Tactile feedback system and method for generating tactile feedback

Abstract

The invention provides a tactile feedback system and a method for generating tactile feedback. The method comprises the following steps: a touch feature classification module obtains a fused touch signal by using 2D image digitized data, 3D topography data and a touch representative signal corresponding to an object; the touch signal conversion module obtains object surface coordinates from the object surface coordinate processing module, obtains a touch fusion result by using the fused touch signal and the object surface coordinates, and converts the touch fusion result into touch digital codes; and generating, by a tactile feedback actuation module, tactile feedback using the tactile control signal corresponding to the tactile digital code.

Description

Technical Field

[0001] The invention relates to a tactile feedback system and a method for generating tactile feedback. Background Art

[0002] Currently, in the applications of virtual reality (VR) and extended reality (XR), usually only visual feedback is included, and there is no effective tactile feedback technology solution. Summary of the invention

[0003] The tactile feedback system of the embodiment of the present invention includes a tactile feedback control subsystem and a feedback actuation subsystem. The tactile feedback control subsystem includes a tactile feature classification module, a tactile signal database, an object surface coordinate processing module and a tactile signal conversion module, wherein the tactile signal database stores a tactile representative signal. The feedback actuation subsystem includes a tactile feedback actuation module, wherein the tactile feature classification module obtains a fused tactile signal using 2D image digitized data, 3D morphology data and a tactile representative signal corresponding to the object; the tactile signal conversion module obtains the object surface coordinates from the object surface coordinate processing module, and the tactile signal conversion module obtains a tactile fusion result using the fused tactile signal and the object surface coordinates, and the tactile signal conversion module converts the tactile fusion result into a tactile digital code; the tactile feedback actuation module generates tactile feedback using a tactile control signal corresponding to the tactile digital code.

[0004] The method for generating tactile feedback of an embodiment of the present invention comprises the following steps: a tactile feature classification module uses 2D image digitized data, 3D shape data and a tactile representative signal corresponding to the object to obtain a fused tactile signal; a tactile signal conversion module obtains the object surface coordinates from the object surface coordinate processing module, and the tactile signal conversion module uses the fused tactile signal and the object surface coordinates to obtain a tactile fusion result, and the tactile signal conversion module converts the tactile fusion result into a tactile digital code; and a tactile feedback actuation module uses a tactile control signal corresponding to the tactile digital code to generate tactile feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Figure 1 is a schematic diagram of a tactile feedback system according to an embodiment of the present invention.

[0006] Figure 2 FIG. 4 is a flow chart of a method for generating tactile feedback according to an embodiment of the present invention.

[0007] Figure 3A is a schematic diagram of a tactile feedback system according to a second embodiment of the present invention.

[0008] Figure 3Bis a schematic diagram of a tactile feedback system according to a third embodiment of the present invention.

[0009] Figure 3C is a schematic diagram of a tactile feedback system according to a fourth embodiment of the present invention.

[0010] Figure 4A is a schematic diagram of a tactile feedback system according to a fifth embodiment of the present invention.

[0011] Figure 4B is a schematic diagram of a tactile feedback system according to a sixth embodiment of the present invention.

[0012] Figure 5A is a schematic diagram of a tactile feedback system according to a seventh embodiment of the present invention.

[0013] Figure 5B is a schematic diagram of a tactile feedback system according to an eighth embodiment of the present invention.

[0014] Fig. 6A is a schematic diagram of a tactile feedback system according to a ninth embodiment of the present invention.

[0015] Figure 6B is a schematic diagram of a tactile feedback system according to a tenth embodiment of the present invention.

[0016] Figure 6C is a schematic diagram of a tactile feedback system according to an eleventh embodiment of the present invention.

[0017] Fig. 7A FIG. 4 is a schematic diagram illustrating a tactile feature classification module for determining whether a finger is stationary or moving according to an embodiment of the present invention.

[0018] Figure 7B FIG. 4 is a schematic diagram illustrating a tactile feature classification module for determining whether an object is stationary or moving according to an embodiment of the present invention.

