WO2023236417A1 - 一种多方位指尖平面触觉反馈装置 - Google Patents
一种多方位指尖平面触觉反馈装置 Download PDFInfo
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- WO2023236417A1 WO2023236417A1 PCT/CN2022/126997 CN2022126997W WO2023236417A1 WO 2023236417 A1 WO2023236417 A1 WO 2023236417A1 CN 2022126997 W CN2022126997 W CN 2022126997W WO 2023236417 A1 WO2023236417 A1 WO 2023236417A1
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- feedback
- wall
- energized coil
- fingertip
- energized
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- 230000008713 feedback mechanism Effects 0.000 claims abstract description 8
- 230000004308 accommodation Effects 0.000 claims description 8
- 239000013598 vector Substances 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000003786 synthesis reaction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 18
- 230000036544 posture Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008676 import Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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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
Definitions
- the present invention relates to the technical field of human-computer interaction, and in particular to a multi-directional fingertip plane tactile feedback device.
- the human tactile sensory feedback system provides two-way information and energy interaction that other sensory systems (visual or auditory, etc.) do not have.
- the force tactile feedback device is a system that can bring tactile and force information to the experiencer and transmit bidirectional information feedback. It can greatly increase the sense of reality and immersion that the virtual world brings to the experiencer.
- immersive virtual development focuses on feedback.
- the initial development started with wearable devices (gloves, etc.).
- Feedback gloves are based on data gesture gloves, with tactile feedback units added to fingertips and palms.
- the data glove should be able to generate a force that causes the human hand to move outward.
- the size and direction of this force must be the same as the force generated on the human hand when the real object exists.
- Existing feedback devices are used for research on finger grasping and touching.
- the finger touches the surface of an object and the distal digit of the finger touches the object in different orientations and postures the part where the distal digit of the finger contacts the surface of the object
- the distribution position on the surface of the distal phalanx of the fingers is different.
- Traditional fingertip feedback devices are limited to force tactile feedback information at the bottom of the distal digits of the fingers, and usually ignore the importance of tactile feedback at different parts of the distal digits such as the front, side, and front lower digits, making the feedback inaccurate and unrealistic.
- the purpose of the present invention is to provide a multi-directional fingertip plane tactile feedback device.
- a multi-directional fingertip planar tactile feedback device includes a planar tactile feedback actuator.
- the planar tactile feedback actuator includes a card holder and a feedback mechanism.
- the card holder is provided with a card hole and a receiving cavity.
- the card hole is One end penetrates the card holder, and the other end of the card hole is connected to the accommodation cavity.
- the feedback mechanism includes a plurality of feedback members, and the plurality of feedback members are respectively arranged on the walls of the accommodation cavity, so
- the feedback component includes a base, an air bag block and a baffle connected in sequence.
- the structure is simple, combining the tactile feedback of the baffle and the mutually exclusive force feedback of the energized coil, while ensuring that the distal digits of the fingers touching the surface of the object are fed back to the exact touch location of the distal digits of the performer's fingers.
- It can target objects touched by different parts of the distal digits of the fingers, and realize tactile feedback of the corresponding contact information parts in reality, improving the accuracy of tactile information feedback transmission.
- the touch force of finger touch can be adjusted by how much the airbag block is inflated. (4) Utilize the principle of mutual repulsion of the magnetic field generated by the energized coil to realize the transmission of tactile force feedback information to the finger.
- the force feedback generated by the magnetic field generated by each pair of energized coils on the distal digits of the fingers can be combined with force feedback vectors to achieve force feedback in all directions on the distal digits of the fingers. .
- the force feedback direction generated by the energized coil can be consistent with the tactile feedback direction of the baffle to the distal digit of the finger, realizing the force tactile feedback information transmission of finger touch and delivering a real touch feeling to the performer's fingers.
- Figure 1 is a schematic structural diagram of multiple feedback components provided in a card holder according to a preferred embodiment of the present invention
- Figure 8 is a schematic structural diagram of the front side airbag block of the front side feedback member of the preferred embodiment of the present invention when it is not inflated;
- Figure 9 is a schematic structural diagram of the front side airbag block inflating the front side feedback member according to the preferred embodiment of the present invention.
- Figure 10 is a schematic structural diagram of a finger-worn planar tactile feedback actuator according to a preferred embodiment of the present invention.
- Figure 11 is a side view of a finger-wearing planar tactile feedback actuator according to a preferred embodiment of the present invention.
- Figure 12 is a schematic structural diagram of a first energized coil group arranged on the outer wall of the card holder according to the preferred embodiment of the present invention
- Figure 13 is a front view of Figure 12
- Figure 14 is a side view of Figure 12
- Figure 15 shows a second energized coil set arranged on the inner wall of the housing.
- Figure 16 is the front view of Figure 15;
- Figure 17 is the side view of Figure 15;
- Figure 18 is the structural schematic diagram of the card holder installed in the housing;
- Figure 19 is the front view of Figure 18;
- Figure 20 is the figure 18;
- Figure 21 is a side view of the virtual finger division module;
- Figure 22 is a front view of the virtual finger division module;
- Figure 23 is a structural schematic diagram of each module of the virtual finger touching an object;
- Figure 24 is the front module of the virtual finger
- Figure 25 shows the front lower side baffle, the first energized coil group when the front lower side module of the virtual finger touches an object.
