Tactile enhancement training system based on virtual reality

Abstract

The invention relates to a tactile enhancement training system based on virtual reality. The tactile enhancement training system comprises a virtual reality unit, a tactile feedback unit and a processing unit. The virtual reality unit interacts with a virtual reality environment; the tactile feedback unit is used for being worn on the hand and feeding back acting force corresponding to a grabbed object in the virtual reality environment to fingers in the mode of applying traction force to the fingers, and the processing unit is used for determining contact points of the grabbed object in the virtual reality environment. According to the contact points of the grabbed object, the acting force fed back by the tactile feedback unit to the fingers is analyzed, information related to the acting force is sent to the tactile feedback unit, and the acting force is related to the physical characteristics of all the contact points of the grabbed object. When the user interacts with the virtual object, the technical effect of obtaining more real force feedback by applying the traction force to the fingers is achieved, so that the user can feel real physical feedback in the interaction process, and the interaction immersion of the user is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training, and in particular to a tactile enhancement training system based on virtual reality. Background Art

[0002] With the rapid development of digital virtual technologies such as virtual reality (VR) and augmented reality (AR), human-computer interaction methods need to be continuously upgraded to adapt to more complex and diverse application scenarios. At present, existing virtual reality rehabilitation training mainly relies on ordinary VR glasses and handles for operation. Users click, move and drag the hand model in the virtual scene, all of which rely on controlling the VR handle to complete. However, due to the limitations of technical conditions, this method has significant deficiencies in tactile feedback. In the current virtual training environment, when hand patients make decisions and operate, the important tactile transmission link is often ignored. When users grasp and operate virtual objects, the tactile feedback of the hand is not real enough, resulting in inaccurate force feedback and muscle memory during the training process. This unnatural tactile feedback not only fails to help users obtain correct muscle memory, but also seriously affects the improvement of training effects. Therefore, it is extremely necessary to provide a tactile enhancement training system based on virtual reality.

[0003] The application scenarios of tactile enhancement training are very wide. In rehabilitation training, this technology can help patients with impaired hand function gradually restore their motor ability. Patients can undergo rehabilitation training in a safe and controllable environment to enhance muscle strength and coordination. In surgical training, tactile feedback can provide a real hand operation experience in virtual surgical simulation. Doctors can feel the real touch between surgical instruments and tissues in a simulated environment, thereby improving their surgical skills and decision-making ability. In addition, for many occupations that require fine hand operations (such as beauticians and technicians), tactile enhancement training can also provide a simulated training environment to help trainees master the required hand skills without risk. In the field of games and entertainment, tactile feedback can enhance the user's immersive experience, improve the interactivity of the game, enable players to obtain real tactile feedback in a virtual environment, and increase the fun and challenge of the game. In education and scientific research, tactile enhancement training can be used to simulate experiments and scientific operations, allowing students to perform actual operation exercises in a virtual environment to deepen their understanding and memory.

[0004] In order to achieve effective tactile enhancement training, some specific training requirements need to be met. First, the tactile enhancement training equipment must provide high-precision tactile feedback to ensure that users feel real force feedback and tactile experience when operating, which is essential for the formation of muscle memory. Secondly, the equipment should provide personalized training programs, adjust the training content and difficulty settings according to the needs of different users, so that it is challenging but not too difficult. In addition, during the training process, real-time monitoring of the user's operation and performance and providing instant feedback can help users correct mistakes in time, thereby improving the training effect. In addition, the operation interface of the device should be simple and easy to understand to facilitate users of various backgrounds, especially for patients who need rehabilitation training. Finally, when designing a tactile enhancement training system, the safety of the user must be fully considered to avoid physical fatigue or other injuries caused by misoperation or excessive use. In summary, tactile enhancement training can not only improve the effect of virtual reality rehabilitation training, but also be applied in multiple fields to meet the training needs of different users. Therefore, the development of a tactile enhancement training system based on virtual reality will provide important support for achieving more realistic and effective training and rehabilitation.

[0005] For example, the patent document with publication number CN112400151A discloses a method for providing a tactile response to a tactile feedback device, comprising: receiving a physical movement input based at least on the movement of the tactile feedback device by an application of a virtual environment executed on a computer device, the movement of the tactile feedback device corresponding to a virtual movement interaction with a virtual object in the virtual environment; accessing a tactile signature associated with the virtual object; determining a tactile response based at least on the tactile signature to identify the virtual object through the tactile response; and transmitting the tactile response to the tactile feedback device. The tactile feedback provided by this technical solution is less realistic and still cannot enable users to feel a more realistic sense of touch in a virtual reality environment.

[0006] For example, the patent document with publication number CN117582643A discloses a method and system for audio-visual comprehensive training based on virtual reality, which includes: analyzing scene feedback data of simulated motion tasks to obtain visual feedback data sets and auditory feedback data sets; collecting hand motion data of target users in real time, generating simulated animations for target hand models, and obtaining simulated animation data; screening visual feedback data sets and auditory feedback data sets to obtain target visual feedback data and target auditory feedback data; displaying the target visual feedback data and target auditory feedback data to the target user through a virtual reality display terminal, analyzing the pressure density data of the hand pressure data to obtain pressure density data, and performing training auxiliary control on the target user through training gloves based on the pressure density data. This technical solution mainly uses visual and auditory senses for training, and the training gloves are not flexible enough, resulting in poor hand training effects for users.

[0007] How to provide users with more realistic tactile feedback and make tactile enhancement training based on virtual reality better is a problem that has not yet been solved.

[0008] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0009] At present, due to the limitation of technical conditions, the VR peripherals used in existing virtual reality rehabilitation training are ordinary VR glasses and handles. The click, move and drag actions of the hand model in the virtual scene are all completed by the user controlling the VR handle. The hand is an important transmission part for patients to make decisions, and it is necessary to obtain effective and correct force feedback and muscle memory. At this stage, the grasping operation of the virtual hand model is achieved by the user grasping the VR handle and pressing the relevant buttons on the handle, but in reality, the source of tactile feedback of the user's hand is unnatural, so this tactile feedback is wrong. Not only can the correct muscle memory not be obtained, but the training effect is also greatly reduced.

