KR101239368B1 - Method for representing haptic information and system for transmitting haptic information through separating a sensory information - Google Patents
Method for representing haptic information and system for transmitting haptic information through separating a sensory information Download PDFInfo
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- KR101239368B1 KR101239368B1 KR20100127085A KR20100127085A KR101239368B1 KR 101239368 B1 KR101239368 B1 KR 101239368B1 KR 20100127085 A KR20100127085 A KR 20100127085A KR 20100127085 A KR20100127085 A KR 20100127085A KR 101239368 B1 KR101239368 B1 KR 101239368B1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
Abstract
Provided are a tactile information presentation method using sensory information and a tactile information transmission system. In the tactile information presentation method using the sensory information, object data for generating a scene descriptor for setting a temporal position of tactile information including tactile information and tactile information corresponding to the multimedia information and multimedia information including audio and video. In the following, the generated object data is encoded, the encoded information is multiplexed to generate a single stream file, and the tactile information representation method using the haptic device and the sensitizing device includes the effects of manual movement as the sensation information. Defining sensitization data relating to sensitization data and effects of active movement, describing components of the sensitization data relating to the effects of active movement, characteristics of a haptic device comprising the haptic device and the sensitizing device; and Storing control information including a specification, the control Reference information to, and a step of the scene descriptor information from the component of the data regarding the yeokgam step and the above-described effect of the active movement representing through the haptic device, providing the effect active movement.
Description
The present invention relates to tactile technology, and more particularly, to a tactile information presentation method and transmission system for adding a tactile sense to an audio-video multimedia to make a user feel real.
Conventional audio-video based standards such as MPEG have been developed, but this is merely to convey visual and auditory sense, and does not provide an effect that a user can feel immersive by touch. In addition, although haptic technology is partially employed in mobile phones, medical devices, and games, many technical problems need to be solved in order to apply haptic technology to an audio-video stream. It is difficult to apply to audio / video streams and various virtual environments.
SUMMARY OF THE INVENTION The present invention has been made in an effort to provide a tactile information presentation method that provides a more realistic multimedia to a user by appropriately applying a haptic effect to an audio-video stream.
Another technical problem of the present invention is to provide a tactile information transmission system that provides a user with more realistic multimedia by appropriately applying a haptic effect to an audio-video stream.
The technical problems of the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.
According to an aspect of the present invention, there is provided a tactile information presentation method through division of sensory information, including: tactile sense including multimedia information including audio and video, and tactile sense and force corresponding to the multimedia information. To generate scene descriptors to set the temporal position of information, object data is generated, the generated object data is encoded, the encoded information is multiplexed into a single stream file, and used by the tactile device and the sense device. A method of representing tactile information, the method comprising: defining force data relating to the effects of passive movement and force data relating to the effects of active movement, describing the components of the sense of force data relating to the effects of passive movement; Describe the components of the adverse data relating to the effect of the active movement In the step of providing the passive motion effect, based on the component of the sense of force data relating to the effect of the passive motion described above, Providing a motion effect.
According to an aspect of the present invention, there is provided a tactile information transmission system through classification of sensory information, the multimedia information including audio and video and a tactile sense and a sense of force corresponding to the multimedia information. Means for generating object data to generate a scene descriptor for setting a temporal position of tactile information, means for encoding the generated object data, means for multiplexing the encoded information into a single stream file, a haptic device, and A tactile information representation system comprising a force sensing device, comprising: means for defining force data relating to the effects of passive motion, which is the force information, and force data relating to the effects of active motion, and components of the force data relating to the effects of passive motion Means for describing an adverse effect on the effect of the active movement Means for describing the components of the data, means for providing the passive movement effect, based on the components of the sense of force data relating to the effects of the passive motion described above, and components of the force data for the effects of the described active movement On the basis of this, means for providing the active movement effect.
By appropriately applying a haptic effect to the audio-video stream, it is possible to provide a tactile information presentation method that provides a more realistic multimedia to the user.
1 is a view showing a tactile device including a driver according to an embodiment of the present invention.
2 is a perspective view of an apparatus for providing a sense of force according to an embodiment of the present invention.
3 is a diagram illustrating a driver array and a tactile video corresponding thereto according to an embodiment of the present invention.
4 is a diagram illustrating an example of generating a tactile video based on a video.
5 is a diagram illustrating an example of a MovieTexture node of a scene descriptor in MPEG-4.
