CN204129657U - A kind of virtual haptic generation device - Google Patents
A kind of virtual haptic generation device Download PDFInfo
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- CN204129657U CN204129657U CN201420479257.5U CN201420479257U CN204129657U CN 204129657 U CN204129657 U CN 204129657U CN 201420479257 U CN201420479257 U CN 201420479257U CN 204129657 U CN204129657 U CN 204129657U
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Abstract
The utility model provides a kind of virtual haptic generation device, it comprises sensor glove, master controller, body sense controller, main equipment, described sensor glove is divided into inside and outside two-layer, internal layer is covered with body surface perception unit, skin is covered with contour of object perception unit, in two perception unit, jet-impingement microdevice is adopted to replace mechanical linkage respectively, hydraulic mechanism, piezoelectric ceramics is adopted to replace micromotor, the information dimension overcoming existing virtual haptic generation device is few, precision is low, the deficiency that spatial degrees of freedom is few and cost is high, be conducive to the miniaturization of equipment, the restriction of spatial degrees of freedom is eliminated from principle, production efficiency and product percent of pass is improve by the mode reducing the complexity of assembling in batch production process, reach and reduce individual equipment cost object.
Description
Technical field
The utility model belongs to computing machine haptic technology field, particularly relates to a kind of virtual haptic generation device that can produce profile, motion state, surface roughness, material hardness and the temperature etc. comprising perceived object model.
Background technology
At present, known virtual haptic generation device mainly adopts the equipment such as micromotor, mechanical linkage, hydraulic mechanism to produce force feedback signal, allows user obtain the tactile data of perceived object by the feedback force that perception virtual haptic generation device produces.But this device is merely able to the motion state, profile etc. of expressing perceived object usually, and the tactile data of object is multiple dimensions in real world, be only motion state and profile can not express in real world accurately object from sense of touch, also need from multiple information dimension such as hardness, surface temperature of the surface roughness of object, material to describe the object real world; And large, the baroque characteristic of volume that micromotor, mechanical linkage or hydraulic mechanism etc. are intrinsic, consisting of virtual haptic generation device precision is determined by these mechanisms physical sizes, spatial degrees of freedom is determined by the assembling design of physical construction, cost is by the assembling complexity of physical construction and machining precision decision, which limits the resolution of virtual haptic generation device, movable spatial degrees of freedom and cost, the requirement of virtual reality technology to virtual haptic can not be met.
Utility model content
In order to overcome the deficiency that existing information dimension is few, precision is low, spatial degrees of freedom is few and cost is high, the utility model proposes a kind of virtual haptic generation device.
The utility model realizes the technical scheme that above-mentioned purpose adopts: a kind of virtual haptic generation device, it comprises sensor glove, master controller, body sense controller and main equipment, described sensor glove is divided into inside and outside two-layer, internal layer is covered with body surface perception unit, skin is covered with contour of object perception unit, described sensor glove is provided with the analog switch be connected with body surface perception unit, contour of object perception cell signal output terminal, the output port of described analog switch is connected with the corresponding interface of master controller by cable; Described body sense controller is provided with two imageing sensors, described main equipment is the computing machine or the mobile phone that are provided with memory model, and the corresponding interface of described body sense controller, main equipment is connected with master controller the corresponding interface respectively by cable.
Described body surface perception unit, comprise the semiconductor refrigeration sheet be arranged on semiconductor refrigeration sheet pedestal and the piezoelectric ceramics showing to be provided with elastic metallic, respectively there are two extension lines at the two poles of the earth of described semiconductor refrigeration sheet and piezoelectric ceramics, and the respective input mouth be connected with the analog switch of sensor glove is respectively connected.
