Intelligent anti-shake pen based on vector force guidance and writing method

Abstract

The invention discloses an intelligent anti-shake pen based on vector force guidance and a writing method, and the intelligent anti-shake pen comprises a pen body housing, an internal core support, a slidable writing refill assembly, a tremor suppression module, a vector force stroke auxiliary driving module, a bidirectional interaction module and a main controller. The tremor suppression module monitors the tremor transmitted to the pen body due to the tremor of the hand of a user in real time through a built-in inertial measurement unit and drives the reverse micro-vibration assembly to generate dynamically matched compensation torque, and meanwhile, the vector force stroke auxiliary driving module outputs the compensation torque to the pen body according to a stroke instruction issued by an external intelligent terminal. Physical guiding force which is controllable in direction in the two-dimensional writing plane is applied to the writing refill assembly. And the main controller cooperatively regulates and controls anti-shake and guide, and performs closed-loop communication with an external terminal through the bidirectional interaction module. According to the invention, active anti-shake and active stroke guide functions are combined, so that a hand tremor patient can be effectively helped to write stably, a writing learner is assisted to master a correct stroke order, and the writing stability and accuracy are remarkably improved.

Description

Technical Field

[0001] This invention relates to an intelligent anti-shake pen based on vector force guidance and a writing method. Background Technology

[0002] Writing is a fundamental skill for human communication, learning, and expressing thoughts. However, for certain groups, achieving fluent and clear handwriting is a significant challenge. On one hand, neurological disorders such as Parkinson's disease and essential tremor can cause involuntary tremors in the hands, resulting in severely distorted and illegible handwriting, greatly impacting the patient's quality of life and dignity. On the other hand, accurately mastering the sequence, direction, and structure of strokes is a long-standing difficulty for children learning to write complex characters (such as Chinese characters) or patients requiring writing rehabilitation training due to stroke or other reasons.

[0003] For the problem of hand tremors, existing technologies mainly offer the following solutions:

[0004] 1. Passive aids: For example, weighted pens or pen grips that increase pen weight or change the way you hold the pen. Although these tools are simple in structure, their anti-shake effect is limited and they cannot adapt to real-time changes in tremor. They are also weak in suppressing moderate to severe tremors.

[0005] 2. Active Image Stabilization Pens: Some existing technologies propose smart pens that actively counteract tremors through built-in sensors and actuators. However, these active image stabilization pens typically have the following shortcomings: First, their tremor compensation models are relatively simple, mostly using single-axis or limited-degree-of-freedom compensation, making it difficult to accurately counteract the complex and multi-dimensional hand tremor torques in the real world. This results in unstable stabilization effects and residual tremors. Second, their functions are limited, focusing only on "image stabilization" and failing to address the accuracy of the written content itself; that is, they cannot provide users with guidance on "what to write" and "how to write."

[0006] For assisting in writing learning and rehabilitation, current technologies mainly rely on:

[0007] 1. Calligraphy copybooks and tracing books: This is the most traditional way of learning, but it relies entirely on the user's initiative and imitation ability, lacking real-time, physical feedback and correction.

[0008] 2. Digital Writing Applications: Some applications (APPs) can provide stroke guidance and correct / incorrect judgment on a touchscreen. However, this virtual environment for practice differs greatly from the physical writing experience on real paper and cannot effectively train hand muscle control. Furthermore, it separates the user from the writing process, failing to provide physical guidance at the moment the writing action occurs.

[0009] In summary, a significant gap exists in the existing technology: the lack of an intelligent writing tool that seamlessly integrates the two core functions of "real-time active image stabilization" and "precise stroke guidance." Existing image stabilization pens cannot provide guidance for writing content, while existing writing guidance tools cannot solve the problem of hand tremors, nor can they achieve a comprehensive solution for real-time tracking, closed-loop feedback, and collaborative control during the actual writing process. Therefore, developing an intelligent device that can effectively suppress hand tremors and actively guide users to complete precise stroke writing has significant social value and market demand. The technical background section of this invention aims to describe the current state of the existing technical field. The shortcomings of the prior art are explained, and this section will provide necessary background information for understanding the technical contributions and innovations of this invention. The signals disclosed in this background section are merely intended to enhance the understanding of the overall background of this invention and should not be regarded as implying any subjective intent in any way. Summary of the Invention

[0010] In view of the above, the purpose of this invention is to provide an intelligent anti-shake pen based on vector force guidance.

[0011] The technical solution adopted to achieve the purpose of this invention is an intelligent anti-shake pen based on vector force guidance, comprising a pen body shell, an internal core support, a writing refill assembly, a vibration suppression module, a vector force stroke auxiliary drive module, a two-way interaction module, and a main controller.

[0012] The pen body shell has a hollow internal cavity, a grip for the user to hold, and a pen tip that extends out; the internal core support is disposed in the internal cavity of the pen body shell.

