Interactive touch sensing and electrical stimulation output system for conductive interface

Abstract

The invention discloses an interactive touch sensing and electrical stimulation output system for a conductive interface, which comprises a first linear conductive unit and a second linear conductive unit which are distributed in a transverse and longitudinal staggered manner, and the two linear conductive units form a layered grid structure through an insulating linear unit in an alternate arrangement manner; the end parts of the first linear conductive unit and the second linear conductive unit are connected with an electrical state detection circuit and a high-voltage constant-current power supply; the electrical state detection circuit and the high-voltage constant-current power supply are connected with a controller; the high-voltage constant-current power supply is used for supplying power to the first linear conductive unit and the second linear conductive unit; the electrical state detection circuit is used for acquiring electrical signal changes of the first linear conductive unit and the second linear conductive unit; the controller controls the high-voltage constant-current power supply to output current to the first linear conductive unit and the second linear conductive unit based on the electric signal change information so as to generate electrical stimulation; the device has the functions of electric tactile stimulation and touch tracking at the same time.

Description

Technical Field

[0001] This invention relates to the field of electrotactile module technology, and more specifically to an interactive touch sensing and electrical stimulation output system for a conductive interface. Background Technology

[0002] Electrical stimulation technology can be applied in fields such as functional electrical stimulation (FES), tactile stimulation, and human-computer interaction. By using multi-channel electrical stimulation signals with different intensities, frequencies, waveforms, and other parameters, it can stimulate the subject's body with electrical current to achieve motor rehabilitation of muscles and joints in paraplegic and hemiplegic patients, simulate tactile sensation in virtual reality scenarios, and provide feedback interaction between the gripping force of robotic hands and the human body.

[0003] To address this challenge, various types of conductive electrode-driven soft haptic interfaces have recently been developed, including dielectric elastomer actuators, electrohydraulic soft actuators, ionomer-metal composites, and liquid crystal elastomers. These devices have the potential to develop next-generation haptic feedback devices that offer several advantages, such as lightweight and compact design, unconstrained activation and control, and distributed and localized actuation. However, they typically require specialized manufacturing processes and unconventional high-voltage control electronics, thus limiting their application scope. Summary of the Invention

[0004] The purpose of this invention is to provide an interactive touch sensing and electrical stimulation output system for conductive interfaces, in order to solve the technical problem that existing conductive electrode-driven soft tactile interfaces require specialized manufacturing processes and unconventional high-voltage controlled electronic devices, thus limiting their application scope.

[0005] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution:

[0006] An interactive touch sensing and electrical stimulation output system for a conductive interface, comprising:

[0007] The first and second linear conductive units are arranged in a horizontal and vertical manner. The first linear conductive units, the second linear conductive units, and the insulating linear units are arranged alternately to form a layered grid structure for soft tactile conductivity. The first linear conductive units and the second linear conductive units are always kept out of contact by the insulating linear units.

[0008] Wherein, the first linear conductive unit and the second linear conductive unit constitute a sensing element for transmitting electrical signals, and the insulating linear unit is used for structural support and electrical isolation;

[0009] Both the first linear conductive unit and the second linear conductive unit are connected to an electrical state detection circuit and a high-voltage constant current power supply at their ends, and the electrical state detection circuit and the high-voltage constant current power supply are connected to a controller;

[0010] The high-voltage constant current power supply is used to provide power to the first linear conductive unit and the second linear conductive unit, and the controller regulates the current of the high-voltage constant current power supply to alternately output according to a set cycle, so as to switch between two types of current output for electrical stimulation and for detecting changes in electrical signals.

[0011] The electrical state detection circuit is used to acquire the electrical signals of the first linear conductive unit and the second linear conductive unit and detect changes in the electrical signals, and the controller regulates the electrical state detection circuit to alternately start and stop according to a set cycle;

[0012] The electrical state detection circuit transmits the detected electrical signal change information to the controller. Based on the electrical signal change information, the controller controls the high-voltage constant current power supply to output current to the first linear conductive unit and the second linear conductive unit to generate electrical stimulation.

[0013] In a preferred embodiment of the present invention, the high-voltage constant current power supply serves as the power supply for the second linear conductive unit and the first linear conductive unit. The current output by the high-voltage constant current power supply for detecting electrical signals is less than the current output by the high-voltage constant current power supply for electrical stimulation, and the magnitude of the current generated by the high-voltage constant current power supply for electrical stimulation can be adjusted.

