Tactile feedback device, system and method for flight simulation

Abstract

The invention relates to the technical field of man-machine interaction, in particular to a tactile feedback device, system and method for flight simulation, and aims to solve the problems that existing wearable tactile feedback equipment is low in fitting degree when worn on limbs and is difficult to provide effective tactile feedback on bent limbs. According to the scheme, by using the tactile array formed by the tactile units formed by heat sealing of the thermoplastic polyurethane rubber films, the fitting degree with limbs is improved. Each tactile unit can be independently activated, the activated tactile units generate tactile force, the action direction of a user is indicated and adjusted through the activation positions of the tactile units, and the action size of the user is indicated and adjusted through the activation number according to the preset linear mapping relation between the activation number of the tactile units and action errors. The activation number is gradually increased in an equal difference mode along with increase of action errors, namely the touch force linearity is good, and accurate control over the touch force is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of human-computer interaction technology, and in particular to a tactile feedback device, system and method for flight simulation, which can be used for games. Background Art

[0002] In recent years, wearable tactile feedback devices have been gradually used in electronic games, allowing people to better exercise through games and reduce the risks of sitting for long periods of time. Existing wearable tactile feedback devices are generally worn on the hands and torso of the human body, but if they can be worn on the limbs, both hands can be freed to enhance the naturalness and convenience of interaction.

[0003] Existing wearable tactile feedback devices have the following problems when worn on the limbs: Since the density of mechanical receptors on the skin of the upper limbs is lower than that of the human hand, an array-type tactile feedback is required to fit on the skin surface, but compared to the torso, the skin surface of the upper limbs is uneven and difficult to fit. There are two main types of existing wearable tactile feedback devices, both of which are difficult to achieve array-type tactile feedback that fits on the surface of the upper limbs of the human body. One type is achieved by providing single-point vibration feedback through vibration motors, solenoids, etc. This vibration feedback method is difficult to provide changes in contact force and contact area. The other type is achieved through pneumatic actuators. Although this type of pneumatic actuator can provide changes in contact force and contact area, it is difficult to provide distributed feedback on the curved upper limb surface, and there are disadvantages of low output force linearity and imprecise control. Summary of the invention

[0004] In order to solve the above-mentioned problems existing in the prior art, the purpose of this case is to provide a tactile feedback device, system and method for flight simulation, which is used to solve the problem that the existing wearable tactile feedback devices are worn on the limbs, have low fit and are difficult to achieve effective tactile feedback.

[0005] To achieve the above objectives, in the first aspect, the case proposes the following specific technical solutions. In the first aspect, the case proposes a tactile feedback device, which includes a tactile array, which is composed of tactile units arranged in rows and columns, each tactile unit is formed by heat-sealing two layers of thermoplastic polyurethane rubber films, and adjacent tactile units share a heat-sealed edge; each tactile unit can be activated individually, and the activated tactile unit generates a tactile force, and the user's action direction is adjusted by indicating the activation position of the tactile unit, and the user's action size is adjusted by indicating the activation number using the preset mapping relationship between the activation number of the tactile unit and the action error, and the activation number increases arithmetic difference as the action error increases.

[0006] In one embodiment of the above-mentioned device technical solution, the thickness of the thermoplastic polyurethane rubber film is determined according to the range of tactile stimulation intensity.

[0007] In one implementation of the above device technical solution, the size of the tactile unit is determined according to the average diameter of the wearing position.

[0008] In one implementation of the above-mentioned device technical solution, the tactile feedback device further includes a strap, which fixes the tactile array in the wearing position.

[0009] In one embodiment of the above-mentioned device technical solution, each tactile unit is connected to one end of the PU tube via an L-shaped hose connector, and a pressurized medium is filled into the tactile unit through the PU tube to activate the tactile unit.

