CN110794953A - Haptic feedback system using biomimetic ligaments - Google Patents
Haptic feedback system using biomimetic ligaments Download PDFInfo
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- CN110794953A CN110794953A CN201810870436.4A CN201810870436A CN110794953A CN 110794953 A CN110794953 A CN 110794953A CN 201810870436 A CN201810870436 A CN 201810870436A CN 110794953 A CN110794953 A CN 110794953A
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- feedback
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- ligament
- bionic ligament
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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
Abstract
The invention discloses a touch feedback system applied to virtual reality, which comprises a line concentration device, a feedback point wearing device group, a bionic ligament group, a power device and a micro control unit. The feedback point wearing device set comprises a plurality of wearing devices and is worn on a plurality of feedback parts by a user. The bionic ligament group comprises a plurality of bionic ligaments, wherein the first ends of the bionic ligaments are fixed on a corresponding feedback point wearing device, and the second ends of the bionic ligaments are contained in the line concentration device. The power device is used for applying a plurality of groups of pulling forces to the plurality of bionic ligaments. The micro control unit is used for indicating the power device to adjust a plurality of groups of tensile force values according to the virtual reality situation, and further providing corresponding touch feedback for each feedback part. Therefore, the virtual reality haptic feedback system uses the bionic ligament with light weight, the accuracy of applying the haptic feedback cannot be influenced by sweat, and the body of a user cannot be injured.
Description
Technical Field
The invention relates to a haptic feedback system, in particular to a virtual reality haptic feedback system using a bionic ligament.
Background
Virtual Reality (VR) is a three-dimensional space with high fidelity simulated by using computer technology, and when a user enters the VR with a special display device, the VR creates an illusion that the VR is in reality. In this virtual reality space, the operator can interact with virtual objects or other players.
In addition to the virtual reality headset, some manufacturers have introduced virtual reality gloves to replace the handle operation control with more precise gesture recognition. On the other hand, in order to simulate situations such as the recoil of shooting in a virtual reality game, the weight of an extracted article, and the feedback force of a steering wheel during racing, manufacturers use an electro-muscle current (EMS) technique to provide virtual reality haptic feedback. The principle of muscle current is similar to electrotherapy in medical application, and muscle contraction behavior is generated by using a certain degree of stimulation given to muscles by using a conductive patch, for example, when a user takes a heavy object in the virtual reality world, a controller sends a command to stimulate a specific electrode in a virtual reality glove to stimulate muscle fiber contraction in a specific area, so that the user can obtain tactile feedback pulled by the heavy object. However, the application of the electromyography technology in the field of virtual reality has limitations, and besides the accuracy is affected by the change of the conductivity between the electrode patch and the skin due to sweat, the material of the electrode patch can cause uncomfortable anaphylactic reaction for some people. In addition, since the user plays the virtual reality game for a long time, frequently providing haptic feedback in the electromyography technology may burn muscles, and may cause accidents to the user who has a medical instrument such as an implantable defibrillator (ICD) installed thereon.
Disclosure of Invention
In view of the above-mentioned problems of the prior art, it is an object of the present invention to provide a light weight. The accuracy of applying haptic feedback is not affected by sweat, and the body of the user is not damaged.
In order to achieve the above objects, the present invention discloses a haptic feedback system using a bionic ligament, which includes a line concentration device, a feedback point wearing device set, a bionic ligament set, a power device, and a micro control unit. The feedback point wearing device set comprises a feedback point wearing device which is worn on a feedback part by a user. The bionic ligament group comprises a bionic ligament, wherein a first end of the bionic ligament is fixed on the feedback point wearing device, and a second end of the bionic ligament is contained in the line concentration device. The power device is used for applying a pulling force to the bionic ligament. The micro control unit is used for indicating the power device to adjust the value of the pulling force according to a virtual reality situation, and further providing tactile feedback for the feedback part.
Drawings
Fig. 1 is a functional block diagram of a haptic feedback system applied to virtual reality according to an embodiment of the present invention.
Fig. 2 to 4 are schematic diagrams illustrating an implementation manner of the haptic feedback system according to an embodiment of the invention.
Fig. 5 is a diagram illustrating a link manner of devices in the haptic feedback system according to an embodiment of the invention.
FIG. 6 is a diagram illustrating a possible hand movement of a user in a virtual reality application according to an embodiment of the present invention.
Fig. 7 and 8 are schematic diagrams illustrating an implementation manner of a relay-worn device set according to an embodiment of the present invention.
