CN104679241A - Wide friction-control haptic display device and display method based on same - Google Patents
Wide friction-control haptic display device and display method based on same Download PDFInfo
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- CN104679241A CN104679241A CN201510051401.4A CN201510051401A CN104679241A CN 104679241 A CN104679241 A CN 104679241A CN 201510051401 A CN201510051401 A CN 201510051401A CN 104679241 A CN104679241 A CN 104679241A
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Abstract
The invention discloses a wide friction-control haptic display device and a display method based on the same. The wide friction-control haptic display device comprises a haptic display module, a piezoelectric ceramic module for excitation signal generating, an electrode array module for excitation signal generating, an electromagnet array module for excitation signal generating, a finger position detection module, permanent magnets attached to the backs of fingers of an operator, and a central control module. The haptic display module comprises a haptic panel, a transparent electrode array module, a piezoelectric ceramic array module, an electromagnet array module, a display module and a shell. Three principles, namely air pressure membrane effect, electro-vibratory effect and electromagnetic force control, are combined, increase and decrease in the friction between the fingers of the operator and the haptic display module are adjusted in a bidirectional wide range, and high-performance haptic display is achieved. The wide friction-control haptic display device is capable of sensing in multiple modes and is of great practical value.
Description
Technical field
The present invention relates to tactile sense reproduction field of human-computer interaction, particularly relate to a kind of wide cut friction force and control tactile representation device and method.
Background technology
In the vision of the mankind, the sense of hearing, sense of smell, the various sensory perceptual system such as the sense of taste and power sense of touch, power sense of touch provides information interaction channel two-way between people and environment, form the various initiative behaviors (as touched perceptual object, operation tool and exploration environment etc.) that other sensory perceptual systems cannot realize, thus there is unique critical role.At present, tactile sense reproduction technology mainly contains: based on tactile sense reproduction, the tactile sense reproduction based on force feedback equipment, the tactile sense reproduction etc. based on array of vibration.
Information representation based on vibration is the tactile sense reproduction pattern generally used at present.The actuator of various vibrating tactile is that handheld device introducing tactile vibrations provides a solution, promotes the portability development of tactile sense reproduction.Some researchers use these actuators for generating various vibration mode, sense of touch icon to realize the interchange of non-vision information.The people such as Jussi Rantala utilize a handheld device can simulating different touch posture of vibrating tactile technical design.But be a kind of sense of touch switch technology based on the tactile sense reproduction of vibration, it is directly perceived not.
Force feedback equipment is mainly used in the Force feedback realized in man-machine interaction, and when operator uses force feedback equipment and dummy object reciprocation, force feedback equipment can stop the motion of operator to avoid puncture mutual.Southeast China University Li Jia fine jade and Song Aiguo etc., based on Phantom hand controller, propose based on dummy object surface tri-dimensional profile information, and then realize the method for texture haptic display.Tactile sense reproduction method advantage based on force feedback is to increase tactile sense reproduction on the basis of power feel reproduction, and without the need to being designed for the device of tactile sense reproduction in addition.But the method also has certain shortcoming: opereating specification is limited, volume is heavy, the inherency of expensive, equipment and system stability easily affect tactile sense reproduction performance etc.
Relatively obtain tactile sense reproduction with using force feedback equipment, adopting the structure of array to build tactile sense reproduction equipment is the most direct method, thus receives the concern of people always.The design inspiration of early stage array tactile sense reproduction equipment derives from dot matrix printer and braille system, and their driving method is had nothing in common with each other, have use marmem, have use baric systerm, also have use voice coil loudspeaker voice coil excitation.Weiss and Wacharamanotham of Aachen, Germany polytechnical university etc. utilize the permanent magnet that is attached on operator's finger and electric magnetization to construct FingerFlux system.Electric magnetization in this system have employed the design philosophy of Madgets table, namely utilizes the discrete electrical magnet grid of 19 × 12 to synthesize an electromagnetic field two-dimensional matrix (wherein each electromagnet comprises the copper cash of 3500 circles).In addition, " LATERO " device by name of the design such as the Haywardy of Canadian McGill university, the probe array that its utilization can be displaced sideways is to obtain tactilely-perceptible, and they say that the probe array of design is reckoned is 6 × 10, and resolution is up to 1.8 × 1.2mm.The advantage of array tactile representation system be relatively more directly perceived, initiatively can apply haptic stimulus to operator, but it also has certain limitation: by technique and technical merit restriction, power consumption and cost high, be difficult to microminiaturized etc.
