Virtual Reality Haptic Feedback Methods, Devices, Equipment and Media

Abstract

This application discloses a virtual reality haptic feedback method, apparatus, device, and medium, applicable to the field of virtual reality. The method includes: displaying a virtual reality screen, the virtual reality screen including virtual objects; responding to a movement operation, controlling a virtual character to move to a position around the virtual object; responding to an interaction operation with the virtual object, outputting haptic feedback in the form of a microcurrent based on a haptic feedback hierarchy correspondence, wherein the microcurrent haptic feedback is determined according to the user's haptic sensitivity, and the haptic feedback hierarchy correspondence represents the relationship between the user's haptic perception intensity and the microcurrent amplitude. This method takes into account individual differences among users, allowing different users to experience the same or similar haptic perception intensity.

Description

Technical Field

[0001] This application relates to the field of virtual reality, and in particular to a virtual reality haptic feedback method, device, equipment, and medium. Background Technology

[0002] Virtual Reality (VR) technology uses computers to simulate virtual environments, creating a sense of immersion. It utilizes real-world data and electronic signals generated by computers to transform it into phenomena that people can perceive. Because these phenomena are not directly visible but rather simulated versions of the real world, they are called virtual reality.

[0003] In related technologies, users wear electrical stimulation devices on their bodies. When a computer device needs to provide stimulation to the user (e.g., to simulate touching a physical entity), the electrical stimulation device stimulates the user's muscles with an electric current, which is transmitted to the user's brain through neurons in the body, simulating the tactile sensation of touching a hard structure or physical entity in the cerebral cortex.

[0004] In practical use, it has been found that some users do not feel any tactile feedback when experiencing virtual reality technology, while others feel that the tactile feedback is too strong, causing discomfort. Summary of the Invention

[0005] This application provides a virtual reality haptic feedback method, apparatus, device, and medium. The method determines the haptic feedback in the form of a microcurrent based on the user's tactile sensitivity, adapting to the differences between different users. The technical solution is as follows:

[0006] According to one aspect of this application, a virtual reality haptic feedback method is provided, the method comprising:

[0007] Display virtual reality images, which include virtual objects;

[0008] In response to a movement operation, the virtual character is controlled to move to a position around the virtual object;

[0009] In response to interactive operations on the virtual object, based on the hierarchical correspondence of tactile feedback, tactile feedback in the form of microcurrent is output. The microcurrent tactile feedback is determined according to the user's tactile sensitivity. The hierarchical correspondence of tactile feedback represents the correspondence between the tactile perception intensity applicable to the user and the amplitude of the microcurrent.

[0010] According to another aspect of this application, a virtual reality haptic feedback device is provided, the device comprising:

[0011] A display module is used to display virtual reality images, which include virtual objects.

[0012] The control module is used to control the virtual character to move to the periphery of the virtual object in response to the movement operation;

[0013] The output module is used to respond to interactive operations on the virtual object and output tactile feedback in the form of microcurrent based on the hierarchical correspondence of tactile feedback. The microcurrent tactile feedback is determined according to the user's tactile sensitivity, and the correspondence represents the relationship between the tactile perception intensity applicable to the user and the amplitude of the microcurrent.

[0014] In an optional design of this application, the output module is further configured to, in response to the interactive operation on the virtual object, obtain the nth level tactile perception intensity corresponding to the virtual object; and, based on the correspondence between the nth level tactile perception intensity and the tactile feedback grading, output the tactile feedback in the form of the nth microcurrent amplitude.

[0015] In an optional design of this application, the output module is further configured to, in response to the interactive operation on the virtual object, obtain the i-th level tactile perception intensity corresponding to the virtual object based on the material properties of the virtual object.

[0016] In an optional design of this application, the microcurrent-based tactile feedback is a biphasic pulse current with a positive-to-negative amplitude ratio of a first preset value and a pulse width ratio of a second preset value.

[0017] According to another aspect of this application, a method for obtaining a hierarchical correspondence of haptic feedback is provided, the method comprising:

[0018] The minimum and maximum microcurrent thresholds for each user are collected. The minimum microcurrent threshold represents the microcurrent amplitude that will cause the user to feel a tactile sensation, and the maximum microcurrent threshold represents the microcurrent amplitude that will cause the user discomfort.

[0019] The mapping relationship between tactile perception intensity and microcurrent amplitude is determined by a neuronal conduction model, which is used to simulate the effect of microcurrent amplitude on the user's neurons.

[0020] Based on the minimum microcurrent threshold, the maximum microcurrent threshold, and the mapping relationship, the tactile feedback grading correspondence is determined, which represents the correspondence between the tactile perception intensity applicable to the user and the microcurrent amplitude.

[0021] According to another aspect of this application, a device for acquiring haptic feedback hierarchical correspondence is provided, the device comprising:

[0022] The acquisition module is used to acquire the minimum microcurrent threshold and the maximum microcurrent threshold corresponding to the user. The minimum microcurrent threshold is used to represent the microcurrent amplitude that will cause the user to feel touch, and the maximum microcurrent threshold is used to represent the microcurrent amplitude that will cause the user to feel discomfort.

[0023] The mapping module is used to determine the mapping relationship between tactile perception intensity and microcurrent amplitude through a neuronal conduction model, wherein the neuronal conduction model is used to simulate the effect of microcurrent amplitude on the user's neurons;

[0024] The calculation module is used to determine the tactile feedback grading correspondence based on the minimum microcurrent threshold, the maximum microcurrent threshold, and the mapping relationship. The tactile feedback grading correspondence represents the correspondence between the tactile perception intensity applicable to the user and the microcurrent amplitude.

[0025] In an optional design of this application, the calculation module is further configured to obtain the total number of levels of tactile perception intensity; using the minimum microcurrent threshold and the maximum microcurrent threshold as the upper and lower limits of the microcurrent amplitude, and based on the total number of levels and the mapping relationship, calculate the m-th type of microcurrent amplitude corresponding to the m-th level of tactile perception intensity; and determine the tactile feedback grading correspondence based on the correspondence between the m-th level of tactile perception intensity and the m-th type of microcurrent amplitude.

[0026] In an optional design of this application, the calculation module is further configured to use the minimum and maximum values ​​of the number of action potentials as the upper and lower limits of the action potentials, and calculate the number of the m-th type of action potentials corresponding to the m-th level of tactile perception intensity based on the total number of levels and the linear relationship; and use the minimum and maximum microcurrent thresholds as the upper and lower limits of the microcurrent amplitude, and calculate the m-th type of microcurrent amplitude corresponding to the number of the m-th type of action potentials based on the total number of levels and the mapping relationship.

[0027] In an optional design of this application, the calculation module is further configured to: obtain an action potential difference based on the difference between the maximum value and the minimum value of the number of action potentials; obtain an action potential number tolerance based on the ratio of the action potential difference to the total number of levels, wherein the action potential number tolerance represents the difference in the number of the i-th action potential and the (i+1)-th action potential, where i is a positive integer less than the total number of levels; and calculate the number of the m-th action potential corresponding to the m-th level of tactile perception intensity based on the action potential number tolerance and the arithmetic progression formula.

