Wearable touch balance interaction system and method

Abstract

The invention provides a wearable tactile balance interaction system and method, and the system comprises a tactile device, a balance pad and a host, and the host is in data connection with the tactile device and the balance pad. Wherein the tactile device comprises a plurality of devices for tactile stimulation; a tactile instruction is obtained through a host, the tactile device is controlled through the tactile instruction to sequentially indicate different balance actions, balance sensing information collected and fed back through the tactile device and the balance pad is obtained, and a balance stability index is calculated according to the balance sensing information. And further adjusting the haptic device through the balance stability index.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of balance interaction, in particular to a wearable tactile balance interaction system and method. BACKGROUND

[0002] The existing balance pad only obtains the gravity center trajectory through a pressure film or a gyroscope, the training form is boring, and the compliance of the child is low. The wearable tactile toys on the market (such as a vibrating vest and a vibrating wristband) are mostly single-channel and open-loop control, and are not real-time coupled with the balance task, and cannot form a "tactile event-gravity correction" closed loop. And the synchronous double-channel tactile stimulation of hands and feet can accelerate the integration of tactile-vestibular-cerebellum, but the existing technology has not been realized in the toy field. SUMMARY

[0003] In view of this, the present application provides a wearable tactile balance interaction system and method to solve the above problems existing in the prior art.

[0004] To achieve the above purpose, the present application provides a wearable tactile balance interaction system and method, comprising: a tactile device, a balance pad and a host computer, wherein the host computer is connected with the tactile device and the balance pad; wherein the tactile device comprises a plurality of devices for tactile stimulation; The host computer obtains tactile instructions, controls the tactile device through the tactile instructions to sequentially indicate different balance actions, and obtains balance perception information collected through the tactile device and the balance pad, calculates a balance stability index according to the balance perception information, and adjusts the tactile device further through the balance stability index.

[0005] Optionally, the tactile device comprises a tactile glove and a tactile sock, wherein the tactile glove is provided with a plurality of vibration motors, the tactile sock is provided with a plurality of vibration motors, and the vibration motors are used to provide tactile stimulation.

[0006] Optionally, the tactile glove is provided with an IMU unit, and the bottom of the tactile sock is provided with a film pressure sensor, and the inertial data and the plantar pressure data are collected through the IMU unit and the film pressure sensor to realize the balance perception information collection of the tactile device.

[0007] Optionally, the balance pad adopts a TPU hemispherical inflatable cavity, a capacitive pressure array is attached to the inner cavity top surface of the inflatable cavity, and a gas pressure sensor is arranged on the cavity wall of the inflatable cavity, and the posture pressure distribution data and the average pressure data are collected through the capacitive pressure array and the gas pressure sensor to realize the balance perception information collection of the balance pad.

[0008] Optionally, the host is provided with a motor driving chip, and the motor driving chip is used for modulating the vibration amplitude and pulse width of the vibration motor on the haptic device.

[0009] Optionally, the calculation process of the balance stability index is as follows: According to the balance perception information, the delay time for completing each balance action is counted, and according to the delay time, the balance stability index is calculated in each cycle, and the cycle is a fixed time.

[0010] Optionally, the balance stability index is the average of the reciprocal of the delay time for completing each balance action.

[0011] Optionally, the balance action is judged according to the balance perception information, and the balance perception information includes inertial data, attitude pressure distribution data and average pressure data; the judgment standard for completion is that the center of gravity offset calculated according to the attitude pressure distribution data and the average pressure data is greater than a first threshold value; the inclination angle calculated according to the inertial data is less than a second threshold value; and the duration that the center of gravity offset is greater than the first threshold value and the inclination angle is less than the second threshold value is greater than a third threshold value.

[0012] Optionally, when the balance action is not completed within the time threshold value, the haptic stimulation of the haptic device is improved, and the threshold value in the judgment standard for completion is adjusted.

[0013] Optionally, the host is further connected with a tablet computer, the tablet computer is used for providing the haptic instruction and giving an audio prompt.

