Method and system for compressing and transmitting three-dimensional vibration tactile signals

Abstract

The invention discloses a three-dimensional vibration tactile signal compression and transmission method and system, and belongs to the technical field of man-machine interaction, and the method comprises the steps: S1, carrying out the sampling of the dimensional vibration of the surface of an object through a sensor, and obtaining the time domain coordinates of a three-dimensional vibration tactile signal; s2, constructing a three-dimensional perception dead zone model: calculating a geometric distance L between a current signal St = (xt, yt, zt) and a reference signal S0 = (x0, y0, z0), if L exceeds a dynamic threshold TS, triggering data transmission, otherwise, discarding the data; s3, fitting a mapping relation between a dynamic adjustment parameter DBP and a packet rate through a four-parameter logic curve model, and predicting a rate budget s0 of a next time period in combination with a channel load condition; s4, performing adaptive packet rate control; according to the method and the system for compressing and transmitting the three-dimensional vibration tactile signal, the transmission data volume can be effectively reduced, and the high signal quality can be maintained.

Description

Technical Field

[0001] The present invention relates to the field of human-computer interaction technology, and in particular to a method and system for compressing and transmitting three-dimensional vibrotactile signals. Background Art

[0002] Vibrotactile signals are a key source of information for humans to perceive surface textures and dynamic interactions in the physical environment. They play a crucial role in high-precision, real-time control scenarios, such as remote medical surgical robots, virtual reality interactive systems, and industrial teleoperation. For example, in remote surgery, doctors use tactile feedback to sense the contact force between instruments and tissues; in industrial robotics, tactile signals are used to accurately identify object materials and gripping force. Advances in three-dimensional tactile signal acquisition technology have increased the demands placed on transmission efficiency and signal quality due to its multidimensional nature.

[0003] Traditional tactile signal transmission technologies are mostly based on one-dimensional signal design, using fixed perception thresholds and static compression strategies. One-dimensional models cannot effectively capture the spatial directionality of three-dimensional signals, resulting in a significant decrease in perceived quality during signal reconstruction. Furthermore, fixed thresholds struggle to adapt to dynamic signal changes, and redundant data transmission exacerbates network load pressure. Static rate control mechanisms are prone to packet loss or delays under bursty traffic, severely impacting real-time interactive performance. Although some studies have attempted to introduce dynamic threshold optimization methods, these methods fail to integrate the three-dimensional signal characteristics with the channel load for coordinated adjustment, making it difficult to balance compression efficiency and signal quality, limiting their practicality in complex scenarios. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and system for compressing and transmitting three-dimensional vibration tactile signals, so as to solve the problems existing in the above-mentioned background technology that the tactile signal transmission method in the prior art is only based on one-dimensional data processing, fixed perception threshold and static compression strategy, and cannot fully capture the multi-dimensional characteristics of three-dimensional vibration tactile signals. At the same time, it lacks real-time adaptive adjustment capabilities when the network load changes drastically, resulting in high signal transmission data redundancy, poor real-time performance, large transmission delay and low signal reconstruction quality in high-precision real-time control scenarios such as telemedicine, virtual reality and industrial remote operation.

[0005] To achieve the above object, the present invention provides a method for compressing and transmitting three-dimensional vibrotactile signals, comprising the following steps:

[0006] S1. Using a sensor to sample the three-dimensional vibration of the object surface, and obtain the time domain coordinates of the three-dimensional vibration tactile signal including the x, y, and z direction components;

[0007] S2. Construct a 3D perception dead zone model: dynamically determine the significance of signal changes based on the 3D spherical area and calculate the current signal S t =(x t,y t ,z t ) and the reference signal S0 = (x0, y0, z0). If L exceeds the dynamic threshold TS, data transmission is triggered, otherwise the data is discarded.

