Flexible variable stiffness actuator and virtual reality interactive device

Abstract

The embodiments of the present application provide a flexible variable stiffness driver and a virtual reality interactive device. The flexible variable stiffness driver includes at least a variable stiffness component and a driving component. The variable stiffness component includes a meshing portion and a bendable and deformable substrate. Two or more substrates are stacked. Among at least a portion of the substrates, a meshing portion is provided on the surface of one of the two adjacent substrates facing the other. The driving component is used to drive two adjacent substrates provided with meshing portions so that the meshing portion on one and the meshing portion on the other are switched from at least a separated state to an engaged state. When the meshing portion is in a separated state, the variable stiffness component has a first stiffness. When the meshing portion is in an engaged state, the variable stiffness component has a second stiffness. The second stiffness is greater than the first stiffness. The flexible variable stiffness driver can sense the force generated during the interaction with the virtual object or its softness or hardness, thereby improving the immersion and realism of the interaction process.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of terminal technology, and in particular to a flexible variable stiffness driver and a virtual reality interactive device. Background Art

[0002] Virtual reality (VR) is a new and practical technology developed in the 20th century. It encompasses computer, electronic information, and simulation technologies. Its fundamental implementation involves computer simulation of virtual environments to create a sense of immersion. VR utilizes real-life data, electronic signals generated by computer technology, and combines them with various output devices to transform them into perceptible phenomena. These phenomena can be tangible objects or invisible materials, represented through three-dimensional models. Because these phenomena are not directly visible to the human eye but rather simulated through computer technology, they are called virtual reality.

[0003] With the continuous advancement of social productivity and science and technology, demand for virtual reality technology is growing rapidly across all industries. The development of virtual reality technology enables users to interact with virtual environments. Users can experience the most authentic feelings in the virtual reality world, with the realism of the simulated environment approaching that of reality. Furthermore, the virtual reality world can incorporate all human sensory functions, such as hearing, vision, touch, taste, and smell. During virtual reality operations, users can receive environmental feedback similar to that of the real world.

[0004] Currently, many companies offer VR interactive devices that can provide high-resolution visual information, but user input devices are limited to traditional game controllers and existing gesture input methods, which allow users to touch visible objects at a low level and manipulate virtual objects in a simple manner. Most commercial consumer input devices fail to provide the high-fidelity force and tactile feedback that users experience when interacting with real-world objects. This can lead to a variety of unrealistic experiences in VR. For example, users can grab virtual objects in VR with their hands, but they cannot experience the force or softness or hardness of the virtual objects during interaction, affecting the user's immersion and sense of reality during interaction with the VR world. Summary of the Invention

[0005] The present invention provides a flexible variable-stiffness actuator and a virtual reality interactive device. Through the flexible variable-stiffness actuator, users can sense the force or softness or hardness of virtual objects during interaction, thereby achieving the same or similar experience as in the real world, thereby enhancing the user's immersion and realism during interaction with the virtual reality world.

[0006] In a first aspect, the present application provides a flexible variable stiffness driver, which comprises at least a variable stiffness component and a drive component. The variable stiffness component comprises a meshing portion and a bendable and deformable substrate. Two or more substrates are stacked. In at least a portion of the substrates, a meshing portion is provided on the surface of one of the two adjacent substrates facing the other. The drive component is used to drive two adjacent substrates provided with the meshing portion so that the meshing portion on one and the meshing portion on the other are switched from at least a separated state to an engaged state. When the meshing portion is in a separated state, the variable stiffness component as a whole has a first stiffness. When the meshing portion is in an engaged state, the variable stiffness component as a whole has a second stiffness. Wherein, the second stiffness is greater than the first stiffness.

[0007] A flexible variable-stiffness actuator according to an embodiment of the present application includes a variable-stiffness assembly and a drive assembly. The overall stiffness of the variable-stiffness assembly is adjustable. The variable-stiffness assembly includes two or more bendable and deformable substrates. Each substrate has a predetermined stiffness. When an external force is applied to a single substrate, the substrate can bend and deform. At least a portion of the substrates have a meshing portion provided on each of two adjacent substrates. The drive assembly is configured to drive two adjacent substrates provided with meshing portions so that the meshing portion on one substrate switches from a disengaged state to an engaged state with the meshing portion on the other substrate. When the meshing portions on the two adjacent substrates provided with meshing portions are in a disengaged state, the variable-stiffness assembly may have a first stiffness. The substrates are relatively loose and free, making the variable-stiffness assembly as a whole relatively easy to bend and deform. The drive assembly drives the substrates toward each other, and when the meshing portions on the two adjacent substrates provided with meshing portions switch from a disengaged state to an engaged state, the variable-stiffness assembly has a second stiffness. The second stiffness is greater than the first stiffness. At this time, the various bases press against each other. Compared to a variable-stiffness component with a first stiffness, a variable-stiffness component with a second stiffness is relatively difficult to bend and deform as a whole. For example, when a variable-stiffness component with a first stiffness and a variable-stiffness component with a second stiffness are bent to the same degree, the force required to bend the variable-stiffness component with the second stiffness is greater than the force required to bend the variable-stiffness component with the second stiffness. When a flexible variable-stiffness actuator is applied to a virtual reality interactive device with force feedback, the flexible variable-stiffness actuator can be mounted on a part of the user's body, such as at least one of a finger or palm. If the variable-stiffness component has a first stiffness and at least one of the user's finger or palm is bent and deformed, the flexible variable-stiffness actuator can simulate a scenario in which grasping or holding a virtual object generates a smaller or softer force. If the variable-stiffness component has a second stiffness and at least one of the user's finger or palm is bent and deformed, the flexible variable-stiffness actuator can simulate a scenario in which grasping or holding a virtual object generates a larger or harder force. Through the flexible variable stiffness actuator, users can feel the force or softness or hardness of virtual objects during interaction, thereby obtaining the same or similar experience as in the real world, which helps to enhance the user's immersion and sense of reality during interaction with the virtual reality world. The flexible variable stiffness actuator of the embodiment of the application has a compact structure, small size, and light weight, thus promoting improved wearing comfort during use.

[0008] In one possible embodiment, the hardness of the meshing portion is greater than that of the base. When the harder meshing portions engage each other, and when the variable stiffness assembly bends, the harder meshing portions themselves have greater resistance to deformation and are less likely to tilt or deform under force. This allows the variable stiffness assembly to simulate the force feedback of larger forces or harder textures generated during virtual object interaction. Furthermore, it reduces the likelihood of adjacent meshing portions being squeezed against each other along the length of the base, causing tilting and deformation, and thus loss of engagement. A structure in which the meshing portion's hardness is greater than that of the base can increase the variable stiffness assembly's adjustable range.

[0009] In one possible embodiment, the base and the meshing portion are an integrally formed structure, which, on the one hand, can help improve the connection strength between the base and the meshing portion, so that during the bending of the base, the meshing portion can bear a larger extrusion stress without separating from the base; on the other hand, no additional connecting parts, such as adhesives, are required between the base and the meshing portion, which helps reduce the possibility of adverse effects on the stiffness adjustment accuracy of the variable stiffness component due to the provision of a connecting part with a predetermined thickness.

[0010] In one possible embodiment, the base and the meshing portion are both made of resin, rubber, or silicone. The base is flexible and easily bends and deforms. The base and the meshing portion are lightweight, facilitating the lightweight design of the variable stiffness assembly.

[0011] In one possible embodiment, the base and meshing portion are assembled as separate components. The base and meshing portion are manufactured separately and then connected by assembly. This reduces the overall manufacturing difficulty of the variable stiffness assembly and allows for flexible selection of materials for the base and meshing portion based on the desired stiffness adjustment requirements.

[0012] In a possible embodiment, the material of the base is selected from resin, rubber or silicone, and the material of the engaging portion is selected from resin, plastic, diamond or corundum.

[0013] In a possible implementation, the shape of the engaging portion may be spherical, herringbone, or bar-shaped.

[0014] In one possible embodiment, the variable stiffness component further includes a protrusion. The size of the protrusion is smaller than the size of the meshing portion. At least a portion of the side walls of the meshing portion are provided with a plurality of protrusions.

[0015] In one possible embodiment, the variable stiffness component further includes a protrusion. The base on which the meshing portion is provided has an exposed area located between two adjacent meshing portions. At least a portion of the exposed areas is provided with a plurality of protrusions. When the meshing portion is inserted into the corresponding gap to the same depth, the meshing portion provided with the protrusion needs to overcome a greater frictional resistance than the meshing portion without the protrusion. Since the meshing portion provided with the protrusion is not easy to mesh and requires a greater compressive stress to achieve the same meshing state, the upper limit of the compressive stress applied to the base and the meshing portion is larger when the meshing portion is switched from a separated state to a fully meshed state, thereby making the range of values ​​of the force applied to the meshing portion wider and the precision of the force applied to the meshing portion higher, which is beneficial to improving the precision of the depth of the meshing portion inserted into the corresponding gap, thereby improving the stiffness variation range of the variable stiffness component and improving the stiffness control precision of the variable stiffness component. Correspondingly, compared with the meshing portion without a protrusion, the meshing portion with a protrusion needs to overcome greater frictional resistance when switching from the meshing state to the disengaged state, making it difficult for the meshing portion with a protrusion to switch from the meshing state to the disengaged state. The meshing portion can be gradually switched to the disengaged state, reducing the possibility of a sudden stress change when the meshing portion switches from the meshing state to the disengaged state due to an excessively fast separation speed.

[0016] In a possible implementation, the protrusion is spherical or bar-shaped.

[0017] In one possible embodiment, in two adjacent substrates provided with meshing portions, one substrate includes an exposed area located between the two adjacent meshing portions. The variable stiffness component also includes a recess. The recess is provided corresponding to the exposed area. When the meshing portions on the two adjacent substrates are in a meshing state, at least part of the meshing portion on the other substrate is inserted into the recess. When the meshing portion on one substrate is inserted into the corresponding recess, the meshing portion will be limited by the side wall of the recess, so that the meshing portion is not easy to move along the width direction of the substrate, reducing the possibility that the meshing portion moves along the width direction of the substrate and causes the meshing area between the meshing portions on both sides of the recess to be reduced.

[0018] In one possible embodiment, the substrate includes two or more connected layer structures. The two or more layer structures are stacked along the thickness direction of the substrate. The hardness of two adjacent layer structures is different. When the substrate is a single-layer structure, the material of the substrate has a major impact on the stiffness of the substrate itself, so the stiffness variation range of the substrate itself formed by a single material is small. Compared with a substrate with a single-layer structure, a substrate with a multi-layer structure can adjust the stiffness of the entire variable stiffness component by adjusting the hardness of each layer, which can help increase the overall stiffness variation range of the variable stiffness component and increase the range of values ​​of the simulated stiffness of the variable stiffness component.

[0019] In one possible embodiment, the materials of two adjacent layer structures are different. By selecting different materials for the layer structures, the hardness of the two adjacent layer structures can be different, forming a matrix with different stiffness, thereby facilitating the use of different materials to composite a matrix that meets different stiffness requirements.

[0020] In one possible embodiment, the outermost layer, in the direction away from the meshing portion, has a greater hardness than the remaining layers. Therefore, the outermost layer acts as a constraint, preventing the substrate from bending and maintaining its overall dimensions. This reduces the possibility of the substrate being stretched during bending and adversely affecting the stiffness accuracy of the variable stiffness assembly.

