Remote haptic perception device and method and human-machine interaction method based on remote haptic perception

Abstract

The application discloses a kind of remote haptic perception device and method and the man-machine interaction method based on remote haptic perception, including multilayer composite flexible perception body, driving assembly and support assembly, can reproduce smooth rough feeling, warm cool feeling, soft stiff feeling, sharp soft feeling, dry moist feeling and fluffy tight feeling etc. Multidimensional touch feeling.The touch feeling characteristic numerical value obtained by touch feeling quantification system is calculated to obtain the control parameter of sub-millimeter piezoelectric ceramic film actuator, flexible column electrode, light-sensing liquid crystal polymer reticulated coating, micro peltier element matrix, polyurethane memory film layer, nickel-titanium alloy shape memory fiber column etc.Tactile reproduction component, combined with virtual reality system to realize remote haptic perception.The man-machine interaction method based on remote haptic perception, combined with data glove and data clothes, through remote haptic perception device and virtual reality system, so that user can realize man-machine interaction with remote haptic interaction when using remote operation.

Description

Technical Field

[0001] This invention relates to the field of tactile simulation and reproduction technology, specifically to a remote tactile sensing device and method, and a human-computer interaction method based on remote tactile sensing. Background Technology

[0002] The absence of haptic feedback technology in today's rapidly developing communication technologies means that remote communication to date remains largely based on visual and auditory experiences. Commonly used human-computer interaction devices such as computers and mobile phones often only provide visual stimulation, while people prefer tactile feedback when interacting with their environment. Therefore, future human-computer interaction devices will increasingly incorporate haptic feedback systems to enhance the immersive experience of interactions in virtual or remote scenarios.

[0003] Currently, international research on tactile sensation reproduction tends to utilize various intelligent new materials, structures, and electronic components. Chinese patent CN113672089A discloses a textile tactile sensation reproduction device and method, which comprehensively reproduces various tactile sensations of textiles using a softness reproduction substrate, an electrostrictive film, a fluffiness reproduction substrate, flexible heating and cooling sheets, and conductive fibers. It also monitors the reproduced tactile sensations in real time and compares them with corresponding real tactile sensations to correct errors. Chinese patent CN115421587A discloses a casual shoe tactile sensation reproduction device and method, which comprehensively reproduces various tactile sensations of casual shoes using a softness reproduction substrate, a tightness reproduction part, a rebound reproduction substrate, and a refreshing sensation reproduction part. It simultaneously transmits the various tactile feature values ​​to a virtual reality system, allowing users to simultaneously experience the tactile and visual sensations of trying on shoes in a virtual environment, providing an immersive tactile and visual experience.

[0004] While the aforementioned methods can reproduce tactile sensations in multiple dimensions, they suffer from drawbacks such as low reproduction accuracy, bulky reproduction devices, and difficulty in maintenance. Furthermore, they fail to reproduce the sensations of materials being dry or wet, and the sensations of tingling or softness, thus failing to accurately reproduce all dimensions of tactile sensation. Moreover, existing technologies primarily focus on tactile reproduction and lack methods for remote tactile sensing and remote human-computer interaction based on remote tactile sensing. Summary of the Invention

[0005] In view of this, the present invention addresses the technical problems of the prior art, namely, the inability to accurately reproduce tactile sensation and the lack of remote tactile perception, by providing a remote tactile perception device and method, and a human-computer interaction method based on remote tactile perception.

[0006] The technical solution of the present invention is a remote tactile sensing device, comprising a multi-layer composite flexible sensor, a driving component, and a supporting component. The multi-layer composite flexible sensor and the driving component are both disposed on the supporting component.

[0007] The multi-layered composite flexible sensor is divided into four layers in the vertical direction. The first layer of the multi-layered composite flexible sensor consists of a sub-millimeter-level piezoelectric ceramic film actuator, a flexible columnar electrode, a photosensitive liquid crystal polymer mesh coating, an anisotropic conductive adhesive, an optical fiber sensor, and epoxy resin soft adhesive. A humidity sensor is provided on the surface of the multi-layered composite flexible sensor. The array layout of multiple sub-millimeter-level piezoelectric ceramic film actuators and the longitudinal thickness variation reproduce the microscopic smooth and rough sensation; the array layout of multiple flexible columnar electrodes and the application of current reproduce the tingling and soft sensation; and the photosensitive liquid crystal polymer mesh coating repeatedly and reversibly releases and absorbs liquid to reproduce the dry and wet sensation. The second layer of the multi-layer composite flexible sensor is composed of a matrix of micro Peltier elements and epoxy resin soft glue. A temperature sensor is provided on the surface of the multi-layer composite flexible sensor. The sensation of warmth and coolness is reproduced by changing the polarity and magnitude of the current flowing through the matrix of micro Peltier elements. The third layer of the multi-layer composite flexible sensor consists of a flexible electrode layer, a polyurethane memory film layer, and a heat insulation layer. A high-precision ultrasonic ranging sensor is installed above the multi-layer composite flexible sensor, and the soft and firm feeling is reproduced by the change in the thickness of the polyurethane memory film layer. The fourth layer of the multi-layer composite flexible sensor is a fluffy and compact feel reproduction component. The fluffy and compact feel reproduction component consists of nickel-titanium alloy shape memory fiber columns, elastic polymer honeycomb grids, and temperature sensors. The nickel-titanium alloy shape memory fiber columns are placed in the elastic polymer honeycomb grids. By the different amounts of longitudinal stretching or contraction changes generated by the nickel-titanium alloy shape memory fiber columns after the temperature rises or falls, the fluffy and compact feel is reproduced.

