CN110045833A - A kind of touch feedback structure, haptic feedback system and wearable device - Google Patents
A kind of touch feedback structure, haptic feedback system and wearable device Download PDFInfo
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- CN110045833A CN110045833A CN201910377021.8A CN201910377021A CN110045833A CN 110045833 A CN110045833 A CN 110045833A CN 201910377021 A CN201910377021 A CN 201910377021A CN 110045833 A CN110045833 A CN 110045833A
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
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- 238000004891 communication Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/163—Wearable computers, e.g. on a belt
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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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Abstract
The invention discloses a kind of touch feedback structures, comprising: first electrode layer, the second electrode lay and intermediate course, the first electrode layer and the second electrode lay fit in the opposite two sides of the intermediate course respectively；The first electrode layer and the second electrode lay are film or laminar flexible structure, and at least one has hole；The intermediate course is compliance cavity body structure, is equipped with fluid media (medium) in cavity.The touch feedback structure be monoblock type original position structure, it is small in size, can more flexible realization electric control operation, meanwhile, feedback sensitivity greatly reinforces.On the other hand, the present invention also provides a kind of haptic feedback systems including above-mentioned touch feedback structure.In addition, the present invention also provides a kind of wearable devices including above-mentioned haptic feedback system.
Description
Technical field
The present invention relates to haptic feedback technology field more particularly to a kind of touch feedback structure, haptic feedback system and wear
Wear equipment.
Background technique
Since the 1950s, psychology is had been used for originating from Hellenic " tactile " word.As embracing
Contact action be considered as human emotion one kind mutually exchange.This can be important logical of the latter after the sense of hearing and vision
Interrogate medium.In order to successfully manipulate object in remote environment or virtual/augmented reality and judge in tele-medicine patient
Tumour distribution situation etc. (remote operation/remote operating, virtual reality/augmented reality, rehabilitation medical, remote operation etc.), it is desirable that use
Family can be immersed in the environment of the object to be operated.For this reason, in the past twenty years, it is used by tactile sensation
Family can have been continued to develop by physics interaction to experience the haptic apparatus of object, that is, allow user anti-by perception tactile
Feedback force caused by device is presented to obtain the tactile data of perceived object.
Existing touch feedback structure generally passes through the mechanical devices such as motor, electromagnet, hydraulic mechanism, exist structure is complicated,
The problems such as volume is big；Also have using intellectual materials such as piezoelectric ceramics and to realize, but displacement caused by piezoelectric ceramics is smaller.
Summary of the invention
One of to solve above-mentioned technical problem, the present invention provides a kind of touch feedback structure, which is whole
Body formula original position structure, it is small in size, can more flexible realization electric control operation, meanwhile, feedback sensitivity greatly reinforces.
On the other hand, the present invention also provides a kind of haptic feedback systems including above-mentioned touch feedback structure.
In addition, the present invention also provides a kind of wearable devices including above-mentioned haptic feedback system.
Touch feedback structure disclosed in this invention is achieved through the following technical solutions, a kind of touch feedback structure,
Include:
First electrode layer, the second electrode lay and intermediate course, the first electrode layer and the second electrode lay paste respectively
Together in the opposite two sides of the intermediate course；The first electrode layer and the second electrode lay are film or flake
Flexible structure, and at least one has hole；The intermediate course is compliance cavity body structure, is equipped with fluid media (medium) in cavity.
After the first electrode layer and the second electrode lay connect external power supply, it can produce between two counter electrode layers
Maxwell electric field force and attract each other, and then squeeze intermediate course, due to intermediate course be flexible structure, and have filled with
The cavity of fluid media (medium) generates deformation, and can squeeze out from porose electrode layer, this deformation after the cavity is pressurized
For touch feedback effect will to be formed after human body.
