CN106648092B - Haptic simulation system - Google Patents
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- CN106648092B CN106648092B CN201611173693.XA CN201611173693A CN106648092B CN 106648092 B CN106648092 B CN 106648092B CN 201611173693 A CN201611173693 A CN 201611173693A CN 106648092 B CN106648092 B CN 106648092B
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- 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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- 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
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Abstract
The invention provides a remote simulation system which comprises a touch detection device, a touch actualization device and a processor. In the touch detection device, the first touch sensor detects the acting force borne by the electronic device to generate acting force value information, and the touch detection device receives the feedback force value information, so that the electronic device correspondingly executes a control action according to the feedback force value information. In the tactile sense reality device, the tactile sense reality device obtains a simulation force value information according to the control signal to generate a simulation force acting on a user wearing the wearing device, so that the user feels the simulation force corresponding to the simulation force value information; the second touch sensor senses a feedback force generated by the user and generates feedback force value information. The processor receives the force value information and converts the force value information into a control signal so as to control the operation of the touch real device.
Description
Technical Field
The invention relates to a touch simulation technology, in particular to a touch simulation system.
Background
In the past, when a worker wanted to remove an explosive hazard, a professional was typically dispatched to the accident site where the hazard was located to remove the hazard. However, even trained professionals may detonate a hazard due to operational error or due to untimely removal. In this case, the practitioner may be injured by the force of an explosion, regardless of how much or how strong the protective equipment is.
Therefore, in order to avoid injuries of the professionals during the duty process, various training courseware applications are provided in the market at present to improve the professional skills of the professionals, and various types of bullet removal robots are provided to provide the professionals with a remote control mode to carry out the task of removing the dangerous goods. However, these currently proposed elastic disassembling robots are usually equipped with only a camera, the camera captures real-time images and transmits the images back to a professional at a remote location, and then the professional remotely controls the elastic disassembling robot according to the real-time images, and most of the applications in training courseware adopt a video teaching mode as a main mode. Obviously, no matter the operation mode of the robot for disassembling bullets or the teaching mode of the application of the training courseware, the visualization effect of the robot for disassembling bullets and the teaching mode of the application of the training courseware is poor, and the experience effect of being personally on the scene can not be provided for professionals, so that the judgment of the professionals and the accuracy of operation can be influenced.
Disclosure of Invention
The invention aims to provide a remote simulation system and a touch simulation system, so as to provide the experience of touch simulation for a user, and enable the user to be more personally on the scene when the user carries out remote control or training.
The embodiment of the invention discloses a remote simulation system which is suitable for being matched with an electronic device and comprises a touch detection device, a touch realization device and a processor. The processor is electrically connected with the touch sensing device and is in communication connection with the touch sensing device. The touch detection device is arranged on the electronic device and comprises at least one first touch sensor. The first touch sensor detects an acting force applied to the electronic device to generate acting force value information. And the touch detection device receives feedback force value information, so that the electronic device correspondingly executes a control action according to the feedback force value information. The haptic materialization device is disposed on a wearing device and includes a haptic materializer and at least a second haptic sensor. The touch feeling real-ization device receives a control signal and generates a simulation acting force acting on a user wearing the wearing device according to simulation acting force value information obtained by the control signal, so that the user feels the simulation acting force corresponding to the simulation acting force value information. And the location of the haptic materializer on the wearable device corresponds to the location of the first haptic sensor on the electronic device. The second touch sensor senses a feedback force generated by a user and generates the feedback force value information. The processor receives the force value information and converts the force value information into a control signal to control the operation of the touch real-world device.
The first and second tactile sensors are pressure sensors and the tactile energizer is a pressure generator. The pressure generator comprises at least one electrode patch, and the at least one electrode patch is used for contacting the skin surface of the user and releasing a current signal corresponding to the simulated force value information to the skin surface so as to enable the user to feel the simulated force.
The touch sensing device is provided with an instruction conversion table, the instruction conversion table comprises at least one corresponding group of feedback force value information and an operation instruction, and the touch sensing device converts the feedback force value information into the operation instruction according to the instruction conversion table and transmits the operation instruction to the electronic device, so that the electronic device performs corresponding operation and control according to the operation instruction.
The electronic device is a mechanical arm.
