CN104407707B - A kind of large texture tactile representation system - Google Patents
A kind of large texture tactile representation system Download PDFInfo
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- CN104407707B CN104407707B CN201410742573.1A CN201410742573A CN104407707B CN 104407707 B CN104407707 B CN 104407707B CN 201410742573 A CN201410742573 A CN 201410742573A CN 104407707 B CN104407707 B CN 104407707B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/048—Indexing scheme relating to G06F3/048
- G06F2203/04809—Textured surface identifying touch areas, e.g. overlay structure for a virtual keyboard
Abstract
The invention discloses a kind of large texture tactile representation system, can tactile sense reproduction spatial joint clearance in Centimeter Level and the large texture of the above.Including：Interaction flat board, finger positioner, mechanical driving device, piezoelectric ceramics matrix drive device, bidirectional information feedback device, the PC with 3D displays.By finger positioner real-time detection finger position, control piezoelectric ceramics matrix driving unit to drive by bidirectional information feedback device and become frictional force tactile texture display interaction flat board generation dither, and then realize that the small coarse texture sense on large texture surface reproduces；Control to become the translation and rotation of frictional force tactile texture display interaction flat board by Three Degree Of Freedom mechanical driving device to extrude the skin and muscle of finger, realize that the radian of large texture reproduces.There is high accuracy, high bandwidth, sample frequency high and low mechanical damping and dry friction, and meet the requirement such as stability, the transparency, passivity and dissipativeness.
Description
Technical field
It is more particularly to a kind of based on change frictional force tactile texture display and squash type the present invention relates to a kind of tactile representation system
The large texture tactile representation system that radian reproduces.
Background technology
It is focus and difficult point in haptic interaction research field that article surface vein, which reproduces, and it passes through simulation and grain surface
Concave-convex sense and harsh feeling when being in contact, operator is passed to by the physical attribute of texture.Recent domestic scholar attempts to lead to
The research meanses such as solution plane, image, compression test, electrophysiologic testing are crossed, to disclose the tactile mechanism of texture perception, are produced a large amount of
Tactile texture display device.It will be appreciated, however, that its inner space gap of texture that these devices are simulated is mostly in grade
And it is following, we are called " close grain ".
" large texture " be relative to close grain under definition, its spatial joint clearance Centimeter Level and more than.From space geometry
From the point of view of characteristic, large texture can regard special texture of the close grain pattern covers on curved surface as, while containing texture information
With radian information.When finger slips over large texture, the harsh feeling of close grain feedback can be experienced in finger tip, again can be in whole hand
Refer to the active force for experiencing radian feedback.Compared with close grain, large texture includes more rich body surface information, its tactile machine
Reason is also inevitable more complicated.What such as the vertical force of the deformation of finger end musculature, finger applying, body surface fed back cuts
Shear force, frictional force between the two etc. all change, so that the characteristic value of tactile texture display model and passivity boundary condition
Change.In addition, from radian reproduction from the perspective of, due to the presence of surface microscopic textured pattern, make radian reproduce except
Geometrical property reduce and be also add beyond force feedback with friction mechanics it is related micromechanics stimulation simulate.
Current domestic and foreign scholars have made intensive studies to the mechanism of perception and its tactile sense reproduction of close grain and radian, but very
It is related to combine both large textures less.The tactile sense reproduction of large texture is difficult by existing tactile texture display device and force feedback
Equipment is realized.Such as pin arrays formula tactile representation device:R.Vi tush i nsky et al., " for texture haptic display dress
Bistable thin film shape memory driver in putting, " MEMS periodical, 18 (1)：186-194,2009.
(R.Vitushinsky et al.,“Bistable thin-film shape memory actuators for
applications in tactile displays,”J.Microelectromechanical Systems,18(1):186-
194,2009.) concave-convex sense of small magnitude can only be simulated, it is impossible to reproduce the texture grid of amplitude.Some force feedback equipments are such as
Phantom can simply simulate the curved profile of large texture, but lack the linear grid or point of details performance, such as surface covering
The raised reproduction of shape:S.Choi and H.Z.Tan, " towards surface texture Haptic Rendering true to nature, " IEEE computer graphics applications
Periodical, 24 (2)：40-47,2004.(S.Choi and H.Z.Tan,“Toward realistic haptic rendering
of surface textures,”IEEE Comput.Graph.Appl,24(2):40-47,2004.).Other force feedback equipment
Unstability and little power output prevent it from simulating rigid contact, the kinetic damping of itself can also influence texture to feel
Authenticity.
