A freely positionable distributed wired body surface micro-vibration stimulation system and method

Abstract

The application discloses a freely positionable distributed wired body surface micro-vibration stimulation system and method, and belongs to the technical field of body surface tactile stimulation and wearable electronic equipment. The system comprises an external elastic compression part, at least two low-profile wired micro-vibration modules and an external controller. The external elastic compression part keeps each module on the human body surface through the normal compression force and the interface friction force in a surface shape, and the module can freely adjust the position when the compression force is released. The low-profile wired micro-vibration module comprises a low-profile shell, a soft skin contact part, a compliant support layer, a micro-vibration actuator and a flexible wire. The flexible wire is led out from the side wall of the shell in the tangential direction of the circumference, and a stress release structure is arranged at the joint. The external controller has multiple independent driving channels, and can independently adjust the output parameters according to the body surface contact state of each module. Through the synergistic cooperation of the free point structure, the low-profile anti-overturning module and the contact state closed-loop compensation, the application realizes the multi-point free arrangement, stable adhesion and balanced vibration output, and is suitable for different body surface curvature areas.

Description

Technical Field

[0001] This invention relates to the field of tactile stimulation of the body surface and wearable electronic devices, specifically to a freely positionable distributed wired micro-vibration stimulation system and method for the body surface. Background Technology

[0002] Existing micro-vibration stimulation devices for the body surface are mainly divided into two categories: one is an integrated massage head, fixed hole array patch, and shaped headband vibration device. The vibration stimulation points are pre-defined by the device shell, fixing slot, and special installation bag, and the module position cannot be flexibly adjusted according to different users' head circumference, body surface curvature, and target stimulation area spacing; the other is an independent wireless vibration module. Each module has a built-in battery, wireless communication circuit, and charging structure, which greatly increases the module thickness and weight. Wearing it for a long time can easily cause pressure discomfort, and the synchronous control and unified calibration of multiple modules are difficult.

[0003] For body surface areas with significant curvature differences, such as the head, cheeks, occiput, shoulders, neck, and joints, traditional devices with fixed holes and mounting bases may experience problems such as overload of some modules and insufficient contact and fit of some modules, resulting in poor consistency of multi-point vibration output intensity. If wireless independent modules are used, there are obvious shortcomings in module weight, heat generation, battery life, and multi-point synchronous timing control.

[0004] If a wired centralized drive scheme is adopted, decoupling the vibration module from the elastic straps, headbands, and other clamping components to allow for free placement of the module will lead to new technical challenges: the module lacks slot-based positioning, and the flexible wires are prone to generating overturning torques when pulled, causing the module to slip, warp, or fail to make contact; the pressure on the body surface and the degree of surface fit of the module vary depending on the placement position, resulting in inconsistent efficiency of vibration energy transmission to the skin, and significant differences in the actual stimulation intensity at different points under the same drive parameters; at the same time, there is a lack of contact state detection, automatic output compensation, and graded safety protection mechanisms for freely placed scenarios.

[0005] In summary, existing technologies have not yet formed a complete collaborative solution for scenarios with free positioning and placement without fixed holes, and cannot simultaneously solve problems such as easy module flipping and sliding, inconsistent multi-point contact, uneven vibration output, and independent protection of abnormal channels. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a freely positionable distributed wired micro-vibration stimulation system and method for the body surface. Through the coordinated operation of a holeless elastic compression free-point arrangement structure, a low-profile lateral tangential wire anti-flip module, and a contact state normalized multi-channel closed-loop drive control, it achieves free arrangement of multiple points in any body surface area, stable fit, balanced vibration output, and graded safety protection.

[0007] This invention is achieved through the following technical solution: In one aspect, this application provides a freely positionable distributed wired micro-vibration stimulation system for the body surface, including an external elastic clamping element, at least two low-profile wired micro-vibration modules, and an external controller. The external elastic clamping component includes a flexible clamping part covering the target body surface area. When the clamping force is released, each low-profile wired micro-vibration module can adjust its position; when the working clamping force is applied, each low-profile wired micro-vibration module remains in the adjusted position. The low-profile wired micro-vibration module includes a low-profile housing, a soft skin contact portion, a compliant support layer, a micro-vibration actuator, and a flexible wire. The micro-vibration actuator is disposed within the low-profile housing, the compliant support layer is disposed between the micro-vibration actuator and the soft skin contact portion, and the soft skin contact portion is disposed at the bottom of the low-profile housing. A stress-relieving structure is provided at the connection between the flexible wire and the low-profile housing. The external controller has multiple independent drive channels, which are used to adjust the output parameters of the corresponding drive channels according to the surface contact state of each low-profile wired micro-vibration module.

[0008] Preferably, the external elastic clamping component is one of the following: elastic headband, Velcro headband, ring strap, cross-fixing headband, elastic headgear, elastic bandage, elastic protective gear, or elastic bodysuit.

[0009] Preferably, the maximum lateral dimension of the low-profile shell is 15 to 30 mm, the overall thickness is 3 to 8 mm, and the thickness is less than half of the maximum lateral dimension of the shell.

[0010] Preferably, the flexible conductor extends from the side wall of the low-profile housing along the circumferential tangential direction, and the angle between the extension direction of the flexible conductor and the surface plane of the module attachment body is less than or equal to 30°, and the angle between the flexible conductor and the tangent at the periphery of the housing outlet is less than or equal to 45°.

[0011] Preferably, the stress relief structure is one or more of the following: a flexible coated section, a tapered soft rubber, a corrugated soft rubber, or an arc-shaped cable outlet.

