Tactile interaction device based on magnetoelectric sensor, remote interaction system and method

Abstract

The invention discloses a tactile interaction device based on a magnetoelectric sensor. The tactile interaction device comprises a glove body; each sensor module comprises an elastic body layer, a magnetic sensing unit and a sensing circuit board layer, the magnetic sensing unit is arranged between the elastic body layer and the sensing circuit board layer, the elastic body layer detects a touch signal when receiving external pressure, and the touch signal is used for generating an interactive driving signal; the interaction driving signal is connected with a vibration feedback module in the interaction end touch interaction device; the vibration feedback modules comprise vibration units and vibration circuit board layers, the vibration units are arranged over the vibration circuit board layers, the vibration feedback modules are connected with driving signals, and the driving signals are used for driving the vibration feedback modules to vibrate at corresponding positions to generate touch. According to the touch interaction device, the relation between the variable magnetic field and the driving signal is established, the variable magnetic field is accurately captured, the touch signal is restored, and the interaction function is achieved.

Description

Technical Field

[0001] The present invention belongs to the cross - field of sensing and virtual reality technologies, and particularly relates to a tactile interaction device, a remote interaction system and a method based on a magnetoelectric sensor. Background Art

[0002] The first - generation communication technology of humans realized the perception and transmission of auditory information. The development of modern Internet and digitalization has provided people with clear and real - time visual communication experiences, and video communication has become an indispensable part of people's work and life. However, with the development of modern virtual reality (VR) and augmented reality (AR) technologies, communication limited to only hearing and vision is difficult to meet our growing demand for remote emotional communication. Along with the proposal of the concept of "tactile Internet", the new - generation Internet remote connection will inevitably extend towards tactile perception and transmission, and tactile interaction devices based on the metaverse will necessarily face rich future scenario application requirements.

[0003] However, the existing applications of tactile devices are mainly limited to immersive games, car touchscreens, etc. There are few tactile devices developed for metaverse applications. At the same time, the devices developed by researchers for multi - modal tactile simulation and feedback technologies remain in the laboratory stage, facing problems such as high costs and complex technical solutions, and there is still a distance from truly realizing practical and market - oriented development.

[0004] Therefore, in view of the demand for remote immersive tactile interaction, it is of great significance to develop a low - cost and easily engineer - realizable tactile interaction device. Summary of the Invention

[0005] Aiming at the defects and improvement requirements of the existing technology, we propose a tactile interaction device, a remote interaction system and a method based on a magnetoelectric sensor. By adopting a multi - layer structure design and a magnetoelectric sensing principle, combined with a sensing and feedback module, it can detect pressure sensation in real - time and transmit it to the tactile interaction device feedback at the remote interaction end to achieve the remote tactile interaction function. The tactile sensing module of this type of solution design adopts the magnetoelectric principle, which can accurately sense pressure and sliding. Compared with the piezoresistive or capacitive tactile sensing principle, it uses fewer sensing unit arrays. At the same time, by precisely detecting the changing magnetic field and designing the waveform of the driving signal, the tactile signal can be accurately restored, having great cost advantages and high - precision advantages.

[0006] The present invention provides a tactile interaction device based on a magnetoelectric sensor, including:

[0007] A glove body;

[0008] A plurality of sensor modules are distributed on the fingers and the palm of the glove body. The sensing module includes an elastomer layer, a magnetic sensing unit, and a sensing circuit board layer. The magnetic sensing unit is disposed between the elastomer layer and the sensing circuit board layer. When the elastomer layer receives an external pressure, it detects a touch signal, and the touch signal is used to generate an interaction drive signal. The interaction drive signal is connected to a vibration feedback module in a haptic interaction device at an interaction end. Wherein, when the elastomer layer deforms, a changing magnetic field is generated, and the magnetic sensing unit measures the changing magnetic field to detect the touch signal. The changing magnetic field is obtained according to the three-axis magnetic field components X, Y, and Z.

[0009] A plurality of vibration feedback modules are disposed directly below the sensor modules, and each vibration feedback module includes a vibration unit and a vibration circuit board layer. The vibration unit is disposed directly above the vibration circuit board layer. The vibration feedback module is connected to a drive signal generated according to a touch signal of a haptic interaction device at an interaction end, and the drive signal is used to drive the vibration feedback module to vibrate at a corresponding position to generate a touch feeling.

[0010] Preferably, a buffer layer is disposed between the sensor module and the vibration module, and the material of the buffer layer is PDMS.

[0011] Preferably, the elastomer layer further includes a magnetic layer, a pyramid deformation layer, and a support layer. The magnetic layer, the pyramid deformation layer, and the support layer are connected in sequence from top to bottom. When the top layer of the elastomer receives an external pressure, the pyramid deformation layer generates a deformation and the changing magnetic field.