[0014] In a preferred embodiment of the present invention, the electrical state detection circuit is used to detect the resistance, voltage or current changes of the first linear conductive unit and the second linear conductive unit in different rows and columns, and to locate the position based on the detected changes in row and column information, so as to determine whether a change in the touch or contact state has occurred at the location. The controller adjusts the timing of generating electrical stimulation based on the monitoring results of the electrical state detection circuit.

[0015] As a preferred embodiment of the present invention, the controller is configured with a set of electronic switch arrays corresponding to all rows of first linear conductive units and another set of electronic switch arrays corresponding to all columns of second linear conductive units;

[0016] Each set of the electronic switch arrays includes a high voltage state, a ground state, and a high resistance state. The two sets of electronic switch arrays selectively allocate the three electrical states of high voltage, ground, and high resistance on different second linear conductive units and first linear conductive units.

[0017] The controller controls the stimulation position, stimulation range, and stimulation combination of the layered grid structure through the electronic switch array, so as to achieve editing of the electrical stimulation area and stimulation pattern.

[0018] As a preferred embodiment of the present invention, the controller generates electrical stimulation at different spatial locations of the layered grid structure by continuously changing the power supply combination of the second linear conductive unit and the first linear conductive unit.

[0019] The controller controls the sequence and duration of electrical stimulation generated by the layered mesh structure to create a dynamic stimulation effect in terms of temporal aspect.

[0020] As a preferred embodiment of the present invention, the outermost of the lateral edge and the outermost of the longitudinal edge of the layered grid structure are respectively provided with the insulating linear unit, so that the second linear conductive unit and the first linear conductive unit form conductive lead-out structures that are directionally distinct and electrically isolated from each other at the edge positions.

[0021] As a preferred embodiment of the present invention, the conductive lead-out structures of the first linear conductive unit and the second linear conductive unit are encapsulated with anisotropic conductive adhesive and a printed circuit board.

[0022] In a preferred embodiment of the present invention, one set of the electronic switch arrays is connected to all the first linear conductive units via the printed circuit board, and another set of the electronic switch arrays is connected to all the second linear conductive units via the printed circuit board, so as to adjust the number of the first and second linear conductive units that are powered simultaneously.

[0023] As a preferred embodiment of the present invention, the first linear conductive unit, the second linear conductive unit, and the insulating linear unit are combined by knitting or embroidery.

[0024] The plurality of insulating linear units and at least one first linear conductive unit are arranged longitudinally, and the plurality of insulating linear units and at least one second linear conductive unit are alternately woven with the plurality of insulating linear units and at least one first linear conductive unit in the transverse direction;

[0025] The intersection of the first linear conductive unit and the second linear conductive unit is separated by the insulating linear unit.

[0026] As a preferred embodiment of the present invention, the second linear conductive unit and the first linear conductive unit are respectively arranged in different braiding layers of the layered grid structure;

[0027] Within the same braided layer of the layered mesh structure, the second linear conductive unit and the first linear conductive unit are spaced apart by at least one insulating linear unit near their intersection to prevent electrical short circuits in the planar direction.

[0028] In different weaving layers of the layered mesh structure, the overlapping positions of the second linear conductive unit and the first linear conductive unit are spaced apart by at least one insulating linear unit to prevent electrical short circuits in the thickness direction.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] This invention forms a conductive hierarchical mesh structure by electrically isolating insulating and conductive units. The manufacturing method of this conductive hierarchical mesh structure is simple, and a control system is configured for the hierarchical mesh structure. The control system can obtain the touch signal based on the change of electrical signal of the conductive wire, and after obtaining the electrical signal, it outputs a stimulation current to the conductive wire through the controller to realize electrical stimulation. The control system alternates the electrical stimulation output with the touch detection process according to a set cycle. The same hierarchical mesh structure can simultaneously support tactile stimulation and touch tracking functions without the need to add additional independent sensing units to sense touch changes, thereby improving the system integration. Attached Figure Description

[0031] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0032] Figure 1 This is a three-dimensional structural diagram of the layered mesh structure according to an embodiment of the present invention;

[0033] Figure 2 This is a top view of the layered mesh structure according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the conductive lead-out structure at the edge of the layered mesh structure according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of touch tracking control according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of electrical stimulation control according to an embodiment of the present invention;

[0037] Figure 6This is a flowchart illustrating the touch tracking mode and electrical stimulation mode according to an embodiment of the present invention;