[0019] Figure 8 FIG. 4 is a schematic diagram illustrating a tactile feedback modulation module converting a tactile digital code into a tactile control signal according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] Figure 1is a schematic diagram of a tactile feedback system 1a according to an embodiment of the present invention. In this embodiment, the tactile feedback system 1a may include a tactile feedback control subsystem 20 and a feedback actuation subsystem 30. In other embodiments, the tactile feedback system 1a of the present invention may further include a sensing subsystem 10. In this embodiment, the tactile feedback control subsystem 20 may include a tactile feature classification module 20-1, a tactile signal database 20-2, an object surface coordinate processing module 20-3, and a tactile signal conversion module 20-4, wherein the tactile signal database 20-2 may store tactile representative signals. For example, the tactile representative signals are parameters such as surface roughness of an object, surface texture characteristics, friction coefficient, object density, object hardness, and object elastic coefficient. In this embodiment, the feedback actuation subsystem 30 may include a tactile feedback actuation module 31. In other embodiments, the sensing subsystem 10 may include an image sensing module 11, and the tactile feedback control subsystem 20 may further include a tactile imaging module 20-5. The image sensing module 11 is, for example, a 2D camera or a 3D camera. It should be noted that the sensing subsystem 10, the tactile feedback control subsystem 20, and the feedback actuation subsystem 30 of each embodiment of the present invention may be software and / or firmware program code executed by a processor. In another embodiment, the sensing subsystem 10, the tactile feedback control subsystem 20, and the feedback actuation subsystem 30 of each embodiment of the present invention may be implemented as a circuit. The present invention does not limit the implementation method of the sensing subsystem 10, the tactile feedback control subsystem 20, and the feedback actuation subsystem 30.

[0021] Figure 2 is a flow chart of a method for generating tactile feedback according to an embodiment of the present invention, wherein the method may be Figure 1 The tactile feedback system 1a shown is implemented. Please also refer to Figure 1 and Figure 2 .

[0022] In step S210, the touch feature classification module 20-1 can obtain the fused touch signal using the 2D image digitized data, 3D shape data and touch representative signal corresponding to the object. In one embodiment, the image sensing module 11 can obtain the real-time image of the touch object when the object is touched, and can obtain the position before and after the movement of the object, wherein the real-time image of the touch object may include the surface texture of the object. Then, the object surface coordinate processing module 20-3 can obtain the surface coordinates of the object using the position before and after the movement. On the other hand, the touch imaging module 20-5 can perform a 2D image digitization operation on the surface texture of the object to obtain 2D image digitized data. Based on this, the touch imaging module 20-5 can obtain digital data with grayscale contrast. In addition, the touch imaging module 20-5 can obtain 3D shape data using the real-time image of the touch object. The 3D shape data is, for example, the characteristics of the surface undulation of the object. Then, the touch imaging module 20-5 can transmit the 2D image digitized data and the 3D shape data to the touch feature classification module 20-1. After the tactile feature classification module 20-1 receives the tactile representative signal from the tactile signal database 20-2, the tactile feature classification module 20-1 can obtain a fused tactile signal using the 2D image digitized data, the 3D shape data and the tactile representative signal. Then, the tactile feature classification module 20-1 can transmit the fused tactile signal to the tactile signal conversion module 20-4.

[0023] In step S220, the tactile signal conversion module 20-4 can obtain the object surface coordinates from the object surface coordinate processing module 20-3, and the tactile signal conversion module 20-4 can use the fused tactile signal and the object surface coordinates to obtain the tactile fusion result, and the tactile signal conversion module 20-4 can convert the tactile fusion result into a tactile digital code.

[0024] In step S230, the tactile feedback actuation module 31 may generate tactile feedback using a tactile control signal corresponding to the tactile digital code. In one embodiment, the tactile feedback control subsystem 20 may include a tactile feedback modulation module 20-9. The tactile feedback modulation module 20-9 may convert the tactile digital code into a tactile control signal. Then, the tactile feedback actuation module 31 may generate tactile feedback using the tactile control signal. In one embodiment, the tactile feedback modulation module 20-9 may include an electric friction control unit 20-9a, a deformation control unit 20-9b, and a vibration control unit 20-9c, wherein the tactile control signal may include an electric friction control signal corresponding to the electric friction control unit 20-9a (X% in the tactile control signal), a deformation control signal corresponding to the deformation control unit 20-9b (Y% in the tactile control signal), and a vibration control signal corresponding to the vibration control unit 20-9c (Z% in the tactile control signal).

