CN117742492A - Bionic hand, tactile feedback method thereof, electronic equipment and computer storage medium - Google Patents
Bionic hand, tactile feedback method thereof, electronic equipment and computer storage medium Download PDFInfo
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Abstract
The invention discloses a bionic hand, a touch feedback method thereof, electronic equipment and a computer storage medium, wherein the bionic hand comprises an action part for contacting an object and a wearing part for wearing by a user, the action part is provided with a sensing module, and the wearing part is provided with a feedback device which acts on the skin of the user and is used for the user to sense the contact state of the action part; the haptic feedback method includes: acquiring a contact state parameter of the action part; and controlling the feedback device to execute a corresponding-intensity tactile feedback response to the skin of the user according to the magnitude of the contact state parameter. According to the method for the tactile feedback of the bionic hand, which is provided by the invention, when a user uses the bionic hand, the contact state with an object can be directly and accurately perceived according to the tactile feedback response of the feedback device to the skin of the user, so that the user can accurately control the bionic hand, further more accurate actions can be performed, and the use experience of the user can be improved.
Description
Technical Field
The invention relates to the technical field of bionic hands, in particular to a bionic hand, a tactile feedback method thereof, electronic equipment and a computer storage medium.
Background
The bionic hand is an intelligent manipulator based on biological principles and mechanical engineering, can simulate the structure and the motion of a human hand, can complete complex action tasks, and has high precision and high flexibility.
The existing intelligent bionic hand is usually made of plastic or metal, and in the actual use process, when a user contacts with an article through the worn bionic hand, the contact state (such as contact force and contact time) of the finger and a contact object cannot be directly and accurately perceived, so that the use experience of the user is affected.
Disclosure of Invention
The invention mainly aims to provide a bionic hand touch feedback method, which aims to solve the technical problem that a user cannot directly and accurately sense the contact state with a contact object by using a bionic hand at present.
In order to achieve the above-mentioned purpose, the present invention provides a tactile feedback method of a bionic hand, wherein the bionic hand includes an action portion for contacting an object and a wearing portion for wearing by a user, the action portion is provided with a sensing module, and the wearing portion is provided with a feedback device acting on the skin of the user for the user to sense the contact state of the action portion;
the haptic feedback method includes:
acquiring a contact state parameter of the action part;
and controlling the feedback device to execute a corresponding-intensity tactile feedback response to the skin of the user according to the magnitude of the contact state parameter.
In some embodiments, the feedback device comprises an elastic constriction for exerting a pressing effect on the skin of the user, and/or the feedback device comprises a stimulation electrode for generating a galvanic stimulation on the skin of the user, and/or the feedback device further comprises a temperature regulating member for generating a temperature stimulation on the skin of the user;
the controlling the feedback device to perform a haptic feedback response of a corresponding intensity to the skin of the user comprises:
controlling the elastic contraction piece to generate a pressing effect with corresponding intensity on the skin of a user; and/or the number of the groups of groups,
controlling the stimulation electrode to generate current stimulation with corresponding intensity to the skin of a user; and/or the number of the groups of groups,
and controlling the temperature adjusting piece to generate temperature stimulus with corresponding intensity to the skin of the user.
In some embodiments, before the step of acquiring the contact state parameter of the acting portion, the haptic feedback method further includes:
identifying the action intention of the user according to the detected bioelectric signals;
and controlling the feedback device to switch to a preset feedback strategy corresponding to the action intention.
In some embodiments, the controlling the feedback device to perform a haptic feedback response of a corresponding intensity to the user's skin according to the magnitude of the contact state parameter comprises:
determining the intensity corresponding to the size of the contact state parameter according to the preset feedback strategy;
the feedback device is controlled to perform a haptic feedback response of a corresponding intensity to the skin of the user.
In some embodiments, after the step of acquiring the contact state parameter of the acting portion, the haptic feedback method further includes:
and when the value of any one of the contact state parameters exceeds the corresponding preset parameter range, executing preset emergency treatment.
In some embodiments, the performing the preset emergency treatment includes:
controlling the action part to reduce the contact strength with an object; or,
and controlling the action part to be separated from contact with the object.