[0038] 1-Layered mesh structure; 2-Control system; 3-Printed circuit board; 4-Anisotropic conductive adhesive;

[0039] 11-First linear conductive unit; 12-Second linear conductive unit; 13-Insulating linear unit;

[0040] 21-High voltage constant current power supply; 22-Controller; 23-Electrical status detection circuit; 24-Electronic switch array. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] like Figures 1 to 3 As shown, this invention provides an interactive touch sensing and electrical stimulation output system for conductive interfaces. In this embodiment, a hierarchical mesh structure is formed by electrically isolating insulating units and conductive units. The manufacturing method of this hierarchical mesh structure is simple. A control system is configured for the hierarchical mesh structure. The control system can obtain the touched electrical signal according to the change of electrical signal of the conductive wire. After obtaining the electrical signal, the controller outputs stimulation current to the conductive wire to realize electrical stimulation. The control system alternates the electrical stimulation output with the touched detection process according to a set cycle. The same hierarchical mesh structure can simultaneously support tactile stimulation and touch tracking functions on the same hierarchical mesh structure without adding additional independent sensing units to sense touch changes, thereby improving the system integration.

[0043] Specifically, it includes a first linear conductive unit 11 and a second linear conductive unit 12 arranged in a longitudinal and transverse manner. The first linear conductive unit 11, the second linear conductive unit 12 and the insulating linear unit 13 are arranged alternately to form a soft tactile conductive layered grid structure 1, and the first linear conductive unit 11 and the second linear conductive unit 12 are always kept out of contact with each other by the insulating linear unit 13.

[0044] The first linear conductive unit 11 and the second linear conductive unit 12 constitute a sensing element for transmitting electrical signals, and the insulating linear unit 13 is used for structural support and electrical isolation.

[0045] That is, the first linear conductive unit 11, the second linear conductive unit 12 and the insulating linear unit 13 are combined by knitting or embroidery.

[0046] Multiple insulating linear units 13 and at least one first linear conductive unit 11 are arranged longitudinally, and multiple insulating linear units 13 and at least one second linear conductive unit 12 are interwoven with multiple insulating linear units 13 and at least one first linear conductive unit 11 in the transverse direction.

[0047] The intersection of the first linear conductive unit 11 and the second linear conductive unit 12 is separated by an insulating linear unit 13.

[0048] Based on the above isolation principle, this invention provides various electrode array structure embodiments of the layered mesh structure 1, specifically including but not limited to the following three structural forms:

[0049] In the first embodiment, the first linear conductive unit 11 is exposed on both the top and bottom surfaces of the layered mesh structure 1, while the second linear conductive unit 12 is exposed only on the top surface of the fabric. This structure is suitable for applications where the top surface serves as the main electrode module and the bottom surface does not require additional insulation.

[0050] In the second embodiment, the first linear conductive unit 11 and the second linear conductive unit 12 are symmetrically arranged in a multi-layer braided structure, so that both can be exposed on the top and bottom surfaces of the conductive module, thereby forming a double-sided textile electrode structure. This structure is suitable for applications where electrical stimulation or electrode action is required on both sides of the fabric.

[0051] In the third embodiment, both the first linear conductive unit 11 and the second linear conductive unit 12 are arranged in a layer near the top surface of the fabric. The bottom of the fabric forms a continuous isolation structure through non-conductive yarns, preventing either the first linear conductive unit 11 or the second linear conductive unit 12 from being exposed on the bottom surface of the fabric. This structure is suitable for applications where electrical stimulation is performed only on the top surface of the fabric, and the bottom of the fabric requires overall electrical insulation.

[0052] Although the exposure methods of the first linear conductive unit 11 and the second linear conductive unit 12 on the top or bottom surface of the module differ in the above different embodiments, their core structural features are the same. They both achieve double electrical isolation between the first linear conductive unit 11 and the second linear conductive unit 12 by setting non-conductive yarns in the xy plane direction and the z direction.

[0053] The layered mesh structure 1 can be a single-layer braided structure or a multi-layer braided structure formed by stacking multiple single-layer braided structures. The second linear conductive unit 12 and the first linear conductive unit 11 are respectively arranged in different braided layers.

[0054] The second linear conductive unit 12 and the first linear conductive unit 11 are respectively arranged in different braiding layers of the layered grid structure 1.

[0055] Within the same braided layer of the layered mesh structure 1, the second linear conductive unit 12 and the first linear conductive unit 11 are spaced apart near their intersection by at least one insulating linear unit 13 to prevent electrical short circuits in the planar direction.