[0025] Figure 3A is a schematic diagram of a tactile feedback system 1b according to a second embodiment of the present invention. Figure 1 and Figure 3A . Figure 3A and Figure 1 The difference between the embodiments is that in Figure 3A In an embodiment of the present invention, the sensing subsystem 10 may include an inertial sensing module 12 and a physiological sensing module 13, and the tactile feedback control subsystem 20 may include a physiological signal fusion module 20-6 and a physiological signal fusion database 20-7, and the physiological signal fusion database 20-7 may store physiological variable representative signals. For example, the physiological variable representative signals are parameters such as surface temperature, human body temperature, electromyographic signals, electrocardiographic signals, electroencephalographic signals, and breathing frequency. The inertial sensing module 12 is, for example, an inertial measurement unit (IMU). On the other hand, the physiological sensing module 13 is, for example, a temperature sensor, a muscle force sensor, a heart rate sensor, an electroencephalographic sensor, or a breathing sensor. Furthermore, the tactile feedback control subsystem 20 may include a physiological signal conversion module 20-8, a physiological feedback module 20-10, and a tactile signal generation module 20-11, and the feedback actuation subsystem 30 may include a physiological feedback actuation module 32.

[0026] exist Figure 3A In the embodiment of the present invention, the inertial sensing module 12 can obtain the position before and after the movement of the object, and the inertial sensing module 12 can use the position before and after the movement to obtain the instantaneous speed and acceleration of the object. Then, the inertial sensing module 12 can transmit the instantaneous speed and acceleration to the object surface coordinate processing module 20-3. The object surface coordinate processing module 20-3 can use the position before and after the movement, the instantaneous speed and acceleration to obtain the object surface coordinates of the object.

[0027] On the other hand, Figure 3AIn the embodiment of the present invention, the physiological sensing module 13 may obtain the physiological signal value of the object. Then, the physiological signal fusion module 20-6 may use the physiological signal value (received from the physiological sensing module 13), the object surface coordinates (received from the object surface coordinate processing module 20-3) and the physiological variable representative signal (received from the physiological signal fusion database 20-7) to obtain the fused physiological signal. Then, the physiological signal conversion module 20-8 may convert the fused physiological signal into a physiological digital code. Then, the tactile signal conversion module 20-4 may use the fused tactile signal, the object surface coordinates and the physiological digital code to obtain the tactile fusion result. Further, after the physiological feedback module 20-10 obtains the physiological digital code from the physiological signal conversion module 20-8, the physiological feedback module 20-10 may convert the physiological digital code into a physiological control signal. Then, the physiological feedback actuation module 32 may use the physiological control signal to generate physiological feedback.

[0028] It should be noted that in Figure 3A In the embodiment of the present invention, the tactile signal generation module 20-11 may use the fused tactile signal to generate an updated tactile representative signal. Then, the tactile signal generation module 20-11 may store the updated tactile representative signal in the tactile signal database 20-2. In other words, if the fused tactile signal received by the tactile signal generation module 20-11 from the tactile feature classification module 20-1 is not pre-stored in the tactile signal database 20-2, the tactile signal generation module 20-11 may generate an updated tactile representative signal and store the updated tactile representative signal in the tactile signal database 20-2.

[0029] Figure 3B is a schematic diagram of a tactile feedback system 1c according to a third embodiment of the present invention. Figure 3B and Figure 3A . Figure 3B and Figure 3A The difference between the embodiments is that in Figure 3B In one embodiment, the sensing subsystem 10 does not include the inertial sensing module 12 .

[0030] Figure 3C is a schematic diagram of a tactile feedback system 1d according to a fourth embodiment of the present invention. Figure 3C and Figure 3A . Figure 3C and Figure 3A The difference between the embodiments is that in Figure 3CIn the embodiment, the sensing subsystem 10 does not include the physiological sensing module 13, and the tactile feedback control subsystem 20 does not include the physiological signal fusion module 20-6, the physiological signal fusion database 20-7, the physiological signal conversion module 20-8 and the physiological feedback module 20-10, and the feedback actuation subsystem 30 does not include the physiological feedback actuation module 32.