In the patent of " vibrating tactile interface " by name of the Lille science and technology university application of France (patent No. is: CN101632054A), its vibrating tactile interface mentioned reproduces meticulous texture sense of touch by the friction coefficient reduced between operator's finger and tactile interface.This tactile interface use only air press mold effect principle, and the friction coefficient that only can realize single direction regulates.In addition, on synchronization tactile interface, the friction coefficient of each point is identical, can not realize the multi-point touch of panel surface.
In the patent (patent No. is US7982588B2) of " method and apparatus of stimulus to the sense organ " by name of the application of senseg company, the tactile interface mentioned realizes based on electroluminescent vibration principle.There is the system of one deck based on electrostatic on the surface of this sense of touch panel, can simulate different roughness and resistance, produces different texture senses of touch.Tactile sense reproduction equipment power dissipation based on electroluminescent yo-yo effect is low, can realize multi-point touch, but can only realize the increase of friction coefficient.
In the patent (patent No. is: CN104063054A) of " tactile representation device controlled based on bi-directional friction power and the tactile sense reproduction method " by name of Nanjing Aero-Space University's application, the tactile interface mentioned is combined with air press mold effect principle at electroluminescent yo-yo effect principle.This sense of touch panel adopts and realizes tactile sense reproduction at surface working electrod-array and in the method for lower panels stickup piezoelectric ceramics, electrod-array comprises some electrode groups, there is difference in height between Different electrodes in each electrode group, the bidirectional modulation of friction coefficient can be realized.The electrod-array that this tactile interface adopts is not easy to processing, and the range of adjustment of friction coefficient is wide in range not.
Tactile representation device designed by the present invention has merged air press mold effect, electroluminescent yo-yo effect and electromagnetic force and has controlled three kinds of principles, two-way friction coefficient can be realized regulate, can realize again the fine setting of friction coefficient, and the adjustable extent of friction coefficient is more wide in range.Device designed by the present invention can realize the tactile sense reproduction pattern that friction force range of adjustment amplitude is more broad, friction coefficient adjustment is more careful.Therefore, this device and above three kinds of tactile interfaces are essentially different.
Summary of the invention
Technical matters to be solved by this invention is for the defect in background technology, provides a kind of wide cut friction force to control tactile representation device and method.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A kind of wide cut friction force controls tactile representation device, comprises tactile sense reproduction module, Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module, finger position detection module, is pasted on permanent magnet and central control module that operator points back;
Described tactile sense reproduction module comprises sense of touch panel, transparent electrode arrays module, piezoelectric ceramics array module, electromagnet array module, display module and housing;
Described sense of touch panel is rectangular slab that is transparent, rigidity; Described transparent electrode arrays module installation is on sense of touch panel; Between the lower surface that described piezoelectric ceramics array module is fixed on sense of touch panel and housing; Described electromagnet array is fixed on below display module; Described display module is fixed on immediately below sense of touch panel, and and between sense of touch panel, reserve the space that enough tactile sense reproduction modules vibrate;
Described Piezoelectric Ceramics Excitation signal generation module and piezoelectric ceramics array module are electrically connected, described electrod-array pumping signal generation module is connected with transparent electrode arrays modular electrical, described electromagnet array stimulating signal generation module and electromagnet array module are electrically connected, and described central control module is electrically connected with Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module, display module, finger position detection module respectively;
Described Piezoelectric Ceramics Excitation signal generation module is for generation of the drive singal of piezoelectric ceramics array module;
Described electrod-array pumping signal generation module is for generation of the drive singal of transparent electrode arrays module;
Described electromagnet array stimulating signal generation module is for generation of the drive singal of electromagnet array;
Described display module is for showing dummy object;
Described finger position detection module is for detecting finger position;
Described central control module is for controlling Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module generation drive singal, control finger position detection module and obtain operator's finger position, and control display module display dummy object.
Control the further prioritization scheme of tactile representation device as a kind of wide cut friction force of the present invention, described display module adopts LCD MODULE.
Control the further prioritization scheme of tactile representation device as a kind of wide cut friction force of the present invention, described housing adopts hard foam.
Control the further prioritization scheme of tactile representation device as a kind of wide cut friction force of the present invention, described permanent magnet is oblate cylindricality rubidium magnet.