[0028] In an optional design of this application, the calculation module is further configured to: obtain a microcurrent amplitude difference based on the difference between the maximum microcurrent threshold and the minimum microcurrent threshold; obtain a microcurrent amplitude tolerance based on the ratio of the microcurrent amplitude difference to the total number of stages, wherein the microcurrent amplitude tolerance represents the amplitude difference between the j-th microcurrent amplitude and the (j+1)-th microcurrent amplitude, where j is a positive integer less than the total number of stages; and calculate the m-th microcurrent amplitude corresponding to the number of m-th action potentials based on the microcurrent amplitude tolerance and the arithmetic progression formula.

[0029] In an optional design of this application, the acquisition module is further configured to fix the microcurrent frequency and microcurrent pulse width, and adjust the microcurrent amplitude to acquire the minimum microcurrent threshold and the maximum microcurrent threshold.

[0030] According to another aspect of this application, a computer device is provided, comprising: a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, wherein the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the virtual reality haptic feedback method as described above, or the method for obtaining haptic feedback hierarchical correspondence.

[0031] According to another aspect of this application, a computer storage medium is provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the program code being loaded and executed by a processor to implement the virtual reality haptic feedback method as described above, or the method for obtaining the hierarchical correspondence of haptic feedback.

[0032] According to another aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the virtual reality haptic feedback method or the method for obtaining haptic feedback hierarchical correspondences as described above.

[0033] The beneficial effects of the technical solutions provided in this application include at least the following:

[0034] When displaying virtual reality (VR) footage, virtual objects are shown. When a user touches a virtual object in the VR scene, the system provides tactile feedback in the form of a microcurrent based on the user's tactile sensitivity. This method takes into account individual differences among users, meeting their diverse tactile feedback needs. It allows different users touching the same virtual object to experience the same or similar tactile feedback, achieving tiered tactile feedback and enhancing the user experience. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a structural block diagram of a computer system provided in an exemplary embodiment of this application;

[0037] Figure 2 This is a flowchart illustrating a virtual reality haptic feedback method provided in an exemplary embodiment of this application;

[0038] Figure 3 This is a flowchart illustrating a method for obtaining the hierarchical correspondence of haptic feedback provided in an exemplary embodiment of this application;

[0039] Figure 4 This is a flowchart illustrating a method for obtaining the hierarchical correspondence of haptic feedback provided in an exemplary embodiment of this application;

[0040] Figure 5 This is a schematic diagram illustrating the principle of the hierarchical correspondence of tactile feedback provided in an exemplary embodiment of this application;

[0041] Figure 6 This is a flowchart illustrating a virtual reality haptic feedback method provided in an exemplary embodiment of this application;

[0042] Figure 7 This is a circuit diagram of tactile feedback in the form of microcurrent provided in an exemplary embodiment of this application;

[0043] Figure 8 This is an exemplary block diagram of a virtual reality haptic feedback device provided in an exemplary embodiment of this application;

[0044] Figure 9 This is a schematic diagram of the structure of a virtual reality haptic feedback device provided in an exemplary embodiment of this application;

[0045] Figure 10 This is a schematic diagram of the structure of a device for acquiring the hierarchical correspondence of tactile feedback provided in an exemplary embodiment of this application;

[0046] Figure 11 This is a schematic diagram of the structure of a computer device provided in an exemplary embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0048] First, the terms used in the embodiments of this application will be introduced:

[0049] Haptic feedback grading: This refers to the grading and arrangement of tactile sensations perceptible to the human body. The lowest level of human sensory intensity grading is the level at which the human body can just feel the touch, and the highest level is the level at which the human body feels discomfort. The higher the level, the more pronounced the tactile sensation. For example, human sensory intensity grading is divided into 6 levels, where level 1 represents the level at which the first user can just feel the touch, and level 6 represents the level at which the first user feels discomfort.

[0050] Action potential (AP): This refers to the propagating potential change that occurs in an excitable cell upon stimulation, building upon its resting potential. An AP consists of a peak potential and an afterpotential. The peak potential is the primary component of the AP; therefore, the term "action potential" mainly refers to the peak potential. APs in nerve fibers can propagate along the membrane and are also known as nerve impulses. The number of APs occurring per unit time can be used as a measure of the intensity of human perception.

[0051] Neuronal conduction model: used to simulate the neural conduction process within human neurons. For example, when a neuron receives a stimulus and becomes excited, it causes a change in electrical potential between the inner and outer sides of the neuronal plasma membrane, creating a potential difference between the excited neuron and other neurons. This leads to the conduction of excitation along the nerve fiber containing the neuron; this process can be roughly considered as neuronal conduction.

[0052] Virtual objects refer to movable objects in a virtual reality environment. These movable objects can be virtual items, virtual characters, virtual animals, anime characters, etc., such as people, animals, plants, oil drums, walls, and stones displayed in the virtual environment. Optionally, virtual objects are three-dimensional models created based on animation skeletal technology. Each virtual object has its own shape and volume in the virtual reality environment and occupies a portion of the space within the virtual reality environment.

[0053] Figure 1 A schematic diagram of the structure of a computer system provided in an exemplary embodiment of this application is shown. The computer system 100 includes: a terminal 120 and a current output device 140.

[0054] Terminal 120 has a virtual reality-related application installed. This application can be a small program within an app, a dedicated application, or a web client. For example, when a user performs virtual reality-related operations on terminal 120, such as preparing to use facial recognition payment, to ensure the security and reliability of the payment process, the facial image acquired by terminal 120 needs to be virtualized to prevent transactions caused by illegal attacks and protect the interests of individuals and the public. Terminal 120 is at least one of a smartphone, tablet computer, e-book reader, MP3 player, MP4 player, laptop computer, and desktop computer.

[0055] The terminal 120 and the current output device 140 are connected via a wired or wireless network.

[0056] The current output device 140 is connected to the terminal 120. The current output device 140 receives micro-current parameters sent by the terminal and outputs micro-current according to the micro-current parameters. The micro-current parameters include at least one of the following: amplitude, frequency, period, start time, end time, and output duration.

[0057] In an illustrative example, the terminal includes a microprocessor 121 and a digital-to-analog converter 122. The microprocessor 121 receives data on the intensity of tactile sensation, converts the data into corresponding microcurrent parameters, and encodes the microcurrent data into a digital signal. The digital-to-analog converter 122 converts the digital signal into an analog signal and transmits the analog signal to a current output device 140.

[0058] In an illustrative example, the current output device 140 includes a control circuit 141, a boost circuit 142, a constant current source circuit 143, a two-phase pulse generation circuit 144, a multi-channel switch 145, and a tactile array 146. The control circuit 141 controls the boost circuit 142; the boost circuit 142 increases the circuit voltage to enable the constant current source circuit 143 to operate normally; the constant current source circuit 143 outputs a stable current intensity; the two-phase pulse generation circuit 144 changes the current direction and polarity by controlling the switch to generate two-phase pulses; the multi-channel switch 145 operates on a time-division multiplexing principle and uses a switch with a sufficiently fast switching speed to achieve simultaneous operation of multiple channels; the tactile array 146 outputs tactile feedback in the form of microcurrents.

[0059] Figure 2 A flowchart illustrating a virtual reality haptic feedback method provided in an exemplary embodiment of this application is shown. This method can be... Figure 1 The computer system 100 shown executes a method comprising the following steps:

[0060] Step 202: Display the virtual reality screen, which includes virtual objects.

