A haptic reproduction wearable device based on ultrasonic cavitation effect and a haptic reproduction simulation method thereof

Abstract

The application discloses a kind of based on ultrasonic cavitation effect's haptic reproduction wearable device and its preparation method, belong to haptic feedback technical field. Including ultrasonic wave generating component and controller, ultrasonic wave generating component includes coil, metal vibrating sheet, piezoelectric ceramic sheet and frequency driver, the side of the metal vibrating sheet is provided with piezoelectric ceramic sheet, metal vibrating sheet is inside coil, piezoelectric ceramic sheet is electrically connected with frequency driver, frequency driver is electrically connected with controller. The device structure is ingenious, design is light and handy, soft and has elasticity, when receiving the pressure and temperature of bubble generation, can quickly react, carry out touch feeling simulation, on the basis of improving the user experience of user, guarantee its safety, the device does not need motor and other driving devices control, while reducing energy consumption, reduce noise, energy saving and environmental protection.

Description

Technical Field

[0001] This invention relates to the field of tactile feedback technology, and in particular to a wearable device for tactile reproduction based on ultrasonic cavitation effect and a method for tactile reproduction simulation thereof. Background Technology

[0002] The most popular immersive virtual reality technology today is a type of virtual reality technology. Users wear head-mounted display devices and use human-computer interaction methods such as haptic feedback, combined with visual and auditory sensory guidance, to obtain an immersive virtual reality experience.

[0003] Most existing virtual reality products focus on visual and auditory feedback. However, with the development of human-computer interaction technology, people are no longer satisfied with single-sensory feedback and are pursuing higher-dimensional feedback and interaction technologies. Renowned psychologist Treicher concluded through numerous experiments that humans acquire information through their senses, with 83% coming from sight, 11% from hearing, 3.5% from smell, 1.5% from touch, and 1% from taste. To enhance the virtual reality experience, haptic feedback technology is particularly important, and breakthroughs in haptic feedback technology have become a key direction for the development of virtual reality technology. Haptic feedback technology is an essential path for the development of virtual reality technology and an effective way to enhance the realism of the virtual reality experience. Haptic feedback technology can create tactile sensations for users through force feedback, vibration feedback, and other methods, adding a tactile channel to the visual and auditory channels between the virtual world and the user, creating a realistic virtual environment and achieving truly high-dimensional human-computer interaction.

[0004] Most existing haptic feedback wearable devices generate force feedback by braking the fingers, such as in exoskeleton-style haptic force feedback wearable devices. These devices can be driven pneumatically, which directly applies force to the fingers, eliminating the need for a transmission mechanism and resulting in a more compact and lightweight structure. Motor-driven devices are also a popular choice, as the motor can brake any joint of the finger through a transmission mechanism, providing force feedback and simulating a gripping effect. Force feedback devices driven by magnetorheological fluids can also provide force feedback. Magnetorheological fluids change their yield strength under the influence of a magnetic field, generating feedback force on the hand. These devices offer advantages such as low noise and simple control. In addition to these driving methods, force feedback wearable devices based on electrostatic adsorption brakes have been developed. These devices use electrostatic adsorption brakes to restrict the movement of each finger, generating force feedback, and offer advantages such as light weight, low cost, and good adhesion.

[0005] There are many existing driving methods for haptic force feedback wearable hand devices, such as pneumatic, hydraulic, motor, and magnetorheological fluid drives, as mentioned above. All of these methods can achieve force feedback functionality. However, pneumatic and hydraulic force feedback devices require pumps or similar power sources, resulting in bulky and heavy systems that are difficult to transport and carry. Magnetorheological fluid-driven force feedback devices require controlling magnetic field changes, also presenting complex driving system issues. Motor-driven force feedback devices often involve multiple transmission structures and have high rigidity, especially in hand-based haptic force feedback wearable devices, which can restrict normal hand movement. Furthermore, the wearable device itself is heavy and bulky, leading to poor wearing comfort. In summary, existing haptic force feedback devices suffer from the following problems:

[0006] 1. It is heavy and can cause fatigue for users if worn for a long time;

[0007] 2. High rigidity: The transmission devices are all rigid structures, which can easily cause danger to users when the equipment malfunctions.

