Non-contact tactile feedback force measurement device and measurement method

Abstract

This invention discloses a non-contact tactile feedback force measurement device and method. The measuring device includes: a tactile feedback generating module for generating a non-contact tactile force field; a force measuring module with a sensing surface; an adjustment mechanism configured to adjust the relative spatial orientation between the tactile feedback generating module and the force measuring module, such that the main direction of the tactile force field forms an adjustable preset tilt angle relative to the sensing surface; and a control and data acquisition system for controlling the adjustment mechanism to set the relative spatial orientation, driving the tactile feedback generating module to generate the tactile force field, and simultaneously acquiring the force signal output by the force measuring module. This allows for direct measurement of the force generated by the non-contact tactile force field acting on the sensing surface without relying on physical contact. Furthermore, by changing the preset tilt angle between the main direction of the tactile force field and the sensing surface through the adjustment mechanism, the device can repeatedly perform the above measurement process under multiple different tilt angle conditions.

Description

Technical Field

[0001] This invention relates to the field of tactile force measurement technology, and in particular to a non-contact tactile feedback force measurement device and method thereof. Background Technology

[0002] In recent years, non-contact haptic feedback technology has developed rapidly and gradually become a research hotspot in the field of human-computer interaction. This technology generates virtual force sensations that can be felt by human skin in free space, allowing users to experience effects such as "air touch" and "levitation resistance" without wearing devices or touching physical interfaces. Due to its high immersion, lack of constraint, and hygiene and safety, it shows broad application prospects in scenarios such as virtual reality, in-vehicle interaction, telemedicine, and public information terminals.

[0003] However, existing tactile force measurement devices are mainly based on piezoelectric, strain, or capacitive sensors, whose working principle relies on direct physical contact between the sensor and the object being measured. In actual testing, the sensor must be placed at the contact interface, and the magnitude of the force is inferred by detecting deformation or pressure. But when applied to non-contact tactile feedback scenarios, since tactile force is applied directly to human skin by a spatial force field, there is no rigid contact surface or fixed force point. Traditional sensors cannot be effectively installed, and it is difficult to accurately capture the amplitude, direction, and dynamic characteristics of the force. In addition, existing measurement systems typically only support force detection in a single direction or at a fixed posture, resulting in significant deviations between test results and real human-computer interaction experiences. Therefore, existing tactile force measurement solutions are no longer sufficient to meet the development, calibration, and standardization requirements of new interactive systems. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a non-contact tactile feedback force measurement device, which can directly measure the force generated by a non-contact tactile force field acting on a sensing surface without relying on physical contact, thereby obtaining a quantitative test of the tactile force variation with tilt angle.

[0005] The present invention further proposes a non-contact tactile feedback force measurement method.

[0006] A non-contact tactile feedback force measuring device according to a first aspect of the present invention includes: a tactile feedback generating module for generating a non-contact tactile force field; a force measuring module having a sensing surface for receiving the action of the tactile force field and outputting a corresponding force signal; an adjusting mechanism configured to adjust the relative spatial posture between the tactile feedback generating module and the force measuring module, such that the principal action direction of the tactile force field forms an adjustable preset tilt angle relative to the sensing surface; and a control and data acquisition system electrically connected to the adjusting mechanism, the tactile feedback generating module, and the force measuring module, respectively, for controlling the adjusting mechanism to set the relative spatial posture, driving the tactile feedback generating module to generate the tactile force field, and synchronously acquiring the force signal output by the force measuring module; wherein, when the preset tilt angle is 90 degrees, the principal action direction of the tactile force field is perpendicular to the sensing surface, and the plane where the sensing surface is located is defined as a reference plane.

[0007] Therefore, the measuring device of the present invention can directly measure the force generated by a non-contact tactile force field acting on a sensing surface without relying on physical contact; at the same time, by adjusting the mechanism to change the preset tilt angle between the main direction of the tactile force field and the sensing surface, the device can repeatedly perform the above measurement process under multiple different tilt angle conditions, thereby obtaining measured data of tactile force changing with tilt angle, which is suitable for providing tactile feedback in human-computer interaction.

[0008] According to some embodiments of the present invention, the adjustment mechanism includes a tilt adjustment component configured to drive the haptic feedback generation module and / or the force measurement module to rotate about an axis parallel to the reference plane to adjust the preset tilt angle.

[0009] According to some embodiments of the present invention, the adjustment mechanism further includes a translation component configured to drive the haptic feedback generating module and / or the force measuring module to move in a direction parallel to the reference plane and / or in a direction perpendicular to the reference plane.

[0010] According to some embodiments of the present invention, the translation component includes: a planar movement mechanism and a normal movement mechanism, wherein the haptic feedback generation module and the force measurement module are respectively mounted on one of the planar movement mechanism and the normal movement mechanism; wherein the planar movement mechanism is configured to drive the connected module to move in two dimensions in a plane parallel to the reference plane; and the normal movement mechanism is configured to drive the connected module to move in a direction perpendicular to the reference plane.

