100 results about "Haptic interaction" patented technology

Techniques relating to an interaction device including a touch-sensitive surface and a chassis and making it possible to generate haptic, sound and visual interaction effects. The sound and haptic effects are generated by common structural and electronic means arranged so that the touch-sensitive surface and the chassis behave like a loudspeaker. The techniques also relate to generating interaction effects. The techniques also relate to a visualization device and apply to computers, televisions, telephones, and touch-sensitive tablets, for example. It preferably applies to visualization devices that have a screen with a large diagonal.

Provided are a pointing apparatus capable of providing haptic feedback, and a haptic interaction system and method using the same. The pointing apparatus includes a wireless communication unit, a controller, and a haptic stimulator. The wireless communication unit receives an event including haptic output information through wireless communication with the outside. The controller generates a control signal for reproducing a haptic pattern corresponding to the haptic output information. The haptic stimulator reproduces the haptic pattern by means of the control signal. Thus, it is possible to increase the performance and usability of a user interface of a user terminal including a touch screen.

Provided are a pointing apparatus capable of providing haptic feedback, and a haptic interaction system and method using the same. The pointing apparatus includes a wireless communication unit, a controller, and a haptic stimulator. The wireless communication unit receives an event including haptic output information through wireless communication with the outside. The controller generates a control signal for reproducing a haptic pattern corresponding to the haptic output information. The haptic stimulator reproduces the haptic pattern by means of the control signal. Thus, it is possible to increase the performance and usability of a user interface of a user terminal including a touch screen.

A content management and delivery system comprising a plurality of communication devices and a content server is provided. Each of the plurality of communication devices has a display panel for enabling haptic interaction with data displayed thereon. The content server is coupled to the plurality of communication devices. At least one of the plurality of communication devices is to receive the data from the content server, generate a response corresponding to a user interaction with the data displayed on the display panel and transmit the response to the content server. The data is customizable to provide a plurality of user selectable options for facilitating user interaction therewith.

The invention discloses an image texture tactile representation system based on force / haptic interaction equipment for virtual reality human-computer interaction, which is characterized in that when the virtual proxy of the force / haptic interaction equipment slides on a texture surface of a virtual object in a virtual environment, the surface height of the object texture corresponding to the contact point and a coefficient of kinetic friction for reflecting the rough degree of the contact point are firstly obtained on the basis of an image processing method, a continuous normal contact force model reflecting the concave-convex degree of the contact point and a tangential friction model reflecting the rough degree of the contact point are respectively established, and finally the texture contact force is fed back to an operator in real time through the force / haptic interaction equipment so as to realize the force haptic express and reappear when fingers slide over the surface texture of the virtual object. The feedback continuous change normal force not only enables the human-computer interaction to be more real, but also enables an interaction system to be more stable, and the feedback friction related to the rough degree of the contact point also further enhances the sense of reality when the texture reappears.

A system for providing substantially stable haptics includes at least one computer configured to identify a first subset and a second subset of haptic interaction geometric primitives for a virtual tool. The computer is configured to determine based on the first subset, haptic forces in a first subspace. The computer is also configured to determine based on the second subset, haptic forces in a second subspace different from the first subspace.

Disclosed is a haptic simulation system and method for providing real-time haptic interaction in the haptic simulation system which allows a user (avatar) to feel an effect followed by a collision between the avatar and a surrounding virtual object in the form of a real-time haptic interaction through a haptic simulation device while the user performs a computer simulation. The simulation method includes the steps of: (a) operating an avatar within a virtual environment depending on a motion of the user in a haptic device while performing a haptic simulation; (b) perceiving a collision information of when the avatar of the user collides with an object of the virtual environment; (c) computing force / torque on the collision information on the basis of physical dynamics; (d) when the processing time of the step (c) exceeds a prescribed time, computing force / torque on the collision information using an interpolation method instead of the physical dynamics-based processing; and (e) transferring the force / torque values computed in the steps (c) and (d) to the user haptic device to provide the user with the haptic interaction.

The invention discloses two-dimensional image force touch reproducing control method and system based on a three-dimensional force sensor. The method is characterized by comprising the following steps of: fixing a three-dimensional force sensor on a handle at the end part of force touch interacting equipment; collecting image contact force output by the force touch interacting equipment in real time; and meanwhile, carrying out closed-loop control on a collected image contact force signal and adjusting the output of the image contact force signal in real time by adopting a proportion control algorithm. The invention adopts a closed-loop feedback control policy, improves the output precision of image contact force and the stability of a control system and reinforces authenticity during man-machine interaction; and in addition, a modularized system structure is adopted by the invention, therefore, the system portability is high.

