CN109271031A - A kind of haptic signal detection method, device, system, equipment and storage medium - Google Patents
A kind of haptic signal detection method, device, system, equipment and storage medium Download PDFInfo
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- CN109271031A CN109271031A CN201811129783.8A CN201811129783A CN109271031A CN 109271031 A CN109271031 A CN 109271031A CN 201811129783 A CN201811129783 A CN 201811129783A CN 109271031 A CN109271031 A CN 109271031A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
Abstract
The invention discloses a kind of haptic signal detection method, device, system, equipment and storage mediums.This method comprises: obtaining the present analysis periodic haptic signal on testee surface；Determine the standard deviation of present analysis periodic haptic signal；The standard deviation of present analysis periodic haptic signal is more than or equal to the first preset threshold and is less than or equal to the second preset threshold, it is determined that present analysis periodic haptic signal is slip signals.The embodiment of the present invention improves the resolution ratio of haptic signal detection.
Description
Technical field
The present embodiments relate to detection technique more particularly to a kind of haptic signal detection method, device, systems, equipment
And storage medium.
Background technique
The haptic signal on the testee surface acquired by touch sensor can be used as feedback signal and control measured object
Body carries out relevant movement.Illustratively, such as artificial limb, touch sensor is added on artificial limb, it can Real-time Feedback artificial limb and object
Between motion state, and the real-time control signal as artificial limb control system realizes the closed loop control that artificial limb high success rate grasps
System, touch sensor includes piezoresistance sensor, piezoelectric transducer and pressure-volume sensor etc..It is realized above by touch sensor false
Limb control, needs to accurately identify haptic signal, common haptic signal includes activation signal, slip signals and separating signal etc..
In realizing process of the present invention, at least there are the following problems in the prior art for inventor's discovery: due to acquiring tactile
The used touch sensor of signal is not sensitive enough and resolution ratio is lower, and the resolution ratio for causing haptic signal to detect is unable to satisfy
The application requirement of practical real-time monitoring.
Summary of the invention
The embodiment of the present invention provides a kind of haptic signal detection method, device, system, equipment and storage medium, to improve
The resolution ratio of haptic signal detection.
In a first aspect, the embodiment of the invention provides a kind of haptic signal detection methods, this method comprises:
Obtain the present analysis periodic haptic signal on testee surface；
Determine the standard deviation of the present analysis periodic haptic signal；
The standard deviation of the present analysis periodic haptic signal is more than or equal to the first preset threshold and less than or equal to second
Preset threshold, it is determined that the present analysis periodic haptic signal is slip signals.
Further, this method further includes:
The standard deviation of the present analysis periodic haptic signal is less than first preset threshold, it is determined that described current point
Analysis periodic haptic signal is tranquillization signal.
Further, this method further includes:
The present analysis periodic haptic signal is greater than second preset threshold, then obtains upper the one of testee surface
Analytical cycle haptic signal；
Determine the standard deviation of the upper analytical cycle haptic signal；
The standard deviation of the upper analytical cycle haptic signal is less than second preset threshold, it is determined that described current point
Analysing periodic haptic signal is first contact signal or starting separating signal.
Further, the standard deviation of the upper analytical cycle haptic signal is more than or equal to second preset threshold, then
Determine that present analysis periodic haptic signal is tranquillization signal.
Further, the standard deviation of the upper analytical cycle haptic signal is less than second preset threshold, it is determined that
The present analysis periodic haptic signal is first contact signal or starting separating signal, comprising:
The standard deviation of the upper analytical cycle haptic signal is less than second preset threshold, and present analysis week
The last one sampled point signal is greater than zero in phase haptic signal, it is determined that the last one in the present analysis periodic haptic signal
Sampled point signal is first contact signal；
The standard deviation of the upper analytical cycle haptic signal is less than second preset threshold, and present analysis week
The last one sampled point signal is less than zero in phase haptic signal, it is determined that the last one in the present analysis periodic haptic signal
Sampled point signal is starting separating signal.
Further, the standard deviation of the determination present analysis periodic haptic signal, comprising:
Obtain the absolute error and mean absolute error of the present analysis periodic haptic signal；
The standard deviation of the present analysis periodic haptic signal is determined according to the absolute error and mean absolute error.
Second aspect, the embodiment of the invention also provides a kind of haptic signal detection device, which includes:
Present analysis periodic haptic signal obtains module, and the present analysis period tactile for obtaining testee surface is believed
Number；
The standard deviation determining module of present analysis periodic haptic signal, for determining the present analysis periodic haptic signal
Standard deviation；
Slip signals determining module, it is default that the standard deviation for the present analysis periodic haptic signal is more than or equal to first
Threshold value and be less than or equal to the second preset threshold, it is determined that the present analysis periodic haptic signal be slip signals.
The third aspect, the embodiment of the invention also provides a kind of haptic signal detection system, which includes such as the present invention
Haptic signal detection device described in embodiment further includes piezo-electric electret sensor, the piezo-electric electret sensor and institute
State the connection of haptic signal detection device；The present analysis period tactile on piezo-electric electret sensor acquisition testee surface
Signal is simultaneously sent to the haptic signal detection device.
Fourth aspect, the embodiment of the invention also provides a kind of equipment, which includes:
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes method as described in the embodiments of the present invention.
5th aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program, the program realize method as described in the embodiments of the present invention when being executed by processor.
The embodiment of the present invention determines present analysis week by the present analysis periodic haptic signal on acquisition testee surface
The standard deviation of phase haptic signal, if the standard deviation of present analysis periodic haptic signal is more than or equal to the first preset threshold and small
In equal to the second preset threshold, it is determined that present analysis periodic haptic signal is slip signals, improves haptic signal detection
Resolution ratio.
