Cross-modal perceptual confirmation interaction method and system based on tactile motor illusion

Abstract

The application discloses a cross-modal perception confirmation interaction method and system based on a haptic motion illusion. The cross-modal perception confirmation interaction method comprises the following steps: a multi-point vibration stimulation array arranged on the surface of the skin of a user is used to activate each vibration unit in a predetermined time sequence, so that a continuous directional motion haptic illusion is generated on the surface of the skin of the user; a motion response monitoring module is used to collect the directional motion response generated by the user in a valid response time window in real time; the response direction of the directional motion response is compared with the stimulation direction of the haptic motion illusion to determine consistency, and a perception confirmation signal is output; and the corresponding interaction operation is triggered according to the perception confirmation signal. The application realizes a cross-modal natural motion response interaction without learning mapping under the premise of not occupying the visual channel, and a perception confirmation closed loop is constructed through perception-motion coupling recognition, and is suitable for scenes such as pedestrian navigation, vehicle driving, cycling navigation and visual impairment assistance.

Description

Technical Field

[0001] This invention belongs to the field of human-computer interaction, tactile perception interface and cross-modal motion response recognition technology. Specifically, it relates to an interactive method, system, interactive device and storage medium that uses a multi-point vibration stimulation array to generate a directional continuous motion tactile illusion and realizes perception-motion coupling recognition and perception confirmation based on the user's cross-modal directional motion response. Background Technology

[0002] With the development of wearable devices and multimodal interaction technologies, haptic navigation and cross-modal motion interaction have gradually received widespread attention. Haptic channels have the characteristics of not occupying visual or auditory attention and still working normally in environments with high obstruction or high noise, thus having unique advantages in scenarios such as pedestrian navigation, vehicle driving navigation, cycling navigation, and visual impairment assistance.

[0003] Existing technologies have the following main drawbacks in achieving haptic-based directional interaction: Defect 1: Tactile signals are used as command encoding signals, resulting in high cognitive load. Existing tactile navigation solutions generally associate specific vibration patterns with specific directional commands (e.g., a short vibration of the left wrist corresponds to a left turn, and a short vibration of the right wrist corresponds to a right turn). Users must pre-learn the mapping relationship between vibration patterns and directional commands, and actively decode the symbols after receiving the vibration signal before executing the directional action. This approach positions tactile signals as command encoding signals, preventing users from generating natural motion-following responses. Furthermore, as the number of configurable commands increases, the cognitive load and learning cost rise rapidly.

[0004] Defect 2: Motion similarity interaction systems forcibly occupy the visual channel. To avoid the cognitive load caused by the aforementioned instruction encoding, some systems have turned to an interaction paradigm based on motion similarity mechanisms such as smooth eye tracking. However, such solutions must rely on visual input (e.g., having the user follow a moving target), which is not suitable for scenarios such as driving, cycling, and assisting the visually impaired, where visual attention must be maintained on the environment itself.

[0005] Defect 3: Fixed response modality and lack of cross-modal openness. Existing solutions typically rigidly bind specific input modalities to specific output modalities, such as visual input corresponding to eye-tracking output, or gesture input corresponding to gesture output. This fails to support multiple motion modalities as directional response channels to jointly participate in perception and confirmation, limiting the applicability of the system in different application scenarios.

[0006] Defect 4: Lack of a closed-loop perception confirmation mechanism. Existing haptic navigation solutions typically only send commands without verifying whether the user has perceived the commands. This can easily lead to interaction failures where commands have been sent but the user is unaware of them, reducing navigation reliability.