[0012] Preferably, the micro-vibration actuator is one of a linear resonant actuator, an eccentric rotating mass motor, a voice coil actuator, or a piezoelectric actuator.

[0013] Preferably, it further includes a contact state acquisition unit, which is used to directly acquire the contact state through a contact sensing element; Alternatively, the contact state can be indirectly determined based on the current, voltage, impedance, back electromotive force, or resonance parameters of the micro-vibration actuator.

[0014] Preferably, the external controller calculates the effective contact coefficient and the overpressure safety factor based on the contact detection values ​​of each low-profile wired micro-vibration module, and applies the effective contact coefficient and the overpressure safety factor to the output amplitude of the corresponding drive channel simultaneously; when the contact is insufficient, the vibration output is reduced or cut off, and when the compression is excessive, the amplitude is limited.

[0015] Secondly, this application provides a freely positionable distributed wired micro-vibration stimulation method for the body surface, comprising: Step 1: The external controller identifies all connected low-profile wired micro-vibration modules and assigns an independent drive channel to each low-profile wired micro-vibration module. Step 2: Collect electrical channel current and voltage data for each low-profile wired micro-vibration module, and obtain the surface contact state data of the corresponding module. Step 3: Based on the preset effective contact threshold, target compression upper limit and overpressure protection threshold, calculate the effective contact coefficient and overpressure safety factor of each drive channel in combination with the body surface contact state data; Step 4: Based on the effective contact coefficient and overvoltage safety factor, combined with the user-defined basic amplitude, single-channel hardware calibration coefficient, and custom frequency and timing parameters, determine the output amplitude, driving frequency, and output timing of each driving signal to generate each independent driving signal; the multi-channel independent driving unit outputs micro-vibrations on the body surface according to the independent driving signals.

[0016] Preferably, when the micro-vibration output is performed on the body surface, the driving amplitude of each driving channel gradually increases linearly from zero to a set base amplitude; when the micro-vibration output is stopped, the driving amplitude of each driving channel gradually decreases linearly from the current value to zero.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects: This application discloses a freely positionable distributed wired micro-vibration stimulation system for the human body. An external elastic clamping component holds each low-profile wired micro-vibration module to the human body surface through planar normal clamping force and interfacial friction. When the clamping force is released, the module can freely adjust its position and arrangement. After the clamping force is applied, the module is stably held in the adjusted position. The low-profile shell reduces the vertical distance from the point of application of the wire tension to the skin contact surface. The flexible wire is led out from the side wall of the shell along the circumferential tangential direction to reduce the angle between the tension and the contact plane. The stress release structure buffers the instantaneous pulling impact. The external controller independently adjusts the output parameters of the corresponding drive channel according to the contact state of each module on the body surface, so that the actual stimulation intensity of the points under different contact states tends to be consistent. This solves the problems of existing micro-vibration stimulation devices where the stimulation point is fixed and cannot adapt to different body surface curvatures, the wireless module is heavy and uncomfortable, and the modules are prone to tilting and slipping after free placement, and the vibration output of multiple points is inconsistent. The system separates the battery and wireless circuitry from the wearer using a wired centralized drive method, significantly reducing the module's weight and thickness. While ensuring wearing stability, it achieves millimeter-level free adjustment of the points and balanced control of multi-point vibration output. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the freely positionable distributed wired body surface micro-vibration stimulation system of the present invention. Figure 2 This is a control flowchart of the freely positionable distributed wired body surface micro-vibration stimulation system of the present invention. Figure 3 This is a schematic diagram of the actuator being worn on the human head in an embodiment of the present invention; Figure 4 This is a schematic diagram showing various free positioning arrangements of the low-profile wired micro-vibration module of the present invention on the human body surface; Figure 5 This is a mechanical diagram comparing the overturning torques of lateral tangential and vertical outgoing lines in this invention. Figure a shows the vertical line-out overturning torque, and Figure b shows the lateral tangential line-out overturning torque.

[0020] Figure 6 This is a schematic diagram illustrating the waveform and contact normalization compensation principle of the freely positionable distributed wired body surface micro-vibration stimulation system of the present invention.

[0021] In the diagram: 10. Low-profile wired micro-vibration module; 11. Low-profile housing; 12. Soft skin contact part; 13. Flexible support layer; 14. Micro-vibration actuator; 20. Flexible wire; 21. Stress relief structure; 30. External controller; 31. Power module; 32. Main control unit; 33. Multi-channel drive unit; 34. User interaction unit; 35. Status detection unit; 36. Safety protection unit; 40. External elastic clamping element; 50. Human body surface. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of the embodiments of this application, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. In addition, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of the embodiments of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] See Figure 1 A freely positionable distributed wired micro-vibration stimulation system for the body surface includes an external elastic clamping element, at least two low-profile wired micro-vibration modules, and an external controller.

[0029] The external elastic clamping component includes a flexible clamping part that covers the target body surface area. The flexible clamping part mainly holds the module to the human body surface through planar normal clamping force and interfacial friction force. The external elastic clamping component does not have a positioning structure that corresponds one-to-one with each module and defines its specific installation position, such as a dedicated positioning hole, positioning pocket, slot, or mounting base. In use, when no working clamping force is applied to the external elastic clamping component or the working clamping force is partially released, each micro-vibration module can be manually adjusted in position, spacing, and arrangement. When the external elastic clamping component applies working clamping force, each micro-vibration module is held in its adjusted position by the normal clamping force and interfacial friction.

