Method and apparatus for providing virtual haptics

Abstract

This disclosure relates to a method and apparatus for providing virtual haptic feedback, as well as a finger sleeve and electronic skin. The method includes: acquiring haptic information for various virtual haptic rendering points of a virtual haptic rendering array, wherein each haptic rendering point includes a stimulation electrode and an inhibition electrode disposed around the stimulation electrode; based on the haptic information of the various virtual haptic rendering points, determining, for each of the various haptic rendering points, a stimulation current for the stimulation electrode and an inhibition current for the inhibition electrode of the haptic rendering point, wherein the stimulation current and the inhibition current flow in opposite directions; and applying the corresponding stimulation current and inhibition current to the respective haptic rendering points to provide virtual haptic feedback through the respective haptic rendering points. This disclosure can significantly improve the accuracy of virtual haptic rendering.

Description

Technical Field

[0001] This disclosure relates to the field of virtual reality, and more specifically, to a method and apparatus for providing virtual haptic feedback, as well as a finger sleeve and electronic skin. Background Technology

[0002] With the rapid development of information technology and virtual reality (VR) technology, VR technology has been widely applied in fields such as computer-aided design and manufacturing, virtual assembly, teleoperation, education, entertainment, and healthcare. However, current human-computer interaction is mainly focused on audiovisual perception, lacking tactile information interaction that is readily available in daily life. This results in insufficient interactive stimulation modes and a lack of immersion in applications such as virtual reality and robot control. Adding virtual haptic feedback to VR technology represents another major breakthrough.

[0003] Touch is the largest sensory organ in the human body, helping users perceive complex and diverse external information such as shape, size, length, and weight. Therefore, touch is another important human sensory organ besides vision and hearing. Adding haptic rendering to virtual reality can enhance immersion and make the virtual world more realistic. Besides its applications in virtual reality technology, haptic rendering also has broad prospects in electronic touchscreens, human-computer interaction, and telemedicine.

[0004] There are various ways to achieve virtual haptic rendering (also known as virtual haptic display), but they can generally be categorized as follows: electrical stimulation, mechanical stimulation, fluid stimulation, and combinations of electrical and mechanical stimulation. However, virtual haptic feedback technology is still immature, and each method has its shortcomings. For example, devices based on mechanical stimulation to generate virtual haptic feedback are bulky, expensive, and inconvenient to wear. Devices based on electrical stimulation to generate virtual haptic feedback are simpler, lighter, more flexible, and less expensive than mechanical stimulation devices. Electrical stimulation haptic feedback has many advantages over other stimulation methods, but many problems still need to be solved.

[0005] Current research on electrical stimulation largely focuses on how to achieve various tactile sensations (pressure, vibration, and texture, etc.) through the design of stimulation arrays and the application of stimulation current modes. There is limited exploration into how to achieve high-precision, point-to-point virtual tactile generation. A stimulation array and method capable of high-precision point-to-point tactile rendering is lacking, as there is a high demand for this technology in applications such as virtual reality, human-computer interaction, and telemedicine. Therefore, designing a microcurrent virtual tactile feedback array and electrical stimulation method capable of achieving high-precision point-to-point virtual tactile generation is crucial for advancing virtual tactile technology. Summary of the Invention

[0006] This disclosure provides a method and apparatus for providing virtual haptic feedback, as well as a finger sleeve and electronic skin. Furthermore, this disclosure takes into account the minimum threshold of human tactile perception and the maximum current intensity that the human body can tolerate. Therefore, this disclosure not only achieves high-precision virtual haptic rendering effects but also ensures safety during use and individual adaptability.

[0007] Embodiments of this disclosure provide a method for providing virtual haptic feedback, comprising: acquiring haptic information of various virtual haptic rendering points for a virtual haptic rendering array, wherein each haptic rendering point includes a stimulation electrode and an inhibition electrode disposed around the stimulation electrode; based on the haptic information of the various virtual haptic rendering points, determining, for each of the various haptic rendering points, a stimulation current for the stimulation electrode and an inhibition current for the inhibition electrode of the haptic rendering point, wherein the stimulation current and the inhibition current flow in opposite directions; and applying corresponding stimulation current and inhibition current to the various haptic rendering points to provide virtual haptic feedback through the various haptic rendering points.

[0008] Optionally, determining the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for the tactile rendering point further includes: based on the minimum sensing threshold current, the maximum sensing threshold current, and the tactile information of each tactile rendering point, determining the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for each tactile rendering point, wherein the minimum sensing threshold corresponds to the minimum stimulation current when the tactile sensor can recognize the virtual touch, and the maximum sensing threshold corresponds to the maximum stimulation current when the tactile sensor feels pain.

[0009] Optionally, determining the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for the tactile rendering point further includes: determining the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for the tactile rendering point based on at least one of the structural information and position information corresponding to each virtual tactile rendering point, wherein the structural information corresponding to each virtual tactile rendering point includes at least one of the following: the shape of the stimulation electrode, the shape of the inhibition electrode, and the interval between the stimulation electrode and the inhibition electrode, wherein the position information corresponding to each virtual tactile rendering point includes at least one of the following: the distance between adjacent virtual tactile rendering points, and the position of the virtual tactile rendering point in the virtual rendering array.

[0010] Optionally, determining the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for the tactile rendering point further includes determining at least one of the following: amplitude, pulse width, frequency, timing, waveform, application mode, start time, and end time.

[0011] Optionally, the application mode includes: a first application mode, wherein the first application mode indicates that for each tactile virtual rendering point, the inhibition current and the stimulation current are simultaneously applied to the inhibition electrode and the stimulation electrode of the tactile virtual rendering point; and a second application mode, wherein the second application mode indicates that for each tactile virtual rendering point, the stimulation current and the inhibition current are sequentially applied to the stimulation electrode and the inhibition electrode of the tactile virtual rendering point, respectively.

[0012] Optionally, determining the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for each virtual haptic rendering point based on at least one of the structural information and position information corresponding to each virtual haptic rendering point further includes: determining the amplitude of the stimulation current and inhibition current corresponding to the virtual haptic rendering points in the virtual haptic rendering array in an increasing or decreasing manner along the row direction; or determining the amplitude of the stimulation current and inhibition current corresponding to the virtual haptic rendering points in the virtual haptic rendering array in an increasing manner along the column direction.

[0013] Optionally, the plurality of virtual haptic rendering points are arranged into a matrix comprising M rows and N columns, where M and N are both integers greater than 1. Determining the stimulation current of the stimulation electrode and the suppression current of the suppression electrode for the virtual haptic rendering point located in the i-th row and j-th column includes: setting the amplitude I of the stimulation current... sti Determined as: The amplitude I of the suppression current sup Determined as: Among them, I min I is the amplitude of the minimum sensing threshold current. maxH represents the amplitude of the highest sensing threshold current, K is the interval between the stimulating and inhibiting electrodes, and H is the amplitude of the highest sensing threshold current. ij This is the current amplitude adjustment coefficient for the tactile information indication of the virtual tactile rendering point.

