CN104641315A - 3D tactile device - Google Patents
3D tactile device Download PDFInfo
- Publication number
- CN104641315A CN104641315A CN201280055531.XA CN201280055531A CN104641315A CN 104641315 A CN104641315 A CN 104641315A CN 201280055531 A CN201280055531 A CN 201280055531A CN 104641315 A CN104641315 A CN 104641315A
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- Prior art keywords
- finger
- touch
- sensing layer
- power
- robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
-
- 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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
- G06F3/04144—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position using an array of force sensing means
-
- 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
- G06F2203/041—Indexing scheme relating to G06F3/041 - G06F3/045
- G06F2203/04105—Pressure sensors for measuring the pressure or force exerted on the touch surface without providing the touch position
-
- 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
- G06F2203/04808—Several contacts: gestures triggering a specific function, e.g. scrolling, zooming, right-click, when the user establishes several contacts with the surface simultaneously; e.g. using several fingers or a combination of fingers and pen
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Position Input By Displaying (AREA)
Abstract
A tactile device that can sense both touch forces and their positions on a flat or curved surface. The device consists of a touch position sensing layer (101), a touch force sensing layer (102), a base (103), and a control board (104) with electronic circuit and microcontroller. The touch position sensing layer (101) is used to sense one or multiple touch positions. The touch force sensing layer (102) senses applied forces near touch positions. The microcontroller in the control board (104) is used to control and communicate with the electronic circuit, get touch positions and touch forces signals for further processing.
Description
Technical field
The invention describes a kind of equipment, algorithm and technology for obtaining touch width and contact position in three dimensions.
Background technology
Tactile sensing in three dimensions for various be all useful for robot, game, tactile feedback, operation, health care, cartoon making, virtual or augmented reality, software and hardware development, straighforward operation and security system etc. application.For these application, it is desirable to make user be immersed in certain experience in and guide its true, virtual, strengthen or roam in simulated environment.
Traditional touch screen only can sense contact position, and can not sense the amplitude of the power that user applies in contact place.
Market has multiple pressure sensor pad, these pressure sensor pad are by arranging multiple sense of touch sensing element in the matrix form and being formed to obtain contact and amplitude information.But this tactile sensing array has its limitation.First, the output signal of sensing element only can exert a force exceed specific threshold after just can detect, therefore it can not detect the soft touch of micro-amplitude level.The second, the size of sensing element may be comparatively large, therefore, when applying power on that element, based on the corresponding output signal representing the total power of institute Shi on this element total area, we only can know and to touch in this element somewhere, and can not determine touch location accurately.3rd, there is gap between sensing element.If the position of the power of applying is near gap, control circuit board can receive the output signal from multiple sensing element, thus can not know contact accurately.Although can on miniature sense of touch sensing element setting pressure sensor mat, make the gap between adjacent elements less, the cost done like this is very high.
In view of the defect of the said equipment and device, the object of the invention is to strengthen the functional of traditional touch screen by increasing touch transduction feature, and improve touch point sensing resolving power.
Summary of the invention
In the present invention, contact position sensing layer and contact force width sensing layer overlap the sensing realizing touch in the 3 d space.
Described contact position sensing layer can with for constructing infrared touch screen, resistance-type touch screen together with the combine with technique of capacitive touch screens.
Described contact force width sensing layer is made up of sense of touch sensing element, and described sense of touch sensing element distributes in the matrix form to form sensing grid on plane surface or curved surface.Te Da (tactel) is a kind of " sense of touch sensing element ".Each spy reaches and can detect applying power thereon.Adjacent spy reaches and can combine to know the total touch around this region.Described sensing layer can be the form of film or rigidity.
Electronic circuit on described control circuit board is for obtaining contact signal from contact position sensing layer, and reaches acquisition power width signal from each spy on described contact force width sensing layer.For each contact position that described contact position sensing layer provides, have one or more spy in its vicinity and reach.Reach output based on the total spy around contact position, the algorithm in the microcontroller of described control circuit board or personal computer (PC) can estimate the total touch around this contact position.
The following drawings, instructions and claims are described to the details of specific embodiment.
Accompanying drawing explanation
Fig. 1 shows the concept map of 3D sense of touch sensing apparatus.
The typical Te Da that Fig. 2 shows on contact force width sensing layer is arranged.
Fig. 3 shows around a contact and detects that multiple spy reaches the situation of output.