The content of the invention
It is a kind of big based on become that frictional force tactile texture display and squash type radian reproduce it is a primary object of the present invention to propose
Texture haptic display system.
The present invention is adopted the following technical scheme that：
A kind of large texture tactile representation system, it is characterised in that：Including
Interaction flat board, the interaction flat board back side is sticked and has vibrating device；
Finger positioner, the finger positioner is fixed on the vibrating device bottom to detect that it is flat that finger puts on interaction
Power and moment information on plate；
Oscillation drive, to be connected with vibrating device and interact flat board generation dither to drive vibrating device deformation to cause
Realize that close grain reproduces；
Mechanical driving device, is connected with finger positioner, drives finger positioner and interaction treadmill exercise to realize arc
Degree reproduces；
PC, the virtual scene of large texture is touched for showing, and generates large texture haptic model；
Bidirectional information feedback device, is connected with PC, finger positioner, mechanical driving device, oscillation drive, root
The positional information of finger is calculated according to power and moment information and obtains the corresponding microgroove in the position with reference to large texture haptic model
Information and radian information are managed, then produces corresponding control command to oscillation drive and mechanical driving device respectively and is realized respectively
Close grain reproduces and radian reproduces.
It is preferred that, the interactive flat board uses the flat board of copper beryllium alloy material.
Preferably, the vibrating device is piezoelectric ceramic piece matrix, and the oscillation drive drives for piezoelectric ceramics matrix
Dynamic device.
It is preferred that, the finger positioner includes six degree of freedom power and torque sensor and its controller, the controller
It is connected with the bidirectional information feedback device.
Preferably, the mechanical driving device include workbench, the horizontal transmission component positioned at workbench both sides and vertically
Transmission component is lifted, the workbench fixes the support finger positioner, and the two vertical liftings transmission component connects drive respectively
Dynamic workbench two ends rotate and produce vertical displacement, and two horizontal transmission component drives workbench two ends to produce horizontal position respectively
Move.
Preferably, the vertical lifting transmission component includes the first tooth bar and the first motor, and first tooth bar is to set vertically
Put and its one end is rotatably connected by hinge with workbench end, first motor output shaft is provided with gear, the gear and
One tooth bar is engaged.
It is preferred that, the horizontal transmission component includes the second tooth bar, adapter sleeve, the second motor and support base；The adapter sleeve
It is fixedly connected with the second tooth bar and provided with the sliding groove for being adapted to the first tooth bar；Second tooth bar is vertical with the first tooth bar and is arranged in
On support base；Second motor output shaft is provided with gear, and the gear is engaged with the second tooth bar.
Preferably, the bidirectional information feedback device includes processing unit and the memory, the USB that are connected with the processing unit
Communication interface and D/A output interfaces, the USB communication interface are connected with PC and finger positioner, the D/A output interfaces and machine
Tool transmission device is connected with oscillation drive.
It is preferred that, the PC is provided with 3D displays.
From the above-mentioned description of this invention, compared with prior art, the present invention has the advantages that：
(1) angle that large texture tactile representation system disclosed by the invention is combined from close grain and radian realizes big line
The tactile sense reproduction of reason.The combination for being introduced as both for becoming frictional force tactile texture display interaction flat board provides natural condition, its company
Continuous property hard surface can realize that change frictional force tactile texture display and squash type radian reproduce simultaneously.
(2) present invention makes operator and is perceived using the active dynamic touch mode for most getting close to nature large texture to reproduce,
The feeling of immersion of operator can be significantly increased.Under this touch manner, the slip sense between finger and body surface obtains maximum
The reduction of degree.
(3) the characteristics of present invention has high accuracy, high bandwidth, high sample frequency and low mechanical damping and dry friction,
And meet the requirement such as stability, the transparency, passivity and dissipativeness.
Brief description of the drawings
Fig. 1 is entire block diagram of the invention；
Fig. 2 (A) is the schematic diagram that finger touches large texture；
Fig. 2 (B) is the close grain schematic diagram in finger fingertip perception large texture；
Fig. 2 (C) is the radian schematic diagram in finger fingertip perception large texture；
Fig. 3 is workflow diagram of the invention；
Fig. 4 is reproducing terminal and finger location system schematic diagram；
Fig. 5 is Three Degree Of Freedom mechanical transmission mechanism schematic diagram；
Fig. 6 is a kind of large texture tactile sense reproduction illustraton of model.
