CN113607045B - Rough touch reproduction device and method and online shopping method based on rough touch reproduction - Google Patents
Rough touch reproduction device and method and online shopping method based on rough touch reproduction Download PDFInfo
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- CN113607045B CN113607045B CN202110884859.3A CN202110884859A CN113607045B CN 113607045 B CN113607045 B CN 113607045B CN 202110884859 A CN202110884859 A CN 202110884859A CN 113607045 B CN113607045 B CN 113607045B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/34—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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Abstract
The invention discloses a rough touch reappearing device and method and an online shopping method based on the rough touch reappearing, the rough touch reappearing device comprises a vibration motor, a bearing plate, an electrostrictive material, an optical fiber sensor, an optical fiber transmitter, a monitor, a power supply and a light source, wherein the bearing plate is tightly attached to the working surface of the vibration motor, the power supply supplies power to the vibration motor and the electrostrictive material through the monitor, the vibration motor enables the bearing plate to vibrate during working, the electrostrictive material generates wrinkles after being electrified, the wrinkles and the vibration of the bearing plate are compounded to simulate the rough touch, the rough touch of different degrees can be reappeared by adjusting the current intensity and the voltage frequency supplied to the vibration motor and the electrostrictive material, the reappeared rough touch is monitored in real time, errors are corrected after the rough touch is compared with the real rough touch, the rough touch is closer to the real touch, and the accurate reappearance of the rough touch is realized.
Description
Technical Field
The invention relates to the technical field of touch reproduction, in particular to a rough touch reproduction device and method and an online shopping method based on rough touch.
Background
The touch reappearance of the object has important significance for the fields of remote consumption shopping, improvement of the life of blind or visually-impaired people and teleoperation of robots. At present, people mainly judge the comfort of clothes according to clothes pictures and some characteristic data seen by eyes when people remotely shop the clothes. Because of the problems of the angle of picture shooting, the light difference and the incapability of quantifying the clothing characteristic data, the actual clothing touch feeling is often greatly different from the touch feeling of subjective judgment. In daily life, blind people or amblyopia people mainly sense the surrounding environment according to touch sense, and the object touch sense in the remote environment is reproduced through a remote object touch sense reproduction device, so that the life of the blind people or the amblyopia people can be improved. In some special cases, such as disaster rescue sites, extreme human environments, etc., a robot is required to replace human beings to complete work, but the operation precision requirement for controlling the robot to complete work is high. And the control precision of the operator can be improved by reproducing the touch characteristics of the object at the tail end of the robot actuator. Therefore, it is very significant to study the reproduction of the rough touch of an object.
Regarding a vibration method, a friction force changing method and an electrical stimulation method which are adopted for the reproduction of the rough touch feeling of an object at home and abroad at present, the vibration method respectively corresponds to reproduction elements of the rough touch feeling, namely the texture height and the element spacing, by changing the amplitude and the frequency of a vibration element, so that the rough touch feeling of the object is reproduced, but the reproduced touch feeling is single in texture; the variable friction method reproduces the rough feeling of an object by changing the friction force of the contact part of a human body and the touch interface at any time, but only has the touch feedback in the tangential direction and has larger required contact area; the electrical stimulation method directly stimulates the tactile receptors under the skin through weak current, controls the magnitude and frequency of the current, simulates bioelectric current, and reproduces the rough feeling, but easily causes the pricking feeling, has certain danger, and has strict requirements on the control of the current. The existing method for reproducing the rough touch feeling of the object is single and is mostly based on changing force and vibration. The rough touch of the object is not reproduced comprehensively from methods other than the change in force and vibration without combining multiple reproduction methods.
Chinese patent CN 101819462A discloses a force and touch reproduction system based on force/touch interaction equipment for virtual reality man-machine interaction, the surface height and the dynamic friction coefficient of the texture of an object at a contact point are obtained according to an image processing method, a contact force and friction model is established, and finally the texture contact force is fed back to an operator in real time through the force/touch interaction equipment, so that the force and touch expression and reproduction are realized.
