CN113190114B - Virtual scene experience system and method with haptic simulation and emotional perception - Google Patents
Virtual scene experience system and method with haptic simulation and emotional perception Download PDFInfo
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G06F18/2411—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on the proximity to a decision surface, e.g. support vector machines
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- G06F18/253—Fusion techniques of extracted features
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
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Abstract
The invention relates to a virtual scene experience system with touch simulation and emotion perception, which comprises a scene computer, a display terminal and a touch simulation and feedback device, wherein the display terminal and the touch simulation and feedback device are respectively in communication connection with the scene computer; the skin touch simulation module generates different pressure and shearing force on the skin contacted with the skin touch simulation module according to the scene displayed by the display terminal and the limb position of the user, and simulates the touch sense of an object in the scene touched by the user. The system provided by the invention provides virtual scenes for the user, accurately tracks the motion track and the gesture of the hand of the user, simulates more vivid tactile experience, can be widely used for virtual simulation of various scenes, and greatly improves the experience degree of the user.
Description
Technical Field
The invention belongs to the field of intelligent wearable devices, and particularly relates to a virtual scene experience system with touch simulation and emotion perception.
Background
Currently, virtual reality technology is widely applied to the product experience industry, and a typical application scenario is the automobile driving experience in virtual reality: the user wears the VR head display, and external equipment such as cooperation force feedback gloves, car seat just can feel in the virtual reality scene and be close to real driving experience. However, the perception provided by the above-described external devices has certain limitations. For example, the tactile sensation felt by the user is generated by directly touching the steering wheel and the seat, but when the user touches other surfaces with hands in the virtual reality scene, the tactile sensation cannot be generated, which reduces the user experience to some extent.
At present, the problems of the existing touch simulation device are mostly complex in structure and low in simulation true degree. For example, when force feedback is provided by using electromagnetic force or a miniature vibration motor, the whole device is heavy due to the large size of the components, and when a user wears the device on the hand, the device is easy to generate oppression and fatigue, so that the experience of the user is reduced to a certain extent. In addition, when the tactile feedback is simulated by using electromagnetic force, a vibration motor or the like, the force can be applied to the skin only in the vertical direction, and the perception of the force by the skin in the real world is not limited to only one plane at all, so that the device can not completely simulate the force feedback in different dimensions, and the simulation degree is reduced.
In addition, when the user interacts with the virtual reality scene, the emotional and physiological signals of the user are changing constantly. For example, when a user touches an object with sharp appearance in a virtual reality scene, the inner heart will create a conflicting mood, which will appear physiologically as a heart beat quickening, muscle contraction, and so on. The physiological signals are collected and analyzed, and the change of the interactive consciousness and emotion of the user with different objects in the virtual scene can be obtained. Currently, physiological signal acquisition is widely used in wearable devices such as smart watches, and is rarely used in the field of virtual reality. Emotion analysis based on physiological signals is also difficult to integrate into existing virtual reality somatosensory device systems.
However, the application of emotion analysis in virtual reality requires a portable and accurate sensory simulator to ensure that the user has as close to real experience as possible when interacting with a virtual scene; on the other hand, because the degree of fidelity of such interaction is high, the generated physiological signal can sufficiently reflect the emotion generated by the same interaction of the user in the real world, and therefore, a system capable of collecting and analyzing the physiological signal of the user in real time is needed.
Disclosure of Invention
The virtual scene experience system is worn on the hand of a user, the motion track and the gesture of the hand of the user are accurately tracked, when the user has a touch behavior in the virtual scene, pressure in the vertical direction and shearing force in the horizontal direction can be provided for the hand of the user, and more vivid touch experience is simulated; meanwhile, electroencephalogram, myoelectricity and blood pressure signals of the user are collected, the emotion of the user is obtained through analysis, the preference degree of the user to a touch object is obtained, feedback information of the user to an experience object is collected, and the method can be used for virtual experience of various new life things in real life.
The technical scheme of the invention is that the virtual scene experience system with touch simulation and emotion perception comprises a scene computer, a display terminal and a touch simulation and feedback device, wherein the display terminal and the touch simulation and feedback device are respectively in communication connection with the scene computer; the skin touch simulation module generates different pressure and shearing force on the skin contacted with the skin touch simulation module according to the scene displayed by the display terminal and the limb position of the user, and simulates the touch sense of an object in the scene touched by the user.