Wherein：101st, PC, 102, bidirectional information feedback device, 103, mechanical driving device, 104, piezoelectric ceramics matrix
Drive device, 105, reproducing terminal, 106, interaction flat board, 107, piezoelectric ceramic piece matrix, 108, six degree of freedom power/moment sensing
Device, 201, finger, 202, large texture, 203, close grain, 204, local radian, 401, connecting pole, 501, workbench, 502, hinge
Chain, the 503, first tooth bar, 504, first gear, the 505, first motor, 506, adapter sleeve, the 507, second tooth bar, the 508, second tooth
Wheel, the 509, second motor, 510, support base.
Specific embodiment
Below by way of specific embodiment, the invention will be further described.
Reference picture 1, a kind of large texture tactile representation system, including
Interaction flat board 106, the back side of interaction flat board 106 is sticked and has vibrating device, and the interaction flat board 106 uses copper beryllium alloy
The flat board of material, the vibrating device is piezoelectric ceramic piece matrix 107, collectively forms change frictional force tactile texture display interaction flat board.
Finger positioner, the finger positioner is fixed on the bottom of piezoelectric ceramic piece matrix 107 to detect that finger is applied
It is added on the power/moment information on interactive flat board 106.Using six degree of freedom power/torque sensor 108 and its controller, this six from
The bottom center of piezoelectric ceramic piece matrix 107 is fixed on by connecting pole 401 by degree power/torque sensor 108.Above-mentioned interaction
Flat board 106 and finger positioner collectively form reproducing terminal 105.Reference picture 4, is examined by 6DOF power/torque sensor 108
Survey the power F that finger is applied on interactive flat board 106x、FzWith torque Ty, further according to the height between interaction flat board 106 and sensor
H (height of connecting pole 401 adds the thickness of interaction flat board 106 and piezoelectric ceramics matrix 107), can calculate finger in x-axis
Position coordinates U, circular is as follows：
Had according to Calculating Torque during Rotary formula：
Ty=HFx-U·Fz
Wherein：TyIt is the torque in y-axis direction, H is the distance between the finger point of application and sensor, FxIt is finger in x-axis side
To the power for applying, FzIt is the power that finger applies in z-axis direction, U is position of the finger in x-axis, if FzIt is not zero, explanation refers to
Point is contacted with flat board 106 is interacted, then the computing formula of U is:
U minimum effectively calculated valueFor：
Wherein,It is power and the minimum detectable range measured value of torque.
Finger is applied to the power F of minimum effective vertical direction on interactive flat board 106zEssence is measured depending on desired position
Degree " reso ", by below equation：
Obtain：
Positional accuracy measurement refers to the minimum resolution of position U of the finger in X-axis, and (two adjacent
The minimal difference that can be measured between value), we require this minimum resolution at 200 μm or so.Further according to Value, F can be calculatedzMinimum virtual value be 0.3N.Separately
The power that vertical direction is applied to when our fingers touch thing outward is general between 1N to 1.5N, so this 0.3N is complete
Meet and require.
Oscillation drive, using piezoelectric ceramics matrix drive device 104, is connected to drive with piezoelectric ceramic piece matrix 107
The dynamic deformation of piezoelectric ceramic piece matrix 107 causes interactive flat board 106 to produce dither, and the dither makes finger and contact interface
Between produce air film so that changing frictional force obtains a sense of texture.
Mechanical driving device 103, including workbench 501, the horizontal transmission component positioned at the both sides of workbench 501 and vertical liter
Drop transmission component.The fixed support six degree of freedom power/torque sensor 108 in the top of workbench 501.Specifically, vertical lifting is passed
Dynamic component includes the first tooth bar 503 and the first motor 505, and first tooth bar 503 is is vertically arranged and its one end passes through hinge 502
Rotatably it is connected with the end of workbench 501, the hinge 502 is provided with jointed shaft (being y-axis).The output shaft of first motor 505 sets
There is first gear 504, the first gear 504 is engaged with the first tooth bar 503.Horizontal transmission component includes the second tooth bar 507, connected
Female connector 506, the second motor 509 and support base 510；The adapter sleeve 506 is fixedly connected and is provided with and is adapted to first with the second tooth bar 507
The sliding groove of tooth bar 503；Second tooth bar 507 is vertical with the first tooth bar 503 and is arranged on support base 510；Second motor
509 output shafts are provided with second gear 508, and the second gear 508 is engaged with the second tooth bar 507.The electricity of first motor 505 and second
Machine 509 is stepper motor, by drive workbench 501 and interaction the horizontal displacement of flat board 106 (x-axis), vertical displacement (z-axis),
And around jointed shaft (y-axis) rotation, and finger generation deformation is extruded, realize that radian reproduces.