Wherein the reference numerals are as follows:
5 casing pipe
6 suture
10 bionic ligament group
11-18 bionic ligament
20 feedback point wearing device set
21 left wrist sleeve
22 right wrist sleeve
23 left ankle sleeve
24 right ankle sleeve
30 relay wearing device set
31 left-hand elbow sleeve
32 right elbow sleeve
40 optical ruler
50 power device
60 line concentrator
70 micro control unit
100 haptic feedback system
Arrows from S1 to S3
Detailed Description
Fig. 1 is a functional block diagram of a haptic feedback system 100 applied to virtual reality according to an embodiment of the present invention. The haptic feedback system 100 includes a bionic ligament (bionic ligament) set 10, a feedback point wearing device set 20, a relay wearing device set 30, an optical ruler 40, a power device 50, a line concentrator 60, and a Micro Controller Unit (MCU) 70.
The feedback point wearing device set 20 may include a plurality of wearing devices worn by the user at different feedback locations on the body. The bionic ligament group 10 includes a plurality of bionic ligaments, a first end of each bionic ligament is fixed to a corresponding wearing device in the feedback point wearing device group 20, and a second end of each bionic ligament is received in the line concentration device 60. According to the virtual reality situation, the mcu 70 can instruct the power device 50 to pull or relax the corresponding bionic ligament in the bionic ligament group 10, so as to let the user feel the tactile feedback of vibration/impact/weight at different parts of the body by matching with different frequencies and forces. The relay wearing device set 30 includes a plurality of relay wearing devices, which are respectively worn by the user between different feedback portions and the line collecting device 60, so as to allow the bionic ligament set 10 to be tightly attached to the human body without being separated from the human body, but without affecting the process of pulling or releasing the bionic ligament. Under a specific pulling force, the optical ruler 40 can record the stress state between the power device 50 and the bionic ligament group 10, so that the micro control unit 70 can judge the current action of the user.
In an embodiment of the present invention, the feedback point wearing device set 20 may include a wrist strap, an ankle strap, or a chest strap, and the relay wearing device set 30 may include a knee strap or an elbow strap. However, the types of the feedback point wearing device set 20 and the relay wearing device set 30 do not limit the scope of the present invention.
Fig. 2 to 4 are schematic diagrams illustrating an implementation of the haptic feedback system 100 according to an embodiment of the invention. Fig. 2 shows a front view of the user wearing the haptic feedback system 100, fig. 3 shows a back view of the user wearing the haptic feedback system 100, and fig. 5 shows a side view of the user wearing the haptic feedback system 100.
In the embodiment shown in fig. 2 to 4, the bionic ligament assembly 10 includes bionic ligaments 11-18, the feedback point wearing device assembly 20 includes a left wrist strap 21, a right wrist strap 22, a left ankle strap 23, a right ankle strap 24, and a chest strap 25, and the relay wearing device assembly 30 includes a left elbow strap 31 and a right elbow strap 32. The hub 60 may be implemented as a back pack and may house the optical ruler 40, the power device 50 and the micro control unit 70 (not shown in fig. 2-4).
Fig. 5 is a diagram illustrating a manner in which devices in the haptic feedback system 100 are linked according to an embodiment of the invention. The first ends of the bionic ligaments 11-12 are fixed on the left wrist sleeve 21, the central part passes through the left elbow sleeve 31, and the second ends are accommodated in the line concentration device 60. The first ends of the bionic ligaments 13-14 are fixed on the right wrist sleeve 22, the central part passes through the right elbow sleeve 32, and the second ends are accommodated in the line concentration device 60. The biomimetic ligament 15 has a first end secured to the left ankle cuff 23 and a second end received within the thread collection device 60. The biomimetic ligament 16 has a first end secured to the right ankle cuff 24 and a second end received within the thread collection device 60. When the power device 50 pulls the bionic ligaments 11-16 with different frequencies and forces (as indicated by arrows S1-S3), the user can feel the vibration/impact/weight tactile feedback at the left and right hands and the left and right legs.
Similarly, as shown in fig. 4, when the power device 50 pulls the bionic ligaments 17-18 with different frequencies and forces to change the pressure applied by the chest strap 25 to the anterior chest, the user can feel the tactile feedback of vibration/impact/weight at the anterior chest.
FIG. 6 is a diagram illustrating a possible hand movement of a user in a virtual reality application according to an embodiment of the present invention. The left and right elbow sleeves 31, 32 of the relay-worn device set 30 ensure that the biomimetic ligaments 11-14 can be tightly attached to the left and right arms of the user without being detached due to different hand motions.
