Three-dimensional tactile reconstruction device and its working method

Abstract

This invention discloses a three-dimensional tactile reconstruction device and its working method, belonging to the field of sensor technology. The three-dimensional tactile reconstruction device includes a sensing array and a feedback array. The sensing array has several arrayed and independent fusion devices; the feedback array also has several arrayed and independent fusion devices. The fusion devices of the sensing array correspond to the fusion devices of the feedback array through a mapping model. Each fusion device has an elastomer, a liquid metal channel, an air cavity, and a fingerprint-like texture. The liquid metal channel is encapsulated within the elastomer and connected to a wire via a terminal. The air cavity is disposed within the elastomer and connected to an air pump. The fingerprint-like texture is disposed on the surface of the elastomer. This application sets multiple fusion devices in a specific array structure, simulating dynamic three-dimensional and textured tactile sensation through the corresponding mapping relationship between sensing and feedback, and the timing control of each fusion device in the array.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and in particular to a three-dimensional tactile reconstruction device and its working method. Background Technology

[0002] Human-computer interfaces (HCIs), as tools for information input and output, serve as a bridge connecting humans and the digital world. With the rapid development of new materials, microelectronics, 5G communication, and the Internet of Things (IoT), traditional HCIs, such as keyboards, gamepads, and touchscreens, are being replaced by various wearable HCI devices in applications such as intelligent robot control and virtual interaction. This aims to achieve more intuitive and efficient two-way interaction. In these HCI devices, the sensing and feedback of tactile feedback is crucial for acquiring behavioral information. Therefore, the development and integration of multifunctional tactile sensors and feedback mechanisms are fundamental to achieving these goals.

[0003] In the field of tactile sensing, most current sensor fusion devices that use liquid metal as the main functional unit are prone to breakage and leakage, making them incompatible with most specialized industrial and medical applications. Furthermore, the sensing mechanisms of most existing fusion devices are relatively simple, making it difficult to achieve simultaneous real-time monitoring of dynamic and static tactile information during actual interaction. In addition, common sensor designs only detect tactile information and cannot monitor feedback-driven states.

[0004] In terms of haptic feedback, current multimodal (force, temperature, etc.) feedback fusion devices have low integration levels, with most devices only providing single force or temperature feedback functions. Even some multimodal feedback systems still rely on stacking and combining multiple feedback units to achieve multimodal feedback, resulting in complex, redundant, and bulky structures. Furthermore, most array-type haptic feedback fusion devices can only achieve simple two-dimensional graphic reconstruction, and the resulting haptic perception lacks information such as three-dimensional shape, hardness, texture / vibration.

[0005] In the fusion of tactile sensing and feedback, establishing an effective two-way human-computer interaction system requires good spatial consistency and functional matching between sensing and feedback units to avoid information misalignment and loss when using sensor information for tactile feedback. Currently, fusion devices integrating tactile sensing and feedback functions mainly consist of simple combinations of independent sensing and feedback units, resulting in poor system integration, poor compatibility and spatial consistency, and large size and space occupation. Furthermore, some studies exhibit scattered distribution of force and temperature feedback, leading to limited feedback functionality at single points and poor perception realism. In addition, most array-type fusion devices suffer from poor flexibility and stretchability due to size limitations, making them difficult to adapt to most wearable scenarios and robot joints. Summary of the Invention

[0006] Based on this, the present invention provides a three-dimensional tactile reconstruction device and its working method. It utilizes an elastomer to cover a liquid metal channel to form an elastomer-covered structure, and combines it with an elastomer air cavity and a fingerprint-like texture to form a tactile sensing feedback fusion device. Multiple fusion devices are set up in a specific array structure. Through the corresponding mapping relationship between sensing and feedback, and the timing control of each fusion device in the array, dynamic three-dimensional and textured tactile sensation is simulated.

[0007] The technical solution adopted in this invention is:

[0008] A three-dimensional tactile reconstruction device includes:

[0009] A sensor array, consisting of several arrays arranged independently of each other;

[0010] The feedback array also has several arrays of independent fusion devices; the fusion devices of the sensing array correspond to the fusion devices of the feedback array through a mapping model.

[0011] The fusion device has the following features:

[0012] A liquid metal channel, encapsulated within an elastic body, is connected to a wire via terminals;

[0013] An air chamber is disposed within the elastic body and connected to an air pump;

[0014] A fingerprint-like texture is applied to the surface of the elastomer.

