CN106648092A - Touch simulating system - Google Patents
Touch simulating system Download PDFInfo
- Publication number
- CN106648092A CN106648092A CN201611173693.XA CN201611173693A CN106648092A CN 106648092 A CN106648092 A CN 106648092A CN 201611173693 A CN201611173693 A CN 201611173693A CN 106648092 A CN106648092 A CN 106648092A
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- CN
- China
- Prior art keywords
- tactile
- value information
- force value
- realification
- user
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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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
Abstract
The invention provides a touch simulating system which comprises a touch sensing device, a touch realification device and a processor. In the touch sensing device, a first touch sensor senses an acting force subjected to an electronic device to generate acting force value information, and the touch sensing device receives feedback force value information, so that the electronic device corresponding executes an operating behavior according to the feedback force value information. In the touch realification device, the touch realification device acquires simulating acting force value information according to a control signal to generate a simulating acting force acted on a user wearing a wearable device, so that the user feels a simulating acting force corresponding to the simulating acting force value information; a second touch sensor senses a feedback force generated by the user and generates feedback force value information. The processor receives acting force value information and converts the same into the control signal so as to control operation of the touch realification device.
Description
Technical field
The present invention relates to a kind of touching simulation technology, particularly a kind of tactile analogue system.
Background technology
In the past, when operating personnel is intended to remove explosive danger, professional is typically sent to go to danger institute
The scene of the accident removed.Even however, well-trained professional, it is possible to because operational error or
Person is because have little time to remove and cause danger to be detonated.In the case, how neat the protective gear that no matter professional dresses is
Complete or how firm, the power for being more or less likely to be exploded involves, thus injured.
Therefore, in order to avoid these professionals are injured during on duty, various instructions are not only proposed on the market at present
Practice courseware application to improve the professional skill of professional, and be even more the bomb disposal robot for releasing various type, be professional
There is provided the mode of Remote carries out dangerous material dismounting task.However, at present these bomb disposal robots for releasing generally all only match somebody with somebody
Video camera is had, video camera shoots real-time imaging and returns in long-range professional, and then professional is further according to these
Real-time imaging comes remote control bomb disposal robot, and also mostly takes based on the mode of video teaching in training courseware application.It is aobvious
So, either the work pattern of such bomb disposal robot still trains the teaching method of courseware application, both visualization effects
Fruit is all poor, it is impossible to provide experience effect on the spot in person for professional, so as to affect judgment and the behaviour of professional
The accuracy of work.
The content of the invention
It is an object of the invention to provide a kind of remote simulation system and tactile analogue system, use offer user's tactile
The experience of simulation, allow user carry out remote control or training when, more can be on the spot in person.
According to embodiments of the present invention a kind of disclosed remote simulation system, is suitable to an electronic installation of arranging in pairs or groups, and touches comprising one
Feel arrangement for detecting, a tactile realification device and a processor.Processor is electrically connected with tactile realification device and fills with tactile detecting
Put communication connection.Tactile arrangement for detecting is arranged on the electronic device, and tactile arrangement for detecting includes at least one first touch sensor.
The active force that first touch sensor detecting electronic installation is afforded, to produce a force value information.Also, tactile is detected
Device receives a feedback force value information so that electronic installation performs one and manipulates behavior according to this feedback force value information correspondence.Tactile
Realification device is arranged on an object wearing device, and comprising a tactile realification device and at least one second touch sensor.Tactile realification
The dummy activity force value information that device receives a control signal and obtained according to this control signal is put on producing one and acting on
The dummy activity power of one user of the object wearing device stated so that user experiences the institute of this dummy activity force value information of correspondence
State dummy activity power.And tactile realification device corresponds to the first touch sensor position on the electronic device in the position of object wearing device
Put.A feedback force and the described feedback force value information of generation produced by second touch sensor sensing user.Processor connects
Adduction force value information is simultaneously converted into control signal to control the running of tactile realification device.
