CN113941091A - Human-computer interaction touch recovery system and method thereof - Google Patents
Human-computer interaction touch recovery system and method thereof Download PDFInfo
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- CN113941091A CN113941091A CN202111281937.7A CN202111281937A CN113941091A CN 113941091 A CN113941091 A CN 113941091A CN 202111281937 A CN202111281937 A CN 202111281937A CN 113941091 A CN113941091 A CN 113941091A
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- 238000011084 recovery Methods 0.000 title claims abstract description 37
- 230000003993 interaction Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000000638 stimulation Effects 0.000 claims abstract description 24
- 239000004744 fabric Substances 0.000 claims description 13
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 11
- 239000004020 conductor Substances 0.000 claims description 11
- 239000000741 silica gel Substances 0.000 claims description 11
- 229910002027 silica gel Inorganic materials 0.000 claims description 11
- 230000002452 interceptive effect Effects 0.000 claims description 7
- 230000035807 sensation Effects 0.000 claims description 5
- 101100400452 Caenorhabditis elegans map-2 gene Proteins 0.000 description 22
- 239000004433 Thermoplastic polyurethane Substances 0.000 description 6
- 229920002803 thermoplastic polyurethane Polymers 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000015541 sensory perception of touch Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 229920004933 Terylene® Polymers 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000005020 polyethylene terephthalate Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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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
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Electrotherapy Devices (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a human-computer interaction touch recovery system and a method thereof, wherein the system comprises an artificial skin (1) for sensing external touch, a projection map (2) for triggering current, and a processor (3) for connecting the projection map (2) and the artificial skin (1), wherein the processor (3) is used for receiving a contact signal of the artificial skin (1) and controlling the electrical stimulation output of a corresponding position on the projection map (2); the method comprises the steps of installing the projection map (2) on the skin where a user can normally sense stimulation, and connecting the artificial skin (1) with the projection map (2) through the processor (3) to enable the sensing position of the artificial skin (1) to correspond to the stimulation position on the projection map (2) one by one; when external force is applied to any position of the artificial skin (1), the corresponding position on the projection map (2) sends current stimulation to the skin of the human body, and the touch recovery is realized. The invention has the characteristics of simple operation, simple structure and convenient wearing.
Description
Technical Field
The invention relates to a touch recovery system, in particular to a human-computer interaction touch recovery system and a method thereof.
Background
For the disabled people, when the artificial limb is used to control the article taking, the artificial limb using the muscle electric signal or the artificial limb based on the BCI brain-computer interface is commonly used, the patient can determine the holding force of the article to be held by adopting a visual or estimation method, the fine control is difficult, the estimation deviation is easy to occur, the fragile article is damaged or the heavy article is difficult to be held, and the article is very troublesome to hold.
In the existing touch reappearing method, the friction power generation structure and the discharge structure are combined, so that when the touch reappearing device is touched by external force, the external force can enable the friction power generation structure to output an electric signal to the discharge structure, and the discharge structure discharges to human skin according to the electric signal, so that the human skin can realize reappearance of external force touch while sensing electric stimulation, and thus touch reappearance is realized. However, the friction power generation structure needs to generate power through friction, certain friction action exists, when friction does not occur, electric signals cannot be generated, and electricity cannot be discharged to the skin, so that the operation of discharging is needed to be realized, the arranged friction discharge structure and the discharge structure are installed together through the buffer layer, the size is large, the whole system is complex and redundant, the wearing of a human body is inconvenient, and the human body with disabled limbs is particularly inconvenient.
Therefore, the conventional tactile reproduction method has the problems of troublesome operation, complicated structure and inconvenience in wearing.
Disclosure of Invention
The invention aims to provide a human-computer interaction haptic recovery system and a method thereof. The invention has the characteristics of simple operation, simple structure and convenient wearing.
The technical scheme of the invention is as follows: a human-computer interaction tactile sense recovery system comprises an artificial skin used for sensing external tactile senses, a projection map used for triggering current, and a processor connected with the projection map and the artificial skin, wherein the processor is used for receiving contact signals of the artificial skin and controlling electrical stimulation output of corresponding positions on the projection map.
In the human-computer interaction touch recovery system, the artificial skin comprises a lower flexible touch layer, and a first silica gel layer, a TPU layer and a second silica gel layer are sequentially arranged on the surface of the lower flexible touch layer.
