A feedback method of a social robot based on tactile interaction and a social robot

Abstract

The application discloses a feedback method of a social robot based on tactile interaction and the social robot, and the feedback method comprises the following steps: a sensing module acquires petting data of a visitor and sends the petting data to a control chip, a tactile feedback module and a motion simulation module; the tactile feedback module provides tactile feedback to the visitor according to the petting data, and the motion simulation module performs initial simulation motion according to the petting data; the control chip classifies the petting data to obtain current petting classification and sends the current petting classification to the tactile feedback module and the motion simulation module; and the motion simulation module adjusts the initial simulation motion according to the current petting classification to provide visual feedback to the visitor. The application does not need to occupy the attention of the visitor and can reduce the consultation pressure of the first-time visitor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of human-computer interaction, in particular to a feedback method of a social robot based on tactile interaction and the social robot. BACKGROUND

[0002] Psychological counseling as a professional psychological intervention means is an effective way to solve psychological distress. It has a significant effect on relieving depressive tendencies and preventing certain self-injurious behaviors. However, when the visitors conduct psychological counseling, especially the first time, they still face certain social pressure due to social pressure and stigma, that is, self-exposure to strangers is challenging, and the visitors are also afraid of being judged or negatively evaluated. Although in recent years, the application of social robots for assisting mental health has increased, its purposes include relieving stress, helping relaxation, providing companionship, and improving conversation, but it cannot help the visitors who conduct counseling for the first time to relieve the social pressure in psychological counseling.

[0003] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0004] The main purpose of the present application is to provide a feedback method of a social robot based on tactile interaction and the social robot, aiming to solve the problem that the social robot in the prior art needs to occupy the user's attention and cannot provide effective feedback to the visitors, thereby failing to effectively relieve the social pressure of the visitors in the conversation scene of psychological counseling.

[0005] The first aspect of the embodiment of the present application provides a feedback method of a social robot based on tactile interaction, applied to a social robot, wherein the social robot comprises a perception module, a control chip, a tactile feedback module and a motion simulation module; the feedback method of the social robot based on tactile interaction comprises: the perception module acquires touch data of a visitor and sends it to the control chip, the tactile feedback module and the motion simulation module; the tactile feedback module provides tactile feedback to the visitor according to the touch data, and the motion simulation module performs initial simulation motion according to the touch data; the control chip classifies according to the touch data to obtain a current touch classification and sends it to the tactile feedback module and the motion simulation module; the motion simulation module adjusts the initial simulation motion according to the current touch classification to provide visual feedback to the visitor.

[0006] Optionally, in an embodiment of the present application, the perception module acquires touch data of a visitor, specifically comprising: when the visitor establishes a physical connection with the social robot, the perception module responds to the touch action of the visitor on the social robot; the perception module identifies the touch signal corresponding to the touch action.

[0007] Optionally, in an embodiment of the present application, the haptic feedback module provides haptic feedback to the visitor according to the caressing data, specifically, when the caressing signal is received and it is determined that the caressing signal is a first signal, the haptic feedback module generates vibration feedback to haptically respond to the visitor, wherein the first signal is a signal recognized by the caressing action on the preset vibration position of the social robot.

[0008] Optionally, in an embodiment of the present application, the sensing module acquires caressing data of the visitor and sends it to the control chip and the haptic feedback module, and then further comprising: when the haptic feedback module receives the caressing signal and determines that the caressing signal is a second signal, the haptic feedback module does not generate vibration feedback, wherein the second signal is a signal recognized by the caressing action on a position other than the preset vibration position.

[0009] Optionally, in an embodiment of the present application, the current caressing classification includes first frequency caressing, second frequency caressing and third frequency caressing, the frequency of the third frequency caressing is greater than that of the second frequency caressing, and the frequency of the second frequency caressing is greater than that of the first frequency caressing; the control chip classifies the caressing data to obtain the current caressing classification, specifically including: the control chip determines the caressing times according to the caressing data in each interval preset time; if the caressing times are greater than zero and less than a first preset value, the control chip classifies the caressing data as first frequency caressing; if the caressing times are greater than or equal to the first preset value and less than a second preset value, the control chip classifies the caressing data as second frequency caressing; if the caressing times are greater than or equal to the second preset value, the control chip classifies the caressing data as third frequency caressing.

