A multi-modal haptic feedback based anthropomorphic intelligent interaction system

Abstract

The application relates to the technical field of haptic interaction, and particularly discloses an anthropomorphic intelligent interaction system based on multi-modal haptic feedback, which is not simply responsive to touch, but actively predicts the complete intention stage from ordinary touch to the triggering of a key instruction by monitoring the change trend of the user's pressing mechanical parameters in real time, and drives the microstructure change of the field rheological medium filled in the independent sealed chamber, simulates the graded feedback from flexible resistance to rigid rejection in the haptic, and the process enables the user to perceive the gradually increasing resistance change during the pressing process, so that the potential risk is fully realized before the operation is executed, the probability of mis-triggering of the key instruction is greatly reduced, smooth and stepless touch transition is provided, and the safety, reliability and user experience of the interaction operation in a complex scene are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of tactile interaction technology, specifically to a human-like intelligent interaction system based on multimodal tactile feedback. Background Technology

[0002] In the field of high-end human-computer interaction devices, such as industrial control consoles, precision medical instrument operating terminals, and virtual reality interactive controllers, users need to complete a large number of complex command inputs through physical buttons or touch areas on the control panel. The tactile feedback technology of traditional industrial control panels mainly relies on integrating an eccentric rotating mass motor or linear resonant actuator under the buttons or panel to transmit equipment status feedback or operation confirmation signals to the user by generating mechanical vibrations. Although this method is simple in structure, its output feedback form is singular, only providing vibration sensations of various frequencies and amplitudes, and cannot simulate the essential differences in mechanical characteristics between different operating states.

[0003] As industrial systems become increasingly complex, interaction modes that rely solely on vibration alerts have revealed significant limitations. In particular, when critical commands require secondary confirmation or when facing high-risk misoperations, the warning intensity of existing vibration feedback is severely insufficient. Users under high stress or fatigue are highly likely to ignore brief vibration sensations, leading to irreversible critical operations without sufficient confirmation, which could result in serious accidents. Some industry solutions attempt to enhance warnings by increasing vibration intensity or duration, but this introduces new problems such as increased panel resonance noise, increased power consumption, and a harsher user experience.

[0004] Furthermore, current technologies that simulate texture using electrostatic friction or ultrasonic surface modulation rely on tangential force or extrusion film effects to mimic the tactile sensation, which is essentially still a permeable tactile sensation. These solutions fail to provide a physically realistic, rigid barrier, and therefore cannot fundamentally construct a physically tangible confirmation barrier for the user. Thus, there is an urgent need for an interactive device capable of generating dynamic stiffness changes based on physical mechanisms and providing an impenetrable, rigid tactile barrier when necessary, to achieve a substantial safety upgrade in the field of human-computer tactile interaction. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a human-like intelligent interactive system based on multimodal tactile feedback, which can effectively solve the problems mentioned in the background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a humanoid intelligent interactive system based on multimodal tactile feedback, comprising an interactive panel module for providing multiple interactive areas and a tactile feedback interface to the user, wherein each interactive area has an independent sealed chamber constructed within the tactile feedback interface; a multimodal tactile generation module for controlled adjustment of the mechanical impedance characteristics output to the corresponding interactive area, comprising at least a field-induced rheological medium filled in the sealed chamber and a field-controlled exciter acting on the field-induced rheological medium; an intent perception module for real-time acquisition of the user's interactive mechanical parameters on the interactive panel module and generating a state signal characterizing the user's current operational intent stage based on the interactive mechanical parameters; and a tactile drive control module for, based on the state signal, calling a preset humanoid multimodal response logic to generate a corresponding drive signal and applying it to the field-controlled exciter to adjust the rheological characteristics of the field-induced rheological medium, controlling the interactive area to dynamically switch between a flexible feedback state that allows the user to press through and a rigid rejection state that prevents the user from pressing through, ultimately forming a closed-loop response of humanoid tactile interaction.

[0007] As a further solution, the interactive mechanical parameters include the real-time pressure applied by the user in each interactive area and the gradient of the pressure change over a unit of time. When the user's touch position is detected to be in a preset key instruction interactive area, and the gradient of the pressure change over a unit of time exceeds a preset gradient change threshold, it is determined that the user is about to enter the confirmation trigger stage of the key instruction, and a corresponding pre-trigger intention state signal is generated. The intention perception module synchronously records the duration of the pre-trigger intention state signal. If the duration exceeds a preset pre-trigger duration threshold, it is determined that the user has an operation hesitation behavior, and the gradient change threshold is corrected in reverse according to the duration.