[0008] S3, dynamic threshold optimization: The mapping relationship between the dynamic adjustment parameter DBP and the packet rate is fitted through a four-parameter logistic curve model. The rate budget s0 for the next period is predicted based on the channel load condition, and the optimal DBP is calculated in reverse.

[0009] S4. Adaptive packet rate control: The signal is divided into preset time periods, and the transmission parameters are independently adjusted based on the target rate R0 within each period. The signal is then restored to a signal with the same objective quality as the original three-dimensional vibrotactile signal, and the extended perceptual mean square error is used as the signal quality evaluation standard.

[0010] Preferably, the calculation formula of the geometric distance L in step S2 is:

[0011]

[0012] The calculation formula of dynamic threshold TS is:

[0013] TS = DBP || S0 ||;

[0014] in, is the amplitude of the reference signal.

[0015] Preferably, the four-parameter logistic curve model in step S3 is:

[0016]

[0017] Wherein, b and c are fitting parameters optimized by the least squares method.

[0018] Preferably, in step S3, the prediction formula for the rate budget s0 of the next period is:

[0019]

[0020] Among them, s -1 ,s -2 ,s -3 is the actual packet rate in the first three time periods; R0 is the preset target packet rate.

[0021] Preferably, in step S4, the evaluation formula of the signal quality Q is:

[0022] Q=100·exp(k q pmse);

[0023] Among them, k qis a preset constant; pmse is the extended perceptual mean square error, which is calculated as follows:

[0024]

[0025]

[0026]

[0027] Among them, P x ,P y ,P z are the perception values of the three-dimensional signal in the x, y, and z dimensions, respectively, and k p is a constant determined by experiment; N represents the total number of samples; Represents the difference between the 3D original signal and the decoded signal in the x, y, and z dimensions respectively; s x 、s y 、s z Represents the signal strength of the three-dimensional signal in the x, y, and z dimensions respectively; They represent the perceived values of the decoded signal in the x, y, and z dimensions respectively; S is the minimum perceptible amplitude (set to 0.001).

[0028] Preferably, in step S4, the preset time period is 200ms, and the transmission parameters in each time period are adjusted independently.

[0029] Preferably, the three-dimensional perception dead zone model in step S2 is an isotropic spherical area, and its radius is controlled by a dynamic threshold TS.

[0030] The present invention also provides a tactile communication system, which is applied to the above-mentioned method for compressing and transmitting three-dimensional vibration tactile signals, including: a master device, a slave device and a tactile signal transmission device. The master device is connected to the slave device through a communication link to realize the compressed transmission of three-dimensional tactile signals.

[0031] Preferably, the tactile signal transmission device includes:

[0032] Signal acquisition module: used to collect three-dimensional tactile signals;

[0033] Compression module: compress the collected signal in real time;

[0034] Transmission module: Based on the segmented adaptive packet rate control strategy, it dynamically adjusts the transmission parameters and sends the compressed data to the remote receiving end;

[0035] Signal reconstruction module: decodes and reconstructs the transmitted data at the receiving end to restore the three-dimensional vibrotactile signal.

[0036] Therefore, the present invention adopts the above-mentioned method and system for compressing and transmitting three-dimensional vibrotactile signals, which has the following beneficial effects:

[0037] (1) By constructing a spherical dead zone model based on three-dimensional perception, the isotropic perception of tactile signals by the human body in three-dimensional space is fully utilized, and only valid signals beyond the human perception range are transmitted, thereby achieving a significant increase in data compression rate and reducing the amount of transmitted data, thereby effectively alleviating network load pressure;

[0038] (2) Using a dynamic threshold optimization method, the dynamic parameter DBP is adjusted in real time through a nonlinear regression model and target packet rate prediction, so that the system can maintain a stable transmission rate and high signal reconstruction quality when the network environment changes;

[0039] (3) The segmented adaptive packet rate control strategy can independently adjust the transmission parameters according to the network conditions in each time period, significantly reducing the packet loss and delay caused by burst traffic, ensuring the real-time and robustness of the entire tactile communication system;

[0040] (4) During the signal reconstruction process, by adopting the evaluation mechanism of extended perceptual mean square error (PMSE) and normalized signal quality (Q), the system can accurately quantify the difference between the reconstructed signal and the original signal, providing a reliable basis for the subsequent parameter adjustment and optimization of the system.