[0021] In a possible embodiment, the outermost layer structure is a structural member that is bendable and deformable and resistant to stretching.

[0022] In one possible embodiment, the substrate includes two or more connected block structures. The two or more block structures are distributed successively along a direction perpendicular to the thickness direction of the substrate. The hardness of two adjacent block structures is different. When the substrate is an integrally formed structure, the material of the substrate has a major influence on the stiffness of the substrate itself, so that the stiffness variation range of the substrate itself formed by one-piece molding of a material is small. Compared with a substrate that is an integrally formed structure, a substrate including multiple block structures can adjust the hardness of different positions to achieve stiffness adjustment of the entire variable stiffness component, which can be beneficial to increase the overall stiffness variation range of the variable stiffness component, increase the value range of the simulated stiffness, and achieve stiffness feedback of different areas on the variable stiffness component.

[0023] In a possible embodiment, the materials of two adjacent block structures are different, so that the hardness of the two adjacent block structures can be different by selecting the materials of each block structure, which is conducive to using different materials to compositely form a matrix that meets different stiffness change requirements.

[0024] In a possible embodiment, the thickness of the base body is different from the height of the engaging portion protruding from the base body. By setting the thickness of the base body and the height of the engaging portion protruding from the base body to be different, the stiffness variation range of the variable stiffness component can be flexibly adjusted.

[0025] In one possible embodiment, the base is an elastic structure. The base is configured to release its own elastic restoring force and drive the meshing portion to switch from the meshing state to the disengaged state. The base itself can provide the force that causes the meshing portion to switch from the meshing state to the disengaged state, thereby ensuring smooth disengagement of the meshing portion.

[0026] In one possible embodiment, the variable stiffness component further includes an elastic member. When the meshing portions on two adjacent substrates are in a meshing state, the meshing portions squeeze the elastic member to deform. When the meshing portions switch from the meshing state to the disengaged state, the elastic member releases the elastic restoring force and applies compressive stress to the meshing portions. When the meshing portions switch from the meshing state to the disengaged state, the elastic member releases the elastic restoring force and applies compressive stress to the meshing portions, thereby pushing the meshing portions to separate from each other. The elastic member can provide an additional force to the meshing portions during separation, so that the meshing portions can be separated relatively easily, which helps to reduce the possibility that the meshing portions remain meshed with each other and fail to separate when switching from the meshing state to the disengaged state.

[0027] In a possible embodiment, the elastic member is an elastic sheet. In two adjacent substrates provided with engaging portions, the elastic member is provided between the engaging portion on one and the engaging portion on the other.

[0028] In a possible implementation, in two adjacent substrates provided with engaging portions, an elastic member is provided in an exposed area of ​​the substrate between the two adjacent engaging portions.

[0029] In one possible embodiment, the variable stiffness assembly includes three or more substrates, wherein, for a portion of the substrates, a meshing portion is provided on the surface of one of two adjacent substrates facing the other. For a portion of the substrates, the surface of one of the two adjacent substrates is in surface contact with the surface of the other. In the variable stiffness assembly, the contact modes between the substrates can be configured differently, thereby enabling different stiffness feedback on the variable stiffness assembly to be achieved by flexibly configuring the substrate contact modes.

[0030] In a possible embodiment, among all the base bodies, a meshing portion is provided on a surface of one of two adjacent base bodies facing the other.

[0031] In one possible embodiment, the drive assembly includes an airbag. The variable stiffness assembly is disposed within the airbag. The outermost substrate is connected to the inner wall of the airbag. The airbag is used to drive two adjacent substrates provided with meshing portions.

[0032] In a possible implementation, the driving assembly includes a first electrode and a second electrode. The first electrode and the second electrode are both connected to the variable stiffness assembly and are used to drive two adjacent substrates provided with the meshing portions.

[0033] In a possible embodiment, the driving assembly includes a first electromagnet and a second electromagnet with opposite polarities. The first electromagnet and the second electromagnet are both connected to the variable stiffness assembly and are used to drive two adjacent substrates provided with the meshing portions.

[0034] According to a second aspect of an embodiment of the present application, there is provided a virtual reality interactive device, which includes a flexible variable stiffness driver as described in the above embodiment. The flexible variable stiffness driver includes at least a variable stiffness component and a drive component. The variable stiffness component includes a meshing portion and a bendable and deformable base. Two or more bases are stacked. At least in a portion of the bases, a meshing portion is provided on the surface of one of the two adjacent bases facing the other. The drive component is used to drive two adjacent bases provided with meshing portions so that the meshing portion on one and the meshing portion on the other are switched from a separated state to an engaged state. When the meshing portion is in a separated state, the variable stiffness component as a whole has a first stiffness. When the meshing portion is in an engaged state, the variable stiffness component as a whole has a second stiffness. The second stiffness is greater than the first stiffness.

[0035] In one possible embodiment, the hardness of the meshing portion is greater than that of the base. When the harder meshing portions engage each other, and when the variable stiffness assembly bends, the harder meshing portions themselves have greater resistance to deformation and are less likely to tilt or deform under force. This allows the variable stiffness assembly to simulate the force feedback of a larger force or a harder material during interaction. Furthermore, it reduces the likelihood of adjacent meshing portions being squeezed against each other along the length of the base, causing tilting and deformation, and thus loss of engagement. A structure in which the meshing portion's hardness is greater than that of the base can increase the variable stiffness assembly's adjustable range.

[0036] In one possible embodiment, the base and the meshing portion are an integrally formed structure, which, on the one hand, can help improve the connection strength between the base and the meshing portion, so that during the bending of the base, the meshing portion can bear a larger extrusion stress without separating from the base; on the other hand, no additional connecting parts, such as adhesives, are required between the base and the meshing portion, which helps reduce the possibility of adverse effects on the stiffness adjustment accuracy of the variable stiffness component due to the provision of a connecting part with a predetermined thickness.

[0037] In one possible embodiment, the base and the meshing portion are both made of resin, rubber, or silicone. The base is flexible and easily bends and deforms. The base and the meshing portion are lightweight, facilitating the lightweight design of the variable stiffness assembly.

[0038] In one possible embodiment, the base and meshing portion are assembled as separate components. The base and meshing portion are manufactured separately and then connected by assembly. This reduces the overall manufacturing difficulty of the variable stiffness assembly and allows for flexible selection of materials for the base and meshing portion based on the desired stiffness adjustment requirements.

[0039] In a possible embodiment, the material of the base is selected from resin, rubber or silicone, and the material of the engaging portion is selected from resin, plastic, diamond or corundum.

[0040] In a possible implementation, the shape of the engaging portion may be spherical, herringbone, or bar-shaped.

[0041] In one possible embodiment, the variable stiffness component further includes a protrusion. The size of the protrusion is smaller than the size of the meshing portion. At least a portion of the side walls of the meshing portion are provided with a plurality of protrusions.

[0042] In one possible embodiment, the variable stiffness component further includes a protrusion. The base on which the meshing portion is provided has an exposed area located between two adjacent meshing portions. At least a portion of the exposed areas is provided with a plurality of protrusions. When the meshing portion is inserted into the corresponding gap to the same depth, the meshing portion provided with the protrusion needs to overcome a greater frictional resistance than the meshing portion without the protrusion. Since the meshing portion provided with the protrusion is not easy to mesh and requires a greater compressive stress to achieve the same meshing state, the upper limit of the compressive stress applied to the base and the meshing portion is larger when the meshing portion is switched from a separated state to a fully meshed state, thereby making the range of values ​​of the force applied to the meshing portion wider and the precision of the force applied to the meshing portion higher, which is beneficial to improving the precision of the depth of the meshing portion inserted into the corresponding gap, thereby improving the stiffness variation range of the variable stiffness component and improving the stiffness control precision of the variable stiffness component. Correspondingly, compared with the meshing portion without a protrusion, the meshing portion with a protrusion needs to overcome greater frictional resistance when switching from the meshing state to the disengaged state, making it difficult for the meshing portion with a protrusion to switch from the meshing state to the disengaged state. The meshing portion can be gradually switched to the disengaged state, reducing the possibility of a sudden stress change when the meshing portion switches from the meshing state to the disengaged state due to an excessively fast separation speed.

[0043] In a possible implementation, the protrusion is spherical or bar-shaped.

[0044] In one possible embodiment, in two adjacent substrates provided with meshing portions, one substrate includes an exposed area located between the two adjacent meshing portions. The variable stiffness component also includes a recess. The recess is provided corresponding to the exposed area. When the meshing portions on the two adjacent substrates are in a meshing state, at least part of the meshing portion on the other substrate is inserted into the recess. When the meshing portion on one substrate is inserted into the corresponding recess, the meshing portion will be limited by the side wall of the recess, so that the meshing portion is not easy to move along the width direction of the substrate, reducing the possibility that the meshing portion moves along the width direction of the substrate and causes the meshing area between the meshing portions on both sides of the recess to be reduced.

[0045] In one possible embodiment, the substrate includes two or more connected layer structures. The two or more layer structures are stacked along the thickness direction of the substrate. The hardness of two adjacent layer structures is different. When the substrate is a single-layer structure, the material of the substrate has a major impact on the stiffness of the substrate itself, so the stiffness variation range of the substrate itself formed by a single material is small. Compared with a substrate with a single-layer structure, a substrate with a multi-layer structure can adjust the stiffness of the entire variable stiffness component by adjusting the hardness of each layer, which can help increase the overall stiffness variation range of the variable stiffness component and increase the range of values ​​of the simulated stiffness of the variable stiffness component.

[0046] In one possible embodiment, the materials of two adjacent layer structures are different. By selecting different materials for the layer structures, the hardness of the two adjacent layer structures can be different, forming a matrix with different stiffness, thereby facilitating the use of different materials to composite a matrix that meets different stiffness requirements.

[0047] In one possible embodiment, the outermost layer, in the direction away from the meshing portion, has a greater hardness than the remaining layers. Therefore, the outermost layer acts as a constraint, preventing the substrate from bending and maintaining its overall dimensions. This reduces the possibility of the substrate being stretched during bending and adversely affecting the stiffness accuracy of the variable stiffness assembly.

[0048] In a possible embodiment, the outermost layer structure is a structural member that is bendable and deformable and resistant to stretching.

[0049] In one possible embodiment, the substrate includes two or more connected block structures. The two or more block structures are distributed successively along a direction perpendicular to the thickness direction of the substrate. The hardness of two adjacent block structures is different. When the substrate is an integrally formed structure, the material of the substrate has a major influence on the stiffness of the substrate itself, so that the stiffness variation range of the substrate itself formed by one-piece molding of a material is small. Compared with a substrate that is an integrally formed structure, a substrate including multiple block structures can adjust the hardness of different positions to achieve stiffness adjustment of the entire variable stiffness component, which can be beneficial to increase the overall stiffness variation range of the variable stiffness component, increase the value range of the simulated stiffness, and achieve stiffness feedback of different areas on the variable stiffness component.

[0050] In a possible embodiment, the materials of two adjacent block structures are different, so that the hardness of the two adjacent block structures can be different by selecting the materials of each block structure, which is conducive to using different materials to compositely form a matrix that meets different stiffness change requirements.

[0051] In a possible embodiment, the thickness of the base body is different from the height of the engaging portion protruding from the base body. By setting the thickness of the base body and the height of the engaging portion protruding from the base body to be different, the stiffness variation range of the variable stiffness component can be flexibly adjusted.

