CN106227346B - Force sense and touch sense fusion reproduction device and method based on electromagnetic field control - Google Patents
Force sense and touch sense fusion reproduction device and method based on electromagnetic field control Download PDFInfo
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Abstract
The invention provides a force sense and touch sense fusion reproduction device and method based on electromagnetic field control, which are based on an electromagnetic field control principle and generate a three-dimensional background electromagnetic field with controllable size and direction in a cubic box body wound with coils; the wearable glove with the magnetic modules is used, the electromagnet module at the palm center of the glove is used for force sense reproduction, the electromagnet module at the finger end of the finger is used for texture touch sense reproduction, and the magnetic modules interact with a three-dimensional background magnetic field; meanwhile, the change of the electromagnetic acting force at the magnetic module at the corresponding position of the hand part of the person is controlled by detecting the three-dimensional position information of the hand part of the person in real time; the device and the force sense and touch sense fusion reproduction method innovatively realize novel force sense and touch sense fusion reproduction, multipoint interaction and non-contact type force sense and touch sense fusion reproduction.
Description
Technical Field
The invention belongs to the technical field of force and touch reproduction in man-machine interaction, and particularly relates to a force sense and touch fusion reproduction device and method based on electromagnetic field control.
Background
The haptic force reproduction technology is an emerging human-computer interaction technology, which has a very unique and extremely important position as an operator can touch, perceive and manipulate virtual objects by means of a haptic force reproduction device and a computational simulation environment, and bidirectional information and energy interaction (between human beings and the environment) which cannot be achieved by other perception systems is realized.
In the haptic force rendering technology, a haptic force device as an interface between an operator and a virtual environment is a necessary condition for the haptic force rendering system to be implemented; the human force tactile perception characteristic is the design basis of the force tactile equipment; the force touch modeling method depends on force touch reproduction equipment, and the force touch reproduction equipment together determine performance indexes such as authenticity and stability of the system. Accordingly, the force and touch reproduction is also divided into force sense reproduction and touch reproduction, and the force sense reproduction mainly studies how to generate an acting force to be fed back to an operator and reproduce the dynamic characteristics of interaction between the operator and a virtual object. Omega series and Delta series devices of Force Dimension company are fixed on the basis of the ground/desktop, and because a unique Delta structure is adopted, higher acting Force output and reproduction rigidity can be realized, and an operator can perform non-contact interaction with a virtual object on the basis of the Force feedback device. Haptic rendering research has focused primarily on the rendering of texture haptics, and such haptic rendering systems typically stimulate the tactile receptors of the operator's skin by various means, such as air bellows or nozzles, various means of generated vibrations, microneedle arrays, direct current electrical pulses, functional neuromuscular stimulation, and the like.
In a patent of '3D carving Input Device' (patent number is US6483499B 1) of Li Man Li et al, four same electromagnets are used, two electromagnets are oppositely arranged on the same height plane, one electromagnet is also arranged on the bottom surface in the middle of a space surrounded by the four electromagnets, and repulsive acting force is output between the electromagnets; a rod-shaped device with a permanent magnet at the top end is used for moving in an operation space to realize force perception. The device can only realize force sense output in a single direction. Furthermore, the operator needs to use a rod-shaped sensing tool to achieve force sensing, not force tactile reproduction based on natural interaction.
In the "Magnetic tactile Feedback Systems and Methods in Virtual Reality environment" patent of Jianjuen Hu et al (patent No. US20060209019 A1), a force/tactile reproduction system is mentioned, in which an electromagnet array is mounted on a base, and the electromagnet array can be controlled by a central controller to generate a Magnetic field with controllable magnitude and direction; meanwhile, the force sense perception of an operator is realized through a thin cylindrical force sense perception tool with a permanent magnet stuck to the tip. Similarly, in the patent entitled "a multi-coil electromagnetic type force tactile feedback device and method" applied by wuhan university (patent number CN 104598033A), the force tactile feedback device mentioned therein has a plurality of electromagnetic coils distributed on a base, and the postures and positions of the coils can be adjusted and changed according to the requirements of man-machine interaction application; the operating rod is composed of a magnet and a handle and is used for interacting with a magnetic field in an effective magnetic field space generated by the coil. Both designs increase the operating range by means of indirect force feedback devices (such as rod-shaped handles and the like), and avoid the problems of mechanical friction and mechanical coupling in mechanical force feedback devices. But not a haptic rendering of forces based on natural interaction, due to the joystick.
