Dynamic tactile feedback device and tactile feedback system

Abstract

The invention discloses a dynamic tactile feedback device and a tactile feedback system. The dynamic tactile feedback device comprises a device main body; the angle mechanism is arranged on the device main body; the weight transfer mechanism is arranged on the angle mechanism, and the weight transfer mechanism is used for adjusting the gravity center position on the angle mechanism; the communication control assembly is arranged in the device body, the communication control assembly is connected with the angle mechanism, the communication control assembly is further connected with the weight transfer mechanism, the communication control assembly is used for being in communication connection with an upper computer, and the communication control assembly is used for receiving a movement track signal output by the upper computer and adjusting the angle of the angle mechanism according to the movement track signal. And driving the weight transfer mechanism to work. The problem that tactile feedback equipment lacks a dynamic feedback function required in complex motion is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of haptic feedback, and in particular to a dynamic haptic feedback device and a haptic feedback system. BACKGROUND

[0002] With the development of virtual reality technology, the market demand for haptic feedback devices is growing, which can enhance the user's immersion and make the user feel real tactile experience in the virtual environment.

[0003] Current haptic feedback devices mostly provide simple vibration feedback through vibration motors or skin stretching feedback through motors stretching pads, and the main disadvantage of these technologies is that they cannot provide more complex and dynamic haptic feedback. For example, providing haptic feedback to enhance the user's feeling of having wing movement in virtual reality. Specifically, the virtual wings themselves can have various different motion conditions, and their motion process itself is complex enough to provide haptic feedback for such a scenario, which is difficult for existing haptic feedback devices to achieve. Weight shifting technology can enhance or change the user's perception of the shape of static objects, which can provide effective shape perception feedback in some virtual reality applications. But current haptic feedback devices are focused on the presentation of static objects, and lack the dynamic feedback needed for complex motion. SUMMARY

[0004] In view of the above deficiencies of the prior art, the purpose of the present application is to provide a dynamic haptic feedback device and a haptic feedback system to solve the problem of lack of dynamic feedback for complex motion in haptic feedback devices.

[0005] The technical solution of the present application is as follows:

[0006] A dynamic haptic feedback device, comprising:

[0007] a device body;

[0008] an angle mechanism arranged on the device body;

[0009] a weight shifting mechanism arranged on the angle mechanism, the weight shifting mechanism being used to adjust the center of gravity position on the angle mechanism;

[0010] a communication control component arranged in the device body, the communication control component being connected with the angle mechanism, the communication control component also being connected with the weight shifting mechanism, the communication control component being used to communicate with an upper computer, the communication control component being used to receive the motion trajectory signal output by the upper computer, and adjust the angle of the angle mechanism according to the motion trajectory signal, and drive the weight shifting mechanism to work.

[0011] Optionally, the angle mechanism comprises:

[0012] two weight transfer arms;

[0013] two steering wheels, one-to-one connected with the two weight transfer arms;

[0014] two servo motors, input ends of the two servo motors connected with output ends of the communication control assembly, the two servo motors one-to-one connected with the two steering wheels, the servo motors used for driving the steering wheels to rotate to drive the weight transfer arms to rotate when receiving the angle working signals output by the communication control assembly.

[0015] Optionally, the weight transfer arms are polylactic acid weight transfer arms, and the weight transfer mechanism is arranged on the weight transfer arms.

[0016] Optionally, guide rails and racks are arranged on the two weight transfer arms, and the weight transfer mechanism comprises:

[0017] two housings, the housings formed with grooves;

[0018] two stepping motors, one-to-one arranged in the grooves of the two housings;

[0019] two sliders, one-to-one connected with the two housings, the sliders arranged on the guide rails;

[0020] two gears, one-to-one connected with the two stepping motors, the gears arranged in mesh with the racks;

[0021] input ends of the two stepping motors connected with output ends of the communication control assembly, the stepping motors used for driving the gears to rotate to drive the sliders to slide on the guide rails when receiving the weight transfer signals output by the communication control assembly.

