WO2011089296A1 - Système de vision tactile portable et dispositif de stimulation tactile pour ledit système - Google Patents

Système de vision tactile portable et dispositif de stimulation tactile pour ledit système Download PDF

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Publication number
WO2011089296A1
WO2011089296A1 PCT/ES2011/070029 ES2011070029W WO2011089296A1 WO 2011089296 A1 WO2011089296 A1 WO 2011089296A1 ES 2011070029 W ES2011070029 W ES 2011070029W WO 2011089296 A1 WO2011089296 A1 WO 2011089296A1
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WIPO (PCT)
Prior art keywords
stimulation
tactile
voltage
matrix
touch
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PCT/ES2011/070029
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English (en)
Spanish (es)
Inventor
José Luis CORDOBA MATILLA
Tomás ORTIZ ALONSO
Agustín CALVO MARTINEZ
Ramón NOGALES MORAN
Original Assignee
Visión Táctil Portable, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from PCT/ES2010/000019 external-priority patent/WO2011089274A1/fr
Priority claimed from PCT/ES2010/070464 external-priority patent/WO2012004421A1/fr
Application filed by Visión Táctil Portable, S.L. filed Critical Visión Táctil Portable, S.L.
Publication of WO2011089296A1 publication Critical patent/WO2011089296A1/fr

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Classifications

    • 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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B21/00—Teaching, or communicating with, the blind, deaf or mute
    • G09B21/001—Teaching or communicating with blind persons
    • G09B21/003—Teaching or communicating with blind persons using tactile presentation of the information, e.g. Braille displays

Definitions

  • the present invention consisting of a portable tactile vision system, is applicable in any industry and leisure sector, specifically where production processes, service provision or, in general, any activity or discipline where contact is required visual without the possibility of ocular perception, either due to lack of light or because of inability to focus precisely on the objective (objective located at an excessive distance or outside the observer's line of sight, visual impairment, etc.) or also where a visual contact is required additional when the view is occupied, either because it cannot be diverted in view of the activity or image being performed, or because the perception of additional complex information represented as visual information is necessary.
  • direct applications can be cited in the field of medicine, leisure, video games, air and maritime navigation, communications, televigilance and security.
  • neuroplasticity The neuronal plastic capacity of the brain that allows the generation of neuronal connections between primary somatosensory areas and secondary and tertiary areas of visual association of cognitive functions based on tactile stimulation, which is called neuroplasticity.
  • This technology replaces the human eye with a camera capable of capturing the image of a text and transforming it into vibratory signals that are applied to a stimulator in contact with the index finger.
  • the black color produces vibration and the rest white. It is a device designed only for text recognition.
  • the touch interface is active, that is to say, the user must continually swipe over it to use it.
  • the device consists of a small panel with 12 x 12 electrodes that rests on the tongue and transmits visual signals using sensory electrical impulses.
  • Patent document US6430450B1 by Paul Bach-Y-Rita describes another tactile stimulator for the tongue.
  • This technology has as fundamental disadvantages the difficulty that the user experiences in speaking; the need to use an uncomfortable and annoying device, which also produces some social rejection for being unsightly and, finally, its exclusive use for text recognition.
  • Dr. Dobelle who died in 2004, dedicated almost his entire professional life to the implementation of a device that, through an implant of a stimulator in the visual cortex, allowed to recover at least part of the visual acuity of a blind person.
  • This system consists of a mini-camera to capture the images, a pocket computer, which performs the information processing, and a stimulator.
  • the stimulator consists of 400 electrodes, fed with an information refresh rate of 4 to 8 images per second and is implanted by surgery in the visual cortex.
  • the vision has a tunnel effect, allowing to recognize shadows, shapes and letters (does not measure distances).
  • Electrostimulation on the forehead FSRS
  • this product Based on the concept of electrical stimulation by electrodes implanted in the brain, this product generates stimulation by means of electrodes on the forehead of individuals, with a similar degree of resolution as the previous one since they handle approximately the same number of electrostimulators (some 400).
  • EP1684850A2 patent document describes a tactile stimulator implanted under the epidermis. However, it brings the following disadvantages:
  • the website "http://www.tactilevision.ru/engiish” discloses an artificial vision device with camera, visual information processor (as a backpack) and tactile stimulator in the torso.
  • the stimulation is carried out by means of electrical impulses, with a set of 110x9 electrodes.
  • the invention relates to a portable touch vision system according to claim 1 and a portable touch vision device according to claim 17.
  • Preferred embodiments of the system and device are defined in the dependent claims.
  • the present invention can provide the user with both vision through a single camera and a single stimulator, as well as a stereoscopic effect; using two cameras and two stimulators:
  • the capture of images is carried out by means of a camera in the basic application or by a double camera (stereoscopic effect) -
  • the tactile stimulation is achieved through totally new physical devices.
  • stimulators are used that integrate a modular matrix of 20x20 points, allowing to reach 100x100 stimulus points, giving the image a high resolution.