[0041] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a flow chart of a method for compressing and transmitting three-dimensional vibrotactile signals according to the present invention;

[0043] Figure 2 Schematic diagram of a 3D perception dead zone model according to an embodiment of the present invention, where (a) indicates no significant signal change; (b) indicates significant signal change;

[0044] Figure 3 Schematic diagram of the fitting results of the parameter logistic curve model of the fourth embodiment of the present invention;

[0045] Figure 4 Schematic diagram of the segmented adaptive packet rate control strategy according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort shall fall within the scope of protection of the present invention.

[0047] See also Figure 1 , a method for compressing and transmitting three-dimensional vibrotactile signals, comprising the following steps:

[0048] S1. Use an accelerometer, vibration sensor, or other tactile sensor to sample the 3D vibration of an object's surface, obtaining the time-domain coordinates of a 3D vibrotactile signal containing components in the x, y, and z directions. This signal reflects the surface texture, friction, and vibration characteristics generated during operation, providing the raw data foundation for subsequent data compression and transmission. The sampling frequency can be set to 10,000 Hz to ensure high-precision data acquisition. The collected signal serves as the raw input for subsequent processing and compressed transmission.

[0049] S2. Based on the multi-dimensional perception characteristics of the human body to the vibration tactile signal, an isotropic spherical perception dead zone model is constructed in the three-dimensional space: First, the last transmitted signal is set as the reference signal S0 = (x0, y0, z0), and its amplitude ||S0|| is used as the benchmark for human tactile perception. For the signal S collected at the current moment t =(x t ,y t ,z t ), the geometric distance L between the current signal and the reference signal is calculated using the Euclidean distance calculation formula, which is:

[0050]

[0051] Then, according to the human perception threshold theory and Weber's law, the dynamic threshold TS is determined using the dynamic threshold calculation formula. The calculation formula is:

[0052] TS = DBP || S0 ||;

[0053] in, is the amplitude of the reference signal. DBP is a dynamic adjustment parameter that reflects the minimum perceptible ratio of the human body to the signal change. If L exceeds the dynamic threshold TS, data transmission is triggered. Otherwise, the signal change is considered insignificant and the data at that moment may not be transmitted. Figure 2 shown.

[0054] S3, dynamic threshold optimization: The mapping relationship between the dynamic adjustment parameter DBP and the packet rate is fitted through a four-parameter logic curve model, and the rate budget s0 of the next period is predicted in combination with the channel load condition. The four-parameter logic curve model is:

[0055]

[0056] Among them, A, B, C, and D are parameters obtained by least squares fitting, x represents the current DBP value, and f(x) represents the corresponding average packet rate. It can be simplified as:

[0057]

[0058] Among them, b and c are fitting parameters optimized by the least squares method, such as Figure 3 shown.

[0059] Furthermore, based on the actual packet rate data of the first three time periods, the target rate s0 of the next time period is predicted using a rate prediction formula or other statistical methods, and the optimal DBP value that meets the target rate requirement is reversely calculated. This value will be used to update the dynamic threshold; the prediction formula for the rate budget s0 of the next time period is:

[0060]

[0061] Among them, s -1 ,s -2 ,s -3 is the actual packet rate in the first three time periods; R0 is the preset target packet rate.

