Haptic feedback device, system, and method for flight simulation
By using a tactile array formed by heat sealing of a thermoplastic polyurethane rubber film and precise tactile unit activation control, the problems of fit and tactile feedback accuracy of wearable devices on the limbs are solved, thus improving the user experience in flight simulation games.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- XI AN JIAOTONG UNIV
- Filing Date
- 2024-09-10
- Publication Date
- 2026-05-12
AI Technical Summary
Existing wearable haptic feedback devices are difficult to fit well with the skin when worn on the limbs, especially on the upper limb surface where they are difficult to provide distributed haptic feedback, and the output force linearity is low and the control is imprecise.
The tactile array is formed by heat sealing a thermoplastic polyurethane rubber film. Each tactile unit can be activated individually. The number and position of activation indicate the direction and magnitude of the user's movements. Tactile feedback is achieved by using a preset mapping relationship. The activation of the tactile units is precisely controlled by combining a pose sensor and a data processing module.
It improves the fit to the limbs, enables precise control of tactile feedback, enhances the user's posture perception and tactile experience, and is suitable for posture perception and balance ability in flight simulation games.
Smart Images
Figure CN119396274B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of human-computer interaction technology, and in particular to a haptic feedback device, system and method for flight simulation, which can be used in games. Background Technology
[0002] In recent years, wearable haptic feedback devices have been increasingly used in video games, allowing people to better exercise through gaming and reduce the risks associated with prolonged sitting. Existing wearable haptic feedback devices are generally worn on the hands and torso, but if they could be worn on the limbs, they could free up the hands, enhancing the naturalness and convenience of interaction.
[0003] Existing wearable haptic feedback devices suffer from the following problems when worn on the limbs: Because the density of mechanoreceptors in the skin of the upper limbs is lower than that of the hands, array-like haptic feedback is required that conforms to the skin surface. However, the uneven skin surface of the upper limbs makes this difficult compared to the torso. Existing wearable haptic feedback devices mainly fall into two categories, both of which struggle to achieve array-like haptic feedback conforming to the surface of the upper limb. One type uses vibration motors, solenoids, etc., to provide single-point vibration feedback; this method struggles to provide changes in contact force and contact area. The other type uses pneumatic actuators; while these actuators can provide changes in contact force and contact area, they struggle to provide distributed feedback on the bent surface of the upper limb and suffer from low linearity of output force and imprecise control. Summary of the Invention
[0004] In order to solve the above-mentioned problems in the prior art, the purpose of this case is to provide a tactile feedback device, system and method for flight simulation, which solves the problem that existing wearable tactile feedback devices worn on the limbs have low fit and are difficult to achieve effective tactile feedback.
[0005] To achieve the above objectives, in a first aspect, this application proposes the following specific technical solution. In a first aspect, this application proposes a tactile feedback device, comprising a tactile array composed of tactile units arranged in rows and columns. Each tactile unit is formed by heat-sealing two layers of thermoplastic polyurethane rubber film, with adjacent tactile units sharing a heat-sealed edge. Each tactile unit can be activated individually, generating tactile force. The user's movement direction is adjusted by indicating the activation position of the tactile unit. Utilizing a preset mapping relationship between the number of activated tactile units and the movement error, the user's movement magnitude is adjusted by indicating the number of activated units. The number of activated units increases arithmetically as the movement 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 embodiment of the above-mentioned device technical solution, the size of the tactile unit is determined according to the average diameter of the wearing position.
[0008] In one embodiment of the above-mentioned device technical solution, the tactile feedback device further includes a strap that 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 a PU tube via an L-shaped flexible hose connector, and a pressurized medium is filled into the tactile unit through the PU tube to activate the tactile unit.