[0013] The writing pen refill assembly is slidably disposed along the central axis of the pen body housing. The writing pen refill assembly includes: a pen refill for forming writing on a writing medium, and a pen refill sleeve for receiving and holding the pen refill. The pen tip of the pen refill can pass through the pen tip protrusion through hole of the pen body housing and contact the writing medium.

[0014] The tremor suppression module, which is mounted on the internal core support, is used to counteract the vibration transmitted to the pen body by the user's involuntary hand tremors by generating a compensating torque. The tremor suppression module includes: an inertial measurement unit, mounted on the base surface of the internal core support, used to monitor and collect in real time the angular velocity and linear acceleration data of the pen body caused by hand tremors, which serves as the raw input signal characterizing the tremor state; at least one reverse micro-vibration component, each of which includes a micro-vibration motor and an eccentric mass block fixed to the output shaft of the motor; the reverse micro-vibration component is mounted on the internal core support; the vector force stroke auxiliary drive module is mounted on the internal core support; and the bidirectional digital interaction module is located inside the pen body.

[0015] The main controller is mounted on the circuit board of the internal core support. The main controller is electrically connected to the electrical components of the vibration suppression module, the vector force stroke auxiliary drive module, and the digital interaction module. It is used to receive and process the data of each module, and coordinate the action of the vibration suppression module and the vector force stroke auxiliary drive module based on the control algorithm.

[0016] Furthermore, the internal core support serves as an installation platform for the internal modules. The internal core support and the inner wall of the pen body are rigidly connected by integral molding to ensure structural stability.

[0017] Furthermore, the vector force stroke-assisted driving module is motion-coupled with the pen refill sleeve of the writing pen refill assembly, and is used to apply a controllable physical guiding force to the writing pen refill assembly in a two-dimensional writing plane according to external instructions.

[0018] Furthermore, the two-way digital interaction module is associated with the writing pen refill component, used to sense the writing status information of the pen tip in real time, and to wirelessly communicate with an external smart terminal.

[0019] Furthermore, the main controller is further configured to: continuously receive and process the vibration data collected by the inertial measurement unit at a high frequency; calculate the compensation torque vector opposite to the current vibration trend in real time through the built-in inverse dynamics model algorithm; decompose the vector into a control signal; drive the micro vibration motor in the reverse micro-vibration component to rotate at a specific speed and phase; thereby causing the eccentric mass block to generate a compensation torque that is opposite in direction and dynamically matched in magnitude to the hand vibration torque; and achieve dynamic stability of the pen body shell.

[0020] Furthermore, the vector force stroke-assisted driving module includes:

[0021] The driver mounting frame, which serves as the base for the vector force stroke auxiliary drive module, is mounted on the internal core support.

[0022] A linear actuator array, consisting of at least two linear micro-actuators, is mounted on an actuator mounting frame. Their linear driving directions are orthogonal to each other in space, together defining a two-dimensional planar driving coordinate system (XY coordinate system) perpendicular to the central axis of the pen body.

[0023] The active guide mechanism is connected to the outer wall of the pen refill sleeve; the active guide mechanism can be driven by a linear actuator array to perform translational motion in a two-dimensional plane driving coordinate system;

[0024] A transmission connection structure is provided between the output end of each driver in the linear driver array and the movable guide mechanism, and is used to transmit the linear displacement or thrust of each driver to the movable guide mechanism;

[0025] The main controller is further configured to: receive stroke vector commands from an external smart terminal forwarded by a two-way digital interaction module; decompose the vector commands into driving components in the X and Y axes of a two-dimensional plane driving coordinate system; and generate independent control signals based on the driving components to precisely control the linear micro-actuators of the corresponding axes to generate preset displacements or thrusts. These displacements or thrusts, through a transmission connection structure, act together on the movable guide mechanism to synthesize a physical driving force that matches the original stroke vector command. This force is directly applied to the writing pen refill assembly through the connection between the movable guide mechanism and the pen refill sleeve to guide the pen refill to move along a preset stroke trajectory on the surface of the writing medium.

[0026] Furthermore, the active guiding mechanism is a guide ring, which is sleeved on the outer periphery of the pen refill sleeve and fixed thereto; the outer edge of the guide ring is provided with a contact surface that cooperates with the transmission connection structure; and the driver fixing frame is also provided with a guide rail structure, through which the guide ring is constrained to be able to translate only in the two-dimensional plane driving coordinate system by sliding cooperation with the guide rail structure, thereby ensuring the accuracy of the guiding action and preventing the pen refill from tilting.

[0027] Furthermore, the linear micro-driver is a voice coil motor or a piezoelectric ceramic driver to achieve high response speed and high displacement resolution driving performance; the transmission connection structure is a push rod structure with one end hinged to the driver output end and the other end in contact with the movable guide mechanism.

