A wearable multi-degree-of-freedom vibration feedback device and multi-degree-of-freedom driving method

Abstract

The present application relates to a kind of wearable multi-degree-of-freedom vibration feedback device and multi-degree-of-freedom driving method, belong to the field of tactile feedback and tactile information processing.Multiple vibration execution units are used to generate multi-degree-of-freedom vibration, vibration sensing unit is used to obtain the vibration data of the whole device, support is used to rigidly fix all parts.The present application can provide multiple degrees of freedom vibration tactile feedback to user at the same time.Experiments show that the proposed multi-degree-of-freedom vibration feedback device and multi-degree-of-freedom driving method for wearable can simultaneously output vibration in multiple degrees of freedom, and the vibration acceleration output interference between different degrees of freedom under different frequency conditions is small.In summary, compared with prior art, the present application improves the bandwidth of vibration tactile feedback, enriches the tactile feedback capability of the device, and is beneficial to improve the fidelity of tactile feedback.

Description

Technical Field

[0001] This invention belongs to the field of tactile feedback and tactile information processing, and mainly relates to a wearable multi-degree-of-freedom vibration feedback device and a multi-degree-of-freedom driving method. Background Technology

[0002] Vibrational haptic feedback devices are core components for providing haptic feedback in mobile devices, handheld devices, and wearable electronics. However, current vibrational haptic feedback devices are mostly single-degree-of-freedom (DOF) vibrational feedback, limiting the types of vibrational feedback that can be achieved. Compared to unidirectional motion vibrational feedback, multi-DOF vibrational feedback can provide a higher bandwidth of haptic feedback, enriching the haptic feedback capabilities of devices. However, current multi-DOF vibrational feedback devices are mainly large devices such as desktop devices, while small, wearable vibrational feedback devices can only provide unidirectional motion vibrational feedback. Therefore, there is a need to develop a small, wearable multi-DOF vibrational haptic feedback device. Summary of the Invention

[0003] This invention provides a wearable multi-degree-of-freedom vibration feedback device and a multi-degree-of-freedom driving method to solve the current problem of the lack of small wearable multi-degree-of-freedom vibration tactile feedback devices.

[0004] The technical solution adopted in this invention is: a wearable multi-degree-of-freedom vibration feedback device, comprising multiple vibration execution units, vibration sensing units and support components. The multiple vibration execution units are used to generate multi-degree-of-freedom vibrations, the vibration sensing units are used to acquire vibration data of the entire device, and the support components are used to rigidly fix all parts.

[0005] Furthermore, the vibration actuator is a single-degree-of-freedom vibration actuator, each vibration actuator only generates vibration output in a fixed direction, and its vibration direction remains unchanged after installation; multiple vibration actuators are combined to achieve multi-degree-of-freedom vibration.

[0006] Furthermore, the vibration directions of each vibration actuator are parallel or orthogonal to each other, and the vibration directions of at least two vibration actuators are orthogonal to each other, so as to achieve multi-degree-of-freedom vibration.

[0007] Furthermore, the vibration sensing unit is a biaxial or triaxial accelerometer, and is rigidly connected to the vibration actuator and the support structure to form an integral whole, so that the acceleration measured by the vibration sensing unit characterizes the overall acceleration of the device.

[0008] Furthermore, the support is made of an insulating and non-magnetic material and is used to fix the position of each vibration actuator to maintain the relative orientation stability between the vibration actuators.

[0009] The wearable multi-degree-of-freedom vibration feedback device of the present invention adopts a multi-degree-of-freedom driving method, including the following steps:

[0010] S1: The original driving signal for all degrees of freedom The final drive signal is obtained by performing compensation separately. ,in Indicates the first Degrees of freedom ;

[0011] S2: Drive signal The vibration actuator for each degree of freedom is ultimately driven by the drive circuit.

[0012] Furthermore, the compensation method for the driving signal in step S1 is to use the first... System function of degrees of freedom ,in The imaginary unit, As the frequency independent variable, for the th raw input signal of degrees of freedom Compensation is performed to obtain the final drive signal. The compensation process can be expressed by the following formula:

[0013]

[0014] in Indicates Fourier transform, This represents the inverse Fourier transform.

