A head-mounted haptic feedback device and system

Abstract

The application discloses a head-mounted haptic feedback device, which comprises a head-mounted frame, a sliding rail member, a contact mechanism and a driving mechanism. The head-mounted frame is arranged on the head of a user. The sliding rail member is detachably arranged on the head-mounted frame. The contact mechanism is slidably arranged on the sliding rail member, and the contact mechanism comprises at least one contact head in contact with the head. The driving mechanism is arranged on the contact mechanism and is used for driving the contact mechanism to slide along the extension direction of the track on the sliding rail member. Accordingly, the application also discloses a head-mounted haptic feedback system, which comprises a control unit and the head-mounted haptic feedback device as described above. The control unit is electrically connected with the driving mechanism of the head-mounted haptic feedback device. The head-mounted haptic feedback device and the system have the dual abilities of functional prompt and emotional information transmission while improving the adaptability and interactive experience, and have good popularization prospect and application value.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction equipment technology, and in particular to a head-mounted haptic feedback device and system. Background Technology

[0002] As is well known, haptic feedback technology is a technology that transmits information by applying controlled mechanical stimulation to the skin. It has the advantage of not occupying the visual and auditory channels and has important value in scenarios such as virtual reality, navigation, and remote interaction. Among them, haptic feedback technology can be divided into background interaction and non-background interaction according to the application scenario: background interaction takes haptic interaction as the main task, which requires the use of cognitive resources and active operation; non-background interaction uses haptic feedback as an auxiliary, which serves the main task and does not interfere with the main task.

[0003] Currently, wearable haptic feedback devices are the key carriers for realizing haptic feedback technology. Most common wearable haptic feedback devices are worn on the hand, wrist, or torso. These non-head-mounted devices have been widely used in non-contextual interactions, but they suffer from problems such as motion interference and restriction of daily activities in contextual interactions. In contrast, head-mounted haptic feedback devices have advantages such as strong universality, high motor independence, and short neural conduction pathways, making them more suitable as the application carrier for contextual haptic feedback technology.

[0004] Currently, existing head-mounted haptic feedback devices rely on traditional physical stimulation methods such as vibration, pressing, or mechanical squeezing to achieve tactile interaction. However, given the thin skin, lack of subcutaneous fat, and tight tissue structure of the human head region, these traditional stimulation methods have significant inherent drawbacks in application: on the one hand, the tactile perception threshold is limited, easily leading to weak feedback signals, slow recognition, and poor user experience; on the other hand, existing technical approaches can only non-specifically activate Aβ nerve fibers responsible for mechanical tactile recognition, while lacking an effective activation mechanism for C-type tactile (CT) fibers that mediate pleasure and emotional connection, making it difficult for the device to convey subtle emotional warmth and limiting its application potential in immersive interactive scenarios. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: The present invention discloses a head-mounted haptic feedback device and system to solve the problems of poor head fit, single information dimension and inability to convey emotional information caused by the use of traditional stimulation methods such as vibration and pressing in existing head-mounted haptic feedback devices.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a head-mounted haptic feedback device, comprising: A head-mounted frame that is placed over the user's head; A slide rail component, which is detachably mounted on the headgear frame; A contact mechanism is slidably disposed on the slide rail, and the contact mechanism includes at least one contact head that contacts the head. A driving mechanism is provided on the contact mechanism and is used to drive the contact mechanism to slide along the track extension direction on the slide rail.

[0007] To address the problems of poor head fit, limited information dimensions, and inability to convey emotional information in existing head-mounted haptic feedback devices that rely on traditional stimulation methods such as vibration and pressure, this invention designs a novel head-mounted haptic feedback device. This device utilizes modular sliding rails on a head-mounted frame, with sliding contact mechanisms mounted on these rails. By controlling the movement of these movable contact points, multiple stroking parameters—the location, intensity, and speed of the stroking on the user's scalp—are adjusted. Different combinations of these stroking parameters are encoded into different functional or emotional information, which is then transmitted to the user through natural stroking stimulation. This simulates natural stroking, replacing traditional vibration and pressure-based haptic feedback. It improves fit and interactive experience while effectively activating the C-tactile (CT) fiber pathway responsible for emotional communication. This gives the head-mounted haptic feedback device both functional cues and emotional information delivery capabilities, solving the key problems of limited information dimensions and inability to convey emotional information in existing head-mounted haptic feedback devices. It has promising prospects for widespread application and value.