  • the concept of modular matrix allows in any case to create larger matrices depending on the need of the applications implemented.
  • the matrices can be placed in such a way that they act on a different cerebral hemisphere, or in stereoscopic application with two matrices.
  • the location of the matrices (a group in the left area of the body and another n
  • the right cerebral hemisphere controls the sensations of the left area of the body and the left hemisphere those of the right area.
  • the resolution of the perceived image is one hundred times greater than that provided by any other known technology.
  • the navel will be used as an anchor for the stimulator to always fix it in the same position (as a nose for glasses)
  • the portable touch vision system comprises:
  • - tactile stimulation means (or tactile stimulation device) fixed to the body of a user, comprising at least one stimulator, each in turn comprising a matrix of tactile stimulation that has nxm stimulation points, said tactile stimulation means being configured to receive said processed signals and convert them into tactile sensations perceptible by the user and apply them on their skin at the selected stimulation points of suitable way to obtain a tactile recognition of the captured images.
  • the tactile stimulation means are configured to provide a mechanical tactile stimulation at the stimulation points.
  • the resolution - of the touch stimulation matrix is such that it is met that n ⁇ 20 and m ⁇ 20.
  • the image capture means comprise a video camera, although it could be extended to two cameras, the data processing means are configured to process the images of each video camera independently, so that from this point of view, it is not more complex to process one or two cameras since each one goes to a processing module, and it is the brain that integrates the signals; and the tactile stimulation means comprise one or two 20x20 stimulation matrices, fixed on different sides of the user's body and configured to each receive the processed signals from one / two video cameras ⁇ in a preferred embodiment a stimulator is placed in. the hand, although at the user's convenience it can be put in both).
  • the tactile stimulation means are preferably responsible for applying tactile stimulation on the hands, although they may be in other parts of the body.
  • the system preferably comprises a mobile device that has an image processing application responsible for processing the images captured by the image capture means to obtain the processed signals.
  • the mobile device may comprise at least one video camera configured to perform the functions of the image capture means.
  • the mobile device may be configured to, in case the user requires it, send the captured images to a remote server and this, in turn, forward the processed images remotely to the mobile device.
  • a utility of the set of glasses i.e. micro cameras), drivers, communication devices (USB and Bluetooh), is the possibility that anyone, blind or sighted, can send a video report to their mobile phone to a retransmission center, without the use of their hands and with a perfect "tripod" (the neck).
  • the tactile stimulation means are configured to effect a refresh of the application of the tactile sensations on the user's skin according to a refresh period between 100ms and 300ms.
  • the image capture means may have autofocus and distance measurement means to the autofocus point, said image capture means being configured to send the corresponding distance to the point to the data processing means, together with the captured images. of autofocus of said images; and because the tactile stimulation means are additionally configured to receive, together with the processed signals, the corresponding distance to the autofocus point and convert said distance into tactile sensations interpretable by the user to obtain the corresponding distance to the autofocus point. This interpretation of distance is based on a row of stimulation points located at one end of the tactile stimulation matrix.
  • the zoom can be controlled with slight movements of the head detected by an accelerometer installed in the glasses, thus for example, a slight inclination of the head to the right increases the zoom, and to the left decreases it. Other gestures detected in this way can activate other functions.
  • the tactile stimulation means are preferably configured to perform a mechanical tactile stimulation by vibration, although they could also be performed by mechanical pressure.
  • the system may comprise, at each point of stimulation, a dielectric or ionic elastomer to effect mechanical tactile stimulation by vibration, or it may comprise means of injection of pressurized air configured to effect said mechanical tactile stimulation by pressure,
  • the stimulator may comprise, to effect tactile stimulation by injection of pressurized air;
  • each nanomotor configured to, when its activation occurs, actuate the corresponding plate to match the openings of said plate with the holes of the different ducts.
  • the at least one stimulator is also configured to, in case of having to perform a mechanical tactile stimulation at a stimulation point ⁇ i, j), corresponding to row i and column j, activate the corresponding nanovalve and the corresponding nanomotor to inject air over the user's skin at said point of stimulation (i, j).
  • the at least one stimulator preferably has, for each stimulation point, more than two levels of mechanical tactile stimulation, each level associated with a different intensity and / or hue of color.
  • Each level of stimulation can be obtained in at least one of the following ways:
  • object of the present invention is the portable touch stimulation device (or means) described for the touch vision system.
  • the at least one stimulator can be fixed in the abdomen or in the lumbar part of the user by means of an anchor or fixation in the abdomen, in the case of greater definition 12x9 matrices of 20x20 or in the arms 6x4 matrices of 20x20.
  • the object of the present invention is also a portable touch stimulation device for touch vision systems.
  • FIG 1 shows the basic components of the invention.
  • Figure 2 reflects how a known image with a stimulation comparable to that of the invention is perceived.
  • Figure 3 shows schematically the tactile stimulation means and ⁇ the stimulation points.
