WO2023245786A1 - Fingertip tactile feedback apparatus based on weighted amplitude-frequency vibration superposition - Google Patents
Fingertip tactile feedback apparatus based on weighted amplitude-frequency vibration superposition Download PDFInfo
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- WO2023245786A1 WO2023245786A1 PCT/CN2022/106348 CN2022106348W WO2023245786A1 WO 2023245786 A1 WO2023245786 A1 WO 2023245786A1 CN 2022106348 W CN2022106348 W CN 2022106348W WO 2023245786 A1 WO2023245786 A1 WO 2023245786A1
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- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000035807 sensation Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 2
- 229920001778 nylon Polymers 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 230000003746 surface roughness Effects 0.000 claims 1
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- 101100384865 Neurospora crassa (strain ATCC 24698 / 74-OR23-1A / CBS 708.71 / DSM 1257 / FGSC 987) cot-1 gene Proteins 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
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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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0416—Control or interface arrangements specially adapted for digitisers
Definitions
- the invention belongs to the field of tactile perception, and specifically relates to a fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition.
- the present invention discloses a fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition.
- a fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition.
- a fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition including a finger cot, a vibration conduction structure, a strap, a touch screen, a control box, a bracelet and a connecting wire; the finger cot is worn on the fingertip to prevent the vibration conduction structure direct contact with the fingers; the strap is used to fix the vibration conduction structure on the fingertip (across the finger cot); the vibration conduction structure includes two vibration motors, conductors and sensing components.
- the finger cot mainly prevents the direct contact between the sensing part of the vibration conduction structure and the fingers, thereby increasing the comfort of vibration sensing; it is made of nylon silk material, which is light and breathable, preventing sweating of the fingers from affecting the perception, and also avoiding the weakening of the vibration sense; It has strong elasticity and will not cause pressure on the fingers; the number of finger cots can be selected according to the application scenario, making it easy to use and highly flexible.
- the data processing module in the control box is used to process the received digital signals, decode the information, and control the vibration motor to generate corresponding vibrations.
- the touch screen can be used to input information and select different vibration modes, including the number of finger cots used, vibration amplitude, vibration frequency, etc.; the touch screen makes the improvement and upgrading of the entire device more flexible, simplifies the mechanical structure, and can input information more easily. diversification.
- the fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to the present invention can achieve smooth, comfortable, and realistic tactile perception through simple and flexible structural design and communication methods, combined with efficient weighted amplitude-frequency vibration adjustment.
- Figure 1 is a schematic diagram of the fingertip tactile feedback device of the present invention
- Figure 2 is a schematic diagram of the bridge conduction structure
- Figure 3 is a cross-sectional view of the bridge conduction structure
- Figure 4 is a schematic diagram of the column conduction structure
- Figure 6 is a schematic diagram of the front and back of the bracelet
- Figure 7 is a schematic diagram of waveform superposition
- Figure 8 is a structural block diagram of the present invention.
- Figure 9 is a system flow chart of the present invention.
- a fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition includes a finger cot 1, a vibration conduction structure 2, a connecting wire 3, a bracelet 4, a control box 5 and a touch screen 6 .
- Finger cot 1 is worn on the distal end (outer end) of the finger. It is made of light and breathable material. The number of finger cots is 1-5. You can choose a different number according to the application scenario. It is easy to use and has strong flexibility; vibration conduction structure 2 It includes two vibration motors (vibration motor one 7 and vibration motor two 8), a conductive structure 9 and a sensing component 10.
- the two vibration motors are vibration sources, the conductive structure 9 is used to transmit vibration, and the sensing component 10 is close to the fingertip.
- the present invention provides two conductive structures, a bridge conductive structure (as shown in Figure 2) and a column conductive structure (as shown in Figure 3); the connecting wires 3 are two signal lines of the vibration motor, connected to the control The interface of the box; the bracelet 4 is worn on the wrist and is used to support the control box and the touch screen; the control box 5 is fixed on the bracelet and contains a power module, a Bluetooth module and a data processing module.
- FIG. 2 is a schematic diagram of the bridge conduction structure.
