Force tactile representation and electromagnetic pose detection method based on one-dimensional laminated coil

Abstract

The invention discloses a haptic representation and electromagnetic pose detection method based on a one-dimensional laminated coil. A system comprises a one-dimensional laminated coil module, a position detection excitation signal module, a fingertip electromagnet module, a one-dimensional laminated coil driving module, a fingertip electromagnet driving module and a signal processing module. Calculating by using a finite element method to obtain magnetic field simulation discrete data of a system operation space in the one-dimensional laminated coil module and induced voltage data of the fingertip electromagnet module; based on the electromagnetic induction principle, the magnetic field intensity of a system operation space in the one-dimensional laminated coil module and the theoretical induced voltage of the fingertip electromagnet module are calculated, the induced voltage of the fingertip electromagnet module is measured by using the signal processing module, and a cost function is established; and the electromagnetic pose of the fingertip electromagnet module is obtained in the signal processing module through an electromagnetic pose resolving algorithm. According to the invention, in the one-dimensional laminated coil module, the function multiplexing of electromagnetic pose detection and haptic representation is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of electromagnetic tracking in human-computer interaction, and in particular relates to a force tactile reproduction and electromagnetic posture detection method based on a one-dimensional stacked coil. Background Art

[0002] With the advent of the information age, human-computer interaction has also shown diversified development. Among all human senses, touch, as a sense with the ability of two-way information transmission, plays an irreplaceable role in the field of human-computer interaction. Force tactile reproduction technology refers to the human-computer interaction process in which the computer responds to the user's force input through a tactile device and transmits information to the user through the tactile device. At present, the widely used force tactile reproduction technology can be divided into contact and non-contact types. Compared with the non-contact type, the contact type has the disadvantages of limited operating space and burden on the operator. In the non-contact type, force tactile reproduction technology has the advantages of low latency and natural feedback and is widely used. At present, the electromagnetic posture detection method of the human hand of the mainstream non-contact force tactile reproduction technology is based on visual sensors. The visual electromagnetic posture detection method has problems such as light occlusion, blind spots in the field of vision, and strong light influence, which makes the visual sensor unable to effectively track the human hand, further affecting the force tactile reproduction algorithm. As one of the commonly used electromagnetic posture detection methods, the electromagnetic electromagnetic posture detection method plays an irreplaceable role in the fields of human-computer interaction, medical rehabilitation, etc. due to its advantages such as no light occlusion, high calculation accuracy, and compact system structure.

[0003] The electromagnetic posture detection system based on electromagnetic induction mainly consists of a magnetic field generator, an induction coil and a control unit. Raab et al. proposed an early model of an electromagnetic posture detection system with three-axis orthogonality in 1979. Through mathematical analysis, they pointed out that the three-axis generation and induction information of the quasi-static magnetic dipole field is sufficient to determine the electromagnetic posture of the sensor relative to the source, and can achieve millimeter-level positioning accuracy.

[0004] Based on three-axis magnetic sensors and three-axis excitation coils, the most output information can be provided to achieve 6DOF tracking, and the accuracy can be improved by time division or frequency division. However, the three-axis transmitting coil is bulky, and the three coils use different frequencies, occupying too much bandwidth, making it difficult to achieve multi-point tracking. Some research teams have achieved electromagnetic 6DOF electromagnetic posture detection with fewer excitation coils or sensor axes through various other methods.

[0005] Song et al. proposed an electromagnetic electromagnetic posture detection method for two-axis excitation coils with different excitation current phases. The two-axis excitation coils were excited by orthogonal signals, so that the excitation source was equivalent to a rotating magnetic dipole. Then, the amplitude and phase information of the induction signal from the three-axis induction coil were used to derive the analytical solution of the electromagnetic posture of the three-axis induction coil. The average position error and angle error were 0.7 mm and 2.4°, respectively, but the system hardware structure was relatively complex. Yang et al. designed an electromagnetic tracking system in which the induction coil was separated from the controller. A single-axis coil was used and 9 excitation coils with different transmission frequencies and different azimuth angles were installed on the plane. The receiving module in their system identified the excitation coil corresponding to the induced voltage through filtering, and realized the five-dimensional tracking of the micro induction coil (the average position and angle errors were less than 2.3 mm and 0.2°, respectively). However, when the power amplifier was overheated, the signal fluctuation would have a certain impact on the detection results. Summary of the invention

[0006] In view of the above technical problems, the purpose of the present invention is to propose a force tactile reproduction and electromagnetic posture detection method based on one-dimensional stacked coils, so as to realize natural, compact, high-precision and highly real-time electromagnetic posture detection in force tactile applications.

