Wearable integrated bidirectional interaction device and preparation method and application thereof

Abstract

The invention discloses wearable integrated bidirectional interaction equipment and a preparation method and application thereof. The wearable integrated bidirectional interaction equipment comprises at least one bidirectional interaction patch, and an electromyographic electrode array and a vibration unit are integrated on the same flexible circuit board substrate; and the main control module is connected with the bidirectional interaction patch through a flexible connecting wire and is used for processing the electromyographic signals and controlling vibration feedback. The problem of separate treatment and independence of the equipment body in practical application is solved, an integrated equipment form is completed through collaborative design of the myoelectricity forward interface and the vibration feedback interface, and a stable and crosstalk-free bidirectional interaction function is realized.

Description

Technical Field

[0001] The present invention relates to the field of human-computer interaction, and in particular to a wearable integrated two-way interactive device and a preparation method and application thereof. Background Art

[0002] Human-computer interaction is a form of bidirectional data flow transmission that relies on the collaborative work of a forward interface and a feedback interface. Providing users with a wearable device foundation for bidirectional interaction is of far-reaching significance, and current research progress has been made in bidirectional wearable systems for human-computer interaction. However, most current work focuses on the implementation of interactive functions, which results in relatively separate and independent control and feedback from the device perspective. The two are distributed and configured in separate device forms, lacking an integrated flexible wearable form. This restricts the body's natural movement during use, greatly affecting the user experience and the smoothness of the interaction. In addition, interference may occur between the control interface and the feedback interface, making it crucial to ensure the stable operation of the interactive interface while achieving an integrated device form.

[0003] Therefore, collaborative design of the forward interface and feedback interface, integrated integration from the perspective of stimulation unit optimization and interface crosstalk suppression, and the realization of a two-way interface for in-situ interaction will be helpful in expanding interaction scenarios and promoting the development of interaction methods. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to achieve two-way interaction on a single device.

[0005] To achieve the above objectives, the present invention provides a wearable integrated two-way interactive device, comprising:

[0006] At least one bidirectional interactive patch integrating an electromyographic electrode array and a vibration unit on the same flexible circuit board substrate;

[0007] The main control module is connected to the bidirectional interactive patch via a flexible connection line and is used to process the electromyographic signal and control the vibration feedback.

[0008] The present invention integrates myoelectric electrodes and stimulation units on the same device, and through collaborative design, achieves an integrated device form, and locally achieves high acquisition-stimulation resolution. Through collaborative design, the acquisition sensor and stimulator are integrated on a single FPCB substrate, and multi-patch expansion is achieved through the form of patches and main control modules. Positive human intention perception and reverse information feedback are achieved on a single device body, achieving a two-way interactive effect. Implementing the two-way interactive function on a single device body greatly improves the wearability of the device, expands the scenarios of human-computer interaction, and enhances the user experience.

[0009] Furthermore, the vibration unit includes a vibration motor, a vibration motor vibration isolation ring and a spring thimble;

[0010] When a vibration motor based on the principle of eccentric rotating mass is used, the vibration motor is installed upside down;

[0011] The spring thimble is attached to the bottom of the vibration motor as a tactile amplifier;

[0012] The vibration motor vibration isolation ring is arranged on the periphery of the myoelectric electrode and the vibration unit.

[0013] Furthermore, the vibration motor adopts an actuation principle including an eccentric rotating mass or a linear resonator;

[0014] The vibration motor isolation ring is a silicone structure having at least one layer with a gradient elastic modulus design. When the silicone structure is a multi-layer structure, the elastic modulus increases layer by layer from the inside to the outside.

[0015] This invention utilizes vibration isolation rings placed around the vibrating motor to stabilize the sensor interface and focus the stimulus response, reducing crosstalk between the two-way interface and ensuring stable operation. Furthermore, the modular design of the multi-layer vibration isolation rings enables different stimulus feedback effects. This not only stabilizes the sensor acquisition interface, enabling reliable integration and crosstalk-free operation of the two-way interface, but also allows for the regulation of the vibrotactile induced area to achieve a specific tactile sensation.