  • Figure 4 shows the communication of the mobile device with the remote help and support server.
  • Figure 5 represents the operation of an actuator on the flexible membrane of the touch stimulation matrix.
  • Figures 6A and 6B show the principle of operation of dielectric elastomers used as actuators in the touch stimulation matrix.
  • FIGS 7A and 7B represent the operation of the touch stimulation matrix where the actuators are pneumatic stimulators.
  • Figures 8A and 8B show the dielectric elastomer elements in a array disposition ⁇ eiastomer matrix).
  • Figure 9 shows a scheme of the application of a bias voltage to the elements of an eiastomer matrix, and the different voltages to a row r and column C in particular.
  • Figure 10 shows, for the example depicted in Figure 9, the graph of the voltage applied to the ERC element (R row, column C) of the matrix.
  • Figure 13 shows an example to simultaneously activate different elements of a column C of the eiastomer matrix.
  • Figure 14 shows a basic switching scheme for a voltage generating device for activation of the eiastomer matrix.
  • Figures 15A and 15B represent the schematic for a single taxel activation.
  • Figure 16 shows an example of the reference voltage generator used in the voltage generating device for the activation of the eiastomer matrix.
  • Figures 17A and 17B represent, as an example, the activation circuit of a 3x3 matrix of eiastomer.
  • Figures 18A and 18B show the dielectric eiastomer elements in a matrix arrangement (eiastomer matrix).
  • Figures 19A and 19B represent a side section of the matrix of elastomer actuators in 2D and 3D, respectively.
  • Figure 20 shows in more detail a side section of the matrix of elastomer actuators.
  • the scientific basis of the invention lies in a double principle: on the one hand the existence of areas of the brain genetically designed to develop specific functions (such as the occipital lobe for vision) and on the other hand, the great capacity of "neuron plasticity ! " (creation of new neuronal connections between different areas of the brain) and of "neurogenesis” (generation of new neurons) that the human brain has.
  • tactile receivers are used to reach these areas.
  • the receptors are subjected to stimuli that faithfully reproduce the visual information, so that, through the tactile pathway, they naturally reach the cerebral cortex and specifically to the areas of sensory information processing and tactile recognition.
  • the system object of the invention allows the subject to develop a new neuronal connection between the brain areas of tactile perception and those of image perception, so that the tactile sensation is transformed into a visual sensation.
  • Data processing means (mobile device 2 or other device).
  • the images are captured by one or two cameras that comprise, in a preferred embodiment, the image capture means 1 and transferred by physical or wireless connection to the data processing means.
  • the data processing means transform the treated signals into tactile impulses following a stimulation protocol. These impulses, which contain all the visual information, are applied to tactile stimulation means 3.
  • the tactile stimulation means 3 are, in a preferred embodiment, a 20x20 tactile stimulator which is placed as indicated in Figure 1 in the hand.
  • Preferred implementations are also those that correspond to two stimulators, one in each hand and for a higher resolution those made in the arms, the back, which can reach 108 modules, 12x9 of 20x20, with 43,200 points.
  • This information naturally reaches the area of tactile perception of the brain and from there it is transferred to the brain area of image perception following the new developed neural connection.
  • the development of this neuronal connection is closely related to the stimulation protocol and the learning process, which will be explained later.
  • the subject or user 5 transforms his tactile perception into an optical perception, managing to see, identify and recognize images.
  • Figure 2 reflects how a known image is perceived, with a resolution of 96x64, with a stimulation comparable to that of the invention, ran three levels of brightness.
  • the visual receiver or image capture means 1 consists, in a preferred embodiment, of one or two digital cameras integrated on glasses 4, as shown schematically in Figure 1, with autofocus, distance meter, zoom functions and contrast controlled voluntarily remotely.
  • the camera or cameras send the captured images to the data processing means, to provide the user with a simple vision in the case of a camera or in the case of two a stereoscopic vision.
  • the camera of a mobile phone can also be used as image capture means 1.
  • Each camera captures the image of their focus area and transforms it into 'electrical signals. These signals are processed by the application of image processing (which highlights contours, eliminates backgrounds, etc.) and is transmitted separately to the two stimulators.
  • the stimulators transform the received signals into viractile impulses, which are captured by the sensory system of the individual. The information captured by each camera acts separately on each of the stimulators.
  • the location of the stimulators on the individual's body causes stimulus reception to be recorded in the two cerebral hemispheres (left and right, respectively).
  • the brain is responsible for the integration of this double information (exactly as it integrates the information received by the left and right eye) and creates the stereoscopic sensation. As indicated previously, it will be the subject who, depending on the learning period, chooses the configuration he deems most appropriate.
  • the tactile stimulation means 3 are shown in Figure 3 and can be placed in the hand or arm, which incorporate a material, which eliminates the neuronal noise caused by the stimulation points that do not vibrate, as they continue to play the skin.