[0022] Optionally, the housings are further formed with accommodating grooves, and the accommodating grooves of the housings are used for accommodating additional weight objects.

[0023] Optionally, the communication control assembly comprises:

[0024] a communication circuit, used for being communicatively connected with a host computer and receiving a motion track signal output by the host computer;

[0025] a control circuit, connected with the communication circuit, the control circuit connected with the angle mechanism and the weight transfer mechanism, the control circuit used for adjusting an angle of the angle mechanism and driving the weight transfer mechanism to work when receiving the motion track signal output by the communication circuit.

[0026] Optionally, the dynamic tactile feedback device further comprises:

[0027] A power supply circuit is arranged in the device body, and an output end of the power supply circuit is connected with the power supply end of the angle mechanism, the power supply end of the weight transfer mechanism and the power supply end of the communication control assembly, and the power supply circuit is used for providing working voltage for the angle mechanism, the weight transfer mechanism and the communication control assembly.

[0028] Optionally, the power supply circuit comprises:

[0029] An external power supply circuit is connected with the power supply end of the angle mechanism, the power supply end of the weight transfer mechanism and the power supply end of the communication control assembly, and the external power supply circuit is used for connecting external power supply, converting the external power supply and outputting working voltage to the angle mechanism, the weight transfer mechanism and the communication control assembly.

[0030] A battery pack is connected with the power supply end of the angle mechanism, the power supply end of the weight transfer mechanism and the power supply end of the communication control assembly, and the battery pack is used for providing working voltage for the angle mechanism, the weight transfer mechanism and the communication control assembly.

[0031] Optionally, the dynamic tactile feedback device further comprises:

[0032] A fixing mechanism is arranged on the device body, and the fixing mechanism is used for fixedly connecting the dynamic tactile feedback device on the human body.

[0033] The application further provides a tactile feedback system comprising a host computer and the dynamic tactile feedback device as described above, and the host computer is in communication connection with the communication control assembly in the dynamic tactile feedback device.

[0034] The technical scheme of the application comprises a device body, an angle mechanism, a weight transfer mechanism and a communication control assembly to form a dynamic tactile feedback device, wherein the angle mechanism is arranged on the device body; the weight transfer mechanism is arranged on the angle mechanism, and the weight transfer mechanism can adjust the position of the center of gravity on the angle mechanism; the communication control assembly is arranged in the device body, and the communication control assembly is connected with the angle mechanism and the weight transfer mechanism, and the communication control assembly is used for communication connection with the host computer, and the communication control assembly can receive the motion trajectory signal output by the host computer, adjust the angle of the angle mechanism according to the motion trajectory signal, and drive the weight transfer mechanism to work. In this way, the dynamic tactile feedback device of the present application can adjust the angle of the angle mechanism according to the motion trajectory signal output by the host computer, simulate the motion trajectory of the virtual wing, and drive the weight transfer mechanism to work to change the position of the center of gravity on the angle mechanism, further simulate the weight change of the virtual wing in the motion process, make the dynamic tactile feedback more realistic, and thus enhance the immersion of the user in the virtual reality. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification are illustrated to explain the principles of the application and the application in the prior art. It is apparent that the accompanying drawings to be described below are only some embodiments of the present application, and other drawings can be obtained from the structures shown in the drawings without creative labor for those skilled in the art.

[0036] Figure 1 is a functional module schematic diagram of an embodiment of the dynamic tactile feedback device of the present application.

[0037] Figure 2 is a structural schematic diagram of an embodiment of the dynamic tactile feedback device of the present application.

[0038] Figure 3 is an exploded view of an embodiment of the dynamic tactile feedback device of the present application.

[0039] Figure 4 is a functional module schematic diagram of another embodiment of the dynamic tactile feedback device of the present application.

[0040] Figure 5 is a center of gravity motion trajectory schematic diagram of the weight transfer arm in the dynamic tactile feedback device of the present application.

