Haptic system for visually impaired dancer

Abstract

A haptic system for a visually impaired dancer is disclosed. A haptic system for a visually impaired dancer according to one embodiment of the present invention comprises a sensor unit that is worn by a user and operates to acquire location information and direction information of the user, a haptic device having a haptic actuator array including a plurality of haptic actuators, and a central control unit that analyzes the location information and direction information to generate a haptic signal that operates the haptic actuators and transmits the haptic signal to the haptic device, wherein the haptic device can induce movement of the user by operating one or more of the haptic actuators according to the haptic signal.

Description

Technology Field

[0001] The present invention relates to a haptic system for a visually impaired dancer. More specifically, it relates to a haptic system for a visually impaired dancer that guides the movement path of a visually impaired dancer performing a dance on stage and improves the perception of surrounding space by using a belt-type haptic device with a plurality of built-in haptic actuators. Background Technology

[0002] Visual impairment manifests in various forms, ranging from congenital to acquired causes, and these visual limitations cause significant difficulties throughout daily life. To overcome this, various types of assistive tools, such as navigation devices and obstacle warning technologies, have been proposed in the past.

[0003] However, technology supporting artistic creative activities for the visually impaired is relatively lacking. Existing assistive technologies for the visually impaired are primarily designed to ensure mobility and safety in daily life, which presents various limitations for artistic activities such as dance. Since dance is a performing art that unfolds on a dynamic stage rather than in a static environment, it must be able to respond to various variables in real time. Situations such as stage sets moving, lighting changing moment by moment, and dancers rotating at high speeds or suddenly changing direction occur frequently; thus, the conditions differ significantly from the static environments assumed by existing navigation or obstacle warning systems. In particular, when a dancer's movements are very fast, directional or distance information must be continuously updated; however, existing technologies struggle to accurately transmit this information in real time, limiting their ability to satisfy both the dancer's safety and freedom of expression. For instance, during rapid rotations, sensors have difficulty accurately determining location or direction information, making it challenging to provide immediate and stable guidance to the user. Furthermore, additional errors or delays occur, making it difficult to guarantee support suitable for the dance environment.

[0004] Conventional technology is also unsuitable for the dance environment in terms of its method of information delivery. While conventional technologies have often relied on auditory information, various acoustic stimuli—such as music, choreographic instructions, and audience applause—are present simultaneously during a performance. Consequently, if information is transmitted through only a single auditory channel, it becomes difficult for the dancer to concentrate, and the likelihood of confusion increases. Furthermore, in situations requiring immediate reactions on stage, it becomes challenging for a dancer, who is already perceiving a variety of sounds, to quickly distinguish and interpret additional information. This overload of auditory channels places a greater cognitive burden on visually impaired dancers and can ultimately degrade the quality of the performance. Prior art literature

[0005] (Patent Document 0001) KR 10-1097528 B1(2011.12.16.) The problem to be solved

[0006] The present invention aims to solve the aforementioned problems by providing a haptic system for a visually impaired dancer that identifies information about the user's current location and surrounding environment in real time and transmits this information to the user quickly and concisely, thereby preventing dangerous situations such as falls, collisions, and loss of sense of direction on stage and enabling immediate response.

[0007] The problems to be solved by the present invention are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by a person skilled in the art from the description below. means of solving the problem

[0008] A haptic system for a visually impaired dancer according to one embodiment of the present invention comprises: a haptic device having a sensor unit that is worn by a user and operates to acquire location information and direction information of the user, and a haptic actuator array including a plurality of haptic actuators; and a central control unit that analyzes the location information and direction information to generate a haptic signal that operates the haptic actuators and transmits the haptic signal to the haptic device; wherein the haptic device can induce movement of the user by operating one or more of the haptic actuators according to the haptic signal.

[0009] In addition, the haptic device may be mounted such that a plurality of haptic actuators are mounted on a flexible elastic belt, and one of the haptic actuators is mounted radially with respect to the center of the connected elastic belt so as to indicate a specific direction.

[0010] In addition, the sensor unit may include a position sensor that operates to acquire the position information and an IMU (Inertial Measurement Unit) sensor that acquires the direction information.

[0011] In addition, the central control unit receives the user's target movement path and determines the user's current location and direction using the location information and direction information, and compares the determined user's current location and direction with the user's target movement path to generate the haptic signal so that the user moves along the target movement path.