6 is a diagram illustrating a TactileDisplay node for representing tactile information.
FIG. 7 illustrates a TactileDisplay node connected to a MovieTexture node to define a tactile video object.
8 is a diagram illustrating a TactileDisplayTexture node for representing tactile information.
9 and 10 are diagrams illustrating a Kinesthetic node for expressing feeling information.
11 is a block diagram of a tactile information transmission system according to an embodiment of the present invention.
12 is a flowchart of a tactile information transmission method according to an embodiment of the present invention.
13 is a flowchart of a process in which active adverse data is provided to a user.
14 is a flow chart of a process in which manual adverse data is provided to a user.
BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.
References to elements or layers "on" other elements or layers include all instances where another layer or other element is directly over or in the middle of another element. On the other hand, a device being referred to as "directly on" refers to not intervening another device or layer in the middle. Like reference numerals refer to like elements throughout. "And / or" include each and any combination of one or more of the mentioned items.
Although the first, second, etc. are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are used only to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical scope of the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms " comprises "and / or" comprising "used in the specification do not exclude the presence or addition of one or more other elements in addition to the stated element.
Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.
The terms spatially relative, "below", "beneath", "lower", "above", "upper" And can be used to easily describe a correlation between an element and other elements. Spatially relative terms should be understood in terms of the directions shown in the drawings, including the different directions of components at the time of use or operation. For example, when inverting an element shown in the figures, an element described as "below" or "beneath" of another element may be placed "above" another element . Thus, the exemplary term "below" can include both downward and upward directions. The components can also be oriented in different directions, so that spatially relative terms can be interpreted according to orientation.
1 is a view showing a haptic device including a driver. 2 is a diagram illustrating a reverse device.
1 and 2, the
The tactile sense may be roughly classified into tactile information including tactile information including vibration, heat, and current, and sensation including tactile information including force, torque, and stiffness. The information about the tactile feeling and dysphoria is also called sensory information. In addition, the device for presenting the tactile feeling is a haptic device, and the device for presenting the sensation is a feeling sensation device, which can be referred to as a tactile device including the tactile device and the sensitizing device.
In addition, the sense of force may be classified into the sense of force data relating to the effects of passive movement and the sense of energy relating to the effects of active movement. This division is defined based on the user's side, and the effect of manual movement means that when the user mounts the haptic device, the pre-generated tactile information is provided to the user through the haptic device. On the other hand, the active movement effect means that when a user equipped with a haptic device touches an object with his or her will, tactile information set on the object is provided through the haptic device.
The
The
The
The
The
In the case of the
In the case of the force-sensing
In addition, the force-sensing device may be defined separately from the force-sensitive information on the passive movement and the force-sensitive information on the active movement. In the case of the manual movement, the effect of the manual movement described in the manual sensitization
On the other hand, in the case of active movement, the user wearing the
The components of the sense data relating to the effect of passive withdrawal include the trajectory of the reverse device, the data update rate of the reverse device, the force provided by the reverse device and the torque provided by the reverse device.
Here, the trajectory of the reverse device refers to the position and direction in which the reverse device moves. This trajectory comprises three positions (Px, Py, Pz) and three directions (Ox, Oy, Oz), the position can be expressed in millimeters (mm), and the direction can be expressed in degrees. have. This position and direction data can be updated according to the same update rate.
The data update rate of the reverse device refers to the number of update of reverse data per second. For example, if the update rate is 20, it means that the reverse data is updated 20 times per second.
The force / torque provided by the counterweight device is the force / torque provided by the counterweight device to the user.
Components of the sense of force data relating to the effects of active movement include the data update rate of the force of the reverse device, the force provided by the force of the reverse device and the torque provided by the force of the reverse device.
Here, the data update rate of the reverse device refers to the number of updates per second of the reverse information.
The force / torque provided by the counterweight device refers to three forces (Fx, Fy, Fz) and three torques (Tx, Ty, Tz) on each axis, and the force can be expressed in Newtons (N). The torque can be expressed in Newton millimeters (Nmm).
Here, referring to FIG. 9, the process of transmitting the active sense information further will be described. When the user wears the sense of
On the basis of these passive data components relating to passive and active movement effects, the reverse device can provide a sense of force to the user.
The tactile video 600, force data, and scene descriptor information mapped corresponding to the media (video, audio) information are resized in consideration of the specifications of the device stored in the
In addition, the
The main controller generates a control signal for controlling each
The driving of each
3 is a diagram illustrating a driver array and a tactile video corresponding thereto.