[0030] Each of the aforementioned low-profile wired micro-vibration modules includes a low-profile housing, a soft skin contact portion 12, a compliant support layer, a micro-vibration actuator, and a flexible wire; A receiving cavity is formed within the low-profile housing, and the micro-vibration actuator is disposed within the receiving cavity; a compliant support layer is disposed between the micro-vibration actuator and the soft skin contact portion, which is located at the bottom of the low-profile housing for contact with the human body surface; a flexible wire extends tangentially from the side wall or circumferential direction of the low-profile housing, one end of which is electrically connected to the micro-vibration actuator, and the other end is used to connect to an external controller; a stress-relieving structure is provided at the junction of the flexible wire and the low-profile housing.

[0031] The system also includes a contact state acquisition unit corresponding to each low-profile wired micro-vibration module. The contact state acquisition unit is used to directly acquire the contact state through contact sensing elements, and / or indirectly determine the contact state based on the current, voltage, impedance, back electromotive force or resonance parameters of the micro-vibration actuator, and collect single-point body surface contact data in real time.

[0032] The external controller has multiple independent drive channels built-in, which are used to adjust the output amplitude, drive frequency, output timing and start / stop status of the corresponding channel individually according to the electrical channel fault status and body surface contact status of each low profile wired micro-vibration module. The external controller integrates an electrical fault detection unit, a contact status classification judgment unit, a contact coefficient calculation unit, a multi-mode waveform output unit, an amplitude gradual in and gradual out control unit and a graded safety protection unit.

[0033] This distributed wired micro-vibration stimulation system uses an external elastic clamping component that provides only surface normal clamping force and interfacial friction, without any dedicated positioning structure. The modules are completely decoupled from the clamping component, allowing users to adjust the module position, spacing, and arrangement arbitrarily when the clamping force is released, adapting to different head circumferences and multi-curved surface areas. For anti-flipping, the low-profile shell reduces the height of the wire tension point relative to the skin contact surface, the lateral tangential wire exit reduces the angle between the tension and the contact plane, and the stress-relieving structure buffers instantaneous pulling impact. These three mechanisms work together to weaken the flipping torque generated by the cable tension, fundamentally suppressing module slippage, warping, and contact failure. Furthermore, the contact status acquisition unit collects real-time contact data from each module. The external controller calculates the contact effectiveness coefficient and overpressure safety factor based on the contact detection values, independently correcting the output amplitude of each drive channel to ensure consistent actual stimulation intensity at different contact states. It also automatically reduces or cuts off the output of the corresponding channel when there is insufficient contact or excessive clamping, achieving graded safety protection. The system separates the battery and wireless circuitry from the wearer using a wired centralized drive method, significantly reducing the module's weight and thickness while maintaining independent control of multiple channels. It provides a lightweight, stable, and balanced multi-point micro-vibration stimulation method for body surface areas with significant curvature differences, such as the head, neck, shoulders, and limb joints.

[0034] In some embodiments, the external elastic clamping element is one of the following: elastic headband, Velcro headband, ring strap, cross-fixing headband, elastic headgear, elastic bandage, elastic protective gear, or elastic bodysuit. The external elastic clamping component can apply a uniform planar clamping force to the forehead, temples, occipital region, around the ears, top of the head, neck and shoulders, or joints of the limbs, without the need for a dedicated structure to limit the position of the module.

[0035] The external elastic clamping element holds the module to the body surface through planar normal clamping force and interfacial friction, eliminating the need for a rigid limiting structure. When the clamping force is released, the module can freely adjust its position and arrangement, and after applying clamping force, the module stably maintains its adjusted position. The flexible component adaptively conforms to the contours of the body surface, forming a continuous and uniform clamping force distribution in areas with significant curvature differences, such as the head, shoulders, neck, and joints. This avoids the local overpressure or suspension problems caused by rigid clamping elements, achieving millimeter-level free adjustment of the points while ensuring wearing stability.

[0036] As an optimal approach, the external elastic clamping component can also be a combination of elastic webbing and Velcro, where the clamping force can be changed by adjusting the overlap length of the Velcro; or it can be an inflatable clamping band, where the uniformity of the planar clamping force can be controlled by adjusting the inflation amount; or it can be a split elastic bandage, which is composed of multiple bandages that are cross-stacked, used to provide multi-directional planar clamping force in complex curved areas such as joints.

[0037] In some embodiments, the maximum lateral dimension of the low-profile shell is 15~30mm, and the overall thickness is 3~8mm. The thickness is less than 1 / 2 of the maximum lateral dimension of the shell. The overall structure adopts an ultra-thin low-profile structure to reduce the height of the module protrusion and adapt to the concave and convex surfaces of the human body for tight wearing.

[0038] The thickness of the low-profile shell is limited to less than half of its maximum lateral dimension, resulting in a minimal protrusion when the module is attached to the skin. When the elastic clamping element applies a planar normal clamping force, the low-profile structure allows the clamping force to be transmitted more evenly to the skin surface through the compliant support layer and the soft skin contact area, reducing the leverage effect and localized stress concentration caused by excessive module height. Simultaneously, the lower shell height shortens the vertical distance from the point of application of the cable tension to the skin contact surface, reducing the flipping torque generated by cable pulling. This allows the module to maintain a stable fit even with free placement, preventing tilting and slippage. This structure enables the module to adapt to areas of the body with significant curvature changes, such as the head, shoulders, neck, and joints, improving comfort during extended wear while ensuring effective transmission of vibration energy.

