Lower limb touch simulation device, immersive interactive wish experience chair and use method

Abstract

The invention discloses an immersive interactive experience wish chair and a using method thereof.The wish chair is provided with VR glasses, touch simulation gloves, a lower limb touch simulation device, a communication module, a driving module and a data processing module, the VR technology is applied, and the VR glasses can simulate three-dimensional visual images and stereo surrounding scene sound and smell; the touch simulation gloves can simulate the hand grabbing state and the surface touch of a grabbed object in a scene, the lower limb touch simulation device can simulate the walking posture in the scene and the sole touch brought by the bottom face during walking, and interactive experience of vision, touch, hearing and smell is brought to a user.

Description

Technical Field

[0001] This invention relates to the field of virtual experience technology, specifically to a lower limb tactile simulation device, an immersive interactive experience wish chair equipped with the device, and a method of using the device. Background Technology

[0002] Virtual Reality (VR) technology uses computers to simulate a three-dimensional virtual environment, providing users with simulations of their senses such as sight, hearing, and touch, allowing them to feel as if they are actually there and to observe things in the three-dimensional space in real time without restrictions.

[0003] For patients who have strong desires in their daily lives but find it difficult to fulfill them due to mobility issues, VR virtual reality devices can help them achieve their wishes. Among these, lower limb tactile simulation devices, a type of tactile feedback device, can provide users with tactile feedback of their lower limbs, enhancing the experiential aspect of virtual reality technology. This technology has broad application prospects in medical rehabilitation and the field of virtual reality.

[0004] However, as an important sensory interaction channel for humans to interact with the external tactile environment, the lower limbs can simulate not only movement posture information, but also the temperature and humidity of the soles of the feet, the tactile sensation of the soles of the feet caused by the terrain, tactile resistance (such as going up and down slopes, going up and down stairs, uneven terrain, muddy ground, wading through water, etc.) and various usage scenarios (skiing, the stepping resistance of vehicles, machinery, tools, etc.) in order to enhance the realism of the scene. However, lower limb simulation devices that can simulate the above multimodal data information at the same time are still very rare. Summary of the Invention

[0005] This invention provides a lower limb tactile simulation device that can simulate multimodal information such as lower limb movement posture, foot temperature and humidity, foot tactile sensation caused by terrain, and tactile resistance. This invention also provides an immersive interactive experience wish chair and its usage method, utilizing VR technology to simulate multimodal information of the hands and lower limbs, as well as auditory and olfactory information, based on the scene images seen through VR glasses, providing users with an interactive experience encompassing sight, touch, hearing, and smell.

[0006] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0007] A lower limb tactile simulation device includes a footrest and a lifting device. The footrest includes a thigh support, a calf support, and a foot support. The lifting device includes a lifting linkage, a swing cylinder, a leg motor, and a foot motor. One end of the thigh support is rotatably connected to a base, and the other end is rotatably connected to one end of the calf support. The other end of the calf support is rotatably connected to the foot support. A swing cylinder is installed at the bottom of the thigh support. One end of the lifting linkage is rotatably connected to the telescopic rod of the swing cylinder, and the other end of the lifting linkage is rotatably connected to the bottom of the calf support. The leg motor is installed at the connection between the thigh support and the base, and the foot motor is installed at the connection between the calf support and the foot support. The foot support has clamping devices on both sides for gripping the foot. The bottom of the foot support has rollers with rotating shafts at both ends connected to a rotary motor. A temperature regulating device is located below the rollers.

[0008] Furthermore, the temperature regulating device includes a mesh baffle, a fan, a heater, and a temperature controller arranged sequentially from top to bottom.

[0009] Furthermore, the pinching device is a wave-like peristaltic massager, which is wrapped with a sponge.

[0010] Furthermore, the thigh support frame, calf support frame, and foot support frame are all equipped with restraint straps.

[0011] An immersive interactive experience wish chair, equipped with:

[0012] VR glasses include the main body of the glasses, a pair of stereo headphones for simulating sound, nozzles for simulating humidity and odor, and a head strap.

[0013] A tactile simulation glove includes a glove body, a tactile module and a drive module built into the glove body for simulating tactile sensation;

[0014] A lower limb tactile simulation device used to simulate leg walking posture and tactile sensation;

[0015] A controller is used to control the operation of various devices.