[0011] According to some embodiments of the present invention, the tilt adjustment component is disposed on the planar movement mechanism or the normal movement mechanism and connected to a module mounted on the mechanism to drive the module to rotate about an axis parallel to the reference plane.

[0012] According to some embodiments of the present invention, the tilt adjustment assembly includes: a connecting frame and a connecting structure, wherein the tactile feedback generation module or the force measurement module is disposed in the connecting frame and is rotatably connected to the opposite sides of the connecting frame through the connecting structure.

[0013] According to some embodiments of the present invention, the system further includes: a ranging module comprising a ranging sensor and a mating component, the ranging sensor being disposed on one of the haptic feedback generating module or the force measuring module and electrically connected to the control and data acquisition system, the mating component being disposed on the other; the ranging sensor being configured to measure the distance between itself and the mating component to obtain the distance between the haptic feedback generating module and the force measuring module along a direction perpendicular to the reference plane, and transmitting the distance to the control and data acquisition system; and / or further includes a noise measurement module electrically connected to the control and data acquisition system, configured to collect noise data of the environment in which the haptic feedback generating module and the force measuring module are located and transmit the data to the control and data acquisition system.

[0014] According to a second aspect of the present invention, a method for measuring non-contact tactile feedback force, using the aforementioned non-contact tactile feedback force measuring device, includes the following steps: spatially aligning the tactile feedback generating module and the force measuring module such that the principal direction of the tactile force field is perpendicular to the center of the sensing surface, to determine the reference plane; adjusting the spatial orientation of the tactile feedback generating module and / or the force measuring module through the adjusting mechanism to set a target preset tilt angle; activating the tactile feedback generating module through the control and data acquisition system to output non-contact tactile force; and acquiring tactile force signals in real time through the force measuring module, and transmitting the acquired force signals to the control and data acquisition system for storage and processing.

[0015] According to some embodiments of the present invention, the haptic feedback generating module and / or the force measuring module are driven by the adjustment mechanism to move along a preset path in a direction parallel to the reference plane to perform multi-point touch force measurement; and / or the distance between the haptic feedback generating module and the force measuring module in a direction perpendicular to the reference plane is adjusted by the adjustment mechanism to measure the magnitude of touch force at different distances; during the measurement process, human hand tactile testing is performed simultaneously and subjective feelings are recorded.

[0016] According to some embodiments of the present invention, the control and data acquisition system includes a computing unit, a storage unit, and a control unit. The method further includes: adjusting the output of the tactile feedback generating module by the computing unit according to preset tactile force parameters; the computing unit sending corresponding spatial coordinate commands to the control unit, which drives the adjustment mechanism to achieve relative positioning of the tactile feedback generating module and the force measurement module in three-dimensional space; storing the force data measured by the force measurement module in the storage unit; and the computing unit processing the force data and displaying the measurement results on a display.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a test schematic diagram of the tactile feedback generation module and the force measurement module according to an embodiment of the present invention at a preset tilt angle of 90 degrees (the main direction of the tactile force field is perpendicular to the sensing surface); Figure 2 This is a schematic diagram of the structure of the measuring device of the tactile feedback generation module according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a test for non-contact tactile feedback force of human hand sensation according to an embodiment of the present invention; Figure 4 This is a test diagram of the haptic feedback generation module and the force measurement module according to an embodiment of the present invention when the preset tilt angle is not 90 degrees. Figure 5 This is a schematic diagram of the spatial alignment of the tactile feedback generation module and the force measurement module according to an embodiment of the present invention. Figure 6 This is a partial schematic diagram of the spatial alignment of the tactile feedback generation module and the force measurement module according to an embodiment of the present invention; Figure 7 This is a structural schematic diagram of a force measurement module according to an embodiment of the present invention; Figure 8 This is a flowchart illustrating a non-contact tactile feedback force measurement method according to an embodiment of the present invention. Figure 9 This is a system framework diagram of a non-contact tactile feedback force measurement device according to an embodiment of the present invention.

[0019] Figure label: 1. Haptic feedback generation module; 2. Force measurement module; 21. Sensing surface; 22. Groove; 3. Tilt adjustment assembly; 31. Connecting frame; 32. Connecting structure; 321. Connector; 322. Rotating component; 323. Second mounting hole; 324. Arc groove; 33. Pressure block; 4. Translation component; 41. Planar movement mechanism; 411. First linear module; 412. First slide table; 413. Second linear module; 42. Normal movement mechanism; 421. First connector; 422. Second connector; 423. Third slide table; 5. Distance measuring module; 51. Distance measuring sensor; 52. Mating parts; 6. Noise measurement module; 61. Second bracket; 7. First housing; 71. Connecting part; 8. Second housing; 81. Fastener; 9. Base plate; 10. First bracket; 20. Hand; 30. Calibration component. Detailed Implementation

[0020] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0021] The following is for reference. Figures 1-9 This invention describes a non-contact tactile feedback force measuring device and method according to embodiments of the present invention, aiming to solve the problem that the prior art cannot effectively measure tactile force under conditions of no physical contact.

