Haptic reproduction system and method

Abstract

The application discloses a kind of haptic reproduction system and method, the haptic reproduction system includes: first tactile perception equipment, control device and second tactile perception equipment;Through first tactile perception equipment, based on topography probe acquisition touch topography information, based on potentiometer reading finger bending information and based on six-axis sensor acquisition attitude information are collected;Control instruction is generated based on touch topography information, finger bending information and attitude information;The bending state of the bending reproduction component of the vibration motor vibration of the second tactile perception equipment and the adjustment of the second tactile perception equipment is controlled based on control instruction.It is difficult to collect haptic information and the technical problem that haptic presentation effect is not good in prior art is solved, since the vibration motor vibration of the second tactile perception equipment and the bending state of the bending reproduction component of the second tactile perception equipment are controlled based on touch topography information, finger bending information and attitude information collected by first tactile perception equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of virtual reality interaction, in particular to a haptic reproduction system and method. BACKGROUND

[0002] "Haptics" is the tactile and kinesthetic sensation that a human body produces through skin contact and limb manipulation of the environment or objects, including pressure, weight, resistance, temperature, humidity, resistance, torque, speed, etc. With the gradual arrival of the 6G era, combining virtual and real-world elements, multi-modal perception of vision, sound, haptics, and other multi-sensory XR communication research is also booming. This will bring excellent subjective experience to users, and new possibilities for truly immersive social interaction, remote surgery, disaster rescue, and remote action control scenarios.

[0003] Human perception is the channel between objective objects and subjective consciousness, and the feeling characteristics of materials are a kind of psychological cognition of material characteristics based on human physiological perception. The input is the spatial change of the tactile receptors when touching the object, and the output is various types of feelings such as hardness, shape, roughness, texture, elasticity, humidity, and viscosity. How to accurately read these information on the surface of the material, and how to read the complete material feeling characteristics and reproduce them, need further research. SUMMARY

[0004] The main purpose of the present application is to provide a haptic reproduction system and method, which aims to solve the technical problems of difficult haptic information collection and poor haptic presentation effect in the prior art.

[0005] To achieve the above-mentioned purpose, the present application provides a haptic reproduction system, which comprises a first haptic perception device, a control device and a second haptic perception device.

[0006] The first haptic perception device is used to collect touch topography information obtained based on a topography probe, finger bending information read based on a potentiometer, and posture information obtained based on a six-axis sensor.

[0007] The control device is used to obtain the touch topography information, the finger bending information and the posture information, and generate a control instruction based on the touch topography information, the finger bending information and the posture information.

[0008] The second haptic perception device is used to receive the control instruction, and control the vibration of the vibration motor of the second haptic perception device and adjust the bending state of the finger bending reproduction component of the second haptic perception device based on the control instruction.

[0009] Optionally, the first tactile perception device comprises a first finger unit and a first palm unit, and the second tactile perception device comprises a second finger unit and a second palm unit;

[0010] The first finger unit comprises a topography probe, a piezoelectric ceramic sensor, a piezoelectric ceramic driving module, a six-axis sensor and a chip sub-module.

[0011] The first palm unit comprises a first support body, a first pull rope and a potentiometer.

[0012] The second finger unit comprises a vibration motor, a vibration sensor and a finger bending reproduction assembly.

[0013] The second palm unit comprises a second support body, a second pull rope and a steering wheel.

[0014] Optionally, the topography probe is configured to press the piezoelectric ceramic sensor according to the relief topography of the material surface when contacting the material surface.

[0015] The piezoelectric ceramic sensor is configured to change the resistance value of the piezoelectric ceramic sensor according to the generated pressure value when detecting the pressure of the topography probe, and generate a corresponding first electric signal according to the change intensity of the resistance value.

[0016] The piezoelectric ceramic driving module is configured to receive the first electric signal and generate touch topography information based on the first electric signal.

[0017] Optionally, the six-axis sensor is composed of a three-axis gyroscope and a three-axis accelerometer, and the six-axis sensor is configured to acquire acceleration signals and angle rotation signals of xyz axes.

[0018] The chip sub-module is configured to receive the acceleration signals and the angle rotation signals, perform attitude analysis on the acceleration signals and the angle rotation signals, and generate attitude information according to the attitude analysis result.

