CN206726169U - For producing the egersimeter system of artificial tactile - Google Patents
For producing the egersimeter system of artificial tactile Download PDFInfo
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- CN206726169U CN206726169U CN201720396308.1U CN201720396308U CN206726169U CN 206726169 U CN206726169 U CN 206726169U CN 201720396308 U CN201720396308 U CN 201720396308U CN 206726169 U CN206726169 U CN 206726169U
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Abstract
The egersimeter system for producing artificial tactile is the utility model is related to, system includes microcontroller, constant current output regulation circuit, switching circuit and the battery lead plate being linked in sequence；The microcontroller is connected with switching circuit, is also connected by communication interface circuit with host computer.The utility model realizes the electro photoluminescence of multiplex mode by changing Switch State Combination in Power Systems based on high pressure optoelectronic switch array approaches.The utility model can produce real vibrations, compressing experience on skin, and have good position resolution.
Description
Technical field
It the utility model is related to field of virtual reality.It is particularly used for helping the tactile virtual reality for strengthening telepresenc
System.
Background technology
Vision, tactile, the sense of hearing, which are that biology is most important, feels composition.Although there are some researches show humans and animals perceive extraneous generation
The information 80% on boundary derives from vision, but is related to the operation of fine, dexterous type, and tactile is still most reliable perceptive mode.
Virtual reality technology is a kind of computer simulation system that can be created with the experiencing virtual world, and it utilizes computer
A kind of simulated environment is generated, is a kind of Multi-source Information Fusion, the system of interactive Three-Dimensional Dynamic what comes into a driver's and entity behavior imitates
Really user is set to be immersed in the environment.Current virtual reality technology, mainly using Binocular Vision Principle, pass through VR glasses, VR
The modes such as the helmet, coordinate surround sound system, creating one has relief virtual environment.In future, virtual reality is not
Vision, the sense of hearing can be only related to, can also be related to smell, tactile, the sense of taste, construct a world similar to true environment.
In the technological means of various artificially generated virtual haptics, flexible, realization device is simple, thorn due to stimulating for electric touch
The features such as swashing the controllable precise such as pulse amplitude, frequency and receive significant attention.Electric touch is simulated skin receptor for physics
Stimulate and produce induction potential principle, the skin surface that mechanoceptor is distributed with is directly acted on by boost pulse, and piercing
During swashing by change apply the parameters such as the amplitude of boost pulse, frequency and consider the factors such as distribution of electrodes, current polarity and
Make one to produce such as vibration sense, a kind of tactile sense reproduction method of feeling of stress sensation.
Prior art, which mainly by the electrode pair skin receptor of single-point or linear distribution stimulate, produces tactile.It is such
Method is suitable only for carrying out the experiment for electric touch study mechanism, and the tactile of complexity can not be produced in the plane of Two dimensional Distribution
Pattern, thus may not apply to produce the genuine haptic sensation experience of real-time change in reality environment.
Utility model content
For above-mentioned technical deficiency, the utility model provides a kind of electricity that artificial tactile is produced on two dimensional surface skin
Stimulator system, real vibrations, compressing experience can be produced on skin, and there is good position resolution.
Technical scheme is used by the utility model solves its technical problem：For producing the egersimeter of artificial tactile
System, including microcontroller, constant current output regulation circuit, switching circuit and the battery lead plate being linked in sequence；The microcontroller with
Switching circuit connects, and is also connected by communication interface circuit with host computer.
The switching circuit includes multiple switch unit.
The switch element includes two high pressure optoelectronic switches；The anode of two high pressure optoelectronic switches connects with microcontroller
Connect, the minus earth of two high pressure optoelectronic switches；The colelctor electrode of first high pressure optoelectronic switch is defeated with constant current output regulation circuit
Go out end connection, the emitter stage of the first high pressure optoelectronic switch, the colelctor electrode of the second high pressure optoelectronic switch connect and be used as output end and
Battery lead plate connects；The grounded emitter of second high pressure optoelectronic switch.
The battery lead plate is flexible electrical pole plate.
The battery lead plate base material is Kapton.
The battery lead plate is the battery lead plate manufactured using FPC techniques.
Multiple electrodes point is distributed on the battery lead plate, each electrode points are connected by lead with switch element.
