CN103984411B - Tactile force feedback system and tactile force feedback network system realization - Google Patents
Tactile force feedback system and tactile force feedback network system realization Download PDFInfo
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Abstract
The invention provides a kind of tactile force feedback system and tactile force feedback network system realization, tactile force feedback system, including：Force feedback data obtains mechanism and force feedback executing agency；The force feedback data, which obtains mechanism, to be included：For recording the deformation data that skin contact part position is produced, and according to the first inverting model of deformation data generation electric signal, and according to the data processing equipment of electric signal generation force feedback data information；The force feedback executing agency includes：The second inverting model of the mechanical deformation corresponding with the deformation data can be produced, and for driving second inverting model to occur the drive device of the mechanical deformation.By technical scheme, more true and fine and smooth haptic effect is resulted in, the force feedback information of object is reduced, the reproduction to human skin tactile is realized.
Description
Technical field
The present invention relates to force feedback technique field, in particular to a kind of tactile force feedback system and a kind of haptic force
Reponse system implementation method.
Background technology
Force feedback technique is the interaction technique that a kind of utilization mechanical stress gives people's sense of reality in tactile, prior art
Disclose a kind of force feedback realizes system and method, is to install " multiaxis in sensitizing range when obtaining force feedback data information
Mechanical stress sensor " carries out the collection of vibration data, and " multi-spindle machining strain gauge " essence is by electromagnetism, piezoelectricity
The collection of material accelerometer is connected to electromagnetism, the displacement of balancing weight on piezoelectric or gathers the position of thing in itself
In-migration realizes the collection of small vibrations.In implementation capacity feedback action produced with electromagnetism or other method driving balancing weight
Vibrations caused by displacement are conducted to the shell of device and the effect of force feedback occur for the skin of people, caused in applied field by displacement
Scope is narrower on scape, is suitable only for the situation of vibrations, such as small arms firing and drive simulating.Meanwhile, the program is by passing
Sensor and performs device synthesize the vibrations on some direction, and power consumption is high, complex structure, high cost, effect is poor, especially exists
In stereoscopic display interaction field, requirement of the people to interaction authenticity can not be met using existing force feedback system, therefore, such as
What obtains more true and fine and smooth haptic effect, reduces the force feedback information of object, realizes the reproduction to human skin tactile
As technical problem urgently to be resolved hurrily at present.
The content of the invention
It is contemplated that at least solving one of technical problem present in prior art or correlation technique.
Therefore, it is an object of the present invention to propose it is a kind of result in more true and fine and smooth haptic effect with
Realize the tactile force feedback system to human body tactile sense reproduction.
It is another object of the present invention to propose a kind of tactile force feedback network system realization.
To achieve the above object, a kind of embodiment according to the first aspect of the invention, it is proposed that tactile force feedback system,
Including：Force feedback data obtains mechanism and force feedback executing agency；The force feedback data, which obtains mechanism, to be included：For recording skin
The deformation data that skin contact site is produced, and according to the first inverting model of deformation data generation electric signal, and according to
The electric signal generates the data processing equipment of force feedback data information；The force feedback executing agency includes：It can produce and institute
The second inverting model of the corresponding mechanical deformation of deformation data is stated, and it is described for driving second inverting model to occur
The drive device of mechanical deformation.
In the technical scheme, the deformation data that the first inverting model record skin contact part position is produced, and according to deformation
Information produces electric signal, and force feedback data information is generated after signal transacting, when needing to perform force feedback system, driving dress
Reading force feedback data information is put, the second inverting model of driving produces the mechanical deformation corresponding with deformation data, compared to existing
Have technology provide force feedback system using " multi-spindle machining strain gauge " gather force feedback data information, with electromagnetism or other
Method driving balancing weight produces displacement, and produces the force feedback mode shaken, the tactile force feedback that the present invention is provided by displacement
System records deformation data by using the first inverting model and the second inverting model produces the machinery corresponding with deformation data
Deformation, results in more true and fine and smooth haptic effect, reduces the force feedback information of object, realizes to human skin tactile
Reproduction.In addition, tactile force feedback system according to the above embodiment of the present invention, can also have technology additional as follows special
Levy：
According to one embodiment of present invention, first inverting model includes：It is multiple to be arranged in array and produce described
First miniature transducing unit of electric signal；The data processing equipment includes：For gathering the electric signal, and to the telecommunications
Number carry out the data acquisition module of digital processing generation data signal and the force feedback data is generated according to the data signal
The data generation module of information.
In the technical scheme, the first miniature transducing unit is arranged in array, the first miniature transducing unit that array is set
It is continuously arranged on collection thing surface and constitutes tactile collection face, shape and spatial distribution and the specific collection in this collection face
The physical form of thing is relevant, and when skin contact part position is deformed upon, each first miniature transducing unit can be recorded accordingly
Deformation data and generate corresponding electric signal, the electric signal of data processing equipment collection the first miniature transducing unit generation is raw
Into force feedback data information, and then in force feedback executing agency implementation capacity feedback action, according to force feedback data information, obtain
More true and fine and smooth haptic effect, reduces the force feedback information of object, realizes the effect of the reproduction to human skin tactile.
According to one embodiment of present invention, the data acquisition module includes：With the described first miniature transducing unit one
One is corresponding and for being amplified the amplifier of processing to the electric signal, and corresponding with the amplifier and will amplification
The electric signal after processing is converted into the analog-digital converter of the data signal.
In the technical scheme, the voltage letter produced due to the first independent miniature transducing unit when deforming upon
Number amplitude very little is then fed into analog-digital converter and is converted into data signal, it is necessary to carry out signal amplification by amplifier, because
This, each the first independent miniature transducing unit will have an amplifier and analog-digital converter, be responsible for specially corresponding first
Small electrical signals produced by miniature transducing unit are amplified and carry out analog-to-digital conversion, are converted into data signal, data generation module
Data signal is generated into corresponding force feedback data information.
According to one embodiment of present invention, the data generation module includes：Coding pressure is carried out to the data signal
The data compression unit of contracting and the Data Identification unit that message identification is carried out to the data signal.