[0010] Optionally, in an embodiment of the present application, the action simulation module adjusts the initial simulation motion according to the current caressing classification, specifically including: the action simulation module reduces the breathing rate in the initial simulation motion by a first rate value and reduces the ear motion included angle in the initial simulation motion by a first included angle value according to the third frequency caressing; the action simulation module reduces the breathing rate in the initial simulation motion by a second rate value and reduces the ear motion included angle in the initial simulation motion by a second included angle value according to the second frequency caressing; the action simulation module reduces the breathing rate in the initial simulation motion by a third rate value and reduces the ear motion included angle in the initial simulation motion by a third included angle value according to the first frequency caressing; wherein the first rate value is greater than the second rate value, the second rate value is greater than the third rate value, the first included angle value is greater than the second included angle value, and the second included angle value is greater than the third included angle value.

[0011] Optionally, in an embodiment of the present application, the action simulation module adjusts the initial simulation movement according to the current touch level, and then further comprises: the action simulation module acquires feedback data and sends it to the control chip; and the control chip sends the touch data and the corresponding feedback data to the terminal device.

[0012] The second aspect of the embodiments of the present application further provides a social robot for implementing the feedback method of the social robot based on tactile interaction according to any one of the above-mentioned solutions, wherein the social robot comprises a perception module, a control chip, a tactile feedback module and an action simulation module, and the perception module, the control chip, the tactile feedback module and the action simulation module are arranged in a shell; the perception module is configured to acquire touch data of a visitor and send it to the control chip, the tactile feedback module and the action simulation module; the tactile feedback module is configured to provide tactile feedback to the visitor according to the touch data; the action simulation module is configured to perform initial simulation movement according to the touch data; the control chip is configured to classify the touch data to obtain a current touch level and send it to the tactile feedback module and the action simulation module; and the action simulation module is configured to adjust the initial simulation movement according to the current touch level to provide visual feedback to the visitor.

[0013] Optionally, in an embodiment of the present application, the perception module comprises a strain gauge, the tactile feedback module comprises a vibration motor, the vibration motor is arranged on the strain gauge, and the position of the vibration motor on the shell is a preset vibration position.

[0014] Optionally, in an embodiment of the present application, the shell comprises an upper shell and a lower shell, the strain gauge and the vibration motor are connected to the upper shell; the action simulation module comprises a driving module, an electric push rod with an encoder, a servo and an ear structure, the driving module, the electric push rod with an encoder and the servo are arranged on the lower shell, the driving module is connected to the electric push rod with an encoder, the end of the electric push rod with an encoder is connected to the upper shell, the ear structure is connected to the lower shell, and the ear structure is connected to the servo.

[0015] Beneficial effects: the present application provides a feedback method of a social robot based on tactile interaction and a social robot, in which the visitor places the robot on the leg, and can touch it from time to time during the consultation process. The touch makes the robot change from rapid breathing to deep breathing, and the ear movement gradually slows down, thereby reducing the consultation pressure of the first visitor, and without occupying the attention of the visitor, providing accompaniment and support during the consultation process, and helping the visitor to better dialogue with the psychological consultant. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0017] Figure 1 Structure diagram of a preferred embodiment of the social robot of the present application;

[0018] Figure 2 Use scenario diagram of a preferred embodiment of the social robot of the present application;

[0019] Figure 3 Flow chart of a preferred embodiment of the feedback method of the social robot based on tactile interaction of the present application;

[0020] Figure 4 State transition diagram of a preferred embodiment of the feedback method of the social robot based on tactile interaction of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and effects of the present application more clear and explicit, the technical solutions of the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. The described embodiments are only possible technical implementations of the present application, and not all possible implementations. Based on the embodiments in the present application, those skilled in the art can combine the embodiments of the present application to obtain other embodiments without creative labor, and these embodiments are also within the protection scope of the present application.