[0019] The first finger unit is connected to the potentiometer through a first pull rope, and the potentiometer is configured to read the finger bending information of the first tactile perception device according to the voltage change rate.

[0020] Optionally, the vibration sensor is configured to monitor the texture tactile expression of the touch topography information in the second tactile perception device in real time.

[0021] The vibration sensor is further configured to complete the tactile presentation if the texture tactile expression is vibration continuous.

[0022] The vibration sensor is further configured to send a feedback signal if the texture tactile expression is vibration discontinuous, indicating that the signal reception is interrupted or disturbed.

[0023] The steering engine is used to limit the length of the second pull rope to provide force feedback of the second finger unit.

[0024] Optionally, the control instruction includes a texture vibration control signal and a bending state control signal, the step of acquiring the touch topography information, the finger bending information and the posture information, and generating a control instruction based on the touch topography information, the finger bending information and the posture information, includes:

[0025] The touch topography information is acquired, and a topography curve is generated based on the touch topography information, and a texture vibration control signal is generated according to the topography curve, the texture vibration control signal being used to control the vibration of the vibration motor of the second haptic perception device;

[0026] After receiving the finger bending information and the posture information, a bending state control signal is generated based on the finger bending information and the posture information, the bending state control signal being used to adjust the bending state of the finger bending reproduction component of the second haptic perception device.

[0027] Optionally, the control device includes a first control module and a second control module;

[0028] The first control module is arranged in the first haptic perception device, and the first control module is connected with the piezoelectric ceramic driving module and the potentiometer respectively;

[0029] The second control module is arranged in the second haptic perception device, and the second control module is connected with the vibration motor and the steering engine respectively.

[0030] In addition, to achieve the above-mentioned purpose, the present application further provides a haptic reproduction method, which includes the following steps:

[0031] The touch topography information acquired based on a topography probe, the finger bending information read based on a potentiometer, and the posture information acquired based on a six-axis sensor are collected by a first haptic perception device;

[0032] The touch topography information, the finger bending information and the posture information are acquired, and a control instruction is generated based on the touch topography information, the finger bending information and the posture information;

[0033] The control instruction is received, and the vibration motor of the second haptic perception device is controlled to vibrate and the bending state of the finger bending reproduction component of the second haptic perception device is adjusted based on the control instruction.

[0034] Optionally, the step of collecting the touch topography information acquired based on a topography probe by a first haptic perception device includes:

[0035] When the topography probe of the first tactile perception device contacts the material surface, a piezoelectric ceramic sensing element of the first tactile perception device is pressed according to the undulating topography of the material surface;

[0036] When the piezoelectric ceramic sensing element detects the pressure of the topography probe, the resistance value of the piezoelectric ceramic sensing element is changed according to the generated pressure value, and a corresponding first electric signal is generated according to the change intensity of the resistance value;

[0037] When the piezoelectric ceramic driving module of the first tactile perception device receives the first electric signal, touch topography information is generated based on the first electric signal.

[0038] The present application discloses that the first tactile perception device collects touch topography information based on a topography probe, finger bending information based on a potentiometer reading, and attitude information based on a six-axis sensor; the touch topography information, the finger bending information, and the attitude information are obtained, and control instructions are generated based on the touch topography information, the finger bending information, and the attitude information; the control instructions are received, and the vibration motor of the second tactile perception device is controlled to vibrate and the bending state of the finger bending reproduction assembly of the second tactile perception device is adjusted based on the control instructions. Since the present application controls the vibration motor of the second tactile perception device and adjusts the bending state of the finger bending reproduction assembly of the second tactile perception device based on the touch topography information collected by the first tactile perception device based on the topography probe, the finger bending information read by the potentiometer, and the attitude information obtained by the six-axis sensor, compared with the prior art, the present application solves the technical problems of difficult tactile information collection and poor tactile presentation effect in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a structure block diagram of the first embodiment of the tactile reproduction system of the present application;

[0040] Figure 2 It is a function schematic diagram of the specific implementation of the tactile reproduction system of the present application;

[0041] Figure 3 It is a structure block diagram of the second embodiment of the tactile reproduction system of the present application;

[0042] Figure 4 It is a remote interaction schematic diagram of the second embodiment of the tactile reproduction system of the present application;

[0043] Figure 5 It is a remote interaction information transmission schematic diagram of the second embodiment of the tactile reproduction system of the present application;

[0044] Figure 6Flowchart of a first embodiment of the haptic reproduction method of the present application.

