CN107589831A - A kind of Virtual force field interactive system and method stimulated based on myoelectricity - Google Patents
A kind of Virtual force field interactive system and method stimulated based on myoelectricity Download PDFInfo
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Abstract
The present invention relates to the Virtual force field interactive system and method stimulated based on myoelectricity, its interactive system includes electrode unit, electrical stimulation module and human body motor electro photoluminescence model library, human body motor electro photoluminescence model library receives from virtual scene interaction event triggering human body and moves formed human body kinematic parameter, export corresponding to electrical stimulation signal parameter to electrical stimulation module；Electrical stimulation module is connected with electrode unit, human body motor electro photoluminescence model library respectively, the electrical stimulation signal parameter of processing human body motor electro photoluminescence model library input, is generated and is exported electrical stimulation signal to electrode unit；Electrode unit is attached to human skin, receives the electrical stimulation signal that electrical stimulation module transmits, and stimulates human epidermal muscle, makes one body surface skin contraction of muscle, stretching, drives human body motion, completes Virtual force field.Virtual force field interactive system and method proposed by the present invention, experience effect of the user in virtual reality scenario, increase interest and feeling of immersion can be strengthened.
Description
Technical field
The present invention relates to virtual reality interaction technique, is interacted more particularly to a kind of Virtual force field stimulated based on myoelectricity
System and method.
Background technology
With the development of science and technology, virtual reality (Virtual Reality) technology has obtained extensive concern and should
With particularly having wide prospect in game, video display, education, medical treatment etc. VR technologies.Virtual reality technology includes mould
Near-ring border, perception, natural technical ability and sensor device etc..In perceptible aspect, not only including most basic vision, sense of hearing sense
Know, also strong tactilely-perceptible etc..Power tactile is unique sense that had not only been subjected to surrounding environment input but also can have been exported to surrounding environment
Know passage, if realizing vision, the fusion perception of power tactile and feedback, can greatly strengthen the feeling of immersion of virtual reality.Force feedback
Interaction technique, it is a kind of approach of the power tactilely-perceptible of virtual reality technology.
At present, VR equipment both domestic and external is primarily present the deficiency of following three aspect in terms of force feedback interaction is realized：First,
In vision, acoustically the interaction feedback technology of fusion treatment develops to obtain comparative maturity, but in vision, power tactile, even
Depending on, listen, the interaction feedback technology of power tactile fusion treatment it is in urgent need to be improved；2nd, the form of haptic device is to pass through sensing mostly
Device shakes body surface or by feedback device conductance etc., is not easy to produce user effective constraint, pole in man-machine interaction
The earth reduces the feeling of immersion of virtual scene；3rd, traditional force feedback interactive device module towards whole body or the upper part of the body is larger,
Wearing is inconvenient and cost is higher, is not suitable for popularization and application.
The motion of actually human muscle is to cause electromyographic signal pulse conduction to muscle fibre by central nervous system
Muscle fibers contract and realize.So by applying suitable electro photoluminescence at muscle fibre muscle can be made to shrink and stretch
Deng action, so as to make one to be produced from main human body motion.Physiological principle of the present invention based on aforesaid muscles motion, proposes new power
Feed back interactive system and method.
The content of the invention
In order to solve the problems of prior art, the present invention proposes that a kind of Virtual force field stimulated based on myoelectricity is handed over
Mutual system, the characteristics of using virtual reality and myoelectricity, muscle is carried out electro photoluminescence make muscle produce shrink, the motion such as stretching, lead to
Crossing tendon drives bone to produce human body motion, produces the force feedback effect closer to virtual scene, adds interest and immerse
Sense.
The present invention also provides the Virtual force field exchange method stimulated based on myoelectricity.