[0016] Furthermore, the stereo headphones are installed on both sides of the glasses body, and the head fixing strap includes a horizontal fixing strap and a vertical fixing strap. The two ends of the horizontal fixing strap are connected to the two sides of the glasses body, and a fixing buckle for adjusting the length is provided in the middle. One end of the vertical fixing strap is connected to the top of the glasses body, and the other end is connected to the fixing buckle. The nozzle is installed on the lower part of the glasses body, and the water inlet end of the nozzle is connected to the storage tank through a conduit.

[0017] Furthermore, the glove body includes a finger section, a palm section, a back of the hand, and a wrist section, with the wrist section fixed to the armrest.

[0018] Furthermore, the drive module includes a main control module, a potentiometer module, a gyroscope sensor, a bending sensor, and a vibration element. The tactile module includes a thin-film pressure sensor and a temperature and humidity sensor. The thin-film pressure sensor and the vibration element are installed on the inside of the finger. The gyroscope sensor and the bending sensor are installed on the inside of the finger joint and the inside of the wrist joint. The temperature and humidity sensor is installed on the inside of the index finger. The main control module, the potentiometer module, the gyroscope sensor, the bending sensor, the vibration element, the thin-film pressure sensor, and the temperature and humidity sensor are electrically connected.

[0019] Furthermore, the glove body is provided with an inner liner, an electric heating layer, and a rubber outer shell from the inside out, and a thin-film pressure sensor is disposed between the inner liner and the electric heating layer.

[0020] The steps for using an immersive interactive experience wish chair are as follows:

[0021] Step 1: Sit on the Wish Chair, put on the VR glasses and haptic simulation gloves, and fix your feet in the lower limb haptic simulation device;

[0022] Step two: Select the scenario you want to experience and set the simulation parameters.

[0023] Step 3: The VR glasses play panoramic 3D images and transmit control information to the stereo headphones, nozzles, tactile simulation gloves, and lower limb tactile simulation devices based on what the user sees.

[0024] Step four: Based on the above control information, the stereo headphones play the corresponding stereo surround sound; the nozzle sprays the corresponding gas or liquid; the tactile simulation glove uses a gyroscope sensor and a bending sensor to locate the hand's position and extension state, applies pressure to the skin through a vibration element and a thin-film pressure sensor, and transmits temperature to the skin through a temperature and humidity sensor and an electrothermal layer; the lower limb tactile simulation device uses a lifting device to simulate the leg's walking posture, a pinching device and rollers to simulate the foot's tactile sensation, and a temperature regulating device to simulate the foot's temperature.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] This invention utilizes VR technology to simulate multimodal information of the hands and lower limbs, as well as auditory and olfactory information, based on the scene images seen through VR glasses, bringing users an interactive experience of sight, touch, hearing, and smell. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram of the overall structure of the Wish Chair;

[0029] Figure 2-3 This is a schematic diagram of the structure of a lower limb tactile simulation device;

[0030] Figure 4 This is a schematic diagram of the structure of VR glasses;

[0031] Figure 5 This is a schematic diagram of the structure of a tactile simulation glove;

[0032] In the diagram: 1-Thigh support frame, 2-Lower leg support frame, 3-Foot support frame, 4-Lifting linkage, 5-Swing electric cylinder, 6-Leg motor, 7-Foot motor, 8-Base, 9-Grip device, 10-Roller, 11-Shaft, 12-Rotary motor, 13-Mesh baffle, 14-Fan, 15-Heater, 16-Thermostat, 17-Sponge, 18-Glasses body, 19-Stereo headphones, 20-Nozzle, 21-Glove body, 22-Horizontal fixing strap, 23-Vertical fixing strap, 24-Fixing buckle, 25-Conduit, 26-Storage device, 27-Main control module, 28-Potentialistor module, 29-Gyroscope sensor, 30-Bending sensor, 31-Vibration element, 32-Thin film pressure sensor, 33-Temperature and humidity sensor, 34-Electrical heating layer. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] In the description of the embodiments of this application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in when in use, or the orientation or positional relationship that is commonly understood by those skilled in the art. It is only for the convenience of describing this application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0035] In the description of the embodiments of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] like Figure 1 As shown, an immersive interactive experience wish chair is equipped with VR glasses, tactile simulation gloves, lower limb tactile simulation devices, and a controller.