[0014] Embodiments of this disclosure provide an apparatus for providing virtual haptic feedback, comprising: a virtual haptic rendering array including a plurality of virtual haptic rendering points, each haptic rendering point including a stimulation electrode and an inhibition electrode disposed around the stimulation electrode; and a driving module configured to provide a stimulation current to the stimulation electrode of each virtual haptic rendering point and an inhibition current to the inhibition electrode to provide the virtual haptic feedback.

[0015] Optionally, the above device further includes: a drive control module configured to acquire tactile information for the plurality of tactile rendering points, and based on the tactile information of the plurality of tactile rendering points, determine the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for each of the plurality of tactile rendering points.

[0016] Optionally, the plurality of virtual haptic rendering points are arranged into a matrix comprising M rows and N columns, where M and N are both integers greater than 1. For each haptic rendering electrode, the inhibition electrode is spaced apart from the stimulation electrode by a first distance, and each virtual haptic rendering point is spaced apart by a second distance, the second distance being greater than the first distance.

[0017] Optionally, the stimulating electrode is a circular electrode with a diameter of a first length or a rounded square electrode with a side length of a first length, and the inhibiting electrode is a circular annular electrode, a fan-shaped annular electrode, or a rounded square annular electrode with a ring width of a second length.

[0018] Optionally, the amplitude, pulse width, frequency, and timing of the stimulation current and inhibition current are set at least in part based on the minimum sensing threshold current, the maximum sensing threshold current, and the first distance, and the stimulation current and inhibition current flow in opposite directions to provide a virtual tactile sensation concentrated below the stimulation electrode and the diffusion of the virtual tactile sensation is suppressed, wherein the minimum sensing threshold corresponds to the minimum stimulation current at which the tactile sensor can recognize the virtual tactile sensation, and the maximum sensing threshold corresponds to the maximum stimulation current at which the tactile sensor feels pain.

[0019] Optionally, for each tactile virtual rendering point, the inhibition current and the stimulation current are simultaneously applied to the inhibition electrode and the stimulation electrode of the tactile virtual rendering point, or the stimulation current and the inhibition current are applied sequentially to the stimulation electrode and the inhibition electrode of the tactile virtual rendering point, respectively.

[0020] In addition, this disclosure also provides a finger sleeve, which includes the above-described device for providing virtual haptic feedback, wherein, during the process of providing virtual haptic feedback, the fingertip covers the virtual haptic rendering array in the device with the fingertip thread as the center.

[0021] Furthermore, this disclosure also provides an electronic skin that includes the aforementioned device for providing virtual tactile sensation, wherein, during the provision of virtual tactile sensation, a portion of the skin of the tactile sensor comes into contact with a virtual tactile rendering array in the device.

[0022] In addition, this disclosure provides a computer-readable storage medium having driver instructions stored thereon, which, when executed or loaded, provide the above-described method.

[0023] According to another aspect of this disclosure, a computer program product or computer program is provided, which includes instructions stored in a computer-readable storage medium, wherein the above-described method is provided when the instructions are executed or loaded.

[0024] The embodiments of this disclosure limit the virtual tactile stimulation perceived by the human body to a specific spatial range by setting stimulation electrodes and inhibition electrodes, thereby significantly improving the spatial resolution of virtual tactile rendering. This disclosure further considers the minimum threshold of human tactile perception and the current intensity that the human body can tolerate. Therefore, this disclosure not only achieves high-precision virtual tactile rendering effects but also ensures safety during use and individual adaptability. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0026] In the attached image:

[0027] Figure 1A A schematic diagram of an apparatus for providing virtual haptic feedback according to an embodiment of the present disclosure is shown.

[0028] Figure 1B A schematic diagram of a method for providing virtual haptic feedback according to an embodiment of the present disclosure is shown.

[0029] Figure 2 A partially enlarged schematic diagram of a virtual haptic rendering array according to an embodiment of the present disclosure is shown, including rounded square-shaped stimulation electrodes and annular-shaped inhibition electrodes.

[0030] Figure 3 A partially enlarged schematic diagram of a virtual haptic rendering array according to an embodiment of the present disclosure is shown, including rounded square-shaped stimulation electrodes and fan-shaped inhibition electrodes.

[0031] Figure 4 A partially enlarged schematic diagram of a virtual haptic rendering array according to an embodiment of the present disclosure is shown, including circular stimulation electrodes and annular inhibition electrodes.

[0032] Figure 5 A partially enlarged schematic diagram of a virtual haptic rendering array according to an embodiment of the present disclosure is shown, including circular stimulation electrodes and fan-shaped inhibition electrodes.

[0033] Figure 6 A schematic diagram illustrating the flow of microcurrents within the skin of a tactile receptor according to an embodiment of the present disclosure is shown.

[0034] Figure 7 A schematic diagram showing the determination of the stimulation current of the stimulation electrode and the suppression current of the suppression electrode for each tactile rendering point according to an embodiment of the present disclosure is shown.

[0035] Figure 8 The distribution of haptic rendering points in a finger sleeve according to an embodiment of the present disclosure is shown.

[0036] Figure 9 Schematic diagrams of different application modes according to embodiments of the present disclosure are shown. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this disclosure more apparent, exemplary embodiments according to this disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments of this disclosure. It should be understood that this disclosure is not limited to the exemplary embodiments described herein.

[0038] Furthermore, in this specification and the accompanying drawings, steps and elements that are substantially the same or similar are indicated by the same or similar reference numerals, and repeated descriptions of these steps and elements will be omitted.

[0039] Furthermore, in this specification and accompanying drawings, elements are described in singular or plural forms according to embodiments. However, the singular and plural forms have been suitably chosen for the presented cases merely for ease of explanation and are not intended to limit this disclosure. Thus, a singular form may include a plural form, and a plural form may include a singular form, unless the context clearly indicates otherwise.

[0040] Furthermore, the terms "first" and "second" used in this specification and drawings are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the invention described herein can be implemented in an order other than that illustrated or described herein.

[0041] Furthermore, the terms "upper," "lower," "vertical," and "horizontal," which relate to orientation or positional relationships, are used in this specification and accompanying drawings only for the convenience of describing embodiments according to this disclosure and are not intended to limit this disclosure. Therefore, they should not be construed as limiting this disclosure.