[0014] In another aspect, the application further provides a wearable haptic balance interaction method, comprising: The host is used for acquiring the haptic instruction, and the haptic instruction is used for controlling the haptic device to sequentially indicate different balance actions; The balance perception information is collected by the haptic device and the balance pad, the feedback balance perception information is acquired by the host, the balance stability index is calculated according to the balance perception information, and the haptic device is further adjusted according to the balance stability index.

[0015] Compared with the prior art, the application has the beneficial effects that, 1. Hand-foot dual-channel vibration label + air pressure type center of gravity detection, first realize "haptic event-balance correction" closed loop in the toy field; 2. BSI quantitative index and adaptive algorithm, make the training difficulty automatically increase with the rehabilitation process of the child, and solve the "ceiling effect" of the traditional balance pad; 3. Story engine + closed-eye mode, boring focus shift tasks are converted into game levels, and the training method can improve the compliance of the child rehabilitation effect and gradually improve the balance stability index BSI. BRIEF DESCRIPTION OF DRAWINGS

[0016] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. In the drawings: Figure 1 The overall schematic diagram of the system in the embodiment of the present application is shown in the figure; Figure 2 The method flowchart in the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0017] Exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0018] As Figure 1 shown, the present application provides a wearable tactile balance interactive system and method, which relates to a child rehabilitation toy with wearable tactile feedback and dynamic balance collection, especially suitable for people with cerebral palsy, developmental coordination disorder and other needs to complete "standing position - center of gravity shift + tactile recognition" cooperative training in a game context.

[0019] For the wearable tactile balance interactive system described above, the following components are included: a tactile glove, a tactile sock, a balance pad, and a host computer. For the tactile glove, one 10 mm flat vibration motor is provided in each of the five finger palm areas, and a six-axis IMU is integrated in the back of the hand. The vibration motor is of type 1027, driven by a 3V power supply, with a rotation speed of 12000 rpm. The IMU is LSM6DS3. For the tactile sock, two 8 mm flat vibration motors are provided in the arch area, and two 8 mm flat vibration motors are provided in the heel area. A 0.2 mm thin film pressure sensor is provided in the sock bottom. The thin film pressure sensor is Flexiforce A201-25 lb. For the balance pad, a TPU hemispherical inflatable cavity is adopted, with a hemispherical inflatable cavity diameter of 350 mm, and a 24-point capacitive pressure array is attached to the top surface of the inner cavity, and the capacitive pressure array adopts MPR121 and copper foil; the cavity wall is provided with a digital air pressure sensor to detect the average pressure P, and the center of gravity offset (Δx, Δy) is converted by the capacitive pressure array, and the digital air pressure sensor adopts BMP280. At the same time, the digital air pressure sensor is used to monitor the state of the balance pad in real time and verify the above center of gravity offset.

[0020] For the host, the hardware core adopts nRF52840 SoC, and the software core on the hardware adopts FreeRTOS, which is wirelessly connected with the tablet computer through Bluetooth 5.0; and 14-way motors on the gloves and socks are driven to vibrate through the setting of two motor drive chips, and the motor drive chip adopts DRV2605L.

[0021] The pulse width modulation PWM frequency is adjustable in the range of 205 Hz-18 kHz, and it also supports connection with TI waveform library, and 123 kinds of waveforms including "sharp click-100 ms" in the TI waveform library are called.

[0022] The story context engine is set to run on the Android end (tablet computer), and the data processing process of the story context engine is as follows: 1) Randomly generate a tactile password sequence, such as L2→R3→L4, indicating left index finger→right heel→left middle finger; 2) The user closes his eyes, and the tablet computer turns off the display function, only keeping the sound effect; 3) The host triggers the above password according to the above tactile password sequence in turn, first the motor with the password label L2 is fixed for a certain time, such as 100 ms, and guides the user to transfer the center of gravity to the left front by vibration, Δx<-1.5cm, when the inclination angle ɑ measured by the inertial measurement unit IMU is less than 5° and maintains for 1s, the system determines "correct", and then triggers the next password 4) If it does not meet the standard within 3s, the difficulty is reduced: the operations to reduce the difficulty include password shortening, vibration amplitude +6 dB, and inclination threshold +2° 5) Set the time of a game-like situation in the story context engine, such as 60s, in a game-like situation, calculate BSI=Σ(1 / t_delay) / N, where t_delay is the delay time of each center of gravity, and N represents the number of triggered tactile passwords; if the balance stability index BSI is greater than the preset value, the next difficulty level is automatically entered.