[0010] Secondly, this application proposes a haptic feedback system for flight, comprising a pose sensor, a data processing and analysis module, a control terminal, and any of the aforementioned haptic feedback devices; the haptic feedback device is configured to be mounted on a user's upper limb to perform a flight mission; the pose 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, based on the N posture information, the haptic units in the haptic feedback device that need to be activated, the steps of which include: obtaining the angle θ at the end of the abduction or adduction movement based on the N posture information. h And angular velocity ω, and then obtain the angular change Δθ relative to the initial position of the motion. h Tactile force F is obtained based on angular velocity ω. The F0 haptic feedback device provides preload force; simultaneously, it acquires the expected angle θ at the end of the action. x Therefore, the expected angle change relative to the initial state of the action is Δθ. x According to |Δθ h |、|Δθ x The magnitude relationship of | is used to determine the activation position of the tactile unit in the tactile feedback device, based on |Δθ. h -Δθ x The value of | is determined based on a preset linear mapping relationship between the number of activated tactile units and the motion error, thereby determining the number of activated tactile units in the tactile feedback device; the amount of pressurized medium filling for each activated tactile unit is determined based on the obtained tactile force; the control terminal is configured to fill the tactile units that need to be activated in the tactile feedback device with pressurized medium, thereby activating the tactile units that need to be activated.
[0011] In one embodiment of the above system technical solution, the tactile array consists of 40 tactile units, and the number of activated tactile units has a preset linear mapping relationship with 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 |Δθ h|、|Δθ x The size relationship between |Δθ| determines the activation location of the tactile unit. Specifically, when the upper limb is abducted, if |Δθ| > 0, the activation location of the tactile unit is determined. h |<|Δθ x | indicates 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 | indicates 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 is adducted, if |Δθ h |<|Δθ x | indicates 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 | indicates 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] Thirdly, this case proposes a tactile feedback method for flight simulation, the steps of which include: acquiring N posture information of the user's upper limb abduction or adduction movements, and based on the N posture information, acquiring the angle θ at the end of the abduction or adduction movement. h And angular velocity ω, and then obtain the angular change Δθ relative to the initial position of the motion. h Tactile force F is obtained based on angular velocity ω. The F0 haptic feedback device provides preload force; it also acquires the expected angle θ at the end of the action. x Therefore, the expected angle change relative to the initial state of the action is Δθ. x According to |Δθ h |、|Δθ x The size relationship of | is used to determine the activation location of the tactile unit in contact with the user's upper limb, based on |Δθ. h -Δθ x The value of | is determined based on a preset linear mapping relationship between the number of activated tactile units and the motion error, to determine the number of activated tactile units in contact with the user's upper limb; the amount of pressurized medium filling for each activated tactile unit is determined based on the obtained tactile force; wherein, the tactile unit is any of the tactile feedback devices described above.
[0014] The beneficial technical effects of this case are as follows: (1) The tactile feedback device for flight simulation proposed in this case has the characteristics of simple structure, light weight and easy manufacturing. (2) Compared with vibration feedback, the tactile feedback device is composed of tactile units made by heat sealing with thermoplastic polyurethane rubber film, which has better skin adhesion; and the tactile feedback is achieved by the change in area caused by the change in the number of activated tactile units, which solves the problem that existing wearable pneumatic tactile feedback devices cannot simultaneously provide tactile force and tactile area change to the user's upper limbs. 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 units have good sealing performance. (4) By utilizing the preset linear mapping relationship between the number of activated tactile units and the motion error, the user's motion size is adjusted by indicating the number of activated units. The number of activated units increases arithmetically with the increase of motion error, so that the output force has high linearity, which is conducive to the precise control of tactile force. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 , one A schematic diagram of the haptic feedback system in one implementation method.
[0017] Figure 2 , one A diagram illustrating the effect of using the haptic feedback system in one implementation method.
[0018] Figure 3 , one A schematic diagram of the tactile array structure in one embodiment.
[0019] Figure 4 , one A photograph of a physical example of the haptic feedback device in one embodiment.
[0020] Figure 5 , one A photograph of the tactile unit after it is inflated and activated in one embodiment.
[0021] Figure 6 , one A schematic diagram of the control of the haptic feedback device in one embodiment.
[0022] Figure 7 , one This is a schematic diagram illustrating the feedback when a user follows the outward movement of a virtual airplane and the outward angle is too large in one implementation.
[0023] Figure 8 , one A flowchart illustrating the haptic feedback control process when a user follows the outward movement of a virtual aircraft in one implementation method.
