Force tactile reproduction and electromagnetic pose detection method based on one-dimensional stacked coil

Abstract

The application discloses a force tactile reproduction and electromagnetic pose detection method based on a one-dimensional stacked coil, which comprises a one-dimensional stacked coil module, a position detection excitation signal module, a fingertip electromagnet module, a one-dimensional stacked coil driving module, a fingertip electromagnet driving module and a signal processing module. Magnetic field simulation discrete data of a system operation space in the one-dimensional stacked coil module and induced voltage data of the fingertip electromagnet module are obtained by using a finite element method. Based on an electromagnetic induction principle, the magnetic field intensity of the system operation space in the one-dimensional stacked coil module and the theoretical induced voltage of the fingertip electromagnet module are calculated. The signal processing module is used to measure the induced voltage of the fingertip electromagnet module, and a cost function is established. The electromagnetic pose of the fingertip electromagnet module is obtained by an electromagnetic pose solving algorithm in the signal processing module. The application realizes the functional multiplexing of electromagnetic pose detection and force tactile reproduction in the one-dimensional stacked coil module.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electromagnetic tracking in human-computer interaction, and particularly relates to a force tactile reproduction and electromagnetic pose detection method based on a one-dimensional stacked coil. BACKGROUND

[0002] With the advent of the information age, human-computer interaction also presents diversified development. Among all human senses, touch, as a sense with bidirectional information transmission capability, plays an irreplaceable role in the field of human-computer interaction. Force tactile reproduction technology refers to a human-computer interaction process in which a computer responds to force input of a user through a tactile device and transmits information to the user through the tactile device. At present, widely used force tactile reproduction technology can be divided into contact type and non-contact type. Compared with non-contact type, contact type has the disadvantages of limited operation space and burden on operators. In non-contact type, force tactile reproduction technology has the advantages of low delay and natural feedback and is widely used. At present, the mainstream non-contact force tactile reproduction technology of human hand electromagnetic pose detection is based on a visual sensor. The visual electromagnetic pose detection method has problems such as light obstruction, visual blind area, 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 pose detection methods, the electromagnetic electromagnetic pose detection method has the advantages of no light obstruction, high calculation precision, and compact system structure, and plays an irreplaceable role in the fields of human-computer interaction and medical rehabilitation.

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

[0004] Based on a three-axis magnetic sensor and a three-axis excitation coil, the most output information can be provided to realize 6DOF tracking, and the accuracy can be improved through time division or frequency division. However, the three-axis excitation coil is bulky, and three coils use different frequencies, which occupies too much bandwidth and makes it difficult to realize multi-point tracking. Some research teams have realized electromagnetic 6DOF electromagnetic pose detection through other various methods with fewer excitation coils or sensor axes.

[0005] Song et al. proposed an electromagnetic electromagnetic pose detection method of two-axis excitation coil with different excitation current phases. The two-axis excitation coil is excited by signals with orthogonal phases, so that the excitation source is equivalent to a rotating magnetic dipole. Then, the amplitude and phase information of the sensing signals from the three-axis sensing coil are used to derive the analytical solution of the electromagnetic pose of the three-axis sensing coil. The average position error and angle error are 0.7 mm and 2.4° respectively, but the system hardware structure is relatively complex. Yang et al. designed an electromagnetic tracking system with separated sensing coil and controller, which uses a single-axis coil and installs 9 excitation coils with different transmitting frequencies and different azimuth angles on the plane. In their system, the receiving module identifies the excitation coil corresponding to the sensing voltage through filtering, and realizes five-dimensional tracking of the micro sensing coil (the average position and angle errors are less than 2.3 mm and 0.2° respectively). However, when the power amplifier overheats, the signal fluctuation will have a certain influence on the detection result. SUMMARY

[0006] In view of the above technical problems, the purpose of the present application is to provide a force tactile reproduction and electromagnetic pose detection method based on one-dimensional stacked coil, which realizes natural, compact, high-precision and real-time electromagnetic pose detection in force tactile application.