The touch simulation and feedback device further comprises a physiological signal module, and the physiological signal module comprises a blood pressure sensor, an electromyographic sensor and an electroencephalographic sensor which are respectively connected with the microprocessor.
The skin touch simulation module comprises fiber cloth worn on the limbs of a user and touch sheets arranged in fiber cloth holes, wherein limiting rings fixedly connected with the fiber cloth are arranged outside the touch sheets, a plurality of connecting points on the periphery of the touch sheets are connected with the tail ends of fiber ropes uniformly distributed along the limiting rings, the fiber ropes are far away from the ends of the touch sheets and fixedly connected with micro pistons in the tubules, the tubules are connected with a hydraulic mechanism, hydraulic fluid is filled in the tubules, under the driving of the hydraulic mechanism, the hydraulic fluid in the tubules in different directions on the periphery of the touch sheets has different pressures, so that the fiber ropes connected with the pistons in the tubules in different directions generate different tensile forces, and the touch sheets generate pressure and shearing forces on the skin of the user body contacted with the touch sheets under the action of the tensile forces in different directions and different sizes of the fiber ropes in different directions.
The touch simulation and feedback device further comprises a micro hydraulic module, and the thin tube is connected with a thin tube joint of the micro hydraulic module.
The tactile sensation simulation and feedback device further comprises a gyroscope sensor connected to the microprocessor.
Preferably, the display terminal is a VR headset.
The method of the virtual scene experience system comprises the following steps:
step 1: the scene computer displays a virtual scene to a user through a display terminal, and the user wears a touch simulation and feedback device to interact with the scene computer;
step 2: a scene computer captures touch behaviors of a user in a virtual scene;
and step 3: according to the touch object of the user, the scene computer controls a touch simulation and feedback device to generate touch experience on the user body;
and 4, step 4: a physiological signal module of the touch simulation and feedback device acquires a physiological signal of a user;
and 5: and judging the emotion of the user according to the acquired physiological signals of the user.
Further, step 5 comprises the following substeps:
step 5.1: collecting electroencephalogram, electromyogram and blood pressure signals of different users under different emotions, extracting electroencephalogram characteristic vectors, electromyogram characteristic vectors and blood pressure characteristic vectors of physiological signal characteristics to obtain a physiological signal characteristic vector group of the users, and manually marking an emotion label of the physiological signal characteristic vector of each trial time;
step 5.2: initializing a fusion coefficient matrix, fusing the electroencephalogram characteristic vector, the electromyogram characteristic vector and the blood pressure characteristic vector of each trial time to obtain a fusion characteristic vector matrix, taking the characteristic value of the fusion coefficient matrix as particles of a particle swarm, and optimizing the fusion coefficient matrix by using a particle swarm optimization algorithm to enable the fusion value of a physiological signal characteristic vector group calculated by the fusion coefficient matrix to be adaptive to the emotion label marked by the physiological signal characteristic vector group, so as to obtain a primarily optimized fusion coefficient matrix;
step 5.3: fusing the user physiological signal characteristics acquired in the step 5.1 by utilizing a fusion coefficient matrix to obtain a fusion characteristic vector matrix of each test time, and constructing a training data set by combining an emotion label manually marked on the fusion characteristic vector matrix;
step 5.4: training the training data set by adopting a pair of multi-support vector machines, calculating the fitness, updating the fusion coefficient, stopping training after reaching the preset fitness, and obtaining a plurality of training network models with emotion labels;
step 5.5: extracting a characteristic vector group from physiological signals of a user collected in real time, obtaining a fusion characteristic matrix by using a fusion coefficient matrix, training the fusion characteristic matrix by using a training network model, classifying by using a pair of multi-support vector machines, matching a classification result with an emotion label, and taking the emotion label with the best matching degree as an emotion judgment result of the user.
Preferably, step 5.1 adopts a co-space mode algorithm to extract the electroencephalogram feature vector from the electroencephalogram signal of the user.
