Tactile perception and feedback system and method

Abstract

The embodiment of the invention provides a touch sensing and feedback system and method.The touch sensing system comprises a touch sensing unit and a touch sensing calculation module, the touch sensing unit is electrically connected with the touch sensing calculation module and comprises the touch sensing unit, and the touch sensing unit comprises a first electrode array and a second electrode array; due to the fact that the first electrode array and the second electrode array are mainly made of the electrode arrays, and the electrode arrays have certain coverage areas, when the touch sensing units need to be laid in a large area, the implementation cost is low.

Description

Technical Field

[0001] This application belongs to the field of tactile sensing and feedback technology, specifically relating to a tactile sensing and feedback system and method. Background Technology

[0002] With the development of artificial intelligence and machine learning technologies, robots have become a research focus. These robots are able to perform complex tasks through perception, learning, and adaptation.

[0003] The sensory functions of robots can be divided into vision, hearing and touch. Currently, vision and hearing are relatively mature and have achieved near-human functionality.

[0004] Touch is an important sensory method for the human body to interact with the real world in physical space. Because it is distributed all over the body and covers a large area, existing tactile sensing technologies, such as "visual tactile" technology, are used to achieve tactile sensing. However, "visual tactile" technology requires cameras to capture corresponding image information and corresponding computing resources to process the image information, which makes it generally costly to use "visual tactile" technology to achieve tactile sensing.

[0005] Therefore, how to achieve tactile perception at a low cost is an urgent problem to be solved. Summary of the Invention

[0006] This application provides a tactile sensing and feedback system and method. The tactile sensing unit includes a first electrode array and a second electrode array, which are stacked on top of each other. The main material for manufacturing such a tactile sensing unit is the electrode array, and it does not require a camera or computing power, so its implementation cost is low.

[0007] In a first aspect, embodiments of this application provide a tactile sensing system, including a tactile sensing unit and a tactile sensing computing module; The tactile sensing unit is electrically connected to the tactile sensing calculation module; The tactile sensing unit includes a first electrode array and a second electrode array, which are stacked on top of each other. The first electrode array and the second electrode array are electrically connected to the tactile sensing computing module, and the first projection coincides with the electrode portion in the second electrode array and has an angle between them. The tactile sensing unit is used to sense external pressure. The first projection is the vertical projection of the electrodes in the first electrode array onto the plane where the second electrode array is located. The tactile sensing calculation module is used to convert the pressure sensed by the tactile sensing unit into a first digital signal.

[0008] Since the main material of the tactile sensing unit is an electrode array, and the electrode array itself has a large coverage area, and no camera or computing power is required, the implementation cost of the technical solution in this application is low when large-area tactile sensing is required.

[0009] In one possible implementation, the resistance values ​​of the electrodes in the first and second electrode arrays decrease as the external pressure increases. By allowing the tactile sensing unit to detect changes in pressure, the resistance of the electrodes in the first and second electrode arrays decreases with increasing external pressure, thus enriching the dimensions of tactile perception.

[0010] In one possible implementation, the tactile sensing system further includes a vibration sensor electrically connected to the tactile sensing computing module; wherein the vibration sensor is used to sense external vibrations, and the tactile sensing computing module is used to convert the pressure sensed by the tactile sensing unit and the vibration sensed by the vibration sensor into a first digital signal. By incorporating a vibration sensor, the first digital signal can include richer tactile sensing dimensions.

[0011] In one possible implementation, the vibration sensor has a vibration frequency monitoring range of 10Hz to 1000Hz. Since this vibration frequency monitoring range is twice the range of vibration frequencies perceptible to the human body, signal loss can be ensured, and aliasing effects can be avoided.

[0012] In one possible implementation, the vibration sensor is an accelerometer. The advantage of using an accelerometer as the vibration sensor is that it can measure vibrations over a wide frequency band and has good versatility.

