Interactive touch glove system for astronaut training

Abstract

The invention provides an interactive tactile glove system for astronaut training. The interactive tactile glove system comprises an upper computer virtual environment, a lower computer tactile perception glove and a tactile representation glove. The touch sensing glove is used for collecting temperature, humidity and pressure information of a hand and transmitting the information to the upper computer for processing through Bluetooth. The upper computer virtual environment is built based on a Unity 3D platform, various task scenes can be simulated, and corresponding tactile feedback signals are generated and transmitted. The tactile representation glove receives data transmitted by a virtual environment or the tactile perception glove, and real-time representation of temperature, force feedback and motion postures is achieved through an integrated semiconductor cooler, a vibration element, a bending sensor and other assemblies. According to the system, multi-modal tactile feedback can be provided in single astronaut fine operation training and cooperative operation of multiple astronauts, and the training effect and team adaptability are improved. The system not only has high integration level and stability, but also can provide multi-level and multi-mode tactile simulation according to task requirements, and is suitable for accurate training and remote operation in a complex task environment.

Description

1. Technical Field

[0001] The present invention belongs to the field of aerospace training auxiliary equipment, and specifically relates to an interactive tactile glove system for astronaut training, which can simulate and reproduce real tactile sensations to improve astronauts' hand operation ability, task execution efficiency and teamwork ability. 2. Background technology

[0002] As the complexity and diversity of space missions continue to increase, the training needs of astronauts are becoming increasingly stringent, especially in terms of fine operations and teamwork. Traditional training equipment can no longer fully meet these requirements. At present, space training mainly relies on physical simulators and computer simulation systems. Although these methods can simulate the mission environment to a certain extent, they are obviously insufficient in the realism and accuracy of tactile feedback, and cannot fully reproduce the diverse tactile experience required by astronauts in actual operations.

[0003] In the prior art, some tactile glove devices use a single vibration or pressure sensor to provide tactile feedback. For example, although the system in the existing patent CN106951098A can simulate simple vibration feedback, its tactile experience is single and not precise enough to meet the needs of astronauts in complex tasks. Other systems, such as patent CN114942694A, attempt to combine multiple tactile feedback methods such as temperature and vibration, but there are still obvious deficiencies in the accurate transmission of tactile information, real-time response, and user experience. These devices are generally difficult to achieve high-precision tactile reproduction, especially in aerospace training that requires high reliability and high precision. The performance of existing systems is not ideal and cannot fully meet the training needs of astronauts.

[0004] The present invention innovates on this basis, integrating multimodal tactile perception and reproduction technology to break through the limitations of existing technologies. Such a system not only needs to provide rich and accurate tactile feedback in the ground environment, but also should have a highly integrated hardware design and stable wireless transmission function to achieve real-time data exchange with the host computer, thereby comprehensively improving the training effect of astronauts. 3. Summary of the invention

[0005] The present invention aims to provide an interactive tactile glove system, including a host computer virtual environment, a lower computer tactile perception glove and a tactile reproduction glove, which are closely connected through BLE Bluetooth to form a highly integrated interactive platform. Compared with the existing technology, the present invention uses multimodal tactile perception technology to achieve high-precision perception and reproduction of temperature, pressure and motion state, and comprehensively improves the authenticity and immersion of tactile interaction.

[0006] The tactile sensing gloves are used to sense and collect information such as temperature, humidity, pressure, etc. of the hands and to transmit data, and include an AHT25 temperature and humidity sensor, a GO505M thin film pressure sensor, and a data transmission module;

[0007] The G0505M thin film pressure sensor is installed on the inside of the finger and the palm, which can effectively capture the pressure data generated in various operations;

[0008] The AHT25 temperature and humidity sensor is placed in the middle of the back of the hand to avoid interference with the pressure sensor in the palm, and can effectively reflect the environmental status of the hand;

[0009] The hand data of the temperature and humidity sensor and the thin film pressure sensor are transmitted to the tactile reproduction gloves via BLE Bluetooth, and the real-time changes of temperature, humidity and pressure data can be displayed on the PC.

