CN112379772A - Touch reproduction method and device for droplet dropping skin based on electric stimulation - Google Patents
Touch reproduction method and device for droplet dropping skin based on electric stimulation Download PDFInfo
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- CN112379772A CN112379772A CN202011223062.0A CN202011223062A CN112379772A CN 112379772 A CN112379772 A CN 112379772A CN 202011223062 A CN202011223062 A CN 202011223062A CN 112379772 A CN112379772 A CN 112379772A
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Abstract
The invention relates to a touch reproduction method and a touch reproduction device for droplet landing skin based on electric stimulation. The invention can truly reproduce the touch sense of water drop skin, can be applied to virtual reality environment, realizes multi-sense experience and improves the interactivity of virtual space.
Description
Technical Field
The invention relates to the technical field of touch interaction, in particular to a touch reproduction method of liquid drop landing skin based on electric stimulation and a touch reproduction device of liquid drop landing skin based on electric stimulation.
Background
The touch reproduction plays a vital role in improving user experience and creating a virtual world, and the immersion and the interactivity of the virtual reality equipment can be effectively improved.
In the prior art, stimulation forms such as mechanical touch, pneumatic touch, jet touch and the like are limited by principles, and inevitably need to be realized through more assembly and matching, and the defects of large device volume, slow response speed, complex structure, difficulty in control and the like generally exist. Compared with other touch reproduction modes, the electric stimulation touch has the advantages of small device size, quick response, portability, easiness in control and the like. The important difference of the electric stimulation touch from the perception mechanism of the stimulation forms such as mechanical touch, pneumatic touch, jet flow touch and the like is that the electric stimulation can directly act on the touch receptor and also can directly act on nerve fibers, so that the nerve fibers directly generate nerve impulses to enable people to feel.
But for a specific haptic rendering object, the principle of electrical stimulation haptic rendering which only relies on in general cannot be truly rendered. In the prior art, haptic rendering for certain specific objects is still blank.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a touch reappearance method of water drop skin based on electric stimulation, which can reappear the touch of the water drop skin, can be applied to a virtual reality environment, realizes multi-sense experience and improves the interactivity of a virtual space.
The technical scheme of the invention is as follows:
a method for reproducing tactile sensation of droplet landing on skin based on electrical stimulation, comprising the steps of:
1) measuring deformation, crushing process form, spreading diameter and corresponding time parameters of the real liquid drop dropping to the skin;
2) simulating the process of liquid drop impact on the skin by adopting fluid simulation software based on the measurement result obtained in the step 1), and obtaining skin stress-time-space distribution data, including vertical pressure-time-space distribution data and radial pressure-time-space distribution data;
3) fitting a function of the stimulation current intensity and the pressure magnitude, and determining the current intensity of each stimulation point along with the change of time;
4) determining the variation curve of the stimulation voltage intensity of each stimulation point by combining the skin electrical stimulation impedance model and the current intensity obtained in the step 3);
5) controlling the electrodes corresponding to the stimulation points to generate stimulation voltage according to the variation curve of the stimulation voltage intensity of each stimulation point obtained in the step 4), and simulating the spreading and blooming process after the liquid drops drop on the skin.
Preferably, in step 1), a high-speed camera is used to take a moving image sequence of real liquid drops, and image acquisition software, namely, Cine Viewer, is used to extract a typical state image.
Preferably, in the step 2), a calculation model of the liquid drop impact on the skin is established by using FLUENT fluid simulation software by using a fluid volume function method, the liquid drop spreading process is simulated, and spreading diameter, speed and vertical pressure-time-space distribution data are acquired.
Preferably, step 2), ABAQUS simulation software is adopted to simulate the impact of the liquid drops on the skin surface by using a smooth particle fluid dynamics method, and radial pressure-time-space distribution data is acquired.
Preferably, in the step 3), the function of the intensity and the pressure of the stimulation current is fitted to obtain a pressure and current relation function according to the correlation between the tactile perception and the stimulation current and the linear relation between the pressure and the tactile perception; and in the step 4), calculating by combining with the skin electrical stimulation impedance model to obtain the target voltage intensity, and generating the stimulation voltage of each stimulation point along with the change of time.
Preferably, in step 3), a polynomial fitting function based on a least square method in MATLAB is adopted to fit the stimulation current intensity and the pressure magnitude.
Preferably, in the step 4), the equivalent circuit model of the skin electrical stimulation impedance model is that the first-order bioimpedance model of the skin is connected with the stimulation point-skin contact impedance model in parallel.
Preferably, the skin self-bioimpedance model comprises a capacitor C1, a resistor R1 and a resistor R2, wherein the capacitor C1 is connected with the resistor R1 in parallel and then connected with the resistor R2 in series; the stimulus point-skin contact impedance model includes a capacitance Cs and a resistance Rs connected in parallel.