[0024] In the diagram: 1. Haptic feedback device; 2. Posture monitoring module; 3. Haptic task generation terminal; 4. Haptic array; 5. User's upper limb forearm; 6. Trachea; 7. Elastic band; 8. Haptic unit; 9. Virtual airplane; 10. Activated haptic array area on the upper side of the haptic feedback device; 11. Inactive haptic array area on the lower side of the haptic feedback device; 12. Display. Detailed Implementation
[0025] This design presents a tactile feedback device comprising a tactile array composed of rows and columns of tactile units. Each tactile unit is formed by heat-sealing two layers of thermoplastic polyurethane rubber film, with adjacent units sharing a single heat-sealed edge. The tactile array, constructed from heat-sealed thermoplastic polyurethane rubber film units, improves the fit to the limb and offers a simple, lightweight, and easy-to-manufacture structure. Each tactile unit can be activated individually, generating tactile force. The user's movement direction is adjusted by indicating the activation position of the tactile unit. A preset mapping relationship exists between the number of activated tactile units and the movement error, allowing adjustment of the user's movement magnitude based on the activation count. The activation count increases arithmetically with increasing movement error, indicating good linearity of the tactile force, which facilitates precise control of the tactile force.
[0026] Based on the aforementioned haptic feedback device, this invention also designs a haptic feedback system for flight. Specifically, the system includes a pose sensor, a data processing module, a control terminal, and a haptic feedback device. The haptic feedback device is configured on the user's upper limb to perform flight tasks, enhancing the user's upper limb posture perception and improving the user's tactile experience. The pose sensor collects N posture information points related to the user's upper limb abduction or adduction movements. The data processing module is configured to determine the haptic units to be activated in the haptic feedback device based on the N posture information points. The steps include: obtaining the angle θ at the end of the abduction or adduction movement based on the N posture information points. h And angular velocity ω, and then obtain the angular change Δθ relative to the initial position of the motion. h Tactile force F is obtained based on angular velocity ω. The F0 haptic feedback device provides preload force; simultaneously, it acquires the expected angle θ at the end of the action. xTherefore, the expected angle change relative to the initial state of the action is Δθ. x According to |Δθ h |、|Δθ x The magnitude relationship of | is used to determine the activation position of the tactile unit in the tactile feedback device, based on |Δθ. h -Δθ x The value of | is used to determine the number of activated tactile units in the tactile feedback device based on a preset linear mapping relationship between the number of activated tactile units and the motion error; the amount of pressurized medium filling for each activated tactile unit is determined based on the obtained tactile force. The control terminal is configured to fill the tactile units that need to be activated in the tactile feedback device with pressurized medium, thereby activating the tactile units that need to be activated.
[0027] The following will be combined with the appendix Figure 1-8 Using virtual aircraft flight simulation as a tactile task, this application clearly and completely describes how the technical solution improves the fit between the tactile feedback device and the limb, enhances the user's upper limb posture perception, and improves the user's tactile experience. Obviously, the described implementation methods are only a part of the implementation methods in this application, not all of them. All other implementation methods obtained by those skilled in the art based on the implementation methods in this application without inventive effort are within the scope of protection of this application.
[0028] See Figures 1-2 The haptic task generator (3) generates haptic tasks for the virtual aircraft and displays the virtual aircraft status on the monitor (12). Figure 2 As can be seen, after the user wears the haptic feedback device (1) on their upper limb, the user's upper limb can be controlled to perform corresponding abduction / adduction movements according to the rolling motion of the virtual airplane wing. A posture monitoring module (2) is worn on the triceps of the user's upper limb. This module collects the user's upper limb posture information in real time as the user's upper limb follows the virtual airplane movement and sends the collected posture information to the haptic task terminal. The haptic task terminal obtains feedback information based on the user's upper limb posture information and the virtual airplane movement information, and sends the feedback information to the control terminal. The control terminal controls the haptic feedback device to provide haptic information to the user, guiding the user's upper limb to accurately follow the rolling motion of the virtual airplane wing. The haptic information includes the magnitude of the haptic force, the direction of the movement adjustment, and the movement error.
