CN112834024A - Wearable multidimensional force feedback device and method based on vibration array - Google Patents
Wearable multidimensional force feedback device and method based on vibration array Download PDFInfo
- Publication number
- CN112834024A CN112834024A CN202110023645.7A CN202110023645A CN112834024A CN 112834024 A CN112834024 A CN 112834024A CN 202110023645 A CN202110023645 A CN 202110023645A CN 112834024 A CN112834024 A CN 112834024A
- Authority
- CN
- China
- Prior art keywords
- module
- vibrator
- main control
- control module
- force feedback
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a wearable multidimensional force feedback device based on a vibration array, which is applied to the technical field of contact force reproduction and comprises the following components: the glove comprises a glove body, a sensor, a vibrator, a power supply module, a main control module, a communication module and a driving module; the sensor acquires front-end sensing data; the vibrator is arranged in the glove body; the sensing data is transmitted to the main control module through the communication module; the main control module drives the vibrator to vibrate through the driving module; the power supply module supplies power to the main control module and the driving module respectively. The invention converts the sensing data into the vibration amplitude and frequency of the vibrator in a mapping manner, thereby reflecting the magnitude and direction of the contact force, and in order to realize the portability of wearing and using, the control and driving of the vibrator adopt a low-power-consumption small-sized circuit design, the vibrator can be integrally embedded into a glove and powered by a battery, and the data communication adopts a low-power-consumption wireless transmission mode.
Description
Technical Field
The invention relates to the technical field of touch reproduction, in particular to a wearable multi-dimensional force feedback device and method based on a vibration array.
Background
At present, people mainly use visual and auditory feedback for remote communication or mechanical control, visual and auditory feedback technology is continuously innovated and advanced, but feedback and reproduction technology in the aspect of touch is still in the future, so that people are limited to visual and auditory communication. For long-range communication, audio-visual communication technology may be able to meet user needs. However, in the aspect of remote mechanical control or remote human-computer interaction, audio-visual feedback is far from insufficient, an operator cannot accurately judge the real situation of mechanical operation by means of visual and auditory information, a device with tactile reproduction needs to be integrated, a tactile signal of a signal acquisition end is simulated, feedback of a tactile layer is provided for the operator, and the reality sense and immersive experience of remote operation are improved.
Haptic sense includes force haptic sense, texture haptic sense, thermal haptic sense, etc., and there has been some research on the reproduction of haptic sense, but there is no effective implementation method for reproducing haptic vibrations such as pulse beat.
Therefore, there is a need for a method for reproducing a vibration tactile signal that is perceptible to the skin, which can improve the realism and achieve feedback adjustment, and which can adjust the reproduced tactile signal, and which has a wide application space in the medical and electronic industries.
Disclosure of Invention
In view of the above, the present invention provides a wearable multidimensional force feedback device and method based on a vibration array, which acquire sensing data of an execution front end in real time, and map and convert the sensing data into vibration amplitude and frequency of a vibrator, so as to reflect the magnitude and direction of a contact force.
In order to achieve the above purpose, the invention provides the following technical scheme:
wearable multidimension force feedback device based on vibration array includes: the glove comprises a glove body, a sensor, a vibrator, a power supply module, a main control module, a communication module and a driving module; the sensor acquires front-end sensing data; the vibrator is arranged in the glove body; the sensing data is transmitted to the main control module through the communication module; the main control module drives the vibrator to vibrate through the driving module; the power supply module supplies power to the main control module and the driving module respectively.
Preferably, in the wearable multi-dimensional force feedback device based on the vibration array, at least five vibrators are provided; the thickness of the vibrator is less than or equal to 2mm, and the diameter of the vibrator is less than or equal to 8 mm.
Preferably, in the wearable multidimensional force feedback device based on the vibration array, the communication module uses an XG-BM02X bluetooth transparent transmission module, and the sensor is wirelessly connected with the communication module.
Preferably, in the wearable multidimensional force feedback device based on the vibration array, the master control module is configured to provide at least 5 independent driving signals to the driving module and respond to a command of an upper computer.