Compared with the prior art, the invention has the beneficial effects that:
1) the system provides a virtual scene for the user, accurately tracks the motion track and the gesture of the hand of the user, can provide pressure in the vertical direction and shearing force in the horizontal direction for the hand of the user when the user has touch behavior in the virtual scene, simulates more vivid tactile experience, can be widely used for virtual simulation of various scenes, and greatly improves the experience degree of the user;
2) the system collects the physiological signals of the user such as electroencephalogram, myoelectricity, blood pressure and the like in real time, analyzes the emotion of the user and obtains the preference degree of the user to a touch object;
3) the method adopts the co-space mode algorithm to extract the electroencephalogram characteristic information with high discrimination from the electroencephalogram signals of the user, removes irrelevant components in the electroencephalogram signals, and has good anti-noise effect;
4) according to the method, after the particle swarm algorithm is used for optimizing the fusion coefficient of the physiological signal characteristic vectors, a pair of multi-support vector machines are used for carrying out classification training on emotion labels, so that the emotion recognition precision is improved;
5) the method provided by the invention can be used for analyzing the emotion generated by the touch behavior in the virtual scene of the user in real time to obtain the feedback information of the user to the experience object, is good in accuracy, can be widely used for virtual experience of various new things, and is high in experience degree, time-saving, labor-saving and cost-saving.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic structural diagram of a virtual scene experience system according to an embodiment of the present invention.
FIG. 2 is a diagram of a skin touch simulation module according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a skin-touch simulation module worn on a hand of a user according to an embodiment of the present invention.
Fig. 4 is a schematic flow chart illustrating a process of analyzing and obtaining a user emotion according to an embodiment of the present invention.
Detailed Description
Example one
As shown in fig. 1, the virtual scene experience system with tactile simulation and emotion perception comprises a scene computer 1, a display terminal 3 and a tactile simulation and feedback device 2 which are respectively connected with the scene computer in a communication way, wherein the tactile simulation and feedback device 2 is worn on the hand of a user and comprises a microprocessor 201, a second communication module 202, a positioning module 205, a skin tactile simulation module 203, a memory 206 and a gyroscope sensor 207 which are respectively connected with the tactile simulation and feedback device; the physiological signal module 208 comprises a blood pressure sensor, an electromyographic sensor and an electroencephalographic sensor which are respectively connected with the microprocessor 201. The second communication module 202 is in communication connection with the communication module of the scene computer 1 via a wireless network. The scene computation 1 accurately tracks the motion trajectory and pose of the user's hand using the positioning module 205 and the gyro sensor 207 of the haptic simulation and feedback device 2.
As shown in fig. 2 and 3, the skin touch simulation module 203 includes a fiber cloth 2031 worn on a limb of a user and a circular touch sheet 2036 arranged in a hole of the fiber cloth, a circular limit ring 2032 fixedly connected with the fiber cloth is arranged outside the touch sheet 2036, 4 connection points uniformly distributed on the outer ring of the touch sheet 2036 are respectively connected with the ends of the fiber ropes 2033 uniformly distributed along the limit ring 2032, the fiber ropes 2033 are fixedly connected with a micro piston 2034 in a tubule 2035 far away from the end of the touch sheet, the tubule 2035 is connected with a tubule joint 2041 of the micro hydraulic module 204, the tubule 2035 is filled with hydraulic fluid, the hydraulic fluid in the tubule in different directions around the touch sheet 2036 has different pressures under the driving of the micro hydraulic module, so that the fiber ropes connected with the pistons in the tubules in the different directions generate different pulling forces, the touch sheet 2036 is under the action of the pulling forces with different magnitudes of the fiber ropes in different directions, a vertical pressure and a horizontal shear force are generated to the skin of the user body in contact therewith. The skin tactile sensation simulation module 203 generates different pressure and shearing force to the skin contacted by the skin tactile sensation simulation module according to the scene displayed by the display terminal 3 and the limb position of the user, so as to simulate the tactile sensation of the object in the scene touched by the user.
In the embodiment, the display terminal 3 employs a VR headset.