In the technical scheme, the data signal after being changed to each analog-digital converter can use similar when encoding
PCM (Pulse Code Modulation, pulse code modulation) technology of audio area；It can also use similar in compression
MP3 (the Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard of audio area
Audio aspect 3) lossy compression method form, the insensitive data of skin tactile are only filtered to reach the purpose of compression, can also
Using similar FLAC (Free Lossless Audio Codec, Lossless Audio Compression coding) or APE (a kind of digital music without
Damage compressed format) using prediction and entropy code in the form of progress high-quality Lossless Compression.
According to one embodiment of present invention, second inverting model includes：It is multiple to be arranged in array and produce
Second miniature transducing unit of the mechanical deformation；The drive device includes：It is corresponding with the described second miniature transducing unit
And for driving the described second miniature transducing unit to produce the drive circuit of the mechanical deformation, being believed according to the force feedback data
The breath control drive circuit produces the data control block of drive signal and reads the force feedback data information and by institute
State data communication module of the force feedback data information transmission to the data control block.
In the technical scheme, pass through multiple the second miniature transducing unit implementation capacity feedback actions being arranged in array, battle array
The second miniature transducing unit that row are set, which is continuously arranged on target surface and constitutes tactile force feedback, performs face, this execution
The shape and spatial distribution in face are relevant with the physical form of specific object, and data communication module reads force feedback data letter
Breath, and by force feedback data information transmission to data control block, data control block controls to drive according to force feedback data information
Dynamic circuit produces drive signal, and the miniature transducing unit of drive signal driving second produces the mechanical shape corresponding with deformation data
Become, form more true and fine and smooth haptic effect, reduce the force feedback information of object, realize the reproduction to human skin tactile
Effect.
According to one embodiment of present invention, the drive circuit includes：With a pair of the described second miniature transducing unit 1
The H-bridge circuit answered and the PWM unit corresponding with the H-bridge circuit, the H-bridge circuit miniature are changed with corresponding described second
Energy unit connection, one end of the PWM units is connected with the corresponding H-bridge circuit, and the other end controls mould with the data
Block is connected, and the drive signal includes pwm signal and commutation control signal.
In the technical scheme, in order to control the deformation direction of the second miniature transducing unit, it is necessary to micro- to being applied to second
Voltage direction on type transducing unit is controlled, therefore the deformation of the second miniature transducing unit can be controlled by H-bridge circuit
Direction, specifically, is only located at two transistor turns on diagonal, with micro- second in the same time, control H-bridge circuit
Apply voltage on type transducing unit, it is possible to by selecting the diagonal turned in two diagonal, to realize to applying
The voltage direction for being added in the second miniature transducing unit is controlled.Meanwhile, it can be inputted by controlling the transistor into H-bridge circuit
Pulse signal dutycycle, be controlled with the deformation quantity to the second miniature transducing unit.Wherein, the commutation in drive signal
Control signal is used for the transistor for controlling to turn in H-bridge circuit, the transistor input that pwm signal is used to control into H-bridge circuit
Pulse signal dutycycle.By using drive circuit of the H-bridge circuit combination PWM units as the second miniature transducing unit,
So that the transistor only turned on by changing in H-bridge circuit can just conveniently realize the deformation side to the second miniature transducing unit
To being controlled, and due to the dutycycle for the pwm signal that H-bridge circuit is sent in PWM units it is different when, the second miniature transducing
The deformation quantity of unit is different, thus only need adjust pwm signal dutycycle can just control the second miniature transducing unit
Deformation quantity, the larger deformation range of the second miniature transducing unit can be realized, meanwhile, H-bridge circuit it is simple in construction, it is easy to it is real
It is existing.
In addition, pwm signal is pulse width modulating signal, the dutycycle of pwm signal is high level duration in signal period
With the ratio in cycle, therefore the dutycycle of pwm signal can be controlled by the high level duration adjusted in signal period；
And commutation control signal is the direction for controlling the conducting of transistor in H-bridge circuit, with to being applied to the second miniature transducing list
Voltage direction in member is controlled, and then controls the deformation direction of the second miniature transducing unit.
According to one embodiment of present invention, the drive circuit includes：With a pair of the described second miniature transducing unit 1
The power amplifier and the digital analog converter corresponding with the power amplifier answered, the power amplifier and corresponding institute
The second miniature transducing unit connection is stated, one end of the digital analog converter is connected with the data control block, the other end and institute
Power amplifier connection is stated, the drive signal includes voltage amplitude signal.
In the technical scheme, due to data control block export signal for data signal, it is necessary to send into digital-to-analogue conversion
Voltage signal is converted into device, and the voltage signal amplitude after converting is smaller, it is necessary to be amplified by power amplifier, simultaneously
Because the drive signal to each the second independent miniature transducing unit transportation is different, therefore, each independent second miniature changes
Energy unit carries out the data signal for having a power amplifier and digital analog converter to be responsible for specially exporting data control block
Digital-to-analogue conversion simultaneously carries out enhanced processing.And the drive circuit being composed in series by using digital analog converter and power amplifier, energy
It is enough to realize trickleer deformation quantity, to more precisely control the deformation quantity of the second miniature transducing unit.Wherein, voltage amplitude
Signal is mainly used in driving the deformation quantity of the second miniature transducing unit, specifically, if the amplitude of voltage amplitude signal is smaller, the
The deformation quantity of two miniature transducing units is smaller, relatively, if the amplitude of voltage amplitude signal is larger, the second miniature transducing unit
Deformation quantity it is larger, therefore the value for the data signal that can be exported by control data control module, with to passing through digital-to-analogue conversion
Voltage amplitude afterwards is controlled, and then the deformation quantity of the second miniature transducing unit is controlled.
In the above-mentioned technical solutions, it is preferable that the first miniature transducing unit is the first electroactive polymer, described the
One inverting model includes the first process circuit for being used to handle first electroactive polymer；Described second miniature changes
Energy unit is the second electroactive polymer, and second inverting model includes being used for second electroactive polymer
The second processing circuit of reason.