[0015] Furthermore, the first System function of degrees of freedom The following steps were used to calculate the result:

[0016] S11: Use a specific signal Drive the device to cover the response frequency range of the vibration actuator;

[0017] S12: Acceleration waveforms of vibrations in each degree of freedom measured using a vibration sensing unit. ;

[0018] S13: Estimate the number of... using the following formula Transfer function of degrees of freedom :

[0019]

[0020] in, For the first Laplace transform of a signal with a specific degree of freedom For the first Laplace transform of the acceleration waveform of a vibration with multiple degrees of freedom. For the first Transfer function of degrees of freedom ;

[0021] S14: Frequency domain sampling of the transfer function to obtain the system function .

[0022] The system function The conversion process is performed at least once before the device is used for the first time, and the resulting system function It can be used multiple times.

[0023] The driving circuit consists of a signal generation unit and a power amplifier. The signal generation unit is responsible for generating a driving signal, and the power amplifier is used to amplify the signal power to drive the device.

[0024] The present invention has the following beneficial technical effects:

[0025] Compared to existing technologies, this invention proposes a wearable multi-degree-of-freedom vibration feedback device and a multi-degree-of-freedom driving method, which can simultaneously provide users with vibration tactile feedback across multiple degrees of freedom. Experiments show that the proposed wearable multi-degree-of-freedom vibration feedback device and multi-degree-of-freedom driving method can output vibrations simultaneously across multiple degrees of freedom, and the vibration acceleration output interference between different degrees of freedom under different frequency conditions is small. In summary, compared to existing technologies, this invention improves the bandwidth of vibration tactile feedback, enriches the tactile feedback capabilities of the device, and is beneficial to improving the realism of tactile feedback. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0027] Figure 1 This is a 2-DOF device exemplified in the embodiments of the present invention;

[0028] Figure 2 This is a 3-DOF device exemplified in the embodiments of the present invention;

[0029] Figure 3 This is a flowchart of a compensation method for a multi-degree-of-freedom driving method in an embodiment of the present invention;

[0030] Figure 4 This is used in the embodiments of the present invention. Figure 1The amplitude-frequency diagram of the acceleration waveform of the first degree of freedom output vibration of the 2-degree-of-freedom device, where the input of the first degree of freedom is a 200 Hz sine wave drive signal;

[0031] Figure 5 This is used in the embodiments of the present invention. Figure 1 The amplitude-frequency diagram of the acceleration waveform of the first degree of freedom output vibration of the 2-degree-of-freedom device, where the second degree of freedom input is a 150 Hz sine wave drive signal;

[0032] In the diagram: 1. Support component, 2. Voice coil motor, 3. Accelerometer, 4. Signal generation unit, 5. Power amplifier. Detailed Implementation

[0033] A wearable multi-degree-of-freedom vibration feedback device includes multiple vibration actuation units, a vibration sensing unit, and a support component. The multiple vibration actuation units are used to generate multi-degree-of-freedom vibrations, the vibration sensing units are used to acquire vibration data of the entire device, and the support component is used to rigidly fix all parts.

[0034] Furthermore, the vibration actuator is a single-degree-of-freedom vibration actuator, each vibration actuator only generates vibration output in a fixed direction, and its vibration direction remains unchanged after installation; multiple vibration actuators are combined to achieve multi-degree-of-freedom vibration.

[0035] Furthermore, the vibration directions of each vibratory actuator are arranged parallel or orthogonal to each other, and the vibration directions of at least two vibratory actuators are orthogonal to achieve multi-degree-of-freedom vibration. For ease of description, in the following text, all vibratory actuators with the same vibration direction are referred to as the same degree of freedom, and are collectively referred to as vibratory actuators of that degree of freedom.

[0036] Furthermore, the vibration sensing unit is a biaxial or triaxial accelerometer, and is rigidly connected to the vibration actuator and the support structure to form an integral whole, so that the acceleration measured by the vibration sensing unit characterizes the overall acceleration of the device.

[0037] Furthermore, the support is made of an insulating and non-magnetic material and is used to fix the position of each vibration actuator to maintain the relative orientation stability between the vibration actuators.

[0038] The wearable multi-degree-of-freedom vibration feedback device of the present invention adopts a multi-degree-of-freedom driving method, including the following steps:

[0039] S1: The original driving signal for all degrees of freedom The final drive signal is obtained by performing compensation separately. ,in Indicates the first Degrees of freedom ;

[0040] S2: Drive signal The vibration actuator for each degree of freedom is ultimately driven by the drive circuit.

