29 results about "Haptic rendering" patented technology

The embodiment of the invention provides a dynamic tactile rendering method based on a two-dimensional image and a finger motion track. The method comprises the following steps: acquiring an original two-dimensional image; converting a target object in the original two-dimensional image into a three-dimensional structure point cloud; respectively mapping the three-dimensional structure point cloud and the predicted complete trajectory to a unified coordinate system to obtain a corresponding point cloud data point set and a trajectory data point set; performing interpolation smoothing on the matching point set to construct a continuous geometric profile curve; calculating a first-order derivative of each section point in the geometric profile curve, and taking the first-order derivative as a stimulation value of the virtual tactile sense; converting the stimulation value into a driving voltage signal, and controlling the operation of the electrostatic adhesion tactile feedback device through the driving voltage signal; according to the dynamic tactile rendering generation method based on the two-dimensional image and the finger motion trail, the limitation that traditional tactile feedback depends on a static template and special sampling data is broken through, and automatic modeling and real-time response from two-dimensional visual input to physical tactile output are achieved.

The invention provides an electrostatic force tactile rendering method and system based on physiology and physics modeling, and belongs to the technical field of virtual reality and man-machine interaction, and the method comprises the steps: responding to tactile event triggering, matching tactile scene nerve pulse features corresponding to a tactile event from a nerve pulse database, the nerve pulse database comprises a plurality of tactile scene nerve pulse features; generating a neural pulse signal based on the neural pulse feature, and converting the neural pulse signal into a driving parameter corresponding to the electrostatic force tactile representation device according to a preset rule; and controlling the electrostatic force tactile representation device to generate a target tactile sense corresponding to the tactile event according to the driving parameter. According to the electrostatic force tactile rendering method and system based on physiology and physics modeling, the authenticity of tactile representation is improved.

In an example haptic rendering method, an implicit neural representation model of haptic data is obtained. An interaction input is provided to the model, the interaction input including at least a starting point, a direction, and a speed. An interaction output is obtained from the model, where the interaction output represents a value of at least one haptic parameter at each of a plurality of points along a trajectory defined by the interaction input.

The invention relates to the technical field of medical simulation, in particular to an ablation needle puncture training auxiliary system, and aims to solve the problems of insufficient tactile feedback and low fineness when an existing ablation needle puncture training system simulates a needle tip to penetrate through multiple layers of biological tissues so as to improve the'needle feeling 'cognition and fine operation skills of doctors. The system is characterized by comprising a physical interaction module, a virtual simulation module, a central processing module and a visual presentation module, a high-fidelity virtual tissue model is constructed, real-time multi-mode tactile feedback is combined, and an accurate needle-tissue interaction mechanical simulation and multi-dimensional tactile rendering algorithm is adopted. By the adoption of the technical scheme, the problem of a touch gap is effectively solved, the authenticity and effectiveness of simulation training are improved, and the precision and safety of clinical puncture operation are remarkably improved.

Systems and methods are presented herein for balancing rendering of haptics and graphics of a version of media content from a server at a client device. At a server, a request is received for a media asset for interaction on a haptic enabled device. Based on the request, haptic feedback settings of the haptic enabled device associated with the request are determined. The server transmits to the haptic enabled device a version of the media asset comprising haptic feedback rendering criteria compatible with the haptic enabled device. The version of the media asset is comprised of graphics and haptics rendering criteria transmittable over a current network connection strength between the server and the haptic enabled device and also incorporates user interaction data. The haptic enabled device renders the version of the media asset based on the haptic feedback settings.

Methods and apparatus of transmitting haptic data representative of a haptic effect are disclosed. Haptic device data representative of haptic rendering capabilities of a haptic rendering device is obtained. The haptic data is determined by processing received haptic data representative of the haptic effect according to the haptic device data to adapt a rendering of the haptic effect to the haptic rendering capabilities. The haptic data is transmitted to the haptic rendering device.