[0056] On different braiding layers of the layered mesh structure 1, the overlapping positions of the second linear conductive unit 12 and the first linear conductive unit 11 are spaced apart by at least one insulating linear unit 13 to prevent electrical short circuits in the thickness direction.

[0057] The second linear conductive unit 12 terminates near the edge of the layered mesh structure 1 via an insulating linear unit 13, and the first linear conductive unit 11 terminates near the edge of the layered mesh structure 1 via an insulating linear unit 13, so that the second linear conductive unit 12 and the first linear conductive unit 11 form directionally distinct and electrically isolated conductive lead-out structures in the edge region.

[0058] Under pressure, the layered mesh structure 1 forms a conductive path only in the thickness z direction of the layered mesh structure 1, thereby realizing the electrical connection between the layered mesh structure 1 and the external driving circuit.

[0059] From a top view, in the main area of ​​the layered grid structure 1, the first linear conductive unit 11 and the second linear conductive unit 12 are distributed in a two-dimensional staggered manner. In the latitudinal edge area of ​​the layered grid structure 1, only the second linear conductive unit 12 is continuously led out along the width direction, and the first linear conductive unit 11 is replaced or terminated by the insulating support unit 13 near the edge.

[0060] In the warp edge region of the fabric, only the first linear conductive unit 11 is continuously led out along the length direction, and the second linear conductive unit 12 is replaced or terminated by the insulating support unit 13 near the edge, so that the first linear conductive unit 11 and the second linear conductive unit 12 form conductive lead-out structures with clear directional distinction and electrical isolation from each other in the edge region.

[0061] From the cross-sectional view, in the conductive lead-out area, the first linear conductive unit 11 and the second linear conductive unit 12 are connected to the flexible printed circuit board 3 through anisotropic conductive adhesive 4. In this embodiment, the flexible printed circuit board 3 is used as a connector. The anisotropic conductive adhesive 4 is disposed between the first linear conductive unit 11 and the second linear conductive unit 12 and the conductive pads of the flexible printed circuit board 3. Under pressure, a conductive path is formed only in the thickness direction, thereby realizing a reliable electrical connection between the electrode array of the layered mesh structure 1 and the external driving circuit, and avoiding electrical short circuits between adjacent conductive unit leads in the planar direction.

[0062] In addition, the anisotropic conductive adhesive 4 can achieve a one-to-one electrical connection between the layered mesh structure 1 and the flexible printed circuit board 3 without damaging the flexibility of the fabric, while avoiding electrical short circuits between adjacent first linear conductive units 11 and second linear conductive units 12 in the planar direction of the conductive lead-out area.

[0063] Compared to connection methods such as welding, pin insertion, or isotropic conductive adhesive, the anisotropic conductive adhesive 4 used in this invention is more suitable for use with high-density, flexible, linearly distributed fabric electrode structures, thereby improving the reliability of the connection area under bending, stretching and other working conditions.

[0064] This embodiment adjusts the electrode size by changing the number of the first linear conductive unit 11 and the second linear conductive unit 12 in the layered mesh structure 1.

[0065] The electrode distance is adjusted by changing the number of insulating linear units 13 between the layered mesh structure 1, and the density of the first linear conductive unit 11 and the second linear conductive unit 12 in each layer of the braided unit of the layered mesh structure 1 is the same.

[0066] like Figure 4 and Figure 5 As shown, the ends of the first linear conductive unit 11 and the second linear conductive unit 12 are both connected to an electrical state detection circuit 23 and a high-voltage constant current power supply 21, and the electrical state detection circuit 23 and the high-voltage constant current power supply 21 are connected to a controller 22.

[0067] The high-voltage constant current power supply 21 is used to provide power to the first linear conductive unit 11 and the second linear conductive unit 12. The high-voltage constant current power supply 21 can ensure the stability of the electrical stimulation output, and the voltage of the electrical stimulation generated by the high-voltage constant current power supply 21 can be adjusted.

[0068] The electrical state detection circuit 23 is used to acquire the electrical signals of the first linear conductive unit 11 and the second linear conductive unit 12 and detect changes in the electrical signals.

[0069] The controller 22, the high-voltage constant current power supply 21, and the electrical state detection circuit 23 constitute a control system 2 that supplies power to the layered grid structure 1, and the control system 2 regulates and switches the electrical stimulation mode and the electrical signal change detection mode of the layered grid structure 1.