[0010] In view of the deficiencies of the prior art, the present invention provides a tactile enhancement training system based on virtual reality, including a virtual reality unit, a tactile feedback unit and a processing unit. The virtual reality unit interacts with the virtual reality environment; the tactile feedback unit is worn on the hand and feeds back the force corresponding to the grasped object in the virtual reality environment to the finger by applying traction to the finger; the processing unit determines the contact point of the grasped object in the virtual reality environment, analyzes the force fed back by the tactile feedback unit to the finger according to the contact point of the grasped object, and sends information related to the force to the tactile feedback unit, wherein the force is associated with the physical characteristics of each contact point of the grasped object.

[0011] The present invention achieves a technical effect of more realistic force feedback by applying traction to fingers when the user interacts with a virtual object, so that the user can feel real physical feedback during the interaction process, thereby enhancing the user's interactive immersion.

[0012] According to a preferred embodiment, the tactile enhancement training system based on virtual reality also includes an electroencephalogram signal acquisition unit that is communicatively connected to the processing unit, and the electroencephalogram signal acquisition unit collects cognitive load brain nerve information of the head in real time, and the processing unit adjusts the feedback intensity of the force according to the cognitive load brain nerve information. This arrangement allows users to adapt to tasks of different difficulty levels.

[0013] According to a preferred embodiment, the tactile feedback unit includes a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism, the control mechanism is connected to the driving mechanism, the traction mechanism and the tactile feedback mechanism in communication, the control mechanism constructs a driving instruction and a tactile feedback instruction based on information related to the force, the driving mechanism and the traction mechanism are connected and adjust the traction direction and / or traction intensity of the traction mechanism located at the finger part based on the driving instruction to push the hand knuckle to bend or stretch; the tactile feedback mechanism is arranged at the fingertips and / or finger joints, the tactile feedback mechanism implements physical stimulation to the hand based on the tactile feedback instruction to feedback the corresponding tactile sensation; the traction mechanism and the tactile feedback mechanism are linked to each other so that the user can feel the physical characteristics of the grasped object based on the hand bending action formed by the traction and the tactile sensation. Such an arrangement is conducive to making the hand feel natural tactile feedback.

[0014] According to a preferred embodiment, when the user adjusts the hand movement according to the tactile feedback information, the virtual reality unit updates the virtual reality environment based on the hand movement and sends updated information related to the force to the processing unit. Real-time update is conducive to the consistency of the hand movement in the virtual reality environment with the real hand movement.

[0015] According to a preferred embodiment, the tactile feedback mechanism in the tactile feedback unit includes an inertial sensor and a motion tracking module, wherein the inertial sensor is arranged at the finger joint to collect the bending action information of the finger, and the motion tracking module is arranged in the wrist shell to collect the moving action information of the hand; the virtual reality unit adjusts the hand model in the virtual reality environment based on the bending action information of the finger and the moving action information of the hand, and forms a real hand action in the virtual reality environment. With such an arrangement, the user's own real action is consistent with the hand action of the virtual reality environment, and can feel the more real force feedback of the grasped object in real time, which enables the user to feel the real touch in the virtual reality environment.

[0016] According to a preferred embodiment, the tactile feedback unit is provided with a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism on the glove frame in a wearable form, wherein the control mechanism is provided at the back of the hand of the glove frame, the driving mechanism is provided at the metacarpophalangeal joint position close to the back of the hand, the traction mechanism connects the driving mechanism and the tactile feedback mechanism worn on the fingertips in the form of a traction line, the traction mechanism is adaptively bent and stretched based on the bending action of the fingers, and the position of the traction mechanism corresponding to the finger joints is provided with an inertial sensor to collect the relative distance and pressure value of each finger joint; the processing unit detects the hand movement in real time based on the relative distance and pressure value of each finger joint of the hand. Such a setting is conducive to more realistic determination of hand movements and postures, and is also conducive to providing more realistic tactile feedback for the hand.

[0017] According to a preferred embodiment, the tactile feedback mechanism in the tactile feedback unit realizes tactile feedback by applying vibration and / or pressure to the fingertips. In this way, the user can feel the force or vibration corresponding to the physical characteristics of the grasped object through the fingertips, which feels more realistic.

[0018] According to a preferred embodiment, the driving mechanism and the traction mechanism are connected via a pulley mechanism, and the driving mechanism changes the magnitude and direction of the force of each traction line in the traction mechanism by adjusting the pulley mechanism, which is conducive to more flexible adjustment of the bending action of the finger.

[0019] According to a preferred embodiment, the end of the traction mechanism located at the fingertip is provided with an optical fiber sensor; the tactile feedback mechanism is a tactile electrode film worn on the fingertip, the tactile electrode film physically stimulates the hand to feedback the corresponding tactile sensation. The tactile electrode film is easy to stick on the finger and is easy to use.

[0020] According to a preferred embodiment, the tactile feedback unit is provided with a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism on a glove frame in a wearable form. The glove frame includes a back-of-hand shell frame, a joint frame, a back-of-hand middle shell frame, a wrist shell, a palm frame and a palm soft filling part. The glove frames are connected to each other to adapt to the palm movement of the palm. A skeleton driving mechanism is embedded in the frame. The skeleton driving mechanism adjusts the connection angle of the connecting parts between the back-of-hand shell frame, the joint frame, the back-of-hand middle shell frame and the palm frame based on the instruction of the skeleton control mechanism, so that the glove frame pulls the palm to move and applies force feedback to the palm. The glove frame is arranged in this way, so that the palm and the finger joints can move flexibly, reducing the resistance of the mechanical mechanism to the movement of the fingers. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the connection relationship of the tactile enhancement training system based on virtual reality provided by the present invention;

[0022] Figure 2 It is a logical schematic diagram of a tactile enhancement training system based on virtual reality provided by the present invention;

[0023] Figure 3 It is a schematic diagram of the operating principle of the tactile enhancement training system based on virtual reality provided by the present invention;

[0024] Figure 4 is a first test schematic diagram of the tactile enhancement training system based on virtual reality provided by the present invention;

[0025] Figure 5 is a second test schematic diagram of the tactile enhancement training system based on virtual reality provided by the present invention;

[0026] Figure 6is a schematic diagram of the back structure of the hand in a worn state of the tactile feedback unit provided by the present invention;

[0027] Figure 7 : is a schematic diagram of the back of hand structure of the tactile feedback unit provided by the present invention;

[0028] Figure 8 is a schematic diagram of the palm structure of the tactile feedback unit provided by the present invention in a worn state;

[0029] Fig. 9 is a schematic diagram of the palm structure of the tactile feedback unit provided by the present invention;

[0030] Fig.10 It is an exploded schematic diagram of the structure of the tactile feedback unit provided by the present invention.