[0008] 3. High noise level: Most motor-driven force feedback devices generate noise during motor operation and transmission, affecting the user experience.

[0009] 4. High energy consumption;

[0010] 5. Complex structure and expensive price.

[0011] Therefore, there is an urgent need to propose a wearable device for tactile reproduction based on ultrasonic cavitation effect and a method for tactile reproduction simulation to solve the above-mentioned technical problems. Summary of the Invention

[0012] The technical problem to be solved by this invention is to address the issues of existing tactile simulation devices being heavy, rigid, noisy, and structurally complex.

[0013] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0014] A wearable device for tactile reproduction based on ultrasonic cavitation effect includes a wearable device, which includes an outer layer, an inner layer, and a filling liquid layer. The filling liquid layer is disposed between the outer layer and the inner layer. The outer layer is provided with a plurality of PCB substrates, and the PCB substrates are provided with a plurality of ultrasonic generating components. The ultrasonic generating components are electrically connected to a controller.

[0015] Preferably, the ultrasonic generating assembly includes a coil, a metal vibrating plate, a piezoelectric ceramic plate, and a frequency driver. A piezoelectric ceramic plate is disposed on one side of the metal vibrating plate, the metal vibrating plate is located inside the coil, the piezoelectric ceramic plate is electrically connected to the frequency driver, and several frequency drivers are electrically connected to a controller.

[0016] Preferably, the other side of the metal vibrating pad is disposed on the PCB substrate.

[0017] Preferably, the wearable device is a glove, and the number of ultrasonic generating components is forty sets. Four sets of ultrasonic generating components are respectively set on the front and back of the first and second joints of the thumb of the wearable device, twenty-four sets of ultrasonic generating components are respectively set on the front and back of the first, second and third joints of the other four fingers of the wearable device, and twelve sets of ultrasonic generating components are respectively set on the front and back of the palm of the wearable device.

[0018] Preferably, the outer and inner layers of the wearable device are made of natural latex material with a thickness of 0.03 mm.

[0019] A tactile reproduction simulation method based on ultrasonic cavitation effect, employing the aforementioned wearable tactile reproduction device based on ultrasonic cavitation effect, includes the following steps:

[0020] Step 1: The tactile reproduction device is in standby mode, waiting for the control device to send control information;

[0021] Step 2: The control device sends the texture and surface information of the virtual object, and the controller receives the information;

[0022] Step 3: The controller analyzes the texture and grain information to determine the required ultrasonic intensity for each ultrasonic generating component;

[0023] Step 4: The controller sends the ultrasonic intensity information to the ultrasonic generator component;

[0024] Step 5: The frequency driver of the ultrasonic generator component changes the frequency and direction of the ultrasonic waves generated by the metal vibrating plate at the corresponding position, thereby generating the target ultrasonic intensity.

[0025] Step Six: The ultrasonic frequency of the metal vibrating plate of the liquid ultrasonic generator component in the liquid filling layer affects the texture changes.

[0026] Step 7: External senses achieve simulated tactile sensation by contacting the inner layer of the wearable device with the shock waves generated by ultrasonic waves.

[0027] Preferably, the control device is a generator control box controlled by a microcomputer, used for power control of the ultrasonic generating component.

[0028] Preferably, in step six, the metal vibrating plate generates ultrasonic waves, and according to the amplitude of the ultrasonic waves, the liquid in the filling liquid layer near the outer layer of the wearable device forms bubbles of a set density, and the bubbles grow larger; in step seven, the bubbles burst, so that the inner layer of the wearable device receives the shock wave generated by the burst.