- Vibration motor 17 is a high-frequency vibration source, generating 100-300Hz vibration, which is used for vibration sensing of low-frequency wave surfaces;
- vibration motor 28 is a low-frequency vibration source, with a vibration frequency less than 100Hz, for Perception of the overall fluctuation of the low-frequency wave surface;
- vibration motor one 7 and vibration motor two 8 are respectively fixed in the groove 12 inside the conductive structure 9 (vibration motor one 7 is on the left, vibration motor two 8 is on the right), and are fastened by bolts 11.
- FIG. 3 is a cross-sectional view of the bridge conductive structure.
- Figure 4 is a schematic diagram of the column conduction structure, and the vibration mode is the same as above.
- Figure 5 is a cross-sectional view of a columnar conductive structure. Vibration motor one 7 is on the top, vibration motor two 8 is on the bottom.
- FIG. 6 is a schematic diagram of the front and back of the fingertip tactile feedback device bracelet provided by the present invention.
- the interface 14 is used to connect the vibration motor signal line and the control circuit. There are five channels in total, and individual finger cots can be flexibly selected according to the application scenario. number.
- Button 15 is a switch button, used to turn on and off the entire device; button 16 is a start and stop button for the vibration motor. Only after it is turned on can the vibration motor receive the control signal and generate corresponding vibration. Click it again to terminate the connection and the motor stops vibrating.
- Figure 7 is a schematic diagram of waveform superposition.
- the basic waveforms of the two vibration sources are set to unit amplitude 1 and frequency 1Hz. Different amplitude weights a1, a2 and frequency weights f1, f2 are adjusted respectively, and the two waveforms are added.
- the touch sensation is a slight jitter with the fluctuation of the vibration motor.
- the weight a1 of the high-frequency vibration amplitude becomes larger and larger, this high-frequency vibration feeling becomes stronger and stronger, as shown in Figures 8 and 9.
- Figure 9 is a system flow chart of the present invention applied to a virtual scene.
- the virtual scene generates interactive texture information, parses it into weights of amplitude and frequency, and encodes each weight into a vibration sequence with a frame header and a frame tail. It is sent to the data processing module via Bluetooth to cause the motor to vibrate accordingly.
Abstract
Disclosed in the present invention is a fingertip tactile feedback apparatus based on weighted amplitude-frequency vibration superposition, comprising fingerstalls, vibration conduction structures, straps, a touch screen, a control box, a wristband, and connecting wires. The fingerstalls are worn on fingertips, the vibration conduction structures are fixed to finger pulps of the fingerstalls and are connected to an interface of the control box by means of the connecting wires, the control box is fixed on the wristband and comprises a power supply, a Bluetooth module and a data processing module inside, and the touch screen is located above the control box. According to the present invention, the overall fluctuating state and the roughness degree of the surface of an object are simulated: two vibration motors are enabled to respectively generate high- and low-frequency vibrations, and by adjusting the weights of the amplitude and the frequency and superposing the two vibrations by means of the vibration conduction structures, different vibration waveforms are generated, and people feel different tactile sensations.
Description
本发明属于触觉感知领域，具体涉及一种基于加权幅频振动叠加的指尖触觉反馈装置。The invention belongs to the field of tactile perception, and specifically relates to a fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition.
力触觉是人与外界进行信息交互的重要方式，力觉感受是人体骨骼和肌肉运动产生形变引起的；触觉是触摸时，皮肤受到振动、压力等刺激从而产生的感知。触摸是人们对外界进行感知的重要手段，尤其是对盲人而言，触感是其他感官不可替代的。国内的触觉反馈装置研究起步较晚，目前大部分移动终端的触觉交互设备采用静电力方式，外置式装置较少。同时，使用单电机的触觉反馈形式单一，很难模拟出曲面纹理的粗糙程度，缺乏真实、准确、舒适感。因此，一种便携式、触感舒适准确的触觉反馈装置至关重要。Force tactile sensation is an important way for people to interact with the outside world. Force tactile sensation is caused by the deformation of human bones and muscles due to movement; tactile touch is the perception produced by the skin being stimulated by vibration, pressure, etc. when touched. Touch is an important means for people to perceive the outside world, especially for blind people. Touch is irreplaceable by other senses. Domestic research on tactile feedback devices started late. Currently, most tactile interaction devices on mobile terminals use electrostatic force, and there are few external devices. At the same time, the tactile feedback form using a single motor is single, it is difficult to simulate the roughness of the surface texture, and it lacks realism, accuracy, and comfort. Therefore, a portable, comfortable and accurate tactile feedback device is crucial.