In the human-computer interaction touch recovery system, an upper flexible touch layer is further arranged between the first silica gel layer and the TPU layer, the upper flexible touch layer corresponds to low-current stimulation, and the lower flexible touch layer corresponds to high-current stimulation.
In the human-computer interaction haptic recovery system, the projection map includes an elastic base cloth, and projection contacts for individual discharge are uniformly distributed on the elastic base cloth.
In the human-computer interaction haptic recovery system, the projecting contact includes an upper shell and a lower shell which are connected by a conductor and are spliced with each other up and down, an installation gap for the elastic base cloth to pass through is formed between the upper shell and the lower shell, the upper end of the conductor passes through the upper shell to form a signal interface connected with the processor, and one surface of the lower shell, which is in contact with the skin, is a conductive surface in contact with the conductor.
In the aforementioned human-computer interaction haptic recovery system, the projecting contact includes a plurality of inner contacts and an outer contact surrounding the outer circle of the inner contacts, the inner contacts are connected with the positive electrodes of the electrodes, and the outer contact is grounded.
In the human-computer interaction touch recovery system, the processor comprises an electrical box, a battery and a central control module are arranged in the electrical box, and flat cables connected with artificial skin and a projection map are respectively arranged on two sides of the electrical box.
A human-computer interaction touch recovery method comprises the steps of providing the human-computer interaction touch recovery system, installing a projection map at the skin where a user can normally sense stimulation, and connecting an artificial skin with the projection map through a processor to enable the sensing position of the artificial skin to correspond to the stimulation position on the projection map one by one; when external force is applied to any position of the artificial skin, the corresponding position on the projection map sends current stimulation to the human skin, and the touch recovery is realized.
In the human-computer interaction touch recovery method, when an external force is transmitted to the upper flexible touch layer from top to bottom, the upper flexible touch layer sends out a touch signal, and the processor controls the corresponding projection contact on the projection map to send out a low current after receiving the touch signal, and the current intensity is increased along with the pushing of the pressure duration or the increase of the pressure; when the external force is continuously transmitted downwards to the lower flexible touch layer, the lower flexible touch layer sends out a pain sense signal, and after the processor receives the pain sense signal, the processor controls the corresponding projection contact on the projection map to send out high current, and the current intensity is increased along with the pushing of the pressure duration or the increase of the pressure.
In the aforementioned method for restoring tactile sensation of human-computer interaction, the maximum current intensity of the low current is less than the minimum current intensity of the high current.
Compared with the prior art, the artificial skin directly senses the touch sense, the resistance change formed by the pressure change senses the touch sense on the artificial skin and sends the touch sense to the processor, then the processor sends a current stimulation command to the radial map, and finally the radial map gives current stimulation at the corresponding position, so that the touch sense recovery is realized. The system has the advantages of simple structure, convenience in maintenance, sensitive induction, convenience in wearing and installation for users, no influence on normal life of the users, easiness in acceptance and adaptation of the disabled, strong applicability and wide application range.
Therefore, the invention has the characteristics of simple operation, simple structure and convenient wearing.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a projected map;
FIG. 3 is a perspective view of a projecting contact;
fig. 4 is a schematic plan view of the projecting contact.
The labels in the figures are: 1. artificial skin; 11. a lower flexible touch layer; 12. a first silica gel layer; 13. an upper flexible touch layer; 14. a TPU layer; 15. a second silica gel layer; 2. projecting a map; 21. an elastic base fabric; 22. projecting a contact; 23. an upper housing; 24. a lower housing; 25. an electrical conductor; 251. a signal interface; 26. installing a gap; 27. a conductive surface; 28. an inner contact; 29. an outer contact; 3. a processor; 31. an electrical box; 32. and (4) arranging wires.
Detailed Description
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention.
Example (b):
as shown in fig. 1 to 4, a human-computer interactive tactile sensation recovery system comprises an artificial skin 1 for sensing an external tactile sensation, a projected map 2 for triggering an electric current, and a processor 3 connected to the projected map 2 and the artificial skin 1, wherein the processor 3 is used for receiving a contact signal of the artificial skin 1 and controlling an electric stimulation output at a corresponding position on the projected map 2. The processor may identify a specific contact position from the artificial skin 1 to control the projected map 2 to output electrical stimulation at the corresponding coordinate position in an equal scale. The processor can adopt STM32 or a single chip microcomputer with higher information processing capability as long as the processing process in the invention can be completed.
