CN102938222B - Writing trainer based on force feedback - Google Patents
Writing trainer based on force feedback Download PDFInfo
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- CN102938222B CN102938222B CN201210503009.5A CN201210503009A CN102938222B CN 102938222 B CN102938222 B CN 102938222B CN 201210503009 A CN201210503009 A CN 201210503009A CN 102938222 B CN102938222 B CN 102938222B
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Abstract
The invention provides a writing trainer based on force feedback. The writing trainer comprises a hand writing board for collecting user writing data, a display for displaying a writing track, a writing pen for training a user and force feedback equipment for controlling a writing pen, wherein force feedback equipment comprises a force feedback processor; the force feedback processor stores a standard mode of a writing training action and controls the force feedback equipment through a program; the writing action is controlled by a force arm of the force feedback equipment so as to train the writing of the user; and the track of the writing is displayed by the display. By utilizing the writing trainer, the user can learn in an inactive mode, i.e. the user does not write actively, but just holds the force feedback equipment, the force feedback equipment writes automatically according to the program, then the use follows up to act so as to realize the purpose of learning writing by hand guiding. By utilizing the equipment, the writing track and the information of a teacher can be recoded and the writing skill is taught to students. The writing speed is divided into two types, namely, constant speed and variable speed; by using the two modes in a combinatory analysis mode and with the combination of the force feedback equipment, a method which is beneficial to the writing learning is found.
Description
Technical field
The present invention relates to teaching apparatus, be specifically related to a kind of Writing trainer write based on the study of force feedback.
Background technology
The thing that to be no matter study alphabetic writing or hieroglyphic calligraphy be part is very uninteresting and dull, special calligraphy Rudimental stage, what the such as foreigner learned Chinese writes, Chinese learn foreign language writes or child gets started and writes.
1996, the people such as Y. Yokokohji have studied use vision/haptic system, map the technical ability transmission of possible person to person, based on the strategy of " record-broadcasting " by name.Namely this strategy is needing the course of action of study to be intactly transplanted on interactive device, allows equipment simulate the action reappearing teacher and then instructs to student.Although because selected task is too simple, experiment does not obtain the result of conspicuousness effect, and this strategy has opened up a good thinking.Afterwards, Henmi with Tsushikawa(1998) just based on this Strategy Design, system carries out calligraphy training.Research finds, by using this system, the writing movements track of student gets more and more and levels off to the standard of teacher.Therefore, they judge, use this systematic learning Japanese to write certain positive role.But in this experiment, they do not provide comprehensively assessment and a statistical study for result of study.The people such as Solis establish a similar skill transfer system in (2002), and based on identical strategy, in addition, they add a flexible design, can understand the locomitivity of user in real time, to change the action of system as the dynamic response inputted user.This system is so-called bidirectional technique transfer system, and this system can guide user dynamically to carry out writing study.Meanwhile, the people (2002) such as Teo uses the power haptic-display system of a 6-DOF to carry out Chinese calligraphy teaching.They describe in detail writing guidance and the Route guiding effect of action in learning process, have quantized performance appraisal and have comprised shape, motion, power and smoothness etc.The people such as Bluteau (2008) have done further research, compared for position-based and use these two kinds of methods of haptic device equipment on the impact of writing study based on strength, equally based on " record-broadcasting " strategy.User writing velocity peak values before and after use equipment, average writing speed, font have carried out the statistical study of system.Result shows, uses the subscriber's meter of haptic device equipment to reveal the raising shown based on strength.
More than study and all use " record-broadcasting " strategy, or from technological layer, or be studied from learning process aspect.In the aspect of learning process, actually or first learning the static good dynamic motion feature first learning to write of font face is well a very significant research.In fact, research shows, in motor behavior, given time, the thing that people can do simultaneously is limited, this is because the capacity of notice is limited.When learning Chinese characters is write, such restriction is same.Because people will be absorbed in different characteristics at one time, as Chinese character shape, size, writing speed etc.Therefore, will disperse our notice in whole various kinetic characteristics of writing in learning process, be not that often kind of characteristic can be paid close attention to.
A kind of equipment is not still had to be from writing Properties of Objects at present, by changing attribute that is some or certain several kinetic characteristic, user is made optionally to note in certain characteristic of writing, visual cognitive ability, thus can learn specially targetedly, improve the efficiency of study writing training.
Summary of the invention
For prior art above shortcomings, the present invention solves in writing training process, the not high problem of efficiency is write in study, and can not the problem of three step results before analyzing and training, after training neutralization training, and the primary stage that a kind of study is write is provided, user can automatically be selected to focus one's attention on, allows (Chinese character) shape and writing speed carry out the Writing trainer based on force feedback learnt respectively, and can analyze training result.