[0007] The present invention proposes a method for force tactile reproduction and electromagnetic posture detection based on a one-dimensional stacked coil. The method is based on a force tactile reproduction system with a one-dimensional stacked coil structure. The system structure includes a one-dimensional stacked coil module, a position detection excitation signal module, a fingertip electromagnet module, a one-dimensional stacked coil drive module, a fingertip electromagnet drive module, and a signal processing module.

[0008] The one-dimensional stacked coil module is composed of a plurality of hollow cylindrical coils arranged on the same central axis, the hollow cylindrical coils are formed by multiple layers of uniform and dense winding, all hollow cylindrical coils have the same physical parameters and are independently controlled to provide the background magnetic field required for the electromagnetic posture detection mode and the force tactile reproduction mode;

[0009] The position detection excitation signal module is used to provide a plurality of stable reference signals with different frequencies for each coil of the one-dimensional stacked coil module;

[0010] The fingertip electromagnet module includes a fingertip three-dimensional induction coil submodule for electromagnetic posture detection function and an electromagnet submodule for force tactile reproduction function. The fingertip three-dimensional induction coil module has three orthogonal one-dimensional coils for providing electromagnetic posture information;

[0011] The one-dimensional stacked coil driving module is used to drive the one-dimensional stacked coil module;

[0012] The fingertip electromagnet driving module is used to drive the fingertip electromagnet module to provide feedback force to the fingertip;

[0013] In the electromagnetic posture detection mode, the signal processing module calculates the electromagnetic posture of the fingertip electromagnet module inside the one-dimensional stacked coil. In the force tactile reproduction mode, the signal processing module controls the one-dimensional stacked coil driving module and the fingertip electromagnet driving module to output excitation current to generate the required electromagnetic force on the fingertip electromagnet module, thereby realizing magnetic single-point or multi-point force tactile reproduction.

[0014] Furthermore, a system operation space is provided inside the one-dimensional stacked coil module, and force tactile reproduction is achieved in the system operation space through an adjustable background electromagnetic field and a fingertip electromagnet module; the fingertip electromagnet module includes a fingertip three-dimensional induction coil module and an electromagnet module;

[0015] The implementation process of the method comprises the following steps:

[0016] Step 1, virtual scene establishment: establish a virtual scene including a virtual hand and a virtual object model, establish a mapping relationship between the internal system operation space of the one-dimensional stacked coil module and the virtual operation space, and a three-dimensional mapping relationship between the real human hand and the virtual human hand;

[0017] Step 2, background electromagnetic field simulation discrete data calculation; according to the accuracy requirement, the internal system operation space of the one-dimensional stacked coil module is gridded using three-dimensional grid units through the finite element analysis method to form discrete grid nodes in the three-dimensional space, and the magnetic field strength inside the one-dimensional stacked coil module, the corresponding relationship between the induced voltage generated by the fingertip electromagnet module at the discrete grid nodes and the excitation current in the one-dimensional stacked coil module are analyzed to form simulation discrete data including the induced voltage generated by the fingertip electromagnet module and the excitation current of the one-dimensional stacked coil module represented by a multi-dimensional matrix;

[0018] Step 3, establishing a three-dimensional coordinate system A of the system operation space within the one-dimensional stacked coil;

[0019] Step 4, position detection: The position detection excitation signal module provides electromagnetic posture detection excitation signals of different frequencies for different coils of the one-dimensional stacked coil module. Based on the principle of electromagnetic induction, the relationship between the magnetic field generated by the system operation space in the one-dimensional stacked coil and the induced voltage of the fingertip electromagnet module is obtained. The signal processing module demodulates each magnetic field component to obtain the real-time electromagnetic posture of the fingertip electromagnet module.