[0010] In the second aspect, the present invention proposes a tactile feedback system for flight, the system comprising a posture sensor, a data processing and analysis module, a control terminal, and any of the above-mentioned tactile feedback devices; the tactile feedback device is configured to perform flight tasks on the upper limbs of the user; the posture sensor collects N posture information of the user's upper limb abduction or adduction action; the data processing and analysis module is configured to determine the tactile unit that needs to be activated in the tactile feedback device based on the N posture information, and the steps include: based on the N posture information, obtaining the angle θ at the end of the abduction or adduction action h and angular velocity ω, and then obtain the angle change Δθ at the initial relative motion h , the tactile force F is obtained based on the angular velocity ω, F 0 The preload force provided by the tactile feedback device; at the same time, the expected angle θ corresponding to the end of the action is obtained x , and the expected angle change relative to the initial action is Δθ x ; According to |Δθ h |、|Δθ x |, determine the activation position of the tactile unit in the tactile feedback device, and according to |Δθ h -Δθ x |, and according to a preset linear mapping relationship between the number of activated tactile units and the action error, determine the number of activated tactile units in the tactile feedback device; according to the obtained tactile force, determine the amount of pressurized medium filled in each activated tactile unit; the control end is configured to fill the tactile units that need to be activated in the tactile feedback device with pressurized medium, so that the tactile units that need to be activated are activated.

[0011] In one implementation of the above system technical solution, the tactile array is composed of 40 tactile units, and there is a preset linear mapping relationship between the number of activated tactile units and the motion error, as shown below: S1, S2, S3, S4, and S5 represent the number of activated tactile units in the tactile array.

[0012] In one embodiment of the above system technical solution, according to |Δθh |、|Δθ x | determines the activation position of the tactile unit. Specifically, when the upper limb moves outward, if |Δθ h |<|Δθ x |, indicating that the user's upper limb abduction angle is insufficient and the activated tactile unit is located on the lower side of the upper limb; if |Δθ h |>|Δθ x |, indicating that the user's abduction angle is too large, and the activated tactile unit is located on the upper side of the upper limb; when the upper limb moves inward, if |Δθ h |<|Δθ x |, indicating that the user's upper limb adduction angle is too small, and the activated tactile unit is located on the upper side of the upper limb; if |Δθ h |>|Δθ x |, indicating that the user's upper limb adduction angle is insufficient and the activated tactile unit is located on the lower side of the upper limb.

[0013] In the third aspect, the present invention proposes a tactile feedback method for flight simulation, the steps comprising: obtaining N posture information of the user's upper limb abduction or adduction action, and obtaining the angle θ at the end of the abduction or adduction action based on the N posture information. h and angular velocity ω, and then obtain the angle change Δθ at the initial relative motion h , the tactile force F is obtained based on the angular velocity ω, F 0 The preload force provided by the tactile feedback device; obtain the expected angle θ corresponding to the end of the action x , and the expected angle change relative to the initial action is Δθ x ; According to |Δθ h |、|Δθ x |, determine the activation position of the tactile unit in contact with the user's upper limb, and according to |Δθ h -Δθ x |, and according to a preset linear mapping relationship between the number of activated tactile units and the motion error, determine the number of activated tactile units in contact with the user's upper limbs; and according to the obtained tactile force, determine the amount of pressurized medium charged into each activated tactile unit; wherein the tactile unit is a tactile unit in any of the tactile feedback devices described above.

[0014] Beneficial technical effects of this case: (1) The tactile feedback device for flight simulation proposed in this case has the characteristics of simple structure, light weight and easy production. (2) Compared with the vibration feedback method, the tactile feedback device has better skin fit by using a tactile array composed of tactile units formed by heat-sealing thermoplastic polyurethane rubber film; and the tactile feedback is achieved by the area change brought about by the change in the number of activated tactile units, which solves the problem that the existing wearable pneumatic tactile feedback device is difficult to provide tactile force and tactile area change to the user's upper limbs at the same time. When used in flight simulation games, it can improve the user's posture perception and balance ability in flight simulation, and the user can exercise the upper limbs while satisfying the fun and immersion of the game. (3) Compared with pneumatic actuators made by silicone injection molding and 3D printing, the tactile feedback device is made by heat-sealing two layers of TPU film, and its tactile unit has good sealing performance. (4) By using the preset linear mapping relationship between the number of activated tactile units and the action error, the size of the user's action is adjusted by the activation number indication, and the activation number increases arithmetic difference as the action error increases, so that the output force has high linearity, which is conducive to the precise control of the tactile force. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 , one A logical schematic diagram of a tactile feedback system in an embodiment.