[0041] Figure 6 is a schematic diagram of the host computer mapping the motion trajectory of the virtual wing to the dynamic tactile feedback device of the present application.

[0042] Legend of reference numerals: 10, device body; 20, angle mechanism; 21, weight transfer arm; 22, steering wheel; 23, servo motor; 24, guide rail; 25, rack; 30, weight transfer mechanism; 31, housing; 311, accommodating groove; 32, stepper motor; 33, sliding block; 34, gear; 40, communication control assembly; 41, communication circuit; 42, control circuit. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and effect of the present application more clear and definite, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0044] In the embodiments and claims, unless otherwise limited, the articles "a," "an," and "the" are intended to include one or more than one, and the singular term "the" is also intended to include the plural form as well, unless the context clearly indicates otherwise. If there is any conflict between a definition provided herein and any document incorporated herein by reference, the definition provided herein prevails. If the term "comprising" is used in the description or claims, it should not be interpreted as implying that any additional step, integer, step, or steps, integer, can not be present. If the term "first", "second", etc. is used in the description and / or claims, such terms are used only for distinguishing between different features and do not imply a relative importance or a specific order of steps. Thus, the features having a "first", "second", etc. designation can have temporal precedence but do not necessarily have to.

[0045] It should further be understood that the word "comprise", "comprising", "comprises" and the like in the specification and in the claims, is used in the sense of "including" and not in the sense of "consisting only of", so that the listed steps or elements do not exhaust the meaning of "comprise". It should further be understood that the use of the term "about" in describing the application should be understood to refer to the normal variations that would be expected by one of ordinary skill in the art in the relevant field, and, in the context of the present application, the term "about" should be understood to refer to ±10% of the indicated value. It should further be understood that the use of the term "connected" or "coupled" in describing the application should not be construed as being limited to a direct connection or coupling, and that the term "connected" or "coupled" should be understood to include the presence of intermediate elements between two elements that are "connected" or "coupled" to one another. In addition, the use of the term "connected" or "coupled" in describing the application should be understood to include the presence of wireless connections or wireless couplings. The use of the term "and / or" in describing the application should be understood to include any one or more of the associated listed items, in all possible permutations and combinations. The use of the term "or" in describing the application should be understood to mean "and / or", unless the context clearly indicates otherwise.

[0046] It should be understood that all terminology used herein, including technical and scientific terms, has the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains unless otherwise defined. It should further be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the specification and relevant art and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0047] In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0048] With the development of virtual reality technology, the market demand for haptic feedback devices is growing, and haptic feedback devices can enhance the immersion of users, allowing users to experience real tactile experience in a virtual environment.

[0049] Current haptic feedback devices mostly provide simple vibration feedback through vibration motors or skin stretching feedback through motors stretching pads, and the main disadvantage of these technologies is that they cannot provide more complex and dynamic haptic feedback. For example, providing haptic feedback to enhance the user's experience of having wings moving in virtual reality. Specifically, virtual wings can have various different motion conditions, and the motion process itself is complex enough to provide haptic feedback for such scenarios, which is difficult for existing haptic feedback devices to achieve. Weight shifting technology can enhance or change the user's perception of the shape of static objects, and it can provide effective shape perception feedback in some virtual reality applications. But current haptic feedback devices are focused on the presentation of static objects, and lack the dynamic feedback needed in complex motion.

[0050] To solve the above problems, the present application provides a dynamic haptic feedback device.

[0051] Reference Figure 1 In an embodiment, the dynamic haptic feedback device comprises:

[0052] a device body 10;

[0053] an angle mechanism 20 arranged on the device body 10;

[0054] a weight shifting mechanism 30 arranged on the angle mechanism 20, the weight shifting mechanism 30 being used to adjust the center of gravity position on the angle mechanism 20;

[0055] a communication control component 40 arranged in the device body 10, the communication control component 40 being connected with the angle mechanism 20, the communication control component 40 also being connected with the weight shifting mechanism 30, the communication control component 40 being used to communicate with a host computer, the communication control component 40 being used to receive a motion trajectory signal output by the host computer, and adjust the angle of the angle mechanism 20 according to the motion trajectory signal, and drive the weight shifting mechanism 30 to work.