  • the user is fixed using fixing means (such as sailboat, buckle, etc.) Regardless of the image capture speed, the system refreshes the information of the stimulators with a period between 100 and 300 ms.
  • the information transmitted in each soda is what Instantly capture the cameras. This information, converted into electrical signals, is processed to highlight the key elements of the image and transformed into the stimulator into pressure signals to produce tactile sensations.
  • the image reception, converted into electrical signals, is carried out directly on the stimulator itself.
  • the intermediate processor mobile device or remote processor only processes the signal captured by the cameras to highlight the most relevant images and eliminate the secondary.
  • the invention in its basic configuration works with a single camera and a single stimulator, although in this case the stereoscopic effect would be lost. However, it is sufficient for subjects who have undergone experimentation and it is also logically cheaper, so it will be the preferred configuration.
  • the data processing means processes the images received and simplifies them to send the signal you need to the touch stimulation means 3.
  • Any personal computer or even any commercial mobile phone (with minimum memory performance, capacity and processing speed) are valid to perform the function of the data processing means.
  • signals associated with images are received and processed there for later sending to the tactile stimulation means 3.
  • the images can be sent to a remote server 8 to help him recognize what the cameras send in case he needs help or has recognition problems.
  • the mobile device sends the images to the remote server 8 using any of its own data communication services (GPRS, UMTS, etc.).
  • GPRS global positioning reference
  • UMTS Universal Mobile Subscriber Identity
  • This transmission can also be used to remotely assist the individual, for example through verba communication! It could also be used, in the event that the server is close to the subject, other means of communication, such as WiFi.
  • Communications between the image capture means 1 (the cameras), the data processing medium (the mobile device 2) and the touch stimulation means 3 are carried out via cable and / or wireless technology (Bluetopth or other ).
  • the images are treated by an image processing application installed in the data processing means (the mobile device 2), although in the case that the images are sent to the remote server 8, they will reach the server so that an assistant already either human or automated, it can help and support the user in the recognition of images using both the voice of the phone and manipulating the images that are sent to the stimulator.
  • the image treatment application can recognize edges and contours and is able to optimize contrasts. This functional profile is achieved using programs developed on mobile phones or in SoC-type systems.
  • the image processing application performs the following functions:
  • Image processing has several configurable options:
  • the means' tactile stimulation 3 is a tactile stimulation array of 20x20 (but may take other resolutions) applying vibrotactile stimulation on the skin with a high frequency to activate different receptors.
  • the excitation points are created on a flexible membrane 10 on which 400 actuators interact 11.
  • each actuator 11 once activated, applies a force F on a stimulation point 12 created by the actuator on the surface of the membrane 10.
  • Figure 5C represents in detail the membrane 10 temporarily flexed at the stimulation point 12 by the actuator 11. Normally the width or diameter D of the stimulation point 12 will be at most 1.5mm, while the protuberance ⁇ will reach at least 0.05mm so that the user can feel it.
  • the stimulation is vibrototail, so that in order to obtain different stimulations, the stimulators 3 are fed with a signal in the form of a train of pulses of determined frequency (vibration frequency) and duration (pulse).
  • the stimulator allows several levels or intensities of action, associated with various shades of color (white, black and gray scales), this feeling can be achieved by modulating the amplitude of the actuator displacement, its frequency of vibration or the duration of the pulses of the signal that feeds it.
  • the touch stimulation matrix has a row of pins on one side that reflect the distance at which the camera is focusing at that moment. It is tactile information and it is in the learning process where the subject must be taught to interpret the sensation of distance.
  • the technology developed to drive the touch stimulation matrix is based on devices (drivers) capable of handling complex matrices without interference between adjacent stimulation points 12.
  • the stimulator actuators 11 are devices that can be based on two different technologies: - Dielectric or ionic elastomers: These are micromechanical devices manufactured with a type of electroactive polymer (dielectric or ionic elastomer), whose basic principles of operation are shown in Figure 6A and 6B.
  • a continuous high voltage U is applied between both faces of a thin film of dielectric elastomer 21, in a first 22 and a second 22 'electrodes, it expands in the direction of the plane due to the pressure p in the direction of the thickness induced by An electric field
  • the applied voltage disappears, the elastomer film recovers the original form.
  • This effect can be created, for example, tactile sensations in a small area of the skin surface (the area of application) when the elastomer matrix is applied or fixed to a human body, preferably in a sensitive region (for example , hand, arm, abdomen or lower back).
  • the stimulator is constructed with a matrix of nanomotors and nanovalves, as shown in Figures 7A and 7B.
  • 100 ducts 30 (columns) with 100 holes 31 equidistant from each other are used, as flutes.
  • a micro valve 32 that injects air is coupled.
  • 100 plates 33 (rows) are arranged, each with 100 openings 34 and driven by a micromotor 35, which allows opening or closing the holes 31 of the ducts 30.
  • the openings 34 of the plates 33 do not coincide with the holes 31 of the conduits 30.
