Wearable tongue machine interaction system based on force feedback

Abstract

The invention discloses a wearable tongue machine interaction system based on force feedback. The wearable tongue machine interaction system comprises an upper jaw wearing part and a control unit arranged on the upper jaw wearing part. The upper jaw wearing part comprises a flexible upper jaw wearing body, and a first pressure sensor array and a second pressure sensor array are arranged on the flexible upper jaw wearing body; the first pressure sensor array is used for being attached to the whole palate part of a human body and collecting tongue muscle pressure signals, and the second pressure sensor array is used for being attached to a tooth occlusal surface and generating occlusal pressure signals; the control unit is connected with the first pressure sensor array and the second pressure sensor array and generates a tongue machine interaction instruction according to the received pressure signals, and the tongue machine interaction instruction is used for controlling controlled equipment connected with the control unit to complete tongue machine interaction. The system does not occupy the functions of four limbs of a human body, can achieve the precise control of controlled equipment, and will have a wide application prospect in the aspects of medical disabled assistance, industry, civil use and the like in the future.

Description

Technical Field

[0001] The present invention belongs to the technical field of human-computer interaction, and particularly relates to a wearable tongue-machine interaction system based on force feedback. Background Art

[0002] With the development of technology, the use of electronic devices such as smart phones, tablets, computers, and game consoles is essential in people's daily lives. The main ways to operate such electronic products are limb control technologies such as keyboards, mice, joysticks, and touchscreens. It can be seen that such control technologies are not suitable for disabled people. For this reason, researchers have proposed human-computer interaction methods including brain-computer interaction, eye control interaction, and voice interaction. However, brain-computer interaction devices are expensive and difficult to maintain, eye control interaction technology is easily interfered by surrounding light, voice interaction technology is easily affected by surrounding environmental sounds, and all have problems such as large latency, complex device wearing, poor adaptability, and misrecognition, resulting in inability to be popularized and applied in the medical and health care fields. The tongue-machine interaction method undoubtedly broadens the field of human-computer interaction. Most disabled patients still have the ability to control the autonomous movement of the tongue. Controlling intelligent devices through tongue-machine interaction is a viable option. Its specific advantages are as follows: First, the motor cortex that controls the tongue is similar to that of the fingers and hands, and it can perform complex operations on speaking and eating. Second, the tongue muscles are highly fatigue-resistant and can more effectively adapt to various motion scenarios than manual buttons. Third, the tongue is relatively hidden and does not affect social interaction. Fourth, compared with the brain-computer interface that requires full concentration, tongue movement is more intuitive and requires less concentration.

[0003] Existing tongue-machine interaction devices have problems such as large size, strong foreign body sensation, which easily cause discomfort to the wearer and pronunciation disorders; moreover, the sensor settings of existing devices are single, unable to recognize continuous tongue position changes, resulting in single tongue control instructions, unable to be combined with AI for intelligent control; furthermore, they cannot truly be compatible with multiple electronic devices. And existing tongue-machine interaction devices focus on controlling corresponding electronic devices and ignore the training of the tongue muscles themselves. For people with tongue muscle dysfunction, tongue muscle training is an effective means to improve tongue muscle function, prevent tongue posterior prolapse, and improve the quality of life. The combination of tongue muscle training and tongue-machine interaction is the general trend. Summary of the Invention

[0004] In view of the above problems, the present invention proposes a wearable tongue-machine interaction system based on force feedback, which not only does not occupy the functions of the human limbs but also can achieve precise position control.

[0005] In order to achieve the above technical objectives and reach the above technical effects, the present invention is realized through the following technical solutions: A wearable tongue-machine interaction system based on force feedback, comprising an upper jaw wearing component and a control unit provided on the upper jaw wearing component; The maxillary wearing component includes a flexible maxillary wearing body, and a first pressure sensor array is provided on the flexible maxillary wearing body; the first pressure sensor array is used to fit with the entire upper palate of the human body to collect tongue muscle pressure signals; The control unit is connected to the first pressure sensor array and generates a tongue-machine interaction instruction according to the received tongue muscle pressure signal, and the tongue-machine interaction instruction is used to control a controlled device connected to the control unit to complete a tongue-machine interaction action.