[0022] like Figure 1 As shown, a non-contact tactile feedback force measuring device according to a first aspect embodiment of the present invention includes: a tactile feedback generating module, a force measuring module, an adjusting mechanism, and a control and data acquisition system.

[0023] The haptic feedback generation module generates a non-contact haptic force field. The force measurement module has a sensing surface for receiving the haptic force field and outputting a corresponding force signal. An adjustment mechanism is configured to adjust the relative spatial orientation between the haptic feedback generation module and the force measurement module, such that the principal direction of the haptic force field forms an adjustable preset tilt angle relative to the sensing surface. A control and data acquisition system is electrically connected to the adjustment mechanism, the haptic feedback generation module, and the force measurement module, respectively. This system controls the adjustment mechanism to set the relative spatial orientation, drives the haptic feedback generation module to generate the haptic force field, and simultaneously acquires the force signal output by the force measurement module. Specifically, when the preset tilt angle is 90 degrees, the principal direction of the haptic force field is perpendicular to the sensing surface; the plane on which the sensing surface lies is defined as the reference plane.

[0024] Specifically, the device first includes a tactile feedback generation module, whose function is to generate a non-contact tactile force field. Here, "tactile force field" refers to a physical field distribution formed in free space by physical energy (such as focused ultrasound, electrostatic fields, or air jets) that can be perceived as "force" by human skin or sensors simulating skin. Unlike traditional vibration motors or piezoelectric actuators, this module can transmit force without contact with the object being applied. A typical implementation uses an ultrasonic phased array transducer array, see [details omitted]. Figure 2 As shown, it utilizes the physical characteristics of acoustic radiation pressure and, by adjusting the phase and amplitude of each array element, forms an acoustic radiation pressure focus at a specified spatial location, thereby generating a local thrust sensation, which can be applied to provide tactile feedback effects in human-computer interaction.

[0025] Furthermore, the device also includes a force measurement module with a sensing surface. Since the tactile force emitted by the haptic feedback generation module is non-contact, measuring the force requires high-precision and high-resolution equipment. Therefore, the "sensing surface" here integrates the functional surface of a high-sensitivity force sensor (such as a miniature six-dimensional force sensor, a flexible piezoelectric film, or a MEMS force-sensitive array). Its design must effectively couple the energy of the non-contact force field and convert it into a measurable electrical signal. Because non-contact forces are typically very weak (millinewton level), the sensing surface must possess low noise, high signal-to-noise ratio, and fast dynamic response characteristics to accurately capture spatial distribution changes in the force field.

[0026] In practical applications, it is necessary to consider angled operation using the palm or fingers. Therefore, the device further includes an adjustment mechanism to enable systematic testing of tactile force response at different interaction angles. This adjustment mechanism is configured to adjust the relative spatial orientation between the tactile feedback generation module and the force measurement module, creating an adjustable preset tilt angle between the principal direction of the tactile force field and the sensing surface. The "principal direction" refers to the main direction of the resultant force vector in the tactile force field, such as the direction of the maximum gradient of acoustic radiation force at the focal point of an ultrasonic wave; while the "relative spatial orientation" encompasses the translational position and rotational angle between the two. Through this adjustment mechanism, it is possible to simulate real-world scenarios where a user "touches" a virtual object from different angles, such as vertical pressing, angled sliding, or gliding over the surface, thereby comprehensively evaluating the performance of the tactile system.

[0027] The device is also equipped with a control and data acquisition system, which is electrically connected to the adjustment mechanism, the tactile feedback generation module, and the force measurement module, respectively. Its functions include: controlling the adjustment mechanism to set the required relative spatial posture (especially the preset tilt angle); driving the tactile feedback generation module to generate a tactile force field according to predetermined parameters; and synchronously acquiring the force signal output by the force measurement module. Only by accurately knowing the force field parameters (such as frequency, power, and focal point position) and geometric posture (tilt angle, spacing) while recording the force response can a reliable input-output mapping relationship be established for subsequent modeling, calibration, or human factors experiment analysis. The control and data acquisition system typically consists of a computer, controller, signal generator, data acquisition card, and dedicated software, supporting closed-loop control and high-speed synchronous sampling to capture the transient characteristics of tactile force.

[0028] Specifically, the device defines a reference datum: when the preset tilt angle is 90 degrees, the principal direction of the tactile force field is perpendicular to the sensing surface, and the plane where the sensing surface lies is defined as the reference plane. This provides a unified zero-point reference for all tilt angle measurements, avoiding angular errors caused by installation deviations; furthermore, 90-degree perpendicular incidence is typically the most sensitive and efficient condition for tactile perception, serving as a standard test condition for calibration. The reference plane can be established through an initial calibration process, such as using a laser collimator, a visual positioning system, or calibrating mechanical components to ensure that the principal axis of the force field coincides with the normal to the sensing surface.