[0061] Virtual reality (VR) visuals are created by combining real-world data with electronic signals generated by computer technology and various output devices to transform them into phenomena that users can perceive. VR visuals possess sensory capabilities, including at least one of the following: hearing, vision, touch, taste, and smell.

[0062] Optionally, a virtual object is at least one of a virtual character, a virtual animal, a virtual item, or a virtual obstacle. For example, a virtual object is a virtual wall in a virtual reality scene.

[0063] Step 204: In response to the movement operation, control the virtual character to move to a position around the virtual object.

[0064] Motion operation is used by a user to control the movement of a virtual character within a virtual reality environment. Optionally, motion operation refers to the user moving within a real-world environment. For example, a user moves within a display environment, the computer system captures the user's movement, and controls the virtual character to move within the virtual reality environment based on this movement.

[0065] Optionally, movement can also be controlled by pressing one or more preset physical buttons to move the virtual character in the virtual reality environment, or movement can be performed by signals generated by long press, tap, double tap and / or swipe on a designated area of ​​the touch screen.

[0066] Optionally, the movement operation falls under the category of teleoperation. Teleoperation is applied in teleoperation systems, which typically employ a two-channel system control architecture. In a two-channel system control architecture, controllers need to be set up in both the master and slave devices. Information interaction between the master and slave devices is achieved through the transmission of control signals between at least two controllers. For example, the first controller of the master device sends movement information of the master device's movement operation to the second controller of the slave device; the slave operation platform responds to the movement information by controlling the virtual objects in the virtual environment to move, while the second controller of the slave device sends the microcurrent parameters generated by the slave device to the first controller of the master device, and the master device generates corresponding microcurrent stimulation based on the microcurrent parameters.

[0067] Step 206: In response to the interactive operation of the virtual object, based on the tactile feedback hierarchy correspondence, output tactile feedback in the form of microcurrent. The tactile feedback in the form of microcurrent is determined according to the user's tactile sensitivity. The tactile feedback hierarchy correspondence represents the correspondence between the tactile perception intensity applicable to the user and the amplitude of the microcurrent.

[0068] Interactive operations are used by users to control virtual characters to interact with virtual objects in a virtual reality environment. Optionally, the interactive behavior includes at least one of touching, stroking, hitting, patting, grabbing, lifting, attacking, shooting, and moving. For example, a user moves to a preset location in the real environment and touches the object at the preset location. The computer system captures the user's touch behavior and controls the virtual character in the virtual reality environment to touch the virtual object.

[0069] The tactile feedback grading correspondence represents the relationship between the intensity of the user's tactile perception and the amplitude of the microcurrent.

[0070] Optionally, the haptic feedback grading correspondence represents the functional relationship between the user's haptic perception intensity and the microcurrent amplitude. For example, a linear function y = kx + b can be used to represent the haptic feedback grading correspondence, where k and b are real numbers, x represents the microcurrent amplitude, and y represents the microcurrent amplitude.

[0071] Optionally, the hierarchical relationship of haptic feedback can be represented in a table. For example, Table 1 is shown below:

[0072] Table 1. Correspondence between tactile feedback levels

[0073] tactile perception intensity Microcurrent amplitude (mA) Level 3 1.04 Level 4 1.10 Level 5 1.16

[0074] The haptic feedback grading system corresponds to the user. For example, user 1 uses haptic feedback grading system A, and user 2 uses haptic feedback grading system B.

[0075] Optionally, when there are multiple sets of correspondences in the haptic feedback hierarchy, in response to the interaction with the virtual object, the i-th level haptic perception intensity corresponding to the virtual object is obtained; based on the i-th level haptic perception intensity and the haptic feedback hierarchy correspondence, the i-th level microcurrent form of haptic feedback is output, where i is a positive integer. For example, when the virtual object is a virtual wall in the virtual reality scene, the 4-th level haptic perception intensity corresponding to the virtual wall is obtained, and according to the haptic feedback hierarchy correspondence, the microcurrent amplitude corresponding to the 4-th level haptic perception intensity is determined to be 1.02mA; when the virtual object is a virtual sofa in the virtual reality scene, the 2-th level haptic perception intensity corresponding to the virtual sofa is obtained, and according to the haptic feedback hierarchy correspondence, the microcurrent amplitude corresponding to the 2-th level haptic perception intensity is determined to be 0.96mA.

[0076] Optionally, in response to interactive operations on the virtual object, the nth level of tactile perception intensity corresponding to the virtual object is obtained based on the material properties of the virtual object. The material properties are used to represent the material of the virtual object. For example, the material of the virtual object can be classified into at least one of rock, concrete, soil, sponge, wood, bone, flesh, liquid, plastic, glass, ceramic, hair, and metal.

[0077] Tactile sensitivity is used to indicate a user's sensitivity to tactile feedback in the form of microcurrents. For example, when user 1 receives a microcurrent with an amplitude of 1.04 mA, user 1 does not feel the stimulation of the microcurrent, while user 2 clearly feels the stimulation of the microcurrent when receiving a microcurrent with an amplitude of 1.04 mA.

[0078] Optionally, factors affecting the user's tactile sensitivity include, but are not limited to, one of the following: season, temperature, humidity, user age, and user skin dryness.

[0079] Optionally, in response to interactive operations on virtual objects, tactile feedback in the form of mechanical vibration is output based on the hierarchical correspondence of tactile feedback.

[0080] Optionally, the tactile feedback in the form of microcurrent is a biphase pulse current with a positive-to-negative amplitude ratio of a first preset value and a pulse width ratio of a second preset value. The first and second preset values ​​are set by the technician. For example, the first preset value is set to 4 and the second preset value is set to 1.

[0081] In summary, this embodiment displays virtual objects when showing virtual reality scenes. When a user touches a virtual object in the virtual reality scene, the system determines the tactile feedback in the form of a microcurrent based on the user's tactile sensitivity. This method takes into account individual differences among users, meets different users' tactile feedback needs, and allows different users touching the same virtual object to experience the same or similar tactile feedback, achieving intensity-graded tactile feedback and improving the user experience.

[0082] The following embodiments illustrate a method for obtaining tactile feedback grading correspondences. This method obtains different tactile feedback grading correspondences based on the different users, taking into account the individual differences between users, so that each user can obtain the same or similar tactile perception intensity.

[0083] Figure 3 This illustration shows a flowchart of a method for obtaining haptic feedback hierarchy correspondences according to an exemplary embodiment of this application. This method can be... Figure 1 The computer system 100 shown executes a method comprising the following steps:

[0084] Step 302: Collect the minimum and maximum microcurrent thresholds for the user.

[0085] The minimum microcurrent threshold is used to represent the microcurrent amplitude that will produce a tactile sensation for the user, while the maximum microcurrent threshold is used to represent the microcurrent amplitude that will cause discomfort to the user.

[0086] Optionally, the microcurrent frequency and pulse width are fixed, while the microcurrent amplitude is adjusted to acquire the minimum and maximum microcurrent thresholds. For example, the microcurrent frequency and pulse width are fixed, while the microcurrent amplitude is adjusted, starting with a microcurrent amplitude of 0.1 mA and progressively increasing in increments of 0.02 mA, allowing the user to judge the microcurrent amplitude that produces a tactile sensation and the microcurrent amplitude that causes discomfort.

[0087] Step 304: Determine the mapping relationship between tactile perception intensity and microcurrent amplitude using a neuronal conduction model.

