CN108536280B - Electrostatic force and vibration fusion touch sense reproduction device and method applying finger pad - Google Patents
Electrostatic force and vibration fusion touch sense reproduction device and method applying finger pad Download PDFInfo
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- 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 relates to a touch reappearing device and method applying electrostatic force and vibration of a finger pad and belongs to the field of human-computer interaction. The method comprises the following steps: the touch reproduction method comprises the steps that the positioning unit acquires position information of a finger pad on a multimedia terminal screen in real time, the touch processing unit processes the position information of the finger pad and generates an electrostatic force driving signal amplitude parameter and a vibration driving signal amplitude parameter which are transmitted to the finger pad unit in a wireless mode, and the finger pad unit inputs the generated electrostatic force driving signal and the vibration driving signal into an electrostatic screen and a vibration source to respectively generate electrostatic force and vibration to deform the skin of a finger, so that the finger of a user feels touch feedback. The invention has the advantages that: in the process of planar interaction, the tangential feedback force and the normal feedback force on the finger can be changed simultaneously, so that more real tactile feeling is presented, the transportability is good, and multi-point tactile feedback can be realized.
Description
Technical Field
The invention belongs to the field of virtual reality and human-computer interaction, and particularly relates to a touch reproduction device and method.
Background
The multimedia terminal with the touch reproduction function is a research hotspot internationally in recent years, and has important application prospects in the fields of e-commerce, educational entertainment, visually impaired people and the like. The multimedia touch reappearing terminal can enable a user to perceive the shape, the texture and the softness of a displayed object through touch, and brings the communication between a human and a virtual world to a brand-new stage of merging the auditory sense, the visual sense and the touch sense, so that great economic benefits are generated.
Currently, there are some apparatuses and methods for implementing haptic reproduction.
Chinese patent "a wearable haptic interaction device with finger exoskeleton facing touch screen" (application No. 201610900663.8) discloses a wearable haptic interaction device with finger exoskeleton facing touch screen, which can provide multi-mode force sense and vibration haptic feedback for human fingers, and the device has a complicated structure and is not easy to integrate, and has great limitations. Chinese patent "an ultrasonic tactile feedback system and a method for manufacturing the same" (application No. 201510266849.8) discloses an ultrasonic tactile feedback system based on a capacitive ultrasonic sensor, which generates tactile feedback at a certain point in space by focusing sound waves, and the tactile sensation generated by the array type tactile reproduction device is very weak, and has a complex structure, is not easy to integrate, and has poor portability.
Chinese patent "a device based on electrostatic force tactile representation" (application No. 201210143828.3) discloses a tactile representation technique based on electrostatic force, in which a finger tracking unit detects the position of a finger in a tactile sense, and generates an electric signal parameter indicating a corresponding tactile force according to the correspondence between an electric signal and the tactile force, but only single-point tactile representation can be realized, and portability is poor. Chinese patent "an adaptive multipoint electrostatic force tactile representation device using impedance detection" (application No. 201420098225.0) discloses a method and device for tactile representation based on electrostatic force, which can realize multipoint tactile feedback, but only change the tangential friction force to which the finger is subjected, but not change the normal force to which the finger is subjected, and only feel the tactile feedback when the finger is in motion, and the presented tactile sense has poor real effect and poor portability.
Currently, there has been a great development of a tactile sensation reproducing apparatus. However, the array-based tactile reproduction device has a complex structure and poor portability, is not easy to integrate on a multimedia terminal, can only provide the change of tangential feedback force by the electrostatic force tactile reproduction device, has no tactile feedback when a finger is static, can only provide the change of normal feedback force by the vibration tactile reproduction device, and has single tactile sensation and poor authenticity.
Disclosure of Invention
The invention provides a touch reappearance device and method applying electrostatic force and vibration of a finger pad.
