CN113467620B - Flexible tactile force reproduction device for wearable tactile force feedback - Google Patents
Flexible tactile force reproduction device for wearable tactile force feedback Download PDFInfo
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- CN113467620B CN113467620B CN202110836936.8A CN202110836936A CN113467620B CN 113467620 B CN113467620 B CN 113467620B CN 202110836936 A CN202110836936 A CN 202110836936A CN 113467620 B CN113467620 B CN 113467620B
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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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
Abstract
The invention discloses a flexible tactile force reproduction device facing wearable tactile force feedback, which comprises a plurality of vibration modules distributed in an array manner, wherein hydrogel layers are arranged on the outer sides of the vibration modules, each vibration module comprises a piezoelectric actuator, a supporting flexible piece, a flexible substrate, an electromagnetic actuator and an electromagnetic actuator switch, the piezoelectric actuators are connected with positive and negative electrodes of a power supply and perform periodic up-and-down vibration under the limitation of the supporting flexible pieces, the electromagnetic actuators are fixed on the upper end surfaces of the piezoelectric actuators, the lower end surfaces of the piezoelectric actuators are fixed on the supporting flexible pieces, the supporting flexible pieces are of frame-shaped structures, the bottoms of the supporting flexible pieces are fixedly connected with the flexible substrate, and the electromagnetic actuator switches are arranged at the bottoms of the flexible substrates. Adopt the flexible touch sense power recurrence device towards wearable touch sense power feedback of above-mentioned structure, simple structure, easily processing realizes the simulation and recurrence to human skin sense of touch through piezoelectric actuator and enhancement actuating mechanism simultaneously, and the control of being convenient for and control accuracy are high.
Description
Technical Field
The invention relates to a novel flexible tactile force reproduction device capable of simulating human skin tactile feedback, in particular to a flexible tactile force reproduction device for manufacturing a micro actuator by superposing a flexible material and an electromagnetic element.
Background
The conventional techniques of Virtual Reality (VR) and Augmented Reality (AR) reproduce the user's experience feeling associated with the real physical world by stimulating the sense of sight and hearing. The VR and AR systems most widely used at present use a head-mounted display, an accelerometer and a speaker as a basis for generating a three-dimensional environment by a computer, and compared with vision and hearing, touch is a relatively undeveloped sensing field in VR and AR technologies, but it can greatly enhance the sensing ability of a human body to environmental information, and has a large application space in the fields of communication, entertainment, medical treatment, and the like.
The patent introduces a paster type electronic skin unit including electrode layer, first substrate layer and electrode pin, the electrode layer constitutes electric capacity with the conductor that is close, the electrode layer set up in on the first substrate layer, electrode pin one end with the electrode layer electricity is connected, the electrode pin other end is used for connecting detection circuitry, detection circuitry is used for generating the sign the signal of telecommunication of electric capacity or its variation, wherein, the electrode layer with first substrate layer is flexible structure. The design structure is simple, the capacitance error formed by the electrode layer and the close conductor is large, the loss is large, and the electrode pin is required to be connected in the structure, so that the flexibility of the whole electronic skin is limited, and the flexibility of the real skin cannot be simulated.
Disclosure of Invention
The invention aims to provide a flexible tactile force reproduction device facing wearable tactile force feedback, which is simple in structure and easy to process, realizes simulation and reproduction of human skin touch feeling through a piezoelectric actuator and a reinforced execution mechanism, is convenient to control and has high control precision.
In order to achieve the above object, the present invention provides a flexible tactile force reproduction apparatus facing wearable tactile force feedback, comprising a plurality of vibration modules distributed in an array, a hydrogel layer disposed outside the plurality of vibration modules,
the vibration module comprises a piezoelectric actuator, a supporting flexible part, a flexible substrate and a reinforcing execution mechanism, wherein the reinforcing execution mechanism comprises an electromagnetic actuator and an electromagnetic actuator switch, the piezoelectric actuator is connected with a positive electrode and a negative electrode of a power supply and used for generating deformation, the piezoelectric actuator performs periodic up-and-down reciprocating vibration under the limitation of the supporting flexible part and is used for increasing the vibration strength, the electromagnetic actuator is fixed on the upper end surface of the piezoelectric actuator, the lower end surface of the piezoelectric actuator is fixed on the supporting flexible part, the supporting flexible part is a frame structure formed by cutting out the middle of an insulating material, the bottom of the supporting flexible part is fixedly connected with the flexible substrate, and the electromagnetic actuator switch is arranged at the bottom of the flexible substrate.