The force feedback device is intended to realize feedback of force sense, but there are also scholars who use it to indirectly realize tactile reproduction. The method for reproducing the shape and texture of the surface of the virtual object based on three-dimensional contour information of the surface of the virtual object is provided based on a Phantom hand controller, such as Lijialuo and Songhua of the university of southeast south east. The haptic reproduction method based on force feedback has an advantage of increasing haptic reproduction on the basis of a force sense reproduction apparatus, however, the haptic reproduction method is not intuitive enough and its action mechanism is similar to the force sense that an operator uses a stick-type tool to sweep the surface of an object to indirectly sense haptic information.
Weiss et al have constructed a FingerFlux system by combining a one-dimensional electromagnetic field with a 19 x 12 array of electromagnets and affixing permanent magnets to the tips of the operator's fingers. The system controls the electromagnetic acting force felt by the fingers of an operator by controlling the change of the one-dimensional electromagnetic field. The array type tactile representation system has the advantages of being intuitive and non-contact, and being capable of actively applying tactile stimulation to an operator, but has certain limitations, namely high power consumption and cost, difficulty in miniaturization and the like.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a force sense and touch sense fusion reproducing device based on electromagnetic field control, which aims at the defects and shortcomings in the background art.
The invention provides a force sense and touch sense fusion reproduction device based on electromagnetic field control, which comprises a cubic box body, three solenoid coils, a three-dimensional background magnetic field driving and controlling module, a power supply module, a wearable glove with a magnetic module, a driving and controlling module of the magnetic module, a camera group module and a hand three-dimensional position detecting system, wherein the three solenoid coils are arranged in the cubic box body;
one surface of the cubic box body is provided with an operation hole, and the other five surfaces of the box body are closed;
the outer surface of the cubic box body is wound with a solenoid coil;
the three-dimensional background magnetic field driving and controlling module comprises a first microcontroller system, a solenoid coil driving circuit and a first wireless communication module, wherein the first microcontroller system drives and controls a solenoid coil through the solenoid coil driving circuit and is connected with the driving and controlling module of the magnetic module for communication through the first wireless communication module;
the solenoid coil is respectively connected with a solenoid coil driving circuit in the three-dimensional background magnetic field driving and controlling module; the power module is used for supplying power to the solenoid coil;
the wearable glove with the magnetic modules comprises an electromagnet at the palm center and an electromagnet at the finger tip, and is used for adjusting the electromagnetic acting force applied to each electromagnet module;
the electromagnet at the palm center is internally provided with a magnetic conductive iron core, externally wound with a copper wire and used for force sense reproduction, and is connected with a palm center electromagnet driving circuit; the electromagnet at the finger end is internally provided with a magnetic conductive iron core, externally wound with a copper wire, used for touch representation and connected with a finger end electromagnet driving circuit;
the driving and control module of the magnetic module comprises a second microcontroller system, a palm electromagnet driving circuit, a finger end electromagnet driving circuit and a second wireless communication module, the second microcontroller system respectively drives and controls the electromagnet at the palm position and the electromagnet at the finger end through the two magnet driving circuits, and is connected and communicated with the three-dimensional background magnetic field driving and control module through the second wireless communication module;
the camera group module comprises a plurality of cameras which are distributed at the corners of the cubic box body; the camera is connected to the human hand three-dimensional position detection system and used for acquiring the non-shielding human hand three-dimensional position information in real time;
the hand three-dimensional position detection system is used for detecting the hand three-dimensional position information of a person in real time, transmitting the hand three-dimensional position information of the person to a scene of a virtual environment, and is connected and communicated with the three-dimensional background magnetic field driving and control module through the communication interface.
Preferably, a space coordinate system is established by taking one of the vertexes of the cubic box as an origin, and the operation hole is positioned on a plane of the cubic box perpendicular to the x-axis.
Preferably, the camera group module adopts 8 groups of cameras which are respectively distributed at 8 coordinate points of a space coordinate system, each group of cameras comprises 1 binocular camera and 1 depth camera, and the binocular camera and the depth camera of each group of cameras face to the same space direction.
Preferably, the solenoid coils are perpendicular to the spatial coordinate axis, and there are three groups of coils, each group of coils is wound on three groups of outer surfaces of the cubic box body extending along the same direction at regular intervals, wherein the coils perpendicular to the y-axis and the z-axis are wound along the outer side of the hole when passing through the operation hole.
Preferably, the first microcontroller system in the three-dimensional background magnetic field driving and controlling module is constructed based on an ARM Cortex M4 processor TM4C129 of the company TI, and adjusts the electromagnetic field generated by the three solenoid coils in a PWM manner; the first wireless communication module is connected with the second wireless communication module through 2.4G Bluetooth for communication.