[0052] In one possible embodiment, the base is an elastic structure, configured to release its own elastic restoring force to drive the meshing portion to switch from the meshing state to the disengaged state. The base itself can provide the force that causes the meshing portion to switch from the meshing state to the disengaged state, thereby ensuring smooth disengagement of the meshing portion.

[0053] In one possible embodiment, the variable stiffness component further includes an elastic member. When the meshing portions on two adjacent substrates are in a meshing state, the meshing portions squeeze the elastic member to deform. When the meshing portions switch from the meshing state to the disengaged state, the elastic member releases the elastic restoring force and applies compressive stress to the meshing portions. When the meshing portions switch from the meshing state to the disengaged state, the elastic member releases the elastic restoring force and applies compressive stress to the meshing portions, thereby pushing the meshing portions to separate from each other. The elastic member can provide an additional force to the meshing portions during separation, so that the meshing portions can be separated relatively easily, which helps to reduce the possibility that the meshing portions remain meshed with each other and fail to separate when switching from the meshing state to the disengaged state.

[0054] In a possible embodiment, the elastic member is an elastic sheet. In two adjacent substrates provided with engaging portions, the elastic member is provided between the engaging portion on one and the engaging portion on the other.

[0055] In a possible implementation, in two adjacent substrates provided with engaging portions, an elastic member is provided in an exposed area of ​​the substrate between the two adjacent engaging portions.

[0056] In one possible embodiment, the variable stiffness assembly includes three or more substrates, wherein, for a portion of the substrates, a meshing portion is provided on the surface of one of two adjacent substrates facing the other. For a portion of the substrates, the surface of one of the two adjacent substrates is in surface contact with the surface of the other. In the variable stiffness assembly, the contact modes between the substrates can be configured differently, thereby enabling different stiffness feedback on the variable stiffness assembly to be achieved by flexibly configuring the substrate contact modes.

[0057] In a possible embodiment, among all the base bodies, a meshing portion is provided on a surface of one of two adjacent base bodies facing the other.

[0058] In one possible embodiment, the drive assembly includes an airbag. The variable stiffness assembly is disposed within the airbag. The outermost substrate is connected to the inner wall of the airbag. The airbag is used to drive two adjacent substrates provided with meshing portions.

[0059] In a possible implementation, the driving assembly includes a first electrode and a second electrode. The first electrode and the second electrode are both connected to the variable stiffness assembly and are used to drive two adjacent substrates provided with the meshing portions.

[0060] In a possible embodiment, the driving assembly includes a first electromagnet and a second electromagnet. The first electromagnet and the second electromagnet are both connected to the variable stiffness assembly and are used to drive two adjacent substrates provided with the meshing portions. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A schematic structural diagram of a flexible variable stiffness actuator provided in an embodiment of the present application;

[0062] Figure 2 A schematic diagram of a partially decomposed structure of a flexible variable stiffness actuator provided in an embodiment of the present application;

[0063] Figure 3 A schematic partial cross-sectional view of the structure of the engagement portion of the flexible variable stiffness actuator provided in an embodiment of the present application in a disengaged state;

[0064] Figure 4 A schematic partial cross-sectional view of the structure of the meshing portion of the flexible variable stiffness actuator provided in an embodiment of the present application in a fully meshed state;

[0065] Figure 5 for Figure 3 A schematic partial cross-sectional view of the flexible variable stiffness actuator of the illustrated embodiment in a bent state;

[0066] Figure 6 Schematic diagram of an application scenario of the flexible variable stiffness actuator provided in an embodiment of the present application;

[0067] Figure 7 for Figure 4 A schematic partial cross-sectional view of the flexible variable stiffness actuator of the illustrated embodiment in a bent state;

[0068] Figure 8 A schematic partial cross-sectional view of the structure of the engagement portion of the flexible variable stiffness actuator provided in an embodiment of the present application in a partially engaged state;

[0069] Figure 9 A schematic diagram of the decomposed structure of a variable stiffness assembly provided in one embodiment of the present application;

[0070] Figure 10 A schematic diagram of the exploded structure of a variable stiffness assembly provided in yet another embodiment of the present application;

[0071] Figure 11 A schematic diagram of the exploded structure of a variable stiffness assembly provided in yet another embodiment of the present application;

[0072] Figure 12 A schematic diagram of the partial structure of a variable stiffness assembly provided in one embodiment of the present application;

[0073] Figure 13 A schematic diagram of the partial structure of a variable stiffness assembly provided in yet another embodiment of the present application;

[0074] Figure 14 A schematic diagram of the partial structure of a variable stiffness assembly provided in yet another embodiment of the present application;

[0075] Figure 15 A schematic diagram of the partial structure of a variable stiffness assembly provided in another embodiment of the present application;

[0076] Figure 16 A schematic diagram of the partial structure of a variable stiffness assembly provided in yet another embodiment of the present application;

[0077] Figure 17 for Figure 16 A in the middle is an enlarged schematic diagram;

[0078] Figure 18 A schematic diagram of the exploded structure of a variable stiffness assembly provided in yet another embodiment of the present application;

[0079] Figure 19 A schematic diagram of the exploded structure of a variable stiffness assembly provided in yet another embodiment of the present application;

[0080] Figure 20 A schematic partial cross-sectional view of the structure of the engagement portion of the flexible variable stiffness actuator provided in one embodiment of the present application in a disengaged state;

[0081] Figure 21 for Figure 20 A schematic partial cross-sectional view of the structure of the meshing portion of the flexible variable stiffness actuator of the illustrated embodiment in a meshing state;

[0082] Figure 22 A schematic partial cross-sectional view of the structure of a flexible variable stiffness actuator according to another embodiment of the present application, showing an engagement portion in a disengaged state;

[0083] Figure 23 for Figure 22 A schematic partial cross-sectional view of the structure of the meshing portion of the flexible variable stiffness actuator of the illustrated embodiment in a meshing state;

[0084] Figure 24 A schematic partial cross-sectional view of the structure of a flexible variable stiffness actuator according to another embodiment of the present application, showing an engagement portion in a disengaged state;

[0085] Figure 25A schematic partial cross-sectional view of the structure of a flexible variable stiffness actuator according to another embodiment of the present application, showing an engagement portion in a disengaged state;

[0086] Figure 26 A schematic partial cross-sectional view of the structure of a flexible variable stiffness actuator according to another embodiment of the present application, showing an engagement portion in a disengaged state;

[0087] Figure 27 A schematic structural diagram of a flexible variable stiffness actuator provided in one embodiment of the present application;

[0088] Figure 28 A schematic structural diagram of a flexible variable stiffness actuator provided in yet another embodiment of the present application;

[0089] Figure 29 A schematic structural diagram of a flexible variable stiffness actuator provided in yet another embodiment of the present application;

[0090] Figure 30 A schematic partial cross-sectional view of the structure of a flexible variable stiffness actuator according to another embodiment of the present application, showing an engagement portion in a disengaged state;

[0091] Figure 31 A schematic partial cross-sectional view of the structure of a flexible variable stiffness actuator according to another embodiment of the present application, showing an engagement portion in a disengaged state;

[0092] Figure 32 A schematic diagram of an application scenario of a virtual reality interactive device provided in yet another embodiment of the present application.

[0093] Description of reference numerals:

[0094] 1. Flexible variable stiffness drive;

[0095] 10. Variable stiffness components;

[0096] 11. substrate; 11a. exposed area; 11b. layer structure; 11c. adhesive member; 11d. block structure;

[0097] 12. Engaging portion; 121. Side wall; 122. Top wall;

[0098] 13. Gap;

[0099] 14. bulge;

[0100] 15. Concave;

[0101] 16. Elastic parts;

[0102] 20. Drive assembly;

[0103] 21. Airbag;

[0104] 22. Vacuum pump;

[0105] 23. First valve body;

[0106] 24. Second valve body;

[0107] 25. Air pump;

[0108] 26. Air pressure sensor;

[0109] 27. Control module;

[0110] 201, first electrode;

[0111] 202, second electrode;

[0112] 20a, a first electromagnet;

[0113] 20b, a second electromagnet;

[0114] 100. Virtual reality interactive equipment;

[0115] 101. Carrier;

[0116] X, thickness direction;

[0117] Y, length direction;

[0118] Z, width direction. DETAILED DESCRIPTION

[0119] When users use virtual reality interactive devices to perform operations in the virtual reality world, they hope to receive realistic feedback similar to that in real-world scenarios. For example, in the real world, if a user grasps or holds a real object with their hand, they can perceive the weight or hardness of the real object through the amount of force reflected by their hand. For example, in the real world, when a user grasps or holds a ball of string and a metal ball of the same size, they perceive the ball of string as lighter and softer, while the metal ball is heavier and harder. Therefore, when users grasp or hold a virtual object in the virtual reality world through a virtual reality interactive device, they also hope to feel the force or hardness of the virtual object during the interaction process, thereby obtaining the same or similar experience as in the real world, which helps to enhance the user's immersion and sense of reality during the interaction with the virtual reality world.

[0120] Virtual reality interactive devices include wearable devices. Wearable devices can include force feedback gloves, which users can wear on their hands and use hand movements to control hand movements in the virtual reality world, such as smoothly grasping or holding objects. Currently, to enhance the immersion and realism of the virtual reality world, some wearable device developers have developed commercial force feedback gloves. For example, these force feedback gloves are cable-driven, with a mechanical structure including a driver and a transmission mechanism mounted on the back of the user's hand. The driver and the cable pull the transmission mechanism on the force feedback glove, providing feedback force to each finger when the user bends the finger, thereby simulating the user's hand grasping or holding the corresponding object. However, the driver and transmission mechanisms of force feedback gloves are primarily rigid structures, resulting in heavy weight and bulk, making them difficult to portability. Current force feedback gloves have a large number of mechanical structures, such as drivers and transmission mechanisms, added to the back of the user's hand, making them less comfortable to wear for extended periods of time. Therefore, current force feedback gloves are not well suited for virtual reality interaction.

[0121] Based on this, an embodiment of the present application provides a flexible variable stiffness driver 1. The flexible variable stiffness driver 1 can achieve changes in stiffness. By controlling the stiffness of the flexible variable stiffness driver 1, the force or the hardness or softness generated by the user grasping or holding different objects can be simulated. Through the flexible variable stiffness driver 1, the user can feel the force or hardness generated during the interaction with the virtual object, thereby obtaining the same or similar feeling as the real world, which is conducive to improving the immersion and realism of the user in the interaction process with the virtual reality world. The flexible variable stiffness driver 1 of the embodiment of the present application is light in weight and small in size. Therefore, when applied to wearable devices such as force feedback gloves, it can reduce the overall weight of the wearable device, which is conducive to improving wearing comfort.

[0122] The following describes the implementation of the flexible variable stiffness driver 1 provided in the embodiment of the present application.