[0008] Furthermore, in the head-mounted haptic feedback device of the present invention, the head-mounted frame includes a housing, one end of which has an accommodating groove for accommodating the head; wherein, the other end of the housing has a plurality of through holes, which penetrate the housing and communicate with the accommodating groove; the slide rail is detachably mounted on the housing corresponding to the through holes, and at least a portion of the contact mechanism passes through the through holes, so that the contact head extends into the accommodating groove and contacts the head.

[0009] Furthermore, in the head-mounted haptic feedback device of the present invention, the housing includes an outer shell and an inner shell connected to the outer shell, the outer shell covering the outer surface of the inner shell, and the inner surface of the inner shell forming the receiving groove.

[0010] Furthermore, in the head-mounted haptic feedback device of the present invention, the track on the slide rail extends in an arc shape.

[0011] Furthermore, in the head-mounted haptic feedback device of the present invention, the slide rail includes a main body and a first rail and a second rail disposed on the main body. The first rail and the second rail are both disposed along the extension direction of the track, and the first rail and the second rail are disposed opposite to each other on opposite sides of the main body.

[0012] Furthermore, in the head-mounted haptic feedback device of the present invention, the contact mechanism further includes a motion component, which includes a mounting plate, a first roller and a second roller. The contact head is connected to the mounting plate, and the first roller and the second roller are rotatably disposed on the mounting plate. The first roller rolls on the first rail, and the second roller rolls on the second rail.

[0013] Furthermore, in the head-mounted haptic feedback device of the present invention, the driving mechanism includes a first driving member, which is disposed on the mounting plate, and the output end of the first driving member is connected to the first roller and / or the second roller in a transmission connection.

[0014] Furthermore, in the head-mounted haptic feedback device of the present invention, the contact mechanism further includes a pressure assembly, which includes a screw and a push rod. The screw is disposed on the mounting plate, the push rod is threadedly connected to the screw, and the contact head is disposed on the push rod.

[0015] Furthermore, in the head-mounted haptic feedback device of the present invention, the contact mechanism further includes a pressure assembly, which includes a screw and a push rod. The push rod is threadedly connected to the screw, and the contact head is disposed on the push rod. The driving mechanism includes a second driving member, which is disposed on the mounting plate. The output end of the second driving member is connected to the screw to drive the screw to rotate.

[0016] Accordingly, another object of the present invention is to disclose a head-mounted haptic feedback system, which includes a control unit and a head-mounted haptic feedback device as described above, wherein the control unit is electrically connected to the drive mechanism of the head-mounted haptic feedback device.

[0017] The beneficial effects of this invention are as follows: The head-mounted haptic feedback device and system designed in this invention can be effectively applied in immersive interactive scenarios. By setting up a sliding rail and a slidable contact mechanism on the sliding rail, the contact head of the contact mechanism can stroke the user's head, thereby using dynamic stroking to replace the traditional vibration and pressing stimulation. This overcomes the problems of slow perception and easy discomfort caused by traditional methods from the source of stimulation. At the same time, it can effectively activate the C-tactile (CT) fiber pathway responsible for emotional communication, enabling a single device to have the dual capabilities of functional prompting and emotional communication. This solves the key problems of current devices having a single information dimension and being unable to convey emotional information, thereby improving the user experience. It has good prospects for promotion and application value. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the head-mounted haptic feedback device according to one embodiment of the present invention; Figure 2 This is a schematic diagram of the structural breakdown of the head-mounted haptic feedback device according to one embodiment of the present invention; Figure 3 This is a top view of the head-mounted haptic feedback device according to one embodiment of the present invention; Figure 4 This is a schematic diagram of the head-mounted haptic feedback device of the present invention with the outer shell removed in one embodiment. Figure 5 This is a schematic diagram of the inner shell structure of the head-mounted haptic feedback device according to one embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the head-mounted haptic feedback device of the present invention with a modular track installed on the head-mounted frame in one embodiment; Figure 7 This is a schematic diagram of the modular track of the head-mounted haptic feedback device of the present invention from one perspective in one embodiment. Figure 8 This is a schematic diagram of the modular track of the head-mounted haptic feedback device described in this invention from another perspective, representing one embodiment of the device. Figure 9 This is a schematic diagram of the modular track and movable contact connection structure of the head-mounted haptic feedback device of the present invention from one perspective in one embodiment. Figure 10 This is a schematic diagram of the modular track and movable contact connection structure of the head-mounted haptic feedback device of the present invention from another perspective in one embodiment. Figure 11This is a front view of the modular track and movable contact connection structure of the head-mounted haptic feedback device according to one embodiment of the present invention. Figure 12 for Figure 11 A structural diagram of the structure shown; Figure 13 for Figure 12 A schematic diagram of the contact pressurization assembly for the movable contact shown. Figure 14 for Figure 12 The diagram shows the structure of the movable component and modular track of the movable contact from one perspective. Figure 15 for Figure 12 The diagram shows the moving parts of the movable contact and the modular track from another perspective. Figure 16 for Figure 15 A schematic diagram of the moving part of the movable contact shown from one perspective; Figure 17 for Figure 15 The diagram shows the structure of the movable component of the movable contact from another perspective.