[0008] The support assembly consists of a frame, a lower pressure plate, a base plate, and a support plate. The lower pressure plate and the support plate can press the multi-layer composite flexible sensor firmly to prevent the multi-layer composite flexible sensor from slipping when a finger slides on its surface.

[0009] The drive assembly consists of a stepper motor, coupling, bearing housing, lead screw, guide column, and flange. The stepper motor drives the lead screw to rotate, thereby causing the lower pressure plate and the base plate to move vertically.

[0010] Optionally, the multi-layer composite flexible sensor is equipped with voice coil drivers at its four corners. One end of each voice coil driver has a vibrating diaphragm close to the surface of the multi-layer composite flexible sensor. By changing the frequency and amplitude of the vibration emitted by the voice coil driver, the macroscopic smoothness / roughness of the surface of the multi-layer composite flexible sensor is altered. Furthermore, an infrared touch frame is provided at the edge of the touch area. This infrared touch frame can acquire the finger position in real time during touch and send the calculated output signal to each tactile reproduction actuator, thereby reproducing the tactile feedback at the corresponding position on the multi-layer composite flexible sensor.

[0011] Optionally, the remote tactile sensing device is characterized in that voice coil drivers are provided at the four corners of the multi-layer composite flexible sensing body, one end of the voice coil driver with a vibrating diaphragm is close to the surface of the multi-layer composite flexible sensing body, and the macroscopic smoothness and roughness of the surface of the multi-layer composite flexible sensing body are changed by changing the frequency and amplitude of the vibration emitted by the voice coil driver; an infrared touch frame is provided at the edge of the multi-layer composite flexible sensing body, the infrared touch frame can obtain the finger position in real time during touch, and send the calculated output signal to the tactile reproduction element in each layer of the multi-layer composite flexible sensing body, thereby reproducing the tactile sensation of a remote object at the corresponding position of the multi-layer composite flexible sensing body.

[0012] Optionally, within the first layer of the multi-layer composite flexible sensor, the sub-millimeter-level piezoelectric ceramic film actuators have a high voltage coefficient, enabling them to generate high-resolution tactile stimulation within a wide dynamic frequency range (1 Hz - 1 kHz). These actuators are arranged in a checkerboard pattern. The sub-millimeter-level piezoelectric ceramic film actuators are fixed to the epoxy resin soft adhesive using a thermo-pressing process with the anisotropic conductive adhesive. A micro-longitudinal displacement is generated on the sub-millimeter-level piezoelectric ceramic film actuators through the inverse piezoelectric effect to reproduce the microscopic smoothness and roughness of an object. The surface of the multi-layer composite flexible sensor is equipped with an optical fiber sensor, which collects its center wavelength data to monitor changes in the surface state of the multi-layer composite flexible sensor. Each of the four sub-millimeter-level piezoelectric ceramic film actuators has a flexible columnar electrode at its center. When a small current is applied to the flexible columnar electrode, sliding a finger across the surface of the multi-layer composite flexible sensor will produce an electrical stimulation. The device recreates a gentle, tingling sensation. A gap exists between the sub-millimeter-level piezoelectric ceramic thin-film actuator and the flexible columnar electrode, both filled with epoxy resin soft glue and positioned a small distance below the surface of the multilayer composite flexible sensor. A photosensitive liquid crystal polymer mesh coating is applied to the tiny gap between the epoxy resin soft glue and the surface of the multilayer composite flexible sensor, and an ultraviolet LED light, capable of emitting 365nm ultraviolet light, is mounted on the frame. Under ultraviolet light irradiation, the photosensitive liquid crystal polymer mesh coating can repeatedly and reversibly release and absorb liquid, thus recreating a dry and moist sensation by controlling the duration of ultraviolet light irradiation. A humidity sensor is provided on the surface of the multilayer composite flexible sensor to collect humidity data and monitor the humidity state of the surface.

[0013] Optionally, within the second layer of the multilayer composite flexible sensor, the micro Peltier element matrix is ​​distributed in a grid pattern, and the gaps between the micro Peltier elements and the upper and lower surfaces are filled and covered by the epoxy resin soft glue. Based on the Peltier effect, by controlling the polarity and magnitude of the current flowing through the micro Peltier element matrix, it can generate temperature changes to reproduce a feeling of warmth or coolness. The surface of the multilayer composite flexible sensor is provided with the temperature sensor to monitor the surface temperature of the multilayer composite flexible sensor and adjust the working state of the micro Peltier element matrix.

[0014] Optionally, in the third layer of the multilayer composite flexible sensor, two flexible electrode layers respectively cover the upper and lower surfaces of the polyurethane memory film layer to form a dielectric elastomer. When a voltage is applied between the two flexible electrode layers, the softness of the polyurethane memory film layer in the dielectric elastomer changes, thereby reproducing a soft yet firm feel. A high-precision ultrasonic ranging sensor is provided on the frame, which can monitor the thickness change of the polyurethane memory film layer in real time by emitting ultrasonic waves onto the surface of the multilayer composite flexible sensor. The bottom layer of the multilayer composite flexible sensor is a heat-insulating layer to prevent the heat generated by the micro Peltier element matrix from affecting the reproduction of the fluffy and compact feel.

[0015] Optionally, in the fourth layer of the multi-layer composite flexible sensor, the elastic polymer honeycomb mesh is placed on the base plate and filled with nickel-titanium alloy shape memory fiber pillars. The upper end of the pillars contacts the bottom surface of the multi-layer composite flexible sensor and is about 0.5 mm higher than the elastic polymer honeycomb mesh. By heating or cooling the nickel-titanium alloy shape memory fiber pillars, different amounts of longitudinal contraction or stretching are generated, which, in conjunction with the vertical movement of the base plate, reproduce the fluffy and compact feel of the object. Several pressure sensors are set below the nickel-titanium alloy shape memory fiber pillars to monitor the pressure value of the fluffy and compact feel reproduction component. The position of the base plate is adjusted by the drive component.

