A measuring sensor device and evaluation method suitable for a tactile ultrasonic phased array

Abstract

This invention relates to a measurement and sensing device suitable for tactile ultrasonic phased arrays, comprising: a mechanical measurement and sensing module, a fiber Bragg grating array; an acoustic measurement and sensing module, located coaxially below the fiber Bragg grating array; and a sensor structure housing that accommodates the aforementioned mechanical measurement and sensing modules and the acoustic measurement and sensing module.

Description

Technical Field

[0001] This invention relates to the technical field of quantitative evaluation and measurement of ultrasonic tactile feedback devices, and more specifically, to a measurement and sensing device and evaluation method suitable for tactile ultrasonic phased arrays. Background Technology

[0002] Non-contact haptic feedback primarily addresses the issue of device constraints. Non-contact haptic sensors transmit tactile sensations to the skin via air, creating a tactile experience. Currently, various methods exist, including ultrasound, compressed air, and electromagnetic fields. Ultrasound offers advantages over other methods, such as allowing for multi-point stimulation, higher resolution, and higher responsiveness. Ultrasonic haptic feedback technology is based on acoustic amplitude pressure. When ultrasound waves propagate as pressure waves through the air, they generate forward pressure when incident on an obstacle. While users cannot perceive the ultrasonic beam emitted by a single transducer, focusing hundreds of beams onto a single "focal point" significantly enhances the tactile sensation.

[0003] However, current technical solutions for evaluating the tactile effect of ultrasonic phased arrays are limited to traditional acoustic measurement methods. These typically involve using a measuring microphone to measure the sound field, using an ultrasonic transducer to receive voltage and plot the focal sound field, or using an electronic weighing instrument to measure the sound amplitude and pressure at the focal point. For example, the Chinese invention "An Ultrasonic Tactile Measurement System and Method Based on a Robotic Arm Moving Platform" (application number: 202111493719.X) discloses a method using a measuring microphone to measure the focal spectrum and sound pressure amplitude. Humans perceive pressure stimulation through receptors under the skin, and force measurement directly reflects the quality of the tactile intensity of the ultrasonic phased array. The size and position of the tactile "focal point" of the sound focusing are equally important for sound field accuracy, which affects the rendering detail. Currently available measurement equipment and methods cannot simultaneously measure several key parameters. Since ultrasonic phased arrays used to control tactile sensation have multiple modulation frequencies superimposed, spatiotemporal registration during data processing is complex after separate multi-point measurements. Summary of the Invention

[0004] This invention proposes a measurement and sensing device and evaluation method suitable for tactile ultrasonic phased arrays to solve the aforementioned technical problems.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0006] A measurement and sensing device suitable for tactile ultrasonic phased arrays, comprising:

[0007] Mechanical measurement sensing module, fiber Bragg grating array;

[0008] Acoustic measurement sensing module, located coaxially below the fiber Bragg grating array;

[0009] The sensor housing is a shell that houses the aforementioned mechanical measurement sensing module and acoustic measurement sensing module.

[0010] Furthermore, the fiber Bragg grating array is tightly integrated with the encapsulation model. Under the action of forward acoustic radiation pressure and transverse shear force, the encapsulation model generates strain, and the center wavelength of the fiber Bragg grating drifts accordingly.

[0011] The acoustic measurement module measures the tactile sound field generated by the ultrasonic phased array, including the tactile focal point position, size, and acoustic evaluation indicators of sound pressure intensity.

[0012] The outer shell of the structure utilizes polymer materials to encapsulate the sensing module for mechanical and acoustic reflection and transmission sensitization.

[0013] A measurement and sensing evaluation method suitable for tactile ultrasonic phased arrays includes the following steps:

[0014] The measurement and sensing device is carried by a robotic arm and a three-dimensional motion mechanism with a three-axis slide table, and performs multi-point measurement and evaluation of the ultrasonic phased array.

[0015] After calibration, the fiber Bragg grating array is connected to the host computer via a fiber demodulator to convert the optical signal into forward acoustic radiation pressure and transverse shear force.

[0016] After calibration, the acoustic measurement and sensing module is connected to the host computer via the acoustic signal processing module to convert the acoustic signal into sound pressure data.

[0017] Furthermore, the forward acoustic radiation pressure, lateral shear force, and sound pressure data measured at multiple points are spatiotemporally registered and evaluated using multi-sensor fusion on a host computer to assess the tactile rendering effect of the ultrasonic phased array.