[0007] To address the aforementioned shortcomings, this invention proposes a perceptual confirmation interaction method and system based on tactile motion illusion-induced cross-modal directional response, thereby achieving natural cross-modal interaction without occupying the visual channel and without the need for learning mapping, and constructing a closed-loop recognition with perception-motion coupling. Summary of the Invention

[0008] The technical problem to be solved by this invention is to address the shortcomings of existing tactile directional interaction schemes, such as high cognitive load, occupied visual channels, fixed response modes, and lack of perception confirmation closed loop. This invention provides a perception confirmation interaction method, system, interaction device, and storage medium based on tactile motion illusion to induce cross-modal directional responses, so as to achieve more natural, open, and perceptibly confirmable tactile interaction.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: This invention first provides a perceptual confirmation interaction method based on tactile motion illusion to induce cross-modal directional responses, comprising the following steps: Step 1: By using a multi-point vibration stimulation array configured on the user's skin surface, each vibration unit in the multi-point vibration stimulation array is activated sequentially according to a predetermined time sequence to generate a directional continuous motion tactile illusion on the user's skin surface; the predetermined time sequence is determined by vibration intensity, pulse duration, activation time difference between adjacent vibration units, and activation sequence, wherein the activation sequence determines the perceived motion direction of the tactile motion illusion; Step 2: Using the motion response monitoring module, within the effective response time window after the tactile motion illusion is activated, the directional motion response generated by the user is collected in real time; the directional motion response includes one or more of the following: eye movement, head movement, body turning, and manipulation actions through a motion medium; Step 3: Determine the consistency between the response direction of the directional motion response and the stimulus direction of the tactile motion illusion. When the time window condition, direction deviation condition, and response amplitude condition are met simultaneously, output a perception confirmation signal. Step 4: Trigger the interaction execution module to perform the corresponding interaction operation based on the perception confirmation signal; further, adjust the control parameters of the multi-point vibration stimulation array based on the perception confirmation signal to avoid the adaptation effect caused by continuous stimulation.

[0010] In step 1, the multi-point vibration stimulation array is distributed along a preset motion axis on the user's skin surface, and its configuration includes a one-dimensional linear array and a two-dimensional planar array; when configured as a one-dimensional linear array, the tactile motion illusion transmits one-dimensional direction information; when configured as a two-dimensional planar array, the tactile motion illusion transmits two-dimensional direction information.

[0011] In step 2, the motion response monitoring module includes one or more of the following: an eye-tracking sensing unit, a head motion sensing unit, a body posture sensing unit, and a media manipulation sensing unit; wherein the eye-tracking sensing unit can be implemented based on a head-mounted, desktop, or embedded eye tracker; the head motion sensing unit can be implemented based on an inertial measurement unit or head visual tracking; the body posture sensing unit can be implemented based on an inertial measurement unit array, a posture sensor, or computer vision posture estimation; and the media manipulation sensing unit can be implemented based on angle sensors or displacement sensors on motion media such as steering wheels, handlebars, or wheelchairs.

[0012] In step 3, the consistency determination conditions are as follows: the response start time of the directional motion response falls within the effective response time window; the angular deviation between the response direction of the directional motion response and the stimulus direction of the tactile motion illusion does not exceed the direction deviation tolerance; the amplitude of the directional motion response is not lower than the response amplitude threshold; when the above three conditions are met simultaneously, it is determined that the user has perceived the tactile motion illusion.

[0013] In step 4, the interactive operations performed by the interactive execution module may include turning prompts in pedestrian navigation scenarios, turning prompts in vehicle driving navigation scenarios, turning prompts in cycling navigation scenarios, and spatial direction perception prompts in visual impairment assistance scenarios, depending on the application scenario.

[0014] The present invention also provides a perceptual confirmation interaction system based on tactile motion illusion-induced cross-modal directional response, including a tactile motion illusion generation module, a motion response monitoring module, a perceptual motion coupling recognition module, and an interaction execution module.

[0015] The present invention also provides an interactive device, comprising: one or more processors; a memory for storing one or more programs; wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the above-described perceptual confirmation interactive method based on tactile motion illusion-induced cross-modal directional response.

[0016] The present invention also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response.

[0017] Compared with the prior art, the beneficial effects of the present invention are: Effect 1: Visual channels are not occupied, adapting to high visual load scenarios. This invention uses tactile motion illusion as a motion-inducing signal, allowing users to generate directional cross-modal motion responses solely through tactile perception, without relying on visual input. It is suitable for scenarios with extremely high visual resource requirements, such as driving, cycling, and assistive devices for the visually impaired.