Another haptic simulation system according to an embodiment of the present invention is suitable for a wearable device, and includes a memory, a processor, and a haptic rendering device. The storage is used for storing a first simulation model. The tactile sensation actualizing device is arranged on a wearing device and comprises a tactile sensation actualizing device and at least one tactile sensor, wherein the tactile sensor is used for sensing a feedback force generated by a user so as to generate feedback force value information. The touch feeling real-ization device receives the control signal and obtains a simulation force value information according to the control signal to generate a simulation force acting on a user wearing the wearing device, so that the user feels the simulation force corresponding to the simulation force value information. The processor is electrically connected to the memory, the touch sensor and the touch sensor. The processor generates a control signal according to the first simulation model and the feedback force value information.
The tactile sensor is a pressure sensor and the haptic device is a pressure generator. The pressure generator may comprise at least one electrode patch, the at least one electrode patch is configured to contact the skin surface and release an electrical signal corresponding to the simulated force value information to the skin surface, so that the user feels the simulated force. Alternatively, the haptic device may also include at least one balloon assembly and at least one control valve. The at least one airbag module generates a simulated force on the skin surface of the user by inflation or deflation. A control valve is electrically connected to an airbag module and the processor. And the at least one control valve controls the corresponding air bag group to inflate or deflate according to the control signal.
The storage device also records at least one corresponding group of feedback force value information and an operation instruction, the processor converts the feedback force value information into the operation instruction according to the at least one corresponding group to be transmitted to the wearing device, and the wearing device correspondingly displays a virtual picture according to the operation instruction.
The first simulation model records a strain rule with feedback force value information and corresponding simulation force value information; the processor updates the strain rules of the first simulation model by receiving a second simulation model generated by the other wearable device.
The remote simulation system and the touch simulation system disclosed by the invention can enable a user to feel a simulation acting force provided according to a simulation result, and further make appropriate feedback according to the simulation acting force, so that the purpose of touch simulation is achieved, and an on-the-spot virtual reality effect can be achieved, thereby improving the accuracy of the user operating a machine and the simulation degree of a training scene.
The foregoing description of the present disclosure and the following detailed description are presented to illustrate and explain the principles and spirit of the invention and to provide further explanation of the invention as claimed.
Drawings
FIG. 1A is a schematic diagram illustrating a remote simulation system and an electronic device in operation in a remote control manner for removing an explosive dangerous object according to an embodiment of the present invention;
FIG. 1B is an enlarged view of a portion of the electronic device of FIG. 1A with at least one touch sensor mounted thereon, with the explosive hazard removed;
FIG. 2 is a functional block diagram of a remote simulation system according to an embodiment of the present invention;
FIG. 3A is a perspective view of a wearable device incorporating at least a portion of a haptic rendering device according to an embodiment of the invention;
FIG. 3B is an enlarged view of a portion of the wearable device of FIG. 3A;
FIG. 4A is a perspective view of a wearable device incorporating at least a portion of a haptic rendering device according to another embodiment of the invention;
FIG. 4B is an enlarged view of a portion of the wearable device of FIG. 4A;
FIG. 5 is a functional block diagram of a haptic simulation system according to another embodiment of the invention.
In the drawings
1. 1' haptic simulation system
10 tactile sense detecting device
110 tactile sensor
12 processor
14 tactile sense actualizing device
141 tactile sense materializing device
141a electrode patch
143 tactile sensor
145 control valve
147 airbag assembly
16 storage device
2 electronic device
21 machine body
22 control machine
23 mechanical finger
3 wearing device
31 finger part
31a inner side surface
SE hazardous material
UF user's finger
Detailed Description
The following describes in more detail embodiments of the present invention with reference to the schematic drawings. Advantages and features of the present invention will become apparent from the following description and claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Tactile sensation (Tactile sense) means that nerve cells distributed on the whole skin receive the external temperature, humidity, pain, pressure, vibration and other senses, and the Tactile pressure is caused by the pressure and traction force acting on Tactile receptors of human skin. Therefore, the user can directly feel the external force by directly applying the external force (or pressing force) to the skin of the user. Or, an Electromyography (EMG) signal corresponding to different external forces may be given to the skin of the user through a plurality of external metal electrodes, and the EMG signal is then conducted to the brain through nerves, so that the user can recognize the external force corresponding to the EMG signal, thereby simulating the touch.