[0023] The application forces users to adjust the center of gravity in real time according to the tactile prompts of hands and feet in a story game, to complete the task of closing eyes balance; the application provides a hardware architecture of 'independent vibration label of hands and feet + air pressure type center of gravity detection', realizes medical level quantitative index while maintaining the appearance of toys; the application realizes difficulty self-adaptation through BSI (Balance Stability Index) closed loop algorithm, and solves the problem of 'training ceiling'.

[0024] The above technical solutions are described in detail: The tactile glove is composed of a basic glove, a tactile feedback array, an inertial measurement unit, a lead system, and a wireless communication micro module. The basic glove is made of spandex blended fabric with elasticity, breathability and fit. It is suitable for children of various hand shapes. To achieve accurate tactile prompts, a tactile feedback array is integrated in the finger pulp area of the glove. The tactile feedback array includes one flat vibration motor in each finger pulp area. Each glove has a total of 5 flat vibration motors of type 1027, with a diameter of 10 mm and a thickness of 2.7 mm. The motor can reach a speed of 12000 rpm under a driving voltage of 3V, and the start and stop time is less than 50 ms, with high response speed. In the area corresponding to the five finger pulps of the glove fabric, a positioning hole with a diameter of 10.2 mm is precisely cut using laser cutting. The motor is embedded in the hole and fixed by silicone or epoxy resin glue, with the vibration surface facing the inside of the palm. At the same time, a layer of medical grade silicone film with a thickness of 0.5 mm is also set inside the motor on the inside of the glove, which can trigger the skin sensation threshold of 0.2 µm under a peak acceleration of 1.5 g, and the maximum duty cycle of the motor is 45 %, preventing long-term vibration from causing skin discomfort. To prevent the spread of vibration energy to the back of the hand, a TPU (Thermoplastic Polyurethane) shock isolation ring with a thickness of 1.5 mm is covered on the back of each motor, with an inner diameter of 11 mm and an outer diameter of 16 mm. This structure effectively directs the vibration energy to the finger pulp, improving the sharpness of tactile perception.

[0025] On the outer surface of the back of the glove, a six-axis IMU (model: LSM6DS3) is fixed using flexible medical grade adhesive or silicone or epoxy resin glue. This unit is used to collect real-time hand motion posture data (three-axis acceleration and three-axis angular velocity). IMU data is used to assist in determining whether the user has unconsciously used the arm for balance compensation during training.

[0026] 5 motors are connected in parallel, and a wireless communication micro module is arranged on the outer surface of the back of the glove. The 5 motors are connected to the DRV2605L motor drive chip through the wireless communication micro module to perform wireless communication and control. The DRV2605L adopts the “LRA” mode, and the typical driving waveform is a sine wave with a 5V amplitude, a 100 Hz frequency, and a 50 ms duration. Under this driving, the no-load current of a single motor is 18 mA. The 180 mAh lithium polymer battery can complete 6 games. All signal lines and power lines are made of enameled wire with a diameter of 0.08 mm, and are embroidered on the glove fabric in a zigzag pattern and finally merged into the soft flat cable on the back of the hand. This design ensures that the lead is not easy to break under repeated stretching of the glove, and there is no obvious foreign body sensation.

[0027] The dense tactile feedback array on the palm area of the tactile glove can be triggered independently or in combination to form a unique “tactile code” (such as L2 representing the left index finger), guiding the user to perform precise center of gravity transfer. The shock isolation ring and embedded installation avoid local hard compression of the motor on the skin, while preventing the ineffective dissipation of vibration energy, improving the wearing comfort while ensuring the intensity of the tactile sensation. At the same time, the sensing (IMU) and execution (motor) units are highly integrated on the lightweight wearable fabric, and the overall reliability is ensured through an optimized lead process, providing a hardware foundation for long-term rehabilitation training.