[0018] Effect 2: No learning mapping required, natural and low-load interaction. Tactile motion illusion directly activates directional motion representations in the user's cognitive space. The user's response to this perception is a natural following nature, without the need for pre-learning the mapping relationship between vibration patterns and directional commands, significantly reducing the user's cognitive load and learning cost.

[0019] Effect 3: Supports cross-modal open response with wide scenario coverage. The same tactile input can be responded to by any motion modality such as eye movement, head movement, body turning, or motion medium manipulation. The system is open to motion modalities and can cover different application scenarios such as walking, driving, cycling, and wheelchair control.

[0020] Effect 4: Perception-Motion Coupling Recognition Constructs a Perception Confirmation Closed Loop. By jointly determining the time, direction, and amplitude of the user's directional motion response, this invention achieves a closed-loop determination from command issuance to perception confirmation, effectively avoiding interaction failures where commands have been sent but the user is unaware of them.

[0021] Effect 5: The recognition algorithm is pluggable, balancing real-time performance and accuracy. The motion coupling recognition module can employ a threshold-based direction matching algorithm to meet real-time requirements, or a machine learning-based motion intent recognition model to meet high-accuracy requirements; both fall within the scope of this invention.

[0022] Effect Six: Adaptive Adjustment of Stimulation Parameters to Avoid Adaptation Effects. This invention adjusts the vibration stimulation parameters after sensory confirmation (by turning off the stimulus, reducing its intensity, or changing the activation direction), thus avoiding a decrease in interaction reliability caused by long-term stimulation leading to user sensory adaptation. Attached Figure Description

[0023] Figure 1 This is a diagram of the overall system architecture of the present invention.

[0024] Figure 2 This is a timing diagram of the tactile motion illusion principle and the activation of the multi-point vibration stimulation array of the present invention.

[0025] Figure 3 This is a flowchart of the perception-motion coupling recognition process of the present invention.

[0026] Figure 4 This is a schematic diagram of various motion response modes of the present invention. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the accompanying drawings: Example 1 This embodiment provides a perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response, such as... Figure 1As shown, the complete methodological flow from tactile motion illusion generation, motion response monitoring, perception-motion coupling recognition to interactive execution is illustrated.

[0028] The perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response provided in this embodiment includes the following steps: Step 1: Generating tactile motion illusion.

[0029] By configuring a multi-point vibration stimulation array on the user's skin surface, each vibration unit in the multi-point vibration stimulation array is activated sequentially according to a predetermined time sequence, generating a directional continuous motion tactile illusion on the user's skin surface.

[0030] The specific configuration of the multi-point vibration stimulation array is as follows: the vibration unit type can be an eccentric rotating mass oscillator or a linear resonant actuator; the vibration units are arranged in a two-dimensional array of 2 rows × 4 columns on the back of the user's forearm, with a total of 8 vibration units, where the rows are distributed along the lateral direction of the arm and the columns are distributed along the longitudinal axis of the arm; the deployment form is a wearable armband; the control unit of each vibration unit is implemented by a programmable microcontroller, which receives control commands through a wired or wireless interface and supports the synchronous opening and closing of any subset of vibration units.

[0031] The predetermined timing is determined by the following control parameters: vibration intensity I, which controls the amplitude of each vibration unit and affects the perceived clarity of tactile motion illusion; pulse duration D, which controls the duration of each activation and affects the perceived naturalness of tactile motion illusion; and activation time difference ISI between adjacent activation groups, which determines the perceived motion speed of tactile motion illusion. The activation sequence S={g_1, g_2, …, g_C} consists of C ordered activation groups, each activation group g_c corresponding to one combined activation operation, which contains a set of indices of one or more vibration units that are simultaneously activated at the current moment. The activation sequence is represented as:

[0032] In this embodiment, two vibration units in each column (i.e., (1,c) and (2,c)) are assigned to the same activation group g_c, and activated sequentially according to the activation sequence g_1 → g_2 → g_3 → g_4. The user perceives a continuous motion tactile illusion from the wrist to the elbow in the longitudinal direction of the forearm. By adjusting the vibration intensity I and phase weight of the vibration units in the upper and lower rows within the same activation group, a motion tactile illusion with continuously adjustable direction θ can be synthesized in the two-dimensional plane of the skin. When the activation time difference ISI between adjacent activation groups is too large, the tactile motion illusion disappears and degenerates into discrete point perception; when the activation time difference ISI between adjacent activation groups is too small, the perception of adjacent activation groups is fused into single-point perception.

[0033] like Figure 2As shown, the layout and combined activation sequence of the multi-point vibration stimulation array are illustrated, and the activation time difference (ISI) between each combined activation and the peak interval of sensing continuous motion are marked.

[0034] In this embodiment, the multi-point vibration stimulation array uses a 2×4 faceted array (2 rows × 4 columns, totaling 8 vibration units) to form a two-dimensional vibration surface. The positions of the vibration units in each row and column are independently addressable. Tactile motion illusions are generated according to a grouping and activation rule: two vibration units in the same column are divided into the same activation group (denoted as g_c, c=1,…,4). In one activation, all vibration units within the same activation group are simultaneously activated. The activation groups are switched sequentially according to the column index, thereby generating a continuous motion tactile illusion along the column direction (i.e., along the longitudinal direction of the arm) on the skin surface. Furthermore, by weighting and adjusting the vibration intensity I, pulse duration D, and phase of the vibration units in the upper and lower rows within the same activation group, a continuously adjustable motion tactile illusion θ can be synthesized in the two-dimensional plane of the skin, thus carrying two-dimensional directional information.

[0035] Step 2: Monitoring user directional motion response.

[0036] The motion response monitoring module collects the user's directional motion response in real time within the effective response time window t_w (default 500ms) after the activation of tactile motion illusion.

[0037] The motion response monitoring module includes one or more of the following sensing units, such as... Figure 4 As shown, various motion response modes are illustrated: (1) Eye movement sensing unit: It can be based on a head-mounted eye tracker, a desktop eye tracker or an embedded eye tracker, to collect the user's eye movement direction θ_eye, movement speed v_eye and movement type (saccade, smooth tracking, fixation, etc.), where the movement direction is used as the directional response direction to participate in the consistency determination; (2) Head motion sensing unit: It can be implemented based on a head-mounted inertial measurement unit or head visual tracking, and collect the rotation direction θ_head and angular velocity ω_head of the user's head; (3) Body posture sensing unit: It can be implemented based on an array of inertial measurement units worn on the torso or limbs, a posture sensor, or a posture estimation algorithm based on computer vision, to collect the user's torso turning direction θ_body and the displacement of the body's center of gravity. (4) Medium control sensing unit: It can be realized based on motion medium sensors such as steering wheel angle sensor (vehicle), handlebar angle sensor (bicycle), wheelchair joystick sensor, etc., to collect the control direction θ_med and control change Δθ_med of the user through the motion medium.

[0038] The aforementioned sensing units can be used individually or in combination. When multiple sensing units are available simultaneously, multiple response directions can be weighted and fused to obtain the final directional response direction θ_resp.

[0039] Step 3: Perception-motion coupling recognition.

[0040] The motion coupling recognition module determines the consistency between directional motion response and tactile motion illusion, such as... Figure 3 The diagram illustrates the complete decision logic. Specifically, it simultaneously evaluates the following three conditions: (1) Time window condition: Let t_stim be the stimulus start time of tactile motion illusion, t_resp be the response start time of directional motion response, and t_w be the effective response time window length, then the time window condition is:

[0041] (2) Directional deviation condition: Let θ_stim be the stimulus direction of tactile kinematic illusion, θ_resp be the response direction of directional kinematic response, and Δθ be the directional deviation tolerance, then the directional deviation condition is:

[0042] (3) Response amplitude condition: Let A_resp be the amplitude of the directional motion response, and A_th be the response amplitude threshold (used to eliminate noise), then the response amplitude condition is:

[0043] When the above time window condition, direction deviation condition, and response amplitude condition are all met simultaneously, it is determined that the user has perceived the tactile motion illusion, and a perception confirmation signal conf=1 is output; otherwise, conf=0 is output.