[0012] In addition, the central control device may determine the state of the user as one of an entry / exit state and a choreography state, and if the state of the user is the entry / exit state, generate the haptic signal to cause the user to move along the target path, and if the state of the user is the choreography state, generate the haptic signal to cause the user to recognize the front direction of the stage.

[0013] In addition, the haptic signal may be a signal that controls the haptic actuator located in the direction of the user's target movement path to continuously generate vibrations.

[0014] In addition, the central control device may set the surrounding area of ​​the haptic device as an activation area to induce safe movement of the user, and generate the haptic signal indicating the direction of the obstacle when an obstacle enters the activation area.

[0015] Additionally, the activation area includes a first detection area which is an area close to the haptic device and a second detection area which is an area far from the haptic device in addition to the first detection area, and the central control device may generate an avoidance haptic signal that induces the user to avoid the direction of the obstacle when the entry of the obstacle is detected in the first detection area, and generate a caution haptic signal that informs the user to pay attention to the obstacle when the entry of the obstacle is detected in the second detection area.

[0016] Additionally, the avoidance haptic signal is generated by the haptic actuator located in the direction of the obstacle detected in the first detection area, which continuously repeats short vibrations of a certain intensity in a preset first cycle, and the attention haptic signal is generated by the haptic actuator located in the direction of the obstacle detected in the second detection area, which can repeat short vibrations of a certain intensity in a preset second cycle that is longer than the first cycle.

[0017] In addition, the central control device may recognize the activation area of ​​a haptic device worn by a person nearby, which is different from the haptic device worn by the user, as the obstacle. Effects of the invention

[0018] A haptic system for a visually impaired dancer according to one embodiment of the present invention identifies information about the user's current location and surrounding environment in real time and transmits it to the user quickly and concisely, thereby preventing dangerous situations such as falls, collisions, and loss of sense of direction on stage and enabling immediate response.

[0019] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below. Brief explanation of the drawing

[0020] FIG. 1 is a block diagram showing the configuration of a haptic system for a visually impaired dancer according to one embodiment of the present invention. FIG. 2 is a drawing showing a visually impaired dancer wearing a haptic device according to one embodiment of the present invention. FIG. 3(a) is a diagram showing the structure of a haptic device according to one embodiment of the present invention, and FIG. 3(b) is a graph showing the vibration pattern of a haptic actuator according to one embodiment of the present invention. FIG. 4 is a drawing showing a performance hall to which a haptic system according to one embodiment of the present invention is applied. FIG. 5 is a diagram showing a user activation area according to an embodiment of the present invention. FIG. 6(a) is a graph showing the vibration pattern of the haptic actuator of the first sensing area in the activation area of ​​FIG. 5, and FIG. 6(b) is a graph showing the vibration pattern of the haptic actuator of the second sensing area in the activation area of ​​FIG. 5. Specific details for implementing the invention

[0021] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the embodiments of the present invention in the drawings, parts unrelated to the explanation have been omitted.

[0022] The terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0023] In this specification, terms such as “comprising,” “having,” or “having” are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0024] Furthermore, the components shown in the embodiments of the present invention are illustrated independently to represent different characteristic functions and do not imply that each component consists of separate hardware or a single software unit. That is, for convenience of explanation, each component is described as a separate component, and at least two of the components may be combined to form a single component, or a single component may be divided into multiple components to perform a function. Such integrated and separated embodiments of each component are also included within the scope of the present invention as long as they do not deviate from the essence of the invention.

[0025] In addition, the following embodiments are provided to explain more clearly to those with average knowledge in the industry, and the shapes and sizes of the elements in the drawings may be exaggerated for clearer explanation.

[0026] Hereinafter, a preferred embodiment according to the present invention will be described with reference to the attached drawings.

[0027] FIG. 1 is a block diagram showing the configuration of a haptic system for a visually impaired dancer according to an embodiment of the present invention, and FIG. 2 is a drawing showing a visually impaired dancer wearing a haptic device according to an embodiment of the present invention. FIG. 3(a) is a drawing showing the structure of a haptic device according to an embodiment of the present invention, and FIG. 3(b) is a graph showing the vibration pattern of a haptic actuator according to an embodiment of the present invention. FIG. 4 is a drawing showing a performance venue to which a haptic system according to an embodiment of the present invention is applied.