Preferably, the piezoelectric actuator is made of PVDF (polyvinylidene fluoride), the thickness of the PVDF is 15-30 μm, conductive layers are arranged on the upper surface and the lower surface of the PVDF, the thickness of the conductive layers is 20-50 nm, the two conductive layers are respectively connected with the anode and the cathode of a power supply, and the PVDF performs periodic telescopic motion under the action of alternating current.
Preferably, the supporting flexible part and the flexible substrate are made of insulating materials, the supporting flexible part and the flexible substrate are cut by a cutting technology through PET, the shapes of the supporting flexible part, the flexible substrate and the piezoelectric actuator are kept consistent, a hollow part of the supporting flexible part is a space for the piezoelectric actuator to vibrate up and down, and the bending angle of the piezoelectric actuator and the supporting flexible part is 30-60 degrees.
Preferably, the electromagnetic actuator comprises a magnet and a plurality of springs, one end of each of the plurality of springs is circumferentially distributed around the magnet, the other end of each of the plurality of springs is fixedly connected with the edge of the piezoelectric actuator, and the springs are made of PDMS (polydimethylsiloxane) or ECOFLEX (Electron mobility transistor) or PET (polyethylene terephthalate).
Preferably, the electromagnetic actuator switch comprises an insulating sleeve and an electromagnetic coil, the electromagnetic coil is opposite to the magnet and fixed in the insulating sleeve, the insulating sleeve is bonded with the flexible substrate, and the insulating sleeve is made of PDMS.
Therefore, the flexible tactile force reproduction device facing wearable tactile force feedback, which adopts the structure, has the following beneficial effects:
(1) Adopt a plurality of vibration modules of array distribution and the outside is provided with the hydrogel layer, the softness and the toughness of the real skin of hydrogel layer simulation to can be gently, closely laminate the surface of skin, accessible acquisition signal sender's vibration data information during the application, through the controller of wireless communication technique with control signal transmission to wearable equipment, the controller realizes the vibration of local mechanical vibration recurrence input through control piezoelectric actuator and electromagnetic actuator switch.
(2) The force can be controlled by changing the input frequency of the switches of the piezoelectric actuator and the electromagnetic actuator, the output precision is guaranteed while the output is simple and effective, the adjustment of the output vibration is realized through two vibration mechanisms, and the vibration amplitude range is enlarged.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic view of the vibration module structure of the present invention;
FIG. 2 is a top view of the vibration module of the present invention;
FIG. 3 is a schematic structural diagram of a wearable haptic force feedback-oriented flexible haptic force reproduction device according to the present invention;
FIG. 4 is a force diagram of a vibration module in an embodiment of the invention;
fig. 5 is a diagram of an application of the flexible tactile force reproduction device facing wearable tactile force feedback according to the invention.
Reference numerals
1. An electromagnetic actuator; 11. a magnet; 12. a spring; 2. a piezoelectric actuator; 21. a conductive layer; 3. a support flexure; 4. a flexible substrate; 5. an electromagnetic actuator switch; 51. an electromagnetic coil; 52. an insulating sleeve; 6. a hydrogel layer.
Detailed Description
Examples
Fig. 1 is a schematic structural diagram of a vibration module of the present invention, fig. 2 is a top view of the vibration module of the present invention, and fig. 3 is a schematic structural diagram of a flexible tactile force reproduction apparatus for wearable tactile force feedback of the present invention, wherein the flexible tactile force reproduction apparatus for wearable tactile force feedback of the present invention includes a plurality of vibration modules distributed in an array, a hydrogel layer 6 is disposed outside the plurality of vibration modules, and the hydrogel layer 6 simulates softness and toughness of real skin, so as to be capable of gently and tightly adhering to the surface of the skin.
The vibration module comprises a piezoelectric actuator 2, a support flexible member 3, a flexible substrate 4, an electromagnetic actuator 1 and an electromagnetic actuator switch 5.
The piezoelectric actuator 2 is made of PVDF (polyvinylidene fluoride) which is 15-30 mu m thick, conductive layers 21 are arranged on the upper surface and the lower surface of the PVDF, the thickness of the conductive layers 21 is 20-50 nm, the two conductive layers 21 are respectively connected with the positive electrode and the negative electrode of a power supply, the conductive layers 21 of the PVDF and the piezoelectric actuator are directly adhered and electrified through flexible wires, the influence on the overall flexibility is avoided, and the PVDF performs periodic telescopic motion under the action of alternating current. The piezoelectric actuator 2 performs a periodic up-and-down reciprocating vibration under the restriction of the support flexure 3.