[0015] In the three-dimensional tactile reconstruction device disclosed in this application, the fusion device may be a plate-shaped structure, in which the imitation fingerprint texture, liquid metal channel and air cavity are arranged sequentially from top to bottom.

[0016] In the three-dimensional tactile reconstruction device disclosed in this application, the fusion device may also be a sleeve structure. The air cavity has a large cavity and a small cavity connected by an air passage. The large cavity and the small cavity are located on opposite sides of the sleeve structure, and the large cavity is located below the simulated fingerprint texture, while the small cavity is located above the liquid metal channel.

[0017] In the three-dimensional tactile reconstruction device disclosed in this application, a flexible nickel cloth electrode is pre-embedded between the large cavity and the fingerprint-like texture.

[0018] In the three-dimensional tactile reconstruction device disclosed in this application, the elastomer between the small cavity and the liquid metal channel is a low-hardness elastic material.

[0019] In the three-dimensional tactile reconstruction device disclosed in this application, the liquid metal channel has an annular channel in the middle and radial channels at the edges, and the annular channel and the radial channels are connected to form a Wheatstone bridge structure.

[0020] In the three-dimensional tactile reconstruction device disclosed in this application, the fusion device also has a microprocessor, which is connected to the air pump and the wires.

[0021] Based on the same inventive concept, this application also provides a method for operating the aforementioned three-dimensional tactile reconstruction device, specifically including:

[0022] Morphology reconstruction: The sensor array maps the pressure magnitude and distribution detected during the interaction process to the air pressure of the corresponding air chamber in the feedback array, thereby realizing the perception reconstruction of the three-dimensional structural morphology on the user's skin.

[0023] Texture feedback: The sensor array uses the triboelectric sensing effect to obtain corresponding signals and transmits them to the feedback array; the feedback array controls the operating frequency of the air pump and valve to simulate the vibration of the air cavity and realize the perception and reconstruction of the surface vibration generated by the touch texture.

[0024] Interactive dynamic reconstruction simulates displacement state through a feedback array. The displacement direction is identified by the dynamic response signal obtained from the triboelectric sensing effect in the sensing array and the detection signal of tangential force, and then transmitted to the feedback array. The feedback array controls the drive of the air pump and valve according to the time-domain change of the signal, so that the air chamber array generates a dynamic three-dimensional shape, simulating the dynamic tactile perception in the interaction.

[0025] In the working method disclosed in this application, when the fingerprint-like texture of the sensing array comes into contact with the interactive object, the pressure received can be directly transmitted to the liquid metal channel, or first transmitted to the large cavity, then transmitted to the small cavity through the air passage, and then transmitted to the liquid metal channel below; the liquid metal channel obtains tactile information according to the piezoresistive sensing mechanism and transmits it to the feedback array; the air pump of the feedback array supplies air to the air cavity for expansion according to the corresponding signal to realize tactile feedback.

[0026] In the working method disclosed in this application, the liquid metal channel can also be heated by a power source, and the heating temperature range can be adjusted by controlling the magnitude of the input power source, thereby achieving thermal feedback by utilizing the thermal resistance effect.

[0027] The beneficial effects of the invention are:

[0028] (1) This application utilizes an elastomer to cover a liquid metal channel to form an elastomer-covered structure, and combines it with an elastomer air cavity and a fingerprint-like texture to form a tactile sensing feedback fusion device. Multiple fusion devices are set as a specific array structure. Through the corresponding mapping relationship between sensing and feedback, and the timing control of each fusion device in the array, dynamic three-dimensional and textured tactile sensation is simulated.

[0029] (2) This application sets up multiple fusion device arrays to form a flexible and stretchable array structure, which can realize the three-dimensional tactile reconstruction of physical or virtual objects in remote operation on the user's skin, simulate dynamic three-dimensional tactile sensation, and can effectively help judge the interactive motion trend.

[0030] (3) The improved fusion device of this application has two independent air chamber structures, one in the front and one in the back, which are connected by air channels to conduct pressure signals. The dual air chamber structure adopts a design of one large and one small, which correspond to the triboelectric sensing part and the liquid metal piezoresistive sensing part, respectively. The liquid metal is encapsulated in a low-hardness elastomer layer in the small air chamber. This can ensure the overall flexibility and stretchability of the device while avoiding the risk of damage and leakage caused by the liquid metal part directly contacting the object, thus enhancing compatibility in the medical and industrial fields. Furthermore, the dual air chamber structure of the large and small air chambers and the low-hardness elastomer layer of the small air chamber can be used to amplify the pressure generated by the interactive object on the device and improve the sensing sensitivity. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the structure of the fusion device in one embodiment of this application;

[0033] Figure 2 This is a schematic diagram of the fusion device in another embodiment of this application;

[0034] Figure 3 This is a schematic diagram illustrating the working principle of triboelectric sensing.