[0042] Furthermore, in this specification and accompanying drawings, unless otherwise expressly stated, "connection" does not necessarily mean "direct connection" or "direct contact." Here, "connection" can mean both a fixing function and electrical connection.

[0043] As an example, this disclosure can be applied to the field of intelligent sensors combined with Artificial Intelligence (AI). Artificial intelligence is the theory, methods, technology, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results. In other words, artificial intelligence is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce a new kind of intelligent machine that can react in a way similar to human intelligence. Artificial intelligence also studies the design principles and implementation methods of various intelligent machines, enabling them to possess the functions of perception, reasoning, and decision-making.

[0044] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, including both hardware and software technologies. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies primarily include computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0045] Currently, with the research and advancement of artificial intelligence (AI) technology, AI is being researched and applied in various fields, such as smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, autonomous driving, drones, robots, smart healthcare, and smart customer service. Leveraging AI's perception, reasoning, and decision-making capabilities, AI has been combined with various types of robots and applied to smart agriculture, smart factories, and smart warehousing, aiming to replace human labor in performing desired operations on various objects in these fields (e.g., moving objects to their destinations), significantly improving the level of automation and reducing human resource costs.

[0046] Embodiments of this disclosure provide a method for providing virtual haptic feedback, comprising: acquiring haptic information of various virtual haptic rendering points for a virtual haptic rendering array, wherein each haptic rendering point includes a stimulation electrode and an inhibition electrode disposed around the stimulation electrode; based on the haptic information of the various virtual haptic rendering points, determining, for each of the various haptic rendering points, a stimulation current for the stimulation electrode and an inhibition current for the inhibition electrode of the haptic rendering point, wherein the stimulation current and the inhibition current flow in opposite directions; and applying corresponding stimulation current and inhibition current to the various haptic rendering points to provide virtual haptic feedback through the various haptic rendering points.

[0047] Embodiments of this disclosure also provide an apparatus for providing virtual haptic feedback, comprising: a virtual haptic rendering array including a plurality of virtual haptic rendering points, each haptic rendering point including a stimulation electrode and an inhibition electrode disposed around the stimulation electrode; and a driving module configured to provide a stimulation current to the stimulation electrode of each virtual haptic rendering point and an inhibition current to the inhibition electrode to provide the virtual haptic feedback.

[0048] Therefore, the embodiments of this disclosure, by setting stimulation electrodes and inhibition electrodes, limit the virtual tactile stimulation felt by the human body to a specific range, thereby significantly improving the spatial resolution of virtual tactile rendering. This disclosure further considers the minimum threshold of human tactile perception and the current intensity that the human body can tolerate. Thus, this disclosure not only achieves high-precision virtual tactile rendering effects but also ensures safety during use and individual adaptability.

[0049] The following combination Figures 1A to 5 To describe example methods and example apparatus according to embodiments of the present disclosure. Figure 1A A schematic diagram of a device 100 for providing virtual haptic feedback according to an embodiment of the present disclosure is shown. Figure 1B A schematic diagram of a method 1000 for providing virtual haptic feedback according to an embodiment of the present disclosure is shown. Figures 2 to 5A schematic diagram showing a partial magnification of different examples of a virtual haptic rendering array 101 according to an embodiment of the present disclosure is provided.

[0050] Further, refer to Figure 1A This illustrates an example of a virtual haptic rendering array. For example... Figure 1A As shown, the device 100 for providing virtual haptic feedback includes a virtual haptic rendering array 101 and a driving module 102. The virtual haptic rendering array 101 includes a plurality of virtual haptic rendering points, each haptic rendering electrode including a stimulation electrode (shown as a white square) and an annular inhibition electrode (shown as a white ring) disposed around the stimulation electrode. The driving module 102 is configured to provide a stimulation current to the stimulation electrode of each virtual haptic rendering point and an inhibition current to the inhibition electrode to provide the virtual haptic feedback. Those skilled in the art will understand that although the stimulation electrode is shown as a white square and the inhibition electrode as a white ring, the shapes of the stimulation and inhibition electrodes can also be other shapes. For example, the stimulation current and the inhibition current flow in opposite directions to provide virtual haptic feedback concentrated below the stimulation electrode and the diffusion of the virtual haptic feedback is suppressed.

[0051] For example, such as Figure 1A As shown, the plurality of virtual haptic rendering points are arranged in a matrix comprising M rows and N columns, where M and N are both integers greater than 1. Optionally, for each haptic rendering electrode, the inhibition electrode is spaced apart from the stimulation electrode by a first distance. Each virtual haptic rendering point is spaced apart by a second distance, which is greater than the first distance. Those skilled in the art will understand that although the plurality of virtual haptic rendering points are arranged in a matrix comprising M rows and N columns, the number of virtual haptic rendering points in each row may be less than N, and the number of virtual haptic rendering points in each column may be less than M; this disclosure is not limited thereto. The following references... Figures 2 to 5 Examples of the first and second distances are shown.

[0052] For example, such as Figure 2 As shown, the stimulating electrode is a rounded square electrode with a side length of a first length, and the inhibiting electrode is a circular electrode with a ring width of a second length. Optionally, as... Figure 3As shown, when the stimulating electrode is a rounded square electrode with a side length of the first length, the inhibiting electrode can also be a fan-shaped annular electrode with a ring width of the second length. A right-angled square stimulating electrode tends to accumulate a higher charge density at the right angles, thus causing the tactile receptor to experience stronger discomfort at these angles when providing virtual tactile sensation. A rounded square stimulating electrode, compared to a right-angled square stimulating electrode, can reduce the current density at the corners, thereby increasing the tactile receptor's experience. Optionally, in such a case, the first length is 0.89 mm, the second length is 0.3 mm, the first distance is 0.4 mm, and the second distance is 2 mm. Those skilled in the art should understand that the above values ​​are merely examples, and this disclosure is not limited thereto.

[0053] For example, such as Figure 4 As shown, the stimulating electrode is a circular electrode with a diameter of a first length, and the inhibiting electrode is a ring-shaped electrode with a ring width of a second length. Optionally, as... Figure 5 As shown, when the stimulating electrode is a circular electrode with a diameter of a first length, the inhibiting electrode can also be a fan-shaped annular electrode with a ring width of a second length. Optionally, in such a case, the first length is 1 mm, the second length is 0.4 mm, the first distance is 0.4 mm, and the second distance is 2 mm. Those skilled in the art should understand that the above values ​​are merely examples, and this disclosure is not limited thereto.

[0054] Those skilled in the art will understand that the above selections are merely examples, and the stimulating electrode can also be composed of multiple small circular / dot-shaped / small square sub-electrodes, thereby further improving the accuracy of the stimulating current. Similarly, the inhibiting electrode can also be composed of multiple small circular / dot-shaped / small square electrodes surrounding the stimulating electrode. Furthermore, an inhibiting electrode can be arranged around multiple stimulating electrodes to save costs. In some cases, even the same virtual haptic rendering array can include stimulating electrodes and / or inhibiting electrodes of different shapes. This disclosure does not further limit the shape of the stimulating and inhibiting electrodes.