[0123] See also Figure 1 and Figure 2As shown, the flexible variable stiffness driver 1 of the embodiment of the present application includes a variable stiffness component 10 and a drive component 20. Variable stiffness means that the size of the stiffness can change. The size of the stiffness affects the difficulty of the variable stiffness component 10 to bend and deform. The smaller the overall stiffness of the variable stiffness component 10, the easier it is to bend and deform. The greater the overall stiffness of the variable stiffness component 10, the more difficult it is to bend and deform. The variable stiffness component 10 includes a base 11 and a meshing portion 12. The base 11 is a bendable and deformable structure. Bendable and deformable means that the base 11 is flexible and can bend and change shape when subjected to external force. The base 11 has a predetermined thickness. Along the thickness direction X of the base 11, two or more bases 11 are stacked. Among at least a portion of the bases 11, a meshing portion 12 is provided on the surface of one of the two adjacent bases 11 facing the other. The drive assembly 20 is used to drive two adjacent substrates 11 provided with meshing portions 12 so that the meshing portion 12 on one substrate switches from a separated state to an engaged state with the meshing portion 12 on the other substrate. The drive assembly 20 can be used to drive two adjacent substrates 11 provided with meshing portions 12 toward each other so that the meshing portion 12 on one substrate switches from a separated state to an engaged state with the meshing portion 12 on the other substrate. The drive assembly 20 can also be used to drive two adjacent substrates 11 provided with meshing portions 12 away from each other so that the meshing portion 12 on one substrate switches from an engaged state to a separated state with the meshing portion 12 on the other substrate.

[0124] It should be noted that, see Figure 3 As shown, the separation state refers to that of two adjacent base bodies 11 provided with the meshing portions 12, the meshing portions 12 on one are located outside the gap 13 between the two adjacent groups of meshing portions 12 on the other. Figure 4 As shown, the meshing state refers to that, among two adjacent base bodies 11 provided with meshing portions 12 , the meshing portion 12 on one is at least partially inserted into the gap 13 between two adjacent groups of meshing portions 12 on the other.

[0125] When the meshing portions 12 on two adjacent substrates 11 are separated, the variable stiffness assembly 10 as a whole has a first stiffness. When the meshing portions 12 on two adjacent substrates 11 are engaged, the variable stiffness assembly 10 as a whole has a second stiffness. The second stiffness is greater than the first stiffness. The ability of the variable stiffness assembly 10 with the first stiffness to resist bending deformation is weaker than the ability of the variable stiffness assembly 10 with the second stiffness to resist bending deformation. Therefore, if the variable stiffness assembly 10 is bent to the same shape, the external force acting on the variable stiffness assembly 10 with the second stiffness needs to be greater than the external force acting on the variable stiffness assembly 10 with the first stiffness.

[0126] See also Figure 5As shown, when the meshing portions 12 on the two adjacent substrates 11 are separated, the two substrates 11 are independent and relatively loose and free. Therefore, the variable stiffness component 10 has a small first stiffness against bending deformation. When the variable stiffness component 10 is bent by force, the resistance that the external force needs to overcome is small, and the variable stiffness component 10 can easily bend and deform. For example, see Figure 6 As shown, when the flexible variable stiffness driver 1 is applied to a virtual reality interaction device with a force feedback function, the flexible variable stiffness driver 1 can be provided on at least one of the user's fingers or palm. When at least one of the user's fingers or palm is bent and deformed, the flexible variable stiffness driver 1 can simulate a scenario in which the force exerted by grasping or holding a virtual object is small or soft. Exemplarily, the virtual reality interaction device includes a force feedback glove that can be worn on the user's hand. The force feedback glove includes the flexible variable stiffness driver 1. In some embodiments, the virtual reality interaction device can also be force feedback clothing, etc. The force feedback clothing includes the flexible variable stiffness driver 1.

[0127] See also Figure 7 As shown, when the meshing portions 12 on two adjacent substrates 11 are engaged, the two substrates 11 are coupled together by the meshing portions 12, thereby constraining the two substrates 11 to each other and preventing them from shifting relative to each other. Therefore, the variable stiffness component 10 has a second stiffness that is relatively resistant to bending deformation, making it relatively difficult for the variable stiffness component 10 to bend. Compared to a variable stiffness component 10 with a first stiffness, when a variable stiffness component 10 with a second stiffness is bent under force, the external force must overcome greater resistance. For example, when the flexible variable stiffness actuator 1 is applied to a virtual reality interactive device with force feedback, the flexible variable stiffness actuator 1 can be provided on at least one of the user's fingers or palm. When at least one of the user's fingers or palm is bent and deformed, the flexible variable stiffness actuator 1 can simulate a scenario where the force exerted by grasping or holding a virtual object is large or hard.

[0128] For example, when the variable stiffness component 10 is applied to at least one of a user's fingers and palm, the degree of bending of the user's fingers and palm can be the same when the user grasps or holds a ball of string in a virtual reality world and grasps or holds a metal ball of the same size, but the force or softness and hardness perceived by the user's fingers and palm are different. If the user's perception of grasping or holding a ball of string is set to be lighter and softer, then, correspondingly, the user's perception of grasping or holding a metal ball is set to be heavier and harder. Correspondingly, when grasping or holding a ball of string in a virtual reality world, the variable stiffness component 10 can have a first stiffness to simulate a smaller force and a softer texture. When grasping or holding a metal ball in a virtual reality world, the variable stiffness component 10 can have a second stiffness to simulate a larger force and a harder texture.

[0129] The flexible variable stiffness driver 1 of the embodiment of the present application includes a variable stiffness component 10 and a drive component 20. The overall stiffness of the variable stiffness component 10 can be adjusted. The variable stiffness component 10 includes two or more bendable and deformable substrates 11. Each substrate 11 has a predetermined stiffness. When an external force is applied to a single substrate 11, the substrate 11 can bend and deform. Among at least a portion of the substrates 11, each of the two adjacent substrates 11 is provided with a meshing portion 12. The drive component 20 is used to drive two adjacent substrates 11 provided with the meshing portion 12 so that the meshing portion 12 on one and the meshing portion 12 on the other are at least switched from a separated state to a meshed state. Among the two adjacent substrates 11 provided with the meshing portion 12, when the meshing portions 12 on the two substrates 11 are in a separated state, the variable stiffness component 10 can have a first stiffness. Each substrate 11 is relatively loose and free, so that the variable stiffness component 10 as a whole is relatively easy to bend and deform. The drive assembly 20 can drive the substrates 11 toward each other. When the engaging portions 12 on two adjacent substrates 11 switch from a separated state to an engaged state, the variable stiffness assembly 10 has a second stiffness greater than the first stiffness. At this point, the substrates 11 press against each other.

[0130] Compared to the variable stiffness assembly 10 having the first stiffness, the variable stiffness assembly 10 having the second stiffness is relatively less susceptible to bending and deformation. For example, when the variable stiffness assembly 10 having the first stiffness and the variable stiffness assembly 10 having the second stiffness are bent to the same degree, the force required to bend the variable stiffness assembly 10 having the second stiffness is greater than the force required to bend the variable stiffness assembly 10 having the second stiffness.

[0131] When the flexible variable stiffness actuator 1 is applied to a virtual reality interaction device with force feedback, the flexible variable stiffness actuator 1 can be installed on a part of the user's body, such as at least one of the fingers and palms. The variable stiffness component 10 has a first stiffness, and when at least one of the user's fingers and palms is bent and deformed, the flexible variable stiffness actuator 1 can simulate a scenario in which the force generated during grasping or holding a virtual object is small or soft. The variable stiffness component 10 has a second stiffness, and when at least one of the user's fingers and palms is bent and deformed, the flexible variable stiffness actuator 1 can simulate a scenario in which the force generated during grasping or holding a virtual object is large or hard. Through the flexible variable stiffness actuator 1, the user can feel the force or degree of softness or hardness generated during the interaction with the virtual object, thereby obtaining the same or similar experience as in the real world, which is conducive to enhancing the immersion and realism of the user's interaction with the virtual reality world. The flexible variable stiffness actuator 1 of the embodiment of the present application has a compact structure, small size, and light weight, and therefore helps to improve wearing comfort during use.

[0132] In some feasible embodiments, the driving component 20 applies a force to the variable stiffness component 10, driving two or more substrates 11 to approach each other along the thickness direction X, so that the meshing portion 12 on one of the two adjacent substrates 11 provided with the meshing portion 12 is switched from a separated state to an engaged state with the meshing portion 12 on the other.

[0133] In some achievable embodiments, of two adjacent substrates 11 provided with meshing portions 12, the meshing portion 12 on one is at least partially inserted into the gap 13 between two adjacent groups of meshing portions 12 on the other, thereby achieving mutual meshing of the meshing portions 12 on the two substrates 11. The depth to which the meshing portion 12 on one substrate is inserted into the corresponding gap 13 is different, and the stiffness of the variable stiffness assembly 10 is different. The smaller the depth to which the meshing portion 12 is inserted into the gap 13, the smaller the overall stiffness of the variable stiffness assembly 10, that is, the smaller the value of the second stiffness. The greater the depth to which the meshing portion 12 is inserted into the gap 13, the greater the overall stiffness of the variable stiffness assembly 10, that is, the greater the value of the second stiffness. Therefore, by controlling the depth of the meshing portion 12 on one side inserted into the corresponding gap 13, the value of the second stiffness of the variable stiffness component 10 as a whole can be controlled, which is conducive to achieving stepless adjustment of the stiffness of the variable stiffness component 10 as a whole, increasing the stiffness variation range, and thus being able to simulate more stress value points.

[0134] For some examples, see Figure 4 As shown, in two adjacent base bodies 11 provided with meshing portions 12, the meshing portions 12 on one are completely inserted into the gap 13 between the two adjacent groups of meshing portions 12 on the other. Alternatively, see Figure 8As shown, of two adjacent base bodies 11 provided with the engaging portions 12 , the engaging portions 12 on one are partially inserted into the gap 13 between the two adjacent groups of engaging portions 12 on the other.

[0135] In some examples, the meshing portions 12 on the two substrates 11 have different meshing states when meshing with each other. For example, the first meshing state: one-third of the meshing portion 12 on one is inserted into the gap 13 between the two adjacent groups of meshing portions 12 on the other. The second meshing state: one-half of the meshing portion 12 on one is inserted into the gap 13 between the two adjacent groups of meshing portions 12 on the other. The third meshing state: the meshing portion 12 on one is completely inserted into the gap 13 between the two adjacent groups of meshing portions 12 on the other. The stiffness of the variable stiffness component 10 in the above three different meshing states is different. Relatively speaking, in the first meshing state, the stiffness of the variable stiffness component 10 is the smallest, and in the third meshing state, the stiffness of the variable stiffness component 10 is the largest.

[0136] In some conceivable embodiments, when the variable stiffness assembly 10 is applied to at least one of a user's fingers and palm, two or more groups of meshing portions 12 are spaced apart along the bending direction of the fingers or palm. For example, when the variable stiffness assembly 10 is applied to a user's fingers, the two or more groups of meshing portions 12 are arranged in the same direction as the length of the fingers. When the variable stiffness assembly 10 is applied to the user's palm, the two or more groups of meshing portions 12 are arranged in the same direction from the wrist to the fingers. When the variable stiffness assembly 10 is applied to the user's fingers and palm, the two or more groups of meshing portions 12 are arranged in the same direction from the wrist to the fingertips. In some examples, the base 11 may be a structure having a predetermined length and width. Along the length direction Y of the base 11, two or more groups of meshing portions 12 are spaced apart. The two or more groups of meshing portions 12 are arranged in the same direction as the length direction Y of the base 11. Each group of meshing portions 12 may include one or more meshing portions 12.