Present invention feedback interactive system is adopted the following technical scheme that to realize：The Virtual force field interaction stimulated based on myoelectricity
System, including electrode unit, electrical stimulation module and human body motion-myoelectricity stimulate model library, and human body motion-myoelectricity stimulates model library
Receive from virtual scene interaction event triggering human body and move formed human body kinematic parameter, electrical stimulation signal corresponding to output is joined
Number is to electrical stimulation module；Electrical stimulation module stimulates model library to be connected with electrode unit, human body motion-myoelectricity respectively, handles human body
Motion-myoelectricity stimulates the electrical stimulation signal parameter of model library input and exports electrical stimulation signal to electrode unit；Electrode unit pastes
In human skin, the electrical stimulation signal that electrical stimulation module transmits is received, human epidermal muscle is stimulated, makes one body surface musculus cutaneus meat
Shrink, stretching, drive human body motion, complete Virtual force field.
Preferably, the electrical stimulation module includes microprocessor, digital analog converter and the power amplifier being sequentially connected, micro-
After the electrical stimulation signal parameter of input is converted into electrical stimulation waveforms digitally encoded signal by processor, digital analog converter is transferred to,
After carrying out digital-to-analogue conversion to electrical stimulation waveforms digitally encoded signal by digital analog converter, the electrical stimulation signal of simulation is exported；From number
The electrical stimulation signal of weighted-voltage D/A converter output forms the electrical stimulation signal of multichannel, is output to phase after power amplifier is handled
The electrode or electrod-array answered.
Preferably, the human body motion-myoelectricity stimulates model library to record human body by simulated experiment or simulation calculation and moved
Electromyographic signal when parameter and human body move, and it is converted into electrical stimulation signal ginseng after corresponding signal transacting is carried out to electromyographic signal
Number, generates corresponding electrical stimulation signal by electrical stimulation module afterwards and exports to electrode unit so as to feed back to the original position of human body
Put, examine electrical stimulation signal whether to be moved with the human body recorded consistent；If so, establish the human body motor pattern, intensity and electricity
The corresponding relation of stimulus signal parameter, and be stored in human body motion-myoelectricity stimulation model library.
Preferably, the human body motion-myoelectricity stimulates model library to be stored in computer, server or VR equipment, is provided with
For determining the processing software of electrical stimulation signal parameter, human body motion-myoelectricity stimulates model library to accumulate human body motor pattern, intensity
During with the corresponding relation of electrical stimulation signal parameter, according to electromyographic signal and determine that the process of electrical stimulation signal parameter is：
Step 1：Electromyographic signal collection is merged into data point set and transmitted into processing software；
Step 2：The electromyographic signal data point completed to collection pre-processes；
Step 3：Pretreated electromyographic signal data point depicts electromyographic signal waveform by handling software, by default
A positive threshold value filter out spike in electromyographic signal waveform, and select first spike；
Step 4：The time point of spike selected by record and intensity size；
Step 5：The next spike of reselection after one section of default refractory period is skipped since selected spike, is then returned
Return step 4；
Step 6：Repeat step 5, until terminating；
Step 7：Waveform, intensity, the width of the electrical stimulation signal of generation are determined according to each peak hour point and intensity size
Degree, frequency parameter, it is corresponding with human body motor pattern, intensive parameter.
Virtual force field exchange method of the present invention is based on above-mentioned Virtual force field interactive system, and its process is：Virtual scene
In alternative events trigger the motion of virtual human body；The parameter of human body motion, which is passed to human body motion-myoelectricity, stimulates model library, flesh
Body motion-myoelectricity stimulates model library to be inquired about from the corresponding relation of human body motor pattern, intensity and electrical stimulation signal parameter and defeated
Go out corresponding electrical stimulation signal parameter；Electrical stimulation module stimulates the electrical stimulation signal of model library output based on human body motion-myoelectricity
Parameter, generate and export corresponding multichannel electrical stimulation signal, electro photoluminescence is carried out to human epidermal muscle by electrode unit；People
Body surface musculus cutaneus meat induces human body motion under electro photoluminescence or simulates autonomous human body motion, and the action process in virtual scene with handing over
The human action of mutual event triggering is synchronous, so that human body obtains force feedback effect true to nature.