[0029] The aforementioned haptic task terminal is a device capable of generating virtual aircraft flight missions. It can be integrated with a display or be a standalone device. The haptic task terminal can transmit data or control information to the attitude detection module and control terminal via communication methods such as Bluetooth, cellular, Wi-Fi, and IoT.
[0030] The aforementioned haptic task terminal generates virtual aircraft flight missions using methods such as C++ programming languages combined with graphics libraries, game engines such as Unity, and game development frameworks.
[0031] When the virtual aircraft flight missions are generated, they have different flight difficulties depending on the mission level selected by the user. The flight difficulty is reflected by the change in the wing roll angle of the virtual aircraft.
[0032] The posture monitoring module described above includes a pose sensor to collect posture information of the user's upper limbs. Depending on the tactile task, the pose sensor can be other sensors.
[0033] See Figure 3 The aforementioned tactile feedback device consists of rows and columns of tactile units (8), each individually controlled by a separate air tube (6). Changes in air pressure within the tactile units produce changes in tactile force. When a tactile unit is inflated, it is said to be "activated." By using tactile units to form a tactile array (4) that surrounds the user's forearm (5), different numbers and locations of tactile units can be activated to provide the user with different force feedback on a virtual airplane wing, enhancing the user's tactile experience and upper limb posture perception. It should be noted that pressurized media, such as water, hydraulic fluid, or electrochemical gel, can also be used for the tactile units.
[0034] In one embodiment, 40 tactile units are arranged in a 5-row, 8-column tactile array.
[0035] Figure 4 This illustrates one way of wearing a haptic feedback device, using an elastic band (7) to attach the haptic array to the user's upper limb (5).
[0036] Figure 5 This illustration depicts a specific tactile unit. The fabrication steps of this tactile unit include: determining the thickness of two layers of thermoplastic polyurethane rubber (TPU) film based on the range of tactile stimulation intensity; determining the size of a single tactile unit and the size of the tactile array based on the user's upper limb dimensions; heat-sealing the unit using a heat-sealing machine according to the determined dimensions; and connecting each tactile unit to a PU tube via an L-shaped hose connector. The PU tube is used to inflate the tactile unit with air or other pressurized media when the tactile unit is activated, and to de-inflate or remove other pressurized media when the tactile unit is deactivated. The size of a single tactile unit may vary for different users. To facilitate the design of the tactile unit, the user's upper limb dimensions can be based on the average cross-sectional dimensions of the forearm. In this fabrication method, the tactile array composed of tactile units heat-sealed from thermoplastic polyurethane rubber films improves the fit to the limb.
[0037] The fabrication steps for the tactile array are the same as those for the tactile unit fabrication described above. During heat sealing, adjacent tactile units share a single heat-sealing edge.
[0038] In one embodiment, the tactile stimulation intensity ranges from 0 to 12 Newtons, and both TPU film layers are 0.5 mm thick. The average diameter of the user's forearm cross-section is 55 mm, and the size of the tactile unit is 25 mm × 25 mm. The overall size of the tactile array, consisting 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 secured to the user's forearm with straps. Because the tactile units, acting as pneumatic actuators, form air bags through inflation, they can conform well to the skin surface and the bent arm, thus providing tactile feedback over a large area. The straps can be elastic bands, adhesive tape, buckles, etc.
[0039] See Figure 6 Each tactile unit has its own air tube connected to a different outlet of a miniature solenoid valve, enabling individual activation control of each unit. By activating different numbers and locations of tactile units and inflating them according to tactile force, the system provides users with tactile information of a virtual airplane wing. Each outlet of the miniature solenoid valve is individually controlled in real time by a control module. The control unit sends control information based on feedback from the tactile server, controlling the opening and closing of each outlet of the miniature solenoid valve to fill or extract pressurized medium (such as inflation or desorption) into the tactile unit to be activated, thereby determining whether the tactile unit is activated.
[0040] The aforementioned control terminal converts control information into electrical signals that control the miniature solenoid valve. It can be an input / output device or a microcontroller.