Control the further prioritization scheme of tactile representation device as a kind of wide cut friction force of the present invention, described transparent electrode arrays comprises at least two-layer transparent electrode arrays layer, and every layer of transparent electrode arrays layer is all processed with insulation course.
The invention also discloses a kind of reproducting method controlling tactile representation device according to this wide cut friction force, comprise following steps:
Step 1) obtain operator's finger position, the equivalent friction coefficient value μ generating finger position place and need is calculated according to the haptic mode of current reproduction;
Step 2) obtain the initial friction force coefficient μ 0 of the upper surface of transparent electrode arrays module, maximum friction force coefficient △ μ that transparent electrode arrays module can increase
eV, the piezoelectric ceramics array module maximum friction force coefficient △ μ that can reduce
sQZ, and the electromagnet array module maximum friction force coefficient △ μ that can increase or reduce
mAG;
Step 3) if μ is ∈ [μ 0, μ 0+ △ μ
eV], control transparent electrode arrays module, produce electroluminescent yo-yo effect, the friction coefficient between increase operator finger with the upper surface of transparent electrode arrays module is to μ;
Step 4) if μ is ∈ [μ 0-△ μ
sQZ, μ 0], control piezoelectric ceramics array module, produce air press mold effect, the friction coefficient between reduction operator finger with the upper surface of transparent electrode arrays module is to μ;
Step 5) if μ is ∈ [μ 0+ △ μ
eV, μ 0+ △ μ
eV+ △ μ
mAG], first control to produce attractive force between electromagnet array module and permanent magnet, operator is pointed and friction coefficient between the upper surface of transparent electrode arrays module increases to maximum, then control transparent electrode arrays module and operator's finger is increased to μ with the friction coefficient between the upper surface of transparent electrode arrays module;
Step 6) if μ is ∈ [μ 0-△ μ
sQZ-△ μ
mAG, μ 0-△ μ
sQZ], first control to produce repulsive force between electromagnet array module and permanent magnet, make it be reduced to minimum by the friction coefficient between operator's finger and the upper surface of transparent electrode arrays module, then control piezoelectric ceramics array module and the friction coefficient between operator's finger and the upper surface of transparent electrode arrays module is decreased to μ;
Step 7), if
then according to the friction force scope that system can be reproduced, the friction coefficient in the haptic mode of current reproduction is processed, the scope making it belong to system to reproduce.
Control the further prioritization scheme of reproducting method of tactile representation device as according to this wide cut friction force, described step 7) detailed step be: according to friction coefficient maximin in the haptic mode of current reproduction, do normalized.
As the further prioritization scheme of reproducting method controlling tactile representation device according to this wide cut friction force, described step 7) detailed step can also be for: if the equivalent friction coefficient value μ that finger position place needs exceeds friction coefficient maximin scope in the haptic mode of current reproduction, directly use system friction force coefficient upper lower limit value to represent.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1. this device existing based on air press mold effect, electroluminescent yo-yo effect, electromagnetic force controls single principle or on the basis that air press mold effect combined with electroluminescent yo-yo effect, creationary three kinds of principles to be merged, electromagnetic force controls the effect that both can produce increasing friction force, also the effect reduced friction can be produced, what the friction coefficient adjustable extent of tactile representation device was become is wider, three kinds of principles merge and both can realize meticulous adjustment in increasing friction force direction, also meticulous adjustment can be realized on the direction reduced friction, namely the friction force grade of more horn of plenty can be used to carry out reproducing virtual object, thus make operator feel dummy object more clearly, add the sense of reality of system,
2. this device adopts transparent sense of touch panel, and electrod-array also adopts transparent electrode arrays, therefore can add display screen to show dummy object under sense of touch panel, can realize multi-modal perception;
3. permanent magnet finger worn can produce electromagnetic force with the electromagnet in tactile representation device, thus can realize contactless tactile sense reproduction.
Accompanying drawing explanation
Fig. 1 is the tactile representation device structural representation in the present invention;
Fig. 2 is sense of touch panel top electrode array structure vertical view in the present invention;
Fig. 3 is sense of touch panel top electrode array structure side view in the present invention;
Fig. 4 is the comprehensive haptic surface plate structure vertical view in the present invention;
Fig. 5 is the comprehensive haptic surface plate structure side view in the present invention.