[0012] Preferably, the material of the magnetic layer is PDMS doped with neodymium iron boron magnetic powder. The pyramid deformation layer includes a pyramid unit array composed of a plurality of pyramid units. Wherein, the length, width, and height of each pyramid unit are all 1 - 3 mm, and the spacing between adjacent pyramid units in the horizontal and vertical directions is 2 - 5 mm.

[0013] Preferably, the vibration feedback module further includes a triode, a first resistor, and a second resistor. One end of the first resistor is connected to the drive signal, the other end of the first resistor is connected to the base of the triode, the vibration unit is connected between the collector of the triode and the power supply voltage, the second resistor is connected between the emitter of the triode and the ground, and the plurality of vibration feedback modules are connected in parallel.

[0014] Preferably, the drive signal, the power supply voltage, and the ground wire are connected to a single-chip microcomputer through an output cable of the vibration circuit board layer.

[0015] Preferably, the magnetic sensing unit includes a first end, a second end, a third end, and a fourth end. The first end is connected to the power supply voltage on the sensing circuit board layer, the second end is connected to the SDA signal line, the third end is connected to the SCK signal line, and the fourth end is connected to the ground wire. There are multiple capacitors connected in parallel between the power supply voltage and the ground. The magnetic sensing unit transmits the detected touch signal to the single-chip microcomputer through the SDA signal line to generate the interaction drive signal.

[0016] Preferably, the PWM signal is used as the interaction drive signal. When the resultant change in the three-axis magnetic field is less than the first preset value, the sensor module does not detect the touch signal, the duty cycle of the PWM signal is 0, and the interaction drive signal is empty. When the resultant change in the three-axis magnetic field is greater than the first preset value and the change in the Z-axis magnetic field is less than the second preset value, the touch signal is a planar slide, the duty cycle of the PWM signal is linearly related to the resultant change in the three-axis magnetic field, and the interaction drive signal is a ramp waveform to drive the vibration motor. When the resultant change in the three-axis magnetic field is greater than the first preset value and the change in the Z-axis magnetic field is greater than the second preset value, the touch signal is a press or click signal, the duty cycle of the PWM signal is linearly related to the resultant change in the three-axis magnetic field, and the output drive signal is a pulse waveform to drive the vibration motor. Among them, when the duration of the touch signal is greater than the preset duration, it is a press signal, and when the duration is less than the preset duration, it is a click signal. The resultant change in the three-axis magnetic field is the vector sum of the magnetic field components of the X, Y, and Z axes.

[0017] The present invention also discloses a remote interaction system, including the above-mentioned tactile interaction device based on a magnetoelectric sensor, and further including: a single-chip microcomputer, which is electrically connected to the tactile interaction device based on the magnetoelectric sensor.

[0018] The present invention also discloses a sensing feedback interaction method for a remote interaction system, including:

[0019] S1: The sensor module detects the magnetic field after the elastic body deforms;

[0020] S2: Filter the deformed magnetic field;

[0021] S3: Calculate the changed magnetic field based on the deformed magnetic field and the magnetic field before deformation, and determine whether the resultant change in the three-axis magnetic field is greater than the first preset value. If so, execute S4; otherwise, set the duty cycle of the output PWM signal to 0 and repeat S3;

[0022] S4: Determine whether the change in the Z-axis magnetic field is greater than the second preset value. If so, the PWM signal for driving the vibration unit at the interaction end is a pulse timing signal; otherwise, the PWM signal is a ramp timing signal, where the duty cycle of the output PWM signal is linearly related to the resultant change in the three-axis magnetic field; and

[0023] S5: Determine in real time whether the combined change in the three-axis magnetic field is greater than a first preset value. If so, continue with the corresponding waveform output process in S4; otherwise, stop the waveform output, set the duty cycle of the output PWM signal to 0, and end or return to the S3 process to standby.

[0024] Generally speaking, through the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0025] (1) The sensor module in the tactile interaction device of the present invention can accurately detect tactile signals, and design an interaction drive signal through the tactile signals. The interaction drive signal restores the action information represented by the tactile signals in the tactile interaction device at the interaction end, realizing the tactile interaction effect.

[0026] (2) The magnetoelectric sensor module in the present invention can accurately sense touches such as pressing, single-clicking, double-clicking, and sliding stroking, and has good tactile perception performance. Different from the resistive and capacitive pressure sensing principle devices that are limited to only recognizing the pressure sensing in the normal force direction, this sensor module can detect the shear force in the X and Y planes, and can judge the sliding directions of up, down, left, and right through the obtained three-axis magnetic field signals, and recognize the stroking operation, having certain advantages in tactile perception applications.