  • the operation scheme is as follows: if it is desired that the air flows through the element of the tactile stimulation matrix found in the first row and the first column, firstly the plate 33 of the first row is operated by means of the nanomotor 35 in the direction of the arrow, as shown in Figure 7B, whereby all the openings 34 of the plate 33 of the first row coincide with the holes 31 of the different conduits 30 located in the first row. Simultaneously, the nano-valve 32 of the duct 30 of the first column is activated to blow air that, a! match hole 31 and opening 34 of the first row and column, escapes through the element of the chosen matrix (row 1, column 1). The tactile sensation pursued is achieved by the pressure exerted on the skin by the air bubble generated in. the stimulation point corresponding to that element of the matrix.
  • the system can be made with discrete elements, as contemplated for clarity in this description, or using technology MEMS microdevices (for the realization of nanovalves and nanomotors) on a common silicon support.
  • both the stimulation protocol and the learning protocol are very important.
  • the first key to neuronal empowerment lies in the touch information refresh protocol (stimulation protocol).
  • stimulation protocol stimulation protocol.
  • a refresh period between 100ms and 300ms is able to achieve the necessary neuronal excitation to establish the required brain connections.
  • the second key to the process of neuronal empowerment is associative learning (learning protocol): frequency, intensity, duration, are factors that with stimulated patterns' simple and temporarily synchronized lead to neuronal habilitative success.
  • the learning method is preferably carried out in sessions of 30, minutes every 8 hours, 3 times a day, 7 days a week.
  • Each session consists of learning a group of stimular patterns, in the first simple sessions and in the last more complex ones.
  • E r is the relative permittivity of the elastomers
  • E 0 8854 ⁇ 10 2
  • U the applied voltage
  • d the thickness of the elastomer film at rest.
  • the pressure increases quadratically with the electric field and is therefore the main relationship that regulates the response of the actuator. It is important to note that the elastomer behavior is the same regardless of! positive or negative sign of the applied voltage U.
  • the equivalent electrical model for an elastomeric element is a parallel capacitor and resistance configuration, in which the capacitance is the result of two electrodes applied on the elastomeric film, and the resistance is the loss resistance caused by the conductivity of the elastomer film.
  • the coarse mode technique is a recent embodiment of EPAM (Electroactive Polymer Artificial Muscle).
  • the "active" polymer film is coated with a thicker passive layer, so that changes in the thickness of the polymer during EPAM are transferred, at least partially, to the passive layer.
  • This passive layer can be considered as passive in relation to the polymer film in that it does not respond to the application of an electric field by changing area or thickness as does the EPAM layer.
  • the passive layer is coupled to the EPAM film so that changes in area and thickness of the EPAM film induce shear forces in the passive layer that change the thickness of this layer. Therefore, this change in thickness of the passive layer can be used to enlarge A in absolute terms, the. displacement produced by the change in thickness of the EPAM polymer film.
  • a set of dielectric elastomers arranged in rows and columns, a single element (taxel) is excited by applying a voltage between the column and the row that intersect in that element.
  • Each taxei has two electrodes, each electrode on a different side of the dielectric (one electrode 22 is located in the rows and another electrode 22 'is part of the columns, as shown schematically in Figure 8A, which represents a 3x3 elastomer matrix).
  • Figure 8A represents a 3x3 elastomer matrix.
  • the intersection of columns and rows defines each taxel. Due to the capacitor / resistance equivalence of each element, the excitation of one of them implies a crosstalk excitation of the rest of the elements of the matrix.
  • Figure 8B is a schematic illustration of dielectric elastomeric elements in a matrix of M rows and N columns.
  • the lines in Figure 8B represent conductive wires that connect the electrodes of each elastomeric taxel, while the boxes (Ri, R 2 ⁇ M ; CI, C 2 , C n ) represent connection terminals.
  • the first electrode 22 and the second 22 ' are located where the rows intersect with the columns.
  • a polarization voltage is introduced to all elements of the matrix so that the interference coincides with this polarization voltage but with a changed sign.
  • This polarization voltage will also help to make the elastomer work with smaller voltage changes than in the case where polarization voltage is not used with almost no response to mechanical losses.
  • each row is connected to a common voltage of row V1 and each column to a common voltage of column V2, the polarization voltage of each element will be (V2 - V1).
  • the voltage in row R (R R ) and in column C (C C ) must be changed.
  • an activation voltage of row V3 is applied.
  • column C (C C ) a column activation voltage V0, as depicted in Figure 9.
  • the voltage of that element E RC will be (V3-V0), as shown in Figure 10.
  • the voltage in the rest of the elements in the row R (RR) will be (V3-V2), as seen in Figure 11.
  • the voltage in the rest of the elements in column C (C c ) will be (V1-V0), as shown in Figure 12.
  • the dashed line of the lower graphs in Figures 10, 11 and 12 represent the voltages applied to the columns (V0 is the column activation voltage), while the continuous line in the lower graphs is the voltage applied to the rows ( V3 is the activation voltage of rows).