[0035] Figure 4 This is a schematic diagram of the piezoresistive sensing principle;

[0036] Figure 5 This is a schematic diagram illustrating the principle of haptic feedback mode.

[0037] Figure 6 This is a schematic diagram of the liquid metal channel structure;

[0038] Figure 7 This is a schematic diagram of signal reading and feedback control;

[0039] Figure 8 Examples of application scenarios for 3D tactile reconstruction devices;

[0040] Figure 9 A schematic diagram of 3D morphological tactile reconstruction for array devices;

[0041] Figure 10 A schematic diagram of tactile reconstruction of the surface texture of interactive objects for array devices;

[0042] Figure 11 A schematic diagram illustrating interactive dynamic tactile reconstruction for array devices.

[0043] Figure label:

[0044] 1. Elastomer; 2. Liquid metal channel; 21. Low hardness elastic material; 3. Air cavity; 31. Air passage; 32. Large cavity; 33. Small cavity; 4. Imitation fingerprint texture; 5. Nickel cloth flexible electrode. Detailed Implementation

[0045] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0046] The terms “comprising” and “having”, and any variations thereof, used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0049] Please see Figures 1-11As shown, this application embodiment provides a three-dimensional tactile reconstruction device, including:

[0050] A sensor array is a fusion device consisting of several arrays arranged independently of each other.

[0051] The feedback array also has several arrays of independent fusion devices. The fusion devices of the sensor array correspond to the fusion devices of the feedback array through a mapping model.

[0052] The fusion device comprises an elastomer 1, a liquid metal channel 2, an air cavity 3, and a fingerprint-like texture 4. The liquid metal channel 2 is encased within the elastomer 1 and connected to external wires via terminals. In sensing mode, the liquid metal channel 2 transmits piezoresistive and triboelectric sensing signals. In feedback mode, the liquid metal is powered by an external power source, utilizing the thermal resistance effect to achieve thermal feedback. The air cavity 3 is located within the elastomer 1 and connected to an air pump. Supplying air to the air cavity 3 causes the elastomer 1 to expand, achieving pneumatic force-tactile feedback. The fingerprint-like texture 4 is located on the surface of the elastomer 1 and, combined with the liquid metal electrodes, achieves dynamic response monitoring of slip sensation through the triboelectric sensing effect.

[0053] Specifically, the working principle of the fusion device is as follows:

[0054] In tactile sensing mode, when the simulated fingerprint texture 4 comes into contact with an interactive object, it captures various motion information generated during contact. For information requiring dynamic sensing, such as slippage and texture, it employs a triboelectric sensing mechanism for monitoring. Please refer to [link to relevant documentation]. Figure 3 As shown, triboelectric generation is based on the principle that when two media with different electronegativity come into contact with each other on the surface, the opposite static charges generated are transferred through an external circuit. It can convert mechanical force into electrical signals to realize physical sensing. Its signals have the characteristics of pulse voltage and high dynamic response, which are suitable for capturing various motion information generated when fusion devices come into contact with interactive objects (including human skin).

[0055] For information requiring static sensing, such as gripping and pressing, a piezoresistive sensing mechanism is used for measurement. Please refer to [link / reference]. Figure 4 As shown, the piezoresistive effect mainly refers to the change in the resistance of liquid metal materials with mechanical deformation such as pressing and stretching. By measuring the change in resistance of liquid metal to monitor tactile information, its static response capability is significantly better than that of triboelectric sensing. Integrating triboelectric sensing and piezoresistive sensing can achieve complementary advantages, enabling synchronous and stable perception of dynamic and static tactile sensations, and ensuring the accuracy and richness of information input in human-computer interaction.

[0056] In haptic feedback mode, an air pump supplies air to the air chamber 3, causing the elastic body 1 to expand, thus achieving pneumatic feedback. For example... Figure 5As shown in Figure a, the magnitude of the feedback force can be controlled by the air pressure to reconstruct the perception of pressure intensity, object hardness, etc. Simultaneously, the pneumatic feedback can also be monitored by the piezoresistive sensing unit in the liquid metal channel. Regarding the thermal feedback function, due to the thermal resistance effect of the liquid metal, a heating effect can be achieved by connecting a DC power supply (e.g.,...). Figure 5 (as shown in b), and the heating temperature range can be stably adjusted by controlling the magnitude of the input power. This application integrates two feedback mechanisms (such as thermal feedback and pneumatic feedback) Figure 5 As shown in c), it can more realistically simulate the various physical stimuli perceived by human skin during interaction, and improve the user's judgment of the interactive environment.