[0027] (3) The present invention realizes the integrated design of the hierarchical structure of the magnetoelectric sensor module and the vibration feedback module, senses the tactile signals of the hand in real time, and transmits them to the tactile interaction device at the remote interaction end. The vibration feedback module reproduces the tactile information at the same position, realizing the remote virtual tactile interaction across space. The tactile interaction device of the present invention reserves an interface for connecting to a single-chip microcomputer, and the vibration feedback module uses the interaction drive signal to respond to the tactile signal, realizing complete control and communication. The present invention uses mature components, low-cost materials and an embedded system solution, and the magnetoelectric induction principle uses fewer sensing unit arrays to achieve the same tactile perception effect, having the advantages of low cost and low power consumption, and having important application value in the remote tactile interaction scenario in the field of virtual reality technology. Description of the Drawings

[0028] Figure 1 It is a schematic diagram of the system hierarchical structure of the tactile interaction device according to an embodiment of the present invention.

[0029] Figure 2 It is a schematic side view of the system hierarchy of the tactile interaction device according to an embodiment of the present invention.

[0030] Figure 3 It is a schematic diagram of a partial structure of the sensor module in the tactile interaction device according to an embodiment of the present invention.

[0031] Figure 4 It is a schematic diagram of the tactile interaction device according to an embodiment of the present invention.

[0032] Figure 5 Schematic diagram of a magnetic sensing unit array circuit according to an embodiment of the present invention.

[0033] Figure 6 Schematic diagram of a vibration unit array circuit according to an embodiment of the present invention.

[0034] Figure 7 Flowchart of a sensing feedback interaction method for a remote interaction system according to an embodiment of the present invention

[0035] Figure 8 Response diagrams of the X, Y, and Z axes of the magnetic sensing unit when the sensing module detects a press according to an embodiment of the present invention.

[0036] Figure 9 Response diagrams of the X, Y, and Z axes of the magnetic sensing unit when the sensing module detects a single click according to an embodiment of the present invention.

[0037] Figure 10 Response diagrams of the X, Y, and Z axes of the magnetic sensing unit when the sensing module detects a double click according to an embodiment of the present invention.

[0038] Figure 11 Response diagrams of the X, Y, and Z axes of the magnetic sensing unit in four sliding directions when the sensing module detects a shear force according to an embodiment of the present invention.

[0039] Figure 12 Bidirectional communication mode diagram of a remote interaction system according to an embodiment of the present invention.

[0040] Wherein: 1. Elastomer layer; 2. Magnetic sensing unit; 3. Sensing circuit board layer; 4. Buffer layer; 5. Vibration unit; 6. Vibration circuit board layer; 7. Magnetic layer; 8. Pyramid deformation layer; 9. Support layer. Detailed implementation manners

[0041] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] In the present invention, terms such as "first" and "second" in the present invention and the accompanying drawings (if any) are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0043] Embodiment 1:

[0044] The present invention discloses a tactile interaction device based on a magnetoelectric sensor, comprising: a glove body; a plurality of sensor modules distributed on the fingers and the palm of the glove body, each sensor module including an elastomer layer, a magnetic sensing unit and a sensing circuit board layer, the magnetic sensing unit being disposed between the elastomer layer and the sensing circuit board layer, the elastomer layer detecting a tactile signal when receiving an external pressure, the tactile signal being used to generate an interaction drive signal, the interaction drive signal being connected to a vibration feedback module in a tactile interaction device at an interaction end, wherein the elastomer layer deforms to generate a varying magnetic field, the magnetic sensing unit measures the varying magnetic field to detect the tactile signal, and the varying magnetic field is obtained according to three-axis magnetic field components X, Y, and Z; a plurality of vibration feedback modules, the vibration feedback modules being disposed directly below the sensor modules, each vibration feedback module including a vibration unit and a vibration circuit board layer, the vibration unit being disposed directly above the vibration circuit board layer, the vibration feedback modules being connected to a drive signal generated according to the tactile signal of the tactile interaction device at the interaction end, the drive signal being used to drive the vibration feedback modules to vibrate at corresponding positions to generate a tactile sensation. The structure of the tactile interaction device is as Figure 4 shown.