The touch feedback structure has following advantageous effects, (1) structure is simple, small in size, soft be easy to arrange and
Processing and manufacturing；(2) having a style of one's own system in itself, it is only necessary to electric control, it is easy to operate, while being not necessarily to external gas source or fluid pump
Deng；(3) realized touch feedback resolution ratio is big, can be realized complicated touching/power and feels information；(4) the touch feedback structure is whole
Body formula original position structure, it is small in size, can more flexible realization electric control operation, meanwhile, feedback sensitivity greatly reinforces.
Based on the above technical solution, the present invention can also improve further below:
Further, the center of the first electrode layer and the second electrode lay is equipped with hole, so that the first electrode
Layer and the second electrode lay are formed as ring structure.
Further, the intermediate course is made of plastic film or silica gel thin film, the first electrode layer and described second
Electrode layer is made of flexible electrodes such as ionic gel, carbon paste or thin metal layers.
Further, the center of the first electrode layer is equipped with hole, and the second electrode lay is complete structure.
Further, in the cavity of the intermediate course, equipped with the partition by preset rules arrangement.
Further, the first electrode layer or the second electrode lay are externally provided with support layer, the support layer and first electricity
Pole layer or the second electrode lay fit closely, and the support layer and the intermediate course pass through be bonded or be integrally formed mode and connect
It is integrated.
Further, the touch feedback structure further includes wrapping layer, and the wrapping layer is wrapped in the first electrode layer, institute
It states the outside of the second electrode lay and the intermediate course and fits closely, the side of the wrapping layer and one of bottom side are rigid
Property structure, another bottom side of the wrapping layer is flexible structure, and is bonded with the Side-electrode layer with pore structure.
Further, multiple any of the above-described kind of touch feedback structures are arranged by preset rules with array manner, and formation one is whole
Body touch feedback structure.
A kind of haptic feedback system disclosed by the invention further includes including touch feedback structure described in any of the above-described kind
Electronic control module, the electronic control module are connect with the touch feedback structural circuit.As possessed by above-mentioned touch feedback structure
Advantageous effects, this haptic feedback system also have corresponding advantageous effects, and details are not described herein.
A kind of wearable device disclosed by the invention, including a kind of above-mentioned haptic feedback system.Due to above-mentioned touch feedback
Advantageous effects possessed by system, this wearable device also have corresponding advantageous effects, and details are not described herein.
Detailed description of the invention
Fig. 1 is a kind of a kind of the schematic diagram of the section structure of specific embodiment of touch feedback structure provided by the present invention；
Fig. 2 is the schematic diagram of the section structure of specific embodiment shown in FIG. 1 in the energized state；
Fig. 3 is a kind of the schematic diagram of the section structure of touch feedback structure another kind specific embodiment provided by the present invention；
Fig. 4 is the schematic diagram of the section structure of specific embodiment in the energized state shown in Fig. 3；
Fig. 5 is a kind of the schematic diagram of the section structure of another specific embodiment of touch feedback structure provided by the present invention；
Fig. 6 is a kind of overlooking structure diagram of another specific embodiment of touch feedback structure provided by the present invention；
Fig. 7 is specific embodiment shown in Fig. 6 along line A-A the schematic diagram of the section structure；
Fig. 8 is specific embodiment shown in Fig. 6 along line B-B the schematic diagram of the section structure；
Fig. 9 is a kind of the schematic diagram of the section structure of another specific embodiment of touch feedback structure provided by the present invention；
Figure 10 is the schematic diagram of the section structure of specific embodiment in the energized state shown in Fig. 9.
Wherein, the piece number in figure indicates are as follows:
1, first electrode layer, 2, the second electrode lay, 3, intermediate course, 4, fluid media (medium), 5, support layer, 6, partition, 7, package
Layer.
Specific embodiment
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.Below in conjunction with attached drawing to the principle of the present invention
It is described with feature, it should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application
It can be combined with each other.The given examples are served only to explain the present invention, is not intended to limit the scope of the present invention.
Relational language is explained:
Tactile: skin thigmoreceptor contacts the feeling that mechanical stimulus generates.Skin surface is studded with contact, contact it is big
Small to be not quite similar, distribution is irregular, and finger pulp is most under normal circumstances, followed by head, and back and shank are minimum, so finger pulp
Tactile is most sensitive, and the tactile at shank and back is then more blunt.If touch skin surface with very thin hair, only when certain
When special point is accessible, it can just cause tactile.
