Bidirectional manipulandum device

Abstract

Embodiments of the present specification relate to brain-computer interface technology and, more specifically, to a bidirectional manipulandum device for tactilely stimulating a palm of a user and recording upper limb motions of the user. The bidirectional manipulandum device comprises: a tactile stimulation unit for applying tactile stimulation to the palm of a user in response to control signals when the user inserts the hand of the user; a motion detection unit that is mechanically connected to the tactile stimulation unit and detects movements of the user who has inserted the hand into the tactile stimulation unit, thereby outputting electrical signals corresponding to the movements; and a control unit configured to provide the control signals to the tactile stimulation unit and receive the electrical signals from the motion detection unit, and thereby record and analyze the upper limb motions of the user.

Description

Bidirectional manipulative device

[0001] Embodiments of the present disclosure relate to brain-computer interface technology, and more particularly, to a bidirectional manipulative device that stimulates tactile sensations on a user's palm and records upper limb movements of the user.

[0002] Brain-computer interface (BCI) technology directly reads a user's brain activity and controls computers or other electronic devices based on that information. Research and development are underway in various fields, including rehabilitation medicine, gaming and entertainment, and military and security. In particular, the core of BCI technology lies in its precision in accurately identifying the user's intentions and using this information to control external devices.

[0003] BCI research using tactile stimulation explores the potential for more natural interfaces by analyzing the user's responses while experiencing physical sensations. This holds significant significance in rehabilitation therapy, allowing users to improve their rehabilitation process by monitoring their brain's response to physical stimulation. However, current technology lacks the precision and diversity of tactile stimulation, as well as the accurate measurement of brain responses to these stimuli.

[0004] Existing technologies for recording upper limb movements also have similar limitations. While many BCI systems detect arm or hand movements, most of these systems only perform simple motion detection and are unable to perform precise two- or three-dimensional tracking of upper limb movements.

[0005] The various embodiments described in this specification are proposed to solve the above-described problems, and the technical task of the present invention is to provide a bidirectional manipulative device that can stimulate tactile sensation in the palm of a user and precisely record and integrate the user's upper limb movements.

[0006] A bidirectional manipulative device according to one embodiment of the present invention for achieving the above-described task includes a tactile stimulation unit that applies a tactile stimulation to a palm of a user according to a control signal when the user inserts the hand, a motion detection unit that is mechanically connected to the tactile stimulation unit and detects a movement of the user who inserted the hand into the tactile stimulation unit and outputs an electric signal corresponding to the movement, and a control unit configured to provide the control signal to the tactile stimulation unit and receive the electric signal from the motion detection unit to record and analyze an upper limb movement of the user.

[0007] The above tactile stimulation unit may include a contact plate that directly contacts the palm, and a hand cover that fixes the back of the user's hand or applies pressure toward the contact plate so that the palm is in close contact with the contact plate.

[0008] The above hand cover may be formed of an elastically deformable material so as to fit closely to the back of the hand.

[0009] The above elastically deformable material may include at least one of silicone, rubber, and polyurethane.

[0010] The contact plate may be formed with a plurality of openings, each corresponding to a plurality of preset stimulation locations of the palm. The tactile stimulation unit may further include a plurality of tactile generation units that penetrate the plurality of openings of the contact plate and directly apply tactile stimulation to the plurality of stimulation locations of the palm. The plurality of tactile generation units may be spaced apart from the plurality of openings of the contact plate.

[0011] Each of the plurality of tactile generation units may include a vibration motor that generates a vibration stimulus according to the control signal, and a stimulation plate that is positioned to protrude from the upper surface of the contact plate through an opening of the contact plate and directly applies an electrical stimulus to a stimulation location of the palm according to the control signal.

[0012] The motion detection unit may include a first link corresponding to the upper arm of the user, a second link corresponding to the forearm of the user, a first joint coupled between a fixed support and the first link and configured to allow the first link to rotate horizontally with respect to the support, a first sensor coupled to the first joint to provide a first axis of rotation in a vertical direction to the first joint and convert an angle at which the first link rotates with respect to the support into an electrical signal and output the signal to the control unit, a second joint coupled between the first link and the second link and configured to allow the second link to rotate in the horizontal direction with respect to the first link, and a second sensor coupled to the second joint to provide a second axis of rotation in the vertical direction to the second joint and convert an angle at which the second link rotates with respect to the first link into an electrical signal and output the signal to the control unit.