Detailed description of the invention
Fig. 1 is the flow chart of one of embodiment of the present invention one haptic signal detection method；
Fig. 2 is the recognition result schematic diagram of one of embodiment of the present invention one haptic signal type；
Fig. 3 is the result schematic diagram that slip signals are detected under two kinds of processing modes of one of embodiment of the present invention one；
Fig. 4 is the flow chart of one of embodiment of the present invention two haptic signal detection method；
Fig. 5 is the structural schematic diagram of one of embodiment of the present invention three haptic signal detection device；
Fig. 6 is the structural schematic diagram of one of embodiment of the present invention four haptic signal detection system；
Fig. 7 is the structural schematic diagram of one of the embodiment of the present invention five equipment.
Specific embodiment
In following each embodiments, optional feature and example are provided simultaneously in each embodiment, that records in embodiment is each
A feature can be combined, and form multiple optinal plans, and the embodiment of each number should not be considered merely as to a technical solution.Under
The present invention is described in further detail in conjunction with the accompanying drawings and embodiments in face.It is understood that specific reality described herein
Example is applied to be used only for explaining the present invention rather than limiting the invention.It also should be noted that for ease of description, it is attached
Only the parts related to the present invention are shown in figure rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for haptic signal detection method that the embodiment of the present invention one provides, and the present embodiment is applicable
In the haptic signal type detection the case where, this method can be executed by haptic signal detection device, which can use soft
The mode of part and/or hardware realizes that the device can be configured in equipment, such as typically computer etc..As shown in Figure 1,
This method specifically comprises the following steps:
Step 110, the present analysis periodic haptic signal for obtaining testee surface.
In an embodiment of the present invention, testee can specifically refer to and need using haptic signal as feedback signal to it
The object controlled, illustratively, such as artificial limb.Haptic signal can be by being set to the touch sensor on testee surface
It collects, touch sensor can specifically include piezoelectric transducer, piezoresistance sensor and/or be passed by piezoelectric transducer and pressure drag
The compound sensor of sensor composition.Haptic signal can specifically include positive pressure signal and Dynamic Signal, and Dynamic Signal can wrap
Include first contact signal, slip signals, starting separating signal and tranquillization signal etc..It is above-mentioned using haptic signal as feedback signal
It realizes the control to testee, needs to accurately identify haptic signal, and can correctly identify that the premise of haptic signal is acquisition
To haptic signal meet data handling requirements.In view of the characteristic that different type touch sensor has is different and different
The haptic signal of type is to the difference of touch sensor performance requirement, on this basis, in order to realize collected haptic signal
Meet data handling requirements, needs to match touch sensor type with haptic signal type, in other words, for a certain
For type haptic signal, need to select the touch sensor for meeting its requirement.It will be understood, which kind of class be specifically chosen
The touch sensor of type can be determined according to haptic signal type, be not specifically limited herein.
Analytical cycle can be set according to the actual situation, be not specifically limited herein.The haptic signal of analytical cycle
The substantially signal set as composed by least one sampled point signal, the number and sampling frequency of the sampled point for specifically being included
Rate is related with analytical cycle.Illustratively, as sample frequency is set as 1000Hz, i.e., per second to collect 1000 samplings
Point, analytical cycle are set as 0.1 second.Based on above-mentioned, available to 100 sampled points of analytical cycle, correspondingly, analytical cycle
Haptic signal will be the signal set as composed by 100 sampled point signals.Present analysis period and present analysis period
Haptic signal can be made such as above-mentioned same understanding.
Step 120, the standard deviation for determining present analysis periodic haptic signal.
In an embodiment of the present invention, in order to determine which kind of haptic signal type present analysis periodic haptic signal corresponds to,
It needs to select suitable parameter.Haptic signal can specifically include first contact signal, slip signals, starting separating signal and quiet
Information signal, wherein when tranquillization signal can refer to other object contact testees, do not generated though being contacted with testee surface
Normal pressure and the corresponding signal of sliding action status.Further, since when other objects have just contacted one section of testee
Between or just left a period of time of testee, haptic signal fluctuate within the above-mentioned period can be bigger, haptic signal shakiness
It is fixed, it substantially may be considered noise signal, the standard controlled from raising haptic signal as feedback signal testee
From the aspect of true rate, after setting is not involved in based on the recognition result for the haptic signal type that the haptic signal in the period determines
Continuous control decision, also sets it to tranquillization signal.It is understood that now the former is claimed there are two kinds of tranquillization signal
For the first tranquillization signal, the latter is known as the second tranquillization signal.Based on above-mentioned, haptic signal can specifically include first contact letter
Number, slip signals, starting separating signal, the first tranquillization signal and the second tranquillization signal.It will further be understood that in analysis week
In phase, the degree of fluctuation of same type of haptic signal is roughly the same, and the degree of fluctuation of different types of haptic signal differs
It is larger.According to described previously it is found that the signal collection that present analysis periodic haptic signal is made of at least one sampled point signal
It closes, therefore, the degree of fluctuation of haptic signal can be indicated by this poor parameter of selection standard.It should be noted that above-mentioned
The first contact signal and starting separating signal, which can be attributed to, belongs to activation signal, and first contact signal and starting are de-
Standard deviation corresponding from signal is roughly the same, it is subsequent how to distinguish first contact signal and starting separating signal can be in conjunction with it
Its condition is analyzed.Based on above-mentioned, above-mentioned first contact signal, slip signals, starting separating signal, the first tranquillization signal and
The corresponding standard deviation of second tranquillization signal from small to large can be with are as follows: the first tranquillization signal, slip signals, activation signal (including rise
Beginning activation signal and starting separating signal) and the second tranquillization signal.