Referring to FIG. 3, the left
Each pixel of the tactile video 600 includes intensity information of the pixel, and the intensity information corresponds to the driving intensity of the driver corresponding to the pixel. When the tactile video 600 is represented as a gray scale black and white video, each pixel has intensity information of 0 to 255. The
When the
The resizing is performed by the
For example, if the tactile video 600 has dimensions of 320 × 240 and the
Since the tactile video 600 is in the same format as a general color or monochrome video, it can be transmitted using a general video encoding and decoding method. Also, the tactile video 600 is composed of a plurality of frames, and the intensity information of the pixels in each frame corresponds to the driving strength of each
In case of dysphoria, the skilled person stores the movement of three degrees of freedom or six degrees of freedom of the tool manipulated in the workspace. In order to store the movement and power of the skilled person, the robot arm with the tool used by the skilled person is used at the end, and each joint of the robot arm has an encoder to obtain the position data of the tool, Torque sensors also determine the force / torque applied to the tool by a skilled person. The force data for force reproduction is then a series of position data and force data and includes the time each data is sampled.
In addition, similarly, the
And, looking at the case of the user preferences, for example, the user may not like the temperature of more than 30 degrees, and may not want the current to flow more than 0.5mA. It may also be disliked when the force provided is greater than 5N.
This user preference has priority over device specification information. Therefore, even if the transmitted tactile information is 10N and adjusted to 5N in consideration of the device specification, if the user preference is 3N, the force provided by the haptic device to the user may be 3N. As a result, 10N tactile information was resized to 3N.
4 is a diagram illustrating an example of generating a tactile video based on a video.
Referring to FIG. 4, positioned to the right of an image of a movie is a movie-adaptive
The generated tactile video is reproduced in accordance with the device standard. More specifically, it is converted and reproduced according to the size of the device as well as the number of tactile strengths the device can provide. For example, the presentation of the tactile video is 256 steps, but if the device can play only 8 steps, the 256 steps are divided into 8 steps to be played.
Looking at the drawing, there is shown a screen in which the actor jumps from right to left. This figure illustrates an example in which the movement of the actor can be transmitted to the user by the touch from the viewpoint of the third-person observer. The tactile video may be authored based not only on the third-person observer's point of view, but also on the first-person main character's viewpoint or tactile background effect viewpoint. In the first frame, when the actor starts to jump, the tactile video is mapped to black, and the driver array presents a weak intensity tactile response corresponding to the mapped color. In the last frame, the moment the actor moves left through a strong jump, the tactile video is mapped to white, and the driver array correspondingly presents a strong intensity tactile.
5 is a diagram illustrating an example of a MovieTexture node of a scene descriptor in MPEG-4. Node tactile information is transmitted along with general media (audio and video) information. Hereinafter, a node structure, a transmission method, and a system for transmitting tactile information expressed in the form of tactile video together with media information will be described.
In MPEG-4, information for representing an object is transmitted through a plurality of elementary streams (ES). The correlation information and link configuration information between the respective elementary streams (ES) are transmitted by an object descriptor defined in MPEG-4.
In order to compose a scene based on MPEG-4, an Initial Object Descriptor (IOD), a Binary Format for Scenes (BIFS), an Object Descriptor, and media data are generally required. An Initial Object Descriptor (IOD) is the first information to be transmitted in order to compose an MPEG-4 scene. It describes the profile and level of each media, and is an ESDescriptor for a Scene Descriptor (BIFS) stream and an Object Descriptor stream. ).
The object descriptor is a set of elementary stream descriptors that describe information about each media data constituting the scene, and provides a connection between the elementary stream (ES) of each media data and the scene description. Here, the scene descriptor (BIFS) is information describing how each object has a relationship in space and time.
In MPEG-4, the Scene Descriptor (BIFS) is provided with a MovieTexture node that defines a video object.
Referring to FIG. 5, in a MovieTexture node, stratTime represents a start time at which a video is played, and stopTime represents a time at which play of a video is stopped. This allows the video to be synchronized with other objects. The url also sets the position of the video.
TactileDisplay node is defined to transmit tactile video using MovieTexture node of such scene descriptor.
6 is a diagram illustrating a TactileDisplay node for representing tactile information. FIG. 7 illustrates a TactileDisplay node connected to a MovieTexture node to define a tactile video object.