[0013] The first joint may include a first frame coupled to the support, a second frame coupled to the first link and coupled to the first frame so as to be rotatable in the horizontal direction with respect to the first frame, and a bearing disposed at a joint portion of the first frame and the second frame.

[0014] The first sensor may include a coupling that provides the first rotation axis and is coupled to the first frame, a rotary encoder that detects an angle at which the coupling rotates around the first rotation axis and outputs the electric signal, and an encoder coupling portion that couples the rotary encoder to the second frame.

[0015] The above motion detection unit may further include a third joint coupled between the second link and the tactile stimulation unit and configured to allow the tactile stimulation unit to rotate in the horizontal direction with respect to the second link, and a third sensor coupled to the third joint to provide the third vertical rotation axis to the third joint and converting an angle at which the tactile stimulation unit rotates with respect to the second link into an electric signal and outputting the signal to the control unit.

[0016] The control unit can receive the electric signals from the first sensor, the second sensor, and the third sensor to calculate movement information of the movement detection unit.

[0017] The above motion information may include at least one of the position, speed, acceleration, rotation angle, angular velocity, and angular acceleration of the first to third joints.

[0018] Each of the first link and the second link may be adjustable in length.

[0019] The above tactile stimulation unit may further include a temperature control device for providing temperature stimulation.

[0020] According to one embodiment of the present invention, data on a user's physical responses can be provided. Specifically, tactile stimulation can be applied to the user's palm, and the user's upper limb movements can be precisely recorded.

[0021] The effects of the present invention are not limited to the effects mentioned above.

[0022] FIG. 1 is a schematic diagram illustrating a plan view of a bidirectional manipulative device according to one embodiment of the present invention.

[0023] FIG. 2 is a schematic diagram illustrating a tactile stimulation unit according to one embodiment of the present invention.

[0024] Figure 3 is an exploded view schematically illustrating a tactile stimulation unit according to one embodiment of the present invention.

[0025] FIG. 4 is a schematic diagram illustrating a tactile generation unit according to one embodiment of the present invention.

[0026] FIG. 5 is an exploded view schematically illustrating a motion detection unit according to one embodiment of the present invention.

[0027] FIG. 6 is a block diagram schematically illustrating the configuration of a bidirectional manipulative device according to one embodiment of the present invention.

[0028] The terms used in this invention are used only to describe specific embodiments and may not be intended to limit the scope of other embodiments. Singular expressions may include plural expressions unless the context clearly indicates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by those of ordinary skill in the art described in this invention. Terms defined in general dictionaries among the terms used in this invention may be interpreted as having the same or similar meaning as the contextual link to the related technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined in this invention. In some cases, even if a term is defined in this invention, it cannot be interpreted to exclude embodiments of the present invention.

[0029] Below, various embodiments are described in detail with reference to the attached drawings so that those skilled in the art can easily practice the present invention. However, the technical idea of ​​the present invention can be modified and implemented in various forms and is therefore not limited to the embodiments described in this specification. In describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the technical idea of ​​the present invention, a detailed description of the known technology will be omitted. Identical or similar components will be given the same reference numerals, and redundant descriptions thereof will be omitted.

[0030] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprises" or "links" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof. Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used solely for the purpose of distinguishing one component from another.

[0031] The bidirectional manipulative device according to the present invention can be an interface device that interacts with a part of the user's body. This bidirectional manipulative device may be a device that measures the user's upper limb movements while providing tactile feedback to the user.

[0032] FIG. 1 is a schematic perspective view of a bidirectional manipulative device according to one embodiment of the present invention.

[0033] Referring to FIG. 1, a bidirectional manipulative device (100) includes a tactile stimulation unit (10), a motion detection unit (20), and a control unit (e.g., 30 of FIG. 6).