[0039] In some embodiments, the flexible wires of each low-profile wired micro-vibration module are led out from the side wall of the low-profile housing along the circumferential tangential direction; the angle between the lead-out direction of the flexible wire and the surface plane of the module attachment body is less than or equal to 30°, and the angle between the lead-out direction of the flexible wire and the circumferential tangent at the wire outlet of the housing is less than or equal to 45°, so as to reduce the overturning torque generated by the cable tension, so that the flexible wire extends smoothly along the surface of the external elastic clamping member, and avoids lifting the module and causing contact failure.

[0040] The mechanical relationship of the module flipping moment can be expressed as:

[0041] In the formula, The position vector pointing from the equivalent support point of the module to the force point of the conductor. The tension vector of the conductor. It is the vertical distance from the line of action of the tension force to the equivalent support point.

[0042] See Figure 5 In the simplified two-dimensional model, it can be represented as ,in This is the equivalent height of the conductor's point of action relative to the skin contact surface. This is the angle between the conductor tension and the attachment plane. The low-profile housing reduces... lateral tangential line reduction Stress relief structure buffers instantaneous tensile force The three mechanisms work together to reduce the probability of module flipping and slippage.

[0043] The flexible conductor extends tangentially from the sidewall of the housing, keeping the angle between the conductor's exit direction and the surface of the module's attachment plane within a small range. Since the overturning torque generated by the conductor's tension is proportional to the vertical distance from the line of action of the tension to the module's equivalent support point, the low-profile housing combined with the lateral tangential exit effectively reduces this vertical distance, mechanically mitigating the interference of cable tension on the module's posture. Simultaneously, the conductor extends smoothly along the surface of the clamping component, avoiding the formation of an upward force pushing the module at the exit point, reducing the probability of module warping and contact failure. The stress-relieving structure buffers instantaneous tension at the junction of the conductor and the housing, further reducing the impact of external impacts on the fit stability, ensuring a stable skin fit during wear and wiring in a free-layout state.

[0044] As an optimal example, the angle between the lead-out direction of the flexible conductor and the surface of the module attachment body is less than or equal to 15°, and the angle between the conductor and the tangent at the periphery of the housing outlet is less than or equal to 30°, to further reduce the flipping torque. The stress relief structure can buffer more than 60% of the instantaneous cable pulling force.

[0045] In some embodiments, the stress relief structure is one or more of the following: a flexible coated section, a tapered soft rubber, a corrugated soft rubber, or an arc-shaped wire outlet, used to reduce fatigue loss from reciprocating bending of the flexible conductor, buffer tensile impact, and weaken the interference of external forces on the module's posture.

[0046] The stress-relief structure is located at the junction of the flexible conductor and the low-profile housing. It absorbs the instantaneous impact energy generated when the conductor is stretched by external forces through the deformation of the flexible material, reducing the transmission of impact force to the module body and preventing the module from warping or slipping due to conductor tension. Simultaneously, the stress-relief structure evenly distributes the bending stress of the conductor from the fixed point at the outlet to the flexible section, reducing fatigue loss of the conductor under repeated bending and extending its service life during long-term wear and repeated wiring adjustments.

[0047] In a further embodiment, the flexible conductor assembly is equipped with a cable tie or clamp. The cable tie or clamp is used to route and fix multiple flexible conductors along the surface of the external elastic clamping member after the module position is adjusted, so as to avoid the cables from dangling or being pulled by external forces directly acting on the module outlet, and further reduce the risk of module flipping and slipping.

[0048] In some embodiments, the compliant support layer is disposed between the micro-vibration actuator and the soft skin contact part, and undergoes elastic deformation under compression to adapt to the concave and convex surfaces of the head or body surface, thereby improving the uniformity of single-point adhesion; the compliant support layer is made of silicone, TPE, high-density foam or flexible TPU sheet.

[0049] Furthermore, the micro-vibration actuator can be any one of an LRA linear resonant actuator, an ERM eccentric rotary motor, a voice coil actuator, or a piezoelectric actuator.

[0050] In some embodiments, the external controller divides the contact data collected by the contact state acquisition unit into at least two levels: no contact, insufficient contact, appropriate contact, and excessive pressure. The external controller calculates the effective contact coefficient and the overpressure safety factor based on the contact detection values ​​of each module, and dynamically compensates the output amplitude of the corresponding channel based on the effective contact coefficient and the overpressure safety factor. When there is insufficient contact, the vibration output is automatically reduced or cut off. When the contact is appropriate, the standard vibration intensity is output. When the pressure is excessive, the amplitude is limited and a prompt is issued.

[0051] Formula for calculating effective contact coefficient:

[0052] In the formula: Let i be the contact detection value of the i-th module. For effective contact threshold, To tighten the upper limit to the target, The function constrains the coefficients to the interval between 0 and 1.

[0053] Overpressure safety factor calculation rules: when hour, ; when hour, The value decreases monotonically as the contact detection value increases, until it reaches the overvoltage protection threshold and then drops to 0.

[0054] The final channel output amplitude is multiplied by both the effective contact factor and the overvoltage safety factor to achieve a complete closed loop of insufficient contact derating compensation and excessive compression derating protection.

[0055] In an alternative approach, the contact state acquisition unit can further divide the contact data into three levels: no contact, insufficient contact, and adequate contact, or add a "severe overpressure" level to form a five-level classification; the effective contact coefficient can be replaced by a nonlinear mapping function instead of a linear clip function, such as using an S-curve or a piecewise linear function, to adapt to the output characteristics of different actuator types.