[0045] Specifically, Figure 1 FIG. is a schematic diagram of the system-level structure of a tactile interaction device according to an embodiment of the present invention, including an elastomer layer 1, a magnetic sensing unit 2, a sensing circuit board layer 3, a buffer layer 4, a vibration unit 5, and a vibration circuit board layer 6. Among them, from the top layer downwards in sequence are the elastomer layer 1, the magnetic sensing unit 2, and the sensing circuit board layer 3. The elastomer layer 1 senses an external pressure. The vibration unit 5 and the vibration circuit board layer 6 are located at the bottom layer to provide vibration feedback. The buffer layer 4 is disposed directly above the vibration unit 5 to provide an interval buffering function. In the embodiment of the present invention, the materials of the elastomer layer 1 and the buffer layer 4 are PDMS (Polydimethylsiloxane). This is only an embodiment of the present invention and is not limited thereto. Specifically, the system-level structure and the side view of the tactile interaction device are referred to Figure 1 and Figure 2 shown.

[0046] In an alternative embodiment, Figure 3Schematic diagram of the partial structure of the sensor module in the tactile interaction device according to an embodiment of the present invention. The sensor module includes: an elastomer layer 1, a magnetic sensing unit 2, and a sensing circuit board layer 3. Specifically, the elastomer layer 1 includes: a magnetic layer 7, a pyramid deformation layer 8, and a support layer 9. The magnetic layer 7, the pyramid deformation layer 8, and the support layer 9 are connected in sequence from top to bottom. When an external pressure is received by the top layer of the magnetic layer 7, the pyramid deformation layer generates deformation and a changing magnetic field, and the magnetic sensing unit 2 captures the changing magnetic field. In the embodiment of the present invention, the magnetic layer 7 is PDMS doped with NdFeB (neodymium iron boron) magnetic powder, which is heated and cured to be used as a fixed magnetic source. Among them, the pyramid deformation layer 8 includes a plurality of pyramid units, and the pyramid units are distributed in an array. The length, width, and height of each pyramid unit are between 1-3 mm, and the distance between adjacent pyramid units in the horizontal and vertical directions is 2-5 mm, ensuring the maximum deformation response of the elastomer. Preferably, the length, width, and height of the pyramid unit are 2 mm, and the distance between the pyramid unit arrays in the horizontal and vertical directions is 4 mm. Neither the pyramid deformation layer 8 nor the support layer 9 is doped with PDMS.

[0047] Furthermore, Figure 5 Schematic diagram of the magnetic sensing unit array circuit according to an embodiment of the present invention. Each magnetic sensing unit and the sensing circuit board layer form a sensing module. In other words, the magnetic sensing unit array and the sensing circuit board layer form multiple sensing modules, and each sensing module is distributed on the finger and the palm, such as the fingertip or the palm center. Each magnetic sensing unit includes a plurality of ports, such as the first end - the fourth end. The first end is connected to the power supply voltage VDD on the sensing circuit board layer, the second end is connected to the SDA (Serial Data Line) signal line, the third end is connected to the SCK (Serial Clock) signal line, and the fourth end is connected to the ground wire GND. Among them, there are a plurality of capacitors connected in parallel between the power supply voltage VDD and the ground wire GND, and the specific connection method is as Figure 5 shown. In an alternative embodiment, the model of the magnetic sensing unit in the magnetic sensing unit array is: the MLX90393 three-axis magnetic sensor of Melexis, the device size is 3*3*1 mm, the operating voltage is 3.3V, and each magnetic sensing unit is connected in parallel to form a wire AND on the SDA signal line and the SCL signal line. The SDA and SCL signal lines use pull-up resistors with a resistance value of 1KΩ ( Figure 5(not shown). Specifically, the magnetic sensing unit transmits the detected touch signal to the single-chip microcomputer through the SDA signal line to generate an interactive drive signal. In an embodiment of the present invention, the magnetic sensing unit realizes different I2C address configurations by changing the high and low levels of the A1A0 address terminal. The magnetic sensing unit is placed on the sensing circuit board layer, and the sensing circuit board layer also includes an FPC (Flexible Printed Circuit Board) connector and an output cable. Specifically, the sensing circuit board layer can be an FR4 board (Flame Retardant 4, flame retardant material) with a thickness of 2-3 mm, or can be prepared as an FPC board for flexible scenarios. In an alternative embodiment, according to different hand positions, the sensing circuit board layer is respectively drawn into a fingertip magnetic sensing unit circuit board and an inter-palm magnetic sensing unit circuit board, and the fingertip magnetic sensing unit circuit board and the inter-palm magnetic sensing unit circuit board are connected by an FPC flexible cable. For example, to adapt to hand tactile interaction, 1 magnetic sensing unit is placed at each fingertip, and 4 magnetic sensing units are arranged in a 2*2 pattern in the palm. The center distance between the inter-palm magnetic sensing units is 2-4 cm, forming a 2*2 magnetic sensing unit to sense the touch signal in the palm. It is connected to the single-chip microcomputer through four output cables of VDD, SDA, SCL, and GND to achieve control and communication. Four voltage stabilizing and filtering capacitors are connected in parallel between VDD and GND. The capacitance of C1 is 1 uF, and the capacitance of C2-C4 is 0.1 uF. Those skilled in the art should understand that the above is only one embodiment of the present invention and not a limitation of the present invention. The placement method of the magnetic sensing unit is not limited to the fingertips and can also be distributed on the fingers. For example, sensing units can be placed from the fingertips to the finger joints. The palm can be distributed in various arrays, such as 3*3, 2*4, etc., all of which can achieve the effect of detecting touch signals, and a rectangular arrangement is preferred.