Preferably, in the wearable multidimensional force feedback device based on the vibration array, the STMF030K6T6 chip is selected as the MCU of the main control module.
Preferably, in the wearable multi-dimensional force feedback device based on the vibration array, the driving module is configured to directly drive the vibrator; the driving module selects a BDR6122T driving chip, the driving chip is provided with two paths of inputs IN1 and IN2, the starting and stopping of the vibrator are controlled by controlling the states of IN1 and IN2, the brake is carried out, and the output voltage of the driving chip is adjusted by PWM output by the main control module so as to control the amplitude and the frequency of the vibrator.
Preferably, in the wearable multidimensional force feedback device based on the vibration array, the power module uses a 5V lithium battery to supply power to the driving module, and the power module reduces the voltage to 3.3V through the AMS-1117 power chip to supply power to the main control module and the communication module.
The wearable multi-dimensional force feedback method based on the vibration array specifically comprises the following steps:
acquiring sensing data, wherein the sensing data comprises 3-axis force information and 3-axis moment information;
the sensing data is mapped to the vibration amplitude, frequency and vibration of different vibrators.
According to the technical scheme, compared with the prior art, the wearable multi-dimensional force feedback method and device based on the vibration array are provided, the vibration tactile signals which can be felt by the skin can be reproduced, the sense of reality is improved, and feedback adjustment is achieved. The method comprises the steps of acquiring sensing data of an execution front end in real time, mapping and converting the sensing data into vibration amplitude and frequency of a vibrator, reflecting the size and direction of contact force, enabling the control and driving of the vibrator to be in low-power-consumption small-sized circuit design for achieving wearing and using portability, enabling the vibrator to be integrally embedded into a glove, using a battery for power supply, and enabling data communication to be in a low-power-consumption wireless transmission mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a block diagram illustrating the structure of the present invention;
FIG. 2 is a schematic circuit diagram of a power module of the present invention;
FIG. 3 is a schematic diagram of a master control module circuit of the present invention;
fig. 4 is a schematic circuit diagram of a driving module according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The wearable multidimensional force feedback device based on the vibration array is shown in fig. 1, and comprises: the glove comprises a glove body, a sensor, a vibrator, a power supply module, a main control module, a communication module and a driving module; the sensor acquires front-end sensing data; the vibrator is arranged in the glove body; the sensing data is transmitted to the main control module through the communication module; the main control module drives the vibrator to vibrate through the driving module.
In the embodiment of the present invention, the vibrators are provided with at least five; the thickness of the vibrator is less than or equal to 2mm, and the diameter of the vibrator is less than or equal to 8 mm.
In the embodiment of the invention, the XG-BM02X Bluetooth transparent transmission module is used as the communication module, and the sensor is connected with the communication module in a wireless mode.
Further, the communication protocol: the data packet consists of a packet head, a word length, effective data and a packet tail, and the independent amplitude and frequency control of the five-path vibrator is realized.
In an embodiment of the present invention, as shown in fig. 3, the main control module is configured to provide at least 5 independent driving signals to the driving module and respond to the upper computer command.
The main control module adopts a pulse width modulation mode to generate PWM (pulse width modulation) waves, and the duty ratio of the pulse width is approximately in direct proportion to the output voltage of the driving module. The MCU of the main control module selects an STMF030K6T6 chip, the chip adopts an M0 kernel, the highest main frequency can reach 48Mhz, the MCU chip has 5 timers, 11 paths of PWM can be output to the maximum, 1 path of USART serial ports can realize simultaneous control of multiple paths of vibrators, and the MCU chip can be connected with the communication module through the serial ports.
In an embodiment of the present invention, as shown in fig. 4, the driving module is used to directly drive the vibrator; the driving module selects a BDR6122T driving chip, the driving chip is provided with two paths of inputs IN1 and IN2, the starting and stopping of the vibrator are controlled by controlling the states of IN1 and IN2, the brake is carried out, and the output voltage of the driving chip is adjusted by PWM output by the main control module so as to control the amplitude and the frequency of the vibrator.
In the embodiment of the invention, as shown in fig. 2, the power supply module uses a 5V lithium battery to supply power to the driving module, and the voltage is reduced to 3.3V through the AMS-1117 power supply chip to supply power to the main control module and the communication module.