[0016] Optionally, the remote tactile sensing device has two upright drive components on its main diagonal, with the stepper motor above the lead screw, used to drive the base plate to move vertically, coordinating with the movement of the fluffy and compact feel reproduction substrate. The remote tactile sensing device also has two inverted drive components on its secondary diagonal, with the lead screw above the stepper motor, used to drive the lower pressure plate to move vertically, pressing the multi-layer composite flexible sensor to prevent slippage when a finger slides on its surface. The output end of the stepper motor transmits torque to the lead screw via the coupling and with the support of the bearing housing. The flange is fixedly connected to the base plate; rotation of the lead screw drives the flange to move, thereby driving the base plate to move vertically. Similarly, a set of drive components on the secondary diagonal of the device drives the lower pressure plate to descend and press the multi-layer composite flexible sensor.

[0017] The second solution of the present invention is to provide a remote tactile sensing method, based on the remote tactile sensing device described in claims 1-6, characterized in that it can realize remote tactile sensing of smoothness / roughness, warmth / coolness, softness / firmness, tingling / gentleness, dryness / moistness, and fluffiness / density, specifically including the following steps: Step 1: Obtain tactile characteristic values ​​of remote objects, such as smoothness / roughness, warmth / coolness, softness / hardness, tingling / softness, dryness / wetness, and fluffiness / density, through a tactile quantization system. Step 2: The drive component moves the lower pressure plate vertically downwards, pressing the multi-layer composite flexible sensor. Step 3: When a finger touches the surface of the multi-layer composite flexible sensor, the finger position is captured by the infrared touch frame. Based on the tactile characteristics of the remote object, the values ​​of various control parameters of the tactile reproduction elements in each layer of the multi-layer composite flexible sensor are calculated. These parameters include the magnitude of the current flowing through the sub-millimeter-level piezoelectric ceramic film actuator, the current intensity flowing through the flexible columnar electrode, the UV irradiation time of the photosensitive liquid crystal polymer mesh coating, the polarity and magnitude of the current through the micro Peltier element matrix, the voltage applied between the two flexible electrode layers, and the temperature of the nickel-titanium alloy shape memory fiber column. Step 4: The sub-millimeter-level piezoelectric ceramic film actuator in the multi-layer composite flexible sensor generates longitudinal displacement, the flexible columnar electrode generates a tiny current stimulation, the photosensitive liquid crystal polymer mesh coating absorbs or releases liquid under ultraviolet light irradiation, and the micro Peltier element matrix generates thermal changes; and when a finger presses down on the multi-layer composite flexible sensor, a voltage is applied between the two flexible electrode layers, causing the thickness of the interlayer polyurethane memory film to change; heating or cooling the nickel-titanium alloy shape memory fiber column causes it to produce different amounts of longitudinal contraction or stretching. Step 5: Monitor the surface state changes of the multi-layer composite flexible sensor using fiber optic sensors, current sensors monitor the current intensity flowing through the flexible columnar electrodes, humidity sensors monitor the humidity state of the multi-layer composite flexible sensor surface, temperature sensors monitor the surface temperature of the multi-layer composite flexible sensor, high-precision ultrasonic ranging sensors monitor the thickness changes of the polyurethane memory film layer, and pressure sensors monitor the pressure value of the fluffiness and tightness reproduction component. Compare the reproduced tactile characteristic values ​​corresponding to these monitored values ​​with the tactile characteristic values ​​of the remote object to be reproduced. Based on the error between the two sets of tactile characteristic values, adjust the values ​​of various control parameters of the tactile reproduction elements in each layer of the multi-layer composite flexible sensor until the error is eliminated, achieving accurate reproduction of tactile sensation in all dimensions. Step Six: The tactile characteristic values ​​of the remote object are simultaneously transmitted to the virtual reality system. The remote object corresponding to the tactile characteristic values ​​is constructed in the virtual reality environment. When the user touches the multi-layered composite flexible sensor, the tactile and visual sensations of the remote object are simultaneously reproduced to the user, realizing remote tactile perception that integrates tactile and visual sensations.

[0018] Optionally, the remote tactile perception method is characterized by: transmitting the tactile characteristic values ​​of the remote object—whether common to a group, individual, or collectively specific—obtained by the tactile quantification system to a multi-layered composite flexible sensor and a virtual reality system; when a user touches the multi-layered composite flexible sensor placed on a support component, it enables the reproduction of common, individual, and collectively specific tactile sensations and the fusion of tactile and visual sensations in an active remote tactile perception; the multi-layered composite flexible sensor is made into a ring-shaped thin film liner and integrated into a data glove or data sleeve to form a tactile reproduction glove or sleeve, reproducing the common or individual tactile sensations of the remote object on the tactile reproduction glove or sleeve, allowing the perceiver to feel the tactile sensation of the remote object, thus achieving passive remote tactile perception; simultaneously transmitting the tactile characteristic values ​​of the remote object to the virtual reality system, thus achieving passive remote tactile perception that integrates tactile and visual sensations.