[0029] The beneficial effects obtained by this invention are:

[0030] 1. This device has a clever structure and a lightweight design, reducing fatigue for users during prolonged wear;

[0031] 2. This device is easy to fit with external senses (hands), is soft and elastic, and can react quickly to the pressure and temperature generated by bubbles to simulate touch, thus improving the user experience while ensuring safety.

[0032] 3. This device does not require a motor or other drive unit for control, which reduces energy consumption, noise, and energy saving and environmental protection. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the ultrasonic wave generating component;

[0034] Figure 2 This is a layout diagram of the ultrasonic generator components;

[0035] Figure 3 This is a schematic diagram of the wearable device;

[0036] Figure 4 This is a schematic diagram of the cavitation bubble formation cycle;

[0037] Figure 5 This is a schematic diagram of bubble changes;

[0038] Figure 6 These are curves showing the variation of sound wave velocity and power density at different frequencies.

[0039] Figure 7 It is a workflow diagram;

[0040] Figure 8 This is a schematic diagram of bursting bubbles generated by ultrasonic cavitation effect;

[0041] In the figure, 1-coil, 2-metal vibrator, 3-PCB substrate, 4-piezoelectric ceramic sheet, 5-wearable device, 51-outer layer of wearable device, 52-inner layer of wearable device, 53-filling liquid layer. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, 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 technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0043] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] Example 1: Combination Figure 1-8This embodiment describes a wearable device for tactile reproduction based on ultrasonic cavitation effect, including an ultrasonic generating component and a controller, as described in CN114217647A - Control Method, Apparatus, and Ultrasonic Device for Ultrasonic Transducers. The ultrasonic generating component typically includes a coil 1, a metal vibrating element 2, a piezoelectric ceramic element 4, and a frequency driver. The piezoelectric ceramic element 4 is disposed on one side of the metal vibrating element 2, which is located inside the coil 1. The piezoelectric ceramic element 4 is electrically connected to the frequency driver, which is electrically connected to the controller. The device also includes a PCB substrate. Board 3, several ultrasonic generating components are mounted on the PCB substrate 3 via the other side of the metal vibrating plate 2, coil 1 is fixed via the PCB substrate 3, several frequency drivers are connected to the controller, piezoelectric ceramic plates 4 are circular plates with a diameter of 12mm, and the distance between adjacent piezoelectric ceramic plates 4 is 1mm, and also includes a wearable device 5, which includes an outer layer 51, an inner layer 52, and a filling liquid layer 53, with the filling liquid layer 53 disposed between the outer layer 51 and the inner layer 52, and the ultrasonic generating components are mounted on the wearable device via the PCB substrate 3. On the outer layer 51 of the wearable device, the inner layer 52 of the wearable device contacts the skin; the micro-bubbles in the liquid in the filling liquid layer 53 vibrate under the action of sound waves. When the sound pressure reaches a certain value, the dynamic process of growth and collapse occurs. When ultrasound acts on the liquid, a large number of small bubbles can be generated. One reason is that local tensile stress occurs in the liquid, forming negative pressure. The decrease in pressure causes the gas originally dissolved in the liquid to become supersaturated and escape from the liquid, becoming small bubbles. Another reason is that the strong tensile stress "tears" the liquid into a cavity, which is called cavitation. The micro-bubble nuclei in the liquid vibrate under the action of ultrasound. When the sound pressure reaches a certain value, the bubble will rapidly expand and then suddenly collapse, generating a shock wave during the collapse. When the ultrasonic energy is high enough, the phenomenon of "ultrasonic cavitation" will occur. Tiny bubbles (cavitation nuclei) existing in the liquid vibrate, grow, and continuously accumulate sound field energy under the action of the ultrasonic field. When the energy reaches a certain threshold, the cavitation bubble collapses and collapses rapidly. The lifespan of the cavitation bubble is about 0.1 μs. During its rapid collapse, it can release a huge amount of energy and generate a microjet with a velocity of about 110 m / s and a strong impact force, resulting in a collision density as high as 1.5 kg / cm³. 2 The phenomenon is that bubbles generate local high temperature and pressure (5000K, 1800atm) at the moment of rapid collapse, and the cooling rate can reach 10 to the power of 9 K / s; the lower the ultrasonic frequency, the easier it is to generate cavitation in the liquid. That is to say, the higher the frequency, the greater the sound intensity required to induce cavitation. For example, to generate cavitation in water, the power required at an ultrasonic frequency of 400kHz is 10 times greater than that at 10kHz. That is, cavitation decreases as the frequency increases. The frequency range generally used is 20 to 40kHz.