6 and 7, according to FIG. 5, the TactileDisplay node is a kind of texture node. In FIG. 6, the "url" field indicates the position of the tactile video, the "stratTime" field indicates the start time, and the "stopTime" field indicates the end time. In other words, define a tactile video object by connecting a MovieTexture node to the texture field of the TactileDisplay node.
In the example of FIG. 6, the tactile video set to "tatile_video.avi" is played in the tactile presentation device from 3 seconds to 7 seconds after being played.
8 is a diagram illustrating a TactileDisplayTexture node for representing tactile information.
Referring to FIG. 8, according to FIG. 7, a scene descriptor (BIFS) of MPEG-4 newly defines a TactileDisplayTexture for transmitting a tactile video. TactileDisplayTexture defines the play start time and stop time of the tactile video file, and the "url" field indicates the location of the tactile video file.
9 and 10 are diagrams illustrating a dysfunction node. Like the tactile node mentioned above, this figure may define an object for the adverse data.
11 is a block diagram of a tactile information transmission system according to another embodiment of the present invention.
Referring to FIG. 11, the tactile information transmission system includes an
The
The tactile video generation in the
The haptic video generated by the
The
In addition, the scene descriptor is encoded in the
In the present invention, the
The MP4 file transmitted through the
The information decoded by the
The tactile presentation device includes a tactile /
12 is a flowchart of a tactile information transmission method. This flow chart may also be viewed as a flow chart for a method of transmitting passive adverse data.
Referring to FIG. 12, first, the tactile video generation unit generates a tactile video based on media information such as audio and video, and the sensation data generation unit generates sensitized data (S100).
Each pixel of the tactile video includes an intensity value that represents the driving intensity for each driver of the driver array of the tactile device. The generation of such tactile video can be generated automatically or manually based on audio or video.
In addition, the adverse effect data may be classified into an active mode and a passive mode based on the side of the user (or viewer). First, in the case of the manual mode, the skilled person stores the movement of three degrees of freedom or six degrees of freedom of the tool manipulated in the work space, and generates the sense of force data including a series of positional data and force data for the reproduction of the sense of force. Thereafter, when the user wears the haptic device, the generated feeling information is transmitted to the user.
In the active mode, virtual object tactile characteristics (eg, sofa stiffness and texture) may be automatically or manually generated.
In the editing / authoring unit, the tactile video and the sense of force data are arranged in accordance with the media information and the time axis, and the editing / authoring unit generates a scene descriptor including information about the spatiotemporal position of the media information and the tactile video and the adverse reaction data (S200).
The scene descriptor includes a texture node for tactile video and force data, and a texture node for tactile video and force data includes a start time field and a stopTime field for outputting tactile video and force data, and A url field is included that indicates the location of the tactile video and feel data.
The media information, the tactile video information, the sensed data, and the scene descriptor information are encoded by the encoder unit, and then a stream file is generated through a multiplexer (S300).
The generated stream file is transmitted through a transport channel (S400).
The stream file transmission method should be understood as a concept encompassing wired and wireless communication networks, and may be an IP network, a DMB communication network, or an Internet network.
The transmitted stream file is demultiplexed by the demultiplexer and then decoded by the decoder (S500).
Referring to the scene descriptor information and the device specification information, media information is generated and tactile sense is presented (S600).
The compositor uses scene descriptor information to construct audio, video tactile video and adverse data in time and space, and the audio and video are output from the audio-video output device and the tactile information is presented from the device. In addition, the sense of permeation data is provided in a sense device. Each driver of the driver array is driven through a resizing process in consideration of the intensity value and device specification of each pixel of the tactile video. In addition, the reversing process is performed in consideration of the desensitization information and the device specification to drive the desensitization device.
13 is a flowchart of a process in which active adverse data is provided to a user.
Referring to FIG. 13, first, the components of the sense of force data relating to the effect of active movement are described in the active sense of energy data description unit 450 (S700). The user wears the reverse device and touches the object (S800). Thereafter, the
14 is a flow chart of a process in which manual adverse data is provided to a user.
Referring to FIG. 14, first, manual force data is generated by the manual force data generator 717 (S1000), and then transmitted to the user in a stream form through multiplexing. On the other hand, in the passive force
Although embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features thereof. I can understand that. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.