The technical scheme adopted by the invention is as follows:
(1) the positioning unit comprises a device for realizing the positioning function and is used for reading the position coordinates P (x, y) of the finger pad on the screen of the multimedia terminal in real time and sending the position coordinates P (x, y) information to the touch processing unit;
(2) the touch processing unit comprises a multimedia terminal and is used for presenting visual information, rendering the visual information to obtain an electrostatic force driving signal amplitude parameter matrix E and a vibration driving signal amplitude parameter matrix V, then selecting the electrostatic force driving signal amplitude parameter E (x, y) and the vibration driving signal amplitude parameter V (x, y) according to position coordinate P (x, y) information, and sending the electrostatic force driving signal amplitude parameter E (x, y) and the vibration driving signal amplitude parameter V (x, y) to the finger pad unit in a wireless mode;
(3) the finger pad unit comprises a finger pad, has the function of realizing dynamic wireless connection with the multimedia terminal, can receive the amplitude parameter E (x, y) of the electrostatic force driving signal and the amplitude parameter V (x, y) of the vibration driving signal generated by the touch processing unit in real time, generates corresponding electrostatic force driving signal and vibration driving signal, and can simultaneously change the tangential feedback force FxAnd normal feedback force FyThereby achieving more realistic haptic feedback.
The structure of the multimedia terminal screen is divided into three layers: the bottom layer is a glass plate and plays a supporting role; the middle layer is a transparent conductive polar plate which is sprayed on the glass plate and can apply an excitation signal; the top layer is an insulating layer and is sprayed on the conductive polar plate to play the role of insulation.
The finger pad structure of the present invention comprises:
(1) the electrostatic screen is structurally divided into three layers: the bottom layer is an insulating layer and is sprayed to the electrode layer to play an insulating role; the middle layer is an electrode layer which is sprayed on the glass plate and can apply an excitation signal; the top layer is a glass plate and plays a supporting role; the function of the device is to generate electrostatic force and provide tangential feedback force for fingers;
(2) the vibration source is arranged on the electrostatic screen and is used for providing a finger normal feedback force;
(3) the groove is arranged on the vibration source and is used for placing fingers to prevent the fingers from being separated from the finger pad;
(4) circuitry, placed beside the finger pad, the structure comprising: the device comprises a wireless receiver, a main controller, an electrostatic force driving chip and a vibration driving chip; the wireless receiver sends an electrostatic force driving signal amplitude parameter E (x, y) and a vibration driving signal amplitude parameter V (x, y) sent by the touch processing unit into the main controller, the main controller sends the electrostatic force driving signal amplitude parameter E (x, y) to the electrostatic force driving chip, the vibration driving signal amplitude parameter V (x, y) is sent to the vibration driving chip, the electrostatic force driving chip sends a generated electrostatic force driving signal into an electrode layer of the electrostatic screen to generate a tangential feedback force, meanwhile, the vibration driving chip sends the vibration driving signal into the vibration source to generate a normal feedback force, and the tangential feedback force and the normal feedback force simultaneously act on the finger, so that more real touch feedback is realized.