- FIG. 26 shows the force feedback of the upper left baffle, the first energized coil group, and the second energized coil group on the fingertip when the upper left module of the virtual finger touches an object.
- Figure 27 is a schematic diagram of the force feedback of the lower left baffle, the first energized coil group, and the second energized coil group to the fingertip when the lower left module of the virtual finger touches an object
- Figure 28 is the upper right module of the virtual finger
- Figure 29 shows the lower right baffle, the first energized coil group when the lower right module of the virtual finger touches an object.
- Figure 30 shows the force of the lower baffle, the first energized coil group, and the second energized coil group on the fingertip when the front module of the virtual finger touches an object Feedback diagram.
- Unity3D software is used to create virtual scenes and objects in the scene, and inertial sensors are used to create virtual models.
- the inertial sensors include three types of sensors: accelerometer, gyroscope, and magnetometer.
- the sensors are used to obtain the posture data of the hand and finger bending, and then the hand is After processing the hand data, import it into the Unity scene to obtain the hand model, and then connect the USB wireless signal receiver to the specific hand model data interface to obtain the hand data and real-time changes in posture and send the data through broadcast. Connect the corresponding broadcast data to the UI interface of Unity's hand operation to obtain the hand posture in Unity in real time.
- Import the steamVR software development kit combine the two software development kits, install the HTC VIVE Tracker on your wrist, and install the locator steamVR2.0 in the real scene.
- the tracker is within the scope of the locator.
- the position in the scene is matched with the position of the virtual hand in the Main Camera's field of view in the Unity scene, so that the movement and posture of the human hand in the real scene are consistent with the position and posture of the virtual model hand in Unity in real time.
- a multi-directional fingertip planar tactile feedback device includes a planar tactile feedback actuator.
- the planar tactile feedback actuator includes a card holder 10 and a feedback mechanism.
- the card holder 10 is provided with a card hole 101 and a receiving device. Cavity 102, one end of the clamping hole 101 passes through the clamp holder 10, and the other end of the clamping hole 101 is connected with the accommodation cavity 102.
- the feedback mechanism includes a plurality of feedback components, and the multiple feedback components are respectively provided on the walls of the accommodation cavity 102.
- the feedback component includes a base, an airbag block and a baffle connected in sequence.
- the cavity wall of the accommodation cavity 102 includes a front cavity wall 111, a left cavity wall 112, a right cavity wall 113, and a lower cavity wall 114.
- the plurality of feedback components include a front feedback component 201, a left feedback component 202, and a right feedback component. 203.
- the front feedback member 201, the left feedback member 202, the right feedback member 203, and the lower feedback member 204 are respectively provided on the front cavity wall 111, the left cavity wall 112, the right cavity wall 113, and the lower cavity wall 114.
- the front feedback member 201 includes a front feedback member 211, an inclined front lower feedback member 212, and a front feedback member 211
- the front and lower feedback parts 212 face the front side and the front lower side of the fingertip 8 respectively.
- the left feedback part 202 includes an upper left feedback part 213 and a lower left feedback part 214 that are both tilted.
- the baffle of the upper left feedback part and the lower left feedback part are The baffles face the upper left side and lower left side of the fingertip 8 respectively.
- the right feedback member 203 includes an upper right feedback member 215 and a lower right feedback member 216 that are both inclined.
- the baffles of the upper right feedback member and the lower right feedback member are respectively
- the lower feedback member 204 faces the upper right side and lower right side of the fingertip 8
- the lower feedback member 204 faces the lower side of the fingertip 8 .
- the front feedback member 211 includes a front base 2111, a front airbag block 2112 and a front baffle 2113 that are connected in sequence.
- the front lower feedback member 212 includes a front lower base that is connected in sequence.
- the upper left feedback member 213 includes the upper left base 2131, the upper left airbag block 2132 and the upper left baffle 2133 that are connected in sequence.
- the lower left feedback member 214 includes the upper left feedback member 213 in sequence.
- the lower left base 2141, the lower left airbag block 2142 and the lower left baffle 2143 are connected.
- the upper right feedback member 215 includes the upper right base 2151, the upper right airbag block 2152 and the upper right baffle 2153 which are connected in sequence.
- the feedback member 216 includes a lower right base 2161, a lower right airbag block 2162 and a lower right baffle 2163 that are connected in sequence.
- the lower feedback member 204 includes a lower base 2041, a lower airbag block 2042 and a lower right baffle that are connected in sequence. Lower side baffle 2043.
- the baffle of the upper left feedback member is the upper left baffle 2133
- the baffle of the lower left feedback member is the lower left baffle 2143
- the baffle of the upper right feedback member is the upper right baffle 2153
- the baffle of the lower right feedback member is the right baffle 2153.
- Lower side baffle 2163 is the baffle of the upper left feedback member.
- the card holder 10 is arranged in the shell 30, the outer wall of the card holder 10 is provided with a first energized coil group, and the inner wall of the casing 30 is provided with a second energized coil group.