First touch sensor and the second touch sensor are pressure sensor, and tactile realification device is pressure generation
Device.Pressure generator includes at least one electrode patch, and at least one electrode patch is to contact the skin of the user
Skin surface, and a current signal corresponding to above-mentioned dummy activity force value information is discharged to skin surface, and then allow and use
Person experiences dummy activity power.
Tactile arrangement for detecting has an instruction morphing table, and instruction morphing table refers to including an at least feedback force value information with operation
Corresponding group of order, tactile arrangement for detecting is an operational order according to this instruction morphing table conversion feedback force value information and is transferred to electricity
Sub-device so that electronic installation carries out corresponding manipulation behavior according to this operational order.
Electronic installation is a mechanical arm.
Another kind of tactile analogue system disclosed by according to embodiments of the present invention a, it is adaptable to object wearing device, comprising a storage
Storage, a processor and a tactile realification device.Holder is to store one first simulation model.Tactile realification device is arranged on
On one object wearing device, and comprising a tactile realification device and an at least touch sensor, touch sensor is produced to sense user
A raw feedback force, uses one feedback force value information of generation.Tactile realification device receives control signal, and is obtained according to control signal
One dummy activity force value information, to produce the dummy activity power for acting on the user for wearing object wearing device so that user
Experience the dummy activity power for corresponding to this dummy activity force value information.Processor is electrically connected at holder, tactile sensing
Device and tactile realification device.Processor generates a control signal according to the first simulation model and feedback force value information.
Touch sensor is pressure sensor, and tactile device is a pressure generator.Wherein, pressure generator can be wrapped
Containing at least one electrode patch, at least one electrode patch is made to contact skin surface, and discharge corresponding to simulation
Firmly an electric signal of value information is to skin surface, and then makes user experience this dummy activity power.Or, tactile device
Can be comprising at least one air bag component and at least one control valve.At least one air bag component is by inflation or the product that loses heart
Life acts on the dummy activity power on the skin surface of the user.One control valve is electrically connected at an air bag component and process
Device.At least one control valve controls corresponding air bag group inflation or loses heart according to control signal.
Holder also records corresponding with operational order group of an at least feedback force value information, processor according at least
One correspondence group conversion feedback force value information is operational order to be transferred to object wearing device, and object wearing device is then according to manipulation instruction pair
Virtual screen should be shown.
First simulation model record has the strain rule of feedback force value information and corresponding dummy activity force value information；Processor
By the strain rule for receiving one second simulation model by produced by other object wearing devices to update the first simulation model.
Disclosed herein remote simulation system and tactile analogue system can allow user experience according to simulation knot
The dummy activity power that fruit is provided, and then appropriate feedback is made according to this dummy activity power, thereby reach touching simulation
Purpose, can more reach virtual reality effect on the spot in person, so as to improve the accuracy and Training scene of user's operation machine
Degree of verisimilitude.
More than with regard to the explanation of this disclosure and the explanation of following embodiment to demonstrate and explain the present invention
Spirit and principle, and provide the present invention patent claim further explain.
Description of the drawings
Figure 1A is that explosive danger is being removed in the way of remotely control according to depicted in one embodiment of the invention
In application, schematic diagram of the remote simulation system with electronic installation in collocation running；
Figure 1B is the electronic installation that at least one touch sensor is equipped with Figure 1A when explosive danger is removed
Partial enlarged drawing；
Fig. 2 is the functional block diagram of the remote simulation system according to depicted in one embodiment of the invention；
Fig. 3 A are the wearing dress for being equipped with least part of tactile realification device according to depicted in one embodiment of the invention
The phantom view put；
Fig. 3 B are the partial enlarged drawing of object wearing device in Fig. 3 A；
Fig. 4 A are the wearing for being equipped with least part of tactile realification device according to depicted in another embodiment of the present invention
The phantom view of device；
Fig. 4 B are the partial enlarged drawing of object wearing device in Fig. 4 A；
Fig. 5 is the functional block diagram of the tactile analogue system according to depicted in another embodiment of the present invention.