[0028] Furthermore, the two-way digital interaction module includes: a pen tip status sensing device, located at the pen tip of the pen body shell, its structure being adjacent to the pen tip of the refill; this device includes: a pen tip pressure sensor, located between the tail end of the pen refill and a load-bearing bottom surface inside the pen refill sleeve, used to convert the axial pressure applied to the pen refill by the user during writing into an electrical signal in real time; a pen tip position tracking device, used to track and record the motion trajectory coordinates of the pen tip relative to the writing medium surface in real time and with high precision; the pen tip position tracking device is a miniature optical tracking device, which includes: a miniature image sensor and a matching miniature wide-angle lens, together forming a miniature camera, which is fixedly installed on the inner wall of the pen tip of the pen body shell, its optical axis pointing at an inclined angle towards the writing medium surface area directly in front of the pen tip; and a miniature illumination source, whose installation position is adjacent to the miniature camera to eliminate interference from changes in ambient light; and a wireless communication unit, which includes a Bluetooth or Wi-Fi transceiver chip and a matching antenna. It is integrated on the main control circuit board and electrically connected to the main controller for bidirectional wireless data transmission between the intelligent anti-shake pen and an external smart terminal. The main controller is further configured to periodically collect and integrate pressure signals from the pen tip pressure sensor and trajectory coordinate data from the pen tip position tracking device, synthesize these raw data into a structured actual handwriting data packet, and send it to the external smart terminal through the wireless communication unit. At the same time, it can continuously receive control commands from the external smart terminal through the wireless communication unit, including but not limited to stroke vector commands. The main controller or its built-in coprocessor is also configured to control the miniature image sensor to continuously capture high-speed frames of the writing medium surface, and use digital image correlation algorithms or feature point tracking algorithms to compare and analyze the minute displacements and rotations between consecutive frame images, thereby accurately calculating the instantaneous motion vector of the pen body relative to the writing medium, and combining the pen body structural parameters to finally calculate the real-time motion trajectory of the pen tip.

[0029] Furthermore, the writing method of the intelligent anti-shake pen based on vector force guidance includes the following steps:

[0030] Step A: System Initialization and Communication Establishment

[0031] When the smart image stabilization pen is activated and an external smart terminal is connected, the wireless communication unit in the smart image stabilization pen and the external smart terminal automatically establish wireless data communication.

[0032] The application software of the external smart terminal loads the target character shape and automatically decomposes the target character shape into a stroke sequence data structure containing multiple ordered strokes according to the preset Chinese character stroke order rules or writing font model. Each stroke is defined as a vector dataset containing information such as starting point coordinates, direction vector, length, and recommended writing speed.

[0033] Step B: Iterative issuance of stroke instructions

[0034] The external smart terminal extracts the vector dataset of the first stroke from the stroke sequence data structure, encapsulates it into a vector control command, and sends the vector control command to the main controller of the smart anti-shake pen through the established communication link.

[0035] Step C: Execution of compound actions of the pen body

[0036] C1 - Continuous Anti-shake: The main controller of the smart anti-shake pen starts a high-priority tremor suppression thread, causing the high-precision tremor suppression module to work continuously and counteract the tremors of the user's hand in real time;

[0037] C2 - Active Guidance: At the same time, the main controller parses the received vector control instructions in the standard priority thread and drives the vector force stroke auxiliary drive module to apply a physical guiding force matching the current instruction to the writing pen refill assembly;

[0038] Step D: Real-time tracking and data feedback of the writing process

[0039] With the assistance of the physical guiding force, the user writes on the writing medium. During this process, the pen tip state sensing system in the two-way digital interaction module collects and generates actual handwriting data in real time, including the actual movement trajectory of the pen tip and the writing pressure.

[0040] The main controller packages the collected actual handwriting data and transmits it back to the external smart terminal in real time and continuously through the wireless communication unit.

[0041] Step E: Cloud-based closed-loop comparison and process iteration

[0042] After receiving the actual handwriting data, the application software of the external smart terminal performs real-time graphical comparison and similarity analysis with the target stroke trajectory represented by the currently issued vector control command.

[0043] When the comparison result meets the preset stroke completion threshold, or the writing time exceeds the preset time limit, the external smart terminal determines that the current stroke is completed, and then automatically loads the vector dataset of the next stroke from the stroke sequence data structure, encapsulates it into a new vector control instruction, returns and repeats the issuance operation of step B and steps C to E, until all strokes in the stroke sequence data structure have been executed, thereby completing the active guided writing of the entire target character.

[0044] The beneficial effects of this invention are:

[0045] 1. Integrated Functionality, Collaborative Solution to Dual Challenges: This invention integrates high-precision real-time active image stabilization with controllable vector force stroke guidance into a single pen. Through a collaborative control algorithm within the main controller, a high-priority image stabilization thread ensures smooth writing, while a standard-priority guidance thread addresses accuracy. This synergistic effect of "stabilization" and "guidance" comprehensively solves the core pain points faced by tremor patients or writing learners, a feat unmatched by existing single-function products.