[0022] Firstly, the terms involved in the present application are introduced:

[0023] BMXL: Model of encoder electric push rod motor, used to realize the up and down breathing movement of the robot;

[0024] L298N: A driving module for driving the movement of the push rod motor;

[0025] DS3230: Model of servo, used to realize the swing of the robot's ear;

[0026] PCB: Printed Circuit Board (PCB), used to integrate the electronic components of the robot and realize various functions;

[0027] HC-05: A Bluetooth module, used to complete the communication between the robot and external devices (such as mobile phones);

[0028] SeeedStudio XIAO ESP32-C3: A microcontroller integrated on a PCB to control strain gauges, pushrod motors, servos, vibration motors, etc., and supports Bluetooth communication.

[0029] STAI-6: State-Trait Anxiety Inventory-6, used to measure a user's anxiety level.

[0030] In related technologies, there are many social robots that can be referenced in helping users relieve stress and provide emotional support. The first type of social robot uses haptic feedback technology to help people relieve stress. Desktop robots, when a user places their hand on their body, can provide continuous haptic feedback, allowing the user to calm down through deep breathing exercises; portable pneumatic haptic feedback devices provide mindfulness breathing guidance through various haptic modes. The second type of social robot is a biomimetic robot that provides emotional support to humans. Seal-like social robots can respond to being touched, hugged, called by their name, and praised; cushion-type robots, whose tails wag when gently stroked, have been used to provide stress relief support and long-term companionship for the elderly in nursing homes. While social robots have been explored to some extent in relieving stress and providing emotional support, their application in alleviating stress in psychological counseling is still limited. Social stress in the initial stages of counseling can make it difficult for clients to relax, leading to feelings of anxiety, unease, shame, or fear. They may also experience anxiety before and during discussions of private or confidential matters. Furthermore, since psychological counseling is a conversational setting, interaction with social robots needs to avoid dominating the user's attention and enhance the conversation without interfering with the exchange. Current social robots, especially those based on existing technologies, require user attention and cannot effectively alleviate social stress in the conversational context of psychological counseling.

[0031] This application's feedback method for a tactile interaction-based social robot involves the client placing the robot on their lap and touching it periodically during the consultation. The stroking causes the robot's breathing to slow from rapid to deep, and its ear movements to gradually slow, as if it's asleep on the client's lap. This reduces the consultation stress for first-time clients without requiring their attention, providing companionship and support during the consultation and helping the client better engage in dialogue with the therapist. User testing using this method showed a 13% decrease in the user's STAI-6 anxiety scale score compared to related techniques, validating its effectiveness.

[0032] The technical solutions of the present application are described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be described in detail in some examples.

[0033] As shown in Figure 1 The social robot provided by the embodiment of the present application includes a perception module, a control chip, a tactile feedback module and a motion simulation module, and the perception module, the control chip, the tactile feedback module and the motion simulation module are arranged in a shell.

[0034] The perception module is configured to obtain petting data of a visitor and send the petting data to the control chip, the tactile feedback module and the motion simulation module; the tactile feedback module is configured to provide tactile feedback to the visitor according to the petting data; the motion simulation module is configured to perform initial simulation motion according to the petting data; the control chip is configured to perform grading according to the petting data to obtain a current petting grade and send the current petting grade to the tactile feedback module and the motion simulation module; and the motion simulation module is configured to perform motion adjustment on the initial simulation motion according to the current petting grade to provide visual feedback to the visitor.

[0035] It should be noted that the social robot of the present application provides real-time emotional support for self-disclosing individuals in a psychological counseling environment, and simultaneously influences the interaction between people in the periphery. The social robot is a pillow-like social robot that gradually slows down the breathing action when the head is gently petted, simulating the behavior of a person lying on the lap and falling asleep. The social robot of the present application reduces the stress of the visitor during the counseling process through the tactile interaction mode of petting, and provides a comfortable tactile interaction experience. The robot's life is reflected by simulating breathing. In addition, under the petting of the user, the breathing of the robot will gradually become more calm, and the interactive experience with a sense of life can be distinguished from the inanimate pillow, better accompanying and supporting the visitor, and providing interactive feedback with a sense of life. Peripheral interaction based on tactile feedback, under the unconscious petting of the visitor to the robot, in order not to interfere with the interaction between the visitor and the counselor, the robot provides very slow breathing changes, and the calm process is lengthened to 5-40 minutes, which is perceived by the visitor in a way that does not occupy the attention of the visitor.