[0019] Optionally, the human-computer interaction method based on remote tactile perception is characterized in that: based on the individual tactile characteristic values ​​of remote objects obtained through a tactile quantification system in remote operation scenarios such as intelligent manufacturing, telemedicine, online shopping, online practice, and virtual games, the user reproduces the individual tactile characteristic values ​​of the remote objects based on the remote tactile perception device described in any one of claims 1-6 and the individual tactile characteristic values ​​of the remote objects, enabling the user to perceive the tactile sensation of the remote objects; the individual tactile characteristic values ​​and remote object information are simultaneously transmitted to the virtual reality system, and combined with the hand and body movement information of the user's operation obtained by the data gloves and data clothing, a scene corresponding to the individual tactile characteristic values, remote object information, and user operation movement information is constructed in the virtual reality environment. Through the remote tactile perception device and virtual reality system described in any one of claims 1-6, tactile and visual sensations are simultaneously reproduced to the user, enabling the user to achieve human-computer interaction with remote tactile interaction when using remote operation applications such as intelligent manufacturing, telemedicine, online shopping, online practice, and virtual games.

[0020] Compared with the prior art, the present invention has the following advantages: By using the present invention, one can perceive the real smoothness and roughness, warmth and coolness, softness and firmness, tingling and gentleness, dryness and moisture, and fluffiness and density of materials. Furthermore, the multi-layer composite flexible sensor is made into a ring-shaped thin film liner and integrated into the data glove or data sleeve. Through the remote tactile sensing device and virtual reality system, users can achieve human-computer interaction with remote tactile interaction when using remote operation applications such as intelligent manufacturing, telemedicine, online shopping, online practice, and virtual games in the constructed virtual reality+ environment. Attached Figure Description

[0021] Figure 1 This is a perspective view of the remote tactile sensing device of the present invention.

[0022] Figure 2 This is a perspective view of the driving component in this invention.

[0023] Figure 3 This is a cross-sectional view of the multilayer composite flexible sensor in this invention.

[0024] In the diagram: Frame 1, Voice coil driver 2, Infrared touch frame 3, Multi-layer composite flexible sensor 4, Ultraviolet LED 5, Fiber optic sensor 6, Current sensor 7, Humidity sensor 8, Temperature sensor 9, High-precision ultrasonic ranging sensor 10, Drive assembly support plate 11, Base plate 12, Fluffy and compact feel reproduction substrate 13, Lower pressure plate 14, Support plate 15, Stepper motor 16, Coupling 17, Bearing seat 18, Flange 19, Guide post 20, Lead screw 21, Photosensitive liquid crystal polymer mesh coating 22, Flexible columnar electrode 23, Submillimeter-level piezoelectric ceramic thin film actuator 24, Anisotropic conductive adhesive 25, Epoxy resin soft adhesive 26, Micro Peltier element matrix 27, Flexible electrode layer 28, Polyurethane memory film layer 29, Thermal insulation layer 30, Nickel-titanium alloy shape memory fiber column 31, Elastic polymer honeycomb mesh 32, and Pressure sensor 33. Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, the accompanying drawings are not drawn to scale precisely for illustrative purposes and are intentionally left blank.

[0027] like Figure 1 As shown, a remote tactile sensing device of the present invention includes a multi-layer composite flexible sensor, a driving component, and a supporting component. Specific components include a frame 1, a voice coil driver 2, an infrared touch frame 3, a multi-layer composite flexible sensor 4, an ultraviolet LED 5, a fiber optic sensor 6, a current sensor 7, a humidity sensor 8, a temperature sensor 9, a high-precision ultrasonic ranging sensor 10, a driving component support plate 11, a base plate 12, a fluffy and dense feel reproduction substrate 13, a lower pressure plate 14, and a support plate 15.

[0028] The frame 1 connects to the four corners of the support plate 15, which is a rectangular frame with a hollow center. The multi-layered flexible sensor 4, also rectangular in top view, is placed on the support plate 15. A set of drive components at the diagonal of the device moves the lower pressure plate 14 downwards to press the edges, preventing slippage when a finger slides on the surface of the multi-layered flexible sensor 4. The infrared touch frame 3 is placed above the multi-layered flexible sensor 4 to capture finger positions and send position signals. Four voice coil drivers 2 are installed at the top of the diagonal between the infrared touch frame 3 and the multi-layered flexible sensor 4, and the lower pressure plate 14 does not interfere with the voice coil drivers 2 when pressed down. Two ultraviolet LEDs 5 are installed, placed on the frame above the multi-layered flexible sensor 4, allowing ultraviolet light to illuminate the sensor surface. The fiber optic sensor 6, current sensor 7, humidity sensor 8, and temperature sensor 9 are all placed on the surface of the multi-layered flexible sensor 4 to acquire data such as surface roughness, current magnitude, humidity, and temperature. The base plate 12 is driven by a set of drive components at the main diagonal of the device, enabling it to move vertically and reproduce the different sizes of longitudinal shrinkage or stretching changes produced by the substrate 13 in conjunction with the fluffy and compact feel.

[0029] like Figure 2 As shown, the drive assembly includes a frame 1, a drive assembly support plate 11, a base plate 12, a stepper motor 16, a coupling 17, a bearing housing 18, a flange 19, a guide post 20, and a lead screw 21. The drive assembly is fixed on the drive assembly support plate 11, which is fixed on the frame 1. The coupling 17 connects the output end of the stepper motor 16 to the lead screw 21, and the lead screw 21 is connected via a bearing in the bearing housing 18. The flange 19 connects to the base plate 12 and is fitted over the lead screw 21. Rotation of the lead screw 21 can drive the flange 19 to move, and under the guidance of the guide post 20, it can drive the base plate 12 to move vertically.

