CN114942695A - Flexible multi-modal touch presentation device and system based on fluid driving - Google Patents
Flexible multi-modal touch presentation device and system based on fluid driving Download PDFInfo
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Abstract
The invention relates to a flexible multi-mode tactile presentation device and a system based on fluid driving, belonging to the field of tactile feedback devices.
Description
Technical Field
The invention relates to the field of tactile feedback devices, in particular to a flexible multi-modal tactile presentation device and system based on fluid driving.
Background
The sense of touch is called the mother of sensation and is an important channel for human to communicate with the outside world. When people interact with the nature, the touch sense plays irreplaceable roles all the time, touch sense information such as textures, cold and hot, soft and hard and the like can be sensed by the human body only through touch, and more complex emotional communication of human beings also needs to be realized through touch. The existing tactile information presentation device mostly adopts a single tactile information presentation channel, such as the independent presentation of texture, temperature and softness, which cannot provide rich and vivid tactile experience for users, and is mainly embodied in the following three aspects:
(1) in the process of presenting a tactile information channel, each tactile modality needs to be presented by a corresponding driving scheme, and since the presentation of multiple tactile modalities often needs different driving principles or driving logics and is limited by the volume size of a tactile feedback device and the number of power sources, most of the existing tactile information presentation devices can only present one tactile modality of texture, temperature and softness, and it is difficult to implement the presentation of multiple tactile modalities under the conditions of a small volume and one to two power sources.
(2) Information fusion presentation among multiple modalities requires that each haptic modality has the ability of independently presenting haptic information, and decoupling of three haptic modalities, namely texture, temperature and softness, is difficult to achieve due to possible mutual influence among the multiple modalities, which puts high requirements on information fusion presentation among the multiple modalities.
(3) The existing fluid-driven texture presenting devices mostly adopt rigid or semi-flexible devices, and are difficult to present textures of flexible materials and touch feeling of imitating soft materials, such as textures of flexible materials like skin, pillows and the like.
Therefore, there is a need to develop a flexible multi-modal tactile display device driven by fluid to satisfy the requirement of displaying multiple tactile information of flexible material, texture, temperature and softness.
Disclosure of Invention
The invention aims to provide a flexible multi-mode tactile presentation device and system based on fluid driving, which can realize decoupling control and presentation of three tactile modes, namely texture, temperature and softness, only through the driving of fluid.
In order to achieve the purpose, the invention provides the following scheme:
a flexible multi-modal touch presentation device based on fluid driving comprises a flexible thin film layer, a texture presentation layer and a flexible substrate layer which are sequentially arranged from top to bottom;
the flexible film layer and the texture presenting layer form a closed fluid temperature presenting cavity, and fluid is arranged in the fluid temperature presenting cavity;
the texture presenting layer and the flexible substrate layer form a closed fluid pressure adjusting channel;
the independent presentation and the fusion presentation of textures, temperature and softness are realized by conveying fluids with different temperatures or fluids with different input quantities to the fluid temperature presentation cavity channels or adjusting the cavity pressure of the fluid pressure adjusting channels.
Preferably, the flexible film layer is made of soft silicone rubber material.
Preferably, the texture presenting layer is made of flexible materials and presents a plurality of different three-dimensional texture appearances.
Preferably, the texture adjusting method comprises the following steps: controlling a chamber pressure of the fluid pressure regulating passage;
the temperature regulation mode comprises the following steps: conveying quantitatively mixed cold and hot fluid to the fluid temperature display cavity;
the adjusting mode of the softness comprises the following steps: the stiffness of the texture-presenting layer is changed.