[0013] In one possible implementation, the first projection coincides with and is perpendicular to the electrode portions of the second electrode array. Since the first projection is perpendicular to the electrodes in the second electrode array, the overlapping area of ​​the perpendicular projections of any electrode in the first electrode array and any electrode in the second electrode array will be more evenly distributed, thereby simplifying the tactile sensing positioning calculation of the tactile sensing unit with the first and second electrode arrays.

[0014] In one possible implementation, the tactile sensing unit and the tactile sensing computing module are located on the same flexible circuit board. By placing the tactile sensing unit and the tactile sensing computing module on the same flexible circuit board, the tactile sensing system having the tactile sensing unit and the tactile sensing computing module can have higher integration and a smaller size.

[0015] Secondly, embodiments of this application provide a tactile sensing method, applying the aforementioned tactile sensing system. The method includes: sensing external pressure and converting the pressure into a first analog signal; converting the first analog signal into a first digital signal; and sending the first digital signal to a tactile feedback calculation module. This tactile sensing method allows the tactile sensing signal to be sent to the tactile feedback calculation module, thereby enabling more efficient use of the tactile sensing signal information.

[0016] In one possible implementation, sensing external pressure and converting the pressure into a first analog signal includes: sensing external pressure and vibration, and converting the pressure and vibration into a first analog signal. By increasing the perception of vibration, the dimensions of tactile perception can be enriched, avoiding the deficiency that the tactile sensing unit cannot perceive the rate of change of vibration frequency.

[0017] Thirdly, embodiments of this application provide a tactile feedback system, comprising: a tactile feedback unit and a tactile feedback calculation module; the tactile feedback unit is electrically connected to the tactile feedback calculation module; wherein, the tactile feedback calculation module is used to receive a first digital signal sent from the tactile perception calculation module and convert the first digital signal into a second analog signal, and the tactile feedback unit provides tactile feedback based on the second analog signal. By having the tactile feedback calculation module receive the first digital signal sent from the tactile perception calculation module, convert the first digital signal into a second analog signal, and then provide tactile feedback based on the tactile feedback unit, compared to the prior art where feedback is sent to a host computer in the form of digital signals, the tactile feedback based on analog signals in this application is more direct and vivid.

[0018] In one possible implementation, the tactile feedback unit includes: an AC electrode pad, a high-voltage AC power exchange, and an operational amplifier circuit. The first end of the AC electrode pad is an AC output terminal for contact with human skin. The second end of the AC electrode pad is electrically connected to the first end of the high-voltage AC power exchange. The second end of the high-voltage AC power exchange is electrically connected to the first end of the operational amplifier circuit. The second end of the operational amplifier circuit is electrically connected to the first end of the tactile feedback calculation module. The second end of the tactile feedback calculation module is electrically connected to the third end of the high-voltage AC power exchange. With the AC power exchange controlling the AC power and the AC output terminal for contact with human skin, the AC power can directly stimulate human nerves. Compared to direct current stimulation of surface muscles, the tactile feedback method of this application has a shorter latency and more direct feedback.

[0019] In addition, the operational amplifier circuit can adjust the amplitude of the second analog signal as needed, so that the tactile feedback system with the operational amplifier circuit can provide more accurate tactile feedback for different types of touch.

[0020] In one possible implementation, the first end of the AC electrode plate has N output electrode points, and the second end of the AC electrode plate has N input electrode points. Each of the N input electrode points corresponds one-to-one with and is electrically connected to each of the N output electrode points, where N is a positive integer. By setting N output electrode points at the first end of the AC electrode plate, and since the first end is an AC output terminal, that is, by contacting the human skin through N output electrode points, i.e., by using a multi-point AC input method, the accuracy of tactile feedback to the human body is improved.