[0020] Step 5: Based on the force tactile model of the interaction between the fingertips and the virtual object, the signal processing module calculates and outputs the real-time force of the fingertip electromagnet module: through the signal processing module, the one-dimensional stacked coil driving module and the fingertip electromagnet driving module are controlled to output the force tactile excitation signal required by the one-dimensional stacked coil module and the fingertip electromagnet module in the force tactile reproduction mode; the magnetic excitation signal and the electromagnetic posture detection excitation signal are superimposed through the transistor amplifier circuit and output to the one-dimensional stacked coil module and the fingertip electromagnet module;

[0021] Repeat to step 4.

[0022] Furthermore, the force tactile model of the interaction between the fingertip and the virtual object is:

[0023] The fingertip position adopts real-time electromagnetic posture, and the virtual object is located inside the one-dimensional stacked coil module. A three-dimensional mapping relationship between the virtual fingertip and the real human fingertip is established. Collision detection is used in the virtual environment to detect whether the virtual fingertip is in contact with the virtual object, optimize the parameters of force tactile reproduction, and enable the user to perceive real force feedback in the three-dimensional direction.

[0024] Furthermore, the one-dimensional stacked coil is configured by adjusting N coaxial one-dimensional coil units EM i , i = 1, 2 ... N, to realize the background magnetic field required for electromagnetic posture detection and force tactile reproduction function, the three-dimensional coordinate system A of the internal system operation space is specifically established including:

[0025] The center point of the operating space is taken as the origin of the three-dimensional coordinate system A, the central axis of the one-dimensional stacked coil module is taken as the X-axis direction, the axis direction of any radial coil is selected as the Y-axis direction, and the Z-axis is determined according to the right-hand rule; the center point coordinates of the one-dimensional coil unit (P xEMi ,0,0); one-dimensional coil unit EM i P xEMi Arrange them in order from small to large, and the radius of the coil is R;

[0026] Take the center point of the fingertip electromagnet module as the local coordinate system B n The origin of the coordinate system A is the coordinate axis direction of the three-dimensional coordinate system B. n The rotation angles (θ, γ, ψ) of the fingertip electromagnet module are respectively around the coordinate system B n The angle of rotation of the X, Y, and Z axes.

[0027] Furthermore, the step 4 comprises:

[0028] Step 4.1, the one-dimensional stacked coil module and the fingertip electromagnet module are in the position detection mode, the position detection excitation signal module drives all coils in the one-dimensional stacked coil module with a sine wave, and the one-dimensional coil unit EMi The frequency depends on the value of i. When i is an odd number, the frequency is f1, and when i is an even number, the frequency is f2. The excitation current I flowing through each coil i The effective value of is the same, i = 1, 2...N, and the magnetic field component generated by the one-dimensional coil at the fingertip electromagnet module (x, y, z) is specifically expressed as:

[0029]

[0030] in, represents the center position of the transmitting coil, It represents the distance from the center of the transmitting coil to the center of the fingertip electromagnet module (x, y, z), R is the radius of the coil, M represents the number of turns of the coil,

[0031] Respectively represent the component relationships in the x, y, and z directions;

[0032] Step 4.2, read the induced voltages in three directions of the fingertip electromagnet module, demodulate and calculate the electromagnetic posture of the fingertip electromagnet module through the signal processing module, and record the current measurement results;

[0033] Step 4.3, for the theoretical calculated value and the actual measured value of the induced voltage, establish the cost function:

[0034] E(x,y,z,θ,γ,ψ)=(v x′ -v x ) 2 +(v y′ -v y ) 2 +(v z′ -v z ) 2

[0035] Among them, v x , v y , v z is the real induced voltage of the fingertip electromagnet module in three directions, v x′ , v y′ , v z′ These are the theoretical calculated values ​​of the fingertip electromagnet module in three directions.