[0070] The electrical state detection circuit 23 transmits the detected electrical signal change information to the controller 22. The controller 22 controls the high voltage constant current power supply 21 to output current to the first linear conductive unit 11 and the second linear conductive unit 12 to generate electrical stimulation based on the electrical signal change information. Furthermore, the controller 22 adjusts the time and voltage of generating electrical stimulation based on the monitoring results of the electrical state detection circuit 23.

[0071] The controller 22 regulates the current of the high-voltage constant current power supply 21 to alternately output according to a set cycle, so as to switch between two types of current output for electrical stimulation and for detecting changes in electrical signals. The controller 22 also regulates the electrical state detection circuit 23 to alternately start and stop according to a set cycle.

[0072] In this embodiment, the first linear conductive unit 11 and the second linear conductive unit 12 of the layered mesh structure 1 are not only used for electrical stimulation output, but can also be used as a module for electrical state detection. Therefore, in this embodiment, the layered mesh structure 1 has two operating modes, such as... Figure 6 As shown:

[0073] Firstly, when detecting changes in electrical signals (specifically, when the first linear conductive unit 11 and the second linear conductive unit 12 are touched by a human body, their resistance, current, and voltage will change accordingly, forming a touch tracking mode), the controller 22 controls the high-voltage constant current power supply 21 to generate a small current, which is mainly imperceptible to the human body. The electrical state detection circuit 23 transmits the detected electrical signal change information to the controller 22.

[0074] Secondly, when a change in electrical signal is detected, the controller 22 controls the high-voltage constant current power supply 21 to output current to the first linear conductive unit 11 and the second linear conductive unit 12 based on the information of the change in electrical signal to generate electrical stimulation. At this time, an electrical stimulation output mode is formed. At this time, the output current of the high-voltage constant current power supply 21 is relatively large. Specifically, the controller 22 adjusts the time and voltage of generating electrical stimulation based on the monitoring results of the electrical state detection circuit 23.

[0075] By alternating between touch tracking mode and electrical stimulation output mode, the detection result of touch tracking mode is used as the trigger signal to start electrical stimulation output mode. When touch tracking mode detects that the electrical signals (such as resistance and current signals) of the first linear conductive unit 11 and the second linear conductive unit 12 remain unchanged, electrical stimulation output mode is not started. When touch tracking mode detects that the electrical signals (such as resistance and current signals) of the first linear conductive unit 11 and the second linear conductive unit 12 change, electrical stimulation output mode is started. The interval between each two touch tracking modes is the same and can be in seconds or milliseconds.

[0076] In this embodiment, the output current of the high-voltage constant current power supply 21 is alternately output according to the touch tracking mode and the electrical stimulation mode according to the set switching cycle, and the switching cycle is adjustable in milliseconds.

[0077] Because different users have different perception thresholds for electrical stimulation, the high-voltage constant current power supply 21 can be adjusted within a safe range during the electrical stimulation output mode to meet the stimulation requirements under different experimental or usage conditions. Its main function is to serve as the power supply for the first linear conductive unit 11 and the second linear conductive unit 12, ensuring the stability of the electrical stimulation output and facilitating parameter adjustment during experiments and tests.

[0078] By detecting changes in resistance, voltage, or current at the nodes of the first linear conductive unit 11 and the second linear conductive unit 12, it can be determined whether a touch or contact change has occurred at the corresponding location. Therefore, in this embodiment, the first linear conductive unit 11 and the second linear conductive unit 12 serve as both a stimulation module and a detection module, used to sense the contact state of the fabric surface. The relevant detection functions are implemented through a detection circuit integrated into the control system, without being limited to its specific physical form.

[0079] The electrical state detection circuit 23 is alternately paused and operated according to the switching cycle under the control of the controller 22. Specifically, it does not work in the electrical stimulation output mode and works in the mode of detecting changes in electrical signals. The electrical state detection circuit 23 is used to detect the resistance, voltage or current changes of the first linear conductive unit 11 and the second linear conductive unit 12 in different rows and columns, and to locate the position based on the detected changes in row and column information in order to determine whether a change in the touch or contact state has occurred at the location.

[0080] The controller 22 is configured with a set of electronic switch arrays 24 corresponding to all rows of first linear conductive units 11, and another set of electronic switch arrays 24 corresponding to all columns of second linear conductive units 12.