[0021] In one possible implementation, the AC electrode sheet includes a first side and a second side disposed opposite to each other. When N is an integer greater than 1, the N output electrode points include M first output electrode points and NM second output electrode points, and the N input electrode points include M first input electrode points and NM second input electrode points. The line connecting the first input electrode point and the first output electrode point is located on the second side, and the line connecting the second input electrode point and the second output electrode point is located on the first side, where M is a positive integer less than N. This avoids concentrating the lines connecting the first input electrode point and the first output electrode point, as well as the lines connecting the second input electrode point and the second output electrode point, on either the second side or the first side, improving the manufacturability of the AC electrode sheet and reducing manufacturing precision requirements.

[0022] In some possible implementations, when N is an integer greater than 1, the first end of the AC electrode plate has N output electrode points, and any two adjacent output electrode points are spaced by the same distance. By having any two adjacent output electrode points spaced by the same distance, the positional accuracy of tactile feedback during tactile feedback can be improved, as can the granularity of tactile perception.

[0023] Fourthly, embodiments of this application provide a tactile feedback method applied to the aforementioned tactile feedback system. The method includes: receiving a first digital signal from a tactile perception computing module; converting the first digital signal into a second analog signal, the second analog signal being used to characterize pressure and the amount of pressure change over time; and providing tactile feedback based on the second analog signal through the AC electrode pads. By converting the first digital signal into a second analog signal and then providing tactile feedback based on the second analog signal, a richer tactile perception can be obtained.

[0024] In some possible implementations, the second analog signal is also used to characterize the vibration and the amount of change of the vibration over time. By using the second analog signal to characterize the vibration and the amount of change of the vibration over time, a richer dimension of tactile perception can be obtained. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a tactile sensing system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a first electrode array and a second electrode array before they are stacked together, provided as an embodiment of this application. Figure 3 A schematic diagram of a structure in which a first electrode array and a second electrode array are stacked together, provided in an embodiment of this application; Figure 4 A schematic diagram of another structure in which a first electrode array and a second electrode array are stacked together, provided in an embodiment of this application; Figure 5 A flowchart illustrating a tactile sensing method provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a haptic feedback system provided in an embodiment of this application; Figure 7 This is a schematic diagram of another tactile feedback system provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of the first side of the AC electrode sheet provided in the embodiment of this application; Figure 9 This is a schematic diagram of the second side of the AC electrode sheet provided in the embodiments of this application; Figure 10 This is a flowchart illustrating a tactile feedback method provided in an embodiment of this application; Explanation of reference numerals in the attached figures: 10-Tactile perception system; 101-Tactile sensing unit, 102-Tactile sensing computing module, 103-Vibration sensor; a - First electrode array, b - Second electrode array; 60- Haptic feedback system; 601 - Haptic feedback unit, 602 - Haptic feedback calculation module; 6011-AC electrode plate, 6012-High voltage AC power exchanger, 6013-Operational amplifier circuit. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] This application belongs to the field of tactile sensing and feedback technology and can be applied to any device that needs to perform tactile sensing or tactile feedback.

[0030] This application provides a tactile sensing system 10, which can be applied to humanoid robots or other devices that need to acquire tactile sensing information.

[0031] In scenarios applicable to humanoid robots, the humanoid robot may have its own control center, which can control its own movement or perform a series of actions on its own, or it may receive control signals from the outside through communication and control its own movement or perform a series of actions according to the control signals.

[0032] In a scenario where a humanoid robot receives control signals from the outside via communication, the control signals can be input through a host computer or through a wearable control device. When the control device is worn by a person, the person manipulates the control device to perform a certain action. Correspondingly, the control device will detect and recognize the execution of the action and send the control signal of the action to the humanoid robot. The humanoid robot then performs the corresponding action based on the control signal.

[0033] Furthermore, in scenarios applicable to humanoid robots, the tactile sensing system 10 can be configured on the humanoid robot as needed. For example, it can be configured on the end effector of the humanoid robot, or on the torso of the humanoid robot, or on both the end effector and the torso. No further restrictions are imposed here.

[0034] It should be understood that the end effector can be understood as a dexterous hand or a bionic hand, without further limitation here.