Through the above-mentioned direct skin touch manner, the manner of simulating the touch sense by using the electromyographic signal, or other possible manners that are sufficient for the user to feel or recognize the touch sense in the present and future, the disclosed touch sense simulation system can be applied to the fields that need to use the touch sense simulation technology, such as the removal of an explosive dangerous object in a remote control manner, a Virtual Reality (VR) game, a professional skill Virtual reality training, and the like, and the disclosed remote simulation system can be applied to the fields that need to use the touch sense simulation and remote control technology, such as the removal of an explosive dangerous object in a remote control manner; and the invention is not limited to the above listed fields of application. The touch simulation system disclosed by the invention can enable a user to feel a simulation acting force provided by the touch simulation system according to a simulation result, and further make appropriate feedback according to the simulation acting force. If the remote simulation system and the haptic simulation system disclosed in the present invention can be combined with a visual simulation technology, a sound effect recording/playing technology, an olfactory simulation technology and/or other sensory simulation technologies, a more precise and more immersive virtual reality effect can be provided at the simulation operation (Operational simulation) end.
Taking the application field of removing Explosive dangerous objects in a remote control mode as an example, the remote simulation system disclosed by the invention can simulate the actual situation when a Suspected Explosive (Suspected Explosive device) or an Explosive (Explosive device) is removed remotely by using an electronic device, and convert the simulation result into information and acting force which can be reflected at a simulation operation end, so that an operator at the simulation operation end can make adaptive feedback according to the information and the acting force. Meanwhile, the remote simulation system disclosed by the invention can control the action of the electronic device which is trying to remove the suspected explosive or the explosive remotely according to the adaptive feedback made by the simulation operation terminal. Therefore, the remote simulation system disclosed by the invention can achieve the purpose of safely removing suspected explosive or explosive.
For example, in the application field of virtual reality games or virtual reality training of professional skills, the haptic Simulation system disclosed in the present invention can provide one or more Simulation models (Simulation models). The simulation model can provide default simulation information and acting force of the simulation operation end, so that an operator of the simulation operation end can make adaptive feedback according to the information and the acting force. And the simulation model can update the preset virtual picture and acting force provided for the simulation operation end according to the feedback of the simulation operation end. Therefore, the touch simulation system disclosed by the invention can achieve the purposes of training professional skills or improving game entertainment.
For convenience of explanation, the following description will only be made by respectively citing different embodiments for the application field of removing the explosive hazard by remote control and the application field of virtual reality training for remotely removing the explosive hazard.
For a clear description of one or more embodiments of the application field of removing explosive hazards by remote control, please refer to fig. 1A to 1B, fig. 2, and fig. 3A to 3B together to describe the remote simulation system 1 disclosed in the present invention. Fig. 1A is a schematic diagram illustrating a remote simulation system 1 and an electronic device 2 in operation when the electronic device 2 in fig. 1A is used to remove an explosive dangerous object in a remote control manner according to an embodiment of the present invention, fig. 1B is a partial enlarged view of the electronic device 2 in fig. 1A when the dangerous object SE is removed, fig. 2 is a functional block diagram illustrating the remote simulation system 1 according to an embodiment of the present invention, fig. 3A is a perspective view illustrating a wearing device 3 mounted with at least a part of a haptic realization device 14 according to an embodiment of the present invention, and fig. 3B is a partial enlarged view illustrating the wearing device 3 in fig. 3A.
The remote simulation system 1 can be operated with the electronic device 2 and the wearable device 3. As shown in FIG. 2, the remote simulation system 1 includes a tactile detection device 10, a processor 12, and a tactile realization device 14. In other embodiments, the remote simulation system 1 may further comprise a storage 16. The configuration, operation, and linking relationship of these components and the linking relationship and operation with other components will be exemplarily described as follows.
The electronic device 2 and the tactile detection device 10 can be disposed at a real scene (real scene) end, and part or all of the tactile detection device 10 can be disposed on the electronic device 2 independently or integrated into the electronic device 2. Furthermore, according to the actual application requirement, part or all of the tactile sensation detection devices 10 can be linked with the electronic device 2 in a wired or wireless manner. For convenience of illustration, the following embodiments are exemplarily illustrated in an implementation form in which the tactile sensation detection apparatus 10 is integrated in the electronic apparatus 2.
The electronic device 2 may be, for example, a robot arm (Robotic arm). However, the present invention is not limited to the kind of the electronic device 2, and those skilled in the art can select other suitable electronic devices according to different application fields. However, in order to briefly explain the operation of the real-world side of the present invention, the following embodiments will be described by taking the implementation of a robot as an example.