[0019] Label Explanation: 1. Headband frame; 11. Shell; 111. Outer shell; 112. Inner shell; 12. Head circumference adjustment piece; 13. Receiving slot; 14. Through hole; 15. Fixing plate; 2. Slide rail components; 21. First rail; 22. Second rail; 23. Guide groove; 24. Main body; 25. Baffle; 26. Locking plate; 3. Contact mechanism; 31. Motion component; 311. Mounting plate; 3111. First plate; 3112. Second plate; 312. First roller; 313. Second roller; 314. Synchronous pulley; 315. Synchronous belt; 316. Clamping block; 317. Protrusion; 318. Roller seat; 319. Spring; 320. Spring guide rod; 32. Pressurizing component; 321. Screw; 322. Push rod; 323. Guide seat; 33. Contact head; 4. Drive mechanism; 41. First drive component; 42. Second drive component. Detailed Implementation

[0020] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0021] To address the problems of existing haptic feedback devices when applied to the head, such as poor adaptability of stimulation methods, limited information dimensions, and lack of emotional transmission capabilities, this invention designs a new head-mounted haptic feedback device and system. It stimulates the user's scalp by stroking and can be applied to human-computer interaction and haptic feedback fields that require background, non-disturbing interaction and emotional communication.

[0022] like Figures 1-2 As shown, in this invention, a head-mounted haptic feedback device based on stroking is designed, which includes: Head-mounted frame 1, which is placed over the user's head; The slide rail 2 is detachably mounted on the headgear frame 1; The contact mechanism 3 is slidably disposed on the slide rail 2, and the contact mechanism 3 includes at least one contact head 33 that contacts the head. The driving mechanism 4 is disposed on the contact mechanism 3 and is used to drive the contact mechanism 3 to slide along the track extension direction on the slide rail 2.

[0023] Therefore, the head-mounted tactile feedback device designed in this invention, by setting a slide rail 2 on the head-mounted frame 1 and installing a contact mechanism 3 that can slide along the extension direction of the track on the slide rail 2, can control the movement of the contact mechanism 3 and use the contact head 33 of the contact mechanism 3 to stroke the user's head. In this way, dynamic stroking replaces the traditional vibration and pressing stimulation, overcoming the problems of dull perception and easy discomfort caused by traditional methods from the source of stimulation. At the same time, it can effectively activate the C-tactile (CT) fiber pathway responsible for emotional communication, so that a single device has the dual ability of functional prompting and emotional communication, solving the key problems of current devices having a single information dimension and being unable to transmit emotional information.

[0024] The aforementioned drive mechanism 4 can control the sliding speed of the contact mechanism 3 when it slides on the slide rail 2, thereby adjusting the stroking speed of the contact head 33 on the user's head to express different functional or emotional information.

[0025] In practical applications, see Figure 3 As shown, the head-mounted haptic feedback device can be configured with a head-mounted frame 1 including a housing 11. One end of the housing 11 has a receiving groove 13, which is designed to accommodate the user's head. The other end of the housing 11 has multiple through holes 14, which penetrate the housing 11 and communicate with the receiving groove 13. In this case, as... Figure 6 As shown, the aforementioned slide rail 2 can be detachably mounted on the housing 11 corresponding to the through hole 14, and is combined with... Figure 6 and Figure 4It can be seen that at least part of the contact mechanism 3 can pass through the through hole 14 so that the contact head 33 extends into the receiving groove 13 of the housing 11 and comes into contact with the user's head.