[0035] See Figure 1 , Figure 1 This application provides a schematic diagram of the structure of a tactile sensing system 10, including a tactile sensing unit 101 and a tactile sensing computing module 102. The tactile sensing unit 101 is electrically connected to the tactile sensing calculation module 102; The tactile sensing unit 101 includes a first electrode array a and a second electrode array b, which are stacked on top of each other. The first electrode array a and the second electrode array b are electrically connected to the tactile sensing calculation module 102, and the first projection coincides with the electrode portion in the second electrode array b and has an angle. The tactile sensing unit 101 is used to sense external pressure. The first projection is the vertical projection of the electrodes in the first electrode array a onto the plane where the second electrode array b is located. The tactile sensing calculation module 102 is used to convert the pressure sensed by the tactile sensing unit 101 into a first digital signal.

[0036] See Figure 2 This is a schematic diagram of the structure of a first electrode array a and a second electrode array b before they are stacked together, according to an embodiment of this application. Figure 2 The first electrode array a and the second electrode array b are described. Figure 2 The diagram shows a first electrode array a with eight electrodes and a second electrode array b with eight electrodes. In practice, the number of electrodes in each of the first and second electrode arrays needs to be designed according to specific requirements.

[0037] Furthermore, the spacing between any two adjacent electrodes in the first electrode array a needs to be designed according to actual requirements, and the spacing between any two adjacent electrodes in the second electrode array b also needs to be designed according to actual requirements.

[0038] See Figure 3 This is a schematic diagram of a structure in which a first electrode array a and a second electrode array b are stacked together, according to an embodiment of this application.

[0039] See Figure 4 This is a schematic diagram of another structure in which the first electrode array a and the second electrode array b are stacked together, provided in an embodiment of this application.

[0040] To better illustrate the technical means in this application where "the first projection coincides with the electrode portion in the second electrode array b and has an included angle," combined with Figure 3 and Figure 4 To describe, first Figure 3 The stacking of the first electrode array a and the second electrode array b shown can be understood as the first electrode array a and the second electrode array b partially overlapping and having an included angle θ; secondly Figure 4 The stacking of the first electrode array a and the second electrode array b shown can be understood as the first electrode array a and the second electrode array b partially overlapping, but there is no included angle between the first electrode array a and the second electrode array b.

[0041] Further, see Figure 3 In the diagram, each dashed box represents a tactile sensing subunit. That is, the intersection of a specific electrode in the first electrode array a and the second electrode array b can be understood as a tactile sensing subunit. Figure 3 In the first electrode array a, there are eight electrodes, and the second electrode array b also has eight electrodes. Therefore, when stacked, they can form 64 tactile sensing sub-units.

[0042] It should be noted that vertical projection can refer to the projection direction being perpendicular to the plane where the second electrode array b is located.

[0043] In this embodiment of the application, the tactile sensing system 10 includes a tactile sensing unit 101, which includes a first electrode array a and a second electrode array b. Since the main raw material of the first electrode array a and the second electrode array b is an electrode array, and the electrode array itself also has a certain coverage area, the implementation cost is low when a large area of ​​tactile sensing unit 101 needs to be laid.

[0044] Optionally, in some embodiments, the resistance of the electrodes in the first electrode array a and the second electrode array b decreases as the external pressure increases. By reducing the resistance of the electrodes in the first electrode array a and the second electrode array b as the external pressure increases, the tactile sensing unit 101 can sense changes in the magnitude of pressure, thereby enriching the dimensions of tactile perception.

[0045] It should be noted that both the first electrode array a and the second electrode array b are essentially formed by arranging multiple electrodes. An electrode is actually a type of resistor. When subjected to external pressure, the internal arrangement of the pressure-bearing area of ​​the electrode changes, thereby causing the resistance value of the pressure-bearing area itself to change.

[0046] Furthermore, there is a certain functional relationship between the pressure on the electrode and the change in resistance value of the area where the electrode bears the pressure. Therefore, the pressure on the electrode can be determined by measuring the resistance value of the electrode.