[0056] The external controller dynamically calculates the effective contact coefficient and overpressure safety factor based on the contact detection values ​​of each module, enabling independent correction of the output amplitude of each drive channel. The effective contact coefficient increases linearly within the range of the contact detection value from the effective contact threshold to the target compression limit, ensuring that modules with insufficient contact receive an output intensity matching the degree of fit, compensating for vibration energy transfer losses caused by poor fit. When the contact detection value falls below the effective contact threshold, the coefficient returns to zero, and the corresponding channel output is cut off to prevent unsupported modules from overheating due to vibration. The overpressure safety factor decreases as the pressure increases after the contact detection value exceeds the target compression limit, limiting the output limit of modules with excessive compression and preventing localized skin compression or excessive vibration stimulation due to compression overload. The two coefficients work together in a multiplicative manner on the channel output amplitude. In scenarios with large dispersion of compression force among modules, this ensures that the output of modules in different fit states tends to have a consistent perceived intensity, achieving closed-loop control from contact detection to output compensation.

[0057] In a further embodiment, the external controller has a built-in multi-channel independent drive unit that supports synchronous mode, sequential alternation mode, time delay wave mode, and partitioned scanning mode to output multiple drive signals; the frequency and timing of each channel can be configured independently.

[0058] In wave mode, a preset time delay is used as the basis for timing control between channels, allowing the first... i The time delay of the channel is A single-channel drive signal can be represented as:

[0059] In the formula: Base amplitude, For single-channel hardware calibration coefficients, For effective contact coefficient, For overvoltage safety factor, The driving waveform is in units.

[0060] When all channels have the same driving frequency, the phase difference between channels can be expressed as: This achieves wave-like serial vibration stimulation that moves along the body surface space.

[0061] The multi-channel independent drive unit provides each module with an independently configurable drive channel, supporting four output modes. In the time-delayed wave mode, a fixed time delay is set between adjacent channels. When all channels use the same drive frequency, the time delay is converted into a phase difference between channels, allowing the vibration stimulus to be transmitted sequentially along the module arrangement direction, creating a tactile effect similar to waves moving along the body surface. This mode achieves spatial dynamic stimulation through simple time delay control and is suitable for scenarios that require guiding the user's attention along a specific path or simulating massage techniques. The contact effectiveness coefficient and overpressure safety coefficient are embedded in the single-channel drive signal to ensure independent compensation of each channel while maintaining a contact state while outputting wave stimulation. The hardware calibration coefficient is used to correct output differences caused by manufacturing tolerances between different actuators, making the actual vibration intensity of each channel tend to be consistent under the same drive parameters.

[0062] In some embodiments, the external controller integrates an electrical status detection unit 35 to detect faults such as open circuit, short circuit, overcurrent, overtemperature, and abnormal actuator impedance in each channel in real time; the actuator amplitude gradually increases during the machine startup phase and gradually decreases during the shutdown phase, eliminating the discomfort caused by sudden vibration and impact on the body surface.

[0063] In some embodiments, the external controller includes a power module 31, a user interaction unit 34, a status display screen, and a safety protection unit 36; the interaction unit is equipped with a global amplitude / frequency adjustment knob and a single-channel parameter fine-tuning button, and the display screen displays the contact position of each module, channel amplitude, drive frequency, fault alarm, and current working mode in real time.

[0064] In some embodiments, the low-profile wired micro-vibration modules can be freely arranged into two-point wide-narrow spacing, three-point triangle, linear array, or asymmetrical arbitrary combination forms to adapt to different head circumferences and different target stimulation areas on the body surface.

[0065] See Figure 4 Figure a shows a two-point arrangement, where two low-profile wired micro-vibration modules are arranged on the body surface with wide or narrow spacing to cover two independent stimulation points; Figure b shows a linear array arrangement, where multiple low-profile wired micro-vibration modules are arranged at equal or variable intervals along a straight line to form continuous vibration stimulation in a single direction; Figure c shows a three-point triangular arrangement, where three low-profile wired micro-vibration modules are arranged in a triangle to form planar vibration stimulation in a local area; Figure d shows an asymmetrical arrangement, where multiple low-profile wired micro-vibration modules are freely placed at irregular intervals and angles according to the curvature of the body surface and the needs of physiotherapy, to adapt to the differentiated stimulation needs of complex curved areas.

[0066] Because the external elastic clamping element does not have a dedicated positioning structure, the low-profile wired micro-vibration module can move completely freely when the clamping force is released. Users can choose different arrangement patterns according to head circumference, target stimulation area, and physiotherapy plan. Two-point arrangement is suitable for bilateral symmetrical stimulation, three-point triangle arrangement is suitable for planar coverage of local areas, linear array arrangement is suitable for continuous stimulation along muscle direction or meridian direction, and asymmetrical arrangement is suitable for areas with complex curvature such as the occipital region of the head, shoulders and neck, and joints. The flexible and variable module arrangement pattern allows the same system to be adapted to different users and different application scenarios without the need to replace dedicated parts.

[0067] Correspondingly, see Figure 2 and 6 This application also provides a control method for a freely positionable distributed wired micro-vibration stimulation system for the human body surface. The system includes at least two low-profile wired micro-vibration modules respectively connected to an external controller via flexible wires. Each module is held on the human body surface 50 by an external elastic clamping member without a dedicated positioning structure. The control method includes the following steps: S1. Upon power-on initialization, the external controller automatically identifies all connected micro-vibration modules and assigns an independent drive channel to each low-profile wired micro-vibration module; S2. Circularly collect electrical channel current and voltage data of each low-profile wired micro-vibration module, and obtain the body surface contact state data of the corresponding module. S3, Read the system's preset valid contact threshold Target tightening upper limit Based on the overvoltage protection threshold, the effective contact coefficient of each channel is calculated using the contact detection value. With overvoltage safety factor ; S4. Combine with the user-defined base amplitude. Single-channel hardware calibration coefficient The system generates independent drive signals for each channel by considering factors such as effective contact factor, overvoltage safety factor, and custom frequency and timing parameters. ; S5. Based on the user-selected synchronous / alternating / time-delayed wave / partitioned scanning mode, multiple independent drive modules output micro-vibrations on the body surface. S6. Real-time continuous monitoring of abnormal states such as disconnection, short circuit, overcurrent, overtemperature, insufficient contact, excessive clamping, and actuator failure; when an abnormality is detected, the output of the faulty channel is reduced, the corresponding channel is cut off, or the entire machine is shut down, and an alarm is displayed in the status display window.