[0017] Figure 2 , one A diagram showing the effect of using the tactile feedback system in this embodiment.

[0018] Figure 3 , one Schematic diagram of the tactile array structure in an embodiment.

[0019] Figure 4 , one A photo of a person wearing the tactile feedback device in one embodiment.

[0020] Figure 5 , one A physical picture of the tactile unit after being inflated and activated in this embodiment.

[0021] Figure 6 , one A control schematic diagram of a tactile feedback device in an embodiment.

[0022] Figure 7 , one Schematic diagram of feedback when a user follows the outward movement of a virtual airplane and the outward angle is too large in the first embodiment.

[0023] Figure 8 , one A flow chart of tactile feedback control when a user follows the outward movement of a virtual aircraft in an implementation manner.

[0024] In the figure: 1. tactile feedback device; 2. posture monitoring module; 3. tactile task generation end; 4. tactile array; 5. user's upper forearm; 6. trachea; 7. elastic band; 8. tactile unit; 9. virtual aircraft; 10. activated tactile array area on the upper side of the tactile feedback device; 11. unactivated tactile array area on the lower side of the tactile feedback device; 12. display. DETAILED DESCRIPTION

[0025] This case designs a tactile feedback device, which includes a tactile array, which is composed of tactile units arranged in rows and columns, each tactile unit is formed by heat-sealing two layers of thermoplastic polyurethane rubber film, and adjacent tactile units share a heat-sealed edge. The tactile array composed of tactile units heat-sealed by using thermoplastic polyurethane rubber film improves the fit with the limbs, and the structure is simple, light and easy to manufacture. Each tactile unit can be activated individually, and the activated tactile unit generates tactile force. The user's action direction is adjusted by indicating the activation position of the tactile unit. The preset mapping relationship between the activation number of the tactile unit and the action error is used to adjust the size of the user's action through the activation number indication. The activation number increases arithmetic progression as the action error increases, that is, the tactile force has good linearity, which is conducive to the precise control of the tactile force.

[0026] Based on the above-mentioned tactile feedback device, this case also designs a tactile feedback system for flying. Specifically, the system includes a posture sensor, a data processing module, a control terminal and a tactile feedback device. The tactile feedback device is configured on the user's upper limbs to perform flight tasks, which can enhance the user's upper limb posture perception ability and improve the user's tactile experience. The posture sensor collects N posture information of the user's upper limb abduction or adduction movement. The data processing module is configured to determine the tactile unit that needs to be activated in the tactile feedback device based on the N posture information. The steps include: based on the N posture information, obtaining the angle θ at the end of the abduction or adduction movement h and angular velocity ω, and then obtain the angle change Δθ at the initial relative motion h , the tactile force F is obtained based on the angular velocity ω, F 0 The preload force provided by the tactile feedback device; at the same time, the expected angle θ corresponding to the end of the action is obtained x, and the expected angle change relative to the initial action is Δθ x ; According to |Δθ h |、|Δθ x |, determine the activation position of the tactile unit in the tactile feedback device, and according to |Δθ h -Δθ x |, according to the preset linear mapping relationship between the number of activated tactile units and the action error, the number of activated tactile units in the tactile feedback device is determined; according to the obtained tactile force, the amount of pressurized medium filled in each activated tactile unit is determined. The control end is configured to fill the tactile units that need to be activated in the tactile feedback device with pressurized medium, so that the tactile units that need to be activated are activated.