[0056] In this embodiment, the device body 10 can be a rectangular block manufactured by 3D printing, and the specific shape can also be set according to actual conditions and user needs. The device body 10 can be used to set the angle mechanism 20 and the weight transfer mechanism 30, and can also form a containing cavity to accommodate the weight transfer mechanism 30 and other related devices and accessories. The dynamic tactile feedback device can simulate the movement of the additional limbs. In this embodiment, the movement trajectory of the wings is taken as an example for illustration. The angle mechanism 20 can be composed of two rotatable parts, which simulate the number of wings, and the rotatable setting simulates the movement trajectory of the wings. By rotating the selectable parts of the angle mechanism 20, different angles during wing movement can be simulated. At the same time, the weight transfer mechanism 30 can also be driven to work, changing the weight transfer mechanism 30 to simulate the center of gravity change of the wings in different states. Therefore, the weight transfer can be set on the angle mechanism 20 and set as a movable weight object. In this way, by moving the position of the weight object on the angle mechanism 20, the center of gravity of the angle mechanism 20 can be changed, thereby simulating the center of gravity change of the wings. In actual application, the dynamic tactile feedback device of the present scheme can also be used to simulate additional limbs, such as arms or tails, etc. Therefore, the specific number and shape of the parts of the angle mechanism 20 can be adjusted and set according to user needs.

[0057] It should be noted that in actual application, the dynamic tactile feedback device adjusts the angle of the angle mechanism 20 according to the real-time movement of the virtual wings, and drives the weight transfer mechanism 30 to change the center of gravity of the angle mechanism 20. Therefore, the communication control component 40 in this embodiment can communicate with the host computer, which can be a computer or other device. The communication control component 40 can be composed of a controller and a communication chip. The software in the host computer can pre-produce virtual wing movement animation, record the center of gravity movement trajectory during the virtual wing movement process in the software, and then map the trajectory to the weight transfer movement of the dynamic tactile feedback device. That is, the host computer outputs the movement trajectory signal to the communication control component 40, and the communication control component 40 adjusts the angle of the angle mechanism 20 according to the movement trajectory signal, and drives the weight transfer mechanism 30 to change the center of gravity of the angle mechanism 20. In this way, during actual user experience, by synchronously providing visual feedback of virtual wing movement and weight transfer movement of the dynamic tactile feedback device, the user's sense of immersion can be enhanced.

[0058] The technical scheme of the present application comprises a device main body 10, an angle mechanism 20, a weight transfer mechanism 30 and a communication control assembly 40, wherein the angle mechanism 20 is arranged on the device main body 10; the weight transfer mechanism 30 is arranged on the angle mechanism 20 and can adjust the center of gravity of the angle mechanism 20; the communication control assembly 40 is arranged in the device main body 10 and is connected with the angle mechanism 20 and the weight transfer mechanism 30, and is used for communication connection with an upper computer, can receive a motion trajectory signal output by the upper computer, adjust the angle of the angle mechanism 20 according to the motion trajectory signal and drive the weight transfer mechanism 30 to work. Thus, the dynamic tactile feedback device of the present application can adjust the angle of the angle mechanism 20 according to the motion trajectory signal output by the upper computer, simulate the motion trajectory of the virtual wing, and the weight transfer mechanism 30 driven to work can change the center of gravity of the angle mechanism 20, further simulate the weight change of the virtual wing in the motion process, make the dynamic tactile feedback more realistic and thus enhance the immersion of the user in the virtual reality.