[0055] Those skilled in the art will understand that different shapes of the stimulating and / or inhibiting electrodes often lead to different rendering effects of virtual haptics. That is, the shape of the stimulating electrode, the shape of the inhibiting electrode, the spacing between the stimulating and inhibiting electrodes, and even the first distance, second distance, first length, and second length, all affect the rendering effect of virtual haptics. Therefore, optionally, this disclosure will determine the stimulating current and inhibiting current based on the structural information corresponding to each virtual haptic rendering point. References will follow. Figures 7 to 9 The impact of the structural and positional information corresponding to each virtual haptic rendering point on the rendering effect of virtual haptics will not be elaborated further here.

[0056] Optionally, the device 100 providing virtual haptic feedback may further include a drive control module 103 configured to acquire haptic information for the plurality of haptic rendering points, and based on the haptic information of the plurality of haptic rendering points, determine the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for each of the plurality of haptic rendering points.

[0057] like Figure 1B As shown, the method 1000 for providing virtual haptic feedback according to embodiments of this disclosure can generate virtual haptic feedback, for example, through a virtual haptic rendering array 101. In some examples, the virtual haptic rendering array 101 in the device 100 may be included on a finger sleeve or electronic skin to provide virtual haptic feedback.

[0058] For example, method 1000 includes steps S1001 to S1003. In step S1001, tactile information for each virtual tactile rendering point of a virtual tactile rendering array is acquired, wherein each tactile rendering point includes a stimulation electrode and an inhibition electrode disposed around the stimulation electrode. In step S1002, based on the tactile information of each virtual tactile rendering point, for each of the tactile rendering points, a stimulation current for the stimulation electrode and an inhibition current for the inhibition electrode are determined, wherein the stimulation current and the inhibition current flow in opposite directions. In step S1003, the corresponding stimulation current and inhibition current are applied to each tactile rendering point to provide virtual tactile sensation through each tactile rendering point.

[0059] For example, in step S1001, the tactile information of each virtual tactile rendering point in the virtual tactile rendering array indicates relevant information about the virtual tactile sensation that the virtual tactile rendering point should provide, such as pressure sensation, vibration sensation, and texture sensation. Different tactile information corresponds to different modes of stimulation current and inhibition current. In some cases, the determination of tactile information is at least partially based on artificial intelligence and / or neural networks, which adaptively determine the relationship between the virtual tactile sensation to be rendered and the tactile information based on an individual's perception of touch. This disclosure does not limit how tactile information is obtained.

[0060] For example, if the tactile information indicates that a tingling sensation is to be provided to the tactile receptor, the corresponding stimulating and inhibiting currents can be square waves with higher voltage amplitudes and higher frequencies. If the tactile information indicates that a texture sensation is to be provided to the tactile receptor, the stimulating and inhibiting currents at virtual tactile rendering points located at different locations may differ, thereby simulating the texture of a material. This disclosure does not impose further limitations on the tactile information, as long as it can simulate a variety of different tactile sensations.

[0061] Optionally, as described above, different tactile information corresponds to different modes of stimulation current and inhibition current. In step S1002, examples of determining the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for the tactile rendering point include: determining at least one of the following characteristics corresponding to the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode: amplitude, pulse width, frequency, timing, waveform, application mode, start time, and end time. Those skilled in the art should understand that tactile information can be used not only to determine the above-described characteristics of the stimulation current / inhibition current, but also to determine more or fewer characteristics of the stimulation current / inhibition current, and this disclosure is not limited thereto.

[0062] For example, the application modes corresponding to the stimulation current / inhibition current include: a first application mode, which indicates that for each tactile virtual rendering point, the inhibition current and the stimulation current are simultaneously applied to the inhibition electrode and the stimulation electrode of the tactile virtual rendering point; and a second application mode, which indicates that for each tactile virtual rendering point, the stimulation current and the inhibition current are sequentially applied to the stimulation electrode and the inhibition electrode of the tactile virtual rendering point, respectively. Those skilled in the art should understand that the application modes corresponding to the stimulation current / inhibition current may also include more or fewer application modes, for example, applying only the stimulation current, applying only the inhibition current, etc., and this disclosure is not limited thereto.

[0063] In step S1003, the stimulation current and inhibition current corresponding to the tactile information can be applied to the stimulation electrode and inhibition electrode of each virtual tactile rendering point in the device 100. The stimulation current and inhibition current flow in opposite directions, thereby significantly improving the accuracy of virtual tactile rendering. (Refer to...) Figure 6 To further explain the principle of improving the accuracy of virtual rendering haptic feedback through the cooperation of stimulating and inhibiting currents, this disclosure will not elaborate further here.

[0064] Therefore, the embodiments of this disclosure, by setting stimulation electrodes and inhibition electrodes, limit the virtual tactile stimulation perceived by the human body to a specific range, thereby significantly improving the spatial resolution of virtual tactile rendering. Furthermore, this disclosure further considers the minimum threshold of human tactile perception and the current intensity that the human body can tolerate. Thus, this disclosure not only achieves high-precision virtual tactile rendering effects but also ensures safety and human adaptability during use. References will follow. Figure 7 The details of how to determine the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for the tactile rendering point will not be repeated here.

[0065] Next, refer to Figure 6 To illustrate the principles of this disclosure. Figure 6 A schematic diagram of the flow of microcurrent within the skin of a tactile receptor according to an embodiment of the present disclosure is shown, illustrating a vertical cross-section of the device 100 in operation.

[0066] As an example, the drive module provides a stimulating current to the stimulating electrodes. Optionally, the stimulating current is delivered to the tactile receptor in the form of a microcurrent. This microcurrent is transmitted from the epidermis to the dermis through the contact point between the skin and the stimulating electrodes, allowing the tactile receptor to experience virtual touch. The epidermis is the outermost layer of the skin, composed of the stratum corneum, stratum lucidum, stratum granulosum, stratum spinosum, and stratum basale from the outside in. It contains no blood vessels but has free nerve endings. The epidermis, dermis, and subcutaneous tissue can be equivalently considered as a resistor with a very high resistance. However, after the microcurrent is delivered to the dermis, due to the network of connections between neurons, the microcurrent will diffusely conduct in the dermis and gradually propagate to the subcutaneous tissue. Therefore, not only can the skin and the contact point of the stimulation electrode feel virtual touch, but neurons near the contact point may also be affected by electrical impulses, thus enabling the touch sensor to feel virtual touch.