- the outer wall of the deck 10 includes an outer front wall 121, an outer left wall 122, an outer right wall 123, an outer upper wall 124, and an outer lower wall 125.
- the first energized coil group includes a first front energized coil. 131.
- the inner wall of the housing 30 includes an inner front wall 301, an inner left wall 302, an inner right wall 303, The inner upper wall 304 and the inner lower wall 305, the second energized coil group includes a second front energized coil 311, a second left energized coil 312, a second right energized coil 313, a second upper energized coil 314, and a second lower energized coil 315.
- the first front energized coil 131, the first left energized coil 132, the first right energized coil 133, the first upper energized coil 134, and the first lower energized coil 135 are respectively connected with the second front energized coil 311 and the second left energized coil 312.
- the second right energizing coil 313, the second upper energizing coil 314, and the second lower energizing coil 315 are arranged correspondingly.
- the first front energized coil 131, the first left energized coil 132, the first right energized coil 133, the first upper energized coil 134, and the first lower energized coil 135 are respectively arranged on the outer front wall 121, the outer left wall 122, and the outer left wall 122.
- the inner rear wall 306 of the housing 30 is provided with a through hole 307 that communicates with the inside of the housing 30 .
- the outer left wall 122, the outer right wall 123, the outer upper wall 124, and the outer lower wall 125 of the card holder 10 are all provided with first support blocks 141.
- the inner left wall 302, the inner right wall 303, the inner upper wall 304, and the inner lower wall 305 of the housing 30 are all provided with second support blocks 321.
- the second support blocks 321 are provided with second connection holes 322. , the connection between the first support block 141 and the second support block 321 can be achieved by passing thin wires through the first connection hole 142 and the second connection hole 322 respectively.
- the housing 30 includes a housing body 308 and a housing cover 309 provided on the housing body 308 .
- the housing cover 309 can be opened from the housing body 308 to facilitate placing the card holder 10 into the housing 30 .
- Figure 23(a) shows that the front module 1 is in contact with an object
- Figure 23(b) shows that the front lower module 2 is in contact with an object
- Figure 23(c) shows that the upper left module 3 is in contact with an object
- Figure 23(d) shows that the lower left module 4 is in contact with the object
- Figure 23(e) shows that the upper right module 5 is in contact with the object
- Figure 23(f) shows that the lower right module 6 is in contact with the object
- Figure 23 (g) shows the lower module 7 in contact with an object.
- the distal finger touch the surface of the object, triggering the collision detection algorithm of the module corresponding to the surface of the object, and transmit the collision signal to the
- control board can control the connected air pump (not shown in the figure) After receiving the signal, the circuit is connected, and the air pump inflates the air bag in the direction corresponding to the module in contact with the object surface.
- the air bag block pushes the baffle forward, and the baffle touches the executor's finger far away.
- the same position on the knuckles as the virtual contact module transmits tactile feedback information to the performer's fingers.
- the feedback device can provide tactile feedback to the distal digits of the fingers in seven different directions, as shown in Figures 24-30.
- the front airbag block 2112 is inflated to push the front baffle 2113 to move toward the front of the fingertip 8 and touch the front of the fingertip 8; as shown in Figure 25 (b1), The front lower side airbag block 2122 is inflated to push the front lower side baffle 21213 to move toward the front lower side of the fingertip 8 and touch the front lower side of the fingertip 8; as shown in Figure 26 (c1), through the upper left airbag block 2132 is inflated to push the upper left baffle 2133 to the upper left side of the fingertip 8 and touches the upper left side of the fingertip 8; as shown in Figure 27 (d1), the lower left airbag block 2142 is inflated to push the lower left baffle 2143 to the upper left side of the fingertip 8.
- the lower left side of the fingertip 8 moves and touches the lower left side of the fingertip 8; as shown in Figure 28 (e1), the upper right airbag block 2152 is inflated to push the upper right baffle 2153 to move toward the upper right side of the fingertip 8 and touch the lower left side of the fingertip 8. Touch the upper right side of the fingertip 8; as shown in Figure 29 (f1), the lower right airbag block 2162 is inflated to push the lower right baffle 2163 to move to the lower right side of the fingertip 8 and touch the lower right side of the fingertip 8 Lower right side; as shown in Figure 30 (g1), the lower side airbag block 2042 is inflated to push the lower side baffle 2043 to move toward the lower side of the fingertip 8 and touch the lower side of the fingertip 8.
- the PC can control the circuit connecting the first energized coil group on the outer wall of the card holder 10 and the second energized coil group on the inner wall of the housing 30. According to the module of the distal finger of the virtual finger touching the object, the first front energization is selected.
- the magnetic fields generated by the five pairs of energized coils on the card holder 10 can be added vectorially.
- the size of the magnetic field generated by the energized coils is proportional to the size of the current flowing in. Changing the size of the current in the energized coils can change the size of the generated magnetic field, thereby making it adjustable
- the direction of the synthesized magnetic field is used to transmit multi-directional force feedback information to the distal digits of the finger, as shown in Figures 24-30.