[0045] Explanation of reference numerals:

[0046] Reference Name Reference Name 100 First haptics-aware device 200 Control device 300 Second haptics-aware device 101 Topography probe 102 Potentiometer 103 Six-axis sensor 201 First control module 202 Second control module 301 Vibration motor 302 Finger flexion reproduction assembly

[0047] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein merely exemplify the application and do not limit the application.

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0050] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0051] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0052] Reference Figure 1 , Figure 1 Structure block diagram of a first embodiment of the haptic reproduction system of the present application.

[0053] As Figure 1 shown, the haptic reproduction system comprises a first haptic perception device 100, a control device 200 and a second haptic perception device 300.

[0054] It should be noted that the system provided in this embodiment can be applied in a scene of collecting and / or reproducing tactile information. Hereinafter, the system is used to specifically describe this embodiment and each of the following embodiments.

[0055] In this embodiment, the first tactile perception device 100 is configured to collect the touch topography information based on the topography probe, the finger bending information based on the potentiometer reading, and the posture information based on the six-axis sensor.

[0056] It should be noted that the first tactile perception device and the second tactile perception device can be a tactile glove, a single finger glove, or a tactile pen, and the following embodiments are described by taking the tactile glove as an example.

[0057] It should be noted that the first tactile perception device includes a first finger unit and a first palm unit.

[0058] The first finger unit includes a topography probe, a piezoelectric ceramic sensing element, a piezoelectric ceramic driving module, a six-axis sensor, and a chip sub-module.

[0059] It should be noted that the topography probe is configured to form a pressing on the piezoelectric ceramic sensing element according to the ups and downs of the surface of the material when the topography probe contacts the surface of the material.

[0060] It should be understood that in the tactile glove, the piezoelectric effect principle of the piezoelectric ceramic sensing element is used to achieve fine reading of the texture of the surface of the material based on the topography probe. Even a small mechanical stress can cause polarization by causing relative displacement of positive and negative charge centers, while the size of the piezoelectric ceramic sensing element itself remains almost unchanged. Within the range of the scale, the charge density is proportional to the external force, and the sensitivity of the piezoelectric ceramic sensing element to the external force enables it to even sense the disturbance of a fly flapping its wings in the air ten or more meters away. Therefore, the accuracy of the collection depends on the size of the tip of the topography probe. At present, a sub-millimeter topography probe has been developed. The accurate collection of the material topography curve can be achieved to form the texture feeling characteristics and the tactile information.

[0061] The piezoelectric ceramic sensing element is configured to change the resistance value of the piezoelectric ceramic sensing element according to the generated pressure value when the piezoelectric ceramic sensing element detects the pressure of the topography probe, and generate a corresponding first electric signal according to the change intensity of the resistance value.

[0062] The piezoelectric ceramic driving module is configured to receive the first electric signal and generate the touch topography information based on the first electric signal.

[0063] The six-axis sensor is composed of a three-axis gyroscope and a three-axis accelerometer, and the six-axis sensor is configured to acquire acceleration signals and angle rotation signals of xyz axes.

[0064] The chip sub-module is configured to receive the acceleration signal and the angle rotation signal, perform attitude analysis on the acceleration signal and the angle rotation signal, and generate attitude information according to the attitude analysis result.

[0065] It should be explained that the chip sub-module can use MPU6050 chip as the core, use the digital motion processor DMP, output the attitude analysis result through the IIC interface, and generate the attitude information according to the attitude analysis result.

[0066] It should be understood that there are many attitude analysis methods using MPU6050 chip, including DMP solution in hardware mode, Euler angle and rotation matrix solution in software mode, and axis angle method and quaternion solution in software mode.

[0067] The first palm unit includes a first support body, a first pull rope, and a potentiometer.

[0068] It should be noted that the first finger unit is connected to the potentiometer through the first pull rope of the first palm unit, and the potentiometer is configured to read the finger bending information of the first tactile perception device according to the voltage change rate.

[0069] The control device 200 is configured to obtain the touch topography information, the finger bending information, and the attitude information, and generate a control instruction based on the touch topography information, the finger bending information, and the attitude information.