An improved low-fidelity single-plane-based haptic rendering that affect the sensation designed by a sensation editor (sketch-based UI) tool is described by generating a dynamic mapping to redirect the haptic rendering over a 3D hand model in real-time. The four solutions comprise (1) the generation of a bijective mapping between the template (2D) and hand spaces (3D), (2) a direct skinning approach for sensation relocation in 3D, (3) a direct 3D to 3D mesh mapping, and (4) a smooth-blend skinning directly to the sensation points. This allows a playful action which continuously provides feedback to the user as they progress along their actions-in this case the object becoming “squished” as they select it, and “unsquished” as they summon it.

A haptic rendering device and corresponding rendering method allow to render a haptic effect defined in a haptic signal comprising information representative of an immersive scene description. The immersive scene comprises information representative of at least one element of the scene and information representative of a haptic object, comprising a type of haptic effect, at least one parameter of the haptic effect, and a haptic volume or surface where the haptic effect is active. The parameter of the haptic effect may be a haptic texture map. A corresponding syntax is proposed.

A haptic rendering system and a haptic rendering method. The haptic rendering system comprises a display panel, a touch structure, a piezoelectric actuator, and a control module; the touch structure is located on the display panel and is configured to detect a touch position of a touch operation; the piezoelectric actuator is located on the display panel; the control module is communicationally connected to the display panel, the touch structure, and the piezoelectric actuator, separately; and the control module is configured to extract the touch position detected by the touch structure, determine a touch mode of the touch operation according to a change in the touch position, and output different driving voltages to the piezoelectric actuator according to the touch mode, so that the piezoelectric actuator drives the display panel to generate different vibrations, thereby achieving different haptic rendering effects. Therefore, the haptic rendering system can improve the realism of human-computer interaction and the immersive experience of a user.

This invention relates to a head-mounted haptic rendering method and its implementation device, belonging to the field of haptic feedback technology in human-computer interaction. It includes controlling m-linear vibrators positioned in the forehead region of a head-mounted support structure via a control module; generating corresponding driving signals according to a preset haptic rendering mode, the driving signals including driving frequency, driving voltage, and time delay parameters; controlling each linear vibrator to vibrate according to the driving signals to render a haptic effect with spatial direction and positional awareness in the user's forehead region. Advantages include achieving directional frictional haptic rendering, multi-position collision haptic positioning, enhanced haptic realism and immersive experience, flexible control, strong scalability, novel structure that is easy to implement and integrate, good engineering feasibility, and applicability in fields such as virtual reality, augmented reality, human-computer interaction, gaming, and remote interaction, demonstrating high application value and promotion potential.

The invention relates to a tactile rendering method for air gestures of an intelligent cabin of an automobile, and belongs to the field of man-machine interaction. Comprising the following steps: defining an interactive gesture in the air of an intelligent cockpit, collecting hand data and recognizing the gesture, converting a coordinate space, defining and establishing a gesture sensing coordinate system, a virtual interactive coordinate system and an ultrasonic transmitting coordinate system, rendering ultrasonic tactile feedback, and driving an ultrasonic transducer array to focus modulated ultrasonic to the hand of a user. Various complex haptic renders are implemented in the air. The method has the advantages of being free of contact, low in delay and accurate in space matching, the visual distraction risk in a driving scene is remarkably reduced, and interaction intuition and safety are improved.

The invention relates to an air ultrasonic touch fingertip skin mechanical simulation method based on time domain BEM-FEM coupling, and belongs to the technical field of man-machine interaction and touch rendering. The method comprises the steps of constructing a piezoelectric ultrasonic transducer PUT array time domain sound field model, calculating focused ultrasonic waves of a PUT array in a free field and time domain sound field distribution of the focused ultrasonic waves, constructing a rigid body surface sound scattering model based on a time domain boundary element method BEM, and calculating synthetic ultrasonic waves after the focused ultrasonic waves are incident to the rigid body surface and time domain total sound field distribution of the synthetic ultrasonic waves; applying the solved time domain total sound field to sound radiation pressure ARP calculation; a three-dimensional fingertip model with a multilayer anatomical structure is established, and skin deformation of finger skin under air ultrasonic tactile stimulation is solved based on a finite element method FEM. The method has the advantages that mapping from driving waveform design of the air ultrasonic tactile device to finger skin deformation is achieved, and an efficient simulation method is provided for complex air ultrasonic tactile rendering.