As can be known from the above technical solutions, in the present invention, when virtual reality device (is applied in game, video display, education, doctor
Treating etc.) user occurs moments of alternative events such as strike, collision, touch in virtual scene and (such as touched by bullet hits body, hand
Touch button, push), the virtual human body motion of the alternative events triggering user in virtual scene；The human body kinematic parameter is passed
Model library is stimulated to human body motion-myoelectricity, electrical stimulation module, which is based on human body motion-myoelectricity, stimulates electricity thorn corresponding to model library output
Energizing signal, electro photoluminescence is carried out by electrode pair user muscle；According to functional electrostimulation principle, user's human body lures under electro photoluminescence
Autonomous human body motion is simulated in the motion of hair human body, and the human action one that the action process triggers with alternative events in virtual scene
Cause or close consistent, so that user obtains the force feedback effect with virtual scene interaction event synchronization in reality.With it is existing
Technology is compared, and the present invention has following beneficial effect：
1st, the present invention provides a kind of approach for realizing force feedback for virtual reality interactive device, and it is virtual existing to compensate for some
Real equipment only has the deficiency of vision and audio feedback.And the form of force feedback is enriched, relative to existing sensor-based
Feedback form, the validity of force feedback is improved, more effectively constraint can be produced to user in man-machine interaction, enhanced virtual
The feeling of immersion of scene.
2nd, the force feedback interactive system based on muscle electric stimulation being mainly made up of electrode, electrical stimulation module, being applied to can
In wearable device, there is the advantages of light, comfortable, cost is relatively low, easily prepared.
Brief description of the drawings
Fig. 1 is the block diagram for the Virtual force field interactive system that the present invention is stimulated based on myoelectricity；
Fig. 2 is the theory diagram of electrical stimulation module；
Fig. 3 is the structural representation of electrod-array；
Fig. 4 is the flow chart for the Virtual force field exchange method that the present invention is stimulated based on myoelectricity；
Fig. 5 is the Establishing process figure that human body motion-myoelectricity stimulates model library.
Embodiment
Below in conjunction with drawings and examples, the present invention is described in detail.It should be appreciated that these embodiments are described only
Merely to better understood when those skilled in the art and then realize the present invention, and this hair is not limited in any way
Bright protection domain.
Embodiment
Such as Fig. 1, Virtual force field interactive system of the present invention includes electrode unit, electrical stimulation module and human body motion-myoelectricity
Model library is stimulated, electrical stimulation module stimulates model library to be connected with electrode unit, human body motion-myoelectricity respectively, wherein electrode unit
To be attached to the electrode of human skin or electrod-array.Electrode or electrod-array are attached to human body surface relevant position, are pierced with electricity
Connected in a wired or wireless manner between sharp module, be responsible for receiving the electrical stimulation signal that electrical stimulation module transmits, stimulate epidermis
Muscle；Electrical stimulation module is fixed on user, including but not limited to loins, back, is responsible for transmitting electrical stimulation signal to electricity
Pole unit, and stimulate model library to pass through wired or wireless connection with human body motion-myoelectricity.Human body motion-myoelectricity stimulates model library
It is stored in the including but not limited to equipment such as computer, server, VR equipment for renewal, calls.Virtual scene interaction event is touched
Human body motion is sent out, formation human body kinematic parameter is input to human body motion-myoelectricity stimulus signal model library and obtains corresponding electro photoluminescence
Signal parameter, and contraction of muscle, stretching are made by electrical stimulation module and the application electro photoluminescence of electrode pair related parts of human body, drive flesh
Body moves, and completes Virtual force field.
Such as Fig. 2, electrical stimulation module includes microprocessor, digital analog converter and the power amplifier being sequentially connected, and power supply is fitted
Orchestration is powered to microprocessor and digital analog converter, and power supply adaptor is powered after electric pressure converter to power amplifier, power
Amplifier includes the amplitude modular converter and signal amplification module being connected, and amplitude modular converter is connected with digital analog converter, is believed
Number amplification module is connected with electrode or electrod-array, and the electrical stimulation signal of multichannel is exported to electrode or electrod-array.Microprocessor
Device will be moved from human body-myoelectricity stimulate model library input electrical stimulation signal parameter be converted into electrical stimulation waveforms digitally encoded signal
Afterwards, digital analog converter is transferred to by I/O pins；Digital-to-analogue is carried out by digital analog converter to electrical stimulation waveforms digitally encoded signal to turn
After changing, the electrical stimulation signal of simulation is exported.The amplitude passed through from the electrical stimulation signal of digital analog converter output in power amplifier
Modular converter, signal amplification module etc. processing after, just can form satisfactory electrical stimulation signal, be output to corresponding electrode or
Electrod-array.Power supply adaptor is microprocessor, digital analog converter, power amplifier provide power supply support, and have current protection
So as to produce injury to human body, electric pressure converter is then the voltage for coordinating power amplifier to make output electrical stimulation signal for measure
It can guarantee that within the specific limits.