A method for reproducing an electrostatic force and vibro-fusion haptic sensation using a finger pad, comprising the steps of:
(1) first, the electrostatic force drive signal amplitude A based on electrostatic force haptic feedback is measured1With electrostatic feedback force F1The relationship between:
wherein k is1A proportionality coefficient for electrostatic force haptic feedback;
then, the vibration driving signal amplitude A based on the vibration tactile feedback is measured2With vibration feedback force F2The relationship between:
F2＝k2A2
wherein k is2A scaling factor for vibrotactile feedback;
(2) the process of solving the amplitude parameter matrix V of the vibration driving signal is as follows:
firstly, extracting a gray value of an image to obtain a gray matrix, namely a height matrix H, and then carrying out normalization processing on the height matrix H:
where H' is normalized to the height matrix H, HmaxIs the maximum value of the elements in the height matrix H, HminIs a height matrix H middle elementRendering the image to obtain a normal feedback force component matrix F corresponding to the imagev：
Fv＝fm1*H′
Wherein f ism1Maximum feedback force generated by vibration energy, and amplitude A of vibration drive signal2With vibration feedback force F2By the corresponding relation of (2), the amplitude parameter matrix of the vibration driving signal can be obtained
(3) The process of further solving the amplitude parameter matrix E of the electrostatic force driving signals is as follows:
the height matrix H is transversely subjected to partial derivation to obtain a gradient matrix G of the imagex
Then to the gradient matrix GxAnd (3) carrying out normalization treatment:
wherein G isx' is a pair gradient matrix GxNormalization, gxmaxIs a matrix GxMaximum value of middle element, gxminIs a matrix GxThe minimum value of the medium elements is obtained, then the image is rendered, and a tangential feedback force component matrix F corresponding to the image is obtainede：
Fe＝G′xfm2
Wherein f ism2The maximum tangential force provided by the electrostatic force tactile feedback is then driven according to the amplitude A of the electrostatic force drive signal1With electrostatic feedback force F1The corresponding relation of (2) can be obtained, namely an amplitude parameter matrix of the electrostatic force driving signal can be obtained
The two touch reappearing modes of electrostatic force and vibration are fused together, so that tangential feedback force and normal feedback force can be provided at the same time, the magnitude of the feedback force is increased, the dimension of the feedback force is expanded, and the authenticity of touch feedback is improved; the effect of complementary advantages is achieved; the finger can generate touch feeling through vibration of a vibration source when the finger is static, and can change tangential feedback force and normal feedback force received by the finger by combining electrostatic force and vibration when the finger moves, so that more fine touch feeling is generated, better touch reproduction effect can be achieved, dynamic wireless connection is carried out with the multimedia terminal through the finger pad in real time, multi-point touch feedback is achieved, and portability is good.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a structural diagram of a multimedia terminal screen of the present invention;
FIG. 3 is a block diagram of the finger pad of the present invention;
figure 4 is a block diagram of an electrostatic shield of the present invention;
FIG. 5 is a block diagram of the electrical circuit on the finger pad of the present invention;
FIG. 6 is an analysis graph of the electrostatic force haptic rendering force of the present invention;
FIG. 7 is a vibrotactile reproduction force analysis diagram of the present invention;
fig. 8 is a rendering process of the electrostatic force and vibration fusion apparatus of the present invention.
Detailed Description
As shown in fig. 1:
(1) a positioning unit 12 including a device for realizing a positioning function, for reading the position coordinates P (x, y) of the finger pad on the screen of the multimedia terminal in real time and transmitting the position coordinates P (x, y) information to the tactile processing unit;
(2) the touch processing unit 13 comprises a multimedia terminal 131, which is used for presenting visual information, rendering the visual information to obtain an electrostatic force driving signal amplitude parameter matrix E and a vibration driving signal amplitude parameter matrix V, then selecting the electrostatic force driving signal amplitude parameter E (x, y) and the vibration driving signal amplitude parameter V (x, y) according to the position coordinate P (x, y) information, and sending the electrostatic force driving signal amplitude parameter E (x, y) and the vibration driving signal amplitude parameter V (x, y) to the finger pad unit in a wireless manner;
(3) the finger pad unit 14, including a finger pad, is capable of implementing a dynamic wireless connection with the multimedia terminal, receiving the amplitude parameter E (x, y) of the electrostatic force driving signal and the amplitude parameter V (x, y) of the vibration driving signal generated by the touch processing unit in real time, and generating a corresponding electrostatic force driving signal and vibration driving signal, and simultaneously changing the tangential feedback force FxAnd normal feedback force FyThereby achieving more realistic haptic feedback.
In the above-mentioned electrostatic force and vibration integrated haptic reproducing apparatus and method using a finger pad, the multimedia terminal screen 131 is shown in fig. 2 and has a structure divided into three layers: the bottom layer is a glass plate 1311 which plays a supporting role; the middle layer is a transparent conductive plate 1312 sprayed on the glass plate and can apply an excitation signal; the top layer is an insulating layer 1313, which is sprayed on the conductive plate to perform the insulating function.