[0137] For example, see Figure 3 As shown, two or more groups of meshing portions 12 are evenly spaced. The distance L between two adjacent gaps 13 ranges from 1 mm to 3 mm, for example, but not limited to, 2 mm.

[0138] In some achievable embodiments, the hardness of the base 11 is different from the hardness of the meshing portion 12. The hardness of the meshing portion 12 is greater than the hardness of the base 11. When the meshing portion 12 is in a separated state, the stiffness of the base 11 itself, which has a smaller hardness, is the main factor affecting the stiffness of the variable stiffness component 10. Therefore, the stiffness of the variable stiffness component 10 is relatively small and easy to bend. When the meshing portion 12 is in an engaged state, the meshing portions 12, which have a larger hardness, mesh with each other, and the stiffness of the variable stiffness component 10 is relatively large. Therefore, when the meshing portion 12 is in a separated state, the variable stiffness component 10 can simulate force feedback with a smaller force or a softer texture generated during the interaction of virtual objects. The harder meshing portions 12 mesh with each other, and when the variable stiffness assembly 10 bends, the harder meshing portions 12 exhibit greater resistance to deformation and are less likely to tilt or deform under force. This allows the variable stiffness assembly 10 to simulate the force feedback of larger forces or stiffer textures generated during virtual object interaction. Furthermore, it reduces the likelihood of adjacent meshing portions 12 squeezing each other along the length direction Y of the base 11, leading to tilting and deformation of the meshing portions 12 and loss of engagement. The greater hardness of the meshing portions 12 than the base 11 facilitates a wider range of stiffness adjustment within the variable stiffness assembly 10.

[0139] In some achievable embodiments, the base 11 and the meshing portion 12 are integrally formed. This, on the one hand, can help improve the connection strength between the base 11 and the meshing portion 12, allowing the meshing portion 12 to withstand greater compressive stress without separating from the base 11 during bending of the base 11. Furthermore, no additional connector, such as an adhesive, is required between the base 11 and the meshing portion 12, which helps reduce the possibility of adversely affecting the stiffness adjustment accuracy of the variable stiffness assembly 10 due to the provision of a connector having a predetermined thickness. An integrally formed structure refers to a continuous transition between the base 11 and the meshing portion 12, requiring no connector between the two. Separating the base 11 and the meshing portion 12 requires destroying the structure of one of the base 11 and the meshing portion 12.

[0140] Exemplarily, the material of the base 11 and the material of the meshing portion 12 are the same. For example, the base 11 is a single-layer structure. The material of the base 11 and the material of the meshing portion 12 are both selected from resin, rubber or silicone. The base 11 is flexible and easy to bend and deform. The base 11 and the meshing portion 12 are lightweight in themselves, which is beneficial to the lightweight design of the variable stiffness component 10. Exemplarily, the blank can be machined to remove material to form the base 11 and the meshing portion 12. Alternatively, a 3D printing process can be used to process and manufacture the base 11 and the meshing portion 12 in an additive manner. For example, the base 11 can be formed using silicone with a hardness of 40A and the meshing portion 12 can be formed using silicone with a hardness of 95A through a 3D printing process.

[0141] In some practicable embodiments, the base 11 and the meshing portion 12 are assembled as separate parts. The base 11 and the meshing portion 12 are manufactured separately and then connected by assembly. This, on the one hand, reduces the overall manufacturing difficulty of the variable stiffness assembly 10; on the other hand, allows for flexible selection of materials for the base 11 and the meshing portion 12 based on the stiffness adjustment requirements of the variable stiffness assembly 10.

[0142] In some examples, the substrate 11 is a single-layer structure. The material of the substrate 11 and the material of the meshing portion 12 can be the same, for example, both can be selected from resin, rubber or silicone. The meshing portion 12 is connected to the substrate 11 by bonding or hot-melt welding. In other examples, the substrate 11 is a single-layer structure. The material of the substrate 11 and the material of the meshing portion 12 can be different, for example, the material of the substrate 11 can be selected from resin, rubber or silicone. The material of the meshing portion 12 can be selected from plastic, diamond or corundum. For example, the material of the meshing portion 12 can be brown corundum. The hardness of the meshing portion 12 is greater than the hardness of the substrate 11. The meshing portion 12 can be connected to the substrate 11 by bonding.

[0143] In some possible implementations, the meshing portion 12 may be in a herringbone shape and include two intersecting extensions, wherein the angle between the two extensions may be in a range of 100° to 160°.

[0144] In some possible implementations, see Figure 9 As shown, the meshing portion 12 may be spherical, for example, hemispherical. Each group of meshing portions 12 may include a plurality of spherical meshing portions 12 spaced apart. For example, in the meshing state, the meshing portion 12 on one substrate 11 may contact four meshing portions 12 on another substrate 11.

[0145] In some possible implementations, see Figure 10 As shown, the meshing portion 12 may be in the shape of a strip. The meshing portion 12 extends along a straight line. When the base 11 has a predetermined width, the meshing portion 12 extends along the width direction Z of the base 11. The thickness direction X and the length direction Y are both perpendicular to the width direction Z.

[0146] In some possible implementations, see Figure 11 As shown, the surface of the engagement portion 12 facing away from the base body 11 is a curved surface. Two or more engagement portions 12 form a wave-shaped structure.

[0147] The shape of the meshing portion 12 of the present application is not limited to the shapes exemplified above, and other shapes that can achieve mutual meshing of the meshing portions 12 are within the protection scope of the present application.

[0148] In some possible implementations, see Figure 12As shown, the variable stiffness component 10 further includes a protrusion 14. The size of the protrusion 14 is smaller than that of the engaging portion 12. Figure 13 As shown, at least a portion of the side walls 121 of the meshing portions 12 are provided with a plurality of protrusions 14. The side walls 121 of the meshing portions 12 refer to the surfaces facing the gaps 13 and used for meshing. After the protrusions 14 are provided on the side walls 121 of the meshing portions 12, the friction force of the side walls 121 can be increased. When the meshing portions 12 on the two substrates 11 mesh with each other, the meshing portions 12 on the two substrates 11 are subjected to a large friction force and are not easy to mesh. When the meshing portions 12 are inserted into the corresponding gaps 13 to the same depth, the meshing portions 12 provided with the protrusions 14 need to overcome a greater frictional resistance than the meshing portions 12 without the protrusions 14. Since the meshing portion 12 with the protrusion 14 is not easy to mesh and requires a greater compressive stress to achieve the same meshing state, the upper limit of the compressive stress applied to the base 11 and the meshing portion 12 is larger when the meshing portion 12 is switched from a separated state to a fully meshed state, thereby making the range of values ​​of the force applied to the meshing portion 12 wider and the force applied to the meshing portion 12 more accurate, which is beneficial to improving the accuracy of the depth of the meshing portion 12 inserted into the corresponding gap 13, and further beneficial to improving the stiffness variation range of the variable stiffness component 10 and improving the stiffness control accuracy of the variable stiffness component 10. Correspondingly, compared with the meshing portion 12 without the protrusion 14, the meshing portion 12 with the protrusion 14 needs to overcome greater friction resistance when switching from the meshing state to the disengaged state, so that the meshing portion 12 with the protrusion 14 is not easy to switch from the meshing state to the disengaged state, and the meshing portion 12 can be gradually switched to the disengaged state, reducing the possibility of a sudden stress change when the meshing portion 12 switches from the meshing state to the disengaged state due to an excessively fast separation speed.

[0149] In some examples, the friction force of the sidewall 121 can be adjusted by adjusting the size of the protrusion 14. For example, the height of the engaging portion 12 protruding from the base 11 can range from 0.5 mm to 3 mm, for example, but not limited to 1 mm. The height of the protrusion 14 protruding from the sidewall 121 can range from 5 μm to 500 μm.

[0150] In some examples, the sidewalls 121 of a portion of the engaging portions 12 are provided with multiple protrusions 14, while the sidewalls 121 of the remaining engaging portions 12 are not provided with protrusions 14. Therefore, different types of engaging portions 12 can be provided at different locations on a single base 11, thereby achieving differentiated stiffness variations at different locations on the variable stiffness assembly 10, thereby better simulating a user's grasping or holding experience.

[0151] In some possible implementations, see Figure 13As shown, the base 11 has an exposed area 11a located between two adjacent engaging portions 12. The number of exposed areas 11a is multiple. Figure 14 As shown, the variable stiffness component 10 includes a recess 15. The recess 15 is provided corresponding to the exposed area 11a. At least a portion of the exposed area 11a is provided with a recess 15. The recess 15 is recessed along the thickness direction X of the base 11. When the engaging portions 12 on the two bases 11 engage with each other, at least a portion of the engaging portion 12 on one base 11 can be inserted into the corresponding recess 15. When the engaging portion 12 on one base 11 is inserted into the corresponding recess 15, the engaging portion 12 will be limited by the side wall of the recess 15, so that the engaging portion 12 is not easily moved along the width direction Z of the base 11, reducing the possibility that the engaging portion 12 moves along the width direction Z of the base 11 and causing the engaging area between the engaging portions 12 on both sides of the recess 15 to be reduced. Exemplarily, the portion of the engaging portion 12 on one base 11 that is used to be inserted into the corresponding recess 15 matches the shape of the recess 15. Exemplarily, the number of recesses 15 is one. The recess 15 does not penetrate the base body 11 along the width direction Z of the base body 11 .

[0152] In some possible implementations, see Figure 15 As shown, the base 11 has a plurality of exposed areas 11a located between two adjacent meshing portions 12. A plurality of protrusions 14 are provided on at least some of the exposed areas 11a. Providing the protrusions 14 on the exposed areas 11a can increase the friction of the exposed areas 11a. When the meshing portions 12 on the two bases 11 engage with each other, the friction between the surface of the meshing portion 12 facing the exposed area 11a and the exposed area 11a provided with the protrusions 14 is relatively large, making it difficult for the meshing portion 12 to move relative to the exposed area 11a. When the variable stiffness assembly 10 is bent to the same degree, the force that causes the variable stiffness assembly 10 including the base 11 provided with the protrusions 14 to bend is greater than the force that causes the variable stiffness assembly 10 including the base 11 not provided with the protrusions 14 to bend. Therefore, providing the protrusions 14 on the exposed areas 11a is beneficial for increasing the stiffness variation range of the variable stiffness assembly 10.

[0153] In some achievable embodiments, the protrusions 14 are provided on both the sidewalls 121 of the engaging portion 12 and the exposed area 11 a of the base 11. The protrusions 14 may also be provided on the top wall 122 of the engaging portion 12.

[0154] In some embodiments, the protrusions 14 are spherical, for example, hemispherical. When the engaging portion 12 is spherical, the protrusions 14 can have the same shape as the engaging portion 12, and multiple protrusions 14 are spaced apart on at least one of the sidewalls 121 of the engaging portion 12 and the exposed area 11a on the base 11. When the engaging portion 12 is chevron-shaped or strip-shaped, multiple protrusions 14 are spaced apart on at least one of the sidewalls 121 of the engaging portion 12 and the exposed area 11a on the base 11.

[0155] In some possible implementations, see Figure 16 and Figure 17 As shown, the protrusion 14 is in the shape of a strip. When the engaging portion 12 is in the shape of a herringbone, strip, or sphere, the protrusion 14 extends along the width direction Z of the base 11. A plurality of protrusions 14 are disposed at intervals on at least one of the sidewall 121 of the engaging portion 12 and the exposed area 11a on the base 11.