100: tactile device 120,130: tactile display
150: reverse device 200: driver
300: device controller 350: device transceiver
400: Device specification DB 450: Passive / active reverse data technology
500: driver array 600: tactile video
700: tactile information transmission system 710: object data generation unit
712: audio generator 714: video generator
716: tactile video generation unit 717: passive force data generation unit
718: Editing / authoring unit 720: Encoder unit
722: Audio Encoder 724: Video Encoder
726: tactile video encoder 727: negative data encoder
728: BIFS Encoder 730: Multiplexer
740: transmission channel 750: demultiplexer
760: decoder 762: audio decoder
764: Video Decoder 766: Tactile Video Decoder
767: Reverse Data Decoder 768: BIFS Decoder
770: playback unit 772: audio-video output device
774: tactile device 776: compositor
800: video frame 850: tactile video corresponding to the movie
900: tactile video driver array
Claims (12)
Defining force data relating to the effects of passive movement and force data relating to the effects of active movement;
Describing a component of the sense of force data relating to the effect of the passive movement;
Describing a component of the adverse data relating to the effect of the active movement;
Providing the passive movement effect, based on components of the sense of force data relating to the effects of the passive movement described above; And
Providing the active motion effect on the basis of a component of the sense of force data relating to the effect of the active motion described above,
Providing the passive motion effect,
Resizing the passive motion effect using at least one of the characteristics, specifications, or user preferences of the haptic device or the sensitizing device; And
Providing the resized passive motion effect
Tactile information presentation method comprising a.
The effect of the manual movement,
And when the user mounts the haptic device, providing the tactile information to the user through the haptic device.
A component of the sense of force data relating to the effect of the passive movement is
And a trajectory of the force-sensing device, a data update rate of the force-sensing device, a force provided by the force-sensing device, and a torque provided by the force-sensing device.
The effect of the active movement,
And when the user wearing the haptic device touches an object, providing the tactile information set to the object through the haptic device.
The component of the sense of force data regarding the effect of the active movement is
And a data update rate of the force relief device, a force provided by the force relief device, and a torque provided by the force relief device.
Means for defining force data relating to the effect of passive motion and force data relating to the effect of active motion, the force information;
Means for describing a component of adverse data relating to the effect of the passive movement;
Means for describing a component of adverse data relating to the effect of the active movement;
Means for providing the passive movement effect, based on components of the sense of force data relating to the effects of the passive movement described above; And
Means for providing the active movement effect, based on the components of the sense of force data relating to the effects of the active movement described above,
Means for providing the passive motion effect,
Means for resizing the passive motion effect using at least one of a characteristic, specification, or user preference of the tactile device or the sensitizing device; And
Means for providing the resized passive motion effect
Including, the tactile information representation system.
The effect of the manual movement,
And when the user mounts the haptic device, providing the tactile information to the user through the haptic device.
A component of the sense of force data relating to the effect of the passive movement is
And a trajectory of the force sensing device, a data update rate of the force monitoring device, a force provided by the force monitoring device, and a torque provided by the force monitoring device.
The effect of the active movement,
And when the user wearing the haptic device touches an object, provides the tactile information set in the object through the haptic device.
The component of the sense of force data regarding the effect of the active movement is
And a data update rate of the force relief device, a force provided by the force relief device, and a torque provided by the force relief device.
Defining force data relating to the effects of passive movement and force data relating to the effects of active movement;
Describing a component of the sense of force data relating to the effect of the passive movement;
Describing a component of the adverse data relating to the effect of the active movement;
Providing the passive movement effect, based on components of the sense of force data relating to the effects of the passive movement described above; And
Providing the active motion effect on the basis of a component of the sense of force data relating to the effect of the active motion described above,
Providing the active movement effect,
Resizing the active movement effect using at least one of a characteristic, specification, or user preference of the haptic device or the sensitizing device; And
Providing the resized active motion effect
Tactile information presentation method comprising a.
Means for defining force data relating to the effect of passive motion and force data relating to the effect of active motion, the force information;
Means for describing a component of adverse data relating to the effect of the passive movement;
Means for describing a component of adverse data relating to the effect of the active movement;
Means for providing the passive movement effect, based on components of the sense of force data relating to the effects of the passive movement described above; And
Means for providing the active movement effect, based on the components of the sense of force data relating to the effects of the active movement described above,
Means for providing the active motion effect,
Means for resizing the active motion effect using at least one of a characteristic, specification, or user preference of the haptic device or the sensitizing device; And
Means for providing the resized active movement effect
Including, the tactile information representation system.
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