[0008] As a further solution, upon receiving the pre-triggered intention state signal, the corresponding flexible warning sub-strategy is invoked from the anthropomorphic multimodal response logic, and a first electric field driving signal is generated based on the flexible warning sub-strategy; the first electric field driving signal is applied to the field-controlled exciter in the corresponding interaction area to drive the microstructure inside the field-induced rheological medium to undergo pre-orientation alignment, that is, the apparent viscosity increases from the initial low viscosity state to an intermediate viscosity state that provides a flexible resistance feel within a preset delay time perceptible to the user.

[0009] As a further solution, after generating the pre-triggered intention state signal, the real-time pressing pressure is continuously monitored; when the real-time pressing pressure is detected to be continuously increasing and exceeding the preset confirmation pressure judgment threshold, and the duration of the excess is greater than the preset confirmation hold time threshold, it is determined that the user intends to perform an irreversible confirmation operation, and a confirmation execution intention state signal is generated.

[0010] As a further solution, upon receiving the confirmation execution intention status signal, the corresponding rigid rejection sub-strategy is invoked from the anthropomorphic multimodal response logic, and a second electric field driving signal is generated based on the rigid rejection sub-strategy. The second electric field driving signal acts on the field-induced rheological medium through a field-controlled exciter to drive the microstructure inside the field-induced rheological medium to undergo complete bridging and solidification, that is, the apparent viscosity increases from the intermediate viscosity state to the solidification threshold, while switching the interaction region where the field-induced rheological medium is located to the rigid rejection state. The electric field strength of the second electric field driving signal is greater than the electric field strength of the first electric field driving signal.

[0011] As a further solution, when the interaction area is in the rigid rejection state, if it is detected that the user actively removes the pressure applied to the interaction area and the real-time pressure drops below a preset release judgment threshold, it is determined that the user accepts the rigid rejection feedback of the interaction system and a release confirmation status signal is generated.

[0012] As a further solution, upon receiving the release confirmation status signal, the corresponding recovery confirmation sub-strategy is invoked from the anthropomorphic multimodal response logic, and a field control cancellation signal is generated based on the recovery confirmation sub-strategy. The field control cancellation signal is used to stop the excitation of the field control exciter, so as to dissociate the bridging solidification state of the microstructure inside the field-induced rheological medium, that is, the apparent viscosity is restored from the solidification threshold to the initial low viscosity state, and the interaction region where the field-induced rheological medium is located is simultaneously restored from the rigid rejection state to the flexible feedback state.

[0013] As a further solution, an interactive panel status indicator module is also included: After the field control cancellation signal is generated, the interactive panel status indication module continuously detects the current rheological state parameters of the field-induced rheological medium. When it detects that the current rheological state parameters have recovered to the preset recovery threshold range that characterizes the initial low viscosity state, it generates a medium recovery completion signal. The tactile drive control module receives the medium recovery completion signal and outputs a ready prompt feedback signal to the user through the interactive panel module. The ready prompt feedback signal is characterized as a feedback signal that indicates the corresponding interactive area has regained operability, distinct from the rigid rejection state and the flexible feedback state.

[0014] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects: (1) This invention provides a human-like intelligent interactive system based on multimodal tactile feedback. By deeply integrating multimodal tactile feedback with intention perception technology, a human-like intelligent closed-loop interactive mechanism of perception, decision-making, and feedback is constructed. Its core advantage lies in giving human-computer interaction a hierarchical predictive ability and an intuitive physical dissuasion experience. The system does not simply respond to touch, but actively predicts the complete intention stage from ordinary touch to the imminent triggering of key instructions by monitoring the changing trend of the user's pressure parameters in real time, and drives the field-induced rheological medium filled in the independent sealed chamber accordingly. Microstructural changes occur, simulating a graded feedback from flexible resistance to rigid rejection in tactile feedback. This process allows users to perceive the gradually increasing resistance during pressing, thus fully recognizing potential risks before execution and greatly reducing the probability of accidental triggering of critical commands. Unlike traditional single vibration or sound cues, this continuous and instantaneous adjustment of mechanical impedance achieved by utilizing the rheological properties of materials not only provides a smooth and stepless tactile transition but also creates a natural and intuitive feeling that is almost like interacting with a real person, significantly improving the safety, reliability, and user experience of interactive operations in complex scenarios.

[0015] (2) When the system anticipates that the user may trigger a key instruction, the present invention does not immediately prohibit the operation. Instead, it controls the field-induced rheological medium to make the button produce a gradually increasing stickiness or flexible resistance in a very short time that the user can perceive. This tactile change accurately simulates the subtle reminder when the user is hesitant to speak. It effectively conveys the warning intention that the current operation needs to be cautious, while retaining the user's right to continue the operation. It achieves a smooth transition from permission to refusal and avoids the sense of interaction disconnect caused by simple and crude feedback.