Chinese patent CN 111338471A discloses a touch reappearing method and device integrating electrostatic force, air squeeze film and mechanical vibration, wherein the method and device change friction force according to the principle of electrostatic force and air squeeze film, change normal force feedback according to mechanical vibration, and further realize the simultaneous touch reappearance of object contour, texture and roughness by establishing a mapping model between image gradient, curvature and height characteristics and touch driving signal parameters.
Chinese patent CN 111813259a discloses a fingerstall type force touch device for a touch screen and a feedback control method thereof, which can reproduce the characteristics of hardness, friction, roughness and the like of the surface of a virtual object on the touch screen by changing the normal force, lateral force and vibration touch feedback of finger abdomens through a direct current motor and a piezoelectric actuator.
The above method uses the change of force and vibration as the basis of the reproduction of the tactile sensation, but the reproduced rough sensation has inaccuracy, and the dynamic change of the rough sensation cannot be perceived.
Disclosure of Invention
In view of the above, the present invention provides an apparatus and a method for accurately reproducing rough tactile sensation and a method for online shopping based on rough tactile sensation, which solve the technical problem of the prior art that rough tactile sensation cannot be accurately reproduced.
The invention provides a rough touch reproduction device with the following structure, which comprises a vibration motor, a bearing plate, an electrostrictive material, an optical fiber sensor, an optical fiber transmitter, a monitor, a power supply and a light source, wherein the bearing plate is arranged above the vibration motor and is tightly attached to a vibration point of the vibration motor, the electrostrictive material covers the upper surface of the bearing plate, the optical fiber sensor and the optical fiber transmitter are both arranged in the electrostrictive material, the optical fiber transmitter is in contact with the optical fiber sensor, the optical fiber transmitter collects central wavelength data of the optical fiber sensor and transmits the central wavelength data to the monitor, the power supply supplies power to the optical fiber transmitter, the vibration motor and the electrostrictive material through the monitor, and the bearing plate is provided with the light source for enabling the optical fiber sensor to receive light.
Optionally, the initial current intensity of the vibration motor and the initial current intensity of the electrostrictive material are set according to the rough tactile characteristic value, the central wavelength data of the optical fiber sensor represents the state change of the electrostrictive material, and the rough tactile corresponding to the rough tactile characteristic value is reproduced on the upper surface of the electrostrictive material.
Optionally, the optical fiber transmitter collects central wavelength data of the optical fiber sensor in real time, the monitor receives the central wavelength data of the optical fiber sensor, compares whether a rough tactile characteristic value corresponding to the central wavelength data is consistent with a real rough tactile characteristic value, and if not, changes the current intensity provided to the vibration motor or/and the current intensity of the electrostrictive material until an error between the reproduced rough tactile feeling and the real rough tactile feeling is eliminated, so as to realize real-time feedback correction of the control parameter and dynamic reproduction of the rough tactile feeling.
The second technical solution of the present invention is to provide a rough tactile sensation reproduction method, based on a rough tactile sensation reproduction device, when a rough tactile sensation is reproduced, according to a rough tactile sensation characteristic value, setting an initial current intensity and an initial frequency of a vibration motor and an initial current intensity of an electrostrictive material, directly stimulating a human body tactile sensation through different wrinkle degrees caused by contraction or extension of the electrostrictive material and vibration amplitudes of the vibration motor, wherein the different wrinkle degrees of the electrostrictive material and the different vibration amplitudes of the vibration motor are combined to reproduce rough tactile sensations of different degrees; and (3) contracting or stretching the optical fiber sensor arranged in the electrostrictive material, changing the center wavelength of the optical fiber sensor, comparing whether the rough touch characteristic value corresponding to the center wavelength value is consistent with the real rough touch, if not, correcting the control parameter, and continuing monitoring until the error between the reproduced rough touch and the real rough touch is eliminated.