In figure, the upper surface of 10-sense of touch panel, 20-transparent electrode arrays, 30-piezoelectric ceramics array module, 40-electromagnet array module, 50-permanent magnet, 10a-sense of touch panel, the lower surface of 10b-sense of touch panel, 20a-ground floor horizontal rhombus electrode array layer, the 20b-second layer longitudinal rhombus electrode array layer, 60a-ground floor insulation course, 60b-second layer insulation course, 70-LCDs, 80-hard foam.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
Tactile representation device involved in the present invention, have employed air press mold effect, electroluminescent yo-yo effect and electromagnetic force and controls the Comprehensive Control that three kinds of principles merge to realize friction force mutually.The structural representation of its whole tactile representation device as shown in Figure 1.
This device comprises tactile sense reproduction module, Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module, finger position detection module, is pasted on permanent magnet and central control module that operator points back.
Tactile sense reproduction module as shown in Figure 4, Figure 5, comprises sense of touch panel 10, transparent electrode arrays module 20, piezoelectric ceramics array module 30, electromagnet array module 40, LCDs 70 and hard foam 80.
Sense of touch panel 10 is rectangular slab that is transparent, rigidity, has an a upper surface 10a and lower surface 10b.Sense of touch panel 10 is fixed by hard foam 80.
Transparent electrode arrays 20 comprises some transparent electrode arrays layers, every one deck transparent electrode arrays layer comprises some electrodes, all process a layer insulating above every one deck transparent electrode arrays layer, the output terminal of each electrode and electrod-array pumping signal generation module drive singal connects one to one.In this example, ground floor horizontal rhombus transparent electrode arrays layer 20a is formed on the upper surface 10a of sense of touch panel.And surface working ground floor insulation course 60a thereon.The second layer longitudinally transparent rhombus electrode array layer 20b is formed on insulation course 60a, and processes second layer insulation course 60b thereon.
Piezoelectric ceramics array module is fixed on the lower surface 10b of sense of touch panel 10 by cementing agent thin layer, and supported by hard foam 80, electrod-array is fixed on the inside of sense of touch panel by micro-processing technology, electromagnet array is fixed on below LCDs by cementing agent thin layer, and is positioned over immediately below sense of touch panel 10.
Piezoelectric ceramics array module 30 in the example, is made up of piezo ceramic element matrix, and these piezo ceramic element matrixes are secured on the lower surface 10b of sense of touch panel 10, and are supported by hard foam 80.
Electromagnet array module 40 forms electromagnetic field two-dimensional matrix (wherein the copper cash number of turn that comprises of each electromagnet is identical) by the electromagnet that some height are identical, evenly be pasted onto below LCDs 70, electromagnetic force is produced with the permanent magnet 50 be worn on finger, wherein LCDs 70 is placed on immediately below sense of touch panel 10, and centre reserves certain clearance.
Transparent electrode arrays module as shown in Figure 2 and Figure 3, sense of touch panel is processed ground floor transparent electrode arrays layer, and process insulation course (as Kapton) thereon, process some layers of transparent electrode arrays layer (two or more) successively.Each transparent electrode arrays layer comprises some electrodes, all processes a layer insulating above every one deck transparent electrode arrays layer, and the output terminal of each electrode and electrod-array pumping signal generation module drive singal connects one to one.
The pumping signal of air press mold effect comprises contrary sine voltage signal V1 and V2 of two phase places, and its peak-to-peak value and frequency are all adjustable.Voltage signal V1 and V2 is applied to piezo ceramic element, piezo ceramic element has just been encouraged to produce vibration, piezo ceramic element is now as exciting source, sense of touch panel is made to do dither, and then air press mold effect is produced between operator's finger and the upper surface of transparent electrode arrays module, namely produce " air film " between, reach the object that friction coefficient reduces, operator is pointed and produces smooth feeling when touching the upper surface of transparent electrode arrays module.
The pumping signal of electroluminescent yo-yo effect is all adjustable alternating signal V3 (as square wave, sine wave etc.) of amplitude and frequency, described multichannel alternating signal one_to_one corresponding, mainly for generation of multichannel amplitude separate separately and all adjustable alternating signal of frequency, is then applied to each electrode by electrod-array stimulating module.Just define an electric capacity between such finger and electrode, produce electrostatic force between the finger that the voltage that electrode applies makes and electrode, namely electrode pair finger creates attractive force.But the electrostatic force of generation is very little, and there is no perception nerve endings inside the cuticula of finger, therefore experience less than this normal direction electrostatic attraction.But, when point slide on the upper surface 10a of sense of touch panel 10 time, this electrostatic force will produce a tangential force of sliding friction to skin, and suppose that sliding friction force coefficient is μ, so the size of tangential frost-heaves friction force is:
f
t＝μ(F
e+F
N)，
Wherein F
npoint to the pressure of panel, F
ebe electrostatic force, μ is the coefficient of sliding friction of panel and finger.