A haptic rendering device and corresponding rendering method allow to render a haptic effect defined in a haptic signal comprising information representative of an immersive scene description. The immersive scene comprises information representative of at least one element of the scene and information representative of a haptic object, comprising a type of haptic effect, at least one parameter of the haptic effect, and a haptic volume or surface where the haptic effect is active. The parameter of the haptic effect may be a haptic texture map. A corresponding syntax is proposed.

The invention provides a multi-texture vibration tactile rendering method and device and interaction equipment, and belongs to the technical field of tactile representation. Obtaining interaction action data of a plurality of different modes, and encoding the interaction action data to generate interaction features; obtaining visual data, and generating corresponding visual texture features according to the visual data codes of different textures; combining the interaction features and the visual texture features to generate fusion features; encoding the fused features to generate corresponding tactile features; decoding the tactile feature to generate predicted tactile data corresponding to the interactive action data; and training a rendering model according to the predicted tactile data and the real tactile data corresponding to the interactive action data. The method has the advantages that by obtaining any interactive action data and multiple different types of texture visual data, feature extraction and fusion are carried out on data of multiple modes, and high-reality tactile data corresponding to different types of textures are generated.

The present disclosure provides a method and apparatus for generating a scene description file, the apparatus including: determining a haptic media accessor associated with a target action node when a three-dimensional scene to be rendered performs a target haptic action; the haptic media accessor being an accessor for accessing haptic rendering data of a haptic media file declared in an MPEG media description module associated with the target action node when the target haptic action is performed; generating a target haptic object description module based on the haptic media accessor and adding the target haptic object description module to the MPEG haptic description module; generating a target haptic action node array based on an index value of a node description module corresponding to the target action node and an index value of the target haptic object description module; and adding the target haptic action node array to a haptic action node list of the target action description module.

Systems and methods are presented herein for balancing rendering of haptics and graphics of a version of media content from a server at a client device. At a server, a request is received for a media asset for interaction on a haptic enabled device. Based on the request, haptic feedback settings of the haptic enabled device associated with the request are determined. The server transmits to the haptic enabled device a version of the media asset comprising haptic feedback rendering criteria compatible with the haptic enabled device. The version of the media asset is comprised of graphics and haptics rendering criteria transmittable over a current network connection strength between the server and the haptic enabled device and also incorporates user interaction data. The haptic enabled device renders the version of the media asset based on the haptic feedback settings.

A data structure storing information representative of an immersive experience comprises information representative of the haptic capabilities of a reference haptic rendering device. Therefore, haptic signals may be adapted to the capabilities of a different rendering device with different haptic capabilities. Such adaptation may be performed directly at the rendering stage by the rendering device itself. A transcoding process allows the generation of a new data structure for a rendering device with different haptic capabilities.

The present invention discloses a method of haptic rendering via multiple virtual coupling systems with energy consistency, which relates to the technical field of human-computer interaction in virtual reality and realizes six-degree-of-freedom force synthesis of complex operations, such as pressing and inserting, in the process of large-deformation between a tool and a softbody, which relates to the field of human-computer interaction in virtual reality. In the simulation scenario, the simulation system for each object contains two parts: the graphical part and the physical part, and the two parts are linked by means of virtual coupling. In addition, the mutual contact force between the tool simulation system and the softbody simulation system has the characteristic of consistent energy, which reduces the computational redundancy between two systems with different frequency, ensuring the real-time and robustness of deformation simulation under the condition of uncertain interaction.