[0088] The neuronal conduction model is used to simulate the effect of microcurrent amplitude on the user's neurons.

[0089] Optionally, the mapping relationship is linear. For example, a linear function y = kx + b can be used to represent the mapping relationship between tactile perception intensity and microcurrent amplitude. Here, k and b are real numbers; x represents the microcurrent amplitude; and y represents the tactile perception intensity.

[0090] Optionally, the mapping relationship can be non-linear. For example, a quadratic function y = ax can be used. 2 +bx+c represents the mapping relationship between tactile perception intensity and microcurrent amplitude. Here, a, b, and c are real numbers; x represents the microcurrent amplitude; and y represents the tactile perception intensity.

[0091] Step 306: Determine the correspondence between the minimum microcurrent threshold, the maximum microcurrent threshold and the mapping relationship.

[0092] The tactile feedback grading correspondence represents the relationship between the intensity of the user's tactile perception and the amplitude of the microcurrent.

[0093] Optionally, the haptic feedback grading correspondence includes a correspondence between multiple haptic perception intensities and multiple current amplitudes. This step includes the following sub-steps:

[0094] 1. Obtain the total number of levels of tactile perception intensity.

[0095] The total number of tactile perception intensity levels represents the total number of tactile perception intensity levels. The total number of tactile perception intensity levels is set by the technician. For example, the total number of tactile perception intensity levels is set to 9.

[0096] 2. Using the minimum and maximum microcurrent thresholds as the upper and lower limits of the microcurrent amplitude, and based on the total number of levels and the mapping relationship, calculate the m-th type of microcurrent amplitude corresponding to the m-th level of tactile perception intensity.

[0097] Optionally, the functional expression for the mapping relationship is determined; based on the minimum microcurrent threshold, the maximum microcurrent threshold, the tactile perception intensity at the m-th level, and the functional expression, the amplitude of the m-th type of microcurrent is determined. For example, the functional expression for determining the mapping relationship is y = f(x), where x represents the amplitude of the m-th type of microcurrent, y represents the tactile perception intensity at the m-th level, and f(x) represents the functional relationship; based on the tactile perception intensity at the m-th level and the functional expression, the amplitude of the m-th type of microcurrent is calculated, and the minimum and maximum microcurrent thresholds are used to limit the range of values ​​for the microcurrent amplitude.

[0098] Optionally, when the intensity of tactile perception is represented by the number of action potentials, the minimum and maximum values ​​of the number of action potentials are used as the upper and lower limits of the action potentials. Based on the total number of levels and the linear relationship, the number of the m-th type of action potentials corresponding to the m-th level of tactile perception intensity is calculated. The minimum and maximum microcurrent thresholds are used as the upper and lower limits of the microcurrent amplitude. Based on the total number of levels and the mapping relationship, the amplitude of the m-th type of microcurrent corresponding to the number of the m-th type of action potentials is calculated.

[0099] 3. Using the minimum and maximum microcurrent thresholds as the upper and lower limits of the microcurrent amplitude, and based on the total number of levels and the mapping relationship, calculate the m-th type of microcurrent amplitude corresponding to the m-th level of tactile perception intensity.

[0100] For example, based on the correspondence between the m-th level tactile perception intensity and the m-th type of microcurrent amplitude, the tactile feedback grading correspondence is determined in tabular form. The table content can be found in Table 1.

[0101] In summary, this embodiment determines the corresponding tactile feedback level for each user by collecting the minimum and maximum microcurrent thresholds. This method takes into account individual differences among users, meets different tactile feedback needs, and allows different users touching the same virtual object to experience the same or similar tactile feedback, achieving intensity-level tactile feedback and improving the user experience.

[0102] In the following embodiments, on the one hand, those skilled in the art generally consider the mapping relationship to be a linear relationship, so the hierarchical correspondence of haptic feedback is obtained through a linear relationship; on the other hand, a linear relationship is a special mapping relationship, and in actual operation, it is not necessary to find a specific function, which can simplify the operation process and will not have an adverse effect on the result.

[0103] Figure 4This illustration shows a flowchart of a method for obtaining haptic feedback hierarchy correspondences according to an exemplary embodiment of this application. This method can be... Figure 1 The computer system 100 shown executes a method comprising the following steps:

[0104] Step 401: Collect the minimum and maximum microcurrent thresholds for the user.

[0105] The minimum microcurrent threshold is used to represent the microcurrent amplitude that will produce a tactile sensation for the user, while the maximum microcurrent threshold is used to represent the microcurrent amplitude that will cause discomfort to the user.

[0106] Optionally, the microcurrent frequency and pulse width are fixed, while the microcurrent amplitude is adjusted to acquire the minimum and maximum microcurrent thresholds. For example, such as... Figure 5 As shown, the microcurrent amplitude adjustment method 505 determines the microcurrent amplitude adjustment range 506 through the maximum and minimum microcurrent thresholds 504. For example, assuming the maximum microcurrent threshold is 0.2mA and the minimum microcurrent threshold is 0.1mA, the microcurrent frequency and pulse width are fixed, and the microcurrent amplitude is adjusted. The measurement starts from a microcurrent with an amplitude of 0.1mA and is progressively increased with an accuracy of 0.02mA, resulting in microcurrent amplitude adjustment ranges of 0.1mA, 0.12mA, 0.14mA, 0.16mA, 0.18mA, and 0.2mA. For example, assuming the maximum threshold of the microcurrent is 0.2mA and the minimum threshold of the microcurrent is 0.1mA, the microcurrent frequency and pulse width are fixed, and the microcurrent amplitude is adjusted. The measurement starts from a microcurrent with an amplitude of 0.1mA and is progressively increased with an accuracy of 0.025mA. The resulting microcurrent amplitude adjustment ranges are 0.1mA, 0.122mA, 0.15mA, 0.175mA, and 0.2mA.

[0107] Step 402: Using a neuronal conduction model, determine that the mapping relationship between tactile perception intensity and microcurrent amplitude is linear.

[0108] The neuronal conduction model is used to simulate the effect of microcurrent amplitude on the user's neurons.

[0109] For example, such as Figure 5 As shown, the number of action potentials 501 affects the tactile perception intensity 502. In other words, there is a corresponding relationship between the number of action potentials 501 and the tactile perception intensity.

[0110] Step 403: Obtain the total number of levels of tactile perception intensity.

[0111] The total number of tactile perception intensity levels represents the total number of tactile perception intensity levels. The total number of tactile perception intensity levels is set by the technician. For example, the total number of tactile perception intensity levels is set to 9.

[0112] For example, such as Figure 5 As shown, the total level 503 of tactile perception intensity is determined by the user's tactile perception intensity 502.

[0113] Step 404: Obtain the action potential difference based on the difference between the maximum and minimum number of action potentials.

[0114] The maximum number of action potentials corresponds to the maximum threshold of the microcurrent, and the minimum number of action potentials corresponds to the minimum threshold of the microcurrent. For example, when the maximum threshold of the microcurrent is 1.10mA, the maximum number of action potentials is 10; when the minimum threshold of the microcurrent is 1.00mA, the minimum number of action potentials is 4.

[0115] Optionally, the maximum number of action potentials can be denoted as b, and the minimum number of action potentials can be denoted as a. Then the action potential difference is c = ba.