[0036] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0037] 1. The one-dimensional coil module that generates the background magnetic field in the operating space adopts a stacked structure, and each coil in the module works independently. The coordinated work of the force tactile reproduction mode and the electromagnetic posture detection mode is realized by regulating the excitation signal flowing into each coil. In the electromagnetic posture detection mode, the electromagnetic posture detection of the fingertip electromagnet module is realized by demodulating the induced voltage of different frequencies of the fingertip electromagnet module. In the force tactile reproduction mode, the excitation current of the fingertip electromagnet module is controlled to realize the realistic, real-time, high-precision force tactile reproduction of the system operating space in the one-dimensional stacked coil module.

[0038] 2. The force tactile reproduction system device designed with this electromagnetic posture detection method can achieve more precise and multi-point force tactile perception, enhancing the user's sense of reality and immersion.

[0039] 3. The functionally reused one-dimensional stacked coil module and fingertip electromagnet module make the force tactile human-computer interaction system more compact, reduce the overall cost and expand the operating space. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the structure of a one-dimensional stacked coil module and a fingertip electromagnet module;

[0041] Figure 2 It is a structural schematic diagram of a force tactile reproduction and electromagnetic posture detection system based on a one-dimensional stacked coil structure. DETAILED DESCRIPTION

[0042] A clear and complete description is given of the electromagnetic posture detection system and method of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0043] Example 1

[0044] The present application is a force tactile reproduction and electromagnetic posture detection method based on a one-dimensional stacked coil. The method is based on a force tactile reproduction system with a one-dimensional stacked coil structure.

[0045] The force tactile reproduction system includes a one-dimensional stacked coil module 1, a position detection excitation signal module 2, a fingertip electromagnet module 3, a one-dimensional stacked coil driving module 4, a fingertip electromagnet driving module 5, and a signal processing module 6;

[0046] The one-dimensional stacked coil module 1 is composed of a plurality of hollow cylindrical coils formed by multiple layers of uniform and dense winding arranged on the same central axis. All the one-dimensional hollow cylindrical coils have exactly the same physical parameters and are independently controlled to provide the background magnetic field required for the electromagnetic posture detection mode and the force tactile reproduction mode.

[0047] The position detection excitation signal module 2 is used to provide a plurality of stable reference signals with different frequencies for each coil of the one-dimensional stacked coil module;

[0048] The fingertip electromagnet module 3 includes a fingertip three-dimensional induction coil submodule for electromagnetic posture detection function and an electromagnet submodule for force tactile reproduction function. The fingertip three-dimensional induction coil module has three orthogonal one-dimensional coils for providing electromagnetic posture information;

[0049] The one-dimensional stacked coil driving module 4 is used to drive the one-dimensional stacked coil module;

[0050] The fingertip electromagnet driving module 5 is used to drive the fingertip electromagnet module to provide feedback force to the fingertip;

[0051] In the electromagnetic posture detection mode, the signal processing module 6 calculates the electromagnetic posture of the fingertip electromagnet module inside the one-dimensional stacked coil. In the force tactile reproduction mode, the signal processing module 6 controls the one-dimensional stacked coil driving module 4 and the fingertip electromagnet driving module 5 to output excitation current to generate the required electromagnetic force on the fingertip electromagnet module, thereby realizing magnetic single-point or multi-point force tactile reproduction.

[0052] Example 2

[0053] This application is based on a one-dimensional stacked coil force tactile reproduction and electromagnetic posture detection method, such as Figure 2 As shown, a system operation space is provided inside the one-dimensional stacked coil module, and force tactile reproduction is achieved in the system operation space through an adjustable background electromagnetic field and a fingertip electromagnet module; the fingertip electromagnet module includes a fingertip three-dimensional induction coil module and an electromagnet module;

[0054] The implementation process of the method comprises the following steps:

[0055] Step 1, virtual scene establishment: establish a virtual scene including a virtual hand and a virtual object model, establish a mapping relationship between the internal system operation space of the one-dimensional stacked coil module and the virtual operation space, and a three-dimensional mapping relationship between the real human hand and the virtual human hand;

[0056] Step 2, background electromagnetic field simulation discrete data calculation; according to the accuracy requirement, the internal system operation space of the one-dimensional stacked coil module is gridded using three-dimensional grid units through the finite element analysis method to form discrete grid nodes in the three-dimensional space, and the finite element method is used to analyze the magnetic field strength inside the one-dimensional stacked coil module, the correspondence between the induced voltage generated by the fingertip electromagnet module at the discrete grid nodes and the excitation current in the one-dimensional stacked coil module, and form simulated discrete data represented by a multi-dimensional matrix including the induced voltage generated by the fingertip electromagnet module and the excitation current of the one-dimensional stacked coil module.