[0036] The social robot of the present application adopts a pillow-like design, simulates the breathing rhythm, and provides vibration feedback when sensing the visitor's touch. The counselor hands the robot to the visitor, who can place the robot on his leg. During the process of psychological counseling, the visitor can touch it from time to time. Touching can make the robot calm (for 5-40 minutes), which is specifically manifested in that the breathing of the robot changes from rapid to deep breathing, and the ear movement gradually slows down, thereby providing accompaniment and support for the visitor during the process of psychological counseling.

[0037] Specifically, as shown in Figure 2 The shell is in the form of a pillow, and the body shell is made of PLA white resin material, which is the bearing basis of other structural components. The top shell (upper shell) is fixed to the strain gauge by bolts and nuts, and is fixed to the push rod motor (with an encoder electric push rod). The ear part of the robot (ear structure) is fixed to the body (lower shell) by bolts and nuts. The pillow-shaped shell is used to provide the overall appearance shape of the robot and protect the internal structure.

[0038] The control chip PCB is fixed to the bottom of the lower shell by bolts and nuts, and communication is completed through the HC-05 Bluetooth module. The control chip PCB integrates three SeeedStudio XIAO ESP32-C3, controls the strain gauge, push rod motor, servo, and vibration motor, and is used for realizing the function control and data processing of the robot.

[0039] In an embodiment of the present application, the sensing module includes a strain gauge, the tactile feedback module includes a vibration motor, the vibration motor is arranged on the strain gauge, and the position of the vibration motor on the shell is a preset vibration position.

[0040] Specifically, the vibration motor is installed inside the top shell (upper shell), which is used to generate vibration feedback. After sensing the user's touch, the vibration motor is controlled to vibrate, thereby providing tactile feedback for the user. The strain gauge is located below the lower shell, and the lower shell is fixed to the strain gauge by bolts and nuts. The strain gauge is used to sense the user's touch and transmit the touch signal to the control chip.

[0041] It can be understood that a flexible electronic skin / capacitive touch sensor can be used instead of the strain gauge to sense the touch.

[0042] In an embodiment of the present application, the shell comprises an upper shell and a lower shell, the strain gauge and the vibration motor are connected to the upper shell; the action simulation module comprises a driving module, a belt encoder electric push rod, a steering engine and an ear structure, the driving module, the belt encoder electric push rod and the steering engine are arranged on the lower shell, the driving module is connected to the belt encoder electric push rod, the tail end of the belt encoder electric push rod is connected to the upper shell, and the ear structure is connected to the lower shell and connected to the steering engine.

[0043] Specifically, as shown in Figure 1 The belt encoder electric push rod motor (BMXL) is located inside the fuselage (lower shell) to realize the up and down breathing movement of the robot, and an L298N driving module is used to drive the movement, and the top shell (upper shell) connected to the push rod motor is fixed to the strain gauge by bolts and nuts, and then connected to the fuselage; the belt encoder electric push rod is used to realize the breathing action of the robot through movement, and the maximum vertical displacement of breathing is between 2 cm (initial state: relatively rapid breathing) and 5 cm (final state: deep breathing), and the movement rate of the push rod motor decreases from 65 mm / s (initial state) to 55 mm / s (final state). The L298N driving module is used to drive the movement of the belt encoder electric push rod, and provides a driving signal for the belt encoder electric push rod to move at a set rate and displacement. It can be understood that a pneumatic device can be used instead of the electric push rod motor to realize the breathing movement through air pressure change.