The artificial skin 1 comprises a lower flexible touch layer 11, and a first silica gel layer 12, an upper flexible touch layer 13, a TPU layer 14 and a second silica gel layer 15 are sequentially arranged on the surface of the lower flexible touch layer 11. The lower flexible touch layer 11 and the upper flexible touch layer 13 are connected to the bus lines 32 of the processor 3, respectively, to provide information. The lower flexible touch layer 11 and the upper flexible touch layer 13 can sense pressure and convert the pressure into a signal by sensing a resistance change of a touch point, which is the prior art and is not described herein again. The upper flexible touch layer 13 is a touch sensing area and used for sensing slight touch, a low-current stimulus is triggered, the lower flexible touch layer 11 on the bottom layer is a pain sensing area and used for sensing pain, a high-current stimulus is triggered, when external force is transmitted to the upper flexible touch layer 13 from top to bottom, the upper flexible touch layer 13 sends out a touch signal, and after receiving the touch signal, the processor 3 controls the corresponding projection contact 22 on the projection map 2 to send out a low current and increase the current intensity along with the pushing of the pressure duration or the increase of the pressure. When the external force continues to be transmitted downwards to the lower flexible touch layer 11, the lower flexible touch layer 11 sends out a pain sense signal, and after the processor 3 receives the pain sense signal, the corresponding projected contact 22 on the projected map 2 is controlled to send out high current, and the current intensity is increased along with the advance of the pressure duration or the increase of the pressure.
The projection map 2 comprises an elastic base cloth 21, projection contacts 22 for independent discharge are uniformly distributed on the elastic base cloth 21, and the position distribution of the projection contacts 22 on the projection map 2 corresponds to the position of each contact point of the artificial skin 1 in an equal proportion. Specifically, the distribution of the positions of the projecting contacts 22 and the distribution of the positions of each contact point of the artificial skin 1 may be in a matrix pattern.
The elastic base fabric 21 can be made of terylene fabric, has good strength, elasticity and insulativity, changes shape and size according to the specific fit position of a human body, and is closely and fittingly fit with the skin of the human body. When the device is used, the elastic base cloth 21 can be installed on the clamping ring, then the clamping ring is sleeved on the broken limb of the physically disabled person, each projection contact 22 is tightly attached to the cross section of the broken limb, the wearing and the use of the physically disabled person are facilitated, and the comfort level is high.
The projecting contact 22 comprises an upper shell 23 and a lower shell 24 which are connected through a conductor 25 and are spliced with each other up and down, a mounting gap 26 for the elastic base cloth 21 to pass through is formed between the upper shell 23 and the lower shell 24, the upper end of the conductor 25 passes through the upper shell 23 to form a signal interface 251 connected with the processor 3, and one surface of the lower shell 24, which is contacted with the skin, is a conductive surface 27 contacted with the conductor 25. The electrical conductor 25 may be an electrical pin.
The projecting contacts 22 comprise a plurality of inner contacts 28 and an outer contact 29 surrounding a ring outside the inner contacts 28, the inner contacts 28 being connected to the positive pole of the electrode, the outer contact 29 being connected to ground. The current loops through the inner contact 28, through the skin, and then back to the outer contact 29.
The processor 3 comprises an electrical box 31, a battery and a central control module are arranged in the electrical box 31, and flat cables 32 connected with the artificial skin 1 and the projection map 2 are respectively arranged on two sides of the electrical box 31. The flat cable interface is a pwm interface or an analog output interface.
A human-computer interaction touch recovery method comprises the steps of providing the human-computer interaction touch recovery system, installing a projection map 2 at the skin where a user can normally sense stimulation, and connecting an artificial skin 1 with the projection map 2 through a processor 3 to enable the sensing position of the artificial skin 1 to correspond to the stimulation position on the projection map 2 one by one; when an external force is applied to any position of the artificial skin 1, the corresponding projection contact 22 on the projection map 2 sends current stimulation to the human skin, and the touch sense recovery is realized.