The invention provides a laparoscopic surgery simulation system based on force feedback. The system comprises an operation platform, a main computer, a simulation apparatus, a laparoscope cannula, force feedback equipment, a pedal and a display device. The laparoscopic surgery simulation system is concise, compact and attractive in design, can carry out an operation through the simulation apparatus in a virtual environment generated by the main computer, improves the level of clinical operations, and greatly saves expenses and time of medical training. Meanwhile, by means of a force feedback technology, a user can carry out haptic interaction with the virtual environment through the force feedback equipment, the training is more realistic, accurate and reliable, and immersion and reality of a virtual operation are enhanced.

The present invention discloses a lumbar puncture virtual simulation and training system supporting haptic interaction, comprising a calculating apparatus and a haptic interaction device. A display device is connected to the calculating apparatus. The calculating apparatus is connected to the haptic interaction device, and is configured to transmit an action signal that is made by a user and is detected by the haptic interaction device to the calculating apparatus. The calculating apparatus substitutes the received signal to a preset model to perform real-time simulation calculation, to obtain an acting force of a puncture needle, and transmits the acting force to the haptic interaction device for perception of the user. In addition, a real-time virtual puncture process interface is generated on the display device according to a simulation calculation result, so as to implement lumbar puncture virtual simulation and training. The system can simulate a resistance change in a puncture process, and can significantly reduce costs and the period of medical staff training.

A method of synchronizing an audio and visual presentation in a multi-modal browser. A form having at least one field requiring user supplied information is provided to a multi-modal browser. Blank fields within the form are filled in by user who provides either verbal or tactile interaction, or a combination of verbal and tactile interaction. The browser moves to the next field requiring user provided input. Finally, the form exits after the user has supplied input for all required fields.

Methods, articles of manufacture, and devices related to generating six degree of freedom (DOF) haptic feedback are provided. A computing device can receive first depth data about an environment. The computing device can generate a first plurality of points from the first depth data. The computing device can determine a virtual tool, where the virtual tool is specified in terms of a translation component for the virtual tool and a rotation component for the virtual tool. The computing device can determine a first force vector between the virtual tool and the first plurality of points. The computing device can send a first indication of haptic feedback based on the first force vector.

The invention discloses a compliant force control method based on fuzzy reinforced learning for a mechanical arm. A fuzzy reinforced learning algorithm is adopted, a real-time adjustment strategy for admittance parameters is trained in a manner of online learning, and a motor is controlled by the converged variable-admittance control strategy according to an external moment applied by an operator, and the current joint speed and acceleration to actively comply with a control intention of the operator, so as to complete an active following task of the mechanical arm, without the need of establishing corresponding task and environment model, so that a higher convergence speed and a stable actual effect are achieved. The method is capable of remarkably lowering the working intensity of the operator and improving the location accuracy, and conducive to reduce the structural dimension and the dead weight of the mechanical arm; a haptic human-machine interaction model is capable of greatly responding to the control intention of the operator, and high in self-adaptive capacity, so that haptic human-machine interaction experience is smoother and more natural, and more similar to haptic interaction experience during operation for an actual object in daily life.

One or more tactile effects may be mapped to application user interface elements, formatting properties, and document structure and applied to a display comprising tactile capabilities (e.g., deformable screens, vibrations, static charges, heat, etc.). Formatting, structure, and user interface elements may be mapped to different screen variations that may be felt by a visually impaired user. A visually impaired user may be able to utilize his / her sense of touch to more easily comprehend formatting and structure of a document, as well as to have greater confidence to author professional and consistently formatted and structured documents. A tactile effect may be applied to a location of a displayed user interface element, formatting property, or document structure, or may be applied to a designated area of the display.

The invention discloses a tactile interaction-based percutaneous nephrolithotomy (PCNL) kidney stone virtual surgical training system and a method for improving the repeated training of urologists soas to make the urologists obtain puncture skills. The system specifically includes a medical image three-dimensional reconstruction module (1), a kidney soft tissue sample puncture experiment module (2), a mechanical modeling module (3), a visual rendering module (4), a tactile rendering module (5), a virtual operation training environment design module (6), a tactile interaction device module (7), an operation training data acquisition and analysis module (8), an augmented reality module (9) and a 3D printing module (10). According to the system of the present invention, a real surgical trocar is adopted to puncture a kidney tissue, so that data can be obtained to be used for establishing a mechanical model; the system enables a strong sense of immersion and high real-time performance onthe basis of a virtual PCNL operation environment constructed through the tactile interaction device, the augmented reality technology and the 3D printing technology. With the system adopted, the training of the urologists can be facilitated, the operative skills of the urologists can be improved, and the urologists can be familiar with the procedures of an operation.