[0048] Further, the vibration feedback module is placed directly below the sensor module and includes a vibration unit and a vibration circuit board layer. The vibration unit is arranged directly above the vibration circuit board layer. The vibration feedback module is connected to a drive signal, and the drive signal is used to drive the vibration feedback module to vibrate at the corresponding position to generate a touch feeling. As Figure 6 shown is a schematic diagram of the vibration unit array circuit according to an embodiment of the present invention. The vibration feedback module includes a vibration unit and a vibration circuit board layer. The connection relationship of the vibration unit array composed of multiple vibration units is as Figure 6As shown, the vibration feedback module further includes a triode, a first resistor R1, and a second resistor R2. One end of the first resistor R1 is connected to the drive signal IO, and the other end of the first resistor R1 is connected to the base of the triode. The vibration unit EMR motor is connected between the collector of the triode and the power supply voltage. The second resistor R2 is connected between the emitter of the triode and the ground GND. Multiple vibration feedback modules are connected in parallel, and the structure and components of each vibration feedback module are the same. In an alternative embodiment of the present invention, the tactile interaction device includes 8 vibration feedback modules, with one vibration feedback module provided at each fingertip and 3 vibration feedback modules provided on the palm. Then the drive signal IO is IO1 - IO8 for driving the EMR motors of the fingertips and the palm, as Figure 6 shown. Those skilled in the art should understand that the above is only one embodiment and is not limited thereto.

[0049] In an alternative embodiment, the vibration feedback module is placed below the sensor module and separated by a buffer layer of 2 - 5 mm (for example, a PDMS intermediate buffer layer). The vibration feedback module is placed on top of the vibration circuit board layer, and the vibration circuit board layer further includes: FPC connectors and output cables. The vibration circuit board layer can be an FR4 board with a thickness of 2 - 3 mm, or can also be prepared as an FPC board for use in flexible scenarios. To adapt to hand tactile interaction, 1 vibration feedback module is placed at each fingertip and 3 vibration feedback modules are placed between the palms. The spaces between the palms form an equilateral triangle layout with a spacing of 4 - 5 cm, or the palms are arranged in a 2 * 2 array layout, as Figure 4 shown. Specifically, according to the different positions of the hand, the fingertip vibration circuit board layer and the palm vibration circuit board layer are respectively drawn.

[0050] In an alternative embodiment, as Figure 6 shown, the vibration unit is a 0827EMR vibration motor, which is a cylinder with a diameter of 8 mm and a height of 2.7 mm, and the operating power is 3.3V. Three vibration units are used between the palms and the fingertip vibration units together to form an eight - vibration - unit array. The eight - way drive signal IO1 - IO8 is connected to the triode to control the vibration unit array. The triode is an NPN transistor, such as the S9013 type. The resistance value of the first resistor R1 connected to the base is 3.3KΩ, and the resistance value of the second resistor R2 connected to the emitter is 100KΩ. The drive signal introduces a PWM (Pulse Width Modulation) wave for control, and the amplitude A and frequency f can be modulated to achieve different vibration tactile language designs. Among them, VDD, GND, and the eight - way drive signal are connected to the single - chip microcomputer through the output cable to achieve control and communication.