[0037] like Figure 4 As shown, the VR glasses include a main body 18, a pair of stereo headphones 19 for simulating sound, a nozzle 20 for simulating humidity and odor, and a head strap. The main body 18 uses an OLED LCD screen and has two convex lens cameras. It employs eye-tracking technology to track eye movements in real time and automatically adjusts the image on the screen, providing a more precise interactive experience. A focus adjustment button is located on one side of the main body 18, allowing users to adjust the viewing distance for maximum comfort. The stereo headphones 19 are connected to both sides of the main body 18 via a mounting rod. The headphones have over-ear soft padding on the inside, offering good elasticity and breathability to alleviate ear discomfort caused by prolonged headphone use. A limiting stop is provided on the mounting rod, allowing the headphones to be rotated to adjust their position. The head strap includes a horizontal strap 22 and a vertical strap 23. The horizontal strap 22 connects to both sides of the main body 18 at both ends and has a length-adjustable buckle 24 in the middle. One end of the vertical strap 23 connects to the top of the main body 18, and the other end connects to the buckle 24, preventing the device from moving up and down and falling off. The nozzle 20 is installed on the lower part of the glasses body 18, and the water inlet of the nozzle 20 is connected to the reservoir 26 through the conduit 25.

[0038] like Figure 5As shown, the tactile simulation glove includes a glove body 21, a tactile module and a drive module built into the glove body 21 for simulating tactile sensation. The glove body 21 includes finger sections, palm sections, back of the hand sections, and wrist sections, with the wrist section fixed to a handrail. The glove body 21 consists of an inner liner 35, a heating layer 34, and a rubber outer shell 36 arranged from the inside out. The heating layer 34 is composed of a flame-retardant layer, carbon fiber, heating wire, and a waterproof layer, which are sequentially wrapped from the inside out. The carbon fiber and heating wire are arranged in a serpentine winding pattern. The drive module includes a main control module 27, a potentiometer module 28, a gyroscope sensor 29, a bending sensor 30, and a vibration element 31. The tactile module includes a thin-film pressure sensor 32 and a temperature and humidity sensor 33. The thin-film pressure sensor 32 and the vibration element 31 are installed on the inner side of the finger. The thin-film pressure sensor 32 is evenly distributed between the inner shell layer 35 and the electrothermal layer 34. The gyroscope sensor 29 and the bending sensor 30 are installed on the inner side of the finger joint and the inner side of the wrist joint. The temperature and humidity sensor 33 is installed on the inner side of the index finger. The main control module 27, the potentiometer module 28, the gyroscope sensor 29, the bending sensor 30, the vibration element 31, the thin-film pressure sensor 32, and the temperature and humidity sensor 33 are electrically connected.

[0039] Preferably, the number of tactile modules is 10,100, and the tactile modules are mainly distributed on the fingertips, sides of the fingers, knuckles, palm, and palmar side of the glove body. The heating layer and temperature and humidity sensors are used to control temperature and humidity changes. The main control module 27, bending sensor 30, and thin-film pressure sensor 32 are used to locate the position of the hand, calculate the movement of each finger, and provide action feedback when interacting with buttons.