[0062] S4, adaptive packet rate control: The entire transmission process is segmented into preset time periods (200ms). In each period, the system independently adjusts the transmission parameters, including data packet size, sending interval, and transmission priority, based on the actual channel load and the target packet rate for the next period obtained in step S3, so that the number of data packets transmitted by the system in the entire period remains close to the preset target, such as Figure 4 As shown. In each time period, only the data detected that the signal change exceeds the dynamic threshold TS is packaged and transmitted, and the remaining data is discarded and accumulated in the subsequent time period before being sent, so as to reduce data redundancy and alleviate network congestion. The packet data is transmitted to the remote receiving end through a limited or wireless communication link. The receiving end reconstructs the received data packet based on the reference signal information pre-stored in the signal reconstruction module and the latest dynamic threshold TS, and recovers a signal that is highly consistent with the original three-dimensional vibrotactile signal in objective quality. In order to quantify the error between the reconstructed signal and the original signal, the extended perceptual mean square error pmse is used as the signal quality evaluation indicator, and its calculation method is:

[0063]

[0064] Where ΔP iRepresents the difference between the reconstructed value and the original value of the i-th sampling point in the three-dimensional perception space, Represents the difference between the 3D original signal and the decoded signal in the x, y, and z dimensions respectively, and N is the total number of samples. The formula for converting pmse to signal quality Q is:

[0065] Q=100·exp(k q pmse);

[0066] Among them, k q is a preset constant; when pmse approaches 0, Q approaches 100, and as pmse increases, Q gradually decreases.

[0067] Through the above steps, it is possible to achieve efficient compression and stable transmission of three-dimensional vibration tactile signals while ensuring the human perception effect, which not only greatly reduces the amount of transmitted data but also ensures the objective quality of the signal after reconstruction.

[0068] This embodiment also provides a tactile communication system, which is applied to the above-mentioned method for compressing and transmitting three-dimensional vibration tactile signals, including: a master-end device, a slave-end device, a tactile signal transmission device, a communication device, and a control terminal. The master-end device is used to collect three-dimensional vibration tactile signals and perform preliminary preprocessing; the slave-end device is equipped with a tactile signal transmission device for receiving compressed data transmitted by the master-end device and reconstructing the signal; the communication device is used to establish a stable wired or wireless communication link between the master-end device and the slave-end device; the control terminal is used to monitor and adjust transmission parameters and system operating status. In this embodiment, the three-dimensional tactile signal collected by the master-end device is compressed and transmitted to the slave-end device through the communication device; the slave-end device uses the tactile signal transmission device to restore the original signal and presents the tactile feedback information to the operator to achieve remote interaction and control. This system is particularly suitable for high-precision real-time control fields such as telemedicine, virtual reality, and industrial remote operation.

[0069] The tactile signal transmission device comprises:

[0070] Signal acquisition module: used to collect three-dimensional tactile signals and convert the collected analog signals into digital signals;

[0071] Compression module: compresses the collected signal in real time according to the method of steps S3-S4;

[0072] Transmission module: Based on the segmented adaptive packet rate control strategy, it dynamically adjusts the transmission parameters and sends the compressed data to the remote receiving end;

[0073] Signal Reconstruction Module: This module decodes and reconstructs transmitted data at the receiving end, using a pre-stored reference signal and the latest dynamic threshold to restore the original signal and output it for subsequent applications. Each module is interconnected via a high-speed data bus or wireless communication link, enabling collaborative operation and ensuring low latency and high system stability.

[0074] At the same time, this embodiment also provides a machine-readable storage medium storing executable instructions, and the executable instructions are executed by a processor to implement the above-mentioned method for compressing and transmitting three-dimensional vibration tactile signals.