[0041] Furthermore, the compensation method for the driving signal in step S1 is to use the first... System function of degrees of freedom ,in The imaginary unit, As the frequency independent variable, for the th raw input signal of degrees of freedom Compensation is performed to obtain the final drive signal. The compensation process can be expressed by the following formula:

[0042]

[0043] in Indicates Fourier transform, This represents the inverse Fourier transform.

[0044] Furthermore, the first System function of degrees of freedom The following steps were used to calculate the result:

[0045] S11: Use a specific signal The device is driven to cover the response frequency range of the vibration actuator; in a specific implementation, the response frequency range may be 50–300 Hz, and the specific signal may be white noise or a swept frequency signal.

[0046] S12: Acceleration waveforms of vibrations in each degree of freedom measured using a vibration sensing unit. ;

[0047] S13: Estimate the number of... using the following formula Transfer function of degrees of freedom :

[0048]

[0049] in, For the first Laplace transform of a signal with a specific degree of freedom For the first Laplace transform of the acceleration waveform of a vibration with multiple degrees of freedom. For the first Transfer function of degrees of freedom ;

[0050] S14: Frequency domain sampling of the transfer function to obtain the system function .

[0051] The system function The conversion process is performed at least once before the device is used for the first time, and the resulting system function It can be used multiple times.

[0052] The driving circuit consists of a signal generation unit and a power amplifier. The signal generation unit is responsible for generating a driving signal, and the power amplifier is used to amplify the signal power to drive the device.

[0053] To make the objectives, features, and advantages of this invention more apparent and understandable, a detailed description is provided below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0054] This invention proposes a wearable multi-degree-of-freedom vibration feedback device, comprising multiple vibration actuation units, vibration sensing units, and a support component. The multiple vibration actuation units are used to generate multi-degree-of-freedom vibrations, the vibration sensing units are used to acquire vibration data of the entire device, and the support component is used to rigidly fix all parts.

[0055] The vibration actuator is a single-degree-of-freedom vibration actuator, which uses a voice coil motor 2 and can generate vibration output in a fixed direction, and its vibration direction remains unchanged after installation; multiple voice coil motors 2 are combined to achieve multi-degree-of-freedom vibration.

[0056] The vibration directions of each voice coil motor 2 are parallel or orthogonal to each other. The support member 1 is made of insulating and non-magnetic material and is used to fix the position of each vibration actuator to maintain the relative orientation stability between the vibration actuators.

[0057] like Figure 1 and Figure 2 As shown, examples of wearable multi-degree-of-freedom vibration feedback devices with 2 degrees of freedom and 3 degrees of freedom are presented respectively. The support 1 is made of transparent resin by 3D printing. The 2-degree-of-freedom device consists of two voice coil motors 2 placed in parallel, which constitute one degree of freedom, and two voice coil motors orthogonal to them constitute another degree of freedom. The 3-degree-of-freedom device consists of three voice coil motors placed orthogonally in pairs.

[0058] The vibration sensing unit is a biaxial or triaxial accelerometer 3, and is rigidly connected to the vibration actuator and the support structure to form an integral whole, so that the acceleration measured by the vibration sensing unit characterizes the overall acceleration of the device.

[0059] The multi-degree-of-freedom driving method adopted in this invention includes the following steps:

[0060] S1: The original input signal for all degrees of freedom The final drive signal is obtained by performing compensation separately. ,in Indicates the first Degrees of freedom ;

[0061] S2: Drive signal The drive circuit ultimately drives the vibration actuator for each degree of freedom. The signal generation unit of the drive circuit uses a combination of a PC and a sound card, and the power amplifier uses a LEPY power amplifier. The signal generation unit is responsible for generating the drive signal, and the power amplifier is used to amplify the signal power to drive the device.

[0062] Figure 4 and Figure 5 Demonstrates the use of, for example Figure 1 The diagram shows the amplitude-frequency distribution of the output vibration acceleration waveform of the 2-DOF vibration feedback device. The first DDO input is a 200Hz sine wave drive signal, and the second DDO input is a 150Hz sine wave drive signal. The vibration acceleration output for each DDO demonstrates that the device can simultaneously output vibrations for both DDOs.