[0044] As an alternative algorithm implementation for this step: Method 1: Threshold-based direction matching algorithm. This method filters and estimates the principal direction of the directional motion response signal within the effective response time window, taking the principal direction as the response direction θ_resp. Consistency is then determined according to the three conditions mentioned above. This method has low computational complexity, good real-time performance, and is suitable for edge deployment.

[0045] Method 2: Motion Intent Recognition Model Based on Machine Learning. This model takes directional motion response signals as input and outputs the response direction and type (saccades, smooth tracking, directional turning, motion medium turning, etc.) based on classification models such as support vector machines, random forests, or deep neural networks, supporting the recognition of more refined motion modalities.

[0046] The motion coupling recognition module supports two interaction modes: Confirmation Mode: The perceived confirmation signal serves as a user-initiated confirmation signal, triggering the interaction execution module to perform the corresponding interactive operation; Awareness: The awareness signal serves as a status indicator that the user has perceived the tactile signal. It is used to monitor the user's attention state or dynamically adjust the tactile stimulation strategy based on the user's perception.

[0047] Step 4: Interactive execution and stimulus parameter adjustment.

[0048] The interaction execution module triggers corresponding interactive operations based on the perceived confirmation signal. Depending on the application scenario, the interactive operations may include turn prompts in pedestrian navigation, vehicle navigation, cycling navigation, and spatial orientation perception prompts in visually impaired assistance scenarios. While executing the interactive operation, the interaction execution module can selectively provide supplementary feedback through the audio or visual channels to achieve multi-channel redundant confirmation.

[0049] Furthermore, after outputting the perception confirmation signal, the control parameters of the multi-point vibration stimulation array are adjusted, including: turning off the multi-point vibration stimulation array to terminate stimulation; reducing the vibration intensity I to decrease stimulation salience; extending the activation time difference ISI between adjacent vibration units to change the perception speed; or changing the activation sequence S to change the direction of perception movement. Through these parameter adjustments, the sensory adaptation effect caused by continuous stimulation is avoided, maintaining the reliability of the interaction.

[0050] Application scenario example: (1) Pedestrian navigation scenario. When a user is walking, the navigation system activates a multi-point vibration stimulation sequence in the corresponding direction through the forearm band before turning. For example, when turning right, it activates an activation sequence from the wrist to the elbow. After the user perceives the directional continuous motion tactile illusion, they will naturally generate directional motion responses such as turning their head to the right, looking to the right, or shifting their body center of gravity to the right. The motion response monitoring module collects directional motion responses based on the inertial measurement unit or eye-tracking sensor unit. After the motion coupling recognition module determines that the response direction is consistent with the stimulus direction, the interaction execution module executes the right turn navigation prompt. The entire interaction process does not occupy the visual channel, and the user can always maintain visual attention to the road environment.

[0051] (2) Vehicle driving navigation scenario. During driving, the navigation system activates directional tactile motion illusion through the forearm strap at a predetermined distance before the turn is required; upon perception, the driver naturally generates directional head turning or eye movement; the head motion sensing unit tracks the head direction through the in-vehicle camera or collects the head direction through the head-mounted inertial measurement unit, and after confirming that the perception is consistent, the interactive execution module outputs navigation prompts, such as voice reminders. In this scenario, this method does not occupy the driver's hand operation channel, nor does it interfere with the driver's visual attention.