[0028] The tactile sock includes a basic sock body, a tactile feedback module, a pressure sensing module, and a lead system. The basic sock body is made of 78% Coolmax polyester fiber and 22% spandex blended fabric, ensuring excellent moisture-wicking function and all-around elasticity to adapt to the movement and growth of children's feet. To achieve tactile guidance in different areas of the foot, 4 8mm diameter flat vibration motors are integrated into the arch and heel areas of the sock. Two of them are embedded side by side in the arch area, and the other two are embedded side by side in the heel area. This layout covers the core load and perception areas of the foot during standing and center of gravity transfer.

[0029] A separate 3D printed PLA (polylactic acid) cartridge is designed for each motor. The cartridge body is a cylindrical shell with an inner diameter of 8.1mm, a depth of 3.0mm, a wall thickness of 0.8mm, and a bottom reserved for lead holes. The motor is fixed in the cartridge body by a trace amount of medical-grade instant adhesive, forming an independent tactile sub-module.

[0030] On the inner side (close to the skin side) of the sock corresponding to the arch and heel, a mounting hole matching the outer diameter of the PLA cartridge is opened. The PLA cartridge with the fixed motor is embedded and installed in the mounting hole from the inner side, and fixed by using flexible silicone thread sewing around the flange edge of the cartridge body or directly using silicone for bonding, ensuring that the cartridge body is firmly combined with the sock.

[0031] A 0.2 mm thick film pressure sensor, model Flexiforce A201-25 lb, is sandwiched in the sole (foot contact surface) as a whole. The sensor is ultra-thin and flexible, with a linearity error of less than ± 2.5% at full scale 25 pounds (about 111 N). The film sensor is pre-cut into a foot shape and laminated between the outer and inner layers of the sole by a hot melt adhesive film pressing process. Its sensing point is accurately aligned with the main pressure area of the foot (forefoot, arch, heel).

[0032] At the sensor silver electrode pad, the conductive cloth back adhesive is connected with the corresponding contact of the sensor FPC (flexible circuit board) to stably conduct the pressure signal to the host.

[0033] At the opening end of the motor PLA bin in contact with the skin, a 0.5 mm thick medical grade silicone film is covered. The film is sealed and bonded to the bin body edge by glue, which prevents liquid from entering the bin and damaging the motor. The hard vibration surface of the motor is converted to soft surface contact, eliminating the hard feeling when wearing and improving comfort.

[0034] Multi-layer structure summary: the complete laminated structure from inside to outside (skin side to environment side) is: 0.5 mm silicone seal → vibration motor → 3D printed PLA bin → inner layer of sock body → film pressure sensor → conductive cloth / FPC → outer layer of sock body The 4 motors are divided into two groups (arch group, heel group), which are independently controlled by the same side glove motor through the DRV2605L motor drive chip, to realize coordinated or differentiated prompting with the glove tactile password.

[0035] All the leads (motor wires, sensor FPC) are routed along the non-weight-bearing area of the sock dorsum, and the leads are covered and fixed by using core spun yarn sewing process, finally they are connected to the micro connector located at the ankle for wireless communication, and communicate with the motor drive chip and the host.

[0036] In the tactile sock, the independent vibration of the arch and the heel can constitute a rich tactile password combination, which forms a coordinated guide with the forefoot (sensed by the balance pad pressure array) to accurately shift the center of gravity. The PLA bin provides stable mechanical support, while the silicone seal solves the comfort problem of hard structure in contact with the skin. The multi-layer composite structure ensures the reliability under dynamic stepping and washing (which requires disconnection). The seamless integration of pressure sensing and tactile feedback in a single sock body realizes the synchronous acquisition and application of "foot pressure distribution" and "tactile guide instructions", providing key foot data and interactive channels for closed-loop balance training.