A touch reproduction device for liquid drop landing skin based on electric stimulation comprises a microcontroller, a D/A converter, a boosting module and an electric stimulation plate which are sequentially connected, wherein according to the touch reproduction method, the microcontroller controls the electric stimulation plate to generate stimulation voltage to simulate the spreading and dizzy-open process of the liquid drop after the liquid drop landing skin.
Preferably, the electric stimulation board comprises a plurality of layers of FPC boards, an array of uniformly distributed circular electrodes is arranged on the surface of one layer of FPC board facing the skin, and each circular electrode corresponds to one stimulation point.
The invention has the following beneficial effects:
according to the tactile reproduction method and the tactile reproduction device for the droplet landing skin based on the electrical stimulation, the skin stress time space information is obtained through the fluid simulation software, the information is converted with the electrical stimulation, the multi-point electrical stimulation device is controlled according to the voltage intensity to generate the stimulation voltage, and the tactile sense of the droplet landing skin is simulated.
Drawings
FIG. 1 is a diagram illustrating exemplary state definitions of droplet deformation;
FIG. 2 is a schematic diagram of an equivalent circuit model of an electrical skin stimulation impedance model;
FIG. 3 is a functional block diagram of a haptic rendering device;
in the figure: 10 is a circular electrode.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention relates to a touch reappearing method for dropping liquid drops on skin based on electric stimulation, which comprises the following steps:
1) measuring deformation, crushing process form, spreading diameter and corresponding time parameters of the real liquid drop dropping to the skin;
2) simulating the process of liquid drop impact on the skin by adopting fluid simulation software based on the measurement result obtained in the step 1), and obtaining skin stress-time-space distribution data, including vertical pressure-time-space distribution data and radial pressure-time-space distribution data;
3) fitting a function of the stimulation current intensity and the pressure magnitude, and determining the current intensity of each stimulation point along with the change of time;
4) determining the variation curve of the stimulation voltage intensity of each stimulation point by combining the skin electrical stimulation impedance model and the current intensity obtained in the step 3);
5) controlling the electrodes corresponding to the stimulation points to generate stimulation voltage according to the variation curve of the stimulation voltage intensity of each stimulation point obtained in the step 4), and simulating the spreading and blooming process after the liquid drops drop on the skin.
In this embodiment, in step 1), a high-speed camera is used to shoot a motion image sequence of real droplets, and image acquisition software, Cine Viewer, is used to extract a typical state image. Specifically, after a photographing command is given to the high-speed camera, the burette is opened, the liquid in the burette is vertically dropped to a position with a vertical height equal to 67cm from the surface of the skin of the human body, and a typical state image is extracted by using image acquisition software Cine Viewer.
The typical state of the droplet deformation process is defined as shown in fig. 1, and the relevant time parameters are recorded.
Fluid simulation requires critical velocity parameters of a droplet to be dropped to the skin, and the droplet is acted by air molecules, viscous resistance and pressure difference resistance when falling in the air.
The Stokes equation describes the viscous resistance experienced by a spherical object, and applies only to Re<1. Assuming that the liquid drops are water drops, the density rho of the taken water is 103kg/m3Viscosity coefficient η of water is 0.8936 × 10-3kg/m.s, diameter d 5mm, order
Determining the velocity v<1.79×10-4m/s, it can be seen that the droplets at this size are the only onesThe viscosity resistance of the droplet needs to be calculated using the stokes equation only when the velocity is very low, and thus the viscosity resistance of the droplet is negligible in this case.
The force analysis shows that the liquid drops in the air are acted by the gravity, the buoyancy and the differential pressure resistance, and the calculation formula of the differential pressure resistance of the spherical object is
According to newton's second law, the equation of motion of a droplet is:
in the formula (I), the compound is shown in the specification,
integrating the motion equation of the liquid drop, wherein the initial condition v (0) is 0, and obtaining an expression of v-t as follows:
then the process of the first step is carried out,
diameter d of the droplet is 5mm, density of water ρWater (W)＝103kg/m3Acceleration of gravity g ═ 9.8m/s2Air density ρAir (a)＝1.293kg/m2The falling height h is 0.67m, and the air resistance coefficient Cd0.429 mass of droplet
Then the process of the first step is carried out,
the time for the droplets to move in the air was calculated to be t-0.37196 s and v-3.5842 m/s.
The falling time is only 20ms different from the movement time in the experimental observation, and the calculation result is reliable.
In the embodiment, in the step 2), the skin stress-time-space distribution data is acquired by adopting the fluid simulation software, so that the problem that the skin stress data cannot be acquired by using the pressure sensor is solved. Specifically, a computational model of liquid drop impact on skin is established by using FLUENT fluid simulation software through a fluid volume function method, a liquid drop spreading process is simulated, and spreading diameter, speed and vertical pressure-time-space distribution data are acquired.