The electrode points squarely array is uniformly distributed.
The beneficial effects of the utility model and advantage：
1. the utility model have it is simple in construction, easy to operate, can not change and realize a variety of moulds under the conditions of circuit structure
The stimulation of formula, compared with prior art, the utility model can realize more flexile electrical stimulation pattern.
2. switch element of the present utility model uses two transistor output type high pressure optoelectronic switches, may be constructed programmable
Single-pole double-throw switch (SPDT) array, different tactiles is realized by off state.
3. the circuit board that the utility model uses, being capable of good fit people for the flexible PCB of Kapton base material
Body skin.
4. the utility model is based on high pressure optoelectronic switch array approaches, by change Switch State Combination in Power Systems realize it is multiple
The electro photoluminescence of pattern.Real vibrations, compressing experience can be produced on skin, and there is good position resolution.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is that constant current output adjusts circuit in Fig. 1；
Fig. 3 is single switch cellular construction schematic diagram in switching circuit in Fig. 1；
Fig. 4 a are the view that switch element flash turns on low side cut-off；
Fig. 4 b are the view that switch element flash ends low side cut-off；
Fig. 4 c are the view that switch element flash ends low side conducting；
Fig. 5 a are RA stimulus modality schematic diagrames；
Fig. 5 b are PC stimulus modality schematic diagrames；
Fig. 5 c are SAI stimulus modality schematic diagrames；
Fig. 6 is Fig. 1 moderate stimulation electrode plate structure schematic diagrames.
Embodiment
The utility model is described in further detail with reference to embodiment.
Stimulating electrode plate is fixed on the skin surface for needing to produce artificial tactile by the utility model, makes skin and electrode points
Fully contact.Microcontroller circuit receives the tactile intensity Two dimensional Distribution information from host computer by communication interface circuit and touched
Feel kind of information, the electric current output intensity of constant current output regulation circuit is adjusted according to tactile strength information, is believed according to tactile species
Breath, change the state of each switch in stimulus signal switching circuit by timesharing, realize different stimulus modalities.Each electrode points exist
Output current or recovery electric current, thigmoreceptor subcutaneous with human body form loop at different moments, stimulate corresponding neuron to produce dynamic
Make current potential, so as to produce desired artificial tactile.
It is a kind of to be used to producing the egersimeter system of artificial tactile, including constant current output regulation circuit, microcontroller circuit,
Communication interface circuit, stimulus signal switching circuit and multiple spot stimulating electrode plate；The communication interface circuit, stimulus signal switching electricity
Road is connected with microcontroller circuit.Microcontroller is changed by DA and is connected with constant current output regulation circuit.
Constant current output regulation circuit forms constant current output control circuit by four transistors and an operational amplifier, when even
Connect load impedance no more than 40 kilo-ohms when, output current can in the range of 0~1mA continuously adjustabe.The in-phase input end of amplifier with
The reference voltage Vref that microcontroller provides is connected, and transistor Q2 colelctor electrode is connected with switching circuit.
Communication interface circuit is RS422 interface chips.
Stimulus signal switching circuit is made up of multiple switch unit, and each switch element connects a stimulating electrode.
Switch element in stimulus signal switching circuit presses bridge architecture for two transistor output type high pressure optoelectronic switches
Connection, the colelctor electrode pin of the high pressure optoelectronic switch in flash position are connected with the output end of constant current output regulation circuit, located
It is connected in the emitter stage pin of the high pressure optoelectronic switch of low side position with the ground of constant current output regulation circuit.Flash position photoelectricity is opened
The emitter stage pin of pass is connected an electrode points jointly with the colelctor electrode pin of low side position optoelectronic switch.
Multiple spot stimulating electrode plate is manufactured using FPC techniques, and material is Kapton, and it is bent can be bonded any skin
Face, its surface produce the position distribution multiple electrodes point of tactile as needed, and each electrode points pass through lead and corresponding switch
Unit connects.
Artificial tactile production method, comprises the following steps：
Stimulating electrode plate is fixed on to the skin surface for needing to produce artificial tactile, skin is fully contacted with electrode points.