[0031] Reference numerals list

[0032] 100: virtual reality unit; 200: processing unit; 300: EEG signal acquisition unit; 400: tactile feedback unit; 401: outer shell skeleton on the back of the hand; 402: joint skeleton; 403: tactile electrode membrane; 404: optical fiber sensor; 405: traction line; 406: microcontroller; 407: power management module; 408: outer shell skeleton in the back of the hand; 409: wrist shell; 410: palm skeleton; 411: palm soft filling part. DETAILED DESCRIPTION

[0033] The following is a detailed description with reference to the accompanying drawings.

[0034] At present, due to the limitation of technical conditions, the VR peripherals used in existing virtual reality rehabilitation training are ordinary VR glasses and handles. The click, move and drag actions of the hand model in the virtual scene are all completed by the user controlling the VR handle. The hand is an important transmission part for patients to make decisions, and it is necessary to obtain effective and correct force feedback and muscle memory. At this stage, the grasping operation of the virtual hand model is achieved by the user grasping the VR handle and pressing the relevant buttons on the handle, but in reality, the source of tactile feedback of the user's hand is unnatural, so this tactile feedback is wrong. Not only can the correct muscle memory not be obtained, but the training effect is also greatly reduced.

[0035] like Figure 1 to Figure 2As shown, the tactile enhancement training system based on virtual reality of the present invention includes a virtual reality unit 100, a tactile feedback unit 400 and a processing unit 200. The virtual reality unit 100 is used to interact with a virtual reality environment. The tactile feedback unit 400 is used to be worn on the hand and to feedback the force corresponding to the grasped object in the virtual reality environment to the finger by applying traction force to the finger, so as to realize tactile feedback and hand interaction. The processing unit 200 is used to determine the contact point of the grasped object in the virtual reality environment, analyze the force fed back to the finger by the tactile feedback unit 400 according to the contact point of the grasped object, and send information related to the force to the tactile feedback unit 400, wherein the force is associated with the physical characteristics of each contact point of the grasped object.

[0036] According to a preferred embodiment, Figure 1 to Figure 2 As shown, the system also includes an EEG signal acquisition unit 300 that is communicatively connected to the processing unit 200. The EEG signal acquisition unit 300 acquires EEG signals of the head in real time. The processing unit 200 adjusts the feedback intensity of the force according to the EEG signals. For example, the EEG signal acquisition unit 300 is an EEG cap. During the training process, the processing unit 200 optimizes the feedback method of the tactile force feedback according to the EEG signals sent by the EEG signal acquisition unit 300. For example, when it is detected in a virtual reality environment that the accuracy of grabbing an object is not high, the processing unit 200 will enhance the degree of tactile feedback.

[0037] like Figure 1 As shown, the EEG signal acquisition unit 300 sends the EEG signal to the physiological signal data acquisition device g.USBamp in the VR device. The physiological signal data acquisition device g.USBamp sends the user's motion imagination information to the processing unit 200, which performs data processing and then simulates the scene in the virtual reality environment. After data processing, the processing unit 200 also forms the user's cognitive evaluation information, that is, the user's cognitive ability and state information. The physiological signal data acquisition device g.USBamp analyzes and evaluates cognitive load from the EEG signal.

[0038] The EEG signal acquisition unit 300 sends the collected EEG signal collected by the electrodes on the user's scalp to the tactile feedback unit 400. The tactile feedback unit 400 triggers corresponding tactile feedback or actions by decoding brain activities to achieve behavioral mapping. The tactile feedback unit 400 performs hand interaction in a virtual reality environment. In the virtual reality environment, the tactile feedback unit 400 applies tactile feedback to the hand, and the hand transmits the tactile feedback information to the brain through nerves.

[0039] Through the interaction of the VR device, the processing unit 200, the EEG signal acquisition unit 300 and the tactile feedback unit 400 in the virtual reality environment, multimodal interaction of the user in the virtual reality environment is realized, such as interacting in the virtual scene through eye tracking and language control, and applying sensory stimulation to the user through the virtual reality environment and the tactile feedback unit 400, such as forming visual feedback and auditory feedback.

[0040] According to a preferred embodiment, when the user adjusts the hand movement according to the tactile feedback information, the virtual reality unit 100 updates the virtual reality environment based on the hand movement and sends the updated information related to the force to the processing unit 200.

[0041] like Figure 3 As shown, the operating principle of the present invention is:

[0042] When the hand is not in contact with the virtual object in the virtual reality environment, the driving mechanism, such as the motor, is not driven, and the processing unit 200 does not send information related to tactile feedback to the tactile feedback unit 400. When the hand just contacts the virtual object in the virtual reality environment, the processing unit 200 sends information related to tactile feedback to the tactile feedback unit 400, and the tactile feedback unit 400 begins to apply traction to the fingers based on changes in the contact situation. At this time, the motor is driven to pull multiple traction lines 405 (such as ropes) to start moving. When the hand completely grasps the virtual object, the tactile feedback unit 400 applies a force to the corresponding fingers based on the contact point between the palm and the virtual object. At this time, the traction line 405 (such as a rope) is limited, and the grasping range of the hand cannot exceed the volume range of the object, so that the hand fully grasps and produces a tactile sensation of contacting the virtual object.

[0043] like Figure 4 As shown, the user performs a first test of simply throwing an object in a virtual reality environment. Figure 4 In the process, after starting, step 1: grasp the object and move it into the air; step 2: throw the object; end.

[0044] like Figure 5 As shown, the user performs a second test of archery in a virtual reality environment. Figure 5 In the process, the state of holding the bow is the starting state. Step 1: nocking the arrow; Step 2: drawing the bow; Step 3: releasing the arrow. The state where the arrow hits the target or falls to the ground is the ending state. In this process, the user feels the force feedback in the continuous process of nocking the arrow, drawing the bow, and releasing the arrow through the tactile feedback unit 400, that is, the tactile feeling of drawing the bow, the tactile feeling of nocking the arrow, and the tactile feeling of not having force after releasing the arrow.

[0045] Figures 6 to 10 One of the mechanical structures of the tactile feedback unit 400 is shown.