[0067] For example, if a device 100 providing virtual tactile sensation attempts to provide a tactile user with the sensation of being pricked by a needle, assuming only stimulating electrodes are present and only stimulating currents are supplied to them, the nervous system will interpret the provided virtual tactile sensation as a prick of the needle in the vicinity of the contact point, making it difficult to distinguish the specific location of the prick.

[0068] To this end, as an example, the drive module 102 also provides a suppressive current to the suppressive electrode, and the direction of the stimulation current is opposite to that of the suppressive current. Thus, the microcurrents diffusing in the dermis and subcutaneous tissue are guided back to the suppressive electrode, thereby suppressing the diffusion of virtual tactile sensation. Consequently, the human nervous system interprets this virtual tactile sensation as a needle prick only below the stimulation electrode, thus improving the precision of the virtual tactile sensation.

[0069] Therefore, by providing a stimulation current and an inhibition current flowing in opposite directions, this disclosure provides a virtual haptic sensation concentrated below the stimulation electrode, and the diffusion of the virtual haptic sensation is suppressed within the space defined by the inhibition electrode, thereby significantly improving the spatial resolution of virtual haptic rendering.

[0070] This disclosure further takes into account the minimum threshold of human tactile perception, the current intensity that the human body can tolerate, and the distribution of human tactile receptors. Therefore, this disclosure can not only achieve high-precision virtual tactile rendering effects, but also ensure safety during use.

[0071] Next, refer to Figures 7 to 9 This disclosure explains how the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode are determined for each tactile rendering point. Figure 7 A schematic diagram showing the determination of the stimulation current of the stimulation electrode and the suppression current of the suppression electrode for each tactile rendering point according to an embodiment of the present disclosure is shown. Figure 8 The distribution of haptic rendering points in a finger sleeve according to an embodiment of the present disclosure is shown. Figure 9 Schematic diagrams of different application modes according to embodiments of the present disclosure are shown.

[0072] like Figure 7 As shown, method 1000 or apparatus 100 determines the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for each virtual tactile rendering point based on the tactile information of each virtual tactile rendering point. As described above, the tactile information indicates the relevant information of the virtual tactile sensation that the virtual tactile rendering point should provide, such as pressure, vibration, and texture sensations. Furthermore, the tactile information of each tactile rendering point will further provide information on the amplitude, pulse width, frequency, timing, waveform, application mode, start time, and end time of the stimulation and inhibition currents of each tactile rendering point. For example, if the tactile information indicates providing a tingling sensation to the tactile receptor, the corresponding stimulation and inhibition currents can be square waves with higher voltage amplitudes and higher frequencies. If the tactile information indicates providing a texture sensation to the tactile receptor, the start and end times and waveforms of the stimulation and inhibition currents at different locations of the virtual tactile rendering points may differ, thereby simulating the texture of the material. This disclosure does not impose further limitations on the tactile information, as long as it can simulate a variety of different tactile sensations.

[0073] However, different tactile receptors often perceive the same stimulating and inhibiting currents differently. Therefore, the stimulating and inhibiting currents can be adjusted / calibrated for different tactile receptors. For example, different tactile receptors may have different sensory thresholds, so the stimulating and inhibiting currents can be further adjusted / calibrated based on these different sensory thresholds.

[0074] For example, such as Figure 7As shown, optionally, given the known sensory threshold of the tactile receptor, method 1000 or device 100 may further determine, based on the minimum sensory threshold current, the maximum sensory threshold current, and the tactile information of each tactile rendering point, the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for each tactile rendering point. The minimum sensory threshold corresponds to the minimum stimulation current at which the tactile receptor can recognize virtual touch, and the maximum sensory threshold corresponds to the maximum stimulation current at which the tactile receptor feels pain.

[0075] Optionally, determining the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for the haptic rendering point refers to determining at least one of the following: amplitude, pulse width, frequency, timing, waveform, application mode, start time, and end time. Optionally, the application mode includes: a first application mode, indicating that for each haptic virtual rendering point, the inhibition current and the stimulation current are simultaneously applied to the inhibition electrode and the stimulation electrode of the haptic virtual rendering point; and a second application mode, indicating that for each haptic virtual rendering point, the stimulation current and the inhibition current are sequentially applied to the stimulation electrode and the inhibition electrode of the haptic virtual rendering point, respectively.

[0076] For example, furthermore, in the case of an unknown tactile sensory threshold, the tactile sensory threshold can be further tested. See next. Figure 8 To further describe the scheme for calibrating the minimum and maximum sensory threshold currents of a tactile receptor. Optionally, the device 100 may be placed within a finger sleeve according to an embodiment of the present disclosure. The tactile receptor places their fingertips over the virtual tactile rendering array of the device 100, centered on the fingertip threads. Figure 8 Two different virtual haptic rendering arrays, A and B, are shown as examples.

[0077] For example, in some cases, a finger cot equipped with a virtual haptic rendering array A can be used to test the minimum and maximum sensory threshold currents of a tactile receptor. As an example, the drive control module 103 can be a Master-9 voltage signal generator, which determines the frequency and pulse width of two voltage signals corresponding to the stimulation and inhibition currents based on tactile information. The drive control module 103 then sends these two voltage signals to the drive module 102. The drive module 102 is an ISO-Flex signal converter, which converts the two voltage signals into two constant current signals corresponding to the stimulation and inhibition currents, respectively, and then provides these constant current signals to the tactile receptor.

[0078] During calibration or actual use, the tactile sensor can wipe their fingers with alcohol to ensure they are dry and clean, preventing sweat and other foreign matter from affecting the testing of the minimum and maximum sensing threshold currents. The tactile sensor wears a blindfold to reduce interference from external information on their virtual tactile sensation. Next, electrode pads are attached to the back of the tactile sensor's fingers as ground electrodes. The tactile sensor places their fingertip on the virtual tactile rendering array, centering on the fingertip's thread, ensuring the finger completely covers it. Figure 8 The virtual haptic rendering array A shown has five virtual haptic rendering points, or the virtual haptic rendering array B has nine virtual haptic rendering points. Figure 8 In the diagram, the stimulating electrode is indicated by a black rounded square or a black circle, and the inhibiting electrode is indicated by a black ring.

[0079] Next, with the frequency and pulse width of the current fixed, the amplitude is adjusted, starting with a microcurrent of 0.1 mA and gradually increasing in increments of 0.02 mA, until the amplitude I of the lowest sensing threshold current is found. min The amplitude I of the highest sensing threshold current max The minimum sensory threshold corresponds to the minimum stimulus current at which a tactile receptor can recognize virtual touch, and the maximum sensory threshold corresponds to the maximum stimulus current at which a tactile receptor experiences pain. Therefore, the amplitude I of the minimum sensory threshold current can be... min The amplitude I of the highest sensing threshold current max This serves as reference / calibration information for subsequent rendering of virtual haptics.