The fluid volume function (VOF) method is widely applied to numerical simulation research of a process of liquid drops impacting a wall surface as a classical physical method for calculating a two-phase or multi-phase motion interface.
In the calculation model, the contact time of the liquid drop and the wall surface is used as the initial time of simulation, the dynamic characteristic of the liquid drop impacting the skin is numerically simulated by adopting a VOF method, a PILC method is selected to track and reconstruct a gas-liquid phase interface, and the dynamic characteristic of the liquid drop impacting the skin is researched by combining a surface tension CSF model and considering the action of the wall surface adhesion force.
Establishing a three-dimensional numerical model of a single liquid drop impact solid wall surface, and calculating a numerical format of a region with the height of 10mm, the side length of 30mm, the grid size of 0.15mm and the grid number of 2813600; the droplet diameter was 5mm, the velocity was 3.5842m/s, and the contact angle was 85 deg..
The liquid drops impact the skin and then change in shape, force and velocity. And (3) verifying the grid independence, and verifying the feasibility of the method and the correctness of the model by comparing with the experimental value in the high-speed camera.
Model boundary conditions: the bottom surface is a non-slip wall surface boundary condition, and the top and side boundaries adopt pressure outlet boundaries to simulate an actual atmospheric environment. Taking the air phase as a basic phase, taking liquid phase water as a second phase, initializing to take the volume fraction of an area as 0, namely filling the air phase, calculating the working condition when an initial liquid drop is in contact with the critical position patch of the skin: the surface tension coefficient was 0.072N/m, the viscosity coefficient was 0.8936e-3 pas, and the roughness was set to 0.1.
Pressure data was taken every 0.1ms every 0.5mm from the center point.
In this embodiment, in step 2), ABAQUS simulation software is used to simulate the impact of the droplets on the skin surface by using a smooth particle fluid dynamics method, so as to obtain radial pressure-time-spatial distribution data.
Specifically, the ABAQUS simulation is used for acquiring skin radial stress data, and parameters are set as follows: the Young's modulus of the skin was 65MPa, the Poisson's ratio was 0.4, and the density was 1.0487X 103kg/m3Thickness of 1mm, diameter of droplet of 5mm, density of water of 103kg/m3And selecting a Us-Up equation from the state equation.
In this example, 2500 cube units were established in the modeling of the crushing process of the liquid droplets impacting the skin, and the stress analysis was performed on the surface points of the skin. Correspondingly, in the step 3), the function of the intensity and the pressure of the stimulation current is fitted to obtain a pressure and current relation function according to the correlation between the tactile perception and the stimulation current and the linear relation between the pressure and the tactile perception; and in the step 4), calculating by combining with the skin electrical stimulation impedance model to obtain the target voltage intensity, and generating the stimulation voltage of each stimulation point along with the change of time.
In the step 3), the touch information is applied to the skin of the hand in an electrical stimulation mode, so that the experiencer feels the feeling that the liquid drops are scattered after impacting the skin, and the pressure information obtained through simulation needs to be correspondingly converted into the electrical stimulation information. Wherein, the piezoelectric conversion process is as follows: measuring the correlation between the tactile perception and the stimulation current intensity by a finger tip tactile electrical stimulation experiment, and fitting a functional relation between the pressure and the current after the tactile perception corresponds to the pressure; and substituting the pressure value obtained by the simulation into a function to obtain the corresponding stimulation current. In this embodiment, a polynomial fitting function based on the least square method in MATLAB is used to fit the magnitude of the stimulus current intensity and the pressure.
To obtain the stimulation voltage, an equivalent circuit model of the skin electrical stimulation needs to be established. In the step 4), the equivalent circuit model of the skin electrical stimulation impedance model is that the skin first-order biological impedance model and the stimulation point-skin contact impedance model are connected in parallel. Specifically, as shown in fig. 2, the skin self-body bio-impedance model includes a capacitor C1, a resistor R1, and a resistor R2, wherein the capacitor C1 is connected in parallel with the resistor R1 and then connected in series with the resistor R2; the stimulus point-skin contact impedance model includes a capacitance Cs and a resistance Rs connected in parallel.
Since the epidermis (stratum corneum) is not easily conductive, it can be considered as the insulating medium of the capacitor, and the electrodes and the dermis are equivalent to the two plates of the capacitor. The method comprises the following specific steps:
wherein Cs is 420pF, Rs is 160k Ω, R1＝100kΩ，R2＝70kΩ，C1＝400pF，f＝30Hz；
Then, | Z | ═ 83k Ω.
And determining a stimulation voltage intensity change curve of the stimulation point according to the skin electrical stimulation impedance model and the current intensity.
The invention provides a touch reproduction device of liquid drop skin based on electric stimulation, which is used for realizing touch reproduction of the liquid drop skin and comprises a microcontroller, a D/A converter, a boosting module and an electric stimulation plate which are sequentially connected as shown in figure 3.