[0037] The balance pad is a flexible inflatable cavity with a hemispherical structure, with a rated diameter of 350 mm. This shape provides uniform and gradual tilt feedback in all directions when the user stands, which is highly consistent with the physiological mechanism of human body balance. The cavity is made of thermoplastic polyurethane (TPU) film through high-frequency heat sealing process. TPU material has high wear resistance, tear resistance and excellent fatigue resistance, suitable for long-term and high-intensity rehabilitation training. Inflated to a static internal pressure of 18 kPa (about 2.6 psi). This pressure is verified by finite element analysis and experiment, which can provide sufficient support stability while ensuring sensitive response to small changes in gravity center. The balance pad integrates two complementary sensing systems to accurately and reliably obtain the user's gravity center position.

[0038] On the inside of the balance pad cavity wall, a Bosch BMP280 digital air pressure sensor is attached. The sensor communicates with the main air chamber through a micro air hole to detect the average absolute pressure P inside the air bag.

[0039] On the top surface of the balance pad cavity (i.e. the area directly contacted by the user's foot when standing), a 24-point capacitive pressure sensor array is attached. The array is composed of MPR121 touch sensor controller and copper foil sensing pads etched on flexible FPC. The array scans the capacitance value changes of 24 sensing pads at a frequency of 100 Hz. When different areas of the foot apply pressure to the array, the capacitance value of the corresponding sensing pad will change. The pressure distribution of 24 points can be analyzed.

[0040] The capacitive pressure sensor array and digital air pressure sensor are connected to the wireless communication micro module through the line attached to the inside of the balance pad cavity wall, and are wirelessly connected to the host computer through the wireless communication micro module.

[0041] A 25kPa burst disc is integrated inside the inflation nozzle. When the internal pressure exceeds this threshold due to accidental overcharging or drastic changes in environmental temperature, the burst disc will automatically rupture to release pressure, preventing the air bag from exploding.

[0042] The host computer (4) is a miniaturized hardware module that integrates microcontrollers, wireless communication, power management, and multi-channel peripheral driver. It is usually worn on the user's waist or placed in the pocket. Its core functions are: Multi-source data aggregation: real-time collection and processing of IMU data from the tactile glove, pressure sensor data from the tactile sock, and air pressure sensor and pressure array data from the balance pad, while accurately driving a total of 18 vibration motors on the glove and sock according to the tactile password sequence received from the tablet computer. Run the BSI (balance stability index) adaptive algorithm to evaluate user performance in real time and dynamically adjust the training difficulty. Maintain high-speed and stable two-way data connection with the user's tablet computer through Bluetooth 5.0.

[0043] Nordic nRF52840 system-on-chip (SoC) is adopted. The chip integrates ARM Cortex-M4F core, 64 MHz frequency, 1MB Flash storage space and 256KB RAM. Its built-in Bluetooth 5.0 radio module supports high throughput (2Mbps) communication, which is sufficient to meet the real-time transmission of multi-channel sensor data; rich digital interfaces (I 2 C, SPI, QSPI) can connect all peripherals; sufficient computing power can run lightweight algorithms locally.

[0044] Drive architecture: two Texas Instruments DRV2605L haptic drive chips are used to independently drive the glove (5-way motor) and sock (4-way motor) in a "one-to-nine" architecture. The chip is configured in LRA (Linear Resonant Actuator) mode. Although it is driven by ERM (Eccentric Rotating Mass), the automatic resonance tracking and overdrive braking technology in this mode can output haptic effects with shorter start-stop time and higher waveform consistency, eliminating the response delay and loose feeling of ordinary PWM driving.

[0045] An external 8MB Flash memory is connected through the QSPI interface, which is used to store TI's pre-defined 123 kinds of haptic waveforms (such as "sharp click-100 ms"). The host can directly call the waveform library through I 2 C instructions to achieve rich and standard haptic effects without real-time generation of PWM waveforms by CPU. The pulse width modulation (PWM) frequency is in the range of 205 Hz to 18 kHz and can be software configured to match the optimal resonance point of different motors and adjust the vibration intensity.