By change apply the amplitude of voltage, frequency, etc. factor, just can change the size of this force of sliding friction.From the angle of finger sense, people will perceive the concave-convex sense of friction surface.
The pumping signal of electromagnet array is hyperchannel PWM wave voltage signal V4, and its amplitude and frequency are adjustable.Correspondence is applied to each electromagnet, by changing voltage signal, just can change electromagnetic force, and then can change the friction coefficient of finger and tactile sense reproduction module, and operator just can produce harsh feeling and smooth feeling when touching tactile sense reproduction module.
1. tactile sense reproduction module.We adopt at the upper micro Process transparent electrode arrays of transparent material (as quartz glass), paste piezoelectric ceramic piece at its lower surface, electromagnet iron array is pasted onto LCDs lower surface and the method be placed on below tactile sense reproduction module obtains comprehensive tactile sense reproduction module by display screen, and its structural representation as shown in Figure 2 and Figure 3.
2. for generation of the pumping signal of air press mold effect.In order to obtain air press mold effect and avoid vibrating the noise brought, oscillating flat plate will work in ultrasonic vibration state.The control of the friction coefficient that air press mold effect obtains is by regulating dull and stereotyped Oscillation Amplitude to realize.We are at the Piezoelectric Ceramics Excitation signal of design: voltage is adjustable (peak-to-peak value 0-70V), the AC signal of frequency-adjustable (0-40KHz).
3. for generation of the pumping signal of electroluminescent yo-yo effect.Typical pumping signal needed for electroluminescent yo-yo effect is the pulse signal of high voltage, low current.We are realized by this few part of high-voltage power supply (about 250V), current-limiting resistance and switch arrays.Carry out regulating friction force coefficient because electroluminescent vibrational system relies on operator to point the electric field force experienced, the excitation signal voltage on electrod-array is higher, and effect is more obvious.But being perfectly safe in order to ensure operator, components and parts such as employing current-limiting resistance and capacitance etc. are done strict restriction to the maximum electric current of output by us.
4. for generation of the pumping signal of electromagnetic force.The pumping signal of the electromagnet array of native system design is: the PWM ripple that voltage, frequency, dutycycle are adjustable.
5. based on the central control system of microcontroller.This module selects the multi-functional microcontroller based on ARM Cortex kernel to realize.As the central control system of whole tactile sense reproduction equipment, this module by completion system configuration, pumping signal Generation and control, operator's finger position detect, with the critical function such as exogenous data communication, LCDs display.
6. operator's finger position detects.The detection of operator's finger position is the important step of tactile representation system, and it directly affects generation and the degree of accuracy of haptic mode.Electrod-array layer comprises two-layer, and one deck makes row battle array, one deck makes array.If its principle of work is energising between adjacent rows, two row mainly, all fixed capacity can be produced between two adjacent electrodes.If finger touch electrode array, then can produce new stray capacitance between finger and electrode, controller just can calculate finger position.
The reproducting method controlling tactile representation device based on this wide cut friction force comprises following steps:
Step 1) obtain operator's finger position, the equivalent friction coefficient value μ generating finger position place and need is calculated according to the haptic mode of current reproduction;
Step 2) obtain the initial friction force coefficient μ 0 of the upper surface of transparent electrode arrays module, maximum friction force coefficient △ μ that transparent electrode arrays module can increase
eV, the piezoelectric ceramics array module maximum friction force coefficient △ μ that can reduce
sQZ, and the electromagnet array module maximum friction force coefficient △ μ that can increase or reduce
mAG;
Step 3) if μ is ∈ [μ 0, μ 0+ △ μ
eV], control transparent electrode arrays module, produce electroluminescent yo-yo effect, the friction coefficient between increase operator finger with the upper surface of transparent electrode arrays module is to μ;
Step 4) if μ is ∈ [μ 0-△ μ
sQZ, μ 0], control piezoelectric ceramics array module, produce air press mold effect, the friction coefficient between reduction operator finger with the upper surface of transparent electrode arrays module is to μ;
Step 5) if μ is ∈ [μ 0+ △ μ
eV, μ 0+ △ μ
eV+ △ μ
mAG], first control to produce attractive force between electromagnet array module and permanent magnet, operator is pointed and friction coefficient between the upper surface of transparent electrode arrays module increases to maximum, then control transparent electrode arrays module and operator's finger is increased to μ with the friction coefficient between the upper surface of transparent electrode arrays module;
Step 6) if μ is ∈ [μ 0-△ μ
sQZ-△ μ
mAG, μ 0-△ μ
sQZ], first control to produce repulsive force between electromagnet array module and permanent magnet, make it be reduced to minimum by the friction coefficient between operator's finger and the upper surface of transparent electrode arrays module, then control piezoelectric ceramics array module and the friction coefficient between operator's finger and the upper surface of transparent electrode arrays module is decreased to μ;
Step 7), if
then according to the friction force scope that system can be reproduced, the friction coefficient in the haptic mode of current reproduction is processed, the scope making it belong to system to reproduce.