[0016] (3) When the system determines that the user is determined to perform a dangerous operation, the present invention applies a stronger electric field to drive the internal structure of the medium to solidify instantly, making the button like a solid and impossible to press. This feedback not only physically prevents the completion of the operation, but also psychologically conveys a strong and certain signal that the way is blocked, simulating the user's behavior of resolutely stopping in an emergency. Combined with the previous stage of soft warning, it forms a complete logical chain from persuasion to stopping, which makes an outstanding contribution to improving the reliability of interaction in high-security scenarios. Attached Figure Description

[0017] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the system module connections of the present invention. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] See Figure 1 The diagram shown is a schematic diagram of the system module connection of the present invention. The present invention provides a technical solution: an anthropomorphic intelligent interactive system based on multimodal tactile feedback, including an interactive panel module, a multimodal tactile generation module, an intent perception module, a tactile drive control module, an interactive panel status indication module, and a threshold storage module.

[0021] The interactive panel module is connected to the intent perception module and the multimodal haptic generation module, respectively. The multimodal haptic generation module is connected to the haptic drive control module and the interactive panel status indication module, respectively. The intent perception module is connected to the haptic drive control module, respectively. The haptic drive control module is connected to the interactive panel status indication module and the threshold storage module, respectively. The interactive panel status indication module is connected to the interactive panel module.

[0022] The threshold storage module is used to store all preset values ​​in this embodiment, including preset change gradient thresholds, preset delay times, preset confirmation pressure judgment thresholds, preset confirmation hold time thresholds, preset release judgment thresholds, and preset recovery threshold ranges, etc. For example, the preset change gradient threshold is obtained by collecting sample data of the pressure change rate of multiple operators in a simulated high-risk scenario, from normal operation to triggering a critical command. After statistical analysis, the value that covers more than 95% of the sample change rate peaks is selected as the initial threshold and stored in the non-volatile memory of the threshold storage module. In subsequent use, the system can fine-tune and optimize the stored threshold and update its coverage based on user operation habit data through the haptic drive control module's adaptive algorithm. All other values ​​are dynamically calibrated based on experimental and user data, similar to the preset change gradient threshold, and will change with the learning iteration of user interaction behavior and system upgrades. This embodiment does not impose any special limitations on these values. Furthermore, the threshold storage module is an electrically erasable programmable read-only memory (EEPROM).

[0023] The interactive panel module provides multiple interactive areas. In other words, multiple interactive areas are divided by physical or graphical button areas on the panel, and a haptic feedback interface is provided to the user. The haptic feedback interface represents the physical medium surface that receives the user's pressing operation and provides feedback on the mechanical impedance changes generated by the multimodal haptic generation module. Inside the haptic feedback interface, at the corresponding positions of each interactive area, an independent sealed chamber is constructed. The sealed chamber is a closed space formed by encapsulating a flexible polymer film with a rigid substrate, filled with a field-induced rheological medium and isolated from the external environment. It provides a controlled hydrodynamic microenvironment for the rheological properties changes of the field-induced rheological medium, ensuring that the mechanical response during pressing is entirely determined by the state of the medium itself.

[0024] A multimodal tactile generation module, disposed within the sealed cavity of the interactive panel module, is used to controllably adjust the mechanical impedance characteristics output to the corresponding interactive area. Specifically, it actively alters the mechanical stiffness and damping characteristics of the interactive area against the user's finger pressure through external control signals. These mechanical impedance characteristics, comprising stiffness and damping information, determine the perceived softness / hardness and penetration resistance. The multimodal tactile generation module includes at least a field-induced rheological medium filled within the sealed cavity and a field-controlled exciter acting on the field-induced rheological medium. The field-induced rheological medium is a suspension composed of high-dielectric-constant nanoparticles or microparticles uniformly dispersed in an insulating base oil. Its internal microscopic particle chain structure can reversibly and rapidly align under an electric field, resulting in a continuous and dramatic change in its apparent viscosity. The field-controlled exciter is a pair of parallel electrode plates embedded in the inner wall of the sealed cavity, used to generate a controllable electric field based on signals from the tactile drive control module, thereby non-contactly controlling the microscopic particle chain structure within the field-induced rheological medium.

[0025] The intent perception module is coupled to the interaction panel module (coupling refers to a direct physical connection or highly integrated conformal connection between the mechanical sensor of the intent perception module and the mechanical structure of the interaction panel module to achieve lossless transmission and high-fidelity acquisition of mechanical signals). It is used to collect the user's interactive mechanical parameters on the interaction panel module in real time through a flexible pressure sensor array and a capacitive touch sensor integrated under the interaction panel module, and generate a state signal that characterizes the user's current operation intent stage after signal conditioning and microprocessor analysis based on the interactive mechanical parameters.