[0006] Optionally, a second pressure sensor array is further provided on the flexible maxillary wearing body, and the second pressure sensor array is used to fit with the tooth occlusal surface to generate an occlusal pressure signal; the control unit is also connected to the second pressure sensor array and generates a tongue-machine interaction instruction according to the received occlusal pressure signal, and the tongue-machine interaction instruction is used to control a controlled device connected to the control unit to complete a tongue-machine interaction action.

[0007] Optionally, when the flexible maxillary wearing body is placed in the human oral cavity, the flexible maxillary wearing body is fitted in the user's maxilla, surrounding the maxillary teeth and the upper palate, and is completely fitted with the dental arch teeth of the human body.

[0008] Optionally, the flexible maxillary wearing body is of a dental appliance structure or a bracket structure.

[0009] Optionally, the second pressure sensor array covers the entire occlusal area or is arranged in a partial occlusal area.

[0010] Optionally, when the controlled device is a computer, a tablet or a mobile phone, and the control unit is connected to the controlled device, the human-machine interface of the controlled device is controlled by the control unit; When the tongue slides on the upper palate, the control unit generates a cursor movement instruction based on the received tongue muscle pressure signal; When the tongue touches a certain area of the upper palate with force, the control unit automatically identifies the highest pressure value from the received tongue muscle pressure signal and generates a click instruction corresponding to the highest pressure value; When text input is required, the control unit automatically corresponds the first pressure sensor array to the area including 26 English letters on the human-machine interface of the controlled device; when the pressure fluctuation amplitude of the tongue muscle pressure signal received by the control unit is less than the set fluctuation threshold, the control unit generates a cursor movement instruction; when the tongue muscle pressure value in a single letter area exceeds the set pressure threshold, the control unit generates a click instruction; when the duration of the tongue touching a certain area of the upper palate exceeds the set duration threshold, the control unit generates a long-press instruction.

[0011] Optionally, when the controlled device is an electric wheelchair and the control unit is connected to the controlled device, the human-machine interface of the controlled device is controlled by the control unit; When the number of consecutive tooth occlusions is a preset first number, the control unit generates an electric wheelchair unlocking instruction based on the received occlusion pressure signal to unlock and start the electric wheelchair; When the tongue sliding in the palatal region meets the set requirements, the control unit generates an electric wheelchair movement instruction based on the received tongue muscle pressure signal to control the electric wheelchair to start moving; When the tongue slides on the palate, the control unit generates an electric wheelchair sliding trajectory instruction based on the sliding trajectory of the received tongue muscle pressure signal to control the sliding direction of the electric wheelchair; meanwhile, the control unit generates a corresponding speed signal instruction based on the pressure value of the tongue muscle pressure signal to control the sliding speed of the electric wheelchair; When the teeth bite, the control unit generates a braking deceleration instruction based on the received occlusion pressure signal. The greater the value of the occlusion pressure signal, the faster the deceleration; When the touch pressure value of the tongue on the palate is 0, the control unit generates an electric wheelchair stop movement instruction based on the received tongue muscle pressure signal to control the electric wheelchair to stop moving; When the number of consecutive tooth occlusions exceeds a predetermined number, the control unit generates an electric wheelchair locking instruction based on the received occlusion pressure signal; When the number of consecutive tooth occlusions is a preset second number and each occlusion pressure signal exceeds the alarm threshold, the control unit generates an alarm instruction based on the received occlusion pressure signal.

[0012] Optionally, an application program is downloaded in the controlled device. When the control unit is connected to the controlled device, the application program is started; Using the tongue instead of the hand and the palate instead of the touch screen of the controlled device, the control unit completes the use of the application program based on the received tongue muscle pressure signal.

[0013] Optionally, the wearable tongue-machine interaction system further includes a wireless charging unit provided on the upper jaw wearing member; the wireless charging unit includes a wireless charging transmitting module, a wireless charging receiving module, a rectifying module, a charging management circuit, a battery, and a DC-DC module; The wireless charging transmitting module converts electrical energy into magnetic field energy; The wireless charging receiving module converts the magnetic field energy transmitted by the wireless charging transmitting module into electrical energy, and the electrical energy is converted into a stable DC power supply after passing through the rectifying module; The charging management circuit is connected to the output end of the rectification module, and charges the battery by matching different voltages and currents according to the real-time voltage state of the battery; The DC-DC module stably converts the voltage provided by the battery to the control unit to supply power to the control unit.