[0028] Referring to FIGS. 1 to 4, a haptic system (10) for a visually impaired dancer according to one embodiment of the present invention is a system that uses haptic technology to transmit necessary information so that visually impaired dancers can perform stage performances more safely and accurately, and may include a haptic device (100) and a central control device (200).

[0029] The haptic device (100) is a device worn by a user (21) and may be provided in the form of a flexible elastic belt (101). The haptic device (100) may include a sensor unit (110) that operates to acquire location information and direction information of the user (21) being worn, and a haptic actuator array (120) comprising a plurality of haptic actuators (121-128). Additionally, a control unit (130) for controlling the haptic actuator array (120) and a communication unit (140) for communicating with an external device may be further included.

[0030] The sensor unit (110) may include a position sensor (111) that operates to acquire location information of a user (21) wearing a haptic device (100) and an IMU sensor (112) that acquires direction information of the user (21). In one embodiment, the position sensor (111) may be a sensor utilizing Ultra-Wideband (UWB) technology and may be a tag that transmits signals to a plurality of anchors (41-47) installed in a performance venue (31). The central control unit (200) may communicate with the plurality of anchors (41-47) to receive and process data collected from the plurality of anchors (41-47) and derive the real-time location of the user (21). The IMU sensor (112) is composed of an accelerometer, a gyroscope, and a geomagnetic sensor and can detect changes in acceleration, rotational speed, and direction of the user (21). The IMU sensor (112) can transmit the measured changes in acceleration, rotational speed, and direction information of the user (21) to the central control unit (200) so that the central control unit (200) can derive the real-time direction of the user (21).

[0031] The haptic actuator array (120) is mounted on an elastic belt (101), and each haptic actuator (121-128) may be arranged radially with respect to the center of the belt with a preset spacing so that each haptic actuator indicates a specific direction on the elastic belt (101). In one embodiment, as shown in FIG. 3, the haptic actuator array (120) may use eight haptic actuators (121-128), and each actuator may be responsible for eight directions: front, back, left, right, front-left, front-right, rear-left, and rear-right. Each haptic actuator (121-128) of the haptic actuator array (120) may be controlled according to the control of the control unit (130). The control unit (130) may control the haptic actuator array (120) according to a haptic signal received from the central control unit (200) through the communication unit (140).

[0032] The central control unit (200) can determine the current location and the viewing direction (D1) of a user (21) wearing the haptic device (100) in real time, generate a haptic signal to induce movement of the user (21), and transmit the generated haptic signal to the haptic device (100). Here, the movement of the user (21) may be movement to a target path (P) or avoidance from a predetermined area such as an obstacle (33) or a stage boundary (34). Additionally, the central control unit (200) may generate a haptic signal that allows the user (21) to perceive a predetermined direction on the stage (32). The haptic signal is a control signal that causes one or more haptic actuators of each haptic actuator (121~128) to vibrate, and may include haptic actuator information, vibration pattern information of the haptic actuator, etc.

[0033] Specifically, the central control unit (200) can receive and process data collected from anchors (41-47) to derive the real-time location of the user (21), and can receive and process information on the acceleration change, rotational speed, and direction of the user (21) from the IMU sensor (112) of the haptic device (100) to derive the real-time direction of the user. When the real-time location and direction information of the user (21) is derived, the central control unit (200) can generate a haptic signal to control the haptic device (100) by comparing the real-time location and direction information of the user (21) with the map information of the venue (31) stored in advance and the target movement information of the user (21) entered in advance. The haptic device (100) can receive the generated haptic signal and induce the user (21) to move in the direction of the target movement or to avoid a dangerous area.

[0034] For example, as illustrated in FIG. 3(a), if the direction (D1) that the user (21) is looking at in real time is different from the direction of movement (D2) to be moved, the central control unit (200) can generate a haptic signal in which a haptic actuator (122) located in the direction of movement (D2) to be moved vibrates. The haptic device (100) receives the haptic signal generated by the central control unit (200) through the communication unit (140), and the control unit (130) can induce the user (21) to move in the direction of movement (D2) to be moved by vibrating the haptic actuator (122) of the haptic actuator array (120) according to the received haptic signal. At this time, the haptic actuator (122) may be a vibration pattern in which vibration is sustained at a predetermined intensity, as illustrated in FIG. 3(b).

[0035] Here, the map information of the performance venue (31) is information that is stored in advance in the central control unit (200), and may include information on the area of ​​the stage (32), information on the area (33) of fixed obstacles located on the stage (32), and information on the fall risk area (34) which is the boundary of the stage (32). The target movement information of the user (21) may be an entry movement path that the user (21) moves when entering the stage (32) or an exit movement path that the user moves when exiting the stage (32), and may be entered in advance into the central control unit (200).