[0018] The beneficial effects of this invention include:

[0019] The spatiotemporal registration measurement device according to the present invention can simultaneously measure the sound field and the sound radiation pressure at the focal point of the phased array tactile focus. When using focus modulation methods such as ultrasonic phased array focus rendering texture, lateral modulation, and time-space control, the spatiotemporal registration measurement device of the present invention can realize the measurement of the lateral shear force of the incident surface, enriching the evaluation dimensions of ultrasonic tactile feedback devices. Attached Figure Description

[0020] Figure 1 This is a schematic cross-sectional view of a measurement and sensing device structure suitable for tactile ultrasonic phased arrays provided in a specific embodiment of the present invention.

[0021] Figure 2This is a schematic diagram of an evaluation and measurement implementation scheme for an ultrasonic tactile feedback device based on a fiber Bragg grating, provided by a specific embodiment of the present invention.

[0022] In the picture:

[0023] 1. First fiber Bragg grating encapsulation; 2. Second fiber Bragg grating encapsulation; 3. Acoustic measurement sensing module; 4. Acoustic measurement signal electrical socket; 5. Sensor housing; 6. Host computer; 7. Acoustic measurement signal processing module; 8. Fiber Bragg grating demodulator; 9. Robotic arm; 10. Measuring device; 11. First fiber Bragg grating; 12. Second fiber Bragg grating; 13. Ultrasonic tactile feedback phased array. Detailed Implementation

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0027] Figure 1 This is a schematic cross-sectional view of a measurement and sensing device suitable for tactile ultrasonic phased arrays, provided by a specific embodiment of the present invention. Please refer to... Figure 1The measuring device 10 includes a first fiber Bragg grating package 1, a fiber Bragg grating package 2 perpendicular to the fiber Bragg grating package 1, an acoustic measurement sensing module 3, an acoustic measurement signal electrical socket 4, and a sensor housing 5.

[0028] In this embodiment, the fiber Bragg grating array is arranged in a double-layer cross shape, wherein the first fiber Bragg grating encapsulation 1 is tightly bonded to the first fiber Bragg grating 11, and the second fiber Bragg grating encapsulation 2, which is perpendicular to the first fiber Bragg grating encapsulation 1, is tightly bonded to the first fiber Bragg grating 12. The bonding method includes, but is not limited to, bonding, molding and other tight bonding means; the encapsulation enhancement design includes, but is not limited to, solid, semi-cylindrical, inverted groove and other enhancement structures.

[0029] In some embodiments, the accuracy of multidimensional force is improved by increasing the number of fibers in the fiber grating array and changing the arrangement.

[0030] In this embodiment, the acoustic measurement sensing module 3 is arranged on the same axis as the fiber Bragg grating array, and the cross-shaped arrangement of the fiber Bragg grating array reduces sound transmission loss. In some embodiments, the acoustic measurement sensing module 3 uses, but is not limited to, a 0-100kHz measuring microphone or an ultrasonic receiving transducer. The measuring microphone is connected to the acoustic measurement signal processing module 7 to directly measure the sound pressure above the ultrasonic phased array to evaluate acoustic performance. When using an ultrasonic receiving transducer as the acoustic measurement module, in some embodiments, the acoustic measurement signal processing module 7 measures the voltage of the acoustic measurement signal electrical socket 4 through an analog signal acquisition card or oscilloscope. After normalizing the measured transducer voltage, the entire sound field distribution map can be obtained.

[0031] In this embodiment, the sensor housing 5 houses the aforementioned sensing device. The circular plane on the sensor housing 5 is approximately the same size as the contact surface of a human finger, and it faces the ultrasonic phased array for evaluation and measurement. The housing material has ultrasonic reflection and transmission properties, which neither affects the generation of sound amplitude pressure nor the measurement of sound signals by the acoustic measurement sensing module 3. In some embodiments, the sensor's mechanical measurement can be calibrated by mapping the relationship between the reflectance coefficient of the sensor housing material and the reflectance coefficient of human skin.

[0032] Figure 2 This is a schematic diagram of an evaluation and measurement implementation scheme for an ultrasonic tactile feedback device based on a fiber Bragg grating, provided by a specific embodiment of the present invention. Please refer to... Figure 2 6. Host computer; 7. Acoustic measurement signal processing module; 8. Fiber Bragg grating demodulator; 9. Robotic arm; 10. Measurement device for evaluating tactile ultrasonic phased array based on fiber Bragg grating proposed in this invention; 11. Fiber Bragg grating 1; 12. Fiber Bragg grating 2; 13. Ultrasonic tactile feedback phased array.

[0033] In this embodiment, the host computer 6 is connected to the acoustic measurement signal processing module 7 and the fiber optic demodulator 8 to collect sensor data, and is connected to the robotic arm 9 to control the three-dimensional movement of the measurement device to the acoustic focusing "focal" position and to perform multi-point measurement of the sound field above the entire ultrasonic phased array.