Further, described step 7) detailed step be: according to friction coefficient maximin in the haptic mode of current reproduction, do normalized.
Further, described step 7) detailed step can also be for: if the equivalent friction coefficient value μ that finger position place needs exceeds friction coefficient maximin scope in the haptic mode of current reproduction, directly use system friction force coefficient upper lower limit value to represent.
Friction force control involved in the present invention is that the mode by air press mold effect, electroluminescent yo-yo effect and electric magnetization three kinds of principles being merged mutually realizes.Wherein, air press mold effect can be used for the coefficient that reduces friction, and electroluminescent yo-yo effect can be used for increasing friction force coefficient, and electromagnetic force controls both to may be used for increasing friction force, also may be used for reducing friction, as a setting the initial friction force coefficient of tactile sense reproduction module can be set acting force.So just can realize wider friction coefficient range of control, thus comparatively meticulous texture sense of touch can be reproduced, improve the authenticity of tactile sense reproduction.
Claims (8)
1. a wide cut friction force controls tactile representation device, it is characterized in that, comprise tactile sense reproduction module, Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module, finger position detection module, be pasted on permanent magnet and central control module that operator points back;
Described tactile sense reproduction module comprises sense of touch panel, transparent electrode arrays module, piezoelectric ceramics array module, electromagnet array module, display module and housing;
Described sense of touch panel is rectangular slab that is transparent, rigidity; Described transparent electrode arrays module installation is on sense of touch panel; Between the lower surface that described piezoelectric ceramics array module is fixed on sense of touch panel and housing; Described electromagnet array is fixed on below display module; Described display module is fixed on immediately below sense of touch panel, and and between sense of touch panel, reserve the space that enough tactile sense reproduction modules vibrate;
Described Piezoelectric Ceramics Excitation signal generation module and piezoelectric ceramics array module are electrically connected, described electrod-array pumping signal generation module is connected with transparent electrode arrays modular electrical, described electromagnet array stimulating signal generation module and electromagnet array module are electrically connected, and described central control module is electrically connected with Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module, display module, finger position detection module respectively;
Described Piezoelectric Ceramics Excitation signal generation module is for generation of the drive singal of piezoelectric ceramics array module;
Described electrod-array pumping signal generation module is for generation of the drive singal of transparent electrode arrays module;
Described electromagnet array stimulating signal generation module is for generation of the drive singal of electromagnet array;
Described display module is for showing dummy object;
Described finger position detection module is for detecting finger position;
Described central control module is for controlling Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module generation drive singal, control finger position detection module and obtain operator's finger position, and control display module display dummy object.
2. wide cut friction force according to claim 1 controls tactile representation device, it is characterized in that, described display module adopts LCD MODULE.
3. wide cut friction force according to claim 1 controls tactile representation device, it is characterized in that, described housing adopts hard foam.
4. wide cut friction force according to claim 1 controls tactile representation device, and it is characterized in that, described permanent magnet is oblate cylindricality rubidium magnet.
5. wide cut friction force according to claim 1 controls tactile representation device, and it is characterized in that, described transparent electrode arrays comprises at least two-layer transparent electrode arrays layer, and every layer of transparent electrode arrays layer is all processed with insulation course.