A flexible multi-modal haptic presentation system based on fluid actuation, the system comprising: the device comprises a hydraulic circuit, a temperature sensor, a pressure sensor, a controller and the flexible multi-mode tactile presentation device;
the signal output end of the temperature sensor and the signal output end of the pressure sensor are both connected with the signal input end of the controller; the temperature sensor is used for measuring the temperature in a fluid temperature presentation cavity in the flexible multi-mode tactile presentation device and transmitting the temperature to the controller; the pressure sensor is used for measuring the pressure in a fluid temperature presentation cavity in the flexible multi-modal tactile presentation device and transmitting the pressure to the controller;
the control end of the hydraulic circuit is connected with the signal output end of the controller, and the fluid port of the hydraulic circuit is connected with the fluid temperature presenting cavity; the controller is used for controlling the hydraulic circuit to quantitatively introduce cold fluid and/or hot fluid into the fluid temperature presenting cavity according to the temperature and the pressure, or quantitatively extracting the fluid from the fluid temperature presenting cavity, and adjusting the temperature and/or the pressure of the fluid temperature presenting cavity.
Preferably, the hydraulic circuit comprises: a cold fluid input circuit, a hot fluid input circuit and a fluid output circuit;
the control ends of the cold fluid input circuit, the hot fluid input circuit and the fluid output circuit are all connected with the controller, and the fluid ports of the cold fluid input circuit, the hot fluid input circuit and the fluid output circuit are all connected with the fluid temperature display cavity channel.
Preferably, the cold fluid input circuit and the hot fluid input circuit each comprise: the device comprises a first driver, a first micro pump, a first electromagnetic valve and a first guide valve;
the control end of the first micro pump is connected with the signal output end of the controller through a first driver;
the input end of the first micro pump is used for introducing cold fluid and/or hot fluid, the output end of the first micro pump is connected with the input end of the first guide valve through the first electromagnetic valve, and the output end of the first guide valve is connected with the fluid temperature presenting cavity channel; the first micropump is used for conveying cold fluid and/or hot fluid to the fluid temperature display cavity channel under the control of the controller and through the driving of the first driver.
Preferably, the fluid output circuit comprises: the second driver, the second micropump, the second electromagnetic valve and the second guide valve;
the control end of the second micro pump is connected with the signal output end of the controller through a second driver;
the input end of the second micro pump is connected with the output end of a second guide valve through a second electromagnetic valve, and the input end of the second guide valve is connected with the fluid temperature display cavity channel; the second micropump is used for pumping the fluid from the fluid temperature display cavity channel under the control of the controller and driven by the first driver.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a flexible multi-mode tactile presentation device and a system based on fluid driving, wherein the flexible multi-mode tactile presentation device comprises a three-layer flexible structure and two fluid channels, the three-layer flexible structure comprises a flexible film layer, a texture presentation layer and a flexible substrate layer, the two fluid channels comprise a fluid temperature presentation channel and a fluid pressure adjusting channel, and the decoupling control and presentation of three tactile modes of texture, temperature and softness are realized by conveying fluids with different temperatures or fluids with different input quantities to the fluid temperature presentation channel or adjusting the cavity pressure of the fluid pressure adjusting channel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a flexible multi-modal haptic rendering device based on fluid actuation according to embodiment 1 of the present invention;
FIG. 2 is a schematic cross-sectional view taken along section A-A of FIG. 1;
FIG. 3 is a schematic diagram of an initial three-dimensional texture profile of a texture presenting layer provided in embodiment 1 of the present invention; FIG. 3(a) is a schematic view of a first initial three-dimensional texture feature, FIG. 3(b) is a schematic view of a second initial three-dimensional texture feature, and FIG. 3(c) is a schematic view of a third initial three-dimensional texture feature;
FIG. 4 is a schematic diagram of the height variation of the initial three-dimensional texture feature of FIG. 3; FIG. 4(a) is a schematic view of a variation in height of a first initial three-dimensional texture feature, FIG. 4(b) is a schematic view of a variation in height of a second initial three-dimensional texture feature, and FIG. 4(c) is a schematic view of a variation in height of a third initial three-dimensional texture feature;