[0075] Therefore, the present invention adopts the above-mentioned method and system for three-dimensional vibration tactile signal compression and transmission, which has strong compatibility and applicability, and can be widely used in telemedicine, virtual reality, human-computer interaction, industrial remote operation and other fields. It can also flexibly adjust the sampling frequency, packet rate and dynamic threshold parameters according to specific scenarios to meet the high requirements for real-time performance and signal quality in different application scenarios.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for compressing and transmitting three-dimensional vibrotactile signals, characterized in that: The following steps are involved: S1. Using a sensor to sample the three-dimensional vibration of the object surface, and obtain the time domain coordinates of the three-dimensional vibration tactile signal including the x, y, and z direction components; S2. Construct a 3D perception dead zone model: dynamically determine the significance of signal changes based on the 3D spherical area and calculate the current signal S t =(x t ,y t ,z t ) and the reference signal S0 = (x0, y0, z0). If L exceeds the dynamic threshold TS, data transmission is triggered, otherwise the data is discarded; S3, dynamic threshold optimization: The mapping relationship between the dynamic adjustment parameter DBP and the packet rate is fitted through a four-parameter logistic curve model. The rate budget s0 for the next period is predicted based on the channel load condition, and the optimal DBP is calculated in reverse. S4. Adaptive packet rate control: The signal is divided into preset time periods, and the transmission parameters are independently adjusted based on the target rate R0 within each period. The signal is then restored to a signal with the same objective quality as the original three-dimensional vibrotactile signal, and the extended perceptual mean square error is used as the signal quality evaluation standard.

2. The method for compressing and transmitting three-dimensional vibrotactile signals according to claim 1, wherein: The calculation formula of the geometric distance L in step S2 is: The calculation formula of dynamic threshold TS is: TS = DBP || S0 ||; in, is the amplitude of the reference signal.

3. The method for compressing and transmitting three-dimensional vibrotactile signals according to claim 1, wherein: The four-parameter logistic curve model in step S3 is: Among them, b and c are fitting parameters optimized by the least squares method.

4. The method for compressing and transmitting three-dimensional vibrotactile signals according to claim 1, wherein: In step S3, the prediction formula for the rate budget s0 of the next period is: Among them, s -1 ,s -2 ,s -3 is the actual packet rate in the first three time periods; R0 is the preset target packet rate.

5. The method for compressing and transmitting three-dimensional vibrotactile signals according to claim 1, wherein: In step S4, the evaluation formula of the signal quality Q is: Q=100·exp(k q ·pmse); Among them, k q is a preset constant; pmse is the extended perceptual mean square error, which is calculated as follows: Among them, P x ,P y ,P z are the perception values of the three-dimensional signal in the x, y, and z dimensions, respectively, and k p is a constant determined by experiment; N represents the total number of samples; Represents the difference between the 3D original signal and the decoded signal in the x, y, and z dimensions respectively; s x 、s y 、s z Represents the signal strength of the three-dimensional signal in the x, y, and z dimensions respectively; They represent the perceived values of the decoded signal in the x, y, and z dimensions respectively; S is the minimum perceptible amplitude.

6. The method for compressing and transmitting three-dimensional vibrotactile signals according to claim 1, wherein: In step S4, the preset time period is 200ms, and the transmission parameters in each time period are adjusted independently.

7. The method for compressing and transmitting three-dimensional vibrotactile signals according to claim 1, wherein: The three-dimensional perception dead zone model in step S2 is an isotropic spherical area, and its radius is controlled by a dynamic threshold TS.

8. A tactile communication system, applied to the method for compressing and transmitting three-dimensional vibrotactile signals according to any one of claims 1 to 7, characterized in that: include: A master device, a slave device and a tactile signal transmission device, wherein the master device is connected to the slave device via a communication link to realize compressed transmission of three-dimensional tactile signals.

9. A tactile communication system according to claim 8, characterized in that: The tactile signal transmission device comprises: Signal acquisition module: used to collect three-dimensional tactile signals; Compression module: compress the collected signal in real time; Transmission module: Based on the segmented adaptive packet rate control strategy, it dynamically adjusts the transmission parameters and sends the compressed data to the remote receiving end; Signal reconstruction module: decodes and reconstructs the transmitted data at the receiving end to restore the three-dimensional vibrotactile signal.

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