[0059] Reference Figures 2-3 In an embodiment, the angle mechanism 20 comprises:

[0060] two weight transfer arms 21;

[0061] two rudders 22 connected with the two weight transfer arms 21 one by one;

[0062] two servo motors 23, the input ends of the two servo motors 23 are connected with the output end of the communication control assembly 40, the two servo motors 23 are connected with the two rudders 22 one by one, and the servo motor 23 is used for driving the rudder 22 to rotate to drive the weight transfer arm 21 to rotate when receiving the angle working signal output by the communication control assembly 40.

[0063] In the embodiment, the above components of the angle mechanism 20 can be arranged as two to meet the design of two wings. The weight transfer arm 21 can be designed as a long strip to simulate the length of the wing; the rudder 22 can be a disc-shaped component with a shaft hole in the center for connection with the output shaft of the servo motor 23, and the disc surface can be provided with some mounting holes or clamping grooves for connection with other components such as connecting rods. The rudder 22 can be used as a torque transmission component of the servo motor 23 to transmit the rotary motion of the servo motor 23 to the rudder plate connected therewith. When the servo motor 23 rotates, the rudder 22 is driven to rotate, thereby driving the whole angle mechanism 20 to change the angle. The material of the rudder 22 can be plastic or metal.

[0064] In an embodiment, the weight transfer arm 21 is a polylactic acid weight transfer arm 21, and the weight transfer mechanism 30 is arranged on the weight transfer arm 21.

[0065] In the embodiment, the weight transfer arm 21 can be made of polylactic acid (PLA-CF) material, which has high strength and can reduce the cantilever effect that may occur during the weight transfer process. The cantilever effect refers to the change in the position of the center of gravity in a structure or mechanical system, which causes some parts to bear increased torque, thereby possibly causing instability or deformation. However, the polylactic acid (PLA-CF) material used in the embodiment is a carbon fiber reinforced polylactic acid composite material, and the addition of carbon fiber significantly improves the strength and stiffness of the material. When the weight transfer arm 21 of the angle mechanism 20 bears a load during the weight transfer process, the high strength enables the weight transfer arm 21 to better resist bending deformation. Moreover, the polylactic acid (PLA-CF) material has relatively light weight while ensuring high strength, and the light weight of the weight transfer arm 21 itself can reduce the inertial force of the entire angle mechanism 20 during movement, thereby reducing the additional bending stress caused by its own weight.

[0066] Referring to Figures 2-3 In an embodiment, the two weight transfer arms 21 are each provided with a guide rail 24 and a rack 25, and the weight transfer mechanism 30 includes:

[0067] two housings 31, each of which is formed with a recess;

[0068] two stepper motors 32, each of which is arranged in the recess of one of the housings 31;

[0069] two sliders 33, each of which is connected to one of the housings 31 and is arranged on the guide rail 24;

[0070] two gears 34, each of which is connected to one of the stepper motors 32 and is arranged in meshing engagement with the rack 25;

[0071] The input ends of the two stepper motors 32 are connected to the output end of the communication control assembly 40, and the stepper motors 32 are configured to, when receiving the weight transfer signal output by the communication control assembly 40, drive the gears 34 to rotate, thereby driving the sliders 33 to slide on the guide rails 24.

[0072] In this embodiment, the components of the weight transfer mechanism 30 are arranged in two corresponding to the number of weight transfer arms 21. The stepper motor 32 is installed in the groove of the housing 31, and the housing 31 is connected with the slider 33. The slider 33 is installed on the guide rail 24 of the weight transfer arm 21, and the gear 34 fixed on the rotating shaft of the stepper motor 32 is engaged with the rack 25 on the weight transfer arm 21. In this way, when the stepper motor 32 receives the weight transfer signal output by the communication control component 40, it drives the gear 34 to rotate, which can drive the housing 31 on the slider 33 to move along the guide rail 24 on the weight transfer arm 21, thereby changing the center of gravity position of the weight transfer arm 21. The change of the center of gravity position will affect the inertia and balance characteristics of the weight transfer arm 21. If the center of gravity is close to the center of rotation of the weight transfer arm 21, the moment of inertia of the weight transfer arm 21 will decrease; on the contrary, if the center of gravity is far away from the center of rotation, the moment of inertia will increase, and the tactile feedback to the user will also be different. In addition to using the combination of gear 34, rack 25 and guide rail 24 to realize the vertical movement of weight transfer mechanism 30 on weight transfer arm 21, the vertical movement of weight transfer mechanism 30 on weight transfer arm 21 can also be realized by using turbine, worm mechanism or using belt mechanism and the like.