In some embodiments, the contact state parameter comprises at least one of a contact force, a contact time, a contact temperature.
The invention also proposes an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the method for haptic feedback of a simulated hand as described above.
The invention also provides a bionic hand which comprises an action part for contacting the hand of a user and a wearing part for wearing by the user, wherein the action part is provided with a sensing module, and the wearing part is provided with a feedback device which acts on a human body and is used for the user to sense the contact state of the action part; the bionic hand further comprises the electronic equipment, and the electronic equipment is in communication connection with the sensing module and the feedback device.
The invention also proposes a computer storage medium, wherein the storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method for haptic feedback of a simulated hand as described above.
According to the tactile feedback method of the bionic hand, which is provided by the technical scheme of the invention, the contact state parameters of the acting part are obtained, so that the feedback device is controlled to execute the tactile feedback response with the corresponding intensity on the skin of the user according to the size of the contact state parameters, and thus, when the user uses the bionic hand, the contact state with an object can be directly and accurately perceived according to the tactile feedback response executed by the feedback device on the skin of the user, the user can accurately control the bionic hand, further, more accurate actions can be made, and the use experience of the user can be improved.
Drawings
FIG. 1 is a flowchart of a first embodiment of a method for haptic feedback of a simulated hand of the present invention;
FIG. 2 is a flow chart of a second embodiment of a method for simulated hand haptic feedback in accordance with the present invention;
FIG. 3 is a flowchart of a third embodiment of a method for simulated hand haptic feedback according to the present invention;
FIG. 4 is a flowchart of a fourth embodiment of a method for simulated hand haptic feedback in accordance with the present invention;
fig. 5 is a schematic structural diagram of an electronic device in a hardware running environment according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a tactile feedback method of a bionic hand, which comprises an action part for contacting the hand of a user and a wearing part for wearing by the user, wherein the action part is provided with a sensing module, and the wearing part is provided with a feedback device which acts on the skin of the user and is used for the user to sense the contact state of the action part. The sensing module may include one or more sensors for detecting parameters of the contact state of the acting portion and the object (such as a contact force, a contact duration, a contact temperature, a contact area, etc.). The feedback device directly acts on the skin of the user and is used for carrying out feedback in a preset form on the contact state of the acting part and the object so as to be directly perceived by the user. The preset feedback forms can comprise providing force change, providing stimulation current change, providing temperature change and the like, and are set according to actual conditions. The bionic hand can be an intelligent bionic hand, the acting part is a bionic hand part of the intelligent bionic hand, and the wearing part is a bionic arm part of the intelligent bionic hand. In addition, other bionic devices can also correspondingly apply the tactile feedback method of the technical scheme, such as bionic legs and the like. The implementation terminal of the haptic feedback method of the bionic hand of the present embodiment may be an electronic device or a bionic hand (herein, an electronic device is taken as an example of an implementation terminal).
Referring to fig. 1, fig. 1 is a flowchart of a first embodiment of a method for haptic feedback of a bionic hand according to the invention.
Specifically, the tactile feedback method of the bionic hand comprises the following steps:
step S10: and acquiring the contact state parameters of the action part.
When the action part of the bionic hand is contacted with an object, the sensing module arranged on the action part can generate a corresponding sensing signal, and at the moment, the electronic equipment obtains a contact state parameter of the action part contacted with the object according to the sensing signal generated by the sensing module. The contact state parameter may include only one parameter, or may include multiple parameters, for example, in some embodiments, the contact state parameter may include one or more of a contact force, a contact duration, a contact temperature, a contact area, and the like. Taking a bionic hand as an example, the sensing module is arranged on a bionic hand part (namely an action part) of the intelligent bionic hand, and the sensing module can comprise a plurality of force sensors which are respectively arranged in fingers of the bionic hand (of course, one or more force sensors can also be arranged in a palm area of the bionic hand); the sensing module can also comprise a temperature sensor, the temperature sensor can be arranged on the belly of the finger, so that when the bionic hand contacts an object (for example, contacts the object, grasps the object or pinches the object), each force sensor can generate corresponding induction electric signals according to the force of the contact object, the temperature sensor can also sense the temperature of the object to generate corresponding induction electric signals, and the electronic equipment can obtain contact state parameters of the bionic hand, including contact force, contact temperature and the like according to the induction electric signals of the force sensor and the induction electric signals of the temperature sensor; and, contact timing can also be synchronously performed so as to correspondingly obtain the contact time length. In this embodiment, the step S10 may be performed in real time or periodically (e.g., every 0.5 seconds).