[0030] like Figure 3As shown, the multilayer composite flexible sensor 4 includes a photosensitive liquid crystal polymer mesh coating 22, a flexible columnar electrode 23, a submillimeter-level piezoelectric ceramic thin film actuator 24, an anisotropic conductive adhesive 25, an epoxy resin soft adhesive 26, a micro Peltier element matrix 27, a flexible electrode layer 28, a polyurethane memory film layer 29, a heat insulation layer 30, a nickel-titanium alloy shape memory fiber column 31, an elastic polymer honeycomb grid 32, and a pressure sensor 33. In the first layer, the submillimeter-level piezoelectric ceramic thin-film actuators 24 are arranged in a checkerboard pattern with small spacing and fixed to the lower epoxy resin soft adhesive 26 by a hot-press bonding process using anisotropic conductive adhesive 25. Each of the four submillimeter-level piezoelectric ceramic thin-film actuators 24 has a flexible columnar electrode 23 of equal height at its center, flush with the surface. The gaps between the submillimeter-level piezoelectric ceramic thin-film actuators 24 and the flexible columnar electrodes 23 are filled with epoxy resin soft adhesive 26 and are a small distance below the surface layer. The photosensitive liquid crystal polymer mesh coating 22 is applied to this small gap. In the second layer, the micro Peltier element matrix 27 is distributed in a grid pattern, with the gaps between the elements and the upper and lower surfaces filled and covered by epoxy resin soft adhesive 26. In the third layer, two flexible electrode layers 28 respectively cover the upper and lower surfaces of the polyurethane memory film layer 29 to form a dielectric elastomer. Furthermore, the multi-layered composite flexible sensor 4 also has a heat-insulating layer 30 to prevent the heat generated by the micro Peltier element matrix 27 from affecting the reproduction of the fluffy and compact feel. In the fourth layer, several nickel-titanium alloy shape memory fiber pillars 31 are arranged in a matrix within the elastic polymer honeycomb grid 32, and are positioned slightly higher than the elastic polymer honeycomb grid 32. The bottom of the elastic polymer honeycomb grid 32 is placed on and fixed to the base plate 12, and the top of the nickel-titanium alloy shape memory fiber pillars 31 is connected to and fixed to the support plate 15.

[0031] The specific reproduction steps of this device are as follows: A set of drive components on the secondary diagonal begin to move, and two stepper motors 16 rotate simultaneously. The torque at the output end is transmitted to the lead screw 21 through the coupling 17. The rotation of the lead screw 21 drives the flange 19 to move, and under the guidance of the guide post 20, the lower pressure plate 14 moves downward, pressing the edge of the multilayer composite flexible sensor 4 to prevent slippage. Then, when a finger slides on the surface of the multilayer composite flexible sensor 4, the infrared touch frame 3 captures the position of the finger, sends the position information to the modulator, and calculates the various values ​​to be output based on the known tactile characteristics of the object, and sends them to the voice coil driver 2 and the actuators of each tactile reproduction element in the multilayer composite flexible sensor 4. The voice coil drivers 2 at the four corners of the multilayer composite flexible sensor 4 start to work, generating vibrations on the surface of the multilayer composite flexible sensor 4 to reproduce the macroscopic smoothness and roughness of the object. After being energized, the submillimeter-level piezoelectric ceramic thin film actuators 24 generate different longitudinal displacements based on the piezoelectric effect to reproduce the microscopic smoothness and roughness of the object. The fiber optic sensor 6 on the surface of the multilayer composite flexible sensor 4 monitors surface state changes by collecting center wavelength data. When a small current is applied to the flexible columnar electrode 23, a portion of the current is transmitted to the finger as it slides across the surface of the multilayer composite flexible sensor 4, creating electrical stimulation. This stimulation is then detected by the current sensor 7, which controls the current intensity to reproduce the sensation of a stinging or gentle tingling sensation. Simultaneously, the ultraviolet LED 5 on the frame 1 emits 365nm wavelength ultraviolet light. Under ultraviolet light irradiation, the photosensitive liquid crystal polymer mesh coating 22 can repeatedly and reversibly release and absorb liquid, thus reproducing the sensation of dryness or wetness. The humidity sensor 8 on the surface of the multilayer composite flexible sensor 4 collects humidity data to monitor the surface's humidity status. Power is supplied to the micro Peltier element matrix 27, which, based on the Peltier effect, generates heat or cools. This heat is transferred to the surface of the multilayer composite flexible sensor 4. By controlling the polarity and amount of current flowing through the micro Peltier element matrix 27, the sensation of warmth or coolness is reproduced. A temperature sensor 9 is installed on the surface of the multilayer composite flexible sensor 4 to monitor the surface temperature and adjust the working state of the micro Peltier element matrix 27. When a finger presses down on the surface of the multilayer composite flexible sensor 4, based on the dielectric effect, the two flexible electrode layers 28 are energized, causing a change in the thickness of the interlayer polyurethane memory film layer 29. By controlling the current intensity flowing through the two flexible electrode layers 28, the softness and firmness of the object can be reproduced. A high-precision ultrasonic ranging sensor 10 is installed on the frame 1. By emitting ultrasonic waves onto the surface of the multilayer composite flexible sensor 4, the thickness change of the polyurethane memory film layer 29 can be monitored in real time. Furthermore, in the fluffy and compact feel reproduction component, each nickel-titanium shape memory alloy fiber column 31 is energized, which generates heat and causes stretching or compression changes within the elastic polymer honeycomb mesh 32. This, combined with the vertical movement of the base plate driven by the drive component, reproduces the fluffy and compact feel of the object.Several pressure sensors 33 are placed below each nickel-titanium alloy shape memory fiber column 31 to monitor the pressure value of the fluffy texture reproduction matrix.

[0032] The present invention will be further illustrated below with a specific embodiment.