[0046] 2. High anti-shake accuracy and excellent dynamic compensation: This invention uses an inertial measurement unit (IMU) to collect multi-dimensional tremor data at high frequency and calculates the compensation torque in real time through a built-in inverse dynamics model algorithm. This compensation torque is precisely generated by driving a reverse micro-vibration component, and its direction is opposite to the tremor torque, with its magnitude dynamically matched. This closed-loop, real-time multi-dimensional dynamic compensation mechanism, compared with the simple or passive anti-shake methods in existing technologies, can more effectively counteract complex hand tremors and significantly improve the stability and clarity of handwriting.

[0047] 3. Active physical guidance enhances writing accuracy and learning efficiency: This invention utilizes a vector force stroke-assisted drive module to apply a controllable physical guiding force in both direction and magnitude to the pen tip within a two-dimensional writing plane, based on external commands. This "hands-on" physical guidance provides users with intuitive, real-time tactile feedback regarding stroke direction, significantly reducing the difficulty of writing complex characters. It effectively assists beginners in mastering stroke order and helps rehabilitation patients rebuild correct writing muscle memory, with results far superior to traditional tracing or virtual screen practice.

[0048] 4. Closed-loop interaction and intelligent iteration for personalized assistance and rehabilitation training: This invention constructs a complete closed-loop control system through a two-way digital interaction module, encompassing "instruction issuance → guided writing → trajectory tracking → data feedback → cloud comparison → new instruction issuance." This system not only ensures that the writing task is completed step-by-step according to preset goals, but more importantly, it can analyze the actual handwriting data transmitted in real time. Based on this analysis, the system (or the therapist in the background) can dynamically adjust parameters such as the strength and speed of the guidance force, achieving a smooth transition from strong to weak assistance. This constitutes a quantifiable and customizable personalized rehabilitation training program—an intelligent and adaptive feature completely absent in existing technologies. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of the structure of the present invention;

[0051] Figure 2 This is an exploded view of the vector force stroke auxiliary driving module of the present invention;

[0052] In the figure, 100 is the pen refill, 101 is the pen body shell, 102 is the vibration suppression module, 103 is the vector force stroke auxiliary drive module, 104 is the pen tip position tracking device, 105 is the pen tip pressure sensor, 200 is the pen refill sleeve, 201 is the x-axis linear micro actuator, 202 is the y-axis micro actuator, and 203 is the active guide mechanism. Detailed Implementation

[0053] The present invention will now be described in this embodiment with reference to the accompanying drawings and some embodiments.

[0054] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] The following description, in conjunction with the accompanying drawings and embodiments, further illustrates the intelligent anti-shake pen based on vector force guidance of the present invention, aiming to help understand the technical concept and specific implementation of the present invention. However, this description should not be construed as limiting the scope of protection of the present invention.

[0056] See Figure 1-2 As shown, the smart anti-shake pen mainly includes: pen body shell, internal core support, writing pen core assembly, vibration suppression module, vector force stroke auxiliary drive module, two-way digital interaction module, and main controller.

[0057] In this embodiment, the pen body shell is the outer main body of the pen, made of lightweight, high-strength materials (such as engineering plastics or aluminum alloys), and has an ergonomic grip for comfortable holding. Its interior is a hollow cavity, with a pen tip at the front end. The pen tip has a through-hole for the pen tip to extend from the writing refill assembly.

[0058] In this embodiment, the internal core support serves as the mounting base for all core modules within the pen, and it is securely fixed to the inner cavity of the pen body shell through a one-piece molding process. This rigid connection ensures that each module has a stable relative position during operation, which is the foundation for achieving precise anti-shake and guided control.

[0059] In this embodiment, the writing refill assembly is slidably mounted along the central axis of the pen body. It includes a standard pen refill and a refill sleeve for holding the refill. During writing, the pen tip can extend through a through-hole and contact the writing medium such as paper.

[0060] In this embodiment, the tremor suppression module is the core of active image stabilization. It is mounted on the internal core support and is used to counteract pen tremors caused by involuntary hand tremors in users such as those with Parkinson's disease. This module includes:

[0061] Inertial Measurement Unit (IMU): Typically a microelectromechanical system (MEMS) chip integrating a three-axis gyroscope and a three-axis accelerometer. It is precisely mounted on the base surface of the internal core support and is capable of monitoring and acquiring, in real time, the minute angular velocity and linear acceleration data generated by hand tremors in the pen body at extremely high sampling frequencies (e.g., hundreds of hertz). These data constitute the raw input signal characterizing the tremor state.