During determining the standard deviation of present analysis periodic haptic signal, it is understood that there may be the following two kinds situation: situation
One, present analysis periodic haptic signal is pre-processed, obtain that treated present analysis periodic haptic signal, calculation processing
Standard deviation of the standard deviation of present analysis periodic haptic signal afterwards as present analysis periodic haptic signal；Situation two, directly
Calculate the standard deviation of present analysis periodic haptic signal.That is this kind of situation is simultaneously handled present analysis periodic haptic signal,
But its standard deviation is directly calculated according to present analysis periodic haptic signal.It will be understood, if what is got is current
Analytical cycle haptic signal itself has met requirement of the real-time detection to resolution ratio, then can be using not to the present analysis period
Haptic signal is handled, and the mode of its standard deviation is directly calculated according to present analysis periodic haptic signal, that is, uses situation one
Processing mode.If the requirement that the present analysis periodic haptic signal got is unable to satisfy real-time detection to resolution ratio,
It can be using being pre-processed to present analysis periodic haptic signal, obtain that treated present analysis periodic haptic signal, root
According to treated, present analysis periodic haptic signal calculates its average value as the standard deviation of present analysis periodic haptic signal
Mode uses the processing mode of situation two.In addition, in order to further increase the resolution ratio of haptic signal, even if get
Present analysis periodic haptic signal itself has met requirement of the real-time detection to resolution ratio, can also be using to present analysis week
Phase haptic signal is pre-processed, the present analysis periodic haptic signal that obtains that treated, according to treated present analysis week
Phase haptic signal calculates mode of its average value as the standard deviation of present analysis periodic haptic signal, that is, uses the place of situation two
Reason mode.It can specifically be set, be not specifically limited herein according to the actual situation.
Illustratively, if present analysis periodic haptic signal includes N number of sampled point signal xi, wherein i=1,2 ..., N.
The standard deviation sigma of present analysis periodic haptic signal can be calculated according to the following formula:Its
In, μ indicates N number of sampled point signal xiAverage value, can specifically be calculated as follows
Step 130, the standard deviation of present analysis periodic haptic signal are more than or equal to the first preset threshold and are less than or equal to
Second preset threshold, it is determined that present analysis periodic haptic signal is slip signals.
In an embodiment of the present invention, it is found that the corresponding standard deviation of different types of haptic signal according to step 120
Difference it is larger, the corresponding standard deviation of same type of haptic signal is roughly the same.First contact signal, sliding in haptic signal
Signal, starting separating signal, the first tranquillization signal and the corresponding standard deviation of the second tranquillization signal from small to large can be with are as follows: first is quiet
Information signal, slip signals, activation signal (including first contact signal and starting separating signal) and the second tranquillization signal, therefore,
It, can be from the angle for how distinguishing standard deviation in order to determine that present analysis periodic haptic signal belongs to which type of haptic signal
It accounts for, i.e., carries out the division of affiliated range to standard deviation, the standard deviation of same type of haptic signal is made to belong to same model
It encloses, the standard deviation of different types of haptic signal belongs to different range.Two preset thresholds can be set based on above-mentioned, for making
To determine that present analysis periodic haptic signal belongs to the standard of which type of haptic signal, one of them is upper limit threshold, one
A specifically to set as follows for lower threshold in conjunction with the size relation of the standard deviation of the haptic signal of each type: first is quiet
The standard deviation of information signal is less than lower threshold；The standard deviation of slip signals is more than or equal to lower threshold and is less than or equal to upper limit threshold
Value；The standard deviation of activation signal (including first contact signal and starting separating signal) and the standard deviation of the second tranquillization signal are big
In upper limit threshold.It should be noted that the standard deviation of different types of haptic signal described above referred both in present analysis week
It is got in phase.Above-mentioned activation signal and the corresponding standard deviation of the second tranquillization signal are all larger than upper limit threshold, if only analyzed
Activation signal and the second tranquillization signal just cannot be distinguished in the standard deviation of present analysis periodic haptic signal, then it is contemplated that on obtaining
The standard deviation of one analytical cycle haptic signal, correspondingly, the standard deviation in activation signal corresponding present analysis period is greater than the upper limit
Threshold value and the standard deviation of a upper analytical cycle are less than upper limit threshold；The standard deviation in the second tranquillization signal corresponding present analysis period
It is greater than upper limit threshold greater than the standard deviation of upper limit threshold and a upper analytical cycle.
It should be noted that previously described lower threshold can be indicated using the first preset threshold, it is default using second
Threshold value indicates previously described upper limit threshold, wherein the first preset threshold is less than the second preset threshold.If the present analysis period
The standard deviation of haptic signal is more than or equal to the first preset threshold and is less than or equal to the second preset threshold, it can be said that bright current point
Analysis periodic haptic signal meets the requirement of the standard deviation of previously described slip signals, and then determines present analysis period tactile letter
Number be slip signals.
It should be noted that the specific value size of the first preset threshold and the second preset threshold, it can be according to practical feelings
Condition is set, and is not specifically limited herein.
Illustratively, such as the first preset threshold is 0.002, and the second preset threshold is 0.02, present analysis period tactile letter
Number standard deviation be 0.01.Based on above-mentioned, since the standard deviation 0.01 of present analysis periodic haptic signal is greater than the first default threshold
Value 0.002 and less than the second preset threshold 0.02, hence, it can be determined that present analysis periodic haptic signal is slip signals.
The technical solution of the present embodiment, by obtaining the present analysis periodic haptic signal on testee surface, determination is worked as
The standard deviation of preceding analytical cycle haptic signal, if the standard deviation of present analysis periodic haptic signal is more than or equal to the first default threshold
It is worth and is less than or equal to the second preset threshold, it is determined that present analysis periodic haptic signal is slip signals, improves tactile letter
Number detection resolution ratio.
Optionally, based on the above technical solution, this method specifically can also include: present analysis period tactile letter
Number standard deviation less than the first preset threshold, it is determined that present analysis periodic haptic signal be tranquillization signal.