In the technical scheme, electroactive polymer (Electroactive Polymers, EAP) is that a class can be in electricity
Under field action, change the polymeric material of shape or size, this kind of material is typically used on actuator and sensor.It is electroactive
The typical characteristics of polymer are can significantly to be deformed while huge stress effect is maintained, and electroactive polymerization
Thing generally can all be placed on to its research as a kind of transductive material, current industry in itself and convert electrical energy into mechanical energy, but
It is that itself also has the ability that deformation is converted into electric signal, can be used for gathering deformation data.Also, electroactive polymer
Also there is the features such as driving power is low, driving is simple, material is frivolous.Meanwhile, the signal wire required for driving electroactive polymer
It is considerably less, and very small module can be divided into, you can area arrangement is carried out with the pixel with similar liquid crystal display.By
Have the advantages that power is low, driving is simple, material is frivolous in electroactive polymer, therefore by using the first electroactive polymer
Realize tactile force feedback system with the second electroactive polymer, can on the basis of electroactive polymer advantage is made full use of,
Obtain high-resolution tactile force feedback effect.
A kind of embodiment according to a second aspect of the present invention, it is also proposed that tactile force feedback network system realization, including：Root
Electric signal is generated according to the deformation data produced with skin contact part position, force feedback data information is generated according to the electric signal；When
When needing to produce tactile force feedback, read the force feedback data information, according to the force feedback data information produce with it is described
The corresponding mechanical deformation of deformation data.
In the technical scheme, by recording the deformation data that skin contact part position is produced, and deformation data is changed into
Electric signal, to generate force feedback data information according to electric signal so that when performing tactile force feedback, reads force feedback data letter
Breath, the mechanical deformation corresponding with deformation data is generated according to force feedback data information.Compared to using " multi-spindle machining stress is passed
Sensor " gathers force feedback data information, produces displacement with electromagnetism or other method driving balancing weight, and produce vibrations by displacement
Force feedback mode, result in more true and fine and smooth haptic effect, reduce the force feedback information of object, realize to the mankind
The effect of dermotactile reproduction.
According to one embodiment of present invention, concretely comprising the following steps for force feedback data information is generated according to the electric signal：
The electric signal is gathered, and digital processing is carried out to the electric signal and generates data signal；Institute is generated according to the data signal
State force feedback data information.
According to one embodiment of present invention, produced according to the force feedback data information corresponding with the deformation data
Mechanical deformation concretely comprise the following steps：Drive signal is produced according to the force feedback data information；Produced according to the drive signal
The raw mechanical deformation corresponding with the deformation data.
According to one embodiment of present invention, the drive signal includes：Pwm signal and commutation control signal.
Pwm signal is pulse width modulating signal, and the dutycycle of pwm signal is high level duration and cycle in signal period
Ratio, therefore the dutycycle of pwm signal can be controlled by the high level duration adjusted in signal period；And commutate
Control signal is the direction for controlling the conducting of transistor in H-bridge circuit, with to being applied on the second miniature transducing unit
Voltage direction is controlled, and then controls the deformation direction of the second miniature transducing unit.
According to one embodiment of present invention, the drive signal includes voltage amplitude signal.
Voltage amplitude signal is mainly used in driving the deformation quantity of the second miniature transducing unit, specifically, if voltage amplitude is believed
Number amplitude it is smaller, then the deformation quantity of the second miniature transducing unit is smaller, relatively, if the amplitude of voltage amplitude signal is larger,
Then the deformation quantity of the second miniature transducing unit is larger, therefore the data signal that can be exported by control data control module
Value, to be carried out to being controlled by the voltage amplitude after digital-to-analogue conversion, and then to the deformation quantity of the second miniature transducing unit
Control.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 shows the schematic block diagram of tactile force feedback system according to an embodiment of the invention；
Fig. 2 shows that the second miniature transducing unit according to an embodiment of the invention has the signal of reversible transduction efficiency
Figure；
Fig. 3 A show that H-bridge circuit drives the electricity that the second miniature transducing unit is expanded according to an embodiment of the invention
Line structure schematic diagram；
Fig. 3 B show that H-bridge circuit drives the electricity that the second miniature transducing unit is shunk according to an embodiment of the invention
Line structure schematic diagram；
Fig. 4 shows drive circuit schematic diagram according to an embodiment of the invention；
Fig. 5 shows the schematic flow diagram of tactile force feedback network system realization according to an embodiment of the invention；
Fig. 6 A show that the system architecture of acquisition tactile force feedback data message according to an embodiment of the invention is shown
It is intended to；
Fig. 6 B show the data collecting system in the system of the acquisition tactile force feedback data message shown in Fig. 6 A
Structural representation；
Fig. 7 A show the structural representation of tactile force feedback execution system according to an embodiment of the invention；
Fig. 7 B to Fig. 7 C show the structural representation of the drive circuit in the tactile force feedback execution system shown in Fig. 7 A
Figure；
Fig. 8 A show that tactile collection face changes into touching for low resolution by high-resolution according to an embodiment of the invention
Feel that force feedback performs the schematic diagram in face；
Fig. 8 B show that tactile collection face changes into high-resolution touch by low resolution according to an embodiment of the invention
Feel that force feedback performs the schematic diagram in face；
The schematic diagram of system is realized in the force feedback that Fig. 9 A to Fig. 9 B show according to another embodiment of the invention.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description in order to fully understand the present invention, and still, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not limited to following public affairs
The limitation for the specific embodiment opened.
Fig. 1 shows the schematic block diagram of tactile force feedback system according to an embodiment of the invention.
As shown in figure 1, tactile force feedback system 100 according to an embodiment of the invention, including：Force feedback data obtains machine
Structure 102 and force feedback executing agency 104；Force feedback data, which obtains mechanism 102, to be included：For recording what skin contact part position was produced
Deformation data, and according to the first inverting model 106 of deformation data generation electric signal, and according to electric signal generative power feedback coefficient
It is believed that the data processing equipment 108 of breath；Force feedback executing agency 104 includes：The mechanical shape corresponding with deformation data can be produced
The second inverting model 110 become, and for driving the second inverting model 110 to occur the drive device 112 of mechanical deformation.
In the technical scheme, the deformation data that skin contact part position is produced, and root are recorded by the first inverting model 106
Electric signal is produced according to deformation data, force feedback data information is generated after signal transacting, when needing to perform force feedback, driving
Device 112 reads force feedback data information, and drives the second inverting model 110 to produce the mechanical shape corresponding with deformation data
Become, use " multi-spindle machining strain gauge " to gather force feedback data information compared to the force feedback system that prior art is provided,
Displacement is produced with electromagnetism or other method driving balancing weight, and the force feedback mode of vibrations is produced by displacement, it is of the invention to provide
Tactile force feedback system 100 by using the first inverting model 106 record deformation data and the second inverting model 110 produce with
The corresponding mechanical deformation of deformation data, results in more true and fine and smooth haptic effect, the force feedback letter of reduction object
Breath, realizes the reproduction to human skin tactile.