[0026] Specifically, the interactive mechanical parameters include the real-time pressing force applied by the user in each interactive area and the gradient of the pressing force over a unit of time. The gradient of the pressing force refers to the rate of change of the pressing force over time, which is the value obtained by performing first-order differential processing on the real-time pressing force and is used to quantify the degree of haste or hesitation of the user's pressing action.

[0027] When the intent perception module detects that the user's touch position is located in the preset key instruction interaction area, and the change gradient of the pressure intensity within a unit of time exceeds the preset change gradient threshold, it determines that the user is about to enter the confirmation trigger stage of the key instruction and generates a corresponding pre-trigger intent state signal.

[0028] The preset key instruction interaction area refers to the specific control button area on the interaction panel corresponding to high-risk, irreversible operations such as emergency shutdown, nuclear reactor shutdown, and weapon system activation. It is pre-stored in the threshold storage module through coordinate calibration. The preset change gradient threshold is pre-stored in the threshold storage module. It refers to the critical value of the change rate of the pressure intensity that distinguishes between normal user pressing and pressing with the intention to trigger a key instruction. When the actual change gradient exceeds this value, it indicates that the user's pressing action has a clear and rapid confirmation intention.

[0029] The intent perception module synchronously records the duration of the pre-triggered intent state signal. If the duration exceeds the preset pre-triggered duration threshold, it determines that the user has an operation hesitation behavior, and corrects the change gradient threshold in reverse according to the duration.

[0030] It should be noted that the preset pre-trigger duration threshold is extracted from the threshold storage module. It represents the time boundary value pre-set by the system to distinguish between a user's brief tentative press and a sustained hesitant press, characterizing the maximum reasonable thinking time allowed before a normal confirmation operation. The change gradient threshold is corrected in reverse according to the duration. Specifically, the intent perception module calculates the difference between the duration and the pre-trigger duration threshold, and classifies the difference into multiple preset continuous difference intervals stored in the threshold storage module. Each difference interval corresponds to a preset correction coefficient. When the difference falls into any difference interval, the correction coefficient corresponding to that difference interval is selected as the current correction coefficient, and the correction coefficient is a value greater than or equal to 1. The larger the difference interval, the larger the correction coefficient. The current value of the change gradient threshold is multiplied by the correction coefficient to obtain a new change gradient threshold. At the same time, the increased new change gradient threshold only applies to subsequent triggering behaviors of the same interaction area after the release of this operation, so as to avoid immediate interference with the currently ongoing hesitant operation, thereby realizing feedforward parameter reconstruction of the user's hesitant behavior.

[0031] The tactile drive control module is used to invoke a preset anthropomorphic multimodal response logic extracted from the threshold storage module according to the state signal. The embedded microcontroller and high-voltage drive circuit generate a corresponding drive signal and apply it to the field-controlled exciter to adjust the rheological properties of the field-induced rheological medium. This controls the interactive area to dynamically switch between a flexible feedback state that allows users to press and penetrate and a rigid rejection state that prevents users from pressing and penetrating. This ultimately forms a closed-loop response for anthropomorphic tactile interaction. By controlling the field-controlled exciter through the tactile drive control module, the field-induced rheological medium is adjusted, and the state of the interactive area is switched. This process constructs a complete information-physical closed loop from behavior perception and intention understanding to real-time changes in physical properties, greatly enhancing operational safety.

[0032] Specifically, upon receiving the pre-triggered intention state signal, the corresponding flexible warning sub-strategy is invoked from the anthropomorphic multimodal response logic, and a first electric field driving signal is generated based on the flexible warning sub-strategy.

[0033] The anthropomorphism refers to the system simulating the non-verbal communication mode based on force and resistance in human-to-human interaction; the anthropomorphic multimodal response logic is based on the digital abstraction of the user's persuasion-stop behavior model, mapping the risk level of the operation intention to a multi-level tactile state, and establishing a non-linear mapping rule library between the waveform, amplitude, and timing of the intention state signal and the field control excitation signal. This is pre-installed in the tactile drive control module and solidified into a callable strategy function, which is solidified into executable code in the form of a lookup table or conditional branch instruction sequence. Its input is the state signal, and its output is the corresponding drive signal parameter group. The state signal includes at least three discrete state codes: pre-trigger intention state signal, confirmation execution intention state signal, and release confirmation state signal. Each code corresponds to a preset binary numerical identifier.