In an embodiment of the present invention, according to the standard deviation of previously described different types of haptic signal the characteristics of, such as
The standard deviation of fruit present analysis periodic haptic signal can then determine present analysis periodic haptic signal less than the first preset threshold
For tranquillization signal, and tranquillization signal described here refers to the first tranquillization signal in step 120.
Optionally, based on the above technical solution, this method specifically can also include: present analysis period tactile letter
Number be greater than the second preset threshold, then obtain the upper analytical cycle haptic signal on testee surface.Determine a upper analytical cycle
The standard deviation of haptic signal.The standard deviation of upper analytical cycle haptic signal is less than the second preset threshold, it is determined that present analysis
Periodic haptic signal is first contact signal or starting separating signal.
In an embodiment of the present invention, according to the standard deviation of previously described different types of haptic signal the characteristics of, such as
Fruit present analysis periodic haptic signal is greater than the second preset threshold, then present analysis periodic haptic signal may be activation signal
(i.e. first contact signal or starting separating signal), it is also possible to be the second tranquillization signal, in order to further determine present analysis week
Phase haptic signal belongs to which type of haptic signal, needs to obtain the upper analytical cycle haptic signal on testee surface,
Need to determine the corresponding haptic signal type of present analysis periodic haptic signal in conjunction with two analytical cycle haptic signals.?
After the upper analytical cycle haptic signal for obtaining testee surface, upper one point can be calculated in the way of described in step 120
The standard deviation for analysing periodic haptic signal, if the standard deviation of upper analytical cycle haptic signal is worked as less than the second preset threshold
The standard deviation of preceding analytical cycle haptic signal is greater than the second preset threshold and the standard deviation of upper analytical cycle haptic signal is less than
Second preset threshold can then determine that present analysis periodic haptic signal is first contact signal or starting separating signal.
Optionally, based on the above technical solution, the standard deviation of upper analytical cycle haptic signal is pre- less than second
If threshold value, it is determined that present analysis periodic haptic signal is first contact signal or starting separating signal, be can specifically include: on
The standard deviation of one analytical cycle haptic signal is less than the second preset threshold, and the last one in present analysis periodic haptic signal is adopted
Sampling point signal is greater than zero, it is determined that the last one sampled point signal is first contact signal in present analysis periodic haptic signal.
The standard deviation of upper analytical cycle haptic signal is less than the second preset threshold, and the last one in present analysis periodic haptic signal
Sampled point signal is less than zero, it is determined that the last one sampled point signal is that starting is detached from letter in present analysis periodic haptic signal
Number.
In an embodiment of the present invention, if the standard deviation of present analysis periodic haptic signal be greater than the second preset threshold and
The standard deviation of upper analytical cycle haptic signal can then determine that present analysis periodic haptic signal is less than the second preset threshold
First contact signal or starting separating signal are detached from letter in the case in order to further discriminate between first contact signal and starting
Number, it may be considered that it is analyzed in conjunction with the characteristics of signals of first contact signal and starting separating signal, signal described here is special
Property can be to be determined by the output characteristics of the touch sensor of acquisition haptic signal.If present analysis periodic haptic signal is
It is collected by piezo-electric electret sensor, then characteristics of signals possessed by first contact signal and starting separating signal will be by
The output characteristics of piezo-electric electret sensor determines.First the output characteristics of piezo-electric electret sensor is illustrated below, is had
Body: when object first contact presses its surface, output response curve can generate a upward wave crest, and be gradually brought to
Original state；When object starting is detached from its surface, output response curve can generate a downward wave crest, i.e. its output response is bent
Line can generate a trough.The signal collection being made of due to present analysis periodic haptic signal at least one sampled point signal
Close, therefore, wave crest described above and trough can from present analysis periodic haptic signal the last one sampled point signal
It is positive and negative to embody.Correspondingly, first contact signal will have following characteristics of signals: in the present analysis period, first contact signal
Standard deviation be greater than the second preset threshold, in a upper analytical cycle, the standard deviation of first contact signal less than the second preset threshold,
First contact signal is greater than zero；Starting separating signal will have following characteristics of signals: in the present analysis period, originate separating signal
Standard deviation be greater than the second preset threshold, in a upper analytical cycle, originate the standard deviation of separating signal less than the second preset threshold,
Separating signal is originated less than zero.
Based on above-mentioned, if the standard deviation of present analysis periodic haptic signal is greater than the second preset threshold and a upper analysis
The standard deviation of periodic haptic signal less than the second preset threshold, and in present analysis periodic haptic signal, believe by the last one sampled point
Number it is greater than zero, then can determines in present analysis periodic haptic signal that the last one sampled point signal is first contact signal；Such as
The standard deviation of fruit present analysis periodic haptic signal is greater than the standard of the second preset threshold and upper analytical cycle haptic signal
The last one sampled point signal, then can be true less than zero less than the second preset threshold, and in present analysis periodic haptic signal for difference
The last one sampled point signal is starting separating signal in settled preceding analytical cycle haptic signal.
Optionally, based on the above technical solution, the standard deviation of upper analytical cycle haptic signal is more than or equal to the
Two preset thresholds, it is determined that present analysis periodic haptic signal is tranquillization signal.
The characteristics of according to the standard deviation of previously described different types of haptic signal, if present analysis period tactile is believed
Number be greater than the second preset threshold, then present analysis periodic haptic signal may be activation signal (i.e. first contact signal or starting
Separating signal), it is also possible to it is the second tranquillization signal, which kind of type is belonged in order to further determine present analysis periodic haptic signal
Haptic signal, need to obtain the upper analytical cycle haptic signal on testee surface, that is, need combine two analytical cycles
Haptic signal determines the corresponding haptic signal type of present analysis periodic haptic signal.Obtaining upper the one of testee surface
After analytical cycle haptic signal, the standard deviation of upper analytical cycle haptic signal can be calculated in the way of described in step 120,
If the standard deviation of upper analytical cycle haptic signal is greater than the second preset threshold, the i.e. standard of present analysis periodic haptic signal
Difference is greater than the second preset threshold and the standard deviation of upper analytical cycle haptic signal is greater than the second preset threshold, then can determine and work as
Preceding analytical cycle haptic signal is tranquillization signal, and tranquillization signal described here refers to that the second tranquillization in step 120 is believed
Number.
