Mechanical feedback method based on virtual reality

Abstract

The invention relates to the field of mechanical feedback, and discloses a virtual reality-based mechanical feedback method, which comprises five steps of equipment wearing, sensor sensing, data processing, mechanical feedback simulation and user feeling. According to the method provided by the invention, the user can personally feel the touch feeling and the interaction effect in the virtual environment, and the immersion feeling is enhanced. A user can deeply participate in and experience a virtual reality scene through tactile feedback, and the degree of participation and entertainment are improved. In addition, by simulating tactile feelings such as force, pressure and vibration and mechanical feedback, the user can more accurately perceive the characteristics of the virtual object, such as shape, texture and weight. The real touch experience enhances the fidelity and reality sense of virtual reality. In addition, mechanical feedback enables the user to interact with the virtual environment more directly and more naturally through tactile sensation. A user may perceive the position, shape, and motion of a virtual object through tactile feedback to more accurately operate and control elements in a virtual environment.

Description

Technical Field

[0001] The invention belongs to the field of mechanical feedback, and in particular is a mechanical feedback method based on virtual reality. Background Art

[0002] Mechanical feedback refers to the feedback effect caused by external force or deformation in a physical system. It describes how an object generates a corresponding reaction force or deformation to maintain mechanical balance when subjected to an external force. Mechanical feedback can occur in a variety of different systems, including mechanical systems, electronic systems, fluid systems, etc.

[0003] In mechanical systems, mechanical feedback can be used to control and regulate the movement of the system. For example, in a robotic arm, when the arm is subjected to an external torque, mechanical feedback can detect this change through sensors and adjust the output torque of the motor accordingly to maintain the balance and stability of the arm.

[0004] In electronic systems, mechanical feedback can be used to protect electronic components or circuits. For example, in a power supply circuit, when a load change causes a change in current, mechanical feedback can stabilize the current by adjusting the voltage output by the power supply to protect the electronic components from overload or damage.

[0005] In fluid systems, mechanical feedback can be used to control the flow of fluids. For example, in a dam control system, when the water level rises, mechanical feedback can adjust the water flow by controlling the opening of the gate to keep the water level within a controllable range.

[0006] In summary, mechanical feedback is a feedback effect in a physical system that can maintain the balance and stability of the system by adjusting force, torque, voltage or other parameters.

[0007] Current force feedback methods include:

[0008] 1. Position feedback: The position of the object is measured by a sensor and this information is fed back to the control system. The control system can adjust the force or torque based on the difference between the target position and the current position to move the object to the target position.

[0009] 2. Force feedback: The external force on the object is measured through a force sensor or pressure sensor, and this information is fed back to the control system. The control system can adjust its own output force or torque according to the size and direction of the external force to maintain the balance and stability of the object.

[0010] 3. Pressure feedback: Applicable to fluid systems or gas systems, the pressure in the system is measured by a pressure sensor, and this information is fed back to the control system. The control system can adjust the opening of the valve or pump according to the change in pressure to adjust the flow or pressure of the fluid.

[0011] 4. Speed ​​feedback: The speed of the object is measured by the speed sensor and this information is fed back to the control system. The control system can adjust the output force or torque according to the difference between the target speed and the current speed to make the object move at the desired speed.

[0012] 5. Acceleration feedback: The acceleration of the object is measured by the acceleration sensor, and this information is fed back to the control system. The control system can adjust the output force or torque according to the difference between the desired acceleration and the current acceleration to make the object move at the desired acceleration.

[0013] All of this feedback information needs to be transmitted to the system through sensors first, and then the system will adjust and transmit the feedback signal out. This process does not directly act on the feedback object, but has a transfer process, which makes the feedback signal unable to be directly felt. Summary of the invention

[0014] Technical problem to be solved: Feedback signal cannot be felt directly.