FIG. 5 is a schematic diagram of the variation in width of the initial three-dimensional texture feature of FIG. 3; FIG. 5(a) is a schematic diagram of a width variation of a first initial three-dimensional texture feature, FIG. 5(b) is a schematic diagram of a width variation of a second initial three-dimensional texture feature, and FIG. 5(c) is a schematic diagram of a width variation of a third initial three-dimensional texture feature;
FIG. 6 is a schematic diagram of texture height rendering provided in embodiment 1 of the present invention; FIG. 6(a) is a schematic diagram showing the height of the texture before decompression, and FIG. 6(b) is a schematic diagram showing the height of the texture after decompression;
fig. 7 is a schematic view of a temperature mode presentation provided in embodiment 1 of the present invention; fig. 7(a) is a schematic view showing a temperature mode after cold fluid input, and fig. 7(b) is a schematic view showing a temperature mode after hot fluid input;
fig. 8 is a schematic view of a softness modality presentation provided in embodiment 1 of the present invention; FIG. 8(a) is a schematic view showing a softness mode before adjustment, FIG. 8(b) is a schematic view showing a softness mode after increasing a cavity pressure of a fluid pressure adjustment channel, and FIG. 8(c) is a schematic view showing a softness mode after applying an external stimulus;
fig. 9 is a schematic structural diagram of a flexible multi-modal haptic rendering system based on fluid actuation provided in embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a flexible multi-mode tactile presentation device and system based on fluid driving, which can realize the decoupling control and presentation of three tactile modes of texture, temperature and softness only through the driving of fluid.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
The touch sense is one of the most important sensory functions of human perception, not only endows people with the capability of interacting with the physical world, but also greatly enriches the daily life of people, and plays an important role in wide applications such as robots, wearable equipment, medical care and the like. In the real world, humans constantly interact with the outside world, where haptic interaction plays a very important role, such as: the touch information presentation device plays an irreplaceable role in the aspects of interaction between the blind and the outside, virtual shopping sensing of commodity texture and the like. However, the existing haptic information presentation devices mostly adopt a single haptic information presentation channel, such as the individual presentation of texture, temperature, and softness, and cannot provide rich and realistic haptic experience for users. To solve this problem, the embodiment of the present invention provides a flexible multi-modal tactile sensation presenting device based on fluid driving, as shown in fig. 1, which includes a flexible film layer, a texture presenting layer and a flexible substrate layer arranged in sequence from top to bottom. The flexible film layer and the texture presenting layer form a closed fluid temperature presenting cavity, and the fluid is arranged in the fluid temperature presenting cavity. The texture-presenting layer and the flexible substrate layer form a closed fluid pressure regulating channel. The independent presentation and the fusion presentation of textures, temperature and softness are realized by conveying fluids with different temperatures or fluids with different input quantities to the fluid temperature presentation cavity channels or adjusting the cavity pressure of the fluid pressure adjusting channels.
As shown in fig. 2, the texture-rendering device is composed of a three-layer flexible structure and two fluid channels, wherein the three-layer flexible structure comprises: flexible thin film layer, texture present layer, flexible base layer, two fluidic channels include: the fluid temperature presentation channel and the fluid pressure adjusting channel realize fusion presentation of three tactile modalities of texture, temperature and softness, and are particularly suitable for application scenes facing virtual reality and augmented reality.
In order to meet the requirement of presenting flexible material textures, the flexible film layer is made of soft silicon rubber materials.
The texture presenting layer is made of a flexible material, the texture presenting layer and the texture substrate can be prepared through a 3D printing or casting process, and different degrees of ductility and initial softness can be presented by using 3D printing or casting materials made of different flexible materials. And displaying various different initial three-dimensional texture morphologies through the structure design of the differentiated texture displaying layer.