[0014] Optionally, the control unit includes: a sampling circuit, a controller, and a wireless communication module; The input end of the sampling circuit is respectively connected to the first pressure sensor array and the second pressure sensor array, and collects the tongue muscle pressure signal generated by the tongue muscle from the first pressure sensor array, and the occlusal pressure signal generated by tooth occlusion from the second pressure sensor array; The output end of the sampling circuit is connected to the controller, and sends the collected signal to the controller, and the controller preprocesses the pressure signal and converts it into an electrical signal; The wireless communication module is connected to the controller, and sends the electrical signal generated by the controller to the controlled device.

[0015] Compared with the prior art, the beneficial effects of the present invention are: The present invention neither occupies the functions of the human limbs nor can achieve precise control of the controlled device. In the future, this interaction technology will have broad application prospects in medical assistance for the disabled, industry, civil use, etc.

[0016] Just wearing the flexible maxillary wearing body on the upper jaw of the oral cavity can achieve wearing, which is very convenient. And the present invention proposes to control the controlled device through the tongue, which has strong adaptability, is more precise in control compared with electromyogram and electroencephalogram devices, occupies a small space, has concealment, and is portable.

[0017] The present invention adopts a wireless charging method, does not require battery replacement, and can reduce the patient's concern about safety.

[0018] The present invention adopts the first pressure sensor array and the second pressure sensor array to respectively collect the tongue movement information and the tooth occlusion information, realizing the relative independence of the tongue movement information and the tooth occlusion information without mutual influence. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings, where: Figure 1Schematic structural diagram of a wearable tongue-machine interaction system according to an embodiment of the present invention; Figure 2 Block diagram of the control principle of a wearable tongue-machine interaction system according to an embodiment of the present invention; Wherein: 1 - First pressure sensor array, 2 - Second pressure sensor array, 3 - Flexible maxillary wearing body, 4 - Circuit component. Specific implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0022] As Figure 1 shown, the present invention provides a force-feedback-based wearable tongue-machine interaction system, including a maxillary wearing component and a control unit provided on the maxillary wearing component; The maxillary wearing component includes a flexible maxillary wearing body 3, and a first pressure sensor array 1 is provided on the flexible maxillary wearing body 3; the first pressure sensor array 1 is used to fit with the entire upper palate of the human body to collect tongue muscle pressure signals; in the specific implementation process, the first pressure sensor array 1 can be selected as a soft tactile sensor array, such as a flexible and bendable high-sensitivity piezoresistive sensor matrix; The control unit is connected to the first pressure sensor array 1 and generates a tongue-machine interaction instruction according to the received tongue muscle pressure signal, and the tongue-machine interaction instruction is used to control the controlled device connected to the control unit to complete the tongue-machine interaction action.

[0023] Since the first pressure sensor array 1 in the present invention is used to fit the entire upper palate of the human body, with a high acquisition density, the amount of information collected and the uniformity and continuity of the data are greatly improved. It can accurately identify the continuous and all-directional movements of the tongue and map them into different control instructions (i.e., tongue-computer interaction instructions), which are processed by AI to achieve precise control of the corresponding controlled devices. Moreover, the wearable tongue-computer interaction system device in the present invention is small in size and easy to wear, with better comfort and concealment, and will not affect the pronunciation and eating of patients. The wearable tongue-computer interaction system proposed in the present invention can not only control computers, tablet electronic devices, and electric wheelchairs, but also perform daily tongue muscle training. Therefore, the present invention greatly expands the interaction ability of the disabled and expands the tongue muscle exercise function. The present invention can also be applied to users with intact limbs, providing more choices for human-computer interaction and more ways of tongue muscle training.

[0024] In a specific embodiment of the present invention, a second pressure sensor array 2 is further provided on the flexible upper jaw wearing body 3. The second pressure sensor array 2 is used to fit the occlusal surface of the teeth to generate an occlusal pressure signal. The control unit is also connected to the second pressure sensor array 2 and generates a tongue-computer interaction instruction according to the received occlusal pressure signal. The tongue-computer interaction instruction is used to control the controlled device connected to the control unit to complete the tongue-computer interaction action. In the specific implementation process, the second pressure sensor array 2 is preferably a soft tactile sensor array, such as a flexible and bendable high-sensitivity piezoresistive sensor matrix.