[0034] Furthermore, the haptic drive control module invokes the corresponding flexible warning sub-strategy from the anthropomorphic multimodal response logic using a lookup table method or a function mapping method. The flexible warning sub-strategy is a control logic that simulates a user's hesitant and subtle reminder. It defines parameters such as the electric field strength, rising slope, and duration required to gradually increase the viscosity of the field-induced rheological medium to generate flexible resistance. Based on the preset electric field signal parameters in the flexible warning sub-strategy, the haptic drive control module generates the corresponding first electric field drive signal through digital-to-analog conversion and a high-voltage amplifier.

[0035] The first electric field driving signal is applied to the field-controlled exciter in the corresponding interactive area to drive the microstructure inside the field-induced rheological medium to undergo pre-orientation alignment, that is, the apparent viscosity increases from the initial low viscosity state to the intermediate viscosity state that provides a flexible and resistive feel within a preset delay time that is perceptible to the user.

[0036] It needs to be explained that the reason why the first electric field driving signal can drive the microstructure inside the field-induced rheological medium to undergo pre-oriented alignment is that the electric field generated by the field-controlled exciter induces dipole moments in the randomly distributed polarized particles in the medium. Dipole-dipole interaction forces are generated between the particles along the direction of the electric field, which overcome thermal motion and form short chains or columnar aggregates aligned along the direction of the electric field lines. The pre-oriented alignment refers to the fact that the particle chain has not yet formed a complete solidified bridge across the two poles, but is in a preliminary ordered chain structure state with a certain mechanical anisotropy, preparing for possible rapid and complete solidification in the future.

[0037] It should be further explained that the apparent viscosity refers to the equivalent viscosity of a fluid at a specific shear rate, which is a macroscopic physical quantity that measures its flow resistance; the preset delay time is obtained from the threshold storage module, and its specific meaning is the time interval from the application of the electric field to the user's subjective perception of a significant change in resistance, which is usually set within 50 to 150 milliseconds to ensure that the user can perceive the warning before the command is actually triggered; the initial low viscosity state refers to the field-induced rheological medium exhibiting a fluid state similar to base oil when there is no external electric field, with minimal resistance; the intermediate viscosity state refers to the viscosity increasing to several to tens of times the initial state, so that the user feels a soft resistance similar to pressing a high-viscosity fluid or rubber, but can still continue to produce displacement.

[0038] Before the user triggers a critical command, the system provides a non-rigid, penetrable, flexible resistance change that offers a tactile warning that is uninterrupted yet clearly directional. This subconsciously guides the user to re-examine the current operation, effectively preventing accidental triggering due to habitual actions or brief distractions.

[0039] Furthermore, after generating the pre-trigger intention state signal, the real-time pressing pressure is continuously monitored.

[0040] When the real-time pressing pressure is detected to continuously increase and exceed the preset confirmation pressure judgment threshold extracted from the threshold storage module, and the duration of the excess is greater than the preset confirmation hold time threshold extracted from the threshold storage module, it is determined that the user intends to perform an irreversible confirmation operation, and a confirmation execution intention status signal is generated.

[0041] The preset confirmation pressure judgment threshold refers to the force threshold required for a user to continue pressing and overcome the flexible resistance after a soft warning. This value is higher than the normal pressing force in the soft feedback state. The preset confirmation hold time threshold refers to the shortest time window during which the pressing force continuously exceeds the confirmation pressure judgment threshold. It is used to filter instantaneous pressure fluctuations and ensure the firmness and continuity of the user's confirmation action. For example, the confirmation hold time threshold can be set between 200 and 500 milliseconds to filter out users' instantaneous jittery touches.

[0042] Before generating the confirmation execution intention status signal, if the real-time pressing force detected by the intention perception module decays and falls back below the confirmation pressure judgment threshold within a duration exceeding the confirmation pressure judgment threshold, the intention perception module records this fallback event and dynamically adjusts the confirmation hold time threshold based on the frequency of the fallback event. Specifically, the intention perception module has a built-in event counter, and increments the current count value of the event counter by one each time a fallback event is recorded. The current value of the confirmation hold time threshold is set as the product of a base time threshold and the normalized current count value of the event counter, where the base time threshold is a preset initial confirmation hold time value stored in the threshold storage module. When the event counter returns to zero, the confirmation hold time threshold is restored to the base time threshold. Whenever the fallback events accumulate, the confirmation hold time threshold increases stepwise with the base time threshold as the step size, so that the cumulative time required to determine the confirmation execution intention increases with the increase of the fallback frequency, forming a cumulative delay penalty mechanism for repeated uncertain operations.

[0043] The aforementioned cumulative delay penalty mechanism, which uses the frequency of pressure fallback to confirm the holding time threshold, dynamically increments the count value based on the frequency of fallback events, so that the system imposes an increasing time cost constraint on repeated uncertain operations, rather than making only a single judgment.