[0036] In one embodiment, the central control unit (200) may be one of a smartphone, tablet computer, desktop computer, laptop computer, workstation, server computer, PDA (Personal Digital Assistants), portable computer, portable game console, navigation device, smart TV, wearable device, or vehicle computer, but is not limited thereto.

[0037] In one embodiment, the central control unit (200) can determine the user's state as either an entry / exit state or a choreography state. If the user's state is determined to be an entry / exit state, the central control unit (200) can generate a haptic signal that induces the user (21) to move along a target path. If the user's state is determined to be a choreography state, the central control unit (200) can generate a haptic signal that allows the user (21) to perceive the direction of the front of the stage.

[0038] In one embodiment, the central control unit (200) can set the surrounding area of ​​a user (21) wearing a haptic device (100) as an active area (300). That is, the central control unit (200) can set the surrounding area of ​​the haptic device (100) as an active area (300). The active area (300) is intended to induce safe movement of the user (21), and when an obstacle (33) enters the set active area (300), the central control unit (200) can generate a haptic signal to induce avoidance of the user (21). The central control unit (200) can generate a haptic signal to induce avoidance when an obstacle enters the active area (300) regardless of the user's state. Additionally, if another user (22)'s activation area (22a) enters the activation area of ​​user (21) or if the user (21)'s activation area enters the fall risk area (34) which is the boundary of the stage (32), a haptic signal that induces avoidance can be generated.

[0039] The operation of a haptic system (10) for a visually impaired dancer according to one embodiment of the present invention is described. The user (21) can input an entry / exit path as a target path in advance into a central control unit (200).

[0040] When a user (21) wears the haptic device (100) and operates the haptic device (100), the haptic device (100) communicates with surrounding anchors (41-47) to transmit and receive location information and can transmit direction information to a central control unit (200). The central control unit (200) receives location information data from the anchors (41-47) and receives direction information from the haptic device (100) to derive and use real-time location and direction information of the user (21).

[0041] When it is recognized that the user (21) is located behind the stage (32), the central control unit (200) recognizes the user's (21) state as 'entry state' and can generate a haptic signal that vibrates a haptic actuator corresponding to the input target movement direction. At this time, the vibration pattern of the haptic actuator of the haptic signal may be a vibration pattern in which vibration is sustained at a predetermined intensity, as shown in FIG. 3(b). When the user (21) moves along the direction of the vibrating haptic actuator and reaches the end point of the input target movement, the central control unit (200) recognizes the location where the user (21) has reached the end point and can switch the user's state to 'choreography state'. Alternatively, according to an embodiment, the central control unit (200) can switch the user's state to 'choreography state' by manual operation.

[0042] When the user's state is switched to the 'dance state,' the central control unit (200) can continuously generate a haptic signal in which a haptic actuator in the direction of the front of the stage (32) vibrates so that the user (21) can perceive the direction of the front of the stage (32). At this time, the vibration pattern of the haptic actuator of the haptic signal may be a vibration pattern in which vibrations are sustained at a predetermined intensity, identical to the vibration pattern of the 'entry state.' While the user's state is the 'dance state,' if an obstacle (33) enters the user's (21) activation area (300) or if another user's (22) activation area (22a) overlaps, the central control unit (200) can generate a haptic signal that induces the user to pay attention or avoid it. At this time, the vibration pattern of the haptic signal that induces avoidance may be a vibration pattern in which strong and short vibrations are repeatedly displayed, unlike the vibration pattern of the 'entry state.' Specific embodiments will be described later.

[0043] Alternatively, the central control unit (200) may generate a haptic signal that induces avoidance when the active area of ​​the user (21) enters the fall risk area (34), which is the boundary of the stage (32). When the user (21) enters the fall risk area (34), the haptic signal that induces avoidance may be a pattern in which all haptic actuators (121-128) of the haptic actuator array (120) operate to repeatedly produce strong and short vibrations. In this case, since there is a risk of falling for the user (21), the haptic actuator array (120) may be vibrated strongly to ensure the user (21)'s safety and to allow the user (21) to perceive the danger. When the user (21) moves out of the fall risk area (34), the central control unit (200) may stop generating the haptic signal that induces avoidance.