[0016] Furthermore, the spacing between the vibration units is 12-40 mm, for example, 12 mm, 15 mm, 20 mm, 30 mm, or 40 mm;

[0017] The number of vibration stimulation channels on a single bidirectional interactive patch is ≥4, and the number of myoelectric acquisition channels is ≥2;

[0018] After the device is configured with an electromyographic vibration isolation ring and a vibration motor vibration isolation ring and vibration stimulation is applied, the signal-to-noise ratio of the electromyographic signal is ≥21dB.

[0019] Furthermore, the bidirectional interactive patch and the main control module are packaged in an integrated manner using silica gel, and an adhesive layer is provided on the surface;

[0020] The adhesive layer is Ecoflex Gel and / or sticky PDMS material.

[0021] Based on design and layout requirements, this invention staggers multi-channel sensing and stimulation feedback at regular intervals on a single substrate, then encapsulates them with flexible materials to achieve high-density sensing and feedback in the same area. By integrating arrayed acquisition sensors and stimulation units within the same patch device, high-resolution in-situ data acquisition and stimulation can be achieved on the same, smaller body part, significantly improving integration and skin footprint.

[0022] The present invention realizes two-way information interaction in the same part of the human body, greatly improves the integration and wearability of the two-way interactive device, and enhances the resolution of perception and feedback in the local area.

[0023] Furthermore, the device supports multiple patches, realizes two-way interaction of multiple patches through expansion, and realizes collaborative work of multiple patches through flexible connecting lines;

[0024] The bidirectional interactive patch adopts a central symmetrical layout;

[0025] The myoelectric electrodes and vibration motors of the bidirectional interactive patch are evenly spaced, rather than simply connecting two array devices in series, and can achieve in-situ perception-stimulation interaction in a local area.

[0026] Furthermore, the main control module communicates with the expandable PWM driver via the I2C protocol, and the driver outputs an adjustable PWM wave via the GPIO port, providing high current output through the assistance of MOSFET;

[0027] The main control module includes a Bluetooth SoC and supports BLE 5.0, Wi-Fi or NFC wireless communication protocols.

[0028] Furthermore, the bidirectional interactive patch includes: a silicone upper package, a vibration motor, a vibration motor vibration isolation ring, a flexible circuit board, an electromyographic vibration isolation ring, a silicone lower package and a spring ejector pin;

[0029] The myoelectric vibration isolation ring is a silicone structure with at least one layer of modulus gradient design. When it is a multi-layer silicone structure, the elastic modulus increases layer by layer from the inside to the outside.

[0030] Electromyographic electrodes are welded on the flexible circuit board;

[0031] The myoelectric electrodes include a measuring electrode and a reference electrode.

[0032] Furthermore, the device can be bent to fit the curves of the human body;

[0033] The strain of the bending fit is achieved by adjusting the modulus of the silicone.

[0034] In a second aspect, the present invention provides a method for preparing the wearable integrated two-way interactive device according to the first aspect, the method comprising:

[0035] Solder the vibration motor upside down to the flexible circuit board and install the spring pins;

[0036] Prepare vibration isolation rings for vibration motors by multiple castings;

[0037] The two-way interactive patch and main control module are packaged in an integrated manner using silicone.

[0038] Under constant input voltage, the torque applied to the skin by rotating the rotor is increased by inverting the vibration motor; a spring pin is applied under the motor, and the interface impedance and rotor torque can be adjusted by adjusting the height and elastic coefficient, greatly reducing the vibration tactile response area and achieving different vibration tactile effects; a vibration isolation ring is arranged on the outside of the vibration motor to realize the regulation of the vibration surface wave.

[0039] This invention optimizes the design of the vibration unit by inverting the vibration motor, attaching a spring pin, and arranging a vibration isolation ring. This significantly improves the efficiency of inducing subjective perception intensity under constant input, reduces the vibrotactile area, and is expected to achieve precise tactile sensation and enhance the stability of the myoelectric interface. Under constant input voltage, it can induce higher perception intensity and significantly reduce the vibrotactile response area, potentially achieving precise tactile sensation. In a bidirectional interface design, this can reduce interference with the forward interface.

[0040] In a third aspect, the present invention provides an application of a wearable integrated two-way interactive device as described in the first aspect, which is used for two-way tactile interaction in virtual reality / augmented reality scenarios; for perceptual feedback control of medical prostheses; and for remote teleoperation and teaching of industrial robots.