[0041] See Figure 7 A scenario was created where a user wore a haptic feedback device to interact with a virtual airplane. The roll angle of the virtual airplane (9) wings was θ. x The expected angle is denoted as θ. The roll angle is the angle between the virtual aircraft and the horizontal plane. N posture information points of the user's upper limb movements are monitored, and each posture information is represented by a quaternion. Based on the quaternions, the angle θ of the user's upper limb abduction / adduction movements is obtained after data processing and analysis. h and angular velocity ω.
[0042] For example, the data processing and analysis steps include:
[0043] (1) In Figure 7In the coordinate system shown (with the shoulder joint as the origin, the horizontal extension of the arm as the z-axis, and the plane containing the arm and shoulder as the zoy plane, and the x-axis, y-axis, and z-axis satisfying the right-hand screw rule), each posture information of the user's upper limb movement collected by the posture sensor is represented as a quaternion q = [q0 q1 q2 q3], where q0 represents the real part of the quaternion, and q1, q2, and q3 represent the three imaginary parts of the quaternion.
[0044] (2) Based on 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) Based on the formula The N sets of quaternion data obtained above are discretized and then linearly interpolated. Calculate the angular velocity ω of the user's upper limb movements. Here, n represents the nth quaternion data point collected, and q... * 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 airplane, combined with Figure 8 The flowchart illustrates the specific process of flight simulation control based on tactile feedback provided by the tactile feedback device.
[0047] Based on the angle θ of the user's upper limb movement h The flight simulation server calculates the angle changes of the user's upper limbs. in: This provides the initial posture information for the upper limbs. This refers to the termination posture information of the upper limb.
[0048] Based on the angle θ of virtual aircraft wing roll x The haptic service generator is a flight simulation server that calculates the angular changes of the virtual aircraft's wings. in: This provides the initial attitude information for the virtual aircraft. This refers to the terminal attitude information of the virtual aircraft. θ x Δθ represents the expected angle at the end of the user's upper limb movement. x This refers to the expected angle change relative to the initial state of the action.
[0049] Next, the changes in the user's upper limb angle Δθ were compared. h And the change in the wing angle of the virtual aircraft Δθ x The size of the value determines the activation position of the haptic unit in the haptic feedback device. This is based on the difference in the following angle |Δθ| between the user's upper limb and the virtual airplane wing. h -Δθ xBased on the preset linear mapping relationship between the number of activated haptic units and the motion error, the number of activated haptic units in the haptic feedback device is determined to provide haptic feedback, allowing the user to reduce the following angle difference and adjust the motion size through haptic feedback.
[0050] A method based on |Δθ h |、|Δθ x The size relationship of | is used to determine the activation position of the tactile unit, specifically as follows: when the user's right arm follows the virtual airplane in an abduction movement, if |Δθ h |<|Δθ x | indicates that the user's upper limb abduction angle is insufficient, and the activated tactile units are 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 limb to increase the angle of movement. If |Δθ h |>|Δθ x | indicates that the user's upper limb abduction angle is too large, and the activated tactile units are 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 limb to reduce the angle of movement. If |Δθ h |=|Δθ x | indicates that the user's upper limb abduction angle is equal to the roll angle of the virtual aircraft wing, and the haptic feedback device does not provide haptic feedback. The activated haptic unit is located on the upper or lower side of the upper limb and can be adjusted on the control terminal according to the haptic array worn.
[0051] When the user's right arm follows the virtual airplane in an adduction movement, the haptic feedback device provides a haptic array area that is the opposite of that during an abduction movement. Specifically, when the upper limb moves in adduction, if |Δθ h |<|Δθ x | indicates 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 | indicates 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 aforementioned tactile feedback includes the magnitude of tactile force and the tactile area. The tactile area varies with the angle difference |Δθ|. h -Δθ x |Changes with the environment. In one implementation, a preset following angle difference |Δθ h -Δθ x The mapping relationship between | and the tactile area S makes the following angle difference |Δθ h -Δθ x The larger the area, the larger the tactile area S, which can better guide the user's upper limbs to accurately follow the movements.
[0053] The aforementioned tactile array, consisting of 40 tactile units, has a pre-defined linear mapping relationship as follows: S1, S2, S3, S4, and S5 represent the number of activated tactile units in the tactile array.