[0031] Figure 4A is a schematic diagram of a tactile feedback system 1e according to a fifth embodiment of the present invention. Figure 4A and Figure 3A . Figure 4A and Figure 3A The difference between the embodiments is that in Figure 4A In the embodiment, the haptic feedback control subsystem 20 does not include the haptic signal generating module 20 - 11 .

[0032] Figure 4B is a schematic diagram of a tactile feedback system 1f according to a sixth embodiment of the present invention. Figure 4B and Figure 3A . Figure 4B and Figure 3A The difference between the embodiments is that in Figure 4B In the embodiment, the tactile feedback control subsystem 20 does not include the tactile signal generating module 20 - 11 and the physiological signal fusion database 20 - 7 .

[0033] Figure 5A is a schematic diagram of a tactile feedback system 1g according to a seventh embodiment of the present invention. Figure 5A and Figure 3A . Figure 5A and Figure 3A The difference between the embodiments is that in Figure 5A In an embodiment, the sensing subsystem 10 may include an object selection module 14. The object selection module 14 may determine whether the object 80 is touched. The object 80 is, for example, a virtual object. When the object selection module 14 determines that the object 80 is touched, Figure 5A The tactile feedback system 1g shown can perform the above Figure 3A The operation flow of the tactile feedback system 1b is shown.

[0034] Figure 5B is a schematic diagram of a tactile feedback system 1h according to an eighth embodiment of the present invention. Figure 5B and Figure 3A . Figure 5B and Figure 3A The difference between the embodiments is that in Figure 5BIn an embodiment, the sensing subsystem 10 may include an object selection module 14. The object selection module 14 may determine whether the object 80 is touched. When the object selection module 14 determines that the object 80 is touched, the physiological sensing module 13 may receive the surface temperature of the object 80 from the object 80. Then, Figure 5B The tactile feedback system 1h shown can perform the above Figure 3A The operation flow of the tactile feedback system 1b is shown.

[0035] Fig. 6A is a schematic diagram of a tactile feedback system 1i according to a ninth embodiment of the present invention. Fig. 6A and Figure 3A . Fig. 6A and Figure 3A The difference between the embodiments is that in Fig. 6A In an embodiment, the haptic feedback control subsystem 20 may be disposed in the cloud. On the other hand, the sensing subsystem 10 and the feedback actuation subsystem 30 may be disposed in the same local end. For example, the sensing subsystem 10 may be connected to the haptic feedback control subsystem 20 via a wireless network, and the haptic feedback control subsystem 20 may be connected to the feedback actuation subsystem 30 via a wireless network.

[0036] Figure 6B is a schematic diagram of a tactile feedback system 1j according to the tenth embodiment of the present invention. Figure 6B and Figure 3A . Figure 6B and Figure 3A The difference between the embodiments is that in Figure 6B In an embodiment, the tactile signal database 20-2 and the tactile signal generation module 20-11 in the tactile feedback control subsystem 20 may be disposed in the cloud. On the other hand, the other modules in the tactile feedback control subsystem 20 (except the tactile signal database 20-2 and the tactile signal generation module 20-11), the sensing subsystem 10 and the feedback actuation subsystem 30 may be disposed in the same local end.

[0037] Figure 6C is a schematic diagram of a tactile feedback system 1k according to the eleventh embodiment of the present invention. Figure 6C and Figure 4A . Figure 6C and Figure 4A The difference between the embodiments is that in Figure 6C In an embodiment, the tactile signal database 20 - 2 in the tactile feedback control subsystem 20 may be set in the cloud. On the other hand, the other modules in the tactile feedback control subsystem 20 (except the tactile signal database 20 - 2 ), the sensing subsystem 10 and the feedback actuation subsystem 30 may be set in the same local end.

[0038] The following will describe an implementation example of the tactile imaging module 20 - 5 , the tactile feature classification module 20 - 1 , the tactile signal conversion module 20 - 4 , and the tactile feedback modulation module 20 - 9 in the tactile feedback control subsystem 20 of the present invention.