In addition, tactile force feedback system 100 according to the above embodiment of the present invention, can also have technology additional as follows
Feature：
According to one embodiment of present invention, the first inverting model 106 includes：It is multiple to be arranged in array and produce electric signal
The first miniature transducing unit 1062；Data processing equipment 108 includes：Numeral is carried out for gathering electric signal, and to electric signal
The data acquisition module 1082 of processing generation data signal and the data for generating force feedback data information according to data signal are generated
Module 1084.
In the technical scheme, the first miniature transducing unit 1062 is arranged in array, the first miniature transducing that array is set
Unit 1062 is continuously arranged on collection thing surface and constitutes tactile collection face, the shape and spatial distribution and tool in this collection face
The physical form of the collection thing of body is relevant, when skin contact part position is deformed upon, each first miniature transducing unit 1062
Corresponding deformation data can be recorded and electric signal is generated, data processing equipment 108 gathers the first miniature transducing unit 1062 and given birth to
Into electric signal, formed and be more nearly the force feedback data information of human tactile, and then in the implementation capacity of force feedback executing agency 104
During feedback action, according to force feedback data information, more true and fine and smooth haptic effect is resulted in, the power for reducing object is anti-
Feedforward information, realizes the effect of the reproduction to human skin tactile.
According to one embodiment of present invention, data acquisition module 1082 includes：With the first miniature transducing unit 1,062 1
One is corresponding and for being amplified the amplifier (not shown in figure 1) of processing to electric signal, and it is corresponding with amplifier simultaneously
Electric signal after enhanced processing is converted to the analog-digital converter (not shown in figure 1) of data signal.
In the technical scheme, the electricity produced due to the first independent miniature transducing unit 1062 when deforming upon
Signal amplitude very little is pressed, it is necessary to carry out signal amplification by amplifier, is then fed into analog-digital converter and is converted into data signal,
Therefore, each the first independent miniature transducing unit 1062 will have an amplifier and analog-digital converter, be responsible for specially correspondence
The first miniature transducing unit 1062 produced by small electrical signals amplify and carry out analog-to-digital conversion, be converted into data signal, number
Data signal is generated into corresponding force feedback data information according to generation module 1084.
According to one embodiment of present invention, data generation module 1084 includes：Compression coding is carried out to data signal
Data compression unit (not shown in figure 1) and the Data Identification unit (not shown in figure 1) that message identification is carried out to data signal.
In the technical scheme, the data signal after being changed to each analog-digital converter can use similar when encoding
PCM (Pulse Code Modulation, pulse code modulation) technology of audio area；It can also use similar in compression
MP3 (the Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard of audio area
Audio aspect 3) lossy compression method form, the insensitive data of skin tactile are only filtered to reach the purpose of compression, can also
Using similar FLAC (Free Lossless Audio Codec, Lossless Audio Compression coding) or APE (a kind of digital music without
Damage compressed format) using prediction and entropy code in the form of progress high-quality Lossless Compression.
According to one embodiment of present invention, the second inverting model 110 includes：It is multiple to be arranged in array and produce machine
Second miniature transducing unit 1102 of tool deformation；Drive device 112 includes：It is corresponding with the second miniature transducing unit 1102 to be used in combination
The drive circuit 1122 of mechanical deformation is produced in the miniature transducing unit 1102 of driving second, according to the control drive of force feedback data information
Dynamic circuit 1122 produces the data control block 1124 of drive signal and reads force feedback data information and by force feedback data
Data communication module 1126 of the information transmission to data control block 1124.
In the technical scheme, perform force feedback by multiple the second miniature transducing units 1102 being arranged in array and move
Make, the second miniature transducing unit 1102 that array is set is continuously arranged on target surface and constitutes tactile force feedback execution
Face, the shape and spatial distribution that this performs face is relevant with the physical form of specific object, and data communication module 1126 is read
Power taking feedback data information, and by force feedback data information transmission to data control block 1124, data control block 1124
Drive signal is produced according to force feedback data information control drive circuit 1122, drive signal drives the second miniature transducing unit 1102
Corresponding mechanical deformation is produced, more true and fine and smooth haptic effect is formed, the force feedback information of object is reduced, realized to people
The effect of the dermotactile reproduction of body.
According to one embodiment of present invention, drive circuit 1122 includes：With a pair of the second miniature transducing unit 1,102 1
The H-bridge circuit (not shown in figure 1) and the PWM unit (not shown in figure 1) corresponding with H-bridge circuit answered, H-bridge circuit with it is relative
The the second miniature transducing unit 1102 answered is connected, and one end of PWM units is connected with corresponding H-bridge circuit, the other end and data
Control module 1124 is connected, and drive signal includes pwm signal and commutation control signal.
In the technical scheme, in order to control the deformation direction of the second miniature transducing unit 1102, it is necessary to being applied to
Voltage direction on two miniature transducing units 1102 is controlled, therefore can control the second miniature transducing list by H-bridge circuit
The deformation direction of member 1102, specifically, two transistors being only located in the same time, control H-bridge circuit on diagonal are led
It is logical, to apply voltage on the second miniature transducing unit 1102, it is possible to by entering to the diagonal turned in two diagonal
Row selection, is controlled with realizing to the voltage direction for being applied to the second miniature transducing unit 1102.Meanwhile, control can be passed through
The dutycycle for the pulse signal that transistor is inputted into H-bridge circuit, to be carried out to the deformation quantity of the second miniature transducing unit 1102
Control.Wherein, the commutation control signal in drive signal is used for the transistor for controlling to turn in H-bridge circuit, and pwm signal is used to control
Make the dutycycle for the pulse signal that the transistor into H-bridge circuit is inputted.By using H-bridge circuit combination PWM units driving the
The deformation of two miniature transducing units 1102 so that the transistor only turned on by changing in H-bridge circuit can just be conveniently realized
The deformation direction of second miniature transducing unit 1102 is controlled, and due to being sent to the PWM of H-bridge circuit in PWM units
When the dutycycle of signal is different, the deformation quantity of the second miniature transducing unit 1102 is different, therefore only needs to adjust pwm signal
Dutycycle can just control the deformation quantity of the second miniature transducing unit 1102, can realize the second miniature transducing unit 1102 compared with
Big deformation range, meanwhile, H-bridge circuit it is simple in construction, it is easy to accomplish.