The invention discloses a virtual operation simulation training system for preoperative training and a training method thereof. The system comprises a main node and multiple sub nodes in synchronous communication connection with the main node. Each of the main node and the sub nodes comprises a haptic interaction device, a soft tissue cutting simulation module and a realistic real-time rendering module. Through an operation process for a virtual operation trained on the main node recorded by the main haptic interaction device, the main soft tissue cutting simulation module and the main realistic real-time rendering module, the operation of a physician is mapped to each sub node in a real time mode, and the trained physician can sense the operation process via the sub haptic interaction device on the sub node. A model differential encoding algorithm is adopted, and each sub node can quickly obtain a three-dimensional operation model. A high-difficulty operation can be prevented from being trained on a patient, a learning curve and a training cost of the trained physician are shortened, and popularization and improvement of the soft tissue cutting operation technology are promoted.

Methods, articles of manufacture, and devices related to generating six degree of freedom (DOF) haptic feedback are provided. A computing device can receive first depth data about an environment. The computing device can generate a first plurality of points from the first depth data. The computing device can determine a virtual tool, where the virtual tool is specified in terms of a translation component for the virtual tool and a rotation component for the virtual tool. The computing device can determine a first force vector between the virtual tool and the first plurality of points. The computing device can send a first indication of haptic feedback based on the first force vector.

The present invention relates to a method and system for haptic interaction in augmented reality that can effectively remove noise from real images captured by an image capturing device and minimize discontinuity of force generated in the haptic interaction for the stable and smooth haptic interaction in the augmented reality. The augmented reality system comprising: a marker detecting unit that detects a markers in images; a marker position extracting unit that extracts the positions of the detected markers; a noise removing unit that removes noise from positional information of the markers; a visual rendering unit that augments virtual objects; a motion estimating unit that estimates the motion of the markers over a time; a collision detecting unit that detects collision between the virtual objects and an end point of the haptic device; and a haptic rendering unit that calculates reaction force to be provided through the haptic device.

The invention discloses a two-dimensional haptic interaction device for realizing a bone marrow aspiration virtual surgery. A passive magnetorheological fluid passive haptic driver is combined with an active motor, thereby realizing active / passive hybrid actuator control. A T-type operation bar is connected with a guide rail sliding block mechanism via a rolling bearing, and therefore, the T-type operation bar can rotate freely and can transfer a force in a linear direction to the sliding block. The T-type operation bar can perform linear non-friction movement on a rectangular rotator and can transfer rotating torque to the rectangular rotator, and therefore, coupling between the linear movement and the rotating movement is completed. The motor and the magnetorheological fluid damper are matched to simulate a damping force and frictional resistance when a bone marrow needle rotates and advances. The haptic interaction device for realizing the bone marrow aspiration virtual surgery has stronger vividness.

The invention discloses an object softness reproduction method based on a finger-cot type force touch interaction device. The method is characterized in that the finger-cot type force touch interaction device combining a pressure sensor and a piezo-electric actuator is utilized for controlling a 3*3 dot-matrix piezo-electric actuator on a finger-cot to generate vibration stimulus related to driving pressing force of the hands and hardness of a virtual object to simulate the hardness of the object. Vibration amplitude and vibration rhythms of the piezo-electric actuator are adjustable, the vibration amplitude is related to the driving pressing force of the hands, acting force in the driving pressing process of the hands is simulated, the vibration rhythms are related to rigidity coefficients of the virtual object, and the hardness characteristic of the object is reflected.

The invention discloses a multi-element touch sense interactive perceiving system with a temperature perceiving function and belongs to the field of man-machine intelligent control sensing technology. The system comprises a robot flexible hand, a temperature sensor, a pressure sensor, a temperature sensing signal processing circuit, a pressure sensing signal processing circuit, a sensing signal transmitting system, a temperature perception reappearing system and a pressure perception reappearing system. The temperature sensor and the pressure sensor are used for collecting a temperature signal and a pressure signal of the environment where the mechanical flexible hand located. The collected signals are output to the temperature perception reappearing system and the pressure perception reappearing system through the sensing signal transmitting system. The reappearing systems enable temperature and pressure conditions to reappear. Therefore, multi-element touch sense interactive perception is achieved. According to the multi-element touch sense interactive perceiving system with the temperature perceiving function, the robot flexible hand is operated by a worker, temperature and pressure perceived by the robot flexible hand is perceived by the worker at the same time and the sense of immediacy is achieved.