As shown in fig. 1A and 1B, the electronic device 2 may also be a mechanical apparatus including a mechanical body 21 and a control stage 22. The machine body 21 includes, for example, a moving arm and a robot. In one embodiment, the movable arms are rotatably connected to the main body 21 and the robot arm, respectively, such that the movable arms can swing or rotate up and down, left and right, and the robot arm can simulate the movement of a human wrist. The moving arm may in one embodiment comprise one or more arms and one or more joint assemblies; through the configuration between the arm rod and the joint component, the control machine table 22 can control the movable arm 21 to make actions of bending, straightening, raising, lowering, rotating and the like which simulate the movement of a human arm. The manipulator may comprise a plurality of fingers 23, and the design of the fingers 23 may comprise one or more finger sections and one or more finger joint components, and the control board 22 may control the manipulator to perform actions simulating the gripping, grasping, swinging, etc. of the human palm by the configuration between the finger sections and the finger joint components. The control platform 22 is a movable control platform, which can be remotely controlled to move toward the dangerous object SE. The control platform has a programmable controller for controlling the overall operation of the electronic device 2, such as the position movement of the electronic device 2, the movement of the moving arm 21, and the movement of the mechanical finger 23. The above-described design and selection of the robot are merely exemplary and are not intended to limit the possible embodiments of the robot in the present invention. In other words, one skilled in the art can select or design a suitable robot according to different application fields.
The tactile detection device 10 comprises one or more tactile sensors 110 (also referred to as first tactile sensors). The touch sensor 110 may be, for example, a pressure sensor, for detecting an acting force applied to the electronic device 2 to generate an acting force value information, i.e., a pressure value. In addition, in one embodiment, the tactile detection device 10 has a command conversion table, and the command conversion table records at least one corresponding set of feedback force value information and operation commands. By using the instruction conversion table, the controller of the electronic device 2 can convert the feedback force value information into an operation instruction, and correspondingly execute the operation behavior according to the operation instruction.
The haptic fulfillment device 14 includes, for example, one or more haptic fulfillment devices 141 and one or more haptic sensors 143 (i.e., a second haptic sensor). In one embodiment, the haptic energizer 141 and the haptic sensor 143 are each electrically connected to the processor 12. The tactile force sensor 141 is used for receiving a control signal from the processor 12, obtaining a simulation force value information to be applied to the user wearing the wearing device 3 according to the control signal, and converting the simulation force value information into a simulation force applied to the user, so that the user can feel the simulation force corresponding to the simulation force value information. The touch sensor 143 may be, for example, a pressure sensor, for sensing a feedback force generated by the user in response to the simulated action force to generate the feedback force value information. The details of the design of the tactile sensation demonstration device 141 and the positional relationship between the tactile sensation demonstration device 141 and the tactile sensor 143 on the wearing device 3 will be described later.
On the other hand, as shown in fig. 1A to 1B and fig. 2, the wearing device 3, the processor 12, the tactile sensation energizer 14 and the memory 16 are provided at a simulation operation side.
In one embodiment, the processor 12, the tactile sensation fulfillment device 14 and the storage 16 may be disposed on the wearable device 3 or integrated into the wearable device 3, the processor 12 is electrically connected to the tactile sensation fulfillment device 14 and the storage 16, respectively, and the wearable device 3 may be communicatively connected to the real-world site through a wired or wireless connection, and may also be communicatively connected to the electronic device 2, and further communicatively connected to the tactile sensation detection device 10.
In another embodiment, the haptic realization device 14 is disposed on the wearing device 3 or integrated in the wearing device 3, but the processor 12 and the storage 16 are independent of the haptic realization device 14 and disposed in a server (not shown) of the simulation console; therefore, the haptic reality device 14 can be connected to the processor 12 by wire or wirelessly, and the server can be connected to the electronic device 2 at the real-world side by wire or wirelessly. The server may be, for example, a personal computer, a notebook computer, a tablet computer, a cloud computer, or a computer device with computing and control functions. The present invention is not limited to the kind of server, and those skilled in the art can select other suitable servers according to different application fields.
In light of the above, although the devices on the simulated operation end have different configurations, in order to briefly describe the operation of the simulated operation end in the present invention, the following embodiments will be described by taking as an example the implementation mode in which the processor 12 and the tactile sensation demonstration device 14 are integrated in the wearable device 3.