[0041] Technical Effects

[0042] This invention addresses the field of human-computer interaction and proposes an integrated wearable, two-way interactive device. This device addresses the issue of separate and independent device components in practical applications. By collaboratively designing the myoelectric forward interface and the vibration feedback interface, the device is integrated, achieving stable, crosstalk-free, two-way interaction. The vibration unit, by inverting the ERM motor, attaching a spring pin, and arranging a vibration isolation ring, achieves efficient induction of subjective perceived intensity and regulation of surface elastic waves, contributing to rich tactile perception and focused tactile stimulation.

[0043] Technical advantages:

[0044] To address the existing issue of separate and independent myoelectric control and vibration feedback interfaces, this integrated device solution increases the sensory-stimulus resolution per unit area, significantly improving interface integration and wearability while minimizing interference with the user's subjective movements. Furthermore, through optimized design of the vibration unit, compared to traditional solutions, it can induce a stronger subjective perception of the human body at the same input voltage, narrowing the vibrotactile perception area and contributing to precise tactile sensation.

[0045] Performance indicators:

[0046] 1. The spacing between vibration units should not be too small. 12-40mm is recommended, referring to the two-point perception threshold of the human body at specific parts of the body.

[0047] 2. The number of vibration stimulation channels on a single tactile patch is ≥4, and the number of myoelectric acquisition channels is ≥2;

[0048] 3. After configuring the vibration isolation ring and applying vibration stimulation, the signal-to-noise ratio of the electromyographic signal is ≥21dB.

[0049] Production implementation:

[0050] This invention relates to a flexible wearable device. Its core production process consists of two parts: the preparation of functional components and flexible circuit boards, the fabrication of multi-layer vibration isolation rings, and the preparation of flexible packaging. The preparation of flexible circuit boards and the soldering of electronic components are well-established commercial processes. Both the multi-layer vibration isolation rings and the flexible packaging utilize multiple castings of silicone. All processes have proven solutions and have the potential for large-scale production.

[0051] Industrial application prospects:

[0052] 1. VR / AR: Integrated devices bring new forms of interaction and rich user experience to users;

[0053] 2. Medical field: The integrated two-way interactive device gives prosthetic limbs the function of sensory feedback. The good integration and integrated form can greatly enhance the sense of ownership and user experience of people with disabilities.

[0054] 3. Industrial scenarios: used for remote operation and teaching of robots.

[0055] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 Schematic diagram of a wearable integrated two-way interactive device according to a preferred embodiment of the present invention;

[0057] Figure 2 1 is a schematic diagram of a wearable integrated two-way interactive device according to another preferred embodiment of the present invention;

[0058] Figure 3 is a schematic diagram of a bidirectional interactive patch according to a preferred embodiment of the present invention;

[0059] Figure 4 This is a schematic diagram of the circuit principle of a preferred embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of the preparation process of a preferred embodiment of the present invention;

[0061] Figure 6is a schematic diagram of a device according to a preferred embodiment of the present invention attached to a human body;

[0062] Figure 7 is a schematic diagram of a bidirectional interactive patch according to a preferred embodiment of the present invention;

[0063] Figure 8 This is the design of a single vibration unit of a preferred embodiment of the present invention;

[0064] Figure 9 This is a cross-sectional view of a single vibration unit in a three-layer vibration isolation ring design according to a preferred embodiment of the present invention;

[0065] Figure 10 1 is a partial schematic diagram of a vibration unit and an electromyographic electrode in a bidirectional interactive patch according to a preferred embodiment of the present invention;

[0066] Figure 11 1 is a schematic diagram of a two-way interactive application of a wearable integrated two-way interactive device in virtual / augmented reality according to a preferred embodiment of the present invention;

[0067] Figure 12 This is a schematic diagram of a two-way interactive application of a wearable integrated two-way interactive device in vehicle driving according to a preferred embodiment of the present invention;

[0068] Figure 13 This is a schematic diagram of a two-way interactive application of a wearable integrated two-way interactive device in robot operation according to a preferred embodiment of the present invention.