[0027] The following will be combined with the attached Figure 1-8 , using the flight simulation of a virtual airplane as a tactile task, a clear and complete description is given of how the technical solution of this case improves the fit between the tactile feedback device and the limbs, how it enhances the user's upper limb posture perception ability, and how it improves the user's tactile experience. Obviously, the described implementation is only part of the implementation of this case, not all of the implementations. Based on the implementation in this case, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] See also Figure 1-Figure 2 The tactile task generating terminal (3) generates the tactile task of the virtual aircraft and displays the state of the virtual aircraft through the display (12). Figure 2 It can be seen that after the user wears the tactile feedback device (1) on the upper limbs of the user, the upper limbs of the user can be controlled to perform corresponding abduction / adduction movements according to the rolling movement of the virtual airplane wing. The triceps of the upper limbs of the user are worn with a posture monitoring module (2). When the upper limbs of the user follow the movement of the virtual airplane, the posture information of the upper limbs of the user is collected in real time, and the collected posture information is sent to the tactile task end. The tactile task end obtains feedback information based on the upper limb posture information of the user and the movement information of the virtual airplane, and sends the feedback information to the control end. The control end controls the tactile feedback device to provide tactile information to the user, so as to guide the upper limbs of the user to accurately follow the virtual airplane wing to perform the rolling movement. The tactile information includes the size of the tactile force, the direction of the movement adjustment, the movement error, etc.

[0029] The tactile task terminal is a device capable of generating a virtual aircraft flight mission, which can be integrated with a display or a separate device. The tactile task terminal can transmit data or control information with the attitude detection module and the control terminal through communication methods such as Bluetooth, cellular, Wifi, and the Internet of Things.

[0030] The tactile task end generates a flight mission for a virtual aircraft by using a programming language such as C++ combined with a graphics library, a game engine such as Unity, and a game development framework.

[0031] When the flight mission of the virtual aircraft is generated, it has different flight difficulties according to the mission level selected by the user, and the flight difficulty is reflected by the change of the wing roll angle of the virtual aircraft.

[0032] The posture monitoring module includes a posture sensor to collect posture information of the user's upper limbs. Depending on the tactile task, the posture sensor can be other sensors.

[0033] See also Figure 3 The tactile feedback device is composed of tactile units (8) arranged in rows and columns, and each tactile unit is individually controlled by a separate air tube (6). Changes in the air pressure of the tactile unit produce changes in the tactile force. When a tactile unit is inflated, the tactile unit is called "activated". A tactile array (4) is formed using tactile units to surround the user's upper forearm (5). By activating tactile units of different numbers and positions, different force feedback of the virtual airplane wing can be provided to the user, thereby enhancing the user's tactile experience and upper limb posture perception ability. It should be noted that the tactile unit can also use a pressurized medium, such as water, hydraulic fluid or electrochemical gel.

[0034] In one implementation, 40 tactile units form a tactile array of 5 rows and 8 columns.

[0035] Figure 4 A wearing method of a tactile feedback device is shown, in which an elastic band (7) is used to bind the tactile array to the upper limb (5) of the user.

[0036] Figure 5 A specific tactile unit is illustrated, and the preparation steps of this tactile unit include: determining the thickness of two layers of thermoplastic polyurethane rubber (TPU) film according to the range of tactile stimulation intensity; determining the size of a single tactile unit and the size of the tactile array according to the size of the user's upper limb; using a heat sealer to perform heat sealing according to the determined size; each tactile unit is connected to a PU tube via an L-shaped hose connector, and the PU tube is used to inflate the tactile unit or other pressurized medium when the tactile unit is activated, and to inhale air from the tactile unit or withdraw other pressurized medium when the tactile unit is inactivated. The size of a single tactile unit may be different for different users. To facilitate the design of the tactile unit, the size of the user's upper limb can adopt the average cross-sectional size of the upper limb forearm. In the preparation method, the tactile array composed of tactile units formed by heat sealing with thermoplastic polyurethane rubber film can improve the fit with the limb.

[0037] The steps for preparing the tactile array are the same as the steps for preparing the tactile unit. During heat sealing, adjacent tactile units share a heat sealing edge.