[0033] Five remote objects with known tactile characteristics were selected, and the voltage required to reproduce their smoothness and roughness was calculated using their smoothness and roughness characteristics through a sub-millimeter-scale piezoelectric ceramic thin-film actuator. U 1. And the voltage of the voice coil motor U 2. Based on their warm and cool tactile characteristics, the polarity and magnitude of the current through the micro Peltier element matrix required to reproduce their warm and cool sensations were calculated. I 1. The voltage required to reproduce the soft yet firm feel of the two flexible electrode layers was calculated based on their soft-firm tactile characteristics. U 3. The current required to reproduce the tingling-soft sensation of these substances through the flexible cylindrical electrodes was calculated based on their tingling-soft tactile characteristics. I 2. The UV irradiation time t of the photosensitive liquid crystal polymer mesh coating required to reproduce their dry and wet feel was calculated based on their dry and wet tactile characteristics. The temperature of the nickel-titanium alloy shape memory fiber column required to reproduce their fluffy and dense tactile characteristics was calculated based on their fluffy and dense tactile characteristics. T The various tactile characteristics and control parameters of the remote object are shown in Table 1.

[0034] Table 1: Tactile characteristics and control parameters of remote objects Smooth / rough tactile characteristics 20 40 60 80 100 The corresponding center wavelength (nm) of the fiber optic sensor 750~800 800~850 850~900 900~950 950~1000 <![CDATA[ U 1(V)]]> 15.0 25.0 32.0 37.0 40.0 <![CDATA[ U 2(V)]]> 11.0 12.0 14.0 15.0 17.0 Warm and cool touch characteristics 20 60 40 100 80 The corresponding temperature sensor value (°C) 16.0~18.0 20.0~22.0 18.0~20.0 24.0~26.0 22.0~24.0 Current polarity Reverse positive Reverse positive positive <![CDATA[ I 1(mA)]]> 450 550 300 650 600 Soft and firm touch characteristics 80 100 60 20 40 Corresponding variation in polyurethane memory film layer thickness (mm) 1.0~1.1 1.1~1.2 0.9~1.0 0.7~0.8 0.8~0.9 <![CDATA[ U 3(kV)]]> 2 2.5 1.7 1 1.5 Stinging and smooth touch characteristics 20 40 60 80 100 <![CDATA[ I 2(mA)]]> 0.6 0.7 0.8 0.9 1.0 Dry and wet touch characteristics 40 60 20 80 100 t(s) 20 23 15 30 40 Fluffy and dense tactile properties 60 100 80 20 40 The corresponding pressure change rate (N s) of the pressure sensor 55~70 85~100 70~85 25~40 40~55 (℃) 50 60 55 40 45 When the power is turned on, the drive assembly moves the lower pressure plate vertically downwards, pressing the multi-layer composite flexible sensor. When a finger touches the surface of the multi-layer composite flexible sensor, the finger's position is captured by the infrared touch frame. Based on the tactile characteristics of the remote object, the control parameters of the tactile reproduction elements in each layer of the multi-layer composite flexible sensor are calculated and output to each tactile reproduction element. Various sensors monitor the changes in these values, and the reproduced tactile characteristic values ​​are compared with the tactile characteristic values ​​of the remote object to be reproduced. Based on the error between the two sets of tactile characteristic values, the control parameters of each tactile reproduction element are adjusted until the error is eliminated, achieving accurate reproduction of tactile sensation in all dimensions. After the user has finished the perception, the power is turned off, and one remote object tactile perception session ends.

[0035] The above description only illustrates preferred embodiments of the present invention and should not be construed as limiting the scope of the claims. The present invention is not limited to the above embodiments, and variations in its specific structure are permitted. In summary, all variations made within the scope of the independent claims of this invention are also within the scope of protection of this invention.

Claims

1. A remote tactile sensing device, characterized in that: It includes a multi-layer composite flexible sensor, a driving component, and a supporting component; the multi-layer composite flexible sensor and the driving component are both disposed on the supporting component; The multi-layer composite flexible sensor (4) is divided into four layers in the vertical direction. The first layer of the multi-layer composite flexible sensor consists of a sub-millimeter-level piezoelectric ceramic film actuator (24), a flexible columnar electrode (23), a photosensitive liquid crystal polymer mesh coating (22), an anisotropic conductive adhesive (25), an optical fiber sensor (6), and epoxy resin soft adhesive (26). A humidity sensor (8) is provided on the surface of the multi-layer composite flexible sensor (4). The microscopic smooth and rough feeling is reproduced by the array layout and longitudinal thickness variation of the multiple sub-millimeter-level piezoelectric ceramic film actuators (24); the stinging and soft feeling is reproduced by the array layout of the multiple flexible columnar electrodes (23) and the application of current; and the dry and wet feeling is reproduced by the repeated reversible release and absorption of liquid by the photosensitive liquid crystal polymer mesh coating (22). The second layer of the multi-layer composite flexible sensor (4) is composed of a micro Peltier element matrix (27) and epoxy resin soft glue (26). A temperature sensor (9) is provided on the surface of the multi-layer composite flexible sensor (4). The warmth and coolness are reproduced by changing the polarity and magnitude of the current flowing through the micro Peltier element matrix (27). The third layer of the multi-layer composite flexible sensor (4) consists of a flexible electrode layer (28), a polyurethane memory film layer (29), and a heat insulation layer (30). A high-precision ultrasonic ranging sensor (10) is provided above the multi-layer composite flexible sensor (4). The soft and firm feeling is reproduced by the change in the thickness of the polyurethane memory film layer (29). The fourth layer of the multi-layer composite flexible sensor (4) is a fluffy and compact feel reproduction component. The fluffy and compact feel reproduction component is composed of nickel-titanium alloy shape memory fiber column (31), elastic polymer honeycomb grid (32) and temperature sensor (9). The nickel-titanium alloy shape memory fiber column (31) is placed in the elastic polymer honeycomb grid (32). The fluffy and compact feel is reproduced by the different longitudinal stretching or shrinkage changes generated by the nickel-titanium alloy shape memory fiber column (31) after the temperature rises or falls. The support assembly consists of a frame (1), a lower pressure plate (14), a base plate (12), and a support plate (15). The lower pressure plate (14) and the support plate (15) can press the multi-layer composite flexible sensor (4) to prevent the multi-layer composite flexible sensor (4) from slipping when the finger slides on the surface of the multi-layer composite flexible sensor (4). The drive assembly consists of a stepper motor (16), a coupling (17), a bearing seat (18), a lead screw (21), a guide column (20), and a flange (19). The stepper motor (16) drives the lead screw (21) to rotate, thereby driving the lower pressure plate (14) and the base plate (12) to move vertically.