[0040] like Figure 2-3As shown, the lower limb tactile simulation device includes a footrest and a lifting device. The footrest includes a thigh support frame 1, a calf support frame 2, and a foot support frame 3. The lifting device includes a lifting linkage 4, a swing cylinder 5, a leg motor 6, and a foot motor 7. One end of the thigh support frame 1 is rotatably connected to a base 8, and the other end is rotatably connected to one end of the calf support frame 2. The other end of the calf support frame 2 is rotatably connected to the foot support frame 3. A swing cylinder 5 is installed at the bottom of the thigh support frame 1. One end of the lifting linkage 4 is rotatably connected to the telescopic rod of the swing cylinder 5. The other end of the lifting linkage 4 is rotatably connected to the bottom of the calf support frame 2. The leg motor 6 is installed at the connection between the thigh support frame 1 and the base 8, and the foot motor 7 is installed at the connection between the calf support frame 2 and the foot support frame 3. Each of the thigh support frame 1, calf support frame 2, and foot support frame 3 is equipped with restraint straps for restraining the lower limbs. The foot support frame 3 has clamping devices 9 on both sides for pinching the feet. The clamping devices 9 are wave-like peristaltic massagers, which are covered with sponges 17 to fully wrap and pinch the sides of the feet in a wave-like manner. The bottom of the foot support frame 9 has rollers 10, and the rollers 10 have rotating shafts 11 at both ends. The rotating shafts 11 are connected to a rotary motor 12, which can drive the rollers 10 to roll and squeeze the soles of the feet to simulate the feel of the ground under the feet. Below the rollers 10 is a temperature adjustment device that can adjust the temperature in real time according to the virtual scene seen by the user through VR glasses. The temperature adjustment device includes a mesh baffle 13, a fan 14, a heater 15, and a temperature controller 16 arranged from top to bottom. The fan 14 is an axial flow fan that absorbs the hot air generated by the heater below and blows the hot air upwards. The mesh baffle 13 is made of plastic to prevent the temperature from rising and directly contacting the user's soles to avoid safety accidents. The temperature controller 16 is used to detect and adjust the heating temperature of the heater.

[0041] The controller includes a communication module for receiving and transmitting control information, an execution module for controlling or changing the status, method, mode, and parameters of the corresponding equipment based on the control information received by the communication module, and a data processing module for receiving status information transmitted by the communication module and determining whether the target equipment has completed the control and action as required.

[0042] The steps for using the Wish Chair are as follows:

[0043] Step 1: Sit on the Wish Chair, put on the VR glasses and haptic simulation gloves, and fix your feet in the lower limb haptic simulation device;

[0044] Step two: Select the scenario you want to experience and set the simulation parameters.

[0045] Step 3: The VR glasses play panoramic 3D images and transmit control information to the stereo headphones, nozzles, tactile simulation gloves, and lower limb tactile simulation devices based on what the user sees.

[0046] Step four: Based on the control information described above, the stereo headphones 19 play the corresponding surround sound. For example, when the user sees the ocean through the VR glasses, the stereo headphones 19 play the sound of ocean waves. The nozzle 20 sprays the corresponding gas or liquid. For example, when a sea breeze blows gently, the nozzle 20 sprays a fine liquid mist to simulate the salty taste of seawater and a faint fishy smell. The tactile simulation glove uses the gyroscope sensor 29 and the bending sensor 30 to locate the hand's position and extension state. It applies pressure to the skin through the vibration element 31 and the thin-film pressure sensor 32, and transmits temperature to the skin through the temperature and humidity sensor 33 and the heating layer 34. For example, when the scene in the VR glasses requires touching sand, the VR glasses will issue a command. As the user's hand touches the sand, a signal is transmitted to the glove, and the hand will feel the tactile sensation of sand. The lower limb tactile simulation device simulates the walking posture of the legs through a lifting device, simulates the tactile sensation of the feet through a pinching device 9 and rollers 10, and simulates the temperature of the feet through a temperature regulating device. For example, in the scene in the VR glasses, the user is walking on the beach. The lifting device moves the footrest to swing, simulating the walking posture on the sand. The rollers 10 on the soles of the feet roll slightly to simulate the tactile sensation of the sand. The temperature regulator adjusts the temperature of the soles of the feet to simulate the residual warmth of the sand after it has been exposed to the sun.

[0047] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A lower limb tactile simulation device, characterized in that: The device includes a footrest and a lifting device. The footrest includes a thigh support frame (1), a calf support frame (2), and a foot support frame (3). The lifting device includes a lifting linkage (4), a swing cylinder (5), a leg motor (6), and a foot motor (7). One end of the thigh support frame (1) is rotatably connected to a base (8), and the other end is rotatably connected to one end of the calf support frame (2). The other end of the calf support frame (2) is rotatably connected to the foot support frame (3). The bottom of the thigh support frame (1) is equipped with a swing cylinder (5), and the lifting linkage is rotatably connected to the telescopic rod of the swing cylinder (5). (4) One end of the lifting link (4) is rotatably connected to the bottom of the calf support frame (2). The leg motor (6) is installed at the connection between the thigh support frame (1) and the base (8). The foot motor (7) is installed at the connection between the calf support frame (2) and the foot support frame (3). The foot support frame (3) is provided with clamping devices (9) for clamping the feet on both sides. The foot support frame (9) is provided with rollers (10) at the bottom. The rollers (10) are provided with rotating shafts (11) at both ends. The rotating shafts (11) are connected to a rotary motor (12). The rollers (10) are provided with a temperature regulating device below them.