Fig. 7 and 8 are schematic diagrams illustrating an implementation manner of the relay-worn device group 30 according to the embodiment of the present invention. Fig. 7 and 8 show a top view of the left or right elbow brace 31, 32 of fig. 5 along arrows S1 or S2. In order to allow the bionic ligaments 11-14 to move freely within the left and right elbow casings 31, 32, a sleeve 5 having a smooth surface on the inner side is provided on the relay-worn device group 30. In the embodiment shown in fig. 7, the sleeve 5 and the relay wearing device set 30 may be combined by a suture 6, so that the biomimetic ligaments 11-14 can move in the corresponding sleeve 5 in response to the pulling force of the power device 50. In the embodiment shown in fig. 8, the sleeve 5 can be directly embedded in the material of the relay wearing device set 30 by insert injection molding, so that the biomimetic ligaments 11-16 can move in the corresponding sleeve 5 in response to the pulling force of the power device 50. However, the combination and material of the sleeve 5 and the relay wearing device set 30 do not limit the scope of the present invention.
In the embodiment shown in fig. 2 to 4, the relay-worn device set 30 includes a left elbow cuff 31 and a right elbow cuff 32. In other embodiments of the present invention, the relay-worn device set 30 may further include a left knee sleeve and a right knee sleeve, which are respectively worn by the user on the left knee and the right knee to respectively pass the bionic ligaments 15 and 16, thereby ensuring that the bionic ligaments 15 and 16 can be closely attached to the left leg and the right leg of the user without being separated due to different leg motions.
In an embodiment of the present invention, the power device 50 may include a gear set to pull the corresponding bionic ligament with different frequencies and forces according to the virtual reality situation, so as to provide corresponding hand feedback, foot feedback or chest feedback. In another embodiment of the present invention, the gear set of the power device 50 can further provide a damping function to increase or decrease the resistance of the user's actions according to the virtual reality situation. For example, when a player is injured or bears a heavy object in a virtual game, the power device 50 can increase the resistance of the bionic ligament pulled by each part of the body of the user through the damping function. In one embodiment, the gear set of the power device 50 can utilize multiple sets of gears similar to a bicycle shifting mechanism to provide a damping function. In another embodiment, the power plant 50 may utilize an opening and closing disk similar to a locomotive transmission to provide a damping function. However, the manner in which the power plant 50 provides the damping function is not limiting to the scope of the present invention.
In the embodiment of the present invention, under a specific pulling force, the optical ruler 40 can record the stress state between the power device 50 and the bionic ligament group 10, so as to allow the micro control unit 70 to execute a calibration procedure or determine the current action of the user.
For different user's body types or motion differences, the haptic feedback system 100 in the embodiment of the present invention may first perform a calibration procedure. When the user wears the haptic feedback system 100, the mcu 70 instructs the power device 50 to apply a fixed pulling force to the bio-elastic ligament assembly 10, and then instructs the user to perform some basic actions. The optical ruler 40 can record the gear scales in the power device 50 to calculate the deformation of the bionic ligament at different positions under different basic actions, and further adjust the force when applying the tactile feedback when executing the virtual reality application. In addition, during the execution of the virtual reality application, the mcu 70 may also determine the user's motion according to the information recorded by the optical ruler 40 and the data obtained from the previous calibration procedure.
In summary, the present invention provides a haptic feedback system using a plurality of bionic ligaments, wherein the bionic ligaments can be fixed at different feedback points on a user through a plurality of wearing device sets, and the user can feel haptic feedback such as vibration/impact/weight at the corresponding feedback points by pulling the bionic ligaments with different frequencies and forces by using a power device. The bionic ligament is light in weight, the accuracy of applying the tactile feedback cannot be influenced by sweat, and the body of a user cannot be injured.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A haptic feedback system using a biomimetic ligament, comprising:
a line concentration device;
a feedback point wearing device group which comprises a first feedback point wearing device worn on a first feedback part by a user;
the bionic ligament group comprises a first bionic ligament, wherein a first end of the first bionic ligament is fixed on the first feedback point wearing device, and a second end of the first bionic ligament is accommodated in the line concentration device;
the power device is used for applying a first pulling force to the first bionic ligament; and
the micro control unit is used for indicating the power device to adjust the value of the first pulling force according to a virtual reality situation so as to provide first tactile feedback for the first feedback part.
2. A haptic feedback system as recited in claim 1 wherein said first feedback point wearing device is a wrist band or an ankle band and said first feedback portion is a wrist or an ankle of said user.
