that second actuator (actuator B) is used to make probe tip to go up on first horizontal (x-y plane).The 3rd actuator (actuator C), if exist, it is mobile that it is used to make probe tip to go up on second horizontal (x-y plane).

Write the comparison of doing that array can provide with image, camera can have quite high resolution (being picture element density) in the visual field.In view of the above, lower pixel image also can use.Image processor can be treated to the image with low pixel count with high resolution image.

In some embodiments, but the repertoire carry that touches the vision array system in the experimenter.The example of Fig. 7 B illustrates wherein a kind of mode.In this example, image writes the zone that array 76 is set up in skin on experimenter's forehead; Camera 72 is set up on experimenter's the head with processor 74.Image in this example writes the array eyelid retractor can comprise the pliability adhesive plaster, and camera and processor can be set up on the ornaments hair clip.

In some embodiments, the sense of touch image writes and can accomplish via two stages, and it is shown in Fig. 8 A and Fig. 8 B.In the phase I, please with reference to Fig. 8 A, z shaft actuator 84,85 at first receives contrast (GTG) information from processor, and produces the displacement of probe on the z direction, and this displacement is relevant with the signal level on the GTG.In second stage, please with reference to Fig. 8 B, z shaft actuator 84,85 and x-y planar actuator 86,87 and 88,89 receive form and aspect (HSV or HSL) information from processor, and produce the displacement of probe 82 on z direction and x-y plane.

Figure 10 and Figure 11 A to Figure 11 C illustrate the sense of touch display device (writing unit) 1080 according to one embodiment of the invention, and wherein Figure 10 illustrates the exploded perspective view of writing unit, and it is arranged in a zone of relevant experimenter's skin 11.The x-y-z coordinate shows the usefulness as reference, and skin generally is positioned on the x-y plane.Writing unit can have the z axle, and in use, the direction of z axle is generally perpendicular to the x-y plane of skin.

Have among the embodiment of pedestal 1182 at writing unit, the shape of pedestal 1182 for example is a tetrahedron and has a summit.The summit of probe is general direct towards skin, and the opposite side of probe is away from skin.Setting up of pedestal can depart from the z axle, and can move towards skin or away from skin.Probe 1184 provides a contact tip 1185 pairs of person's skins for being erected at the pedestal summit.In the present embodiment, writing unit have three actuating units 1084,1084 ' and 1084 " groups of holders 1080 and couple pedestal 1182.Among the embodiment as shown in the figure, each actuator comprise a part 1085,1085 ', 1085 " with terminal 1082,1082 ', 1082 ".The end 1082,1082 of each actuator ', 1082 " couple pedestal 1182 away from that side of skin near corner 1183,1183 ' and 1183 "; With when starting; Actuator causes the corner of pedestal on a direction, to be moved, and this direction has the vector in the z direction.If when three actuators start with equivalent, then can cause the triangle of pedestal to drop on equivalent displacement on the z direction, to cause contact tip 1185 moving facing to the skin correspondence on the z direction.When if actuator starts with inequality; The displacement that then can cause the triangle of pedestal to drop on inequality on the z direction; Make basement tilt; And cause contact tip 1185 on a direction of skin and moving transversely, wherein this direction has the vector on the z direction, and this laterally has the vector on the x-y plane.The actuator end for example can see through tethers and couple pedestal, and tethers can be a flexible and/or telescopic chain; Perhaps, for example couple with spring, the two ends of spring are attached at actuator end and pedestal respectively.Perhaps, the actuator end for example can see through telescopic adhesion and be attached at pedestal to couple pedestal.

Following will being described in more detail, writing unit 1080 is for being supported in other similar write device in the array, the dotted line 1200 symbolistic holding states of pointing out an array.Following being illustrated as with reference to Figure 13, but writing unit battle array example optimization is to adapt to the profile of skin surface.These writing units can see through welding or stickies connects together to be fixed in array.Adapt to the profile of skin surface at this in order to make array, the stickiness of tool elastic force or securing member can be used.Perhaps, writing unit for example is set up in an array in mechanical matrix, and mechanical matrix for example can be by constituting like materials such as metal, polymer or ceramic material.At this is to make array adapt to the profile of skin surface, and writing unit can utilize elastic material or flexible material to set up.Perhaps, matrix itself can be configured as flexible.Matrix for example can form flexible material and/or elastic material, for example elasticity or telescopic polymer (for example rubber or plastics).