[0070] It should be explained that the control instruction includes a texture vibration control signal and a bending state control signal.

[0071] In a specific implementation, the touch topography information can be obtained, a topography curve can be generated based on the touch topography information, a texture vibration control signal can be generated according to the topography curve, and the texture vibration control signal is used to control the vibration of the vibration motor of the second tactile perception device; after receiving the finger bending information and the attitude information, a bending state control signal is generated based on the finger bending information and the attitude information, and the bending state control signal is used to adjust the bending state of the finger bending reproduction component of the second tactile perception device.

[0072] The second tactile perception device 300 is configured to receive the control instruction, and control the vibration of the vibration motor of the second tactile perception device and adjust the bending state of the finger bending reproduction component of the second tactile perception device based on the control instruction.

[0073] It should be noted that the second tactile perception device includes a second finger unit and a second palm unit.

[0074] The second finger unit comprises a vibration motor, a vibration sensor and a finger bending reproduction assembly.

[0075] The second palm unit comprises a second support body, a second pull rope and a rudder.

[0076] It should be noted that the vibration sensor is used to monitor the texture tactile expression of the touch topography information in the second tactile perception device in real time.

[0077] The vibration sensor is also used to complete tactile presentation if the texture tactile expression is vibration continuous.

[0078] The vibration sensor is also used to indicate that the signal reception is interrupted or interfered if the texture tactile expression is vibration discontinuous, and send a feedback signal.

[0079] The rudder is used to limit the length of the second pull rope to provide force feedback of the second finger unit.

[0080] In a specific implementation, the first finger unit is connected to a potentiometer through a first pull rope, one end of the first pull rope is fixed to the first finger unit, and the other end is connected to the potentiometer through a first support body. The potentiometer can be pre-tightened by a warning spring, so that the potentiometer can read the bending degree of the first finger unit. When the first finger unit bends to touch an object, according to the tactile needs, the rudder is started to lock the second pull rope for limiting, forming force feedback of the second finger unit; the finger bending reproduction assembly of the second finger unit controls the vibration motor to generate vibration according to the tactile feedback of the first tactile perception device, forming texture rendering.

[0081] For example, reference Figure 2 , Figure 2 is a function schematic diagram of the tactile reproduction system of the present application. In the first tactile perception device, the piezoelectric ceramic piece (i.e. piezoelectric ceramic sensor) is used for finger pressure / vibration detection, and then the piezoelectric ceramic driving module is used to generate touch topography information and send it to the control device; the six-axis sensor is used for fingertip posture detection, and then the MPU6050 chip module is used to generate posture information and send it to the control device; the potentiometer is used for finger bending detection to obtain finger bending information and send it to the control device. The control device generates control instructions based on the obtained touch topography information, finger bending information and posture information. In the second tactile perception device, the received control instructions are used to control the vibration motor driving module to make the vibration motor vibrate, forming texture rendering, and the rudder is used to limit the length of the second pull rope to achieve finger bending limiting, to provide force feedback of the second finger unit.

[0082] The embodiment discloses a haptic reproduction system, which comprises a first haptic perception device, a control device and a second haptic perception device; touch topography information obtained based on a topography probe, finger bending information read based on a potentiometer and posture information obtained based on a six-axis sensor are collected through the first haptic perception device; the touch topography information, the finger bending information and the posture information are obtained, and control instructions are generated based on the touch topography information, the finger bending information and the posture information; the control instructions are received, and vibration of a vibration motor of the second haptic perception device and bending state adjustment of a finger bending reproduction component of the second haptic perception device are controlled based on the control instructions. Since the vibration of the vibration motor of the second haptic perception device and the bending state adjustment of the finger bending reproduction component of the second haptic perception device are controlled based on the touch topography information collected by the first haptic perception device based on the topography probe, the finger bending information read by the potentiometer and the posture information obtained by the six-axis sensor, compared with the prior art, the technical problems of difficult haptic information collection and poor haptic presentation effect in the prior art are solved.

[0083] Reference Figure 3 , Figure 3 The structure block diagram of a second embodiment of the haptic reproduction system is shown in FIG. 2.

[0084] Further, the control device 200 in the embodiment comprises a first control module 201 and a second control module 202.

[0085] The first control module 201 is arranged in the first haptic perception device, and is connected with the piezoelectric ceramic driving module and the potentiometer respectively.