The texture adjusting mode comprises the following steps: the chamber pressure of the fluid pressure regulating passage is controlled. Referring to fig. 3, fig. 3(a), (b) and (c) show various initial three-dimensional texture features, and by controlling the pressure in the fluid pressure regulation channel, various feature changes of the texture presenting layer can be driven, for example, fig. 4(a) realizes the height change of the convex tooth-shaped structure, fig. 5(a) realizes the width change of the convex tooth-shaped structure, and since the fluid always expands in the direction of smaller rigidity, by changing the rigidity difference between the side wall and the top end of the convex tooth-shaped structure, the radial and axial expansion of the convex tooth-shaped structure can be controlled in the same liquid cavity. The liquid level height of the fluid is adjusted by controlling the cavity pressure, and as shown in fig. 6, the large-range normal scale regulation and presentation of the texture are realized.
The temperature regulation mode comprises the following steps: and conveying quantitatively mixed cold and hot fluid to the fluid temperature display cavity. The quantitative mixing of the cold liquid and the hot liquid can generate any temperature between the cold liquid and the hot liquid, and the capacity of adjusting the temperature of the fluid is achieved. As shown in FIG. 7, this approach enables temperature presentation of haptic devices of varying strengths, where the fluid used to effect heat transfer is divided into liquids and gases, including but not limited to liquid water, air, liquid metals, and other fluid media.
The adjusting mode of the softness comprises the following steps: the stiffness of the texture-presenting layer is changed. The flexibility is independently adjustable, different flexibility presenting devices decoupled with temperature are provided, the flexibility change of the texture surface can be realized by changing the rigidity of the texture presenting layer, and the rigidity change of the texture presenting layer realizes the principle, including but not limited to fluid pressure change, magnetorheological fluid, dielectric elastomer and other modes. As shown in fig. 8, when the user's finger presses the texture-presenting layer, the user's tactile experience is altered due to the varying stiffness of the texture-presenting layer, which results in different degrees of collapse of the contact surface. Two implementation schemes are provided in the figure, one scheme is as shown in fig. 8(b), the channel cavity pressure is adjusted by increasing the fluid pressure, so that the overall rigidity of the device is increased, and the capability of resisting the pressing of a hand is enhanced, the other scheme is as shown in fig. 8(c), the texture presenting layer is designed into a variable rigidity material by combining various principles of the existing softness variation technology including light, electricity, magnetism and the like, the rigidity variation of the texture presenting layer is realized by any external excitation of an external optical field, an electric field, a magnetic field and the like, and the situation that the rigidity of the variable rigidity material is increased by the external excitation is shown in fig. 8 (c).
The flexible multi-modal haptic rendering device of the present invention has the following advantages:
1. the flexible multi-modal tactile presentation device can present various texture morphology changes such as different texture normal dimensions, tangential widths and the like, a closed fluid temperature presentation cavity channel is formed by the flexible film layer and the texture presentation layer, and large-range normal dimension regulation and presentation of textures are realized by controlling the liquid level height of fluid.
In addition, based on a programmable design idea, the presentation of various different initial texture three-dimensional appearances is realized through the surface structure design of the differentiated texture presentation layer, different preparation materials and the rigidity distribution of the convex tooth-shaped structure are selected, the pressure change in the fluid pressure regulation channel is controlled, the various appearance changes of the texture presentation layer can be driven, and a user can customize and prepare different texture patterns according to the requirement of the user.
2. The flexible multi-mode tactile presentation device can present different temperatures, a closed fluid temperature presentation cavity is formed by the flexible film layer and the texture presentation layer, and the independent presentation of temperature information and the fusion feedback of multi-element tactile information are realized by controlling the temperature of input fluid.
3. The flexible multi-modal haptic presentation device of the present invention can exhibit varying degrees of extensibility and softness variation. The flexible fluid driven texture presenting device comprises a flexible thin film layer, a texture presenting layer and a flexible substrate layer, and the flexibility of the fluid driven texture, temperature and softness presenting device is realized. The texture-presenting layer has the capability of variable stiffness under the stimulation of an external excitation signal, so that the texture-presenting device can be used for reproducing the texture of a flexible material and simulating different contact surface stiffnesses.