[0046] Through an SPI interface, it communicates with the BMP280 barometric pressure sensor on the balance pad; through another I 2 C interface, it communicates with the LSM6DS3 six-axis IMU on the glove. Through a dedicated I 2 C interface, it communicates with the MPR121 capacitive touch controller inside the balance pad to poll 24-point pressure array data at a frequency of 100 Hz.

[0047] A 3.7V, 1800mAh lithium polymer battery is used for power supply. An efficient switching power supply step-down circuit is integrated to provide stable 3.3V and 1.8V voltages for nRF52840 SoC and peripheral chips. A switchable 5V boost power supply is provided for the motor drive chip to ensure sufficient driving voltage and current during vibration. In the typical working state (all sensors are on, and the motor is driven intermittently), the average working current of the system is 85mA, and a single charge can support continuous training for about 2 hours.

[0048] The host software is built based on FreeRTOS real-time operating system, which realizes multi-task management and scheduling. In a high-priority timer interrupt, the raw data of IMU and barometric pressure sensor are sampled at a high frequency of 1 kHz, which is used to capture rapid dynamic changes. Running at a frequency of 100 Hz, it performs sensor data fusion, center of gravity offset calculation, BSI index update, and communication protocol processing with the tablet. At a frequency of 20 Hz, it outputs according to the game state and algorithm, and updates the vibration state of the 14 motors.

[0049] In the BSI adaptive algorithm, the core of the algorithm is a state machine, which includes Easy / Normal / Hard three difficulty levels. The system in the host calculates the balance stability index BSI = Σ(1 / t_delay) / N in real time, where t_delay is the delay time required for each user's center of gravity to move to the target area, and N is the length of the haptic password triggered. By querying a configurable threshold table, the system automatically determines the difficulty parameters of the next game (such as the length of the haptic password, the vibration amplitude or mode of the vibration motor, the allowed inclination threshold, the center of gravity offset target distance, etc.) according to the user's current BSI balance stability index. The tablet connected at the same time detects whether there is a companion before the closed-eye mode through the camera (parent's mobile phone), and automatically disables the closed-eye mode if there is no companion.

[0050] For the host, the following contents are monitored to determine whether the center of gravity has shifted: When the center of gravity offset is greater than a certain degree, such as |Δx|>1.5cm, where the value of Δx is negative, indicating a left shift, and the value of Δx is positive, indicating a right shift. The above threshold value can be adjusted accordingly.

[0051] The inclination angle measured by the digital barometric pressure sensor BMP280 is less than a certain threshold, such as ɑ<5° and maintained for a certain time, such as 1s; Wherein the center of gravity offset is a certain degree, and is not assisted by the inclination, and the offset time can be maintained, indicating that the center of gravity shifting action is completed. The above "certain degree", "certain threshold" and "certain time" are determined by the threshold value.

[0052] In the above content, the center of gravity offset is calculated and obtained by the capacitive pressure array in the balance pad and the digital barometric pressure sensor; Wherein the digital barometric pressure sensor is used to obtain the average pressure, and after obtaining the static average pressure, the displacement deflection amount corresponding to different standing positions is calculated by the capacitive pressure array. Through the pressure-center of gravity conversion formula, the corresponding center of gravity offset can be calculated in the following method, and used in the judgment of the above center of gravity offset. The pressure-center of gravity conversion formula is as follows: The pressure distribution data of the user's foot bottom is obtained by the 24-point capacitive pressure array attached to the top surface of the inner cavity of the balance pad. Let the coordinates of the ith sensing point be (xi, yi), and the pressure value be Fi, then the center of pressure position (XCoP, YCoP) is calculated as follows: XCoP = ∑Fi·xi / ∑Fi, YCoP = ∑Fi·yi / ∑Fi After normalizing the center of pressure coordinates, the center of pressure offset is obtained: Δx = (XCoP - Xcenter) / Lx, Δy = (YCoP - Ycenter) / Ly Where (Xcenter, Ycenter) is the center coordinate of the balance pad, Lx, Ly is the normalization scale factor, and (Xcenter, Ycenter) can be obtained by monitoring the center of pressure position during the initial balancing. The positive direction of the center of pressure position is to the right and up, and the positive and negative of Δx and Δy indicate the direction of the offset to the left and down.