[0051] In an alternative embodiment, when the sensor module detects the three-axis magnetic field components X, Y, and Z, the changed magnetic fields Δx, Δy, and Δz are obtained by subtracting the currently detected magnetic field from the magnetic field before the pyramid deformation. In the embodiments of the present invention, a PWM signal is used as the interactive drive signal. When the combined change in the three-axis magnetic field is less than the first preset value, it indicates that no touch signal is detected. At this time, the duty cycle of the PWM signal output is 0, that is, the duty cycle of the drive signal is 0, indicating that the output interactive drive signal is empty, that is, no drive signal is output, and the vibration feedback module at the interactive end does not act. When the combined change in the three-axis magnetic field is greater than the first preset value, and when the change in the Z-axis magnetic field Δz is less than the second preset value, it indicates that the touch signal is a planar sliding signal. At this time, the duty cycle of the drive signal is linearly related to the combined change in the three-axis magnetic field, and the drive signal is a ramp waveform to drive the vibration motor, and the duty cycle of the ramp waveform is 255*V / Vmax. When the combined change in the three-axis magnetic field is greater than the first preset value, and when the change in the Z-axis magnetic field is greater than the second preset value, the touch signal is a press or click signal. The duty cycle of the drive signal is linearly related to the combined change in the three-axis magnetic field, and the output drive signal is a pulse waveform to drive the vibration motor, with a duty cycle of 255*V / Vmax. Among them, when the duration of the touch signal is greater than the preset duration, it is a press signal, and when the duration is less than the preset duration, it is a click signal. Among them, the combined change in the three-axis magnetic field V is the vector sum of the changed magnetic field components of the X, Y, and Z axes, and Vmax represents the maximum value of the combined change in the three-axis magnetic field V when the elastomer layer is maximally deformed, which is usually measured by experiments. In the embodiments of the present invention, a typical value is 1200 uT. The above method of driving the motor with different waveforms is only one embodiment. Those skilled in the art should understand that the method of designing different waveforms and setting different duty cycles to complete the action of the vibration feedback module can also be other forms, not limited to the above method.

[0052] Embodiment 2:

[0053] The present invention also discloses a remote interaction system, including a plurality of the above-mentioned tactile interaction devices based on magnetoelectric sensors and a single-chip microcomputer, wherein the single-chip microcomputer is electrically connected to the tactile interaction device based on the magnetoelectric sensor. The connection method is as Figure 12 shown. The tactile interaction device is connected to the single-chip microcomputer to achieve control and communication. The two single-chip microcomputers have wireless WiFi modules and can be connected to a computer. Using the HTTP or TCP protocol, one end is used as a Web server, and the remote end communicates with it through an HTTP request; the tactile interaction device at one end detects the touch signal in real time and transmits it to the vibration feedback of the tactile interaction device at the remote interaction end to achieve two-way remote tactile interaction. The above is only one embodiment and is not limited thereto.

[0054] Embodiment 3:

[0055] Figure 7Flowchart of the sensing feedback interaction method of the remote interaction system according to an embodiment of the present invention. Specifically, it includes the following steps:

[0056] S1: The sensor module detects the triaxial magnetic field after the deformation of the elastomer layer. Here, the sensor module is one of the haptic interaction devices that receives external pressure. When the sensor module detects an external force, the magnetic field of the elastomer layer changes.

[0057] S2: Filter the deformed magnetic field, that is, preprocess the current magnetic field.

[0058] S3: Calculate the changed magnetic field based on the deformed magnetic field and the magnetic field before deformation, and determine whether the resultant change in the triaxial magnetic field V is greater than the first preset value. If so, execute S4; otherwise, set the duty cycle of the output PWM signal to 0 and repeat S3. For example, when the duty cycle of the output PWM signal is 0, it means that the external pressure or the tactile signal is not obvious or no tactile signal is generated. Then, the drive signal for driving the vibration feedback module in the haptic interaction device at the remote interaction end interacting with this haptic interaction device is empty, that is, it does not respond to the tactile signal at this time. Specifically, the resultant change in the triaxial magnetic field V is the vector sum of the changed magnetic field components of the X, Y, and Z axes.

[0059] S4: Determine whether the change in the Z-axis magnetic field is greater than the second preset value. If so, the drive waveform for driving the vibration feedback module at the interaction end is a pulse timing signal; otherwise, the drive waveform is a ramp timing signal. Among them, the duty cycle of the output PWM signal is linearly related to the resultant change in the triaxial magnetic field. Here, the pulse timing signal or the ramp timing signal for driving the vibration feedback module represents different vibration modes, which can be defined and set by oneself. For example, the pulse timing signal driving mode can be set to a planar sliding action, or a single click, double click, etc., but it is not limited to a certain fixed form. For example, in the embodiment of the present invention, the pulse timing signal corresponds to a planar sliding action, and the ramp timing signal corresponds to a pressing action.

[0060] S5: Real-time judge whether the resultant change in the triaxial magnetic field is greater than the first preset value. If so, continue to execute the corresponding waveform output process of S4; otherwise, stop the waveform output, set the duty cycle of the output PWM signal to 0, and end or return to the S3 process to wait.

[0061] The above is an example of the sensing feedback interaction of the remote interaction system. Those skilled in the art should understand that the way of designing the waveform drive signal is only one implementation manner, and the ways of realizing the sensing interaction feedback of the remote interaction system designed by using the idea of the present invention should also be included in the present invention.