[0156] The shape of the protrusion 14 of the present application is not limited to the shapes exemplified above, and other shapes of the protrusion 14 that can achieve the same function are within the protection scope of the present application.

[0157] For some examples, see Figure 16 As shown, a portion of the exposed areas 11a are provided with multiple protrusions 14, while the remaining exposed areas 11a are not provided with protrusions 14. Therefore, different types of exposed areas 11a can be provided at different locations on a base 11, thereby achieving differentiated stiffness variation effects at different locations on the variable stiffness component 10, thereby better simulating a user's grasping or holding experience.

[0158] In some possible implementations, see Figure 18 As shown, the substrate 11 includes two or more connected layer structures 11b. Along the thickness direction X of the substrate 11, the two or more layer structures 11b are stacked. The hardness of the two adjacent layer structures 11b is different. When the substrate 11 is a single-layer structure 11b, the material of the substrate 11 has a major influence on the stiffness of the substrate 11 itself, so that the stiffness variation range of the substrate 11 formed by one material itself is small. Compared with the substrate 11 being a single-layer structure 11b, the substrate 11 with multiple layer structures 11b can adjust the stiffness of the variable stiffness component 10 as a whole by adjusting the hardness of each layer, which can help increase the overall stiffness variation range of the variable stiffness component 10 and increase the range of values ​​of the simulated stiffness of the variable stiffness component 10.

[0159] In some practicable embodiments, two adjacent layer structures 11b are made of the same material. The two layer structures 11b made of the same material can be directly connected to each other by heat-melting welding, thereby eliminating the need for additional intermediate connectors. This makes the variable stiffness assembly 10 compact and helps reduce its weight.

[0160] In some examples, the base 11 includes two connected layer structures 11b. Of the two layer structures 11b, the material of the layer structure 11b away from the meshing portion 12 and the material of the layer structure 11b close to the meshing portion 12 can both be silicone, rubber or resin.

[0161] In some achievable embodiments, the materials of two adjacent layer structures 11b are different. By selecting different materials for the layer structures 11b, the hardness of the two adjacent layer structures 11b can be varied, thereby forming a matrix 11 with different stiffnesses. This facilitates the use of different materials to compositely form a matrix 11 that meets varying stiffness requirements. The two adjacent layer structures 11b can be connected by bonding.

[0162] In some examples, the substrate 11 includes two connected layer structures 11b. Of the two layer structures 11b, the layer structure 11b farther from the meshing portion 12 has a greater hardness than the layer structure 11b closer to the meshing portion 12. For example, the layer structure 11b farther from the meshing portion 12 can be made of paper or plastic, while the layer structure 11b closer to the meshing portion 12 can be made of silicone, rubber, or resin.

[0163] In some other examples, the base 11 includes three connected layer structures 11b , wherein the materials of the three layer structures 11b are different.

[0164] In other examples, the outermost layer structure 11b has a greater hardness than the remaining layer structures 11b in the direction away from the meshing portion 12. Therefore, the outermost layer structure 11b can serve as a constraint structure, preventing the overall dimensions of the base body 11 from changing without affecting the bending of the base body 11. This reduces the possibility that the base body 11 will be stretched and lengthened during bending, which would adversely affect the stiffness variation accuracy of the variable stiffness assembly 10.

[0165] For example, the outermost layer structure 11b can be a flexible and stretch-resistant structural member, so that the outermost layer structure 11b itself can bend and deform, while at the same time being less susceptible to stretching and deformation when subjected to tensile stress. For example, the outermost layer structure 11b is a plastic sheet or a paper product. The paper product can be, for example, kraft paper made from sulfate and wood pulp.

[0166] Exemplarily, the base 11 includes two layer structures 11b. The layer structure 11b connected to the meshing portion 12 may be made of a resin. The outermost layer structure 11b may be made of a paper product. The layer structure 11b connected to the meshing portion 12 is bonded to the outermost layer structure 11b. For example, the layer structure 11b connected to the meshing portion 12 is bonded to the outermost layer structure 11b via an adhesive 11c. The adhesive 11c may be an epoxy resin adhesive.

[0167] For example, the base 11 is a flat structure. The material of the layer structure 11b connected to the meshing portion 12 is the same as that of the meshing portion 12. The layer structure 11b connected to the meshing portion 12 and the meshing portion 12 are an integrally formed structure. The meshing portion 12 is in a herringbone shape.

[0168] In some possible implementations, see Figure 19 As shown, the base 11 includes two or more connected block structures 11d. The two or more block structures 11d are arranged in a direction perpendicular to the thickness direction X of the base 11. For example, the direction perpendicular to the thickness direction X of the base 11 can be the arrangement direction of the two or more groups of meshing portions 12. The hardness of two adjacent block structures 11d varies. Regions with greater hardness in the block structures 11d have greater bending resistance. Regions with less hardness in the block structures 11d are relatively easy to bend. When the base 11 is an integrally molded structure, the material of the base 11 has a primary influence on the stiffness of the base 11 itself. Therefore, the stiffness of the base 11 formed from a single material in an integral molding process has a smaller range of variation. Compared to a base 11 formed as an integrally molded structure, a base 11 comprising multiple block structures 11d can adjust the stiffness of the entire variable stiffness assembly 10 by adjusting the hardness at different locations. This can help increase the overall stiffness variation range of the variable stiffness assembly 10, expand the range of simulated stiffness values, and achieve stiffness feedback for different regions of the variable stiffness assembly 10.

[0169] In some examples, each block structure 11d has the same length, width, and thickness. When the base 11 is a structure with a predetermined length, two or more block structures 11d are distributed successively along the length direction Y of the base 11.

[0170] In some feasible embodiments, the materials of two adjacent block structures 11d can be different, so that by selecting the materials of each block structure 11d, the hardness of the two adjacent block structures 11d can be different, which is conducive to using different materials to compositely form a matrix 11 that meets different stiffness change requirements.

[0171] In some examples, among three adjacent block structures 11d, the materials of the respective block structures 11d are different.

[0172] In some examples, two adjacent block structures 11d can be connected by bonding. For example, of the two adjacent block structures 11d, one block structure 11d can be made of plastic, while the other block structure 11d can be made of silicone, rubber, or resin. Alternatively, of the two adjacent block structures 11d, one block structure 11d can be made of silicone, while the other block structure 11d can be made of rubber or resin.

[0173] In some possible implementations, the thickness of the base 11 is different from the height of the meshing portion 12 protruding from the base 11. The thickness of the base 11 has a major impact on the rigidity of the base 11 itself. The thicker the base 11, the greater its rigidity. The height of the meshing portion 12 protruding from the base 11 has a major impact on the size of the overlapping area between the two meshing portions 12 after meshing. The larger the overlapping area of ​​the two meshing portions 12, the stronger the resistance of the overlapping area to bending deformation. Therefore, by setting the thickness of the base 11 and the height of the meshing portion 12 protruding from the base 11 to be different, the rigidity variation range of the variable rigidity component 10 can be flexibly adjusted. In some examples, the thickness of the base 11 is greater than the height of the meshing portion 12 protruding from the base 11. For a base 11, the thickness of the base 11 can range from 0.5 mm to 3 mm, for example, but not limited to 2 mm. The height of the meshing portion 12 protruding from the base 11 can range from 0.5 mm to 3 mm, for example, but not limited to 1 mm.

[0174] In the two substrates 11 of the embodiment of the present application, during the process of switching the meshing portion 12 on one substrate 11 and the meshing portion 12 on the other substrate 11 from the meshing state to the disengaged state, if the meshing portion 12 is not separated in time or incompletely, the meshing portion 12 will still be in the meshing state, so that when the variable stiffness component 10 needs to switch to the first stiffness, the variable stiffness component 10 will still remain at the second stiffness, affecting the stiffness adjustment precision and simulation accuracy of the variable stiffness component 10.

[0175] In some feasible embodiments, the driving component 20 can apply a force to the variable stiffness component 10 to drive two or more substrates 11 away from each other along the thickness direction X, so that the meshing portion 12 on one of the two adjacent substrates 11 provided with the meshing portion 12 is switched from the meshing state to the disengaged state with the meshing portion 12 on the other.

[0176] In other possible implementations, to ensure that the meshing portion 12 can smoothly switch from the engaged state to the disengaged state, the base 11 can be an elastic structure and can be inherently flexible. When the variable stiffness assembly 10 needs to switch from the second stiffness to the first stiffness, the base 11 can release its elastic restoring force and drive the meshing portion 12 from the engaged state to the disengaged state. The base 11 itself can provide the force that causes the meshing portion 12 to switch from the engaged state to the disengaged state, thereby further ensuring smooth disengagement of the meshing portion 12.

[0177] In some examples, the driving component 20 can apply a force to the variable stiffness component 10, and the base 11 can release its own elastic restoring force, thereby driving two or more bases 11 away from each other along the thickness direction X, so that the meshing portion 12 switches from the meshing state to the disengaged state.

[0178] In other possible implementations, see Figure 20 As shown, the variable stiffness assembly 10 further includes an elastic member 16. When the meshing portions 12 on two adjacent substrates 11 are in an engaged state, the meshing portions 12 squeeze and deform the elastic member 16, causing the elastic member 16 to accumulate elastic potential energy. When the meshing portions 12 switch from the engaged state to the disengaged state, the elastic member 16 releases its elastic restoring force and applies compressive stress to the meshing portions 12, thereby pushing the meshing portions 12 apart from each other. The elastic member 16 can provide additional separation force to the meshing portions 12, making it relatively easy for the meshing portions 12 to separate, thereby reducing the possibility that the meshing portions 12 will remain engaged and fail to separate when switching from the engaged state to the disengaged state.

[0179] In some examples, the driving component 20 can apply a force to the variable stiffness component 10, and at the same time, the base 11 and the elastic member 16 can release their own elastic restoring force, thereby driving two or more bases 11 away from each other along the thickness direction X, so that the engaging portion 12 switches from the engaged state to the disengaged state.

[0180] For some examples, see Figure 20 and Figure 21As shown, the elastic member 16 is an elastic sheet. In two adjacent substrates 11 provided with meshing portions 12, an elastic member 16 is provided between the meshing portion 12 on one and the meshing portion 12 on the other. The elastic member 16 can cover all the meshing portions 12 on the substrate 11. When the meshing portions 12 on the two substrates 11 are meshed, the meshing portions 12 on the two substrates 11 will squeeze the elastic member 16 at the same time. A portion of the elastic member 16 is pressed into the corresponding gap 13 by the meshing portion 12. When the meshing portion 12 withdraws from the corresponding gap 13, the portion of the elastic member 16 located in the gap 13 rebounds to push the meshing portion 12. Exemplarily, the material of the elastic member 16 can be selected from plastic, so that the elastic member 16 has good flexibility, so that after repeated extrusion and rebound, the elastic member 16 is not prone to indentations that may cause failure of the elastic member 16. Exemplarily, the thickness of the elastic member 16 is less than the height of the meshing portion 12 protruding from the substrate 11. For example, the thickness of the elastic member 16 may range from 20 microns to 100 microns.