  • the upper graph represents the voltage resulting from the difference between the voltage applied in the rows (V raw ), f in continuous line, and the voltage applied to the columns (V C0
  • the upper graph of Figure 10 represents the resulting voltage applied to the activated taxel (E RC element), the upper graph in Figure 11 is the resulting voltage applied to the rest of the elements in the same R row, and the upper graph in the Figure 12 is the resulting voltage applied to the rest of the elements in the same column C. -
  • V1-V0 OkV
  • V1 1 kV
  • V2 2Kv
  • V3 3kV.
  • the mechanical response is proportional to the square of the applied voltage, with a polarization voltage of 1 kV and an applied voltage of 3kV, the ratio of mechanical response from polarized to active will be 9 to 1, and therefore, a user you will easily perceive the mechanical response to an excitation of an E RC element of elastomer matrix 24 (in the case of tactile stimulations).
  • the selected elements After activating the selected elements located in the common activation column (C c ), the selected elements will be activated in other chosen columns C c + i (or in any other chosen column, it is not necessary that the columns be activated consecutively in increasing order ), and so on until all the columns of the matrix have been activated, so that the entire matrix is activated.
  • time between consecutive column activations depends on the size and response time of the taxales; the electronics would normally allow activation times of 15 to 20 / s.
  • the width of the activation pulse depends on the response of the taxel. Typically the width of the applied pulse can be 1000 // S, since it produces a greater vibration effect than the longer pulses.
  • the pulse width can be chosen in line with the application, normally less than 2 ⁇ // s. ,
  • equal to ⁇ V2-V1
  • V1 and V2 offset of the ho-crosstalk condition V1-V0
  • a pulse width can be chosen that adds up the activation and deactivation strokes of the taxel and thus reinforces tactile perception.
  • a voltage generating apparatus has been provided to make the matrix work according to the method discussed. Reference voltages and connection switches to those voltages are required.
  • the voltage generated apparatus consists of two circuits, the high voltage switching circuit and the reference voltage generator used by the switching circuit.
  • the circuit of Figure 14 represents the basic switching scheme where one of the terminals of a load (for example a taxi) can be electrically connected to both V A and V B (V A and V B can be any of the voltages V0 , V1, V2, V3), based on the control signals V C i and V C 2- Optocouplers 70, can be used in this particular application.
  • Resistors R1 and R2 quickly discharge the base of the output transistor to allow rapid switching.
  • a high voltage switching circuit 27 and a voltage activation circuit 26 the voltages are applied to the electrodes (22,22 ') of the actuating dielectric elastomers 23.
  • the optocouplers 70 support maximum output voltages in the 400V range, while in our application voltages of the order of 2000V are required (see Figure 10). But the signals to activate the elastomer matrix taxa are low intensity, since only current is needed to charge the equivalent capacitor 71 of the taxel, which is about 1 pF.
  • the maximum power dissipated is 300mW which leads us to values of the order of 600uA for the average current that the device will withstand under voltage limiting conditions (500V is considered here).
  • Figures 15A and 15B show the schematic diagram for the activation of a single pixel (both figures separated on line I, for reasons of size), where voltages V3 and V1 can be applied to terminal A of the elastomer and voltages V2 and V0 can be applied to terminal B of the elastomer (terminals A and B of the charge of the pixel correspond to the electrodes (22,22 ') of the elastomer represented in Figure 6A; the voltages in the rows are applied to the corresponding first electrode 22, and voltages in the columns are applied to the corresponding second electrode 22 ', or vice versa), represented by the capacitor 71 in the schematic.
  • the erase control signals (V C i, V C 2) are in charge of deleting the terminals A and B of the elastomer, while the engraving control signals (co> Vc3) are in charge of the terminal engraving A and B.
  • the polarization resistors R30 and R49 set the inactive state for opto-couplers 70 when they are not activated.
  • Resistor R49 is by default setting terminal A to V1.
  • Diode D19 keeps the erase block of terminal A isolated from the rest of the circuit unless it is activated.
  • Diode D20 prevents the voltage of terminal A from being less than V1.
  • Resistors R50 and R51 limit the maximum current through opto-couplers 70.
  • terminal B resistor R36 defaults terminal B to V2, etc.
  • the resistors between the emitter and base terminals of the opto-collector output transistors accelerate the discharge time of the base, allowing a rapid shutdown of the transistor.
  • Switching times of 15us are achieved for voltages from -1 kV to + 3kV (a variation of 4kV).
  • the loss of power is reduced to losses in polarization resistors only when opto-couplers are active.
  • Vcc voltage-to-V2
  • the reference voltage generator 28 is formed by a resistor voltage divider 93 of low intensity and a high resistive value to provide a reference voltage to a chain of low-impedance output stage transistors, as shown in Figure 16 .