[0026] In other words, in order to massage different areas of the user's head separately, the user's head can be pre-divided into sections, and multiple through holes 14 can be provided on the surface of the shell 11 of the head-mounted frame 1, so that these through holes 14 are respectively opened in different areas of the shell 11 to match different areas of the head; at this time, the aforementioned slide rail 2 can be installed as a modular accessory in different areas of the shell 11, that is, each area can be provided with a slide rail 2 and a contact mechanism 3 at the through hole 14, realizing flexible modular installation. At this time, it is possible to select and control the contact mechanism 3 of any one or more areas to move on the corresponding slide rail 2, so as to adjust the head-mounted haptic feedback device to massage different areas of the user's head.

[0027] Accordingly, see Figure 3 , Figure 4 As shown, to ensure wearing comfort, in one embodiment, the housing 11 of the headband frame 1 includes an outer shell 111 and an inner shell 112 connected to the outer shell 111. The outer shell 111 covers the outer surface of the inner shell 112, and the inner surface of the inner shell 112 encloses the receiving groove 13. Because this housing 11 employs a double-layer design, the two layers can be made of different materials to simultaneously achieve stable structural support and comfortable wear.

[0028] Among them, such as Figure 3 , Figure 4 The outer shell 111, as the main load-bearing structure, has sufficient thickness and rigidity, and can therefore be manufactured using rigid materials. Its main function is to provide a mounting base for the slide rail 2 and the contact mechanism 3. The outer surface of the outer shell 111 is divided according to the forehead, top, occiput, and temporal regions of the human head, and through holes 14 and fixing plates 15 can be provided in different regions. The fixing plates 15 are arranged adjacent to the through holes 14 and can be used to fix and connect with the slide rail 2. The position and number of fixing plates 15 can be flexibly configured according to different application scenarios. The through holes 14 on the outer shell 111 provide a channel for the contact head 33 of the contact mechanism 3 to extend and contact the scalp.

[0029] And, as Figure 4 and Figure 5As shown, the inner shell 112 is relatively thin and light, and it comes into direct contact with the user's head, primarily serving the functions of fit and comfort. The through-hole 14 on the surface of the outer shell 111 can also penetrate the inner shell 112, ensuring that the stroking action of the contact head 33 can be performed without obstruction. Further details can be found in the above description. Figure 5 As shown, to accommodate different users' head circumferences, the inner shell 112 is also equipped with a head circumference adjustment component 12 at the occipital region of the head. This allows users to adjust the circumference of the inner shell 112 by rotating the knob on the head circumference adjustment component 12, ensuring that the receiving groove 13 of the inner shell 112 is secure and fits snugly against the user's head. In addition, an inner lining pad can be added to the receiving groove 13 of the inner shell 112 as needed to improve wearing comfort.

[0030] It should be noted that, in order to ensure that the contact head 33 of the contact mechanism 3 can always contact and stroke the skin of the head when the contact mechanism 3 slides in the track extension direction on the slide rail 2, the slide rail 2 can adopt a contour-following design, that is, the track extension direction on the slide rail 2 is set to be arc-shaped, so as to match the curve of the user's head and improve the stroking effect of the contact head 33 of the contact mechanism 3 on the user's head.

[0031] In addition, such as Figure 7 and Figure 8 As shown, in order to ensure that the contact mechanism 3 can slide stably and reliably on the slide rail 2, in one embodiment, the slide rail 2 includes a main body 24 and a first rail 21 and a second rail 22 disposed on the main body 24. The first rail 21 and the second rail 22 extend in the same direction and are both arc-shaped rails. The first rail 21 and the second rail 22 are disposed opposite to each other on opposite sides of the main body 24.