Realize that the electrical stimulation signal of multichannel output different parameters is then the work of digital analog converter in electrical stimulation module.
Digital analog converter selects AD7305 chips, a piece of AD7305 chips concurrent integration DAC digital analog converters of four 8, and sets
Double buffering parallel data register is counted, it is allowed to which the input register of four passages is preloaded into new value, coordinates LDAC pins to make
Four passage gatings, it is possible to achieve high-speed digital-analog is changed.LDAC is enabled DAC translation register pins, is patrolled when the pin is set to
When collecting low, corresponding input register transfers data to the DAC registers of respective channel, so as to realize the DAC of four passages
The data of register update simultaneously, and the analog signal of four paths final outputs can change simultaneously.
Such as Fig. 3, electrode uses electric conductivity outstanding and the right higher wet electrode of skin paste or dry electrode.Each electrode
It is connected with corresponding electro photoluminescence passage all the way, all controllable break-make.Electrod-array is using flexible material gel as substrate 1, metal
Contact is that electrode 2 is made, and multiple hard contacts are uniformly distributed in substrate, each hard contact and corresponding electrical stimulation module all the way
Output channel is connected, all controllable break-make.Compared with single electrode, in actual use, even if array electrode is attached to
The general position of stimulation location, the probability for having one or several contacts to be located in optimal stimulation sites are also very big.Electrode or
Electrod-array is close on human body position using the ripe paster of manufacture craft, or is fixed on human body position using medical proof fabric
Put, or be packaged in the good cloth of retractility and be closely worn on human body position, to ensure electrode or electrode
Array keeps good contact with human body all the time.
In the feedback interaction of the present invention, electrode or electrod-array remain good contact with human body, avoid
Force feedback effect distortion.The different pulse shape of electrical stimulation signal, intensity, width, frequency can cause the different motion of muscle.
Alternative events in virtual scene, which can trigger, to be formed different human body kinematic parameters (such as the bending of human body motor pattern, human body is turned round
Gyration, shift length etc.), human body motion-myoelectricity stimulates model library to export different electro photoluminescence letters according to human body kinematic parameter
To electrical stimulation module, electrical stimulation module can export different pulse shape, intensity, width, the electrical stimulation signal of frequency for number parameter
To electrode or electrod-array to stimulate muscle, make the motion of muscle and human body motion phase one that virtual scene interaction event triggers
Cause, both errors are no more than 20% and can be considered consistent.
Such as Fig. 4, when strike, collision occur in virtual scene for user, the moment of alternative events such as touch (such as by bullet
Hit body, hand touching button, push), the alternative events in virtual scene trigger virtual human body motion；The virtual human body fortune
Dynamic parameter, which is passed to human body motion-myoelectricity, stimulates model library, human body motion-myoelectricity stimulate model library from human body motor pattern,
Intensity electrical stimulation signal parameter corresponding with inquiring about and exporting in the corresponding relation of electrical stimulation signal parameter；Electrical stimulation module is based on
Human body motion-myoelectricity stimulates model library to export corresponding multichannel electrical stimulation signal, and electric thorn is carried out to muscle by electrode unit
Swash；According to functional electrostimulation principle, human body induces human body motion under electro photoluminescence or simulates autonomous human body motion, and the action
Process is synchronous with the human action that alternative events in virtual scene trigger, so that human body obtains force feedback effect true to nature.