It should be noted that after the period involved in second tranquillization signal specifically includes initial contact point in step 120
The first preset time period and starting dispersal point after the second preset time period, the first preset time period and the second preset time period
It may be the same or different.Illustratively, as the first preset time period and the second preset time period are disposed as 0.7s, phase
It answers, sets the recognition result and base of the haptic signal type determined based on the haptic signal in the 0.7s after initial contact point
Subsequent control is not involved in the recognition result for originating the haptic signal type that the haptic signal in the 0.7s after dispersal point determines
Decision, the haptic signal type set that above-mentioned haptic signal is determined are the second tranquillization signal.
It should also be noted that, previously described first tranquillization signal participates in subsequent control decision.
Optionally, based on the above technical solution, the standard deviation for determining present analysis periodic haptic signal, specifically may be used
To include: the absolute error and mean absolute error for obtaining present analysis periodic haptic signal.It is according to absolute error and averagely exhausted
The standard deviation of present analysis periodic haptic signal is determined to error.
In an embodiment of the present invention, it is found that if the present analysis period tactile letter got according to step 120
Number be unable to satisfy requirement of the real-time detection to resolution ratio, then can using being pre-processed to present analysis periodic haptic signal,
The present analysis periodic haptic signal that obtains that treated, according to treated, present analysis periodic haptic signal calculates its average value
The mode of standard deviation as present analysis periodic haptic signal.In addition, in order to further increase the resolution ratio of haptic signal, i.e.,
The requirement for making present analysis periodic haptic signal got itself meet real-time detection to resolution ratio, can also using pair
Present analysis periodic haptic signal is pre-processed, the present analysis periodic haptic signal that obtains that treated, according to treated
Present analysis periodic haptic signal calculates mode of its average value as the standard deviation of present analysis periodic haptic signal.Based on upper
Stating in the following way to pre-process present analysis periodic haptic signal, specific:
Due to the signal set that present analysis periodic haptic signal is made of at least one sampled point signal, it can
To handle in the following way each sampled point signal, wherein each sampled point signal will be handled twice, and first
It is secondary: to calculate the average value of the absolute value of whole sampled point signals as the first average value, calculate the absolute of each sampled point signal
The difference of value and the absolute value of the first average value, using the difference as the first difference, using the absolute value of the first difference as process
Treated sampled point signal for the first time, is denoted as the first sampled point signal.Whole sampled points in present analysis periodic haptic signal
Signal will obtain corresponding first sampled point signal after handling by first time, i.e., after first time is handled, present analysis
The signal set that periodic haptic signal is made of at least one first sampled point signal, the number of the first sampled point signal with adopt
The number of sampling point signal is identical；Second: the average value for calculating all absolute values of the first sampled point signal is average as second
Value calculates the difference of the absolute value of each first sampled point signal and the absolute value of the second average value, using the difference as second
Difference is denoted as using the product of the absolute value of the second difference and predetermined coefficient as by second treated sampled point signal
Second sampled point signal.All the first sampled point signal will give birth to after second is handled in present analysis periodic haptic signal
At corresponding second sampled point signal, i.e., after second is handled, present analysis periodic haptic signal be by least one the
The signal set of two sampled point signals composition, the number of the second sampled point signal is identical as the number of the first sampled point signal, and
The number of first sampled point signal is again identical as the number of sampled point signal, therefore, the number and sampling of the second sampled point signal
The number of point signal is identical.By it is above-mentioned to the processing of sampled point signals whole in present analysis periodic haptic signal after obtain phase
The the second sampled point signal answered, later can according to the second sampled point signal described in step 120 in the way of calculate it is current
The standard deviation of analytical cycle haptic signal.It should be noted that predetermined coefficient can not be made to have herein according to actually being set
Body limits.
Above-mentioned treatment process twice can be indicated by following two formula: data1=| (| data |-mean | data |)
|；Data2=k* | (| data1 |-mean | data1 |) |.Wherein, data indicates sampled point signal, | data | indicate sampled point letter
Number absolute value, mean | data | indicate that the first average value, data1 indicate the first sampled point signal, | data1 | indicate first to adopt
The absolute value of sampling point signal, mean | data1 | indicate that the second average value, k indicate that predetermined coefficient, data2 indicate the second sampled point
Signal.Illustratively, such as k=3.
Needle is provided for the embodiments of the invention for technical solution, and mean absolute error refers to the second average value, phase
It answers, is absolute error by the first sampled point signal definition.Based on above-mentioned, can be counted according to absolute error and mean absolute error
Calculate the second sampled point signal, it is subsequent according to the second sampled point signal described in step 120 in the way of calculate the present analysis period
The standard deviation of haptic signal.
The beneficial effect of above-mentioned setting is: by carrying out to sampled point signals whole in present analysis periodic haptic signal
Processing is calculated the standard deviation of present analysis periodic haptic signal using treated sampled point signal, further improves tactile
The resolution ratio of signal.
It should be noted that since upper analytical cycle haptic signal is also the letter being made of at least one sampled point signal
Therefore number set can sample mode identical with whole sampled point signals are handled in present analysis periodic haptic signal, to upper
Whole sampled points are handled in one analytical cycle haptic signal, and then sampled point signal calculates a upper analysis using treated
The standard deviation of periodic haptic signal.