Touch feedback: can be that user reproduces sense of touch by a series of actions such as active force, vibrations, this mechanical stimulation can
The auxiliary establishing of the virtual scene or virtual objects that are applied in computer simulation and control, and reinforce for mechanical and
The remote control of equipment.
Embodiment 1
As shown in Figure 1, being a kind of cross-section structure of the first specific embodiment of touch feedback structure provided by the present invention
Schematic diagram.In the present embodiment, a kind of touch feedback structure, including first electrode layer 1, the second electrode lay 2 and centre are disclosed
Interlayer 3, the first electrode layer 1 and the second electrode lay 2 fit in the opposite two sides of the intermediate course 3 respectively；
The first electrode layer 1 and the second electrode lay 2 are film or laminar flexible structure, and at least one has hole；
The intermediate course 3 is compliance cavity body structure, is equipped with fluid media (medium) 4 in cavity.Two electrode layers can be in the method for paste
Fit in the two sides of intermediate course 3.
In specific embodiment shown in FIG. 1, first electrode layer 1 and the second electrode lay 2 are center ring structure with holes,
The opposite two sides for fitting in intermediate course 3, two electrode layers can may be oval ring or straight-flanked ring for circular ring shape
Shape, fluid media (medium) 4 can may be gas for liquid.
It should be noted that the hole refers to the imperfect structure opened up on first electrode layer 1 or the second electrode lay 2,
The hole can be for one or multiple, and shape can be round or other shapes.
As shown in Fig. 2, being the schematic diagram of the section structure of specific embodiment shown in FIG. 1 in the energized state, when two electricity
After pole is powered, Maxwell electric field force can be generated between first electrode layer 1 and the second electrode lay 2, so that intermediate course flexible
Fluid media (medium) 4 is shifted by four circumferential centers and intermediate course 3 is driven to squeeze from the hole in the annular electrode center of two sides in 3 cavity
Out and then generate two-way displacement and power.And then the function of touch feedback may be implemented.Intermediate course 3 can be plastic film,
Silica gel thin film etc..First electrode layer 1 and the second electrode lay 2 are the flexible electrodes such as ionic gel, carbon paste, metal electrode.
This structure can enable overall structure to generate displacement and power to two sides, meanwhile, structure is simple, is easy to real
Now with production.
Embodiment 2
As shown in figure 3, on the basis of embodiment 1, first electrode layer 1 is central hole structure, the second electrode lay 2 has been
Whole structure, namely not apertured hole, under this structure, after two lateral electrodes are powered, as shown in figure 4, since the second electrode lay 2 has been
Whole structure and 1 middle with hole of first electrode layer, at this moment can generate Maxwell electric field between first electrode layer 1 and the second electrode lay 2
Power, so that fluid media (medium) 4 is shifted by four circumferential centers and drives intermediate course 3 from first in the cavity of intermediate course flexible 3
The hole in the electrode center of electrode layer 1 squeezes out, and generates unidirectional displacement and power.It is this original position structure under, due to extruding force only to
Side conveying, it is possible to so that pressure feedback is sensitiveer.
Embodiment 3
As shown in figure 5, this structure can be on the basis of embodiment 1 or embodiment 2, in first electrode layer 1 or the second
A support layer 5 is arranged in the outside of electrode layer 2, and the present embodiment is in the outside of the second electrode lay 2.The support layer 5 and second electrode
Layer 2 fits closely, and support layer 5 and intermediate course 3 pass through be bonded or be integrally formed mode and be connected as one.Support layer 5 is relative flexibility
The more hard of intermediate course 3 material or the thick-layer of identical material etc..
Under this structure, it may be hole structure that the second electrode lay 2, which can be complete structure,.After the energization of this structure
Effect is similar with embodiment 2, namely only to unilateral output displacement and power, the difference is that, subiculum layer 5 can be rigid structure, can
In order to fix or install with other devices.