[0044] The steering engine (DS3230) is used to drive the swing of the robot's ear, is installed in the lower shell, and is connected to the ear structure, and the steering engine is used to provide sufficient torque to enable the robot's ear to swing, and the maximum swing angle of the ear movement decreases from 90°±20° (initial state: larger swing) to 90°±10° (final state: smaller swing). The ear structure is located at the top of the lower shell and is used to swing under the drive of the steering engine to simulate the ear action of a person and enhance the life sense of the robot.

[0045] It can be understood that the present application can also add a caressing area of the robot, such as the fuselage part, and the robot calming process is not linear but changes according to physiological signal sensing combined with the current state of the user.

[0046] In the present application, as shown in Figure 1 and Figure 2As shown, the up and down breathing movement of the robot is realized by using an electric push rod motor with an encoder, and a driving module is used to drive the movement of the push rod motor, the maximum vertical displacement of breathing is between 2cm (initial state: more rapid breathing) to 5cm (final state: deep breathing), and the push rod motor movement rate decreases from 65mm / s (initial state) to 55m / s (final state). The swing of the robot's ear is realized by using a steering gear drive, the steering gear has enough torque, and the maximum swing angle of the ear structure movement decreases from 90°±20° (initial state: larger swing) to 90°±10° (final state: smaller swing). Two vibration motors are mounted on the upper shell to generate vibration feedback; the upper shell is fixed to the strain gauge by bolts and nuts to sense the user's touch, and is fixed to the push rod motor. Lithium batteries and switches (provided outside the shell) are also provided in the lower shell, the lithium batteries provide power, and the switches are used to control the opening and closing of the robot.

[0047] The working principle of the robot of the present application is as follows: the robot is in the initial state (awake state), the breathing is more rapid, and the ear swing is more rapid, at this time, the push rod motor moves at a rate of 65mm / s, realizes a vertical displacement of 2cm, and the ear swing angle is 90°±20°. The visitor puts the robot on his leg, and in the process of psychological counseling, the visitor touches the robot, the strain gauge senses the user's touch and transmits the signal to the control chip; the control chip records the user's touch data every 30 seconds and judges the touch classification (low, medium and high), the touch frequency of 1-3 times / 30 seconds corresponds to low frequency, 4-7 times / 30 seconds corresponds to medium frequency, and ≥8 times / 30 seconds corresponds to high frequency; after sensing a touch, the chip controls the vibration motor to vibrate to provide tactile feedback for the user; after the master single chip sends the classification of the touch frequency, the two slave single chips receive the data and adjust the behavior of the push rod motor and the steering gear according to the touch frequency classification; as the touch frequency increases, the push rod motor movement rate gradually decreases from 65mm / s to 55mm / s, the maximum vertical displacement of breathing increases from 2cm to 5cm, realizing the transition from more rapid breathing to deep breathing; the steering gear drives the ear swing angle to gradually decrease from 90°±20° to 90°±10°, and the ear swing becomes slow. The robot gradually transitions from the initial state to the final state (sleeping state), and the length of time used for the transition is completely determined by the touch frequency of the user (5-40 minutes). During the transition process, the robot changes slowly through breathing (the calm process is lengthened to 5-40 minutes), which is perceived by the visitor in a way that does not occupy his attention, providing companionship and support for the visitor during the psychological counseling process.

[0048] The feedback method of the social robot based on tactile interaction according to the preferred embodiment of the present application, as shown in Figure 3 The feedback method of the social robot based on tactile interaction, as shown in

[0049] In step S101, the perception module acquires the touch data of the visitor and sends it to the control chip, the tactile feedback module and the action simulation module.

[0050] In a possible implementation, when the visitor establishes physical connection with the social robot, the perception module responds to the touch action of the visitor on the social robot; the perception module identifies the touch signal corresponding to the touch action.

[0051] Specifically, in the psychological counseling scene, the counselor hands the robot to the visitor, and the visitor places the robot on the leg to start the initial state of interaction with the robot; during the psychological counseling process, the visitor can touch the robot from time to time, and this touch behavior becomes the starting action of triggering a series of subsequent reactions of the robot. The touch action of the user is sensed by the strain gauge in the upper shell of the robot, and when the touch is detected, the touch signal is transmitted to the control chip, the tactile feedback module and the action simulation module.