The finger pad is shown in fig. 3, and the structure thereof comprises:
(1) the electrostatic shield 141 has a structure as shown in fig. 4: the bottom layer is an insulating layer 1411 and is sprayed on the electrode layer to play an insulating role; the middle layer is an electrode layer 1412 sprayed on the glass plate and can apply an excitation signal; the top layer is a glass plate 1413 which plays a supporting role; the function of the device is to generate electrostatic force and provide tangential feedback force for fingers;
(2) a vibration source 142, placed above the electrostatic screen, which functions to provide a finger normal feedback force;
(3) a groove 143, which is placed on the vibration source and has a function of placing a finger to prevent the finger from being separated from the finger pad;
(4) circuit 144, placed next to the finger pad, is structured as shown in FIG. 5, and comprises: a wireless receiver 1441, a main controller 1442, an electrostatic force driving chip 1443, and a vibration driving chip 1444; the function of the device is that the wireless receiver 1441 sends the amplitude parameter E (x, y) of the electrostatic force driving signal and the amplitude parameter V (x, y) of the vibration driving signal sent by the touch processing unit 13 to the main controller 1442, the main controller 1442 sends the amplitude parameter E (x, y) of the electrostatic force driving signal to the electrostatic force driving chip 1443, the amplitude parameter V (x, y) of the vibration driving signal is sent to the vibration driving chip 1444, the electrostatic force driving chip 1443 generates the electrostatic force driving signal and sends the electrostatic force driving signal to the electrode layer of the electrostatic screen to generate a tangential feedback force, meanwhile, the vibration driving chip 1444 sends the vibration driving signal to the vibration source to generate a normal feedback force, and then the tangential feedback force and the normal feedback force simultaneously act on fingers to increase the size of the feedback force, expand the dimension of the feedback force and improve the authenticity of the touch feedback.
Fig. 6 shows the analysis of the electrostatic force tactile representation force, when the finger pad 14 is on the multimedia terminal screen 131, an electrostatic force driving signal is applied to the transparent conductive plate 1312 of the multimedia terminal screen and the electrode layer 1412 of the electrostatic screen, corresponding polarity charges are carried on the electrode layer 1412, opposite polarity charges are induced by the multimedia terminal screen 131, coulomb force is generated by mutual attraction between the charges, so that the electrostatic screen 141 and the multimedia terminal screen 131 are mutually attracted, the finger pad slides and the multimedia terminal screen 134 generates friction, and a finger indirectly senses a tangential feedback force Fx. Therefore, different electrostatic force driving signal amplitude parameters E (x, y) are sent to the finger pad unit, and the finger feels different tangential feedback forces, so that different tactile feelings are obtained.
FIG. 7 shows the force analysis of vibrotactile reproduction, providing different amplitude parameters V (x, y) of the vibration driving signals to the finger pad, and the vibration source 142 generating different vibration sensations, the finger receiving normal feedback force FyDifferent and thus different haptic feedback.