[0015] Technical solution: The present invention provides a mechanical feedback method based on virtual reality, which includes the following steps: Step 1, equipment wearing: the wearing of tactile gloves is designed based on the size and shape of the user's hands; the user wears the gloves on the hands to ensure that the gloves fit tightly with the fingers and palms; tactile gloves usually use soft materials, such as elastic fabrics, to provide a comfortable wearing experience; there are usually multiple sensors and activation devices distributed on the surface of the gloves to capture and simulate different tactile feedback; Step 2, sensor perception: the tactile gloves are equipped with multiple sensors inside to sense the user's finger bending, gripping strength and other hand movements; these sensors can be flexion sensors, pressure sensors, acceleration sensors, etc.; when the user interacts in the virtual reality environment, the sensors will detect and record hand movement data in real time; these data will be transmitted to the virtual reality system for subsequent processing; Step 3, data processing: after the virtual reality system receives the hand movement data transmitted by the gloves, it will perform a series of data processing and analysis; first, the system will pre-process the raw data, such as filtering, noise elimination, etc., to improve the accuracy and reliability of the data Reliability; then, the system will use algorithms and models to analyze and calculate the hand motion data; these algorithms and models can determine the corresponding mechanical feedback parameters according to the characteristics of the hand motion; step 4, mechanical feedback simulation: according to the calculated mechanical feedback parameters, the activation device inside the tactile glove will apply force, vibration or pressure to a specific area to simulate tactile feedback; these activation devices can be small motors, pressure devices, vibration devices, etc.; according to different application requirements, the gloves may have multiple activation devices to provide more detailed and diverse tactile feedback; step 5, user experience: by wearing tactile gloves, when interacting in a virtual reality environment, the user can feel the mechanical feedback from the gloves; when the user interacts with a virtual object, the tactile glove will apply corresponding force, vibration or pressure according to the characteristics of the virtual object and the user's action; for example, when the user touches a virtual object, the glove may apply a certain amount of pressure or vibration, allowing the user to perceive the existence, shape and texture of the object; in this way, the user can feel the touch and interaction effects in the virtual environment more realistically, enhancing the realism and immersion of the virtual reality experience.

[0016] Furthermore, when wearing the device, it is necessary to select tactile gloves of appropriate size to ensure that the gloves fit tightly to the fingers and palms, but not too tight or loose; in addition, it is necessary to ensure that the gloves are worn correctly and firmly fixed on the hands to avoid sliding or shifting during use.

[0017] Further, in sensor sensing, the sensor needs to be calibrated before starting to use; the calibration process can be carried out according to the guidance provided by the manufacturer to ensure that the sensor provides accurate and reliable data; calibration usually involves zero point calibration and sensitivity calibration of the sensor.

[0018] Furthermore, in sensor perception, it is necessary to ensure that the environment in which the sensor is located is suitable and meets the manufacturer's requirements; because some sensors are sensitive to temperature, humidity or other environmental factors, they need to be used within an appropriate range.

[0019] Furthermore, in data processing, it is necessary to select appropriate algorithms and models based on the goals and characteristics of data processing; because different problems and data types may require different algorithms and models; ensure that you understand the principles, advantages and disadvantages, and scope of application of the algorithms and models used in order to correctly apply and interpret the data.

[0020] Furthermore, in data processing, the security and privacy protection of data should always be ensured when processing data; appropriate measures such as data encryption, access control, anonymization, etc. need to be taken to protect the confidentiality and integrity of data and comply with relevant regulations and guidelines.

[0021] Furthermore, in mechanical feedback simulation, mechanical feedback equipment needs to be regularly maintained and serviced to ensure that it works properly and provides accurate mechanical feedback.

[0022] Furthermore, when users experience it, sufficient user education and guidance need to be provided to ensure that users correctly understand and use mechanical feedback; explain the purpose and effect of mechanical feedback and inform users how to use and interact with it correctly; provide user manuals, operating guides or training courses to help users better understand and enjoy the experience of mechanical feedback.