[0029] In the actual operation of this device, a closed-loop, synchronous, and programmable testing process is formed through the unified scheduling of the control and data acquisition system, jointly serving the accurate measurement of non-contact tactile force and the measurement of tilt angle changes. First, the control and data acquisition system sends instructions to the adjustment mechanism according to the preset test plan, driving it to adjust the relative spatial posture between the tactile feedback generation module and the force measurement module. This ensures that the main direction of the tactile force field forms a specific preset tilt angle relative to the sensing surface of the force measurement module, thus establishing a clear geometric relationship and providing a spatial reference for the physical meaning of the subsequent force signal. Specifically, when the adjustment mechanism sets the tilt angle to 90 degrees, the plane containing the sensing surface is defined as the reference plane, serving as the zero point for all other tilt angle measurements, ensuring absolute consistency of the angle variable. Subsequently, the system activates the tactile feedback generation module, generating a stable non-contact tactile force field in free space. This force field acts directly on the sensing surface without any physical intermediaries. Simultaneously, the force measurement module senses the weak force applied by the force field in real time and outputs the corresponding force signal to the control and data acquisition system. Throughout the process, the excitation of the force field, the setting of the attitude, and the acquisition of force signals are all synchronized by the same control system, ensuring that each set of force data accurately corresponds to specific tilt angle conditions and force field parameters. In this device, the force measurement module acts as the "user's hand," and the tactile feedback generation module acts as a "virtual button." By measuring the non-contact tactile force generated by the latter in the air, the former achieves objective quantification and optimization of the virtual interactive experience.

[0030] In some embodiments, the adjustment mechanism may employ a multi-degree-of-freedom robotic arm, a precision motion platform composed of a rotary table and a linear displacement table, or a high-precision motion mechanism specifically customized for this device, to achieve precise control of the relative posture between the tactile feedback generation module and the force measurement module. In some embodiments, the force measurement module may employ a high-precision electronic balance, or a force sensor with any resolution reaching the millinewton (mN) level (e.g., better than 10 mN).

[0031] Therefore, the measuring device of the present invention can directly measure the force generated by a non-contact tactile force field acting on a sensing surface without relying on physical contact; at the same time, by adjusting the mechanism to change the preset tilt angle between the main direction of the tactile force field and the sensing surface, the device can repeatedly perform the above measurement process under multiple different tilt angle conditions, thereby obtaining measured data of tactile force changing with tilt angle, which is suitable for providing tactile feedback in human-computer interaction.

[0032] In some embodiments of the present invention, the adjustment mechanism includes a tilt adjustment component configured to drive a haptic feedback generation module and / or a force measurement module to rotate about an axis parallel to a reference plane to adjust a preset tilt angle.

[0033] Specifically, the tilt adjustment component is configured to drive the haptic feedback generation module and / or the force measurement module to rotate about a rotation axis parallel to a reference plane. This rotational motion changes the angle between the principal direction of the haptic force field and the sensing surface, thereby achieving precise adjustment of the preset tilt angle. For example, when the force measurement module is fixed, the tilt adjustment component can drive the haptic feedback generation module to rotate about a horizontal axis parallel to the reference plane; or, when the haptic feedback generation module remains stationary, the tilt adjustment component can cause the force measurement module to rotate in the opposite direction, similarly achieving the purpose of adjusting the relative tilt angle between the two. This tilt adjustment component can be composed of a high-precision stepper motor, a servo motor, or a manual fine-tuning knob in conjunction with an angle encoder, ensuring good controllability, repeatability, and angular resolution in the tilt setting.

[0034] In some embodiments of the invention, the adjustment mechanism further includes a translation component configured to drive the haptic feedback generation module and / or the force measurement module to move in a direction parallel to the reference plane and / or in a direction perpendicular to the reference plane.

[0035] Specifically, the translation component is configured to drive the haptic feedback generation module and / or the force measurement module to move in two dimensions in a horizontal direction parallel to the reference plane, and / or to move up and down in a vertical direction perpendicular to the reference plane. This translation component allows for precise adjustment of the relative position between the haptic feedback generation module and the force measurement module, ensuring that the haptic force field area is accurately aligned with the designated position on the sensing surface, and supporting repeated non-contact haptic force measurements in different spatial coordinates. The translation component can be implemented using a high-precision linear displacement stage, a guide slide, or an electrically adjustable platform. Its travel range and positioning resolution are set according to measurement requirements to balance operational flexibility and spatial positioning accuracy.