[0068] In some embodiments, the control method further includes amplitude gradual in and gradual out control: When the machine starts vibrating, the driving amplitude of each drive channel gradually increases linearly from zero to the set base amplitude; when the vibration output stops, the driving amplitude of each drive channel gradually decreases linearly from the current value to zero, in order to avoid discomfort such as stinging and dizziness caused by sudden changes in vibration amplitude.

[0069] In some embodiments, the contact state determination includes two implementation paths: Path 1 relies on the module's built-in pressure sensing element to directly collect the contact pressure; Path 2 does not require additional sensors. Instead, it indirectly estimates the degree of contact with the body surface by collecting changes in the actuator's operating current, impedance, and back electromotive force, thus reducing hardware costs.

[0070] The specific steps for indirectly estimating the contact state through the actuator's electrical response are as follows: 1. Calibration stage: Under four typical operating conditions—suspended without contact, light contact (corresponding to 5 kPa), standard contact (corresponding to 15 kPa), and overpressure (corresponding to 35 kPa)—dual-frequency detection waveforms, including the resonant point and ±5 Hz offset frequency points, are applied to the LRA actuator. The effective value of current, peak back EMF, resonant frequency offset, and quality factor value under each operating condition are collected and recorded. A piecewise linear mapping table between characteristic quantities and contact pressure is established. 2. Operation Phase: A detection cycle is executed every 100ms, collecting the above four types of feature quantities, and interpolating them into the mapping table to obtain the equivalent contact detection value. ; Taking the 0830 LRA as an example, the resonant frequency is approximately 170Hz when there is no contact. Under standard compression conditions, the resonant frequency shifts to 160~165Hz, and the quality factor decreases from 40 to 25~30. This is used as the calibration benchmark; effective contact threshold. Corresponding to 5 kPa, the target compression limit The overvoltage protection threshold corresponds to 40 kPa, which is 20 kPa.

[0071] The mapping model can be a lookup table, a piecewise linear function, a multiple regression model, or a calibrated classifier.

[0072] In a further embodiment, the control method employs hierarchical safety protection logic: When insufficient contact or slight overvoltage occurs, only the output of the corresponding drive channel is reduced; When a short circuit, overcurrent, open circuit, or overtemperature fault occurs, the faulty drive channel is shut down directly, while the remaining drive channels remain in normal operation. When multiple drive channels experience serious failures simultaneously, the entire machine will shut down and lock.

[0073] Example 1 See Figure 3 This embodiment provides a freely positionable distributed wired micro-vibration stimulation system for use in head-mounted stimulation scenarios.

[0074] The system includes an elastic headband 40, three low-profile wired micro-vibration modules 10, flexible wires 20, and a desktop external controller 30. Each low-profile wired micro-vibration module 10 has a circular low-profile housing 11 with a diameter of 20 mm and a thickness of 5 mm, the thickness being one-third of the maximum lateral dimension of the housing. A micro-vibration actuator 14 is housed within the cavity of the low-profile housing 11, employing a 0830 type linear resonant actuator with a nominal resonant frequency of 170 Hz. A compliant support layer 13 is disposed between the micro-vibration actuator 14 and a soft skin contact portion 12, the soft skin contact portion 12 being located at the bottom of the low-profile housing 11. The module, when in use, comes into direct contact with the human body surface 50, maintaining its position through interfacial friction. When the elastic headband 40 applies working pressure, the flexible support layer 13 undergoes elastic deformation, adapting to the concave and convex surfaces of the head and improving the uniformity of single-point adhesion. The flexible wire 20 extends tangentially from the side wall of the low-profile housing 11, with an exit angle of 10° to the surface of the module and 20° to the tangent at the exit point of the housing. A corrugated soft rubber stress-relieving structure 21 is provided at the exit point. The flexible wire 20 is equipped with a nylon cable tie. After the module is placed and positioned, the flexible wires are attached, arranged, and tightened along the outside of the elastic headband 40 to reduce the impact of cable swaying and pulling on the module's adhesion.

[0075] In this embodiment, the low-profile wired micro-vibration module 10 does not have an independent pressure sensing element inside. The contact state acquisition unit indirectly estimates the contact and fit state between the module and the human body surface 50 by collecting the working current and impedance changes of the linear resonant actuator 14.

[0076] The external controller 30 has three independent drive channels, with drive signals output by the multi-channel drive unit 33; the main control unit 32 uses an STM32F103 microcontroller and a DRV2605L drive chip, and collects channel current through a 10 milliohm sampling resistor; the power supply module 31 supplies power to the system; the user interaction unit 34 is equipped with a global amplitude adjustment knob, a global frequency adjustment knob, and an OLED status display; the status detection unit 35 monitors the short circuit, open circuit, and over-temperature faults of the drive channels in real time; it supports three output modes: synchronous mode, sequential alternating mode, and time-delayed wave mode; it automatically identifies the number of connected low-profile wired micro-vibration modules 10 upon power-up, performs amplitude gradual in during startup, and performs amplitude gradual out during shutdown; when a short circuit, open circuit, or over-temperature is detected in the drive channel, the safety protection unit 36 ​​shuts down the faulty drive channel separately and displays alarm information on the status display.