3. The haptic feedback system of claim 1 wherein:
the bionic ligament group further comprises a second bionic ligament, the first end of the second bionic ligament is fixed on the first feedback point wearing device, and the second end of the second bionic ligament is accommodated in the line concentration device; and is
The power device is further used for applying the first pulling force to the second bionic ligament.
4. A haptic feedback system as recited in claim 3 wherein said first feedback point wearing device is a wristband or a chest strap and said first feedback portion is a wrist or an anterior chest of said user.
5. A haptic feedback system as in claim 3 further comprising a relay wearing device worn by the user at a relay location for providing a first channel and a second channel for passing the first and second biomimetic ligaments, respectively, wherein the relay location is located between the first feedback location and the hub device.
6. A haptic feedback system as recited in claim 5 wherein said first feedback point wearing device is a wrist or ankle cuff, said relay wearing device is an elbow or knee cuff, and said first feedback point is a wrist or ankle of said user.
7. The haptic feedback system of claim 5 further comprising a first sleeve and a second sleeve sewn to the relay-donning device to provide the first channel and the second channel, respectively, or embedded in the material of the relay-donning device to provide the first channel and the second channel, respectively, by an insert injection molding technique.
8. The haptic feedback system of claim 1 wherein:
the feedback point wearing device set further comprises a second feedback point wearing device which is worn on a second feedback part by the user;
the bionic ligament group further comprises a second bionic ligament, the first end of the second bionic ligament is fixed on the second feedback point wearing device, and the second end of the second bionic ligament is accommodated in the line concentration device;
the power device is used for applying a second pulling force to the second bionic ligament; and is
The micro control unit is further used for instructing the power device to adjust the value of the second pulling force according to the virtual reality situation, and further providing a second tactile feedback for the second feedback part.
9. A haptic feedback system as in claim 1 wherein the power device includes a gear set that uses multiple sets of gears or an open and close disk configuration to provide a damping.
10. The haptic feedback system of claim 9 further comprising:
and the optical ruler is used for recording the scales of the gear set so as to obtain the deformation quantity of the first bionic ligament.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810870436.4A CN110794953A (en) | 2018-08-02 | 2018-08-02 | Haptic feedback system using biomimetic ligaments |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810870436.4A CN110794953A (en) | 2018-08-02 | 2018-08-02 | Haptic feedback system using biomimetic ligaments |
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| CN110794953A true CN110794953A (en) | 2020-02-14 |
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| CN201810870436.4A Pending CN110794953A (en) | 2018-08-02 | 2018-08-02 | Haptic feedback system using biomimetic ligaments |
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| CN107229344A (en) * | 2017-07-06 | 2017-10-03 | 东南大学 | A kind of finger ring type haptic gloves and preparation method that clamping force feeling is provided |
| CN107272908A (en) * | 2017-07-11 | 2017-10-20 | 北京奇艺世纪科技有限公司 | A kind of gesture identifying device, system and gesture identification method |
| US20170319950A1 (en) * | 2016-05-04 | 2017-11-09 | Thomas F Buchanan, IV | Exo Tendon Motion Capture Glove Device with Haptic Grip Response |
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| US5184319A (en) * | 1990-02-02 | 1993-02-02 | Kramer James F | Force feedback and textures simulating interface device |
| US5631861A (en) * | 1990-02-02 | 1997-05-20 | Virtual Technologies, Inc. | Force feedback and texture simulating interface device |
| US6042555A (en) * | 1997-05-12 | 2000-03-28 | Virtual Technologies, Inc. | Force-feedback interface device for the hand |
| US6707447B1 (en) * | 1997-12-04 | 2004-03-16 | Richard Goranowski | Therapeutic and computer input gauntlet |
| US20170031444A1 (en) * | 2013-12-29 | 2017-02-02 | Immersion Corporation | Haptic device incorporating stretch characteristics |
| US20170131773A1 (en) * | 2015-11-09 | 2017-05-11 | Oculus Vr, Llc | Providing tactile feedback to a user through actuators moving a portion of the user's skin |
| US20170165567A1 (en) * | 2015-12-10 | 2017-06-15 | Palm Laboratories Inc. | Haptic mechanism for virtual reality and augmented reality interfaces |
| US20170319950A1 (en) * | 2016-05-04 | 2017-11-09 | Thomas F Buchanan, IV | Exo Tendon Motion Capture Glove Device with Haptic Grip Response |
| CN107229344A (en) * | 2017-07-06 | 2017-10-03 | 东南大学 | A kind of finger ring type haptic gloves and preparation method that clamping force feeling is provided |
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Application publication date: 20200214 |