Embodiment 4
As shown in Fig. 9 to Figure 10, Fig. 9 is another specific embodiment of a kind of touch feedback structure provided by the present invention
The schematic diagram of the section structure；Figure 10 is the schematic diagram of the section structure of specific embodiment in the energized state shown in Fig. 9.
The embodiment can be based on embodiment 1, and a wrapping layer 7, the packet is arranged in the outside of total
Covering layer 7 is wrapped in the outside of the first electrode layer 1, the second electrode lay 2 and the intermediate course 3 and fits closely, institute
The side and one of bottom side for stating wrapping layer 7 are rigid structure, another bottom side of the wrapping layer 7 is flexible structure, and
It is bonded with the Side-electrode layer with pore structure.
Entire wrapping layer 7 and first electrode layer 1, the second electrode lay 2 and intermediate course 3 outside and fit closely, but by
It is flexible in only side, so fluid media (medium) 4 drives intermediate course 3 and packet flexible after being extruded after electrode is powered
Covering layer 7 generates displacement and power.
It can promote the unilateral of wrapping layer 7 that whole arcuate displacement occurs under this structure, after energization.In addition, this knot
Structure can make total realize encapsulation, prevent two electrode layers are exposed to be damaged outside, meanwhile, the protection for total
Effect can also greatly increase, and then greatly improve the service life of product.
Embodiment 5
As shown in Figure 6 to 8, Fig. 6 is a kind of another specific embodiment of touch feedback structure provided by the present invention
Overlooking structure diagram；Fig. 7 is specific embodiment shown in Fig. 6 along line A-A the schematic diagram of the section structure；Fig. 8 is specific real shown in Fig. 6
Example is applied along line B-B the schematic diagram of the section structure.
The specific embodiment can on the basis of above-described embodiment 1 to embodiment 4, in the cavity of intermediate course 3, if
There is the partition 6 arranged by preset rules.The partition 6 can be in the cavity by annular space arrangement, can also be in entire cavity
It is arranged by certain regular scatterplot.
Partition 6 is uniform, discrete distribution and does not influence the intercommunication of fluid media (medium) 4 in the cavity, in energization, stream
Body medium 4 still can from four circumferential center convergences, and due to annular lattice gear under the action of, generated displacement and power are more uniform,
It is not only restricted to upper/lower electrode.
Embodiment 6
The embodiment can be on the basis of embodiment 1 to embodiment 5, by any structure in multiple above-described embodiments
It as a structural unit, is arranged according to certain preset rules with array manner, forms a whole touch feedback structure.
Under this structure, it is similar at the biggish position in a surface, is arranged with the mode of dot matrix, formed with multiple spot
The mode in face is formed as an integrated morphology, can greatly improve the resolution ratio and application range of force feedback, such as the hand in people
Metacarpus position, can multiple feedback units arranged in an array, to be covered with entire palm, by control each unit, may be implemented
The independent force feedback of the different parts of palm.Its size, arrangement mode etc. can be according to touch feedback Demand Designs.The arrangement can be with
So that big, the integrated electric control of output end resolution ratio is simple, the tactile data of complicated perceived object can be realized.
Above-mentioned various touch feedback structures, structure is fairly simple, is easy arrangement, electromagnet that also should not be complicated, gas
The driving sources such as pump.Touch feedback can be realized by way of in situ, when fluid media (medium) 4 can be made to shift after powered up in this way
Suffered resistance greatly reduces, while the response time is fast, electric field force is small, in addition, total is easily achieved integrated, realizes touching
Feel that feedback resolutions are big, can be realized more complicated touching/power and feel information.
In addition, this is the present invention also provides a kind of haptic feedback system including any of the above-described kind of touch feedback structure
System further includes electronic control module, and the electronic control module is connect with the touch feedback structural circuit.Here it is primarily referred to as and the first electricity
The circuit connection of pole layer 1 and the second electrode lay 2.