[0052] (3) Cycling Navigation Scenario. During cycling, the navigation system activates directional tactile motion illusions through the forearm strap; the cyclist generates a directional response after sensing this; the media control sensing unit monitors the cyclist's directional control response through the handlebar angle sensor, and after the sensing motion coupling recognition module determines that they are consistent, the interaction execution module executes navigation prompts. The cyclist does not need to look down at the mobile device and can keep both hands in control of the handlebars.

[0053] (4) Visually impaired assistance scenario. Visually impaired users receive directional tactile motion illusions through the forearm armband to perceive spatial direction information; the body posture sensing unit monitors the user's body turning response, and after the perception-motion coupling recognition module determines that they are consistent, the interaction execution module outputs the next navigation prompt, providing visually impaired users with an intuitive and low cognitive load spatial navigation method.

[0054] Example 2 This embodiment provides a perceptual confirmation interaction system based on tactile motion illusion-induced cross-modal directional response, including: A tactile motion illusion generation module includes a multi-point vibration stimulation array disposed on the surface of a user's skin and a control unit. The control unit is configured to sequentially activate each vibration unit in the multi-point vibration stimulation array according to a predetermined time sequence to generate a directional continuous motion tactile illusion on the surface of the user's skin. The motion response monitoring module includes one or more of an eye-tracking sensing unit, a head motion sensing unit, a body posture sensing unit, and a media manipulation sensing unit, and is used to collect the directional motion response generated by the user in real time within the effective response time window after the tactile motion illusion is activated. The motion coupling recognition module is used to determine the consistency between the response direction of the directional motion response and the stimulus direction of the tactile motion illusion. When the time window condition, the direction deviation condition, and the response amplitude condition are met simultaneously, a perception confirmation signal is output. An interactive execution module is used to trigger a corresponding interactive operation based on the perception confirmation signal; the interactive execution module is also configured to adjust the control parameters of the multi-point vibration stimulation array based on the perception confirmation signal.

[0055] The method steps implemented by the system are the same as those described in Embodiment 1.

[0056] Example 3 This embodiment provides an interactive device, including: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the perceptual confirmation interaction method based on tactile motion illusion induced cross-modal directional response provided in Embodiment 1.

[0057] Example 4 This embodiment provides a storage medium on which a computer program is stored. When the program is executed by a processor, it implements the steps of the perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response provided in Embodiment 1.

Claims

1. A perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response, characterized in that, Includes the following steps: Step 1. Generating tactile motion illusion: By activating each vibration unit in the multi-point vibration stimulation array arranged on the user's skin surface in a predetermined sequence, a continuous motion tactile illusion with a stimulation direction is generated on the user's skin surface. Step 2. User directional motion response monitoring: Within the effective response time window after generating a directional continuous motion tactile illusion, the directional motion response generated by the user is collected in real time; the directional motion response includes one or more of the following: eye movement, head movement, body turning, and manipulation actions through a motion medium; Step 3. Perception-Motion Coupling Recognition: The response direction of the directional motion response acquired in Step 2 is matched with the stimulus direction of the tactile motion illusion generated in Step 1. If the response direction of the directional motion response and the stimulus direction of the tactile motion illusion meet the matching criteria, a perception confirmation signal is output. Step 4: Interactive Execution: Trigger the corresponding interactive operation based on the perceived confirmation signal.

2. The perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response as described in claim 1, characterized in that, In step 1, the multi-point vibration stimulation array is distributed along a preset motion axis on the user's skin surface. The configuration of the multi-point vibration stimulation array includes a one-dimensional linear array or a two-dimensional planar array. When the multi-point vibration stimulation array is a two-dimensional surface array, by configuring the activation sequence, the perceived motion direction of the tactile motion illusion can be adjusted within the two-dimensional plane of the user's skin surface, and the perceived motion direction of the tactile motion illusion is used to transmit two-dimensional direction information.