[0034] In some embodiments, the host computer 6 connects to the robotic arm 9 to control the measuring device to slide laterally at the acoustic focusing "focal" position. The measuring device 10 based on fiber optic grating to evaluate tactile ultrasonic phased array proposed in this invention can measure the lateral shear force.

[0035] In some embodiments, the host computer 6 connects to the robotic arm 9 to control the measuring device to hover at the starting position of the acoustic focusing "focal point" movement, and can measure the lateral shear force generated by the acoustic focusing "focal point" movement.

[0036] In some embodiments, the host computer 6 connects to the robotic arm 9 to control the measuring device to hover at the starting position of the acoustic focusing "focal point" movement, and can measure the lateral shear force generated by the planar movement of the acoustic focusing "focal point".

[0037] In some embodiments, the host computer 6 connects to the robotic arm 9 to control the measuring device to follow the movement of the acoustic focusing "focal point" and can measure the acoustic and mechanical information of the planar movement of the acoustic focusing "focal point".

[0038] In this embodiment, the host computer 6 uses artificial intelligence algorithms for multi-sensor fusion processing to perform spatiotemporal registration of forward acoustic radiation pressure, lateral shear force, and sound pressure data. Besides evaluating typical evaluation parameters such as tactile focus force and resolution, this data is also used to evaluate the tactile effects of the ultrasonic phased array, such as roughness and texture. In some embodiments, the above information is used to generate an ultrasonic phased array tactile evaluation point cloud, allowing for intuitive observation of the ultrasonic phased array's tactile effects.

[0039] In some embodiments, the robotic arm 9 is a three-dimensional gimbal or similar device capable of carrying the measurement device 10 based on the fiber optic grating-based ultrasonic phased array for evaluating tactile sensation proposed in this invention to perform three-dimensional motion.

[0040] In some embodiments, the ultrasonic tactile feedback phased array 13 is a multi-array ultrasonic phased array, which generates high-precision tactile signals.

[0041] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A measuring sensor device suitable for a tactile ultrasonic phased array, characterized in that, The measuring sensor device is used for measuring the haptic ultrasonic phased array haptic effect, measuring the sound field and focal position acoustic radiation pressure of the haptic ultrasonic phased array haptic focus, and realizing the measurement of the incident plane transverse shear force, and comprises the following: The mechanical measurement sensor module comprises a fiber Bragg grating array arranged in a double-layer cross shape; The acoustic measurement sensor module comprises an acoustic measurement sensor module located coaxially below the fiber Bragg grating array, the cross-shaped fiber Bragg grating array reduces the acoustic transmission loss, and the acoustic measurement sensor module uses a 0-100 kHz measurement microphone or an ultrasonic receiving transducer; The sensor shell houses the above mechanical measurement sensor module and acoustic measurement sensor module; the shell material has ultrasonic reflection and transmission properties, does not affect the generation of acoustic amplitude pressure, and does not affect the measurement of acoustic signals by the acoustic measurement sensor module housed therein; the mechanical measurement of the sensor is calibrated through the relationship mapping between the reflection coefficient of the sensor shell material and the reflection coefficient of human skin; The fiber Bragg grating array is closely combined with the packaging model, and the packaging model generates strain under the action of the forward acoustic radiation pressure and the transverse shear force, and the central wavelength of the fiber grating generates corresponding drift; The acoustic measurement sensor module measures the haptic sound field generated by the haptic ultrasonic phased array, including the haptic focus position, size, and acoustic evaluation index of sound pressure intensity; The sensor shell is packaged with a polymer material for mechanical and acoustic reflection and transmission sensitivity of the sensor module.

2. A measuring sensor evaluation method suitable for a haptic ultrasonic phased array, using the measuring sensor device of claim 1, characterized in that: It comprises the following steps: The measuring sensor device is carried by a mechanical arm and a three-axis sliding table three-dimensional motion mechanism for multi-point measurement and evaluation of the haptic ultrasonic phased array; The fiber Bragg grating array is connected to the upper computer through a fiber demodulator after calibration, and converts optical signals into forward acoustic radiation pressure and transverse shear force; The acoustic measurement sensor module is connected to the upper computer through an acoustic signal processing module after calibration, and converts acoustic signals into sound pressure data.

3. The measuring sensor evaluation method suitable for the haptic ultrasonic phased array of claim 2, characterized in that: The multi-point measurement of the forward acoustic radiation pressure, the transverse shear force, and the sound pressure data is performed through multi-sensor fusion of the upper computer for time and space registration to evaluate the haptic rendering effect of the ultrasonic phased array.

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