[0053] At the same time, the average pressure P in the air bag is detected by the air pressure sensor arranged on the cavity wall, which is used to assist in determining whether the user is standing stably, and to provide compensation when the pressure array data is abnormal.

[0054] Auxiliary judgment of whether the user is standing stably a) State perception (whether standing on): Before the user stands on the balance pad, the system first records a static reference air pressure value P_base. When the user stands on the balance pad, the air pressure value will rise significantly to P_current due to the compression of the air bag by the body weight. The system calculates the change ΔP = P_current - P_base. If ΔP exceeds a preset threshold (for example, ΔP_threshold), the system determines that the user has stood on the balance pad and is ready to start training. This is a prerequisite for starting the game.

[0055] b) Posture verification (whether stable / straight): Establish a pressure-posture model: through experimental data, a model can be established to know that when the user stands on the balance pad in a stable and straight posture, the body weight will correspond to an expected average pressure range [P_low, P_high]. This range takes into account the user's body weight and the standard straight posture. During the training process, the system continuously monitors P_current.

[0056] If there is laziness or reliance on external force, that is, if the user uses his hands to support his knees or the wall to maintain balance, part of the body weight is shared by the arms, and the pressure acting on the balance pad will be reduced, P_current will be lower than the expected reasonable range. The system can determine that the user's posture is not standard, and even if the center of gravity offset is up to standard, it can be considered invalid.

[0057] If there is excessive shaking: that is, if the user's body shakes violently, causing the gas in the air bag to be frequently compressed and released, the gas pressure value P will appear rapidly and substantially fluctuate. The system can determine this unstable state by calculating the variance or standard deviation of the gas pressure.

[0058] Through the pressure sensing module on the sole, the following related detection is carried out to ensure the correctness of the posture, in which it is judged whether the pressure of the right foot and the left foot appears a sharp and high-frequency fluctuation or a stable process of alternating with each other. The pressure data curve presents a "pulse" shape, and it is judged that the posture is unstable, and it is judged whether it needs to be further improved. At the same time, it is judged whether the pressure of the right foot increases insufficiently and the pressure distribution form is abnormal. Although the center of gravity position is up to standard, the gas pressure value is too low, which indicates that the posture is not correct, and the foot pressure distribution does not match the standard mode. It is determined that this movement is invalid due to posture compensation. If the pressure sensor reading in the middle of the arch of the right foot is abnormally high during the weight-bearing process of the right foot, it indicates that the user's arch is completely attached to the sock bottom under pressure, which is an incorrect force mode. The action is successfully completed, but the quality is flawed. The system will normally record this success to maintain the continuity of the game, but will mark "the action is accompanied by arch collapse" in the background rehabilitation report, and count the frequency of the bad posture for the therapist to provide data support for subsequent rehabilitation program adjustment. The pressure sensing module on the sole is used as a supplementary detection method to monitor whether it can effectively complete the related action and give relevant suggestions.

[0059] On the other hand, as Figure 2 shown, the present application provides a corresponding method of a wearable tactile balance interaction system, comprising: obtaining a tactile password sequence, wherein the tactile password sequence includes tactile passwords triggered in sequence; wherein one tactile password corresponds to the vibration of one motor, and one tactile password corresponds to one center of gravity transfer action.

[0060] eye-closing reminders are made through the tablet computer, and the display function is turned off, only the sound effect is reserved; The host obtains the tactile password sequence of the tablet computer, and after obtaining, activates the vibration motor set on the tactile gloves and the tactile socks according to the tactile password sequence; wherein the activation of the vibration motor is used to guide the user to transfer the center of gravity.