[0073] Further, with reference to Figure 2 In an embodiment, the housing 31 is also formed with a receiving groove 311, and the receiving groove 311 of the housing 31 is used to accommodate additional weight objects.

[0074] In this embodiment, the receiving groove 311 formed in the housing 31 is a space for adding weight objects, which is used to adjust the total weight of the weight transfer mechanism 30. The weight objects can be metal, which has high density and can achieve a small volume increase in weight. In actual application, the weight objects can also be manually added to adjust the center of gravity position of the weight transfer arm 21 by increasing the total weight of the weight transfer mechanism 30.

[0075] With reference to Figure 4 In an embodiment, the communication control component 40 comprises:

[0076] The communication circuit 41 is used for communication connection with the host computer and receives the motion trajectory signal output by the host computer;

[0077] The control circuit 42 is connected with the communication circuit 41, and the control circuit 42 is connected with the angle mechanism 20 and the weight transfer mechanism 30. The control circuit 42 is used to adjust the angle of the angle mechanism 20 and drive the weight transfer mechanism 30 to work when receiving the motion trajectory signal output by the communication circuit 41.

[0078] In this embodiment, the communication circuit 41 can be composed of a wireless communication chip, which adopts wireless communication technology. Wireless communication is a communication method that uses the characteristic of electromagnetic wave signals that can propagate in free space for information exchange. The wireless communication chip can communicate with the terminal server in 4G / 5G mode or the like. The control circuit 42 can be composed of a controller or the like. The controller can be a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a microprocessor, an MCU, or other electronic components. The controller can drive the servo motor 23 in the angle driving mechanism 20 through pulse width modulation. The servo motor 23 can be powered by a 12V DC power supply. The controller can also control the stepping motor 32 in the weight moving mechanism through a stepping driver, which is powered by a 24V DC power supply. The communication between the communication circuit 41 and the host computer can be established through a serial interface set to 9600 baud rate. The above data parameters can be adjusted according to actual conditions and user requirements.

[0079] It should be noted that the maximum speed of the weight transfer mechanism 30 is affected by the entire weight itself, especially in the vertical direction, where the weight transfer mechanism 30 mainly resists gravity. In this scheme, the maximum vertical speed is measured, and the stepping motor 32 does not lose synchronization under different weights. For example, when the weight of the stepping motor 32 is 450g and the total weight of the weight transfer mechanism 30 is 656g, the maximum speed is 39.6cm / s, 36.3cm / s, 33.0cm / s, 29.7cm / s, 29.7cm / s and 26.4cm / s respectively when the weight of the additional weight object is 0g, 100g, 200g, 300g, 400g and 500g (achieved by adding tungsten blocks).

[0080] In order to better illustrate the technical concept of the present scheme, the working principle of the present scheme is described in combination with the description in the above embodiment. Figures 1-6 The working principle of the present scheme is described in combination with the description in the above embodiment. Figure 5 The middle red square represents the weight transfer mechanism 30; the black curve represents the center of gravity trajectory of the entire weight transfer arm 21, and the arrow represents the direction of motion. Figure 5The motion of the weight transfer mechanism 30 and the trajectory of the center of gravity of the weight transfer arm 21 in nine modes, i.e., mode 1, mode 2, mode 3, mode 4, mode 5, mode 6, mode 7, mode 8 and mode 9, are shown. While the software of the upper computer provides the motion animation of the virtual wing, the dynamic tactile feedback device provides the corresponding weight transfer motion, i.e., the experience of the user in the related virtual reality application can be enhanced. For details, please refer to Figure 6 , a specific flowchart is briefly shown, Figure 6 The position of the wing color from dark to light corresponds to the position of the weight transfer arm 21 from dark to light in the dynamic tactile feedback device.