[0010] The tactile reproduction gloves can receive the environmental tactile information of the virtual environment of the host computer and the environmental information changes of different real spaces where the tactile perception gloves are located, and can also remotely operate objects in the virtual environment;

[0011] Specifically, the tactile reproduction gloves mainly involve a semiconductor refrigerator, a vibration element, a bending sensor, an OLED temperature display screen, an MPU6050 gyroscope, a core controller and an integrated circuit control board.

[0012] The core controller adopts ATmega2560 chip, and all interactive elements and execution elements can be directly connected and controlled through the peripheral circuit of ATmega2560.

[0013] The integrated circuit control board uses PCB as a complete set of hardware circuit control system, and designs corresponding circuits according to core controller selection, executive element analysis, and sensor analysis.

[0014] The bending sensor is selected to be 4.5 inches, extending from the distal interphalangeal joint (DIP) through the proximal interphalangeal joint (PIP) and the metacarpal joint (MCP) to the palm, and is used to obtain the bending angle data of the metacarpophalangeal joint.

[0015] The tactile feedback element is a 0827 flat vibration radar, which is installed on the outer side of each finger tip.

[0016] The temperature feedback element adopts a semiconductor refrigerator and is installed in the middle of the back of the hand like the temperature and humidity sensor.

[0017] The MPU6050 is a motion sensor that integrates a gyroscope and an accelerometer, acquires the hand operation of a person wearing a tactile reproduction glove, and is integrated into the main control board as a module.

[0018] The OLED temperature display screen is integrated on a circuit board like the MPU6050, so it is placed in a circuit board housing.

[0019] The host computer virtual environment is used to simulate various devices such as sensors, controllers and actuators. It also supports multiple communication protocols and data formats, and can generate and process data such as temperature, humidity, pressure, etc., simulating data changes in the real environment. The data encoding of the virtual scene first encodes the string type data input by the host computer, and then converts it into hexadecimal data, which is transmitted to the lower computer tactile reproduction gloves via BLE Bluetooth.

[0020] The host computer virtual environment is built using the Unity3D platform, and the three main modules of virtual scene, interactive operation and communication mode are used to realize the comprehensive simulation of human-computer interaction. The virtual scene can simulate the task operation in the real environment, and the gesture interaction module realizes the precise operation of the virtual hand through the collaborative work of the bending sensor and MPU6050.

[0021] The data transmission module of the interactive system uses serial ports and Bluetooth to receive and send data. The system uses a BLE Bluetooth module, which can achieve full-duplex wireless transmission with the host computer and the integrated circuit control board, and adopts a communication baud rate of 115200. The host computer virtual scene and the two tactile gloves of the lower computer are each equipped with a BLE Bluetooth module, which can communicate within a range of 10 meters after Bluetooth pairing. In terms of response speed, the high-speed Bluetooth transmission module controls the delay within 50ms, which is better than the delay of more than 100ms in the traditional system.

[0022] The power module of the interactive system is connected to a lithium battery via a MicroUSB interface to provide power support for the system. The operating voltage of the core controller ATmega2560, bending sensor and MPU6050 is 5V, while the operating voltage of the semiconductor cooler, vibration element, OLED screen and Bluetooth module is 3.5V.

[0023] Beneficial effects: The interactive tactile glove system provided by the present invention can simulate the tactile experience in a variety of real environments and realize comprehensive perception from temperature changes to force feedback. This is not only superior to the existing technology in terms of accuracy and real-time performance, but also has higher integration and stability in hardware design and wireless transmission. The system can provide multi-level and multi-mode tactile feedback according to the changes in the virtual scene, so that astronauts can get a richer and more realistic tactile experience during training. 4. Description of the drawings

[0024] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the implementation mode. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is the overall structure diagram of the system, showing the connection between the tactile perception gloves, tactile reproduction gloves and the host computer virtual environment;

[0026] Figure 2 This is a functional block diagram of the interaction between a person and a virtual environment according to an embodiment of the present invention;

[0027] Figure 3 The data format generated by the virtual scene of the host computer according to the embodiment of the present invention;

[0028] Figure 4 A diagram showing the arrangement of sensors for the tactile reproduction gloves in the embodiment of the present invention;