[0025] In a specific embodiment of the present invention, in order to improve the accuracy of the collected pressure signal, when the flexible upper jaw wearing body 3 is placed in the human oral cavity, the flexible upper jaw wearing body 3 is embedded in the user's upper jaw to surround the upper teeth and the upper palate, and is completely fitted to the dental arch teeth of the human body. In the specific application process, the flexible upper jaw wearing body 3 needs to be customized according to the user's dental mold.

[0026] In a specific embodiment of the present invention, the flexible upper jaw wearing body 3 is of a dental appliance structure. In other embodiments of the present invention, the flexible upper jaw wearing body 3 can also be of a bracket structure. The specific structure can be set according to the actual situation. The flexible upper jaw wearing body 3 can be made of silicone. In order to improve the aesthetic performance, the flexible upper jaw wearing body 3 is preferably made transparent.

[0027] In a specific embodiment of the present invention, the second pressure sensor array 2 covers the entire occlusal area. In other embodiments of the present invention, the second pressure sensor array 2 is arranged in a partial occlusal area, such as only one pressure sensor is provided in each of the left and right posterior tooth segments.

[0028] In a specific embodiment of the present invention, when the controlled device is a computer, a tablet or a mobile phone, and the control unit is connected to the controlled device, the human-machine interface of the controlled device is controlled by the control unit; When the tongue slides on the palate, the control unit generates a cursor movement instruction based on the received tongue muscle pressure signal to control the cursor on the human-machine interface to slide; in the specific implementation process, after receiving the tongue muscle pressure signal, the control unit will analyze by combining CNN and RNN, and perform operations such as filtering on individual uneven tongue muscle pressure signals; When the tongue forcefully touches a certain area of the palate, the control unit automatically identifies the highest pressure value from the received tongue muscle pressure signal and generates a click instruction corresponding to the highest pressure value, so as to avoid accidental touch and unclear click caused by too large an area; When text input is required, the control unit automatically corresponds the first pressure sensor array 1 to the area including 26 English letters on the human-machine interface of the controlled device; when the pressure fluctuation amplitude of the tongue muscle pressure signal received by the control unit is less than the set fluctuation threshold, the control unit generates a cursor movement instruction to control the cursor on the human-machine interface to slide; when the tongue muscle pressure value within a single letter area exceeds the set pressure threshold, the control unit generates a click instruction; when the duration of the tongue touching a certain area of the palate exceeds the set duration threshold, the control unit generates a long press instruction. In the specific implementation process, the area including 26 English letters can be set according to the actual input method, and the actual input method can be selected according to the user's habit.

[0029] In a specific embodiment of the present invention, when the controlled device is an electric wheelchair, and the control unit is connected to the controlled device, the human-machine interface of the controlled device is controlled by the control unit; When the number of consecutive occlusal contacts of the teeth is the preset first number, the control unit generates an electric wheelchair unlocking instruction based on the received occlusal pressure signal to unlock and start the electric wheelchair; When the tongue sliding on the palate area meets the set requirements (such as the sliding duration is greater than the set sliding duration threshold or / and the sliding distance is greater than the set sliding distance threshold), the control unit generates an electric wheelchair movement instruction based on the received tongue muscle pressure signal to control the electric wheelchair to start moving; When the tongue slides on the palate, the control unit generates an electric wheelchair sliding trajectory instruction based on the sliding trajectory of the received tongue muscle pressure signal to control the sliding direction of the electric wheelchair; at the same time, the control unit generates a corresponding speed signal instruction based on the pressure value of the tongue muscle pressure signal to control the sliding speed of the electric wheelchair; in the specific implementation process, the speed signal instruction can be divided into 3 gears. By default, when the electric wheelchair starts to move, the speed signal instruction is in the first gear; when the tongue muscle pressure signal is greater than the first gear threshold, the speed signal instruction becomes the second gear; successively, when the tongue muscle pressure signal is greater than the second gear threshold, the speed signal instruction becomes the third gear. When the tongue slides forward, it is regarded as controlling the electric wheelchair to move forward, and when the tongue slides backward, it is regarded as controlling the electric wheelchair to move backward; When the teeth bite, the control unit generates a braking and deceleration instruction based on the received biting pressure signal. The greater the biting pressure signal value, the faster the deceleration; When the touch pressure value of the tongue on the palate is 0, the control unit generates an electric wheelchair stop movement instruction based on the received tongue muscle pressure signal to control the electric wheelchair to stop moving; When the number of consecutive teeth bites exceeds a predetermined number, the control unit generates an electric wheelchair locking instruction based on the received biting pressure signal; in the specific implementation process, it can be set that when the number of consecutive teeth bites exceeds 2 times, the control unit generates an electric wheelchair locking instruction based on the received biting pressure signal; When the number of consecutive teeth bite contacts is a preset second number and the biting pressure signal of each time exceeds the alarm threshold, the control unit generates an alarm instruction based on the received biting pressure signal and automatically sends the positioning information and related distress information to the police and emergency contacts. In the specific implementation process, the preset first number can be set to 2 times, the preset second number can be set to 5 times, and the specific values of the preset first number and the preset second number can be set according to the actual situation. The specific values of the two are not limited in the present invention.