[0077] Usage: Loosen the elastic headband 40, and place the three low-profile wired micro-vibration modules 10 arbitrarily between the elastic headband 40 and the corresponding positions on the forehead, temples, and occiput of the head. Adjust the spacing between the modules to form a triangular arrangement. Tighten the elastic headband 40 to provide uniform working pressure and keep each module in the adjusted position. Adjust the vibration parameters through the external controller 30 to output micro-vibration stimulation in multi-point synchronous or time-delayed wave modes.

[0078] Example 2 This embodiment provides a closed-loop physiotherapy system with contact pressure sensing, which is applied to shoulder and neck physiotherapy scenarios.

[0079] The system includes an elastic bandage 40, four low-profile wired micro-vibration modules 10, flexible wires 20, and an external handheld controller 30. Each low-profile wired micro-vibration module 10 has a built-in miniature pressure sensor with a range of 0 to 50 kPa and a detection accuracy of ±1 kPa. The flexible support layer 13 is made of 2 mm thick high-density slow-rebound foam with a Shore A hardness of 20A, which can adapt to the curved surface of the shoulder and neck area. The contact status acquisition unit collects the surface pressure in real time through the pressure sensor.

[0080] The external controller 30 reads the pressure data from four channels in real time, calculates the effective contact coefficient and overpressure safety factor for each drive channel, and dynamically corrects the output amplitude of each channel by substituting these values ​​into the drive signal formula. When the contact is insufficient, the amplitude of the corresponding drive channel is attenuated by the coefficient. When the pressure is excessive, the maximum amplitude is limited and an adjustment prompt is given for the elastic bandage 40. The system supports a partitioned scanning mode, with four low-profile wired micro-vibration modules 10 starting sequentially at a preset time difference to create a vibration sensation that moves from top to bottom along the neck and shoulders.

[0081] Tiered safety protection logic: When an overcurrent or disconnection fault occurs in a single drive channel, only the output of that drive channel is cut off, while the other three channels continue to work; when all four channels are simultaneously detected as over-compression, the total output limit of the whole machine is reduced and the user is prompted to rearrange the modules or adjust the elastic bandage tension by 40 degrees.

[0082] Example 3 This embodiment provides a sensorless electrical response estimation system for limb joint stimulation, which is applied to knee and elbow joint physiotherapy scenarios.

[0083] The system includes an elastic protective gear 40, multiple low-profile wired micro-vibration modules 10, flexible conductors 20, and an external controller 30. The low-profile wired micro-vibration modules 10 do not have independent pressure sensors installed internally. The contact state acquisition unit relies on the main control unit 32 to collect the back electromotive force and dynamic impedance changes of the linear resonant actuator 14, establish a mapping model between impedance and contact pressure, indirectly calculate the equivalent contact detection value, and thus complete contact normalization compensation, which helps reduce hardware costs.

[0084] The specific implementation of indirect contact estimation is as follows: In each detection cycle, the external controller 30 applies a dual-frequency detection waveform, including the resonant point and the off-frequency point, to the linear resonant actuator 14. It then collects and extracts four types of features: the effective current value, the peak back electromotive force, the resonant frequency offset, and the quality factor change. The feature vector is input into a pre-calibrated piecewise linear mapping model, and the equivalent contact detection value is output. The calibration process covers four typical operating conditions: suspended without contact, light contact, target clamping, and overpressure, corresponding to different feature value ranges.

[0085] The external elastic clamping component 40 is an elastic knee pad or an elastic elbow pad. The low-profile wired micro-vibration module 10 is freely clamped between the elastic brace 40 and the joint skin. The module position can be freely adjusted according to the joint pain points. The external controller 30 supports custom single-channel independent frequency and timing parameters to adapt to the local differentiated physiotherapy needs of the joint.

[0086] The present invention will achieve the following beneficial effects: (1) Strong adaptability of free positioning: The external elastic clamping parts have no special positioning holes, installation bags and limit seats. The module and the clamping parts are completely decoupled. The quantity, spacing and arrangement shape can be adjusted arbitrarily according to head shape, body surface curvature and physiotherapy needs. It is conducive to adapting to different head circumferences and multiple curved areas such as shoulders, neck and joints. It can adapt to different users with a head circumference difference of ±5cm. The point adjustment has no structural limit and the accuracy can reach the millimeter level.

[0087] (2) Lightweight and stable to wear: The module adopts an ultra-thin low profile shell with no battery or wireless communication circuit inside, which significantly reduces weight and thickness; the flexible wires are lateral / tangentially out of the cable and the stress relief structure can weaken the flipping torque caused by cable tension from a mechanical point of view, which helps to reduce the occurrence of module warping, slippage and contact failure after free placement.

[0088] (3) Multi-point vibration output balance: Through real-time acquisition of contact status and closed-loop compensation of contact coefficient, the output intensity of each channel under different contact states is automatically corrected, which helps to reduce the uneven stimulation intensity caused by differences in body surface curvature and pressing force, and improve the consistency of multi-point body sensation.

[0089] (4) Centralized drive and lightweight wear: The vibration module retains only the actuator, sensor and cable structure. All power supply, drive, control and display functions are integrated into the external controller. The wear load on the body surface is low, which is suitable for long-term continuous physiotherapy and somatosensory stimulation.