Example 2
An embodiment of the present invention provides a flexible multi-modal haptic rendering system based on fluid driving, as shown in fig. 9, including: a hydraulic circuit, a temperature sensor, a pressure sensor, a controller and the flexible multi-modal tactile presentation device of embodiment 1.
The signal output end of the temperature sensor and the signal output end of the pressure sensor are both connected with the signal input end of the controller; the temperature sensor is used for measuring the temperature in a fluid temperature presentation cavity in the flexible multi-mode tactile presentation device and transmitting the temperature to the controller; the pressure sensor is used for measuring the pressure in the fluid temperature presentation cavity channel in the flexible multi-mode tactile presentation device and transmitting the pressure to the controller. The control end of the hydraulic circuit is connected with the signal output end of the controller, and the fluid port of the hydraulic circuit is connected with the fluid temperature presenting cavity; the controller is used for controlling the hydraulic circuit to quantitatively introduce cold fluid and/or hot fluid into the fluid temperature presenting cavity according to the temperature and the pressure, or quantitatively extract fluid from the fluid temperature presenting cavity, and adjust the temperature and/or the pressure of the fluid temperature presenting cavity.
Illustratively, the hydraulic circuit includes: a cold fluid input circuit, a hot fluid input circuit, and a fluid output circuit. The control ends of the cold fluid input circuit, the hot fluid input circuit and the fluid output circuit are all connected with the controller, and the fluid ports of the cold fluid input circuit, the hot fluid input circuit and the fluid output circuit are all connected with the fluid temperature display cavity channel.
The cold fluid input circuit and the hot fluid input circuit each comprise: the device comprises a first driver, a first micro pump, a first electromagnetic valve and a first guide valve. The control end of the first micro pump is connected with the signal output end of the controller through the first driver. The input end of the first micro pump is used for introducing cold fluid and/or hot fluid, the output end of the first micro pump is connected with the input end of the first guide valve through the first electromagnetic valve, and the output end of the first guide valve is connected with the fluid temperature presenting cavity channel; the first micropump is used for conveying cold fluid and/or hot fluid to the fluid temperature display cavity channel under the control of the controller and through the driving of the first driver.
The fluid output circuit includes: the second driver, the second micropump, the second solenoid valve and the second pilot valve. The control end of the second micro pump is connected with the signal output end of the controller through a second driver. The input end of the second micro pump is connected with the output end of a second guide valve through a second electromagnetic valve, and the input end of the second guide valve is connected with the fluid temperature presenting cavity; the second micropump is used for drawing the fluid from the fluid temperature display cavity channel under the control of the controller and driven by the first driver.
The driving source adopts a novel low-delay micro liquid pump system, and the pressure of the fluid pressure adjusting channel and the temperature of the fluid are adjustable and controllable through the precise adjustment and real-time control of the fluid by the micro liquid pump system. Corresponding to fig. 9, the input sources are a cold water source and a hot water source, the channel 1 is a fluid output channel, the channel 2 is a cold fluid input channel, the channel 3 is a hot fluid input channel, and the controller is externally connected with a pressure sensor and a temperature sensor for monitoring the fluid temperature presenting channel. The channel 1 is an outflow channel, the movement direction of the fluid is determined to be the outflow direction by a guide valve, and the liquid in the channel is extracted by an electromagnetic valve (switch), a micro pump (for extracting the liquid), a driver (a driving unit of the pump) and a controller (for controlling the switch of the driver); the channels 2 and 3 realize the input of cold and hot liquids through a controller-driver-micropump-solenoid valve-pilot valve, wherein the temperature sensor and the pressure sensor transmit the temperature and pressure data of the fluid temperature presenting channel to the controller, the controller sends signals to the driver to control the input (2, 3 channels are opened) and the output (1 channel is opened) of the fluid, and the temperature of the input fluid (the input amount of cold and hot liquids of the 2, 3 channels) realizes the pressure and temperature control of the fluid temperature presenting channel. The controller and sensor constitute a closed loop control of the fluid temperature presentation channel, for example, given a target temperature a and a pressure B of the fluid temperature presentation channel, a calculation is made based on the current temperature and pressure of the fluid temperature presentation channel to determine which channel (input or output) the controller opens (1) if the current pressure is higher than the target pressure and the temperature is higher/lower than the target temperature, 1 channel is opened, part of the fluid is drawn out to achieve depressurization, and then 2, 3 channels are opened, and cold/hot fluid is input; (2) if the current pressure is lower than the target pressure and the temperature is higher/lower than the target temperature, 2, 3 channels are opened to input cold/hot liquid. Therefore, the hydraulic circuit of the invention has the capability of adjusting the pressure and the temperature of the temperature presentation channel at the same time, and can realize temperature presentation and dynamic circulation under any liquid level height.