Above-mentioned sense of touch shows that the running of writing station array is for being depicted in Figure 12 A and Figure 12 B.Figure 12 A illustrates the string of being made up of four writing units 1201,1202,1203,1204; When original position; Contact tip 1291,1292,1293,1294 separately is in abutting connection with the contact site of experimenter's skin surface s, and the z axle (being denoted as " A ") of device generally is oriented in the planar normal of skin surface at above-mentioned position.Skin surface in the diagram illustrates and is the plane perpendicular to the page.When device was in original position, contact tip can contact (as shown in the figure) or near the contacting skin position.

In original position, the actuator of each writing unit can be reset so that actuator can not apply pressure to each corner of pedestal, and this contact tip can be not downwards (promptly on the z direction towards skin) displacement or laterally (being the x-y direction) displacement.At this moment, the experimenter can for example be identified as " black (black) " (i.e. BLK in the diagram).

Then, the color information of the image that the experimenter felt can be uploaded to the array of device, and drives signal and can be sent to actuator, causes corresponding the moving of actuator, and it is shown in Figure 12 B.

Specifically, corresponding writing unit 1201 ' the image of part of position be " black ".In view of the above, according to driving signal, writing unit 1201 ' actuator 1261,1261 ', 1261 " can displacement, and can be downwards or lateral displacement at this touch-control most advanced and sophisticated 1291 ' not.Like driving signal before, the experimenter can for example be identified as " black " (i.e. BLK in the diagram).

Corresponding writing unit 1202 ' the image of part of position be " Lycoperdon polymorphum Vitt (gyay) ".In view of the above, according to driving signal, writing unit 1202 ' actuator 1262,1262 ', 1262 " can the same distance of displacement, cause touch-control most advanced and sophisticated 1292 ' can be downwards (promptly on the z direction towards skin, along device axis A) displacement.The experimenter can discern this and be " Lycoperdon polymorphum Vitt " (i.e. GRY in the diagram).In the present embodiment, bigger to the corresponding big brightness value (being the V in the HSV color system) of bottom offset.The experimenter can recognize the GTG value accordingly; The GTG that is identified as " brighter " facing to the big displacement meeting of skin in the z direction.

Corresponding writing unit 1203 ' the image of part of position be " dark blue (dark bule) ".In view of the above, according to driving signal, writing unit 1203 ' actuator 1263,1263 ', 1263 " in one or more can the same distance of displacements.The distance of at least one actuator displacement is different from other actuator; And, as shown in the figure, actuator 1263,1263 ', 1263 " for the displacement different distances: actuator 1263 ' be the bigger distance of displacement, and actuator 1263 ' minimum for being moved to.Therefore, pedestal 1213 meetings are tilted and are moved down, so that contact tip 1293 sound (face toward skin surface) down and horizontal (away from device axis A) pushes.Since specific orientation that tilts and angle and the counterparty who laterally moves to and length (in the planar motion vector of x-y), then the experimenter can discern this and is " dark blue (dark blue) " form and aspect (the DK BLU in promptly illustrating), and has specific saturation.The image of part has different form and aspect and/or different saturation, and then driving signal can be different, and the displacement meeting of actuator causes different heeling conditions.

As stated, bigger to the for example corresponding bigger brightness value (being the V in the HSV color system) of bottom offset (motion vector on the z direction).To the color with specific form and aspect and saturation, the experimenter can recognize brightness value accordingly: on the z direction, carry out the color that big displacement is identified as " brighter " facing to skin.Can know via icon, corresponding writing unit 1204 ' the image of part of position be " vivid blue (bright blue) ".In view of the above, according to driving signal, writing unit 1204 ' actuator 1264,1264 ', 1264 " in one or more can the same distance of displacements.In the above-described embodiments, form and aspect and intensity value are same as Deep Blue, and actuator 1264,1264 ', 1264 " between the gap of displacement be same as writing unit 1203 ' actuator 1263,1263 ', 1263 " between the gap of displacement.Yet, this actuator 1264,1264 ', the 1264 " additional distance of the corresponding big brightness of displacement.Therefore; Being tilted in of pedestal 1214 in a way similar in appearance to pedestal 1213; But more move down, so that contact tip 1294 ' push compared to contact tip 1293 ' more downward (facing to skin surface), but laterally have similarity distance and similarity direction on (away from device axis A).Moreover; Because specific orientation that tilts and angle and the horizontal counterparty who moves are to reaching length (in the planar motion vector of x-y); Then the experimenter can discern this and is " vivid blue (bright blue) " form and aspect (i.e. diagram in BRTBLU), and has specific saturation.And, have the partial image of different form and aspect and/or different saturation, then driving signal can be different, and the displacement meeting of actuator causes different heeling conditions.