[0080] For example, it can be further based on the amplitude I of the lowest sensing threshold current. min The amplitude I of the highest sensing threshold current max To set the reference amplitude I of the stimulation current and inhibition current for each virtual haptic rendering point. Base For example, the reference amplitude I Base The amplitude I can be set to the minimum sensing threshold current. min And the amplitude I of the highest sensing threshold current max The mean, that is, I Base =0.5×(I min +I max Those skilled in the art should understand the reference amplitude I. Base It can also be set to other values, and this disclosure is not limited thereto. Reference amplitude I Base It can be used to adjust / calibrate the stimulation current and inhibition current. For example, if tactile information indicates the current amplitude adjustment factor H corresponding to the tactile rendering point (i, j) when rendering a certain tactile sensation. ij Then the amplitude of the stimulation current corresponding to the tactile rendering point can be I.sti =I Base ×H ij The suppression current amplitude can be Optionally, when the suppression current amplitude I sti The amplitude of the stimulation current I sup of At this time, controlling the diffusion of the stimulation current is most effective and can effectively suppress the diffusion of virtual haptic sensation. Of course, this disclosure is not limited thereto.

[0081] For example, the distribution of tactile receptors on the skin of different tactile users may differ. Furthermore, the contact position between the skin of different tactile users and the virtual tactile rendering points is often related to the structural and positional information of the virtual tactile rendering points. For example... Figure 7 As shown, optionally, method 1000 or apparatus 100 may further determine the stimulation current of the stimulation electrode and the suppression current of the suppression electrode for each virtual haptic rendering point based on at least one of the structural information and position information corresponding to each virtual haptic rendering point. The structural information corresponding to each virtual haptic rendering point includes at least one of the following: the shape of the stimulation electrode, the shape of the suppression electrode, and the interval between the stimulation electrode and the suppression electrode. The position information corresponding to each virtual haptic rendering point includes at least one of the following: the distance between adjacent virtual haptic rendering points, and the position of the virtual haptic rendering point in the virtual rendering array.

[0082] Therefore, a specific baseline amplitude can be set for each haptic rendering point to further individualize the provision of virtual haptics. (Continue to refer to...) Figure 8 Different virtual haptic rendering points will come into contact with the skin at different locations on the fingertips.

[0083] For most tactile receptors, the area closer to the thumb in the horizontal direction is more sensitive, while the area closer to the fingertip in the vertical direction is more sensitive. Therefore, method 1000 or device 100 can also determine the amplitudes of the stimulation current and inhibition current corresponding to the virtual tactile rendering points in the virtual tactile rendering array in an increasing or decreasing manner along the row direction; or determine the amplitudes of the stimulation current and inhibition current corresponding to the virtual tactile rendering points in the virtual tactile rendering array in an increasing manner along the column direction.

[0084] For example, optionally, when the plurality of virtual haptic rendering points are arranged into a matrix comprising M rows and N columns, where M and N are both integers greater than 1, method 1000 or apparatus 100 can determine the stimulation current of the stimulation electrode and the suppression current of the suppression electrode for the virtual haptic rendering point located in the i-th row and j-th column by: setting the amplitude I of the stimulation current... sti Determined as:

[0085]

[0086] The amplitude I of the suppression current sup Determined as:

[0087]

[0088] Among them, I min I is the amplitude of the minimum sensing threshold current. max H represents the amplitude of the highest sensing threshold current, K is the distance between the stimulating and inhibiting electrodes (e.g., the first distance mentioned above), and H is the amplitude of the highest sensing threshold current. ij This is the current amplitude adjustment coefficient for the tactile information indication of the virtual tactile rendering point.

[0089] At this moment, the reference current amplitude of the virtual haptic rendering point located in the i-th row and j-th column is... Wherein, parameters i and j are examples of the position information of the virtual haptic rendering point, and parameter K is an example of the structural information of the virtual haptic rendering point. Those skilled in the art should understand that this disclosure is not limited thereto.

[0090] However, different tactile users have different receptor distributions and sensitivities at their fingertips. For example, some heavy finger users may have necrotic tissue (commonly known as calluses) on the side of their skin closer to the thumb in the horizontal direction due to long-term friction. Therefore, such users may be more sensitive on the side farther from the thumb in the horizontal direction. Alternatively, some users may have had injuries on the side farther from the thumb in the horizontal direction. Such users may be more sensitive on the side farther from the thumb in the horizontal direction. To accurately determine the impact of the positional information corresponding to each virtual tactile rendering point on the rendering of virtual tactile feedback, the following scheme can be further considered to test the relationship between the structural information and / or positional information corresponding to each virtual tactile rendering point and the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode.

[0091] For example, for such Figure 8 The virtual haptic rendering array A shown can sequentially select virtual haptic rendering points at positions 1, 2, 3, 4, and 5 via a multiplexer, stimulating each point for one second. The blindfolded haptic listener is then informed which virtual haptic rendering point is currently generating the virtual haptic sensation. This process is repeated twice to familiarize the listener with the virtual haptic sensation produced by each point on their fingertip. Subsequently, the listener can adjust the reference amplitude I of the stimulation and inhibition currents at different virtual haptic rendering points based on their own sensations. Base .

[0092] For example, or, for such as Figure 8 The virtual haptic rendering array B shown can sequentially select virtual haptic rendering points 1, 2, 3, 4, 5, 6, 7, 8, and 9 via a multiplexer, with the virtual haptic rendering point at position 5 serving as a reference point. First, a stimulating and inhibiting current is applied to the virtual haptic rendering point at position 5 for 1 second. After 0.5 seconds, stimulating and inhibiting currents are applied to the virtual haptic rendering points at other positions for 1 second each. This informs the haptic user which virtual haptic rendering point is currently generating the virtual haptic sensation. This process is repeated twice to familiarize the haptic user with the virtual haptic sensation generated by each stimulation point on the fingertip. Next, the haptic user can adjust the reference amplitude I of the stimulating current at different virtual haptic rendering points based on their own sensation. Base .

[0093] Optionally, after determining the reference amplitudes of the stimulation current and inhibition current at each virtual haptic rendering point for a specific haptic recipient, or after determining the reference amplitudes of the stimulation current and inhibition current at each virtual haptic rendering point for a standard haptic recipient, the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for each haptic rendering point can be further adjusted based on these reference amplitudes during virtual haptic feedback. For example, if the haptic information indicates that the current amplitude adjustment coefficient H corresponding to the haptic rendering point (i, j) is used when rendering a certain haptic sensation... ij Then the amplitude of the stimulation current corresponding to the tactile rendering point can be The suppression current amplitude can be This is the reference current amplitude corresponding to the haptic rendering point (i, j). This disclosure is not limited thereto.