[0039] In one embodiment, the touch imaging module 20-5 may perform a de-shading operation on the real-time image of the touch object when the object is touched to obtain the real-time image of the touch object after de-shading, and may use the real-time image of the touch object after de-shading to generate a gray level co-occurrence matrix (GLCM), wherein the gray level co-occurrence matrix may include multiple elements. Then, the touch imaging module 20-5 may calculate the gray level value of each of the multiple elements, and may use the gray level value to calculate the characteristic value of each of the multiple elements, wherein the characteristic value may include an energy value, an entropy value, a contrast value, a correlation value, and a contrast difference value. The gray level value may be graded into 256 levels (0 to 255 levels). For example, assuming C ij represents the grayscale value of the element in the i-th column and j-th row in the grayscale co-occurrence matrix. The energy value can be calculated as ∑ i ∑ j C ij 2 , the calculation formula of entropy value can be -∑ i ∑ j C ij log C ij , the calculation formula of the contrast value can be ∑ i ∑ j (ij) 2 C ij The calculation formula of the correlation value can be The calculation formula of the reverse difference score can be Then, the touch imaging module 20 - 5 may form a grayscale co-occurrence matrix at various angles, such as 0 degree, 45 degree, 90 degree, and 135 degree.

[0040] Then, the touch feature classification module 20-1 can use the contact area of ​​the finger pulp to calculate the grayscale proportion, grayscale value change morphology and grayscale gradient change corresponding to the real-time image of the touch object, and can determine the interactive relationship and smoothness of the object. Further, the touch feature classification module 20-1 can use the contact area grayscale value corresponding to the contact area of ​​the finger pulp to determine whether the contact surface of the object is an edge structure.

[0041] Fig. 7A FIG. 2 is a schematic diagram illustrating the tactile feature classification module 20 - 1 judging whether a finger is stationary or moving according to an embodiment of the present invention. Figure 7Bis a schematic diagram of the tactile feature classification module 20-1 judging whether an object is stationary or moving according to an embodiment of the present invention. Figure 1 , Fig. 7A as well as Figure 7B . The tactile feature classification module 20-1 can use a monitoring matrix and define the size of the contact area of ​​the fingertips representing a finger as the central position. Then, the tactile feature classification module 20-1 can calculate the grayscale ratio (to determine the texture pattern), the grayscale value change morphology and the grayscale gradient change, and can determine the interactive relationship between the finger and the object, or can determine the smoothness of the object. On the other hand, the tactile feature classification module 20-1 can use the contact area grayscale value of half the fingertips area in the real-time image of the touch object to determine whether the contact surface is an edge structure.

[0042] Further, the tactile feature classification module 20-1 can classify the tactile features into multiple categories, wherein the multiple categories may include roughness features, smoothness features, soft and hard elastic features, viscosity features, and temperature features. Further, each category can be further divided into 3 levels. In detail, the roughness feature is, for example, to distinguish the texture or particle size of the surface of the object. The smoothness feature is, for example, to distinguish the smoothness of the surface of the object. The soft and hard elastic feature is, for example, to distinguish the surface of the object to different degrees of hardness, softness, elasticity, etc. The viscosity feature is, for example, to distinguish the viscosity of the surface of the object. The temperature feature is, for example, to distinguish the surface of the object into cold (less than 20°C), warm (20°C to 50°C), and hot (greater than 50°C). Then, the tactile feature classification module 20-1 can add the viscosity feature and the temperature feature to the grayscale co-occurrence matrix to obtain the fused tactile signal. That is, the general grayscale co-occurrence matrix is ​​usually used only for grayscale processing of the image, while the tactile feature classification module 20-1 of the present invention can add the viscosity feature and the temperature feature to the grayscale co-occurrence matrix to obtain the fused tactile signal.

[0043] After the tactile feature classification module 20-1 obtains the fused tactile signal, the tactile signal conversion module 20-4 can use the fused tactile signal and the object surface coordinates to obtain a tactile fusion result, and the tactile signal conversion module 20-4 can convert the tactile fusion result into a tactile digital code. Then, the tactile feedback modulation module 20-9 can convert the tactile digital code into a tactile control signal.