[0047] Furthermore, by measuring the resistance values ​​of the electrode at different consecutive moments, the change in the pressure of the electrode at those different moments can be determined.

[0048] Optionally, in some embodiments, the tactile sensing unit 101 further includes a vibration sensor 103 1012, which is electrically connected to the tactile sensing calculation module 102. The vibration sensor 103 is used to sense external vibrations, and the tactile sensing module is further used to convert the pressure sensed by the tactile sensing unit 101 and the vibration sensed by the vibration sensor 103 into a first digital signal. By setting the vibration sensor 103, the first digital signal can contain richer tactile sensing dimensions.

[0049] It should be noted that vibration, as a tactile sensation, is essentially a reflection of the rate of change in pressure. However, the tactile sensing unit 101 alone cannot accurately determine the rate of vibration change. Therefore, by adding a vibration sensor 103, the information dimension of tactile perception can be improved, thereby enhancing the tactile experience.

[0050] Optionally, in some embodiments, the vibration frequency monitoring range of the vibration sensor 103 is 10Hz to 1000Hz. Since the vibration frequency monitoring range of the vibration sensor 103 is 10Hz to 1000Hz, which is twice the range of vibration frequencies that the human body can perceive, it can ensure that the signal is not lost and avoid aliasing effects.

[0051] Optionally, in some embodiments, the vibration sensor 103 is an accelerometer. Using an accelerometer as the vibration sensor 103 has the advantage of being able to measure vibrations over a wide frequency band and offering good versatility.

[0052] Optionally, in some embodiments, the first projection is perpendicular to the electrodes in the second electrode array b. Wherein, the first projection is perpendicular to the electrodes in the second electrode array b, so that the overlapping area of ​​the perpendicular projections corresponding to any electrode of the first electrode array a and any electrode of the second electrode array b will be more evenly distributed, thereby simplifying the tactile sensing positioning calculation of the tactile sensing unit 101 having the first electrode array a and the second electrode array b.

[0053] See Figure 3In this embodiment of the application, the first projection being perpendicular to the electrodes in the second electrode array b can be understood as θ = 90°.

[0054] Optionally, in some embodiments, the tactile sensing unit 101 and the tactile sensing computing module 102 are located on the same flexible circuit board. By placing the tactile sensing unit 101 and the tactile sensing computing module 102 on the same flexible circuit board, the tactile sensing system 10 having the tactile sensing unit 101 and the tactile sensing computing module 102 can have higher integration and smaller size.

[0055] In this embodiment of the application, the substrate of the flexible circuit board may be polyimide and / or polyester.

[0056] See Figure 5 , Figure 5 This is a flowchart illustrating a tactile sensing method provided in an embodiment of this application, applied to the aforementioned tactile sensing system 10. The method includes: Step 501: Sensing external pressure and converting the pressure into a first analog signal; Step 502: Convert the first analog signal into a first digital signal; Step 503: Send the first digital signal to the haptic feedback calculation module 602.

[0057] It should be noted that the conversion of the first analog signal into the first digital signal can be achieved by an analog-to-digital converter embedded in the tactile perception computing module 102 or by an analog-to-digital converter externally mounted on the tactile perception computing module 102; no further restrictions are imposed here.

[0058] It should be understood that the first digital signal can be sent to the haptic feedback calculation module 602 wirelessly or via wired communication, without further limitation.

[0059] In this embodiment of the application, the tactile sensing method can send the tactile sensing signal to the tactile feedback calculation module 602, thereby making more efficient use of the tactile sensing signal information.

[0060] Optionally, in some embodiments, sensing external pressure and converting the pressure into a first analog signal includes: sensing external pressure and vibration, and converting the pressure and vibration into a first analog signal. By increasing the perception of vibration, the dimensions of tactile perception can be enriched, avoiding the deficiency that the tactile sensing unit 101 cannot perceive the rate of change of vibration frequency.

[0061] It should be noted that the external vibration can be sensed by a vibration sensor 103 electrically connected to the tactile sensing computing module 102.