[0023] Technical effects:

[0024] The mechanical feedback method provided by the present invention enables users to feel the touch and interactive effects in the virtual environment more immersively, thereby enhancing the sense of immersion. Users can participate in and experience the virtual reality scene more deeply through tactile feedback, thereby improving participation and entertainment. In addition, by simulating tactile sensations such as force, pressure, and vibration, mechanical feedback enables users to more accurately perceive the characteristics of virtual objects, such as shape, texture, weight, etc. This real tactile experience enhances the fidelity and realism of virtual reality. Furthermore, mechanical feedback enables users to interact more directly and naturally with the virtual environment through tactile sensations. Users can perceive the position, shape, and movement of virtual objects through tactile feedback to more accurately operate and control elements in the virtual environment. At the same time, this feedback method can provide users with real-time tactile feedback to help users better understand and perceive changes and interactions in the virtual environment. Finally, this mechanical feedback can be personalized and adjusted according to the needs and preferences of users. Users can adjust the parameters of force, pressure, or vibration according to their preferences and feelings to obtain tactile feedback that best meets their experience needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 Schematic diagram of the steps of the method of the present invention. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] The virtual reality-based mechanical feedback method provided in this specific embodiment is as follows: Figure 1 As shown, the following steps are included:

[0029] Step 1, equipment wearing: The wearing of tactile gloves is designed based on the size and shape of the user's hand; the user wears the gloves on the hand to ensure that the gloves fit tightly with the fingers and palm; tactile gloves usually use soft materials such as elastic fabrics to provide a comfortable wearing experience; there are usually multiple sensors and activation devices distributed on the surface of the gloves to capture and simulate different tactile feedback. In this process, it is important to note: 1. Size fit: It is very important to choose a tactile glove of the right size. Make sure that the gloves fit tightly with the fingers and palm, but not too tight or loose. The wrong size may cause uncomfortable or inaccurate tactile feedback. 2. Ensure stability: Make sure the gloves are worn correctly and firmly fixed on the hand to avoid sliding or shifting during use. Loose or unstable gloves may affect the accuracy of the sensors and the accuracy of tactile feedback. 3. Adaptation time: When you first start using tactile gloves, you may need some time to adapt to this new feeling and interaction method. Give yourself some time and practice to familiarize yourself with the functions and usage of the gloves. 4. Cleaning and maintenance: It is very important to keep the tactile gloves clean and maintained. Clean the gloves regularly to remove dirt and stains according to the manufacturer's instructions. At the same time, be careful to avoid contact between the gloves and liquids or other substances that may damage the gloves. 5. Application limitations: Understand the usage limitations and application scenarios of tactile gloves. Different gloves may be designed for specific application areas. Avoid using gloves for activities or environments that are not suitable. 6. Comfort and safety: Pay attention to the comfort and safety of gloves. Long-term use may cause hand fatigue or discomfort. If you feel uncomfortable, stop using the gloves in time. At the same time, ensure that the design and material of the gloves will not cause any damage to the user's hands;