[0116] Step 405: Based on the ratio of the action potential difference to the total number of stages, obtain the tolerance for the number of action potentials.

[0117] The tolerance of the number of action potentials represents the difference between the number of the i-th action potential and the number of the (i+1)-th action potential, where i is a positive integer less than the total number of levels of tactile perception intensity.

[0118] Optionally, let d denote the tolerance of the number of action potentials and N denote the total number of levels of tactile perception intensity, then d = c / N. Where c represents the difference in action potentials.

[0119] Step 406: Based on the tolerance of the number of action potentials and the arithmetic progression formula, calculate the number of the m-th type of action potentials corresponding to the m-th level of tactile perception intensity.

[0120] The arithmetic progression formula refers to the general term formula in an arithmetic sequence.

[0121] Optionally, let x be the number of the m-th action potential, then we have:

[0122]

[0123] Where m is a positive integer, 1≤m≤N; b is the maximum number of action potentials; a is the minimum number of action potentials; N is the total number of levels of tactile perception intensity; and d is the tolerance of the number of action potentials.

[0124] Step 407: Obtain the difference in microcurrent amplitude based on the difference between the maximum and minimum microcurrent thresholds.

[0125] The maximum number of action potentials corresponds to the maximum threshold of the microcurrent, and the minimum number of action potentials corresponds to the minimum threshold of the microcurrent. For example, when the maximum threshold of the microcurrent is 1.10mA, the maximum number of action potentials is 10; when the minimum threshold of the microcurrent is 1.00mA, the minimum number of action potentials is 4.

[0126] Optionally, the maximum threshold of the microcurrent is denoted as S. max Let the minimum threshold of the microcurrent be denoted as S. min Then there is a difference in the amplitude of the microcurrent S. d =S max -S min .

[0127] Step 408: Based on the ratio of the difference in microcurrent amplitude to the total number of stages, obtain the microcurrent amplitude tolerance.

[0128] The microcurrent amplitude tolerance represents the amplitude difference between the j-th microcurrent amplitude and the (j+1)-th microcurrent amplitude, where j is a positive integer less than the total number of levels of tactile perception intensity.

[0129] Optionally, let p denote the microcurrent amplitude tolerance and N denote the total number of levels of tactile perception intensity, then p = S d / N. Where S d This represents the difference in amplitude of the microcurrent.

[0130] Step 409: Calculate the m-th microcurrent amplitude based on the microcurrent amplitude tolerance and arithmetic progression formula.

[0131] Optionally, let S denote the amplitude of the m-th microcurrent, then we have:

[0132]

[0133] Where m is a positive integer, 1≤m≤N; S max The maximum threshold for microcurrent; S min is the minimum threshold of microcurrent; N is the total number of levels of tactile perception intensity; d is the tolerance of the number of action potentials.

[0134] For example, such as Figure 5 As shown, the correspondence between the number of action potentials and the microcurrent amplitude is obtained by using the tactile sensing intensity 503 and the microcurrent amplitude adjustment range 506.

[0135] It should be noted that steps 404-406 and steps 407-409 are not sequential. You can execute steps 404-406 first and then steps 407-409; or you can execute steps 407-409 first and then steps 404-406; or you can execute steps 404-406 and steps 407-409 simultaneously.

[0136] Step 410: Based on the number of the m-th type of action potential and the amplitude of the m-th type of microcurrent corresponding to the m-th level of tactile perception intensity, determine the correspondence between the tactile feedback levels.

[0137] For example, based on the correspondence between the m-th level of tactile perception intensity and the m-th type of microcurrent amplitude, the tactile feedback grading correspondence is determined in tabular form. The table content can be found in Table 1.

[0138] For example, such as Figure 5 As shown, since there is a correspondence between the number of action potentials 501 and the tactile perception intensity 502, the correspondence between action potentials and current amplitude 507 can be considered as the tactile feedback grading correspondence 508.

[0139] In summary, this embodiment determines the corresponding tactile feedback level for each user by collecting the minimum and maximum microcurrent thresholds. This method takes into account individual differences among users, meets different tactile feedback needs, and allows different users touching the same virtual object to experience the same or similar tactile feedback, achieving intensity-level tactile feedback and improving the user experience.

[0140] In the above embodiments, a method for obtaining the correspondence between virtual reality haptic feedback and haptic feedback hierarchy was given. Since the two methods mentioned above complement each other, they will be introduced in combination in the following embodiments.

[0141] Figure 6 A flowchart illustrating a virtual reality haptic feedback method provided in an exemplary embodiment of this application is shown. This method can be... Figure 1 The computer system 100 shown executes a method comprising the following steps:

[0142] Step 601: Collect the minimum and maximum microcurrent thresholds corresponding to the user.

[0143] The minimum microcurrent threshold is used to represent the microcurrent amplitude that will produce a tactile sensation for the user, while the maximum microcurrent threshold is used to represent the microcurrent amplitude that will cause discomfort to the user.

[0144] Optionally, the microcurrent frequency and pulse width are fixed, while the microcurrent amplitude is adjusted to acquire the minimum and maximum microcurrent thresholds. For example, the microcurrent frequency and pulse width are fixed, while the microcurrent amplitude is adjusted, starting with a microcurrent amplitude of 0.1 mA and progressively increasing in increments of 0.02 mA, allowing the user to judge the microcurrent amplitude that produces a tactile sensation and the microcurrent amplitude that causes discomfort.

[0145] Optionally, when collecting the minimum and maximum microcurrent thresholds for a user, the user is required to meet preset conditions. These preset conditions include at least one of the following: temperature meets preset values, humidity meets preset values, user age meets preset values, user skin dryness meets preset values, and user skin cleanliness meets preset values. For example, the user can wipe their fingers with alcohol before the minimum and maximum microcurrent thresholds to keep their fingers dry.

[0146] For example, Figure 7 A pathway diagram of tactile feedback in the form of microcurrents provided in an exemplary embodiment of this application is shown.

[0147] Step 602: Determine the mapping relationship between tactile perception intensity and microcurrent amplitude using a neuronal conduction model.

[0148] The neuronal conduction model is used to simulate the effect of microcurrent amplitude on the user's neurons.

[0149] Optionally, the mapping relationship is linear. For example, a linear function y = kx + b can be used to represent the mapping relationship between tactile perception intensity and microcurrent amplitude. Here, k and b are real numbers; x represents the microcurrent amplitude; and y represents the tactile perception intensity. In this embodiment, the mapping relationship is confirmed to be linear.

[0150] Step 603: Determine the correspondence between the tactile feedback levels.

[0151] Based on the minimum microcurrent threshold, the maximum microcurrent threshold, and the mapping relationship, the corresponding relationship of tactile feedback levels is determined.

[0152] The tactile feedback grading correspondence represents the relationship between the intensity of the user's tactile perception and the amplitude of the microcurrent.

[0153] Optionally, the total number of levels of tactile perception intensity is obtained; based on the minimum microcurrent threshold, the maximum microcurrent threshold, the total number of levels, and the mapping relationship, the m-th microcurrent amplitude corresponding to the m-th level of tactile perception intensity is calculated; based on the correspondence between the m-th level of tactile perception intensity and the m-th microcurrent amplitude, the tactile feedback grading correspondence is determined.