[0057] Step three, establish a three-dimensional coordinate system A of the system operation space within the one-dimensional stacked coil.

[0058] Step 4, position detection: The position detection excitation signal module based on AD9833 provides electromagnetic posture detection excitation signals of different frequencies for different coils of the one-dimensional stacked coil module. Based on the principle of electromagnetic induction, the relationship between the magnetic field generated by the system operating space in the one-dimensional stacked coil and the induced voltage of the fingertip electromagnet module is obtained. The signal processing module demodulates each magnetic field component to obtain the real-time electromagnetic posture of the fingertip electromagnet module.

[0059] Step 5: Based on the force tactile model of the interaction between the fingertips and the virtual object, the signal processing module calculates and outputs the real-time force of the fingertip electromagnet module. Through the signal processing module, the one-dimensional stacked coil drive module and the fingertip electromagnet drive module are controlled to output the force tactile excitation signal required by the one-dimensional stacked coil module and the fingertip electromagnet module in the force tactile reproduction mode; the magnetic excitation signal and the electromagnetic posture detection excitation signal are superimposed through the transistor amplifier circuit and output to the one-dimensional stacked coil module and the fingertip electromagnet module.

[0060] Repeat to step 4.

[0061] The force tactile model based on the interaction between fingertips and virtual objects is characterized in that the fingertip position adopts real-time electromagnetic posture, the virtual object is located inside the one-dimensional stacked coil module, a three-dimensional mapping relationship between the virtual fingertips and the real human fingertips is established, collision detection is used in the virtual environment to detect whether the virtual fingertips are in contact with the virtual objects, and the parameters of force tactile reproduction are optimized to enable the user to perceive real force feedback in the three-dimensional direction.

[0062] The one-dimensional stacked coil is formed by adjusting N coaxial one-dimensional coil units EM i , i = 1, 2 ... N, to realize the background magnetic field required for electromagnetic posture detection and force tactile reproduction function, the three-dimensional coordinate system A of the internal system operation space is specifically established including:

[0063] The center point of the operating space is taken as the origin of the three-dimensional coordinate system A, the central axis of the one-dimensional stacked coil module is taken as the X-axis direction, the axis direction of any radial coil is selected as the Y-axis direction, and the Z-axis is determined according to the right-hand rule; the center point coordinates of the one-dimensional coil unit (P xEMi ,0,0); one-dimensional coil unit EM i P xEMi Arranged in order from small to large, the coil radius is R;

[0064] Take the center point of the fingertip electromagnet module as the local coordinate system B nThe origin of the coordinate system A is the coordinate axis direction of the three-dimensional coordinate system B. n The rotation angles (θ, γ, ψ) of the fingertip electromagnet module are respectively around the coordinate system B n The angle of rotation of the X, Y, and Z axes.

[0065] The fourth step comprises:

[0066] Step 5.1, the one-dimensional stacked coil module and the fingertip electromagnet module are in the position detection mode, the position detection excitation signal module drives all coils in the one-dimensional stacked coil module with a sine wave, and the coil EM i The frequency depends on the value of i. When i is an odd number, the frequency is f1, and when i is an even number, the frequency is f2. The excitation current I flowing through each coil i The effective values ​​of (i=1, 2…N) are the same, and the magnetic field component generated by the one-dimensional coil at the fingertip electromagnet module (x, y, z) can be specifically expressed as:

[0067]

[0068] in, represents the center position of the transmitting coil, It represents the distance from the center of the transmitting coil to the center of the fingertip electromagnet module (x, y, z), R is the radius of the coil, M represents the number of turns of the coil,

[0069] Represent the component relationships in the x, y, and z directions respectively.