  • the resistive voltage divider 94 composed of different resistors 93 (of 10 ⁇ in the example), sets the reference to two transistors, a PNP transistor 90 and an NPN transistor 91, in a follower emitter configuration, with both emitters together as voltage outgoing. Since transistors with a maximum V ceo voltage in the 400V range are being used, a series of this basic block is repeated to achieve the desired high voltage.
  • the resistor R4 in parallel with the capacitor C17 is used to sample and filter passage under the total voltage.
  • the PNP transistor 90 is polarized and a current through the collector will maintain the output voltage following the input reference. Similarly, if the emitter output voltage tends to distance below the input reference voltage, the NPN transistor is polarized and a current through the collector will maintain the output voltage following the input reference.
  • the capacitors 92 at the output are used to store energy between the activation pulses of taxales, absorbing the demand for current peaks of the voltage pulses in the taxa.
  • the output voltages V0, V1, V2 and V3 are the reference voltages shown from Figures 9 to 15.
  • the erase block can be common to all recorder blocks per terminal, reducing the size of the entire circuit.
  • a control circuit of nine taxales for a 3x3 matrix is shown in Figures 17A and 17B (both figures separated on lines I, II and III, for reasons of size).
  • the erase block in each terminal is shared with all the engraving blocks, as the erase block is isolated from the circuit by a diode, and all the recorder blocks will be active at the same time, this common draft block will carry the terminal signal X to the initial value through the diode once the recorder blocks are deactivated.
  • V S ci Vsc2.Vsc3
  • V S ci Vsc2.Vsc3
  • V S ci Vsc2.Vsc3
  • VSR2 VSR 3
  • the control signals SR recorders V and V SCj must be activated.
  • several rows can be activated at the same time while activating a particular column.
  • An erase control signal is provided for each terminal: One sign! of column deletion control (V RC ) for the deletion of the columns (applying the common column voltage V2) and a control signal of deletion of the rows (V RR ) for the deletion of the rows (applying the voltage of common row V1).
  • V RC column deletion control
  • V RR control signal of deletion of the rows
  • the eraser and recorder signals cannot occur at the same time, in addition, to reduce the power consumption a small discharge time must be introduced for the output transistors in the opto-coupler between the deactivation of the recorder signal and the activation of the signal of erase
  • a matrix of 100x100 taxales may be activated so that the time to activate consecutive columns will be between 200 / s-1000 vs, so the time needed to activate the complete matrix would be around 20ms-100ms ( a frequency of 10Hz-50Hz).
  • Figure 18A shows the arrangement of the electrodes (22,22 ') in the dielectric elastomer 21, in an array arrangement (elastomer matrix).
  • Figure 18B represents a detail of the elastomer matrix, in which it is appreciated how the upper electrodes 22 are electrically connected by rows 40 and the lower electrodes 2 'are electrically connected by columns 41.
  • rows 40 and columns 41 are perpendicular; However, this is not essential, since they could be arranged at any angle (even parallel), although for greater ease of excitation of the electrodes it is recommended that they be perpendicular.
  • the electrodes are preferably circular, as shown in Figure 18B, but could take other forms (for example, square, rhomboidal, rectangular, etc.)
  • the structure of the elastomer actuator matrix is, represented in ( as Figures 19A and 19B, where the various components are seen in several layers.
  • Figure 19A shows a 2D side section, while Figure ⁇ 9 ⁇ represents a side section in .. 3D
  • Each of the elements described here contributes to better performance Taxel incorporated elements are basically '
  • Lower support 44 with functions of acting concentrator and prestressing element of the upper 48 and lower 48 'passive layers.
  • the lower support 44 is preferably hemispherical so that the tension is distributed uniformly and does not cause material ruptures
  • a ratio of 1.8 / 0.6 is used, 0.6 mm being the diameter of the pin in contact with the skin and 1.8 mm the size of the pin base, smaller than the diameter of the actuator which is 2.5 mm. All these parameters can be modified and optimized, based on experimental results and simulations.
  • Pre-tensioning of the passive layers of the dielectric elastomer in thick mode It can be achieved by various techniques, such as lower-scale or pressure-tensioning of the lower support 44 on the plate.
  • PCB printed circuit board 47, which serves as support and support for the rest of the elements, as well as support for the electrical connections (electrical terminals 49) necessary for the operation of the matrix.
  • This PCB 47 can be very thin, thus offering flexibility to the final device, which is convenient for a better adaptation to the body part with which it will be in contact.
  • connection 50 terminal of connection 50
  • connection elements 52 connection elements
  • This semi-spherical support 44 fulfills a second function, that of pressing the passive layers (48.48 ') of silicone of the elastomer in thick mode, achieving with this pre-stretching a more intense response of action, since this action does not it only depends on the force that is capable of generating the taxel itself, but on part of this force that the passive layer is capable of transmitting.
  • the other part of! enhancer device formed by an embedded pin 45.
  • the head of the pin must be close enough to the focus of the action to capture most of the energy generated.