[0036] In some embodiments of the present invention, the translation component includes: a planar movement mechanism and a normal movement mechanism, wherein the haptic feedback generation module and the force measurement module are respectively mounted on one of the planar movement mechanism and the normal movement mechanism; wherein the planar movement mechanism is configured to drive the connected module to move in two dimensions in a plane parallel to the reference plane; and the normal movement mechanism is configured to drive the connected module to move in a direction perpendicular to the reference plane.

[0037] Specifically, the planar motion mechanism supports and drives the mounted module (e.g., the force measurement module shown in the attached figure) to perform precise displacement in a two-dimensional plane parallel to a reference plane. This mechanism typically consists of two mutually orthogonal linear motion units, such as linear motor modules in the X and Y axes, with a stroke range that can be set from a few millimeters to tens of millimeters according to testing requirements, and a positioning resolution reaching micrometers or even higher. By controlling these two degrees of freedom, the sensing surface of the force measurement module can be precisely positioned below different points of application of the non-contact tactile force field generated by the tactile feedback generation module, thereby achieving multi-point scanning measurement of spatially distributed tactile forces. This configuration is suitable for scenarios requiring systematic calibration or mapping of the force response of a fixed tactile source at different horizontal positions. In this embodiment, the planar motion mechanism includes a first linear module and a second linear module. The second linear module is mounted on a first slide on the first linear module, and a second housing is locked onto a second slide on the second linear module. The force measurement module is mounted on the second housing, thereby enabling the force measurement module to achieve displacement in the X and Y axis directions.

[0038] The normal movement mechanism supports and drives the mounted module (e.g., the haptic feedback generating module shown in the attached figure) to move up and down in a direction perpendicular to the reference plane (e.g., the Z-axis direction shown in the attached figure). This mechanism typically employs a single-axis high-rigidity linear displacement stage, driven by a stepper motor or servo motor, and can integrate a grating ruler, laser displacement sensor, or capacitive ranging element to achieve closed-loop position control. Since the intensity of non-contact tactile forces (such as ultrasonic radiation force, electrostatic attraction, etc.) varies significantly non-linearly with distance, the normal movement mechanism precisely adjusts the distance between the haptic feedback generating module and the force measurement module, thereby dynamically setting the action distance to ensure that a preset force value is maintained or the force-distance relationship characteristics are studied under different experimental conditions. In this embodiment, the normal movement mechanism is equipped with a first connector and a second connector to lock onto a third slide on the normal movement mechanism. The module is connected to the normal movement mechanism through the first connector and / or the second connector, so that the overall Z-axis displacement of the module is achieved by moving the slide.

[0039] In the above configuration, the haptic feedback generation module is fixed to the normal movement mechanism, while the force measurement module can move freely in the XY plane to traverse the spatial distribution of the haptic force field. Simultaneously, by adjusting the height of the haptic source through the normal movement mechanism, the intensity gradient and range of the entire force field can be altered. This layout simplifies the wiring and power supply structure of the haptic module (as it does not need to move in the XY plane) while providing the force measurement system with greater spatial sampling flexibility, making it suitable for applications involving haptic sensor arrays or multi-point force response characterization.

[0040] In some embodiments of the present invention, the tilt adjustment component is disposed on a planar moving mechanism or a normal moving mechanism and connected to a module mounted on the mechanism to drive the module to rotate about an axis parallel to a reference plane.

[0041] Specifically, such as Figures 1-4 As shown, when the tilt adjustment component is integrated into the planar movement mechanism, it is typically connected to the force measurement module. In this configuration, the force measurement module can not only translate in the XY plane but also rotate around the X or Y axis via the tilt adjustment component to simulate tactile interaction scenarios at different incident angles, while the tactile feedback generation module only moves along the normal direction of the reference plane. When the tilt adjustment component is set on the normal movement mechanism, it is connected to the tactile feedback generation module (such as an ultrasonic phased array transducer). In this case, by driving the tactile feedback generation module to rotate around the horizontal axis, the emission direction of its sound beam or force field can be actively controlled, causing the point of application of the non-contact tactile force to shift in space.

[0042] The tilt adjustment component can be implemented in various forms, including a rotary actuator, a motor-driven hinge structure, or a servo rotary table with angle encoder feedback. This component shares the same control system with the moving mechanism (planar or normal direction), supporting joint position-attitude control, thereby enabling coordinated alignment of the tactile source and the force measurement module in three-dimensional space.

[0043] In some embodiments of the present invention, the tilt adjustment assembly includes a connecting frame and a connecting structure, wherein a tactile feedback generation module or a force measurement module is disposed in the connecting frame and is rotatably connected to the opposite sides of the connecting frame via the connecting structure.

[0044] Specifically, the haptic feedback generation module or force measurement module is fixedly installed inside the connecting frame. The connecting frame has aligned first mounting holes on its opposite side walls, and the installed module also has two matching second mounting holes at corresponding positions, thus forming a coaxial connection point and achieving connection through the connecting structure. The first mounting holes are rotating holes, allowing the connecting structure to rotate with the first mounting holes. Thus, under the action of an external force (e.g., motor drive), the connecting structure drives the installed module to rotate together.