[0069] in:

[0070] 1-Wearable integrated two-way interactive device, 2-Bidirectional interactive patch, 3-Main control module, 4-Bidirectional interactive patch circuit, 5-Main control module circuit, 6-Soldering, 7-Pasting, 8-Casting, 9-Pasting, 10-Casting silicone upper package, 11-Putting into the mold as a whole, 12-Casting, 13-Demolding, 201-Vibration unit, 202-Myoelectric measurement electrode, 203-Myoelectric reference electrode, 204-Silicone upper package, 205-Vibration motor, 206-Vibration motor vibration isolation ring, 207-Flexible circuit board, 208-Myoelectric vibration isolation ring, 209-Silicone lower package, 210-Spring ejector pin, 301-Ground electrode. DETAILED DESCRIPTION

[0071] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0072] In the drawings, components with identical structures are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrary and are not limited by the present invention. For clarity, the thickness of components in some places in the drawings is appropriately exaggerated.

[0073] like Figure 1 and Figure 2 Figure 1 is a schematic diagram of a wearable integrated bidirectional interactive device according to a preferred embodiment of the present invention. The wearable integrated bidirectional interactive device 1 includes a bidirectional interactive patch 2 and a main control module 3. The bidirectional interactive patch 2 includes a vibration unit 201 and electromyographic electrodes, including an electromyographic measurement electrode 202 and an electromyographic reference electrode 203. The main control module includes a ground electrode 301.

[0074] Preferably, the wearable integrated two-way interactive device 1 connects two two-way interactive patches 2 through a flexible connecting line, but is not limited to the form of two patches, and can achieve multi-patch two-way interaction in an expanded manner.

[0075] like Figure 3Figure 2 shows an exploded view of a preferred embodiment of a bidirectional interactive patch 2 of the present invention. The bidirectional interactive patch 2 includes a silicone upper package 204, a vibration motor 205, a vibration motor isolation ring 206, a flexible printed circuit board (FPCB) 207, an electromyographic isolation ring 208, a silicone lower package 209, and a spring-loaded ejector pin 210. The silicone upper package 204 and the silicone lower package 209 are made by casting or 3D printing, and can use but are not limited to silicones such as Ecoflex, PDMS and DragonSkin; a vibration unit includes a vibration motor 205, a vibration motor vibration isolation ring 206 and a spring pin 210, and the vibration motor 205 can use but is not limited to the actuation principle of eccentric rotating mass (ERM) and linear resonator (LRA); the vibration motor vibration isolation ring 206 can be prepared by casting or 3D printing, and its number of layers, size and material modulus are adjusted according to the application scenario, and can use but is not limited to silicones such as Ecoflex, PDMS and DragonSkin; the spring pin is arranged under the vibration motor 205 as a tactile amplifier. According to its height, elastic coefficient and type of vibration motor, it can reduce the vibration frequency, increase skin stress and strain, and reduce the distance of skin surface wave propagation to focus the vibration tactile area. Various electronic components and electromyographic electrodes (electromyographic measurement electrode 202 and electromyographic reference electrode 203) are welded on the flexible circuit board 207; the electromyographic vibration isolation ring 208 can be prepared by casting or 3D printing, and its number of layers, size and material modulus are adjusted according to the application scenario. Silicones such as Ecoflex, PDMS and DragonSkin can be used, but are not limited to them. They attenuate surface waves transmitted from the outside, maintain the stability of the skin-electrode interface, and improve the quality of electromyographic acquisition and the signal-to-noise ratio of the signal.

[0076] Preferably, at least one adhesive layer can be added to the surface of the silicone lower package 208, using Ecoflex Gel or aPDMS (adhesive PDMS), to ensure that the device is attached to the skin surface, or the device can be attached to the skin surface through Tegaderm dressing.

[0077] Preferably, the vibration units 201 in a single bidirectional interactive patch 2 are not limited to the 4 shown in the figure, for example, they can be: 1, 2, 5, 6, 8, etc., and the electromyographic electrodes are not limited to the 3 shown in the figure, for example, they can be: 1, 2, 3, 5, 6, 8, etc., but a single interactive patch must contain at least one electromyographic reference electrode 203, and a centrally symmetrical pattern must be adopted to reduce the directionality of the device attachment.

[0078] Preferably, a single bidirectional interactive patch 2 uses four 0720 vibration motors (7 mm in diameter, 2 mm in thickness) and a spacing of 16 mm (roughly the two-point perception threshold on the human forearm).

[0079] Preferably, due to the existence of a threshold for human skin to perceive vibration, the spacing between vibration units should not be too small, and 12-40 mm is recommended.

