WO2020019545A1 - 一种多元触觉融合反馈手柄 - Google Patents

一种多元触觉融合反馈手柄 Download PDF

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Publication number
WO2020019545A1
WO2020019545A1 PCT/CN2018/111460 CN2018111460W WO2020019545A1 WO 2020019545 A1 WO2020019545 A1 WO 2020019545A1 CN 2018111460 W CN2018111460 W CN 2018111460W WO 2020019545 A1 WO2020019545 A1 WO 2020019545A1
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Prior art keywords
tactile
feedback
handle
vibration
function area
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PCT/CN2018/111460
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English (en)
French (fr)
Inventor
王党校
张玉茹
郭琦琦
龚翌洁
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北京航空航天大学
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Application filed by 北京航空航天大学 filed Critical 北京航空航天大学
Priority to US17/262,747 priority Critical patent/US11281300B2/en
Publication of WO2020019545A1 publication Critical patent/WO2020019545A1/zh

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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
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/213—Input arrangements for video game devices characterised by their sensors, purposes or types comprising photodetecting means, e.g. cameras, photodiodes or infrared cells
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A63F13/245—Constructional details thereof, e.g. game controllers with detachable joystick handles specially adapted to a particular type of game, e.g. steering wheels
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
    • A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
    • A63F13/428—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • 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
    • G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
    • G06F3/0202—Constructional details or processes of manufacture of the input device
    • 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
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N10/00—Thermoelectric devices comprising a junction of dissimilar materials, i.e. devices exhibiting Seebeck or Peltier effects
    • H10N10/10—Thermoelectric devices comprising a junction of dissimilar materials, i.e. devices exhibiting Seebeck or Peltier effects operating with only the Peltier or Seebeck effects
    • H10N10/17—Thermoelectric devices comprising a junction of dissimilar materials, i.e. devices exhibiting Seebeck or Peltier effects operating with only the Peltier or Seebeck effects characterised by the structure or configuration of the cell or thermocouple forming the device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G05G1/06—Details of their grip parts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle

Definitions

  • the invention relates to a feedback handle, in particular to a multi-tactile fusion feedback handle.
  • Incorporating touch into the virtual reality environment can enrich the interactive experience of the virtual reality system, such as allowing users to feel the tactile information of clothes and other goods in a virtual shopping scene, or to simulate the various physical characteristics of objects more realistically in VR games. Such as softness, hot and cold temperature changes, object surface friction or texture.
  • the existing haptic feedback devices in the prior art are mostly single haptic feedback devices, such as a single vibration feedback device or a single temperature feedback device.
  • the existing haptic feedback devices in the prior art are mostly single haptic feedback devices, such as a single vibration feedback device or a single temperature feedback device, which lacks one that can integrate multiple haptics such as vibration, temperature, softness, texture, etc. Tactile fusion feedback device.
  • the purpose of the present invention is to overcome the defects of the prior art and provide a multi-tactile fusion feedback handle.
  • the technical solution of the present invention is: a multi-tactile fusion feedback handle, which is characterized by including three areas: finger touch functional area, palm touch functional area, and spatial positioning functional area; the finger touch functional area includes one or more touch-sensitive buttons, Fingers can operate the tactile buttons individually or in combination.
  • the tactile buttons have one or more tactile feedback functions in softness, temperature, surface friction, texture, and shape.
  • the tactile function area of the palm includes multiple independent vibration sources and / or multiple independent points.
  • the heat source can perform multi-point independent vibration feedback and / or multi-point independent temperature feedback, as well as vibration flow and heat flow feedback.
  • the space positioning function area includes a space positioning module, which can obtain the position information of the handle in the space in real time.
  • the tactile button includes one or more of a surface friction and texture tactile feedback device, a temperature tactile feedback device, a softness tactile feedback device, and a shape tactile feedback device.
  • the surface friction and texture tactile feedback device is electrostatic.
  • the effect film, the temperature tactile feedback device is a flexible thermally conductive metal film, the softness tactile feedback device is a silicone cavity, and the shape tactile feedback device includes a micromotor.
  • the vibration source is a micro-vibration motor
  • the heat source is a Peltier chip, which is a thermoelectric semiconductor refrigeration component.
  • the touch-sensitive button further includes a device for measuring finger position information, and the device for measuring finger position information is a miniature camera or a flexible screen.