[0045] In this embodiment, the connection structure includes connectors and rotating parts. The module is rotatably connected to the connecting frame via connectors at each set of first and second mounting holes. A rotating part is mounted on each connector, and the rotating part has a guide groove (i.e., an arc groove) extending along an arc trajectory, with its center located on a horizontal rotation axis parallel to the reference plane. A locking bolt is inserted into the arc groove of each rotating part, and this bolt is fixed to the connecting frame. When the locking bolt is loosened, the connector can drive the installed module to rotate freely around the horizontal axis within a preset angle range. After adjusting to the target tilt angle, tightening the locking bolt presses it against the side wall of the arc groove, thus achieving rigid locking of the angle. By synchronously adjusting the positions of the locking bolts on both sides in their respective arc grooves, the pitch angle of the module relative to the reference plane can be precisely set. This structure is suitable for simulating the response of a hand or finger to non-contact tactile force in natural interactive postures such as oblique pressing and sliding, thereby achieving high-fidelity quantitative measurement of tactile force in oblique operation scenarios. The module connected to the connecting frame is mounted on the first housing. The module is connected to the connecting frame through the first housing, and the first housing is installed and connected to the module through the connecting part to protect the module.

[0046] In some embodiments of the present invention, the measuring device further includes: a ranging module, the ranging module including a ranging sensor and a mating component, the ranging sensor being disposed on one of the tactile feedback generating module or the force measuring module and electrically connected to a control and data acquisition system, the mating component being disposed on the other; the ranging sensor is configured to measure the distance between itself and the mating component to obtain the distance between the tactile feedback generating module and the force measuring module in a direction perpendicular to the reference plane, and send it to the control and data acquisition system.

[0047] Specifically, the distance sensor is configured to measure the distance between itself and the mating component in real time and send this distance data to the control and data acquisition system. Since the distance sensor and the mating component are fixed to two separate modules and aligned along a direction perpendicular to the reference plane (i.e., the normal direction), the measured distance corresponds to the relative distance between the haptic feedback generation module and the force measurement module in the normal direction. In this embodiment, since the haptic feedback generation module is mounted on the connecting frame, the distance sensor is installed on the connecting frame using pressure blocks. Since the force measurement module is mounted on the second housing, the mating component is fixed to the second housing using fasteners.

[0048] In some embodiments of the present invention, the measuring device further includes a noise measurement module electrically connected to the control and data acquisition system, configured to collect noise data of the environment in which the tactile feedback generation module and the force measurement module are located and send it to the control and data acquisition system. The noise measurement module may include at least one microphone, accelerometer, or sound level meter (a sound level meter is shown in the figures), installed near the tactile feedback generation module and / or the force measurement module to effectively monitor environmental noise sources that may be present during tactile force measurement. The control and data acquisition system may perform noise suppression processing on the force measurement signal based on the received noise data, or trigger a calibration reminder, pause the measurement, or adjust the tactile feedback parameters when the noise level exceeds a preset threshold, thereby improving the measurement accuracy and robustness of the system in complex acoustic or vibration environments.

[0049] In an embodiment of the present invention, the measuring device includes a base plate, and the adjustment mechanism, tactile feedback generation module, and force measurement module are all located on the base plate. Specifically, the planar movement component of the adjustment mechanism is disposed on the base plate, the noise measurement module is fixed to the base plate by a second bracket, and the normal movement mechanism is fixed to the base plate by a first bracket.

[0050] According to a second aspect of the present invention, a non-contact tactile feedback force measurement method employs a non-contact tactile feedback force measurement device. The method includes the following steps: spatially aligning a tactile feedback generation module and a force measurement module such that the principal direction of the tactile force field is perpendicular to the center of the sensing surface to determine a reference plane; adjusting the spatial orientation of the tactile feedback generation module and / or the force measurement module through an adjustment mechanism to set a target preset tilt angle; activating the tactile feedback generation module through a control and data acquisition system to output non-contact tactile force; and acquiring tactile force signals in real time through the force measurement module and transmitting the acquired force signals to the control and data acquisition system for storage and processing.

[0051] Specifically, the haptic feedback generation module and the force measurement module are first aligned in space, ensuring that the main direction of the haptic force field is perpendicular to the central area of ​​the sensing surface of the force measurement module. This establishes a reference plane for subsequent posture adjustment and force measurement. Subsequently, the spatial posture of the haptic feedback generation module and / or the force measurement module is adjusted using a tilt adjustment mechanism to form a preset target tilt angle relative to the reference plane, simulating the actual force experienced by the palm or fingers during oblique interaction. After posture setting, the control and data acquisition system activates the haptic feedback generation module, causing it to generate non-contact haptic force acting on the sensing area of ​​the force measurement module. During this process, the force measurement module collects the received haptic force signal in real time and transmits it to the control and data acquisition system. The system then stores and analyzes the signal, enabling precise quantification and evaluation of non-contact haptic force at different tilt angles.