[0038] In one embodiment, the tactile stimulation intensity ranges from 0 to 12 Newtons, and the thickness of the two layers of TPU film is 0.5 mm; the average cross-sectional diameter of the user's upper limb forearm is 55 mm, and the size of the tactile unit is 25 mm × 25 mm. The overall size of the tactile array composed of 40 such tactile units is 179 mm × 113 mm × 1 mm. Each tactile unit is connected to a PU air tube with an outer diameter of 2 mm via an L-shaped hose connector. The tactile array is bound to the user's forearm through a strap. Since the tactile unit, which is a pneumatic actuator, forms an air bag by inflation, it can fit well on the surface skin and the bent arm, thereby providing a large area of ​​tactile feedback. The strap can be an elastic strap, a sticky strap, a buckle, etc.

[0039] See also Figure 6 , the air pipe corresponding to each tactile unit is individually connected to the different air outlets of the micro-solenoid valve to realize the individual activation control of each tactile unit. By activating tactile units of different numbers and positions and inflating the tactile units according to the tactile force, the user is provided with tactile information of the virtual aircraft wing. Each outlet of the micro-solenoid valve is individually controlled in real time by the control module. The control end sends control information based on the feedback information from the tactile service end, controls the opening and closing of each air outlet of the micro-solenoid valve, fills or extracts pressurized medium (such as inflation or suction) to the tactile unit that needs to be activated, thereby realizing whether the tactile unit is activated.

[0040] The control terminal converts the control information into an electrical signal for controlling the micro solenoid valve, and may be an input / output device or a single chip microcomputer.

[0041] See also Figure 7 The user wears a tactile feedback device to interact with the virtual aircraft. The rolling angle of the wings of the virtual aircraft (9) is θ x , is the expected angle. The roll angle is the angle between the virtual aircraft and the horizontal plane. Monitor the posture information of the user's upper limb movement N, and represent each posture information with a quaternion. Based on the quaternion, the angle θ of the user's upper limb abduction / adduction movement is obtained after data processing and analysis. h and angular velocity ω.

[0042] Exemplarily, the data processing and analysis step includes:

[0043] (1) Figure 7 In the coordinate system shown in the figure (with the shoulder joint as the origin, the horizontal direction of the arm as the z-axis, the plane where the arm and shoulder are located as the zoy plane, and the x-axis, y-axis, and z-axis satisfy the right-hand screw rule), each posture information of the user's upper limb movement collected by the posture sensor is expressed as a quaternion form q=[q0 q 1 q 2 q 3 ], where q 0 Represents the real part of the quaternion, q 1 ,q 2 ,q 3 Represents the three imaginary parts of a quaternion.

[0044] (2) According to the formula The angle θ of the user's upper limb rotation around the shoulder joint in the coronal plane can be obtained h .

[0045] (3) According to the formula Discretize the N sets of quaternion data obtained above and perform linear interpolation Calculate the angular velocity ω of the user's upper limb movement. Where n represents the nth quaternion data collected, q * (n) represents the conjugate of q(n), and dt represents the sampling time.

[0046] For example, when the user's right arm follows the movement of the virtual plane, combined with Figure 8 The specific process of performing flight simulation control according to the tactile feedback provided by the tactile feedback device is as follows.

[0047] Angle θ based on the user's upper limb movement h , the flight simulation server calculates the angle change of the user's upper limbs in: is the initial posture information of the upper limbs, It is the termination posture information of the upper limbs.

[0048] Based on the angle θ of the virtual aircraft wing roll x The haptic service generator is the flight simulation server, which calculates the angle change of the virtual aircraft wing. in: is the initial attitude information of the virtual aircraft, is the final attitude information of the virtual aircraft. x is the expected angle corresponding to the end of the user's upper limb movement, Δθ x is the expected angle change relative to the start of the motion.