  • each haptic sensation system is usually separated and incomplete, usually only a single local vibration sensation, a single local heat source sensation, and some scattered haptic sensations;
  • what is realized in the present invention is multiple Tactile feedback on a handle, including thumb tactile button functional area for thumb and forefinger softness, surface friction, texture, temperature tactile feedback, these tactile feedback are integrated on the same button, giving users a more realistic And a rich and complex experience;
  • the palm tactile function area is aimed at the tactile sensations of the palm and middle finger, ring finger, and pinky finger.
  • Vibration and temperature experience, as well as continuous temperature and heat flow experience and continuous vibration flow experience, comprehensive positioning of the touch block, on the same handle, will give users a complete and realistic composite tactile experience in a virtual scene.
  • a highly integrated composite tactile feedback handle, compared with traditional discrete tactile feedback devices, the handle is highly integrated and easy to hold.
  • Figure 1 is a schematic diagram of the structure of a feedback handle.
  • Fig. 2 is a side sectional view of a feedback handle.
  • Figure 3 is a schematic diagram of the structure of a touch button
  • the above drawings include the following reference numerals: 1. the first tactile button; 2. the vibration motor; 3. the Pel patch; 4. the spatial positioning module; 5. the housing; 6. the control circuit board; 7. Two-touch buttons; 8, the first electrostatic effect film; 9, the first flexible thermally conductive metal film; 10, the first flexible screen; 11, the first surface of the silicone cylinder; 12, the air passage; 13, the silicone cylinder; 14, the silicone cylinder Second surface; 15, second flexible screen; 16, second flexible thermally conductive metal film; 17, second electrostatic effect film.
  • a multi-tactile fusion feedback handle includes three areas: a finger touch functional area, a palm touch functional area, and a spatial positioning functional area.
  • the finger touch functional area integrates softness, temperature, surface friction, texture, and shape.
  • a tactile feedback function which can simulate the fusion effect of four kinds of tactile sensations.
  • the finger touch function zone includes touch buttons, and the fingers can operate the touch buttons individually or in combination.
  • the space positioning function area includes a space positioning module that can obtain the position information of the handle in the space in real time.
  • the finger touch function area includes two touch buttons.
  • the touch buttons are located on the handle head.
  • One touch button is located on the upper and lower surfaces of the handle coaxially.
  • the two touch buttons have only area and volume differences to cope with different finger sizes. Functions And the structure is the same.
  • the structure of the tactile button is shown in Fig.
  • I and II respectively represent the composition of the first tactile button 1 and the second tactile button 7 on the handle head; the first tactile button 1 and the second tactile button 7 include the first An electrostatic effect film 8 and a second electrostatic effect film 17 are used for surface friction and texture tactile feedback; a first flexible heat conductive metal film 9 and a first flexible heat conductive metal film 16 are used for temperature tactile feedback; a silicone cylinder is used for softness Degree of tactile feedback, a gas exchange vent 12 is provided on the cylindrical cavity of the silicone cylinder; the surface of the tactile buttons is integrated by four layers of different membrane processes, and the functions of each layer of membrane are kept independent; in area I and area II respectively install a cylindrical driving board to drive the first tactile button 1 and the second tactile button 7 to be inclined at a certain angle.
  • Tactile feedback of softness The silicone is easy to shape and has good flexibility. It is cast into a cylindrical shape using silicone. The top and bottom circles of the cylinder are coplanar with the up and down buttons on the handle head.
  • the silicone cylinder is only connected with a silicone airway tube through The outside world can increase or decrease the gas inside the cylinder to change the air pressure.
  • the silicone air channel is connected to a micro air pump.
  • the micro air pump is controlled by a single-chip microcomputer to control the amount of gas in the silicone cylinder, thereby changing the softness of the silicone cylinder. If the user presses the top and bottom circles of the silicone cylinder with his finger, he can feel the softness of the virtual object.
  • Texture features to simulate the user's sense of touch when seeing and touching different objects in a virtual scene.
  • the electrostatic diaphragm is installed on the surface of two buttons. Due to the characteristics of the diaphragm itself, it does not affect the user's feeling of softness.