The method of the virtual scene experience system comprises the following steps:
step 5.1: collecting electroencephalogram, electromyogram and blood pressure signals of different users under different emotions, and extracting an electromyogram feature vector of physiological signal featuresx 2Blood pressure feature vectorx 3Extracting the characteristic vector of the brain electricity by adopting a common space mode algorithmx 1Obtaining a physiological signal feature vector set X = [ 2 ] of the user x 1, x 2, x 3]Manually marking the emotion label of the physiological signal characteristic vector of each trial;
step 5.2: initializing the fusion coefficient matrix A = [ = ], [a 1,a 2,a 3]For each trial, the EEG feature vectorx 1Myoelectric feature vectorx 2Blood pressure feature vectorx 3Performing fusion to obtain a fusion characteristic vector matrixv=[a 1 x 1, a 2 x 2, a 3 x 3]Taking the characteristic value of the fusion coefficient matrix as particles of the particle swarm, and optimizing the fusion coefficient matrix by utilizing a particle swarm optimization algorithm, so that the fusion value of the physiological signal characteristic vector group calculated by the fusion coefficient matrix is adaptive to the emotion label marked by the fusion coefficient matrix, and a primarily optimized fusion coefficient matrix is obtained;
step 5.3: fusing the user physiological signal characteristics acquired in the step 5.1 by utilizing the fusion coefficient matrix A to obtain a fusion characteristic vector matrix of each test time, and constructing a training data set by combining an emotion label manually marked on the fusion characteristic vector matrix;
step 5.4: training the training data set by adopting a pair of multi-support vector machines, calculating the fitness, updating the fusion coefficient matrix A, stopping training after reaching the preset fitness, and obtaining a plurality of training network models with emotion labels;
step 5.5: extracting a characteristic vector group from physiological signals of a user collected in real time, obtaining a fusion characteristic vector matrix by using a fusion coefficient matrix A, training the fusion characteristic matrix by using a training network model, classifying by using a pair of multi-support vector machines, matching a classification result with emotion labels, and taking the emotion label with the best matching degree as an emotion judgment result of the user.
The co-space mode algorithm of step 5.1 refers to the co-space mode algorithm disclosed in "Spatial patterns underlying position differences in the background EEG" paper Zoltan J. et al published by Brain Topograph 2, 1990.
The Particle Swarm optimization algorithm of step 5.2 refers to the Particle Swarm optimization algorithm disclosed in the IEEE 2007 Swarm Intelligent conference (Swarm Symposium) article "Particle Swarm optimization".
The support vector machine of step 5.3 refers to the one-to-many support vector machine disclosed in "A compliance of methods for multiclass support vector machines" by Hsu Chih-Wei et al published in IEEE transactions on neural networks, 13 th 2002.
Example two
Skin touch simulation device, including wearing the fibre cloth 2031 on user's limbs and the tactile sensation piece 2036 of arranging in the fibre cloth hole, tactile sensation piece 2036 outside is equipped with the spacing ring 2032 with fibre cloth fixed connection, a plurality of junctures all around of tactile sensation piece 2036 are connected with the end along the fibre rope 2033 of spacing ring 2032 evenly distributed, fibre rope 2033 is far away from tactile sensation piece end and miniature piston 2034 fixed connection in the tubule, tubule 2035 is connected with hydraulic pressure mechanism, be full of hydraulic fluid in the tubule 2035, under the drive of hydraulic pressure mechanism, the hydraulic fluid has different pressures in the tubule of different directions all around tactile sensation piece 2036, make the fibre rope of different directions and the tubule in piston connection produce different pulling forces, tactile sensation piece 2036 produces pressure and shearing force to the user's body skin rather than the contact under the effect of the different size of the fibre rope of different directions.
The embodiment selects the automobile field for application, and when a user interacts with a virtual reality scene, the skin touch simulation device can provide accurate touch simulation, so that the user can have an immersive experience. The experience feeling is very close to the experience feeling generated when a user really touches a certain object in reality, and the experience feeling of the user on any object on the visual and tactile layers can be reflected by acquiring the physiological signals of the experience process of the user in real time. For example, when a user wants to experience the texture and hand feeling of a car seat or an interior, the user only needs to wear a terminal display platform, such as a VR head display, and then wears the skin touch simulation device provided by the present invention, and the experience can be completed in a virtual scene without the need of experience in person to the field in reality; the physiological signal change of the user in the experience process can be analyzed and the preference degree of the user on the automobile seat, the interior trim texture and the hand feeling can be obtained through the physiological signal module provided by the invention. For example, the car seat material built in the virtual scene is fabric, and the material that the user prefers is leather, so that the user will have a certain feeling of conflict after the tactile feedback device simulates the tactile sensation of the fabric to the user. After the emotion of the user experience is collected and analyzed, the method can help manufacturers to improve the design.
