A remote electromagnetic tactile reproduction system, magnetic field generation and tactile prediction method

Abstract

The invention discloses a remote electromagnetic tactile reproduction system, a magnetic field generation and tactile prediction method. The system includes a local end, a remote end and an edge learning platform; the local end includes a local magnetic joystick, an electromagnetic tactile reproduction device and a positioning device; the remote end includes Operate robots, remote joysticks and tactile sensors; both the local and remote ends are equipped with edge learning platforms for local and remote device control, tactile sensor data acquisition, data transceiver and buffering, signal processing, and computing; the local end , The remote end communicates through the network connection. The present invention provides a magnetic field generation method for controlling the iron core coil to generate a magnetic field; in addition, the present invention also provides a haptic prediction method for online prediction of current haptic feedback according to operation information and historical haptic data. The present invention can perform dynamic and accurate tactile generation, and the online prediction error of tactile data is small, thereby ensuring the stability of remote tactile communication.

Description

technical field [0001] The invention belongs to the technical field of virtual reality, and relates to a remote electromagnetic tactile reproduction system, a magnetic field generation and a tactile prediction method, and in particular to a method of using machine learning technology to construct a decoupling and PID neural network to control the magnetic field generation, and using a supervising The bidirectional LSTM network of the formula is used to predict the remote tactile communication data to realize the 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 ([Reference 1]). It transmits the haptic information from the remote end to the operating end through wired or wireless...

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

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