[0052] In step S102, the tactile feedback module provides tactile feedback to the visitor according to the touch data, and the action simulation module performs initial simulation movement according to the touch data.

[0053] In a possible implementation, when the tactile feedback module receives the touch signal and determines that the touch signal is a first signal, the tactile feedback module generates vibration feedback to tactilely respond to the visitor, wherein the first signal is a signal identified by the touch action on the preset vibration position of the social robot.

[0054] Specifically, if the touch action is the touch of the visitor on the preset vibration position of the robot, the two vibration motors immediately generate vibration feedback after receiving the touch signal (which is the first signal at this time), giving the visitor immediate tactile response.

[0055] In a possible implementation, when the touch signal is received and it is determined that the touch signal is a second signal, the tactile feedback module does not generate vibration feedback, wherein the second signal is a signal identified by the touch action on a position other than the preset vibration position.

[0056] Specifically, if the touch action is not the touch of the visitor on the preset vibration position of the robot, the vibration motor does not generate vibration feedback.

[0057] Specifically, in the initial simulation movement, the up and down breathing movement of the robot is realized by using an electric push rod motor with an encoder and a driving module. The maximum vertical displacement of the breathing is between 2 cm (initial state: more rapid breathing) and 5 cm (final state: deep breathing), and the movement speed of the push rod motor decreases from 65 mm / s (initial state) to 55 mm / s (final state). With the visitor's touch, the breathing gradually changes from more rapid to deep breathing. The ear swing adopts a rudder-driven robot ear structure swing. The maximum swing angle of the ear structure movement decreases from 90°±20° (initial state: larger swing) to 90°±10° (final state: smaller swing), showing a change from more rapid to slow swing.

[0058] In step S103, the control chip classifies the touch data to obtain a current touch classification and sends the touch classification to the tactile feedback module and the action simulation module.

[0059] In a possible implementation, the current touch classification includes first frequency touch, second frequency touch, and third frequency touch. The frequency of the third frequency touch is greater than that of the second frequency touch, and the frequency of the second frequency touch is greater than that of the first frequency touch. The control chip determines the touch frequency according to the touch data in each interval of a preset time. If the touch frequency is greater than zero and less than a first preset value (4 times), the control chip classifies the touch data as first frequency touch (i.e., low frequency touch). If the touch frequency is greater than or equal to the first preset value and less than a second preset value (8 times), the control chip classifies the touch data as second frequency touch (i.e., medium frequency touch). If the touch frequency is greater than or equal to the second preset value, the control chip classifies the touch data as third frequency touch (i.e., high frequency touch).

[0060] Specifically, the control chip records the touch data of the user once every 30 seconds, and classifies the touch data according to the touch frequency. The touch frequency of 1-3 times per 30 seconds corresponds to low frequency, the touch frequency of 4-7 times per 30 seconds corresponds to medium frequency, and the touch frequency of ≥8 times per 30 seconds corresponds to high frequency. Behavior adjustment: the three single-chip microcomputers communicate through a serial port. After the master single-chip microcomputer sends the classification of the touch frequency, the two slave single-chip microcomputers receive the data and adjust the behaviors of the push rod motor and the rudder according to the touch frequency classification. For example, the speed and degree of change of the breathing and ear state will be different under different touch frequencies.

[0061] In step S104, the action simulation module adjusts the initial simulation movement according to the current touch classification to provide visual feedback to the visitor.

[0062] In one possible implementation, the motion simulation module reduces the breathing rate in the initial simulated movement by a first rate value and reduces the ear movement angle in the initial simulated movement by a first angle value according to the third frequency stroking; the motion simulation module reduces the breathing rate in the initial simulated movement by a second rate value and reduces the ear movement angle in the initial simulated movement by a second angle value according to the second frequency stroking; the motion simulation module reduces the breathing rate in the initial simulated movement by a third rate value and reduces the ear movement angle in the initial simulated movement by a third angle value according to the first frequency stroking; wherein the first rate value is greater than the second rate value, the second rate value is greater than the third rate value, the first angle value is greater than the second angle value, and the second angle value is greater than the third angle value.