[0094] Optionally, different tactile receptors have different distributions and sensitivities at their fingertips, thus the perceived virtual tactile sensation will differ depending on the application pattern. (Reference) Figure 9 It illustrates the first and second application modes described above.

[0095] refer to Figure 9 The left diagram shows the square wave type stimulation and inhibition currents corresponding to the first application mode, where the inhibition and stimulation currents are applied simultaneously to the inhibition and stimulation electrodes of each tactile virtual rendering point. The right diagram shows the square wave type stimulation and inhibition currents corresponding to the second application mode, where the inhibition and stimulation currents are applied sequentially to the inhibition and stimulation electrodes of each tactile virtual rendering point. For example, the inhibition current can be applied within 0-5 milliseconds after the stimulation current is applied.

[0096] Optionally, during virtual haptic calibration, the amplitude of the stimulation current corresponding to the first application mode and the second application mode is the reference amplitude I of the stimulation current. Base The amplitude of the suppression current is the reference amplitude I of the stimulation current. Base of Of course, this disclosure does not limit the amplitude of the stimulation current / inhibition current corresponding to different application modes during the virtual haptic calibration process, as long as it can calibrate the virtual haptic presentation of different application modes.

[0097] To accurately determine the impact of different application modes on the rendering of virtual haptics, the following scheme can be further considered to test the relationship between different application modes and the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode.

[0098] For example, random selection can be performed. Figure 8 The virtual haptic rendering array A shown in the diagram represents virtual haptic rendering points at different locations (1, 2, 3, 4, 5). For example, in a single calibration test (each test corresponds to a different application mode), each virtual haptic rendering point at each location can be selected 5 times, for a total of 25 selections. During the experiment, the haptic user determines which virtual haptic rendering point is selected based on the perceived virtual touch. According to the test, the haptic user can accurately determine the location of the virtual haptic rendering point in 83.5% of cases for the first application mode, while in the second application mode, the haptic user can only accurately determine the location of the virtual haptic rendering point in 78.5% of cases. If no suppression current is applied, the haptic user can only accurately determine the location of the virtual haptic rendering point in 76.5% of cases.

[0099] For example, random selection is also possible. Figure 8 The virtual haptic rendering array B shown in the diagram represents virtual haptic rendering points at different locations (1, 2, 3, 4, 5, 6, 7, 8, 9). For example, in a single calibration test (each test corresponds to a different application mode), each virtual haptic rendering point at each location can be selected 5 times, for a total of 45 selections. During the experiment, the haptic user determines which virtual haptic rendering point is selected based on the perceived virtual touch. According to the test, the haptic user can accurately determine the location of the virtual haptic rendering point in 86.9% of cases for the first application mode, while in the second application mode, the haptic user can only accurately determine the location in 82.2% of cases. If no suppression current is applied, the haptic user can only accurately determine the location of the virtual haptic rendering point in 80.8% of cases.

[0100] It is evident that, generally speaking, the first application mode often corresponds to virtual haptic presentation with higher precision requirements, while the second application mode can correspond to virtual haptic presentation with lower precision. Of course, this disclosure is not limited to this, and it will be adjusted according to the individual differences of the haptic recipient.

[0101] Therefore, the embodiments of this disclosure provide a method and apparatus for providing virtual haptic feedback by improving the spatial resolution of virtual haptic rendering through the aforementioned virtual haptic rendering array, driving module, and driving control module. The embodiments of this disclosure significantly improve the spatial resolution of virtual haptic rendering by limiting the virtual haptic stimulation perceived by the human body to a specific range through the setting of stimulation electrodes and inhibition electrodes. Furthermore, the driving control module sets the parameters of the stimulation current and inhibition current according to the parameters of the virtual haptic rendering array and individual differences, thereby ensuring safety and individual adaptability during use.

[0102] Therefore, in summary, this disclosure has described various embodiments in detail. Furthermore, embodiments of this disclosure also provide a finger sleeve comprising the aforementioned device for providing virtual haptic feedback, wherein, during the provision of virtual haptic feedback, the fingertip covers the virtual haptic rendering array in the device with the fingertip thread as the center. Embodiments of this disclosure may also provide electronic skin comprising the aforementioned device for providing virtual haptic feedback, wherein, during the provision of virtual haptic feedback, a portion of the skin of the haptic recipient contacts the virtual haptic rendering array in the device.

[0103] According to one aspect of the present disclosure, a computer-readable storage medium is provided, the storage medium storing 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 being loaded and executed by a processor to implement the above method.

[0104] The program portion of a technology can be considered a "product" or "artifact" existing in the form of executable code and / or related data, and is involved in or implemented through a computer-readable medium. Tangible, permanent storage media can include memory or storage used by any computer, processor, or similar device or related module. For example, various semiconductor memories, tape drives, disk drives, or any similar device capable of providing storage functionality for software.

[0105] All software, or parts thereof, may sometimes communicate via networks, such as the Internet or other communication networks. Such communication can load software from one computer device or processor to another. Therefore, another medium capable of transmitting software elements can also be used as a physical connection between local devices, such as light waves, radio waves, electromagnetic waves, etc., propagated through cables, fiber optic cables, or air. Physical media used for carrier waves, such as cables, wireless connections, or fiber optic cables, can also be considered as media carrying software. In this context, unless limited to tangible "storage" media, the term "readable medium" for a computer or machine refers to the medium involved in the execution of any instructions by the processor.

[0106] This disclosure uses specific terms to describe embodiments of the present disclosure. Terms such as "first / second embodiment," "an embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the present disclosure. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the present disclosure can be appropriately combined.

[0107] Furthermore, those skilled in the art will understand that aspects of this disclosure can be described and illustrated through several patentable types or situations, including any new and useful combination of processes, machines, products, or substances, or any new and useful improvements thereof. Accordingly, aspects of this disclosure can be implemented entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The aforementioned hardware or software may be referred to as a “data block,” “module,” “engine,” “unit,” “component,” or “system.” Furthermore, aspects of this disclosure may be embodied as a computer product located on one or more computer-readable media, the product including computer-readable program code.

[0108] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in a common dictionary shall be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0109] The foregoing description is illustrative of the invention and should not be construed as limiting it. Although several exemplary embodiments of the invention have been described, those skilled in the art will readily understand that many modifications can be made to the exemplary embodiments without departing from the novel teachings and advantages of the invention. Therefore, all such modifications are intended to be included within the scope of the invention as defined in the claims. It should be understood that the foregoing description is illustrative of the invention and should not be construed as limiting it to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The invention is defined by the claims and their equivalents.