- the first front energized coil 131 and the second front energized coil 311 pass current in the same direction, generating a repulsive force, thereby generating resistance to the front side of the fingertip; as shown in Figure 25 (b2)
- the first front energizing coil 131 and the second front energizing coil 311 pass currents in the same direction, and the first lower energizing coil 135 and the second lower energizing coil 315 pass currents in the same direction, forming a repulsive force, thereby causing the fingertips to 8 produces resistance
- the first left energized coil 132 and the second left energized coil 312 pass current in the same direction, the first upper energized coil 134 and the second upper energized coil 314 When currents in the same direction are passed in, a repulsive force is generated, and the force is synthesized, thereby producing resistance to the upper left side of the fingertip; as shown in Figure 25 (b2)
- the first right energized coil 133 and the second right energized coil 313 pass current in the same direction, and the first lower energized coil 135 and the second
- the lower energized coil 315 passes the current in the same direction, generates a repulsive force, and combines the forces, thereby generating resistance to the lower right side of the fingertip; as shown in Figure 30 (g2), the first lower energized coil 135 and the second lower energized coil 315
- the energized coil 315 passes current in the same direction to generate a repulsive force, thereby generating resistance to the underside of the fingertip.
- the force feedback transmitted to the fingers after the magnetic field generated by the energized coil is synthesized is combined with the tactile feedback delivered to the distal digits of the fingers in seven different directions by the planar tactile feedback actuator, delivering a real touch feeling to the operator's fingers.
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Abstract
本发明公开了一种多方位指尖平面触觉反馈装置，包括平面触觉反馈执行器，平面触觉反馈执行器包括卡座和反馈机构，卡座内设有卡孔和容纳腔，卡孔的一端贯穿卡座，卡孔的另一端与容纳腔相连通，反馈机构包括多个反馈件，多个反馈件分别设置于容纳腔的腔壁，反馈件包括依次相连接的基座、气囊块和挡板。本发明结构简单；能够实现对手指触碰的触碰力大小的调节；通过设置五对通电线圈，彼此之间可进行力反馈矢量合成，进而实现对手指远节指全方位方向的力反馈；通电线圈产生的力反馈方向可与挡板对手指远节指的触觉反馈方向进行一致，给执行者手指传递真实的触碰感。
Description
本发明涉及人机交互技术领域，尤其涉及一种多方位指尖平面触觉反馈装置。
在人类与自然客观世界接触的过程当中，人类的触觉感知反馈系统提供了其他感知系统（视觉或者听觉等）所不具有的双向的信息和能量的交互。