[0030] In a specific embodiment of the present invention, an application program is downloaded in the controlled device, and the control unit is connected to the controlled device, then the application program is started; The tongue is used to replace the hand, and the palate is used to replace the human-computer interaction touch screen of the controlled device. The control unit completes the use of the application program based on the received tongue muscle pressure signal.

[0031] When the wearable tongue-machine interaction system in the present invention is used for tongue muscle fun training, the following steps are carried out: 1. Download an application program (app) in the controlled device and establish a communication connection between the wearable tongue-machine interaction system and the controlled device.

[0032] 2. On the controlled device, the details displayed on the human-machine interaction interface of the controlled device can be visually seen by the user.

[0033] 3. After the flexible maxillary wearing body 3 is installed, the user can start the tongue training action. When the user's tongue touches the pressure sensor array on the flexible maxillary wearing body 3, corresponding numerical, graphical or game interactive feedback can be given on the controlled device.

[0034] 4. Select the corresponding game for training. The games are divided into flexibility training and strength training.

[0035] Among them, the specific embodiment of the flexibility training takes "Match 3" as an example. Just like playing Match 3 on a mobile phone by touching the screen with the hand, the tongue replaces the hand, and the palate replaces the touch screen. The corresponding game screen is directly displayed on the human-machine interaction interface. The tongue slides to move the corresponding color blocks, and each game is scored to stimulate the user's interest in practice.

[0036] The specific example of the strength training is mainly a shooting game. Just like playing a shooting game on a mobile phone with the mobile phone, the tongue replaces the hand, and the palate replaces the touch screen. The corresponding game screen is directly displayed on the human-machine interaction interface. The closer the tongue muscle is to the posterior side of the palate and the greater the strength, the greater the shooting range, and the farther shield can be hit. Therefore, the user can exercise according to the shields at different distances that appear.

[0037] By detecting the holding pressure of the tongue, the training process and effect of the tongue can be well quantified, so that the user can get more positive feedback, thereby stimulating the user's interest in practice and cultivating perseverance. Eventually, the tongue muscle is exercised to avoid a series of problems such as malocclusion deformity and tongue prolapse that may be caused by insufficient tongue muscle strength.

[0038] In a specific embodiment of the present invention, the wearable tongue machine interaction system further includes a wireless charging unit provided on the maxillary wearing component; the wireless charging unit includes a wireless charging transmitting module, a wireless charging receiving module, a rectifying module, a charging management circuit, a battery and a DC-DC module; The wireless charging transmitting module converts electrical energy into magnetic field energy; The wireless charging receiving module converts the magnetic field energy transmitted by the wireless charging transmitting module into electrical energy, and the electrical energy is converted into a stable DC power supply after passing through the rectifying module; The charging management circuit is connected to the output end of the rectifying module, and matches different voltages and currents according to the real-time voltage state of the battery to charge the battery; The DC-DC module stably converts the voltage provided by the battery to the control unit to supply power to the control unit.