[0062] Reverse micro-vibration components: In this embodiment, at least one or more reverse micro-vibration components can be installed on the internal core support. Each component includes a miniature vibration motor (such as a flat rotor motor) and an eccentric mass block fixed to the motor's output shaft. Based on data from the inertial measurement unit, the main controller calculates in real time a compensation torque vector opposite to the current tremor trend using a built-in inverse dynamics model algorithm. Subsequently, the main controller decomposes this vector into control signals to precisely drive these miniature vibration motors to rotate at specific speeds and phases. The high-frequency micro-vibration force generated by the eccentric mass block during rotation is combined into a compensation torque that is opposite in direction and dynamically matched in magnitude to the hand tremor torque, thereby efficiently counteracting the shaking and achieving dynamic stability of the pen body shell.

[0063] In this embodiment, the vector force stroke assistance drive module provides active, directionally controllable physical guidance for the user's writing actions. This module is mounted on the internal core support and is kinematically coupled to the pen refill sleeve of the writing pen assembly. Its specific structure includes:

[0064] Driver mounting frame: Serves as the base of the module and is securely mounted on the internal core support.

[0065] Linear actuator array: Consists of two linear micro-actuators, a and b. They are mounted on actuator mounting frames, and their linear driving directions are spatially orthogonal (e.g., along the X and Y axes, respectively), collectively defining a two-dimensional planar driving coordinate system perpendicular to the central axis of the pen body. To achieve high response speed and high displacement resolution, the linear micro-actuators are preferably voice coil motors (VCMs) or piezoelectric ceramic actuators.

[0066] Activity guiding mechanism: In this embodiment, it is specifically a guide ring. The guide ring is sleeved on the outer periphery of the pen refill sleeve and is securely connected to it. The outer edge of the guide ring has a smooth contact surface.

[0067] Transmission connection structure: In this embodiment, there are two miniature push rods. One end of each push rod is hinged to the output end of the corresponding linear miniature actuator (a or b), and the other end abuts against the contact surface of the outer edge of the movable guide mechanism (guide ring).

[0068] To ensure the accuracy of the guiding action, a guide rail structure is also provided on the driver's fixed frame. The movable guiding mechanism (guide ring) is constrained to translate only within the aforementioned two-dimensional plane driving coordinate system through sliding engagement with this guide rail structure. This effectively prevents the writing pen refill assembly from tilting or rotating unnecessarily during the driving process.

[0069] In this embodiment, the two-way digital interaction module acts as a bridge connecting the smart pen to the external world, responsible for sensing the writing state and conducting wireless communication. It includes:

[0070] Pen tip status sensing device:

[0071] Pen tip pressure sensor a: Located between the end of the pen tip and a load-bearing bottom surface inside the pen tip sleeve. It can convert the axial pressure applied to the pen tip by the user during writing into an electrical signal in real time, thereby quantifying the writing force.

[0072] Pen tip position tracking device b: In this embodiment, it is specifically a miniature optical tracking device. This device includes a miniature image sensor and a matching miniature wide-angle lens, together forming a miniature camera. It is fixedly mounted on the inner wall of the pen tip portion of the pen body, with its optical axis pointing at a certain angle towards the writing medium surface area directly in front of the pen tip. Simultaneously, the device also includes a miniature illumination source (such as an infrared LED) to provide stable and uniform illumination to the shooting area under any lighting conditions.

[0073] Wireless communication unit: This unit includes a Bluetooth Low Energy (BLE) or Wi-Fi transceiver chip and a supporting antenna, which are integrated on the circuit board where the main controller is located, and are used to achieve stable and low-latency two-way wireless data transmission between the intelligent anti-shake pen and an external intelligent terminal (such as a smart phone, a tablet computer or a dedicated rehabilitation device).

[0074] In this embodiment, the main controller: is arranged on the circuit board of the internal core bracket and is electrically connected to all electrical components (such as IMU, motor, sensor, wireless chip, etc.) in the tremor suppression module, the vector force stroke assisted driving module, and the two-way digital interaction module. The main controller is responsible for running the core algorithm, receiving and processing the data of each module, and coordinating and controlling the actions of each execution module based on the preset control logic.

[0075] This embodiment provides a writing method based on the above intelligent anti-shake pen. This method combines active anti-shake and active guidance, and through closed-loop interaction with an external intelligent terminal, assists the user to complete standardized and smooth writing. Please refer to the figure (the flowchart of the writing method of the present invention). This method includes the following steps:

[0076] Step A: System initialization and communication establishment

[0077] The user activates the intelligent anti-shake pen and an external intelligent terminal. The wireless communication unit in the pen and the dedicated application software (APP) on the terminal automatically establish a wireless data communication link through Bluetooth or Wi-Fi. The user selects or inputs a target glyph (such as the Chinese character "yong") in the APP. The built-in font model or stroke order rule library in the APP will automatically decompose the target glyph into an ordered stroke sequence data structure. Each stroke in the sequence is accurately defined as a vector data set containing information such as the starting point coordinates, direction vector, length, curvature, and recommended writing speed.

[0078] Step B: Iterative issuance of stroke instructions

[0079] The APP extracts the vector data set of the first stroke (for example, the first stroke "dot" of the character "yong") from the stroke sequence data structure, encapsulates it into a standard vector control instruction, and sends it to the main controller of the intelligent anti-shake pen through the established communication link.