Preferably, the second microcontroller system in the drive and control module of the magnetic module is constructed based on an ARM Cortex M4 processor TM4C123 of the company TI, and adjusts the electromagnetic force applied to the magnetic module in the wearable glove in a PWM manner; the second wireless communication module is connected with the first wireless communication module for communication through 2.4G Bluetooth.
Preferably, the power module uses a dc power supply KXN6060D for supplying power to the three solenoid coils.
A reproduction method of a force sense and touch sense fusion reproduction device based on electromagnetic field control, the method comprising the steps of:
step 1) establishing a virtual scene;
step 2) acquiring three-dimensional position information P (x, y, z, alpha, beta, gamma) of the hand in real time through a camera group module, wherein (x, y, z) is a three-dimensional coordinate of a single electromagnet in the hand-worn glove, and (alpha, beta, gamma) is a direction angle of the single electromagnet in the hand-worn glove;
step 3) the human hand three-dimensional position detection system detects the human hand three-dimensional position information in real time by using a corresponding position detection algorithm and transmits the human hand three-dimensional position information to a virtual hand in a virtual scene;
and step 4) once the virtual hand touches the virtual object, the first microcontroller system controls the three solenoid coils to generate current, and magnetic induction intensities generated by the three solenoid coils along the x axis, the y axis and the z axis are respectively calculated according to the Biot-Saval law
Controlling an electromagnet in the wearable glove to generate current through a second microcontroller system;
step 5) calculating the electromagnetic acting force generated at the position (x, y, z) of each electromagnet in the wearable glove by using an ampere force formula
Step 6), the first microcontroller system controls and adjusts current passing through the three solenoid coils in a PWM mode, and then controls and adjusts a three-dimensional background magnetic field; the second microcontroller system controls and adjusts current flowing in the electromagnets of the wearable glove in a PWM (pulse width modulation) mode, and further controls and adjusts the electromagnetic acting force borne by each electromagnet; through control algorithms such as PID and the like, the accurate control of the electromagnetic acting force on each electromagnet when the wearable glove moves is realized.
Further, the virtual scene includes a virtual hand and a virtual object model.
In particular, the electromagnetic force
The method specifically comprises the following steps:
wherein I m The current of a single electromagnet in the wearable glove is L m The total length of the coil wound by a single electromagnet.
Compared with the prior art, the technical scheme adopted by the invention has the following technical effects:
1. three solenoid coils are used for directly generating a three-dimensional background electromagnetic field with controllable random size and direction;
2. based on the camera group module, the three-dimensional shape and position information of the human hand without occlusion can be detected and obtained in real time;
3. the device realizes the novel force sense and touch sense fusion reproduction of natural interaction, multipoint interaction and non-contact.
Drawings
FIG. 1 is a schematic diagram of a force sense and touch sense fusion reproduction device according to the present invention;
in the figure, 1-cubic box, 2-three solenoid coils, 3-three-dimensional background magnetic field driving and controlling module, 4-power module, 5-wearable glove with magnetic module, 6-magnetic module driving and controlling module, 7-camera group module and 8-human hand three-dimensional position detecting system;
2 a-a solenoid coil taking an x-axis as an axis, 2 b-a solenoid coil taking a y-axis as an axis, 2 c-a solenoid coil taking a z-axis as an axis, 3 a-a drive circuit of the solenoid coil 2a, 3 b-a drive circuit of the solenoid coil 2b, 3 c-a drive circuit of the solenoid coil 2c, 5 a-an electromagnet at a palm center, 5 b-an electromagnet at a finger end, 6 a-a palm center electromagnet drive circuit and 6 b-a finger end electromagnet drive circuit.
Detailed Description
The invention provides a force sense and touch sense fusion reproducing device and method based on electromagnetic field control, which are used for further elaborating the invention with reference to the attached drawings and examples in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The tactile sensation reproduction device realizes the fusion reproduction of force sensation and tactile sensation by adopting the electromagnetic field control principle. The structural schematic diagram of the whole tactile sensation reproduction apparatus is shown in fig. 1.
The device comprises a cubic box body 1, three solenoid coils 2, a three-dimensional background magnetic field driving and controlling module 3, a power supply module 4, a wearable glove 5 with a magnetic module, a driving and controlling module 6 of the magnetic module, a camera group module 7, a human hand three-dimensional position detecting system 8 and other modules.