[0039] In a specific implementation process, the control unit and the wireless charging unit together form a circuit component 4, which is arranged on the upper jaw wearing component, specifically, on the flexible upper jaw wearing body 3.

[0040] In the present invention, the wireless charging method is adopted, which does not require battery replacement and can reduce the patient's concern about safety.

[0041] In a specific embodiment of the present invention, the control unit includes: a sampling circuit, a controller, and a wireless communication module; The input ends of the sampling circuit are respectively connected to the first pressure sensor array 1 and the second pressure sensor array 2, and the tongue muscle pressure signal generated by the tongue muscle is collected from the first pressure sensor array 1, and the biting pressure signal generated by tooth occlusion is collected from the second pressure sensor array 2; in a specific implementation process, since the tongue muscle pressure signal and the biting pressure signal output by the first pressure sensor array 1 and the second pressure sensor array 2 are relatively weak, for this reason, the sampling circuit will also amplify the collected tongue muscle pressure signal and biting pressure signal, and send the amplified signal to the controller; The output end of the sampling circuit is connected to the controller, and the collected signal is sent to the controller, and the controller preprocesses the pressure signal and converts it into an electrical signal; in a specific implementation process, the preprocessing may be to remove the noise and baseline drift in the pressure value; The wireless communication module is connected to the controller and sends the electrical signal generated by the controller to the controlled device. In a specific implementation process, the wireless communication module can be a Bluetooth chip, which can be connected to multiple controlled devices at the same time and has good compatibility. The wireless communication module can also be other wireless communication chips that can achieve wireless connection, and can be specifically set according to actual needs.

[0042] In the present invention, the control unit and the wireless power supply unit only need to be completely inside the user's oral cavity, and the specific installation positions of the control unit and the wireless power supply unit are not specifically limited in this application.

[0043] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0044] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0045] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0046] These computer program instructions can also be loaded onto a computer or other programmable data processing devices, such that a series of operation steps are executed on the computer or other programmable devices to generate a computer-implemented process, so that the instructions executed on the computer or other programmable devices provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0047] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope of the present invention as defined by the claims. All of these are within the protection scope of the present invention.

[0048] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all of these changes and improvements fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A wearable tongue-machine interaction system based on force feedback, characterized in that: It comprises an upper jaw wearing component and a control unit arranged on the upper jaw wearing component; The upper jaw wearing component comprises a flexible upper jaw wearing body, on which a first pressure sensor array is arranged; the first pressure sensor array is used to fit the entire upper palate of a human body and collect tongue muscle pressure signals; The control unit is connected to the first pressure sensor array, and generates a tongue-machine interaction instruction according to the received tongue muscle pressure signal, wherein the tongue-machine interaction instruction is used to control a controlled device connected to the control unit to complete a tongue-machine interaction action.

2. A wearable tongue-machine interaction system based on force feedback according to claim 1, characterized in that: The flexible upper jaw wearing body is also provided with a second pressure sensor array, which is used to fit the occlusal surface of the teeth to generate an occlusal pressure signal; the control unit is also connected to the second pressure sensor array, and generates a tongue-machine interaction instruction based on the received occlusal pressure signal, and the tongue-machine interaction instruction is used to control the controlled device connected to the control unit to complete the tongue-machine interaction action.

3. A wearable tongue-machine interaction system based on force feedback according to claim 2, characterized in that: When the flexible upper jaw wearing body is placed in the human oral cavity, the flexible upper jaw wearing body is embedded in the upper jaw of the user, surrounds the upper jaw teeth and the upper palate, and completely fits the dental arch teeth of the human body.

4. A wearable tongue-machine interaction system based on force feedback according to claim 2, characterized in that: The flexible upper jaw wearing body is a braces-type structure or a bracket-type structure.

5. A wearable tongue-machine interaction system based on force feedback according to claim 2, characterized in that: The second pressure sensor array covers the entire occlusal area or is arranged in a part of the occlusal area.