[0044] Specifically, upon receiving the confirmation execution intention status signal, the corresponding rigid rejection sub-strategy is invoked from the anthropomorphic multimodal response logic, and a second electric field driving signal is generated based on the rigid rejection sub-strategy.

[0045] It should be noted that the haptic drive control module calls the corresponding rigid rejection sub-strategy from the anthropomorphic multimodal response logic through a lookup table method or a function mapping method. The rigid rejection sub-strategy is a control logic that simulates the user's resolute stopping behavior. It defines parameters such as the maximum electric field strength, steep rising edge, and holding time required for the field-induced rheological medium to be instantly and completely solidified. Based on the preset peak electric field signal parameters in the rigid rejection sub-strategy, the haptic drive control module directly generates a second electric field drive signal with a strong electric field through a high-voltage drive circuit.

[0046] The second electric field driving signal acts on the field-induced rheological medium through the field-controlled exciter to drive the microstructure inside the field-induced rheological medium to undergo complete bridging and solidification, that is, the apparent viscosity increases from the intermediate viscosity state to the solidification threshold extracted from the threshold storage module, and at the same time switches the interaction region where the field-induced rheological medium is located to the rigid rejection state.

[0047] It needs to be explained that the reason why the second electric field driving signal can drive the structure to solidify completely is because the strong electric field it generates causes the dipole force between particles to increase sharply. The particle chains quickly aggregate, coarsen, and eventually form a dense columnar agglomerate spanning the two poles. This agglomerate mechanically traps most of the base oil in its internal micropores and binds most of the base oil in the structural gaps, causing the medium to lose its fluidity.

[0048] It should be further explained that the curing threshold is the critical apparent viscosity value that the field-induced rheological medium needs to reach to lose its macroscopic fluidity and exhibit solid-like mechanical behavior. The initial low viscosity state is less than the intermediate viscosity state and less than the curing threshold. The reason why the interaction area needs to be switched to the rigid rejection state simultaneously when the apparent viscosity increases to the curing threshold is that the medium has extremely high compressive and shear yield strength at this time, and macroscopically it is a rigid body that cannot be pressed. This state is the final form that physically prevents the user from penetrating. The rigid rejection state means that the interaction area exhibits great mechanical resistance to external pressure and hardly deforms within the normal operating force range, giving the user a clear sense of prohibition, just like pressing a solid metal plate.

[0049] By achieving absolute physical isolation, the highest level of security protection in human-computer interaction is constructed, making it impossible to physically complete any fatal operation that is not carefully considered or is erroneous. This reduces the risk of accidents from the probability level to zero, and realizes a decision-level closed loop from warning to prevention.

[0050] Furthermore, during the period when the interaction area is in the rigid rejection state, when the intent perception module detects that the user actively removes the pressure applied to the interaction area, and the real-time pressure drops below the preset release judgment threshold extracted from the threshold storage module, it is determined that the user has understood and accepted the rigid rejection feedback of the interaction system, that is, accepted the fact that the operation is prohibited and abandoned the current erroneous intent, and a release confirmation status signal is generated.

[0051] The preset release judgment threshold is the force threshold for determining that the user's finger has basically detached or no longer applies effective pressure, and its value is close to the reference noise level of zero or no contact state; the preset confirmation pressure judgment threshold is much larger than the preset release judgment threshold, and respectively represents the judgment boundary of the rising edge and falling edge of the force intention.

[0052] When generating the release confirmation status signal, the intent perception module simultaneously acquires the duration of the rigid rejection state and uses the duration as a weighting factor to weight and correct the gradient change threshold when the same interaction area triggers the pre-triggered intent state signal again. This ensures that the gradient change required to trigger the pre-triggered intent state again after the same interaction area has experienced a complete rigid rejection is positively correlated with the duration, reflecting the system's memory response to the user's intrusive actions based on the historical rejection depth (i.e., the total time from the establishment of the rigid rejection state to the user's release; the longer the time, the deeper the system's previous obstruction of the operation and the longer the user's resistance).

[0053] It should be explained that the intent perception module uses the duration of continuous existence as the independent variable and calculates a weighting coefficient using a preset monotonically increasing mapping function stored in the threshold storage module. The output of this monotonically increasing mapping function increases as the duration of continuous existence increases. Then, the current baseline value of the change gradient threshold is multiplied by the weighting coefficient to obtain the corrected change gradient threshold. This corrected change gradient threshold is stored in the threshold storage module and associated with the area identifier of the current interaction area. It is only invoked and takes effect when the user touches the same interaction area again. Moreover, this weighted correction has a single-use validity, that is, it only takes effect on the determination of the next pre-triggered intent state. After taking effect, the weighting coefficient is automatically reset to the initial value to avoid excessive memory accumulation that could lead to an infinitely high operational threshold.