[0049] Next, compare the user's upper limb angle change Δθ h and the virtual aircraft wing angle change Δθ x The size of , determines the activation position of the tactile unit in the tactile feedback device. According to the following angle difference |Δθ of the user's upper limb following the movement of the virtual aircraft wing h -Δθ x|, according to a preset linear mapping relationship between the number of activated tactile units and the action error, the number of activated tactile units in the tactile feedback device is determined to provide tactile feedback, so that the user can reduce the tracking angle difference and adjust the action size through tactile feedback.

[0050] A method based on |Δθ h |、|Δθ x |, determine the activation position of the tactile unit, which is specifically implemented as follows: when the user's right arm follows the virtual plane to perform an abduction movement, if |Δθ h |<|Δθ x |, indicating that the user's upper limb abduction angle is insufficient, and the activated tactile unit is located on the lower side of the upper limb. Figure 7 The tactile array area (11) on the lower side of the tactile feedback device provides tactile feedback to guide the user to control the upper limbs to increase the movement angle. h |>|Δθ x |, indicating that the user's upper limb abduction angle is too large, and the activated tactile unit is located on the upper side of the upper limb. Figure 7 The tactile array area (10) on the upper side of the tactile feedback device provides tactile feedback to guide the user to control the upper limbs to reduce the movement angle. h |=|Δθ x |, indicating that the user's upper limb abduction angle is equal to the virtual aircraft wing roll angle, and the tactile feedback device does not provide tactile feedback. The activated tactile unit is located on the upper or lower side of the upper limb, and can be adjusted on the control end according to the wearable tactile array.

[0051] When the user's right arm follows the virtual plane to perform an adduction movement, the tactile array area provided by the tactile feedback device is opposite to that when performing the abduction movement. Specifically, when the upper limb moves inward, if |Δθ h |<|Δθ x |, indicating that the user's upper limb adduction angle is too small, and the activated tactile unit is located on the upper side of the upper limb; if |Δθ h |>|Δθ x |, indicating that the user's upper limb adduction angle is insufficient and the activated tactile unit is located on the lower side of the upper limb.

[0052] The above tactile feedback includes the tactile force and the tactile area. h -Δθ x In one embodiment, the preset following angle difference |Δθ h -Δθ x | and the mapping relationship between the tactile area S, so that the following angle difference |Δθ h -Δθ x The larger the |, the larger the tactile area S, which can better guide the user's upper limbs to accurately follow the movements.

[0053] The preset linear mapping relationship of the tactile array composed of 40 tactile units is as follows: S1, S2, S3, S4, and S5 represent the number of activated tactile units in the tactile array.

[0054] The more tactile units are activated, the larger the tactile area. Users can control the size of their movements by the number of activations, and the number of activations increases arithmetic progression as the movement error increases, which has the advantage of good linearity of tactile force and is conducive to precise control of tactile force. The preset linear mapping relationship can be adjusted.

[0055] The tactile force is related to the angular velocity ω of the user's upper limb movement. The faster the angular velocity of the user's upper limb movement, the greater the tactile force provided to simulate the resistance of the virtual aircraft wing. Let the tactile force be F, then F 0 The preload force provided for the tactile feedback device. The preload force is determined by the mechanical properties of a single tactile unit of a certain size. For example, the preload force of a 25mm×25mm unit is 2N (Newton). Based on the tactile force obtained, the amount of pressurized medium charged to each activated tactile unit can be determined.

[0056] The steps of the method involved in this case may not be implemented in order. One or more other steps may be added to the method, or one or more steps may be removed from the method.

[0057] The tactile feedback device and posture detection module of this case can be further applied as a tactile feedback device in the fields of robot teleoperation, stroke rehabilitation and other human-machine interaction. The tactile feedback device in this case can be further improved to be used for lower limb training or rehabilitation, or for correcting the neck, shoulders and back posture.