[0062] Optionally, in some embodiments, the vibration sensor 103 may be located on the same flexible circuit board as the tactile sensing computing module 102, or the vibration sensor 103 may be electrically connected to the tactile sensing computing module 102 via a signal line.

[0063] See Figure 6 , Figure 6 This is a schematic diagram of the structure of a haptic feedback system 60 provided in an embodiment of this application. The system includes: a haptic feedback unit 601 and a haptic feedback calculation module 602. The tactile feedback unit 601 is electrically connected to the tactile feedback calculation module 602; The tactile feedback calculation module 602 is used to receive a first digital signal sent from the tactile perception calculation module 102 and convert the first digital signal into a second analog signal. The tactile feedback unit 601 provides tactile feedback based on the second analog signal.

[0064] In this embodiment, the tactile feedback calculation module 602 receives a first digital signal sent from the tactile perception calculation module 102, converts the first digital signal into a second analog signal, and then provides tactile feedback based on the tactile feedback unit 601. Compared with the prior art, which feeds back to the host computer in the form of digital signals for visualization, this application provides more direct and vivid tactile feedback based on analog signals, thereby improving the user's tactile perception experience.

[0065] See Figure 7 , Figure 7 This is a schematic diagram of another tactile feedback system provided in an embodiment of this application. Figure 7 The tactile feedback unit 601 described herein includes: an AC electrode sheet 6011, a high-voltage AC power exchanger 6012, and an operational amplifier circuit 6013; The first end of the AC electrode 6011 is an AC output terminal, which is used to contact human skin. The second end of the AC electrode 6011 is electrically connected to the first end of the high-voltage AC power exchange 6012. The second end of the high-voltage AC power exchange 6012 is electrically connected to the first end of the operational amplifier circuit 6013. The second end of the operational amplifier circuit 6013 is electrically connected to the first end of the tactile feedback calculation module 602. The second end of the tactile feedback calculation module 602 is electrically connected to the third end of the high-voltage AC power exchange 6012.

[0066] The tactile feedback system provided in this application embodiment can be applied to devices that require tactile feedback.

[0067] For example, the aforementioned device requiring tactile feedback can be a tactile feedback glove. This tactile feedback glove has an AC output terminal. By wearing the glove, the AC output terminal can be in contact with the user's skin or partially embedded in the skin. AC current is then released through the AC electrode pad 6011, directly stimulating the user's nerves and allowing the user's brain to perceive touch.

[0068] In this embodiment, an AC power switch controls the AC power, and the AC power output terminal is used to contact human skin. The AC power can directly stimulate human nerves. Compared with DC power stimulating surface muscles, the tactile feedback method of this application has a shorter delay and more direct feedback.

[0069] Furthermore, due to the presence of the operational amplifier circuit 6013, the amplitude of the second analog signal can be adjusted as needed, enabling the tactile feedback system with the operational amplifier circuit 6013 to provide more accurate tactile feedback for different types of touch.

[0070] See Figure 8 , Figure 8 This is a schematic diagram of the first side of the AC electrode sheet 6011 provided in the embodiments of this application; see also Figure 9 , Figure 9 This is a schematic diagram of the second side of the AC electrode sheet 6011 provided in the embodiments of this application.

[0071] Optionally, in some embodiments, the first end of the AC electrode plate 6011 has N output electrode points, and the second end of the AC electrode plate 6011 has N input electrode points. Each of the N input electrode points corresponds one-to-one with each of the N output electrode points and is electrically connected to each other, where N is a positive integer.

[0072] Combination Figure 8 and Figure 9 In this embodiment, the first and second ends can be understood as... Figure 8 The surfaces of the two end regions on the first side shown.

[0073] By setting N output electrode points at the first end of the AC electrode sheet 6011, and since the first end is an AC output end, that is, by contacting the human skin through N output electrode points, that is, by inputting AC power at multiple points, the accuracy of tactile feedback to the human body is improved.