[0181] For other examples, see Figure 22 and Figure 23 As shown, for a base 11, an elastic member 16 is provided on the exposed area 11a of the base 11 between two adjacent meshing portions 12. The elastic member 16 is located in the gap 13 between the two adjacent meshing portions 12. When the meshing portions 12 on the two bases 11 are meshed, the meshing portion 12 on one base 11 will squeeze the elastic member 16 in the corresponding gap 13. When the meshing portion 12 withdraws from the corresponding gap 13, the elastic member 16 rebounds to push the meshing portion 12. The height of the elastic member 16 is less than the height of the meshing portion 12 protruding from the base 11. Exemplarily, the elastic member 16 can be a spring, such as a coil spring. Alternatively, the elastic member 16 can be a column made of elastic material.

[0182] In some possible implementations, see Figure 24 As shown, the variable stiffness component 10 includes more than three substrates 11. In a portion of the substrates 11, a meshing portion 12 is provided on the surface of one of two adjacent substrates 11 facing the other. In a portion of the substrates 11, the surface of one of the two adjacent substrates 11 is in surface contact with the surface of the other. The meshing portions 12 on the two substrates 11 provided with the meshing portions 12 can mesh with each other, while the surfaces of the two substrates 11 not provided with the meshing portions 12 are in contact with each other. In the variable stiffness component 10, the contact modes between the various substrates 11 can be set to be different, so that different stiffness feedbacks on the variable stiffness component 10 can be achieved by flexibly setting the contact modes of the substrates 11. Exemplarily, in each substrate 11 of the variable stiffness component 10, the meshing mode and the surface contact mode can be set alternately.

[0183] In some examples, the variable stiffness assembly 10 includes four bases 11. Figure 24 The positions shown are for reference only. The first and second substrates 11 above are each provided with a meshing portion 12. The third and fourth substrates 11 below are each provided with a meshing portion 12. No meshing portion 12 is provided on the surface of the second substrate 11 facing the third substrate 11, and no meshing portion 12 is provided on the surface of the third substrate 11 facing the second substrate 11. The meshing portions 12 of the first and second substrates 11 can mesh with each other. The meshing portions 12 of the third and fourth substrates 11 can mesh with each other. The second and third substrates 11 are in surface contact with each other.

[0184] In some other possible implementations, the variable stiffness component 10 includes more than three bases 11. Among all the bases 11, the engaging portion 12 is provided on the surface of one of two adjacent bases 11 facing the other.

[0185] In some examples, the variable stiffness assembly 10 includes three bases 11. Figure 25 The positions shown are for reference only. The first substrate 11, the second substrate 11, and the third substrate 11 are each provided with an engaging portion 12. The engaging portion 12 is provided on the surface of the second substrate 11 facing the first substrate 11. The engaging portion 12 is also provided on the surface of the second substrate 11 facing the third substrate 11. The engaging portions 12 of each of the first substrate 11 and the third substrate 11 can engage with the engaging portion 12 of the second substrate 11.

[0186] In other examples, the variable stiffness assembly 10 includes four bases 11. Figure 26 The positions shown are for reference only. A meshing portion 12 is provided on each of the first substrate 11, the second substrate 11, the third substrate 11, and the fourth substrate 11. A meshing portion 12 is provided on the surface of the second substrate 11 facing the first substrate 11. A meshing portion 12 is provided on the surface of the second substrate 11 facing the third substrate 11. A meshing portion 12 is provided on the surface of the third substrate 11 facing the second substrate 11. A meshing portion 12 is provided on the surface of the third substrate 11 facing the fourth substrate 11. The meshing portions 12 of each of the first substrate 11 and the third substrate 11 can mesh with each other. The meshing portions 12 of each of the second substrate 11 and the fourth substrate 11 can mesh with each other.

[0187] In some possible implementations, see Figure 27As shown, the driving component 20 includes an airbag 21. The variable stiffness component 10 is arranged in the airbag 21. In the variable stiffness component 10, the outermost substrate 11 is connected to the inner wall of the airbag 21. When the flexible variable stiffness driver 1 is applied to a body part of the user, the airbag 21 can be directly set on the body part and directly contact the skin, or a carrier can be set outside the airbag 21 and set on the body part through the carrier. The internal pressure of the airbag 21 can be adjusted by exhausting or inflating. When the airbag 21 is in a negative pressure state, the airbag 21 is compressed and deformed under the action of atmospheric pressure, and the two opposite walls of the airbag 21 approach each other, so that the airbag 21 applies compressive stress to the variable stiffness component 10 to make the substrates 11 approach each other. In two adjacent substrates 11 provided with meshing portions 12, the meshing portions 12 switch from a separated state to a meshing state. When the airbag 21 is connected to the atmospheric environment and is in a normal pressure state or the airbag 21 is in a positive pressure state, the two opposite walls of the airbag 21 move away from each other, so that the airbag 21 pulls the base 11 away from each other, so that the meshing portion 12 on the base 11 switches from the meshing state to the disengaged state.

[0188] In some examples, the outer surface of the base 11 may be bonded to the inner wall of the airbag 21 .

[0189] For some examples, see Figure 28 As shown, the drive assembly 20 also includes a vacuum pump 22, a first valve body 23, and a second valve body 24. The vacuum pump 22 and the airbag 21 are connected by a pipeline, and the first valve body 23 is disposed on the pipeline. The first valve body 23 is used to open or close the pipeline. When the first valve body 23 is open, the vacuum pump 22 can be used to extract the gas in the airbag 21, thereby placing the airbag 21 in a negative pressure state. When the first valve body 23 is closed, the airbag 21 maintains a predetermined negative pressure.

[0190] A second valve body 24 is provided in another pipeline. This pipeline connects the airbag 21 to the external atmosphere. The second valve body 24 is used to open and close the pipeline. When the first valve body 23 and the second valve body 24 are closed, the airbag 21 can maintain a predetermined negative pressure. When the first valve body 23 is closed and the second valve body 24 is opened, the airbag 21 connects to the atmosphere and draws in air, switching from a negative pressure state to a normal pressure state.

[0191] Alternatively, see Figure 29As shown, the drive assembly 20 also includes an air pump 25. The second valve body 24 is provided in another pipeline. The pipeline is used to connect the airbag 21 and the air pump 25. The second valve body 24 is used to open or close the pipeline. When the first valve body 23 is closed and the second valve body 24 is closed, the airbag 21 can be maintained in a negative pressure state of a predetermined pressure. When the first valve body 23 is closed and the second valve body 24 is opened, the airbag 21 is connected to the air pump 25, so that the air pump 25 can fill gas into the airbag 21 to switch the airbag 21 from a negative pressure state to a positive pressure state.

[0192] For example, the first valve body 23 may be a solenoid valve, and the second valve body 24 may be a solenoid valve.

[0193] The drive assembly 20 also includes an air pressure sensor 26. The air pressure sensor 26 is used to monitor the pressure within the airbag 21. The pressure value fed back by the air pressure sensor 26 allows for precise control of the air pressure within the airbag 21, thereby precisely controlling the compressive stress exerted by the airbag 21 on the substrate 11 and, in turn, precisely controlling the insertion depth of the meshing portion 12 into the corresponding gap 13.

[0194] The drive assembly 20 also includes a control module 27. The vacuum pump 22, the first valve body 23, the second valve body 24, the air pump 25, and the air pressure sensor 26 are all connected to the control module 27 for communication, thereby enabling automated control and improving control accuracy. For example, the control module 27 can be a single-chip microcomputer.

[0195] In some possible implementations, see Figure 30 As shown, the driving component 20 includes a first electrode 201 and a second electrode 202. When the first electrode 201 and the second electrode 202 are energized, the first electrode 201 and the second electrode 202 are set to have opposite polarities, so that the first electrode 201 and the second electrode 202 generate an adsorption force to apply a compressive stress to the variable stiffness component 10, so that the meshing portions 12 of the two adjacent substrates 11 provided with the meshing portions 12 are switched from a separated state to an engaged state.

[0196] When the first electrode 201 and the second electrode 202 are energized, the first electrode 201 and the second electrode 202 are configured to have the same polarity, thereby generating a repulsive force between the first electrode 201 and the second electrode 202, thereby applying a tensile stress to the variable stiffness component 10, causing the meshing portions 12 of two adjacent substrates 11 provided with the meshing portions 12 to switch from the meshed state to the separated state. Alternatively, when the first electrode 201 and the second electrode 202 are deenergized, the adsorption force between the first electrode 201 and the second electrode 202 is zero. At this time, at least one of the substrate 11 and the elastic member 16 can release its elastic restoring force, thereby driving the two or more substrates 11 away from each other in the thickness direction X, causing the meshing portions 12 to switch from the meshed state to the separated state.

[0197] In some examples, the first electrode 201 and the second electrode 202 are spaced apart along the thickness direction X of the substrate 11, and the variable stiffness assembly 10 is disposed between the first electrode 201 and the second electrode 202. In the variable stiffness assembly 10, the two outermost substrates 11 can be bonded to the first electrode 201 and the second electrode 202, respectively. The first electrode 201 and the second electrode 202 are sheet-like structures. In other examples, the first electrode 201 is disposed within one of the two outermost substrates 11 of the variable stiffness assembly 10, and the second electrode 202 is disposed within the other. The first electrode 201 and the second electrode 202 are sheet-like structures.

[0198] In some examples, when the first electrode 201 and the second electrode 202 are in a powered state, a direct current voltage may be applied to the first electrode 201 and the second electrode 202 .

[0199] In some possible implementations, see Figure 31 As shown, the drive assembly 20 includes a first electromagnet 20a and a second electromagnet 20b. When the first electromagnet 20a and the second electromagnet 20b are energized, the first electromagnet 20a and the second electromagnet 20b are set to opposite polarities, thereby generating an adsorption force to apply a compressive stress to the variable stiffness assembly 10, so that the meshing portions 12 of the two adjacent substrates 11 provided with the meshing portions 12 switch from a separated state to an engaged state.

[0200] When the first and second electromagnets 20a, 20b are energized, they are configured to have the same polarity, thereby generating a repulsive force, thereby applying a tensile stress to the variable-stiffness assembly 10, causing the meshing portions 12 of two adjacent substrates 11 to switch from an engaged state to a disengaged state. Alternatively, when the first and second electromagnets 20a, 20b are deenergized, the attraction forces between the first and second electrodes 201, 202 are zero. At this point, at least one of the substrates 11 and the elastic member 16 can release its elastic restoring force, thereby driving the two or more substrates 11 away from each other in the thickness direction X, causing the meshing portions 12 to switch from an engaged state to a disengaged state.

[0201] In some examples, the first electromagnet 20a and the second electromagnet 20b are spaced apart along the thickness direction X of the substrate 11, and the variable stiffness assembly 10 is disposed between the first and second electromagnets 20a, 20b. In the variable stiffness assembly 10, the two outermost substrates 11 can be bonded to the first and second electromagnets 20a, 20b, respectively. The first and second electromagnets 20a, 20b are sheet-like structures. In other examples, the first electromagnet 20a is disposed within one of the two outermost substrates 11 of the variable stiffness assembly 10, and the second electromagnet 20b is disposed within the other. The first and second electromagnets 20a, 20b are sheet-like structures.