发明内容Contents of the invention
为解决上述问题，本发明公开了一种基于加权幅频振动叠加的指尖触觉反馈装置，通过简单灵活的结构设计和通信方式，结合高效的加权幅频振动调节，可实现平滑、舒适、真实的触觉感知。In order to solve the above problems, the present invention discloses a fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition. Through simple and flexible structural design and communication methods, combined with efficient weighted amplitude-frequency vibration adjustment, it can achieve smooth, comfortable and realistic feedback. tactile perception.
为达到上述目的，本发明的技术方案如下：In order to achieve the above objects, the technical solutions of the present invention are as follows:
一种基于加权幅频振动叠加的指尖触觉反馈装置，包括指套、振动传导结构、绑带、触摸屏、控制盒、手环和连接导线；所述指套穿 戴于指尖，防止振动传导结构和手指的直接接触；绑带用于将振动传导结构固定在指腹部位(隔着指套)；振动传导结构包括两个振动电机、传导体和感受部件，两个振动电机为振源，传导体用于振动的传递，感受部件紧贴指腹，用于触觉感知；连接导线用于连接振动电机和控制盒，传输振动信号；手环穿戴在人的手腕部；控制盒固定在手环上，内部包含电源模块、蓝牙模块和数据处理模块；触摸屏位于控制盒上方，用于振动模式、参数等信息的选择。A fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition, including a finger cot, a vibration conduction structure, a strap, a touch screen, a control box, a bracelet and a connecting wire; the finger cot is worn on the fingertip to prevent the vibration conduction structure direct contact with the fingers; the strap is used to fix the vibration conduction structure on the fingertip (across the finger cot); the vibration conduction structure includes two vibration motors, conductors and sensing components. The two vibration motors are vibration sources and conduction The body is used to transmit vibration, and the sensing part is close to the fingertips for tactile perception; the connecting wire is used to connect the vibration motor and the control box to transmit vibration signals; the bracelet is worn on the person's wrist; the control box is fixed on the bracelet , which contains a power module, Bluetooth module and data processing module; the touch screen is located above the control box and is used to select vibration modes, parameters and other information.
所述的指套主要起到防止振动传导结构的感受部件和手指的直接接触，增加振动感知的舒适度；采用尼龙丝材料，轻薄透气，防止手指出汗影响感知，也避免振感的削弱；弹力强，不会对手指造成压迫感；指套可根据应用场景选择不同的穿戴个数，使用方便，灵活性强。The finger cot mainly prevents the direct contact between the sensing part of the vibration conduction structure and the fingers, thereby increasing the comfort of vibration sensing; it is made of nylon silk material, which is light and breathable, preventing sweating of the fingers from affecting the perception, and also avoiding the weakening of the vibration sense; It has strong elasticity and will not cause pressure on the fingers; the number of finger cots can be selected according to the application scenario, making it easy to use and highly flexible.
所述的振动传导结构固定在指套的指腹部位，可通过绑带等方式缠绕固定在指尖，指腹对于振动感知较手部其他位置来说更为敏感，适用于指尖的触觉反馈感知；本发明给出两种振动传导结构，桥式传导和柱式传导：桥式传导，即两个振动电机在杆件的两端，分别向中间传递机械波，在杆件中间延申出感受部件；柱式传导，即两个振动电机呈叠加式安装，感受部件在圆柱体端面处。The vibration conduction structure is fixed on the fingertip of the finger cot and can be wrapped and fixed on the fingertip through straps or other methods. The fingertip is more sensitive to vibration perception than other parts of the hand, and is suitable for tactile feedback of the fingertip. Perception; the present invention provides two vibration transmission structures, bridge transmission and column transmission: bridge transmission, that is, two vibration motors are at both ends of the rod, transmitting mechanical waves to the middle respectively, and a sensing component is extended in the middle of the rod ; Column conduction, that is, two vibration motors are installed in a superimposed manner, and the sensing component is at the end face of the cylinder.