In figure
1st, 1 ' tactile analogue system
10 tactile arrangement for detecting
110 touch sensors
12 processors
14 tactile realification devices
141 tactile realification devices
141a electrode patch
143 touch sensors
145 control valves
147 air bag components
16 holders
2 electronic installations
21 mechanical bodies
22 control boards
23 mechanical fingers
3 object wearing devices
31 finger sections
Surface on the inside of 31a
SE dangers
The finger of UF user
Specific embodiment
The specific embodiment of the present invention is described in more detail below in conjunction with schematic diagram.According to description below and
Claims, advantages and features of the invention will become apparent from.It should be noted that, accompanying drawing is in the form of simplifying very much and equal
Using non-accurately ratio, only to purpose that is convenient, lucidly aiding in illustrating the embodiment of the present invention.
Tactile (Tactile sense) refer to the nerve cell that is distributed on whole skin receive from extraneous temperature,
The sensation of the aspects such as humidity, pain, pressure, vibration, and touch press sensing is the sense of touch that human skin is acted on by pressure and tractive force
Receiver and cause.Therefore, can pass through directly to apply an external force (or pressing force) to the skin of user, allow user directly to feel
By the size of this external force.Or, the one of the corresponding different force of skin that also can give user by multiple external metallization electrodes
Myoelectricity (Electromyography, EMG) signal, electromyographic signal makes user cognitive again via nerve conduction to brain
External force size corresponding to this electromyographic signal, to simulate tactile.
By way of above-mentioned skin is directly felt, using electromyographic signal emulate tactile mode or other it is existing and
Future is sufficient for the possibility mode of user's impression or cognitive tactile, disclosed herein tactile analogue system can be applicable to example
Explosive danger, virtual reality (Virtual reality, VR) game, professional skill are such as removed in the way of remotely control
Virtual reality training etc. need to use the field of touching simulation technology, and disclosed herein remote simulation system can answer
Need to use the neck of touching simulation and remote control technology for for example removing explosive danger etc. in the way of remotely control
Domain；And the present invention be not limited to it is above-mentioned enumerate can application.By disclosed herein tactile analogue system, can
To allow user to experience the dummy activity power that tactile analogue system is provided according to analog result, and then made according to this simulation
Firmly make appropriate feedback.If disclosed herein remote simulation system and tactile analogue system can arrange in pairs or groups again upper vision
Emulation technology, audio include/analogue technique of play-back technology, olfactory analogue technology and/or other sense organs, simulation behaviour can be provided
Make (Operational simulation) and hold more accurate and more on the spot in person virtual reality effect.
As a example by the application of explosive danger is removed by way of remotely control, disclosed herein it is long-range
Analogue system can be directed to remotely using an electronic installation one doubtful explosion thing (Suspected explosive of dismounting
Device the actual conditions) or during explosion thing (an Explosive device) are simulated, and analog result is changed into can
The information and active force at simulation operations end is reacted, and then allows the operator at simulated operation end to be able to according to these information and effect
Power makes adaptive feedback.Also, while disclosed herein remote simulation system also can make according to simulated operation end
Adaptive feedback, control the start in the electronic installation for remotely just attempting to remove doubtful explosion thing or explosion thing.Thereby, this
Bright disclosed remote simulation system can reach the purpose that safety removes doubtful explosion thing or explosion thing.
By taking the application of reality-virtualizing game or the virtual reality training of professional skill as an example, disclosed herein touch
Feel that analogue system can provide one or more simulation models (Simulation model).Simulation model can provide simulation operations end and write from memory
The artificial intelligence recognized and active force so that the operator at simulated operation end is able to make adaptability according to these information and active force
Feedback.Also, simulation model also can update and be supplied to the default virtual picture in simulated operation end according to the feedback at simulation operations end
Face and active force.Thereby, disclosed herein tactile analogue system can reach professional skill training or improve Entertainment
The purpose of property.
For convenience of explanation, below by just for the application that explosive danger is removed by way of remotely control
And remotely remove the application of the virtual reality training of explosive danger and enumerate different embodiments respectively to explain.