2. The remote tactile sensing device according to claim 1, characterized in that... Voice coil drivers (2) are provided at the four corners of the multi-layer composite flexible sensor (4). The end of the voice coil driver (2) with a vibrating diaphragm is close to the surface of the multi-layer composite flexible sensor (4). By changing the frequency and amplitude of the vibration emitted by the voice coil driver (2), the macroscopic smoothness and roughness of the surface of the multi-layer composite flexible sensor (4) are changed. An infrared touch frame (3) is provided at the edge of the multi-layer composite flexible sensor (4). The infrared touch frame (3) can obtain the finger position when touching in real time and send the calculated output signal to the tactile reproduction element in each layer of the multi-layer composite flexible sensor (4), thereby reproducing the tactile sensation of a remote object at the corresponding position of the multi-layer composite flexible sensor (4).

3. The remote tactile sensing device according to claim 2, characterized in that... Within the first layer of the multi-layer composite flexible sensor (4), the sub-millimeter-level piezoelectric ceramic thin-film actuator (24) has a high voltage coefficient, enabling it to operate over a wide dynamic frequency range (1 Hz - 1 Hz). High-resolution tactile stimulation is generated within 1 kHz and arranged in a checkerboard pattern. The submillimeter-level piezoelectric ceramic film actuator (24) is fixed to the epoxy resin soft glue (26) using the hot-press bonding process of the anisotropic conductive adhesive (25). Through the inverse piezoelectric effect, a small longitudinal displacement is generated on the submillimeter-level piezoelectric ceramic film actuator (24) to reproduce the microscopic smoothness and roughness of the flexible material. The surface of the multilayer composite flexible sensor (4) is provided with an optical fiber sensor to monitor the surface state changes of the multilayer composite flexible sensor (4) by collecting its center wavelength data. The center of each of the four submillimeter-level piezoelectric ceramic film actuators (24) is provided with a flexible columnar electrode (23). After applying a small current to the flexible columnar electrode (23), the finger will feel the electrical stimulation when sliding on the surface of the multilayer composite flexible sensor (4), thereby reproducing the microscopic smoothness and roughness of the flexible material. A gentle, tingling sensation; there is a gap between the submillimeter-level piezoelectric ceramic film actuator (24) and the flexible columnar electrode (23), both filled by the epoxy resin soft glue (26) and a small distance below the surface of the multilayer composite flexible sensor (4); the photosensitive liquid crystal polymer mesh coating (22) is coated in the small gap between the epoxy resin soft glue (26) and the surface of the multilayer composite flexible sensor (4), and an ultraviolet LED lamp (5) is mounted on the frame (1), which can emit 365nm ultraviolet light; the photosensitive liquid crystal polymer mesh coating (22) can repeatedly and reversibly release and absorb liquid under ultraviolet light irradiation, and by controlling the duration of ultraviolet light irradiation, a dry and wet sensation can be reproduced; the surface of the multilayer composite flexible sensor (4) is provided with the humidity sensor (8), which is used to collect humidity data to monitor the humidity status of the surface of the multilayer composite flexible sensor (4).

4. The remote tactile sensing device according to claim 1, characterized in that... In the second layer of the multilayer composite flexible sensor (4), the micro Peltier element matrix (27) is distributed in a grid pattern, and the gaps between the micro Peltier elements and the upper and lower surfaces are filled and covered by the epoxy resin soft glue (26). Based on the Peltier effect, by controlling the polarity and magnitude of the current flowing through the micro Peltier element matrix (27), it can generate a change in temperature, thereby reproducing a feeling of warmth and coolness. The surface of the multilayer composite flexible sensor (4) is provided with the temperature sensor (9) to monitor the surface temperature value of the multilayer composite flexible sensor (4) in order to adjust the working state of the micro Peltier element matrix (27).

5. The remote tactile sensing device according to claim 1, characterized in that... In the third layer of the multilayer composite flexible sensor (4), two flexible electrode layers (28) respectively cover the upper and lower surfaces of the polyurethane memory film layer (29) to form a dielectric elastomer. When a voltage is applied between the two flexible electrode layers (28), the softness of the polyurethane memory film layer (29) in the dielectric elastomer changes, thereby reproducing a soft and firm feeling. The high-precision ultrasonic ranging sensor (10) is provided on the frame (1). By emitting ultrasonic waves to the surface of the multilayer composite flexible sensor (4), the thickness change of the polyurethane memory film layer (29) can be monitored in real time. The bottom layer of the multilayer composite flexible sensor (4) is a heat insulation layer (30) to prevent the heat generated by the micro Peltier element matrix (27) from affecting the reproduction of the fluffy and compact feeling.