所述的两个振动电机，一个保持高频振动，另一个为低频振动，可叠加成为一个低频波形的高频振动模式，通过调节高低频振动电机的幅值和频率的权值，便可改变波形，从而产生不同的触觉感知。考虑到手指最佳感知频率范围，高频振动的振动频率为100-300Hz，低 频振动的振动频率小于100Hz，从而感知到明显的低频波形振动。Of the two vibration motors, one maintains high-frequency vibration and the other vibrates at low frequency, which can be superimposed into a high-frequency vibration mode of low-frequency waveform. By adjusting the amplitude and frequency weight of the high- and low-frequency vibration motors, the vibration can be changed. waveforms, resulting in different tactile sensations. Considering the optimal sensing frequency range of the finger, the vibration frequency of high-frequency vibration is 100-300Hz, and the vibration frequency of low-frequency vibration is less than 100Hz, so that obvious low-frequency waveform vibration is perceived.
所述的蓝牙模块用于应用场景与指尖触觉反馈装置间的无线通信，进行信息的传输，可增加装置使用灵活性，增大活动空间。The Bluetooth module is used for wireless communication between the application scene and the fingertip tactile feedback device to transmit information, which can increase the flexibility of the device and increase the activity space.
所述的控制盒中的数据处理模块用于处理接收到的数字信号，进行信息解码，并控制振动电机产生相应的振动。The data processing module in the control box is used to process the received digital signals, decode the information, and control the vibration motor to generate corresponding vibrations.
所述的触摸屏可用于信息输入，选择不同的振动模式，包括使用指套的个数、振动幅值、振动频率等；触摸屏使整个装置的改进升级更加灵活，简化了机械结构，可输入信息更加多样化。The touch screen can be used to input information and select different vibration modes, including the number of finger cots used, vibration amplitude, vibration frequency, etc.; the touch screen makes the improvement and upgrading of the entire device more flexible, simplifies the mechanical structure, and can input information more easily. diversification.
加权幅频振动叠加原理，从波形的原理上说，即通过对两个振动电机产生的机械波进行幅值和频率的权值调节，将两个机械波进行叠加，从而产生不同的振动波形(包括幅值和频率)，使人感受到不同的振感。从机械硬件方面说，通过控制电压幅值和电压频率来控制两个振动电机的振幅和振动频率，通过振动传导结构进行两种机械波的叠加；尤其适用于曲面纹理的粗糙感知。The principle of weighted amplitude-frequency vibration superposition, from the principle of waveforms, is to superpose the two mechanical waves by adjusting the weights of the amplitude and frequency of the mechanical waves generated by the two vibration motors, thereby producing different vibration waveforms (including amplitude value and frequency), making people feel different vibrations. In terms of mechanical hardware, the amplitude and vibration frequency of the two vibration motors are controlled by controlling the voltage amplitude and voltage frequency, and the two mechanical waves are superimposed through the vibration conduction structure; it is especially suitable for rough perception of curved surface textures.
本发明的有益效果为：The beneficial effects of the present invention are:
本发明所述的一种基于加权幅频振动叠加的指尖触觉反馈装置，通过简单灵活的结构设计和通信方式，结合高效的加权幅频振动调节，可实现平滑、舒适、真实的触觉感知。The fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to the present invention can achieve smooth, comfortable, and realistic tactile perception through simple and flexible structural design and communication methods, combined with efficient weighted amplitude-frequency vibration adjustment.
图1是本发明指尖触觉反馈装置示意图；Figure 1 is a schematic diagram of the fingertip tactile feedback device of the present invention;
图2是桥式传导结构示意图；Figure 2 is a schematic diagram of the bridge conduction structure;
图3是桥式传导结构剖面图；Figure 3 is a cross-sectional view of the bridge conduction structure;
图4是柱式传导结构示意图；Figure 4 is a schematic diagram of the column conduction structure;
图5是柱式传导结构剖面图；Figure 5 is a cross-sectional view of the column conductive structure;
图6是手环的正面和背面示意图；Figure 6 is a schematic diagram of the front and back of the bracelet;
图7是波形叠加示意图；Figure 7 is a schematic diagram of waveform superposition;
图8是本发明的结构框图；Figure 8 is a structural block diagram of the present invention;
图9是本发明的系统流程图。Figure 9 is a system flow chart of the present invention.