The wearable device 3 may include accessories that can cover the skin of the user, accessories that can provide visual sensory enjoyment, accessories that can provide auditory sensory enjoyment, and the like. The fitting that can cover the skin of the user may be, for example, a Glove (Glove), a bodysuit or a semi-bodysuit, etc., but the invention is not limited thereto. The accessories that can provide visual sensory enjoyment can be, for example, virtual glasses/eyecups, etc., but the invention is not limited thereto. The accessory that can provide the auditory sensory enjoyment may be, for example, an earphone, but the invention is not limited thereto. The present invention is not limited to the type of wearing device 3, and those skilled in the art can select other suitable wearing devices according to different application fields. To briefly explain the operation of the simulation console in the present invention, the following embodiments will be described by taking the wearing device 3 with gloves and virtual glasses as an example, as shown in fig. 1A and 3A.
The storage 16 stores information required for simulating the operation of the console, such as a control signal conversion table and an application program or an instruction set related to performing the simulation operation. The control signal conversion table here describes, for example, correspondence between different control signals and different force value information. The processor 12 can convert the received force value information into a control signal through the control signal conversion table, and control the operation of the haptic realistic apparatus 14 according to the control signal.
Details describing the design of the haptic implementer 141 are set forth below.
In one embodiment, as shown in fig. 3A and 3B, the haptic energizer 141 is a pressure generator. Further, in one embodiment, the pressure generator is disposed on the surface 13a inside the glove and includes one or more electrode patches 141 a. The electrode patches 141a are wired to the processor 12. The electrode patches 141a are used for contacting the skin surface of the user and releasing a current signal corresponding to the above-mentioned simulated force value information to the skin surface, so that the user can feel a corresponding simulated force.
In another embodiment, as shown in fig. 4A and 4B, the tactile energizer 141' comprises one or more control valves 145 and one or more bladder assemblies 147, and both the control valves 145 and the bladder assemblies 147 are disposed in the wearing apparatus 3. Control valve 145 is connected to airbag assembly 147 and is electrically connected to processor 12. The balloon assembly 147 is configured to generate a simulated force on the skin surface by inflation or deflation of the balloon. The control valve 145 is controlled by the processor 12 to control the corresponding airbag module 147 to inflate or deflate according to a control signal.
The following description will be made by listing the positional relationship of the tactile feedback device 141 and the tactile sensor 143 on the wearable device 3.
The relative position between the tactile sensor 143 and the tactile sensor 141 can be designed according to the requirements of the actual application, and the invention is not limited thereto. For example, the haptic solidifier 141 and the haptic sensor 143 may be disposed at least partially overlapping, or disposed entirely staggered.
Also, in one embodiment, the location of the haptic energizer 141 and the haptic sensor 143 on the wearable device 3 corresponds to the location of the haptic sensor 110 on the electronic device 2. For example, it is assumed that the robot arm as the electronic device 2 has five mechanical fingers 23, the five mechanical fingers 23 respectively correspond to five human fingers UF, and the glove-type wearing device 3 has five finger portions 31, the five finger portions 31 also respectively correspond to five human fingers UF, in other words, the five mechanical fingers 23 of the electronic device 2 respectively correspond to five finger portions 31 of the wearing device 3; thus, the haptic energizer 141 located on the tip of a finger portion 31 (e.g., index finger) has a corresponding one of the tactile sensors 110 on the tip of a mechanical finger 23 (e.g., index finger) corresponding to the finger portion 31. Accordingly, the pressure value detected by the touch sensor 110 corresponding to the index finger is reflected to the touch sensor 141 corresponding to the index finger, so that the index finger of the user can sense the pressure corresponding to the pressure value.
Thus, the tactile reality device 141 can generate a simulation acting force capable of acting on the user wearing the wearable device 3 according to the detection result of the real field end, so that the user can feel the simulation acting force corresponding to the simulation acting force value information; meanwhile, the tactile sensor 143 can also detect the feedback of the user according to the sensed simulation force, so that the user's feedback will further reflect the operation at the real-world site.