[0070] Step 5.2, read the induced voltages in three directions of the fingertip electromagnet module, demodulate and calculate the electromagnetic posture of the fingertip electromagnet module through the signal processing module, and record the current measurement results.

[0071] Step 5.3, for the theoretical calculated value and the actual measured value of the induced voltage, establish the cost function:

[0072] E(x,y,z,θ,γ,ψ)=(v x′ -v x ) 2 +(v y′ -v y ) 2 +(v z′ -v z ) 2

[0073] Among them, v x , v y , v z is the real induced voltage of the fingertip electromagnet module in three directions, v x′ , v y′, v z′ These are the theoretical calculated values ​​of the fingertip electromagnet module in three directions.

[0074] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for force tactile reproduction and electromagnetic posture detection based on a one-dimensional stacked coil, wherein the method is based on a force tactile reproduction system of a one-dimensional stacked coil structure, characterized in that: The system structure includes a one-dimensional stacked coil module, a position detection excitation signal module, a fingertip electromagnet module, a one-dimensional stacked coil drive module, a fingertip electromagnet drive module, and a signal processing module; The one-dimensional stacked coil module is composed of a plurality of hollow cylindrical coils arranged on the same central axis, the hollow cylindrical coils are formed by multiple layers of uniform and dense winding, all hollow cylindrical coils have the same physical parameters and are independently controlled to provide the background magnetic field required for the electromagnetic posture detection mode and the force tactile reproduction mode; The position detection excitation signal module is used to provide a plurality of stable reference signals with different frequencies for each coil of the one-dimensional stacked coil module; The fingertip electromagnet module includes a fingertip three-dimensional induction coil submodule for electromagnetic posture detection function and an electromagnet submodule for force tactile reproduction function. The fingertip three-dimensional induction coil module has three orthogonal one-dimensional coils for providing electromagnetic posture information; The one-dimensional stacked coil driving module is used to drive the one-dimensional stacked coil module; The fingertip electromagnet driving module is used to drive the fingertip electromagnet module to provide feedback force to the fingertip; In the electromagnetic posture detection mode, the signal processing module calculates the electromagnetic posture of the fingertip electromagnet module inside the one-dimensional stacked coil. In the force tactile reproduction mode, the signal processing module controls the one-dimensional stacked coil driving module and the fingertip electromagnet driving module to output excitation current to generate the required electromagnetic force on the fingertip electromagnet module, thereby realizing magnetic single-point or multi-point force tactile reproduction.

2. The method for force tactile reproduction and electromagnetic posture detection based on one-dimensional stacked coils according to claim 1 is characterized in that: A system operation space is provided inside the one-dimensional stacked coil module, and force tactile reproduction is achieved in the system operation space through an adjustable background electromagnetic field and a fingertip electromagnet module; the fingertip electromagnet module includes a fingertip three-dimensional induction coil module and an electromagnet module; The implementation process of the method comprises the following steps: Step 1, virtual scene establishment: establish a virtual scene including a virtual hand and a virtual object model, establish a mapping relationship between the internal system operation space of the one-dimensional stacked coil module and the virtual operation space, and a three-dimensional mapping relationship between the real human hand and the virtual human hand; Step 2, background electromagnetic field simulation discrete data calculation; according to the accuracy requirement, the internal system operation space of the one-dimensional stacked coil module is gridded using three-dimensional grid units through the finite element analysis method to form discrete grid nodes in the three-dimensional space, and the magnetic field strength inside the one-dimensional stacked coil module, the corresponding relationship between the induced voltage generated by the fingertip electromagnet module at the discrete grid nodes and the excitation current in the one-dimensional stacked coil module are analyzed to form simulation discrete data including the induced voltage generated by the fingertip electromagnet module and the excitation current of the one-dimensional stacked coil module represented by a multi-dimensional matrix; Step 3, establishing a three-dimensional coordinate system A of the system operation space within the one-dimensional stacked coil; Step 4, position detection: The position detection excitation signal module provides electromagnetic posture detection excitation signals of different frequencies for different coils of the one-dimensional stacked coil module. Based on the principle of electromagnetic induction, the relationship between the magnetic field generated by the system operation space in the one-dimensional stacked coil and the induced voltage of the fingertip electromagnet module is obtained. The signal processing module demodulates each magnetic field component to obtain the real-time electromagnetic posture of the fingertip electromagnet module. Step 5: Based on the force tactile model of the interaction between the fingertips and the virtual object, the signal processing module calculates and outputs the real-time force of the fingertip electromagnet module: through the signal processing module, the one-dimensional stacked coil driving module and the fingertip electromagnet driving module are controlled to output the force tactile excitation signal required by the one-dimensional stacked coil module and the fingertip electromagnet module in the force tactile reproduction mode; the magnetic excitation signal and the electromagnetic posture detection excitation signal are superimposed through the transistor amplifier circuit and output to the one-dimensional stacked coil module and the fingertip electromagnet module; Repeat to step 4.