When external force is transmitted to the upper flexible touch layer 13 from top to bottom, the upper flexible touch layer 13 sends out a touch signal, and after receiving the touch signal, the processor 3 controls the corresponding projection contact 22 on the projection map 2 to send out low current and increase the current intensity along with the pushing of the pressure duration or the increase of the pressure; when the external force continues to be transmitted downwards to the lower flexible touch layer 11, the lower flexible touch layer 11 sends out a pain sense signal, and after the processor 3 receives the pain sense signal, the corresponding projected contact 22 on the projected map 2 is controlled to send out high current, and the current intensity is increased along with the advance of the pressure duration or the increase of the pressure.
The maximum amperage of the low current is less than the minimum amperage of the high current. For example, the intensity range of the low current is A1-A2, and the intensity range of the high current is A3-A4, then A3 is larger than A2.
During practical application, the size of projecting map 2 is not limited, can adjust according to user's in service behavior, can place projecting map 2 in any one position that can normally perceive of user's health, realizes limbs disabled person's sense of touch and resumes, can wrap up whole user's health even, realizes the immersive experience application on the VR. When the artificial limb is applied to a disabled person, firstly, the artificial limb is improved, when the artificial limb framework is prepared, a film is wrapped outside the artificial limb framework, the artificial skin 1 is wrapped outside the film, then, TPU (thermoplastic polyurethane) materials and silica gel are arranged outside the artificial skin 1, the artificial skin is formed after modification, the projection map 2 is placed at the connecting end of the artificial limb, and the artificial skin 1 is connected with the projection map 2 through the processor 3. When the patient wears the prosthesis, the projected map 2 of the end of the prosthesis will be close to the skin where the severed limb heals. The processor 3 is provided with a central control module, a central artificial limb action processing chip electromyographic signal processing chip and a server for control. The processor 3 may be charged via a USB-C interface or wirelessly.
When the artificial limb contacts an external object, the artificial skin 1 directly feeds back the sensed pressure condition to the processor 3, the processor 3 controls the current stimulation corresponding to the projection contact 22 on the projection map 2, and the projection map 2 triggers the current to discharge to the skin of the human body, so that the skin of the human body senses the corresponding electrical stimulation when the external force acts, and the touch recovery is realized.
The human body can also obtain the touch feeling of the machine surface, no invasive operation is needed, and the use is convenient.
Claims (10)
1. A human-computer interaction haptic recovery system, comprising: the touch control circuit comprises an artificial skin (1) used for sensing external touch, a projection map (2) used for triggering current, and a processor (3) connected with the projection map (2) and the artificial skin (1), wherein the processor (3) is used for receiving a touch signal of the artificial skin (1) and controlling electrical stimulation output of a corresponding position on the projection map (2).
2. A human-computer interactive haptic recovery system according to claim 1, wherein: the artificial skin (1) comprises a lower flexible touch layer (11), and a first silica gel layer (12), a TPU layer (14) and a second silica gel layer (15) are sequentially arranged on the surface of the lower flexible touch layer (11).
3. A human-computer interactive haptic recovery system according to claim 2, wherein: still be equipped with flexible touch layer (13) between first silica gel layer (12) and TPU layer (14), it is amazing that last flexible touch layer (13) correspond the low current, and flexible touch layer (11) correspond the high current down and amazing.
4. A human-computer interactive haptic recovery system according to claim 1, wherein: the projection map (2) comprises elastic base cloth (21), and projection contacts (22) for single discharge are uniformly distributed on the elastic base cloth (21).
5. A human-computer interaction haptic recovery system according to claim 4, wherein: the projecting contact (22) comprises an upper shell (23) and a lower shell (24) which are connected through a conductor (25) and are spliced with each other up and down, a mounting gap (26) for the elastic base cloth (21) to pass through is formed between the upper shell (23) and the lower shell (24), the upper end of the conductor (25) passes through the upper shell (23) to form a signal interface (251) connected with the processor (3), and one surface of the lower shell (24) contacted with the skin is a conductive surface (27) contacted with the conductor (25).
6. A human-computer interaction haptic recovery system according to claim 4, wherein: the projecting contact (22) comprises a plurality of inner contacts (28) and an outer contact (29) which surrounds the outer circle of the inner contacts (28), the inner contacts (28) are connected with the positive pole of the electrode, and the outer contact (29) is grounded.