[0057] Specifically, the air pump, wires, power supply, etc. are all connected to the microprocessor (such as Arduino or ESP32), and the microprocessor can control the switching between tactile sensing mode and tactile feedback mode.

[0058] Specifically, the method for fabricating the array structure is as follows:

[0059] An elastomer solution (such as platinum-curing silicone, polydimethylsiloxane, etc.) is prepared in a 1:1 ratio. Using a 3D-printed mold or adjustable coating tool, the prepared elastomer solution is used to form a thin film of a specific thickness, which is then allowed to cure. After curing, the elastomer film is transferred to a fluid printer platform. On the film surface, a designed liquid metal array pattern (gallium indium tin alloy) is printed using a printing needle, and terminals for external wires are embedded at both ends of the pattern. The elastomer solution is prepared again to cover the entire liquid metal array pattern and the connection points with the terminals, completing the elastomer structure covering the liquid metal array pattern. Simultaneously, an elastomer fingerprint array structure is prepared using a 3D-printed fingerprint mold. After the above-mentioned covering structure is completely cured, the fingerprint structure is bonded to the upper surface of the covering structure using an elastomer solution. An elastomer air cavity array structure is prepared using a 3D-printed air cavity array mold, and secondary bonding and encapsulation are performed with the lower surface of the above-mentioned covering structure, with vents provided. The final fabrication is as follows. Figure 1 As shown, an elastomeric covering structure with liquid metal array pattern units and air cavity array units has a fingerprint-like texture on its upper surface.

[0060] This application also provides a method for operating the three-dimensional tactile reconstruction device, including:

[0061] Morphology reconstruction: The sensor array maps the pressure magnitude and distribution detected during the interaction process to the air pressure of the corresponding air chamber in the feedback array, thereby realizing the perception reconstruction of the three-dimensional structural morphology on the user's skin.

[0062] Texture feedback: The sensor array obtains corresponding signals using the triboelectric sensing effect and transmits them to the feedback array; the feedback array controls the operating frequency of the air pump valve to simulate the vibration of the air cavity, thereby realizing the perception and reconstruction of the surface vibration generated by the touch texture.

[0063] Interactive dynamic reconstruction simulates displacement state through a feedback array. The displacement direction is identified by the dynamic response signal obtained from the triboelectric sensing effect in the sensing array and the detection signal of tangential force, and then transmitted to the feedback array. The feedback array controls the drive of the air pump according to the time-domain change of the signal, so that the air cavity array generates a dynamic three-dimensional shape, simulating the dynamic tactile perception in the interaction.

[0064] Specifically, the liquid metal channel in the fusion device can also be heated by a power source, and the heating temperature range can be adjusted by controlling the magnitude of the input power source, thereby achieving thermal feedback through the thermal resistance effect.

[0065] In one embodiment, see Figure 1 As shown, the fusion device can be a plate-shaped structure, in which the imitation fingerprint texture 4, liquid metal channel 2, and air cavity 3 are arranged sequentially from top to bottom.

[0066] In another embodiment, for specialized applications such as industrial production, medical surgery, and extreme environment exploration, the fusion device was redesigned to avoid potential damage and leakage risks caused by direct contact between the liquid metal-clad structure and external components. Please refer to [link to relevant documentation]. Figure 2 As shown, the fusion device can be a sleeve structure. The air cavity 3 has a large cavity 32 and a small cavity 33 connected by an air channel 31. The large cavity 32 and the small cavity 33 are located on opposite sides of the sleeve structure, with the large cavity 32 located below the simulated fingerprint texture 4 and the small cavity 33 located above the liquid metal channel 2. The sleeve structure can be cured and bonded to the seam edges using an elastomer solution, ultimately forming a sleeve array.

[0067] Specifically, in the improved fusion device, when the simulated fingerprint texture 4 comes into contact with the interactive object, the pressure it receives can be first transmitted to the large cavity 32, and then transmitted to the small cavity 33 through the air passage 31. The small cavity 33 then transmits the pressure to the liquid metal channel 2 below. The liquid metal channel 2 obtains tactile information according to the piezoresistive sensing mechanism and transmits it to the feedback unit. The air pump of the feedback unit supplies air to the air cavity 3 for expansion according to the corresponding signal to realize tactile feedback.