  • Temperature tactile feedback Peltier is also used as the temperature source, but because of the limited space of the button on the handle head, Peltier cannot directly contact the two buttons, because the space interference problem between Peltier and the soft silicone cylinder is difficult to solve, so As a heat source, Peltier absorbs heat after conducting heat through a flexible and flexible metal film, so that the temperature of the button surface can be effectively controlled. Therefore, by controlling the amplitude and time of the applied voltage of the Peltier amplifier circuit through a single chip microcomputer, the temperature of the surface of the button can be controlled, so that the user can have a physical feeling such as the temperature of a rough object surface or even simulate frictional heat generation.
  • Shape haptic feedback Through the structural design, the micro-motor drives the rigid part of the side wall of the button, tilts the cylindrical surface of the two buttons to a certain angle, and touches and slides with the thumb and forefinger at the same time to feel the simulated objects of different shapes.
  • the tactile button also includes a device for measuring finger position information, a first flexible screen 10 and a second flexible screen 15 for feedback of finger position information; the material of the flexible screen is preferably graphene, and the flexible screen can also be replaced by a miniature camera.
  • the palm touch function zone includes multiple independent vibration sources and multiple independent heat sources; the multiple independent vibration sources use 5-6 flat miniature vibration motors of the button size, and are installed at the handle position corresponding to the palm and fingertip vibration sensitivity, that is,
  • the generated vibration sensation can be sensed by the user's palm and three fingers (middle finger, ring finger and pinky finger); by designing the installation positions of several vibration motors, and controlling the intensity of the vibration of each motor individually by programming the single-chip microcomputer Voltage amplitude) and time (power-on frequency) can make certain motor installation sequences generate a certain regular vibration, the overall effect is to let users have an intuitive experience of vibration flow.
  • a single drive of an individual motor can enable the user to experience a local vibration sense, and achieve a touch experience corresponding to a single vibration sense at different positions on the hand.
  • Multi-point independent heat source uses multiple thermoelectric semiconductor refrigeration components-Peltier.
  • Peltier refers to a type of semiconductor device that is physically divided into two sides, which can absorb heat and dissipate heat on one side when energized in one direction. That is, the two sides produce cold and heat effects respectively.
  • the power is Negative voltage reference direction to achieve the effect of generating cold and heat on the same physical surface of Peltier.
  • the thermal effect or the cooling effect of local temperature decrease in order to simulate the user's tactile sensation in a virtual situation, such as holding ice cubes in his palm or approaching the fire with his finger; similarly, the power amplifier circuit is controlled by a single-chip computer to control the Parr according to a certain frequency and sequence.
  • the power amplifier circuit is controlled by a single-chip computer to control the Parr according to a certain frequency and sequence.
  • the vibration motor 2 and the Peltier 3 are mounted on the inner surface of the housing 5 in the middle of the handle at a certain spatial position.
  • the space positioning function area includes a handle base, and a control positioning module 4 is installed in the base.
  • the six-degree-of-freedom positioning of the handle in the space is achieved through wireless transmission.
  • the position information of the handle in the space can be obtained in real time after calibration by the double locator.
  • the entire handle is powered by battery.
  • the control circuit board 6 of the handle is installed inside the housing 5.
  • the circuit board will be welded with various drive wires and power lines and fixed in the housing 5 by screws.
  • the microcontroller of the control system uses TI's MSP430F149 ultra-thin Low-power 16-bit single chip microcomputer, design 5-6 road vibration motor drive amplifier circuit, 3-4 road Peltier power amplifier circuit, softness silicone cylinder cavity air pump power amplifier circuit, friction and texture electrostatic effect diaphragm drive Circuit, flexible screen drive circuit for finger position information measurement, etc.