[0029] Figure 5 This is a functional block diagram of the remote operation system software according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of the tactile sensing gloves in the embodiment provided by the present invention. 5. Specific implementation methods

[0031] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1 , an embodiment of the present invention provides a multi-sensory channel interactive glove system. The interactive glove system is mainly composed of a tactile sensing glove, a tactile reproduction glove and a host computer virtual system, and the three are closely integrated through Bluetooth. The tactile reproduction glove can receive tactile information from the virtual environment of the host computer, and at the same time perceive the environmental change information of the tactile sensing glove in the real space, and can remotely operate objects in the virtual environment, organically combining the tactile reproduction function with the interactive process, thereby enhancing the interaction between man, machine and environment. By corresponding the different hardness of virtual scenes and real objects to tactile representations of different stimulation intensities, and transmitting and controlling the real-time temperature, the effective coordination of the tactile sensing gloves, the tactile reproduction gloves and the virtual scenes is achieved, ensuring that the tactile information transmitted to the user can clearly express different meanings.

[0033] The system usage process is as follows: First, the astronauts wear tactile sensing gloves and tactile reproduction gloves respectively, and the system connects to the host computer virtual environment through the BLE Bluetooth module. After the training begins, the astronauts use the gloves to operate in the virtual scene, such as grabbing and rotating objects. The tactile sensing gloves collect data such as hand temperature, humidity, and pressure in real time, and transmit them to the host computer via Bluetooth. The virtual environment is simulated based on this data, and the generated tactile feedback information is sent to the tactile reproduction gloves. The astronauts immediately feel the corresponding tactile feedback, such as vibration or temperature changes. The entire process simulates the real operating environment to help astronauts improve their fine operation capabilities.

[0034] like Figure 2 As shown, an embodiment of the present invention provides an interactive system between a person and a virtual environment, which is composed of a virtual scene of a host computer and a tactile reproduction glove of a lower computer, and is intended to realize the tactile experience of the user in the virtual environment, and provide real-time temperature feedback and vibration feedback. The system simulates the task operation environment in a virtual scene, combines the three perception channels of vision, hearing and touch, and enhances the user's immersion and interaction effect. Among them, the visual and auditory experience is generated by the virtual scene of the host computer, and the tactile experience is completed through the tactile reproduction glove, so that the user can obtain a more realistic multi-perception channel experience in the virtual environment.

[0035] During the operation of the system, the host computer accurately controls the corresponding actions in the virtual scene based on the real-time data transmitted by the tactile reproduction gloves. Users can perform operations such as grabbing and rotating in the virtual scene by wearing gloves. When the corresponding operation occurs in the virtual scene of the host computer, the system generates and processes the tactile information, converts it into vibration tactile data and temperature tactile data, and then sends it to the tactile reproduction gloves of the lower computer. To ensure the accuracy and consistency of data communication, the system standardizes the data format sent from the virtual scene of the host computer to the tactile reproduction gloves of the lower computer.

[0036] Specifically, the data transmitted by the virtual scene contains control information for the vibration element and the semiconductor refrigerator. A complete set of action data includes: start bit, vibration level, cooling / heating status of the semiconductor refrigerator, and intensity of temperature change. The upper computer virtual scene first encodes the input string type data into hexadecimal format, and then transmits it to the tactile reproduction gloves of the lower computer via BLE Bluetooth. Figure 3As shown in the figure, the standardized data format is: start bit + semiconductor refrigerator working level + cooling / heating state + vibration intensity level. The working level of the semiconductor refrigerator is divided into 0 to 5 levels, and the higher the level, the faster the temperature changes; the data format of the cooling / heating state is set to 1 and 2, 1 represents the cooling mode, and 2 represents the heating mode; the vibration intensity level is divided into 1 to 5 levels, corresponding to different vibration tactile experiences in the virtual scene of the host computer.