[0046] like Figure 2 , Figures 6 to 10 As shown, the tactile feedback unit 400 includes a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism. The control mechanism is in communication connection with the driving mechanism, the traction mechanism and the tactile feedback mechanism. The control mechanism constructs a driving instruction and a tactile feedback instruction based on information related to the applied force. The driving mechanism is connected to the traction mechanism and adjusts the traction direction and / or traction intensity of the traction mechanism located at the finger position based on the driving instruction to push the hand knuckles to bend or extend. The driving mechanism is, for example, a motor, which is responsible for adjusting the tension of the traction line 405 to simulate different forces and touches. The control mechanism generates corresponding force feedback instructions according to the interactive situation in the virtual reality environment, and adjusts the tension of the traction line 405 through the motor to transmit force feedback to the user's fingers.

[0047] The tactile feedback mechanism is arranged at the fingertips and / or finger joints, and the tactile feedback mechanism implements physical stimulation to the hand based on the tactile feedback instruction to feedback the corresponding tactile sensation. The traction mechanism and the tactile feedback mechanism are linked to each other so that the user can grasp the physical characteristics of the object based on the hand bending action formed by traction and the tactile sensation. The tactile feedback mechanism in the tactile feedback unit 400 realizes tactile feedback by applying vibration and / or pressure to the fingertips.

[0048] The present invention can achieve more detailed and accurate force feedback through the mechanical mechanism of the traction line 405, simulate a variety of tactile sensations, and provide users with a more realistic virtual experience through a simple and efficient force feedback transmission method.

[0049] like Figure 2 , Figures 6 to 10 As shown, the tactile feedback mechanism in the tactile feedback unit 400 includes an inertial sensor and a motion tracking module. The motion tracking module is, for example, a three-dimensional coordinate sensor, which is used to obtain the three-dimensional coordinate position of the hand's force point and locate the operated object in the virtual screen after three-dimensional modeling.

[0050] The inertial sensor is arranged at the finger joint to collect the bending motion information of the finger, and the motion tracking module is arranged in the wrist housing 409 to collect the moving motion information of the hand.

[0051] The virtual reality unit 100 adjusts the hand model in the virtual reality environment based on the bending motion information of the fingers and the moving motion information of the hand to form a real hand motion in the virtual reality environment.

[0052] like Figures 6 to 10As shown, the tactile feedback unit 400 is provided with a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism on the glove frame in a wearable form, wherein the control mechanism is provided at the back of the hand of the glove frame, the driving mechanism is provided at the metacarpophalangeal joint position close to the back of the hand, the traction mechanism connects the driving mechanism and the tactile feedback mechanism worn on the fingertips in the form of a traction line 405, the traction mechanism is adaptively bent and stretched based on the bending action of the fingers, and the position of the traction mechanism corresponding to the finger joints is provided with an inertial sensor to collect the relative distance and pressure value of each finger joint. The processing unit 200 detects the hand movement in real time based on the relative distance and pressure value of each finger joint of the hand.

[0053] Specifically, each sensor on the tactile feedback unit 400 (including the sensor at the finger tip) has a three-dimensional coordinate (x, y, z) indicating its position in the virtual reality environment. The relative distance value is the relative distance between fingers or between a finger and a virtual object. The pressure value indicates the pressure intensity felt when the finger contacts the virtual object.

[0054] The calculation process of the relative distance and pressure value of each finger joint of the hand by the processing unit 200 is as follows.

[0055] S101: First, define a basic hand posture (such as a relaxed state) and set the initial three-dimensional coordinates of each sensor on each finger. The sensor may include a pressure sensor, a distance sensor, a tactile feedback element located in the tactile electrode film 403 and an optical fiber sensor 404.

[0056] S102: Update three-dimensional coordinates. Update the three-dimensional coordinates of the sensor of each finger according to the real-time data of each sensor.

[0057] S103: Calculate the relative distance.

[0058] The process of calculating the distance between fingers is as follows.

[0059] For each pair of fingers (eg, thumb and index finger), the Euclidean distance between them is calculated.

[0060] d ij＝ (x i -x j ) 2 +(y i -y j ) 2 +(z i -z j ) 2 .

[0061] i and j are the indexes of the fingers.

[0062] The process of calculating the distance between the finger and the object is as follows.

[0063] If there is an interactive object in the virtual reality environment, calculate the distance between the finger and the nearest point of the object.

[0064] S104: Adjust the posture according to the pressure value.

[0065] When the pressure value increases, assuming that the finger is bending in a certain direction or contacting more closely, the three-dimensional coordinates of the finger can be proportionally adjusted according to the size of the pressure value to make it closer to the target point (such as a virtual object).

[0066] A pressure threshold is set. When the pressure exceeds the pressure threshold, it is considered that the finger has fully contacted and "grasped" the object.

[0067] S105: Posture synthesis.

[0068] Combine the 3D coordinates and relative positions of the sensors on all fingers to synthesize the pose of the entire hand. This may require some interpolation and smoothing to ensure continuity and naturalness of the pose.

[0069] like Figures 6 to 10 As shown, the driving mechanism and the traction mechanism are connected by a pulley mechanism. The pulley mechanism is connected to the microcontroller 406. The driving mechanism changes the magnitude and direction of the force of each traction line 405 in the traction mechanism by adjusting the pulley mechanism. The pulley mechanism is used to guide the movement path of the traction line 405. The pulley mechanism is arranged in a manner that a part of the structure is embedded in the joint skeleton 402, so as to be connected to the joint skeleton 402. The pulley mechanism is designed to be compact to ensure that no excessive friction is generated when the finger moves.

[0070] like Figures 6 to 10 As shown, an optical fiber sensor 404 is provided at the end of the traction mechanism located at the fingertip. The tactile feedback mechanism is a tactile electrode film 403 worn on the fingertip. The tactile electrode film 403 applies physical stimulation to the hand to feedback the corresponding tactile sensation. The tactile electrode film 403 is provided with a hollow portion in the nail direction and the fingertip position of the fingertip, that is, a hole is formed. Preferably, the hollow portion not only reduces the weight of the tactile electrode film 403 and achieves lightweight, but also can serve as a location for adding a hot and cold tactile or microwave vibration module, which can further increase the dimension of the user's tactile feedback, so that the user can get more categories of tactile feedback.