[0080] Step C: Execution of compound actions of the pen body

[0081] After receiving the instruction, the main controller concurrently executes the following two core tasks:

[0082] C1 - Continuous Anti-shake: The main controller internally initiates a high-priority jitter suppression thread. This thread dedicatedly and continuously processes the high-frequency data stream from the inertial measurement unit, performs inverse dynamics model calculations, and controls the output compensation torque of the reverse micro-vibration component in real time. Due to its high priority, the anti-shake function remains enabled at all times, ensuring pen stability and preventing its operation from being blocked by other tasks.

[0083] C2 - Active Guidance: Simultaneously, the main controller, in a standard-priority guidance and interaction thread, parses the received vector control command of the "dot" stroke. It decomposes this vector command into drive components along the X and Y axes in a two-dimensional planar drive coordinate system, and generates independent control signals accordingly. These signals precisely control the linear micro-actuators a and b in the X and Y directions to produce preset thrust. This thrust, through a transmission connection structure, acts on the active guidance mechanism, thus synthesizing a physical drive force on the pen tip sleeve that matches the original stroke vector command. This force is very gentle, designed to "guide" rather than "force" the user, helping them move the pen tip along the correct trajectory.

[0084] Step D: Real-time tracking and data feedback of the writing process

[0085] With the assistance of physical guidance, the user writes the character "dot" on the writing medium. Throughout this process, the two-way digital interaction module continues to operate.

[0086] The miniature camera of the pen tip position tracking device b captures continuous high-speed frames of the writing medium surface. The main controller (or its built-in dedicated image coprocessor) uses a digital image correlation (DIC) algorithm or a feature point tracking algorithm to compare and analyze the minute displacements and rotations between consecutive frames, thereby accurately calculating the instantaneous motion vector of the pen tip relative to the writing medium and integrating it to obtain its real-time motion trajectory coordinates.

[0087] The pen tip pressure sensor a synchronously records the pressure changes during the writing process.

[0088] The main controller packages the collected real-time trajectory coordinates and pressure data into structured actual handwriting data packets, and transmits them back to the APP on the external smart terminal in real time and without interruption through the wireless communication unit.

[0089] Step E: Cloud-based closed-loop comparison and process iteration

[0090] After receiving the actual handwriting data, the external smart terminal's app performs real-time graphical comparison and similarity analysis between it and the target trajectory of the currently sent "dot" strokes. The app will determine:

[0091] Whether the actual handwriting completion has reached the preset threshold (e.g., trajectory length, shape similarity, etc.).

[0092] Or, whether the writing time exceeds a preset time limit.

[0093] When any of the conditions is satisfied, the APP determines that the current stroke "dot" is completed. Immediately, it automatically loads the vector data set of the next stroke ("horizontal") from the stroke sequence data structure, encapsulates it into a new vector control instruction, returns and repeats the issuing operation in step B, and subsequent steps C to E. This loop continues until all strokes in the stroke sequence are executed, thus assisting the user to write the entire target glyph "yong" completely and normatively.

[0094] In addition, the collaborative control algorithm inside the main controller also has a closed-loop feedback regulation mechanism. The main controller can dynamically adjust the intensity and response speed of the guiding force output by the vector force stroke assistance driving module according to the adjustment instructions issued by the external intelligent terminal (for example, set by a rehabilitation therapist on the APP). This makes the intelligent pen not only a writing assistance tool, but also a rehabilitation training device. By setting different difficulty levels (such as gradually transitioning from strong guidance to weak guidance), it helps the user gradually recover or improve their fine motor control ability.

[0095] It should be noted that the above embodiments are only preferred examples of the present invention and are not intended to limit the scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made by those skilled in the art within the spirit and principles of the present invention shall be included within the protection scope of the present invention. For example, the cooling method on the cold side of the thermoelectric conversion module, the type and quantity of specific valves, the specific layout position of sensors, etc. can all be adjusted and optimized according to actual application requirements.

[0096] The above specific implementation manners are typical embodiments of the present invention, but the present invention is not limited thereto. Without departing from the core technical idea of the present invention, its structure, materials, and control logic can be reasonably changed, and all improvements based on this belong to the protection scope of the present invention. [[ID=,15]]

[0097] The specific implementation manners of the present invention are only for illustrative purposes and do not limit the protection scope of the present invention. Without departing from the gist and spirit of the present invention, various changes and modifications can be made to the specific implementation manners of the present invention. These changes and modifications all fall within the scope covered by the present invention.