Microcontroller circuit receives tactile intensity Two dimensional Distribution information and tactile species letter from host computer by communication interface circuit
Breath, the electric current output intensity of constant current output regulation circuit is adjusted according to tactile strength information, according to tactile kind of information, by dividing
When change stimulus signal switching circuit in each switch state, realize different stimulus modalities.Each electrode points are at different moments
Output current or recovery electric current, thigmoreceptor subcutaneous with human body form loop, stimulate corresponding neuron fires, from
And produce desired artificial tactile.
The production method of positive current is that switch element flash corresponding to positive current output electrode is partially ON, and low rim portion is cut
Only；High rim portion of switch element corresponding to electrode and low rim portion are cut-off state around it；Apart from positive current output electrode
The high rim portion cut-off of switch element corresponding to electrode farther out, low rim portion conducting.
The production method of multiple electrodes output negative current cuts for the high rim portion of switch element corresponding to negative current output electrode
Only, low rim portion conducting；Switch element flash is partially ON corresponding to other electrodes, low rim portion cut-off.
Alternately output reversal production method is the high edge of switch element corresponding to positive current output electrode to adjacent electrode
Divide conducting, low rim portion cut-off；The high rim portion cut-off of switch element corresponding to negative current output electrode adjacent thereto, low edge
Divide conducting.As shown in Fig. 4 a- Fig. 4 c.
As shown in figure 1, a kind of egersimeter system for being used to produce artificial tactile, including the constant current output being linked in sequence are adjusted
Economize on electricity road, microcontroller circuit, communication interface circuit, stimulus signal switching circuit and multiple spot stimulating electrode plate；The communication connects
Mouth circuit, stimulus signal switching circuit are connected with microcontroller circuit.
The constant current output adjusts circuit as shown in Fig. 2 mainly forming perseverance by four transistors and an operational amplifier
Flow output control circuit.Fig. 2 left ends are reference voltage input terminal, when connecting load impedance no more than 40 kilo-ohms, reference input
When terminal voltage changes between 0~1V, the electric current of continuously adjustabe in the range of the exportable 0~1mA of the circuit.Reference input voltage can
Exported by microcontroller circuit through D/A converter.Preferably, the transistor uses P350T05 triodes, the operation amplifier
Device uses LM358 integrated transporting discharging chips.
The communication interface circuit is RS422 interface chips, and communication interface chip directly connects with microcontroller circuit UART
Mouth connection, realizes communication signal level conversion.The communication interface chip other end is connected with PC, is realized and is received the tactile from PC
Information.Preferably, using MAX488 communication interface chips.
The stimulus signal switching circuit is made up of multiple switch unit, and each switch element connects a stimulating electrode.
As shown in figure 3, the switch element in the stimulus signal switching circuit is two transistor output type high pressure photoelectricity
Switch is connected by bridge architecture, colelctor electrode pin and the constant current output regulation circuit of the high pressure optoelectronic switch in flash position
Output end is connected, and the emitter stage pin of the high pressure optoelectronic switch in low side position is connected with the ground of constant current output regulation circuit.
The emitter stage pin of flash position optoelectronic switch is connected an electrode points jointly with the colelctor electrode pin of low side position optoelectronic switch.
High side switches and lower edge switch in each switch element are provided independent control signal by microcontroller circuit respectively.It is preferred that
Ground, high side switches and lower edge switch can use TLP127 high pressure photoelectrical coupler chips.
The multiple spot stimulating electrode plate is manufactured using FPC techniques, and its structure is as shown in fig. 6, this flexible PCB can be with
Any skin curved surface is bonded, its surface produces the position distribution multiple electrodes point of tactile as needed, and each electrode points are by drawing
Line connects with corresponding switch element.
In use, stimulating electrode plate to be fixed on to the skin surface for needing to produce artificial tactile, skin is set to be filled with electrode points
Tap is touched.Microcontroller circuit receives tactile intensity Two dimensional Distribution information and tactile kind from PC by communication interface circuit
Category information, the electric current output intensity of constant current output regulation circuit is adjusted according to tactile strength information, according to tactile kind of information, led to
Change the state of each switch in stimulus signal switching circuit when undue, realize different stimulus modalities.Each electrode points are in difference
Moment output current (i.e. integral point fleeting time) or recovery electric current (i.e. negative current), thigmoreceptor subcutaneous with human body form loop, thorn
Corresponding neuron fires are swashed, so as to produce desired artificial tactile.