Technical solution provided by embodiment for a better understanding of the present invention, is illustrated below with example, specific:
When by 500g counterweight by acting differently on testee surface, acquire haptic signal, in order to intuitively show first contact,
Sliding and starting are detached from the real-time detection of three kinds of tactile states as a result, the haptic signal of three types is spliced.Such as Fig. 2 institute
Show, gives the recognition result schematic diagram of haptic signal type.CP indicates initial contact point in Fig. 2, and S indicates sliding, and DP is indicated
Dispersal point is originated, the identification of haptic signal type as can be seen from Figure 2 can be realized in 0.1s, embody implementation of the present invention
The validity of technical solution provided by example.
In order to further illustrate after treatment, then calculating the standard deviation of haptic signal to sampled point signal in haptic signal
The resolution ratio of haptic signal identification can be improved.As shown in figure 3, giving the result for detecting slip signals under two kinds of processing modes
Schematic diagram, what dotted line indicated in figure is original slip signals, slip signals that solid line indicated be that treated.Wherein, the Central Plains Fig. 3
The single complete waveform of beginning slip signals, period substantially 0.23s, corresponding treated slip signals are in 0.23s
Inside substantially exist 6 complete waveforms.It is generally necessary to which at least two complete wave crests could determine whether haptic signal type is sliding
Signal needs to consume 0.46s just using original slip signals and can determine that haptic signal type for slip signals based on above-mentioned, and
Using treated, determining haptic signal type is can be completed within the time of 0.1s as slip signals in slip signals.
Embodiment two
Fig. 4 is a kind of flow chart of haptic signal detection method provided by Embodiment 2 of the present invention, and the present embodiment is applicable
In the haptic signal type detection the case where, this method can be executed by haptic signal detection device, which can use soft
The mode of part and/or hardware realizes that the device can be configured in equipment, such as typically computer etc..As shown in figure 4,
This method specifically comprises the following steps:
Step 201, the present analysis periodic haptic signal for obtaining testee surface.
Step 202, the absolute error and mean absolute error for obtaining present analysis periodic haptic signal.
Step 203, the standard deviation that present analysis periodic haptic signal is determined according to absolute error and mean absolute error.
Step 204, the standard deviation of present analysis periodic haptic signal are more than or equal to the first preset threshold and are less than or equal to
Second preset threshold, it is determined that present analysis periodic haptic signal is slip signals.
Step 205, the standard deviation of present analysis periodic haptic signal are less than the first preset threshold, it is determined that present analysis week
Phase haptic signal is tranquillization signal.
Step 206, the standard deviation of present analysis periodic haptic signal are greater than the second preset threshold, then obtain measured object body surface
The upper analytical cycle haptic signal in face.
Step 207, the absolute error and mean absolute error for obtaining upper analytical cycle haptic signal.
Step 208, the standard deviation that upper analytical cycle haptic signal is determined according to absolute error and mean absolute error.
Step 209, the standard deviation of upper analytical cycle haptic signal are greater than the second preset threshold, it is determined that present analysis week
Phase haptic signal is tranquillization signal.
Step 210, the standard deviation of upper analytical cycle haptic signal are less than the second preset threshold and the present analysis period touches
Feel that the last one sampled point signal is greater than zero in signal, it is determined that the last one sampled point is believed in present analysis periodic haptic signal
It number is first contact signal.
Step 211, the standard deviation of upper analytical cycle haptic signal are less than the second preset threshold and the present analysis period touches
Feel that the last one sampled point signal is less than zero in signal, it is determined that the last one sampled point is believed in present analysis periodic haptic signal
It number is starting separating signal.
In an embodiment of the present invention, it should be noted that step 201- step 204 forms first technical solution, step
Rapid 201- step 203 and step 205 form second technical solution, step 201- step 203 and step 206- step 209
Third technical solution is formed, step 201- step 203, step 206- step 208 and step 210 form the 4th technical side
Case, step 201- step 203, step 206- step 208 and step 211 form the 5th technical solution.Above-mentioned five technologies
Scheme is parallel technical solution.
The technical solution of the present embodiment, by obtaining the present analysis periodic haptic signal on testee surface, determination is worked as
The standard deviation of preceding analytical cycle haptic signal, if the standard deviation of present analysis periodic haptic signal is more than or equal to the first default threshold
It is worth and is less than or equal to the second preset threshold, it is determined that present analysis periodic haptic signal is slip signals, improves tactile letter
Number detection resolution ratio.
Embodiment three
Fig. 5 is a kind of structural schematic diagram for haptic signal detection device that the embodiment of the present invention three provides, and the present embodiment can
The case where suitable for haptic signal type detection, which can be realized by the way of software and/or hardware, which can be with
It is configured in equipment, such as typically computer etc..As shown in figure 5, the device specifically includes:
Present analysis periodic haptic signal obtains module 310, and the present analysis period for obtaining testee surface touches
Feel signal
The standard deviation determining module 320 of present analysis periodic haptic signal, for determining present analysis periodic haptic signal
Standard deviation.
Slip signals determining module 330, it is default that the standard deviation for present analysis periodic haptic signal is more than or equal to first
Threshold value and be less than or equal to the second preset threshold, it is determined that present analysis periodic haptic signal be slip signals.
The technical solution of the present embodiment, by obtaining the present analysis periodic haptic signal on testee surface, determination is worked as
The standard deviation of preceding analytical cycle haptic signal, if the standard deviation of present analysis periodic haptic signal is more than or equal to the first default threshold
It is worth and is less than or equal to the second preset threshold, it is determined that present analysis periodic haptic signal is slip signals, improves tactile letter
Number detection resolution ratio.
Optionally, based on the above technical solution, which specifically can also include:
First tranquillization signal determining module, the standard deviation for present analysis periodic haptic signal is less than the first default threshold
Value, it is determined that present analysis periodic haptic signal is tranquillization signal.