[0081] Each set of electronic switch arrays 24 includes a high voltage state, a ground state, and a high resistance state. The two sets of electronic switch arrays 24 selectively assign the three electrical states of high voltage, ground, and high resistance on different second linear conductive units 12 and first linear conductive units 11.

[0082] Each group of electronic switch arrays 24 has a minimum control unit consisting of a pair of N-type metal-oxide-semiconductor field-effect transistors, which are controlled by a semiconductor field-effect transistor half-bridge driver integrated circuit to achieve switching between the high voltage state, ground state and high resistance state of the second linear conductive unit 12 and the first linear conductive unit 11.

[0083] The controller controls the stimulation position, stimulation range, and stimulation combination of the layered grid structure 1 through the electronic switch array 24, so as to achieve editing of the electrical stimulation area and stimulation pattern.

[0084] The controller 22 generates electrical stimulation at different spatial locations of the layered grid structure 1 by continuously changing the power supply combination of the second linear conductive unit 12 and the first linear conductive unit 11.

[0085] The controller 22 controls the sequence and duration of electrical stimulation generated by the layered grid structure 1 to create a dynamic stimulation effect in terms of temporality.

[0086] One set of electronic switch arrays 24 is connected to all the first linear conductive units 11 via printed circuit board 3, and the other set of electronic switch arrays 24 is connected to all the second linear conductive units 12 via printed circuit board 3.

[0087] In this embodiment, the three states of high voltage, grounding, and high resistance are assigned to the second linear conductive unit 12 and the first linear conductive unit 11. This allows for selective control of the stimulation position, stimulation range, and stimulation combination on the surface of the layered grid structure 1. Thus, the control system controls the electrical stimulation in two dimensions: "where to stimulate" and "when to stimulate".

[0088] Spatially, the layered grid structure 1 is formed by many second linear conductive units 12 and first linear conductive units 11. The controller 22 does not energize the entire fabric at once, but rather controls the energization of different warp and weft threads, allowing only selected warp and weft combinations to work together. In this way, only the selected small area generates electrical stimulation, and by continuously changing the warp and weft combinations, stimulation can be generated at different locations on the fabric surface.

[0089] In terms of timing, the controller 22 controls whether these electrical stimuli occur in sequence, sequentially, or in a certain order, such as moving in rows or appearing in turn at different locations. By controlling the order and duration of the stimuli, a dynamic stimulation effect can be created, rather than a static effect fixed at a single point.

[0090] In summary, the reason why this implementation method can produce different sensory qualities and static and dynamic stimulation patterns is essentially achieved by combining and controlling the stimulation location, stimulation range, and stimulation timing.

[0091] First, the different sensory qualities are not achieved through different hardware structures, but rather by adjusting the electrical stimulation in the layered grid structure 1 in the following aspects:

[0092] ①Stimulation area:

[0093] Whether the stimulus is concentrated in a very small area or distributed over a larger area directly affects the concentration of tactile sensation.

[0094] ② Stimulation methods:

[0095] Whether the stimulus is continuous or intermittent, whether it appears briefly or persists, all these factors will cause people to experience different types of tactile effects.

[0096] ③ Stimulation current magnitude:

[0097] The magnitude of the current primarily determines the intensity of the stimulus, that is, the intensity of the stimulus perceived by the user.

[0098] ④ Stimulation frequency:

[0099] The frequency of stimulation can affect the smoothness of tactile sensation, such as whether it tends to be a continuous, smooth sensation or a distinct, rhythmic sensation.

[0100] Secondly, the so-called static mode refers to a stimulation location that remains unchanged for a period of time, such as continuously generating stimulation on a certain first linear conductive unit 11, a certain second linear conductive unit 12, or a certain fixed area on the fabric surface. In this case, the controller 22 simply outputs stimulation repeatedly on the same combination of the first linear conductive unit 11 and the second linear conductive unit 12, without involving changes in the stimulation location.

[0101] The dynamic mode refers to the change of stimulus location over time. The system switches between different combinations of the first linear conductive unit 11 and the second linear conductive unit 12 in a preset order, so that the stimulus presents a moving, spreading, or changing effect on the fabric surface, such as moving from one side to the other, or appearing in turn in multiple areas.

[0102] In general, different sensory qualities, static modes, and dynamic modes are all formed by combining and controlling dimensions such as the size of the stimulation area, the distribution of stimulation, and the order of stimulation time, based on the same layered grid structure 1 and control system 2.