In addition, pwm signal is pulse width modulating signal, the dutycycle of pwm signal is high level duration in signal period
With the ratio in cycle, therefore the dutycycle of pwm signal can be controlled by the high level duration adjusted in signal period；
And commutation control signal is the direction for controlling the conducting of transistor in H-bridge circuit, with to being applied to the second miniature transducing list
Voltage direction in member 1102 is controlled, and then controls the deformation direction of the second miniature transducing unit 1102.
Specifically, as shown in (a) in Fig. 2, by taking the second miniature transducing unit 1102 as an example, applied when to A electrodes to B electrodes
Plus during positive voltage, the volume of the second miniature transducing unit 1102 produces expansion；As shown in (b) in Fig. 2, when to B electrodes to A electrodes
When applying positive voltage, the volume of the second miniature transducing unit 1102 produces contraction, therefore can be by controlling miniature to change to second
The voltage direction that energy unit 1102 is provided is controlled to the deformation direction of the second miniature transducing unit 1102.
As shown in Figure 3A, in H-bridge circuit, the pulse signal of predetermined duty cycle is conveyed to the control end of transistor 302, and
Transistor 306 (pulse signal for being 1 to the control end conveying dutycycle of transistor 306) is opened, and closes the He of transistor 304
Transistor 308 (pulse signal for being respectively 0 to the control end conveying dutycycle of transistor 304 and transistor 308), then the
Positive voltage is applied to B electrodes to A electrodes on two miniature transducing units 1102, therefore the second miniature volume of transducing unit 1102 is produced
Expand, and the deformation quantity of expansion is directly proportional to the dutycycle of the pulse signal of the control end conveying to transistor 302.
As shown in Figure 3 B, in H-bridge circuit, the pulse signal of predetermined duty cycle is conveyed to the control end of transistor 308, and
Transistor 304 (pulse signal for being 1 to the control end conveying dutycycle of transistor 304) is opened, and closes the He of transistor 302
Transistor 306 (pulse signal for being respectively 0 to the control end conveying dutycycle of transistor 302 and transistor 306), then the
Positive voltage, therefore the volume production of the second miniature transducing unit 1102 are applied to A electrodes to B electrodes on two miniature transducing units 1102
Life is shunk, and the deformation quantity shunk is directly proportional to the dutycycle of the pulse signal of the control end conveying to transistor 308.
Certainly, in order to realize trickleer deformation quantity, to more precisely control the above-mentioned second miniature transducing list
The deformation quantity of member 1102, can be composed in series by as shown in Figure 4 using digital analog converter 402 with power amplifier 404
Drive circuit, be controlled with the deformation quantity to the second miniature transducing unit 1102.I.e. drive circuit 1122 can also be another
A kind of form, that is, include：With the second miniature one-to-one power amplifier (not shown in figure 1) of transducing unit 1102 and and work(
The corresponding digital analog converter (not shown in figure 1) of rate amplifier, power amplifier and the corresponding second miniature transducing unit
1102 connections, one end of digital analog converter is connected with data control block 1124, and the other end is connected with power amplifier, driving letter
Number include voltage amplitude signal.Voltage amplitude signal is mainly used in driving the deformation quantity of the second miniature transducing unit 1102, specifically
Ground, if the amplitude of voltage amplitude signal is smaller, the deformation quantity of the second miniature transducing unit 1102 is smaller, relatively, if voltage
The amplitude of range signal is larger, then the deformation quantity of the second miniature transducing unit 1102 is larger, therefore can pass through control data control
The value for the data signal that molding block 1124 is exported, with to being controlled by the voltage amplitude after digital-to-analogue conversion, and then to the
The deformation quantity of two miniature transducing units 1102 is controlled.
Further, since electroactive polymer (Electroactive Polymers, EAP) is that a class can be in electric field action
Under, change the polymeric material of shape or size, this kind of material is typically used on actuator and sensor.Electroactive polymer
Typical characteristics be that can significantly be deformed while the effect of huge stress is maintained, and electroactive polymer is in itself
Its research generally can be all placed on and convert electrical energy into mechanical energy as a kind of transductive material, current industry, but it is originally
Body also has the ability that deformation is converted into electric signal, can be used for gathering deformation data.Also, electroactive polymer also has
The features such as driving power is low, driving is simple, material is frivolous.Meanwhile, the signal wire required for driving electroactive polymer is considerably less,
And very small module can be divided into, you can area arrangement is carried out with the pixel with similar liquid crystal display.Therefore with
On embodiment in, the first miniature transducing unit 1062 can be the first electroactive polymer, the first inverting model 106 include use
In the first process circuit (not shown in figure 1) handled the first electroactive polymer；Second miniature transducing unit 1102
For the second electroactive polymer, the second inverting model 110 is included at second for being handled the second electroactive polymer
Manage circuit (not shown in figure 1).On the basis of electroactive polymer advantage is made full use of, to obtain high-resolution haptic force
Feedback effects.
Certainly, the first miniature transducing unit 1102 of miniature transducing unit 1062 and second can also be other possess deformation-
The material of the reversible transduction efficiency of electric signal, such as piezoelectric ceramics, marmem.
Fig. 5 shows the schematic flow diagram of tactile force feedback network system realization according to an embodiment of the invention.
As shown in figure 5, tactile force feedback network system realization according to an embodiment of the invention, including：Step 502, root
Electric signal is generated according to the deformation data produced with skin contact part position, force feedback data information is generated according to electric signal；Step
504, when needing to produce tactile force feedback, force feedback data information is read, is produced and believed with deformation according to force feedback data information
The corresponding mechanical deformation of manner of breathing.