Optionally, based on the above technical solution, which specifically can also include:
Upper analytical cycle haptic signal obtains module, is greater than the second default threshold for present analysis periodic haptic signal
Value, then obtain the upper analytical cycle haptic signal on testee surface.
The standard deviation determining module of upper analytical cycle haptic signal, for determining the mark of upper analytical cycle haptic signal
It is quasi- poor.
First contact signal or starting separating signal determining module, the standard deviation for upper analytical cycle haptic signal are small
In the second preset threshold, it is determined that present analysis periodic haptic signal is first contact signal or starting separating signal.
Optionally, based on the above technical solution, which specifically can also include:
Second tranquillization signal determining module, it is default that the standard deviation for upper analytical cycle haptic signal is more than or equal to second
Threshold value, it is determined that present analysis periodic haptic signal is tranquillization signal.
Optionally, based on the above technical solution, first contact signal or starting separating signal determining module, specifically
May include:
First contact signal acquiring unit, the standard deviation for upper analytical cycle haptic signal is less than the second default threshold
Value, and the last one sampled point signal is greater than zero in present analysis periodic haptic signal, it is determined that present analysis period tactile letter
The last one sampled point signal is first contact signal in number.
Separating signal acquiring unit is originated, the standard deviation for upper analytical cycle haptic signal is less than the second default threshold
Value, and in present analysis periodic haptic signal the last one sampled point signal less than zero, it is determined that present analysis period tactile letter
The last one sampled point signal is starting separating signal in number.
Optionally, based on the above technical solution, the standard deviation determining module of present analysis periodic haptic signal
320, it can specifically include:
Absolute error and mean absolute error acquiring unit, for obtaining the absolute error of present analysis periodic haptic signal
And mean absolute error.
The standard deviation determination unit of present analysis periodic haptic signal, for true according to absolute error and mean absolute error
The standard deviation of settled preceding analytical cycle haptic signal.
Any implementation of the executable present invention of haptic signal detection device of equipment is configured at provided by the embodiment of the present invention
It is applied to the haptic signal detection method of equipment provided by example, has the corresponding functional module of execution method and beneficial effect.
Example IV
Fig. 6 is a kind of structural schematic diagram for haptic signal detection system that the embodiment of the present invention four provides, and the present embodiment can
The case where suitable for haptic signal type detection, as shown in fig. 6, the artificial limb control system can specifically include: haptic signal inspection
It surveys device 1 and piezo-electric electret sensor 2, piezo-electric electret sensor 2 is connect with haptic signal detection device.It is tied below
Structure and function are illustrated.
Piezo-electric electret sensor 2 acquires the present analysis periodic haptic signal on testee surface and is sent to tactile letter
Number detection device 1.
In an embodiment of the present invention, piezo-electric electret sensor 2 is one kind of piezoelectric transducer, is had light, thin and soft
The characteristics of, because its piezoelectric response is big, there is higher line degree.Piezo-electric electret sensor 2 is in operating temperature range by temperature
The influence of variation is small, the common high magnitude of the piezoelectric transducer made of Kynoar (PVDF) material of remolding sensitivity,
It is suitable for the real-time detection to Dynamic Signal in haptic signal.In order to realize that piezo-electric electret sensor 2 can be pasted preferably
In testee surface, flexible material can be selected, specific flexible material can be selected according to the actual situation, not made herein
It is specific to limit.Illustratively, such as polypropylene (Polypropylene, PP), polyethylene terephthalate
(Polyethylene Terephthalate, PET), polyethylene naphthalate (Polyethylene Nphthalate,
The materials such as PEN).Piezo-electric electret sensor 2 can be the closed film (perforated membrane) that single layer includes a large amount of honeycomb holes,
It is also possible to be superimposed the multilayer porous film to be formed by way of in parallel or series, multi-layer porous membrane structure can be enhanced piezoelectricity and stay
The sensitivity of electret sensor 2.
The technical solution of the present embodiment receives the tested of piezo-electric electret sensor acquisition by haptic signal detection device
The present analysis periodic haptic signal of body surface, determines the standard deviation of present analysis periodic haptic signal, if present analysis
The standard deviation of periodic haptic signal is more than or equal to the first preset threshold and is less than or equal to the second preset threshold, it is determined that current point
Analysis periodic haptic signal is slip signals, improves the resolution ratio of haptic signal detection.
Embodiment five
Fig. 7 is a kind of structural schematic diagram for equipment that the embodiment of the present invention five provides.Fig. 7, which is shown, to be suitable for being used to realizing this
The block diagram of the example devices 412 of invention embodiment.The equipment 412 that Fig. 7 is shown is only an example, should not be to the present invention
The function and use scope of embodiment bring any restrictions.
As shown in fig. 7, equipment 412 is showed in the form of universal computing device.The component of equipment 412 may include but unlimited
In one or more processor 416, system storage 428, it is connected to different system components (including system storage 428 He
Processor 416) bus 418.
Bus 418 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Equipment 412 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment
The usable medium of 412 access, including volatile and non-volatile media, moveable and immovable medium.
System storage 428 may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 430 and/or cache memory 432.Equipment 412 may further include other removable/not removable
Dynamic, volatile/non-volatile computer system storage medium.Only as an example, storage system 434 can be used for read and write can not
Mobile, non-volatile magnetic media (Fig. 7 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 7, Ke Yiti
For the disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to moving non-volatile light
The CD drive of disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver
It can be connected by one or more data media interfaces with bus 418.Memory 428 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 440 with one group of (at least one) program module 442, can store in such as memory
In 428, such program module 442 includes but is not limited to operating system, one or more application program, other program modules
And program data, it may include the realization of network environment in each of these examples or certain combination.Program module 442
Usually execute the function and/or method in embodiment described in the invention.
Equipment 412 can also be logical with one or more external equipments 414 (such as keyboard, sensing equipment, display 424 etc.)