[0044] Figure 8 FIG. 2 is a schematic diagram of a tactile feedback modulation module 20 - 9 converting a tactile digital code into a tactile control signal according to an embodiment of the present invention. Figure 1 and Figure 8In this embodiment, the tactile control signal may be associated with the frequency and the tactile intensity (Sensation). Specifically, the tactile feedback modulation module 20-9 may use 100 Hz, 300 Hz, and 500 Hz to divide the frequency into different intervals, and may use 25%, 50%, 75%, and 100% to divide the tactile intensity into different intervals. Figure 8 As shown, 12 tactile control signals such as S1 to S12 are obtained. The tactile control signal may include an electric friction control signal corresponding to the electric friction control unit 20-9a (X% in the tactile control signal), a deformation control signal corresponding to the deformation control unit 20-9b (Y% in the tactile control signal), and a vibration control signal corresponding to the deformation control unit 20-9c (Z% in the tactile control signal). In detail, the respective ranges of the above X%, Y% and Z% can be 0% to 100%. Then, the tactile feedback actuation module 31 can use the tactile control signal to generate tactile feedback.

[0045] In summary, the tactile feedback system and the method for generating tactile feedback according to the embodiment of the present invention can obtain the tactile fusion result by using the fused tactile signal and the surface coordinates of the object to convert the tactile digital code, and generate tactile feedback by using the tactile control signal. In particular, the tactile control signal according to the embodiment of the present invention may include an electric friction control signal, a deformation control signal, and a vibration control signal, so the tactile feedback system and the method for generating tactile feedback according to the embodiment of the present invention can provide effective / highly realistic tactile feedback.

Claims

1. A tactile feedback system, characterized in that: include: A tactile feedback control subsystem, comprising a tactile feature classification module, a tactile signal database, an object surface coordinate processing module, and a tactile signal conversion module, wherein the tactile signal database stores tactile representative signals; as well as The feedback actuation subsystem includes a tactile feedback actuation module, wherein The tactile feature classification module obtains a fused tactile signal using the 2D image digitized data corresponding to the object, the 3D shape data and the tactile representative signal; The tactile signal conversion module obtains the object surface coordinates from the object surface coordinate processing module, and the tactile signal conversion module obtains a tactile fusion result by using the fused tactile signal and the object surface coordinates, and the tactile signal conversion module converts the tactile fusion result into a tactile digital code; The tactile feedback actuation module generates tactile feedback using a tactile control signal corresponding to the tactile digital code.

2. The tactile feedback system according to claim 1, characterized in that: The tactile feedback control subsystem further includes a tactile feedback modulation module, wherein the tactile feedback modulation module converts the tactile digital code into the tactile control signal.

3. The tactile feedback system according to claim 1, characterized in that: Also includes a sensing subsystem, wherein the sensing subsystem includes an image sensing module, wherein the tactile feedback control subsystem also includes a tactile imaging module, wherein The image sensing module obtains a real-time image of the touch object when the object is touched, and obtains a position of the object before and after movement, wherein the real-time image of the touch object includes a surface texture of the object; The object surface coordinate processing module obtains the object surface coordinates by using the pre-movement position and the post-movement position; The touch imaging module performs a 2D image digitization operation on the surface texture of the object to obtain the 2D image digitization data; The touch imaging module uses the real-time image of the touch object to obtain the 3D shape data; The touch imaging module transmits the 2D image digitization data and the 3D shape data to the touch feature classification module.

4. The tactile feedback system according to claim 3, characterized in that: The sensing subsystem further includes an inertial sensing module, wherein The inertial sensing module obtains the pre-movement position and the post-movement position of the object, and the inertial sensing module uses the pre-movement position and the post-movement position to obtain the instantaneous speed and acceleration of the object; The inertial sensing module transmits the instantaneous velocity and the acceleration to the object surface coordinate processing module; The object surface coordinate processing module obtains the object surface coordinates of the object by using the pre-movement position, the post-movement position, the instantaneous velocity, and the acceleration.

5. The tactile feedback system according to claim 4, characterized in that: The sensing subsystem further includes a physiological sensing module, wherein the tactile feedback control subsystem further includes a physiological signal fusion module and a physiological signal fusion database, and the physiological signal fusion database stores physiological variable representative signals, wherein The physiological sensing module obtains a physiological signal value of the object; The physiological signal fusion module obtains a fused physiological signal using the physiological signal value, the object surface coordinates and the physiological variable representative signal.

6. The tactile feedback system according to claim 5, characterized in that: The sensing subsystem further includes an object selection module, wherein The object selection module determines whether the object is touched; When the object selection module determines that the object is touched, the physiological sensing module receives a surface temperature of the object from the object.