Optionally, the specific recurring steps are as follows:
the method comprises the following steps: calculating the initial current intensity required to be provided for the electrostrictive material and the initial current intensity and the initial frequency of the vibration motor when the rough touch feeling of a certain object is reproduced according to the known characteristic value of the rough touch feeling of the certain object;
step two: the power supply is turned on to supply power to the vibrating motor and the electrostrictive material through the monitor, the vibrating motor starts to work to cause the bearing plate to vibrate, and the power supply enables the electrostrictive material to contract or stretch at the same time, so that a wrinkled covering layer is generated on the upper surface of the bearing plate, the optical fiber sensor arranged in the electrostrictive material is compressed or stretched, the central wavelength of the optical fiber sensor is changed, and the wrinkles of the covering layer and the vibration of the bearing plate are compounded to reproduce different degrees of roughness;
step three: the monitor monitors the central wavelength of the optical fiber sensor in the electrostrictive material, compares whether the rough touch characteristic value corresponding to the central wavelength value is consistent with the real rough touch, and if not, corrects the control parameter and continues monitoring until the error between the reproduced rough touch and the real rough touch is eliminated.
Alternatively, the characteristic value of the rough tactile sensation is measured by a rough tactile sensation quantification device, and the relation between the characteristic value of the rough tactile sensation and the initial current intensity supplied to the electrostrictive material and the initial current intensity and the initial frequency of the vibration motor is established through calculation or simulation.
Optionally, the abdomen of the user touches the covering layer on the bearing plate and slides in a friction manner, the rough tactile sensation characteristic value is changed, the initial current intensity or/and the initial frequency of the vibration motor and the initial current intensity of the electrostrictive material are/is adjusted, and the error between the reproduced rough tactile sensation characteristic value and the real rough tactile sensation is corrected through feedback until the error between the reproduced rough tactile sensation and the real rough tactile sensation is eliminated; the user thus feels a different rough touch.
The third technical scheme of the invention is to provide an online shopping method based on touch recurrence, a rough touch characteristic value is marked on an online shopping interface, a user performs touch recurrence on the rough touch characteristic value based on the rough touch recurrence device to assist selection and decision of textile goods, the rough touch characteristic value is simultaneously transmitted to a virtual reality system, a textile corresponding to the rough touch characteristic value is constructed in a virtual reality environment, and the touch and the vision are simultaneously recurrent to the user through the rough touch recurrence device and the virtual reality system, so that the user has experience of on-site touch and visual perception when purchasing the textile online.
Compared with the prior art, the invention has the following advantages: by adopting the invention, the current intensity of the vibrating motor and the current intensity of the electrostrictive material are set according to the rough touch characteristic value to reproduce the real rough touch, rather than judging the rough touch of the object through vision and object characteristics, and accurately reproducing the rough touch based on the vibration easy to control and the electrostrictive material, so that the invention can be applied to industries such as textiles and the like to realize the remote perception of the rough touch and can be applied to the auxiliary decision of online shopping.
Drawings
Fig. 1 is an isometric view of a rough tactile sensation reproduction apparatus of the present invention.
In the figure: the device comprises a vibration motor 1, a bearing plate 2, an electrostriction material 3, an optical fiber sensor 4, an optical fiber transmitter 5, a monitor 6, a power supply 7 and a light source 8.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The invention is intended to cover alternatives, modifications, equivalents, and alternatives that may be included within the spirit and scope of the invention. In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. Furthermore, the drawings of the present invention are for illustrative purposes and are not necessarily drawn to scale, nor are they necessarily drawn to scale.
As shown in fig. 1, the device capable of reproducing the rough touch of an object of the present invention includes a vibration motor 1, a bearing plate 2, an electrostrictive material 3, an optical fiber sensor 4, an optical fiber transmitter 5, a monitor 6, a power supply 7 and a light source 8, wherein the bearing plate 2 is disposed above the vibration motor 1 and is tightly attached to a vibration point of the vibration motor 1, the electrostrictive material 3 covers the upper surface of the bearing plate 2, the optical fiber sensor 4 and the optical fiber transmitter 5 are both disposed inside the electrostrictive material 3, the optical fiber transmitter 5 is in contact with the optical fiber sensor 4, the optical fiber transmitter 5 collects central wavelength data of the optical fiber sensor 4 and transmits the central wavelength data to the monitor 6, the power supply 7 supplies power to the optical fiber transmitter 5, the vibration motor 1 and the electrostrictive material 3 through the monitor 6, and the bearing plate 2 is configured with the light source 8 for receiving the optical fiber sensor 4.