[0034] The motion detection unit (20) can detect the user's movement and output an electric signal corresponding to the user's movement to the control unit. The motion detection unit (20) can include a first joint (21), a second joint (23), a third joint (not shown), a first link (31), a second link (33), a first sensor (41), a second sensor (43), and a third sensor (not shown).

[0035] The first joint (21) is connected between a fixed support such as a table or frame and a first link (31). The first joint (21) includes a fixing member (21f) for fixing the first joint (21) to the support. The first joint (21) is configured so that the first link (31) can rotate around a first rotation axis (41x) in the vertical direction (z). The first rotation axis (41x) can exist virtually at a fixed position with respect to the support. The first joint (21) can correspond to a user's shoulder.

[0036] The first sensor (41) is arranged on the first joint (21) and can provide a first rotation axis (41x) in the vertical direction (z) to the first joint (21). The first sensor (41) can detect a rotation angle of the first joint (21). The rotation angle of the first joint (21) means an angle by which the first link (31) rotates with respect to the support.

[0037] The first link (31) is coupled to the first joint (21) and can perform a horizontal rotational movement around the first rotation axis (41x). The horizontal direction is a direction perpendicular to the vertical direction (z). The first link (31) can correspond to the user's upper arm. The length of the first link (31) can be configured to be adjustable. For example, the first link (31) can be adjusted to a length corresponding to the user's upper arm. The first link (31) is coupled between the first joint (21) and the second joint (23).

[0038] The second joint (23) is connected between the first link (31) and the second link (33). The second joint (23) is configured so that the first link (31) and the second link (33) can relatively rotate around a second rotation axis (43x) in the vertical direction (z). The second joint (22) can correspond to the user's elbow.

[0039] The second sensor (43) is arranged on the second joint (23) and can provide a second rotation axis (43x) in the vertical direction (z) to the second joint (23). The second sensor (43) can detect the rotation angle of the second joint (23). The rotation angle of the second joint (23) means the angle by which the second link (33) rotates with respect to the first link (31).

[0040] The second link (33) is connected to the first link (31) via the second joint (23). The second joint (23) can perform a horizontal rotational movement around the second rotation axis (43x). The second link (33) can rotate relative to the first link (31). The second link (33) can correspond to the user's forearm. The length of the second link (33) can be configured to be adjustable. For example, the length of the second link (33) can be adjusted to correspond to the length of the user's forearm. The second link (33) is coupled between the second joint (23) and a third joint (not shown).

[0041] The third joint is connected between the second link (33) and the tactile stimulation unit (10). The third joint is configured so that the second link (33) and the tactile stimulation unit (10) can relatively rotate around a third rotation axis (not shown) in the vertical direction (z). The third joint can correspond to the user's wrist. The tactile stimulation unit (10) can perform a relative rotational movement in the horizontal direction with respect to the second link (33) through the third joint.

[0042] A third sensor (not shown) is positioned on the third joint, can provide a third rotation axis to the third joint, and can detect a rotation angle of the third joint. The rotation angle of the third joint refers to the angle by which the tactile stimulation unit (10) rotates relative to the second link (33).

[0043] The first sensor (41), the second sensor (43), and the third sensor (not shown) included in the motion detection unit (20) may be angle sensors such as, for example, a rotary encoder. The angle sensor may detect an angle of rotation around a rotation axis and convert it into an electric signal such as, for example, a pulse signal or an analog signal and output it. The electric signals output by the first, second, and third sensors (41, 43, not shown) may be provided to the control unit. The motion detection unit (20) will be described in more detail below.

[0044] The tactile stimulation unit (10) has a space into which a user can insert a hand. When a user inserts a hand into the tactile stimulation unit (10), the tactile stimulation unit (10) provides tactile stimulation to the user's palm according to a control signal. The tactile stimulation unit (10) includes a contact unit that makes contact with the user's palm, and a tactile generation unit that is arranged at the contact unit and generates vibration stimulation and electrical stimulation. The tactile stimulation unit (10) will be described in more detail with reference to the drawings below.