附图标识列表：List of attached drawing identifiers:
1、指套；2、振动传导结构；3、连接导线；4、手环；5、控制盒；6、触摸屏；7、振动电机一，8、振动电机二，9、传导结构；10、感知部件，11、螺栓，12、凹槽，14、接口；15、开关按钮，16、启停按钮。1. Finger cot; 2. Vibration conduction structure; 3. Connection wire; 4. Bracelet; 5. Control box; 6. Touch screen; 7. Vibration motor one, 8. Vibration motor two, 9. Conduction structure; 10. Perception Components, 11. Bolts, 12. Grooves, 14. Interfaces; 15. Switch buttons, 16. Start and stop buttons.
下面结合附图和具体实施方式，进一步阐明本发明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。The present invention will be further clarified below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.
如图1所示，本发明所述的一种基于加权幅频振动叠加的指尖触觉反馈装置，包括指套1、振动传导结构2、连接导线3、手环4、控制盒5和触摸屏6。指套1穿戴在手指的末节(最外端)，采用轻薄透气材料，指套数量为1-5个，可根据应用场景选择不同的穿戴个数，使用方便，灵活性强；振动传导结构2包括两个振动电机(振动电机一7和振动电机二8)、传导结构9和感受部件10，两个振动电机为 振源，传导结构9用于振动的传递，感受部件10紧贴指腹，用于触觉感知，本发明给出了两种传导结构，桥式传导结构(如图2)和柱式传导结构(如图3)；连接导线3为振动电机的两根信号线，连接至控制盒的接口；手环4穿戴于手腕上，用于控制盒和触摸屏的支撑；控制盒5固定在手环上，内部包含电源模块、蓝牙模块和数据处理模块，电源用于装置的供电，蓝牙用于信息的传输，数据处理模块用于信号解码以及振动电机的振动控制；触摸屏6可用于信息输入，选择不同的振动模式，包括使用指套的个数、振动幅值、振动频率等；触摸屏使整个装置的改进升级更加灵活，简化了机械结构，可输入信息更加多样化。As shown in Figure 1, a fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to the present invention includes a finger cot 1, a vibration conduction structure 2, a connecting wire 3, a bracelet 4, a control box 5 and a touch screen 6 . Finger cot 1 is worn on the distal end (outer end) of the finger. It is made of light and breathable material. The number of finger cots is 1-5. You can choose a different number according to the application scenario. It is easy to use and has strong flexibility; vibration conduction structure 2 It includes two vibration motors (vibration motor one 7 and vibration motor two 8), a conductive structure 9 and a sensing component 10. The two vibration motors are vibration sources, the conductive structure 9 is used to transmit vibration, and the sensing component 10 is close to the fingertip. For tactile perception, the present invention provides two conductive structures, a bridge conductive structure (as shown in Figure 2) and a column conductive structure (as shown in Figure 3); the connecting wires 3 are two signal lines of the vibration motor, connected to the control The interface of the box; the bracelet 4 is worn on the wrist and is used to support the control box and the touch screen; the control box 5 is fixed on the bracelet and contains a power module, a Bluetooth module and a data processing module. The power supply is used to power the device, and Bluetooth Used for information transmission, the data processing module is used for signal decoding and vibration control of the vibration motor; the touch screen 6 can be used for information input and selection of different vibration modes, including the number of finger cots used, vibration amplitude, vibration frequency, etc.; touch screen It makes the improvement and upgrading of the entire device more flexible, simplifies the mechanical structure, and allows for more diversified input information.