[0068] In the improved design of this application, the two cavities are connected by an airway 31, which is used to transmit the tissue pressure received by the large cavity 32 to the liquid metal channel 2 below the small cavity 33. Due to the difference in cross-sectional area between the large and small cavities, a pressure amplification effect can be generated in the small cavity 33, thereby improving the sensitivity of the piezoresistive sensing.

[0069] Specifically, a nickel cloth flexible electrode 5 is pre-embedded between the large cavity 32 and the fingerprint texture 4. The nickel cloth flexible electrode 5 and the fingerprint texture 4 are combined to realize dynamic response monitoring of slip sensation through triboelectric effect.

[0070] Specifically, a low-hardness elastic material 21 is disposed between the small cavity 33 and the liquid metal channel 2. The low-hardness elastic material 21 in this application is Eco-flex 00-10 platinum catalytic silica gel, which can further increase the mechanical deformation under the same pressure and improve the sensitivity.

[0071] Specifically, such as Figure 6 As shown, to improve sensitivity and reduce the interference of temperature effects on piezoresistive sensing, the liquid metal channel can be redesigned. Specifically, the liquid metal channel has a central annular channel and radial channels at the edges, with the annular and radial channels connected to form a Wheatstone bridge structure. The liquid metal channel uses the radial structure at the edges to sense tangential forces and the central annular channel to sense radial forces.

[0072] In one specific implementation, depending on the resolution requirements of the application scenario for sensing feedback, the fusion device can be designed in a complex array, such as a matrix or ring. For example, a 3x2 square matrix has six air chambers connected by independent air channels and independently controlled by air valves. The six liquid metal channels are also connected to external wires via corresponding terminals, ensuring independent output of sensing information and independent heating control (e.g., Figure 7 (As shown).

[0073] For medical surgeries, the fusion device is attached to both the user control terminal and the surgical terminal. Figure 8 The improved design attaches to the instrument end, with a large cavity at the front and a small cavity at the rear, avoiding the risk of damage and leakage that might occur if the liquid metal-clad structure directly contacts the external component. The six fusion devices in the sensor array correspond to the six fusion devices in the feedback array through a mapping model. The following is the multimodal three-dimensional tactile perception reconstruction method:

[0074] Topography Reconstruction: The sensor array maps the pressure magnitude and distribution detected during the interaction to the corresponding driving air pressure and driving unit. For example... Figure 9 As shown, it demonstrates that when the sensor array at the device end comes into contact with the conical and inclined structures, the feedback array at the user control end realizes the perception reconstruction of the three-dimensional structural morphology on the user's skin by using different air pressures to drive specific air chamber units.

[0075] Texture feedback: This simulates tactile information such as texture and roughness. Figure 10As shown, the high dynamic response characteristics of triboelectric sensing in the sensor array can be used to obtain the corresponding signal and transmit it to the feedback array. By controlling the working frequency of the air pump and valve, simulated vibration of the air cavity activity can be generated, thereby realizing the perception and reconstruction of surface vibration generated by touch texture.

[0076] Interactive Dynamic Reconstruction: A fixed, fitted feedback array simulates sliding and other displacement states. The displacement direction is identified by the dynamic response signal from triboelectric sensing in the sensor array and the tangential force detection signal from the three-dimensional sensing unit. Simultaneously, within the feedback array, the time-domain changes in the signal control the actuation of the air pump and valves, causing the air chamber array to generate a dynamic three-dimensional shape, simulating dynamic tactile perception during interaction (e.g., ...). Figure 11 (As shown).

[0077] This application utilizes an elastomer to coat a liquid metal channel to form an elastomer-coated structure, and combines it with an elastomer air cavity and a fingerprint-like texture to form a tactile sensing feedback fusion device. Multiple fusion devices are set up in a specific array structure. Through the corresponding mapping relationship between sensing and feedback, and the timing control of each fusion device in the array, dynamic three-dimensional and textured tactile sensation is simulated.

[0078] This application sets up multiple fusion device arrays to form a flexible and stretchable array structure, which can realize the three-dimensional tactile reconstruction of physical or virtual objects in remote operation on the user's skin, simulate dynamic three-dimensional tactile sensation, and can effectively help judge the trend of interactive movement.