[0058] In one embodiment, the above-mentioned data processing and analysis is designed as a data processing and analysis module, and the data processing and analysis module is configured to determine the tactile unit that needs to be activated in the tactile feedback device based on the N posture information, and the steps include: based on the N posture information, obtaining the angle θ at the end of the abduction or adduction action h and angular velocity ω, and then obtain the angle change Δθ at the initial relative motion h , the tactile force F is obtained based on the angular velocity ω, F 0 The preload force provided by the tactile feedback device; at the same time, the expected angle θ corresponding to the end of the action is obtained x , and the expected angle change relative to the initial action is Δθ x ; According to |Δθ h |、|Δθ x |, determine the activation position of the tactile unit in the tactile feedback device, and according to |Δθ h -Δθ x|, and according to a preset linear mapping relationship between the number of activated tactile units and the motion error, determine the number of activated tactile units in the tactile feedback device; and according to the obtained tactile force, determine the amount of pressurized medium charged into each activated tactile unit.

[0059] The data processing and analysis module, the tactile feedback device, the position sensor and the control terminal constitute a tactile feedback system for flight. The control terminal is configured to fill the tactile unit that needs to be activated in the tactile feedback device with a pressurized medium, so that the tactile unit that needs to be activated is activated.

[0060] In one embodiment, a tactile feedback method for flight simulation is used, the steps comprising:

[0061] Obtain N posture information of the user's upper limb abduction or adduction action, and based on the N posture information, obtain the angle θ at the end of the abduction or adduction action h and angular velocity ω, and then obtain the angle change Δθ at the initial relative motion h , the tactile force F is obtained based on the angular velocity ω, F 0 Preload provided by tactile feedback device;

[0062] Get the expected angle θ corresponding to the end of the action x , and the expected angle change relative to the initial action is Δθ x ;

[0063] According to |Δθ h |、|Δθ x |, determine the activation position of the tactile unit in contact with the user's upper limb, and according to |Δθ h -Δθ x |, and determining the number of activated tactile units in contact with the user's upper limbs according to a preset linear mapping relationship between the number of activated tactile units and the motion error;

[0064] Based on the obtained tactile force, the pressurized medium charge for each activated tactile unit is determined.

[0065] The embodiments described herein are merely examples of the principles and applications of the invention, and other arrangements and combinations that do not deviate from the spirit and scope of the invention are equally applicable. For those skilled in the art, various changes, modifications, substitutions and deformations may be made to these embodiments, as long as they do not exceed the scope defined by the attached claims and their equivalent conversions.

[0066] Through the description of the above implementation methods, those skilled in the art can clearly understand that the methods involved in the present disclosure (such as generating a flight mission for a virtual aircraft, a calculation method, a control method, etc.) can be implemented by means of software plus necessary general-purpose hardware, and of course can also be implemented by dedicated hardware including dedicated integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. In general, all functions performed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structures used to implement the same function can also be various, such as analog circuits, digital circuits, or dedicated circuits, etc. However, for the present disclosure, software program implementation is a better implementation method in most cases.

Claims

1. A tactile feedback device, characterized in that: The tactile feedback device comprises a tactile array, wherein the tactile array is composed of tactile units arranged in rows and columns, each tactile unit is formed by heat-sealing two layers of thermoplastic polyurethane rubber films, and adjacent tactile units share a heat-sealed edge; Each tactile unit can be activated individually, and the activated tactile unit generates tactile force. The direction of the user's movement is adjusted by indicating the activation position of the tactile unit. The preset mapping relationship between the activation number of the tactile unit and the movement error is used to adjust the size of the user's movement through the activation number indication. The activation number increases arithmetic progression as the movement error increases.

2. The device according to claim 1, characterized in that The thickness of the thermoplastic polyurethane rubber film is determined according to the range of tactile stimulation intensity.

3. The device according to claim 1, characterized in that The size of the tactile unit is determined according to the average diameter of the wearing position.

4. The device according to claim 1, characterized in that The tactile feedback device also includes a strap that secures the tactile array in a wearing position.

5. The device according to claim 1, characterized in that Each tactile unit is connected to one end of the PU tube via an L-shaped hose connector, and a pressurized medium is filled into the tactile unit through the PU tube to activate the tactile unit.