[0032] In one embodiment, the first rail 21 and the second rail 22 are respectively disposed at the top and bottom ends of the main body 24; simultaneously, baffles 25 are also disposed at the left and right ends of the main body 24 of the slide rail component 2. These baffles 25 can be fixed to the left and right ends of the main body 24 by screws to limit the travel of the contact mechanism 3 and prevent the contact mechanism 3 from disengaging from the first rail 21 and / or the second rail 22. Wherein, as Figure 7 As shown, in practical applications, in order to ensure that the contact mechanism 3 does not easily derail when sliding, a guide groove 23 can be provided on the side of the main body 24. The extension direction of the guide groove 23 is consistent with the extension direction of the first rail 21 and the second rail 22 to guide the movement of the contact mechanism 3.

[0033] And, as Figure 7 and Figure 8To facilitate installation, a locking plate 26 can be provided at the bottom of the main body 24 of the slide rail component 2. The side of the locking plate 26 can be provided with mounting holes. During installation, the locking plate 26 can be matched with the fixing plate 15 pre-set on the surface of the outer shell 111 of the headgear frame 1, and bolts can be used to pass through the mounting holes to fasten the fixing plate 15 and the locking plate 26, thereby realizing the quick installation and removal of the slide rail component 2 on the headgear frame 1.

[0034] Additionally, see Figure 9 , Figure 10 , Figure 11 and Figure 12 As shown, in order to adapt to the slide rail 2, in practical applications, the contact mechanism 3 of the head-mounted haptic feedback device can also be configured to include a motion component 31; wherein, the core function of the motion component 31 is to drive the contact head 33 to move stably along the track extension direction of the slide rail 2 and realize the control of the stroking speed.

[0035] like Figure 16 and Figure 17 As shown, in one embodiment, the motion component 31 includes a mounting plate 311, a first roller 312, and a second roller 313. The contact head 33 is connected to the mounting plate 311 of the motion component 31, and the first roller 312 and the second roller 313 are rotatably mounted on the mounting plate 311. The first roller 312 rolls on a first rail 21, and the second roller 313 rolls on a second rail 22. It should be noted that, in order to drive the rollers of the motion component 31 to rotate, in practical applications, the drive mechanism 4 of the head-mounted haptic feedback device includes a first drive member 41. The first drive member 41 is mounted on the mounting plate 311, and the output end of the first drive member 41 is connected to the first roller 312 to drive the first roller 312 to rotate.

[0036] Of course, in some other embodiments, the output end of the first driving member 41 can also be connected to the second roller 313 for transmission, which can drive the first roller 312 and the second roller 313 to rotate simultaneously, or drive a single roller. When the first roller 312 is driven to rotate, the motion component 31 can roll on the first rail 21 of the main body 24, and the second roller 313, as a driven wheel, can also be driven to roll on the second rail 22, i.e., one driving and one driven.

[0037] It should be noted that further references are available. Figure 16 and Figure 17As shown, in this embodiment, in actual application, multiple first rollers 312 are specifically arranged to roll simultaneously on the first rail 21. At this time, the motion component 31 also includes a synchronous pulley 314 and a synchronous belt 315. The synchronous belt 315 is installed on the first rail 21. The synchronous belt 315 is 6mm wide, and its inner side (tooth surface) faces the center of the first rail 21. Both ends are fixed to the rail body of the first rail 21 by bolts for meshing with the synchronous pulley 314 to transmit power.

[0038] In practical applications, the first driving component 41 can be specifically selected as a drive motor with an encoder. The motion component 31 uses the drive motor with the encoder as its power source, and the motor output shaft drives the synchronous pulley 314 to rotate. The synchronous pulley 314 engages with the synchronous belt 315 fixed on the first rail 21, converting the rotational motion of the synchronous pulley 314 into the motion of the first roller 312 of the motion component 31 along the track extension direction of the first rail 21.

[0039] To ensure smooth and slip-free movement, such as Figure 16 and Figure 17 and in conjunction with references Figure 14 and Figure 15 As shown, in this embodiment, the motion component 31 of the contact mechanism 3 is matched with the slide rail 2 through a three-point clamping system, specifically as follows: Top engagement and clamping: The engagement of the toothed surfaces of the timing pulley 314 and the timing belt 315 provides the main driving force. The wheel surfaces of the first rollers 312 on both sides of the timing pulley 314 press the toothless surface of the timing belt 315 onto the track to prevent the belt body of the timing belt 315 from jumping.