[0037] In addition, the tactile reproduction glove of the lower computer is also responsible for receiving the posture information of the user's hand, which includes the output data from the bending sensor and MPU6050. The data is transmitted back to the upper computer in real time and used to control the movement of the virtual hand. Specifically, the posture information data includes the bending value of the hand and the rotation angle in three-dimensional space (i.e., the posture angle), and its data format is: start position + bending value + separator + angle information (Yaw, Pitch, Roll) + separator. The upper computer controls the rotation and bending movement of the virtual hand according to the received data to ensure that the hand movement in the virtual scene is synchronized with the actual hand movement. The bending value data is divided into independent data of 5 fingers, and the bending state of each finger can be displayed separately in the virtual hand.

[0038] Figure 4 The sensor arrangement of the tactile reproduction gloves is shown, including: a core controller, an integrated circuit control board, a semiconductor cooler for a warm tactile feedback actuator for simulating warm tactile sensation, a vibration element for a force tactile feedback actuator for simulating force tactile sensation, a bending sensor for reading hand posture information, and an MPU6050 gyroscope.

[0039] The size of the integrated circuit control board of the core controller is 34mm×40mm, which can be drawn using Altium Designer. The core controller uses the ATmega2560 chip, which is small in size and highly developable. It contains 54 digital signal ports, 16 10-bit analog input ports, and supports multiple communication methods such as IIC, SPI, UART / USART, etc., which can meet the communication functions under different requirements. The interactive elements and the actuator elements are connected to the controller through the peripheral circuit of the core controller to realize the corresponding control functions.

[0040] Vibration element 0827 is a flat vibration motor with an outer diameter of 8mm and a thickness of 2.7mm, which is integrated into the finger sleeve of the tactile reproduction glove. When the micro-vibration element is powered on, its internal coil twists under the action of force, thereby driving the rotor to rotate and generate exciting force.

[0041]

[0042] Where m is the mass of the eccentric weight, r is the eccentricity of the rotor rotation, U is the voltage, I is the current, R is the resistance of the overall circuit, Ce is the structural parameter of the micro-vibration element, and Φ is the air gap flux of the DC motor.

[0043] In actual applications, the system controls the excitation force of the vibration element by adjusting the output voltage of the driver to achieve multi-level tactile feedback. When objects in the virtual scene of the upper computer interact, the generated force tactile feedback signal will be processed by the core controller of the lower computer, and the corresponding vibration level will be adjusted according to the signal strength. The control system uses PWM waveform to control the output power of the vibration element and sets five duty cycles of 0%, 25%, 50%, 75%, and 100%. As shown in Table 1, the data standard format of the entire protocol is: start bit + semiconductor refrigerator working level + semiconductor refrigerator cooling / heating instruction + vibration element level. The system realizes multi-level tactile feedback from no vibration to the strongest vibration by identifying the start bit in the protocol and adjusting the duty cycle accordingly. When the duty cycle is 0%, the vibration motor does not vibrate; when the duty cycle is 100%, the vibration motor reaches the highest level V, and the vibration is the strongest. This method ensures fine control of the touch and can meet the needs of different interaction scenarios.

[0044] The temperature feedback element uses a semiconductor cooler (also known as Peltier) with a size of 23mm×23mm. This device uses the thermoelectric effect to generate heat on one side while cooling on the other side, meeting the temperature sensing requirements with a maximum temperature difference of less than 70 degrees. To ensure maximum fit with the skin of the hand, the semiconductor cooler is installed on the flat area of ​​the back of the hand, in direct contact with the skin, and its position is the same as that of the temperature and humidity sensor. By changing the current direction of the semiconductor cooler, it is possible to switch between heating and cooling modes; by adjusting the current passing through the element, the rate of temperature change can be adjusted. The temperature change and rate are controlled by the integrated circuit control board program on the core controller.

[0045] The OLED temperature display screen is integrated on the circuit board in the form of a clip, and is placed together with the MPU6050 sensor in a circuit board housing.

[0046] In the lower computer system, in addition to realizing the hot and cold changes of the semiconductor refrigerator, a temperature threshold is also set. This glove system uses a PID control algorithm to achieve real-time temperature change regulation. In order to prevent the output from exceeding the limit or integral oversaturation due to the large difference between the target temperature and the real-time temperature, the system uses a limiting filter algorithm for intelligent control in actual applications. Specifically, the system will compare the temperature data of the previous few times. If the difference between the current temperature data and the last time exceeds the threshold, it will be regarded as an abnormal situation, and the last temperature value will be used to replace the current value to avoid the impact of sudden temperature changes on the system. In addition, the system will cyclically save the previous temperature value and update the temperature data after a delay to ensure the safety and stability of temperature control.