力触觉反馈装置是能够带给体验者触觉和力觉信息且双向信息反馈传递的系统，它能够大大的增加虚拟世界带给体验者的真实感和沉浸感。现在对于沉浸式虚拟开发注重于反馈方面，最初开发从可穿戴式设备（手套等）开始研究，反馈手套就是基于数据姿态手套，在手指尖和手掌等位置加上触觉反馈单元构成的。当戴上带力反馈数据手套抓取虚拟物体时，数据手套应能产生使人手向外运动的力，这个力的大小和方向必须和真实物体存在时对人手产生的力的大小和方向相同，从而达到沉浸式体验。
现有反馈装置针对于手指抓握、触碰等方面进行研究，手指触碰物体表面，手指远节指以不同的方位和姿态触碰物体的过程当中，手指远节指与物体表面接触的部位在手指远节指表面分布的位置不同。传统指尖反馈装置当中仅局限于手指远节指底部的力触觉反馈信息，通常忽略前、侧、前下等手指远节指不同部位的触觉反馈的重要性，使得反馈不准确，不真实。
针对现有技术不足，本发明的目的在于提供一种多方位指尖平面触觉反馈装置。
为了实现上述目的，本发明一实施例提供的技术方案如下：
一种多方位指尖平面触觉反馈装置，包括平面触觉反馈执行器，所述平面触觉反馈执行器包括卡座和反馈机构，所述卡座内设有卡孔和容纳腔，所述卡孔的一端贯穿所述卡座，所述卡孔的另一端与所述容纳腔相连通，所述反馈机构包括多个反馈件，多个所述反馈件分别设置于所述容纳腔的腔壁，所述反馈件包括依次相连接的基座、气囊块和挡板。
（1）结构简单，结合挡板的触觉反馈和通电线圈相互排斥的力反馈，同时确保手指远节指触碰物体表面所反馈到执行者手指远节指的触碰部位准确。（2）可针对手指远节指不同部位触碰物体，在现实当中实现其相应接触信息部位的触觉反馈，提高触觉信息反馈传递的准确性。（3）可通过气囊块充气多少，实现对手指触碰的触碰力大小的调节。（4）利用通电线圈产生磁场相互排斥的原理，实现对手指触觉力反馈信息的传递。（5）通过设置五对通电线圈，每对通电线圈产生的磁场对手指远节指产生的力反馈，彼此之间可进行力反馈矢量合成，进而实现对手指远节指全方位方向的力反馈。（6）通电线圈产生的力反馈方向可与挡板对手指远节指的触觉反馈方向进行一致，实现手指触碰的力触觉反馈信息传递，给执行者手指传递真实的触碰感。
图1为本发明优选实施例卡座内设置多个反馈件的结构示意图；
图2为图1的正视图；图3为图1的侧视图；图4为按照图2所示虚线进行剖切的上部结构示意图；图5为图4的内部俯视图；图6为按照图2所示虚线进行剖切的下部结构示意图；图7为图6的俯视图；
图8为本发明优选实施例前侧反馈件的前侧气囊块未充气的结构示意图；
图9为本发明优选实施例前侧反馈件的前侧气囊块充气的结构示意图；
图10为本发明优选实施例手指穿戴平面触觉反馈执行器的结构示意图；
图11为本发明优选实施例手指穿戴平面触觉反馈执行器的侧视图；
图12为本发明优选实施例卡座的外壁设置第一通电线圈组的结构示意图；图13为图12的正视图；图14为图12的侧视图；图15为外壳的内壁设置第二通电线圈组的结构示意图；图16为图15的正视图；图17为图15的侧视图；图18为卡座设置在外壳内的结构示意图；图19为图18的正视图；图20为图18的侧视图；图21为虚拟手指划分模块的侧视图；图22为虚拟手指划分模块的正视图；图23为虚拟手指各模块触碰物体的结构示意图；图24为虚拟手指的前侧模块触碰物体时前侧挡板、第一通电线圈组、第二通电线圈组对指尖的力反馈示意图；图25为虚拟手指的前下侧模块触碰物体时前下侧挡板、第一通电线圈组、第二通电线圈组对指尖的力反馈示意图；图26为虚拟手指的左上侧模块触碰物体时左上侧挡板、第一通电线圈组、第二通电线圈组对指尖的力反馈示意图；图27为虚拟手指的左下侧模块触碰物体时左下侧挡板、第一通电线圈组、第二通电线圈组对指尖的力反馈示意图；图28为虚拟手指的右上侧模块触碰物体时右上侧挡板、第一通电线圈组、第二通电线圈组对指尖的力反馈示意图；图29为虚拟手指的右下侧模块触碰物体时右下侧挡板、第一通电线圈组、第二通电线圈组对指尖的力反馈示意图；图30为虚拟手指的前侧模块触碰物体时下侧挡板、第一通电线圈组、第二通电线圈组对指尖的力反馈示意图。
为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
制作虚拟场景以及场景当中的物体采用Unity3D软件，利用惯性传感器制作虚拟模型，惯性传感器当中包括加速度计、陀螺仪、磁力计三种传感器，利用传感器获得手部、手指弯曲的姿态数据，接着将手部数据进行数据处理之后，导入Unity场景当中，获得手部模型，然后连接USB无线信号接收器与特定手部模型数据界面相连接，获取手部数据以及姿态实时的变化并且通过广播发送数据出去，在Unity的手部运行的UI界面上连接对应的广播数据，从而实时的在Unity里面获取手部姿态。
导入steamVR软件开发包，将两个软件开发包进行结合，安装HTC VIVE的Tracker追踪器在手腕处，安装定位器steamVR2.0在现实场景当中，通过软件开发包的结合，追踪器在定位器范围之内的位置与Unity场景当中虚拟手在Main Camera视野当中的位置进行匹配，从而实现现实场景当中人手的移动以及姿态与Unity当中虚拟模型手的位置和姿态实时一致。给Unity3D当中虚拟手指远节指划分模块，将其划分为七个模块，分别为前侧模块1、前下侧模块2、左上侧模块3、左下侧模块4、右上侧模块5、右下侧模块6、下侧模块7，如图21、图22所示，并且在每个模块上添加碰撞检测算法，以达到虚拟模型触碰物体，可准确地触发相应接触物体模块的碰撞检测算法，通过PC端传递准确碰撞的信号，对信号进行数据转换和下一步操作。
请参阅图1-图3，一种多方位指尖平面触觉反馈装置，包括平面触觉反馈执行器，平面触觉反馈执行器包括卡座10和反馈机构，卡座10内设有卡孔101和容纳腔102，卡孔101的一端贯穿所述卡座10，卡孔101的另一端与容纳腔102相连通，反馈机构包括多个反馈件，多个反馈件分别设置于容纳腔102的腔壁，反馈件包括依次相连接的基座、气囊块和挡板。