As a practical example, in the remote simulation system, if the user wants to touch the upper cover of the dangerous object SE with the index finger, the user can actively bend the index finger after wearing the wearing device 3 with the haptic enabling device 14, and the haptic sensor 143 corresponding to the index finger detects the feedback force acting thereon to obtain a feedback force value information, and transmit the feedback force value information to the processor 12. Then, the processor 12 transmits the feedback force value information to the electronic device 2 at the real field site through the transmission interface. After the electronic device 2 receives the feedback force value information, the electronic device 2 converts the received feedback force value information into an operation instruction by using an instruction conversion table, and performs a corresponding operation behavior according to the operation instruction, i.e., controls the mechanical finger 23 corresponding to the index finger to perform a corresponding action of the user so as to touch the upper cover of the dangerous object SE.
When the electronic device 2 performs the above-mentioned operation, the touch sensor 110 corresponding to the index finger also detects the acting force applied to the mechanical finger 23 corresponding to the index finger during the operation, so as to obtain a corresponding acting force value information. The electronic device 2 can transmit the information of the force value to the processor 12 at the simulation operation end through the transmission interface. Then, the processor 12 converts the force value information into a control signal and transmits the control signal to the tactile feedback 141 corresponding to the index finger. The touch feeling enforcer 141 enforces the simulation force value information according to the received control signal, that is, the index finger of the user feels a simulation force corresponding to the simulation force value information. At this time, the user can further respond according to the sensed simulation force.
In addition, please refer to fig. 5 for one or more embodiments of the application field of virtual reality training for remote demolition of explosive hazards, which illustrates the haptic simulation system 4 disclosed in the present invention. FIG. 5 is a functional block diagram of a haptic simulation system according to another embodiment of the invention. The haptic simulation system 4 includes a processor 12, a haptic fulfillment device 14, and a memory 16. In fig. 5, the connection relationship and the installation position between the processor 12, the haptic device 14 and the storage 16, and part or all of the functions of the components can refer to the related embodiment of fig. 2, and are not described herein again.
In contrast to the remote simulation system 1 of fig. 2, the haptic simulation system 4 of fig. 5 does not need to provide the haptic detection device 10 of fig. 2, and the storage 16 may further store one or more simulation models (i.e., a first simulation model) and at least one corresponding set of feedback force value information and operation commands. The simulation model records a strain rule with feedback force value information and corresponding simulation force value information.
The processor 12 may provide the user with a virtual context, i.e., a virtual removal scene, via the user's audio/video equipment or the wearing device worn by the user (e.g., virtual reality headset) and the simulation model stored in the memory 16. For convenience of explanation, the wearing device with gloves and virtual glasses will be described as an example. The user can optionally provide active feedback based on the virtual threat removal site, such as an attempt to touch the upper cover of the threat SE with the index finger. At this time, the touch sensor 143 corresponding to the index finger detects the feedback force acting thereon to obtain a feedback force value information, and transmits the feedback force value information to the processor 12. Then, the processor 12 converts the feedback force value information at this time into an operation command by using the corresponding set of feedback force value information and operation command stored in the memory 16. The processor 12 transmits the operation instructions to an accessory on the wearable device, i.e., virtual glasses, that can provide visual sensory enjoyment. The virtual glasses correspondingly display a virtual picture according to the operation instruction, that is, the mechanical arm in the virtual situation can perform an action of touching the upper cover of the dangerous object SE according to the operation instruction. Meanwhile, the processor 12 further calculates the simulation force value information corresponding to the operation command by using the simulation model.
Then, the processor 12 converts the simulated force value information into a control signal, and transmits the control signal to the tactile feedback 141 corresponding to the index finger. The touch feeling enforcer 141 enforces the simulation force value information according to the received control signal, that is, the index finger of the user feels a simulation force corresponding to the simulation force value information. At this time, the user can further respond according to the sensed simulation force.
In one embodiment, the processor 12 may update the strain rules of the simulation model originally stored in the memory 16 by receiving a simulation model (i.e., the second simulation model) generated by the other wearable device.
The number, size and position of the components mentioned in the present invention can be designed according to the practical application requirements, and the present invention is not limited thereto.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (11)
1. A remote simulation system suitable for being matched with an electronic device is characterized by comprising:
the touch detection device is arranged on the electronic device and comprises at least one first touch sensor, the at least one first touch sensor detects an acting force borne by the electronic device so as to generate acting force value information, and the touch detection device receives feedback force value information so that the electronic device correspondingly executes an operation and control behavior according to the feedback force value information;
a haptic fulfillment device disposed on a wearing device, comprising:
a tactile feedback device, receiving a control signal and obtaining a simulation force value information according to the control signal to generate a simulation force acting on a user wearing the wearing device, so that the user feels the simulation force corresponding to the simulation force value information, and the position of the tactile feedback device on the wearing device corresponds to the position of the at least one first tactile sensor on the electronic device; and
at least one second tactile sensor for sensing a feedback force generated by the user and generating information of the feedback force value; and
and the processor is electrically connected with the touch feeling materialization device and is in communication connection with the touch feeling detection device, and the processor receives the force value information and converts the force value information into the control signal so as to control the operation of the touch feeling materialization device.