PC 101, the virtual scene of large texture is touched provided with 3D displays to show, and processing finger position information and big
Grain surface close grain information and radian information simultaneously generate large texture haptic model.
Bidirectional information feedback device 102, is filled with PC 101, finger positioner, mechanical driving device 103, vibratory drive
Put connected, the positional information of finger is calculated according to power and moment information and the position pair is obtained with reference to large texture haptic model
The close grain information and radian information answered, then corresponding control command is produced respectively to oscillation drive and mechanical driving device
103.The control command is included in vibration break-make, vibration frequency and the amplitude, and mechanical driving device 103 of piezoelectric ceramics display
Horizontal displacement, vertical displacement and the anglec of rotation of workbench 501.Specifically include：Processing unit and it is connected with the processing unit
Memory, USB communication interface and D/A output interfaces, the USB communication interface are connected with PC 101 and finger positioner, the D/
A output interfaces are connected with mechanical driving device 103 and oscillation drive.
Reference picture 2 (A), 2 (B), 2 (C), transcriber of the invention, h (u, v) is the table of surface fine crack reason in Fig. 2 (B)
Up to formula；N (s) is radian normal vector in Fig. 2 (C), and t (s) is tangential vector, and p (s) is L-expression, and ψ (s) is angle
Expression formula；Its touch process that can be simulated and perceptive object are：Finger 201 is touched when perceiving large texture 202, and finger tip is felt simultaneously
Know the microtexture 203 and local radian 204 on its surface.
Reference picture 3, of the invention is a kind of based on the large texture tactile for becoming frictional force tactile texture display and the reproduction of squash type radian
The course of work of playback system, it is specific as follows：
The display finger of 301.PC machines 101 touches large texture virtual scene；
302.PC machines 101 are according to large texture shape and textural characteristics generation large texture tactile sense reproduction model；
The USB communication interface initialization of 303. bidirectional information feedback devices 102；
Six degree of freedom power/torque sensor 108 is detected power and moment information sends to bidirectional information to feed back and fills by 304.
Put 102；
The power and torque signals that 305. bidirectional information feedback devices 102 are produced according to finger calculate finger position coordinate；
306. bidirectional information feedback devices 102 obtain the corresponding large texture surface in the position with reference to large texture haptic model
The method for expressing of close grain information and radian information；
307. bidirectional information feedback device 102 drives piezoelectric ceramics array to produce dither, real on interaction flat board 106
Now become frictional force close grain to reproduce；
308. bidirectional information feedback devices 102 driving mechanical transmission mechanism makes to interact the multifreedom motion of flat board 106, extrudes
Formula radian reproduces；
309. tactile sense reproductions for completing large texture.
Reference picture 6, is a tactile sense reproduction model instance for large texture, and Z (x) is public for the radian expression of sinusoidal large texture
Formula, wherein A are amplitude, and L is wavelength.In this example, finger touch direction be from right-to-left, due to the presence of speed during touch,
Finger is contacted fully during " upward slope " with large texture, it is taken as that energy clear perception is managed to surface fine crack, and at " descending "
During, contact not enough fully, therefore is unable to clear perception to surface fine crack reason.
The embodiment of the present invention is above are only, but the design concept of the present invention is not limited thereto, it is all to utilize this
Conceive the change that unsubstantiality is carried out to the present invention, the behavior for invading the scope of the present invention all should be belonged to.
Claims (8)
1. a kind of large texture tactile representation system, it is characterised in that：Including
Interaction flat board, the interaction flat board back side is sticked and has vibrating device；
Finger positioner, the finger positioner is fixed on the vibrating device bottom to detect that finger is put on interactive flat board
Power and moment information；
Oscillation drive, to be connected with vibrating device and interact flat board generation dither realization to drive vibrating device deformation to cause
Close grain reproduces；
Mechanical driving device, is connected with finger positioner, drives finger positioner and interaction treadmill exercise to realize radian again
It is existing；Including workbench, the horizontal transmission component positioned at workbench both sides and vertical lifting transmission component, the workbench fixes support
The finger positioner, the two vertical liftings transmission component connects driving workbench two ends and rotates and produce vertical position respectively
Move, two horizontal transmission component drives workbench two ends to produce horizontal displacement respectively；
PC, the virtual scene of large texture is touched for showing, and generates large texture haptic model；
Bidirectional information feedback device, is connected with PC, finger positioner, mechanical driving device, oscillation drive, according to power
It is calculated the positional information of finger and obtains the corresponding close grain in the position with reference to large texture haptic model with moment information and believes
Cease and radian information, then produce corresponding control command to oscillation drive and mechanical driving device respectively and realize microgroove respectively
Reason reproduces and radian reproduces.