[0030] Step 2, sensor perception: The tactile glove is equipped with multiple sensors to sense the user's hand movements such as finger bending and grip strength; these sensors can be flexion sensors, pressure sensors, acceleration sensors, etc.; when the user interacts in the virtual reality environment, the sensors will detect and record hand movement data in real time; these data will be transmitted to the virtual reality system for subsequent processing. In this process, it is important to note: 1. Ensure the accuracy of the sensor: Ensure that the sensor operates normally and provides accurate data. Before use, check whether the sensor is well connected and has no damaged or loose parts. If any problems are found, the sensor should be repaired or replaced in time. 2. Calibrate the sensor: It is very important to calibrate the sensor before starting to use it. The calibration process can be performed according to the guidance provided by the manufacturer to ensure that the sensor provides accurate and reliable data. Calibration usually involves zero calibration and sensitivity calibration of the sensor. 3. Avoid interference sources: When using the sensor, be careful to avoid contact with sources that may interfere with the normal operation of the sensor. For example, avoid touching the sensitive area of ​​the sensor with your fingers or other objects to avoid interfering with the sensor's measurement results. 4. Keep the environment suitable: Ensure that the environment in which the sensor is located is suitable and meets the manufacturer's requirements. Some sensors are sensitive to temperature, humidity or other environmental factors, so they need to be used within an appropriate range. 5. Prevent physical damage: Sensors are usually precision equipment and need to be used with care to avoid collisions, drops or other physical damage. During use, be careful to avoid strong impacts or excessive distortion of sensor components to avoid damage or affecting the accuracy and reliability of the sensor. 6. Regular inspection and maintenance: Regularly check whether the sensor is working properly and perform maintenance. Keep the sensor clean and follow the manufacturer's maintenance recommendations. If any problems or abnormalities are found in the sensor, repair or replace the sensor in time;

[0031] Step 3, data processing: After the virtual reality system receives the hand motion data transmitted by the glove, it will perform a series of data processing and analysis; first, the system will pre-process the raw data, such as filtering, noise elimination, etc., to improve the accuracy and reliability of the data; then, the system will use algorithms and models to parse and calculate the hand motion data; these algorithms and models can determine the corresponding mechanical feedback parameters according to the characteristics of the hand motion. In this process, it is important to note that: 1. Data quality check: Before data processing, it is important to perform a quality check on the raw data. Check whether the data is missing, outliers, or noise. If problems are found, data cleaning or repair is required. Ensuring the accuracy and integrity of the data is critical for subsequent data processing and analysis. 2. Data preprocessing: Before data processing, some preprocessing steps may be required, such as data smoothing, filtering, and standardization. These steps are designed to eliminate noise in the data, improve the comparability of the data, and provide a better data basis for subsequent analysis. 3. Selecting appropriate algorithms and models: It is important to select appropriate algorithms and models based on the goals and characteristics of data processing. Different problems and data types may require different algorithms and models. Make sure to understand and comprehend the principles, advantages and disadvantages, and scope of application of the algorithms and models used in order to correctly apply and interpret the data. 4. Parameter adjustment and optimization: When applying algorithms and models for data processing, parameter adjustment and optimization may be required. This allows the algorithms and models to better adapt to the characteristics of the data and improve the processing effect. When adjusting parameters, be careful to avoid problems such as overfitting or underfitting. 5. Data security and privacy: When processing data, always ensure the security and privacy of the data. Take appropriate measures such as data encryption, access control, anonymization, etc. to protect the confidentiality and integrity of the data, and comply with relevant laws, regulations and guidelines. 6. Result verification and evaluation: After completing the data processing, the results must be verified and evaluated. Verify the accuracy and consistency of the results and check whether they meet the expected requirements. Use appropriate indicators and evaluation methods to evaluate the effectiveness of data processing to ensure the reliability and effectiveness of the results;