Fig. 4 shows around a contact and detects that single spy reaches the situation of output.
Fig. 5 shows and detect that single spy reaches the situation of output around multiple contact.
Fig. 6 shows the touch and contact that measure in the 3 d space.
Fig. 7 shows the left palm pressure distribution measured.
Fig. 8 shows the finger touch profile on 3D sense of touch sensing apparatus.Finger position, touch and mobile route can be explained and in different application.
Fig. 9 shows and uses the power of 3D sense of touch sensing apparatus control and the concept of motion.
Figure 10 shows the concept controlled with a finger.
Figure 11 shows the concept controlled with many fingers.
Figure 12 shows the concept controlling rotation with two fingers.
Figure 13 shows the concept of the additional function of 3D sense of touch sensing apparatus.
Figure 14 shows the concept of answering device control unit polishing by 3D tactile feel.
Figure 15 shows the concept controlling mobile robot with 3D sense of touch sensing apparatus.
Figure 16 shows the concept of 3D sense of touch sensing apparatus for playing.
Figure 17 shows the concept that the rotation for playing controls.
Figure 18 shows the concept of 3D equipment for cartoon making.
Embodiment
As shown in Figure 1,3D sense of touch sensing apparatus of the present invention comprises contact position sensing layer 101 and contact force width sensing layer 102, and both combine and complimentary to one another to realize the sensing of touch in three dimensions.Pedestal 103 is for holding up this two layers 101 and 102.
Contact position sensing layer 101 can be fexible film form or rigidity touch screen form, such as infrared touch screen, resistance-type touch screen and capacitive touch screens.For infrared touch screen, it can be only the framework without thin layer, and touch will be applied directly on contact force width sensing layer.
Contact force width sensing layer 102 is provided with Te Da, and the shape that spy reaches can be square, rectangle, circle, ellipse or other shape.As shown in Figure 2, in the present embodiment, multiple square spy reaches distribution and forms spy and reach grid, has small gap between two adjacent spies reach.The size that each square spy reaches can be less than 1mmx1mm to being greater than within the scope of 10mmx10mm.The spatial resolution of contact force width sensing layer depends on the size that spy reaches and gap thereof.The size that spy reaches and gap less, spatial resolution is larger; But conversely, constructions cost is higher.
The spatial resolution of contact position sensing layer 101 and contact force width sensing layer 102 can be different.Based on cost consideration, can limit the quality reached for the spy in contact force width sensing layer 102, therefore, the spatial resolution of usual contact force width sensing layer is lower than the spatial resolution of contact position sensing layer.
As shown in Figure 3, the output data that four spies reach all are obtained at each contact place.According to the output data that these four spies reach, only can know that contact reaches certain position in region four spies.For many application, so low spatial resolution contact estimation is inadequate.Combine from the contact position of electronic circuit on control circuit board 104 and touch output information, just the total power can determined contact position by the spatial resolution of contact position sensing layer and apply around this contact, wherein, contact position obtains from contact position sensing layer, and the output data that the total power applied around this contact then reaches from four spies calculate.Respective algorithms for this object can be implemented in the microcontroller of control circuit board 104, or completes in a computer via the data that microcontroller sends.
Fig. 4 shows and detect that a spy reaches the situation of output around single contact.Because the size that spy reaches is comparatively large, the output that single spy reaches only can illustrate that contact position is in this Te Danei.By the higher spatial resolution contact position information from contact position sensing layer being associated with the power sensed, the contact position and corresponding touch amplitude with contact position sensing layer resolution just can be obtained.
Fig. 5 shows and detect that a spy reaches the situation of output from two finger touch.In this case, the output data of touch are the summations of the touch of two fingers.
Fig. 6 shows the finger or nib touch and contact position situation that measure on X, Y and Z coordinate.Contact position is presented in X and Y coordinates, and the power width of touch is presented on Z coordinate.Fig. 7 shows the palm pressure distribution situation measured in X and Y coordinates.The power that this spy of the numeral that each spy reaches reaches exports.Numeral is larger, illustrates that to be applied to the power that this spy reaches larger.The Information Availability of contact position and power size in multiple application, as described in the latter half of this instructions.
The function that Fig. 8 shows finger distributes concept.Such as, motion and the power of the robotic manipulator controlled as shown in Figure 9 is can be used for from the power of difference finger and the combination of contact position information.