[0103] Therefore, this embodiment achieves different stimulation effects by controlling parameters such as the number of first linear conductive units 11 and second linear conductive units 12 involved in stimulation (i.e., the number of stimulation points activated simultaneously), the spacing between two first linear conductive units 11 or two second linear conductive units 12, the number of channels involved in stimulation, the reference frequency of stimulation, the time interval between pulses, whether there is a time misalignment between different conductive unit channels, and the width and number of pulses of a single pulse.

[0104] The layered mesh structure 1 in this embodiment can simultaneously achieve the dual functions of tactile stimulation and touch tracking. This is not because discrete point electrodes are set in the conductive module, but because the perception effect is produced by the linear electrode structure formed by the first linear conductive unit 11 and the second linear conductive unit 12 and the electrical stimulation control method.

[0105] Therefore, in this embodiment, the same linear conductive unit structure can be used as a detection module for changes in electrical state when performing touch tracking. When a finger or body touches the fabric surface, it will cause changes in the resistance, voltage or current characteristics of the corresponding first linear conductive unit 11 and second linear conductive unit 12. The controller 22 can infer the approximate location of the touch and its changes by scanning and sampling all rows and columns of the first linear conductive unit 11 and second linear conductive unit 12 and combining the correspondence between the first linear conductive unit 11 and the second linear conductive unit 12.

[0106] During tactile stimulation, the first linear conductive unit 11 and the second linear conductive unit 12 in the conductive module are selectively energized as linear electrodes distributed in one direction, under the control of the controller 22. By controlling the magnitude of the current, the stimulation sequence, and the time stagger between the channels on the first linear conductive unit 11 and the second linear conductive unit 12, a tactile illusion similar to discrete point stimulation can be generated in the area where the first linear conductive unit 11 and the second linear conductive unit 12 intersect at the sensory level, thereby "rendering" a spatially distributed stimulation effect on the fabric surface.

[0107] By controlling the stimulus output and detection process in a time-division manner, the same set of linear electrode structures can support both tactile stimulation and touch tracking functions on the same conductive module without the need for additional independent sensing units.

[0108] Therefore, this embodiment discloses a layered mesh structure with electrotactile stimulation and touch tracking. The layered mesh structure has a multi-layered braided structure of linear conductive units with two-dimensional cross-distribution, which can generate dense and precisely embedded electrodes. The controller tracks the touch on the textile by simultaneously scanning the electrodes. In addition, the control system provides a constant current, operates a switch to control the waveform and position of the electrostimulation, and monitors voltage changes. It can also stimulate various tactile effects, including different stimulation sensations, static patterns, and dynamic patterns.

[0109] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

Claims

1. An interactive touch sensing and electrical stimulation output system for a conductive interface, characterized in that, include: The first linear conductive unit (11) and the second linear conductive unit (12) are arranged in a longitudinal and transverse manner. The first linear conductive unit (11), the second linear conductive unit (12) and the insulating linear unit (13) are arranged in an alternating manner to form a conductive layered grid structure (1). The first linear conductive unit (11) and the second linear conductive unit (12) are always kept out of contact with each other by the insulating linear unit (13). The first linear conductive unit (11) and the second linear conductive unit (12) constitute a sensing element for transmitting electrical signals, and the insulating linear unit (13) is used for structural support and electrical isolation. The ends of the first linear conductive unit (11) and the second linear conductive unit (12) are connected to an electrical state detection circuit (23) and a high voltage constant current power supply (21), and the electrical state detection circuit (23) and the high voltage constant current power supply (21) are connected to a controller (22). The high-voltage constant current power supply (21) is used to provide power to the first linear conductive unit (11) and the second linear conductive unit (12), and the controller (22) regulates the current of the high-voltage constant current power supply (21) to alternately output according to a set cycle, so as to switch the output of two types of current for electrical stimulation and for detecting changes in electrical signals. The electrical state detection circuit (23) is used to acquire the electrical signals of the first linear conductive unit (11) and the second linear conductive unit (12) and detect changes in the electrical signals. The controller (22) regulates the electrical state detection circuit (23) to alternately start and stop according to a set cycle. The electrical state detection circuit (23) transmits the detected electrical signal change information to the controller (22). The controller (22) controls the high voltage constant current power supply (21) to output current to the first linear conductive unit (11) and the second linear conductive unit (12) to generate electrical stimulation based on the electrical signal change information.