Step S20: the feedback device is controlled to perform a haptic feedback response of a corresponding intensity to the skin of the user according to the magnitude of the contact state parameter.
After the electronic equipment obtains the contact state parameters of the acting part, the intensity of the corresponding tactile feedback response is determined according to the magnitude of the contact state parameters, and then the feedback device is controlled to execute the tactile feedback response on the skin of the user according to the determined intensity. The manner of determining the intensity of the haptic feedback response according to the magnitude of the contact state parameter may be: the electronic equipment is pre-stored with a mapping relation between the size of the contact state parameter and the strength of the haptic feedback response. For example, when the contact state parameter includes only one, for example, only the contact force, a mapping relationship between the contact force interval and the intensity of the haptic feedback response may be stored in the electronic device in advance, and when the contact state parameter includes a plurality, for example, the contact force and the contact time period, a mapping relationship between a combination of the contact force interval and the contact time period and the intensity of the haptic feedback response may be stored in the electronic device in advance. Of course, a rule for determining the intensity of the response may be preset in the electronic device, and the intensity corresponding to the contact state parameter of the acting portion may be determined according to the rule.
Further, taking the bionic hand as an intelligent bionic hand, the acting part as a bionic hand, the wearing part as a bionic arm, and the contact state parameters including the contact force and the contact time length as examples, the specific description is given to the step. In the process that a user uses an intelligent bionic hand, when the bionic hand initially contacts an object, the electronic equipment obtains smaller contact force and shorter contact duration by obtaining an induced electric signal detected by a sensing module, then the feedback device is controlled to execute a slight tactile feedback response (such as slight compression and small current low-frequency stimulation) on the skin of the user, when the bionic hand is bent to grasp the object, the electronic equipment obtains medium contact force and medium contact duration by obtaining the induced electric signal detected by the sensing module, and then the feedback device is controlled to execute a medium tactile feedback response (such as medium compression and medium current medium-frequency stimulation) on the skin of the user; when the bionic hand grips the object, the electronic equipment obtains larger contact force and longer contact time through the induction electric signal detected by the sensing module, and the control feedback device executes stronger tactile feedback response (such as stronger pressing + high-current high-frequency stimulation + heating/refrigerating temperature stimulation) on the skin of the user. In addition, the contact state parameters can also include a contact temperature, when the electronic equipment obtains the contact temperature through the induction electric signals detected by the sensing module, the electronic equipment can control the feedback device to execute a tactile feedback response (such as temperature stimulus which is the same as the contact temperature) with corresponding intensity on the skin of the user, so that the user can directly sense the contact temperature with the object; of course, the temperature stimulus applied to the skin of the human body can be scaled down/increased according to the contact temperature, so as to ensure that the skin of the user is prevented from being scalded or frostbitten within a safe temperature range. Thus, the intelligent bionic hand user can directly sense the contact state of the intelligent bionic hand and the object according to the strength of the tactile feedback response of the feedback device, so that the user can use the intelligent bionic hand more accurately.
According to the tactile feedback method of the bionic hand, which is provided by the technical scheme of the invention, the contact state parameters of the acting part are obtained, so that the feedback device is controlled to execute the tactile feedback response with the corresponding intensity on the skin of the user according to the size of the contact state parameters, and thus, when the user uses the bionic hand, the contact state with an object can be directly and accurately perceived according to the tactile feedback response executed by the feedback device on the skin of the user, the user can accurately control the bionic hand, further, more accurate actions can be made, and the use experience of the user can be improved.