As shown in Figure 10, the motion of robot controls by the motion that is pointed.The mobile route of finger can be followed and moves by robot command.For polishing operation, the touch of finger can be used for adjusting the contact force between polishing component surface and polishing tool.The motion of robot also controls by the motion of many fingers, as shown in figure 11.
The combination of the movable information of two fingers can be used for the rotation controlling object, as shown in figure 12.In this case, a finger is motionless, and another root finger is around this finger motion.This forms of motion can be used for end effector or other object of rotary machine people.
Some spy on 3D sense of touch sensing apparatus reaches and can be set as button, and performs specific task.As shown in figure 13, three spies reach and can be set as button 1, button 2 and button 3.Such as, for the control of the force and motion of robot, button 1 can be set as when not having power to be applied on button, and robot moves forward under the effect of control, and when being applied on button effectively, robot moves backward.This equipment also can be used for replacing traditional teaching machine, with obtain intuitively with better control performance.
The touch obtained from 3D sense of touch sensing apparatus and contact position also can be used in other applications, such as, in three-dimensional irregular surfaces polishing operation as shown in figure 14, the robot in free space can be commanded to follow the mobile route of finger and move, and the contact force of robot to polishing operation surface depend on applied force on sense of touch sensing apparatus.This equipment also can be used for commanding mobile robot as shown in figure 15 to turn left and turn right, moving forward and move backward, accelerate and slow down.For application in gaming, similar concept can be used for the motion of racing car or gladiator shown in control Figure 16 and 17.
For cartoon making, the tactile feature of this equipment is also conducive to realizing the editor to a feature quickly.Such as, power width can be used as input, to change the color depth of carrot shown in Figure 18 fast.
Claims (9)
1. a 3D sense of touch sensing apparatus as shown in Figure 1, it comprise contact position sensing layer 101, contact force width sensing layer 102, for holding up pedestal 3 and the control circuit board of described two sensing layers, described control circuit board has electronic circuit and microcontroller, and contact position and corresponding touch amplitude all can obtain from described equipment.
2. equipment according to claim 1, it is made up of contact position sensing layer 101 and contact force width sensing layer 102, and described contact position sensing layer 101 and described contact force width sensing layer 102 overlap.Described contact position sensing layer 101 can be fexible film or rigidity touch screen form, such as infrared touch screen, resistance-type touch screen and capacitive touch screens.Contact force width sensing layer shown in Fig. 2 is made up of sense of touch sensing element, these sense of touch sensing elements column distribution and form spy and reach grid.Described two sensing layers are complimentary to one another with the sensing realizing touch in three dimensions.
3. at equipment according to claim 1, when contact force width sensing layer has the spatial resolution lower than contact position sensing layer, as shown in Figure 3, according to the output data that these four spies reach, only can know that contact reaches certain position in region four spies.Match from the total power applied around the contact position information of contact position sensing layer and this contact, just can obtain the contact position of touch size and the spatial resolution with described contact position sensing layer, wherein said total power reaches the data calculating of output by described four spies and obtains, and the spatial resolution of described contact position sensing layer is higher than the spatial resolution of contact force width sensing layer.Respective algorithms for this object can be implemented in the microcontroller of described control circuit board 104, or completes in the computing machine be connected with described microcontroller.
Equally, for detecting around the single contact shown in Fig. 4 that a spy reaches the situation of output, the output that described single spy reaches only can illustrate that contact position is in this Te Danei.By the higher spatial resolution contact position information from contact position sensing layer being associated with the power sensed, the contact position and corresponding touch amplitude with contact position sensing layer resolution just can be obtained.
4. at equipment according to claim 1, when contact force width sensing layer has the spatial resolution higher than contact position sensing layer, if touch does not exceed the threshold value reliably detected from described contact force width sensing layer, the contact position information from described contact position sensing layer still will be used; If touch has exceeded threshold value and reliably can have been detected by described contact force width sensing layer, just can adopt the contact position information from described contact position sensing layer, or adopt the centroid position calculated according to around touch.
5. for equipment according to claim 1, when shown in Fig. 5 detect that a spy reaches output from two finger touch, described total power exports the summation of the touch being two fingers.
6., for equipment according to claim 1, the function that Fig. 8 shows finger distributes concept.Motion and the power of the robotic manipulator shown in control chart 9 and 14 is can be used for from the power of difference finger and the combination of contact position information.List some below and control example:
A. the power for robot controls, and the summation of the touch of finger 1,2,3 and 5 can be used as the touch with reference to controlling between surface in contact and robot polishing tool, and described robot polishing tool is connected on the end effector of the robot shown in Fig. 9 and 14.Touch from finger 4 can be used for the direction of control.When power being detected from finger 4, the direction of applied force forward.When the power from finger 4 not detected, the direction exerted a force backward.