[0086] The second control module 202 is arranged in the second haptic perception device, and is connected with the vibration motor and the steering engine respectively.

[0087] It should be noted that the texture vibration control signal and the bending state control signal are transmitted to the second haptic perception device through a preset transmission protocol.

[0088] Correspondingly, the step of receiving the control instructions and controlling the vibration of the vibration motor of the second haptic perception device and adjusting the bending state of the finger bending reproduction component of the second haptic perception device based on the control instructions comprises:

[0089] receiving the texture vibration control signal and the bending state control signal; controlling the vibration of the vibration motor of the second haptic perception device based on the texture vibration control signal; and adjusting the bending state of the finger bending reproduction component of the second haptic perception device based on the bending state control signal.

[0090] It can be understood that the preset transmission protocol described above can be a UDP protocol. The UDP protocol is a connectionless protocol, and data is sent independently in the form of a data packet. The sending end packages the data into a UDP data packet and transmits it through the IP, and the receiving end directly extracts the data after receiving the data packet. UDP does not provide reliability guarantee and congestion control mechanism, so the transmission speed is faster.

[0091] It can be understood that the preset transmission protocol described above can also be a TCP protocol. The TCP protocol is a connection-oriented, reliable, byte stream-based transmission layer communication protocol. The TCP protocol can provide a user process with reliable, connection-oriented, full-duplex data stream transmission services.

[0092] For example, with reference to Figure 4 , Figure 4 is a remote interaction schematic diagram of the second embodiment of the haptic reproduction system of the present application. The detection unit in the first haptic perception device (i.e. the first finger unit in the first haptic perception device) interacts with the remote second haptic perception device through the haptic flow (the haptic flow includes touch topography information, finger bending information and posture information) collected by the first controller and the second controller. The haptic flow is transmitted from the first haptic perception device to the second haptic perception device through the network, realizing the transmission of haptic information, and the presentation condition of the haptic information is fed back through the presentation unit (i.e. the second finger unit in the second haptic perception device) in the second haptic perception device. The network transmission can be remote cloud transmission, local area network, or local single machine interaction, etc., and the present embodiment does not limit this.

[0093] In a specific implementation, for example, with reference to Figure 5 , Figure 5Fig. 2 is a schematic diagram of remote interaction information transmission of a second embodiment of the haptic reproduction system. The first haptic perception device (such as a haptic glove) drives the virtual hand corresponding to the host domain host through the first controller, and transmits the haptic information (such as touch topography information) collected by the virtual hand in the real world, finger bending information and posture information to the second haptic perception device through the network transmission of the UDP protocol. The presentation unit of the second haptic perception device will present the received haptic flow in real time. The virtual hand can be triggered and driven by the finger bending information and posture information, or the vibration motor can be driven to generate vibration by the vibration information (i.e. touch topography information). And the vibration feedback is interacted. The first haptic perception device and the second haptic perception device respectively drive the virtual hand to interact in real time, such as in the action of remote handshaking, which can feel the handshaking haptic situation in real time through force feedback and vibration feedback. The finger unit and the palm unit corresponding to the first haptic perception device and the second haptic perception device are respectively placed on the fingertips and the palm to form a haptic glove. All components in the haptic glove are controlled by a single-chip microcomputer (Arduino series single-chip microcomputer, ESP-32) or an ARM processor, and the communication mode with the corresponding smart terminal is Bluetooth or USB communication transmission.

[0094] It should be understood that in a specific implementation, the first haptic perception device and the second haptic perception device can be used for haptic information collection and haptic information presentation.

[0095] Further, the haptic glove can also be an integrated first haptic perception device and second haptic perception device for haptic collection and presentation. By driving the virtual hand in the host computer, interaction with virtual reality scenes such as textures, objects, and virtual people can be achieved to complete texture touch, holding virtual objects, virtual handshaking, and other interactive actions. At this time, the virtual texture vibration signal touched can be presented on the haptic glove through the vibration motor, and the size and force feedback of the held object can be realized through the rudder to limit the pull rope to realize real force feedback, realizing that the finger unit finger bending reading and force feedback are realized through the same pull rope. In a specific implementation, the communication mode between the haptic glove and the host computer can be USB or Bluetooth. The finger unit and the palm unit in the haptic glove together form a haptic glove, that is, each finger has a potential transformer, a vibration motor and other components to realize haptic information collection and haptic information presentation.