In some embodiments, the feedback device may be an elastic constriction member (e.g., an elastic band) comprising means for applying pressure to the user, and/or the feedback device may comprise a stimulation electrode (e.g., a microcurrent electrode) for applying current stimulation to the user's skin, and/or the feedback device may comprise a temperature adjustment member (e.g., a heating member, a cooling member) for applying temperature stimulation to the user's skin.
The controlling the feedback device to perform a haptic feedback response of a corresponding intensity to the skin of the user includes:
controlling the elastic contraction piece to generate a pressing effect with corresponding intensity on the skin of a user; and/or the number of the groups of groups,
controlling the stimulation electrode to generate current stimulation with corresponding intensity to the skin of the user; and/or the number of the groups of groups,
the temperature adjusting piece is controlled to generate temperature stimulus with corresponding intensity to the skin of a user.
In this embodiment, the intensity of the haptic feedback response may include a compression intensity (e.g., including a pressure magnitude and/or a compression frequency) and/or a current stimulation intensity (e.g., including a current stimulation magnitude and/or a current stimulation frequency) and/or a temperature stimulation intensity (e.g., including a temperature stimulation level and/or a stimulation frequency), and correspondingly, the electronic device controls the elastic contractions to generate compression of the corresponding intensity after determining the compression intensity so as to stimulate the skin of the user; and/or, after determining the current stimulation intensity, the electronic device controls the stimulation electrode to generate stimulation with corresponding intensity so as to stimulate the skin of the user; and/or after the electronic equipment determines the temperature stimulus intensity, controlling the temperature adjusting piece to generate temperature stimulus with corresponding intensity so as to stimulate the skin of the user. According to the embodiment, the above tactile feedback response mode is adopted, so that the user can directly feel the contact state of the acting part of the bionic hand and the object, the use of the user is more convenient, and the bionic effect experience of the bionic hand is more realistic. In some embodiments, when the bionic hand is an intelligent bionic hand, the elastic contraction piece, the stimulation electrode and the temperature regulating piece can be mounted on the inner wall of the receiving cavity of the bionic arm of the intelligent bionic hand, the receiving cavity is used for accommodating the residual limb of the user to stretch into to wear the intelligent bionic hand, so that when the user controls the intelligent bionic hand to perform actions, the elastic contraction piece and/or the stimulation electrode and/or the temperature regulating piece squeeze or current stimulation or temperature stimulation on the residual limb skin of the user, and the user can directly sense the contact state of the intelligent bionic hand and an object.
In addition, the elastic contraction piece is used for pressing the skin of the user, so that the massage and muscle relaxing effects are achieved; the skin of the user is stimulated by the current through the stimulating electrode, and the skin-care liquid also has the effects of improving blood circulation and relieving muscles; the temperature adjusting piece is used for carrying out temperature stimulation on the skin of a user, and the device also has the effects of heat treatment or cold treatment, so that the heat treatment can promote metabolism, relieve physical fatigue, and enable the body to be in a comfortable and warm state in seasons such as winter; the cold therapy can shrink blood vessels and expand the blood vessels, is favorable for improving local blood circulation, and can make the body in a comfortable and cool state in summer and other seasons.
It should be noted that, in some embodiments, the feedback device may perform all the feedback response manners in the foregoing embodiments at the same time, or may perform only one or more of the foregoing feedback response manners.
Referring to fig. 2, fig. 2 is a flowchart of a second embodiment of the method for haptic feedback of a bionic hand according to the invention.
The present embodiment is based on the technical solution of the first embodiment, in this embodiment, before step S10, the method for haptic feedback of a bionic hand further includes:
step S30: and identifying the action intention of the user according to the detected bioelectric signals.
When a user wears the bionic hand, the bionic hand detects bioelectricity signals (such as myoelectric signals detected by myoelectric electrodes, electroencephalogram signals detected by electroencephalogram electrodes and the like) generated by the user through bioelectricity signal detection equipment, and specific action intentions of the user are identified according to the characteristics of the bioelectricity signals. If the bionic hand is an intelligent bionic hand, the action intention of the user can comprise touching an object, grabbing the object, holding the object, pinching the object, knocking the object and the like, and when the action intention of the user is different, the bioelectric signals generated by the user are correspondingly different, and the mapping relation between the action intention of the user and the bioelectric signals is prestored in the electronic equipment. Specifically, the mapping relation between the bioelectric signals and the action intents can be determined by training a large amount of bioelectric signal data of the appointed action intents through a model, and can be obtained through other types of algorithms or existing modes.