[0054] The more haptic units activated, the larger the haptic area. Users can control the magnitude of their movements by adjusting the number of activated units, and the number of activated units increases arithmetically with increasing movement error, offering the advantage of good linearity in haptic force, which is beneficial for precise control of haptic force. The preset linear mapping relationship is adjustable.
[0055] The tactile force is related to the angular velocity ω of the user's upper limb movements. The faster the angular velocity of the user's upper limb movements, the greater the tactile force provided to simulate the drag of a virtual aircraft wing. Let the tactile force be denoted as F. F0 is the preload force provided by the haptic feedback device. The preload force is determined by the mechanical properties of a single haptic unit with a defined size; for example, a 25mm × 25mm unit has a preload force of 2N (Newtons). Based on the obtained haptic force, the amount of pressurized medium injected into each activated haptic unit can be determined.
[0056] The steps involved in this case may be implemented out of order. One or more additional steps may be added to the method, or one or more steps may be removed from it.
[0057] The haptic feedback device and posture detection module in this case can be further applied as haptic feedback devices in human-computer interaction fields such as robot teleoperation and stroke rehabilitation. The haptic feedback device in this case can be further improved for lower limb exercise or rehabilitation, or for correcting neck and shoulder posture.
[0058] In one embodiment, the above-described data processing and analysis is designed as a data processing and analysis module. This module is configured to determine the haptic units to be activated in the haptic feedback device based on the N posture information. The steps include: obtaining the angle θ at the end of the abduction or adduction movement based on the N posture information. h And angular velocity ω, and then obtain the angular change Δθ relative to the initial position of the motion. h Tactile force F is obtained based on angular velocity ω. The F0 haptic feedback device provides preload force; simultaneously, it acquires the expected angle θ at the end of the action. x Therefore, the expected angle change relative to the initial state of the action is Δθ. x According to |Δθ h |、|Δθ x The magnitude relationship of | is used to determine the activation position of the tactile unit in the tactile feedback device, based on |Δθ. h -Δθ xThe value of | is determined based on a preset linear mapping relationship between the number of activated tactile units and the motion error, thus determining the number of activated tactile units in the tactile feedback device; and the amount of pressurized medium injected into each activated tactile unit is determined based on the obtained tactile force.
[0059] The data processing and analysis module, along with the haptic feedback device, pose sensor, and control terminal, constitutes a haptic feedback system for flight. The control terminal is configured to fill the haptic units that need to be activated in the haptic feedback device with a pressurized medium, thereby activating the haptic units.
[0060] In one implementation, a haptic feedback method for flight simulation is employed, comprising the steps of:
[0061] Obtain N posture information points of the user's upper limb abduction or adduction movement, and based on the N posture information points, obtain the angle θ at the end of the abduction or adduction movement. h And angular velocity ω, and then obtain the angular change Δθ relative to the initial position of the motion. h Tactile force F is obtained based on angular velocity ω. The preload force provided by the F0 haptic feedback device;
[0062] Obtain the expected angle θ at the end of the action. x Therefore, the expected angle change relative to the initial state of the action is Δθ. x ;
[0063] According to |Δθ h |、|Δθ x The size relationship of | is used to determine the activation location of the tactile unit in contact with the user's upper limb, based on |Δθ. h -Δθ x The value of | is determined based on a preset linear mapping relationship between the number of activated tactile units and the motion error, to determine the number of activated tactile units that are in contact with the user's upper limbs.
[0064] Based on the obtained tactile force, determine the amount of pressurized medium injected into each activated tactile unit.
[0065] The embodiments described herein are merely examples of the principles and applications of the invention, and other arrangements and combinations that do not depart from the spirit and scope of the invention are equally applicable. Those skilled in the art can make various changes, modifications, substitutions, and variations to these embodiments, as long as they do not exceed the scope defined by the appended claims and their equivalents.
[0066] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods involved in this disclosure (such as generating virtual aircraft flight missions, calculation methods, control methods, etc.) can be implemented by means of software plus necessary general-purpose hardware, or by special-purpose hardware including application-specific integrated circuits, dedicated CPUs, dedicated memory, dedicated components, etc. Generally, any function performed by a computer program can be easily implemented using corresponding hardware, and the specific hardware structure used to implement the same function can be diverse, such as analog circuits, digital circuits, or dedicated circuits. However, for the purposes of this disclosure, software program implementation is more often a preferred implementation method.