A method for reproducing a haptic sensation by fusing an electrostatic force and vibration of a finger pad, comprising the steps of:
(1) first, the electrostatic force drive signal amplitude A based on electrostatic force haptic feedback is measured1With electrostatic feedback force F1The relationship between:
wherein k is1Proportion of tactile feedback for electrostatic forceA coefficient;
then, the vibration driving signal amplitude A based on the vibration tactile feedback is measured2With vibration feedback force F2The relationship between:
F2＝k2A2
wherein k is2A scaling factor for vibrotactile feedback;
(2) the process of solving the amplitude parameter matrix V of the vibration driving signal is as follows:
firstly, extracting a gray value of an image to obtain a gray matrix, namely a height matrix H, and then carrying out normalization processing on the height matrix H:
where H' is normalized to the height matrix H, HmaxIs the maximum value of the elements in the height matrix H, HminRendering the image to obtain a normal feedback force component matrix F corresponding to the image, wherein the minimum value of the elements in the height matrix H is obtainedv：
Fv＝fm1*H′
Wherein f ism1Maximum feedback force generated by vibration energy, and amplitude A of vibration drive signal2With vibration feedback force F2By the corresponding relation of (2), the amplitude parameter matrix of the vibration driving signal can be obtained
(3) The process of further solving the amplitude parameter matrix E of the electrostatic force driving signals is as follows:
the height matrix H is transversely subjected to partial derivation to obtain a gradient matrix G of the imagex
Then to the gradient matrix GxAnd (3) carrying out normalization treatment:
wherein G'xIs a pair gradient matrix GxNormalization, gxmaxIs a matrix GxMaximum value of middle element, gxminIs a matrix GxThe minimum value of the medium elements is obtained, then the image is rendered, and a tangential feedback force component matrix F corresponding to the image is obtainede：
Fe＝G′xfm2
Wherein f ism2The maximum tangential force provided by the electrostatic force tactile feedback is then driven according to the amplitude A of the electrostatic force drive signal1With electrostatic feedback force F1The corresponding relation of (2) can be obtained, namely an amplitude parameter matrix of the electrostatic force driving signal can be obtained
Claims (4)
1. A reproducing method of an electrostatic force and vibration fusion haptic sensation using a finger pad, using an electrostatic force and vibration fusion haptic sensation using a finger pad, comprising the steps of:
(1) first, the electrostatic force drive signal amplitude A based on electrostatic force haptic feedback is measured1With electrostatic feedback force F1The relationship between:
wherein k is1A proportionality coefficient for electrostatic force haptic feedback;
then, the vibration driving signal amplitude A based on the vibration tactile feedback is measured2With vibration feedback force F2The relationship between:
F2＝k2A2
wherein k is2A scaling factor for vibrotactile feedback;
(2) the process of solving the amplitude parameter matrix V of the vibration driving signal is as follows:
firstly, extracting a gray value of an image to obtain a gray matrix, namely a height matrix H, and then carrying out normalization processing on the height matrix H:
where H' is normalized to the height matrix H, HmaxIs the maximum value of the elements in the height matrix H, HminRendering the image to obtain a normal feedback force component matrix F corresponding to the image, wherein the minimum value of the elements in the height matrix H is obtainedv：
Fv＝fm1*H′
Wherein f ism1Maximum feedback force generated by vibration energy, and amplitude A of vibration drive signal2With vibration feedback force F2By the corresponding relation of (2), the amplitude parameter matrix of the vibration driving signal can be obtained
(3) The process of further solving the amplitude parameter matrix E of the electrostatic force driving signals is as follows:
the height matrix H is transversely subjected to partial derivation to obtain a gradient matrix G of the imagex
Then to the gradient matrix GxAnd (3) carrying out normalization treatment:
wherein G isx' is a pair gradient matrix GxNormalization, gxmaxIs a matrix GxMaximum of middle elementValue gxminIs a matrix GxThe minimum value of the medium elements is obtained, then the image is rendered, and a tangential feedback force component matrix F corresponding to the image is obtainede：
Fe＝Gx′fm2
Wherein f ism2The maximum tangential force provided by the electrostatic force tactile feedback is then driven according to the amplitude A of the electrostatic force drive signal1With electrostatic feedback force F1The corresponding relation of (2) can be obtained, namely an amplitude parameter matrix of the electrostatic force driving signal can be obtained
2. The electrostatic force and vibration fusion haptic reproduction method of a finger pad according to claim 1, wherein the electrostatic force and vibration fusion haptic reproduction apparatus of a finger pad comprises:
(1) the positioning unit comprises a device for realizing the positioning function and is used for reading the position coordinates P (x, y) of the finger pad on the screen of the multimedia terminal in real time and sending the position coordinates P (x, y) information to the touch processing unit;
(2) the touch processing unit comprises a multimedia terminal and is used for presenting visual information, rendering the visual information to obtain an electrostatic force driving signal amplitude parameter matrix E and a vibration driving signal amplitude parameter matrix V, then selecting the electrostatic force driving signal amplitude parameter E (x, y) and the vibration driving signal amplitude parameter V (x, y) according to position coordinate P (x, y) information, and sending the electrostatic force driving signal amplitude parameter E (x, y) and the vibration driving signal amplitude parameter V (x, y) to the finger pad unit in a wireless mode;
(3) the finger pad unit comprises a finger pad, has the function of realizing dynamic wireless connection with the multimedia terminal, can receive the amplitude parameter E (x, y) of the electrostatic force driving signal and the amplitude parameter V (x, y) of the vibration driving signal generated by the touch processing unit in real time, generates corresponding electrostatic force driving signal and vibration driving signal, and can simultaneously change the tangential feedback force FxAnd normal feedback force FyThereby achievingNow more realistic haptic feedback.