As shown in fig. 1, when the power 7 supplies power to the vibration motor 1 and the electrostrictive material 3 through the monitor 6, the vibration motor 1 starts to work to cause the bearing plate 2 to vibrate, and simultaneously, the power 7 supplies power to cause the electrostrictive material 3 to contract or expand, so that a wrinkled covering layer is generated on the upper surface of the bearing plate 2, wherein the covering layer comprises the optical fiber transmitter 5 and the optical fiber sensor 4, the optical fiber transmitter 5 is in contact with the optical fiber sensor 4, the optical fiber transmitter 5 monitors the central wavelength of the optical fiber sensor 4 in real time and transmits the central wavelength into the monitor 6, and the central wavelength of the optical fiber sensor 4 is monitored by the monitor 6, and whether the rough tactile characteristic value corresponding to the value is consistent with the real rough tactile characteristic value is compared, if the central wavelength is not consistent, the current intensity supplied to the vibration motor 1 and the current intensity of the electrostrictive material 3 are changed until the error between the reproduced rough tactile feeling and the real rough tactile feeling is eliminated, thereby realizing the real-time feedback correction of the control parameters and the dynamic reproduction of the tactile feeling. The belly of a user touches the covering layer on the bearing plate 2 and slides in a friction mode, and the vibration amplitude and frequency of the vibration motor 1 under different current intensities and voltage frequencies and the contraction degree of the electrostrictive material 3 are different, so that the user can feel different roughness degrees, and the user lifts the finger to finish feeling after feeling.
The invention is further illustrated by the following specific example.
Selecting 5 typical samples with known rough touch characteristic values, calculating the rough touch characteristic value, the center wavelength of the corresponding optical fiber, and the current intensity required for providing the vibration motor when the rough touch characteristic value is calculated to reproduce the rough touch
And current intensity in electrostrictive material>
As shown in table 1.
Table 1: rough tactile property value, center wavelength of corresponding optical fiber and corresponding control parameter
| Sample numbering | 1 | 2 | 3 | 4 | 5 |
| Roughness characteristic value | 20 | 40 | 60 | 80 | 100 |
| Corresponding center wavelength (nm) | 800~850 | 850~900 | 900~950 | 950~1000 | 1000~1050 |
| I 1 (A) | 1.0 | 1.5 | 2.0 | 2.5 | 3.0 |
| I 2 (mA) | 450 | 500 | 550 | 600 | 650 |
Then, a power supply is turned on to supply power to the vibrating motor and the electrostrictive material through the monitor, the vibrating motor starts to work to cause the bearing plate to vibrate, meanwhile, the power supply enables the electrostrictive material to contract or stretch, a wrinkled covering layer is generated on the upper surface of the bearing plate, the optical fiber sensor is contracted or stretched, the center wavelength of the optical fiber sensor changes, whether the rough touch characteristic value corresponding to the center wavelength value is consistent with the real rough touch characteristic value or not is compared, if the rough touch characteristic value is not consistent with the real rough touch characteristic value, the control parameter is corrected, monitoring is continued until the error between the repeated rough touch feeling sensed by the fingers and the real rough touch feeling is eliminated, and the wrinkle of the covering layer and the vibration of the bearing plate are combined to reproduce rough touch feelings of different degrees. The user indicates the belly contact overburden on the loading board and the friction slip, because under different current strength and voltage frequency vibration amplitude, the frequency and the electrostrictive material shrink or the degree of stretching of vibrating motor are different, so the user can experience different roughness, lifts the finger after the impression finishes and finishes the impression, and control motor drives two-way lead screw and gets back to the initial position, closes the power, once the simulation finishes. It should be noted that the frequency setting is not necessary, and the frequency is generally fixed, so that the current intensity can be adjusted based on the feedback of the fiber sensor and the fiber transmitter to achieve the tactile feedback. But the addition of the frequency can bring further beneficial effects, and due to the addition of the frequency, more three-dimensional and real feeling can be brought to the reproduction of rough touch, so that the reproduction is enhanced from one dimension to two dimensions. Therefore, the feedback sensor of the optical fiber and the optical fiber transmitter can synchronously adjust the current intensity and the frequency.