在本实施例中容纳腔102的腔壁包括前腔壁111、左腔壁112、右腔壁113、下腔壁114，多个反馈件包括前反馈件201、左反馈件202、右反馈件203、下反馈件204，前反馈件201、左反馈件202、右反馈件203、下反馈件204分别设置在前腔壁111、左腔壁112、右腔壁113、下腔壁114上。
为了便于与指尖各部分相对应，请参阅图1、图3、图10、图11，优选前反馈件201包括前侧反馈件211、倾斜设置的前下反馈件212，前侧反馈件211、前下反馈件212分别对着指尖8的前侧、前下侧，左反馈件202包括均倾斜设置的左上反馈件213、左下反馈件214，左上反馈件的挡板、左下反馈件的挡板分别对着指尖8的左上侧、左下侧，右反馈件203包括均倾斜设置的右上反馈件215、右下反馈件216，右上反馈件的挡板、右下反馈件的挡板分别对着指尖8的右上侧、右下侧，下反馈件204对着指尖8的下侧。
请参阅图2-图9，前侧反馈件211包括依次相连接的前侧基座2111、前侧气囊块2112和前侧挡板2113，前下反馈件212包括依次相连接的前下侧基座2121、前下侧气囊块2122和前下侧挡板2123，左上反馈件213包括依次相连接的左上侧基座2131、左上侧气囊块2132和左上侧挡板2133，左下反馈件214包括依次相连接的左下侧基座2141、左下侧气囊块2142和左下侧挡板2143，右上反馈件215包括依次相连接的右上侧基座2151、右上侧气囊块2152和右上侧挡板2153，右下反馈件216包括依次相连接的右下侧基座2161、右下侧气囊块2162和右下侧挡板2163，下反馈件204包括依次相连接的下侧基座2041、下侧气囊块2042和下侧挡板2043。其中，左上反馈件的挡板为左上侧挡板2133，左下反馈件的挡板为左下侧挡板2143，右上反馈件的挡板为右上侧挡板2153，右下反馈件的挡板为右下侧挡板2163。
还包括内部中空的外壳30，卡座10设于外壳30内，卡座10的外壁设置有第一通电线圈组，外壳30的内壁设置有第二通电线圈组。
请参阅图12-图20，卡座10的外壁包括外前壁121、外左壁122、外右壁123、外上壁124、外下壁125，第一通电线圈组包括第一前通电线圈131、第一左通电线圈132、第一右通电线圈133、第一上通电线圈134、第一下通电线圈135，外壳30的内壁包括内前壁301、内左壁302、内右壁303、内上壁304、内下壁305，第二通电线圈组包括第二前通电线圈311、第二左通电线圈312、第二右通电线圈313、第二上通电线圈314、第二下通电线圈315，第一前通电线圈131、第一左通电线圈132、第一右通电线圈133、第一上通电线圈134、第一下通电线圈135分别与第二前通电线圈311、第二左通电线圈312、第二右通电线圈313、第二上通电线圈314、第二下通电线圈315对应设置。
具体地，第一前通电线圈131、第一左通电线圈132、第一右通电线圈133、第一上通电线圈134、第一下通电线圈135分别设置在外前壁121、外左壁122、外右壁123、外上壁124、外下壁125上，第二前通电线圈311、第二左通电线圈312、第二右通电线圈313、第二上通电线圈314、第二下通电线圈315分别设置在内前壁301、内左壁302、内右壁303、内上壁304、内下壁305上。
为了便于手指伸入外壳30，优选外壳30的内后壁306设置有与外壳30内部相连通的通孔307。
为了便于卡座10集成在外壳30内，优选卡座10的外左壁122、外右壁123、外上壁124、外下壁125均设置有第一支块141，第一支块141开设有第一连接孔142，外壳30的内左壁302、内右壁303、内上壁304、内下壁305均设置有第二支块321，第二支块321开设有第二连接孔322，可以通过细线分别穿过第一连接孔142、第二连接孔322实现第一支块141与第二支块321的连接。
在本实施例中，外壳30包括外壳本体308、设置在外壳本体308上的壳盖309，壳盖309能够从外壳本体308上打开，便于将卡座10放入外壳30内。
在虚拟环境当中，当虚拟模型手指远节指以不同方向姿态触碰物体表面时。图23（a）示出了前侧模块1与物体接触，图23（b）示出了前下侧模块2与物体接触，图23（c）示出了左上侧模块3与物体接触，图23（d）示出了左下侧模块4与物体接触，图23（e）示出了右上侧模块5与物体接触，图23（f）示出了右下侧模块6与物体接触，图23（g）示出了下侧模块7与物体接触。远节指的不同部位触碰到物体表面，触发相应接触物体表面的模块的碰撞检测算法，将碰撞信号通过PC端传递给Arduino控制板，Arduino控制板可控制连接气泵（图中未示出）和气囊块之间的电路，接受到信号之后，电路连接，气泵向与物体表面接触模块所对应的方向上的气囊进行充气，气囊块推动挡板向前，挡板触碰到执行者手指远节指上与虚拟接触模块相同位置，传递给执行者手指触觉反馈信息。该反馈装置可提供给手指远节指七个不同方位的触觉反馈，如图24-图30所示。如图24（a1）所示，通过前侧气囊块2112充气推动前侧挡板2113向指尖8的前侧运动并触碰到指尖8的前侧；如图25（b1）所示，通过前下侧气囊块2122充气推动前下侧挡板21213向指尖8的前下侧运动并触碰到指尖8的前下侧；如图26（c1）所示，通过左上侧气囊块2132充气推动左上侧挡板2133向指尖8的左上侧运动并触碰到指尖8的左上侧；如图27（d1）所示，通过左下侧气囊块2142充气推动左下侧挡板2143向指尖8的左下侧运动并触碰到指尖8的左下侧；如图28（e1）所示，通过右上侧气囊块2152充气推动右上侧挡板2153向指尖8的右上侧运动并触碰到指尖8的右上侧；如图29（f1）所示，通过右下侧气囊块2162充气推动右下侧挡板2163向指尖8的右下侧运动并触碰到指尖8的右下侧；如图30（g1）所示，通过下侧气囊块2042充气推动下侧挡板2043向指尖8的下侧运动并触碰到指尖8的下侧。