[0007] The force tactile reproduction and electromagnetic pose detection method based on one-dimensional stacked coil provided by the present application is based on a force tactile reproduction system with 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 driving module, a fingertip electromagnet driving 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 uniformly and densely wound by multiple layers. All the hollow cylindrical coils have the same physical parameters and are independently controlled, and are used to provide the background magnetic field required for electromagnetic pose detection mode and 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 sensing coil sub-module for electromagnetic pose detection function and an electromagnet sub-module for force tactile reproduction function. The fingertip three-dimensional sensing coil module has three directionally orthogonal one-dimensional coils for providing electromagnetic pose 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 for driving the fingertip electromagnet module to provide feedback force to the fingertip.

[0013] The signal processing module calculates the electromagnetic pose of the fingertip electromagnet module inside the one-dimensional stacked coil in the electromagnetic pose detection mode, controls the one-dimensional stacked coil driving module and the fingertip electromagnet driving module to output excitation current in the force tactile reproduction mode, generates required electromagnetic force on the fingertip electromagnet module, and realizes magnetic force type single-point or multi-point force tactile reproduction.

[0014] Further, a system operation space is arranged inside the one-dimensional stacked coil module, and the force tactile reproduction is realized by the controllable background electromagnetic field and the fingertip electromagnet module in the system operation space.

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

[0016] Step one, virtual scene establishment; a virtual scene including a virtual hand and a virtual object model is established, a mapping relationship between a system operation space inside a one-dimensional stacked coil module and a virtual operation space is established, and a three-dimensional mapping relationship between a real hand and a virtual hand is established.

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

[0018] Step three, three-dimensional coordinate system A of the system operation space inside the one-dimensional stacked coil is established.

[0019] Step four, position detection; the position detection excitation signal module provides electromagnetic pose detection excitation signals with different frequencies for different coils of the one-dimensional stacked coil module, the relationship between the magnetic field generated by the system operation space inside the one-dimensional stacked coil and the induced voltage of the fingertip electromagnet module is obtained based on the electromagnetic induction principle, each magnetic field component is demodulated through the signal processing module, and the real-time electromagnetic pose of the fingertip electromagnet module is obtained.

[0020] Step 5: Based on the force-tactile model of fingertip interaction with virtual objects, 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 pose detection excitation signal are superimposed through the transistor amplification circuit and output to the one-dimensional stacked coil module and the fingertip electromagnet module.

[0021] Repeat step four.

[0022] Furthermore, the force-haptic model for the interaction between the fingertip and the virtual object is as follows:

[0023] The fingertip position is achieved using real-time electromagnetic pose. The virtual object is located inside a one-dimensional stacked coil module. A three-dimensional mapping relationship is established between the virtual fingertip and the real human fingertip. Collision detection is used in the virtual environment to detect whether the virtual fingertip comes into contact with the virtual object. The parameters for force tactile reproduction are optimized to allow the user to perceive real force feedback in three dimensions.

[0024] Furthermore, the one-dimensional stacked coil is controlled by adjusting N coaxial one-dimensional coil units EM. i The background magnetic field required to realize electromagnetic pose detection and force tactile reproduction functions, i = 1, 2…N, and the three-dimensional coordinate system A for establishing the internal system operation space specifically include:

[0025] Using the center point of the operating space as the origin of the three-dimensional coordinate system A, and the central axis of the one-dimensional stacked coil module as the X-axis, the axial direction of any radial coil is selected as the Y-axis, and the Z-axis is determined according to the right-hand rule; the coordinates of the center point of the one-dimensional coil unit (P) xEMi ,0,0); One-dimensional coil unit EM i With P xEMi Sort the coils in ascending order, with all coil radii being R;

[0026] Using the center point of the fingertip electromagnet module as the local coordinate system B n The origin of coordinate system B is defined by the coordinate axes of coordinate system A. n The coordinate axes are oriented as follows, and the rotation angles (θ, γ, ψ) of the fingertip electromagnet module are respectively around coordinate system B. n The angles of rotation along the X, Y, and Z axes.

[0027] Furthermore, step four includes:

[0028] Step 4.1: In the position detection mode, the one-dimensional stacked coil module and the fingertip electromagnet module are in position detection mode. The position detection excitation signal module drives all the 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 odd, the frequency is f1, and when i is even, the frequency is f2. The excitation current I flowing through each coil... i The effective values ​​are all the same, i = 1, 2...N. The magnetic field components generated by the one-dimensional coil at the fingertip electromagnet module (x,y,z) are specifically represented as follows:

[0029]

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

[0031] These represent the component relationships in the x, y, and z directions, respectively.