An external hydraulic circuit is connected to a fluid temperature presentation channel between the flexible film layer and the texture presentation layer, a sensor for measuring the pressure of the fluid temperature presentation channel is integrated into a feedback circuit of a hydraulic system, and the liquid level of the fluid is adjusted by controlling the pressure of the cavity. In order to realize the fusion presentation of two modes of texture and temperature, the fluid in the fluid temperature presentation channel is not less than one fourth of the total volume, so that the normal dimension regulation function of the texture is realized, and the capability of temperature mode presentation is also realized.
In order to realize the temperature modal presentation of the device and the capability of adjusting the temperature, a temperature tactile feedback mode of fluid heat transfer is adopted based on the temperature property of the fluid and the characteristics of carrying and transferring energy, as shown in fig. 9, a temperature sensor is integrated into a feedback loop of a hydraulic system, and a fluid delivery system can realize quantitative mixing of cold liquid and hot liquid, can generate any temperature between the cold liquid and the hot liquid, and achieves the capability of adjusting the temperature of the fluid.
The technical scheme of the invention has the following beneficial effects:
(1) the decoupling control and presentation of three tactile modes of texture, temperature and softness based on micro fluid driving are realized, and the requirements of high spatial resolution of the texture, adjustable temperature tactile modes and controllable softness tactile modes of the tactile presentation device are met.
(2) The flexible material-based texture, temperature and softness ternary fusion presentation method is realized, the requirement of multi-mode tactile presentation of materials with different rigidity is met, and the reality of tactile information presentation and the universality of a tactile feedback device are further improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The flexible multi-modal tactile presentation device based on fluid driving is characterized by comprising a flexible thin film layer, a texture presentation layer and a flexible substrate layer which are sequentially arranged from top to bottom;
the flexible film layer and the texture presenting layer form a closed fluid temperature presenting cavity, and fluid is arranged in the fluid temperature presenting cavity;
the texture presenting layer and the flexible substrate layer form a closed fluid pressure adjusting channel;
the independent presentation and the fusion presentation of textures, temperature and softness are realized by conveying fluids with different temperatures or fluids with different input quantities to the fluid temperature presentation cavity channels or adjusting the cavity pressure of the fluid pressure adjusting channels.
2. The flexible multi-modal haptic presentation apparatus based on fluid actuation according to claim 1, wherein the flexible film layer is made of a soft silicone rubber material.
3. The flexible multi-modal fluid actuation based haptic presentation device of claim 1, wherein the texture presentation layer is of a flexible material and presents a plurality of different three-dimensional texture topographies.
4. The flexible multi-modal tactile representation based on fluid actuation according to claim 1,
the texture adjusting mode comprises the following steps: controlling a chamber pressure of the fluid pressure regulating passage;
the temperature regulation mode comprises the following steps: conveying quantitatively mixed cold and hot fluid to the fluid temperature display cavity;
the adjusting mode of the softness comprises the following steps: the stiffness of the texture-presenting layer is changed.