6. The remote tactile sensing device according to claim 1, characterized in that... In the fourth layer of the multi-layer composite flexible sensor (4), the elastic polymer honeycomb grid (32) is placed on the base plate (12), and each of them is filled with nickel-titanium alloy shape memory fiber columns (31). The upper end is in contact with the bottom surface of the multi-layer composite flexible sensor (4) and is about 0.5 mm higher than the elastic polymer honeycomb grid (32). By heating or cooling the nickel-titanium alloy shape memory fiber columns (31), different sizes of longitudinal shrinkage or stretching changes are generated, which, together with the vertical movement of the base plate (12), reproduce the fluffy and compact feeling of the flexible material. Several pressure sensors (33) are set below the nickel-titanium alloy shape memory fiber columns (31) to monitor the pressure value of the fluffy and compact feeling reproduction component. The position of the base plate (12) is adjusted by the drive component.

7. A remote tactile sensing method, based on the remote tactile sensing device according to claims 1-6, characterized in that: It can achieve remote tactile perception of smoothness / roughness, warmth / coolness, softness / firmness, tingling / gentleness, dryness / moistness, and fluffiness / density, specifically including the following steps: Step 1: Obtain tactile characteristic values ​​of remote objects, such as smoothness / roughness, warmth / coolness, softness / hardness, tingling / softness, dryness / wetness, and fluffiness / density, through a tactile quantization system. Step 2: The drive component moves the lower pressure plate vertically downwards, pressing the multi-layer composite flexible sensor. Step 3: When a finger touches the surface of the multi-layer composite flexible sensor, the finger position is captured by the infrared touch frame. Based on the tactile characteristics of the remote object, the values ​​of various control parameters of the tactile reproduction elements in each layer of the multi-layer composite flexible sensor are calculated. These parameters include the magnitude of the current flowing through the sub-millimeter-level piezoelectric ceramic film actuator, the current intensity flowing through the flexible columnar electrode, the UV irradiation time of the photosensitive liquid crystal polymer mesh coating, the polarity and magnitude of the current through the micro Peltier element matrix, the voltage applied between the two flexible electrode layers, and the temperature of the nickel-titanium alloy shape memory fiber column. Step 4: The sub-millimeter-level piezoelectric ceramic film actuator in the multi-layer composite flexible sensor generates longitudinal displacement, the flexible columnar electrode generates a tiny current stimulation, the photosensitive liquid crystal polymer mesh coating absorbs or releases liquid under ultraviolet light irradiation, and the micro Peltier element matrix generates thermal changes; and when a finger presses down on the multi-layer composite flexible sensor, a voltage is applied between the two flexible electrode layers, causing the thickness of the interlayer polyurethane memory film to change; heating or cooling the nickel-titanium alloy shape memory fiber column causes it to produce different amounts of longitudinal contraction or stretching. Step 5: Monitor the surface state changes of the multi-layer composite flexible sensor using fiber optic sensors, current sensors monitor the current intensity flowing through the flexible columnar electrodes, humidity sensors monitor the humidity state of the multi-layer composite flexible sensor surface, temperature sensors monitor the surface temperature of the multi-layer composite flexible sensor, high-precision ultrasonic ranging sensors monitor the thickness changes of the polyurethane memory film layer, and pressure sensors monitor the pressure value of the fluffiness and tightness reproduction component. Compare the reproduced tactile characteristic values ​​corresponding to these monitored values ​​with the tactile characteristic values ​​of the remote object to be reproduced. Based on the error between the two sets of tactile characteristic values, adjust the values ​​of various control parameters of the tactile reproduction elements in each layer of the multi-layer composite flexible sensor until the error is eliminated, achieving accurate reproduction of tactile sensation in all dimensions. Step Six: The tactile characteristic values ​​of the remote object are simultaneously transmitted to the virtual reality system. The remote object corresponding to the tactile characteristic values ​​is constructed in the virtual reality environment. When the user touches the multi-layered composite flexible sensor, the tactile and visual sensations of the remote object are simultaneously reproduced to the user, realizing remote tactile perception that integrates tactile and visual sensations.

8. The remote tactile sensing method according to claim 7, characterized in that: The tactile characteristic values ​​of remote objects, whether common to a group, unique to a group, or unique to an individual, acquired by the tactile quantification system, are transmitted to a multi-layered composite flexible sensor and a virtual reality system. When a user touches the multi-layered composite flexible sensor placed on a support component, it can reproduce the common, unique, and individual tactile sensations of the group and integrate touch and vision for active remote tactile perception. The multi-layered composite flexible sensor is made into a ring-shaped thin film liner and integrated into a data glove or data sleeve to form a tactile reproduction glove or sleeve. The common or unique tactile sensations of remote objects are reproduced on the tactile reproduction glove or sleeve, allowing the user to feel the touch of the remote object, thus achieving passive remote tactile perception. The tactile characteristic values ​​of the remote object are simultaneously transmitted to the virtual reality system, enabling passive remote tactile perception that integrates touch and vision.

9. A human-computer interaction method based on remote tactile perception, characterized in that: Based on the individual tactile characteristic values ​​of remote objects obtained through a tactile quantification system in remote operation scenarios such as intelligent manufacturing, telemedicine, online shopping, online practice, and virtual games, users can reproduce the individual tactile characteristic values ​​of remote objects using the remote tactile sensing device described in any one of claims 1-6 and the individual tactile characteristic values ​​of the remote objects, enabling users to perceive the tactile feel of the remote objects. The individual tactile characteristic values ​​and remote object information are simultaneously transmitted to a virtual reality system. Combined with the hand and body movement information obtained from data gloves and data clothing, a scene corresponding to the individual tactile characteristic values, remote object information, and user movement information is constructed in the virtual reality environment. Through the remote tactile sensing device and virtual reality system described in any one of claims 1-6, tactile and visual sensations are simultaneously reproduced for the user, enabling human-computer interaction with remote tactile interaction when using remote operation applications such as intelligent manufacturing, telemedicine, online shopping, online practice, and virtual games.

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