[0081] In an embodiment, the dynamic tactile feedback device further comprises:

[0082] A power supply circuit is arranged in the device body 10, the output end of the power supply circuit is connected with the power supply end of the angle mechanism 20, the power supply end of the weight transfer mechanism 30 and the power supply end of the communication control component 40, and the power supply circuit is used to provide working voltage for the angle mechanism 20, the weight transfer mechanism 30 and the communication control component 40.

[0083] In this embodiment, the power supply circuit can be realized by a DC-DC circuit or a power supply chip, and the power supply circuit can be directly arranged in the device body 10 of the dynamic tactile feedback device. The power supply circuit can convert the external power voltage into a working voltage suitable for the angle mechanism 20, the weight transfer mechanism 30 and the communication control component 40, so as to avoid that the angle mechanism 20, the weight transfer mechanism 30 and the communication control component 40 receive a higher working voltage and cause device damage, or receive a lower working voltage and cause device unable to work normally.

[0084] In an embodiment, the power supply circuit comprises:

[0085] An external power supply circuit is connected with the power supply end of the angle mechanism 20, the power supply end of the weight transfer mechanism 30 and the power supply end of the communication control component 40, and the external power supply circuit is used to access an external power supply and output a working voltage to the angle mechanism 20, the weight transfer mechanism 30 and the communication control component 40 after conversion of the external power supply;

[0086] A battery pack is connected with the power supply end of the angle mechanism 20, the power supply end of the weight transfer mechanism 30 and the power supply end of the communication control component 40, and the battery pack is used to provide working voltage for the angle mechanism 20, the weight transfer mechanism 30 and the communication control component 40.

[0087] In the embodiment, the external power supply circuit can be provided with an external power supply interface for connecting an external DC power supply. The external power supply circuit can convert the external power supply into a suitable working voltage and output the working voltage to the angle mechanism 20, the weight transfer mechanism 30 and the communication control assembly 40. In addition, a battery pack is arranged in the device main body 10 to supply power to the angle mechanism 20, the weight transfer mechanism 30 and the communication control assembly 40, which can reduce the arrangement of power supply lines connected to the external power supply. In addition, in the case where the external power supply cannot be connected, the dynamic tactile feedback device can work normally.

[0088] In an embodiment, the dynamic tactile feedback device further comprises:

[0089] A fixing mechanism is arranged on the device main body 10, and the fixing mechanism is used to fix and connect the dynamic tactile feedback device to the human body.

[0090] In the embodiment, the fixing mechanism can be provided with one shoulder strap and two waist straps, which are used to fix and connect the dynamic tactile feedback device to the human body to prevent the dynamic tactile feedback device from falling off. In addition, a buffer object such as a cotton bag can be arranged at the bottom of the device main body 10, which can be comfortably attached to the back of the user.

[0091] The application further provides a tactile feedback system.

[0092] In an embodiment, the tactile feedback system comprises a host computer and the dynamic tactile feedback device as described above, and the host computer is in communication connection with the communication control assembly 40 in the dynamic tactile feedback device.

[0093] In the embodiment, the host computer can be a computer or the like. The software in the host computer can pre-produce a virtual wing movement animation, record the center of gravity movement trajectory in the virtual wing movement process in the software, and then map the trajectory to the weight transfer movement of the dynamic tactile feedback device, that is, the host computer outputs the movement trajectory signal to the communication control assembly 40 in the dynamic tactile feedback device. It can be understood that, since the above-mentioned dynamic tactile feedback device is used in the tactile feedback system of the application, the embodiments of the tactile feedback system of the application include all the technical solutions of all the embodiments of the above-mentioned dynamic tactile feedback device, and the technical effects achieved are also completely the same, which will not be described here.