The muscle types of motion are participated in VR virtual scenes can be divided into two kinds, and one kind is that four limbs trunk or more muscle participate in
Motion, it is a kind of be finger conic gymnadenia tuber and motion, model library correspond to as needed body muscle group motion, hand muscle fortune
It is dynamic.Body muscle group muscle includes but is not limited to the bicipital muscle of arm, latissimus dorsi, pectoralis major etc., and hand muscle includes but is not limited to slap short
The musculus flexor extensor etc. of flesh, five fingers.Two kinds of motions individually can also coordinate participation in virtual interacting event.Virtual scene is handed over
Human body kinematic parameter when mutual event is pre-formed and preserves its triggering, and in triggering moment input parameter to human body motion-flesh
Electrical stimulation signal model library.
Such as Fig. 5, it is to record specific human body by simulated experiment or simulation calculation to move that human body motion-myoelectricity, which stimulates model library,
Electromyographic signal when moving of pattern and the parameter such as intensity and human body, and turn after carrying out corresponding signal transacting to the electromyographic signal
Change corresponding electrical stimulation signal parameter (such as impulse waveform, intensity, width, frequency) into；Generated afterwards by electrical stimulation module
Corresponding electrical stimulation signal is exported to electrode unit, so as to feed back to the original position of human body, examine electrical stimulation signal whether with institute
The specific human body motion of record is consistent；If so, establishing, the human body motor pattern, intensity are corresponding with electrical stimulation signal parameter to close
System, and be stored in model library., it is necessary to accumulate substantial amounts of relation during human body motion-myoelectricity stimulates the foundation of model library
Model, and the model library that upgrades in time.
Human body motion-myoelectricity stimulates model library to be stored in computer, server or VR equipment, provided with for determining electric thorn
The processing software of energizing signal parameter, when human body motion-myoelectricity stimulates model library accumulation corresponding relation, according to electromyographic signal and determine
The process of electrical stimulation signal parameter is：
Step 1：Electromyographic signal is gathered to merge into data point set with certain sample rate and transmitted into processing software；
Step 2：The electromyographic signal data point completed to collection pre-processes；
Step 3：Pretreated electromyographic signal data point depicts electromyographic signal waveform by handling software, by default
A positive threshold value filter out spike in electromyographic signal waveform, and select first spike；
Step 4：The time point of spike selected by record and intensity size；
Step 5：The next spike of reselection after one section of default refractory period is skipped since selected spike, is then returned
Return step 4；
Step 6：Repeat step 5, until terminating；
Step 7：The electricity of generation is determined by statistical means and clinical experience according to each peak hour point and intensity size
The parameter (waveform, intensity, width, frequency) of stimulus signal, it is corresponding with the parameter such as human body motor pattern intensity, it is input to model library
In.
Wherein, electrical stimulation signal is single-phase or multiphase square wave, trapezoidal wave, triangular wave, sine wave or exponential wave.
The corresponding relation that electrical stimulation signal moves with human body is：The position of electrical stimulation signal effect and impulse waveform, arteries and veins
Human body when rushing the electrical stimulation signal parameters such as intensity (average value of obtaining current), pulse width, pulse frequency and doing specific action
The human body kinematic parameters such as motor pattern, human body flexion torsion angle, shift length form an array, are stored in database, and
Two class parameters are set up into corresponding relation.Wherein, human body kinematic parameter can be acquired using body data sensor.
Two examples are named to further illustrate the Virtual force field interaction of the present invention：
1st, the feedback interaction of button is pressed to forefinger in virtual scene：When the forefinger of user in virtual scene presses button
Moment, virtual scene module triggering forefinger touches the button motor pattern, and motor pattern parameter has：Pattern-forefinger flips up,
Parameter-forefinger and palm are in alignment.Above-mentioned motor pattern parameter input human body motion-myoelectricity is stimulated into model library, obtained
Corresponding electrical stimulation signal impulse waveform, intensity, width, frequency, and with this by electrical stimulation module and electrode unit to finger section
Muscle is divided to carry out electro photoluminescence., will be upward according to functional electrostimulation principle forefinger after the hand of user obtains electric current stimulation
Turnover, forms the force feedback that real forefinger presses button.