Claims (7)
1. Virtual scene experience system with tactile simulation and emotion perception, characterized in that, it comprises a scene computer (1) and a display terminal (3) and a tactile simulation and feedback device (2) respectively connected with it in communication, said tactile simulation and feedback device (2) is worn on the user's limb, it comprises a microprocessor (201) and a second communication module (202), a positioning module (205) and a skin tactile simulation module (203) respectively connected with it; the skin touch simulation module (203) generates different pressure and shearing force on the skin contacted with the skin touch simulation module according to the scene displayed by the display terminal and the limb position of the user, and simulates the touch sense of an object in the user touch scene;
the skin touch simulation module (203) comprises fiber cloth (2031) worn on a user limb and a touch sheet (2036) arranged in a fiber cloth hole, a limiting ring (2032) fixedly connected with the fiber cloth is arranged outside the touch sheet (2036), a plurality of connecting points around the touch sheet (2036) are connected with the tail ends of fiber ropes (2033) uniformly distributed along the limiting ring (2032), the end of the fiber rope (2033) far away from the touch sheet is fixedly connected with a micro piston (2034) in a tubule, the tubule (2035) is connected with a hydraulic mechanism, the tubule (2035) is filled with hydraulic fluid, the hydraulic fluid in tubules in different directions around the touch sheet (2036) has different pressures under the drive of the hydraulic mechanism, so that the fiber ropes connected with the pistons in the tubules in different directions generate different pulling forces, and the touch sheet (2036) is under the action of the pulling forces of different sizes of the fiber ropes in different directions, creating pressure and shear forces on the skin of the user's body in contact therewith.
2. Virtual scene experience system with tactile simulation and emotional perception according to claim 1, characterized in that said tactile simulation and feedback means (2) further comprise a physiological signal module (208), the physiological signal module (208) comprising a blood pressure sensor, an electromyography sensor and an electroencephalography sensor, respectively connected to a microprocessor.
3. Virtual scene experience system with haptic simulation and emotional perception according to claim 1, characterized in that the haptic simulation and feedback means (2) further comprise a micro hydraulic module (204), the thin tube (2035) being connected to a thin tube joint (2041) of the micro hydraulic module.
4. Virtual scene experience system with tactile simulation and emotional perception according to claim 1, characterized in that said tactile simulation and feedback means (2) further comprise a gyroscopic sensor (207) connected to a microprocessor.
5. A virtual scene experience system with tactile simulation and emotional perception according to claim 1, wherein the display terminal is a VR headset.
6. The method of a virtual scene experience system according to any of the claims 2-5, comprising the steps of:
step 1: the scene computer displays a virtual scene to a user through a display terminal, and the user wears a touch simulation and feedback device to interact with the scene computer;
step 2: a scene computer captures touch behaviors of a user in a virtual scene;
and step 3: according to the touch object of the user, the scene computer controls a touch simulation and feedback device to generate touch experience on the user body;
and 4, step 4: a physiological signal module of the touch simulation and feedback device acquires a physiological signal of a user;
and 5: and judging the emotion of the user according to the physiological signals of the user acquired in real time.
7. A skin touch simulation device is characterized by comprising a fiber cloth (2031) worn on a user limb and a touch sheet (2036) arranged in a fiber cloth hole, wherein a limit ring (2032) fixedly connected with the fiber cloth is arranged outside the touch sheet (2036), a plurality of connecting points around the touch sheet (2036) are connected with the tail ends of fiber ropes (2033) uniformly distributed along the limit ring (2032), the end of the fiber rope (2033) far away from the touch sheet is fixedly connected with a micro piston (2034) in a tubule, the tubule (2035) is connected with a hydraulic mechanism, the tubule (2035) is filled with hydraulic fluid, under the driving of the hydraulic mechanism, the hydraulic fluid in the tubules in different directions around the touch sheet (2036) has different pressures, so that the fiber ropes connected with the pistons in the tubules in different directions generate different pulling forces, and the touch sheet (2036) is under the action of the pulling forces of the fiber ropes in different directions, creating pressure and shear forces on the skin of the user's body in contact therewith.
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| CN116909392B (en) * | 2023-06-30 | 2024-01-26 | 青岛登云智上科技有限公司 | Wearable and perceivable interaction system and interaction method |
| CN117289796A (en) * | 2023-09-22 | 2023-12-26 | 中山大学 | High-interaction mixed reality system and method for complex equipment based on haptic glove |
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| CN113190114A (en) | 2021-07-30 |
| CN114779930A (en) | 2022-07-22 |
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