Step S40: the control feedback device switches to a preset feedback strategy corresponding to the action intention.
Because of different actions, the force and the contact gesture of the bionic hand are different (for example, when the bionic hand performs the action of pinching the object and the action of holding the object, the contact gesture of the bionic hand and the object are greatly different), and when the action part performs different actions, the distribution range of the contact state parameters generated on the object is also different (for example, the distribution range of the contact force and the distribution range of the contact duration are different). In view of the above, in this embodiment, a feedback policy corresponding to each action intention is preset in the electronic device. After the electronic equipment recognizes the action intention of the user, the feedback device is controlled to switch to a preset feedback strategy corresponding to the action intention, so that the electronic equipment subsequently determines the strength of the haptic feedback response corresponding to the size of the contact state parameter based on the switched preset feedback strategy, and the accurate haptic feedback response to the current action of the action part is realized. For example, in different preset feedback strategies, the mapping relationship between the contact state parameter and the intensity of the haptic feedback response may be different.
According to the tactile feedback method of the bionic hand, which is provided by the technical scheme of the embodiment, the action intention of the user is identified according to the detected bioelectric signals, and then the feedback device is switched to the preset feedback strategy corresponding to the identified action intention, so that when the intensity of the tactile feedback response is determined according to the contact state parameter of the action part, the accurate preset feedback strategy is used, the obtained intensity of the tactile feedback response is more accurate, the user can more accurately perceive and determine the contact state of the current action and the object, the accurate use of the intelligent bionic hand by the user is facilitated, and the use experience of the user is improved.
In some embodiments, the electronic device may communicate with an external smart terminal (e.g., a smart phone, a tablet computer, etc.), and a user may manually modify configuration information such as preset parameters, feedback policies, etc. in the electronic device through software of the smart terminal.
Referring to fig. 3, fig. 3 is a flowchart of a third embodiment of a method for haptic feedback of a bionic hand according to the invention.
The present embodiment may be based on the technical solution of the second embodiment, and in the haptic feedback method of the bionic hand of the present embodiment, step S20 includes:
step S21: determining the intensity corresponding to the size of the contact state parameter according to the preset feedback strategy;
step S22: the feedback device is controlled to perform a haptic feedback response of a corresponding intensity to the skin of the user.
The preset feedback strategy may be a mapping relationship between a preset contact state parameter and feedback response intensity. The feedback response intensity may be an intensity parameter value including only one (for example, the compression force of the elastic contractile member or the stimulation current magnitude of the stimulation electrode or the stimulation temperature magnitude of the temperature adjusting member, etc.), or the feedback response intensity may be a combination including a plurality of intensity parameter values (for example, at least two of the compression force of the elastic contractile member, the stimulation current magnitude of the stimulation electrode, the stimulation temperature magnitude of the temperature adjusting member). After the intensity of the haptic feedback response corresponding to the current contact state parameter of the acting part is determined, the electronic equipment controls the feedback device to execute the corresponding haptic feedback response according to the determined intensity of the haptic feedback response. In this embodiment, the feedback device may include a plurality of response units, and each response unit is controlled to execute a response of a corresponding intensity according to each parameter value in the determined feedback response intensity; for example, the elastic contractions are controlled to operate with a compression parameter (e.g., force) in the intensity of the haptic feedback response, and the stimulation electrodes are controlled to perform current stimulation with a current parameter (e.g., frequency magnitude) in the intensity of the haptic feedback response, and the temperature adjustment members are controlled to perform temperature stimulation with a temperature parameter (e.g., temperature level) in the intensity of the haptic feedback response.
Referring to fig. 4, fig. 4 is a flowchart of a fourth embodiment of the method for haptic feedback of a bionic hand according to the invention.