Methods, systems, and non-transitory computer readable mediums for presenting haptic interactions using a virtual reality system are provided. A virtual user is tracked in a virtual reality environment, the virtual user including a virtual representation of a real-world user in a real-world environment. A relative virtual location for the virtual object relative to the virtual user is determined. A haptic profile for the virtual object is identified. A real-world object is provided in a real-world location relative to the real-world user that corresponds to the relative virtual location, where a haptic property of the real-world object corresponds to the haptic profile for the virtual object

A method, apparatus and system for simulating force interaction between a bone drill and a skeleton applicable to the field of force interaction. The method comprises: detecting whether a collision takes place between a bone drill module (2) and a skeleton module (3) in real time; when a collision takes place, acquiring a movement speed and an autorotation speed of each collision point before the collision; calculating a movement speed and an autorotation speed of each collision point after the collision; removing a collision point having a separation speed with respect to the skeleton module (3) after the collision; calculating a resistance force and a frictional force on a collision point that is not removed at the time of collision according to the movement speeds and autorotation speeds before and after the collision and a method based on impulse theory; and synthesizing resistance forces and frictional forces of all collision points that are not removed into a resultant force to output same to a force feedback device. By using a method based on impulse theory to calculate a resistance force and a frictional force on a collision point that is not removed at the time of collision, force differences brought about by force interaction, such as grinding, among different bone drills and skeletons can be effectively reflected.

A interaction device includes a touch-sensitive surface which generates input data when the touch-sensitive surface is in contact with an actuator, a frame fixed to a periphery of the touch-sensitive surface, an actuator which generates a reaction force as a function of the input data, and a support to which the actuator is coupled. The frame and the touch-sensitive surface are arranged to form a rigid assembly which has a resonant frequency of a few hundred Hertz. The actuator is directly coupled to the frame to displace the rigid assembly relative to the support, and the resonant frequency of the actuator is substantially equal to the resonant frequency of the rigid assembly.

The invention relates to a haptic interaction device and method for generating sound and haptic effects. The device (10) comprises a touch surface (1) and a chassis (4), and a touch, sound (100,101) and visual interaction effect can be generated. The sound and touch effect is generated by universal structural assemblies (1,2,31,32,4) and an electronic device. The structural assemblies and the electronic device are set so that the touch surface (1) and the chassis (4) perform like a speaker. The invention also relates to a method for generating interaction effect. The invention provides a visual device (10), applying in computers, televisions, telephones and touch sensitive panels. The device is preferably applied in the visual device with a large diagonal screen.

A method of synchronizing an audio and visual presentation in a multi-modal browser. A form is transmitted over a network having at least one field requiring user supplied information to a multi-modal browser. Blank fields within the form are filled in by user who provides either verbal or tactile interaction, or a combination of verbal and tactile interaction. The browser moves to the next field requiring user provided input. Finally, the form exits after the user has supplied input for all required fields. The method also provides a synchronized verbal and visual presentation by said browser by having the headings for the fields to be filled out and typing in what the user says.

A pet amusement device provides a moving play object within a cage structure with apertures that provide intermittent visual and tactile interaction of the pet with the play object. The motion of the play object is unpredictable and visually interesting to the pet. Motion of the play object may be caused by a play object driving assembly, which exerts magnetic forces on the pay object and causes it to move on a gliding surface of a floor member within the cage structure in an unpredictable manner. The magnetic forces may be provided by a rotating carriage member driven by a motor and gear assembly beneath the gliding surface. The play object may also be provided with a magnetic element, such that the carnage member magnets exert repulsive forces on the play object as the carriage member rotates. A spacing disk on the play object may maintain the play object magnet a predetermined distance above the gliding surface.

A system for providing substantially stable haptics includes at least one computer configured to identify a first subset and a second subset of haptic interaction geometric primitives for a virtual tool. The computer is configured to determine based on the first subset, haptic forces in a first subspace. The computer is also configured to determine based on the second subset, haptic forces in a second subspace different from the first subspace.

The invention discloses a minitype haptic rendering method based on active and passive devices. The method comprises the steps of firstly conducting calibration on a magnetorheological damper and a continuous current dynamo, and obtaining a relationship of an input current and output torque; converting an expected force / torque value to a current of the magnetorheological damper to input, the corresponding torque is output through the magnetorheological damper, and exerting the torque to the body of an operation person through a force tactile transmission device; secondly, measuring actually exerted force / torque through a sensor installed at a force / torque point of action, comparing an actually output force / torque value with the expected force / torque value, and calculating a force / torque error; finally, converting the force / torque error to an input signal of the continuous current dynamo, and driving the continuous current dynamo to generate torque corresponding to the error. According to the minitype haptic rendering method based on the active and passive devices, minitype devices can output large-range and high-precision force / torque, thus haptic rendering equipment is more light and exquisite, and the fidelity of haptic interaction is improved; the method can be widely applied to the fields of virtual reality, teleoperation robot control, medical service and the like.

A interaction device includes a touch-sensitive surface which generates input data when the touch-sensitive surface is in contact with an actuator, a frame fixed to a periphery of the touch-sensitive surface, an actuator which generates a reaction force as a function of the input data, and a support to which the actuator is coupled. The frame and the touch-sensitive surface are arranged to form a rigid assembly which has a resonant frequency of a few hundred Hertz. The actuator is directly coupled to the frame to displace the rigid assembly relative to the support, and the resonant frequency of the actuator is substantially equal to the resonant frequency of the rigid assembly.