[0074] For example, see Figure 8 , Figure 8 This is a schematic diagram of the first side of the AC electrode sheet 6011 provided in the embodiments of this application; see also Figure 9 This is a schematic diagram of the second side of the AC electrode sheet 6011 provided in the embodiments of this application.

[0075] It should be understood that the first side and the second side of the AC electrode 6011 are two opposing surfaces on the AC electrode 6011.

[0076] Optionally, in some embodiments, the AC electrode sheet 6011 includes a first side and a second side disposed opposite to each other. When N is an integer greater than 1, the N output electrode points include M first output electrode points and NM second output electrode points, and the N input electrode points include M first input electrode points and NM second input electrode points. The line connecting the first input electrode point and the first output electrode point is located on the second side, and the line connecting the second input electrode point and the second output electrode point is located on the first side, where M is a positive integer less than N.

[0077] In the embodiments of this application, combined with Figure 8 and Figure 9 The first input electrode point is located on a first side surface and on a second end, and the first output electrode point is also located on a first side surface and on a first end. Under these conditions, the line connecting the first input electrode point and the first output electrode point passes through a through-hole at the second end, partially lies on the second side surface, and then passes through a through-hole at the first end to lie on the first side surface. The second input electrode point and the second output electrode point are directly connected through the first side surface.

[0078] This avoids having the connection between the first input electrode point and the first output electrode point, as well as the connection between the second input electrode point and the second output electrode point, all concentrated on the second side or the first side, improving the manufacturability of the AC electrode sheet 6011 and reducing the manufacturing precision requirements.

[0079] Optionally, in some embodiments, when N is an integer greater than 1, the first end of the AC electrode plate 6011 has N output electrode points, and any two adjacent output electrode points are spaced by the same distance. By having any two adjacent output electrode points spaced by the same distance, the positional accuracy of tactile feedback during tactile feedback can be improved, as can the granularity of tactile perception.

[0080] Optionally, in some embodiments, the second end of the AC electrode sheet 6011 has M through holes, which are respectively located in a first column and a second column that are parallel to each other. The difference in the number of through holes in the first column and the second column is less than or equal to 1, and the projection of the through holes in the first column toward the second column is located between the through holes in the second column.

[0081] In this embodiment of the application, the above method can avoid the through holes on the first end being all on the same column, which would result in the through holes being too close together. This would prevent the second end of the AC electrode sheet 6011 from lacking structural strength and improve its service life.

[0082] See Figure 10 , Figure 10 This is a flowchart illustrating a haptic feedback method provided in an embodiment of this application, applied to the aforementioned haptic feedback system. The method includes: Step 1001: Receive the first digital signal from the tactile perception computing module 102; Step 1002: Convert the first digital signal into a second analog signal, the second analog signal being used to characterize the pressure and the amount of pressure change over time; Step 1003: Based on the second analog signal, tactile feedback is provided through the AC electrode sheet 6011.

[0083] In this embodiment of the application, by converting the first digital signal into a second analog signal and then performing tactile feedback based on the second analog signal, a richer tactile perception can be obtained.

[0084] Optionally, in some embodiments, the second analog signal is also used to characterize the vibration and the amount of change of the vibration over time. By using the second analog signal to characterize the vibration and the amount of change of the vibration over time, a richer dimension of tactile perception can be obtained.

[0085] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A tactile sensing system, characterized in that, The system includes: a tactile sensing unit and a tactile sensing computing module; The tactile sensing unit is electrically connected to the tactile sensing calculation module; The tactile sensing unit includes a first electrode array and a second electrode array, which are stacked on top of each other. The first electrode array and the second electrode array are electrically connected to the tactile sensing computing module, and the first projection coincides with the electrode portion in the second electrode array and has an angle between them. The tactile sensing unit is used to sense external pressure. The first projection is the vertical projection of the electrodes in the first electrode array onto the plane where the second electrode array is located. The tactile sensing calculation module is used to convert the pressure sensed by the tactile sensing unit into a first digital signal.