6. A wearable tongue-machine interaction system based on force feedback according to claim 1, characterized in that: When the controlled device is a computer, a tablet or a mobile phone, and the control unit is connected to the controlled device, the human-machine interface of the controlled device is controlled by the control unit; When the tongue slides on the upper palate, the control unit generates a cursor movement instruction based on the received tongue muscle pressure signal; When the tongue touches a certain area of ​​the upper palate with force, the control unit automatically identifies the highest pressure value from the received tongue muscle pressure signal and generates a single-click instruction corresponding to the highest pressure value; When text input is required, the control unit automatically corresponds the first pressure sensor array to an area including 26 English letters on the human-machine interface of the controlled device; when the pressure fluctuation amplitude of the tongue muscle pressure signal received by the control unit is less than the set fluctuation threshold, the control unit generates a cursor movement instruction; when the tongue muscle pressure value in a single letter area exceeds the set pressure threshold, the control unit generates a single-click instruction; when the duration of the tongue touching a certain area of ​​the upper palate exceeds the set duration threshold, the control unit generates a long press instruction.

7. A wearable tongue-machine interaction system based on force feedback according to claim 2, characterized in that: When the controlled device is an electric wheelchair and the control unit is connected to the controlled device, the human-machine interface of the controlled device is controlled by the control unit; When the number of continuous occlusal contacts of the teeth reaches a preset first number, the control unit generates an electric wheelchair unlocking instruction based on the received occlusal pressure signal, for unlocking and starting the electric wheelchair; When the tongue slides in the upper palate area to meet the set requirements, the control unit generates an electric wheelchair movement instruction based on the received tongue muscle pressure signal, which is used to control the electric wheelchair to start moving; When the tongue slides on the upper palate, the control unit generates a sliding trajectory instruction of the electric wheelchair based on the sliding trajectory of the received tongue muscle pressure signal, so as to control the sliding direction of the electric wheelchair; at the same time, the control unit generates a corresponding speed signal instruction based on the pressure value of the tongue muscle pressure signal, so as to control the sliding speed of the electric wheelchair; When the teeth are occluding, the control unit generates a brake deceleration instruction based on the received occlusion pressure signal, and the greater the occlusion pressure signal value, the faster the deceleration; When the touch pressure value of the tongue on the upper palate is 0, the control unit generates an electric wheelchair stop movement instruction based on the received tongue muscle pressure signal, which is used to control the electric wheelchair to stop moving; When the number of consecutive occlusions of the teeth exceeds a predetermined number, the control unit generates an electric wheelchair locking instruction based on the received occlusion pressure signal; When the number of continuous occlusal contacts of the teeth reaches a preset second number, and the occlusal pressure signal each time exceeds the alarm threshold, the control unit generates an alarm instruction based on the received occlusal pressure signal.

8. The wearable tongue-machine interaction system based on force feedback according to claim 1, characterized in that: The application is downloaded into the controlled device, and the control unit is connected to the controlled device, and the application is started; The tongue replaces the hand, and the upper palate replaces the touch screen of the controlled device, and the control unit completes the use of the application based on the received tongue muscle pressure signal.

9. A wearable tongue-machine interaction system based on force feedback according to claim 2, characterized in that: The wearable tongue-machine interaction system further includes a wireless charging unit disposed on the upper jaw wearing component; the wireless charging unit includes a wireless charging transmitting module, a wireless charging receiving module, a rectifier module, a charging management circuit, a battery and a DC-DC module; The wireless charging transmitting module converts electrical energy into magnetic field energy; The wireless charging receiving module converts the magnetic field energy transmitted by the wireless charging transmitting module into electric energy, and the electric energy is converted into a stable direct current power supply after passing through the rectifying module; The charging management circuit is connected to the output end of the rectifier module, and matches different voltages and currents according to the real-time voltage state of the battery to charge the battery; The DC-DC module stably converts the voltage provided by the battery to the control unit to supply power to the control unit.

10. A wearable tongue-machine interaction system based on force feedback according to claim 9, characterized in that: The control unit includes: a sampling circuit, a controller and a wireless communication module; The input end of the sampling circuit is connected to the first pressure sensor array and the second pressure sensor array respectively, and the tongue muscle pressure signal generated by the tongue muscle is collected from the first pressure sensor array, and the occlusal pressure signal generated by the tooth occlusion is collected from the second pressure sensor array; The output end of the sampling circuit is connected to the controller, and the collected signal is sent to the controller, which pre-processes the pressure signal and converts it into an electrical signal; The wireless communication module is connected to the controller and sends the electrical signal generated by the controller to the controlled device.

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