For one or more enforcements of the clear application for illustrating and explosive danger being removed by way of remotely control
Aspect, illustrate please also refer to Figure 1A～1B, Fig. 2, Fig. 3 A～3B disclosed herein remote simulation system 1.Figure 1A is
According to depicted in one embodiment of the invention in the application that explosive danger is removed in the way of remotely control, remotely
Schematic diagram of the analogue system 1 with electronic installation 2 in collocation running, Figure 1B is that electronic installation 2 is removing danger SE in Figure 1A
When partial enlarged drawing, Fig. 2 is the functional block diagram of the remote simulation system 1 according to depicted in one embodiment of the invention, Fig. 3 A
It is showing thoroughly for the object wearing device 3 for being equipped with least part of tactile realification device 14 according to depicted in one embodiment of the invention
Figure, and the partial enlarged drawing that Fig. 3 B are object wearing device 3 in Fig. 3 A.
Remote simulation system 1 can be with electronic installation 2 and the collocation running of object wearing device 3.As shown in Fig. 2 remote simulation system 1
Comprising a tactile arrangement for detecting 10, a processor 12, a tactile realification device 14.In other embodiments, remote analog system 1
Also can further include a holder 16.The configuration of these components, running and linking relationship and the chain between other assemblies
Connecing relation and running will exemplarily be described as follows.
Electronic installation 2 and tactile arrangement for detecting 10 may be disposed at real border scene (Reality scene) end, and part
Or the tactile arrangement for detecting 10 of whole can be independently positioned on electronic installation 2 or be integrated in electronic installation 2.Also,
According to actual application demand, part or all of tactile arrangement for detecting 10 can be filled by wired or wireless mode and electronics
Put 2 links.For convenience of explanation, the following example is the enforcement aspect being integrated in tactile arrangement for detecting 10 in electronic installation 2
As exemplarily illustrating.
Electronic installation 2 may be, for example, a mechanical arm (Robotic arm).However, the present invention is not intended to limit electronic installation 2
Species, in this area have usually intellectual other suitable electronic installations can be selected according to different applications.But it is
It is briefly described the running at real border scene end in the present invention, below example is by using the enforcement aspect of mechanical arm as showing
Example is illustrating.
As shown in Figure 1A and 1B, machinery of the electronic installation 2 alternatively comprising a mechanical body 21 and a control board 22 sets
It is standby.Mechanical body 21 is for example comprising a transfer arm and a manipulator.In one embodiment, transfer arm is rotatably connected to
Mechanical body 21 and manipulator so that transfer arm can bob and weave or rotate, and manipulator can then simulate human wrist
Action.Transfer arm in one embodiment can be comprising one or more armed levers and one or more joint assemblies；By armed lever and
Configuration between joint assembly, control board 22 can control transfer arm 21 makes bending, stretches, raises, reducing, rotating etc. and simulate people
The action of class arm activity.Manipulator can for example include multiple mechanical fingers 23, and the design of mechanical finger 23 is in one embodiment
Can for example comprising one or more finger sections and one or more articulations digitorum manus components, by finger section and articulations digitorum manus inter-module
Configuration, control board 22 can control manipulator make simulation human palm being grasped, the action that grips, swing etc..Control
Board processed 22 is portable control board, and direction that can be via remote control towards danger SE is moved.Also, control machine
Platform have one can program editing controller, to the running for controlling the entirety of electronic installation 2, such as the position of overall electronic installation 2
Put the mobile, motion of transfer arm 21 and motion of mechanical finger 23 etc..The design of above-mentioned mechanical arm is demonstrated with only conduct is selected
Property ground explanation, not to limit the present invention in for the possible enforcement aspect of mechanical arm.In other words, have in this area
Usually intellectual can select or design suitable mechanical arm according to different applications.