The upper end face of the piezoelectric actuator 2 is fixed with an electromagnetic actuator 1 for increasing the vibration intensity, the lower end face of the piezoelectric actuator 2 is fixed on the supporting flexible piece 3, and the bending angles of the piezoelectric actuator 2 and the supporting flexible piece 3 are 30-60 degrees. The support flexible part 3 is a frame-shaped structure formed by cutting the middle of the insulating material, the hollow part of the support flexible part 3 provides a space for the piezoelectric actuator 2 to vibrate up and down, the bottom of the support flexible part 3 is fixedly connected with the flexible substrate 4, and the bottom of the flexible substrate 4 is provided with the electromagnetic actuator switch 5. The supporting flexible part 3 and the flexible substrate 4 are made of insulating materials, the supporting flexible part 3 and the flexible substrate 4 are obtained by cutting PET through a cutting technology, and the shapes of the supporting flexible part 3, the flexible substrate 4 and the piezoelectric actuator 2 are kept consistent. The electromagnetic actuator 1 comprises a magnet 11 and a plurality of springs 12, one ends of the springs 12 are circumferentially distributed around the magnet 11, the other ends of the springs 12 are fixedly connected with the edge of the piezoelectric actuator 2, and the springs 12 are made of PDMS (polydimethylsiloxane) or ECOFLEX (Electron mobility transistor) or PET (polyethylene terephthalate). The electromagnetic actuator switch 5 comprises an insulating sleeve 52 and an electromagnetic coil 51, wherein the electromagnetic coil 51 is arranged opposite to the magnet 11 and fixed in the insulating sleeve 52, the insulating sleeve 2 is bonded with the flexible substrate 4, and the insulating sleeve 52 is made of PDMS. Magnet 11 can have bigger motion amplitude under the spring 12 is supplementary, and symmetrical arrangement guarantees that magnet 11 motion is stable, and after getting into the alternating current for solenoid 51 in the electromagnetic actuator switch 5, the electromagnetic field that solenoid produced makes magnet 11 receive the lorentz force of change, with the original vibration stack of piezoelectric actuator 2 for the vibration effect is more obvious, and user's skin feedback effect is better.
Fig. 4 is a diagram showing the vibration module according to the embodiment of the present invention, in which the vibration module is subjected to only sinusoidal force generated by deformation of the material when only the piezoelectric actuator 2 is supplied with alternating current AC; when the electromagnetic actuator switch 5 is turned on (i.e. the electromagnetic actuator switch is turned on) at the same time, the electromagnetic actuator 1 receives another periodic sinusoidal force due to the lorentz force received by the magnet 11, and the whole vibration module receives two forces, namely, the main force of the vibration of the piezoelectric actuator 2 and the reaction force of the lorentz force received by the electromagnetic actuator 1. When the alternating current AC of the two circuits is closed, the whole flexible tactile force reproduction module of the electromagnetic actuator is not stressed any more. The force can be controlled by changing the input frequency of the piezoelectric actuator 2 and the electromagnetic actuator switch 5, the output precision is ensured simply and effectively, the adjustment of output vibration is realized through two vibration mechanisms, and the vibration amplitude range is enlarged.
Fig. 5 is an application diagram of the flexible tactile force reproduction device facing wearable tactile force feedback, when in use, as shown in fig. 5, a user a serves as a data acquisition end, a user B serves as a receiving end, the user a wears a sensing module and is beaten, arrows in the diagram are in stress distribution, stress is acquired in a data signal mode and is transmitted to a vibration module corresponding to the user B in real time through a wireless communication technology, a black point part in the diagram is a vibration reproduction part, and a vibration effect is triggered to complete transmission of tactile information.
Therefore, the flexible tactile force reproduction device facing to wearable tactile force feedback, which adopts the structure, has the advantages of simple structure and easiness in processing, realizes simulation and reproduction of human skin tactile sensation through the piezoelectric actuator and the reinforced execution mechanism, is convenient to control, and has high control precision.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the invention without departing from the spirit and scope of the invention.