[0032] Step 4, mechanical feedback simulation: According to the calculated mechanical feedback parameters, the activation device inside the tactile glove will apply force, vibration or pressure to a specific area to simulate tactile feedback; these activation devices can be small motors, pressure devices, vibration devices, etc.; according to different application requirements, the gloves may have multiple activation devices to provide more detailed and diverse tactile feedback. In this process, it is important to note: 1. Safety: Ensure safety during mechanical feedback simulation. For applications involving the application of force or pressure, ensure that the equipment and system design meet safety standards and follow appropriate operating procedures and processes. Protect users from potential injury or discomfort. 2. Determine the appropriate force and frequency: The force and frequency of mechanical feedback should be adjusted according to the needs of the specific application. Too strong or too fast force or vibration may cause discomfort to the user. Ensure that the force and frequency are within the appropriate range to provide a comfortable tactile feedback experience. 3. Individual differences: Different users may have different acceptance of mechanical feedback. Therefore, when designing mechanical feedback simulation, the needs and feelings of different groups of people should be taken into account. Provide adjustable parameters or personalized settings to meet the preferences and needs of different users. 4. Adaptation time: Some users may need some time to adapt to the mechanical feedback simulation. When using the mechanical feedback device for the first time, give the user sufficient adaptation time and provide appropriate guidance and instructions. Gradually increase the force or vibration intensity so that the user can gradually adapt to the feeling of mechanical feedback. 5. Avoid excessive use: Prolonged or overly frequent use of mechanical feedback simulation may cause fatigue or discomfort to the user's hands or body. When using the mechanical feedback device, reasonably control the use time and frequency to avoid discomfort caused by excessive use. 6. Maintenance and care: Mechanical feedback devices require regular maintenance and care to ensure that they work properly and provide accurate mechanical feedback. Follow the manufacturer's maintenance guidelines, clean the device regularly and check the working condition of the device. Repair or replace damaged parts to ensure the performance and life of the device. 7. User feedback and adjustment: Encourage users to provide feedback to improve the experience and effect of mechanical feedback simulation. Listen to the needs and opinions of users, and make appropriate adjustments and improvements based on the feedback;

[0033] Step 5, user experience: By wearing tactile gloves, users can feel the mechanical feedback from the gloves when interacting in a virtual reality environment; when users interact with virtual objects, the tactile gloves will apply corresponding force, vibration or pressure according to the characteristics of the virtual objects and the user's actions; for example, when users touch virtual objects, the gloves may apply a certain amount of pressure or vibration, allowing users to perceive the existence, shape and texture of the object; in this way, users can feel the touch and interaction effects in the virtual environment more realistically, enhancing the realism and immersion of the virtual reality experience. In this process, it is important to note that: 1. User comfort: Ensure that mechanical feedback does not cause discomfort or pain to users. Parameters such as force, pressure, and vibration should be adjusted to a level that is suitable for user feelings. Communicate with users regularly to understand their comfort and feedback, and adjust as needed. 2. Individual differences: Different users may have different feelings and preferences for mechanical feedback. Considering the individual differences of users, provide adjustable parameters or personalized settings to meet the needs and preferences of different users. 3. Gradual adaptation: For users who use mechanical feedback for the first time, a gradual adaptation approach should be adopted. At the beginning, a light force or vibration should be provided, and then the intensity should be gradually increased. This can help users gradually adapt to and accept mechanical feedback and reduce potential discomfort. 4. User feedback and adjustment: Encourage users to provide feedback to improve the experience and effect of mechanical feedback. User feedback is valuable and can help optimize the parameters and design of mechanical feedback. Listen to user needs and opinions, and make appropriate adjustments and improvements based on feedback. 5. User education and guidance: Provide sufficient user education and guidance to ensure that users understand and use mechanical feedback correctly. Explain the purpose and effect of mechanical feedback and tell users how to use and interact with it correctly. Provide user manuals, operating guides or training courses to help users better understand and enjoy the experience of mechanical feedback. 6. Appropriate use time and frequency: Ensure that the use time and frequency of mechanical feedback are within an appropriate range. Prolonged or overly frequent use of mechanical feedback may cause fatigue or discomfort to users. Reasonably control the use time and give users enough rest time. 7. User safety: Mechanical feedback equipment should comply with relevant safety standards and regulations. Ensure the safety of the equipment to avoid potential injuries or risks. Regularly check the working status and safety of the equipment and take necessary maintenance measures.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical feedback method based on virtual reality, characterized in that: The method comprises the following steps: Step 1: Wearing the device: The wearing of tactile gloves is designed based on the size and shape of the user's hand; the user puts the gloves on the hand to ensure that the gloves fit tightly with the fingers and palm; tactile gloves are usually made of soft materials, such as elastic fabrics, to provide a comfortable wearing experience; there are usually multiple sensors and activation devices distributed on the surface of the gloves to capture and simulate different tactile feedback; Step 2: Sensor perception: The tactile gloves are equipped with multiple sensors to sense the user's hand movements such as finger bending and grip strength. These sensors can be flexion sensors, pressure sensors, acceleration sensors, etc. When the user interacts in the virtual reality environment, the sensors will detect and record hand movement data in real time. These data will be transmitted to the virtual reality system for subsequent processing. Step 3: Data processing: After receiving the hand motion data transmitted by the glove, the virtual reality system will perform a series of data processing and analysis. First, the system will pre-process the raw data, such as filtering and noise elimination, to improve the accuracy and reliability of the data. Then, the system will use algorithms and models to analyze and calculate the hand motion data. These algorithms and models can determine the corresponding mechanical feedback parameters according to the characteristics of the hand motion. Step 4: Mechanical feedback simulation: Based on the calculated mechanical feedback parameters, the activation device inside the tactile glove will apply force, vibration or pressure to a specific area to simulate tactile feedback; these activation devices can be small motors, pressure devices, vibration devices, etc.; depending on different application requirements, the glove may have multiple activation devices to provide more detailed and diverse tactile feedback; Step 5, user experience: By wearing tactile gloves, users can feel the mechanical feedback from the gloves when interacting in a virtual reality environment; when users interact with virtual objects, the tactile gloves will apply corresponding force, vibration or pressure according to the characteristics of the virtual objects and the user's actions; for example, when users touch virtual objects, the gloves may apply a certain amount of pressure or vibration, allowing users to perceive the existence, shape and texture of the object; in this way, users can feel the touch and interactive effects in the virtual environment more realistically, enhancing the realism and immersion of the virtual reality experience.