[0052] like Figure 5 and Figure 6 As shown, in the initial stage of testing, the centers of the sensing surfaces of the haptic feedback generation module and the force measurement module need to be aligned along the Z-axis. This can be quickly achieved using a calibration component. Specifically, the calibration component is embedded in the groove of the force measurement module through its lower annular feature. By moving the XY axis and then the Z-axis, the haptic feedback generation module (first housing) is embedded in the square groove on the upper part of the calibration component. Figure 7 As shown, the force measurement module can be leveled by its own feet during installation, and after being embedded in the second housing, it is tightened and positioned by screws around it.

[0053] In some embodiments of the present invention, the haptic feedback generation module and / or force measurement module are driven to move along a preset path in a direction parallel to the reference plane by an adjustment mechanism to perform multi-point touch force measurement; and / or the distance between the haptic feedback generation module and the force measurement module in a direction perpendicular to the reference plane is adjusted by an adjustment mechanism to measure the magnitude of touch force at different distances; during the measurement process, human hand tactile testing is performed simultaneously and subjective feelings are recorded.

[0054] Specifically, firstly, the haptic feedback generation module and the force measurement module are aligned in space so that the main direction of the haptic force field is perpendicular to the central area of ​​the sensing surface of the force measurement module, thereby establishing a reference plane as a reference for subsequent posture adjustment and force measurement. Then, the spatial posture of the haptic feedback generation module and / or the force measurement module is adjusted by a tilt adjustment mechanism to form a preset target tilt angle relative to the reference plane, simulating the actual force experienced by the palm or fingers during oblique interaction. Further, the adjustment mechanism can drive the haptic feedback generation module and / or the force measurement module to move along a preset path in a direction parallel to the reference plane, thereby sequentially applying non-contact haptic force at different positions on the sensing surface, achieving multi-point haptic force scanning measurement. Simultaneously, the adjustment mechanism can also control the distance between the haptic feedback generation module and the force measurement module in a direction perpendicular to the reference plane, gradually changing the normal distance between them, and acquiring the corresponding haptic force signal at each set distance to obtain the attenuation characteristics of haptic force with distance.

[0055] During the aforementioned measurement process, subjects were simultaneously invited to place their hands within the tactile force field area for a hand-feel test, and their subjective feelings regarding tactile intensity, clarity, spatial awareness, and comfort were recorded. This subjective evaluation data was correlated with the objective force signals collected by the force measurement module to establish a consistent subjective-objective model of tactile feedback performance, thereby optimizing tactile feedback parameters or calibrating the measurement system. Figure 3As shown, when quantifying the tactile force of the haptic feedback generation module, a somatosensory test is performed simultaneously. The quantified data is compared with the somatosensory sensation to facilitate the adjustment of the haptic feedback generation module's output parameters. The force measurement module can be moved to a position that does not interfere with the hand using the first and second linear modules, allowing for a direct perception of the palm or fingertips.

[0056] In some embodiments of the present invention, the control and data acquisition system includes a computing unit, a storage unit, and a control unit. The method further includes: adjusting the output of the haptic feedback generation module according to preset haptic force parameters by the computing unit; sending corresponding spatial coordinate commands to the control unit, which drives the adjustment mechanism to achieve relative positioning of the haptic feedback generation module and the force measurement module in three-dimensional space; storing the force data measured by the force measurement module in the storage unit; and processing the force data and displaying the measurement results on a display. During the measurement process, the computing unit adjusts the output of the haptic feedback generation module according to preset haptic force parameters; simultaneously, the computing unit generates corresponding spatial coordinate commands and sends them to the control unit, which drives the adjustment mechanism to achieve relative positioning of the haptic feedback generation module and the force measurement module in three-dimensional space, thereby completing the measurement of the haptic force magnitude at different spatial positions. The force data measured by the force measurement module is stored in the storage unit, processed and analyzed by the computing unit, and the measurement results are presented on a display.

[0057] Therefore, this invention breaks through the limitation of traditional tactile force measurement being confined to the vertical direction of action. For application scenarios where the tactile feedback generation module forms an angle with the human hand's sensing surface in actual human-computer interaction, an adjustable tilt structure is introduced. This enables precise quantitative measurement of non-contact tactile feedback force at any spatial tilt angle, significantly improving the measurement system's ability to simulate and reproduce real-world usage environments. Furthermore, this invention organically combines objective force measurement with subjective sensory evaluation, achieving rapid switching and synchronous comparison of quantitative data acquisition and human hand sensory testing on the same testing platform. It establishes a consistent subjective and objective evaluation mechanism for tactile feedback performance, providing a scientific and efficient verification method for parameter optimization and performance tuning of the tactile feedback generation module.