The present embodiment may be based on the technical solution of any one of the embodiments, in this embodiment, after step S10, the method for haptic feedback of a bionic hand further includes:
and when the value of any one of the contact state parameters exceeds the corresponding preset parameter range, executing preset emergency treatment.
For example, the contact state parameters include a contact force, a contact duration, a contact temperature, and the like, and in the determined contact state parameters of the acting part, if the contact force exceeds a force parameter range (such as a current contact force is 120N and exceeds a range less than or equal to 100N), that is, the force of the current action exceeds a limited force threshold (such as 100N), or the contact temperature exceeds a temperature parameter range (such as a current temperature is 70 ℃ and exceeds a range of 10 ℃. Less than or equal to 50 ℃), that is, the current contacted object is overheated or supercooled, and in the above cases, the electronic device performs preset emergency treatment to prevent accidents. If the bionic hand is an intelligent bionic hand, an action part of the bionic hand is a bionic hand, when a user performs handshake or hand pulling action through the bionic hand, if handshake force or hand pulling force exceeds a limited force threshold, the handshake object or hand pulling object is likely to be damaged, and if the temperature of an object contacted by the user using the bionic hand is too high or too low, the bionic hand is likely to be scalded or frostbitten; therefore, when these special situations occur, the electronic device performs a preset emergency treatment to avoid the above potential safety hazards.
In some embodiments, performing the preset emergency treatment may include:
the control action part reduces the contact strength with the object, wherein the contact strength can comprise contact force, contact duration, contact area and the like, or the control action part is out of contact with the object. Specifically, the electronic equipment can respectively select and execute corresponding emergency processing modes according to different triggering conditions; for example, when the contact force is detected to exceed the limit threshold, a processing mode of controlling the action part to reduce the contact force with the object is adopted; when the temperature of the object is detected to be too high or too low, a mode of controlling the action part to be out of contact with the object is adopted.
In some embodiments, the contact state parameters include at least one of contact force, contact time, contact temperature.
In the case where the solutions of all the above embodiments of the present invention do not have contradictory conflict with each other, the above embodiments may be arbitrarily combined or combined to constitute a new embodiment.
The invention further provides an electronic device, and referring to fig. 5, fig. 5 is a schematic structural diagram of the electronic device in a hardware operation environment according to an embodiment of the invention.
The electronic device of the embodiment of the invention can be a desktop computer, a notebook computer, a palm computer, a server and other computing devices. As shown in fig. 5, the electronic device may include: a processor 1001 (e.g., a CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the electronic device structure shown in fig. 5 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 5, an operating system, a network communication module, a user interface module, and a computer program (e.g., a haptic feedback program) may be included in a memory 1005, which is a type of computer storage medium.
In the electronic device shown in fig. 5, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a computer program stored in the memory 1005, the computer program when invoked by the processor 1001 for performing the steps of the above-described method for simulating haptic feedback of a hand.
The invention also provides a bionic hand which is used for contacting an action part of the hand of a user and a wearing part for the user to wear, wherein the action part is provided with a sensing module, and the wearing part is provided with a feedback device which acts on a human body and is used for the user to sense the contact state of the action part; the bionic hand further comprises the electronic equipment, and the electronic equipment is in communication connection with the sensing module and the feedback device. The sensing module comprises at least one sensor (such as a force sensor, a temperature sensor and the like) for detecting the contact condition of the bionic hand and an object and feeding back a corresponding induction electric signal; the feedback device is used for the user to sense the contact state of the bionic hand and the object, and the feedback device can comprise one or more feedback units, wherein the feedback units can be elastic contraction pieces, stimulation electrodes, temperature adjusting pieces and the like.
The invention also provides a computer storage medium, wherein the computer storage medium is stored with a computer program, and the computer program realizes the steps of the method for simulating the tactile feedback of the hands when being executed by a processor.
The electronic device, the bionic hand and the computer storage medium of the invention can realize the steps of the method for haptic feedback of the bionic hand, so that the method at least has all the beneficial effects brought by the technical scheme of the embodiment of the method for haptic feedback of the bionic hand, and are not repeated herein.