6. control the reproducting method of tactile representation device based on wide cut friction force according to claim 1, it is characterized in that, comprise following steps:
Step 1) obtains operator's finger position, calculates the equivalent friction coefficient value μ generating finger position place and need according to the haptic mode of current reproduction;
Step 2) obtain the initial friction force coefficient μ 0 of the upper surface of transparent electrode arrays module, maximum friction force coefficient △ μ that transparent electrode arrays module can increase
eV, the piezoelectric ceramics array module maximum friction force coefficient △ μ that can reduce
sQZ, and the electromagnet array module maximum friction force coefficient △ μ that can increase or reduce
mAG;
If step 3) μ is ∈ [μ 0, μ 0+ △ μ
eV], control transparent electrode arrays module, produce electroluminescent yo-yo effect, the friction coefficient between increase operator finger with the upper surface of transparent electrode arrays module is to μ;
If step 4) μ is ∈ [μ 0-△ μ
sQZ, μ 0], control piezoelectric ceramics array module, produce air press mold effect, the friction coefficient between reduction operator finger with the upper surface of transparent electrode arrays module is to μ;
If step 5) μ is ∈ [μ 0+ △ μ
eV, μ 0+ △ μ
eV+ △ μ
mAG], first control to produce attractive force between electromagnet array module and permanent magnet, operator is pointed and friction coefficient between the upper surface of transparent electrode arrays module increases to maximum, then control transparent electrode arrays module and operator's finger is increased to μ with the friction coefficient between the upper surface of transparent electrode arrays module;
If step 6) μ is ∈ [μ 0-△ μ
sQZ-△ μ
mAG, μ 0-△ μ
sQZ], first control to produce repulsive force between electromagnet array module and permanent magnet, make it be reduced to minimum by the friction coefficient between operator's finger and the upper surface of transparent electrode arrays module, then control piezoelectric ceramics array module and the friction coefficient between operator's finger and the upper surface of transparent electrode arrays module is decreased to μ;
Step 7), if μ is [μ 0-△ μ
sQZ-△ μ
mAG, μ 0+ △ μ
eV+ △ μ
mAG], then according to the friction force scope that system can be reproduced, the friction coefficient in the haptic mode of current reproduction is processed, the scope making it belong to system to reproduce.
7. control the reproducting method of tactile representation device based on wide cut friction force according to claim 6, it is characterized in that, the detailed step of described step 7) is: according to friction coefficient maximin in the haptic mode of current reproduction, do normalized.
8. the reproducting method of tactile representation device is controlled based on wide cut friction force according to claim 6, it is characterized in that, the detailed step of described step 7) for: if the equivalent friction coefficient value μ that finger position place needs exceeds friction coefficient maximin scope in the haptic mode of current reproduction, directly use system friction force coefficient upper lower limit value to represent.
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| CN105224079A (en) * | 2015-09-17 | 2016-01-06 | 惠州Tcl移动通信有限公司 | Based on wear-type virtual reality device and the control method thereof of mobile terminal |
| CN106227346A (en) * | 2016-07-25 | 2016-12-14 | 南京航空航天大学 | The power controlled based on electromagnetic field is felt and sense of touch fusion transcriber and method |
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| CN106227346B (en) * | 2016-07-25 | 2022-10-21 | 南京航空航天大学 | Force sense and touch sense fusion reproduction device and method based on electromagnetic field control |
| CN106293089A (en) * | 2016-08-15 | 2017-01-04 | 南京信息工程大学 | A kind of vibration sensing device and method of work based on this device |
| CN106293089B (en) * | 2016-08-15 | 2023-04-25 | 南京信息工程大学 | Vibration sensing device and working method based on same |
| 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 |
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| CN109240485A (en) * | 2018-05-28 | 2019-01-18 | 厦门大学 | A kind of texture haptic display device, display device and radian transcriber |
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| CN109272919A (en) * | 2018-11-16 | 2019-01-25 | 京东方科技集团股份有限公司 | Pixel-driving circuit, display base plate, terminal and its driving method |
| CN110096147A (en) * | 2019-04-17 | 2019-08-06 | 北京航空航天大学 | A kind of active texture presentation device based on the driving of high density flexible electromagnetic coil array |
| US11144127B1 (en) | 2019-04-17 | 2021-10-12 | Beihang University | Active texture presentation apparatus driven by high-density flexible electromagnetic coil array |
| WO2020211305A1 (en) * | 2019-04-17 | 2020-10-22 | 北京航空航天大学 | Active texture presentation apparatus based on high-density flexible electromagnetic coil array driving |
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