Described contour of object perception unit is divided into upper and lower two cavitys by contour of object perception cell separators, and lower chamber is air storage chamber, and air storage chamber and blower fan are by air flow inlet tubes connection.One end in contour of object perception unit upper cavity is provided with electromagnet by stationary installation sliding rail of holding concurrently, its other end is fixed with permanent magnet, electromagnet is drawn tap input interface corresponding to the analog switch of sensor glove and is connected, between the upper wall of the contour of object perception unit upper cavity between electromagnet and permanent magnet and contour of object perception cell separators, opposition is provided with two sections of hard wireways of disconnection, the soft wireway of connection hard wireway is up and down connected with between two sections of hard wireways, the hard wireway of described epimere is provided with jet-stream wind outlet, the hard wireway of hypomere is connected with air storage chamber by the through hole that contour of object perception cell separators is arranged, and the distance up and down between hard wireway is greater than the profile full-size of electromagnet.
Principle of work of the present utility model is: user wears sensor glove, can be movable arbitrarily in capture space at body sense controller, the image of sensor glove taken at a certain time interval by two imageing sensors of body sense controller, the difference of the image that body sense controller is obtained by comparison two imageing sensors, principle of parallax is utilized to calculate the gesture of the locus of sensor glove and the hand of user, by the locus of different time sensor glove be the hand locus of user and the difference of gesture, draw the movable information of sensor glove and the hand gesture change information of user, and information is passed to master controller, memory model information in main equipment is passed to master controller by main equipment, master controller according to memory model in main equipment in the position of Virtual Space, the gesture of the locus of current sensor glove and the hand of user, the each position calculating the hand of user should contact with that part of memory model in main equipment, calculate according to the information that memory model in main equipment provides, and drive body surface perception unit to produce corresponding surface roughness and temperature at the corresponding site of the hand of user, master controller is according to the motion state of the gesture of the locus of sensor glove and the hand of user and change, in conjunction with shape and the locus of memory model in main equipment, carry out calculating the different parts of contour of object perception unit at the hand of user, produce the feedback force corresponding with the shape of memory model in equipment, locus and motion state, make user experience the sensation such as shape profile, motion state, material hardness of memory model in equipment.The air-flow of contour of object perception unit is provided by blower fan.
The beneficial effect that the utility model takes technique scheme to bring is: the utility model can not only produce the profile information of perceived object model, motion state, the surface roughness of object can also be produced, the tactile datas such as material hardness and temperature, and adopt jet-impingement microdevice to replace mechanical linkage, hydraulic mechanism, piezoelectric ceramic piece is adopted to replace micromotor, be conducive to the miniaturization of equipment, the restriction of spatial degrees of freedom is eliminated from principle, production efficiency and product percent of pass is improve by the mode reducing the complexity of assembling in batch production process, reach and reduce individual equipment cost object.
Accompanying drawing explanation
Fig. 1 is systematic schematic diagram of the present utility model.
Fig. 2 is the structural drawing of body surface perception unit.
Fig. 3 is the principle assumption diagram of contour of object perception unit
In figure: 1, sensor glove; 2, body sense controller; 3, blower fan; 4, master controller; 5, the hand of user; 6, contour of object perception unit; 7, cable; 8,9,11, the communication line between equipment; 10, imageing sensor; 12, body surface perception unit; 13, main equipment; 14, memory model; 15, semiconductor refrigeration sheet pedestal; 16, semiconductor refrigeration sheet; 17, piezoelectric ceramics; 18, elastic metallic; 19,20, the extension line at semiconductor refrigeration sheet the two poles of the earth, 21,22, the extension line at piezoelectric ceramics the two poles of the earth; 23, contour of object perception cell separators; 26, electromagnet; 25, the stationary installation of electromagnet is held concurrently sliding rail; 24, electromagnet draws tap; 27, hard wireway; 28, soft wireway; 29, jet-stream wind outlet; 30, permanent magnet; 31, air storage chamber; 32, air flow inlet conduit.
Embodiment
The utility model is described further below with reference to embodiment and accompanying drawing.
As shown in Figure 1, a kind of virtual haptic generation device, it comprises sensor glove 1, master controller 4, body sense controller 2 and main equipment 13, described sensor glove 1 is divided into inside and outside two-layer, internal layer is covered with body surface perception unit 12, skin is covered with contour of object perception unit 6, described sensor glove 1 is provided with the analog switch be connected with body surface perception unit 12, contour of object perception unit 6 signal output part, the output port of described analog switch is connected with the corresponding interface of master controller 4 by cable 7; Described body sense controller 2 is provided with two imageing sensors 10, described main equipment 13 is for being provided with computing machine or the mobile phone of memory model 14, and the corresponding interface of described body sense controller 2, main equipment 13 is connected with master controller 4 the corresponding interface respectively by cable 7.