[0045] Fig. 2 is a perspective view illustrating a tactile stimulation unit of a bidirectional manipulative device according to one embodiment of the present invention. Fig. 3 is an exploded perspective view of the tactile stimulation unit of Fig. 2.

[0046] Referring to FIGS. 2 and 3, the tactile stimulation unit (10) may include a hand cover (11), a hand frame (12), a contact plate (14), a support plate (13), and a tactile generation unit (50). The tactile stimulation unit (10) may be coupled to a second link (33 in FIG. 1) via a third joint (45) equipped with a third sensor (not shown).

[0047] The third joint (45) can be coupled to the lower surface of the support plate (13). The third joint (45) can be configured so that the tactile stimulation unit (10) can rotate relative to the second link (33) of the motion detection unit (20) about a third rotation axis (not shown) in the vertical direction (z). The entire tactile stimulation unit (10) can rotate in the horizontal direction according to the movement of the user's hand.

[0048] The support plate (13) supports the contact plate (14), hand cover (11), and hand frame (12) of the tactile stimulation unit (10). The tactile generation unit (50) can be coupled onto the support plate (13).

[0049] The contact plate (14) is placed on the support plate (13) and comes into direct contact with the user's palm. A plurality of openings (14a) are formed in the contact plate (14). The tactile sensation generating unit (50) passes through the openings (14a) of the contact plate (14) and comes into direct contact with the user's palm. The tactile sensation generating unit (50) may be physically spaced from the openings (14a) so that the vibration generated by the tactile sensation generating unit (50) is not transmitted to the contact plate (14). For example, the tactile sensation generating unit (50) may be spaced apart by 1 mm or more from all inner walls of the openings (14a). The openings (14a) are arranged to correspond to preset stimulation positions of the palm. The contact plate (14) may be formed into a curved surface to fit the shape of the user's palm, and the area in contact with the user's palm may be increased to enhance the transmission effect of the tactile stimulation.

[0050] The hand cover (11) serves to cover the back of the user's hand to stably fix the user's hand to the tactile stimulation unit (10). The hand cover (11) can fix the back of the hand or press in the direction of the contact portion so that the palm is in close contact with the contact plate (14). The hand cover (11) can be made of a material with excellent elasticity, such as silicone, rubber, polyurethane, etc. The user can comfortably place his or her hand within the tactile stimulation unit (10) regardless of the size or shape of his or her hand. Since the user's hand and the tactile stimulation unit (10) are integrated through the hand cover (11), the user's hand movements can be accurately transmitted.

[0051] A hand frame (12) may be placed on the outside of the hand cover (11). The hand frame (12) is placed on the contact plate (14) and may fix the hand cover (11). A space in which the hand cover (11) can be placed may be provided in the hand frame (12). To fix the hand cover (11) inside the hand frame (12), a hand cover fixing plate (11f) may be inserted into the hand frame (12). The hand cover fixing plate (11f) may be inserted into the hand frame (12) in a horizontal direction to prevent the hand cover (11) from freely moving in a vertical direction, i.e., in the direction opposite to the contact plate (14). The support plate (13) and the contact plate (14) may be fixed below the hand frame (12). The hand frame (12) is made of a material with high rigidity, so that the internal components can be safely protected from external impact or pressure. In addition, the hand frame (12) can prevent the hand cover (11) from being deformed or damaged during use by maintaining the shape of the hand cover (11).

[0052] The tactile generation units (50) are positioned on the support plate (13) so as to correspond to the openings (14a) of the contact plate (14), respectively. A plurality of holders (13h) may be arranged on the support plate (13) so that the tactile generation units (50) can be fixed thereto. By fitting the tactile generation units (50) into the holders (13h), the tactile generation units (50) can be fixed on the support plate (13).

[0053] The tactile generation units (50) pass through the openings (14a) of the contact plate (14) to directly contact the user's palm and directly apply tactile stimulation to the palm. The tactile generation unit (50) may include a vibration motor that generates vibration, and a stimulation plate that transmits the vibration and electrical stimulation generated by the vibration motor to the user's palm. The stimulation plate may slightly protrude from the upper surface of the contact plate (14) through the openings (14a) of the contact plate (14) and may directly contact the user's palm. The control unit may generate a vibration signal appropriate for the user's hand movement or situation to control the vibration motor, and may provide various tactile feedbacks to the user through the vibration generated by the vibration motor.