[0071] Preferably, tactile feedback elements such as a retractor and a heating device are provided on the tactile electrode film 403. Preferably, the tactile feedback element applies a physical signal to the fingertips exposed by the hollow portion so that the user can feel the touch through the fingertips. When these tactile feedback elements receive control signals, they will generate tactile feedback of different intensities and modes, such as vibration, pressure, etc.

[0072] like Figures 6 to 10 As shown, the tactile feedback unit 400 is provided with a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism on a glove frame in a wearable form. The glove frame includes a back-hand shell frame 401, a joint frame 402, a back-hand middle shell frame 408, a wrist shell 409, a palm frame 410 and a palm soft filling part 411, and the glove frames are connected to each other to adapt to the palm movement of the palm.

[0073] Specifically, a microcontroller 406 is rotatably arranged on the joint skeleton 402. The microcontroller 406 is connected to a driving mechanism. Preferably, the driving mechanism is a ring motor. The driving mechanism is connected to the traction line 405. An inertial sensor is arranged at a position of the traction line 405 corresponding to the finger joint. Specifically, an inertial sensor and a pressure sensor are respectively arranged at both ends of the connecting rod on the traction line 405 at the two joints of the finger. The inertial sensor and the pressure sensor are respectively connected to the microcontroller 406 via a Bluetooth signal. Preferably, the Bluetooth signal here is one of the examples of wireless communication methods, and does not represent the only wireless communication method.

[0074] The prior art uses a traction line on the glove to traction the finger to bend and move. The disadvantages of this implementation are: (1) The traction line without structural changes can usually only apply force in a single direction and cannot be flexibly adjusted according to the bending requirements of different joints of the finger. This will cause uneven force transmission when the finger is bent, and it is difficult to achieve precise bending angle control. (2) The traction line may cause uneven force distribution during the finger bending process. Some parts may be under pressure, while other parts are understressed, affecting the overall coordinated movement of the finger. (3) The traction line usually applies force at a fixed point on the finger and cannot dynamically adapt to the movement requirements of various parts of the finger. This fixed force method may cause some joints of the finger to be overstressed, while other joints cannot reach the required bending range.

[0075] Preferably, the end of the traction line 405 is connected to the tactile electrode film 403. The traction line 405 is made by 3D printing. The traction line 405 is printed into a geometric shape by a 3D printing device, and the direction and angle of the feedback force can be accurately controlled, which is more variable and inertial than the linear contraction mode of a single traction line. The material of the traction line 405 has good ductility. Ductility refers to the ability of a material to undergo plastic deformation without breaking under the action of an external force. The traction line 405 can change shape without immediately breaking when stretched or compressed. The traction line 405 of the present invention includes a knuckle segment and a finger segment arranged on the back surface of the finger. The traction line 405 is arranged on the back of the finger, so that the side and palm side of the finger are exposed and will not be constrained by any material. The reason for this arrangement is: (1) to reduce interference with finger movement; the traction line 405 is arranged on the back of the finger to avoid occupying the side and palm side of the finger, thereby ensuring that the finger is not restricted when performing complex movements and grasping operations. (2) Enhance the sensitivity of the fingers; the palm and side are the most sensitive parts of the fingers, especially the palm for touch and feeling. Exposing these areas can preserve the tactile sensitivity of the fingers, ensuring that the user can accurately sense and control the movement of the fingers. (3) The traction line 405 on the back can evenly distribute and transmit the applied force when the finger is bent, reducing the problem of excessive local pressure and preventing unnecessary injury or discomfort. At the same time, the back of the finger is an area with less force when it is naturally bent. The traction line 405 set here can conform to the natural force line of the finger and reduce the pressure and friction on the joints of the finger.

[0076] The traction line 405 of the finger joint section realizes the connection function in the form of a connecting rod, and the coverage area on the back of the finger is small. The connecting rod connection can effectively distribute the force applied to the joint, reduce local pressure, and prevent discomfort and injury. The connecting rod design arranged along the back of the finger can conform to the natural force line of the finger and optimize the force transmission path.

[0077] The traction lines 405 of the finger segments are pre-printed to form a geometric connector and have ductility. Figures 6 to 10As shown, preferably, the traction line 405 of the finger segment is pre-printed to form a hexagon. The traction line 405 of the finger segment can be a standard regular hexagon, or a symmetrical hexagon with a certain length. The traction line 405 of the finger segment can also be a geometric shape such as a quadrilateral, an octagon, a trapezoid, etc. Preferably, the traction line 405 of the finger segment can also be a special-shaped geometric shape or a special-shaped structure. In addition to the thumb, the remaining four fingers of the hand each have two finger segments. One of the endpoints of the geometric traction line 405 is connected to the connecting rod in a rotatable manner. Then, the geometric traction lines 405 of the two finger segments are connected in a rotatable manner through a connecting rod, and at the same time, the connecting rod is connected to the endpoint of the geometric traction line 405. The width of the geometric traction line 405 approaches the width of the finger. For example, the shape of the hexagonal traction line 405 is set along the contour of the finger joint, its longer side is close to the long side contour of the finger, and the protruding end point is connected to the connecting rod. When the finger is bent, the multiple line segments of the geometric traction line 405 can form a wider constraint range, cooperatively constraining and controlling the movement of the finger segments. Providing a connecting rod at the finger joint can reduce the impact on the bending of the finger joint. Geometric shapes such as hexagons, quadrilaterals, octagons, etc. can evenly distribute the force, reduce local pressure concentration, and ensure stability and comfort when the finger is bent. In particular, the hexagonal design, whose longer side is close to the long side contour of the finger, can better match the natural shape of the finger and enhance the uniformity of force distribution.

[0078] For example, the length and angle of the hexagonal finger segments adjust as the finger bends. For example, as the finger bends from a straight position, the sides of the hexagon shorten and the angle changes to accommodate the bending of the finger. These adjustments are made possible by the structural properties of the hexagon, where multiple sides and vertices automatically rearrange under stress to avoid excessive stretching or compression, thereby maintaining the overall stability of the structure. In different grasping postures, such as grasping a ball or holding a rod, the bending angles and stress points of the fingers can vary significantly. The hexagonal structure is able to flexibly adapt to these differences. When the fingers grasp a round object, the vertices of the hexagonal structure expand outward to disperse the pressure, while when grasping a slender object, the sides of the hexagon are closer to provide a stronger grip.

[0079] Specifically, on the inner side of the finger, it mainly includes the following areas:

[0080] Finger Pad: This is the soft, fleshy part at the end of the finger, which is usually used to touch and feel the surface of objects.