In the several embodiments provided in the present application, it should be understood that the disclosed methods and apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description of the preferred embodiments of the present invention should not be taken as limiting the scope of the invention, but rather should be understood to cover all modifications, variations and adaptations of the present invention using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present invention to other relevant arts and technologies.
Claims (10)
1. The bionic hand touch feedback method is characterized by comprising an action part used for contacting an object and a wearing part used for being worn by a user, wherein the action part is provided with a sensing module, and the wearing part is provided with a feedback device which acts on the skin of the user and is used for the user to sense the contact state of the action part;
the haptic feedback method includes:
acquiring a contact state parameter of the action part;
and controlling the feedback device to execute a corresponding-intensity tactile feedback response to the skin of the user according to the magnitude of the contact state parameter.
2. A method of tactile feedback of a simulated hand according to claim 1 wherein the feedback device comprises an elastic constriction for exerting a compressive effect on the skin of the user and/or the feedback device comprises a stimulation electrode for generating a galvanic stimulation to the skin of the user and/or the feedback device further comprises a temperature regulating member for generating a temperature stimulation to the skin of the user;
the controlling the feedback device to perform a haptic feedback response of a corresponding intensity to the skin of the user comprises:
controlling the elastic contraction piece to generate a pressing effect with corresponding intensity on the skin of a user; and/or the number of the groups of groups,
controlling the stimulation electrode to generate current stimulation with corresponding intensity to the skin of a user; and/or the number of the groups of groups,
and controlling the temperature adjusting piece to generate temperature stimulus with corresponding intensity to the skin of the user.
3. The method according to claim 1 or 2, characterized in that before the step of acquiring the contact state parameter of the acting portion, the method further comprises:
identifying the action intention of the user according to the detected bioelectric signals;
and controlling the feedback device to switch to a preset feedback strategy corresponding to the action intention.
4. A method of simulated hand haptic feedback as claimed in claim 3 wherein said controlling said feedback device to perform a corresponding intensity of haptic feedback response to a user's skin in accordance with a magnitude of said contact state parameter comprises:
determining the intensity corresponding to the size of the contact state parameter according to the preset feedback strategy;
the feedback device is controlled to perform a haptic feedback response of a corresponding intensity to the skin of the user.
5. The method of claim 1, further comprising, after the step of obtaining the contact state parameter of the acting portion:
and when the value of any one of the contact state parameters exceeds the corresponding preset parameter range, executing preset emergency treatment.
6. The method of claim 5, wherein the performing a predetermined emergency process comprises:
controlling the action part to reduce the contact strength with an object; or,
and controlling the action part to be separated from contact with the object.
7. A method of simulated hand feedback as claimed in claim 1 wherein said contact state parameter comprises at least one of contact force, contact time, contact temperature.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the method of simulated hand haptic feedback of any of claims 1 to 7.
9. The bionic hand is characterized by comprising an action part for contacting an object and a wearing part for wearing by a user, wherein the action part is provided with a sensing module, and the wearing part is provided with a feedback device which acts on a human body and is used for the user to perceive the contact state of the action part; the bionic hand further comprises the electronic device of claim 8, which is communicatively connected to the sensing module and the feedback arrangement.
10. A computer storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of simulated hand haptic feedback of any of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311772569.5A CN117742492A (en) | 2023-12-21 | 2023-12-21 | Bionic hand, tactile feedback method thereof, electronic equipment and computer storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311772569.5A CN117742492A (en) | 2023-12-21 | 2023-12-21 | Bionic hand, tactile feedback method thereof, electronic equipment and computer storage medium |
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| CN117742492A true CN117742492A (en) | 2024-03-22 |
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| CN202311772569.5A Pending CN117742492A (en) | 2023-12-21 | 2023-12-21 | Bionic hand, tactile feedback method thereof, electronic equipment and computer storage medium |
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| CN (1) | CN117742492A (en) |
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- 2023-12-21 CN CN202311772569.5A patent/CN117742492A/en active Pending
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