[0054] The above method establishes the duration of continuous existence as a weighting factor to perform memory-weighted correction on the gradient threshold of subsequent triggers. This makes the adjustment of the gradient threshold independent of the current single operation, but rather based on the inertial response of the previous rejection depth based on the time integral effect, thus forming an interaction history memory.

[0055] Specifically, upon receiving the release confirmation status signal, the corresponding recovery confirmation sub-strategy is invoked from the anthropomorphic multimodal response logic, and a field control cancellation signal is generated based on the recovery confirmation sub-strategy.

[0056] It should be explained that the tactile drive control module calls the corresponding recovery confirmation sub-strategy from the anthropomorphic multimodal response logic through a lookup table method or a function mapping method. The recovery confirmation sub-strategy is a control logic that simulates the user's softening attitude after confirming that the other party has understood. It defines the speed and method of electric field removal. Based on the instruction of the recovery confirmation sub-strategy, the tactile drive control module reduces the drive voltage output to the field control exciter to zero and generates a field control cancellation signal.

[0057] The relationship between the electric field strengths corresponding to the first electric field driving signal, the second electric field driving signal, and the field control cancellation signal is as follows: the electric field strength of the second electric field driving signal is greater than that of the first electric field driving signal, which is greater than 0, and the electric field strength of the field control cancellation signal is 0.

[0058] The field control cancellation signal is used to stop the excitation of the field control exciter, so as to dissociate the bridging solidification state of the microstructure inside the field-induced rheological medium, that is, to restore the apparent viscosity from the solidification threshold to the initial low viscosity state, and simultaneously restore the interaction region where the field-induced rheological medium is located from the rigid rejection state to the flexible feedback state.

[0059] It should be noted that the reason why the interaction area needs to be restored from the rigid rejection state to the flexible feedback state while the apparent viscosity is restored is because the dissociation of the micro-bridging structure allows the medium to regain fluidity, and its macroscopic mechanical impedance returns to the preset penetrable, low-stiffness initial state. The flexible feedback state means that the interaction area allows the user's finger to press and penetrate normally, presenting the initial key travel and rebound force set at the beginning of the design, indicating that the system is ready to receive new command input.

[0060] The system does not lock out after a one-time rejection, but can intelligently recognize the user's understanding and cooperation, and automatically restore to an operable state. This avoids the embarrassment of manual reset or system stagnation, and simulates the social wisdom of easing tension and resuming dialogue after a serious rebuke.

[0061] As a preferred embodiment, it also includes an interactive panel status indication module connected to the haptic drive control module: After the field control cancellation signal is generated, the interactive panel status indication module continuously detects the current rheological state parameters of the field-induced rheological medium. When it detects that the current rheological state parameters have recovered to the range of the preset recovery threshold extracted from the threshold storage module, which represents the initial low viscosity state, it generates a medium recovery completion signal.

[0062] It should be explained that the current rheological state parameters are dielectric parameters related to the medium viscosity, which are indirectly reflected by measuring the impedance or phase angle of the weak AC signal between the electrodes of the field-controlled actuator; the preset recovery threshold range is defined as the range of values ​​that the above electrical parameters should fall into when the medium has recovered to a low viscosity state that allows for normal operation.

[0063] The tactile drive control module receives the medium recovery completion signal and outputs a ready prompt feedback signal to the user through the interactive panel module. This signal is triggered by the tactile drive control module, which drives the interactive panel module to output a short and unique tactile pulse that is different from the mechanical sensation of the aforementioned flexible feedback state and rigid rejection state, or to light up the corresponding status indicator light, thereby forming a ready prompt feedback signal.

[0064] The readiness prompt feedback signal is characterized as a feedback signal that indicates the corresponding interaction area has regained operability, distinct from the rigid rejection state and the flexible feedback state.

[0065] The interactive panel status indicator module adds a clear confirmation step to the entire interaction loop, allowing users to confidently start the next operation without guessing the button status, based on a clear ready signal. This significantly improves the transparency and smoothness of complex operation processes.

[0066] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A humanoid intelligent interactive system based on multimodal haptic feedback, characterized in that, include: An interactive panel module is used to provide multiple interactive areas and provide a tactile feedback interface to the user. Each interactive area has an independent sealed chamber inside the tactile feedback interface. A multimodal tactile generation module for controlled adjustment of the mechanical impedance characteristics output to a corresponding interactive area, comprising at least a field-induced rheological medium filled in a sealed cavity and a field-controlled exciter acting on the field-induced rheological medium; The intent perception module is used to collect the user's interaction mechanical parameters on the interaction panel module in real time, and generate a state signal to characterize the user's current operation intent stage based on the interaction mechanical parameters. The tactile drive control module is used to call a preset anthropomorphic multimodal response logic according to the state signal, generate a corresponding drive signal and apply it to the field control exciter to adjust the rheological properties of the field-induced rheological medium, control the interactive area to dynamically switch between a flexible feedback state that allows users to press and penetrate and a rigid rejection state that prevents users from pressing and penetrating, and finally form a closed-loop response of anthropomorphic tactile interaction.