[0080] Preferably, the upper and lower silicone rubbers can be molded simultaneously by pouring in one go.

[0081] like Figure 4 The schematic diagram of the circuit principle of a preferred embodiment of the present invention includes a bidirectional interactive patch circuit 4 and a main control module circuit 5. In the bidirectional interactive patch circuit 4, the signals collected by the EMG measurement electrode 202 and the reference electrode 201 are differentially analyzed, amplified, filtered, and transmitted to the main control module circuit 5 via an ADC (analog-to-digital converter). The main control module circuit 5 communicates with a scalable PWM (pulse width modulation) driver via the I2C protocol. The driver outputs an adjustable PWM wave through a GPIO (general purpose input / output) port. Because the output current capability in a multi-channel state is relatively weak, a MOSFET (field-effect transistor) can be used to provide an auxiliary high-current output. This circuit can directly adjust and output PWM parameters, enabling different voltage inputs to any motor. In the main control module circuit 5, the potential of the two ground electrodes 301 provides a ground reference for the EMG signal processing circuit 4. The main control is a Bluetooth SoC (system-on-chip), responsible for data processing and Bluetooth wireless communication. The power management component includes 3.3V voltage regulation, -3.3V voltage regulation, battery, and wireless charging.

[0082] Preferably, the wireless communication protocol may be but is not limited to BLE 5.0. Under the premise of ensuring the data transmission rate, wireless communication protocols such as WiFi and NFC may be selected.

[0083] Preferably, the type of MOSFET should be determined according to the output of the PWM driver, whether it is p-channel or n-channel.

[0084] like Figure 5 The figure shows a schematic diagram of the preparation process of a preferred embodiment of the present invention. The electronic components and vibration motor 205 are soldered 6 onto a flexible circuit board 207, and then the ERM motor is reversely bonded 7 onto the flexible circuit board 205. A multi-layer vibration isolation ring (including an EMG isolation ring 208 and a vibration motor isolation ring 206) is prepared by multiple castings 8, with the silicone grade and material selected based on design requirements. The vibration isolation ring is bonded 9 onto the flexible circuit board 207. A silicone upper package 204 is cast. The silicone upper package 204 and the flexible circuit board 207 are placed into a mold 11. The entire bidirectional interactive patch is cast 12 as a whole. After the silicone solidifies, it is demolded 13. After trimming and post-processing, the single bidirectional interactive patch is completed. The control module preparation process is consistent with the bidirectional interactive patch preparation process.

[0085] like Figure 6As shown in the figure, a preferred embodiment of the present invention demonstrates that the wearable integrated two-way interactive device has excellent flexibility and bending properties, allowing it to adhere to surfaces of various curvatures. By adjusting the spacing between the vibration electrodes and the modulus of the silicone upper package 204, silicone lower package 209, and vibration isolation rings 206 and 208, different bending strains can be achieved.

[0086] like Figure 7 Figure 2 shows a schematic diagram of a bidirectional interactive patch according to a preferred embodiment of the present invention. A spring-loaded pin 210 is positioned below the vibration motor 205, acting as a tactile amplifier. Its function is to focus the vibrotactile area while adjusting the interface impedance and vibration response range to achieve a unique vibrotactile effect. A vibration motor isolation ring 206 is positioned around the vibration motor 205 and spring-loaded pin 210, while an electromyography isolation ring 208 is positioned around the electromyography measurement electrode 202. The multi-layered material design of the isolation rings enables control of surface waves on the interface.

[0087] like Figure 8 The design of a single vibration unit in a preferred embodiment of the present invention is shown. For ERM vibration motors, the optimized design of the vibration unit includes three aspects: a spring pin 210 is attached to the bottom to reduce the contact area of vibration stimulation, focusing the vibrotactile area, and elevating the rotor relative to the skin. By adjusting the height and elastic modulus of the spring pin 210, the interface impedance and the stress and strain on the epidermis can be adjusted, achieving efficient sensory intensity induction and a unique vibrotactile experience. A vibration isolation ring 206 is arranged around the periphery of the vibration motor. The viscoelasticity of the skin causes surface vibration stimulation to propagate elastic waves beyond the contact surface, expanding the sensory area and affecting nearby electromyographic sensors. The function of the vibration isolation ring 206 is to attenuate the surface elastic waves induced by vibration stimulation and focus the sensory area. The ERM vibration motor 205 is inverted, raising the internal rotor relative to the skin surface. This increases the torque applied by the rotor's rotation on the skin surface, achieving a higher subjective sensory intensity induction under equal input conditions.