[0063] In one possible implementation, the motion simulation module reduces the breathing rate in the initial simulated motion by a fourth rate value based on the zero-frequency stroking, and reduces the ear movement angle in the initial simulated motion by a fourth angle value.

[0064] like Figure 4 As shown, the robot gradually transitions from an initial state (awake state, with rapid breathing and quick ear movement) to a final state (sleeping state, with the body moving up and down in a deep breathing rhythm and slow ear movement). The transition time is determined by the frequency of the user's stroking (5-40 minutes). Every 30 seconds, if the frequency remains low, it takes 9 minutes to reach the final state; if it remains medium, it takes 7 minutes; and if it remains high, it takes 5 minutes. If there is no stroking, it takes 40 minutes. Due to the different stroking frequencies every 30 seconds, the time it takes for the robot to reach the final state ranges from 5 to 40 minutes. The first speed value is 1 mm / s, the second speed value is 0.7 mm / s, the third speed value is 0.5 mm / s, and the fourth speed value is 0.125 mm / s; the first included angle value is 1°, the second included angle value is 0.7°, the third included angle value is 0.5°, and the fourth included angle value is 0.1°.

[0065] In one possible implementation, the motion simulation module acquires feedback data and sends it to the control chip; the control chip then sends the stroking data and the corresponding feedback data to the terminal device.

[0066] Specifically, the robot transmits data logs (including user touch data and the robot's breathing rate at that time) to a terminal device (such as a mobile phone) via Bluetooth communication for subsequent analysis and research.

[0067] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. In addition, the usage of "N" means at least two, for example, two, three or the like, unless explicitly stated otherwise.

[0068] Furthermore, the terms "first", "second", or the like, are used merely as a designation of certain elements or features of the application, and do not imply or connote relative importance or a specific order of precedence. Thus, features defined with "first", "second", etc. can include at least one of the features, either explicitly or implicitly.

[0069] Any process or method descriptions or blocks in flow charts or otherwise described herein represent embodiments of modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions or steps, and alternate implementations are possible. In some embodiments, the processes or methods described in flow charts or otherwise described herein are not necessarily performed in the order shown or discussed, including, for example, as performed by a computer processor. Alternate implementations can perform functions or steps described in different orders, including simultaneously or in reverse order.

[0070] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of instructions to implement logic functions, and can be embodied in any computer-readable storage medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, processor- containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. In the context of this specification, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable storage medium can be a computer- readable storage medium that can be any media that can be used to store the desired program instructions in a form readable by a computer. More specific examples (a non-exhaustive list) of the computer-readable storage medium include the following: an electrical connection having one or more wires (electrical connections), a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for example, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

[0071] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0072] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0073] In addition, each of the function units in each of the embodiments of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0074] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

[0075] It should be understood that the application of the present application is not limited to the above examples, and those skilled in the art can improve or change the above description, and all these improvements and changes should belong to the protection scope of the claims of the present application.