[0054] A plurality of tactile generation units (50) may be used to provide various tactile stimuli to various locations on the user's palm. At this time, the tactile generation units (50) are arranged to correspond to the openings (14a) formed in the contact plate (14), respectively, so as to effectively provide tactile stimuli to the user's palm. The user's palm and fingers directly contact the upper surface of the contact plate (14), and a plurality of openings (14a) may be formed in the contact plate (14). The tactile generation units (50) may contact the user's palm through the openings (14a) of the contact plate (14). The size and shape of the openings (14a) may be designed to correspond to the size and shape of the tactile generation unit (50). The position and number of the openings (14a) may be determined depending on the area on the user's palm to which tactile stimuli are to be provided. For example, to provide tactile stimulation to the user's palm and each fingertip, openings (14a) may be formed at positions corresponding to the palm portion of the contact plate (14) and each fingertip.

[0055] The tactile generation unit (50) can be designed to generate not only simple vibration stimulation but also various types of tactile stimulation. For example, the vibration intensity, frequency, pattern, etc. of the vibration motor can be freely adjusted to realistically reproduce various textures or sensations. In addition, multiple vibration motors can be independently controlled to provide local stimulation to a specific area in the user's palm. Through this, the user can obtain a vivid tactile experience as if touching an actual object. Furthermore, the tactile generation unit (50) can further include a temperature control device for providing temperature stimulation. The temperature control device can actively control the temperature of the tactile generation unit (50) by utilizing a Peltier element, a thermoelectric element, etc. Through this, a temperature sensation can be provided to the user's palm, and a more realistic and immersive tactile experience can be provided.

[0056] FIG. 4 is a schematic diagram illustrating a tactile generation unit according to one embodiment of the present invention.

[0057] The tactile generation unit (50) may include a vibration motor (53) that generates vibration, a stimulus plate (55) that provides electrical stimulation, and an insertion unit (51) that supports the vibration motor (53) and the stimulus plate (55) and is inserted into a holder (13h) of the support plate (13).

[0058] The vibration motor (53) generates various vibration patterns according to the control signal received from the control unit to provide tactile stimulation to the user. The control signal includes the intensity of the vibration, the vibration cycle, the vibration duration, etc., and the vibration motor (53) can apply various tactile stimulation to the user's palm by generating vibration according to the control signal. For example, if the control unit sends a control signal that repeats strong vibration in short cycles, the vibration motor (53) can generate a corresponding vibration to provide the user with strong tactile stimulation. On the other hand, if the control unit provides the vibration motor (53) with a control signal that generates weak vibration in long cycles, the user can feel a tactile stimulation corresponding to the weak vibration. In this way, the vibration motor (53) can provide the user with a tactile experience similar to an actual environment by generating various types of vibration according to the control of the control unit.

[0059] The stimulation plate (55) is placed on the vibration motor (53) and can transmit not only vibrations generated by the vibration motor (53) but also electrical stimulation to the user's palm. The stimulation plate (55) may be made of a conductor, and the current signal output by the control unit (60) may flow to the user's palm through the stimulation plate (55). At this time, since the stimulation plate (55) is in direct contact with the user's palm, the current flowing through the stimulation plate (55) can stimulate the user's palm. By controlling the intensity, cycle, waveform, etc. of the current, various electrical stimulations can be provided to the user, and the user can feel a more realistic tactile experience in a virtual environment or a remote environment. For example, in order to represent a situation in which the user receives an electric shock in a virtual environment, the control unit (60) may transmit a short and strong current signal to the stimulation plate (55). In this case, the user can experience a sensation similar to receiving an actual electric shock.

[0060] The stimulation plate (55) is a part that comes into direct contact with the user's palm, and thus may be formed of a material suitable for stimulating the user's skin. The stimulation plate (55) may be manufactured from a material that has excellent conductivity and elasticity suitable for stimulating the user's skin. For example, the stimulation plate (55) may be manufactured from a material such as conductive rubber, conductive silicone, or conductive polyurethane.