[0047] The acquisition of bending information is achieved through a bending sensor, which is a variable resistor. Its working principle is that the material produces a change in resistance during deformation. The bending angle information of the hand is obtained by measuring the resistance value of the sensor, thereby realizing rapid perception and accurate processing of hand movements. At present, there are two specifications of bending sensors on the market: 2.2 inches and 4.5 inches. On the palm of the glove, a 4.5-inch bending sensor is arranged at each finger position. The sensor extends from the distal interphalangeal joint (DIP) along the proximal interphalangeal joint (PIP) and metacarpal joint (MCP) to the palm, which is used to obtain the bending angle data of the metacarpophalangeal joint. This layout ensures that the sensor can cover the entire finger without affecting the independent bending of adjacent fingers.

[0048] The bending data acquisition circuit is mainly composed of a bending sensor and a 10KΩ resistor voltage divider circuit. Through this known resistor, the voltage across the voltage divider resistor can be measured, and then the current value can be calculated, and finally the resistance value of the bending sensor can be obtained. The bending data collected by the bending sensor is processed by mean filtering and then transmitted to the host computer virtual scene to achieve accurate hand movement feedback.

[0049] The MPU6050 is a motion sensor that integrates a gyroscope and an accelerometer. It has the ability to obtain hand operation data of a tactile reproduction glove and is integrated into the main control board as a module. The sensor includes a 3-axis gyroscope and a 3-axis accelerometer, combined with a digital motion processor (DMP). The maximum range of the gyroscope is ±2000° / s, and the maximum range of the accelerometer is ±16G. It can calculate the instantaneous acceleration and angular velocity of an object on the XYZ axis in three-dimensional space. The internal low-pass filter and 16-bit analog-to-digital converter ensure accurate data processing. The communication between the MPU6050 and the core controller uses the IIC bus, and I2C communication is performed through the four pins of VCC, GND, SCL, and SDA.

[0050] In the design of the glove system, a first-order lag filter algorithm is applied to balance the sensitivity and smoothness of the posture data. The algorithm effectively obtains the filter value by comparing the output value with the input value, thereby balancing the relationship between sensitivity and smoothness. The calculation formula of the filter output value is as follows:

[0051] Y(n)=aX(n)+(1-a)Y(n-1)

[0052] Where α is the filter coefficient. The smaller α is, the more stable the filter result is, but the lower the sensitivity is. The larger α is, the higher the sensitivity is, but the more unstable the filter result is. Based on experimental data, it is taken as 0.5. X(n) is the data sampling value, Y(n-1) is the previous filter output value, and Y(n) is the current filter output value.

[0053] In the control program of bending and rotation angle, the data sent by the tactile reproduction gloves of the lower computer to the virtual scene of the upper computer is the real-time posture information of the hand. The complete data sent by the tactile reproduction gloves includes: data flag, bending value, posture angle and separator, and the separator is uniformly represented by the symbol " / ". By detecting the separator to determine the category of the sent data, the communication program needs to generate fixed-format communication characters from the sensor data during the transmission process to ensure accurate data transmission.

[0054] like Figure 5 As shown in the figure, the remote operation function is composed of a tactile sensing glove and a tactile reproduction glove. A total of 6 sensors are sewn on the tactile sensing glove, and the manufacturing process is the same as that of the tactile reproduction glove. The sensing glove uses AHT25 temperature and humidity sensor and thin film pressure sensor as measuring elements, which are connected to the core controller through the designed control circuit, and the corresponding software is used to detect the ambient temperature information and pressure change information. The detected data is transmitted to the reproduction glove through Bluetooth wireless communication, and the actuator in the reproduction glove is controlled to generate temperature feedback and tactile force feedback, realizing accurate remote interactive operation.