This invention discloses a human body surface palpation simulation training system based on multimodal AI interaction, belonging to the fields of medical simulation training and human-computer interaction technology. The system includes: a photoelectric-triboelectric fusion tactile perception and feedback unit, a palpation-specific micro-tactile feature library, an AI dynamic tactile rendering engine, and a hardware clock synchronization module. The photoelectric-triboelectric fusion tactile perception and feedback unit integrates modules such as multispectral imaging, synchronously collects four types of palpation data, and generates corresponding feedback. The feature library stores multi-dimensional features of real clinical palpation. The AI ​​engine is based on the Transformer architecture, combines the collected data and the feature library, and generates driving signals through calculation formulas. The synchronization module uniformly controls the sampling timing of each module. This invention integrates multiple modules to synchronously collect multi-dimensional palpation data, constructs a real clinical palpation feature library, and combines a customized AI algorithm that is deeply integrated with hardware to achieve high-fidelity, low-latency three-dimensional tactile simulation, ensuring the consistency of tactile feedback across different devices.

The invention relates to the technical field of cooking robots, and discloses a cooking robot-oriented real-time 3D sensing and decision-making service platform, which comprises a sensing layer, a data fusion layer, a decision-making layer, a vibration feedback closed-loop touch rendering and action fine tuning layer and a mechanical arm controller. The sensing layer synchronously collects optical 3D point cloud and acoustic vibration data; the data fusion layer extracts vibration characteristics, calculates a hardness index and humidity estimation, and forms an attribute enhanced point cloud; the decision-making layer outputs initial action parameters through a finite state automaton based on the geometric and vibration characteristic change rate; the fine tuning layer verifies correction parameters through active excitation and response; and the mechanical arm executes and feeds back data to form continuous closed-loop control. According to the invention, the bidirectional piezoelectric element is introduced through the sensing layer to collect acoustic vibration data, so that the effect of expanding the sensing ability to the internal elasticity and moisture change of the food material on the basis of the traditional optical 3D point cloud can be achieved.

The invention discloses a touch rendering clothing control system based on a serial bus architecture. The touch rendering clothing control system comprises a clothing subsystem, a hardware subsystem in signal connection with the clothing subsystem and external terminal equipment in signal connection with the hardware subsystem, the clothing subsystem comprises a plurality of local control areas, each local control area comprises a plurality of multi-actuator modules and a driver in signal connection with one multi-actuator module of the terminal, and the multi-actuator modules are connected in series; the plurality of drivers are in wireless connection; wherein the multi-actuator module comprises a plurality of shift registers, each shift register is connected with 16 lines, and each line is an execution unit. According to the invention, efficient control of multiple execution units on clothes is realized. Through the combination of the serial shift register and the multi-module distributed drive, the complexity of internal wiring is remarkably reduced, and the control expansibility and the usability of the system are further improved through the Bluetooth networking technology.

A wearable, low power, compact ultrasonic haptic device that focuses ultrasound at or below the skin's surface using a piezocomposite transducer consisting multiple arrayed acoustic pixels, each acoustic pixel comprising an array of piezocomposite pillars separated by an epoxy and topped by a metal electrode. The high efficiency of the piezocomposite transducer facilitates sufficient production of ultrasonic energy directed at a focal point at or below the surface the skin to stimulate a tactile sensation.

A haptic rendering system and a haptic rendering method. The haptic rendering system comprises a display panel, a touch structure, a piezoelectric actuator, and a control module; the touch structure is located on the display panel and is configured to detect a touch position of a touch operation; the piezoelectric actuator is located on the display panel; the control module is communicationally connected to the display panel, the touch structure, and the piezoelectric actuator, separately; and the control module is configured to extract the touch position detected by the touch structure, determine a touch mode of the touch operation according to a change in the touch position, and output different driving voltages to the piezoelectric actuator according to the touch mode, so that the piezoelectric actuator drives the display panel to generate different vibrations, thereby achieving different haptic rendering effects. Therefore, the haptic rendering system can improve the realism of human-computer interaction and the immersive experience of a user.