7. A human-computer interactive haptic recovery system according to claim 1, wherein: the processor (3) comprises an electrical box (31), a battery and a central control module are arranged in the electrical box (31), and flat cables (32) connected with the artificial skin (1) and the projection map (2) are respectively arranged on two sides of the electrical box (31).
8. A human-computer interaction haptic recovery method is characterized in that: the tactile sensation recovery system comprises a human-computer interaction tactile sensation recovery system provided according to any one of claims 1 to 7, a projection map (2) is arranged on the skin of a user where the user can normally sense stimulation, the artificial skin (1) is connected with the projection map (2) through a processor (3), and the sensing position of the artificial skin (1) corresponds to the stimulation position on the projection map (2) in a one-to-one mode; when external force is applied to any position of the artificial skin (1), the corresponding position on the projection map (2) sends current stimulation to the skin of the human body, and the touch recovery is realized.
9. A human-computer interactive haptic recovery system according to claim 8, wherein: when external force is transmitted to the upper flexible touch layer (13) from top to bottom, the upper flexible touch layer (13) sends out a touch signal, the processor (3) controls the corresponding projection contact (22) on the projection map (2) to send out low current after receiving the touch signal, the current intensity is increased along with the pushing of the pressure duration or the increasing of the pressure, the lower flexible touch layer (11) sends out a pain sense signal when the external force is continuously transmitted to the lower flexible touch layer (11) downwards, and the processor (3) controls the corresponding projection contact (22) on the projection map (2) to send out high current after receiving the pain sense signal, and the current intensity is increased along with the pushing of the pressure duration or the increasing of the pressure.
10. A human-computer interactive haptic recovery system according to claim 9, wherein: the maximum amperage of the low current is less than the minimum amperage of the high current.
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| CN202111281937.7A CN113941091A (en) | 2021-11-01 | 2021-11-01 | Human-computer interaction touch recovery system and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111281937.7A CN113941091A (en) | 2021-11-01 | 2021-11-01 | Human-computer interaction touch recovery system and method thereof |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4852586A (en) * | 1988-02-26 | 1989-08-01 | Haines Bernard M | Sensory transmitting membrane device |
| WO2005117768A1 (en) * | 2004-06-04 | 2005-12-15 | Isabelle Prenat | Remote tactile sensory perception system |
| CN105278680A (en) * | 2014-07-15 | 2016-01-27 | 意美森公司 | Systems and methods to generate haptic feedback for skin-mediated interactions |
| CN106344212A (en) * | 2016-08-23 | 2017-01-25 | 清华大学 | Artificial skin based on liquid metal sensing |
| US20180292279A1 (en) * | 2015-11-25 | 2018-10-11 | Nanyang Technological University | Pressure sensing electronic device, methods of forming and operating the same |
| CN110058738A (en) * | 2019-04-11 | 2019-07-26 | 清华大学深圳研究生院 | A kind of flexible touch sensing of ionic |
| CN112162632A (en) * | 2020-09-18 | 2021-01-01 | 北京纳米能源与系统研究所 | Touch reproduction method and device |
-
2021
- 2021-11-01 CN CN202111281937.7A patent/CN113941091A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4852586A (en) * | 1988-02-26 | 1989-08-01 | Haines Bernard M | Sensory transmitting membrane device |
| WO2005117768A1 (en) * | 2004-06-04 | 2005-12-15 | Isabelle Prenat | Remote tactile sensory perception system |
| CN105278680A (en) * | 2014-07-15 | 2016-01-27 | 意美森公司 | Systems and methods to generate haptic feedback for skin-mediated interactions |
| US20180292279A1 (en) * | 2015-11-25 | 2018-10-11 | Nanyang Technological University | Pressure sensing electronic device, methods of forming and operating the same |
| CN106344212A (en) * | 2016-08-23 | 2017-01-25 | 清华大学 | Artificial skin based on liquid metal sensing |
| CN110058738A (en) * | 2019-04-11 | 2019-07-26 | 清华大学深圳研究生院 | A kind of flexible touch sensing of ionic |
| CN112162632A (en) * | 2020-09-18 | 2021-01-01 | 北京纳米能源与系统研究所 | Touch reproduction method and device |
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