[0055] See also Figure 6 The environmental dynamic data collected by the tactile sensing gloves are mainly divided into two categories: temperature and humidity change data and pressure change data. Through these real data, the system can accurately capture the tactile changes of objects perceived by the operator wearing the tactile sensing gloves during the current operation.

[0056] The RX-G0505M array distributed flexible thin film pressure sensor adopts an array design of 5 rows × 5 columns, with a total of 25 independent sensing points, and the area of ​​each sensor point is 1 square centimeter. The sensor adopts an independent design to achieve minimal interference. Specifically, a sensing point is arranged at the joint of each finger, and a circle of sensing points is arranged along the outer contour of the palm. By installing the G0505M thin film pressure sensor on the inside of the finger and the palm, the pressure data generated in various grasping actions can be effectively captured.

[0057] When the sensor is subjected to pressure, its resistance decreases as the pressure increases, showing piezoresistive characteristics, that is, the resistance and pressure are in a power function relationship, while the reciprocal of the resistance and pressure are approximately linearly related. Therefore, each sensing unit can be regarded as an independent variable resistor.

[0058] In the sensing gloves, the pressure sensor generates electrical signals of different intensities through pressure changes. These signals are processed and converted into level data, and sent to the vibration element on the tactile reproduction glove via BLE Bluetooth. The vibration element generates vibration feedback of corresponding intensity according to the received level data, thereby reproducing the tactile information.

[0059] The temperature and humidity sensor adopts the integrated temperature and humidity sensor AHT25 developed based on MEMS technology. The sensor is very sensitive to changes in ambient temperature and humidity, has a short response time, and can work normally in a strong electromagnetic field environment. In order to avoid mutual interference with the pressure sensor in the palm and effectively reflect the environmental state of the hand, the AHT25 temperature and humidity sensor is placed in the middle of the back of the hand. The temperature and humidity data collected by the sensor is sent to the semiconductor refrigerator arranged on the tactile reproduction glove via BLE Bluetooth. The semiconductor refrigerator generates real-time temperature feedback based on the different temperature information received.

[0060] Before the tactile sensing glove sends data to the tactile reproduction glove, the acquired data will be packaged and processed, and then converted into execution instructions for the tactile reproduction glove. These instructions control the operation of the actuators of the reproduction glove and generate real-time temperature and humidity feedback. The AHT25 temperature and humidity sensor communicates in the same way as the OLED display screen and MPU6050 sensor of the tactile reproduction glove, and communicates with the core controller through the IIC bus. The power supply voltage of AHT25 is 3.3V.

[0061] In the remote operation function, the main task of the tactile sensing gloves is to measure the temperature, humidity and pressure data of the remote end, and transmit these data to the tactile reproduction gloves through BLE Bluetooth. At the same time, the system also needs to display the real-time temperature, humidity and pressure data changes on the PC. In the system, the data of the sensing gloves is dynamically presented in the form of a two-dimensional curve through MATLAB.

[0062] Since pressure information cannot be presented in the tactile reproduction glove simply through vibration, different pressure thresholds are set at the sensing glove end to grade the pressure. In this way, when the sensing glove is subjected to different pressures, the tactile reproduction glove can provide feedback through corresponding vibrations of 5 different levels (Ⅰ-Ⅴ), and these vibration effects match the functions of the VR / AR system. The framework diagram of the entire teleoperation system is shown below: Figure 5 shown.

[0063] The present invention is also applicable to team collaboration scenarios of multiple astronauts. In a team collaboration scenario, when multiple astronauts wear tactile sensing gloves and tactile reproduction gloves, each glove is connected to the host computer through a Bluetooth Mesh network. The host computer can synchronize the operation data of each astronaut in real time, and transmit the hand status (such as force distribution, curvature and temperature change) of team members to all operators through the tactile reproduction gloves, thereby realizing real-time coordination of team operations. For example, when an astronaut applies too much force during a mission (exceeding the pressure threshold), the gloves will immediately generate strong vibration feedback through the vibration element to remind the user to adjust the operation strength, thereby achieving the best effect of multi-party collaboration.