Stimulation can optionally be carried out to provide other color-values (being basement tilt) to separate with stimulation so that brightness value (pedestal is in z direction top offset) to be provided., this applies extra pushing during allowing, to guarantee the good induction of laterally moving of probe contact tip when tilting.

It is understandable that the writing unit array of the string component part of in above-mentioned diagram, forming by four writing units; And this array can have a plurality of writing units in each row.The embodiment of 6 * 8 array (be that array has 6 row, and each row having 8 writing units 1302) is the plane graph that is illustrated in Figure 13.In being parallel on the planar plane of drawing, the writing unit in the array 1300 (for example writing unit 1302) is generally arranged vertical; In other words, above-mentioned writing unit is that the multiple row that is disposed at almost parallel (for example indicates R ', R ") and almost parallel and perpendicular to the multirow (for example indicating C, C ') of these row.

Writing unit is to resemble being depicted in the diagram of emblem property; Each writing unit 1302 comprise pedestal 1312 and actuator 1361,1361 ', 1361 ", pedestal 1312 has the probe of contact tip 1392 in apex configuration, actuator 1361,1361 ', 1361 " couple corner with respect to the opposite side on summit.Pedestal is for being set up on the eyelid retractor (not illustrating); Eyelid retractor in order to the geometry of keeping array (in other words; Pedestal is arranged on the plane of array), and simultaneously fixedly writing unit be approximately perpendicular to skin surface and allow pedestal towards and move and tilt away from skin surface from axle.

In this icon, array illustrates and is the plane; In other words, for example with reference to Figure 12 A and Figure 12 B, when original position, actuator is in replacement, and the contact site of the position of contact tip on the skin, and contact tip all is positioned at the x-y plane, and skin surface illustrates and is the plane.In fact, assume as a matter of course, experimenter's body surface is a curve, and skin surface is on-plane surface.In view of the above, but above-mentioned eyelid retractor when configuration optimization to adapt to skin surface.

Adaptable eyelid retractor can comprise flexible and the rubber-like film; And pedestal can see through its side with respect to the summit directly is attached on the film to be fixed on the film.For pedestal array eyelid retractor, suitable membrane material for example comprises the scraps of paper or plastic sheeting; And flexible stickiness adhesive tape maybe be more suitable.Actuator can be set up in extra eyelid retractor, keeps fixed range with the alignment pedestal of stationary actuator at ready position reset the time and with skin surface.As far as actuator, above-mentioned extra eyelid retractor can be flexible and rubber-like film; And about the base supports film, the actuator support membrane can comprise the scraps of paper or the thin sign of plastics, and flexible stickiness adhesive tape maybe be more suitable.For example, but the initialization ground alignment and being attached on the straight line when making of actuator and pedestal.Perhaps, arrangement can be executed in when being configured in the experimenter, and when arranging, camera can use to assist arrangement.

In above-mentioned diagram, actuator and be symbolic expression with the relation of coupling of probe.Any different actuator all can be used.

Each actuator can be a miniature motor, for example is the small-sized piezoelectric micro motor.In New York dimension visitor many (Victor, in the textural classification of New Scale Technologies company NY.), above-mentioned small-sized piezoelectric micro motor is sold and called after " Squiggle "." Squiggle " motor comprises piezoelectric element, the piezoelectric element attaching nut, and nut pins a screw.When piezoelectric element was electrically excitation, it can produce deformation, causes nut to vibrate in orbit, moves screw with this.

Again for example, (micro electrical mechanical system, MEMS) array at this projection column or pedestal of forming probe, can start the direction on z direction of principal axis or x-y plane to write device formation MEMS.

When a plurality of motors used as actuator, those actuators can utilize mechanical link and be couple to probe.The actuator end for example can see through tethers and couple pedestal, and tethers can be a flexible and/or telescopic chain; Perhaps, for example couple with spring, the two ends of spring are attached at actuator end and pedestal respectively.Perhaps, the actuator end for example can see through telescopic adhesion and be attached at pedestal to couple pedestal.A plurality of actuators and probe can be " coupled in parallel " (like symbolistic diagram among Fig. 9 A) or " coupled in series " (like symbolistic diagram among Fig. 9 B).In " coupled in parallel " structure, each actuator is for be linked to probe independently.In other words, z shaft actuator 94 is directly to connect (95) probe 92, the one x-y planar actuator 96 directly to connect (97) probe 92, and the 2nd x-y planar actuator 98 directly connects (99) probe 92.In this configuration mode, when being shifted via arbitrary actuator like probe, other actuator must adapt to moving of probe." coupled in series " in the structure, first and second actuator is for link and be connected to the 3rd shaft actuator each other.