[0063] Furthermore, the compensation method for the driving signal includes the following steps:

[0064] S11: Uses a 5s 20-500Hz sweep frequency signal as a specific input signal Drive the device as described in claim 1;

[0065] S12: Vibration output of each degree of freedom of the measurement device using a vibration sensing unit. ;

[0066] S13: Estimate the transfer function for each degree of freedom using the following formula:

[0067]

[0068] in, and The first The Laplace transform of the vibration output acceleration waveform of a degree of freedom and the selected input signal for that degree of freedom; For the first Vibration transfer function for degrees of freedom; ;

[0069] S14: Sample the transfer function in the frequency domain to convert it into a frequency domain system function. ,in Indicates frequency;

[0070] Among them, for the first raw input signal of degrees of freedom Compensation is performed to obtain the final drive signal. :

[0071]

[0072] The process from step S1 to step S4 is performed once before use, and the resulting frequency domain system function is obtained. Used multiple times.

Claims

1. A wearable multi-degree-of-freedom vibration feedback device, characterized in that: It includes multiple vibration actuators, vibration sensing units, and support components. The multiple vibration actuators are used to generate multi-degree-of-freedom vibrations, the vibration sensing units are used to acquire vibration data of the entire device, and the support components are used to rigidly fix all parts.

2. The wearable multi-degree-of-freedom vibration feedback device according to claim 1, characterized in that: The vibration actuator is a single-degree-of-freedom vibration actuator. Each vibration actuator generates vibration output only in a fixed direction, and its vibration direction remains unchanged after installation. Multiple vibration actuators are combined to achieve multi-degree-of-freedom vibration.

3. A wearable multi-degree-of-freedom vibration feedback device according to claim 1 or 2, characterized in that: The vibration directions of each vibration actuator are parallel or orthogonal to each other, and the vibration directions of at least two vibration actuators are orthogonal to each other, so as to achieve multi-degree-of-freedom vibration.

4. The wearable multi-degree-of-freedom vibration feedback device according to claim 1, characterized in that: The vibration sensing unit is a biaxial or triaxial accelerometer, and is rigidly connected to the vibration actuator and the support structure to form an integral whole, so that the acceleration measured by the vibration sensing unit represents the overall acceleration of the device.

5. A wearable multi-degree-of-freedom vibration feedback device according to claim 1, characterized in that: The support is made of an insulating and non-magnetic material and is used to fix the position of each vibration actuator to maintain the relative orientation stability between the vibration actuators.

6. A multi-degree-of-freedom driving method for the device as described in any one of claims 1 to 5, characterized in that, Includes the following steps: S1: The original driving signal for all degrees of freedom The final drive signal is obtained by performing compensation separately. ,in Indicates the first Degrees of freedom ; S2: Drive signal Each vibration actuator is driven by a drive circuit.

7. A multi-degree-of-freedom driving method according to claim 6, characterized in that: The compensation method for the driving signal in step S1 is to use the first... System function of degrees of freedom ,in The imaginary unit, As the frequency independent variable, for the th raw input signal of degrees of freedom Compensation is performed to obtain the final drive signal. The compensation process is expressed by the following formula: ； in Indicates Fourier transform, This represents the inverse Fourier transform.

8. A multi-degree-of-freedom driving method according to claim 7, characterized in that: No. System function of degrees of freedom The following steps were used to calculate the result: S11: Use a specific signal Drive the device as described in claim 1 to cover the response frequency range of the vibration actuator; S12: Acceleration waveforms of vibrations in each degree of freedom measured using a vibration sensing unit. ; S13: Estimate the number of... using the following formula Transfer function of degrees of freedom : ； in, For the first Laplace transform of a signal with a specific degree of freedom For the first Laplace transform of the acceleration waveform of a vibration with multiple degrees of freedom. For the first Transfer function of degrees of freedom ; S14: Frequency domain sampling of the transfer function to convert it into a system function. .

9. A multi-degree-of-freedom driving method according to claim 8, characterized in that: The system function conversion process is performed at least once before the device is used for the first time, and the resulting system function... It can be used multiple times.

10. A multi-degree-of-freedom driving method according to claim 6, characterized in that: The driving circuit consists of a signal generation unit and a power amplifier. The signal generation unit is responsible for generating a driving signal, and the power amplifier is used to amplify the signal power to drive the device as described in claim 1.

Images