[0061] The insertion part (51) supports the vibration motor (53) and the stimulus plate (55) and can fix the tactile sensation generating part (50) on the support plate (13). The insertion part (51) can be inserted into the holder (13h) of the support plate (13) to stably fix the tactile sensation generating part (50) to the support plate (13). The vibration motor (53) and the stimulus plate (55) can be mounted on the insertion part (51). For example, the vibration motor (53) can be mounted on the side of the insertion part (51), and the stimulus plate (55) can be mounted on the upper surface of the insertion part. In addition, the insertion part (51) can absorb external impact and protect the vibration motor (53) and the stimulus plate (55) from external impact.

[0062] The tactile generation unit (50) can provide various types of stimulation to the user in addition to vibration stimulation and electrical stimulation. For example, the tactile generation unit (50) can include a temperature control device for providing temperature stimulation. The temperature control device can provide temperature stimulation to the user by controlling the temperature of the stimulation plate (55) using a Peltier element, a heating wire, etc. For example, in order to represent a situation in which the user touches a hot object in a virtual environment, the control unit can control the temperature control device to increase the temperature of the stimulation plate (55). In this case, the user can experience a sensation similar to actually touching a hot object. For example, the vibration motor (53) can be miniaturized by using a brushless motor or actuator, and the stimulation plate (55) can be designed to be in close contact with the user's skin by using a thin and flexible material.

[0063] A plurality of tactile generation units (50) can operate independently under the control of the control unit. That is, the control unit can output individual control signals to each tactile generation unit (50), and the tactile generation units (50) can generate different tactile stimuli. The tactile generation units (50) can provide tactile stimuli of various patterns and intensities to the palm of the user. For example, a strong vibration stimulus can be provided to the tip of the user's index finger, and a weak vibration stimulus can be provided to the tip of the middle finger simultaneously. In addition, vibration stimuli can be provided sequentially to the tips of each finger to transmit a tactile stimulus of a specific pattern to the user.

[0064]

[0065] FIG. 5 is an exploded view schematically illustrating a motion detection unit according to one embodiment of the present invention.

[0066] Referring to Fig. 5, the motion detection unit (20) includes a first joint (21), a second joint (23), a third joint (not shown), a first link (31), a second link (33), a first sensor (41), a second sensor (43), and a third sensor (not shown). The components of the motion detection unit (20) are organically connected and operate to detect and record the user's upper limb movements.

[0067] The first joint (21) may include a rotating frame (21a), a fixed frame (21b), and a bearing (21c). The rotating frame (21a) is directly connected to the first link (31) and may support a horizontal rotational movement of the first link (31). The fixed frame (21b) is fixed to a support including a fixing member (21f). The fixed frame (21b) is coupled to the rotating frame (21a) via the first sensor (41). The bearing (21c) may be arranged between the rotating frame (21a) and the fixed frame (21b) to reduce friction for smooth rotation of the rotating frame (21a).

[0068] The first sensor (41) can provide a first rotation axis (41x) to the first joint (21). The rotation frame (21a) can rotate horizontally around the first rotation axis (41x). The first sensor (41) can detect the angle at which the rotation frame (21a) rotates relative to the fixed frame (21b).

[0069] The second joint (23) may include a first rotation frame connected to the first link (31), a second rotation frame connected to the second link (33), and a bearing disposed between the first and second rotation frames. The second joint (23) may have substantially the same configuration as the first joint (21). The third joint also has substantially the same configuration as the first joint (21).

[0070] The second sensor (43) can provide a second rotation axis (43x) to the second joint (23). The first rotation frame and the second rotation frame can relatively rotate around the second rotation axis (43x). The second sensor (43) can convert the angle at which the first rotation frame rotates around the second rotation axis (43x) with respect to the second rotation frame into an electrical signal and output the result.