[0040] Lateral limiting and guiding: The motion mechanism is also provided with a clamping block 316, which can be specifically connected to the roller of the first roller 312 via a fixing bolt. The first roller 312 is locked to the mounting plate 311 by the roller, and the roller is stationary while the first roller 312 rotates relative to the roller. One end of the clamping block 316 extends from the first roller 312, and a protrusion 317 is provided on the inner side of the extended end, which is embedded in the guide groove 23 provided on the side of the slide rail 2. When the first roller 312 and the synchronous wheel 314 roll, the protrusion 317 moves in the guide groove 23 and provides lateral limiting and guiding to prevent the contact head 33 connected to the motion component 31 from twisting or shifting.

[0041] Bottom elastic clamping: The second roller 313 is mounted on the second rail 22 at the bottom of the slide rail component 2 on a roller seat 318. The roller seat 318 is connected to the mounting plate 311, and the second roller 313 is elastically clamped to the bottom surface of the rail by a spring 319. The deformation of the spring 319 is constrained by a spring guide rod 320. One end of the spring guide rod 320 is fixedly connected to the mounting plate 311, and the other end passes through the spring 319 and is perpendicular to the bottom surface of the roller seat 318 to abut against the roller seat 318, ensuring that the clamping force of the spring 319 during radial clamping is perpendicular to the second roller 313 and the second rail 22. This design allows the contact head 33 connected to the motion component 31 to adaptively fit tightly against the rail on the slide rail component 2, eliminating gaps.

[0042] Accordingly, in practical applications, the contact head 33 can be specifically connected to the motion component 31 through the pressure component 32, that is, the contact mechanism 3 is also provided with a pressure component 32; the core function of the pressure component 32 is to control the extension and retraction of the contact head 33 and to precisely adjust the pressure applied by the contact head 33 to the user's head in order to control the stroking force.

[0043] See Figure 12 and Figure 13 As shown, in one embodiment, the pressurizing assembly 32 includes a screw 321 and a push rod 322, the push rod 322 being threadedly connected to the screw 321, and the contact head 33 being disposed on the push rod 322; wherein, the driving mechanism 4 includes a second driving member 42, the second driving member 42 being disposed on the mounting plate 311, and the output end of the second driving member 42 being connected to the screw 321 to drive the screw 321 to rotate.

[0044] In practical applications, the second driving component 42 of the aforementioned driving mechanism 4 can also be a motor as a power source, which can drive the aforementioned screw 321 to rotate, so that the rotational motion of the screw 321 is converted into the linear extension and retraction motion of the aforementioned push rod 322, thereby driving the contact head 33 connected to the push rod 322 to extend and retract.

[0045] Of course, in some embodiments, the extension and retraction of the push rod 322 can also be manually adjusted, that is, the drive mechanism 4 does not have a second drive member 42, the pressurizing component 32 still includes a screw 321 and a push rod 322, the screw 321 is provided on the mounting plate 311, the push rod 322 is threadedly connected to the screw 321, and the contact head 33 is provided on the push rod 322.

[0046] When the aforementioned drive mechanism 4 is simultaneously provided with the aforementioned first drive member 41 and the aforementioned second drive member 42, the mounting plate 311 of the aforementioned contact mechanism 3 may specifically be provided with a first plate 3111 and a second plate 3112, wherein the aforementioned first plate 3111 is used to fix the aforementioned first drive member 41, and the aforementioned second plate 3112 is used to fix the aforementioned second drive member 42, and the first plate 3111 is set perpendicular to the second plate 3112.

[0047] It should be noted that further references are available. Figure 12 As shown, regardless of the driving method used, the pressurizing component 32 can also be provided with a guide seat 323, which is fixedly connected to the second plate 3112. The guide seat 323 has a guide groove extending toward the user's head, and the push rod 322 is located in the guide groove, so as to constrain the movement of the push rod 322 by using the guide groove of the guide seat 323.

[0048] Furthermore, it should be noted that, in order to improve the stroking effect and enhance the biomimetic capability, the aforementioned contact head 33 can be configured from the inside out to include: a biomimetic finger bone, a flexible tactile pad, and a low-friction contact layer. The biomimetic finger bone, serving as a rigid support framework, is 3D printed using polylactic acid (PLA) material, with one end shaped like a fingertip for stroking and the other end fixedly connected to the aforementioned push rod 322. The flexible tactile pad, covering the biomimetic finger bone, is made of flexible silicone material to simulate the soft texture of real finger skin. The low-friction contact layer, as the outermost layer, is made of smooth rubber material, providing a non-sticky, low-friction contact surface to ensure a smooth stroking process.