The invention discloses a wearable multi-mode tactile rendering device, system and method, and belongs to the field of tactile feedback, and the device processes a to-be-rendered multi-channel multi-mode tactile signal through a main controller, converts the to-be-rendered multi-channel multi-mode tactile signal into a control instruction for driving a vibration feedback module and a force feedback module, and outputs the control instruction to the vibration feedback module and the force feedback module. The main controller has the functions of data analysis, time sequence management, synchronous scheduling and the like at the same time, and a multi-channel multi-mode tactile signal to be rendered can be quickly mapped into tactile output in the wearable glove through the main controller, so that real-time interaction of a virtual object or a remote operation environment is realized; a nonlinear vibration signal processing method is adopted by the main controller, and the problem of perception distortion caused by linear mapping of vibration signals is solved; a unified scheduling mechanism is adopted, a time synchronization constraint mark is introduced, the consistency of vibration feedback and force feedback in a time domain is ensured, and the problem of time sequence mismatch caused by multi-mode independent control is solved.

The invention relates to an audio-driven tactile feedback rendering method and device in pen interaction, and belongs to the field of tactile feedback. Collecting data to construct a multi-modal data set, processing audio data and acceleration data, training a designed sound-to-touch network model, and storing the period length of the audio data into a waveform table; in the tactile rendering stage, according to pen type interaction data collected in real time, corresponding audio clips in the waveform table are selected to be input into the trained sound-to-touch network model, tactile driving signals are generated, and texture tactile feedback is provided for an operator. The method has the advantages that the high time-frequency correlation between the acoustic signal and the vibration tactile signal is considered, the data acquisition process is simplified, the sense of reality and diversity of texture tactile feedback are improved, and the sense of reality of the texture tactile feedback and the user experience are enhanced.

This invention provides a haptic rendering device and a corresponding rendering method. [Solution] The device and method enable rendering of tactile effects defined in a tactile signal that includes information representing an immersive scene description. The immersive scene includes information representing at least one element of the scene, and information representing a tactile object, including the type of tactile effect, at least one parameter of the tactile effect, and a tactile volume or surface on which the tactile effect is active. The parameter of the tactile effect may be a tactile texture map. A corresponding syntax is proposed.

An improved low-fidelity single-plane-based haptic rendering that affect the sensation designed by a sensation editor (sketch-based UI) tool is described by generating a dynamic mapping to redirect the haptic rendering over a 3D hand model in real-time. The four solutions comprise (1) the generation of a bijective mapping between the template (2D) and hand spaces (3D), (2) a direct skinning approach for sensation relocation in 3D, (3) a direct 3D to 3D mesh mapping, and (4) a smooth-blend skinning directly to the sensation points. This allows a playful action which continuously provides feedback to the user as they progress along their actions - in this case the object becoming "squished" as they select it, and "unsquished" as they summon it.

This invention proposes an embodied interactive smart accessory system based on affective computing and haptic feedback. It comprises a wearable biofeedback and haptic interaction device, a mobile computing device, and a cloud device. The wearable biofeedback and haptic interaction device is responsible for collecting data from electrical activity data (EDA), photoplethysmography (PPG), and inertial measurement unit (IMU), and executing haptic rendering commands. The mobile computing device handles Bluetooth communication, signal preprocessing, affective feature extraction, haptic rendering algorithm calculation, and communication with the cloud device. The cloud device runs a large language model, receives affective vectors, and generates personalized content. This invention addresses the lack of human touch in AI interaction by introducing an affective computing closed loop; and it resolves safety concerns in outdoor AR experiences through spatialized haptic navigation. This design aligns more closely with the scientific principles of embodied cognition, providing a more natural interface for human-machine symbiosis.