[0094] It should be understood that the application is not limited to the above examples, and those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall fall within the protection scope of the claims of the application.

Claims

1. A dynamic haptic feedback device, characterized by, The device comprises: a device body; an angle mechanism arranged on the device body; a weight transfer mechanism arranged on the angle mechanism, the weight transfer mechanism being used to adjust the position of the center of gravity on the angle mechanism; a communication control assembly arranged in the device body, the communication control assembly being connected with the angle mechanism and the weight transfer mechanism, the communication control assembly being used to communicate with a host computer, receive a motion trajectory signal output by the host computer, adjust the angle of the angle mechanism according to the motion trajectory signal, and drive the weight transfer mechanism to work.

2. The dynamic haptic feedback device of claim 1, wherein, The angle mechanism comprises: two weight transfer arms; two rudders connected with the two weight transfer arms one by one; two servo motors, the input ends of the two servo motors being connected with the output end of the communication control assembly, the two servo motors being connected with the two rudders one by one, the servo motors being used to drive the rudders to rotate and drive the weight transfer arms to rotate when receiving an angle working signal output by the communication control assembly.

3. The dynamic haptic feedback device of claim 2, wherein, The weight transfer arms are polylactic acid weight transfer arms, and the weight transfer mechanism is arranged on the weight transfer arms.

4. The dynamic tactile feedback device of claim 2, wherein, The two weight transfer arms are each provided with a guide rail and a rack, and the weight transfer mechanism comprises: two housings, the housings being formed with grooves; two stepping motors arranged in the grooves of the two housings one by one; two sliders connected with the two housings one by one, the sliders being arranged on the guide rails; two gears connected with the two stepping motors one by one, the gears being arranged in mesh with the racks; the input ends of the two stepping motors being connected with the output end of the communication control assembly, the stepping motors being used to drive the gears to rotate and drive the sliders to slide on the guide rails when receiving a weight transfer signal output by the communication control assembly.

5. A dynamic haptic feedback device as in claim 4, wherein, The housings are further formed with accommodating grooves, the accommodating grooves of the housings being used to accommodate additional weight objects.

6. The dynamic haptic feedback device of claim 1, wherein, The communication control assembly comprises: a communication circuit used to communicate with a host computer and receive a motion trajectory signal output by the host computer; a control circuit connected with the communication circuit, the control circuit being connected with the angle mechanism and the weight transfer mechanism, the control circuit being used to adjust the angle of the angle mechanism and drive the weight transfer mechanism to work when receiving the motion trajectory signal output by the communication circuit.

7. The dynamic haptic feedback device of claim 1, wherein, The dynamic tactile feedback device further comprises: a power supply circuit arranged in the device body, the output end of the power supply circuit being connected with the power supply end of the angle mechanism, the power supply end of the weight transfer mechanism, and the power supply end of the communication control assembly, the power supply circuit being used to provide working voltage for the angle mechanism, the weight transfer mechanism, and the communication control assembly.

8. The dynamic tactile feedback device according to claim 7, wherein: The power supply circuit comprises: An external power supply circuit is connected to the power supply end of the angle mechanism, the power supply end of the weight transfer mechanism and the power supply end of the communication control assembly, and is used to access an external power supply and output working voltage to the angle mechanism, the weight transfer mechanism and the communication control assembly after conversion of the external power supply; A battery pack is connected to the power supply end of the angle mechanism, the power supply end of the weight transfer mechanism and the power supply end of the communication control assembly, and is used to provide working voltage to the angle mechanism, the weight transfer mechanism and the communication control assembly.

9. The dynamic haptic feedback device of claim 1, wherein, The dynamic tactile feedback device further comprises: A fixing mechanism is arranged on the device main body, and is used to fixedly connect the dynamic tactile feedback device to a human body.

10. A haptic feedback system characterized in that, The system comprises a host computer and the dynamic tactile feedback device according to any one of claims 1-9, and the host computer is in communication connection with the communication control assembly in the dynamic tactile feedback device.

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