Described body surface perception unit 12, comprise the semiconductor refrigeration sheet 16 be arranged on semiconductor refrigeration sheet pedestal 15 and the piezoelectric ceramics 17 showing to be provided with elastic metallic 18, respectively there are two extension lines 19,20,21,22 at the two poles of the earth of described semiconductor refrigeration sheet 16 and piezoelectric ceramics 17, and the respective input mouth be connected with the analog switch of sensor glove 1 is respectively connected.Semiconductor refrigeration sheet 16 principle of work provides energy needed for electron stream by direct supply, after being electrified, electronics negative pole sets out, first through P-type semiconductor, in this caloric receptivity, arrive N-type semiconductor, again heat has been released, often through a np module, in addition cause the temperature difference with regard to there being heat by being sent to and forming cold and hot end.Control the polarity of the extension line 19,20 at semiconductor refrigeration sheet 16 the two poles of the earth, change the heat absorption of refrigerating sheet surface or heat release, thus reach the object of control surface temperature.The extension line 21,22 at piezoelectric ceramics the two poles of the earth is connected to master controller 4, voltage is applied by master controller 4, produce electric field at piezoelectric ceramics 17 and make its deformation, and drive elastic metallic 18 deformation on piezoelectric ceramics 17, the size of 21,22 voltages and rate of change on the extension line regulating piezoelectric ceramics the two poles of the earth, the continuous deformation of elastic metallic 18 can be driven and produce vibration, voltage is different with rate of change, the amplitude of vibration is also different with speed, thus also just different in the stimulation of the surface roughness produced on hand of user.
Described contour of object perception unit 6 is divided into upper and lower two cavitys by contour of object perception cell separators 23, and lower chamber is air storage chamber 31, and air storage chamber 31 is connected by air flow inlet conduit 32 with blower fan 3.One end in contour of object perception unit 6 upper cavity is provided with electromagnet 26 by stationary installation sliding rail 25 of holding concurrently, its other end is fixed with permanent magnet 30, electromagnet is drawn tap 24 input interface corresponding to the analog switch of sensor glove 1 and is connected, between the upper wall of the contour of object perception unit upper cavity between electromagnet 26 and permanent magnet 30 and contour of object perception cell separators, opposition is provided with two sections of hard wireways 27 of disconnection, the soft wireway 28 of connection hard wireway is up and down connected with between two sections of hard wireways 27, the hard wireway 27 of described epimere is provided with jet-stream wind outlet 29, the hard wireway 27 of hypomere is connected with air storage chamber 31 by the through hole that contour of object perception cell separators is arranged, and the distance up and down between hard wireway is greater than the profile full-size of electromagnet 26.The direction of current that master controller 4 controls in electromagnet extraction tap 24 makes it produce different magnetic poles at electromagnet 26 two ends, magnetic pole is different, the effect of permanent magnet 30 pairs of electromagnet 26 can show as and attract and repel, when permanent magnet 30 pairs of electromagnet 26 show as attraction, both are pulled together, the soft wireway 28 of the hard wireway 27 of clamping connection two sections, jet-stream wind outlet 29 not jet-stream wind.When permanent magnet 30 pairs of electromagnet 26 show as repulsion, both separate, and the soft wireway 28 connecting two sections of hard wireways 27 relaxes, and jet-stream wind exports 29 jet-stream winds.Control time of pole change and the frequency at electromagnet 26 two ends, produce different jet-stream winds in jet-stream wind outlet 29, thus obtain different feedback forces, feedback force is different, can the information such as the motion state of presentation model and hardness.