Stimulus modality mainly includes single electrode positive current stimulus modality (RA patterns), multi-electrode negative current stimulus modality (PC
Pattern), and multi-electrode alternating positive current stimulus modality (SAI patterns).In the utility model, specific producing method and its right
The tactile species answered is：
RA patterns：Some electrode exports positive current in stimulating electrode plate, and its corresponding tactile species is mainly low-frequency vibration；
PC patterns：Multiple electrodes export negative current in stimulating electrode plate, and its corresponding tactile species is mainly dither；
SAI patterns：Adjacent electrode alternately predominantly press by output reversal, its corresponding tactile species in stimulating electrode plate
Sense.
The embodiment of these three patterns is as shown in Fig. 5 a- Fig. 5 c：When using RA patterns, black round dot generation in figure
Table positive current output electrode, its corresponding switch element flash is partially ON, low rim portion cut-off；White round dot is represented without output
Electrode, its corresponding high rim portion of switch element and low rim portion are cut-off state；Grey round dot represents negative current output electricity
Pole, the corresponding high rim portion cut-off of switch element, low rim portion conducting.Export the electrode of positive current and the electrode of output negative current
Loop is subcutaneously being formed, black arrow represents stimulating current.Similarly, by changing the group of switch element corresponding to each electrode
Conjunction state combines, it is possible to achieve the electro photoluminescence of PC patterns and SAI patterns.
Claims (6)
1. for producing the egersimeter system of artificial tactile, it is characterised in that defeated including the microcontroller that is linked in sequence, constant current
Go out to adjust circuit, switching circuit and battery lead plate；The microcontroller is connected with switching circuit, also by communication interface circuit with it is upper
Position machine connection；
The switching circuit includes multiple switch unit；
The switch element includes two high pressure optoelectronic switches；The anode of two high pressure optoelectronic switches is connected with microcontroller, and two
The minus earth of individual high pressure optoelectronic switch；The output end of the colelctor electrode of first high pressure optoelectronic switch and constant current output regulation circuit connects
Connect, the emitter stage of the first high pressure optoelectronic switch, the colelctor electrode of the second high pressure optoelectronic switch connect and be used as output end and battery lead plate
Connection；The grounded emitter of second high pressure optoelectronic switch.
2. the egersimeter system according to claim 1 for being used to produce artificial tactile, it is characterised in that the battery lead plate
For flexible electrical pole plate.
3. the egersimeter system according to claim 2 for being used to produce artificial tactile, it is characterised in that the battery lead plate
Base material is Kapton.
4. the egersimeter system according to claim 1 for being used to produce artificial tactile, it is characterised in that the battery lead plate
For using the battery lead plate of FPC techniques manufacture.
5. the egersimeter system according to claim 1 for being used to produce artificial tactile, it is characterised in that the battery lead plate
Upper distribution multiple electrodes point, each electrode points are connected by lead with switch element.
6. the egersimeter system according to claim 1 for being used to produce artificial tactile, it is characterised in that the electrode points
Squarely array is uniformly distributed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720396308.1U CN206726169U (en) | 2017-04-17 | 2017-04-17 | For producing the egersimeter system of artificial tactile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720396308.1U CN206726169U (en) | 2017-04-17 | 2017-04-17 | For producing the egersimeter system of artificial tactile |
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| CN206726169U true CN206726169U (en) | 2017-12-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108325080A (en) * | 2018-03-09 | 2018-07-27 | 广州圆医生物科技有限公司 | A kind of single channel EMG feedback and electric stimulating instrument for the rehabilitation of basin bottom |
| CN108733198A (en) * | 2017-04-17 | 2018-11-02 | 中国科学院沈阳自动化研究所 | Egersimeter system for generating artificial tactile and artificial tactile production method |
-
2017
- 2017-04-17 CN CN201720396308.1U patent/CN206726169U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108733198A (en) * | 2017-04-17 | 2018-11-02 | 中国科学院沈阳自动化研究所 | Egersimeter system for generating artificial tactile and artificial tactile production method |
| CN108325080A (en) * | 2018-03-09 | 2018-07-27 | 广州圆医生物科技有限公司 | A kind of single channel EMG feedback and electric stimulating instrument for the rehabilitation of basin bottom |
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