2. The interactive touch sensing and electrical stimulation output system for a conductive interface according to claim 1, characterized in that, The high-voltage constant current power supply (21) serves as the power supply for the second linear conductive unit (12) and the first linear conductive unit (11). The current output by the high-voltage constant current power supply (21) for detecting electrical signals is less than the current output by the high-voltage constant current power supply (21) for electrical stimulation, and the magnitude of the current generated by the high-voltage constant current power supply (21) for electrical stimulation can be adjusted.

3. The interactive touch sensing and electrical stimulation output system for a conductive interface according to claim 1, characterized in that, The electrical state detection circuit (23) is used to detect the resistance, voltage or current changes of the first linear conductive unit (11) and the second linear conductive unit (12) in different rows and columns, and to locate the position based on the detected changes in row and column information, so as to determine whether the position has changed in touch or contact state. The controller (22) adjusts the time of generating electrical stimulation based on the monitoring results of the electrical state detection circuit (23).

4. The interactive touch sensing and electrical stimulation output system for a conductive interface according to claim 1, characterized in that, The controller (22) is configured with a set of electronic switch arrays (24) corresponding to all rows of first linear conductive units (11) and another set of electronic switch arrays (24) corresponding to all columns of second linear conductive units (12). Each set of the electronic switch arrays (24) includes a high voltage state, a ground state, and a high resistance state. The two sets of electronic switch arrays (24) selectively assign the three electrical states of high voltage, ground, and high resistance state on different second linear conductive units (12) and first linear conductive units (11). The controller controls the stimulation position, stimulation range and stimulation combination of the layered grid structure (1) through the electronic switch array (24) to achieve editing of the electrical stimulation area and stimulation pattern.

5. An interactive touch sensing and electrical stimulation output system for a conductive interface according to claim 1, characterized in that, The controller (22) generates electrical stimulation at different spatial locations in the layered grid structure (1) by continuously changing the power supply combination of the second linear conductive unit (12) and the first linear conductive unit (11); The controller (22) generates electrical stimulation in sequence and duration by controlling the layered grid structure (1) to form a dynamic stimulation effect in temporality.

6. An interactive touch sensing and electrical stimulation output system for a conductive interface according to claim 1, characterized in that, The outermost edge of the layered grid structure (1) is provided with the insulating linear unit (13) at the outermost edge of the horizontal edge and the outermost edge of the vertical edge, so that the second linear conductive unit (12) and the first linear conductive unit (11) form conductive lead-out structures that are directionally distinct and electrically isolated from each other at the edge position.

7. An interactive touch sensing and electrical stimulation output system for a conductive interface according to claim 6, characterized in that, The conductive lead-out structures of the first linear conductive unit (11) and the second linear conductive unit (12) are encapsulated with the printed circuit board (3) by anisotropic conductive adhesive (4).

8. An interactive touch sensing and electrical stimulation output system for a conductive interface according to claim 7, characterized in that, One set of the electronic switch arrays (24) is connected to all the first linear conductive units (11) via the printed circuit board (3), and another set of the electronic switch arrays (24) is connected to all the second linear conductive units (12) via the printed circuit board (3) to adjust the number of the first linear conductive units (11) and the second linear conductive units (12) that are powered simultaneously.

9. An interactive touch sensing and electrical stimulation output system for a conductive interface according to claim 1, characterized in that, The first linear conductive unit (11), the second linear conductive unit (12), and the insulating linear unit (13) are combined by knitting or embroidery; The plurality of insulating linear units (13) and at least one first linear conductive unit (11) are arranged longitudinally, and the plurality of insulating linear units (13) and at least one second linear conductive unit (12) are interwoven with the plurality of insulating linear units (13) and at least one first linear conductive unit (11) in the transverse direction; The intersection of the first linear conductive unit (11) and the second linear conductive unit (12) is separated by the insulating linear unit (13).

10. An interactive trigger sensing and electrical stimulation output system for electrode driving according to claim 1, characterized in that, The second linear conductive unit (12) and the first linear conductive unit (11) are respectively arranged in different braiding layers of the layered grid structure (1); Within the same braiding layer of the layered mesh structure (1), the second linear conductive unit (12) and the first linear conductive unit (11) are spaced apart by at least one insulating linear unit (13) at a position close to the intersection to prevent electrical short circuits in the planar direction. On different weaving levels of the layered mesh structure (1), the overlapping positions of the second linear conductive unit (12) and the first linear conductive unit (11) are spaced apart by at least one insulating linear unit (13) to prevent electrical short circuits in the thickness direction.

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