Claims (3)
1. a virtual haptic generation device, it comprises sensor glove, master controller, body sense controller and main equipment, it is characterized in that: described sensor glove is divided into inside and outside two-layer, internal layer is covered with body surface perception unit, skin is covered with contour of object perception unit, described sensor glove is provided with the analog switch be connected with body surface perception unit, contour of object perception cell signal output terminal, the output port of described analog switch is connected with the corresponding interface of master controller by cable; Described body sense controller is provided with two imageing sensors, described main equipment is the computing machine or the mobile phone that are provided with memory model, and the corresponding interface of described body sense controller, main equipment is connected with master controller the corresponding interface respectively by cable.
2. virtual haptic generation device according to claim 1, it is characterized in that: described body surface perception unit, comprise the semiconductor refrigeration sheet be arranged on semiconductor refrigeration sheet pedestal and the piezoelectric ceramic piece showing to be provided with elastic metallic, respectively there are two extension lines at the two poles of the earth of described semiconductor refrigeration sheet and piezoelectric ceramic piece, and the respective input mouth be connected with the analog switch of sensor glove is respectively connected.
3. virtual haptic generation device according to claim 1, it is characterized in that: described contour of object perception unit is divided into upper and lower two cavitys by contour of object perception cell separators, lower chamber is air storage chamber, air storage chamber and blower fan are by air flow inlet tubes connection, one end in contour of object perception unit upper cavity is provided with electromagnet by stationary installation sliding rail of holding concurrently, its other end is fixed with permanent magnet, electromagnet is drawn tap input interface corresponding to the analog switch of sensor glove and is connected, between the upper wall of the contour of object perception unit upper cavity between electromagnet and permanent magnet and contour of object perception cell separators, opposition is provided with two sections of hard wireways of disconnection, the soft wireway of connection hard wireway is up and down connected with between two sections of hard wireways, the hard wireway of described epimere is provided with jet-stream wind outlet, the hard wireway of hypomere is connected with air storage chamber by the through hole that contour of object perception cell separators is arranged, and the distance up and down between hard wireway is greater than the profile full-size of electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420479257.5U CN204129657U (en) | 2014-08-25 | 2014-08-25 | A kind of virtual haptic generation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420479257.5U CN204129657U (en) | 2014-08-25 | 2014-08-25 | A kind of virtual haptic generation device |
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| CN204129657U true CN204129657U (en) | 2015-01-28 |
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| CN201420479257.5U Expired - Fee Related CN204129657U (en) | 2014-08-25 | 2014-08-25 | A kind of virtual haptic generation device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109582132A (en) * | 2018-11-01 | 2019-04-05 | 深圳岱仕科技有限公司 | Hand mechanical exoskeleton and its feedback |
| TWI672168B (en) * | 2015-03-20 | 2019-09-21 | 新力電腦娛樂股份有限公司 | System for processing content for a head mounted display(hmd), peripheral device for use in interfacing with a virtual reality scene generated by a computer for presentation on the hmd, and method of simulating a feeling of contact with a virtual object |
| US10642356B1 (en) | 2016-06-26 | 2020-05-05 | Apple Inc. | Wearable interactive user interface |
-
2014
- 2014-08-25 CN CN201420479257.5U patent/CN204129657U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI672168B (en) * | 2015-03-20 | 2019-09-21 | 新力電腦娛樂股份有限公司 | System for processing content for a head mounted display(hmd), peripheral device for use in interfacing with a virtual reality scene generated by a computer for presentation on the hmd, and method of simulating a feeling of contact with a virtual object |
| US10642356B1 (en) | 2016-06-26 | 2020-05-05 | Apple Inc. | Wearable interactive user interface |
| US11144121B2 (en) | 2016-06-26 | 2021-10-12 | Apple Inc. | Wearable interactive user interface |
| CN109582132A (en) * | 2018-11-01 | 2019-04-05 | 深圳岱仕科技有限公司 | Hand mechanical exoskeleton and its feedback |
| CN109582132B (en) * | 2018-11-01 | 2024-03-22 | 深圳岱仕科技有限公司 | Hand machinery exoskeleton and feedback control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150128 Termination date: 20150825 |
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| EXPY | Termination of patent right or utility model |