[0088] like Figure 9 Shown is a cross-sectional view of a single vibration unit in a three-layer vibration isolation ring design. The number of layers and size of the isolation ring can be adjusted based on the manufacturing process and dimensions. The selection of the isolation ring material and thickness is based on the skin surface elastic wave propagation model and Snell's law. Assuming that basic parameters such as the Poisson's ratio and density of the same type of silicone are consistent, increasing the elastic modulus of the isolation ring from the inside out (encapsulation layer > second layer > first layer) can significantly attenuate the amplitude of the outward-propagating surface elastic waves. Conversely, the amplitude can be increased based on a homogeneous isolation ring.

[0089] like Figure 10The figure shows a partial schematic diagram of the vibration unit and myoelectric electrodes in a bidirectional interactive patch according to a preferred embodiment of the present invention. In the bidirectional interactive patch, in order to achieve crosstalk-free operation between the myoelectric forward interface and the vibration feedback interface, vibration isolation rings 206 and 208 are arranged around the vibration motor 205 and the myoelectric electrodes (myoelectric measurement electrode 202 and myoelectric reference electrode 203). The purpose of the vibration motor vibration isolation ring 206 is to attenuate the amplitude of the surface elastic waves generated by the entire vibration unit 201 outward, while the purpose of the myoelectric vibration isolation ring 208 is to attenuate the amplitude of the surface elastic waves transmitted from the outside inward, thereby ensuring stable contact between the myoelectric electrodes (myoelectric measurement electrode 202 and myoelectric reference electrode 203) and the skin.

[0090] Preferably, the combination configuration from inside to outside in the vibration motor isolation ring 206 can be reversed as the combination configuration from outside to inside in the myoelectric isolation ring 208.

[0091] like Figure 11 Shown is a schematic diagram of a preferred embodiment of a wearable integrated two-way interactive device for two-way interaction in virtual / augmented reality. In the real physical world, people can easily experience physical interaction with each other. However, without physical contact, we cannot interact virtually through touch. Therefore, the perception of human movement intention and the transmission of tactile information are crucial. To achieve true two-way communication and interaction between people, user 1 wears a wearable integrated two-way interactive device 1 and wirelessly transmits their touch gestures to user 2, who is also wearing the wearable integrated two-way interactive device 1, achieving tactile reproduction on their skin. Conversely, user 2's response to the movement intention can also be transmitted back to user 1 via a feedback interface, achieving two-way information transmission. One person performs grasping movements of varying degrees. Six channels of myoelectric signals are used to decode the grasping gestures using a regression method, and information is communicated wirelessly. Once the interaction interface on the other person's forearm receives the touch information, the corresponding vibration unit is triggered to vibrate, reproducing the touch on their skin. The input voltage of each vibration unit is normalized and mapped using the regression results.

[0092] like Figure 12 Shown is a schematic diagram of a wearable integrated two-way interactive device used in vehicle driving, according to a preferred embodiment of the present invention. The driver, wearing the wearable integrated two-way interactive device 1, can interact with the vehicle's computer by pronation, eversion, wrist rotation, and fist clenching, replacing traditional screen touch and swipe or voice wake-up methods. During navigation, the interactive interface can provide left and right turn information feedback to help the driver plan their route in advance without the need for additional visual or auditory perception. In route navigation and lane keeping scenarios, the wearable integrated two-way interactive device 1 can provide steering information and lane adjustment instructions through patterned vibration patterns.

[0093] like Figure 13 The figure shows a schematic diagram of a wearable integrated two-way interactive device used in a preferred embodiment of the present invention for two-way interaction in robot operation. A user wears the designed wearable integrated two-way interactive device 1, decodes gestures using electromyographic signals, and decodes limb motion posture using a paired IMU, enabling remote teleoperation of a humanoid robot. The humanoid robot's end effector has fingertip and joint angle sensing capabilities. The wearable integrated two-way interactive device 1 is attached to a pair of antagonist muscles on the user's forearm. Dual patches provide feedback on tactile and proprioceptive information from the thumb and index finger, respectively. The user can perceive multi-dimensional end-point information and adjust gestures in real time to grasp fragile objects and manipulate complex object stiffness.