[0049] In summary, the contact mechanism 3 achieves adjustable trajectory movement through its motion component 31 and adjustable contact action through its pressure component 32. The two work together to generate dynamic stroking stimulation on the surface of the scalp, where the position, speed, and force can be independently programmed and controlled.

[0050] It should be noted that the present invention also discloses a head-mounted haptic feedback system, which includes a control unit and the head-mounted haptic feedback device described above. The control unit is electrically connected to the drive mechanism 4 of the head-mounted haptic feedback device so as to control the first drive member 41 and / or the second drive member 42 on the drive mechanism 4 to work, thereby controlling the working process of the head-mounted haptic feedback device.

[0051] In other words, the control unit controls the drive mechanism 4 to drive the contact mechanism 3 of the head-mounted haptic feedback device to move along the predetermined track extension direction on the slide rail 2, and at the same time controls the pressure mechanism of the contact mechanism 3 to adjust the contact force of the contact head 33 on the scalp, thereby synthesizing a dynamic stroking stimulation on the user's scalp with programmable control of position, trajectory, speed and force.

[0052] The head-mounted haptic feedback system designed in this invention can, under the program control of the control unit, perform a complete, parameter-programmable dynamic stroking action in the following two stages and through six steps S1-S6, comprising: (I) Initialization and Preparation Phase S1: Contact force calibration. The second driving component 42 drives the screw 321 to rotate, records the displacement of the push rod 322 and the actual contact force generated by the end contact head 33, and establishes a displacement-force mapping relationship.

[0053] S2: Encoding rule loading. Based on the target application scenario (such as navigation, soothing), the mapping rules between predefined stroking parameters (stroking position, stroking speed, stroking force, stroking frequency) and the information to be transmitted are loaded into the control unit.

[0054] S3: Parameter parsing and positioning. The control unit parses the target stroking parameters according to the information to be transmitted, and drives the first drive member 41 and the second drive member 42 to move the contact mechanism 3 to the starting position of the track, and the contact head 33 lightly touches the head skin, setting this state as the initial zero point.

[0055] (ii) Single touch execution phase S4: Apply target contact force. Based on the target force parameters, control the second drive unit 42 to drive the screw 321 to rotate, thereby pushing the push rod 322 and the contact head 33 to move in a straight line, so that they press against the head skin with a calibrated displacement to achieve the set contact force.

[0056] S5: Perform dynamic stroking. The first drive unit 41 starts according to the target speed parameters, and through the meshing transmission of the synchronous pulley 314 and the synchronous belt 315, drives the entire contact mechanism 3 to carry the pressure component 32 to move at a constant speed along the track extension direction of the slide rail component 2, thereby completing a linear stroking action on the surface of the scalp.

[0057] S6: Reset. After one stroke is completed, the second drive member 42 drives the contact head 33 to retract to the disengaged state, and then the first drive member 41 drives the contact mechanism 3 to slide on the slide rail 2 and return to the starting position of the track, ready to perform the next stroke.

[0058] Based on this setup, the resulting head-mounted haptic feedback system is an integrated, wearable electromechanical system that can simulate natural stroking with controllable trajectory on the user's head and achieve adjustable stroking parameters, thereby encoding different combinations of stroking parameters into different functional or emotional information and transmitting them to the user.

[0059] Based on this, compared with existing head-mounted haptic feedback devices, the present invention has the following outstanding advantages: (1) Effectively improves head fit and comfort: Innovatively adopts dynamic stroking that matches the physiological characteristics of hairy skin on the head to replace traditional vibration and pressing, overcoming the problem of dull perception and easy discomfort caused by traditional existing head-mounted tactile feedback devices from the source of stimulation, and realizing a natural interactive experience.

[0060] (2) The fusion of emotional and functional information is realized in the head-mounted tactile feedback device: Through the programmed control of the tactile parameters, the C-tactile (CT) fiber pathway responsible for emotional communication can be effectively activated, so that a single device has the dual ability of functional prompting and emotional communication, solving the key problem of the single information dimension of the current device.