[0154] Optionally, when there are multiple sets of correspondences in the haptic feedback hierarchy, in response to the interaction with the virtual object, the i-th level haptic perception intensity corresponding to the virtual object is obtained; based on the i-th level haptic perception intensity and the haptic feedback hierarchy correspondence, the i-th level microcurrent form of haptic feedback is output, where i is a positive integer. For example, when the virtual object is a virtual wall in the virtual reality scene, the 4-th level haptic perception intensity corresponding to the virtual wall is obtained, and according to the haptic feedback hierarchy correspondence, the microcurrent amplitude corresponding to the 4-th level haptic perception intensity is determined to be 1.02mA; when the virtual object is a virtual sofa in the virtual reality scene, the 2-th level haptic perception intensity corresponding to the virtual sofa is obtained, and according to the haptic feedback hierarchy correspondence, the microcurrent amplitude corresponding to the 2-th level haptic perception intensity is determined to be 0.96mA.

[0155] Step 604: In response to the start operation, display the virtual reality screen.

[0156] The Start Operation is used to control the virtual reality device to display virtual reality images. The Start Operation is performed by pressing one or more preset physical buttons to control the virtual reality device to display virtual reality images, or it can be performed by generating signals through long press, tap, double tap, and / or swipe on a designated area of ​​the touch screen.

[0157] Virtual reality (VR) visuals are created by combining real-world data with electronic signals generated by computer technology and various output devices to transform them into phenomena that users can perceive. VR visuals possess sensory capabilities, including at least one of the following: hearing, vision, touch, taste, and smell.

[0158] Optionally, a virtual object is at least one of a virtual character, a virtual animal, a virtual item, or a virtual obstacle. For example, a virtual object is a virtual wall in a virtual reality scene.

[0159] Step 605: In response to the movement operation, control the virtual character to move to a position around the virtual object.

[0160] Motion operation is used by a user to control the movement of a virtual character within a virtual reality environment. Optionally, motion operation refers to the user moving within a real-world environment. For example, a user moves within a display environment, the computer system captures the user's movement, and controls the virtual character to move within the virtual reality environment based on this movement.

[0161] Optionally, movement can also be controlled by pressing one or more preset physical buttons to move the virtual character in the virtual reality environment, or movement can be performed by signals generated by long press, tap, double tap and / or swipe on a designated area of ​​the touch screen.

[0162] Step 606: In response to the interactive operation on the virtual object, output tactile feedback in the form of microcurrent based on the hierarchical correspondence of tactile feedback.

[0163] Microcurrent tactile feedback is determined based on the user's tactile sensitivity. The tactile feedback grading correspondence indicates the relationship between the user's tactile perception intensity and the microcurrent amplitude.

[0164] Interactive operations are used by users to control virtual characters to interact with virtual objects in a virtual reality environment. Optionally, the interactive behavior includes at least one of touching, stroking, hitting, patting, grabbing, lifting, attacking, shooting, and moving. For example, a user moves to a preset location in the real environment and touches the object at the preset location. The computer system captures the user's touch behavior and controls the virtual character in the virtual reality environment to touch the virtual object.

[0165] Optionally, the total number of levels of tactile perception intensity can affect the accuracy of tactile feedback in the form of microcurrents, as exemplified in Table 2:

[0166] Table 2. Accuracy of tactile feedback in the form of microcurrent under different total levels of tactile perception intensity.

[0167] Total number of levels of tactile perception intensity accuracy Level 4 92％ Level 5 76.5％ Level 6 64％

[0168] In summary, this embodiment determines the tactile feedback grading for each user by collecting their minimum and maximum microcurrent thresholds. When displaying a virtual reality scene, virtual objects are shown. When a user touches a virtual object in the virtual reality scene, the tactile feedback is determined based on the user's individual tactile feedback grading. This method takes into account individual differences among users, meets their diverse tactile feedback needs, and allows different users touching the same virtual object to experience the same or similar tactile feedback, achieving tiered tactile feedback and improving the user experience.

[0169] Figure 8 An exemplary block diagram of a virtual reality haptic feedback device provided in an exemplary embodiment of this application is shown. The device 800 includes:

[0170] The microcurrent threshold measurement module 801 is used to collect the minimum and maximum microcurrent thresholds corresponding to the user. The minimum microcurrent threshold is used to represent the microcurrent amplitude that will cause the user to feel touch, and the maximum microcurrent threshold is used to represent the microcurrent amplitude that will cause the user to feel discomfort.

[0171] The tactile perception intensity grading module 802 is used to determine the tactile feedback grading correspondence based on the minimum microcurrent threshold, the maximum microcurrent threshold and the mapping relationship, wherein the tactile feedback grading correspondence represents the correspondence between the user's tactile perception intensity and the microcurrent amplitude.

[0172] The tactile feedback grading correspondence conversion module 803 is used to obtain the microcurrent amplitude based on the tactile feedback grading correspondence and tactile perception strength.

[0173] The haptic array 804 is used to output haptic feedback in the form of microcurrent based on the amplitude of microcurrent, so that the user can obtain the corresponding haptic perception intensity.

[0174] In summary, this embodiment determines the tactile feedback grading for each user by collecting their minimum and maximum microcurrent thresholds. When displaying a virtual reality scene, virtual objects are shown. When a user touches a virtual object in the virtual reality scene, the tactile feedback is determined based on the user's individual tactile feedback grading. This method takes into account individual differences among users, meets their diverse tactile feedback needs, and allows different users touching the same virtual object to experience the same or similar tactile feedback, achieving tiered tactile feedback and improving the user experience.

[0175] Figure 9 A schematic diagram of a virtual reality haptic feedback device provided in an exemplary embodiment of this application is shown. The system can be implemented as all or part of a computer device through software, hardware, or a combination of both. The device 900 includes:

[0176] Display module 901 is used to display virtual reality images, the virtual reality images including virtual objects;

[0177] Control module 902 is used to control the virtual character to move to the periphery of the virtual object in response to a movement operation;

[0178] The output module 903 is used to respond to the interactive operation of the virtual object and output tactile feedback in the form of microcurrent based on the hierarchical correspondence of tactile feedback. The tactile feedback in the form of microcurrent is determined according to the user's tactile sensitivity. The correspondence represents the correspondence between the tactile perception intensity applicable to the user and the amplitude of the microcurrent.

[0179] In an optional design of this application, the output module 903 is further configured to, in response to the interactive operation on the virtual object, obtain the nth level tactile perception intensity corresponding to the virtual object; and, based on the correspondence between the nth level tactile perception intensity and the tactile feedback grading, output the tactile feedback in the form of the nth microcurrent amplitude.

[0180] In an optional design of this application, the output module 903 is further configured to, in response to the interactive operation on the virtual object, obtain the nth level of tactile perception intensity corresponding to the virtual object based on the material properties of the virtual object.

[0181] In an optional design of this application, the microcurrent-based tactile feedback is a biphasic pulse current with a positive-to-negative amplitude ratio of a first preset value and a pulse width ratio of a second preset value.

[0182] In summary, this embodiment displays virtual objects when showing virtual reality scenes. When a user touches a virtual object in the virtual reality scene, the system determines the tactile feedback in the form of a microcurrent based on the user's tactile sensitivity. This method takes into account individual differences among users, meets different users' tactile feedback needs, and allows different users touching the same virtual object to experience the same or similar tactile feedback, achieving intensity-graded tactile feedback and improving the user experience.