Solve the problems of the technologies described above, the present invention adopts following technical scheme: a kind of Writing trainer based on force feedback, comprise: for collect user writing data handwriting pad, for show handwriting trace display, for training the lettering pen of user, and control the force feedback equipment of lettering pen; Described force feedback equipment comprises force feedback processor, the mode standard of writing training action preserved by described force feedback processor, by programmed control force feedback equipment, controls action of writing by the arm of force of force feedback equipment, training user writes, and is shown the track write by display;
The mode standard of described writing training action comprises:
(1) speed change pattern: the mode standard of the actual action of writing of teacher of recording, by force feedback equipment train user this variable motion write guidance under repeat exercise;
(2) at the uniform velocity pattern: the standard writing speed of teacher is recompiled as uniform motion, user this uniform motion write guidance under repeat exercise;
(3) at the uniform velocity-speed change pattern: the first write mode at the uniform velocity rear speed change ground;
(4) speed change-at the uniform velocity pattern: write mode evenly after first speed change.
Described force feedback processor also by every turn training before, training neutralization training after three step results carry out analyzing and processing, by training before and after data variation carry out statistical study, test out use force feedback equipment carry out effect that study write in Chinese.
Compared to existing technology, the present invention has following beneficial effect:
1, force feedback equipment of the present invention is used to allow user learn in the passive mode, namely user oneself does not initiatively write, but hold force feedback equipment, this equipment is write automatically according to program, user sways in synchrony, thus realize " by doing and illustrating " and teach and write, this equipment can be recorded the handwriting trace of teacher and information and writing skill is imparted to student.
2, writing speed be divided at the uniform velocity with speed change two kinds, true for teacher writing speed is recorded as speed change pattern, real writing speed is programmed again, makes it become at the uniform velocity pattern.Use this two kinds of patterns by combinatory analysis, and be combined force feedback equipment, find the method being more conducive to writing study; Effectively can solve user's notice be naturally dispersed in graphomotor multiple characteristic and cause learning to write the not high problem of efficiency.
2, detect the some Chinese-character writings of study whether to be conducive to learning to write the Chinese character that another has similar stroke.Experimental result shows, and student is under the environment using force feedback equipment, and adopt the pattern of first at the uniform velocity rear speed change, the progress that study obtains conspicuousness write in Chinese.
Accompanying drawing explanation
Fig. 1 uses the functional-block diagram that the present invention is based on the Writing trainer of force feedback;
Fig. 2 is a kind of embodiment process flow diagram of the Writing trainer that the present invention is based on force feedback.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
See Fig. 1 and Fig. 2, a kind of Writing trainer based on force feedback, comprising: for collect user writing data handwriting pad, for show handwriting trace display, for training the lettering pen of user, and control the force feedback equipment of lettering pen; Described force feedback equipment comprises force feedback processor, the mode standard of writing training action preserved by described force feedback processor, by programmed control force feedback equipment, controls action of writing by the arm of force of force feedback equipment, training user writes, and is shown the track write by display;
The mode standard of described writing training action comprises:
(1) speed change pattern: the mode standard of the actual action of writing of teacher of recording, by force feedback equipment train user this variable motion write guidance under repeat exercise;
(2) at the uniform velocity pattern: the standard writing speed of teacher is recompiled as uniform motion, user this uniform motion write guidance under repeat exercise;
(3) at the uniform velocity-speed change pattern: the first write mode at the uniform velocity rear speed change ground;
(4) speed change-at the uniform velocity pattern: write mode evenly after first speed change.
Student only need hold the lettering pen (or mechanical hand) of this equipment, can be pulled motion and write.By three step experiments before training, after training neutralization training.Chinese writing training is carried out for the foreigner, successful.
Before training: student is required that three words shining standard copybook are write alone on the jotting surface, and all written records are all retained.During training: student has two kinds of patterns and can select: at the uniform velocity-speed change pattern and speed change-at the uniform velocity pattern.Namely at the uniform velocity-speed change is that the mechanical hand allowing student hold equipment follows it first at the uniform velocity to write 20 times, then speed change writes 20 times.Speed change-at the uniform velocity pattern is then sequentially just in time contrary, and student only carries out writing training to one of them word.After training: identical with before training.
By carrying out statistical study to the data variation before and after training, just can test out and using force feedback equipment to carry out effect that study write in Chinese.Meanwhile, can verify whether the some Chinese-character writings of study are conducive to learning to write the Chinese character that another has similar stroke.Carry out for by force feedback equipment the word writing learning training, after can analyzing most of user employing at the uniform velocity-speed change pattern, the font of student, the degree of writing smoothly obtain conspicuousness and improve.Adopt slowly at the uniform velocity pattern really successfully font to be decomposed from writing speed out, allow the visual cognitive ability of student in one of them characteristic, thus construct the internal model writing this motion better.
From skill transformation of energy, at the uniform velocity-speed change pattern is equally more conducive to learning to write the font that another has the Chinese character of similar stroke.Have the more heterogeneous word like stroke and can obtain the conversion of more technical ability.