  • the entire handle system communicates with the host computer by wireless communication, and designs communication protocol interfaces, etc.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

本发明涉及一种多元触觉融合反馈手柄，其特征在于：包括手指触感功能区、手掌触感功能区、空间定位功能区三个区域；手指触感功能区包括一个或多个触感按钮，手指可以单独或联合操作触感按钮，触感按钮具有柔软度、温度、表面摩擦及纹理、形状中的一种或多种触觉反馈功能；手掌触感功能区包括多点独立振动源和/或多点独立热源，可以进行多点独立振动反馈和/或多点独立温度反馈,以及振动流及热流反馈；空间定位功能区包括空间定位模块，可以实时获得空间中手柄的位置信息；相比传统分立式的各种触觉反馈装置，本发明将会给用户在虚拟场景中完全且充满真实感的复合触觉体验，手柄集成度可行，拿持方便。

Description

一种多元触觉融合反馈手柄
本申请要求于2018年7月27日提交中国专利局的申请号为201810843718.5、发明名称为“一种多元触觉融合反馈手柄”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种反馈手柄，特别涉及一种多元触觉融合反馈手柄。
背景技术
将触觉融入虚拟现实环境中能够丰富虚拟现实系统的交互体验，例如让用户在虚拟购物场景中感受衣服等商品的触觉信息，或者是在VR游戏中更真实的模拟感受物体的各种物理特性，比如柔软度、冷热温度变化、物体表面摩擦或纹理等。但目前现有技术中已经有的触觉反馈装置多是单一触觉反馈装置，例如单一振动反馈装置或者单一温度反馈装置。
因此，为了实现真实世界中触感的集成性和复合性，故希望在同一个装置上实现多元触觉融和反馈的复合感受，所以需要研制以及集成各种触觉感受，如温度、振动、柔软度、摩擦及纹理等集成在一起的触觉反馈装置。
目前现有技术中已经有的触觉反馈装置多是单一触觉反馈装置，例如单一振动反馈装置或者单一温度反馈装置，其缺少一种能将振动、温度、柔软度、纹理等多种触觉集成在一起的触觉融合反馈装置。
发明内容
本发明的目的在于克服现有技术的缺陷，提供一种多元触觉融合反馈手柄。
本发明的技术方案是：一种多元触觉融合反馈手柄，其特征在于：包括手指触感功能区、手掌触感功能区、空间定位功能区三个区域；手指触感功能区包括一个或多个触感按钮，手指可以单独或联合操作触感按钮，触感按钮具有柔软度、温度、表面摩擦及纹理、形状中的一种或多种触觉反馈功能；手掌触感功能区包括多点独立振动源和/或多点独立热源，可以进行多点独立振动反馈和/或多点独立温度反馈,以及振动流及热流反馈；空间定位功能区包括空间定位模块，可以实时获得空间中手柄的位置信息。
进一步地，所述触感按钮包括用于表面摩擦及纹理触觉反馈装置、温度触觉反馈装置、柔软度触觉反馈装置、形状触觉反馈装置中的一种或多种，表面摩擦及纹理触觉反馈装置为静电效应膜，温度触觉反馈装置为柔性导热金属膜，柔软度触觉反馈装置为硅胶腔体，形状触觉反馈装置包括微型电机。
进一步地，振动源为微型振动电机，热源为热电半导体制冷组件即帕尔贴片。
进一步地，触感按钮还包括测量手指位置信息的装置，测量手指位置信息的装置为微型摄像机或者柔性屏。
本发明具有以下有益效果：现有技术中各个触觉感受系统通常是分离的不完整的，通常只是单一局部的振动感受，单一局部的热源感受以及一些零散的触觉体验；本发明中实现的是多元触觉在一个手柄上的融合反馈，包括大拇指触感按钮功能区针对大拇指以及食指柔软度、表面摩擦、纹理、温度的触觉反馈，这些触觉反馈都集成在同一个按钮上，给用户一个更加真实且丰富的复合体验；手掌触感功能区针对手掌和中指、无名指、小指的触觉感 受，通过对多个振动电机和帕尔贴片的空间布置及规律控制，实现的不仅仅是各个敏感位置的单一振动和温度感受，还有连续的温度热流体验和连续振动流体验，综合定位摸块，在同一个手柄上，将会给用户在虚拟场景中完全且充满真实感的复合触觉体验。一个高集成度的复合触感反馈手柄，相比传统分立式的各种触觉反馈装置，手柄集成度高，拿持方便等优点。