2nd, back in virtual scene is interacted by the feedback of thrust：When in virtual scene user back by other people
The moment of thrust, the triggering of virtual scene module push away back human body motor pattern, and motor pattern parameter has：The small rhombus in pattern-back
Flesh shrinks.Above-mentioned mode parameter input human body motion-myoelectricity is stimulated into model library, obtains the impulse wave of corresponding electrical stimulation signal
Shape, intensity, width, frequency, and electro photoluminescence is carried out to muscle of back by electrical stimulation module and electrode unit with this.User's
It after back obtains electric current stimulation, will be shunk according to functional electrostimulation principle muscle of back, be formed and really moved by what people pushed away
Make.
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. a kind of Virtual force field interactive system stimulated based on myoelectricity, it is characterised in that including electrode unit, electrical stimulation module
Model library is stimulated with human body motion-myoelectricity, human body motion-myoelectricity stimulates model library to receive from virtual scene interaction event and triggers flesh
Body moves formed human body kinematic parameter, export corresponding to electrical stimulation signal parameter to electrical stimulation module；Electrical stimulation module point
Model library is not stimulated to be connected with electrode unit, human body motion-myoelectricity, processing human body motion-myoelectricity stimulates the electricity that model library inputs
Stimulus signal parameter, generate and export corresponding electrical stimulation signal to electrode unit；Electrode unit is attached to human skin, connects
The electrical stimulation signal that electrical stimulation module transmits is received, stimulates human epidermal muscle, body surface skin contraction of muscle, stretching is made one, drives flesh
Body moves, and completes Virtual force field.
2. the Virtual force field interactive system according to claim 1 stimulated based on myoelectricity, it is characterised in that the electrode
Unit is electrode or electrod-array.
3. the Virtual force field interactive system according to claim 1 stimulated based on myoelectricity, it is characterised in that the electricity thorn
Swash microprocessor, digital analog converter and power amplifier that module includes being sequentially connected, microprocessor believes the electro photoluminescence of input
After number parameter is converted into electrical stimulation waveforms digitally encoded signal, digital analog converter is transferred to, by digital analog converter to electric stimulus wave
After shape digitally encoded signal carries out digital-to-analogue conversion, the electrical stimulation signal of simulation is exported；From the electro photoluminescence letter of digital analog converter output
Number after power amplifier is handled, the electrical stimulation signal of multichannel is formed, is output to corresponding electrode or electrod-array.
4. the Virtual force field interactive system according to claim 3 stimulated based on myoelectricity, it is characterised in that the power
Amplifier includes the amplitude modular converter and signal amplification module being connected, and amplitude modular converter is connected with digital analog converter, is believed
Number amplification module is connected with electrode or electrod-array.
5. the Virtual force field interactive system according to claim 3 stimulated based on myoelectricity, it is characterised in that the electricity thorn
Sharp module also includes power supply adaptor and electric pressure converter, and power supply adaptor turns with microprocessor, digital analog converter, voltage respectively
Parallel operation is connected, and electric pressure converter is connected with power amplifier.
6. the Virtual force field interactive system according to claim 1 stimulated based on myoelectricity, it is characterised in that the human body
Motion-myoelectricity stimulates model library to believe by myoelectricity when simulated experiment or simulation calculation record human body kinematic parameter and human body motion
Number, and electrical stimulation signal parameter is converted into after carrying out corresponding signal transacting to electromyographic signal, given birth to afterwards by electrical stimulation module
Exported into corresponding electrical stimulation signal to electrode unit so as to feed back to the original position of human body, examine electrical stimulation signal whether with institute
The human body motion of record is consistent；If so, the corresponding relation of the human body motor pattern, intensity and electrical stimulation signal parameter is established, and
Being stored in human body motion-myoelectricity stimulates in model library.
7. the Virtual force field interactive system according to claim 6 stimulated based on myoelectricity, it is characterised in that the human body
Motion-myoelectricity stimulates model library to be stored in computer, server or VR equipment, provided with for determining electrical stimulation signal parameter
Software is handled, human body motion-myoelectricity stimulates model library to accumulate human body motor pattern, intensity pass corresponding with electrical stimulation signal parameter
When being, according to electromyographic signal and determine that the process of electrical stimulation signal parameter is：
Step 1：Electromyographic signal collection is merged into data point set and transmitted into processing software；
Step 2：The electromyographic signal data point completed to collection pre-processes；
Step 3：Pretreated electromyographic signal data point depicts electromyographic signal waveform by handling software, passes through default one
Individual positive threshold value filters out the spike in electromyographic signal waveform, and selects first spike；
Step 4：The time point of spike selected by record and intensity size；
Step 5：The next spike of reselection after one section of default refractory period is skipped since selected spike, is then back to step
Rapid 4；
Step 6：Repeat step 5, until terminating；
Step 7：Waveform, intensity, width, the frequency of the electrical stimulation signal of generation are determined according to each peak hour point and intensity size
Rate parameter, it is corresponding with human body motor pattern, intensive parameter.