[0058] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0060] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A non-contact tactile feedback force measuring device, characterized in that, include: A haptic feedback generation module is used to generate a non-contact haptic force field; The force measurement module has a sensing surface for receiving the tactile force field and outputting a corresponding force signal. The adjustment mechanism is configured to adjust the relative spatial orientation between the tactile feedback generating module and the force measurement module, such that the main direction of action of the tactile force field forms an adjustable preset tilt angle relative to the sensing surface; The control and data acquisition system is electrically connected to the adjustment mechanism, the tactile feedback generation module and the force measurement module respectively. It is used to control the adjustment mechanism to set the relative spatial posture, drive the tactile feedback generation module to generate the tactile force field, and synchronously acquire the force signal output by the force measurement module. When the preset tilt angle is 90 degrees, the main direction of the tactile force field is perpendicular to the sensing surface, and the plane where the sensing surface is located is defined as the reference plane.

2. The non-contact tactile feedback force measuring device according to claim 1, characterized in that, The adjustment mechanism includes a tilt adjustment component, which is configured to drive the haptic feedback generation module and / or the force measurement module to rotate about an axis parallel to the reference plane to adjust the preset tilt angle.

3. The non-contact tactile feedback force measuring device according to claim 2, characterized in that, The adjustment mechanism further includes a translation component configured to drive the haptic feedback generation module and / or the force measurement module: Move in a direction parallel to the reference plane; and / or Move along a direction perpendicular to the reference plane.

4. The non-contact tactile feedback force measuring device according to claim 3, characterized in that, The translation component includes a planar translation mechanism and a normal translation mechanism, wherein the tactile feedback generation module and the force measurement module are respectively mounted on one of the planar translation mechanism and the normal translation mechanism; The planar movement mechanism is configured to drive the connected module to move in two dimensions within a plane parallel to the reference plane; the normal movement mechanism is configured to drive the connected module to move in a direction perpendicular to the reference plane.

5. The non-contact tactile feedback force measuring device according to claim 4, characterized in that, The tilt adjustment component is disposed on the planar moving mechanism or the normal moving mechanism and connected to the module mounted on the mechanism to drive the module to rotate about an axis parallel to the reference plane.

6. The non-contact tactile feedback force measuring device according to claim 2, characterized in that, The tilt adjustment assembly includes a connecting frame and a connecting structure. The tactile feedback generation module or the force measurement module is disposed in the connecting frame and is rotatably connected to the opposite sides of the connecting frame through the connecting structure.

7. The non-contact tactile feedback force measuring device according to claim 1, characterized in that, Also includes: A ranging module, comprising a ranging sensor and a mating component, wherein the ranging sensor is disposed on one of the haptic feedback generating module or the force measuring module and is electrically connected to the control and data acquisition system, and the mating component is disposed on the other; the ranging sensor is configured to measure the distance between itself and the mating component to obtain the distance between the haptic feedback generating module and the force measuring module in a direction perpendicular to the reference plane, and transmits the result to the control and data acquisition system; and / or It also includes a noise measurement module, which is electrically connected to the control and data acquisition system and is configured to collect noise data of the environment in which the tactile feedback generation module and the force measurement module are located and send it to the control and data acquisition system.

8. A method for measuring non-contact tactile feedback force, characterized in that, The method, employing the non-contact tactile feedback force measuring device as described in any one of claims 1 to 7, comprises the following steps: The tactile feedback generation module and the force measurement module are spatially aligned such that the main direction of the tactile force field is perpendicular to the center of the sensing surface, in order to determine the reference plane. The spatial orientation of the tactile feedback generation module and / or the force measurement module is adjusted by the adjustment mechanism to set a target preset tilt angle; The tactile feedback generation module is activated by the control and data acquisition system to output non-contact tactile force; The force measurement module collects touch force signals in real time and transmits the collected force signals to the control and data acquisition system for storage and processing.

9. The method for measuring non-contact tactile feedback force according to claim 8, characterized in that, The adjustment mechanism drives the haptic feedback generation module and / or the force measurement module to move along a preset path in a direction parallel to the reference plane to perform multi-point touch force measurement; and / or The distance between the haptic feedback generating module and the force measuring module along the direction perpendicular to the reference plane is adjusted by the adjustment mechanism to measure the magnitude of the haptic force at different distances; During the measurement process, a human hand tactile test was conducted simultaneously, and subjective feelings were recorded.

10. The method for measuring non-contact tactile feedback force according to claim 8, characterized in that, The control and data acquisition system includes a computing unit, a storage unit, and a control unit; the method further includes: The calculation unit adjusts the output of the tactile feedback generation module according to preset tactile force parameters; The calculation unit sends the corresponding spatial coordinate command to the control unit, and the control unit drives the adjustment mechanism to realize the relative positioning of the tactile feedback generation module and the force measurement module in three-dimensional space. The force data measured by the force measurement module is stored in the storage unit; The calculation unit processes the force data and displays the measurement results on a display.

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