[0183] Figure 10 A schematic diagram of a haptic feedback gradation correspondence acquisition device provided in an exemplary embodiment of this application is shown. This system can be implemented as all or part of a computer device through software, hardware, or a combination of both. The device 1000 includes:

[0184] The acquisition module 1001 is used to acquire the minimum microcurrent threshold and the maximum microcurrent threshold corresponding to the user. The minimum microcurrent threshold is used to represent the microcurrent amplitude that will cause the user to feel touch, and the maximum microcurrent threshold is used to represent the microcurrent amplitude that will cause the user to feel discomfort.

[0185] The mapping module 1002 is used to determine the mapping relationship between tactile perception intensity and microcurrent amplitude through a neuronal conduction model, wherein the neuronal conduction model is used to simulate the effect of microcurrent amplitude on the user's neurons.

[0186] The calculation module 1003 is used to determine the tactile feedback grading correspondence based on the minimum microcurrent threshold, the maximum microcurrent threshold and the mapping relationship, wherein the tactile feedback grading correspondence represents the correspondence between the tactile perception intensity applicable to the user and the microcurrent amplitude.

[0187] In an optional design of this application, the calculation module 1003 is further configured to obtain the total number of levels of tactile perception intensity; using the minimum microcurrent threshold and the maximum microcurrent threshold as the upper and lower limits of the microcurrent amplitude, and based on the total number of levels and the mapping relationship, calculate the m-th type of microcurrent amplitude corresponding to the m-th level of tactile perception intensity; and determine the tactile feedback grading correspondence based on the correspondence between the m-th level of tactile perception intensity and the m-th type of microcurrent amplitude.

[0188] In an optional design of this application, the calculation module 1003 is further configured to: use the minimum and maximum values ​​of the number of action potentials as the upper and lower limits of the action potentials; and, based on the total number of levels and the linear relationship, calculate the number of the m-th type of action potentials corresponding to the m-th level of tactile perception intensity; and use the minimum and maximum microcurrent thresholds as the upper and lower limits of the microcurrent amplitude; and, based on the total number of levels and the mapping relationship, calculate the m-th type of microcurrent amplitude corresponding to the number of the m-th type of action potentials.

[0189] In an optional design of this application, the calculation module 1003 is further configured to: obtain an action potential difference value based on the difference between the maximum value and the minimum value of the number of action potentials; obtain an action potential number tolerance value based on the ratio of the action potential difference value to the total number of levels, wherein the action potential number tolerance value represents the difference in the number of the i-th action potential and the number of the (i+1)-th action potential, where i is a positive integer less than the total number of levels; and calculate the number of the m-th action potential corresponding to the m-th level of tactile perception intensity based on the action potential number tolerance value and the arithmetic progression formula.

[0190] In an optional design of this application, the calculation module 1003 is further configured to: obtain a microcurrent amplitude difference based on the difference between the maximum microcurrent threshold and the minimum microcurrent threshold; obtain a microcurrent amplitude tolerance based on the ratio of the microcurrent amplitude difference to the total number of stages, wherein the microcurrent amplitude tolerance represents the amplitude difference between the j-th microcurrent amplitude and the (j+1)-th microcurrent amplitude, where j is a positive integer less than the total number of stages; and calculate the m-th microcurrent amplitude corresponding to the number of m-th action potentials based on the microcurrent amplitude tolerance and the arithmetic progression formula.

[0191] In an optional design of this application, the acquisition module 1001 is further configured to fix the microcurrent frequency and microcurrent pulse width, and adjust the microcurrent amplitude to acquire the minimum microcurrent threshold and the maximum microcurrent threshold.

[0192] In summary, this embodiment determines the corresponding tactile feedback level for each user by collecting the minimum and maximum microcurrent thresholds. This method takes into account individual differences among users, meets different tactile feedback needs, and allows different users touching the same virtual object to experience the same or similar tactile feedback, achieving intensity-level tactile feedback and improving the user experience.

[0193] Figure 11 This is a schematic diagram illustrating the structure of a computer device according to an exemplary embodiment. The computer device 1100 includes a Central Processing Unit (CPU) 1101, a system memory 1104 including Random Access Memory (RAM) 1102 and Read-Only Memory (ROM) 1103, and a system bus 1105 connecting the system memory 1104 and the CPU 1101. The computer device 1100 also includes a basic input / output system (I / O system) 1106 to facilitate information transfer between various devices within the computer device, and a mass storage device 1107 for storing an operating system 1113, application programs 1114, and other program modules 1115.

[0194] The basic input / output system 1106 includes a display 1108 for displaying information and an input device 1109 for user input, such as a mouse or keyboard. Both the display 1108 and the input device 1109 are connected to the central processing unit 1101 via an input / output controller 1110 connected to the system bus 1105. The basic input / output system 1106 may also include the input / output controller 1110 for receiving and processing input from multiple other devices such as a keyboard, mouse, or electronic stylus. Similarly, the input / output controller 1110 also provides output to a display screen, printer, or other types of output devices.

[0195] The mass storage device 1107 is connected to the central processing unit 1101 via a mass storage controller (not shown) connected to the system bus 1105. The mass storage device 1107 and its associated computer device-readable media provide non-volatile storage for the computer device 1100. That is, the mass storage device 1107 may include computer device-readable media (not shown), such as a hard disk or a compact disc read-only memory (CD-ROM) drive.

[0196] Without loss of generality, the computer device readable medium may include computer device storage media and communication media. Computer device storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer device readable instructions, data structures, program modules, or other data. Computer device storage media include RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, digital video disc (DVD) or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer device storage media are not limited to the above-mentioned types. The system memory 1104 and mass storage device 1107 described above can be collectively referred to as memory.

[0197] According to various embodiments of this disclosure, the computer device 1100 can also be connected to a remote computer device on a network, such as the Internet. That is, the computer device 1100 can be connected to the network 1111 via a network interface unit 1112 connected to the system bus 1105, or the network interface unit 1112 can be used to connect to other types of networks or remote computer device systems (not shown).

[0198] The memory also includes one or more programs stored in the memory. The central processing unit 1101 executes the one or more programs to implement all or part of the steps of the above-mentioned virtual reality haptic feedback method, or the method for obtaining the hierarchical correspondence of haptic feedback.

[0199] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one instruction, at least one program, code set, or instruction set. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the virtual reality haptic feedback method provided in the above-described method embodiments, or the method for obtaining the hierarchical correspondence of haptic feedback.

[0200] This application also provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the virtual reality haptic feedback method provided in the above method embodiments, or the method for obtaining the hierarchical correspondence of haptic feedback.

[0201] Optionally, this application also provides a computer program product containing instructions that, when run on a computer device, causes the computer device to execute the virtual reality haptic feedback method described in the above aspects, or the method for obtaining the hierarchical correspondence of haptic feedback.