[0044] The central control unit (200) can switch the user's state from 'choreography state' to 'exit state' when all pre-entered performance time has elapsed, or switch the user's state from 'choreography state' to 'exit state' by manual operation. When the user's state is switched to 'exit state', the central control unit (200) can generate a haptic signal to cause the user (21) to move along a target path, which is an exit path. At this time, the haptic actuator vibration pattern of the haptic signal may be a vibration pattern that continues to vibrate at a predetermined intensity, identical to the vibration pattern of the 'entry state'.

[0045] FIG. 5 is a diagram showing a user activation area according to an embodiment of the present invention. FIG. 6(a) is a graph showing the vibration pattern of a haptic actuator of a first sensing area in the activation area of ​​FIG. 5, and FIG. 6(b) is a graph showing the vibration pattern of a haptic actuator of a second sensing area in the activation area of ​​FIG. 5.

[0046] Referring to FIGS. 5 and 6, in a haptic system (10) for a visually impaired dancer according to one embodiment of the present invention, an activation area (300) may include a first sensing area (310) and a second sensing area (320). The first sensing area (310) may be an area close to the haptic device (100), and the second sensing area (320) may be an area far from the haptic device (100), excluding the first sensing area (310). For example, the first sensing area (310) may be an area within 20 cm of the periphery from the haptic device (100), and the second sensing area (320) may be an area exceeding 20 cm and within 1 m from the haptic device (100). The area of ​​the first sensing area (310) and the second sensing area (320) may vary depending on the embodiment.

[0047] The central control unit (200) can generate a haptic signal to notify the user (21) of the risk of collision when an obstacle (33) enters the first detection area (310) or the second detection area (320) or when the activation area (22a) of another user (22) overlaps. When an obstacle (33) or the activation area (22a) of another user (22) enters the first detection area (310), which is a proximity area, the central control unit (200) can generate an avoidance haptic signal to induce the user (21) to avoid that direction. The avoidance haptic signal may be generated by the haptic actuator (126) in that direction repeatedly generating short vibrations of a certain intensity at a preset first cycle, as shown in FIG. 6(a). When an obstacle (33) or another user's (22) activation area (22a) enters the second detection area (320), which is a distant area, a caution haptic signal can be generated to notify the user (21) to pay attention to the obstacle (33). The caution haptic signal is generated by the haptic actuator (123, 124) in the corresponding direction continuously repeating short vibrations of a certain intensity in a preset second cycle, as shown in FIG. 6(b), wherein the second cycle may be longer than the first cycle.

[0048] In the situation illustrated in FIG. 5, the haptic device (100) worn by the user (21) can cause the haptic actuator (126) in the direction of the obstacle (33) to vibrate repeatedly in the first cycle due to the obstacle (33) entering the first sensing area (310), and the haptic actuators (123, 124) in the direction of the other user (22) can vibrate repeatedly in the second cycle, which is longer than the first cycle, due to the activation area (22a) of the other user (22) overlapping in the second sensing area (320). The user (21) can perceive the surrounding situation through the vibration of each haptic actuator (123, 124, 126), avoid the direction of the obstacle (33), and pay attention to the direction of the other user (22).

[0049] In the haptic system for a visually impaired dancer according to the present invention, the direction in which the user (21) must move can be indicated to the user (21) by a vibration pattern in which vibrations are sustained at a predetermined intensity, and the direction in which the user must avoid or be careful can be indicated to the user (21) by a vibration pattern in which short vibrations of a certain intensity are repeatedly generated continuously.

[0050] The haptic system for a visually impaired dancer according to the present invention can help the dancer move safely and freely and perform artistic expression on stage without visual information by detecting the dancer's position and movement in real time and transmitting spatial information through the vibration of each haptic actuator of the haptic actuator array.

[0051] In addition, the haptic device intuitively conveys information about direction, distance, and obstacles to the dancer through the vibration patterns of each haptic actuator, allowing the dancer to perceive and move across the entire stage even without visual information, which can significantly improve the spatial perception ability of visually impaired dancers.

[0052] In addition, by conveying information about the distance to stage boundaries, obstacles, and other dancers through vibration, falls and collisions can be prevented, and unlike auditory signals, haptic feedback induces an immediate response from the dancer, allowing for quick response to sudden changes in the situation.