[0061] After activation, inertia data of the user is collected by inertia measurement units on the haptic gloves, plantar pressure distribution data of the user is collected by pressure sensors on the haptic socks, posture pressure distribution data and average pressure data of the user are collected by capacitive pressure arrays and digital air pressure sensors in the balance pad respectively; By the host, whether the center of gravity is transferred within a specified time is determined according to the inertia data, the foot pressure distribution data, the posture pressure distribution data and the average pressure data, when the center of gravity is transferred, the next haptic password is triggered, when the center of gravity is not transferred within the specified time, the difficulty is reduced; the process of reducing the difficulty includes increasing the vibration amplitude of the vibration motor and reducing the standard of judging the transfer of the center of gravity; The game scene time is set, the above process is repeated, within the game scene time, the center of gravity delay time in each repetition of the above process is counted, the balance stability index is calculated according to the center of gravity delay time, when the balance stability index is greater than a certain preset value, the next difficulty level is automatically entered.

[0062] In the above content, the difficulty level is adjusted adaptively according to the balance stability index, for example, the difficulty level includes three levels of Easy / Normal / Hard, the preset values of different levels are set according to actual conditions, such as two threshold values of 1 / 5, 1 to divide three levels.

[0063] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it, although the present application has been described in detail with reference to the above examples, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, any modification or equivalent replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A wearable tactile balance interaction system, characterized in that, include: A tactile device, a balance pad, and a main unit, wherein the main unit is data-connected to the tactile device and the balance pad; wherein the tactile device includes a plurality of devices for tactile stimulation; The host computer acquires tactile commands and controls the tactile device to sequentially instruct different balance actions. It also acquires balance perception information collected from the tactile device and balance pad, calculates a balance stability index based on the balance perception information, and further adjusts the tactile device based on the balance stability index.

2. The system according to claim 1, characterized in that, The tactile device includes tactile gloves and tactile socks, wherein the tactile gloves are provided with a plurality of vibration motors and the tactile socks are provided with a plurality of vibration motors, the vibration motors being used to provide tactile stimulation.

3. The system according to claim 2, characterized in that, The tactile glove is equipped with an IMU unit, and the bottom of the tactile sock is equipped with a thin-film pressure sensor. The IMU unit and the thin-film pressure sensor collect inertial data and plantar pressure data to realize the collection of balance perception information of the tactile device.

4. The system according to claim 1, characterized in that, The balancing pad uses a TPU hemispherical air cavity. A capacitive pressure array is attached to the top surface of the inner cavity of the air cavity, and a pressure sensor is installed on the cavity wall of the air cavity. The capacitive pressure array and the pressure sensor collect posture pressure distribution data and average pressure data respectively to realize the balance sensing information of the balancing pad.

5. The system according to claim 2, characterized in that, The host is equipped with a motor driver chip, which modulates the vibration amplitude and pulse width of the vibration motor on the tactile device.

6. The system according to claim 1, characterized in that, The calculation process for the balance stability index is as follows: The delay time for each balancing action is calculated based on the balance perception information; in each cycle, the balance stability index is calculated based on the delay time, where the cycle is a fixed time.

7. The system according to claim 6, characterized in that, The balance stability index is the average of the reciprocals of the delay time for each balancing action.

8. The system according to claim 6, characterized in that, The balancing action is judged to be completed based on balance perception information, which includes: inertial data, attitude pressure distribution data, and average pressure data. The criteria for completion are: the center of gravity offset calculated based on the attitude pressure distribution data and average pressure data is greater than a first threshold; the tilt angle calculated based on the inertial data is less than a second threshold; and the duration of the center of gravity offset being greater than the first threshold and the tilt angle being less than the second threshold is greater than a third threshold. If the balance action is not completed within the specified time threshold, the tactile stimulation of the tactile device will be increased while the threshold in the judgment criteria for completion will be adjusted.

9. The system according to claim 1, characterized in that, The host is also connected to a tablet computer, which provides tactile commands and audio prompts.

10. The method corresponding to the system according to any one of claims 1-9, characterized in that, include: The host computer acquires tactile commands and controls the tactile device to sequentially instruct different balance movements. Balance perception information is collected through tactile devices and balance pads, and the feedback balance perception information is obtained through the host. The balance stability index is calculated based on the balance perception information, and further adjustments are made to the tactile devices based on the balance stability index.

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