The wearable multi-dimensional force feedback method based on the vibration array specifically comprises the following steps:
acquiring sensing data, wherein the sensing data comprises 3-axis force information and 3-axis moment information;
the sensed data is mapped to the amplitude, frequency, and vibration of the different vibrators.
Furthermore, in the vibration control method, a multi-component vibration combination mode is adopted to simulate the amplitude and the direction of the force/moment. The sensing front end comprises 3-axis force and 3-axis moment information, a vibration mode is designed, and the magnitude and the vector of multi-axis force/moment are mapped into the amplitude, the frequency and the duration combination of the vibration plates at different positions.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. Wearable multidimension force feedback device based on vibration array, its characterized in that includes: the glove comprises a glove body, a sensor, a vibrator, a power supply module, a main control module, a communication module and a driving module; the sensor acquires front-end sensing data; the vibrator is arranged in the glove body; the sensing data is transmitted to the main control module through the communication module; the main control module drives the vibrator to vibrate through the driving module; the power supply module supplies power to the main control module and the driving module respectively.
2. The wearable multi-dimensional force feedback device based on vibration arrays according to claim 1, wherein the vibrators are provided in at least five; the thickness of the vibrator is less than or equal to 2mm, and the diameter of the vibrator is less than or equal to 8 mm.
3. The vibrating array based wearable multi-dimensional force feedback device according to claim 1, wherein the communication module uses an XG-BM02X bluetooth pass-through module, and the sensor is wirelessly connected to the communication module.
4. The vibrating array based wearable multi-dimensional force feedback device according to claim 1, wherein the master control module is configured to provide at least 5 independent drive signals to the drive module and to respond to host computer commands.
5. The vibrating array-based wearable multi-dimensional force feedback device according to claim 4, wherein the MCU of the main control module is an STMF030K6T6 chip.
6. The vibrating array based wearable multi-dimensional force feedback device according to claim 1, wherein the driving module is configured to directly drive a vibrator; the driving module selects a BDR6122T driving chip, the BDR6122T driving chip is provided with two paths of inputs of IN1 and IN2, the starting and stopping of the vibrator are controlled by controlling the states of IN1 and IN2, the brake is carried out, and the output voltage of the BDR6122T driving chip is adjusted by PWM output by the main control module so as to control the amplitude and the frequency of the vibrator.
7. The vibrating array-based wearable multi-dimensional force feedback device according to claim 1, wherein the power module uses a 5V lithium battery to power the driving module and reduces the voltage to 3.3V via the AMS-1117 power chip to power the main control module and the communication module.
8. The wearable multi-dimensional force feedback method based on the vibration array is characterized by comprising the following specific steps:
acquiring sensing data, wherein the sensing data comprises 3-axis force information and 3-axis moment information;
the sensing data is mapped to the vibration amplitude, frequency and vibration of different vibrators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110023645.7A CN112834024A (en) | 2021-01-08 | 2021-01-08 | Wearable multidimensional force feedback device and method based on vibration array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110023645.7A CN112834024A (en) | 2021-01-08 | 2021-01-08 | Wearable multidimensional force feedback device and method based on vibration array |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112834024A true CN112834024A (en) | 2021-05-25 |
Family
ID=75928832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110023645.7A Pending CN112834024A (en) | 2021-01-08 | 2021-01-08 | Wearable multidimensional force feedback device and method based on vibration array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112834024A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114924641A (en) * | 2022-03-25 | 2022-08-19 | 歌尔股份有限公司 | Vibration array system, driving method, and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101149608A (en) * | 2007-11-12 | 2008-03-26 | 北京大学 | Hand-held robot movement monitoring and control platform based on embedded type system |