[0071] The second sensor (43) may include an encoder frame (43a), a rotary encoder (43b), a frame fixing plate (43c), and a coupling (43d). The rotary encoder (43b) may convert a relative rotation angle between the first and second rotary frames into an electric signal and output the signal to the control unit. The encoder frame (43a) is configured to fix and support the rotary encoder (43b), and the frame fixing plate (43c) may stably fix the encoder frame (43a) to the second joint (23). The coupling (43d) provides a second rotation axis (43x) to the second joint (23), and transmits an angle at which the first rotary frame is rotated relative to the second rotary frame to the rotary encoder (43b). The first sensor (41) may have substantially the same configuration as the second sensor (43). The third sensor may also have substantially the same configuration as the second sensor (43).

[0072] The first to third joints (21, 23, not shown) correspond to the user's shoulder, elbow, and wrist, respectively, the first and second links (31, 33) correspond to the user's upper arm and forearm, respectively, and the first to third sensors (41, 43, not shown) can accurately detect the rotation angles of the first to third joints (21, 23, not shown), respectively. The control unit can comprehensively record the user's upper limb movements by collecting electrical signals corresponding to the rotation angles from the first to third sensors (41, 43, not shown).

[0073] FIG. 6 is a block diagram schematically illustrating the configuration of a bidirectional manipulative device according to one embodiment of the present invention.

[0074] The two-way manipulative device (100) is illustrated as being composed of a tactile stimulation unit (10), a motion detection unit (20), and a control unit (30), but is not necessarily limited thereto. The tactile stimulation unit (10), the motion detection unit (20), and the control unit (30) may each exist as physically independent components. The control unit (30) may be communicatively connected to the tactile stimulation unit (10) and the motion detection unit (20).

[0075] The tactile stimulation unit (10) can provide tactile stimulation to the user's palm, and the motion detection unit (20) can detect and record the user's upper limb movements. The control unit (30) can output a control signal to the tactile stimulation unit (10) and process an electrical signal received from the motion detection unit (20). The control unit (30) can control the overall operation of the bidirectional manipulative device (600).

[0076] The control unit (30) can analyze and interpret the user's upper limb movements from the electrical signals transmitted from the motion detection unit (20). According to one example, the control unit (30) receives electrical signals corresponding to the rotation angle in real time from the first to third sensors of the motion detection unit (20). The control unit (30) can analyze the electrical signals to interpret the movements of the user's shoulder, elbow, and wrist joints. The control unit (30) can use the movement analysis results to determine the user's upper limb posture and movements.

[0077] In another example, the control unit (30) can analyze electrical signals corresponding to the rotation angle to calculate motion information, such as the position, velocity, and acceleration of the user's upper limb. The control unit (30) can utilize algorithms such as kinematics and control theory to process the electrical signals, remove noise, and extract accurate motion information. The control unit (30) can monitor the user's upper limb movements in real time.

[0078] The control unit (30) can control the tactile stimulation unit (10) based on the analyzed user's upper limb movement information to provide appropriate tactile feedback to the user. The control unit (30) can map the user's upper limb movement information and a predefined tactile stimulation pattern to control the vibration motor, stimulation plate, and temperature control device of the tactile stimulation unit (10). The user can experience tactile stimulation such as vibration and temperature change according to his or her upper limb movement. The bidirectional manipulandom device (600) according to the present invention can provide an interactive experience to the user.

[0079] Specifically, the control unit (30) can control the operation of a computer device using various programs. The control unit (30) can include a CPU, RAM, ROM, a system bus, etc. The control unit (30) can be implemented with a single CPU or multiple CPUs (or DSP, SoC). In one embodiment, the control unit (30) may be implemented as a digital signal processor (DSP), a microprocessor, or a time controller (TCON) that processes digital signals. However, the present invention is not limited thereto, and may include one or more of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), or an ARM processor, or may be defined by the relevant terminology. In addition, the control unit (30) may be implemented as a system on chip (SoC) or large scale integration (LSI) having a built-in processing algorithm, or may be implemented in the form of a field programmable gate array (FPGA).