[0090] (5) Adjustable multi-mode temporal stimulation: Supports multiple vibration output modes such as synchronous, alternating, time-delayed wave, and zoned scanning. The frequency and timing of each channel are independently adjustable, which can simulate diverse tactile effects such as moving touch, rhythmic massage, and zoned feedback.

[0091] (6) Multi-level safety protection: Real-time monitoring of electrical faults and contact abnormalities, supporting independent protection of each channel, and shutting down a faulty channel alone will not affect the normal operation of other points; the start / stop amplitude is gradually increasing and decreasing, which helps to reduce the stimulation and discomfort of sensitive areas such as the head.

[0092] (7) Convenient operation and maintenance: The controller is equipped with a visual display screen and physical adjustment knob, which can view the bonding status and operating parameters of each module in real time; the flexible wires can be neatly routed along the surface of the clamping part through the matching wire harness and wire clamp, which can reduce cable tangling and weaken the interference of external force on the bonding stability of the module.

[0093] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A freely positionable distributed wired micro-vibration stimulation system for the body surface, characterized in that, Includes an external elastic clamping element, at least two low-profile wired micro-vibration modules, and an external controller; The external elastic clamping component includes a flexible clamping part covering the target body surface area. When the clamping force is released, each low-profile wired micro-vibration module can adjust its position; when the working clamping force is applied, each low-profile wired micro-vibration module remains in the adjusted position. The low-profile wired micro-vibration module includes a low-profile housing, a soft skin contact portion, a compliant support layer, a micro-vibration actuator, and a flexible wire. The micro-vibration actuator is disposed within the low-profile housing, the compliant support layer is disposed between the micro-vibration actuator and the soft skin contact portion, and the soft skin contact portion is disposed at the bottom of the low-profile housing. A stress-relieving structure is provided at the connection between the flexible wire and the low-profile housing. The external controller has multiple independent drive channels, which are used to adjust the output parameters of the corresponding drive channels according to the surface contact state of each low-profile wired micro-vibration module.

2. The freely positionable distributed wired body surface micro-vibration stimulation system according to claim 1, characterized in that, The external elastic compression component is one of the following: elastic headband, Velcro headband, ring strap, cross-fix headband, elastic headgear, elastic bandage, elastic protective gear, or elastic bodysuit.

3. The freely positionable distributed wired body surface micro-vibration stimulation system according to claim 1, characterized in that, The maximum lateral dimension of the low-profile shell is 15 to 30 mm, and the overall thickness is 3 to 8 mm, with the thickness being less than half of the maximum lateral dimension of the shell.

4. The freely positionable distributed wired body surface micro-vibration stimulation system according to claim 1, characterized in that, The flexible conductor extends from the side wall of the low-profile housing along the circumferential tangential direction. The angle between the direction of the flexible conductor and the surface plane of the module attachment body is less than or equal to 30°, and the angle between the flexible conductor and the tangent at the periphery of the housing outlet is less than or equal to 45°.

5. A freely positionable distributed wired body surface micro-vibration stimulation system according to claim 1, characterized in that, The stress relief structure is one or more of the following: a flexible coated section, a tapered soft rubber, a corrugated soft rubber, or an arc-shaped cable outlet.

6. The freely positionable distributed wired body surface micro-vibration stimulation system according to claim 1, characterized in that, The micro-vibration actuator is one of the following: a linear resonant actuator, an eccentric rotating mass motor, a voice coil actuator, or a piezoelectric actuator.

7. The freely positionable distributed wired body surface micro-vibration stimulation system according to claim 1, characterized in that, It also includes a contact state acquisition unit, which is used to directly acquire the contact state through a contact sensing element; Alternatively, the contact state can be indirectly determined based on the current, voltage, impedance, back electromotive force, or resonance parameters of the micro-vibration actuator.

8. The freely positionable distributed wired body surface micro-vibration stimulation system according to claim 1, characterized in that, The external controller calculates the effective contact coefficient and overvoltage safety factor based on the contact detection values ​​of each low-profile wired micro-vibration module, and applies the effective contact coefficient and overvoltage safety factor to the output amplitude of the corresponding drive channel simultaneously. Reduce or cut off vibration output when there is insufficient contact, and limit amplitude when there is excessive compression.

9. A method for a freely positionable distributed wired body surface micro-vibration stimulation system as described in any one of claims 1-8, characterized in that, include: Step 1: The external controller identifies all connected low-profile wired micro-vibration modules and assigns an independent drive channel to each low-profile wired micro-vibration module. Step 2: Collect electrical channel current and voltage data for each low-profile wired micro-vibration module, and obtain the surface contact state data of the corresponding module. Step 3: Based on the preset effective contact threshold, target compression upper limit and overpressure protection threshold, calculate the effective contact coefficient and overpressure safety factor of each drive channel in combination with the body surface contact state data; Step 4: Based on the effective contact factor and overvoltage safety factor, combined with the user-defined basic amplitude, single-channel hardware calibration factor, and custom frequency and timing parameters, determine the output amplitude, drive frequency, and output timing of each drive signal to generate each independent drive signal. The multi-channel independent drive unit outputs micro-vibrations on the body surface according to the independent drive signal.

10. The method for a freely positionable distributed wired body surface micro-vibration stimulation system according to claim 9, characterized in that, When the micro-vibration of the body surface is output, the driving amplitude of each driving channel gradually increases linearly from zero to the set base amplitude. When the micro-vibration output on the body surface stops, the driving amplitude of each driving channel gradually decreases linearly from the current value to zero.

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