Letter, can also be enabled a user to one or more equipment interact with the equipment 412 communicate, and/or with make the equipment 412
Any equipment (such as network interface card, modem etc.) that can be communicated with one or more of the other calculating equipment communicates.This
Kind communication can be carried out by input/output (I/O) interface 422.Also, equipment 412 can also by network adapter 420 with
One or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.Such as
Shown in figure, network adapter 420 is communicated by bus 418 with other modules of equipment 412.It should be understood that although not showing in Fig. 7
Out, other hardware and/or software module can be used with bonding apparatus 412, including but not limited to: microcode, device driver, superfluous
Remaining processing unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processor 416 by the program that is stored in system storage 428 of operation, thereby executing various function application and
Data processing, such as realize a kind of haptic signal detection method provided by the embodiment of the present invention, comprising:
Obtain the present analysis periodic haptic signal on testee surface.
Determine the standard deviation of present analysis periodic haptic signal.
The standard deviation of present analysis periodic haptic signal, which is more than or equal to the first preset threshold and is less than or equal to second, to be preset
Threshold value, it is determined that present analysis periodic haptic signal is slip signals.
Certainly, it will be understood by those skilled in the art that processor can also realize that any embodiment of that present invention provides answers
The technical solution of haptic signal detection method for equipment.The hardware configuration and function of the equipment can be found in embodiment five
Content is explained.
Embodiment six
The embodiment of the present invention six additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should
A kind of haptic signal detection method as provided by the embodiment of the present invention is realized when program is executed by processor, this method comprises:
Obtain the present analysis periodic haptic signal on testee surface.
Determine the standard deviation of present analysis periodic haptic signal.
The standard deviation of present analysis periodic haptic signal, which is more than or equal to the first preset threshold and is less than or equal to second, to be preset
Threshold value, it is determined that present analysis periodic haptic signal is slip signals.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Certainly, a kind of computer readable storage medium provided by the embodiment of the present invention, computer executable instructions are not
It is limited to method operation as described above, the haptic signal detection side of equipment provided by any embodiment of the invention can also be performed
Relevant operation in method.It can be found in the content in embodiment six to the introduction of storage medium to explain.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of haptic signal detection method characterized by comprising
Obtain the present analysis periodic haptic signal on testee surface；
Determine the standard deviation of the present analysis periodic haptic signal；
The standard deviation of the present analysis periodic haptic signal, which is more than or equal to the first preset threshold and is less than or equal to second, to be preset
Threshold value, it is determined that the present analysis periodic haptic signal is slip signals.
2. the method according to claim 1, wherein further include:
The standard deviation of the present analysis periodic haptic signal is less than first preset threshold, it is determined that the present analysis week
Phase haptic signal is tranquillization signal.
3. the method according to claim 1, wherein further include:
The present analysis periodic haptic signal is greater than second preset threshold, then obtains a upper analysis on testee surface
Periodic haptic signal；
Determine the standard deviation of the upper analytical cycle haptic signal；
The standard deviation of the upper analytical cycle haptic signal is less than second preset threshold, it is determined that the present analysis week
Phase haptic signal is first contact signal or starting separating signal.
4. according to the method described in claim 3, it is characterized by further comprising:
The standard deviation of the upper analytical cycle haptic signal is more than or equal to second preset threshold, it is determined that present analysis week
Phase haptic signal is tranquillization signal.
5. according to the method described in claim 3, it is characterized in that, the standard deviation of the upper analytical cycle haptic signal is less than
Second preset threshold, it is determined that the present analysis periodic haptic signal is first contact signal or originates separating signal,
Include:
The standard deviation of the upper analytical cycle haptic signal is less than second preset threshold, and the present analysis period touches
Feel that the last one sampled point signal is greater than zero in signal, it is determined that the last one in the present analysis periodic haptic signal samples
Point signal is first contact signal；
The standard deviation of the upper analytical cycle haptic signal is less than second preset threshold, and the present analysis period touches
Feel that the last one sampled point signal is less than zero in signal, it is determined that the last one in the present analysis periodic haptic signal samples
Point signal is starting separating signal.
6. the method according to claim 1, wherein the mark of the determination present analysis periodic haptic signal
It is quasi- poor, comprising:
Obtain the absolute error and mean absolute error of the present analysis periodic haptic signal；
The standard deviation of the present analysis periodic haptic signal is determined according to the absolute error and mean absolute error.
7. a kind of haptic signal detection device characterized by comprising
Present analysis periodic haptic signal obtains module, for obtaining the present analysis periodic haptic signal on testee surface；
The standard deviation determining module of present analysis periodic haptic signal, for determining the mark of the present analysis periodic haptic signal
It is quasi- poor；
Slip signals determining module, the standard deviation for the present analysis periodic haptic signal are more than or equal to the first preset threshold
And it is less than or equal to the second preset threshold, it is determined that the present analysis periodic haptic signal is slip signals.
8. a kind of haptic signal detection system, which is characterized in that including haptic signal detection device as claimed in claim 7,
It further include piezo-electric electret sensor, the piezo-electric electret sensor is connect with the haptic signal detection device；The pressure
The present analysis periodic haptic signal on electroelectret sensor acquisition testee surface is simultaneously sent to the haptic signal detection
Device.
9. a kind of equipment characterized by comprising
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now method as described in claim 1-6 is any.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The method as described in claim 1-6 is any is realized when execution.
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| CN201811129783.8A CN109271031A (en) | 2018-09-27 | 2018-09-27 | A kind of haptic signal detection method, device, system, equipment and storage medium |
| PCT/CN2018/123123 WO2020062654A1 (en) | 2018-09-27 | 2018-12-24 | Method, apparatus and system for detecting tactile signal, and device and storage medium |
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| WO2020062654A1 (en) | 2020-04-02 |
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