Claims
1. A haptic feedback system for flight, characterized in that, The system includes a pose sensor, a data processing and analysis module, a control terminal, and a tactile feedback device; The tactile feedback device, configured on the user's upper limb to perform flight missions, includes a tactile array composed of tactile units arranged in rows and columns. Each tactile unit is formed by heat-sealing two layers of thermoplastic polyurethane rubber film, with adjacent tactile units sharing a heat-sealed edge. Each tactile unit can be activated individually, generating tactile force. The user's movement direction is adjusted by indicating the activation position of the tactile unit. Utilizing a preset mapping relationship between the number of activated tactile units and the movement error, the user's movement magnitude is adjusted by indicating the number of activated units. The number of activated units increases arithmetically as the movement error increases. 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 haptic units that need to be activated in the haptic feedback device based on the N posture information, and the steps include: Based on the N posture information, obtain the angle at the end of the abduction or adduction movement. and angular velocity This allows us to obtain the angle change relative to the initial state of the action. Based on angular velocity Gain tactile power , , The preload provided by the haptic feedback device; Simultaneously obtain the expected angle corresponding to the end of the action. Therefore, the change in the expected angle relative to the initial state of the action is as follows: ; according to , Based on the size relationship, determine the activation position of the haptic unit in the haptic feedback device, according to The value is determined based on a preset linear mapping relationship between the number of activated haptic units and the motion error, thus determining the number of activated haptic units in the haptic feedback device. Based on the obtained tactile force, determine the amount of pressurized medium injected into each activated tactile unit; The control terminal is configured to fill the tactile unit that needs to be activated in the tactile feedback device with a pressurized medium, thereby activating the tactile unit that needs to be activated.
2. The system according to claim 1, characterized in that, The haptic array consists of 40 haptic units. The number of activated haptic units has a preset linear mapping relationship with the motion error, as shown below: S1, S2, S3, S4, and S5 represent the number of activated tactile units in the tactile array.
3. The system according to claim 1, characterized in that, according to , The size relationship is used to determine the activation location of the tactile unit, specifically: When the upper limbs are abducted, if This indicates that the user's upper limb abduction angle is insufficient, and the activated tactile units are located on the lower side of the upper limb; if This indicates 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 limbs adduct, if This indicates 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 This indicates 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.
4. The system 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.
5. The system according to claim 1, characterized in that, The size of the tactile unit is determined based on the average diameter of the wearing position.
6. The system according to claim 1, characterized in that, The haptic feedback device also includes a strap that secures the haptic array in the wearing position.
7. The system according to claim 1, characterized in that, Each tactile unit is connected to one end of a PU tube via an L-shaped hose connector. Pressurized medium is then filled into the tactile unit through the PU tube to activate it.
8. A haptic feedback method for flight simulation, characterized in that the steps include... include: Obtain N posture information points of the user's upper limb abduction or adduction movements, and based on the N posture information points, obtain the angle at the end of the abduction or adduction movement. and angular velocity This allows us to obtain the angle change relative to the initial state of the action. Based on angular velocity Gain tactile power , , The preload provided by the haptic feedback device; Get the expected angle at the end of the action. Therefore, the change in the expected angle relative to the initial state of the action is as follows: ; according to , Based on the size relationship, determine the activation location of the tactile units in contact with the user's upper limb, according to The value is determined based on a preset linear mapping relationship between the number of activated tactile units and the motion error, which determines the number of activated tactile units that are in contact with the user's upper limbs. Based on the obtained tactile force, determine the amount of pressurized medium injected into each activated tactile unit; The tactile unit is the tactile unit in any of the tactile feedback devices described in claims 1-5.
9. The method according to claim 8, characterized in that, according to , The size relationship is used to determine the activation location of the tactile unit, specifically: When the upper limbs are abducted, if This indicates that the user's abduction angle is insufficient, and the activated tactile units are located on the lower side of the upper limb; if This indicates 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 limbs adduct, if This indicates 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 This indicates 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.