2. The anthropomorphic intelligent interactive system based on multimodal haptic feedback according to claim 1, characterized in that: The interactive mechanical parameters include the real-time pressure applied by the user in each interactive area and the gradient of the pressure change per unit time. When the system detects that the user's touch position is located in the preset key instruction interaction area, and the change gradient of the pressure intensity exceeds the preset change gradient threshold within a unit of time, it determines that the user is about to enter the confirmation trigger stage of the key instruction and generates a corresponding pre-trigger intention state signal. The intent perception module synchronously records the duration of the pre-triggered intent state signal. If the duration exceeds the preset pre-triggered duration threshold, it determines that the user has an operation hesitation behavior, and corrects the change gradient threshold in reverse according to the duration.

3. The anthropomorphic intelligent interactive system based on multimodal haptic feedback according to claim 2, characterized in that: Upon receiving the pre-triggered intention state signal, the corresponding flexible warning sub-strategy is invoked from the anthropomorphic multimodal response logic, and a first electric field driving signal is generated based on the flexible warning sub-strategy. The first electric field driving signal is applied to the field-controlled exciter in the corresponding interactive area to drive the microstructure inside the field-induced rheological medium to undergo pre-orientation alignment, that is, the apparent viscosity increases from the initial low viscosity state to the intermediate viscosity state that provides a flexible and resistive feel within a preset delay time that is perceptible to the user.

4. The anthropomorphic intelligent interactive system based on multimodal haptic feedback according to claim 3, characterized in that: After generating the pre-trigger intention state signal, the real-time pressing pressure is continuously monitored; When the real-time pressing pressure is detected to continuously increase and exceed the preset confirmation pressure judgment threshold, and the duration of the excess exceeds the preset confirmation hold time threshold, it is determined that the user intends to perform an irreversible confirmation operation, and a confirmation execution intention status signal is generated.

5. The anthropomorphic intelligent interactive system based on multimodal haptic feedback according to claim 4, characterized in that: Upon receiving the confirmation execution intention status signal, the corresponding rigid rejection sub-policy is invoked from the anthropomorphic multimodal response logic, and a second electric field driving signal is generated based on the rigid rejection sub-policy. The second electric field driving signal is applied to the field-induced rheological medium through the field-controlled exciter to drive the microstructure inside the field-induced rheological medium to undergo complete bridging and solidification, that is, the apparent viscosity increases from the intermediate viscosity state to the solidification threshold, and at the same time, the interaction region where the field-induced rheological medium is located is switched to the rigid rejection state. The electric field strength of the second electric field driving signal is greater than that of the first electric field driving signal.

6. The anthropomorphic intelligent interactive system based on multimodal haptic feedback according to claim 5, characterized in that: During the period when the interaction area is in the rigid rejection state, when it is detected that the user actively removes the pressure applied to the interaction area, and the real-time pressure drops below the preset release judgment threshold, it is determined that the user accepts the rigid rejection feedback of the interaction system, and a release confirmation status signal is generated.

7. The anthropomorphic intelligent interactive system based on multimodal haptic feedback according to claim 6, characterized in that: Upon receiving the release confirmation status signal, the corresponding recovery confirmation sub-strategy is invoked from the anthropomorphic multimodal response logic, and a field control cancellation signal is generated based on the recovery confirmation sub-strategy. The field control cancellation signal is used to stop the excitation of the field control exciter, so as to dissociate the bridging solidification state of the microstructure inside the field-induced rheological medium, that is, to restore the apparent viscosity from the solidification threshold to the initial low viscosity state, and simultaneously restore the interaction region where the field-induced rheological medium is located from the rigid rejection state to the flexible feedback state.

8. The anthropomorphic intelligent interactive system based on multimodal haptic feedback according to claim 7, characterized in that: It also includes an interactive panel status indicator module: After the field control cancellation signal is generated, the interactive panel status indication module continuously detects the current rheological state parameters of the field-induced rheological medium. When it detects that the current rheological state parameters have recovered to the preset recovery threshold range that characterizes the initial low viscosity state, it generates a medium recovery completion signal. The haptic drive control module receives the medium recovery completion signal and outputs a ready prompt feedback signal to the user through the interactive panel module; The readiness prompt feedback signal is characterized as a feedback signal that indicates the corresponding interaction area has regained operability, distinct from the rigid rejection state and the flexible feedback state.

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