8. the Virtual force field interactive system according to claim 7 stimulated based on myoelectricity, it is characterised in that the electricity thorn
Energizing signal is single-phase or multiphase square wave, trapezoidal wave, triangular wave, sine wave or exponential wave.
9. the Virtual force field exchange method of the Virtual force field interactive system stimulated described in claim 6 based on myoelectricity, it is special
Sign is that the process of exchange method is：Alternative events in virtual scene trigger virtual human body motion；The parameter of human body motion
Being passed to human body motion-myoelectricity stimulates model library, and human body motion-myoelectricity stimulates model library from human body motor pattern, intensity and electricity
Inquired about in the corresponding relation of stimulus signal parameter and export corresponding electrical stimulation signal parameter；Electrical stimulation module is transported based on human body
Dynamic-myoelectricity stimulates the electrical stimulation signal parameter that model library exports, and generates and exports corresponding multichannel electrical stimulation signal, passes through electricity
Pole unit carries out electro photoluminescence to human epidermal muscle；Human epidermal muscle induces human body motion under electro photoluminescence or simulates autonomous flesh
Body move, and the action process with virtual scene alternative events triggering human action it is synchronous so that human body obtain it is true to nature
Force feedback effect.
10. Virtual force field exchange method according to claim 9, it is characterised in that the human body motion-myoelectricity stimulates
The processing software for determining electrical stimulation signal parameter is stored with model library, human body motion-myoelectricity stimulates model library to accumulate flesh
During the corresponding relation of body motor pattern, intensity and electrical stimulation signal parameter, according to electromyographic signal and electrical stimulation signal parameter is determined
Process be：
Step 1：Electromyographic signal collection is merged into data point set and transmitted into processing software；
Step 2：The electromyographic signal data point completed to collection pre-processes；
Step 3：Pretreated electromyographic signal data point depicts electromyographic signal waveform by handling software, passes through default one
Individual positive threshold value filters out the spike in electromyographic signal waveform, and selects first spike；
Step 4：The time point of spike selected by record and intensity size；
Step 5：The next spike of reselection after one section of default refractory period is skipped since selected spike, is then back to step
Rapid 4；
Step 6：Repeat step 5, until terminating；
Step 7：Waveform, intensity, width, the frequency of the electrical stimulation signal of generation are determined according to each peak hour point and intensity size
Rate parameter, it is corresponding with human body motor pattern, intensive parameter.
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| CN108549482A (en) * | 2018-03-29 | 2018-09-18 | 北京理工大学 | A kind of virtual reality touch feedback device based on ROS systems |
| CN109637098A (en) * | 2019-01-28 | 2019-04-16 | Oppo广东移动通信有限公司 | Wearable device and its control method |
| CN111632369A (en) * | 2020-05-20 | 2020-09-08 | 东北石油大学 | VR game body feeling processing method and device |
| CN111722709A (en) * | 2020-05-15 | 2020-09-29 | 华南理工大学 | Virtual force feedback interaction system and method based on myoelectric evaluation |
| CN112099625A (en) * | 2020-08-25 | 2020-12-18 | 华南理工大学 | Virtual force feedback evaluation and adjustment system and method based on micro-current stimulation |
| CN113126771A (en) * | 2021-05-07 | 2021-07-16 | 浙江柔灵科技有限公司 | Myoelectric gesture recognition system with information feedback function |
| CN114327068A (en) * | 2021-12-30 | 2022-04-12 | 韶关学院 | Method for simulating virtual ground foot touch feeling by electric stimulation feedback based on characteristic waves |
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