B. the power width difference pointed between 2 and finger 5 can be used for the pitching of control, for the robot shown in Fig. 9, if finger 2 and finger 5 between power difference be on the occasion of, so axle 5 will be rotated down, if the power difference between finger 2 and finger 5 is negative value, so axle 5 will rotate up.
C. the power width difference pointed between 1 and finger 3 can be used for the yawing of control, for the robot shown in Fig. 9, if finger 1 and finger 3 between power difference be on the occasion of, so axle 1 will rotate towards a direction, if the power difference between finger 1 and finger 3 is negative value, so axle 1 will rotate in the opposite direction.
D. the rotation of the end effector of robot controls by rotate path, and described rotate path is according to pointing the motion of 1-5 or only obtaining according to one or two motion calculation pointed.For the robot shown in Fig. 9, if the rotate path of finger is clockwise direction, so axle 6 will rotate towards a direction, if the rotate path of finger is that counterclockwise so axle 6 will rotate in the opposite direction.
E. the rotation of the end effector of robot controls by rotate path, and described rotate path is according to pointing the motion of 1-5 or only obtaining according to one or two motion calculation pointed.For the robot shown in Fig. 9, if the rotate path of finger is clockwise direction, so axle 6 will rotate towards a direction, if the rotate path of finger is that counterclockwise so axle 6 will rotate in the opposite direction.
F. as shown in Figure 10, robot motion by only one finger motion control.Can move with the mobile route of finger by robot command.For polishing operation, the touch of finger can be used as reference command to adjust the contact force between the surface of polishing component and polishing tool, as shown in figure 14.Equally, the motion of robot also can be controlled by the motion of many fingers, as shown in figure 11.
G. the combination of the movable information of two fingers also can be used for the rotation of control.As shown in figure 12, a finger is motionless, and another root finger is around this finger motion.Motion outline can be used for making the axle 1 of robot shown in the end effector of robot or Fig. 9 to rotate.
This feature is conducive to the control of robot, teaching and study, can strengthen the function of traditional teaching machine.
7., for equipment according to claim 1, the function of finger shown in Fig. 8 is distributed and be can be used for the mobile robot shown in control Figure 15.List some below and control example:
A. the power width difference pointed between 2 and finger 5 can be used for speed or the acceleration of control.If the power differences between finger 2 finger 5 be on the occasion of, so robot will move forward, if point 2 and the power difference pointed between 5 be negative value, so robot will move backward.Amplitude difference between finger 2 and finger 5 is larger, and speed, acceleration or retarded velocity are larger.
B. the power width difference pointed between 1 and finger 3 can be used for the commutation controlling mobile robot.If the power difference between finger 1 finger 3 be on the occasion of, so robot will turn left, if point 1 and the power difference pointed between 3 be negative value, so robot will turn right.Amplitude difference between finger 1 and finger 3 is larger, and commutating speed, acceleration or retarded velocity are larger.
This feature is conducive to the control of mobile robot, teaching and study, can strengthen or replace the function of traditional control lever for control.
8. equipment according to claim 1 is also in game, virtual or augmented reality, to strengthen or to promote control and the game experiencing of user.The function of the finger shown in Fig. 8 is distributed and be can be used for the motion that shown in control Figure 16, racing car or Figure 17 let others have a look at.List some below and control example:
A. the power width difference pointed between 2 and finger 5 can be used for speed that shown in control Figure 16, racing car or Figure 17 let others have a look at or acceleration.If the power difference between finger 2 and finger 5 be on the occasion of, so car or people will move forward, if point 2 and the power difference pointed between 5 be negative value, so car or people will move backward.Amplitude difference between finger 2 and finger 5 is larger, and speed, acceleration or retarded velocity are larger.
B. the power width difference pointed between 1 and finger 3 can be used for controlling commutation.If the power difference between finger 1 and finger 3 be on the occasion of, so car or people will turn left, if point 1 and the power difference pointed between 3 be negative value, so car or people will turn right.Amplitude difference between finger 1 and finger 3 is larger, and commutating speed, acceleration or retarded velocity are larger.