图2是桥式传导结构示意图，振动电机一7为高频振动源，产生100-300Hz的振动，用于低频波面的振动感知；振动电机二8为低频振动源，振动频率小于100Hz，用于低频波面整体起伏感知；振动电机一7和振动电机二8分别固定在传导结构9内部的凹槽12里(振动电机一7在左，振动电机二8在右)，并通过螺栓11紧固，使振动电机和传导结构紧密贴合，螺栓固定方便振动电机的更换；将整个传导结构通过绑带等方式固定在指尖，感知部件10紧贴指腹，将振动传导至手指。图3为桥式传导结构的剖面图。Figure 2 is a schematic diagram of the bridge conduction structure. Vibration motor 17 is a high-frequency vibration source, generating 100-300Hz vibration, which is used for vibration sensing of low-frequency wave surfaces; vibration motor 28 is a low-frequency vibration source, with a vibration frequency less than 100Hz, for Perception of the overall fluctuation of the low-frequency wave surface; vibration motor one 7 and vibration motor two 8 are respectively fixed in the groove 12 inside the conductive structure 9 (vibration motor one 7 is on the left, vibration motor two 8 is on the right), and are fastened by bolts 11. The vibration motor and the conductive structure are closely connected, and the bolts are fixed to facilitate the replacement of the vibration motor; the entire conductive structure is fixed on the fingertip through straps, etc., and the sensing component 10 is close to the fingertip to transmit the vibration to the finger. Figure 3 is a cross-sectional view of the bridge conductive structure.
图4是柱式传导结构示意图，振动方式同上。图5是柱式传导结构的剖面图。振动电机一7在上，振动电机二8在下。Figure 4 is a schematic diagram of the column conduction structure, and the vibration mode is the same as above. Figure 5 is a cross-sectional view of a columnar conductive structure. Vibration motor one 7 is on the top, vibration motor two 8 is on the bottom.
图6是本发明提供的指尖触觉反馈装置手环部分的正面和背面示意图，接口14用于振动电机信号线与控制电路的连接，共有五路通 道，可根据应用场景灵活选择使用指套个数。按钮15是开关按钮，用于整个装置的开启与关闭；按钮16是振动电机的启停按钮，开启后振动电机才能接收控制信号产生相应振动，再次点击，便可终止连接，电机停止振动。Figure 6 is a schematic diagram of the front and back of the fingertip tactile feedback device bracelet provided by the present invention. The interface 14 is used to connect the vibration motor signal line and the control circuit. There are five channels in total, and individual finger cots can be flexibly selected according to the application scenario. number. Button 15 is a switch button, used to turn on and off the entire device; button 16 is a start and stop button for the vibration motor. Only after it is turned on can the vibration motor receive the control signal and generate corresponding vibration. Click it again to terminate the connection and the motor stops vibrating.
图7是波形叠加示意图，将两个振动源基本波形设置为单位幅值1和频率1Hz，分别调节不同的幅度权值a1、a2和频率权值f1、f2，将两个波形相加。图7为a1＝0.1，a2＝1，f1＝150，f2＝10时的振动叠加波形示意图，触感应为随振动电机起伏的轻微抖动。随着高频振动幅值的权值a1越来越大，这种高频振感越来越强，如图8、9所示。将高频振动电机的频率权值f2调高，则手指会感受到更加快速的振动；将f2调低，会感受到振动频率变缓。调节低频振动电机的频率权值f1，则整体的起伏感知变化更快。即，a1、f1模拟物体表面的整体起伏状态，a2、f2模拟物体表面的粗糙程度。Figure 7 is a schematic diagram of waveform superposition. The basic waveforms of the two vibration sources are set to unit amplitude 1 and frequency 1Hz. Different amplitude weights a1, a2 and frequency weights f1, f2 are adjusted respectively, and the two waveforms are added. Figure 7 is a schematic diagram of the vibration superposition waveform when a1=0.1, a2=1, f1=150, f2=10. The touch sensation is a slight jitter with the fluctuation of the vibration motor. As the weight a1 of the high-frequency vibration amplitude becomes larger and larger, this high-frequency vibration feeling becomes stronger and stronger, as shown in Figures 8 and 9. If you increase the frequency weight f2 of the high-frequency vibration motor, your fingers will feel faster vibrations; if you adjust f2 lower, you will feel the vibration frequency slow down. By adjusting the frequency weight f1 of the low-frequency vibration motor, the overall fluctuation perception will change faster. That is, a1 and f1 simulate the overall undulation state of the object surface, and a2 and f2 simulate the roughness of the object surface.