[0098] It is worth noting that in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. In this invention, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can also refer to a mechanical connection. The circuits described in this invention are all circuits commonly used in the art, and other related components are all commonly used existing components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0099] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalent elements of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A smart anti-shake pen based on vector force guidance, characterized in that: It includes the pen body shell, internal core support, writing refill assembly, vibration suppression module, vector force stroke assist drive module, two-way interaction module, and main controller. The pen body shell has a hollow internal cavity, a grip for the user to hold, and a pen tip that extends out; the internal core support is disposed in the internal cavity of the pen body shell. The writing pen refill assembly is slidably disposed along the central axis of the pen body housing. The writing pen refill assembly includes: a pen refill for forming writing on a writing medium, and a pen refill sleeve for receiving and holding the pen refill. The pen tip of the pen refill can pass through the pen tip protrusion through hole of the pen body housing and contact the writing medium. The tremor suppression module, which is mounted on the internal core support, is used to counteract the vibration transmitted to the pen body by the user's involuntary hand tremors by generating a compensating torque. The tremor suppression module includes: an inertial measurement unit, mounted on the base surface of the internal core support, used to monitor and collect in real time the angular velocity and linear acceleration data of the pen body caused by hand tremors, which serves as the raw input signal characterizing the tremor state; at least one reverse micro-vibration component, each of which includes a micro-vibration motor and an eccentric mass block fixed to the output shaft of the motor; the reverse micro-vibration component is mounted on the internal core support; the vector force stroke auxiliary drive module is mounted on the internal core support; and the bidirectional digital interaction module is located inside the pen body. The main controller is mounted on the circuit board of the internal core support. The main controller is electrically connected to the electrical components of the vibration suppression module, the vector force stroke auxiliary drive module, and the digital interaction module. It is used to receive and process the data of each module, and coordinate the action of the vibration suppression module and the vector force stroke auxiliary drive module based on the control algorithm.

2. The intelligent anti-shake pen based on vector force guidance according to claim 1, characterized in that, The internal core support serves as the mounting platform for the internal modules. The internal core support and the inner wall of the pen body are rigidly connected by integral molding to ensure structural stability.

3. The intelligent anti-shake pen based on vector force guidance according to claim 1, characterized in that, The vector force stroke-assisted driving module is coupled to the pen refill sleeve of the writing pen refill assembly, and is used to apply a controllable physical guiding force to the writing pen refill assembly in a two-dimensional writing plane according to external instructions.

4. The intelligent anti-shake pen based on vector force guidance according to claim 1, characterized in that, The two-way digital interaction module is associated with the writing pen refill component and is used to sense the writing status information of the pen tip in real time and to wirelessly communicate with external smart terminals.

5. The intelligent anti-shake pen based on vector force guidance according to claim 1, characterized in that, The main controller is further configured to continuously receive and process the vibration data collected by the inertial measurement unit at a high frequency, calculate the compensation torque vector opposite to the current vibration trend in real time through the built-in inverse dynamics model algorithm, and decompose the vector into control signals to drive the micro vibration motor in the reverse micro-vibration component to rotate at a specific speed and phase, so that the eccentric mass block generates a compensation torque that is opposite in direction and dynamically matched in magnitude to the hand vibration torque, thereby achieving dynamic stability of the pen body shell.

6. The intelligent anti-shake pen based on vector force guidance according to claim 3, characterized in that, The vector force stroke auxiliary driving module includes: The driver mounting frame, which serves as the base for the vector force stroke auxiliary drive module, is mounted on the internal core support. A linear actuator array, consisting of at least two linear micro-actuators, is mounted on an actuator mounting frame. Their linear driving directions are orthogonal to each other in space, together defining a two-dimensional planar driving coordinate system (XY coordinate system) perpendicular to the central axis of the pen body. The active guide mechanism is connected to the outer wall of the pen refill sleeve; the active guide mechanism can be driven by a linear actuator array to perform translational motion in a two-dimensional plane driving coordinate system; A transmission connection structure is provided between the output end of each driver in the linear driver array and the movable guide mechanism, and is used to transmit the linear displacement or thrust of each driver to the movable guide mechanism; The main controller is further configured to: receive stroke vector commands from an external smart terminal forwarded by a two-way digital interaction module; decompose the vector commands into driving components in the X and Y axes of a two-dimensional plane driving coordinate system; and generate independent control signals based on the driving components to precisely control the linear micro-actuators of the corresponding axes to generate preset displacements or thrusts. These displacements or thrusts, through a transmission connection structure, act together on the movable guide mechanism to synthesize a physical driving force that matches the original stroke vector command. This force is directly applied to the writing pen refill assembly through the connection between the movable guide mechanism and the pen refill sleeve to guide the pen refill to move along a preset stroke trajectory on the surface of the writing medium.

7. The intelligent anti-shake pen based on vector force guidance according to claim 6, characterized in that, The guiding mechanism is a guide ring, which is sleeved on the outer periphery of the pen refill sleeve and fixed thereto. The outer edge of the guide ring has a contact surface that cooperates with the transmission connection structure. Furthermore, the driver fixing frame is also provided with a guide rail structure. The guide ring is constrained to translate only within the two-dimensional plane driving coordinate system through sliding cooperation with the guide rail structure, thereby ensuring the accuracy of the guiding action and preventing the pen refill from tilting.