The foregoing is illustrative of the preferred embodiments of the present invention only and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and its specific structure is allowed to vary. In general, all changes which come within the scope of the invention as defined by the independent claims are intended to be embraced therein.
Claims (8)
1. The utility model provides a coarse sense of touch recurrence device, includes vibrating motor (1), loading board (2), electrostrictive material (3), optical fiber sensor (4), optical fiber transmitter (5), monitor (6), power (7) and light source (8), its characterized in that: vibrating motor (1) top and hug closely with the vibration point of vibrating motor (1) are arranged in loading board (2), electrostrictive material (3) cover in loading board (2) upper surface, inside electrostrictive material (3) all were arranged in optical fiber sensor (4) and optical fiber transmitter (5), optical fiber transmitter (5) contacted with optical fiber sensor (4), optical fiber transmitter (5) are gathered central wavelength data of optical fiber sensor (4) spread into monitor (6), power (7) through monitor (6) to optical fiber transmitter (5), vibrating motor (1) and electrostrictive material (3) power supply, loading board (2) dispose light source (8) that are used for making optical fiber sensor (4) photic.
2. The rough tactile sensation reproduction apparatus according to claim 1, characterized in that: setting the initial current intensity of the vibration motor (1) and the initial current intensity of the electrostrictive material (3) according to the rough tactile characteristic value, wherein the central wavelength data of the optical fiber sensor (4) represents the state change of the electrostrictive material (3), and the rough tactile corresponding to the rough tactile characteristic value is reproduced on the surface of the electrostrictive material (3).
3. The rough tactile sensation reproduction apparatus according to claim 2, characterized in that: the optical fiber transmitter (5) collects central wavelength data of the optical fiber sensor (4) in real time, the monitor (6) receives the central wavelength data of the optical fiber sensor (4), compares whether a rough tactile characteristic value corresponding to the central wavelength data is consistent with a real rough tactile characteristic value, and if not, changes the current intensity supplied to the vibration motor (1) or/and the current intensity of the electrostrictive material (3) until an error between a reproduced rough tactile feeling and a real rough tactile feeling is eliminated, so that real-time feedback correction of control parameters and dynamic reproduction of the rough tactile feeling are realized.
4. A rough tactile sensation reproduction method based on the rough tactile sensation reproduction apparatus according to claim 1, characterized in that: when the rough touch feeling is reproduced, setting the initial current intensity and the initial frequency of the vibration motor (1) and the initial current intensity of the electrostrictive material (3) according to the characteristic value of the rough touch feeling, directly stimulating the human touch feeling through different wrinkle degrees caused by the contraction or the extension of the electrostrictive material (3) and the vibration amplitude of the vibration motor (1), and compounding the different wrinkle degrees of the electrostrictive material (3) and the different vibration amplitudes of the vibration motor to reproduce the rough touch feeling with different degrees; and the optical fiber sensor (4) arranged in the electrostrictive material (3) is contracted or stretched, the central wavelength of the optical fiber sensor is changed, whether the rough touch characteristic value corresponding to the central wavelength value is consistent with the real rough touch or not is compared, if not, the control parameter is corrected, and the monitoring is continued until the error between the reproduced rough touch and the real rough touch is eliminated.