[0045] Example 2: Combination Figure 1-8This embodiment describes a wearable device for tactile reproduction based on ultrasonic cavitation effect. It includes an ultrasonic generating component and a controller. The ultrasonic generating component typically includes a coil 1, a metal vibrating plate 2, a piezoelectric ceramic plate 4, and a frequency driver. The piezoelectric ceramic plate 4 is disposed on one side of the metal vibrating plate 2, which is located inside the coil 1. The piezoelectric ceramic plate 4 is electrically connected to the frequency driver, which is electrically connected to the controller. The device also includes a PCB substrate 3. Several ultrasonic generating components are disposed on the PCB substrate 3 via the other side of the metal vibrating plate 2. The coil 1 is fixed via the PCB substrate 3. Several frequency drivers are connected to the controller. The piezoelectric ceramic plate 4 is a circular plate with a diameter of 12 mm, and the distance between adjacent piezoelectric ceramic plates 4 is 1 mm. The device also includes a wearable device 5. The device 5 includes an outer layer 51, an inner layer 52, and a filling liquid layer 53. The filling liquid layer 53 is disposed between the outer layer 51 and the inner layer 52. The wearable device 5 is a glove. The ultrasonic generating components are disposed on the outer layer 51 via a PCB substrate 3. The inner layer 52 is in contact with the skin. There are forty sets of ultrasonic generating components. Four sets of ultrasonic generating components are disposed on the front and back of the first and second joints of the thumb of the wearable device 5. Twenty-four sets of ultrasonic generating components are disposed on the front and back of the first, second, and third joints of the other four fingers of the wearable device 5. Twelve sets of ultrasonic generating components are disposed on the front and back of the palm of the wearable device 5, thereby realizing all-round multi-level tactile simulation. The outer layer 51 and the inner layer 52 of the wearable device are selected with a thickness of 0.The 0.03mm thick natural latex material, along with the extremely thin and highly flexible film material used for the contact surface between the finger and the inner layer 52 of the wearable device, allows for the deformation of the liquid and the creation of different textures through ultrasonic waves generated by the ultrasonic generator. Based on everyday experience, when a finger contacts and moves across different textures, significant friction is generated. This phenomenon stems from the multi-layered composite material characteristics of the fingertip tissue. Through the control of the ultrasonic generator, the liquid within the filling layer 53 produces different textures and flow effects, thereby generating various values ​​of friction and ultimately reproducing the texture and feel of objects. By using the ultrasonic generator on the wearable device 5 and the liquid within the filling layer 53, when… When the device simulates tactile sensation, the frequency driver controls the metal vibrating plate 2 to generate ultrasonic waves with varying frequencies. Under these varying frequencies, the liquid within the filling liquid layer 53, due to the shock waves generated by bursting bubbles, impacts the surface of the thin film, forming different shapes on the surface of the wearable device 5. These changing shapes cause the thin film, which is in direct contact with the user's hand, to receive forces of varying magnitudes and directions. These forces then act on the skin of the hand, thus reproducing tactile sensation and making the user's experience more realistic. Specifically, by utilizing the changes in the ultrasonic frequency generated by the ultrasonic wave generator, the force of the liquid on the hand can be precisely controlled, enabling fine simulation of tactile sensations, including touching, shaking hands, pressing, and other tactile simulations of fluids on the hand.