Claims (5)
1. A flexible haptic force reproduction device oriented to wearable haptic force feedback, characterized by: comprises a plurality of vibration modules distributed in an array, hydrogel layers arranged on the outer sides of the vibration modules,
the vibration module comprises a piezoelectric actuator, a supporting flexible part, a flexible substrate and a reinforcing execution mechanism, wherein the reinforcing execution mechanism comprises an electromagnetic actuator and an electromagnetic actuator switch, the piezoelectric actuator is connected with a positive electrode and a negative electrode of a power supply and used for generating deformation, the piezoelectric actuator performs periodic up-and-down reciprocating vibration under the limitation of the supporting flexible part, the electromagnetic actuator used for increasing the vibration strength is fixed on the upper end surface of the piezoelectric actuator, the lower end surface of the piezoelectric actuator is fixed on the supporting flexible part, the supporting flexible part is a frame-shaped structure formed by cutting out the middle of an insulating material, the bottom of the supporting flexible part is fixedly connected with the flexible substrate, and the electromagnetic actuator switch is arranged at the bottom of the flexible substrate.
2. A flexible haptic force reproduction device facing wearable haptic force feedback according to claim 1, characterized by: the piezoelectric actuator is made of PVDF (polyvinylidene fluoride), the thickness of the PVDF is 15-30 microns, conductive layers are arranged on the upper surface and the lower surface of the PVDF, the thickness of the conductive layers is 20-50 nm, the two conductive layers are respectively connected with the positive electrode and the negative electrode of a power supply, and the PVDF performs periodic telescopic motion under the action of alternating current.
3. A flexible haptic force reproduction device facing wearable haptic force feedback according to claim 1, characterized by: the support flexible part and the flexible substrate are made of insulating materials, the support flexible part and the flexible substrate are obtained by cutting PET through a cutting technology, the shapes of the support flexible part, the flexible substrate and the piezoelectric actuator are kept consistent, a hollow part of the support flexible part is a space for the piezoelectric actuator to vibrate up and down, and the bending angle of the piezoelectric actuator and the support flexible part is 30-60 degrees.
4. A flexible haptic force replication device facing wearable haptic force feedback in accordance with claim 1, wherein: the electromagnetic actuator comprises a magnet and a plurality of springs, one end of each spring is circumferentially distributed around the magnet, the other end of each spring is fixedly connected with the edge of the piezoelectric actuator, and each spring is made of PDMS (polydimethylsiloxane), ECOFLEX or PET (polyethylene terephthalate).
5. A flexible haptic force replication device facing wearable haptic force feedback in accordance with claim 4, wherein: the electromagnetic actuator switch comprises an insulating sleeve and an electromagnetic coil, the electromagnetic coil and the magnet are oppositely arranged and fixed in the insulating sleeve, the insulating sleeve is bonded with the flexible substrate, and the insulating sleeve is made of PDMS.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011153826A (en) * | 2009-11-20 | 2011-08-11 | B L Auto Tec Kk | Tactile sensor |
| WO2014006336A2 (en) * | 2012-07-04 | 2014-01-09 | Commissariat à l'énergie atomique et aux énergies alternatives | Touch-sensitive navigation aid device |
| JP2015061345A (en) * | 2013-09-17 | 2015-03-30 | 株式会社ダイヘン | Vibration power generator and industrial robot |
| JP2016163854A (en) * | 2015-03-06 | 2016-09-08 | 株式会社東海理化電機製作所 | Vibration indicator |
| JP2017004261A (en) * | 2015-06-10 | 2017-01-05 | 株式会社東海理化電機製作所 | Vibration presentation device |
| WO2019049888A1 (en) * | 2017-09-05 | 2019-03-14 | 国立大学法人大阪大学 | Tactile sensor |
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- 2021-07-23 CN CN202110836936.8A patent/CN113467620B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011153826A (en) * | 2009-11-20 | 2011-08-11 | B L Auto Tec Kk | Tactile sensor |
| WO2014006336A2 (en) * | 2012-07-04 | 2014-01-09 | Commissariat à l'énergie atomique et aux énergies alternatives | Touch-sensitive navigation aid device |
| JP2015061345A (en) * | 2013-09-17 | 2015-03-30 | 株式会社ダイヘン | Vibration power generator and industrial robot |
| JP2016163854A (en) * | 2015-03-06 | 2016-09-08 | 株式会社東海理化電機製作所 | Vibration indicator |
| JP2017004261A (en) * | 2015-06-10 | 2017-01-05 | 株式会社東海理化電機製作所 | Vibration presentation device |
| WO2019049888A1 (en) * | 2017-09-05 | 2019-03-14 | 国立大学法人大阪大学 | Tactile sensor |
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