5. A flexible multi-modal haptic rendering system based on fluid actuation, the system comprising: a hydraulic circuit, a temperature sensor, a pressure sensor, a controller and the flexible multi-modal tactile presentation device of any one of claims 1-4;
the signal output end of the temperature sensor and the signal output end of the pressure sensor are both connected with the signal input end of the controller; the temperature sensor is used for measuring the temperature in a fluid temperature presentation cavity in the flexible multi-mode tactile presentation device and transmitting the temperature to the controller; the pressure sensor is used for measuring the pressure in a fluid temperature presentation cavity in the flexible multi-modal tactile presentation device and transmitting the pressure to the controller;
the control end of the hydraulic circuit is connected with the signal output end of the controller, and the fluid port of the hydraulic circuit is connected with the fluid temperature presenting cavity; the controller is used for controlling the hydraulic circuit to quantitatively introduce cold fluid and/or hot fluid into the fluid temperature presenting cavity according to the temperature and the pressure, or quantitatively extracting the fluid from the fluid temperature presenting cavity, and adjusting the temperature and/or the pressure of the fluid temperature presenting cavity.
6. The flexible multi-modal fluid drive-based haptic presentation system of claim 5, wherein the hydraulic circuit comprises: a cold fluid input circuit, a hot fluid input circuit and a fluid output circuit;
the control ends of the cold fluid input circuit, the hot fluid input circuit and the fluid output circuit are all connected with the controller, and the fluid ports of the cold fluid input circuit, the hot fluid input circuit and the fluid output circuit are all connected with the fluid temperature display cavity channel.
7. The flexible multi-modal haptic presentation system based on fluid drive of claim 6, wherein the cold fluid input circuit and the hot fluid input circuit each comprise: the device comprises a first driver, a first micro pump, a first electromagnetic valve and a first guide valve;
the control end of the first micro pump is connected with the signal output end of the controller through a first driver;
the input end of the first micro pump is used for introducing cold fluid and/or hot fluid, the output end of the first micro pump is connected with the input end of the first guide valve through the first electromagnetic valve, and the output end of the first guide valve is connected with the fluid temperature presenting cavity channel; the first micropump is used for conveying cold fluid and/or hot fluid to the fluid temperature display cavity channel under the control of the controller and through the driving of the first driver.
8. The flexible multi-modal fluid drive-based haptic presentation system of claim 6, wherein the fluid output circuit comprises: the second driver, the second micro pump, the second electromagnetic valve and the second guide valve;
the control end of the second micro pump is connected with the signal output end of the controller through a second driver;
the input end of the second micro pump is connected with the output end of a second guide valve through a second electromagnetic valve, and the input end of the second guide valve is connected with the fluid temperature display cavity channel; the second micropump is used for drawing the fluid from the fluid temperature display cavity channel under the control of the controller and driven by the first driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210695042.6A CN114942695A (en) | 2022-06-20 | 2022-06-20 | Flexible multi-modal touch presentation device and system based on fluid driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210695042.6A CN114942695A (en) | 2022-06-20 | 2022-06-20 | Flexible multi-modal touch presentation device and system based on fluid driving |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190025915A1 (en) * | 2016-01-22 | 2019-01-24 | Alyed Yshidoro TZOMPA SOSA | Haptic virtual reality glove with systems for simulating sensations of pressure, texture and temperature |
| CN111176455A (en) * | 2020-01-07 | 2020-05-19 | 北京航空航天大学 | Flexible tactile feedback device for temperature and texture consistency presentation |
| CN111316205A (en) * | 2018-02-23 | 2020-06-19 | 莫伟邦 | Virtual reality input and haptic feedback system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190025915A1 (en) * | 2016-01-22 | 2019-01-24 | Alyed Yshidoro TZOMPA SOSA | Haptic virtual reality glove with systems for simulating sensations of pressure, texture and temperature |
| CN111316205A (en) * | 2018-02-23 | 2020-06-19 | 莫伟邦 | Virtual reality input and haptic feedback system |
| CN111176455A (en) * | 2020-01-07 | 2020-05-19 | 北京航空航天大学 | Flexible tactile feedback device for temperature and texture consistency presentation |
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