附图说明
图1是反馈手柄结构示意图。
图2是反馈手柄侧向剖视图。
图3是触感按钮结构示意图
其中，上述附图包括以下附图标记：1、第一触感按钮；2、振动电机；3、帕尔贴片；4、空间定位模块；5、壳体；6、控制电路板；7、第二触感按钮；8、第一静电效应膜；9、第一柔性导热金属膜；10、第一柔性屏；11、硅胶圆柱第一表面；12、通气道；13、硅胶圆柱；14、硅胶圆柱第二表面；15、第二柔性屏；16、第二柔性导热金属膜；17、第二静电效应膜。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作， 因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
参见附图1，一种多元触觉融合反馈手柄，包括手指触感功能区、手掌触感功能区、空间定位功能区三个区域；手指触感功能区集成了柔软度、温度、表面摩擦及纹理、形状四种触觉反馈功能，可以模拟四种触觉的融合效果，手指触感功能区包括触感按钮，手指可以单独或联合操作触感按钮；手掌触感功能区具有多点独立振动反馈、多点独立温度反馈的功能；空间定位功能区包括空间定位模块可以实时获得空间中手柄的位置信息。
手指触感功能区包括两个触感按钮，触感按钮位于手柄头部，手柄头部上下表面同轴位置各分布一个触感按钮，两个触感按钮只有面积和体积上的区别以应对手指大小的不同，功能和结构是一样的。触感按钮的结构示意图如图3所示：I和II分别表示手柄头部的第一触感按钮1的组成和第二触感按钮7的组成；第一触感按钮1和第二触感按钮7分别包括第一静电效应膜8和第二静电效应膜17，用于表面摩擦及纹理触觉反馈；第一柔性导热金属膜9和第一柔性导热金属膜16，用于温度触觉反馈；硅胶圆柱，用于柔软度触觉反馈，硅胶圆柱的圆柱腔体上设置有气体交换的通气道12；触感按钮的表面由均由四层不同的膜工艺压制集成，且保持各层膜的功能独立；在区域 I和区域II分别安装柱面驱动板，以驱动第一触感按钮1和第二触感按钮7倾斜一定的角度。
柔软度触觉反馈：利用硅胶易于造型，柔韧性好等特点，采用硅胶铸成类圆柱形状，圆柱的上下顶圆分别与手柄头部的上下按钮共面；硅胶圆柱仅通过一个硅胶气道管与外界实现圆柱体内部气体增减从而改变气压，硅胶气道连接到微型气泵，通过单片机控制微型气泵进而控制硅胶圆柱内的气体多少，进而改变硅胶圆柱的柔软度。如用户通过手指按压硅胶圆柱的上下顶圆，便可感受虚拟物体的柔软度。
表面摩擦及纹理触觉反馈：利用静电振动原理，采用静电效应膜片，向静电膜片通以特定规律的电压信号，静电膜片与人手指组成的系统就会在指尖接触面产生静电振动效应，以使得人感受到膜片表面摩擦变大的效果，用以模拟物体表面的摩擦力和纹理。通过单片机控制放大电路产生一定变化规律电压信号(电压幅值，频率和相位)，将该信号加载到静电膜片上，便会使用户在膜片上就能感受变化的摩擦阻碍效果和物体表面纹理特征，以模拟用户在虚拟场景中看到并触摸不同物体时的手感触觉。该静电膜片安装与两个按钮表面，由于膜片本身特性决定了它并不影响用户感受柔软度。
温度触觉反馈：温度源同样采用帕尔贴，但是由于手柄头部按钮空间有限，帕尔贴不能直接接触两个按钮，因为帕尔贴和柔软度硅胶圆柱的空间干涉问题不好解决，故采用帕尔贴作为热源，韧性柔软且导热性好的金属膜进行导热后吸热，这样便可以将按钮表面的温度进行有效的控制。所以，通过单片机控制帕尔贴的放大电路的通电电压幅值和时间，便可控制按钮表面的温度，以使得用户拥有粗糙物体表面的温度感受甚至是模拟摩擦生热等物理现象。
形状触觉反馈：通过结构设计，微型电机驱动按钮侧壁刚体部分，使两个按钮柱面倾斜一定角度，用大拇指和食指同时触摸滑动即可以感受模拟的不同形状的物体。
触感按钮还包括测量手指位置信息的装置，第一柔性屏10和第二柔性屏15，用于反馈手指的位置信息；柔性屏的材料优选石墨烯，柔性屏也可以用微型摄像机代替。