8. The intelligent anti-shake pen based on vector force guidance according to claim 6 or 7, characterized in that, The linear micro-actuator is a voice coil motor or a piezoelectric ceramic actuator to achieve high response speed and high displacement resolution driving performance; the transmission connection structure is a push rod structure with one end hinged to the output end of the actuator and the other end in contact with the movable guide mechanism.

9. The intelligent anti-shake pen based on vector force guidance according to claim 4, characterized in that, The two-way digital interaction module includes: a pen tip status sensing device, located at the pen tip of the pen body shell, its structure being adjacent to the pen tip of the refill; this device includes: a pen tip pressure sensor, located between the tail end of the pen refill and a load-bearing bottom surface inside the pen refill sleeve, used to convert the axial pressure applied to the pen refill by the user during writing into an electrical signal in real time; a pen tip position tracking device, used to track and record the motion trajectory coordinates of the pen tip relative to the writing medium surface in real time and with high precision; the pen tip position tracking device is a miniature optical tracking device, which includes: a miniature image sensor and a matching miniature wide-angle lens, together forming a miniature camera, which is fixedly installed on the inner wall of the pen tip of the pen body shell, its optical axis pointing at an inclined angle towards the writing medium surface area directly in front of the pen tip; and a miniature illumination source, whose installation position is adjacent to the miniature camera to eliminate interference from changes in ambient light; and a wireless communication unit, which includes a Bluetooth or Wi-Fi transceiver chip and a matching antenna. Integrated on the main control circuit board and electrically connected to the main controller, it is used for bidirectional wireless data transmission between the intelligent anti-shake pen and an external smart terminal. The main controller is further configured to: periodically collect and integrate pressure signals from the pen tip pressure sensor and trajectory coordinate data from the pen tip position tracking device, synthesize these raw data into a structured actual handwriting data packet, and send it to the external smart terminal through the wireless communication unit; at the same time, it can continuously receive control commands from the external smart terminal through the wireless communication unit, including but not limited to stroke vector commands; the main controller or its built-in coprocessor is also configured to: control the miniature image sensor to continuously capture high-speed frames of the writing medium surface, and use digital image correlation algorithms or feature point tracking algorithms to compare and analyze the minute displacements and rotations between consecutive frame images, thereby accurately calculating the instantaneous motion vector of the pen body relative to the writing medium, and combining the pen body structural parameters to finally calculate the real-time motion trajectory of the pen tip.

10. The writing method of the intelligent anti-shake pen based on vector force guidance according to any one of claims 1-9, characterized in that, The method includes the following steps: Step A: System Initialization and Communication Establishment When the smart image stabilization pen is activated and an external smart terminal is connected, the wireless communication unit in the smart image stabilization pen and the external smart terminal automatically establish wireless data communication. The application software of the external smart terminal loads the target character shape and automatically decomposes the target character shape into a stroke sequence data structure containing multiple ordered strokes according to the preset Chinese character stroke order rules or writing font model. Each stroke is defined as a vector dataset containing information such as starting point coordinates, direction vector, length, and recommended writing speed. Step B: Iterative issuance of stroke instructions The external smart terminal extracts the vector dataset of the first stroke from the stroke sequence data structure, encapsulates it into a vector control command, and sends the vector control command to the main controller of the smart anti-shake pen through the established communication link. Step C: Execution of compound actions of the pen body C1 - Continuous Anti-shake: The main controller of the smart anti-shake pen starts a high-priority tremor suppression thread, causing the high-precision tremor suppression module to work continuously and counteract the tremors of the user's hand in real time; C2 - Active Guidance: At the same time, the main controller parses the received vector control instructions in the standard priority thread and drives the vector force stroke auxiliary drive module to apply a physical guiding force matching the current instruction to the writing pen refill assembly; Step D: Real-time tracking and data feedback of the writing process With the assistance of the physical guiding force, the user writes on the writing medium. During this process, the pen tip state sensing system in the two-way digital interaction module collects and generates actual handwriting data in real time, including the actual movement trajectory of the pen tip and the writing pressure. The main controller packages the collected actual handwriting data and transmits it back to the external smart terminal in real time and continuously through the wireless communication unit. Step E: Cloud-based closed-loop comparison and process iteration After receiving the actual handwriting data, the application software of the external smart terminal performs real-time graphical comparison and similarity analysis with the target stroke trajectory represented by the currently issued vector control command. When the comparison result meets the preset stroke completion threshold, or the writing time exceeds the preset time limit, the external smart terminal determines that the current stroke is completed, and then automatically loads the vector dataset of the next stroke from the stroke sequence data structure, encapsulates it into a new vector control instruction, returns and repeats the issuance operation of step B and steps C to E, until all strokes in the stroke sequence data structure have been executed, thereby completing the active guided writing of the entire target character.

Images