图8是本发明的结构框图，指套触觉反馈装置有两种起振模式，一种是通过触摸屏输入幅值、频率等参数，使振动电机产生相应振动；另一种是结合虚拟场景，通过触摸虚拟物体，将相应的参数通过蓝牙传输到控制盒，使产生相应振动，实现虚拟物品的真实体验感。Figure 8 is a structural block diagram of the present invention. The finger cot tactile feedback device has two vibration modes. One is to input parameters such as amplitude and frequency through the touch screen to cause the vibration motor to generate corresponding vibrations; the other is to combine the virtual scene with the vibration mode. Touch the virtual object, and the corresponding parameters are transmitted to the control box via Bluetooth, causing corresponding vibrations to achieve a real experience of the virtual object.
图9是本发明应用到虚拟场景的系统流程图，虚拟场景产生交互的纹理信息，并将其解析为幅值、频率的权值，将各权值编码为带帧头帧尾的振动序列，通过蓝牙发送到数据处理模块，使电机产生相应振动。Figure 9 is a system flow chart of the present invention applied to a virtual scene. The virtual scene generates interactive texture information, parses it into weights of amplitude and frequency, and encodes each weight into a vibration sequence with a frame header and a frame tail. It is sent to the data processing module via Bluetooth to cause the motor to vibrate accordingly.
需要说明的是，以上内容仅仅说明了本发明的技术思想，不能以 此限定本发明的保护范围，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰均落入本发明权利要求书的保护范围之内。It should be noted that the above content only illustrates the technical idea of the present invention and cannot limit the protection scope of the present invention. For those of ordinary skill in the technical field, without departing from the principle of the present invention, they can also make Several improvements and modifications are made, and these improvements and modifications fall within the protection scope of the claims of the present invention.
Claims (9)
- 一种基于加权幅频振动叠加的指尖触觉反馈装置，其特征在于：指尖触觉反馈装置包括指套、振动传导结构、绑带、触摸屏、控制盒、手环和连接导线；指套穿戴于指尖，振动传导结构包括两个振动频率不同的电机、传导结构和感受部件，两个振动电机为振源，传导结构用于振动的传递，绑带用于将振动传导结构固定在指腹部位；感受部件隔着指套紧贴指腹，连接导线用于连接振动电机和控制盒，传输振动信号；所述手环穿戴在人的手腕部；控制盒固定在手环上，控制盒内部包含电源模块、蓝牙模块和数据处理模块；触摸屏位于控制盒上方，用于信息选择。A fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition, characterized in that: the fingertip tactile feedback device includes a finger cot, a vibration conduction structure, a strap, a touch screen, a control box, a bracelet and a connecting wire; the finger cot is worn on At the fingertip, the vibration conduction structure includes two motors with different vibration frequencies, a conduction structure and a sensing component. The two vibration motors are the vibration sources, the conduction structure is used to transmit vibration, and the strap is used to fix the vibration conduction structure on the fingertip. ; The sensing component is close to the fingertip through the finger cot, and the connecting wire is used to connect the vibration motor and the control box to transmit the vibration signal; the bracelet is worn on the human wrist; the control box is fixed on the bracelet, and the control box contains Power module, Bluetooth module and data processing module; the touch screen is located above the control box for information selection.
- 根据权利要求1所述的一种基于加权幅频振动叠加的指尖触觉反馈装置，其特征在于，指套采用尼龙丝材料，指套数量为1-5个。A fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to claim 1, characterized in that the finger cots are made of nylon wire material, and the number of finger cots is 1-5.
- 根据权利要求1所述的一种基于加权幅频振动叠加的指尖触觉反馈装置，其特征在于，所述振动传导结构为桥式传导，即两个振动电机设置在杆件的两端，分别向中间传递机械波，在杆件中间延伸出感受部件。A fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to claim 1, characterized in that the vibration conduction structure is bridge conduction, that is, two vibration motors are arranged at both ends of the rod, respectively. The mechanical wave is transmitted to the middle, and the sensing component is extended in the middle of the rod.
- 根据权利要求1所述的一种基于加权幅频振动叠加的指尖触觉反馈装置，其特征在于，所述振动传导结构为柱式传导，即两个振动电机呈叠加式安装，感受部件在圆柱体端面处。A fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to claim 1, characterized in that the vibration transmission structure is column transmission, that is, two vibration motors are installed in a superimposed manner, and the sensing component is in a cylinder. Body end surface.