Tactile arrangement for detecting 10 includes at least one or more touch sensors 110 (also known as the first touch sensor).Touch
Feel that sensor 110 may be, for example, a pressure sensor, to detect the active force that electronic installation 2 is afforded, to produce a work
Firmly value information, that is, pressure value.Also, in one embodiment, tactile arrangement for detecting 10 has an instruction morphing table, instruction
Conversion table record has corresponding with operational order group of an at least feedback force value information.Using this instruction morphing table, electronic installation 2
Feedback force value information can be converted to an operational order by controller, and accordingly perform manipulation behavior according to this operational order.
Tactile realification device 14 is for example comprising one or more tactile realification devices 141 and one or more touch sensors
143 (that is, second touch sensors).In one embodiment, tactile realification device 141 and touch sensor 143 respectively with processor
12 are electrically connected with.To receive a control signal from processor 12, thus control signal obtains and is intended to act on tactile realification device 141
The dummy activity force value information with the user of object wearing device 3 is worn, and dummy activity force value information is changed into effect
A dummy activity power with user, and then allow user to experience the dummy activity of this dummy activity force value information of correspondence
Power.Touch sensor 143 may be, for example, pressure sensor, to sense user in response to produced by above-mentioned dummy activity power
One feedback force, to generate above-mentioned feedback force value information.The design details of tactile realification device 141 and the He of tactile realification device 141
Touch sensor 143 will be in subsequently illustrating in the lump in the set location relation of object wearing device 3.
On the other hand, as shown in Figure 1A～1B and Fig. 2, object wearing device 3, processor 12, tactile realification device 14 and storage
Device 16 is arranged on a simulated operation end.
In one embodiment, processor 12, tactile realification device 14 and holder 16 may be disposed on object wearing device 3 or whole
Together in object wearing device 3, processor 12 is electrically connected with respectively with tactile realification device 14 and holder 16, and object wearing device 3
Can be connected with real border scene end communication by wired or wireless mode, also can communicate with electronic installation 2 and be connected, further with
The communication connection of tactile arrangement for detecting 10.
In another embodiment, tactile realification device 14 is arranged on object wearing device 3 or is integrated in object wearing device 3, but
Processor 12 and holder 16 are independently of tactile realification device 14 and are arranged in a server (not illustrating) at simulation operations end；
Therefore, tactile realification device 14 can be connected by wired or wireless mode with processor 12, and server can by wired or
Wirelessly it is connected with the electronic installation 2 at real border scene end.Here server may be, for example, personal computer, notebook electricity
The calculator device with computing and control function such as brain, tablet PC, high in the clouds computer.The present invention is not intended to limit server
Species, in this area have usually intellectual other suitable servers can be selected according to different applications.
From the above, although the multiple devices at simulated operation end have different set-up modes, but in order to be briefly described
The running of operating side is simulated in the present invention, below example will be integrated in wearing dress with processor 12 and tactile realification device 14
Put the enforcement aspect in 3 as an example to illustrate.
Object wearing device 3 can be included can be coated the accessory of user's skin, can provide the accessory of visual perception's enjoyment and can carry
Accessory for sense of hearing pleasure of the senses etc..The accessory that user's skin can be coated may be, for example, gloves (Glove), even body or half body type
Tight etc., but the present invention do not limited.The accessory that visual perception's enjoyment can be provided may be, for example, virtual glasses/eyeshade
Deng, but the present invention do not limited.The accessory that sense of hearing pleasure of the senses can be provided may be, for example, earphone, but the present invention does not give
Limit.The present invention is not intended to limit the species of object wearing device 3, and having usually intellectual in this area can be according to different application
Select the object wearing device that other are suitable.The running of operating side is simulated in order to be briefly described the present invention, below example will
With gloves arrange in pairs or groups virtual glasses object wearing device 3 as an example illustrating, as seen in figs. ia and 3.
Holder 16 stores the information needed for the running of simulated operation end, a such as control signal translation table and is emulated
The related application program of operation or instruction set.Here control signal translation table for example record different control signals from it is different
Force value information between corresponding relation.By control signal translation table, processor 12 can be by above-mentioned received effect
Force value information is simultaneously converted into a control signal, and according to this control signal, controls the running of tactile realification device 14.