In the above-described embodiments, each writing unit has three actuators.In certain embodiments, actuator is in order to one of them of three attributes representing form and aspect color representation mode respectively.In some embodiments, can show wherein two of three color attributes.For example, can provide the chromatic image of usefulness about the information of brightness (or value) and form and aspect.Or for example, also can provide the chromatic image of usefulness about the information of form and aspect and saturation.In these embodiments, each writing unit only need have two actuators, as is configured to provide the displacement of probe in a z direction and an x-y in-plane.In other embodiments; These attributes can see through moving forward and backward of three actuators and show; The difference of this three actuator displacement in order to inclined base in special angle from axle; And in order to brightness (or brightness value) information that is relevant to be provided, above-mentioned inclination simultaneously provides other color attribute for the degree of depth of skin surface displacement.In some embodiment of inclined base, two actuators capable of using realize that it can be enough to provide the chromatic image of usefulness.

In order to the generalized ensemble of realizing touching the vision array for being illustrated in Fig. 7 A, but and the repertoire carry that will touch the vision array system in the embodiment of a kind of embodiment of experimenter for being illustrated in Fig. 7 B.In order to the embodiment of the alternative system of realizing touching the vision array for being illustrated in Figure 14 A.On the whole, this system comprises three general functions, that is the chromatic image sensing, utilizes image sensor 1402; Chromatic image is handled, and utilizes image processor 1404; And the sense of touch color writes, and utilizes image write device 1406.In this embodiment, but whole function carries in experimenter's skin partly on, and configuration writes cell array.Data exchange between chromatic image pick off 1402 and chromatic image processor 1404; And exchange between chromatic image processor 1404 and image write device 1406.Exchanges data can be wired mode (for example, interconnective chip extremely chip, chip are to encapsulating or be encapsulated into encapsulation) in the interelement mode of carry difference in functionality; Perhaps, for example image sensing (camera) function and IPF can be integrated into one chip, encapsulation or encapsulation assembling.

Image sensor 1402 can for example be a digital imaging device, for example digital camera or device for image (brilliant like numeral or analog image pick off integrated circuit).Camera receives incident illumination, and produces the signal of representing image.Camera can transmit the signal like RGB (R-G-B).

Image processor 1404 can for example be that computer is (like personal computer; PC) or the integrated circuit chip; It is programmed with the image of reception from image sensor, and carries out conversion to convert RGB (this is for giving an example) on pixel formula (pixel-by-pixel) basis form and aspect color representation mode (for example HSV or HSL).For instance, above-mentioned conversion can be accomplished through the JAVA program.To each pixel, the output of image processor comprises the form and aspect color information that has comparative information.

Image write device 1406 comprises the writing unit array, and each writing unit comprises a probe and at least two (optional three) actuators, and these actuators couple probe and can start with traveling probe most advanced and sophisticated.Actuator with so that probe tip towards or move away from skin (on the Z direction), and probe tip is gone up at laterally (at X-Y plane) move.Write the comparison of doing that array can provide with image, camera can have quite high resolution (being picture element density) in the visual field.In view of the above, lower pixel image also can use.Image processor can be treated to the image with low pixel count with high resolution image.

In some embodiments, but the repertoire carry that touches the vision array system in the experimenter.The example of Figure 14 B illustrates wherein a kind of mode.In this example, image writes the zone that array 76 is set up in skin on experimenter's forehead; Camera 1402 sets up for leap or in abutting connection with writing array with processor 1404.

The visual system that touches with inclined base kenel writing unit array can be like following use, please with reference to Figure 15.This array is set up in skin area and device is positioned over original position, and contact tip is adjacent to the contact site of experimenter's skin surface, and the z axle of each device generally is the planar normal of skin surface that is oriented in above-mentioned position.When device was in original position, the tip can contact or near the contacting skin position.Color information is uploaded to the actuator of device.Actuator response color information and starting.To a certain extent, actuator depends on that to a certain extent the represented color character of signal comes mobile foundation.This pedestal possibly tilt, and causing that contact tip leaves axle and laterally moves, and/or pedestal can move towards skin, moves and push the skin surface with this position of displacement to cause contact tip towards skin part.Through stopping to start actuator, then this device can return back to original position.The experimenter can feel probe tip in the displacement of the skin surface moment touch feeling as corresponding color, and can see through the information of uploading and represent.During lateral displacement, this tip can slip over skin surface, and can make with lubricator so that promote most advanced and sophisticated sliding, and lubricant is jelly, oils and fats, ointment etc. for example.Perhaps, the tip can not slip over skin surface, can make experimenter's perception through the extension of experimenter's skin so that laterally move, and the skin on the contact site can pass through processing to increase frictional force most advanced and sophisticated and skin.