[0079] The improved fusion device of this application has two independent air chamber structures, one front-mounted and one back-mounted, connected by an air channel to conduct pressure signals. The dual air chamber structure adopts a design with one large and one small chamber, corresponding to the triboelectric sensing part and the liquid metal piezoresistive sensing part, respectively. The liquid metal is encapsulated in a low-hardness elastomer layer in the small air chamber, which can ensure the overall flexibility and stretchability of the device while avoiding the risk of damage and leakage caused by the liquid metal part directly contacting the object. This enhances compatibility in medical and industrial fields. Furthermore, the dual air chamber structure with both large and small chambers and the low-hardness elastomer layer in the small air chamber can be used to amplify the pressure generated by the interacting object on the device, thereby improving the sensing sensitivity.

[0080] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A three-dimensional haptic reconstruction device, characterized in that, The application relates to a haptic device, comprising: a sensing array with a plurality of array-arranged and mutually independent fusion devices; a feedback array also with a plurality of array-arranged and mutually independent fusion devices; the fusion devices of the sensing array correspond to the fusion devices of the feedback array respectively through a mapping model; wherein the fusion device has: a liquid metal channel covered in an elastomer and connected with a lead through a terminal; an air cavity arranged in the elastomer and connected with an air pump; a simulated fingerprint texture arranged on the surface of the elastomer; the fusion device of the sensing array is in a sensing mode, the simulated fingerprint texture is in contact with an interactive object, dynamic sensing information generated during contact is captured, a triboelectric sensing mechanism is adopted for monitoring, the liquid metal channel can transmit piezoresistive and triboelectric sensing signals, the fusion device of the feedback array is in a feedback mode, the liquid metal is powered through an external power supply, thermal feedback is realized through a thermal resistance effect, the air cavity is supplied with air through the air pump to make the elastomer expand, and pneumatic force tactile feedback is realized; the fusion device can also be a sleeve structure, the air cavity has a large cavity and a small cavity connected through an air channel, the large cavity and the small cavity are respectively located on opposite sides of the sleeve structure, the large cavity is located below the simulated fingerprint texture, and the small cavity is located above the liquid metal channel. A nickel cloth flexible electrode is pre-embedded between the large cavity and the simulated fingerprint texture. The elastomer between the small cavity and the liquid metal channel is a low-hardness elastic material. The middle part of the liquid metal channel is an annular channel, the edge is a radial channel, the annular channel and the radial channel are connected to form a Wheatstone bridge structure. The fusion device also has a microprocessor connected with the air pump and the lead. The application also relates to a haptic feedback method, comprising: topography reconstruction, the sensing array maps the pressure size and distribution detected during interaction to the air pressure of the corresponding air cavity in the feedback array, and three-dimensional structure topography is sensed and reconstructed on the user's skin; texture feedback, the sensing array obtains corresponding signals through a triboelectric sensing effect and transmits the signals to the feedback array; the feedback array controls the working frequency of the air pump and the valve, simulates the vibration of the air cavity, and realizes the sensing and reconstruction of surface vibration generated by touching the texture; interactive dynamic reconstruction, the feedback array simulates displacement state, the dynamic response signals obtained through the triboelectric sensing effect in the sensing array and the detection signals of the tangential force are used to identify the displacement direction, and the displacement direction is transmitted to the feedback array; the feedback array controls the driving of the air pump and the valve according to the time domain change of the signals, so that the air cavity array generates a dynamic three-dimensional topography, and dynamic tactile perception in interaction is simulated. When the simulated fingerprint texture of the sensing array is in contact with an interactive object, the pressure received can be directly conducted to the liquid metal channel, or first conducted to the large cavity, then conducted to the small cavity through the air channel, and then conducted to the liquid metal channel below; the liquid metal channel obtains tactile information according to a piezoresistive sensing mechanism and conducts the tactile information to the feedback array; the air pump of the feedback array supplies air to the air cavity according to corresponding signals to make the air cavity expand, and realizes tactile feedback. ​ ​ 2. The three-dimensional haptic reconstruction device of claim 1, wherein, ​ 3. The three-dimensional haptic reconstruction device of claim 1, wherein, ​ 4. The three-dimensional haptic reconstruction device of claim 1, wherein, ​ 5. The three-dimensional haptic reconstruction device of claim 1, wherein, ​ 6. The method of claim 1 to 5, wherein, ​ ​ ​ ​ 7. The method of operating a three-dimensional haptic reconstruction device according to claim 6, wherein, ​ 8. The method of operating a three-dimensional haptic reconstruction device of claim 7, wherein, The liquid metal channel can also be heated by a power supply, and the heating temperature range can be regulated by controlling the size of the input power supply, and heat feedback can be achieved by using the heat resistance effect.

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