The design details of explanation tactile realification device 141 will be enumerated below.
In one embodiment, as shown in Figure 3 A and Figure 3 B, tactile realification device 141 is a pressure generator.Furthermore, it is understood that
In one embodiment, pressure generator is arranged on the surface 13a on the inside of gloves, and comprising one or more electrode patch
141a.Electrode patch 141a electric wire connection points manage device 12.These electrode patch 141a to contact the skin surface of user, and
And a current signal of the above-mentioned dummy activity force value information of correspondence is discharged to skin surface, and then allow user to experience correspondence
A dummy activity power.
In another embodiment, as shown in Figure 4 A and 4 B shown in FIG., tactile realification device 141 ' includes one or more control valves 145
All it is arranged in object wearing device 3 with one or more air bag components 147, and control valve 145 and air bag component 147.Control valve 145
It is connected to air bag component 147, and electrically connected processing device 12.Air bag component 147 is to the inflation by air bag or loses heart, and produces
Raw effect dummy activity power on a skin surface.Control valve 145 is controlled by processor 12, to be controlled according to a control signal
Corresponding air bag component 147 is inflated or loses heart.
The set location relation of explanation tactile realification device 141 and touch sensor 143 in object wearing device 3 will be enumerated below.
Relative position between tactile realification device 141 and touch sensor 143 can be designed according to the demand of practical application,
The present invention is not limited.For example, tactile realification device 141 and touch sensor 143 least partially overlapped can be arranged, or complete
Completely wrong setting of turning up the soil.
Also, in one embodiment, tactile realification device 141 and touch sensor 143 are corresponded in the position of object wearing device 3
Position of the touch sensor 110 on electronic installation 2.As an example it is assumed that there are five as the mechanical arm of electronic installation 2
Mechanical finger 23, this five mechanical fingers 23 correspond to respectively five finger UF of the mankind, and the object wearing device 3 of glove type has five
Individual finger section 31, this five finger sections 31 also correspond to respectively five finger UF of the mankind, in other words, five of electronic installation 2
Mechanical finger 23 corresponds to respectively five finger sections 31 of object wearing device 3；Therefore, positioned at the finger tip of a finger section 31 (such as forefinger)
On tactile realification device 141 corresponding to this finger section 31 a mechanical finger 23 (such as forefinger) finger tip on have corresponding
One touch sensor 110.Thereby, the pressure value that the touch sensor 110 of correspondence forefinger is detected can be reacted to correspondence forefinger
Tactile realification device 141 on, and then allow the forefinger of user to experience pressure corresponding to this pressure value.
Thereby, tactile realification device 141 can may act on wearing object wearing device according to the detecting result at real border scene end, generation
The dummy activity power of 3 user so that user experiences the dummy activity power of correspondence dummy activity force value information；Meanwhile,
Touch sensor 143 can also detect the feedback that user makes according to the dummy activity power experienced so that user's is anti-
Presenting will further react the operation at real border scene end.
For example for a reality, in remote simulation system, it is assumed that user wants to touch danger SE's with forefinger
During upper lid, its forefinger can be on one's own initiative bent after being worn by carrying the object wearing device 3 of tactile realification device 14, it is now right
Answering the touch sensor 143 of forefinger can detect effect feedback force thereon and obtain a feedback force value information, and this is fed back
Force value information transmission is to processor 12.Then, processor 12 is sent to this feedback force value information in real border by coffret
The electronic installation 2 at live end.After electronic installation 2 receives feedback force value information, electronic installation 2 can be instruction morphing using one
Table, by the feedback force value information for receiving an operational order is converted to, and carries out corresponding manipulation row according to this operational order
For controlling the mechanical finger 23 of correspondence forefinger carries out the action of correspondence user's action, to touch the upper lid of danger SE.