6. A tactile feedback system for flight, characterized in that: The system comprises a posture sensor, a data processing and analysis module, a control terminal, and a tactile feedback device according to any one of claims 1 to 5; The tactile feedback device is configured to perform flight tasks on the upper limbs of the user; The posture sensor collects N posture information of the user's upper limb abduction or adduction movements; The data processing and analysis module is configured to determine the tactile unit that needs to be activated in the tactile feedback device based on the N gesture information, and the steps include: Based on the N posture information, the angle θ at the end of the abduction or adduction action is obtained. h and angular velocity ω, and then obtain the angle change Δθ at the initial relative motion h , the tactile force F is obtained based on the angular velocity ω, F0 preload provided by tactile feedback device; At the same time, the expected angle θ corresponding to the end of the action is obtained x , and the expected angle change relative to the initial action is Δθ x ; According to |Δθ h |、|Δθ x |, determine the activation position of the tactile unit in the tactile feedback device, and according to |Δθ h -Δθ x |, determining the number of activated tactile units in the tactile feedback device according to a preset linear mapping relationship between the number of activated tactile units and the motion error; Determining the charge amount of the pressurized medium for each activated tactile unit based on the obtained tactile force; The control end is configured to fill the tactile unit that needs to be activated in the tactile feedback device with a pressurized medium, so that the tactile unit that needs to be activated is activated.

7. The system according to claim 6, characterized in that The tactile array consists of 40 tactile units. There is a preset linear mapping relationship between the number of activated tactile units and the motion error, as shown below: S1, S2, S3, S4, and S5 represent the number of activated tactile units in the tactile array.

8. The system according to claim 6, characterized in that According to |Δθ h |、|Δθ x | determines the activation position of the tactile unit, specifically: When the upper limb moves outward, if |Δθ h |<|Δθ x |, indicating that the user's upper limb abduction angle is insufficient and the activated tactile unit is located on the lower side of the upper limb; if |Δθ h |>|Δθ x |, indicating that the user's abduction angle is too large and the activated tactile unit is located on the upper side of the upper limb; When the upper limb moves inward, if |Δθ h |<|Δθ x |, indicating that the user's upper limb adduction angle is too small, and the activated tactile unit is located on the upper side of the upper limb; if |Δθ h |>|Δθ x |, indicating that the user's upper limb adduction angle is insufficient and the activated tactile unit is located on the lower side of the upper limb.

9. A tactile feedback method for flight simulation, characterized in that the steps include: Obtain N posture information of the user's upper limb abduction or adduction action, and based on the N posture information, obtain the angle θ at the end of the abduction or adduction action h and angular velocity ω, and then obtain the angle change Δθ at the initial relative motion h , the tactile force F is obtained based on the angular velocity ω, F0 preload provided by tactile feedback device; Get the expected angle θ corresponding to the end of the action x , and the expected angle change relative to the initial action is Δθ x ; According to |Δθ h |、|Δθ x |, determine the activation position of the tactile unit in contact with the user's upper limb, and according to |Δθ h -Δθ x |, and determining the number of activated tactile units in contact with the user's upper limbs according to a preset linear mapping relationship between the number of activated tactile units and the motion error; Determining the charge amount of the pressurized medium for each activated tactile unit based on the obtained tactile force; Wherein, the tactile unit is the tactile unit in the tactile feedback device described in any one of claims 1-5.

10. The method according to claim 9, characterized in that According to |Δθ h |、|Δθ x | determines the activation position of the tactile unit, specifically: When the upper limb moves outward, if |Δθ h |<|Δθ x |, indicating that the user's abduction angle is insufficient and the activated tactile unit is located on the lower side of the upper limb; if |Δθ h |>|Δθ x |, indicating that the user's abduction angle is too large and the activated tactile unit is located on the upper side of the upper limb; When the upper limb moves inward, if |Δθ h |<|Δθ x |, indicating that the user's upper limb adduction angle is too small, and the activated tactile unit is located on the upper side of the upper limb; if |Δθ h |>|Δθ x |, indicating that the user's upper limb adduction angle is insufficient and the activated tactile unit is located on the lower side of the upper limb.

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