The cubic box body 1 is a cube, and the side length of the cube is a; a cylindrical operation hole is formed in the right center of the front surface of the box body, which is vertical to the x-axis direction, and is used for enabling a hand to extend into the box body for operation, the diameter of the hole is 80mm, the depth of the hole extending out of the box body is 60mm, and the other five surfaces of the box body are closed. Solenoid coils 2a,2b and 2c which take an x axis, a y axis and a z axis as axes are respectively wound outside the cubic box body, so that each coil is electrified to generate a relatively uniform magnetic field with controllable size and direction in three spatial coordinate axis directions; each solenoid coil is wound with copper wire, wherein the windings of solenoids 2b and 2c are closely spaced against the outside of the hole as they pass through the operating hole. The size of the cubic box space required by the invention is about 300 multiplied by 300mm 3 Because the size of the magnetic field generated by the solenoid coil is significantly influenced by the diameter of the cross section of the solenoid, when the initial design cannot meet the requirement of acting force, the invention intends to consider reducing the size of the cubic box.
The wearable glove 5 with the magnetic module is composed of an electromagnet 5a at the palm center and a micro electromagnet 5b at the finger end, so that the electromagnets are electrified to generate electromagnetic acting force for interacting with a three-dimensional controllable background magnetic field in the cubic box 1. A copper wire is wound outside the electromagnet 5a at the palm center, and soft iron or silicon steel sheets are placed inside the coil to be used as an iron core and fixed on the palm of a hand of a person for force sense reproduction, so that 5N-7N acting force can be generated to the maximum extent; the electromagnet 5b at the finger tip is a micro electromagnet and is processed by using a PCB (printed Circuit Board) coil or an MEMS (micro electro mechanical System) technology, soft iron or silicon steel sheets are placed in the coil to serve as an iron core and are fixed on the finger tip of a human finger for touch representation, and 1-2N acting force can be generated to the maximum extent.
The acquisition of the three-dimensional position of the hand is an important link of the force sense and touch sense fusion reproduction system, and directly influences the generation and the accuracy of a force touch sense mode. The selected camera group module 7 comprises 8 groups of cameras, and 8 groups of cameras are distributed at 8 corners of the cubic box 1, namely 8 coordinate points (0, 0), (0, a), (0, a, 0), (0, a, a), (a, 0), (a, a,0, a), (a, a, 0); every group camera comprises 1 binocular camera and 1 degree of depth camera, and the binocular camera and the degree of depth camera of every group camera are towards same spatial direction. Each camera in the camera group is connected to the human hand three-dimensional position detection system 8 through a USB interface and is used for acquiring the three-dimensional shape and position information of the human hand without shielding in real time. The hand three-dimensional position detection system 8 detects the hand three-dimensional position information in real time by using a related position detection algorithm, and transmits the hand three-dimensional position information to a virtual scene of a virtual environment.
Once a virtual hand in a virtual scene touches a virtual object, an ARM Cortex M4 processor TM4C129 in the three-dimensional background magnetic field driving and controlling module 3 drives three coils 2a,2b and 2c to generate current through solenoid coil driving circuits 3a,3b and 3c; meanwhile, an ARM Cortex M4 processor TM4C123 in the magnetic module driving and controlling module 6 drives each electromagnet module 5a,5b in the wearable glove 5 to generate current through a palm electromagnet driving circuit 6a and a finger end electromagnet driving circuit 6b, and further generates specific electromagnetic acting force at the corresponding three-dimensional position of the human hand; the TM4C129 processor is connected with the second wireless communication module for communication in a Bluetooth mode through the first wireless communication module.
The three-dimensional background magnetic field comprises relatively uniform magnetic fields in three directions of an x axis, a y axis and a z axis, and the magnitude and the direction of the magnetic field are adjustable. Based on a TM4C129 processor in the three-dimensional background magnetic field driving and controlling module 3, the control of currents flowing in three solenoid coils is realized through three driving circuits 3a,3b and 3c in a PWM mode, and further the control of the three-dimensional background magnetic field is realized. The TM4C123 processor outputs PWM signals with adjustable duty ratio through two magnetic module driving circuits 6a and 6b, controls and adjusts current flowing in coils of the electromagnet 5a at the palm center and the micro electromagnet 5b at the finger end, and further accurately adjusts electromagnetic acting force borne by the electromagnet 5a at the palm center and the electromagnet 5b at the finger end through related control algorithms.