[0062] To better understand the present invention, the process of sensing and feedback interaction of the remote interaction system is described in the following embodiments. When there is a pressing and touching operation in a tactile interaction device, the sensor module detects the magnetic field signal changed by the deformation of the top elastomer, establishes the relationship between the magnetic signal and the output vibration control, and the intensity of the vibration feedback module is controlled by the driving signal, where the driving signal is a PWM signal, and the larger the duty cycle of the PWM signal, the larger the vibration amplitude. Specifically, the three-axis magnetic fields X, Y, and Z detected by the sensor module are input to the single-chip microcomputer. Here, the three-axis magnetic fields X, Y, and Z reflect the intensity of the tactile signal. After first-order low-pass filtering, it is determined whether the combined change amount V of the three-axis magnetic fields is greater than a first preset value, such as 50. The output duty cycle duty is in a proportional relationship with the combined change amount V. At this time, it is determined that there is a tactile signal, and the output PWM signal represents the waveform of the driving signal, driving the vibration feedback module in the remote tactile interaction device that interacts with the tactile interaction device, which can also be called the tactile interaction device at the interaction end. Otherwise, the PWM signal duty is output as 0, the interaction driving signal is empty, and the remote tactile interaction device does not respond; continue to detect whether the change in the Z-axis magnetic field is greater than a second preset value. If so, the driving waveform for driving the vibration feedback module in the remote tactile interaction device is a pulse timing signal, indicating that the tactile signal is a planar sliding action. On the contrary, the driving signal waveform is a ramp timing signal, indicating that the tactile signal is a pressing action. During the process of outputting the PWM signal, the changing magnetic field is continuously detected until the combined change amount V of the three-axis magnetic fields is less than 50, which represents the end of the current action and the completion of the current sensing and feedback task. In an alternative embodiment, the first preset value is set to 50 and the second preset value is set to 200.

[0063] In an embodiment of the present invention, the sensor module detects the three-axis magnetic field vectors X, Y, and Z. When the sensor module detects that the change amounts of the magnetic fields in the X, Y, and Z axes are greater than the 50 uT perception threshold, it can accurately perceive tactile sensations such as pressing, single-clicking, and double-clicking. As Figures 8 - 11 shown; when sliding on the elastomer, the shear force causes changes in the magnetic fields in the X and Y directions. The sensor module can sense the sliding direction through the X and Y direction components. The positive and negative of the change amount of the X direction component and the positive and negative of the change amount of the Y direction component correspond to upward sliding, downward sliding, left sliding, and right sliding. When the change values of the X and Y axis components of the sensor module are both greater than 200 uT during sliding, the perception is obvious, as Figure 11 shown.

[0064] In summary, one of the major advantages of the sensor module for detecting pressure sensing is its ability to recognize different touch categories. The vibration feedback module controls the vibration amplitude of the motor through the PWM signal output by the Arduino board. The duty cycle change range of the PWM signal is 0 to 255. Taking the duty cycle of the PWM signal as a parameter, the waveform, sequence, and rhythm can all be modulated through programming. In the long-period sequence, the vibration response of the motor can better follow the input drive waveform modulated with the duty cycle of the PWM signal as a parameter. Through the embodiments of the present invention, the sensor module in the tactile interaction device can accurately detect touch signals, and design the drive signal through the PWM signal shape, restoring the action information represented by the touch signal in the remote tactile interaction device to achieve the tactile interaction effect.

[0065] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tactile interaction device based on a magnetoelectric sensor, characterized in that Comprising: A glove body; A plurality of sensor modules, which are distributed on the fingers and the palm of the glove body. The sensing module includes an elastomer layer, a magnetic sensing unit, and a sensing circuit board layer. The magnetic sensing unit is disposed between the elastomer layer and the sensing circuit board layer. When the elastomer layer receives an external pressure, it detects a tactile signal, and the tactile signal is used to generate an interaction driving signal. The interaction driving signal is connected to a vibration feedback module in a haptic interaction device at an interaction end. Wherein, when the elastomer layer deforms, a changing magnetic field is generated, and the magnetic sensing unit measures the changing magnetic field to detect the tactile signal. The changing magnetic field is obtained according to the three-axis magnetic field components X, Y, and Z; A plurality of vibration feedback modules, which are disposed directly below the sensor modules, and include a vibration unit and a vibration circuit board layer. The vibration unit is disposed directly above the vibration circuit board layer. The vibration feedback module is connected to a driving signal generated according to the tactile signal of the haptic interaction device at the interaction end, and the driving signal is used to drive the vibration feedback module to vibrate at a corresponding position to generate a tactile sensation.