[0080] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0081] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. A tactile stimulation unit that applies tactile stimulation to the palm of the user's hand according to a control signal when the user inserts the hand; A motion detection unit that is mechanically connected to the tactile stimulation unit and detects the movement of the user who inserted the hand into the tactile stimulation unit and outputs an electric signal corresponding to the movement; and A bidirectional manipulative device comprising a control unit configured to provide the control signal to the tactile stimulation unit and receive the electric signal from the motion detection unit to record and analyze the user's upper limb movement.

2. In paragraph 1, The above tactile stimulation part is, a contact plate that makes direct contact with the palm; and A bidirectional manipulative device including a hand cover that fixes the back of the user's hand or applies pressure toward the contact portion so that the palm is in close contact with the contact plate.

3. In paragraph 2, The above hand cover is a two-way manipulative device formed of an elastically deformable material so as to be in close contact with the back of the hand.

4. In paragraph 3, A bidirectional manipulative device wherein the elastically deformable material comprises at least one of silicone, rubber and polyurethane.

5. In paragraph 2, The above contact plate has a plurality of openings formed therein, each corresponding to a plurality of preset stimulation positions of the palm, The above tactile stimulation unit further includes a plurality of tactile generation units that penetrate the plurality of openings of the contact plate and directly apply tactile stimulation to the plurality of stimulation locations of the palm, A bidirectional manipulative device in which the plurality of tactile generating units are spaced apart from the plurality of openings of the contact plate.

6. In paragraph 5, Each of the above plurality of tactile generating units, A vibration motor that generates a vibration stimulus according to the above control signal; and A bidirectional manipulative device including a stimulation plate that protrudes from the upper surface of the contact plate through an opening of the contact plate and directly applies electrical stimulation to a stimulation location of the palm according to the control signal.

7. In paragraph 1, The above motion detection unit, A first link corresponding to the upper arm of the user; A second link corresponding to the forearm of the user; A first joint coupled between a fixed support and the first link and configured to allow the first link to rotate in a horizontal direction relative to the support; A first sensor coupled to the first joint to provide a first vertical rotation axis to the first joint, and converting an angle at which the first link rotates relative to the support into an electrical signal and outputting the signal to the control unit; A second joint coupled between the first link and the second link and configured to allow the second link to rotate in the horizontal direction relative to the first link; and A bidirectional manipulative device comprising a second sensor coupled to the second joint to provide the second joint with a second axis of rotation in the vertical direction, and converting an angle at which the second link rotates relative to the first link into an electrical signal and outputting the signal to the control unit.

8. In paragraph 7, The above first joint is, A first frame coupled to the above support; A second frame coupled to the first link and coupled to the first frame so as to be rotatable in the horizontal direction with respect to the first frame; and A bidirectional manipulative device comprising a bearing arranged at a joint portion of the first frame and the second frame.

9. In paragraph 8, The above first sensor, A coupling providing the first rotation axis and coupled to the first frame; A rotary encoder that detects the angle at which the coupling rotates around the first rotation axis and outputs the electric signal; and A bidirectional manipulative device comprising an encoder coupling portion that couples the rotary encoder to the second frame.

10. In paragraph 7, The above motion detection unit, A third joint coupled between the second link and the tactile stimulation unit and configured to allow the tactile stimulation unit to rotate in the horizontal direction relative to the second link; and A bidirectional manipulative device further comprising a third sensor coupled to the third joint to provide the third vertical rotation axis to the third joint and converting the angle at which the tactile stimulation unit rotates with respect to the second link into an electrical signal and outputting the signal to the control unit.

11. In paragraph 10, A bidirectional manipulative random device in which the control unit receives the electric signals from the first sensor, the second sensor, and the third sensor and calculates movement information of the movement detection unit.

12. In paragraph 11, A bidirectional manipulative device, wherein the above motion information includes at least one of the position, speed, acceleration, rotation angle, angular velocity, and angular acceleration of the first to third joints.

13. In paragraph 7, Each of the first link and the second link is a bidirectional manipulative device having adjustable length.

14. In paragraph 1, A bidirectional manipulative device wherein the above tactile stimulation unit further includes a temperature control device for providing temperature stimulation.

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