同时，当虚拟模型手指远节指以不同的姿态触碰物体表面时，远节指的不同部位触碰到物体表面，触发相应接触物体表面模块的碰撞检测算法，将碰撞信号通过PC端传递给Arduino控制板，Arduino控制板可以控制连接卡座10外壁的第一通电线圈组与外壳30内壁的第二通电线圈组的电路，根据虚拟手指远节指触碰物体的模块，选择第一前通电线圈131与第二前通电线圈311、第一左通电线圈132与第二前通电线圈312、第一右通电线圈133与第二右通电线圈313、第一上通电线圈134与第二上通电线圈314、第一下通电线圈135与第二下通电线圈315这五对通电线圈中的一对或两对，通入方向相同的电流，产生同极磁场，利用磁场的同极相互排斥的原理，让卡座10在外壳10内部与外壳10产生位置的偏差和手指移动的阻碍，进而传递给手指远节指力反馈信息。
同时，五对通电线圈产生对卡座10的磁场可矢量相加，通电线圈产生的磁场大小与通入的电流大小成正比，改变通电线圈当中电流大小，可改变产生的磁场大小，从而可调节合成磁场方向，传递手指远节指多方位的力反馈信息，如图24-图30所示。如图24（a2）所示，第一前通电线圈131与第二前通电线圈311通入方向相同的电流，产生排斥力，从而对指尖的前侧产生阻力；如图25（b2）所示，第一前通电线圈131与第二前通电线圈311通入方向相同的电流、第一下通电线圈135与第二下通电线圈315通入方向相同的电流，形成排斥力，从而对指尖8的前下侧产生阻力；如图26（c2）所示，第一左通电线圈132与第二左通电线圈312通入方向相同的电流、第一上通电线圈134与第二上通电线圈314通入方向相同的电流，产生排斥力，进行力的合成，从而对指尖的左上侧产生阻力；如图27（d2）所示，第一左通电线圈132与第二左通电线圈312通入方向相同的电流、第一下通电线圈135与第二下通电线圈315通入方向相同的电流，产生排斥力，进行力的合成，从而对指尖的左下侧产生阻力；如图28（e2）所示，第一右通电线圈133与第二右通电线圈313通入方向相同的电流、第一上通电线圈134与第二上通电线圈314通入方向相同的电流，产生排斥力，进行力的合成，从而对指尖的右上侧产生阻力；如图29（f2）所示，第一右通电线圈133与第二右通电线圈313通入方向相同的电流，第一下通电线圈135与第二下通电线圈315通入方向相同的电流，产生排斥力，进行力的合成，从而对指尖的右下侧产生阻力；如图30（g2）所示，第一下通电线圈135与第二下通电线圈315通入方向相同的电流，产生排斥力，从而对指尖的下侧产生阻力。通电线圈产生的磁场合成之后传递给手指的力反馈结合平面触觉反馈执行器传递给手指远节指的七个不同方位的触觉反馈，给执行者手指传递真实的触碰感。
Claims (9)
- 一种多方位指尖平面触觉反馈装置，其特征在于，包括平面触觉反馈执行器，所述平面触觉反馈执行器包括卡座和反馈机构，所述卡座内设有卡孔和容纳腔，所述卡孔的一端贯穿所述卡座，所述卡孔的另一端与所述容纳腔相连通，所述反馈机构包括多个反馈件，多个所述反馈件分别设置于所述容纳腔的腔壁，所述反馈件包括依次相连接的基座、气囊块和挡板。
- 根据权利要求1所述的一种多方位指尖平面触觉反馈装置，其特征在于，所述容纳腔的腔壁包括前腔壁、左腔壁、右腔壁、下腔壁，所述多个反馈件包括前反馈件、左反馈件、右反馈件、下反馈件，所述前反馈件、左反馈件、右反馈件、下反馈件分别设置在所述前腔壁、左腔壁、右腔壁、下腔壁上。
- 根据权利要求2所述的一种多方位指尖平面触觉反馈装置，其特征在于，所述前反馈件包括前侧反馈件、倾斜设置的前下反馈件，所述前侧反馈件、前下反馈件分别对着指尖的前侧、前下侧，所述左反馈件包括均倾斜设置的左上反馈件、左下反馈件，所述左上反馈件的挡板、左下反馈件的挡板分别对着所述指尖的左上侧、左下侧，所述右反馈件包括均倾斜设置的右上反馈件、右下反馈件，所述右上反馈件的挡板、右下反馈件的挡板分别对着指尖的右上侧、右下侧。
- 根据权利要求2或3所述的一种多方位指尖平面触觉反馈装置，其特征在于，还包括内部中空的外壳，所述卡座设于所述外壳内，所述卡座的外壁设置有第一通电线圈组，所述外壳的内壁设置有第二通电线圈组。
- 根据权利要求4所述的一种多方位指尖平面触觉反馈装置，其特征在于，所述卡座的外壁包括外前壁、外左壁、外右壁、外上壁、外下壁，所述第一通电线圈组包括第一前通电线圈、第一左通电线圈、第一右通电线圈、第一上通电线圈、第一下通电线圈，所述外壳的内壁包括内前壁、内左壁、内右壁、内上壁、内下壁，所述第二通电线圈组包括第二前通电线圈、第二左通电线圈、第二右通电线圈、第二上通电线圈、第二下通电线圈，第一前通电线圈、第一左通电线圈、第一右通电线圈、第一上通电线圈、第一下通电线圈分别与所述第二前通电线圈、第二左通电线圈、第二右通电线圈、第二上通电线圈、第二下通电线圈对应设置。
- 根据权利要求5所述的一种多方位指尖平面触觉反馈装置，其特征在于，所述第一前通电线圈、第一左通电线圈、第一右通电线圈、第一上通电线圈、第一下通电线圈分别设置在所述外前壁、外左壁、外右壁、外上壁、外下壁上，所述第二前通电线圈、第二左通电线圈、第二右通电线圈、第二上通电线圈、第二下通电线圈分别设置在所述内前壁、内左壁、内右壁、内上壁、内下壁上。
- 根据权利要求5所述的一种多方位指尖平面触觉反馈装置，其特征在于，所述外壳的内后壁设置有与所述外壳内部相连通的通孔。
- 根据权利要求5所述的一种多方位指尖平面触觉反馈装置，其特征在于，所述卡座的外左壁、外右壁、外上壁、外下壁均设置有第一支块，所述第一支块开设有第一连接孔，所述外壳的内左壁、内右壁、内上壁、内下壁均设置有第二支块，所述第二支块开设有第二连接孔。