[0046] Example 3: Combination Figure 1-8This embodiment describes a tactile reproduction simulation method based on ultrasonic cavitation effect, comprising an ultrasonic generating component and a controller. The ultrasonic generating component includes a coil 1, a metal vibrating plate 2, a piezoelectric ceramic plate 4, and a frequency driver. The piezoelectric ceramic plate 4 is disposed on one side of the metal vibrating plate 2, which is located inside the coil 1. The piezoelectric ceramic plate 4 is electrically connected to the frequency driver, which is electrically connected to the controller. The system also includes a PCB substrate 3, on which several ultrasonic generating components are disposed via the other side of the metal vibrating plate 2. The coil 1 is fixed via the PCB substrate 3. Several frequency drivers are connected to the controller. The piezoelectric ceramic plate 4 is a circular plate with a diameter of 12 mm, and the distance between adjacent piezoelectric ceramic plates 4 is 1 mm. The system also includes a wearable device 5, comprising an outer layer 51, an inner layer 52, and a filling liquid layer 53. The filling liquid layer 53 is disposed between the outer layer 51 and the inner layer 52. The components are mounted on the outer layer 51 of the wearable device via the PCB substrate 3. The inner layer 52 of the wearable device is in contact with the skin. There are forty sets of ultrasonic generating components. Four sets of ultrasonic generating components are respectively mounted on the front and back of the first and second joints of the thumb of the wearable device 5. Twenty-four sets of ultrasonic generating components are respectively mounted on the front and back of the first, second, and third joints of the other four fingers of the wearable device 5. Twelve sets of ultrasonic generating components are respectively mounted on the front and back of the palm of the wearable device 5. The outer layer 51 and the inner layer 52 of the wearable device are made of natural latex material with a thickness of 0.03mm. The device has a clever structure and a lightweight design, which reduces the fatigue of users during long-term wear. The device is easy to fit with the external sense (hand), is soft and elastic, and can react quickly when receiving pressure and temperature generated by bubbles to simulate touch. While improving the user experience, it ensures safety. The device does not require motors or other drive devices for control, which reduces energy consumption and noise, and is energy-saving and environmentally friendly.

[0047] Includes the following steps:

[0048] Step 1: Make the wearable device 5 come into contact with external senses. The tactile reproduction device is in standby mode, waiting for the control device to send control information. The control device is a generator control box with microcomputer control, used for power control of the ultrasonic generating component.

[0049] Step 2: The control device sends the texture and surface information of the virtual object, and the controller (please provide the specific model) receives this information;

[0050] Step 3: The controller analyzes the texture and grain information to determine the required ultrasonic intensity for each ultrasonic generating component;

[0051] Step 4: The controller sends the ultrasonic intensity information to each ultrasonic generating component.

[0052] Step 5: The frequency driver of the ultrasonic generator component changes the frequency and direction of the ultrasonic waves generated by the metal vibrating plate at the corresponding position, thereby generating the target ultrasonic intensity.

[0053] Step 6: The ultrasonic frequency of the metal vibrating plate 2 of the liquid ultrasonic generator component in the liquid filling liquid layer 53 affects the texture changes.

[0054] Step 7: External senses contact the shock waves generated by ultrasonic waves through the inner layer 52 of the wearable device to achieve the target simulated tactile sensation.

[0055] Example 4: Combination Figure 1-8 This embodiment describes a tactile reproduction simulation method based on ultrasonic cavitation effect, comprising the following steps:

[0056] Step 1: Put the wearable device on your hand. The tactile reproduction device is in standby mode, waiting for the control device to send control information. The control device is a generator control box with microcomputer control, used for power control of the ultrasonic generating component.

[0057] Step 2: The control device sends the texture and surface information of the virtual object, and the controller receives the information;

[0058] Step 3: The controller analyzes the texture and grain information to determine the required ultrasonic intensity for each ultrasonic generating component;

[0059] Step 4: The controller sends the ultrasonic intensity information to each ultrasonic generating component.

[0060] Step 5: The frequency driver of the ultrasonic generator component changes the frequency and direction of the ultrasonic waves generated by the metal vibrating plate at the corresponding position, thereby generating the target ultrasonic intensity.