2. The remote emulation system of claim 1, wherein the at least one first tactile sensor and the at least one second tactile sensor are pressure sensors and the haptic densifier is a pressure generator.
3. The remote simulation system of claim 2, wherein the pressure generator comprises at least one electrode patch, the at least one electrode patch being configured to contact the skin surface of the user and to release an electrical current signal corresponding to the simulated force value information to the skin surface, thereby causing the user to feel the simulated force.
4. The remote simulation system according to claim 1, wherein the tactile sense apparatus has a command translation table, the command translation table includes at least one corresponding set of feedback force value information and operation commands, the tactile sense apparatus translates the feedback force value information into an operation command according to the command translation table and transmits the operation command to the electronic apparatus, and the electronic apparatus executes the manipulation behavior according to the operation command.
5. The remote simulation system of claim 1, wherein the electronic device is a robotic arm.
6. A haptic simulation system adapted for use with a wearing device, comprising:
a storage for storing a first simulation model;
a haptic fulfillment device disposed on a wearing device, comprising:
the touch sensor is used for sensing a feedback force generated by a user wearing the wearing device so as to generate feedback force value information; and
the tactile reality device receives a control signal, acquires simulated force value information according to the control signal to generate simulated force acting on the user, so that the user feels the simulated force corresponding to the simulated force value information; and
and the processor is electrically connected with the storage, the at least one touch sensor and the touch real-ization device, and generates a control signal according to the first simulation model and the feedback force value information.
7. A haptic simulation system as recited in claim 6 wherein said at least one haptic sensor is a pressure sensor and said haptic densifier is a pressure generator.
8. A haptic simulation system according to claim 7, wherein the pressure generator comprises at least one electrode patch for contacting the skin surface of the user and releasing an electrical signal corresponding to the information of the simulated force value to the skin surface, thereby causing the user to feel the simulated force.
9. A haptic simulation system as recited in claim 7 wherein the pressure generator comprises:
at least one airbag module that generates the simulated force on the skin surface of the user by inflation or deflation; and
and the control valve is electrically connected with the at least one air bag assembly and the processor and controls the air bag group to inflate or deflate according to the control signal.
10. A haptic simulation system as recited in claim 6 wherein the storage further records at least one corresponding set of feedback force value information and operation commands, the processor converts the feedback force value information into the operation commands according to the at least one corresponding set to transmit to the wearable device, and the wearable device correspondingly displays a virtual screen according to the operation commands.
11. A haptic simulation system as recited in claim 6 wherein the first simulation model records the feedback force value information and the strain rules corresponding to the simulated force value information, and the processor updates the strain rules of the first simulation model by receiving a second simulation model generated by another wearable device.
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| CN109144233A (en) * | 2017-06-16 | 2019-01-04 | 刘红阳 | A kind of fluid pressure type haptic feedback devices |
| CN109582121A (en) * | 2017-09-28 | 2019-04-05 | 西门子公司 | Gloves, feedback device and method, remote control system, method and device, medium |
| CN108720806B (en) * | 2018-03-08 | 2021-02-12 | 南京航空航天大学 | Wearable arm force touch feedback device |
| CN109248011B (en) * | 2018-09-18 | 2024-03-22 | 北京宏信农业科技发展有限公司 | Motion control method and device based on tactile feedback and pressure feedback |
| CN109271032A (en) * | 2018-10-17 | 2019-01-25 | 中国空间技术研究院 | A kind of haptic feedback devices and wearable device |
| CN110764619B (en) * | 2019-10-24 | 2021-08-27 | 吉林大学 | Quantitative evaluation method for sense of reality of haptic rendering contour based on feature similarity |
| CN115097932A (en) * | 2022-05-30 | 2022-09-23 | 南昌威爱信息科技有限公司 | VR somatosensory sensor and feedback system thereof |
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