[0081] Flexor Tendon Sheath: A protective structure covering the outside of the flexor tendon that helps the tendon glide when the finger is flexed.

[0082] Palmar Skin and Subcutaneous Tissue: This layer includes the skin and subcutaneous tissue and has high sensitivity and flexibility.

[0083] Palmar creases: Transverse and longitudinal folds on the palm side of the fingers that increase finger flexibility and gripping ability.

[0084] There are also several major tendons and associated muscles on the inside of the finger.

[0085] Flexor Digitorum Superficialis Tendons: Responsible for flexion of the middle joint of the finger.

[0086] Flexor Digitorum Profundus Tendons: Responsible for the flexion of the distal joints of the fingers.

[0087] Based on the nerve distribution characteristics and muscle group characteristics of the inner side of the finger, the traction line 405 is set on the back of the finger, which reduces the direct interference to the flexor and extensor muscles, ensuring that these muscle groups can contract and relax naturally to complete normal finger movements. The structural characteristics of the geometric shape can promote the coordinated movement of the intrinsic muscle groups and improve the fineness and flexibility of finger movements. Through segmented control, the intrinsic muscle groups can be better adapted to different finger movement requirements.

[0088] The structural design of the traction line 405 of the present invention can also protect the nerves of the fingers and avoid nerve compression and damage. The traction line 405 is arranged on the back of the finger to avoid nerve compression on the palm and side of the finger. The side and palm of the finger are densely sensory nerve areas. Keeping these areas exposed can ensure the tactile sensitivity and accuracy of the fingers. Through the structural design of the connecting rod and geometric shape, the traction line 405 can provide accurate force feedback, helping the user to perceive the mechanical state of the finger in real time during operation. This is very important for the real-time regulation and adaptation of the nervous system, and can improve the accuracy and coordination of finger movements.

[0089] The traction line 405 is set with different structures based on the structural characteristics of the finger segment and the knuckle segment, achieving a more obvious control effect on the bending amplitude of the traction finger. Specifically, taking the middle finger of an adult male as an example, the average length of the proximal knuckle (first knuckle) of the middle finger is about 4 to 5 cm. The average length of the middle knuckle (second knuckle) of the middle finger is about 3 to 5 cm. The average length of the distal knuckle (third knuckle) of the middle finger is about 2 to 3 cm, and the finger width is about 1.5 cm.

[0090] According to the physiological characteristics of the middle finger, the structure of the first hexagonal traction line (the hexagonal connector near the root of the finger) is as follows: long1 =2.5cm; short side L short1 =1.5cm. Initial small angle α1 = 60°; initial large angle: β1 = 120°.

[0091] The structure of setting the second hexagonal traction line (the hexagonal connector near the fingertips) is: the long side L long2 =1.5cm; short side L short2 =1.5cm; initial small angle α2=60°; initial large angle β2=120°.

[0092] The length L of the first connecting rod between the first hexagonal pulling line and the second hexagonal pulling line link1 =5 mm. The length L of the second connecting rod between the second hexagonal traction wire and the tactile electrode film 403 link2 =3mm.

[0093] Set the initial link angle: The finger bending angle is θ. It means that the angle between the first link and the reference line (such as the horizontal line) is 15° when the first link is in the initial position (unbent state). It means that the angle of the second link relative to the reference line (such as the horizontal line) in the initial position (unbent state) is 15°. The finger bending angle θ refers to the angle of the finger bending from the initial upright state to a certain arc. This angle will affect the angle change of the link.

[0094] Assuming that the finger segment changes from fully extended to bent 90 degrees, the change in the side of the first hexagonal traction line can be expressed by the geometric relationship:

[0095] ΔL long1 =L long1 ·(1-cos(θ)). ΔL short1 =L short1 (1-cos(θ)).

[0096] The change in the side of the second hexagonal traction line can be expressed as:

[0097] ΔL long2 =L long2 ·(1-cos(θ)). ΔL short2 =L short2 (1-cos(θ)).

[0098] Assuming that the driving force applied when the finger bends is F, it is necessary to analyze the forces acting on each part.

[0099] The force on the first hexagonal traction line is: F long1=F·cos(α1). short1 =F·sin(α1).

[0100] The force on the second hexagonal traction line is: F long2 =F·cos(α2). short2 =F·sin(α2).

[0101] The force on the first connecting rod is: F link1 =F·cos(θ).

[0102] The force on the second connecting rod is: F link2 =F·sin(θ).

[0103] The finger bending angle θ is related to the geometric transformation and force change of each part. Combining the geometric transformation and mechanical equations, we can get:

[0104] Assuming that the force applied by the bending of the finger is F, the pressure P1 of the first hexagonal traction line on the back of the finger can be expressed as:

[0105] Where A1 is the surface area of ​​the first hexagonal traction line. For the first hexagonal traction line, its surface area can be approximately expressed as: A1≈L long1 ·L short1 =2.5·1.5=3.75cm 2 .

[0106] Similarly, the pressure P2 of the second hexagonal traction line on the back of the finger can be expressed as:

[0107] The surface area of ​​the second hexagon can be approximated as: A2≈L long2 ·L short2 =1.5·1.5=2.25cm 2 .

[0108] When the finger bends, the angle of the link changes accordingly.

[0109] The angle of the first connecting rod after bending is:

[0110] The angle of the second connecting rod after bending is:

[0111] When the finger bending angle θ changes to 60°, the side length of the first hexagonal traction line changes to:

[0112] ΔL long1 =2.5·(1-cos(60°))=2.5·0.5=1.25cm.

[0113] ΔL short1 =1.5·(1-cos(60°))=1.5·0.5=0.75cm.

[0114] When the finger bending angle θ changes to 60°, the side length of the second hexagonal traction line changes to:

[0115] ΔL long2 =1.5·(1-cos(60°))=1.5·0.5=0.75cm.

[0116] ΔL short2 =1.5·(1-cos(60°))=1.5·0.5=0.75cm.

[0117] The force on the first hexagonal traction line is:

[0118] F long1 =F·cos(60°)=F·0.5.

[0119] The force on the second hexagonal traction line is:

[0120] F long2 =F·cos(60°)=F·0.5.