[0032] Step 4.2: Read the induced voltage in three directions of the fingertip electromagnet module, demodulate and calculate the electromagnetic pose of the fingertip electromagnet module through the signal processing module, and record the current measurement results;

[0033] Step 4.3: Establish a cost function for the theoretically calculated and actually measured values ​​of the induced voltage:

[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 The actual induced voltage in three directions of the fingertip electromagnet module, v x′ v y′ v z′ These are the theoretical calculation values ​​for the three directions of the fingertip electromagnet module.

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

[0037] 1. The one-dimensional coil module for generating a background magnetic field in the operating space adopts a stacked structure, and each coil in the module works independently. By adjusting the excitation signal flowing into each coil, the force tactile reproduction mode and the electromagnetic pose detection mode are realized. In the electromagnetic pose detection mode, the electromagnetic pose 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 realistic, real-time, high-precision force tactile reproduction of the system operating space in the one-dimensional stacked coil module is realized by combining the control of the excitation current of the fingertip electromagnet module.

[0038] 2. The force tactile reproduction system designed by the electromagnetic pose detection method realizes more delicate and multi-point force tactile perception, and enhances the realism and immersion of the user.

[0039] 3. The function multiplexing one-dimensional stacked coil module and the 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 DRAWINGS

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

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

[0042] The electromagnetic pose detection system and method of the present application are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0043] Embodiment 1

[0044] The present application is a force tactile reproduction and electromagnetic pose detection method based on a one-dimensional stacked coil. The method is based on a force tactile reproduction system of 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 uniformly wound by multiple layers arranged on the same central axis. All one-dimensional hollow cylindrical coils have the same physical parameters and are independently controlled, and are used to provide the background magnetic field required for electromagnetic pose detection mode and force tactile reproduction mode.

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

[0048] The fingertip electromagnet module 3 includes a fingertip three-dimensional induction coil sub-module for electromagnetic pose detection function and an electromagnet sub-module for force tactile reproduction function, and the fingertip three-dimensional induction coil module has three direction orthogonal one-dimensional coils for providing electromagnetic pose information;

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

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

[0051] The signal processing module 6 calculates the electromagnetic pose of the fingertip electromagnet module inside the one-dimensional stacked coil in the electromagnetic pose detection mode, and controls the one-dimensional stacked coil drive module 4 and the fingertip electromagnet drive module 5 to output excitation current to generate required electromagnetic force on the fingertip electromagnet module in the force tactile reproduction mode, so as to realize magnetic force type single point or multi-point force tactile reproduction.

[0052] Embodiment 2

[0053] The application is based on the force tactile reproduction and electromagnetic pose detection method of the one-dimensional stacked coil, as shown in Figure 2 The system operation space is arranged in the one-dimensional stacked coil module, and the force tactile reproduction is realized by the adjustable background electromagnetic field and the fingertip electromagnet module in the system operation space; the fingertip electromagnet module includes a fingertip three-dimensional induction coil module and an electromagnet module;

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

[0055] Step one, virtual scene establishment; a virtual scene including a virtual hand and a virtual object model is established, a mapping relationship between the system operation space inside the one-dimensional stacked coil module and the virtual operation space is established, and a three-dimensional mapping relationship between the real hand and the virtual hand is established;

[0056] Step two, background electromagnetic field simulation discrete data calculation; according to the accuracy requirement, the system operation space inside the one-dimensional stacked coil module is meshed by using three-dimensional grid elements through the finite element analysis method, the discrete grid nodes of the three-dimensional space are formed, the magnetic field intensity inside the one-dimensional stacked coil module is analyzed by using the finite element method, 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 is formed, and the simulation discrete data including the induced voltage generated by the fingertip electromagnet module and the excitation current of the one-dimensional stacked coil module are formed in the form of a multi-dimensional matrix.

[0057] Step 3: Establish a three-dimensional coordinate system A for the operating space of the one-dimensional stacked coil system.