[0061] Step 6: The liquid in the filling liquid layer 53 is affected by the ultrasonic frequency of the metal vibrating plate 2 of the ultrasonic wave generating component, resulting in different texture changes; the metal vibrating plate 2 generates ultrasonic waves, and according to the amplitude of the ultrasonic waves, the liquid in the filling liquid layer 53 near the outer layer 51 of the wearable device forms bubbles of a set density, and the bubbles grow and increase in size.

[0062] Step 7: Subsequently, the bubble bursts, causing the inner layer 52 of the wearable device to receive the shock wave generated by the burst. This creates different shapes on the surface of the inner layer 52 of the wearable device. Through these changing shapes, the inner layer 52 of the wearable device receives forces of different magnitudes and directions, which are then applied to the human hand, thereby achieving tactile reproduction.

[0063] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0064] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0065] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0066] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0067] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0068] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A tactile reproduction simulation method based on ultrasonic cavitation effect, characterized in that: A wearable device for tactile reproduction based on ultrasonic cavitation effect includes the following steps: Step 1: The tactile reproduction device is in standby mode, waiting for the control device to send control information; Step 2: The control device sends the texture and surface information of the virtual object, and the controller receives the information; Step 3: The controller analyzes the texture and grain information to determine the required ultrasonic intensity for each ultrasonic generating component; Step 4: The controller sends the ultrasonic intensity information to the ultrasonic generator component; Step 5: The frequency driver of the ultrasonic generator component changes the frequency and direction of the ultrasonic waves generated by the metal vibrating plate at the corresponding position, thereby generating the target ultrasonic intensity. Step 6: The ultrasonic frequency of the metal vibrating plate (2) of the liquid ultrasonic generator component in the liquid filling layer (53) affects the texture changes. Step 7: External senses contact the shock wave generated by ultrasonic waves through the inner layer (52) of the wearable device to achieve target simulated touch; the wearable device for tactile reproduction based on ultrasonic cavitation effect includes a wearable device (5), the wearable device (5) includes an outer layer (51), an inner layer (52) and a filling liquid layer (53), the filling liquid layer (53) is disposed between the outer layer (51) and the inner layer (52) of the wearable device, a plurality of PCB substrates (3) are provided on the outer layer (51) of the wearable device, a plurality of ultrasonic generating components are provided on the PCB substrates (3), and the ultrasonic generating components are electrically connected to the controller; The ultrasonic generating assembly includes a coil (1), a metal vibrating plate (2), a piezoelectric ceramic plate (4), and a frequency driver. The metal vibrating plate (2) has a piezoelectric ceramic plate (4) on one side. The metal vibrating plate (2) is located inside the coil (1). The piezoelectric ceramic plate (4) is electrically connected to the frequency driver. Several frequency drivers are electrically connected to the controller. The other side of the metal vibrating plate (2) is disposed on the PCB substrate (3); The wearable device (5) is a glove. The number of ultrasonic generating components is forty. Four ultrasonic generating components are respectively set on the front and back of the first and second joints of the thumb of the wearable device (5). Twenty-four ultrasonic generating components are respectively set on the front and back of the first, second and third joints of the other four fingers of the wearable device (5). Twelve ultrasonic generating components are respectively set on the front and back of the palm of the wearable device (5). The control device is a generator control box with microcomputer control, used for power control of the ultrasonic generating component; In step six, the metal vibrating plate generates ultrasonic waves. According to the amplitude of the ultrasonic waves, the liquid in the filling liquid layer (53) near the outer layer (51) of the wearable device forms bubbles of a set density, and the bubbles grow larger. In step seven, the bubbles burst, so that the inner layer (52) of the wearable device receives the shock wave generated by the burst.

2. The tactile reproduction simulation method based on ultrasonic cavitation effect according to claim 1, characterized in that: The outer layer (51) and inner layer (52) of the wearable device are made of natural latex material with a thickness of 0.03 mm.

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