2. The lower limb tactile simulation device according to claim 1, characterized in that: The temperature regulating device includes a mesh baffle (13), a fan (14), a heater (15), and a temperature controller (16) arranged sequentially from top to bottom.

3. The lower limb tactile simulation device according to claim 1, characterized in that: The pinching device (9) is a wave-like peristaltic massager, which is wrapped with a sponge (17).

4. The lower limb tactile simulation device according to claim 3, characterized in that: The thigh support frame (1), calf support frame (2), and foot support frame (3) are all equipped with restraint straps.

5. An immersive interactive experience wish chair, characterized in that, Configuration includes: VR glasses, including the glasses body (18), a pair of stereo headphones for simulating sound (19), nozzles for simulating humidity and odor (20), and a head strap. The tactile simulation glove includes a glove body (21), a tactile module and a drive module built into the glove body (21) for simulating tactile sensation; The lower limb tactile simulation device according to any one of claims 1-4 is used to simulate leg walking posture and tactile sensation; A controller is used to control the operation of various devices.

6. The wish chair according to claim 5, characterized in that: The stereo headphones (19) are installed on both sides of the glasses body (18). The head strap includes a horizontal strap (22) and a vertical strap (23). The two ends of the horizontal strap (22) are connected to the two sides of the glasses body (18), and the middle is provided with a length-adjustable buckle (24). One end of the vertical strap (23) is connected to the top of the glasses body (18), and the other end is connected to the buckle (24). The nozzle (20) is installed on the lower part of the glasses body (18), and the water inlet end of the nozzle (20) is connected to the storage tank (26) through the conduit (25).

7. The wish chair according to claim 5, characterized in that: The glove body (21) includes a finger part, a palm part, a back of the hand and a wrist part, with the wrist part fixed to the armrest.

8. The wish chair according to claim 7, characterized in that: The drive module includes a main control module (27), a potentiometer module (28), a gyroscope sensor (29), a bending sensor (30), and a vibration element (31). The tactile module includes a thin-film pressure sensor (32) and a temperature and humidity sensor (33). The thin-film pressure sensor (32) and the vibration element (31) are installed on the inside of the finger. The gyroscope sensor (29) and the bending sensor (30) are installed on the inside of the finger joint and the inside of the wrist joint. The temperature and humidity sensor (33) is installed on the inside of the index finger. The main control module (27), the potentiometer module (28), the gyroscope sensor (29), the bending sensor (30), the vibration element (31), the thin-film pressure sensor (32), and the temperature and humidity sensor (33) are electrically connected.

9. The wish chair according to claim 7, characterized in that: The glove body (21) consists of an inner liner (35), an electric heating layer (34), and a rubber shell (36) arranged from the inside out. A thin film pressure sensor (32) is disposed between the inner liner (35) and the electric heating layer (34).

10. A method of using the Wish Chair according to any one of claims 6-9, characterized in that, The steps are as follows: Step 1: Sit on the Wish Chair, put on the VR glasses and haptic simulation gloves, and fix your feet in the lower limb haptic simulation device; Step two: Select the scenario you want to experience and set the simulation parameters. Step 3: The VR glasses play panoramic 3D images and transmit control information to the stereo headphones, nozzles, tactile simulation gloves, and lower limb tactile simulation devices based on what the user sees. Step four: According to the above control information, the stereo headphones (19) play the corresponding stereo surround sound; the nozzle (20) sprays the corresponding gas or liquid; the tactile simulation glove locates the position and extension state of the hand through the gyroscope sensor (29) and the bending sensor (30), applies pressure to the skin through the vibration element (31) and the thin film pressure sensor (32), and transmits temperature to the skin through the temperature and humidity sensor (33) and the heating layer (34); the lower limb tactile simulation device simulates the leg walking posture through the lifting device, simulates the foot touch through the pinching device (9) and the roller (10), and simulates the foot temperature through the temperature regulating device.

Images