In the technical scheme, by recording the deformation data that skin contact part position is produced, and produced according to deformation data
Electric signal, force feedback data information is generated by electric signal so that when performing tactile force feedback, reads force feedback data letter
Breath, force feedback data information is changed into the mechanical deformation corresponding with deformation data.Compared to using " multi-spindle machining stress is passed
Sensor " gathers force feedback data information, produces displacement with electromagnetism or other method driving balancing weight, and produce vibrations by displacement
Force feedback mode, result in more true and fine and smooth haptic effect, reduce the force feedback of object, realize to human skin
The effect of the reproduction of tactile.
According to one embodiment of present invention, concretely comprising the following steps for force feedback data information is generated according to electric signal：Collection
Electric signal, and to electric signal progress digital processing generation data signal；Force feedback data information is generated according to data signal.
According to one embodiment of present invention, the mechanical shape corresponding with deformation data is produced according to force feedback data information
What is become concretely comprises the following steps：Read force feedback data information；Drive signal is produced according to force feedback data information；According to drive signal
Produce the mechanical deformation corresponding with deformation data.
According to one embodiment of present invention, drive signal includes：Pwm signal and commutation control signal.
Pwm signal is pulse width modulating signal, and the dutycycle of pwm signal is high level duration and cycle in signal period
Ratio, therefore the dutycycle of pwm signal can be controlled by the high level duration adjusted in signal period；And commutate
Control signal is the direction for controlling the conducting of transistor in H-bridge circuit, with to being applied on the second miniature transducing unit
Voltage direction is controlled, and then controls the deformation direction of the second miniature transducing unit.
According to one embodiment of present invention, drive signal includes voltage amplitude signal.
Voltage amplitude signal is mainly used in driving the deformation quantity of the second miniature transducing unit, specifically, if voltage amplitude is believed
Number amplitude it is smaller, then the deformation quantity of the second miniature transducing unit is smaller, relatively, if the amplitude of voltage amplitude signal is larger,
Then the deformation quantity of the second miniature transducing unit is larger, therefore the data signal that can be exported by control data control module
Value, to be carried out to being controlled by the voltage amplitude after digital-to-analogue conversion, and then to the deformation quantity of the second miniature transducing unit
Control.
The realization of the tactile force feedback system of an alternative embodiment of the invention is discussed in detail below in conjunction with Fig. 6 A to Fig. 8 B
Scheme.
Fig. 6 A show that the system architecture of acquisition tactile force feedback data message according to an embodiment of the invention is shown
It is intended to.
As shown in Figure 6A, the system of generation force feedback data information according to an embodiment of the invention, including：
Miniature transducing unit 602, miniature transducing unit 602 can convert mechanical energy into electric energy, i.e., according to deformation volume production
Raw corresponding electric signal.
Tactile gathers face 604, and tactile gathers face 604 and is made up of multiple miniature combinations of transducing unit 602, and face is gathered in tactile
On 604, multiple miniature transducing units 602 are to be continuously arranged in the surface that tactile gathers face 604.Tactile gathers the shape in face 604
It is relevant with the physical form of specific collected thing with spatial distribution.
Data collecting system 606, the electric signal for gathering each miniature transducing unit 602 on tactile collection face 604, and
Send computer system 608 to after digitized processing.
Computer system 608, the data for data collecting system 606 to be transmitted carry out compression coding and message identification,
To generate force feedback data information 610.
Force feedback data information 610 be it is encoded compression and message identification after generate.
The collection of the high-resolution force feedback information of object body surface can be realized by the system, for realize space and when
Between upper continuous tactile force feedback data source is provided.
Wherein, the concrete structure of data collecting system 606 is as shown in Figure 6B.
As shown in Figure 6B, the voltage signal amplitude produced when deforming upon due to independent miniature transducing unit 602 is very
It is small, it is necessary to be amplified by amplifier, be then re-fed into analog-digital converter and be converted into digital quantity.Therefore it is each independent micro-
Type transducing unit has an amplifier AMP and analog-digital converter ADC, by corresponding miniature transducing unit perceived it is micro-
Small deformation electric signal amplifies and carries out analog-to-digital conversion, is converted to digital quantity.Specifically, as shown in Figure 6B, corresponding to miniature transducing
The amplifier of unit 602 is 606A, and analog-digital converter is 606B.
After the deformation data of each independent miniature transducing unit is changed through analog-digital converter, by parallel-serial conversion logic control
Parallel data are converted into serial data by molding block 606C, and are sent in buffer 606D and are cached, transmitting element
606E sends data cached such as USB interface, bluetooth etc. of passing through in buffer 606D to computer system 608.Wherein, cache
Device 606D can be FIFD (First Input First Output, fifo queue).
Fig. 7 A show the structural representation of tactile force feedback execution system according to an embodiment of the invention.
As shown in Figure 7 A, force feedback system according to an embodiment of the invention, including：
Force feedback data information 610 is tactile force feedback generation system as shown in FIG by collection, compression coding
With generate after message identification.
User equipment 704, can be computer or mobile phone etc..User equipment 704 can run related to tactile force feedback
Application program, when needing to produce tactile force feedback, read force feedback data information 610, and send controller 706 to.
Controller 706, the force feedback data information for being transmitted according to user equipment 704 is converted to the institute of drive circuit 708
The drive signal needed.
Drive circuit 708, is produced for driving tactile force feedback to perform each miniature transducing unit 710 on face 712
Corresponding mechanical deformation.
Miniature transducing unit 710, drive signal drives miniature transducing unit 710 to produce corresponding mechanical deformation.
Tactile force feedback performs face 712, including multiple miniature transducing units 710.Tactile force feedback performs the shape in face 712
It is relevant with the physical form of specific object with spatial distribution.
Wherein, the structure of drive circuit 708 is as shown in Fig. 7 B and Fig. 7 C.
As shown in Figure 7 B, drive circuit 708 includes H-bridge circuit 7084 and PWM units 7082, and controller 706 is according to user
The tactile force feedback data control PWM units 7082 that equipment 704 is transmitted produce pwm signal (the pulsewidth modulation letter of corresponding dutycycle
Number), input to H-bridge circuit 7084, to drive corresponding miniature transducing unit 710 to carry out deformation.Specifically, as shown in Figure 7 B,
PWM units 7082 drive miniature transducing unit 710 to deform upon with H-bridge circuit 7084.