[0058] Step 4, Position Detection: The position detection excitation signal module based on AD9833 provides electromagnetic pose detection excitation signals of different frequencies to different coils of the one-dimensional stacked coil module. Based on the principle of electromagnetic induction, the relationship between the magnetic field generated in the system operating space within 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 pose of the fingertip electromagnet module.

[0059] Step 5: Based on the force-tactile model of fingertip interaction with virtual objects, 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 output the required force-tactile excitation signals for the one-dimensional stacked coil module and the fingertip electromagnet module in force-tactile reproduction mode. The magnetic excitation signal and the electromagnetic pose detection excitation signal are superimposed through a transistor amplification circuit and output to the one-dimensional stacked coil module and the fingertip electromagnet module.

[0060] Repeat step four.

[0061] The force-tactile model based on fingertip interaction with virtual objects is characterized in that the fingertip position adopts real-time electromagnetic pose, the virtual object is located inside a 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 comes into contact with the virtual object, the parameters of force-tactile reproduction are optimized, and the user perceives real force feedback in three-dimensional direction.

[0062] The one-dimensional stacked coil is controlled by adjusting N coaxial one-dimensional coil units EM. i The background magnetic field required to realize electromagnetic pose detection and force tactile reproduction functions, i = 1, 2…N, and the three-dimensional coordinate system A for establishing the internal system operation space specifically include:

[0063] Using the center point of the operating space as the origin of the three-dimensional coordinate system A, and the central axis of the one-dimensional stacked coil module as the X-axis, the axial direction of any radial coil is selected as the Y-axis, and the Z-axis is determined according to the right-hand rule; the coordinates of the center point of the one-dimensional coil unit (P) xEMi ,0,0); One-dimensional coil unit EM i With P xEMi The coils are sorted in ascending order, and all coil radii are R.

[0064] Using the center point of the fingertip electromagnet module as the local coordinate system B nThe origin of the coordinate system A, and the coordinate axis direction of the coordinate system B n The rotation angle (θ, γ, ψ) of the fingertip electromagnet module around the X, Y, Z axes of the coordinate system B n The rotation angle (θ, γ, ψ) of the fingertip electromagnet module around the X, Y, Z axes of the coordinate system B

[0065] The step four includes:

[0066] Step 5.1, 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, i is odd, the frequency is f1, i is even, the frequency is f2, wherein the excitation current I i The effective value of each coil (i=1, 2…N) is the same, and the magnetic field component generated by the one-dimensional coil at the fingertip electromagnet module (x, y, z) can be specifically represented as:

[0067]

[0068] Wherein, Indicates the center position of the transmitting coil, Indicates 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, and M represents the number of turns of the coil,

[0069] Indicates the component relationship in the x, y, and z directions, respectively.

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

[0071] Step 5.3, for the theoretical calculation value and the actual measurement value of the induced voltage, a cost function is established:

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

[0073] Wherein, v x , v y , v z are the true induced voltages in three directions of the fingertip electromagnet module, v x′ , v y′, v z′ Theoretical calculation values of the finger electromagnet module in three directions.