[0096] It should be understood that the host computer refers to a computer service device that can directly issue control commands, such as a PC, a personal computer, a notebook computer, etc.

[0097] The embodiment discloses a kind of tactile reproduction systems, tactile reproduction system includes first tactile perception device, control device and second tactile perception device, control device includes first control module and second control module, first control module is set to first tactile perception device, first control module is connected with piezoelectric ceramic drive module and potentiometer respectively;Second control module is set to second tactile perception device, second control module is connected with vibration motor and steering gear respectively, first control module and second control module transmit information between first tactile perception device and second tactile perception device by UDP protocol transmission, the tactile topography information, finger bending information and posture information that are collected are transmitted, realize the interaction between first tactile perception device and second tactile perception device.

[0098] In addition, with reference to Figure 6 , Figure 6 It is the flowchart of the first embodiment of the tactile reproduction method of the application, and the tactile reproduction method comprises the following steps:

[0099] Step S10: tactile topography information based on a topography probe, finger bending information based on a potentiometer reading and posture information based on a six-axis sensor are collected by a first tactile perception device.

[0100] Step S20: the tactile topography information, the finger bending information and the posture information are obtained, and control instructions are generated based on the tactile topography information, the finger bending information and the posture information.

[0101] Step S30: the control instructions are received, and the vibration motor of the second tactile perception device is controlled to vibrate and the bending state of the finger bending reproduction component of the second tactile perception device is adjusted based on the control instructions.

[0102] The embodiment discloses that tactile topography information based on a topography probe, finger bending information based on a potentiometer reading and posture information based on a six-axis sensor are collected by a first tactile perception device;The tactile topography information, the finger bending information and the posture information are obtained, and control instructions are generated based on the tactile topography information, the finger bending information and the posture information;The control instructions are received, and the vibration motor of the second tactile perception device is controlled to vibrate and the bending state of the finger bending reproduction component of the second tactile perception device is adjusted based on the control instructions. Since the tactile topography information collected by the first tactile perception device based on the topography probe and the finger bending information read by the potentiometer and the posture information obtained by the six-axis sensor control the vibration motor of the second tactile perception device to vibrate and adjust the bending state of the finger bending reproduction component of the second tactile perception device, compared with the prior art, the technical problems of difficult tactile information collection and poor tactile presentation effect in the prior art are solved.

[0103] Other embodiments or specific implementations of the haptic reproduction method of the present application can refer to the above-mentioned system embodiments, which will not be described here again.

[0104] It should be noted that in this document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article, or system. Without more limitations, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or system that includes the element.

[0105] The above-mentioned embodiment numbers of the present application are only for description, not representing the advantages and disadvantages of the embodiments.

[0106] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and the necessary general hardware platform, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, an optical disk), and includes a number of instructions for making a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present application.

[0107] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation made by using the content of the present application specification and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A haptic rendering system, characterized by, The haptic reproduction system comprises a first haptic perception device, a control device and a second haptic perception device; The first haptic perception device is used for collecting touch topography information obtained based on a topography probe, finger bending information read based on a potentiometer and posture information obtained based on a six-axis sensor; The control device is used for obtaining the touch topography information, the finger bending information and the posture information, and generating a control instruction based on the touch topography information, the finger bending information and the posture information; The second haptic perception device is used for receiving the control instruction, and controlling a vibration motor of the second haptic perception device to vibrate and adjusting a bending state of a finger bending reproduction assembly of the second haptic perception device based on the control instruction; The first haptic perception device comprises a first finger unit and a first palm unit, and the second haptic perception device comprises a second finger unit and a second palm unit; The first finger unit comprises a topography probe, a piezoelectric ceramic sensing piece, a piezoelectric ceramic driving module, a six-axis sensor and a chip submodule; The first palm unit comprises a first support body, a first pull rope and a potentiometer; The second finger unit comprises a vibration motor, a vibration sensor and a finger bending reproduction assembly; The second palm unit comprises a second support body, a second pull rope and a rudder; The topography probe is used for forming pressing on the piezoelectric ceramic sensing piece according to the relief topography of a material surface when contacting the material surface; The piezoelectric ceramic sensing piece is used for changing the resistance value of the piezoelectric ceramic sensing piece according to the generated pressure value when detecting the pressure of the topography probe, and generating a corresponding first electric signal according to the change intensity of the resistance value; The piezoelectric ceramic driving module is used for receiving the first electric signal, and generating touch topography information based on the first electric signal.