In addition, drive circuit 708 can also coordinate power amplifier AMP's using digital analog converter DAC as seen in figure 7 c
Scheme realizes, what now controller 706 sent digital analog converter DAC to be tactile force feedback voltage amplitude signal it is corresponding
Data signal, digital analog converter DAC converts digital signals into corresponding voltage amplitude signal, and by power amplifier AMP
After being amplified, miniature transducing unit is driven to deform upon.Specifically, as seen in figure 7 c, digital analog converter 7086 coordinates work(
Rate amplifier 7088 is used to drive miniature transducing unit 710 to deform upon.
In the embodiment above, it is the even and continuous thing for being arranged in and needing to produce sense of touch that tactile force feedback, which performs face 712,
Body surface face, the physical form of this object is consistent when will be with collection, even if " resolution ratio " when to ensure to gather and
On object correct locus force feedback can occur for " resolution ratio " inconsistent remain on when final expression.Its
In, " resolution ratio " refers to that tactile collection face 604 is different from the ratio that tactile force feedback performs face 712.
Specifically, as shown in Figure 8 A, (a) figure is the tactile force feedback data profile collected, i.e. tactile collection face 604
On force feedback data distribution map, shade represents the degree of expansion or shrinkage, and (b) figure is that corresponding tactile force feedback is performed
Force feedback data distribution map on face 712, by that can be drawn in figure, the resolution ratio that tactile force feedback performs face 712 is less than tactile
The resolution ratio in collection face 604.
As shown in Figure 8 B, (a) figure is the tactile force feedback data profile collected, i.e. power on tactile collection face 604
Feedback data distribution map, shade represents the degree of expansion or shrinkage, and (b) figure is that corresponding tactile force feedback performs face 712
On force feedback data distribution map, by that can be drawn in figure, tactile force feedback perform face 712 resolution ratio be more than tactile gather face
604 resolution ratio.
In the tactile force feedback shown in Fig. 6 A to Fig. 8 B realizes system, the miniature transducing unit in tactile collection face 604
The miniature transducing unit performed with tactile force feedback on face 712 can be using electroactive polymer material or other tools
The material of the reversible transduction efficiency of standby deformation-electric signal, such as piezoelectric ceramics, marmem.
Below in conjunction with Fig. 9 A to Fig. 9 B, with the detailed description of specific one embodiment, power is anti-according to an embodiment of the invention
The technical scheme of system is realized in feedback.
In stereoscopic display interaction field, to be collided using the auxiliary equipments such as operation stick and the object of parallax outside screen
Or illustrated exemplified by intrusion interaction：
For example there is a kind of simulation cutter for coordinating three-dimensional display, it is mutual for the game of being cut or punctured dummy object
It is dynamic.When the hand-held this Virtual tool of operator cuts dummy object before screen, when not proposing cutting in correlation technique
Handle of a knife passes to the technical scheme of operator's active force.
And technique according to the invention scheme, as shown in Figure 9 A, tactile can be installed on the handle of a knife surface of real tool 902
Force feedback gathers face 906, and is connected to data collecting system 908 and computer system 910, and using the cutter in real scene
In cut the object (object 904 as illustrated in figure 9 a) being likely to occur in various virtual scenes, with generate force feedback data letter
Breath 912.
As shown in Figure 9 B, when operator cuts dummy object using simulation cutter in virtual scene, user equipment 914
The application program of upper operation such as panel computer mobile phone games machine judges that cutter cuts dummy object, and application program can be read
Corresponding tactile force feedback data send controller 916 in power taking feedback data information 912, and the control of controller 916 is installed on
Tactile force feedback on handle of a knife performs face 918 and deformed upon, and the skin of user can produce the simulation cutter in hand because of deformation
In the sensation of cutting object.
In addition, according to another specific embodiment of the present invention, tactile force feedback system can also be applied to medical science neck
In terms of the virtual teach-in device in domain, remote operation, assisted surgery.
Specifically, it is main to extrude the face elastic force of soft tissue model and soft including virtual operation instrument in Surgery Simulation
Viscous friction power on tissue surface.Illustrated below by taking the face elastic force that virtual operation instrument extrudes soft tissue model as an example：
Because during operation technique is emulated, operator needs real-time perception virtual operation instrument to extrude soft tissue mould
The feedback informations such as the face elastic force of type.Actual tactile force feedback is to be embodied in operator to perceive work of the manikin for application
Resistance effect firmly.It therefore, it can face elastic force feedback data during collection operating theater instruments extruding soft tissue in advance, specifically,
Increase tactile force feedback data acquisition face in operating theater instruments, when operating theater instruments extrudes soft tissue, record corresponding force feedback
Data message, and generate force feedback data information.When operator needs to carry out virtual operation, force feedback data information is read,
Deform upon, passed through with being produced by operator on tactile force feedback execution face of the virtual operation instrument with operator's contact position
Operating theater instruments extrudes the sensation of human body soft tissue.
According to still a further embodiment, tactile force feedback system can also be applied to simulation skin field.Specifically
The some region of tactile on ground, such as human body skin is damaged, then the real skin in the region can be substituted by simulation skin, and is imitated
Mechanical deformation can be converted to electric signal by corium skin, when the simulation skin in the region touches object and deformed upon, production
Raw corresponding electric signal, electric signal is converted to human brain skin by special chip (such as nerve signal conversion chip) progress processing
The acceptable nerve signal of layer, and be sent to human brain cortex, then it can produce corresponding touch feeling.