[0202] See also Figure 32 As shown, an embodiment of the present application further provides a virtual reality interaction device 100. The virtual reality interaction device 100 includes the flexible variable stiffness driver 1 of the above embodiment. The flexible variable stiffness driver 1 can be installed in various parts that need to provide different stiffness feedback, such as the hand, wrist, arm, waist or leg of the human body, or the hand, wrist, arm, waist or leg of a robot. Taking the flexible variable stiffness driver 1 being set on the hand of the human body as an example, the virtual reality interaction device 100 can simulate the force or the degree of hardness of the hand when grasping or holding an object in the virtual reality world through the flexible variable stiffness driver 1, thereby obtaining the same or similar feeling as the real world, which is conducive to improving the immersion and realism of the user in the interaction process with the virtual reality world. The flexible variable stiffness driver 1 can be set on the inside of the hand.

[0203] In some implementations, the flexible variable stiffness actuator 1 can be disposed on at least one of a user's fingers or palm. For example, the flexible variable stiffness actuator 1 can be adhered to the skin, or strapped to at least one of the fingers or palm via a strap.

[0204] In some possible implementations, the variable stiffness component 10 in the flexible variable stiffness actuator 1 can be rectangular, elliptical, or circular in shape. The overall shape of the variable stiffness component 10 of the present application is not limited to the shapes exemplified above; other shapes that can achieve the same function are within the scope of protection of the present application.

[0205] In some possible implementations, the virtual reality interactive device 100 further includes a carrier 101. The flexible variable stiffness driver 1 is disposed on the carrier 101. The carrier 101 of the virtual reality interactive device 100 can be disposed on at least one of a finger or a palm of a user.

[0206] In some examples, the carrier 101 may be a glove. The flexible variable-stiffness actuator 1 is disposed on the carrier 101 to form a force feedback glove. The flexible variable-stiffness actuator 1 is disposed on at least one of the finger area and the palm area of ​​the carrier 101. To experience a virtual reality world, the user can wear the carrier 101 on their hand. The user's fingers correspond to the finger area of ​​the carrier 101, while the palm corresponds to the palm area of ​​the carrier 101.

[0207] In some examples, the flexible variable stiffness actuator 1 can be bonded to the carrier 101. Alternatively, the flexible variable stiffness actuator 1 can be sewn to the carrier 101. Alternatively, the carrier 101 has a receiving portion, and the flexible variable stiffness actuator 1 is installed in the receiving portion.

[0208] When a user needs to grab or hold a corresponding object in the virtual reality world, at least one of the user's fingers and palms needs to bend to control the hand in the virtual reality world to perform related actions. When at least one of the user's fingers and palms bends, a force is applied to the carrier 101 and the corresponding flexible variable stiffness driver 1 to cause the carrier 101 and the corresponding flexible variable stiffness driver 1 to bend. At this time, the variable stiffness component 10 in the flexible variable stiffness driver 1 can be controlled to switch between the first stiffness and the second stiffness, so that the resistance that needs to be overcome when the variable stiffness component 10 bends is different, and then the force feedback felt by at least one of the user's fingers and palms is different, thereby simulating the force or hardness of the corresponding object grabbed or held in the virtual reality world.

[0209] When the variable stiffness component 10 has a first stiffness, it bends easily, and at least one of the fingers and palm applies a relatively small force to the variable stiffness component 10. This allows for simulating scenes in a virtual reality world where grasping or holding a virtual object generates a relatively small force or has a relatively soft texture. When the variable stiffness component 10 has a second stiffness, it bends relatively hard, and at least one of the fingers and palm applies a relatively large force to the variable stiffness component 10. This allows for simulating scenes in a virtual reality world where grasping or holding a virtual object generates a relatively large force or has a relatively hard texture.

[0210] The force feedback glove formed by the carrier 101 and the flexible variable-stiffness actuator 1 does not require any complex or heavy external mechanical mechanisms. As a result, the glove is lightweight and fits easily to the hand, making it suitable for daily interaction with the virtual reality world. The carrier 101 can be made of soft materials such as fabric or leather, making it soft, lightweight, and comfortable to wear.

[0211] In the description of the embodiments of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, an indirect connection via an intermediate medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on specific circumstances.

[0212] In the embodiments of the present application, any device or element referred to or implied must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "plurality" is two or more, unless otherwise specifically specified.

[0213] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0214] The term "plurality" in this document refers to two or more. The term "and / or" in this document simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the related objects; in a formula, the character " / " indicates a "division" relationship between the related objects.

[0215] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0216] It can be understood that in the embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A flexible variable stiffness driver (1) for use in a virtual reality interactive device, characterized in that: The flexible variable stiffness driver (1) comprises at least: A variable stiffness component (10) comprises a meshing portion (12) and a bendable and deformable base (11), wherein two or more bases (11) are stacked and arranged, and in at least a portion of the bases (11), the meshing portion (12) is provided on a surface of one of two adjacent bases (11) facing the other. A driving assembly (20) for driving two adjacent base bodies (11) provided with the meshing portions (12) so that the meshing portion (12) on one and the meshing portion (12) on the other are switched from a separation state to an engagement state; When the meshing portion (12) is in the disengaged state, the variable stiffness assembly (10) as a whole has a first stiffness; when the meshing portion (12) is in the engaged state, the variable stiffness assembly (10) as a whole has a second stiffness, and the second stiffness is greater than the first stiffness.

2. The flexible variable stiffness driver (1) according to claim 1, characterized in that: The hardness of the meshing portion (12) is greater than the hardness of the base body (11).

3. The flexible variable stiffness actuator (1) according to claim 1 or 2, characterized in that: The base (11) and the engaging portion (12) are an integrally formed structure.

4. The flexible variable stiffness driver (1) according to claim 3, characterized in that: The material of the base (11) and the material of the engaging portion (12) are both selected from resin, rubber or silicone.

5. The flexible variable stiffness driver (1) according to claim 1 or 2, characterized in that: The base (11) and the engaging portion (12) are separate assembly structures.

6. The flexible variable stiffness driver (1) according to claim 5, characterized in that: The material of the base (11) is selected from resin, rubber or silicone, and the material of the engaging portion (12) is selected from resin, plastic, diamond or corundum.

7. The flexible variable stiffness actuator (1) according to any one of claims 1 to 6, characterized in that: The shape of the engaging portion (12) can be spherical, herringbone or bar.

8. The flexible variable stiffness actuator (1) according to any one of claims 1 to 7, characterized in that: The variable stiffness component (10) further comprises a protrusion (14), the size of the protrusion (14) being smaller than the size of the engaging portion (12), and a plurality of the protrusions (14) are provided on the side walls of at least a portion of the engaging portions (12).

9. The flexible variable stiffness actuator (1) according to any one of claims 1 to 8, characterized in that: The variable stiffness component (10) further comprises a protrusion (14) which is arranged on the base (11) of the engaging portion (12); the base (11) has an exposed area (11a) located between two adjacent engaging portions (12); at least a portion of the exposed areas (11a) is provided with a plurality of the protrusions (14).

10. The flexible variable stiffness actuator (1) according to claim 8 or 9, characterized in that: The shape of the protrusion (14) is spherical or bar-shaped.

11. The flexible variable stiffness actuator (1) according to any one of claims 1 to 8, characterized in that: In two adjacent substrates (11) provided with the meshing portions (12), one substrate (11) includes an exposed area (11a) located between the two adjacent meshing portions (12), and the variable stiffness component (10) further includes a recess (15), which is arranged corresponding to the exposed area (11a). When the meshing portions (12) on the two adjacent substrates (11) are in a meshing state, at least a portion of the meshing portion (12) on the other substrate (11) is inserted into the recess (15).

12. The flexible variable stiffness actuator (1) according to any one of claims 1 to 11, characterized in that: The substrate (11) comprises two or more connected layer structures (11b). Along the thickness direction (X) of the substrate (11), the two or more layer structures (11b) are stacked, and the hardness of two adjacent layer structures (11b) is different.

13. The flexible variable stiffness actuator (1) according to claim 12, characterized in that: The materials of the two adjacent layer structures (11b) are different.

14. The flexible variable stiffness actuator (1) according to claim 12 or 13, characterized in that: In a direction away from the meshing portion (12), the hardness of the outermost layer structure (11b) is greater than the hardness of the remaining layer structures (11b).

15. The flexible variable stiffness actuator (1) according to claim 14, characterized in that: The outermost layer structure (11b) is a structural member that is bendable and resistant to stretching.

16. The flexible variable stiffness actuator (1) according to any one of claims 1 to 11, characterized in that: The matrix (11) comprises two or more connected block structures (11d), wherein the two or more block structures (11d) are distributed successively along a direction perpendicular to a thickness direction (X) of the matrix (11), and the hardness of two adjacent block structures (11d) is different.

17. The flexible variable stiffness actuator (1) according to claim 16, characterized in that: The materials of the two adjacent block structures (11d) are different.

18. The flexible variable stiffness actuator (1) according to any one of claims 1 to 17, characterized in that: The thickness of the base (11) is different from the height of the engaging portion (12) protruding from the base (11).

19. The flexible variable stiffness actuator (1) according to any one of claims 1 to 18, characterized in that: The base (11) is an elastic structure, and the base (11) is configured to release its own elastic restoring force and drive the meshing portion (12) to switch from the meshing state to the disengaged state.

20. The flexible variable stiffness actuator (1) according to any one of claims 1 to 18, characterized in that: The variable stiffness assembly (10) further comprises an elastic member (16); when the meshing portions (12) on two adjacent substrates (11) are in a meshing state, the meshing portions (12) squeeze the elastic member (16) to deform; and when the meshing portions (12) are switched from the meshing state to the disengaged state, the elastic member (16) releases elastic restoring force and applies compressive stress to the meshing portions (12).

21. The flexible variable stiffness actuator (1) according to claim 20, characterized in that: The elastic member (16) is an elastic sheet, and in two adjacent base bodies (11) provided with the meshing portions (12), the elastic member (16) is provided between the meshing portion (12) on one and the meshing portion (12) on the other; or, In two adjacent base bodies (11) provided with the meshing portions (12), the elastic member (16) is provided on an exposed area (11a) between the two adjacent meshing portions (12) on at least one of the base bodies (11).

22. The flexible variable stiffness actuator (1) according to any one of claims 1 to 21, characterized in that: The variable stiffness component (10) includes more than three substrates (11), wherein, in a portion of the substrates (11), the meshing portion (12) is provided on the surface of one of two adjacent substrates (11) facing the other, and in a portion of the substrates (11), the surface of one of two adjacent substrates (11) is in surface contact with the surface of the other; or, in all the substrates (11), the meshing portion (12) is provided on the surface of one of two adjacent substrates (11) facing the other.

23. The flexible variable stiffness actuator (1) according to any one of claims 1 to 22, characterized in that: The driving component (20) includes an airbag (21), the variable stiffness component (10) is arranged in the airbag (21), the outermost base (11) is connected to the inner wall of the airbag (21), and the airbag (21) is used to drive two adjacent bases (11) provided with the meshing portions (12); or, The driving component (20) comprises a first electrode (201) and a second electrode (202), wherein the first electrode (201) and the second electrode (202) are both connected to the variable stiffness component (10) and are used to drive two adjacent substrates (11) provided with the meshing portions (12); or, The driving assembly (20) comprises a first electromagnet (20a) and a second electromagnet (20b), wherein the first electromagnet (20a) and the second electromagnet (20b) are both connected to the variable stiffness assembly (10) and are used to drive two adjacent base bodies (11) provided with the meshing portions (12).

24. A virtual reality interactive device (100), characterized in that: The invention comprises the flexible variable stiffness driver (1) according to any one of claims 1 to 23.

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