9. equipment according to claim 1, also can be used in cartoon making and is conducive to realizing the editor to a feature quickly.Such as, the power width of touch can be used as input, to change the color depth of carrot shown in Figure 18 fast.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/SG2012/000258 WO2014014408A1 (en) | 2012-07-19 | 2012-07-19 | 3d tactile device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104641315A true CN104641315A (en) | 2015-05-20 |
| CN104641315B CN104641315B (en) | 2017-06-30 |
Family
ID=49949110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280055531.XA Expired - Fee Related CN104641315B (en) | 2012-07-19 | 2012-07-19 | 3D tactile sensing apparatus |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104641315B (en) |
| WO (1) | WO2014014408A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598340A (en) * | 2016-12-22 | 2017-04-26 | 四川大学 | Pressure identification apparatus |
| WO2017185512A1 (en) * | 2016-04-25 | 2017-11-02 | 中兴通讯股份有限公司 | Control method and device based on pressure sensing |
| CN107357431A (en) * | 2017-07-14 | 2017-11-17 | 信利光电股份有限公司 | A kind of touch control display apparatus and method for realizing three-dimensional touch function |
| CN107576261A (en) * | 2017-08-31 | 2018-01-12 | 上海摩软通讯技术有限公司 | Texture acquirement method and mobile terminal |
| CN108885490A (en) * | 2016-01-05 | 2018-11-23 | 互联电子公司 | Multi-modal switch arrays |
| CN112074706A (en) * | 2018-04-28 | 2020-12-11 | 优泰机电有限公司 | Accurate positioning system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6492979B1 (en) * | 1999-09-07 | 2002-12-10 | Elo Touchsystems, Inc. | Dual sensor touchscreen utilizing projective-capacitive and force touch sensors |
| CN101299174A (en) * | 2007-05-01 | 2008-11-05 | 国际商业机器公司 | Infrared touch screen gated by touch force and method for positioning touch events |
| CN101836178A (en) * | 2007-10-26 | 2010-09-15 | 安德烈亚斯·施泰因豪泽 | Single-touch or multi-touch capable touch screens or touch pads comprising an array of pressure sensors and production of such sensors |
| US20120113054A1 (en) * | 2009-06-19 | 2012-05-10 | Takao Hashimoto | Resistive film type touch panel with pressing detection function |
-
2012
- 2012-07-19 CN CN201280055531.XA patent/CN104641315B/en not_active Expired - Fee Related
- 2012-07-19 WO PCT/SG2012/000258 patent/WO2014014408A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6492979B1 (en) * | 1999-09-07 | 2002-12-10 | Elo Touchsystems, Inc. | Dual sensor touchscreen utilizing projective-capacitive and force touch sensors |
| CN101299174A (en) * | 2007-05-01 | 2008-11-05 | 国际商业机器公司 | Infrared touch screen gated by touch force and method for positioning touch events |
| CN101836178A (en) * | 2007-10-26 | 2010-09-15 | 安德烈亚斯·施泰因豪泽 | Single-touch or multi-touch capable touch screens or touch pads comprising an array of pressure sensors and production of such sensors |
| US20120113054A1 (en) * | 2009-06-19 | 2012-05-10 | Takao Hashimoto | Resistive film type touch panel with pressing detection function |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108885490A (en) * | 2016-01-05 | 2018-11-23 | 互联电子公司 | Multi-modal switch arrays |
| WO2017185512A1 (en) * | 2016-04-25 | 2017-11-02 | 中兴通讯股份有限公司 | Control method and device based on pressure sensing |
| CN106598340A (en) * | 2016-12-22 | 2017-04-26 | 四川大学 | Pressure identification apparatus |
| CN106598340B (en) * | 2016-12-22 | 2019-08-06 | 四川大学 | Pressure identification device |
| CN107357431A (en) * | 2017-07-14 | 2017-11-17 | 信利光电股份有限公司 | A kind of touch control display apparatus and method for realizing three-dimensional touch function |
| CN107576261A (en) * | 2017-08-31 | 2018-01-12 | 上海摩软通讯技术有限公司 | Texture acquirement method and mobile terminal |
| CN112074706A (en) * | 2018-04-28 | 2020-12-11 | 优泰机电有限公司 | Accurate positioning system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104641315B (en) | 2017-06-30 |
| WO2014014408A1 (en) | 2014-01-23 |
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Granted publication date: 20170630 Termination date: 20180719 |