3. A haptic reproduction method using electrostatic force and vibration of a finger pad according to claim 2, wherein: the structure of the multimedia terminal screen is divided into three layers: the bottom layer is a glass plate and plays a supporting role; the middle layer is a transparent conductive polar plate which is sprayed on the glass plate and can apply an excitation signal; the top layer is an insulating layer and is sprayed on the conductive polar plate to play the role of insulation.
4. A haptic reproduction method using electrostatic force and vibration of a finger pad according to claim 2, wherein: the finger pad structure includes:
(1) the electrostatic screen is structurally divided into three layers: the bottom layer is an insulating layer and is sprayed to the electrode layer to play an insulating role; the middle layer is an electrode layer which is sprayed on the glass plate and can apply an excitation signal; the top layer is a glass plate and plays a supporting role; the function of the device is to generate electrostatic force and provide tangential feedback force for fingers;
(2) the vibration source is arranged on the electrostatic screen and is used for providing a finger normal feedback force;
(3) the groove is arranged on the vibration source and is used for placing fingers to prevent the fingers from being separated from the finger pad;
(4) circuitry, placed beside the finger pad, the structure comprising: the device comprises a wireless receiver, a main controller, an electrostatic force driving chip and a vibration driving chip; the wireless receiver sends an electrostatic force driving signal amplitude parameter E (x, y) and a vibration driving signal amplitude parameter V (x, y) sent by the touch processing unit into the main controller, the main controller sends the electrostatic force driving signal amplitude parameter E (x, y) to the electrostatic force driving chip, the vibration driving signal amplitude parameter V (x, y) is sent to the vibration driving chip, the electrostatic force driving chip sends a generated electrostatic force driving signal into an electrode layer of the electrostatic screen to generate a tangential feedback force, meanwhile, the vibration driving chip sends the vibration driving signal into the vibration source to generate a normal feedback force, and the tangential feedback force and the normal feedback force simultaneously act on the finger, so that more real touch feedback is realized.
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| US9448713B2 (en) * | 2011-04-22 | 2016-09-20 | Immersion Corporation | Electro-vibrotactile display |
| US9547430B2 (en) * | 2012-10-10 | 2017-01-17 | Microsoft Technology Licensing, Llc | Provision of haptic feedback for localization and data input |
| CN104063054B (en) * | 2014-06-06 | 2017-02-15 | 南京航空航天大学 | Touch reproduction device and touch reproduction method based on bi-directional frictional force control |
| US9606624B2 (en) * | 2014-07-02 | 2017-03-28 | Immersion Corporation | Systems and methods for surface elements that provide electrostatic haptic effects |
| KR102384103B1 (en) * | 2014-08-26 | 2022-04-07 | 엘지디스플레이 주식회사 | Apparatus for driving of touch panel |
| CN104199554B (en) * | 2014-09-21 | 2017-02-01 | 吉林大学 | Electrostatic force haptic display method and device applied to mobile terminals |
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