Remote electromagnetic tactile representation system and magnetic field generation and tactile prediction method

Abstract

The invention discloses a remote electromagnetic tactile representation system and a magnetic field generation and tactile prediction method. The system comprises a local end, a remote end and an edgelearning platform, wherein the local end comprises a local magnetic operating rod, an electromagnetic tactile representation device and positioning equipment; the remote end comprises an operation robot, a remote operation rod and a touch sensor; the local end and the remote end are respectively provided with an edge learning platform which is used for local end equipment and remote end equipmentcontrol, tactile sensor data acquisition, data transceiving and caching, signal processing and calculation, and the local end and the remote end are connected and communicated through a network. Theinvention provides a magnetic field generation method which is used for controlling an iron core coil to generate a magnetic field. In addition, the invention further provides a tactile prediction method. The current tactile feedback is predicted online according to the operation information and the historical tactile data. The system is advantaged in that dynamic and accurate tactile sense generation can be carried out, an online prediction error of tactile sense data is small, and stability of remote tactile sense communication is ensured.

Description

technical field [0001] The invention belongs to the field of virtual reality technology, and relates to a remote electromagnetic tactile reproduction system, magnetic field generation and tactile prediction method, and in particular to a machine learning technology to construct a decoupling and PID neural network to control the magnetic field generation, and to use supervision A two-way LSTM network predicts remote tactile communication data to realize a dynamic, accurate and stable remote tactile reproduction system, magnetic field generation and tactile prediction method. Background technique [0002] As a two-way interactive virtual reality service, remote tactile reproduction is the basis for building a tactile Internet in high-reliability and low-latency communication scenarios in 5G technology ([Document 1]). It transmits tactile information from the remote end to the operating end through wired or wireless means, and uses tactile devices to perform real-time virtual t...

AI Technical Summary

Problems solved by technology

[0017] Aiming at the problem that existing tactile devices are difficult to produce realistic force feedback in remote tactile reproduction, the present invention uses an electromagnetic tactile device including three iron core coils and a magnetic operating rod for tactile reproduction, and analyzes the current generation and magnetic field generation of the device process, and proposed a double closed-loop control algorithm combining decoupling and PID neural network to achieve fast and accurate magnetic field generation

Images