Technical scheme is described in detail above in association with accompanying drawing, the present invention proposes a kind of new tactile force feedback
Implementation, results in more true and fine and smooth haptic effect, reduces the force feedback information of object, realizes to human skin
The reproduction of tactile.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of tactile force feedback system, it is characterised in that including：Force feedback data obtains mechanism and force feedback executing agency；
The force feedback data, which obtains mechanism, to be included：For recording the deformation data that skin contact part position is produced, and according to described
Deformation data produce electric signal the first inverting model, and according to the electric signal generate force feedback data information data at
Manage device；
The force feedback executing agency includes：The second transducing mould of the mechanical deformation corresponding with the deformation data can be produced
Block, and for driving second inverting model to occur the drive device of the mechanical deformation；
First inverting model includes：Multiple the first miniature transducing units for being arranged in array and producing the electric signal；
The data processing equipment includes：Number is generated for gathering the electric signal, and digital processing being carried out to the electric signal
The data acquisition module of word signal and the data generation module that the force feedback data information is generated according to the data signal；
Second inverting model includes：Multiple the second miniature transducing lists for being arranged in array and the mechanical deformation being produced
Member；
The drive device includes：It is corresponding with the described second miniature transducing unit and for driving the described second miniature transducing list
Member produces the drive circuit of the mechanical deformation, is controlled the drive circuit to produce driving letter according to the force feedback data information
Number data control block and read the force feedback data information and by the force feedback data information transmission to the number
According to the data communication module of control module；
The drive circuit includes：With the described second miniature one-to-one H-bridge circuit of transducing unit and with the H-bridge circuit phase
Corresponding PWM units, the H-bridge circuit is connected with the corresponding described second miniature transducing unit, one end of the PWM units
It is connected with the corresponding H-bridge circuit, the other end is connected with the data control block, the drive signal is believed including PWM
Number and commutation control signal.
2. tactile force feedback system according to claim 1, it is characterised in that the data acquisition module includes：With institute
State the first miniature transducing unit and correspond and be used for the amplifier that processing is amplified to the electric signal, and put with described
Big device is corresponding and the electric signal after enhanced processing is converted into the analog-digital converter of the data signal.
3. tactile force feedback system according to claim 2, it is characterised in that the data generation module includes：To institute
State the Data Identification list that data signal carries out the data compression unit of compression coding and message identification is carried out to the data signal
Member.
4. tactile force feedback system according to claim 1, it is characterised in that the first miniature transducing unit is first
Electroactive polymer, first inverting model includes the first processing for being used to handle first electroactive polymer
Circuit；The second miniature transducing unit is the second electroactive polymer, and second inverting model includes being used for described the
The second processing circuit that two electroactive polymers are handled.
5. a kind of tactile force feedback system, it is characterised in that including：Force feedback data obtains mechanism and force feedback executing agency；
The force feedback data, which obtains mechanism, to be included：For recording the deformation data that skin contact part position is produced, and according to described
Deformation data produce electric signal the first inverting model, and according to the electric signal generate force feedback data information data at
Manage device；
The force feedback executing agency includes：The second transducing mould of the mechanical deformation corresponding with the deformation data can be produced
Block, and for driving second inverting model to occur the drive device of the mechanical deformation；
First inverting model includes：Multiple the first miniature transducing units for being arranged in array and producing the electric signal；
The data processing equipment includes：Number is generated for gathering the electric signal, and digital processing being carried out to the electric signal
The data acquisition module of word signal and the data generation module that the force feedback data information is generated according to the data signal；
Second inverting model includes：Multiple the second miniature transducing lists for being arranged in array and the mechanical deformation being produced
Member；
The drive device includes：It is corresponding with the described second miniature transducing unit and for driving the described second miniature transducing list
Member produces the drive circuit of the mechanical deformation, is controlled the drive circuit to produce driving letter according to the force feedback data information
Number data control block and read the force feedback data information and by the force feedback data information transmission to the number
According to the data communication module of control module；
The drive circuit includes：Put with the described second miniature one-to-one power amplifier of transducing unit and with the power
The corresponding digital analog converter of big device, the power amplifier is connected with the corresponding described second miniature transducing unit, described
One end of digital analog converter is connected with the data control block, and the other end is connected with the power amplifier, the driving letter
Number include voltage amplitude signal.
6. tactile force feedback system according to claim 5, it is characterised in that the data acquisition module includes：With institute
State the first miniature transducing unit and correspond and be used for the amplifier that processing is amplified to the electric signal, and put with described
Big device is corresponding and the electric signal after enhanced processing is converted into the analog-digital converter of the data signal.
7. tactile force feedback system according to claim 6, it is characterised in that the data generation module includes：To institute
State the Data Identification list that data signal carries out the data compression unit of compression coding and message identification is carried out to the data signal
Member.
8. tactile force feedback system according to claim 5, it is characterised in that the first miniature transducing unit is first
Electroactive polymer, first inverting model includes the first processing for being used to handle first electroactive polymer
Circuit；The second miniature transducing unit is the second electroactive polymer, and second inverting model includes being used for described the
The second processing circuit that two electroactive polymers are handled.
9. a kind of tactile force feedback network system realization, it is characterised in that including：
Deformation data according to being produced with skin contact part position generates electric signal, and force feedback data letter is generated according to the electric signal
Breath；
When needing to produce tactile force feedback, the force feedback data information is read, is produced according to the force feedback data information
The mechanical deformation corresponding with the deformation data；
Concretely comprising the following steps for the mechanical deformation corresponding with the deformation data is produced according to the force feedback data information：
Drive signal is produced according to the force feedback data information；
The mechanical deformation corresponding with the deformation data is produced according to the drive signal；
The drive signal includes：Pwm signal and commutation control signal；Or
The drive signal includes voltage amplitude signal.
10. tactile force feedback network system realization according to claim 9, it is characterised in that given birth to according to the electric signal
Into concretely comprising the following steps for force feedback data information：
The electric signal is gathered, and digital processing is carried out to the electric signal and generates data signal；
The force feedback data information is generated according to the data signal.
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| CN106325730A (en) * | 2015-07-03 | 2017-01-11 | 北京智谷睿拓技术服务有限公司 | Interaction method and display device |
| CN106100628A (en) * | 2016-06-01 | 2016-11-09 | 杨杰 | A kind of contact witch structure |
| CN105843406A (en) * | 2016-06-01 | 2016-08-10 | 杨杰 | Simulated epidermis with built-in tactile feedback |
| DE102016116763A1 (en) * | 2016-09-07 | 2018-03-08 | Epcos Ag | Device for generating a haptic feedback |
| CN108599615B (en) * | 2018-06-30 | 2024-04-19 | 浙江大学昆山创新中心 | Feedback type EAP driving system and feedback control method thereof |
| CN109620144A (en) * | 2018-11-27 | 2019-04-16 | 南京恩诺网络科技有限公司 | Tactile signal processing system |
| CN112214931B (en) * | 2020-10-05 | 2022-09-02 | 武汉大学 | Electromagnetic force feedback device and method for virtual interventional operation system |
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