3. The force tactile model based on the interaction between fingertips and virtual objects according to claim 2, characterized in that: The force tactile model of the interaction between the fingertip and the virtual object is: The fingertip position adopts real-time electromagnetic posture, and the virtual object is located inside the one-dimensional stacked coil module. A three-dimensional mapping relationship between the virtual fingertip and the real human fingertip is established. Collision detection is used in the virtual environment to detect whether the virtual fingertip is in contact with the virtual object, optimize the parameters of force tactile reproduction, and enable the user to perceive real force feedback in the three-dimensional direction.

4. The method for force tactile reproduction and electromagnetic posture detection based on one-dimensional stacked coils according to claim 2 is characterized in that: The one-dimensional stacked coil is formed by adjusting N coaxial one-dimensional coil units EM i , i=1, 2...N, realizing the background magnetic field required for electromagnetic posture detection and force tactile reproduction function, the three-dimensional coordinate system A of the internal system operation space is specifically constructed as follows: The center point of the operating space is taken as the origin of the three-dimensional coordinate system A, the central axis of the one-dimensional stacked coil module is taken as the X-axis direction, the axis direction of any radial coil is selected as the Y-axis direction, and the Z-axis is determined according to the right-hand rule; the center point coordinates of the one-dimensional coil unit (P xEMi , 0,0); one-dimensional coil unit EM i P xEMi Arrange them in order from small to large, and the radius of the coil is R; Take the center point of the fingertip electromagnet module as the local coordinate system B n The origin of the coordinate system A is the coordinate axis direction of the three-dimensional coordinate system B. n The rotation angles (θ, γ, ψ) of the fingertip electromagnet module are respectively around the coordinate system B n The angle of rotation of the X, Y, and Z axes.

5. The method for force tactile reproduction and electromagnetic posture detection based on one-dimensional stacked coils according to claim 2, characterized in that: The fourth step comprises: Step 4.1, the one-dimensional stacked coil module and the fingertip electromagnet module are in the position detection mode, the position detection excitation signal module drives all coils in the one-dimensional stacked coil module with a sine wave, and the one-dimensional coil unit EM i The frequency depends on the value of i. When i is an odd number, the frequency is f1, and when i is an even number, the frequency is f2. The excitation current I flowing through each coil i The effective value of is the same, i = 1, 2...N, and the magnetic field component generated by the one-dimensional coil at the fingertip electromagnet module (x, y, z) is specifically expressed as: in, represents the center position of the transmitting coil, It represents the distance from the center of the transmitting coil to the center of the fingertip electromagnet module (x, y, z), R is the coil radius, M represents the number of coil turns, Respectively represent the component relationships in the x, y, and z directions; Step 4.2, read the induced voltages in three directions of the fingertip electromagnet module, demodulate and calculate the electromagnetic posture of the fingertip electromagnet module through the signal processing module, and record the current measurement results; Step 4.3, for the theoretical calculated value and the actual measured value of the induced voltage, establish the cost function: E(x,y,z,θ,γ,ψ)=(v x′ -v x ) 2 +(v y′ -v y ) 2 +(v z′ -v z ) 2 Among them, v x , v y , v z is the real induced voltage of the fingertip electromagnet module in three directions, v x′ , v y’ , v z′ These are the theoretical calculated values ​​of the fingertip electromagnet module in three directions.

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