[0094] The preferred embodiments of the present invention have been described in detail above. It should be understood that numerous modifications and variations based on the concepts of the present invention are possible without inventive effort by those skilled in the art. Therefore, any technical solution that can be derived by one skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A wearable integrated two-way interactive device, characterized in that: include: At least one bidirectional interactive patch integrating an electromyographic electrode array and a vibration unit on the same flexible circuit board substrate; The main control module is connected to the bidirectional interactive patch via a flexible connection line and is used to process the electromyographic signal and control the vibration feedback.

2. The wearable integrated two-way interactive device according to claim 1, characterized in that: The vibration unit includes a vibration motor, a vibration motor vibration isolation ring and a spring thimble; When a vibration motor based on the principle of eccentric rotating mass is used, the vibration motor is installed upside down; The spring thimble is attached to the bottom of the vibration motor as a tactile amplifier; The vibration motor vibration isolation ring is arranged on the periphery of the myoelectric electrode and the vibration unit.

3. The wearable integrated two-way interactive device according to claim 1, characterized in that: The vibration motor adopts an actuation principle including an eccentric rotating mass or a linear resonator; The vibration motor isolation ring is a silicone structure with at least one layer having a gradient elastic modulus. When the silicone structure is a multi-layer structure, the elastic modulus increases layer by layer from the inside to the outside. The spacing between the vibration units is 12-40 mm; The number of vibration stimulation channels on a single bidirectional interactive patch is ≥4, and the number of myoelectric acquisition channels is ≥2; After the device is configured with an electromyographic vibration isolation ring and a vibration motor vibration isolation ring and vibration stimulation is applied, the signal-to-noise ratio of the electromyographic signal is ≥21dB.

4. The wearable integrated two-way interactive device according to claim 1, characterized in that: The two-way interactive patch and the main control module are packaged in an integrated manner using silica gel, and an adhesive layer is provided on the surface; The adhesive layer is Ecoflex Gel and / or sticky PDMS material.

5. The wearable integrated two-way interactive device according to claim 1, characterized in that: The device supports multiple patches, realizes two-way interaction of multiple patches through expansion, and realizes collaborative work of multiple patches through flexible connection lines; The bidirectional interactive patch adopts a central symmetrical layout; The myoelectric electrodes and vibration motors of the bidirectional interactive patch are distributed at equal intervals, realizing in-situ perception-stimulation interaction in a local area.

6. The wearable integrated two-way interactive device according to claim 1, characterized in that: The main control module communicates with the expandable PWM driver through the I2C protocol. The driver outputs an adjustable PWM wave through the GPIO port and provides high current output through the assistance of MOSFET. The main control module includes a Bluetooth SoC and supports BLE 5.0, Wi-Fi or NFC wireless communication protocols.

7. The wearable integrated two-way interactive device according to claim 1, characterized in that: The bidirectional interactive patch includes: a silicone upper package, a vibration motor, a vibration motor vibration isolation ring, a flexible circuit board, an electromyographic vibration isolation ring, a silicone lower package and a spring ejector pin; Electromyographic electrodes are welded on the flexible circuit board; The myoelectric electrodes include a measuring electrode and a reference electrode; A single bidirectional interactive patch contains at least one reference electrode and adopts a centrally symmetrical pattern.

8. The wearable integrated two-way interactive device according to claim 1, wherein: The device can be bent to fit the curve of the human body; The strain of the bending fit is achieved by adjusting the modulus of the silicone.

9. A method for preparing a wearable integrated two-way interactive device according to any one of claims 1 to 8, characterized in that: The preparation method comprises: Solder the vibration motor upside down to the flexible circuit board and install the spring pins; Prepare vibration isolation rings for vibration motors by multiple castings; The two-way interactive patch and main control module are packaged in an integrated manner using silicone.

10. An application of the wearable integrated two-way interactive device according to any one of claims 1 to 8, characterized in that: Used for two-way tactile interaction in virtual reality / augmented reality scenarios; sensory feedback control for medical prostheses; Used for remote teleoperation and teaching of industrial robots.

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