[0121] The force on the first connecting rod is:

[0122] F link1 =F·cos(60°)=F·0.5;

[0123] The force on the second connecting rod is:

[0124]

[0125] The angle of the first connecting rod after bending is:

[0126] The angle of the second connecting rod after bending is:

[0127] In order to determine the driving force F applied by the driving mechanism, it is necessary to consider the force changes of each part during the bending of the finger. In the case of 60° bending, the driving force applied by the driving mechanism should be sufficient to overcome the resistance of the finger bending and maintain the stability of each part of the structure.

[0128] The driving force F of the driving mechanism should increase with the increase of the finger bending angle θ, because the resistance that needs to be overcome by bending usually increases nonlinearly.

[0129] Assume that the force that needs to be overcome when the finger bends to θ is F total .

[0130]

[0131] Assumption F total =1ON,θ=60°, then,

[0132]

[0133] Obviously, the driving force applied by the driving mechanism is adjusted in real time with the bending angle of each finger. The pressure of the first hexagonal traction line and the second hexagonal traction line on the back of the finger also changes adaptively with the change of the driving force, avoiding a single area of ​​the back of the finger being stressed.

[0134] As described above, the traction line 405 of the present invention is arranged on the dorsal surface of the finger, including a knuckle segment and a finger segment. The finger segment is pre-printed to form a geometric connector. The knuckle segment is in the form of a connecting rod. The geometric connector is rotatably connected through the connecting rod. When the finger is pulled to bend, the connecting rod can maintain stable force conduction at different bending angles, thereby achieving a smooth and natural bending movement. The geometric connector can evenly distribute the force, reduce local pressure concentration, and ensure stability and comfort when the finger is bent.

[0135] When the finger is fully bent, the force transmission principle of the geometric connector and the connecting rod is as follows: the geometric design, such as a hexagon, forms a stable force distribution network through its multiple edges and vertices. When the finger is bent, the geometric connector can evenly transmit and disperse the pressure between the force points, reducing the concentrated stress on a single joint. At the same time, the rotatable connection of the connecting rod enables the traction line 405 to adapt to the dynamic changes of the finger bending, ensuring the natural and smooth movement.

[0136] Through the structural design of connecting rods and geometric shapes, there are many advantages in driving. First, through precise force control, the traction line 405 can dynamically adjust the applied force according to the finger bending angle θ, ensuring that each finger joint is subjected to appropriate pressure during the bending process. This precise control can achieve precise finger movements and is suitable for scenes that require high precision, such as virtual reality control and remote operation. At the same time, it has good adjustability, can meet different task requirements and finger postures, and improve user experience.

[0137] Specifically, appropriate pressure can ensure the accuracy of finger bending, so that each joint conforms to the expected posture and angle during the bending process, thereby achieving precise finger movements. This can effectively improve the accuracy and stability of the operation. Appropriate pressure also helps prevent operational errors caused by excessive or insufficient force, protects finger joints and muscle tissue, and reduces fatigue and discomfort. This is especially important for users who use the device for a long time, improving the overall comfort and safety of use.

[0138] In addition, through the structural design of the connecting rod and geometric shape, the control mechanism can dynamically adjust the applied force according to the finger bending angle θ, which has good adjustability. This means that the control mechanism can flexibly adapt to different task requirements and finger postures, and can provide stable and appropriate force support for both subtle movements and larger bends, thereby improving the user experience.

[0139] Finally, the real-time response and dynamic adjustment capabilities of the control mechanism enable it to adjust the applied force according to the real-time state of the finger, providing a fast-response control experience. This dynamic adjustment ensures stability and consistency during different operations.

[0140] A power management module 407 is disposed in the outer shell frame 408 on the back of the hand. The power management module 407 includes a wireless charging power source, and its overall power consumption is relatively small.

[0141] Preferably, the glove frame and the tactile feedback unit 400 of the present invention are designed to be adjustable to accommodate different hand sizes and shapes. A three-dimensional coordinate sensor is mounted on the wrist housing 409 to detect hand movements. The palm soft filling part 411 is made of soft elastic material to ensure that the user feels comfortable force feedback. Preferably, an electric wave transmitting component is disposed in the palm soft filling part 411. The electric wave transmitting component is used to implement the tactile sense of vibration through electric waves.

[0142] Preferably, the internal space of the joint skeleton 402 accommodates a pulley mechanism for adjusting the traction line 405 .

[0143] Preferably, if Figures 6 to 10 As shown, each finger area is equipped with a set of fine traction lines 405, which are connected to the mechanical frame of the glove through a pulley mechanism. Each traction line 405 is connected to an inertial sensor to sense finger movement.

[0144] Preferably, a hidden wireless charging sheet is also provided in the space inside the joint skeleton 402 to provide power for the driving mechanism of the traction line 405, which can prevent the lines from being cluttered and does not affect the appearance.

[0145] Examples of application scenarios of the present invention are as follows.

[0146] S1: Command reception: The user enters the virtual environment through the VR device, and the gloves are synchronized with the VR system through a wireless connection. When the user performs specific actions (such as grabbing, pushing, etc.) in the virtual environment, the VR system will send corresponding commands to the control system of the gloves.

[0147] S2: Data processing: After receiving the command, the control system of the glove will immediately analyze and convert it into actuation signals. These signals will guide the glove's actuation mechanism to perform the corresponding actions.

[0148] S3: Drive mechanism response: According to the signal sent by the control system, the drive mechanism of the glove (such as micro vibrator, pneumatic actuator, etc.) starts to work. In the finger contact part, these drive mechanisms generate tactile feedback through 3D printed materials to simulate the texture, weight and other characteristics of objects in the real world.

[0149] S4: Haptic feedback: Users can feel the presence and characteristics of objects in the virtual environment through the tactile feedback of the gloves. This real-time feedback enables users to interact with the virtual environment more naturally.

[0150] S5: Feedback loop: After the user feels the tactile feedback, he will adjust his actions according to the feedback. At the same time, the VR system will also update the state of the virtual environment in real time according to the user's actions and send new instructions to the control system of the glove. This process forms a closed feedback loop, making the interaction between the user and the virtual environment more natural and smooth.

[0151] For another example, in the virtual reality (VR) game ALEX, players need to explore a virtual world full of interactive elements. In order to enhance the immersion and realism of the game, VR force feedback gloves have become an indispensable tool. This example will elaborate on the application of VR force feedback gloves in the ALEX game, especially in the information interaction process and the adaptive changes of mechanical mechanisms.

[0152] The information interaction process is as follows.