2. The tactile sensing system according to claim 1, characterized in that, The resistance of the electrodes in the first electrode array and the second electrode array decreases as the external pressure increases.

3. The tactile sensing system according to claim 1, characterized in that, The system also includes: a vibration sensor; The vibration sensor is electrically connected to the tactile perception and calculation module; The vibration sensor is used to sense external vibrations, and the tactile sensing calculation module is used to convert the pressure sensed by the tactile sensing unit and the vibration sensed by the vibration sensor into a first digital signal.

4. The tactile sensing system according to claim 3, characterized in that, The vibration frequency monitoring range of the vibration sensor is from 10Hz to 1000Hz.

5. The tactile sensing system according to claim 3, characterized in that, The vibration sensor is an accelerometer.

6. The tactile sensing system according to claim 1, characterized in that, The first projection coincides with and is perpendicular to the electrode portion in the second electrode array.

7. The tactile sensing system according to claim 1, characterized in that, The tactile sensing unit and the tactile sensing computing module are located on the same flexible circuit board.

8. A tactile perception method, characterized in that, The method, applied to the tactile sensing system as described in any one of claims 1 to 7, comprises: It senses external pressure and converts the pressure into a first analog signal; Convert the first analog signal into a first digital signal; The first digital signal is sent to the haptic feedback calculation module.

9. The tactile perception method according to claim 8, characterized in that, The process of sensing external pressure and converting the pressure into a first analog signal includes: It senses external pressure and vibration, and converts the pressure and vibration into a first analog signal.

10. A haptic feedback system, characterized in that, The system includes: a tactile feedback unit and a tactile feedback calculation module; The tactile feedback unit is electrically connected to the tactile feedback calculation module; The tactile feedback calculation module is used to receive a first digital signal sent from the tactile perception calculation module and convert the first digital signal into a second analog signal. The tactile feedback unit performs tactile feedback based on the second analog signal.

11. The haptic feedback system according to claim 10, characterized in that, The tactile feedback unit includes: AC electrode plates, a high-voltage AC power exchange, and an operational amplifier circuit; The first end of the AC electrode is an AC output terminal, which is used to contact human skin. The second end of the AC electrode is electrically connected to the first end of the high-voltage AC power exchange. The second end of the high-voltage AC power exchange is electrically connected to the first end of the operational amplifier circuit. The second end of the operational amplifier circuit is electrically connected to the first end of the tactile feedback calculation module. The second end of the tactile feedback calculation module is electrically connected to the third end of the high-voltage AC power exchange.

12. The haptic feedback system according to claim 11, characterized in that, The first end of the AC electrode plate has N output electrode points, and the second end of the AC electrode plate has N input electrode points. Each of the N input electrode points corresponds one-to-one with each of the N output electrode points and is electrically connected to each other. N is a positive integer.

13. The haptic feedback system according to claim 11, characterized in that, The AC electrode sheet includes a first side and a second side disposed opposite to each other. When N is an integer greater than 1, the N output electrode points include M first output electrode points and NM second output electrode points, and the N input electrode points include M first input electrode points and NM second input electrode points. Wherein, the line connecting the first input electrode point and the first output electrode point is located on the second side, and the line connecting the second input electrode point and the second output electrode point is located on the first side, and M is a positive integer less than N.

14. The haptic feedback system according to claim 11, characterized in that, When N is an integer greater than 1, the first end of the AC electrode plate has N output electrode points, and any two adjacent output electrode points are spaced at the same distance.

15. A tactile feedback method, characterized in that, The method, applied to the haptic feedback system as described in any one of claims 10-14, comprises: Receive the first digital signal from the tactile perception computing module; The first digital signal is converted into a second analog signal, which is used to characterize the pressure and the amount of pressure change over time. Tactile feedback is provided through the AC electrode pads based on the second analog signal.

16. The tactile feedback method according to claim 15, characterized in that, The second analog signal is also used to characterize the vibration and the amount of change of the vibration over time.

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