2. The tactile interaction device based on a magnetoelectric sensor according to claim 1, characterized in that, A buffer layer is disposed between the sensor module and the vibration module, and the material of the buffer layer is PDMS.

3. The tactile interaction device based on a magnetoelectric sensor according to claim 1, wherein The elastomer layer further includes: a magnetic layer, a pyramid deformation layer, and a support layer. The magnetic layer, the pyramid deformation layer, and the support layer are connected in sequence from top to bottom. When the top layer of the elastomer receives an external pressure, the pyramid deformation layer generates a deformation and the changing magnetic field.

4. The tactile interaction device based on a magnetoelectric sensor according to claim 3, characterized in that The material of the magnetic layer is PDMS doped with neodymium iron boron magnetic powder. The pyramid deformation layer includes a pyramid unit array composed of a plurality of pyramid units. Wherein, the length, width, and height of each pyramid unit are all 1-3 mm, and the spacing between adjacent pyramid units in the horizontal and vertical directions is 2-5 mm.

5. The tactile interaction device based on a magnetoelectric sensor according to claim 1, characterized in that, The vibration feedback module further includes a triode, a first resistor, and a second resistor. One end of the first resistor is connected to the driving signal, the other end of the first resistor is connected to the base of the triode, the vibration unit is connected between the collector of the triode and the power supply voltage, and the second resistor is connected between the emitter of the triode and the ground. The plurality of vibration feedback modules are connected in parallel.

6. The tactile interaction device based on a magnetoelectric sensor according to claim 5, characterized in that, The driving signal, the power supply voltage, and the ground wire are connected to a single-chip microcomputer through an output wiring harness of the vibration circuit board layer.

7. The tactile interaction device based on a magnetoelectric sensor according to claim 1, characterized in that, The magnetic sensing unit includes a first end, a second end, a third end, and a fourth end. The first end is connected to the power supply voltage on the sensing circuit board layer, the second end is connected to the SDA signal line, the third end is connected to the SCK signal line, and the fourth end is connected to the ground wire. A plurality of capacitors connected in parallel are included between the power supply voltage and the ground. The magnetic sensing unit transmits the detected tactile signal to the single-chip microcomputer through the SDA signal line to generate the interaction driving signal.

8. The tactile interaction device based on a magnetoelectric sensor according to claim 1, wherein Taking the PWM signal as the interactive drive signal, when the combined change of the three-axis magnetic field is less than the first preset value, the sensor module does not detect the touch signal, the duty cycle of the PWM signal is 0, and the interactive drive signal is empty; when the combined change of the three-axis magnetic field is greater than the first preset value and when the change of the Z-axis magnetic field is less than the second preset value, the touch signal is a plane slide, the duty cycle of the PWM signal is linearly related to the combined change of the three-axis magnetic field, and the interactive drive signal is a ramp waveform to drive the vibration motor; when the combined change of the three-axis magnetic field is greater than the first preset value and when the change of the Z-axis magnetic field is greater than the second preset value, the touch signal is a press or click signal, the duty cycle of the PWM signal is linearly related to the combined change of the three-axis magnetic field, and the output drive signal is a pulse waveform to drive the vibration motor, where when the duration of the touch signal is greater than the preset duration, it is a press signal, and when the duration is less than the preset duration, it is a click signal, and the combined change of the three-axis magnetic field is the vector sum of the magnetic field components of the X, Y, and Z axis changes.

9. A remote interaction system, comprising a plurality of tactile interaction devices based on magnetoelectric sensors as described in any one of claims 1-8, characterized in that, It further includes: a single-chip microcomputer, which is electrically connected to the tactile interaction device based on the magnetoelectric sensor.

10. A sensing feedback interaction method based on the remote interaction system in claim 9, characterized in that, It includes: S1: The sensor module detects the magnetic field after the elastomer deforms; S2: Filter the deformed magnetic field; S3: Calculate the changing magnetic field based on the deformed magnetic field and the magnetic field before deformation, and determine whether the combined change of the three-axis magnetic field is greater than the first preset value. If so, execute S4; otherwise, set the duty cycle of the output PWM signal to 0 and repeat S3; S4: Determine whether the change of the Z-axis magnetic field is greater than the second preset value. If so, the PWM signal for driving the vibration unit of the interaction end is a pulse timing signal. Otherwise, the PWM signal is a ramp timing signal, where the duty cycle of the output PWM signal is linearly related to the combined change of the three-axis magnetic field; and S5: Real-time determine whether the combined change of the three-axis magnetic field is greater than the first preset value. If so, continue to execute the corresponding waveform output process of S4; Otherwise, stop the waveform output, set the duty cycle of the output PWM signal to 0, and end or return to the S3 process to wait.

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