7. The tactile feedback system according to claim 5, characterized in that: The tactile feedback control subsystem further includes a physiological signal conversion module, a tactile feedback modulation module and a physiological feedback module, wherein the feedback actuation subsystem further includes a physiological feedback actuation module, wherein The physiological signal conversion module converts the fused physiological signal into a physiological digital code; The tactile signal conversion module obtains the tactile fusion result by using the fused tactile signal, the object surface coordinates and the physiological digital code; The tactile feedback modulation module converts the tactile digital code into the tactile control signal; The physiological feedback module converts the physiological digital code into the physiological control signal; The physiological feedback actuation module generates physiological feedback using the physiological control signal.

8. The tactile feedback system according to claim 2, wherein: The tactile feedback modulation module includes an electric friction control unit, a deformation control unit and a vibration control unit, wherein the tactile control signal includes an electric friction control signal corresponding to the electric friction control unit, a deformation control signal corresponding to the deformation control unit and a vibration control signal corresponding to the vibration control unit, wherein the tactile control signal is associated with frequency and tactile intensity.

9. The tactile feedback system according to claim 1, wherein: The tactile feedback control subsystem further includes a tactile signal generating module, wherein The tactile signal generating module generates the updated tactile representative signal by using the fused tactile signal; The tactile signal generating module stores the updated tactile representative signal in the tactile signal database.

10. The tactile feedback system according to claim 1, wherein: The tactile feedback control subsystem also includes a tactile imaging module, wherein The touch imaging module performs a shadow removal operation on the real-time image of the touch object when the object is touched to obtain the real-time image of the touch object after shadow removal, and generates a grayscale co-occurrence matrix using the real-time image of the touch object after shadow removal, wherein the grayscale co-occurrence matrix includes a plurality of elements; The touch imaging module calculates a grayscale value of each of the plurality of elements, and uses the grayscale value to calculate a characteristic value of each of the plurality of elements, wherein the characteristic value includes an energy value, an entropy value, a contrast value, a correlation value, and a contrast difference value.

11. The tactile feedback system according to claim 10, characterized in that: The touch feature classification module uses the contact area of ​​the finger pulp to calculate the grayscale proportion, grayscale value change morphology and grayscale gradient change corresponding to the real-time image of the touch object, and determines the interactive relationship and smoothness of the object; The touch feature classification module uses the contact area grayscale value corresponding to the contact area of ​​the finger pulp to determine whether the contact surface of the object is an edge structure; The tactile feature classification module classifies the tactile features into a plurality of categories, wherein the plurality of categories include roughness features, smoothness features, soft and hard elastic features, viscosity features, and temperature features; The tactile feature classification module adds the viscosity feature and the temperature feature to the gray-scale co-occurrence matrix to obtain the fused tactile signal.

12. A method for generating tactile feedback, characterized in that: The method is applicable to a tactile feedback system including a tactile feedback control subsystem and a feedback actuation subsystem, wherein the tactile feedback control subsystem includes a tactile feature classification module, a tactile signal database, an object surface coordinate processing module, and a tactile signal conversion module, wherein the tactile signal database stores tactile representative signals, wherein the feedback actuation subsystem includes a tactile feedback actuation module, and wherein the method includes the following steps: The tactile feature classification module obtains a fused tactile signal using the 2D image digitized data corresponding to the object, the 3D shape data and the tactile representative signal; The tactile signal conversion module obtains the object surface coordinates from the object surface coordinate processing module, and the tactile signal conversion module obtains a tactile fusion result by using the fused tactile signal and the object surface coordinates, and the tactile signal conversion module converts the tactile fusion result into a tactile digital code; and The tactile feedback actuation module generates tactile feedback using a tactile control signal corresponding to the tactile digital code.

13. The method according to claim 12, characterized in that The system further comprises a sensing subsystem, wherein the sensing subsystem comprises an image sensing module, wherein the tactile feedback control subsystem further comprises a tactile imaging module, wherein the method further comprises the following steps: The image sensing module obtains a real-time image of the touch object when the object is touched, and obtains a position of the object before and after the movement, wherein the real-time image of the touch object includes a surface texture of the object; The object surface coordinate processing module uses the position before the movement and the position after the movement to obtain the object surface coordinate; The touch imaging module performs a 2D image digitization operation on the surface texture of the object to obtain the 2D image digitization data; The touch imaging module uses the real-time image of the touch object to obtain the 3D shape data; and The 2D image digitization data and the 3D shape data are transmitted from the touch imaging module to the touch feature classification module.