When electronic installation 2 is when above-mentioned action is carried out, the touch sensor 110 of correspondence forefinger can also detect correspondence forefinger
Mechanical finger 23 act on active force thereon in start and obtain corresponding force value information.Electronic installation 2 can
By its coffret by this force value information transmission to the processor 12 at simulation operations end.Then, processor 12 can be by
This force value information is converted to a control signal, and is sent to the tactile realification device 141 of correspondence forefinger.This tactile realification device
141 according to the control signal for receiving, realification dummy activity force value information, that is, can allow the forefinger of user to experience correspondence
One dummy activity power of this dummy activity force value information.Now, user can enter one according to the dummy activity masterpiece experienced
The response of step.
In addition, one or more of the application of the virtual reality training for remotely removing explosive danger implement state
Sample, illustrate please also refer to Fig. 5 disclosed herein tactile analogue system 4.Fig. 5 is according to another embodiment of the present invention institute
The functional block diagram of the tactile analogue system for illustrating.Tactile analogue system 4 includes processor 12, tactile realification device 14 and storage
Device 16.Wherein, the annexation in Fig. 5 between processor 12, tactile realification device 14 and holder 16 and the position for arranging, each
The function partially or in whole of component refers to the related embodiment of Fig. 2, will not be described here.
Remote simulation system 1 compared to Fig. 2, the tactile analogue system 4 of Fig. 5 need not arrange the tactile in Fig. 2 such as and detect
Device 10 is surveyed, and holder 16 can further store one or more simulation models (that is, first simulation model) and at least one
Corresponding with operational order group of feedback force value information.Simulation model record has feedback force value information to believe with corresponding dummy activity force value
The strain rule of breath.
Object wearing device (such as virtual reality that the audio-visual devices or user that processor 12 can be located by using person are worn
Wear-type audio-visual devices) and the simulation model that is stored in holder 16, there is provided the fictitious situation of user one, that is, virtual
Remove danger scene.For convenience of explanation, below by with gloves arrange in pairs or groups virtual glasses object wearing device as an example illustrating.
User selectively makes active feedback according to this virtual dismounting danger scene, for example, attempted to touch danger with forefinger
The upper lid of thing SE.Now, the touch sensor 143 of correspondence forefinger can detect effect feedback force thereon and obtain a feedback force
Value information, and this feedback force value information is sent into processor 12.Then, processor 12 is anti-in holder 16 using being stored in
Corresponding with operational order group of force value information of feedback, by feedback force value information now an operational order is converted to.Processor 12 will
Operational order is transferred on object wearing device that visual perception can be provided the accessory of enjoyment, i.e., virtual glasses.This virtual glasses then basis
Manipulation instruction correspondence shows virtual screen, that is to say, that the mechanical arm in fictitious situation can be made and touching according to this operational order
The action of the upper lid of tactile danger SE.Meanwhile, processor 12 also can further utilize simulation model, calculate this operational order
Corresponding dummy activity force value information.
Then, this dummy activity force value information can be converted to a control signal by processor 12, and be sent to correspondence forefinger
Tactile realification device 141.The control signal that this meeting basis of tactile realification device 141 is received, realification dummy activity force value information,
The forefinger of user is exactly allowed to experience the dummy activity power for corresponding to this dummy activity force value information.Now, user can
Dummy activity masterpiece according to experiencing further is responded.
In one embodiment, processor 12 can pass through to receive a simulation model by produced by other object wearing devices (that is,
Second simulation model) it is regular to update the strain of the simulation model for being originally stored in holder 16.
Quantity, size, the position that each mentioned in the present invention component is arranged all can be according to actual application demand
To design, the present invention is not limited.
The preferred embodiments of the present invention are above are only, any restriction effect is not played to the present invention.Belonging to any
Those skilled in the art, in the range of without departing from technical scheme, pair the invention discloses technical scheme and
Technology contents make the variation such as any type of equivalent or modification, belong to the content without departing from technical scheme, still
Belong within protection scope of the present invention.