[0064] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An interactive tactile glove system, characterized in that: include: Upper computer virtual environment, lower computer tactile perception gloves and tactile reproduction gloves. The tactile sensing gloves are used to sense and collect information such as temperature, humidity, pressure, etc. of the hands and to transmit data; The host computer virtual environment is used to support the interaction between people and the virtual environment, and can receive and process data such as temperature, humidity, pressure, etc., and transmit them to the lower computer tactile reproduction gloves. The tactile reproduction gloves can receive environmental tactile information of the virtual environment of the host computer and changes in environmental information of different real spaces where the tactile perception gloves are located, and can also remotely operate objects in the virtual environment.

2. An interactive tactile glove system according to claim 1, characterized in that The tactile sensing gloves include an AHT25 temperature and humidity sensor, a GO505M thin film pressure sensor and a data transmission module; The G0505M thin film pressure sensor is installed on the inside of the finger and the palm, which can effectively capture the pressure data generated in various operations; The AHT25 temperature and humidity sensor is placed in the middle of the back of the hand to avoid interference with the pressure sensor in the palm, and can effectively reflect the environmental status of the hand; The hand data of the temperature and humidity sensor and the thin film pressure sensor are transmitted to the tactile reproduction gloves via BLE Bluetooth, and the real-time changes of temperature, humidity and pressure data can be displayed on the PC.

3. The interactive tactile glove system according to claim 1, characterized in that The tactile reproduction gloves mainly involve a semiconductor refrigerator, a vibration element, a bending sensor, an OLED temperature display screen, an MPU6050 gyroscope, a core controller and an integrated circuit control board. The core controller uses an ATmega2560 chip, and all interactive elements and actuators can be directly connected and controlled through the peripheral circuit of ATmega2560. The microcontroller is used to convert the analog signal of the gesture interaction module into a digital signal, receive the control information of the external graphics workstation, and generate corresponding control instructions to control the tactile feedback module; The integrated circuit control board uses PCB as a complete set of hardware circuit control system, and designs corresponding circuits according to core controller selection, executive element analysis, and sensor analysis. The bending sensor is selected to be 4.5 inches, extending from the distal interphalangeal joint (DIP) through the proximal interphalangeal joint (PIP) and the metacarpal joint (MCP) to the palm, and is used to obtain the bending angle data of the metacarpophalangeal joint. The tactile feedback element is a 0827 flat vibration radar, which is installed on the outer side of each finger tip. The temperature feedback element adopts a semiconductor refrigerator and is installed in the middle of the back of the hand like the temperature and humidity sensor. The MPU6050 is a motion sensor that integrates a gyroscope and an accelerometer, acquires the hand operation of a person wearing a tactile reproduction glove, and is integrated into the main control board as a module. The OLED temperature display screen is integrated on a circuit board like the MPU6050, so it is placed in a circuit board housing.

4. The interactive tactile glove system according to claim 1, characterized in that: The host computer virtual environment is used to simulate a variety of devices, including sensors, controllers and actuators, and also supports a variety of communication protocols and data formats. The virtual environment is constructed through the Unity3D platform, and the three modules of virtual scene generation, gesture interaction and communication mode are used to realize the comprehensive simulation of task operation; the virtual scene can simulate the task operation in the real environment, and the gesture interaction module works together through the bending sensor and MPU6050 to realize the precise operation and real-time response of the virtual hand. The data encoding format is: start position + semiconductor refrigerator working level + cooling / heating state + vibration intensity level.

5. The interactive tactile glove system according to claim 1, characterized in that: The data transmission module uses a BLE Bluetooth module for full-duplex wireless communication with a baud rate of 115200. The host computer virtual scene and the tactile reproduction gloves and tactile perception gloves are each equipped with a BLE Bluetooth module, which can achieve stable data communication within a range of 10 meters and control the transmission delay within 50ms, which is better than the delay of more than 100ms in the prior art.

6. The interactive tactile glove system according to claim 1, characterized in that: The power module of the interactive system is connected to a lithium battery via a MicroUSB interface to provide power support. The operating voltage of the core controller ATmega2560, bending sensor and MPU6050 is 5V, while the operating voltage of the semiconductor refrigerator, vibration element, OLED screen and Bluetooth module is 3.5V, to ensure that the entire system operates with low power consumption and high stability.

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