Claims

1. A method for providing virtual haptic feedback, comprising: Tactile information of each virtual haptic rendering point for a virtual haptic rendering array is obtained, wherein each haptic rendering point includes a stimulation electrode and an inhibition electrode arranged around the stimulation electrode, the inhibition electrode being spaced apart from the stimulation electrode by a first distance; Based on the minimum and maximum sensory threshold currents, a first distance, and tactile information of each virtual tactile rendering point, for each of the tactile rendering points, a stimulation current for the stimulation electrode and a suppression current for the suppression electrode are determined, wherein the stimulation current and the suppression current flow in opposite directions to provide virtual tactile sensation concentrated below the stimulation electrode and the diffusion of the virtual tactile sensation is suppressed; and Corresponding stimulation and inhibition currents are applied to each tactile rendering point to provide virtual tactile sensation. Among them, the minimum sensory threshold corresponds to the minimum stimulation current when a tactile sensor can recognize virtual touch, and the maximum sensory threshold corresponds to the maximum stimulation current when a tactile sensor feels pain.

2. The method of claim 1, wherein, The determination of the stimulation current of the stimulation electrode and the suppression current of the suppression electrode for the tactile rendering point further includes: Based on at least one of the structural information and position information corresponding to each virtual haptic rendering point, the stimulation current of the stimulation electrode and the suppression current of the suppression electrode for that haptic rendering point are determined. The structural information corresponding to each virtual haptic rendering point includes at least one of the following: the shape of the stimulating electrode, the shape of the inhibiting electrode, and the interval between the stimulating electrode and the inhibiting electrode. The location information corresponding to each virtual haptic rendering point includes at least one of the following: the distance between adjacent virtual haptic rendering points, and the position of the virtual haptic rendering point in the virtual rendering array.

3. The method of any one of claims 1-2, wherein, The determination of the stimulation current of the stimulation electrode and the suppression current of the suppression electrode for the tactile rendering point further includes: Determine at least one of the following items corresponding to the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode used for the tactile rendering point: amplitude, pulse width, frequency, timing, waveform, application mode, start time, and end time.

4. The method of claim 3, wherein, The application mode includes at least one of the following: A first application mode, wherein the first application mode indicates that, for each tactile virtual rendering point, the inhibition current and the stimulation current are simultaneously applied to the inhibition electrode and the stimulation electrode of the tactile virtual rendering point. The second application mode indicates that, for each tactile virtual rendering point, the stimulation current and the inhibition current are applied sequentially to the stimulation electrode and the inhibition electrode of the tactile virtual rendering point, respectively.

5. The method of claim 2, wherein, The determination of the stimulation current of the stimulation electrode and the inhibition current of the inhibition electrode for each virtual haptic rendering point, based on at least one of the structural information and position information corresponding to each virtual haptic rendering point, further includes at least one of the following: The amplitudes of the stimulation current and inhibition current corresponding to the virtual haptic rendering points in the virtual haptic rendering array are determined by increasing or decreasing along the row direction. The amplitudes of the stimulation current and inhibition current corresponding to the virtual haptic rendering points in the virtual haptic rendering array are determined in an increasing manner along the column direction.

6. The method of claim 5, wherein, The virtual haptic rendering points in the virtual haptic rendering array are arranged in a matrix comprising M rows and N columns, where M and N are both integers greater than 1, and are used to determine the virtual haptic rendering points located at the [missing information - likely a specific location or position]. Line number The stimulation current of the stimulation electrodes and the inhibition current of the inhibition electrodes at the virtual haptic rendering points in the array include: determining the amplitude of the stimulation current is determined to be: ， determining the amplitude of the suppression current is determined to be: ， in, The amplitude of the minimum sensing threshold current. The amplitude of the highest sensing threshold current. The interval between the stimulating electrode and the inhibiting electrode. This is the current amplitude adjustment coefficient for the tactile information indication of the virtual tactile rendering point.

7. A device for providing virtual haptic feedback, comprising: A virtual haptic rendering array includes multiple virtual haptic rendering points, each haptic rendering point including a stimulation electrode and an inhibition electrode arranged around the stimulation electrode, the inhibition electrode being spaced apart from the stimulation electrode by a first distance; The drive control module is configured to acquire tactile information for the plurality of tactile rendering points, and based on the lowest sensing threshold current, the highest sensing threshold current, a first distance, and the tactile information of the plurality of tactile rendering points, determine, for each of the plurality of tactile rendering points, the stimulation current of its stimulation electrode and the inhibition current of its inhibition electrode, and The driving module is configured to provide stimulating current to the stimulating electrodes and inhibiting current to the inhibiting electrodes at each virtual haptic rendering point to provide the virtual haptic feedback. In this configuration, the stimulating and inhibiting currents flow in opposite directions to provide a virtual tactile sensation concentrated below the stimulating electrode, and the diffusion of this virtual tactile sensation is suppressed. Among them, the minimum sensory threshold corresponds to the minimum stimulation current when a tactile sensor can recognize virtual touch, and the maximum sensory threshold corresponds to the maximum stimulation current when a tactile sensor feels pain.

8. The apparatus of claim 7, wherein, The plurality of virtual haptic rendering points are arranged into a matrix comprising M rows and N columns, where M and N are both integers greater than 1. Each virtual haptic rendering point is spaced apart by a second distance, which is greater than the first distance.

9. The apparatus of claim 7, wherein, The stimulating electrode is a circular electrode with a diameter of a first length or a rounded square electrode with a side length of a first length, and the inhibiting electrode is a circular annular electrode, a fan-shaped annular electrode, or a rounded square annular electrode with a ring width of a second length.

10. The apparatus of claim 7, wherein, The amplitude, pulse width, frequency, and timing of the stimulation and inhibition currents are set at least in part based on the minimum sensing threshold current, the maximum sensing threshold current, and the first distance.

11. The apparatus of claim 7, wherein, For each tactile virtual rendering point The inhibition current and the stimulation current are simultaneously applied to the inhibition electrode and the stimulation electrode of the tactile virtual rendering point, or... The stimulation current and the inhibition current are applied sequentially to the stimulation electrode and the inhibition electrode of the tactile virtual rendering point, respectively.

12. A finger cot comprising the device providing virtual haptics of any of claims 7-11, wherein, In the process of providing virtual tactile sensation, the fingertip covers the virtual tactile rendering array in the device with the fingertip thread as the center.

13. An electronic skin comprising the device for providing virtual haptics of any one of claims 7-11, wherein, In the process of providing virtual tactile sensation, a portion of the skin of the tactile sensor comes into contact with the virtual tactile rendering array in the device.

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