Claims (11)
1. a kind of remote simulation system, is suitable to an electronic installation of arranging in pairs or groups, it is characterised in that include：
One tactile arrangement for detecting, is arranged on said electronic device, and the tactile arrangement for detecting is passed comprising at least one first tactile
Sensor, at least one first touch sensor detects the active force that the electronic installation is afforded, to produce an active force
Value information, and the tactile arrangement for detecting one feedback force value information of reception so that the electronic installation is according to the feedback force
Value information correspondence performs one and manipulates behavior；
One tactile realification device, is arranged on an object wearing device, comprising：
One tactile realification device, receives a control signal and obtains a dummy activity force value information to produce one according to the control signal
Act on the dummy activity power of the user for wearing the object wearing device so that user experiences the correspondence dummy activity
The dummy activity power of force value information, and the tactile realification device corresponds to described at least one in the position of the object wearing device
First touch sensor position on said electronic device；And
At least one second touch sensor, senses the feedback force produced by the user and generates the feedback force value letter
Breath；And
One processor, is electrically connected with the tactile realification device and is connected with tactile arrangement for detecting communication, the processor
Receive the force value information and be converted into the control signal to control the running of the tactile realification device.
2. remote simulation system as claimed in claim 1, it is characterised in that at least one first touch sensor and described
At least one second touch sensor is pressure sensor, and the tactile realification device is a pressure generator.
3. remote simulation system as claimed in claim 2, it is characterised in that the pressure generator includes at least one electrode
Paster, at least one electrode patch is discharged corresponding to the simulation to contact the skin surface of the user
One current signal of force value information makes the user experience the dummy activity power to the skin surface.
4. remote simulation system as claimed in claim 1, it is characterised in that the tactile arrangement for detecting has instruction morphing
Table, the instruction morphing table includes corresponding with operational order group of an at least feedback force value information, the tactile arrangement for detecting root
The feedback force value information is changed into an operational order and be transferred to the electronic installation according to the instruction morphing table, the electronics
Device performs the manipulation behavior according to the operational order.
5. remote simulation system as claimed in claim 1, it is characterised in that the electronic installation is a mechanical arm.
6. a kind of tactile analogue system a, it is adaptable to object wearing device, it is characterised in that include：
One holder, to store one first simulation model；
One tactile realification device, is arranged on an object wearing device, comprising：
An at least touch sensor, to sense the feedback force that the user for wearing the object wearing device produces, uses generation
One feedback force value information；And
One tactile realification device, receives the control signal, and the tactile realification device obtains a simulation and makees according to the control signal
Firmly value information is producing the dummy activity power for acting on the user so that the user experiences the correspondence mould
Work done in the manner of a certain author is exerted oneself the dummy activity power of value information；And
One processor, is electrically connected at the holder, an at least touch sensor and the tactile realification device, the place
Reason device generates a control signal according to first simulation model and the feedback force value information.
7. tactile analogue system as claimed in claim 6, it is characterised in that an at least touch sensor is pressure sensing
Device, and the tactile realification device is a pressure generator.
8. tactile analogue system as claimed in claim 6, it is characterised in that the pressure generator includes at least one electrode
Paster, at least one electrode patch is discharged corresponding to the simulation to contact the skin surface of the user
One electric signal of force value information makes the user experience the dummy activity power to the skin surface.
9. tactile analogue system as claimed in claim 6, it is characterised in that the pressure generator is included：
At least one air bag component, by inflating or losing heart the simulation acted on the skin surface of the user is produced
Active force；And
At least one control valve, is electrically connected at least one air bag component and the processor, according to the control letter
Number control air bag group inflation is lost heart.
10. tactile analogue system as claimed in claim 6, it is characterised in that the holder has also recorded an at least feedback
Corresponding with operational order group of force value information, the processor according to it is described at least one pair of should organize the conversion feedback force value information
Be operational order to be transferred to the object wearing device, the object wearing device shows that one virtual draws according to manipulation instruction correspondence
Face.
11. tactile analogue systems as claimed in claim 6, it is characterised in that the first simulation model record has described anti-
Feedback force value information is regular with the strain of the corresponding dummy activity force value information, and the processor is by receiving by other wearing dresses
One second simulation model produced by putting is regular with the strain for updating first simulation model.
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