- 根据权利要求6-8中任一项所述的一种多方位指尖平面触觉反馈装置，其特征在于，所述外壳包括外壳本体、设置在所述外壳本体上的壳盖。
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| CN202210644470.6A CN115033100B (zh) | 2022-06-08 | 2022-06-08 | 一种多方位指尖平面触觉反馈装置 |
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| CN115033100B (zh) * | 2022-06-08 | 2024-07-05 | 苏州大学 | 一种多方位指尖平面触觉反馈装置 |
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| CN109343711A (zh) * | 2018-10-23 | 2019-02-15 | 北京航空航天大学 | 一种移动式多元触觉融合反馈装置 |
| CN111813259A (zh) * | 2020-06-05 | 2020-10-23 | 南京信息工程大学 | 一种触摸屏用指套式力触觉装置及其反馈控制办法 |
| US20220113797A1 (en) * | 2020-10-09 | 2022-04-14 | Contact Control Interfaces, LLC | Tendon driven exoskeleton tightening mechanism |
| CN115033100A (zh) * | 2022-06-08 | 2022-09-09 | 苏州大学 | 一种多方位指尖平面触觉反馈装置 |
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| CN2725994Y (zh) * | 2004-05-13 | 2005-09-14 | 中国科学院自动化研究所 | 一种触觉反馈数据手套 |
| CN106249884B (zh) * | 2016-07-26 | 2020-04-10 | 北京航空航天大学 | 一种气压驱动的力反馈和触觉反馈装置 |
| EP3602250A4 (en) * | 2017-03-31 | 2020-11-25 | Vrgluv LLC | HAPTICAL INTERFACE DEVICES |
| US20180335841A1 (en) * | 2017-05-19 | 2018-11-22 | Axonvr Corporation | Haptic feedback glove |
| CN107479698A (zh) * | 2017-07-28 | 2017-12-15 | 北京航空航天大学 | 一种气压驱动的多指协同力反馈和触觉反馈手套装置 |
| US11360558B2 (en) * | 2018-07-17 | 2022-06-14 | Apple Inc. | Computer systems with finger devices |
| CN109375772B (zh) * | 2018-10-23 | 2021-04-16 | 北京航空航天大学 | 一种多元触觉反馈手套 |
| JP2020112978A (ja) * | 2019-01-10 | 2020-07-27 | ソニー株式会社 | 触覚提示装置、触覚提示システムおよび触覚提示方法 |
| KR20200131641A (ko) * | 2019-05-14 | 2020-11-24 | (주) 풀다이브테크놀로지 | 가상 현실 시스템의 촉감 피드백 장치 |
| US20230263687A1 (en) * | 2020-06-26 | 2023-08-24 | Ecole Polytechnique Federale De Lausanne (Epfl) | Fluid-actuated haptic device and methods for using thereof |
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| CN109343711A (zh) * | 2018-10-23 | 2019-02-15 | 北京航空航天大学 | 一种移动式多元触觉融合反馈装置 |
| CN111813259A (zh) * | 2020-06-05 | 2020-10-23 | 南京信息工程大学 | 一种触摸屏用指套式力触觉装置及其反馈控制办法 |
| US20220113797A1 (en) * | 2020-10-09 | 2022-04-14 | Contact Control Interfaces, LLC | Tendon driven exoskeleton tightening mechanism |
| CN115033100A (zh) * | 2022-06-08 | 2022-09-09 | 苏州大学 | 一种多方位指尖平面触觉反馈装置 |
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| CN115033100A (zh) | 2022-09-09 |
| CN115033100B (zh) | 2024-07-05 |
| US20240028122A1 (en) | 2024-01-25 |
| US11947726B2 (en) | 2024-04-02 |
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