2. The virtual reality-based mechanical feedback method according to claim 1, characterized in that: When wearing the device, you need to choose tactile gloves of the right size to ensure that the gloves fit tightly against the fingers and palms, but not too tight or loose; in addition, make sure that the gloves are worn correctly and firmly fixed on the hands to avoid sliding or shifting during use.

3. The virtual reality-based mechanical feedback method according to claim 1, characterized in that: In sensor sensing, the sensor needs to be calibrated before it can be used. The calibration process can be carried out according to the guidance provided by the manufacturer to ensure that the sensor provides accurate and reliable data. Calibration usually involves zero calibration and sensitivity calibration of the sensor.

4. The virtual reality-based mechanical feedback method according to claim 1 or 3, characterized in that: In sensor perception, it is necessary to ensure that the environment in which the sensor is located is suitable and meets the manufacturer's requirements; because some sensors are sensitive to temperature, humidity or other environmental factors, they need to be used within an appropriate range.

5. The virtual reality-based mechanical feedback method according to claim 1, characterized in that: In data processing, it is necessary to select appropriate algorithms and models based on the goals and characteristics of data processing; because different problems and data types may require different algorithms and models; make sure to understand the principles, advantages and disadvantages, and scope of application of the algorithms and models used in order to correctly apply and interpret the data.

6. The virtual reality-based mechanical feedback method according to claim 1 or 5, characterized in that: In data processing, the security and privacy of data should always be ensured when processing data; Appropriate measures such as data encryption, access control, anonymization, etc. need to be taken to protect the confidentiality and integrity of the data and comply with relevant regulations and guidelines.

7. The virtual reality-based mechanical feedback method according to claim 1, characterized in that: In force feedback simulation, the force feedback equipment needs to be regularly maintained and serviced to ensure that it works properly and provides accurate force feedback.

8. The virtual reality-based mechanical feedback method according to claim 1, characterized in that: When users experience mechanical feedback, sufficient user education and guidance need to be provided to ensure that users correctly understand and use mechanical feedback; explain the purpose and effect of mechanical feedback and inform users how to use and interact with it correctly; provide user manuals, operating guides or training courses to help users better understand and enjoy the experience of mechanical feedback.

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