3. The perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response as described in claim 1, characterized in that, In step 1, the predetermined timing is determined by the following control parameters: vibration intensity, pulse duration, activation time difference between adjacent vibration units, and activation sequence; wherein the activation sequence determines the perceived motion direction of the tactile motion illusion, and the activation time difference between adjacent vibration units determines the perceived motion speed of the tactile motion illusion; the activation sequence is denoted as: Where S is the activation sequence; g m For the m-th activation group, m = 1, 2, …, M, corresponding to a single activation operation, it contains the set of indices of one or more vibration units that are simultaneously activated at the current moment; M is the length of the activation sequence.

4. The perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response as described in claim 1, characterized in that, In step 3, the conditions for consistency determination are: Time window condition: The response start time t_resp of the directional motion response satisfies: Where t_stim is the stimulus initiation time of the tactile motion illusion, and t_w is the effective response time window length; Directional deviation condition: The angular deviation between the response direction θ_resp of the directional motion response and the stimulus direction θ_stim of the tactile motion illusion satisfies: Where Δθ is the directional deviation tolerance; Response amplitude condition: The amplitude A_resp of the directional motion response satisfies: Where A_th is the response amplitude threshold; When the time window condition, direction deviation condition, and response amplitude condition are all satisfied simultaneously, it is determined that the user has perceived the tactile motion illusion, and the perception confirmation signal is output.

5. The perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response as described in claim 4, characterized in that, In step 3, the perception confirmation signal is output in different types according to the interaction mode: When the interaction mode is the confirmation mode, the perception confirmation signal outputs a confirmation signal to trigger directional interaction operations in the corresponding application scenario. The directional interaction operations include one or more of the following: turning prompts in pedestrian walking navigation scenarios, turning prompts in vehicle driving navigation scenarios, turning prompts in cycling navigation scenarios, and spatial direction perception prompts in visual impairment assistance scenarios. When the interaction mode is the perception mode, the perception confirmation signal outputs a perception signal, which is used to monitor the user's attention state or update the tactile stimulation strategy.

6. The perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response as described in claim 1, characterized in that, In step 4, after triggering the interactive operation, a stimulation parameter adjustment step is also included: adjusting one or more of the vibration intensity, pulse duration, activation time difference of adjacent vibration units, or activation sequence of the multi-point vibration stimulation array according to the perception confirmation signal. The adjustment includes turning off stimulation, reducing vibration intensity, or changing the direction of activation sequence to avoid the adaptation effect caused by continuous stimulation. In step 4, while performing the interactive operation, feedback is simultaneously provided through other channels, including one or more of the audio and visual channels, to achieve multi-channel redundant confirmation.

7. The perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response as described in claim 1, characterized in that, In step 3, the response direction of the directional motion response is obtained in any of the following ways: Method 1: A threshold-based direction matching algorithm is used to filter and estimate the main direction of the directional motion response signal within the effective response time window, and the main direction is taken as the response direction. Method 2: A motion intent recognition model based on machine learning takes the directional motion response signal as input and outputs the response direction and response type. The response type includes one or more of saccade, smooth tracking, directional turning and motion medium turning.

8. A perceptual confirmation interaction system based on tactile motion illusion-induced cross-modal directional response, characterized in that, include: A tactile motion illusion generation module includes a multi-point vibration stimulation array disposed on the surface of a user's skin and a control unit. The control unit is configured to sequentially activate each vibration unit in the multi-point vibration stimulation array according to a predetermined time sequence to generate a directional continuous motion tactile illusion on the surface of the user's skin. The motion response monitoring module is used to collect the directional motion responses generated by the user in real time within the effective response time window after the tactile motion illusion is activated; the directional motion responses include one or more of eye movements, head movements, body turning, and manipulation actions through motion media. The motion coupling recognition module is used to determine the consistency between the response direction of the directional motion response and the stimulus direction of the tactile motion illusion. When the time window condition, the direction deviation condition, and the response amplitude condition are met simultaneously, a perception confirmation signal is output. The interactive execution module is used to trigger corresponding interactive operations based on the perceived confirmation signal.

9. An interactive device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response as described in any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the perceptual confirmation interaction method based on tactile motion illusion-induced cross-modal directional response as described in any one of claims 1 to 7.

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