[0076] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A feedback method of a social robot based on haptic interaction, characterized in that, The application is applied to a social robot, which comprises a perception module, a control chip, a tactile feedback module and a motion simulation module; The feedback method of the social robot based on tactile interaction comprises: The perception module acquires touch data of a visitor and sends the touch data to the control chip, the tactile feedback module and the motion simulation module; The tactile feedback module provides tactile feedback to the visitor according to the touch data, and the motion simulation module performs initial simulation motion according to the touch data; The control chip classifies the touch data according to the touch data to obtain a current touch classification and sends the current touch classification to the tactile feedback module and the motion simulation module; The motion simulation module adjusts the initial simulation motion according to the current touch classification to provide visual feedback to the visitor. 2.The feedback method of a social robot based on tactile interaction according to claim 1, wherein, The perception module acquires touch data of a visitor, specifically comprising: When the visitor establishes physical connection with the social robot, the perception module responds to touch actions of the visitor on the social robot; The perception module identifies touch signals corresponding to the touch actions. 3.The feedback method of a social robot based on tactile interaction according to claim 2, wherein, The tactile feedback module provides tactile feedback to the visitor according to the touch data, specifically: When the touch signals are received and it is determined that the touch signals are first signals, the tactile feedback module generates vibration feedback to tactilely respond to the visitor, wherein the first signals are signals identified by touch actions on preset vibration positions of the social robot. 4.The feedback method of a social robot based on tactile interaction according to claim 2, wherein, The perception module acquires touch data of a visitor and sends the touch data to the control chip and the tactile feedback module, and then further comprising: When the tactile feedback module receives the touch signals and determines that the touch signals are second signals, the tactile feedback module does not generate vibration feedback, wherein the second signals are signals identified by touch actions on positions other than the preset vibration positions. 5.The feedback method of the social robot based on tactile interaction according to claim 1, characterized in that, The current touch classification comprises first frequency touch, second frequency touch and third frequency touch, the frequency of the third frequency touch is greater than that of the second frequency touch, and the frequency of the second frequency touch is greater than that of the first frequency touch; The control chip classifies the touch data according to the touch data to obtain a current touch classification, specifically comprising: The control chip determines the number of touches according to the touch data in each interval of a preset time; If the number of touches is greater than zero and less than a first preset value, the control chip classifies the touch data as first frequency touch; If the number of touches is greater than or equal to the first preset value and less than a second preset value, the control chip classifies the touch data as second frequency touch; If the number of touches is greater than or equal to the second preset value, the control chip classifies the touch data as third frequency touch. 6.The feedback method of the social robot based on tactile interaction according to claim 5, wherein, The motion simulation module adjusts the initial simulation motion according to the current touch classification, specifically comprising: The motion simulation module reduces the breathing rate in the initial simulation motion by a first rate value and reduces the ear motion included angle in the initial simulation motion by a first included angle value according to the third frequency touch; The action simulation module decreases the breathing rate in the initial simulation motion by a second rate value and reduces the ear motion included angle in the initial simulation motion by a second included angle value according to the second frequency caress; The action simulation module decreases the breathing rate in the initial simulation motion by a third rate value and reduces the ear motion included angle in the initial simulation motion by a third included angle value according to the first frequency caress; The first rate value is greater than the second rate value, the second rate value is greater than the third rate value, the first included angle value is greater than the second included angle value, and the second included angle value is greater than the third included angle value. 7.The feedback method of the social robot based on tactile interaction according to claim 1, wherein, The action simulation module further includes the following after adjusting the initial simulation motion according to the current caress level: The action simulation module acquires feedback data and sends the feedback data to the control chip; The control chip sends the caress data and the corresponding feedback data to a terminal device.

8. A social robot for implementing the feedback method of the social robot based on haptic interaction according to any one of claims 1 to 7, characterized in that, The social robot includes a perception module, a control chip, a tactile feedback module, and an action simulation module, and the perception module, the control chip, the tactile feedback module, and the action simulation module are arranged in a shell; The perception module is configured to acquire caress data of a visitor and send the caress data to the control chip, the tactile feedback module, and the action simulation module; The tactile feedback module is configured to provide tactile feedback to the visitor according to the caress data, and the action simulation module is configured to perform initial simulation motion according to the caress data; The control chip is configured to classify the caress data to obtain a current caress level and send the current caress level to the tactile feedback module and the action simulation module; The action simulation module is configured to adjust the initial simulation motion according to the current caress level to provide visual feedback to the visitor.

9. The social robot of claim 8, wherein, The perception module includes a strain gauge, the tactile feedback module includes a vibration motor, the vibration motor is arranged on the strain gauge, and the position of the vibration motor on the shell is a preset vibration position.

10. The social robot of claim 9, wherein, The shell includes an upper shell and a lower shell, and the strain gauge and the vibration motor are connected to the upper shell; The action simulation module includes a driving module, a belt encoder electric push rod, a servo, and an ear structure, the driving module, the belt encoder electric push rod, and the servo are arranged on the lower shell, the driving module is connected to the belt encoder electric push rod, the end of the belt encoder electric push rod is connected to the upper shell, the ear structure is connected to the lower shell, and the ear structure is connected to the servo.

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