  • This pin 45 captures and channels the energy of the actuator to bring it to the outer end in contact with the skin.
  • these pins are held by an additional layer of silicone, pin support layer 46, which keeps them in contact with the upper passive layer 48 of the elastomer at all times.
  • the proportions between the diameter of the electrodes (22,22 ') of the actuator, the thickness of the upper passive layers 48 (distance from pin 45 to the actuator) and lower 48' and the height of the lower hemispherical support 44 will determine the behavioral parameters 'of the taxel response, having to look for a compromise based on the parameter to optimize, such as vertical displacement, actuation force, response time, etc.
  • the relationship between the thicknesses of the passive layers (48.48 ') has an impact on the actuation properties of the pin and the insulation between adjacent pins.
  • the greater the thickness the greater the vertical displacement in a model where the diameter of the pin 45 is much greater than the thickness of the passive layer 48.
  • this vertical displacement decreases due to the deformation of the total volume of the passive layer.
  • actuator diameters of about 2.5mm are used to allow a distance of 3mm between actuators, the lower passive layer 48 'is 1mm thick, the upper passive layer 8 on which the pin 45 rests is 0 , 5mm thick and the pin support layer 46 is another 0.5 to 0.7mm thick.
  • the diameter of the pin head is 1.8mm and the tip 0.6mm.
  • different measures could be used, as well as other shapes, for example small spherical actuator elements 45 '(as shown in Figure 21).
  • the manufacturing process of the device begins with the stretching of the elastomer until it is left in 20um thickness, application of the electrodes (22,22 ') by means of a mask and deposition of conductive paste. Subsequently, the silicone is deposited to form the two passive layers, the lower 48 '1mm thick and the upper 48' 0.5mm thick.
  • the connection of the PCB to each of the endings in the elastomer is made by inserting a thin conductive wire, the connecting element 52, (of the order of 0.1 mm in diameter) (which runs perpendicular to the passive layers and the elastomer at the connection point prepared for it (connection termination 50), also passing through the hole in the PCB that exists in each electrical terminal 49.
  • the wire will be welded on the back of the PCB and cut just above of the passive layer 48 so that by adding the pin support layer 46 the connections are covered and electrically insulated.
  • the pins 45 are placed on each of the upper electrodes 22 and covered with the last 0.5 to 0.7mm thick silicone layer, the pin support layer 46.
  • This last step can also be carried out separately, manufacturing a mat from 0.5 to 0.7mm thick with the embedded pins, for subsequent adhesion of this mat on the rest of the actuator matrix, simplifying the manufacturing process.
  • the pin support layer 46 and the upper passive layer 48 once finished are fused and form a single one with the embedded pins 45.
  • the dielectric elastomer layer 21 is always stretched.
  • passive layers (48.48 ') can be stretched to improve pressure transmission.

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  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Audiology, Speech & Language Pathology (AREA)
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  • Business, Economics & Management (AREA)
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  • Educational Technology (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un système de vision tactile portable et un dispositifde stimulation tactile pour ledit système. Le système de vision tactile portable comprend: des moyens de capture d'images (1), montés sur les lunettes (4) d'un utilisateur (5); des moyens de traitement de données qui traitent les images capturées par les moyens de capture d'images (1), ce qui permet d'obtenir des signaux traités; et des moyens de stimulation tactile (3) pouvant être fixés sur le corps d'un utilisateur (5) et qui comprennent un stimulateur avec une matrice de stimulation tactile de nxm points de stimulation (12). Le stimulateur reçoit les signaux traités, les convertit en sensations tactiles mécaniques et les applique sur la peau de l'utilisateur (5) au niveau de points de stimulation (12) sélectionnés pour obtenir une reconnaissance tactile des images capturées. La résolution de chaque matrice de stimulation tactile est telle que n≥20 et m≥20. Le stimulation est applique principalement sur la main, le bras ou le dos de l'utilisateur.
PCT/ES2011/070029 2010-01-22 2011-01-19 Système de vision tactile portable et dispositif de stimulation tactile pour ledit système WO2011089296A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
ESPCT/ES2010/000019 2010-01-22
PCT/ES2010/000019 WO2011089274A1 (fr) 2010-01-22 2010-01-22 Procédé et appareil pour contrôler une matrice d'élastomères diélectriques en évitant les brouillages
PCT/ES2010/070464 WO2012004421A1 (fr) 2010-07-06 2010-07-06 Dispositif d'excitation tactile à base d'élastomères diélectriques et procédé de fabrication
ESPCT/ES2010/070464 2010-07-06

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WO2011089296A1 true WO2011089296A1 (fr) 2011-07-28

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9931266B2 (en) 2015-01-30 2018-04-03 Magno Processing Systems, Inc. Visual rehabilitation systems and methods
US10596062B2 (en) 2015-01-30 2020-03-24 Magno Processing Systems, Inc. Visual rehabilitation systems and methods

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