2. a kind of large texture tactile representation system as claimed in claim 1, it is characterised in that：The interactive flat board uses copper beryllium
The flat board of alloy material.
3. a kind of large texture tactile representation system as claimed in claim 1, it is characterised in that：The vibrating device is made pottery for piezoelectricity
Ceramics matrix, the oscillation drive is piezoelectric ceramics matrix drive device.
4. a kind of large texture tactile representation system as claimed in claim 1, it is characterised in that：The finger positioner includes
Six degree of freedom power and torque sensor and its controller, the controller are connected with the bidirectional information feedback device.
5. a kind of large texture tactile representation system as claimed in claim 1, it is characterised in that：The vertical lifting transmission component
Including the first tooth bar and the first motor, first tooth bar is is vertically arranged and its one end is rotatable by hinge and workbench end
It is connected, first motor output shaft is provided with gear, the gear is engaged with the first tooth bar.
6. a kind of large texture tactile representation system as claimed in claim 5, it is characterised in that：The horizontal transmission component includes
Second tooth bar, adapter sleeve, the second motor and support base；The adapter sleeve, which is fixedly connected and is provided with the second tooth bar, is adapted to the first tooth bar
Sliding groove；Second tooth bar is vertical with the first tooth bar and is arranged on support base；Second motor output shaft is provided with gear, should
Gear is engaged with the second tooth bar.
7. a kind of large texture tactile representation system as claimed in claim 1, it is characterised in that：The bidirectional information feedback device
Memory, USB communication interface and the D/A output interfaces being connected including processing unit and with the processing unit, the USB communication interface
It is connected with PC and finger positioner, the D/A output interfaces are connected with mechanical driving device and oscillation drive.
8. a kind of large texture tactile representation system as claimed in claim 1, it is characterised in that：The PC is provided with 3D and shows
Device.
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105023234B (en) * | 2015-06-29 | 2018-02-23 | 嘉兴慧康智能科技有限公司 | Figure accelerated method based on embedded system storage optimization |
| CN107015643A (en) * | 2017-03-21 | 2017-08-04 | 淮阴师范学院 | Texture haptic display interface arrangement for realizing man-machine interaction |
| CN107145225A (en) * | 2017-04-13 | 2017-09-08 | 浙江大学 | The frictional force tactile representation system and reproducting method of a kind of facing moving terminal |
| CN107943290B (en) * | 2017-11-18 | 2020-08-21 | 吉林大学 | Haptic rendering method and apparatus fusing electrostatic force and vibration |
| CN109240485B (en) * | 2018-05-28 | 2020-11-13 | 厦门大学 | Texture touch reappearing device, display device and radian reappearing device |
| CN108845512B (en) * | 2018-06-26 | 2020-01-07 | 厦门大学 | Large-texture touch reappearance force compensation system and method |
| CN109343711B (en) * | 2018-10-23 | 2020-07-17 | 北京航空航天大学 | Mobile multi-element tactile fusion feedback device |
| CN109620144A (en) * | 2018-11-27 | 2019-04-16 | 南京恩诺网络科技有限公司 | Tactile signal processing system |
| CN109976532B (en) * | 2019-04-11 | 2021-05-18 | 北京航空航天大学 | Haptic feedback reproduction method |
| CN110186604A (en) * | 2019-05-13 | 2019-08-30 | 北京航空航天大学 | A kind of sliding interaction touch texture information measurement platform |
| CN112256136B (en) * | 2020-11-13 | 2022-07-15 | 腾讯科技（深圳）有限公司 | Tactile feedback device and method, electronic equipment and man-machine interaction system |
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| US9829977B2 (en) * | 2008-04-02 | 2017-11-28 | Immersion Corporation | Method and apparatus for providing multi-point haptic feedback texture systems |
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| CN102349041A (en) * | 2009-03-12 | 2012-02-08 | 伊梅森公司 | Systems and methods for friction displays and additional haptic effects |
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