- 根据权利要求1所述的一种基于加权幅频振动叠加的指尖触觉反馈装置，其特征在于，蓝牙模块用于应用场景与指尖触觉反馈装置间的无线通信，进行信息的传输。A fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to claim 1, characterized in that the Bluetooth module is used for wireless communication between the application scenario and the fingertip tactile feedback device to transmit information.
- 根据权利要求1所述的一种基于加权幅频振动叠加的指尖触觉反馈装置，其特征在于，控制盒中的数据处理模块用于处理接收到的数字信号，进行信息解码，调节振动电机幅值和频率的权值，并控制振动电机产生相应的振动。A fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to claim 1, characterized in that the data processing module in the control box is used to process the received digital signal, decode the information, and adjust the amplitude of the vibration motor. value and frequency, and control the vibration motor to produce corresponding vibration.
- 根据权利要求1所述的一种基于加权幅频振动叠加的指尖触觉反馈装置，其特征在于，触摸屏用于信息输入，选择不同的振动模式，包括使用指套的个数、振动幅值、振动频率，并且显示波形。A fingertip tactile feedback device based on weighted amplitude-frequency vibration superposition according to claim 1, characterized in that the touch screen is used for information input and selection of different vibration modes, including the number of finger cots used, vibration amplitude, Vibration frequency, and display waveform.
- 根据权利要求1所述的加权幅频振动叠加原理，其特征在于：两个振动电机，一个产生高频振动，另一个产生低频振动，将两个振动源基本波形设置为单位幅值1和频率1Hz，分别调节高低频振动电机的幅度权值a1、a2和频率权值f1、f2，将两个波形叠加为低频波形上的高频抖动；可模拟物体不同起伏面及其表面粗糙程度的触感；使人感受到不同的触觉感知。The weighted amplitude-frequency vibration superposition principle according to claim 1, characterized in that: two vibration motors, one produces high-frequency vibration, the other produces low-frequency vibration, and the basic waveforms of the two vibration sources are set to unit amplitude 1 and frequency 1Hz, adjust the amplitude weights a1, a2 and frequency weights f1, f2 of the high- and low-frequency vibration motors respectively, and superimpose the two waveforms into high-frequency jitter on the low-frequency waveform; it can simulate the touch of different undulating surfaces of objects and their surface roughness. ; Make people feel different tactile sensations.
- 根据权利要求1所述的加权幅频振动叠加原理，其特征在于：高频振动的电机振动频率为100-300Hz，低频振动的电机振动频率小于100Hz。The principle of weighted amplitude-frequency vibration superposition according to claim 1, characterized in that: the vibration frequency of the high-frequency vibration motor is 100-300Hz, and the vibration frequency of the low-frequency vibration motor is less than 100Hz.
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| CN106095100A (en) * | 2016-06-14 | 2016-11-09 | 瑞声科技(新加坡)有限公司 | Sense of touch feedback generation system and control method thereof, apply this system electronics |
| CN106502393A (en) * | 2016-10-17 | 2017-03-15 | 东南大学 | A kind of finger towards touch-screen wearable power haptic interaction device of outer skeleton |
| WO2018092595A1 (en) * | 2016-11-17 | 2018-05-24 | ソニー株式会社 | Vibration presentation device, vibration presentation method, and program |
| US20190025915A1 (en) * | 2016-01-22 | 2019-01-24 | Alyed Yshidoro TZOMPA SOSA | Haptic virtual reality glove with systems for simulating sensations of pressure, texture and temperature |
| CN112905016A (en) * | 2021-03-10 | 2021-06-04 | 之江实验室 | Multi-modal tactile perception wearable device for augmented reality |
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| US20190025915A1 (en) * | 2016-01-22 | 2019-01-24 | Alyed Yshidoro TZOMPA SOSA | Haptic virtual reality glove with systems for simulating sensations of pressure, texture and temperature |
| CN106095100A (en) * | 2016-06-14 | 2016-11-09 | 瑞声科技(新加坡)有限公司 | Sense of touch feedback generation system and control method thereof, apply this system electronics |
| CN106502393A (en) * | 2016-10-17 | 2017-03-15 | 东南大学 | A kind of finger towards touch-screen wearable power haptic interaction device of outer skeleton |
| WO2018092595A1 (en) * | 2016-11-17 | 2018-05-24 | ソニー株式会社 | Vibration presentation device, vibration presentation method, and program |
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