[0202] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0203] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0204] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for obtaining the hierarchical correspondence of tactile feedback, characterized in that, The method includes: The minimum and maximum microcurrent thresholds for each user are collected. The minimum microcurrent threshold represents the microcurrent amplitude that will cause the user to feel a tactile sensation, and the maximum microcurrent threshold represents the microcurrent amplitude that will cause the user discomfort. The mapping relationship between tactile perception intensity and microcurrent amplitude is determined by a neuronal conduction model, which is used to simulate the effect of the microcurrent amplitude on the user's neurons. The total number of levels of tactile perception intensity is obtained, and the tactile perception intensity is represented by the number of action potentials of the user; the mapping relationship is linear. Using the minimum and maximum values ​​of the number of action potentials as the upper and lower limits of the action potentials, and based on the total number of levels and the linear relationship, the number of the m-th type of action potentials corresponding to the m-th level of tactile perception intensity is calculated. Using the minimum microcurrent threshold and the maximum microcurrent threshold as the upper and lower limits of the microcurrent amplitude, and based on the total number of levels and the mapping relationship, calculate the m-th microcurrent amplitude corresponding to the number of m-th action potentials; Based on the correspondence between the m-th level tactile perception intensity and the m-th type of microcurrent amplitude, the tactile feedback grading correspondence is determined, and the tactile feedback grading correspondence represents the correspondence between the tactile perception intensity and the microcurrent amplitude applicable to the user; The tactile feedback grading correspondence is associated with the user, and different users correspond to different tactile feedback grading correspondences.

2. The method according to claim 1, characterized in that, The calculation of the number of the m-th type of action potential corresponding to the m-th level of tactile perception intensity, based on the total number of levels and the linear relationship, using the minimum and maximum values ​​of the number of action potentials as the upper and lower limits of the action potentials, includes: The action potential difference is obtained based on the difference between the maximum value and the minimum value of the number of action potentials. Based on the ratio of the action potential difference to the total number of levels, the action potential number tolerance is obtained. The action potential number tolerance represents the difference between the number of the i-th action potential and the number of the (i+1)-th action potential, where i is a positive integer less than the total number of levels. Based on the tolerance of the number of action potentials and the arithmetic progression formula, the number of the m-th type of action potentials corresponding to the m-th level of tactile perception intensity is calculated.

3. The method according to claim 1, characterized in that, The step of using the minimum and maximum microcurrent thresholds as the upper and lower limits of the microcurrent amplitude, and calculating the m-th microcurrent amplitude corresponding to the number of m-th action potentials based on the total number of levels and the mapping relationship, includes: The difference in microcurrent amplitude is obtained based on the difference between the maximum microcurrent threshold and the minimum microcurrent threshold. Based on the ratio of the microcurrent amplitude difference to the total number of stages, the microcurrent amplitude tolerance is obtained. The microcurrent amplitude tolerance represents the amplitude difference between the j-th microcurrent amplitude and the (j+1)-th microcurrent amplitude, where j is a positive integer less than the total number of stages. Based on the microcurrent amplitude tolerance and arithmetic progression formula, calculate the m-th microcurrent amplitude corresponding to the number of m-th action potentials.

4. The method according to any one of claims 1 to 3, characterized in that, The minimum and maximum microcurrent thresholds for the user are as follows: The minimum and maximum microcurrent thresholds are acquired by fixing the microcurrent frequency and pulse width and adjusting the microcurrent amplitude.

5. A virtual reality haptic feedback method, characterized in that, The method includes: Display virtual reality images, which include virtual objects; In response to a movement operation, the virtual character is controlled to move to a position around the virtual object; In response to interactive operations on the virtual object, based on the hierarchical correspondence of tactile feedback, tactile feedback in the form of microcurrent is output. The microcurrent tactile feedback is determined according to the user's tactile sensitivity. The hierarchical correspondence of tactile feedback represents the correspondence between the tactile perception intensity applicable to the user and the amplitude of the microcurrent. The tactile feedback grading correspondence is determined based on the method described in claim 1.

6. The method according to claim 5, characterized in that, The response to interactive operations on the virtual object, based on the hierarchical correspondence of tactile feedback, outputs tactile feedback in the form of microcurrents, including: In response to the interactive operation on the virtual object, the nth level of tactile perception intensity corresponding to the virtual object is obtained; Based on the correspondence between the nth level of tactile perception intensity and the tactile feedback grading, the tactile feedback in the form of the nth microcurrent amplitude is output.

7. The method according to claim 6, characterized in that, The step of obtaining the nth level of tactile perception intensity corresponding to the virtual object in response to the interaction operation on the virtual object includes: In response to the interactive operation on the virtual object, the nth level of tactile perception intensity corresponding to the virtual object is obtained based on the material properties of the virtual object.

8. The method according to any one of claims 5 to 7, characterized in that, The tactile feedback in the form of microcurrent is a biphasic pulse current with a positive-to-negative amplitude ratio of a first preset value and a pulse width ratio of a second preset value.

9. A device for acquiring the hierarchical correspondence of tactile feedback, characterized in that, The device includes: The acquisition module is used to acquire the minimum microcurrent threshold and the maximum microcurrent threshold corresponding to the user. The minimum microcurrent threshold is used to represent the microcurrent amplitude that will cause the user to feel touch, and the maximum microcurrent threshold is used to represent the microcurrent amplitude that will cause the user to feel discomfort. The mapping module is used to determine the mapping relationship between tactile perception intensity and microcurrent amplitude through a neuronal conduction model, wherein the neuronal conduction model is used to simulate the effect of microcurrent amplitude on the user's neurons; A calculation module is used to obtain the total number of levels of tactile perception intensity, wherein the tactile perception intensity is represented by the number of action potentials of the user; the mapping relationship is a linear relationship; using the minimum and maximum values ​​of the number of action potentials as the upper and lower limits of the action potentials, and based on the total number of levels and the linear relationship, the number of the m-th type of action potentials corresponding to the m-th level of tactile perception intensity is calculated; using the minimum and maximum microcurrent thresholds as the upper and lower limits of the microcurrent amplitude, and based on the total number of levels and the mapping relationship, the m-th type of microcurrent amplitude corresponding to the number of the m-th type of action potentials is calculated; based on the correspondence between the m-th level of tactile perception intensity and the m-th type of microcurrent amplitude, the tactile feedback grading correspondence is determined, wherein the tactile feedback grading correspondence represents the correspondence between the tactile perception intensity and the microcurrent amplitude applicable to the user; The tactile feedback grading correspondence is associated with the user, and different users correspond to different tactile feedback grading correspondences.

10. A virtual reality haptic feedback device, characterized in that, The device includes: A display module is used to display virtual reality images, which include virtual objects. The control module is used to control the virtual character to move to the periphery of the virtual object in response to the movement operation; The output module is used to respond to the interactive operation of the virtual object and output tactile feedback in the form of microcurrent based on the hierarchical correspondence of tactile feedback. The tactile feedback in the form of microcurrent is determined according to the user's tactile sensitivity. The correspondence represents the relationship between the user's tactile perception intensity and the amplitude of the microcurrent. The tactile feedback grading correspondence is determined based on the method described in claim 1.

11. A computer device, characterized in that, The computer device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the method for obtaining the hierarchical correspondence of haptic feedback as described in any one of claims 1 to 4, or the virtual reality haptic feedback method as described in any one of claims 5 to 8.

12. The computer device according to claim 11, characterized in that, The computer device includes a terminal and a current output device, which are connected via a wired data cable or a wireless network. The current output device is used to output tactile feedback in the form of microcurrent.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the method for obtaining the hierarchical correspondence of haptic feedback as described in any one of claims 1 to 4, or the virtual reality haptic feedback method as described in any one of claims 5 to 8.

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