2. The tactile rendering system of claim 1, wherein, The six-axis sensor is composed of a three-axis gyroscope and a three-axis accelerometer, and is used for obtaining acceleration signals and angle rotation signals of xyz axes; The chip submodule is used for receiving the acceleration signals and the angle rotation signals, performing posture analysis on the acceleration signals and the angle rotation signals, and generating posture information according to the posture analysis result; The first finger unit connects the potentiometer through the first pull rope, and the potentiometer is used for reading the finger bending information of the first haptic perception device according to the voltage change rate.

3. The tactile rendering system of claim 2, wherein, The vibration sensor is used for monitoring the texture haptic expression of the touch topography information in the second haptic perception device in real time; The vibration sensor is also used for completing haptic presentation if the texture haptic expression is vibration continuous; The vibration sensor is also used for indicating that signal reception is interrupted or interfered if the texture haptic expression is vibration discontinuous, and sending a feedback signal; The rudder is used for limiting the length of the second pull rope to provide force feedback of the second finger unit.

4. The tactile rendering system of claim 1, wherein, The control instruction includes a texture vibration control signal and a bending state control signal, the step of acquiring the touch topography information, the finger bending information and the posture information, and generating a control instruction based on the touch topography information, the finger bending information and the posture information, includes: acquiring the touch topography information, and generating a topography curve based on the touch topography information, and generating a texture vibration control signal according to the topography curve, the texture vibration control signal being used to control the vibration of the vibration motor of the second haptic perception device; after receiving the finger bending information and the posture information, generating a bending state control signal based on the finger bending information and the posture information, the bending state control signal being used to adjust the bending state of the finger bending reproduction component of the second haptic perception device.

5. The tactile rendering system of claim 4, wherein, The step of generating a control instruction based on the touch topography information, the finger bending information and the posture information further includes: transmitting the texture vibration control signal and the bending state control signal to the second haptic perception device through a preset transmission protocol; Correspondingly, the step of receiving the control instruction and controlling the vibration of the vibration motor of the second haptic perception device and adjusting the bending state of the finger bending reproduction component of the second haptic perception device based on the control instruction includes: receiving the texture vibration control signal and the bending state control signal; controlling the vibration of the vibration motor of the second haptic perception device based on the texture vibration control signal; adjusting the bending state of the finger bending reproduction component of the second haptic perception device based on the bending state control signal.

6. The tactile rendering system of claim 2, wherein, The control device includes a first control module and a second control module; The first control module is arranged in the first haptic perception device, and the first control module is connected with the piezoelectric ceramic driving module and the potentiometer respectively; The second control module is arranged in the second haptic perception device, and the second control module is connected with the vibration motor and the steering engine respectively.

7. A haptic reproduction method employing the haptic reproduction system according to claim 1, characterized by, The haptic reproduction method includes the following steps: acquiring the touch topography information based on the topography probe, the finger bending information based on the potentiometer reading, and the posture information based on the six-axis sensor through the first haptic perception device; acquiring the touch topography information, the finger bending information and the posture information, and generating a control instruction based on the touch topography information, the finger bending information and the posture information; receiving the control instruction, and controlling the vibration of the vibration motor of the second haptic perception device and adjusting the bending state of the finger bending reproduction component of the second haptic perception device based on the control instruction.

8. The tactile rendering method according to claim 7, wherein, The step of acquiring the touch topography information based on the topography probe through the first haptic perception device includes: when the topography probe of the first haptic perception device contacts the material surface, pressing the piezoelectric ceramic sensing element of the first haptic perception device according to the ups and downs of the material surface; When the piezoelectric ceramic sensing piece detects the pressure of the topography probe, the resistance value of the piezoelectric ceramic sensing piece is changed according to the generated pressure value, and a corresponding first electric signal is generated according to the change intensity of the resistance value; When the piezoelectric ceramic driving module of the first touch perception device receives the first electric signal, touch topography information is generated based on the first electric signal.

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