[0074] The above detailed description of the specific embodiments of the present application has further detailed the purposes, technical solutions and beneficial effects of the present application. It should be understood that the above detailed description is only a specific embodiment of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for force tactile rendering and electromagnetic pose detection based on one-dimensional stacked coils, characterized in that, The one-dimensional laminated coil module is internally provided with a system operation space, and force touch reproduction is realized by an adjustable background electromagnetic field and a fingertip electromagnetic iron module in the system operation space; the fingertip electromagnetic iron module comprises a fingertip three-dimensional induction coil module and an electromagnetic iron module; The implementation process of the method comprises the following steps: Step one, virtual scene establishment; a virtual scene comprising a virtual hand and a virtual object model is established, a mapping relationship between a system operation space inside the one-dimensional laminated coil module and a virtual operation space is established, and a three-dimensional mapping relationship between a real human hand and a virtual human hand is established; Step two, background electromagnetic field simulation discrete data calculation; according to the accuracy requirement, the system operation space inside the one-dimensional laminated coil module is meshed by using three-dimensional grid elements through a finite element analysis method, discrete grid nodes of the three-dimensional space are formed, the magnetic field intensity inside the one-dimensional laminated coil module is analyzed, the corresponding relationship between the induced voltage generated by the fingertip electromagnetic iron module at the discrete grid nodes and the excitation current in the one-dimensional laminated coil module is analyzed, and simulation discrete data comprising the induced voltage generated by the fingertip electromagnetic iron module and the excitation current of the one-dimensional laminated coil module are formed in the form of a multidimensional matrix; Step three, three-dimensional coordinate system A of the system operation space inside the one-dimensional laminated coil is established; Step four, position detection; a position detection excitation signal module provides electromagnetic posture detection excitation signals of different frequencies for different coils of the one-dimensional laminated coil module, the relationship between the magnetic field generated in the system operation space inside the one-dimensional laminated coil and the induced voltage of the fingertip electromagnetic iron module is obtained based on the electromagnetic induction principle, each magnetic field component is demodulated through a signal processing module, and the real-time electromagnetic posture of the fingertip electromagnetic iron module is obtained; the step four comprises: Step 4.1: In the position detection mode, 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 the 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 odd, the frequency is f1, and when i is even, the frequency is f2. The excitation current I flowing through each coil... i The effective values ​​are the same, i=1, 2…N, and the one-dimensional coil is at the center of the fingertip electromagnet module. The magnetic field component generated at point () is specifically represented as follows: ； ； ； in, Indicates the center position of the transmitting coil. Indicates the distance from the center of the transmitting coil to the center of the fingertip electromagnet module ( The distance between them, R is the coil radius, and M represents the number of coil turns. , , They represent in The component relationships of direction; Step 4.2, reading the induced voltage in three directions of the fingertip electromagnetic iron module, demodulating and calculating the electromagnetic posture of the fingertip electromagnetic iron module through the signal processing module, and recording the current measurement result; Step 4.3, for the theoretical calculation value and the actual measurement value of the induced voltage, a cost function is established: ； wherein, , , is the real induction voltage of the fingertip electromagnet module in three directions, is the theoretically calculated value of the fingertip electromagnet module in three directions; Step five, based on the force touch model of the fingertip and the virtual object interaction, the signal processing module calculates and outputs the real-time force of the fingertip electromagnetic iron module: through the signal processing module, the one-dimensional laminated coil driving module and the fingertip electromagnetic iron driving module output the force touch excitation signals required by the one-dimensional laminated coil module and the fingertip electromagnetic iron module in the force touch reproduction mode; the magnetic excitation signal and the electromagnetic posture detection excitation signal are superimposed through a triode amplification circuit and output to the one-dimensional laminated coil module and the fingertip electromagnetic iron module; Repeat to step four.

2. The one-dimensional stacked coil-based force tactile rendering and electromagnetic pose detection method according to claim 1, characterized in that, The force touch model of the fingertip and the virtual object interaction is: The real-time electromagnetic posture is used for the fingertip position, the virtual object is located inside the one-dimensional laminated 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 contacts the virtual object, and the parameters of the force touch reproduction are optimized, so that the user can perceive the real force feedback in three-dimensional directions.

3. The one-dimensional stacked coil-based force tactile rendering and electromagnetic pose detection method according to claim 1, wherein The one-dimensional stacked coil realizes electromagnetic pose detection and force tactile reproduction functions by regulating N coaxial one-dimensional coil units EM i , i = 1, 2…N, the background magnetic field required for electromagnetic pose detection and force tactile reproduction functions, and establishes a three-dimensional coordinate system A of the internal system operation space, which specifically comprises: Using the center point of the operating space as the origin of the three-dimensional coordinate system A, and the central axis of the one-dimensional stacked coil module as the X-axis, the axial direction of any radial coil is selected as the Y-axis, and the Z-axis is determined according to the right-hand rule; the coordinates of the center point of the one-dimensional coil unit (P) xEMi ,0,0); One-dimensional coil unit EM i With P xEMi Sort the coils in ascending order, with all coil radii being R; Using the center point of the fingertip electromagnet module as the local coordinate system B n The origin of coordinate system B is defined by the coordinate axes of coordinate system A. n The coordinate axis direction, the rotation angle of the fingertip electromagnet module ( , , ) are respectively about coordinate system B n The angles of rotation along the X, Y, and Z axes.

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