Other embodiment is then said with reference to claim.

Though the present invention discloses as above with embodiment; Right its is not in order to limit the present invention; Has common knowledge the knowledgeable in the technical field under any; Do not breaking away from the spirit and scope of the present invention, when can doing a little change and retouching, so protection scope of the present invention is when looking being as the criterion that the claim scope of enclosing defined.

Claims (16)

1. a sense of touch shows writing unit, comprising:

One probe has a contact tip; And

At least one first actuator and one second actuator; Couple this probe; Cause the displacement of this contact tip on a z direction of this probe with the startup of this this first actuator; And this contact tip that the startup of this second actuator causes this probe is in one first transversely displacement, this first primary vector of laterally having in an x-y plane.

2. sense of touch according to claim 1 shows writing unit; More comprise one the 3rd actuator; Couple this probe, this contact tip that causes this probe with the startup of this 3rd actuator is in one second transversely displacement, this second secondary vector of laterally having in this x-y plane.

3. a sense of touch shows write device, comprises that the described sense of touch of a plurality of claim 1 shows writing unit, and those senses of touch show that writing unit is supported in the x-y array.

4. a sense of touch shows write device, comprises that the described sense of touch of a plurality of claim 2 shows writing unit, and those senses of touch show that writing unit is supported in the x-y array.

5. one kind is touched visual system, comprising:

The described sense of touch of one claim 3 shows write device;

One image processor; And

One image sensor; Wherein this image processor is programmed will converting the phase information of the same colour with two or more attributes into from a RGB image information of this image sensor, and this sense of touch shows that those actuators in write device start for those attributes that see through this hue information.

6. the position at an experimenter skin produces the method for a color tactual stimulation, comprising:

With this position of a probe alignment, wherein this probe has a contact tip;

Normal direction at this position along the surface of this skin moves this contact tip one first distance, and wherein this first distance is relevant with an attribute of a form and aspect model of a color; And

At this position, planarly at least onely laterally move this contact tip one second distance along one of the surface of parallel this skin, wherein this second distance is relevant with at least one additional attribute of this color.

7. a sense of touch shows writing unit, comprising:

One pedestal has a summit and and has contact tip and be positioned at the probe on the summit;

At least one first and one second actuator; Couple one first and one second position of this pedestal; Startup with this this first actuator causes this first displacement that is positioned on the first direction; This first direction has the primary vector on a z direction, and causes this second displacement that is positioned on the second direction with the startup of this this second actuator, and this second direction has the secondary vector on this z direction.

8. sense of touch according to claim 7 shows writing unit, and wherein this first position and this second position are seated on this pedestal the side with respect to this summit.

9. sense of touch according to claim 7 shows writing unit; More comprise one the 3rd actuator; It is seated one the 3rd position of this pedestal; Startup with this 3rd actuator causes the displacement of the 3rd position on a third direction, and wherein this third direction has one the 3rd vector on the z direction.

10. sense of touch according to claim 9 shows writing unit, and wherein this first position, this second position and this second position are seated on this pedestal the side with respect to this summit.

11. sense of touch according to claim 10 shows writing unit, wherein this first, this second and the 3rd position is a rounded projections arranged this side in this pedestal.

12. sense of touch according to claim 9 shows writing unit; Inclination and this probe that the gap of this first position and this second position and the 3rd one of them displacement of position causes this pedestal is in transversely a displacement, and wherein this laterally has the vector on the x-y plane.

13. sense of touch according to claim 7 shows writing unit, wherein the gap of this first position and this second position displacement inclination and this probe that cause this pedestal is in transversely a displacement, and wherein this laterally has the vector on the x-y plane.

14. a sense of touch shows write device, comprises that the described sense of touch of a plurality of claim 7 shows writing unit, those senses of touch show that writing unit is supported in the x-y array.

15. a sense of touch shows write device, comprises that the described sense of touch of a plurality of claim 9 shows writing unit, those senses of touch show that writing unit is supported in the x-y array.

16. one kind is touched visual system, comprising:

The described sense of touch of one claim 14 shows write device;

One image processor; And

One image sensor; Wherein this image processor is programmed will converting the phase information of the same colour with two or more attributes into from a RGB image information of this image sensor, and this sense of touch shows that those actuators in write device start for those attributes that see through this hue information.

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