5. The rough tactile impression reproduction method according to claim 3, characterized by the specific reproduction steps of:
the method comprises the following steps: calculating the initial current intensity required to be provided for the electrostrictive material and the initial current intensity and the initial frequency of the vibration motor when the rough touch feeling of a certain object is reproduced according to the known characteristic value of the rough touch feeling of the certain object;
step two: the power supply is turned on to supply power to the vibrating motor and the electrostrictive material through the monitor, the vibrating motor starts to work to cause the bearing plate to vibrate, and meanwhile, the power supply enables the electrostrictive material to contract or stretch so as to generate a wrinkled covering layer on the upper surface of the bearing plate, the optical fiber sensor arranged in the electrostrictive material is compressed or stretched, the central wavelength of the optical fiber sensor is changed, and the wrinkles of the covering layer and the vibration of the bearing plate are compounded to reproduce different degrees of roughness;
step three: the monitor monitors the central wavelength of the optical fiber sensor in the electrostrictive material, compares whether the rough touch characteristic value corresponding to the central wavelength value is consistent with the real rough touch, and if not, corrects the control parameter and continues monitoring until the error between the reproduced rough touch and the real rough touch is eliminated.
6. The rough tactile impression reproduction method according to claim 4 or 5, characterized in that: the characteristic value of the rough tactile sensation is obtained by testing the rough tactile sensation quantification device, and the relation between the characteristic value of the rough tactile sensation and the initial current intensity provided for the electrostrictive material (3) and the initial current intensity and the initial frequency of the vibration motor (1) is established through calculation or simulation.
7. The rough tactile impression reproduction method according to claim 4, characterized in that: the belly of a user touches the covering layer on the bearing plate (2) and slides in a friction mode, the rough tactile sensation characteristic value is changed, the initial current intensity or/and the initial frequency of the vibration motor (1) and the initial current intensity of the electrostrictive material (3) are adjusted, and the error between the repeated rough tactile sensation characteristic value and the real rough tactile sensation is corrected through feedback until the error between the repeated rough tactile sensation and the real rough tactile sensation is eliminated; the user thus feels a different rough touch.
8. A textile online shopping method based on rough touch reappearance is characterized by comprising the following steps: labeling a rough touch characteristic value on an online shopping interface, and carrying out touch reproduction on the rough touch characteristic value by a user based on the rough touch reproduction device of any one of claims 1-3 so as to assist the selection and decision of textile goods; the coarse touch characteristic value is simultaneously transmitted to the virtual reality system, the textile corresponding to the coarse touch characteristic value is constructed in the virtual reality environment, and the touch and the vision are simultaneously reproduced for a user through the coarse touch reproduction device and the virtual reality system, so that the user can have experience of on-site touch and visual perception when purchasing the textile on line.
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| JP2013182374A (en) * | 2012-03-01 | 2013-09-12 | Murata Mfg Co Ltd | Sense presenting device |
| CN109101111A (en) * | 2018-08-24 | 2018-12-28 | 吉林大学 | Merge the tactile sense reproduction method and device of electrostatic force, air press mold and mechanical oscillation |
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| JP2000250448A (en) * | 1999-03-02 | 2000-09-14 | Minolta Co Ltd | Virtual body presenting device |
| US9223431B2 (en) * | 2010-09-17 | 2015-12-29 | Blackberry Limited | Touch-sensitive display with depression detection and method |
| CN106793878B (en) * | 2014-09-30 | 2018-07-06 | 深圳市大耳马科技有限公司 | Posture and life sign monitor system and method |
| CN208313783U (en) * | 2018-05-16 | 2019-01-01 | 深圳市三上高分子环保新材料股份有限公司 | Measure the instrument of sense of touch film surface coefficient of friction |
| CN211554911U (en) * | 2020-03-16 | 2020-09-22 | 北京钛方科技有限责任公司 | Touch control equipment and supporting beam |
| CN112034145B (en) * | 2020-09-11 | 2022-07-26 | 中国计量大学 | Textile touch simulation device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013182374A (en) * | 2012-03-01 | 2013-09-12 | Murata Mfg Co Ltd | Sense presenting device |
| CN109101111A (en) * | 2018-08-24 | 2018-12-28 | 吉林大学 | Merge the tactile sense reproduction method and device of electrostatic force, air press mold and mechanical oscillation |
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