[0053] In addition, as visually impaired dancers can utilize the stage independently without the need for support staff, they can attempt more free movements and various choreographic approaches. By focusing on haptic feedback rather than relying on visual information, they can expand their range of expression and maximize their performance capabilities by enabling the execution of precise movements while ensuring safety.

[0054] In addition, it can expand the participation of people with disabilities in the arts by providing visually impaired dancers with opportunities to work as professional dancers.

[0055] The various embodiments described herein may be implemented by hardware, middleware, microcode, software, and / or combinations thereof. For example, the various embodiments may be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions presented herein, or combinations thereof.

[0056] Such hardware, etc., may be implemented within the same device or in individual devices to support the various operations and functions described in this specification. Additionally, components, units, modules, components, etc., described as "parts" in the invention may be implemented together or individually as separate but interoperable logic devices. Descriptions of different features for modules, units, etc., are intended to highlight different functional embodiments and do not necessarily imply that they must be realized by individual hardware components. Rather, functions associated with one or more modules or units may be performed by individual hardware components or integrated within common or individual hardware components.

[0057] The present invention has been described with reference to the embodiments illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. Explanation of the symbols

[0058] 10: Haptic System for Visually Impaired Dancers 100: Haptic device 101: Elastic Belt 110: Sensor section 120: Haptic driver array 121~128: Haptic actuators 130: Control unit 140: Communications Department 200: Central Control Unit

Claims

Claim 1 A haptic system for a visually impaired dancer comprising: a haptic device having a sensor unit that is worn by a user and operates to acquire location information and direction information of the user, and a haptic actuator array including a plurality of haptic actuators; and a central control unit that analyzes the location information and direction information to generate a haptic signal for operating the haptic actuators and transmits the haptic signal to the haptic device; wherein the haptic device induces movement of the user by operating one or more of the haptic actuators according to the haptic signal. Claim 2 A haptic system for a visually impaired dancer according to claim 1, wherein the haptic device comprises a plurality of haptic actuators mounted on a flexible elastic belt, arranged radially with respect to the center of the fastened elastic belt so that one of the haptic actuators indicates a specific direction. Claim 3 A haptic system for a visually impaired dancer according to claim 1, wherein the sensor unit comprises a position sensor that operates to acquire the position information and an IMU (Inertial Measurement Unit) sensor that acquires the direction information. Claim 4 A haptic system for a visually impaired dancer according to claim 1, wherein the central control unit receives the user's target movement path, determines the user's current location and direction using the location information and the direction information, compares the determined user's current location and direction with the user's target movement path, and generates the haptic signal to cause the user to move along the target movement path. Claim 5 A haptic system for a visually impaired dancer according to claim 1, wherein the central control unit determines the state of the user as one of an entry / exit state and a choreography state, and if the state of the user is the entry / exit state, generates the haptic signal to cause the user to move along a target movement path, and if the state of the user is the choreography state, generates the haptic signal to cause the user to perceive the front direction of the stage. Claim 6 A haptic system for a visually impaired dancer according to claim 4 or 5, wherein the haptic signal is a signal that controls the haptic actuator located in the direction of travel of the user's target path to continuously generate vibration. Claim 7 A haptic system for a visually impaired dancer according to claim 1, wherein the central control device sets the surrounding area of ​​the haptic device as an activation area to induce safe movement of the user, and generates the haptic signal indicating the direction of the obstacle when an obstacle enters the activation area. Claim 8 A haptic system for a visually impaired dancer according to claim 7, wherein the activation area includes a first detection area which is an area close to the haptic device and a second detection area which is an area far from the haptic device in addition to the first detection area, and the central control device generates an avoidance haptic signal to induce the user to avoid the direction of the obstacle when the entry of the obstacle is detected in the first detection area, and generates an attention haptic signal to notify the user to pay attention to the obstacle when the entry of the obstacle is detected in the second detection area. Claim 9 A haptic system for a visually impaired dancer according to claim 8, wherein the avoidance haptic signal is a haptic actuator located in the direction of the obstacle detected in the first detection area that continuously and repeatedly generates short vibrations of a certain intensity in a preset first period, and the attention haptic signal is a haptic actuator located in the direction of the obstacle detected in the second detection area that repeatedly generates short vibrations of a certain intensity in a preset second period longer than the first period. Claim 10 A haptic system for a visually impaired dancer according to claim 7, wherein the central control device recognizes the activation area of ​​a haptic device worn by a bystander, which is different from the haptic device worn by the user, as the obstacle.

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