Under at the uniform velocity-speed change pattern, when initial slow uniform motion is selected, the study of each stroke separates, a Chinese character is not be used as whole model to learn by student, this font is divided into stroke to be recorded in stroke by stroke in brain by student, this explains the word having more heterogeneous seemingly stroke why and can obtain the conversion of more technical ability, especially on font.When second step variable motion is selected, student starts the motion learning to write, and as: speed and stroke interval time, and the strokes how connecting these dispersions are to become as a whole.Under the pattern of speed change-at the uniform velocity, on the contrary, when initial variable motion is selected, student regarded an entirety as this word before this, wish write whole Chinese character glibly, rather can have ignored and how better each stroke to be linked together, and have ignored each independent stroke.So when skill transformation of energy, the smooth degree of writing may be retained and font does not have.
Such as known by analyzing, for most of user, the study of at the uniform velocity-speed change pattern can help attention selection on the lettering feature that each is different, thus helps study.Using force feedback equipment to carry out Chinese writing training is in such a mode a kind of effective method.By programming the writing speed of equipment changed into slowly at the uniform velocity time, user can focus one's attention at Chinese character in shape, thus selective attention is in a characteristic.Use selective attention to concentrate on a time and only pay close attention to a movement properties, thus learn each kinetic characteristic step by step.Therefore, visual attention is first allowed first to concentrate on (as Chinese character shape) in a kinetic characteristic, with other kinetic characteristics of limit, as writing speed.
Finally it should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention but not restriction technologies scheme, although applicant's reference preferred embodiment is to invention has been detailed description, those of ordinary skill in the art is to be understood that, those are modified to technical scheme of the present invention or equivalent replacement, and do not depart from aim and the scope of the technical program, all should be encompassed in the middle of right of the present invention.
Claims (1)
1. based on a Writing trainer for force feedback, it is characterized in that, comprising: for collect user writing data handwriting pad, for show handwriting trace display, for training the lettering pen of user, and control the force feedback equipment of lettering pen; Described force feedback equipment comprises force feedback processor, the mode standard of writing training action preserved by described force feedback processor, by programmed control force feedback equipment, controls action of writing by the arm of force of force feedback equipment, training user writes, and is shown the track write by display;
The mode standard of described writing training action comprises:
(1) speed change pattern: the mode standard of the actual action of writing of teacher of recording, by force feedback equipment train user this variable motion write guidance under repeat exercise;
(2) at the uniform velocity pattern: the standard writing speed of teacher is recompiled as uniform motion, user this uniform motion write guidance under repeat exercise;
(3) at the uniform velocity-speed change pattern: the first write mode at the uniform velocity rear speed change ground;
(4) speed change-at the uniform velocity pattern: write mode evenly after first speed change;
Described force feedback processor also by every turn training before, training neutralization training after three step results carry out analyzing and processing, by training before and after data variation carry out statistical study, test out use force feedback equipment carry out effect that study write in Chinese.
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| CN201210503009.5A CN102938222B (en) | 2012-11-30 | 2012-11-30 | Writing trainer based on force feedback |
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| CN201210503009.5A CN102938222B (en) | 2012-11-30 | 2012-11-30 | Writing trainer based on force feedback |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109118875B (en) * | 2017-06-22 | 2020-01-14 | 厦门智汇权科技有限公司 | Writing implement |
| CN109248412A (en) * | 2018-11-05 | 2019-01-22 | 西南交通大学 | A kind of hand-written supplemental training device |
| CN110164238B (en) * | 2019-06-25 | 2020-12-22 | 西北大学 | Intelligent system for calligraphy training and working method |
| CN110264798B (en) * | 2019-06-25 | 2021-09-07 | 范平 | Wearable system and teaching method applied to wearable system |
| CN110176162B (en) * | 2019-06-25 | 2021-09-21 | 范平 | Wearable system and teaching method applied to wearable system |
| CN110271016B (en) * | 2019-06-27 | 2022-08-16 | 华南理工大学 | Mechanical arm calligraphy writing system and method based on boundary and force feedback |
| CN111833669B (en) * | 2020-07-13 | 2022-07-22 | 孙学峰 | Chinese calligraphy pen teaching system and teaching method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1595472A (en) * | 2004-06-24 | 2005-03-16 | 张益全 | Intelligent type writing teaching machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1595472A (en) * | 2004-06-24 | 2005-03-16 | 张益全 | Intelligent type writing teaching machine |
Non-Patent Citations (1)
| Title |
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| Virtual lesson and its application to virtual calligraphy system;Kazuyuki HENMI and Tsuneo YOSHIKAWA;《robotics and automation,1998.Proceeding.1998 IEEE International Conference on》;19980520;第1275页右栏第1段至第1279页右栏第5段，图1-6 * |
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