The force sense and touch sense fusion reproduction method based on the electromagnetic field control comprises the following steps:
step 1) establishing a virtual scene;
step 2) acquiring three-dimensional position information P (x, y, z, alpha, beta, gamma) of the hand in real time through a camera group module, wherein (x, y, z) is a three-dimensional coordinate of a single electromagnet in the hand-worn glove, and (alpha, beta, gamma) is a direction angle of the single electromagnet in the hand-worn glove;
step 3) the human hand three-dimensional position detection system detects the human hand three-dimensional position information in real time by using a corresponding position detection algorithm and transmits the human hand three-dimensional position information to a virtual hand in a virtual scene;
and step 4) once the virtual hand touches the virtual object, the first microcontroller system controls the three solenoid coils to generate current, and magnetic induction intensities generated by the three solenoid coils along the x axis, the y axis and the z axis are respectively calculated according to the Biot-Saval law
Controlling an electromagnet in the wearable glove to generate current through a second microcontroller system;
step 5) calculating the electromagnetic acting force generated at the position (x, y, z) of each electromagnet in the wearable glove by using an ampere force formula
Electromagnetic force
The method comprises the following specific steps:
in which I m The current of a single electromagnet in the wearable glove is L m The total length of the coil wound by a single electromagnet.
Step 6), the first microcontroller system controls and adjusts currents in the three solenoid coils in a PWM mode, and then controls and adjusts a three-dimensional background magnetic field; the second microcontroller system controls and adjusts current flowing in the electromagnets of the wearable glove in a PWM (pulse width modulation) mode, and further controls and adjusts the electromagnetic acting force borne by each electromagnet; through control algorithms such as PID and the like, the accurate control of the electromagnetic acting force applied to each electromagnet when the wearable glove moves is realized.
The invention relates to a force sense and touch sense fusion reproduction device and method research based on electromagnetic field control, which are characterized in that a three-dimensional controllable electromagnetic field is generated through a solenoid coil, electromagnetic acting force borne by an electromagnet at the palm position of a wearable glove with a magnetic module and electromagnetic acting force borne by a miniature electromagnet at the finger end of a finger are controlled, an operator can directly touch and operate a virtual object, novel force sense and touch sense fusion reproduction of natural interaction, multipoint interaction and non-contact is innovatively realized, and the efficiency and quality of man-machine interaction are effectively improved.
Claims (3)
1. A reproduction method of a force sense and touch sense fusion reproduction device based on electromagnetic field control, the method comprising the steps of:
step 1) establishing a virtual scene;
step 2) acquiring three-dimensional position information of the human hand in real time through the camera group moduleP(x, y, z, α, β, γ) Wherein (a)x, y, z) Is the three-dimensional coordinate of a single electromagnet in a glove worn by a human hand (α, β, γ) Is the direction angle of a single electromagnet in the wearable glove;
step 3) the hand three-dimensional position detection system detects the hand three-dimensional position information in real time by using a corresponding position detection algorithm and transmits the hand three-dimensional position information to a virtual hand in a virtual scene;
step 4) once the virtual hand touches the virtual object, the first microcontroller system controls the three solenoid coils to generate current, and the three solenoid coil edges are respectively calculated according to the Biot-Saval lawx，yAndzmagnetic induction produced by shaft
(ii) a Controlling an electromagnet in the wearable glove to generate current through a second microcontroller system;
step 5) calculating the position of each electromagnet in the wearable glove by using an ampere force formula (x, y, z) Electromagnetic force generated by the electromagnetic field
；
Step 6), the first microcontroller system controls and adjusts current passing through the three solenoid coils in a PWM mode, and then controls and adjusts a three-dimensional background magnetic field; the second microcontroller system controls and adjusts current flowing in the electromagnets of the wearable glove in a PWM (pulse width modulation) mode, and further controls and adjusts the electromagnetic acting force borne by each electromagnet; through a PID control algorithm, the accurate control of the electromagnetic acting force on each electromagnet when the wearable glove moves is realized.
2. A reproduction method of a force sense and touch sense fusion reproduction apparatus based on electromagnetic field control according to claim 1, characterized in that the virtual scene includes a virtual hand and a virtual object model.
3. The method for reproducing a force sense and touch sense fusion reproducing apparatus based on electromagnetic field control as claimed in claim 1, wherein the electromagnetic force is applied
The method specifically comprises the following steps:
whereinI m The current of a single electromagnet in the wearable glove is large or small,L m the total length of the coil wound by a single electromagnet.
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| CN107927950A (en) * | 2017-12-13 | 2018-04-20 | 浙江传媒学院 | Force feedback gloves for virtual reality technology |
| US10460455B2 (en) | 2018-01-25 | 2019-10-29 | Ctrl-Labs Corporation | Real-time processing of handstate representation model estimates |
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| CN109145513B (en) * | 2018-09-30 | 2023-11-07 | 南京航空航天大学 | Non-contact type force touch sense reproduction system and method based on electromagnetic field combined excitation control |
| CN111722698A (en) * | 2019-03-18 | 2020-09-29 | 深圳市掌网科技股份有限公司 | Force feedback virtual reality handle |
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