In this embodiment, the electrical stimulation board includes a plurality of layers of FPC boards, and the surface of one layer of FPC board facing the skin is provided with an array of evenly distributed circular electrodes, and each circular electrode 10 corresponds to one stimulation point. By implementing the stimulation points as circular electrodes 10, the stinging sensation due to the uneven charge distribution can be reduced. In addition, the current superposition effect among the array stimulation points is considered, and the diameters and the center distances of the stimulation points are designed, wherein in the embodiment, the diameters of the stimulation points are 0.5mm, and the center distances are 1 mm.
The above examples are provided only for illustrating the present invention and are not intended to limit the present invention. Changes, modifications, etc. to the above-described embodiments are intended to fall within the scope of the claims of the present invention as long as they are in accordance with the technical spirit of the present invention.
Claims (10)
1. A tactile reproduction method based on electrical stimulation of droplet landing on skin, comprising the steps of:
1) measuring deformation, crushing process form, spreading diameter and corresponding time parameters of the real liquid drop dropping to the skin;
2) simulating the process of liquid drop impact on the skin by adopting fluid simulation software based on the measurement result obtained in the step 1), and obtaining skin stress-time-space distribution data, including vertical pressure-time-space distribution data and radial pressure-time-space distribution data;
3) fitting a function of the stimulation current intensity and the pressure magnitude, and determining the current intensity of each stimulation point along with the change of time;
4) determining the variation curve of the stimulation voltage intensity of each stimulation point by combining the skin electrical stimulation impedance model and the current intensity obtained in the step 3);
5) controlling the electrodes corresponding to the stimulation points to generate stimulation voltage according to the variation curve of the stimulation voltage intensity of each stimulation point obtained in the step 4), and simulating the spreading and blooming process after the liquid drops drop on the skin.
2. The method for tactile reproduction of droplet landing skin based on electrical stimulation according to claim 1, characterized in that in step 1), a high speed camera is used to take a sequence of moving images of real droplets and image acquisition software, Cine Viewer, is used to extract typical state images.
3. The method for tactile reproduction of electrical stimulation based droplet landing skin according to claim 1, wherein in step 2), a computational model of droplet impact on skin is established by using FLUENT fluid simulation software through a fluid volume function method, a droplet spreading process is simulated, and spreading diameter, speed, vertical pressure-time-space distribution data are acquired.
4. A method for tactile reproduction of the skin upon droplet landing with electrical stimulation according to claim 1 or 3, characterized in that in step 2) the radial pressure-time-spatial distribution data is acquired by simulating the impact of the droplets on the skin surface using the ABAQUS simulation software using the smooth particle hydrodynamics method.
5. A tactile reproduction method of droplet landing skin based on electrical stimulation according to claim 1, characterized in that in step 3), the function of stimulation current intensity and pressure magnitude is fitted to obtain a function of pressure and current relationship according to the correlation between tactile perception and stimulation current and the linear relationship between pressure and tactile perception; and in the step 4), calculating by combining with the skin electrical stimulation impedance model to obtain the target voltage intensity, and generating the stimulation voltage of each stimulation point along with the change of time.
6. The method for tactile reproduction of electrical stimulation based droplet landing skin according to claim 5, characterized in that in step 3) the stimulation current intensity is fitted to the pressure magnitude using a least squares based polynomial fitting function in MATLAB.
7. The method for tactile reproduction of the droplet landing skin based on electrical stimulation according to claim 1 or 5, characterized in that, in step 4), the equivalent circuit model of the impedance model of electrical stimulation of the skin is a first-order bioimpedance model of the skin itself in parallel with the stimulation point-skin contact impedance model.
8. A tactile reproduction method of droplet landing skin based on electrical stimulation according to claim 7, characterized in that the model of the skin's own bio-impedance comprises a capacitance C1, a resistance R1, a resistance R2, wherein the capacitance C1 is connected in parallel with the resistance R1 and then connected in series with the resistance R2; the stimulus point-skin contact impedance model includes a capacitance Cs and a resistance Rs connected in parallel.
9. A tactile reproduction device for liquid drops dropping on skin based on electric stimulation is characterized by comprising a microcontroller, a D/A converter, a boosting module and an electric stimulation plate which are sequentially connected, wherein according to the tactile reproduction method of any one of claims 1 to 8, the microcontroller controls the electric stimulation plate to generate stimulation voltage to simulate the spreading and blooming process after the liquid drops drop on the skin.
10. A tactile reproduction device for droplet landing skin based on electrical stimulation according to claim 9, characterized in that the electrical stimulation board comprises a multilayer FPC board, the surface of one layer of FPC board facing the skin being provided with an array of evenly distributed circular electrodes, each circular electrode corresponding to a stimulation point.
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