手掌触感功能区包括多点独立振动源和多点独立热源；多点独立振动源采用5-6个该纽扣大小的扁平微型振动电机，安装于对应掌心以及手指尖振感敏感的手柄位置，即产生的振感可由使用者的手掌和三个手指(中指、无名指和小指)感知；通过设计数个振动电机的安装位置，并通过单片机编程分别控制各个电机的振动的强度(即控制电机负载端电压幅值)和时间(通电频率)，即可使各个电机安装序列产生一定规律的振动，整体效果就是让用户拥有振动流的直观体验。而单一驱动个别电机即可使得用户体验到局部的振感，实现对应手上不同位置的单一振感的触摸体验。
多点独立热源采用的是多个热电半导体制冷组件——帕尔贴。帕尔贴是指一种物理上分为两面，单方向通电情况会产生一面吸热一面散热效果的半导体器件，即两面分别产生冷和热的效果；在本发明是通过改变帕尔贴供电正负电压参考方向来实现在帕尔贴的同一物理面分时产生冷和热的效果。通过合理设计多个帕尔贴的安装位置，同样由用户热刺激最敏感的手掌和三个手指(中间、无名指和小指)感知；即可使得用户体验到手掌和手指不同位置的局部温度上升的热效果或局部温度下降的冷效果，以模拟用户在虚拟场合中用手掌拿持冰块儿或者是手指靠近火堆等场景触感；同样，通过单片机编程控制功放电路按照一定频率和顺序控制帕尔贴电源电压的幅值和通电 时间，即可使用户拥有类似于热风吹拂的热流体验。而单一驱动个别帕尔贴即可使得用户体验到局部的热感，实现对应手上不同位置的单一热感的触摸体验
振动电机2和帕尔贴片3以一定空间位置安装在手柄中部的壳体5的内表面。
空间定位功能区包括手柄底座，底座内安装控件定位模块4，通过无线传输的方式实现手柄的空间六自由度定位，通过双定位器标定后即可实时获得空间中手柄的位置信息。
整个手柄通过电池供电，壳体5内部安装有手柄的控制电路板6，电路板将焊接上各个驱动电线以及电源线，通过螺钉固定在壳体5内，控制系统的单片机采用TI公司的MSP430F149超低功耗16位单片机，设计5-6路振动电机的驱动放大电路、3-4路帕尔贴的功率放大电路、柔软度硅胶圆柱腔体气压泵功放电路、摩擦及纹理静电效应膜片驱动电路，手指位置信息测量的柔性屏幕驱动电路等。整个手柄系统以无线通信方式与上位机进行数据通信，设计通信协议接口等
上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。

Claims (9)

  1. 一种多元触觉融合反馈手柄，其特征在于：包括手指触感功能区、手掌触感功能区、空间定位功能区三个区域；
    手指触感功能区包括一个或多个触感按钮，手指可以单独或联合操作触感按钮，触感按钮具有柔软度、温度、表面摩擦及纹理、形状中的一种或多种触觉反馈功能；
    手掌触感功能区包括多点独立振动源和/或多点独立热源，可以进行多点独立振动反馈和/或多点独立温度反馈,以及振动流及热流反馈；
    空间定位功能区包括空间定位模块，可以实时获得空间中手柄的位置信息。
  2. 根据权利要求1所述的一种多元触觉融合反馈手柄，其特征在于，所述触感按钮包括用于表面摩擦及纹理触觉反馈装置、温度触觉反馈装置、柔软度触觉反馈装置、形状触觉反馈装置中的一种或多种。
  3. 根据权利要求1所述的一种多元触觉融合反馈手柄，其特征在于，所述触感按钮包括测量手指位置信息的装置。
  4. 根据权利要求1所述的一种多元触觉融合反馈手柄，其特征在于，振动源为微型振动电机，热源为热电半导体制冷组件即帕尔贴片。
  5. 根据权利要求2所述的一种多元触觉融合反馈手柄，其特征在于，所述的表面摩擦及纹理触觉反馈装置为静电效应膜。
  6. 根据权利要求2所述的一种多元触觉融合反馈手柄，其特征在于，所述的温度触觉反馈装置为柔性导热金属膜。
  7. 根据权利要求2所述的一种多元触觉融合反馈手柄，其特征在于，所述柔软度触觉反馈装置为硅胶腔体。
  8. 根据权利要求2所述的一种多元触觉融合反馈手柄，其特征在于，所 述形状触觉反馈装置包括微型电机。
  9. 根据权利要求3所述的一种多元触觉融合反馈手柄，其特征在于，所述测量手指位置信息的装置为微型摄像机或者柔性屏。
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