The present invention also provides a kind of wearable devices, including above-mentioned haptic feedback system.This wearable device can be
Above-mentioned haptic feedback system is installed in these wearable devices by gloves, vest etc., can be with skills such as combined circuit, communication, controls
Art realizes the touch feedback application under multiple scenes.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside", " circumferential direction " is side based on the figure
Position or positional relationship, are merely for convenience of description of the present invention and simplification of the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of touch feedback structure characterized by comprising
First electrode layer, the second electrode lay and intermediate course, the first electrode layer and the second electrode lay fit in respectively
The opposite two sides of the intermediate course；
The first electrode layer and the second electrode lay are film or laminar flexible structure, and at least one has
Hole；
The intermediate course is compliance cavity body structure, is equipped with fluid media (medium) in cavity.
2. a kind of touch feedback structure according to claim 1, which is characterized in that
The center of the first electrode layer and the second electrode lay is equipped with hole, so that the first electrode layer and described second
Electrode layer is formed as ring structure.
3. a kind of touch feedback structure according to claim 1, which is characterized in that
The intermediate course is made of plastic film or silica gel thin film, and the first electrode layer and the second electrode lay are ion
The flexible electrodes such as gel, carbon paste or thin metal layer are made.
4. a kind of touch feedback structure according to claim 1, which is characterized in that
The center of the first electrode layer is equipped with hole, and the second electrode lay is complete structure.
5. a kind of touch feedback structure according to claim 1, which is characterized in that
In the cavity of the intermediate course, equipped with the partition by preset rules arrangement.
6. a kind of touch feedback structure according to claim 1, which is characterized in that
The first electrode layer or the second electrode lay are externally provided with support layer, the support layer and the first electrode layer or described the
Two electrode layers fit closely, and the support layer and the intermediate course pass through be bonded or be integrally formed mode and be connected as one.
7. a kind of touch feedback structure according to claim 1, which is characterized in that
The touch feedback structure further includes wrapping layer, and the wrapping layer is wrapped in the first electrode layer, the second electrode
The outside of layer and the intermediate course simultaneously fits closely, and the side of the wrapping layer and one of bottom side are rigid structure, institute
Another bottom side for stating wrapping layer is flexible structure, and is bonded with the Side-electrode layer with pore structure.
8. a kind of touch feedback structure according to claim 1, which is characterized in that
Multiple touch feedback structures as described in any one of claim 1 to 7 are arranged by preset rules with array manner, form one
A entirety touch feedback structure.
9. a kind of haptic feedback system, which is characterized in that including the described in any item touch feedback structures of claim 1 to 7, also
Including electronic control module, the electronic control module is connect with the touch feedback structural circuit.
10. a kind of wearable device, which is characterized in that including a kind of haptic feedback system as claimed in claim 9.
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| CN201910377021.8A CN110045833A (en) | 2019-05-07 | 2019-05-07 | A kind of touch feedback structure, haptic feedback system and wearable device |
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| CN113703578A (en) * | 2021-08-27 | 2021-11-26 | 中国空间技术研究院 | Self-perception touch driver structure, touch feedback system and wearable device |
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| CN112405517A (en) * | 2020-11-18 | 2021-02-26 | 中国空间技术研究院 | Novel software electro-hydraulic driving structure and wearing system |
| CN113232008A (en) * | 2021-05-15 | 2021-08-10 | 吉林大学威海仿生研究院 | Unrestraint hydraulic pressure enlargies static self-driven roll formula robot |
| CN113232008B (en) * | 2021-05-15 | 2023-03-14 | 吉林大学威海仿生研究院 | Unrestraint hydraulic pressure enlargies static self-driven roll formula robot |
| CN113703578A (en) * | 2021-08-27 | 2021-11-26 | 中国空间技术研究院 | Self-perception touch driver structure, touch feedback system and wearable device |
| CN113703578B (en) * | 2021-08-27 | 2024-02-27 | 中国空间技术研究院 | Self-sensing haptic driver structure, haptic feedback system and wearable device |
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