[0061] (3) The “wearing position” and “stimulation method” were optimized in a coordinated manner: natural stroking stimulation was combined with the head, which is a wearable position with independent movement and strong universality, effectively avoiding interference caused by motion coupling of non-head-mounted devices, and providing an ideal carrier for multi-task background interaction.

[0062] (4) It provides a highly flexible and programmable physical implementation scheme: through the modular track and the design of the moving contact with independent speed and force control, the position, trajectory and intensity of the stimulus can be programmed and flexibly reconstructed as needed, laying the hardware foundation for the application of complex scenarios.

[0063] In summary, this invention presents a novel head-mounted haptic feedback device and system. It utilizes a modular slide rail 2 mounted on a head-mounted frame 1, with a sliding contact mechanism 3 installed on the slide rail 2. By controlling the movement of the movable contact point, multiple stroking parameters can be adjusted, specifically the stroking position, intensity, and speed on the user's scalp. These different stroking parameters are encoded into different functional or emotional information, which is then transmitted to the user through natural stroking stimulation. This simulates natural stroking, replacing traditional tactile feedback methods such as vibration and pressure on the user's scalp. This improves adaptability and interactive experience while effectively activating the C-tactile (CT) fiber pathway responsible for emotional communication. The head-mounted haptic feedback device possesses both functional cues and emotional information transmission capabilities, solving the key problems of existing head-mounted haptic feedback devices, such as limited information dimensions and inability to transmit emotional information. It has promising prospects for widespread application and significant value.

[0064] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A head-mounted haptic feedback device, characterized in that, include: A headband frame is fitted over a user's head. The headband frame includes a housing with a receiving groove at one end for accommodating the head. The other end of the housing has multiple through holes that penetrate the housing and communicate with the receiving groove. A slide rail is detachably mounted on the headband frame and is detachably mounted on the housing corresponding to the through holes. A contact mechanism is slidably disposed on the slide rail, and the contact mechanism includes at least one contact head that contacts the head, and at least a portion of the contact mechanism passes through the through hole so that the contact head extends into the receiving groove and contacts the head; A driving mechanism is provided on the contact mechanism and is used to drive the contact mechanism to slide along the track extension direction on the slide rail; The slide rail component includes a main body and a first rail and a second rail disposed on the main body. The first rail and the second rail are both disposed along the extension direction of the rail, and the first rail and the second rail are disposed opposite to each other on opposite sides of the main body. The contact mechanism further includes a motion component, which includes a mounting plate, a first roller, and a second roller. The contact head is connected to the mounting plate. The first roller and the second roller are rotatably mounted on the mounting plate, with the first roller rolling on the first rail and the second roller rolling on the second rail.

2. The head-mounted haptic feedback device according to claim 1, characterized in that, The housing includes an outer shell and an inner shell connected to the outer shell. The outer shell covers the outer surface of the inner shell, and the inner surface of the inner shell encloses and forms the receiving groove.

3. The head-mounted haptic feedback device according to claim 1, characterized in that, The track on the slide rail extends in an arc shape.

4. The head-mounted haptic feedback device according to claim 1, characterized in that, The driving mechanism includes a first driving member, which is disposed on the mounting plate, and the output end of the first driving member is connected to the first roller and / or the second roller in a transmission connection.

5. The head-mounted haptic feedback device according to claim 1, characterized in that, The contact mechanism further includes a pressure assembly, which includes a screw and a push rod. The screw is mounted on the mounting plate, the push rod is threadedly connected to the screw, and the contact head is mounted on the push rod.

6. The head-mounted haptic feedback device according to claim 1, characterized in that, The contact mechanism further includes a pressure assembly, which includes a screw and a push rod. The push rod is threadedly connected to the screw, and the contact head is disposed on the push rod. The driving mechanism includes a second driving member, which is disposed on the mounting plate. The output end of the second driving member is connected to the screw to drive the screw to rotate.

7. A head-mounted haptic feedback system, characterized in that, It includes a control unit and a head-mounted haptic feedback device as described in any one of claims 1-6, wherein the control unit is electrically connected to the drive mechanism of the head-mounted haptic feedback device.

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