[0153] S11: Command reception and synchronization

[0154] When players perform actions such as grabbing and pushing in the ALEX game, the VR system captures these actions and sends the corresponding instructions to the control system of the VR force feedback gloves via a wireless connection.

[0155] After receiving the instruction, the glove control system will immediately analyze and prepare to drive the corresponding mechanical mechanism to perform the action.

[0156] The haptic feedback is generated as follows.

[0157] S12: According to the instructions sent by the VR system, the driving mechanisms of the gloves (such as micro vibrators, pneumatic actuators, etc.) start working. These mechanisms generate tactile feedback through the finger contact part of the 3D printed material to simulate the texture, shape and weight of objects in the game.

[0158] For example, when the player tries to grab a virtual stone, the gloves will produce a corresponding sense of weight and roughness, enhancing the player's immersive experience.

[0159] The feedback loop and adjustments are shown below.

[0160] S13: After players feel the tactile feedback provided by the gloves, they will adjust their movements based on this feedback. This real-time feedback mechanism allows players to interact with the virtual environment more accurately.

[0161] The VR system will update the state of the virtual environment in real time based on the player's actions, and continue to send new instructions to the glove's control system, forming a closed feedback loop.

[0162] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", which means that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept.

Claims

1. A tactile enhancement training system based on virtual reality, characterized in that: include: A virtual reality unit (100) for interacting with a virtual reality environment; The tactile feedback unit (400) is worn on the hand and provides feedback to the finger in the form of applying traction force to the finger, corresponding to the grasped object in the virtual reality environment. The processing unit (200) determines a contact point of a grasped object in the virtual reality environment, analyzes a force applied by the tactile feedback unit (400) to the finger according to the contact point of the grasped object, and sends information related to the force to the tactile feedback unit (400), The acting force is associated with the physical properties of each contact point of the grasped object.

2. The tactile enhancement training system based on virtual reality according to claim 1, characterized in that: It also includes an electroencephalogram signal acquisition unit (300) that is communicatively connected to the processing unit (200), The electroencephalogram signal acquisition unit (300) acquires the cognitive load cranial nerve information of the head in real time. The processing unit (200) adjusts the feedback intensity of the force according to the cognitive load cranial nerve information.

3. The tactile enhancement training system based on virtual reality according to claim 1 or 2, characterized in that: The tactile feedback unit (400) comprises a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism, wherein the control mechanism is in communication connection with the driving mechanism, the traction mechanism and the tactile feedback mechanism. The control mechanism constructs a driving instruction and a tactile feedback instruction based on information related to the force, The driving mechanism is connected to the traction mechanism and adjusts the traction direction and / or traction strength of the traction mechanism at the finger part based on the driving instruction to push the hand knuckles to bend or extend; The tactile feedback mechanism is arranged at the fingertips and / or finger joints, and the tactile feedback mechanism implements physical stimulation to the hand based on the tactile feedback instruction to feedback the corresponding tactile sensation; The traction mechanism and the tactile feedback mechanism are linked to each other so that the user can feel the physical characteristics of the grasped object based on the hand bending action and tactile sensation formed by the traction.

4. The tactile enhancement training system based on virtual reality according to any one of claims 1 to 3, characterized in that: When the user adjusts the hand movement according to the tactile feedback information, the virtual reality unit (100) updates the virtual reality environment based on the hand movement and sends updated information related to the force to the processing unit (200).

5. The tactile enhancement training system based on virtual reality according to any one of claims 1 to 4, characterized in that: The tactile feedback mechanism in the tactile feedback unit (400) comprises an inertial sensor and a motion tracking module. The inertial sensor is arranged at the finger joint to collect the bending movement information of the finger. The motion tracking module is arranged in the wrist housing (409) to collect the movement information of the hand; The virtual reality unit (100) adjusts the hand model in the virtual reality environment based on the bending action information of the fingers and the moving action information of the hand, thereby forming a real hand action in the virtual reality environment.

6. The tactile enhancement training system based on virtual reality according to any one of claims 1 to 4, characterized in that: The tactile feedback unit (400) is provided with a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism on a glove frame in a form that can be worn by the hand, wherein: The control mechanism is arranged at the back of the hand of the glove frame, and the driving mechanism is arranged at the position close to the metacarpophalangeal joint of the back of the hand. The traction mechanism connects the driving mechanism and the tactile feedback mechanism worn on the fingertip in the form of a traction line (405), and the traction mechanism is adaptively bent and stretched based on the bending action of the finger. The position of the traction mechanism corresponding to the finger joints is provided with an inertial sensor to collect the relative distance and pressure value of each finger joint; The processing unit (200) detects the hand movement in real time based on the relative distance and pressure value of each finger joint of the hand.

7. The tactile enhancement training system based on virtual reality according to any one of claims 1 to 4, characterized in that: The tactile feedback mechanism in the tactile feedback unit (400) realizes tactile feedback by applying vibration and / or pressure to the fingertips.

8. The tactile enhancement training system based on virtual reality according to claim 3, characterized in that: The driving mechanism and the traction mechanism are connected via a pulley mechanism. The driving mechanism changes the magnitude and direction of the force of each traction line (405) in the traction mechanism by adjusting the pulley mechanism.

9. The tactile enhancement training system based on virtual reality according to any one of claims 3 to 8, characterized in that: The end of the traction mechanism located at the fingertip is provided with an optical fiber sensor (404); The tactile feedback mechanism is a tactile electrode film (403) worn on the fingertips, and the tactile electrode film (403) implements physical stimulation to the hand to feedback the corresponding tactile sensation.

10. The tactile enhancement training system based on virtual reality according to any one of claims 1 to 9, characterized in that: The tactile feedback unit (400) is provided with a control mechanism, a driving mechanism, a traction mechanism and a tactile feedback mechanism on a glove frame in a form that can be worn by the hand. The glove frame comprises a back-of-hand shell frame (401), a joint frame (402), a back-of-hand middle shell frame (408), a wrist shell (409), a palm frame (410) and a palm soft filling part (411). A skeleton driving mechanism is embedded in the skeleton, and the skeleton driving mechanism adjusts the connection angles of the connecting parts between the back-of-hand shell skeleton (401), the joint skeleton (402), the back-of-hand shell skeleton (408) and the palm skeleton (410) based on the instructions of the skeleton control mechanism, so that the glove skeleton pulls the palm to move and applies force feedback to the palm.

Images