14. The method according to claim 13, characterized in that The sensing subsystem further includes an inertial sensing module and a physiological sensing module, wherein the tactile feedback control subsystem further includes a physiological signal fusion module and a physiological signal fusion database, and the physiological signal fusion database stores physiological variable representative signals, wherein the method further includes the following steps: The inertial sensing module obtains the pre-movement position and the post-movement position of the object, and the inertial sensing module uses the pre-movement position and the post-movement position to obtain the instantaneous speed and acceleration of the object; The inertial sensing module transmits the instantaneous velocity and the acceleration to the object surface coordinate processing module; The object surface coordinate processing module obtains the object surface coordinates of the object by using the pre-movement position, the post-movement position, the instantaneous velocity and the acceleration; obtaining a physiological signal value of the subject by the physiological sensing module; and The physiological signal fusion module uses the physiological signal value, the object surface coordinates and the physiological variable representative signal to obtain a fused physiological signal.

15. The method according to claim 14, characterized in that The sensing subsystem further includes an object selection module, wherein the method further includes the following steps: The object selection module determines whether the object is touched; and When the object selection module determines that the object is touched, the physiological sensing module receives the surface temperature of the object from the object.

16. The method according to claim 14, characterized in that The tactile feedback control subsystem further includes a physiological signal conversion module, a tactile feedback modulation module and a physiological feedback module, wherein the feedback actuation subsystem further includes a physiological feedback actuation module, and the method further includes the following steps: The physiological signal conversion module converts the fused physiological signal into a physiological digital code; The tactile signal conversion module obtains the tactile fusion result by using the fused tactile signal, the object surface coordinates and the physiological digital code; The tactile feedback modulation module converts the tactile digital code into the tactile control signal; The physiological feedback module converts the physiological digital code into the physiological control signal; and The physiological feedback actuation module generates physiological feedback using the physiological control signal.

17. The method according to claim 12, characterized in that The tactile feedback modulation module includes an electric friction control unit, a deformation control unit and a vibration control unit, wherein the tactile control signal includes an electric friction control signal corresponding to the electric friction control unit, a deformation control signal corresponding to the deformation control unit and a vibration control signal corresponding to the vibration control unit, wherein the tactile control signal is associated with frequency and tactile intensity.

18. The method according to claim 12, characterized in that The tactile feedback control subsystem further includes a tactile signal generating module, wherein the method further includes the following steps: The tactile signal generating module generates the updated tactile representative signal using the fused tactile signal; and The tactile signal generating module stores the updated tactile representative signal in the tactile signal database.

19. The method of claim 12, wherein: The tactile feedback control subsystem further includes a tactile imaging module, wherein the method further includes the following steps: The touch imaging module performs a de-shadowing operation on the real-time image of the touch object when the object is touched to obtain the real-time image of the touch object after de-shadowing, and generates a grayscale co-occurrence matrix using the real-time image of the touch object after de-shadowing, wherein the grayscale co-occurrence matrix includes a plurality of elements; and The touch imaging module calculates a grayscale value of each of the multiple elements, and uses the grayscale value to calculate a characteristic value of each of the multiple elements, wherein the characteristic value includes an energy value, an entropy value, a contrast value, a correlation value, and a contrast difference value.

20. The method of claim 19, wherein: The tactile feedback control subsystem further includes a tactile imaging module, wherein the method further includes the following steps: The touch feature classification module uses the contact area of ​​the finger pulp to calculate the grayscale proportion, grayscale value change morphology and grayscale gradient change corresponding to the real-time image of the touch object, and determines the interactive relationship and smoothness of the object; The touch feature classification module determines whether the contact surface of the object is an edge structure by using the contact area grayscale value corresponding to the contact area of ​​the fingertip; The tactile feature classification module classifies the tactile features into a plurality of categories, wherein the plurality of categories include roughness features, smoothness features, soft and hard elastic features, viscosity features, and temperature features; and The tactile feature classification module adds the viscosity feature and the temperature feature to the grayscale co-occurrence matrix to obtain the fused tactile signal.

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