| CN102379760A (en) * | 2011-08-25 | 2012-03-21 | 东南大学 | Myoelectric prosthetic hand force tactile feedback method and tactile feedback myoelectric prosthetic hand system |
| US20130082830A1 (en) * | 2011-05-02 | 2013-04-04 | University Of Vermont And State Agricultural College | Systems For and Methods of Digital Recording and Reproduction of Tactile Drawings |
| CN105677036A (en) * | 2016-01-29 | 2016-06-15 | 清华大学 | Interactive type data glove |
| CN110174949A (en) * | 2019-05-28 | 2019-08-27 | 欣旺达电子股份有限公司 | Virtual reality device and posture perception and tactile sense reproduction control method |
| CN111610857A (en) * | 2020-05-07 | 2020-09-01 | 闽南理工学院 | Gloves with interactive installation is felt to VR body |
-
2021
- 2021-01-08 CN CN202110023645.7A patent/CN112834024A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101149608A (en) * | 2007-11-12 | 2008-03-26 | 北京大学 | Hand-held robot movement monitoring and control platform based on embedded type system |
| US20130082830A1 (en) * | 2011-05-02 | 2013-04-04 | University Of Vermont And State Agricultural College | Systems For and Methods of Digital Recording and Reproduction of Tactile Drawings |
| CN102379760A (en) * | 2011-08-25 | 2012-03-21 | 东南大学 | Myoelectric prosthetic hand force tactile feedback method and tactile feedback myoelectric prosthetic hand system |
| CN105677036A (en) * | 2016-01-29 | 2016-06-15 | 清华大学 | Interactive type data glove |
| CN110174949A (en) * | 2019-05-28 | 2019-08-27 | 欣旺达电子股份有限公司 | Virtual reality device and posture perception and tactile sense reproduction control method |
| CN111610857A (en) * | 2020-05-07 | 2020-09-01 | 闽南理工学院 | Gloves with interactive installation is felt to VR body |
Non-Patent Citations (1)
| Title |
|---|
| 王启宁 等: "基于非接触式电容传感的人体运动意图识别", 《机械工程学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114924641A (en) * | 2022-03-25 | 2022-08-19 | 歌尔股份有限公司 | Vibration array system, driving method, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10133370B2 (en) | Haptic stylus | |
| KR101548156B1 (en) | A wireless exoskeleton haptic interface device for simultaneously delivering tactile and joint resistance and the method for comprising the same | |
| US7348968B2 (en) | Wireless force feedback input device | |
| KR101602663B1 (en) | Electronic device case for supporting tactile feedback and operating method thereof | |
| KR20150114899A (en) | Wearable device with flexibly mounted haptic output device | |
| CN105555486A (en) | Position/force controller, and position/force control method and program | |
| CN113311946B (en) | Multi-mode fingerstall type device for mobile terminal application | |
| WO2012061840A1 (en) | Haptic systems, devices, and methods using transmission of pressure through a flexible medium | |
| Preechayasomboon et al. | Haplets: Finger-worn wireless and low-encumbrance vibrotactile haptic feedback for virtual and augmented reality | |
| CN103984411B (en) | Tactile force feedback system and tactile force feedback network system realization | |
| JP2017182495A (en) | Information processing device, information processing method and program | |
| CN109582132A (en) | Hand mechanical exoskeleton and its feedback | |
| Dementyev et al. | VHP: vibrotactile haptics platform for on-body applications | |
| Kim et al. | Small and lightweight tactile display (SaLT) and its application | |
| EP3598272A1 (en) | Trigger button for haptic controller | |
| KR101906814B1 (en) | Tactile stimulation providing device | |
| CN112834024A (en) | Wearable multidimensional force feedback device and method based on vibration array | |
| KR101845018B1 (en) | Tactile stimulation providing system | |
| TW202336562A (en) | Controlling interactions with virtual objects | |
| JP2005175815A (en) | Input device with tactile function, electronic equipment, and touch feedback input method thereof | |
| CN103488298A (en) | Touch reproduction hand-shaped groove device based on combination of flexibility and sliding | |
| CN111813215A (en) | Head-mounted display system, method of controlling the same, and computer-readable storage medium | |
| WO2017119190A1 (en) | Tactile sensation reproduction device | |
| Kirisken et al. | A novel driving pattern to actualize haptic effects in mobile devices | |
| Stan et al. | The design of a scalable haptic system used for impaired people assistance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210525 |
|
| RJ01 | Rejection of invention patent application after publication |