33 results about "Subjective feeling" patented technology

The invention discloses an intelligent recognition system for urban and rural building styles and features based on multi-source data fusion. According to the invention, by fusing the emotion feedback and objective visual features of the user on the building, the system not only can accurately judge the style type of the building, but also can understand the subjective feeling difference caused by different styles. For example, when the Hui-style building is identified, the system can synchronously capture the worry emotion generated by the user on the'whitewashing and yerba ', so that the characteristics of the building can be displayed and the emotion demand of the tourist can be matched during tourism recommendation. The dynamic learning mechanism enables the system to continuously absorb fresh feedback of users in various regions and automatically correct cognitive deviation of an original model to regional characteristic buildings, for example, the detail distinguishing standard of southern Fujian red brick placing and Lingnan wok ear house is updated in time, the adaptive capacity to continuously changing urban and rural styles is kept, and in a cultural heritage protection scene, the system can be used for protecting cultural heritage. In combination with double dimensions of professional surveying and mapping data and public emotion evaluation, recent modern buildings with collective memory value can be positioned more accurately.

The invention relates to a social action completion degree evaluation method and system based on action segmentation, and the method comprises the steps: guiding a user to make a plurality of evaluation actions, and collecting the user action data flow of each evaluation action; for each evaluation action, extracting action judgment data of each frame in the corresponding user action data stream; and for each evaluation action, calculating an evaluation index according to the action label of each corresponding frame, and outputting the evaluation index. According to the invention, through formulating the assessment process of the system, the demand for rehabilitation professionals is reduced, and the problems that the assessment professionals are insufficient and human resources are consumed due to manual assessment, and the result of manual assessment is often based on the subjective feeling of the professionals and lacks specific and objective assessment indexes are avoided.

The present invention discloses a method for intervening in the subjective feeling of motion sickness in virtual reality based on perceptual theory, which relates to the technical field of virtual reality. The method comprises: acquiring proprioception parameter information of a current user, wherein the proprioception parameter information includes but is not limited to head movement data, eye movement data, and physiological data; performing real-time analysis on the currently acquired data using a data analysis algorithm to determine whether the user has early signs of motion sickness; determining, by the data analysis algorithm, that the user has early signs of motion sickness, and immediately initiating a visual perception adjustment step. Furthermore, by real-time capturing and analyzing the user's physiological signals in a virtual reality experience, it is possible to identify and intervene in the early stages of motion sickness, and to formulate an intervention method in a timely manner for users who have subjective feelings of motion sickness, thereby facilitating rapid relief of user discomfort.

The invention discloses an intelligent control method for a sleep cabin lighting system, and the method is high in adaptability: through monitoring the physiological indexes (such as heart rate, skin conductance and the like) and subjective pressure feeling of a user in real time, lighting parameters, such as brightness, color temperature and the like, can be dynamically adjusted, so as to meet individual demands of different users. The system can adaptively cope with environment changes and user state changes, and the optimal lighting effect is ensured. Reasonable illumination adjustment is beneficial to adjustment of the physiological rhythm of the human body, and the user is promoted to enter a good sleep state. The sleep quality can be improved and the rest experience of the user can be improved by reducing interference and pressure of illumination on the user to the maximum extent. The intelligent control system can adjust lighting parameters in real time according to user requirements, and unnecessary energy consumption waste is avoided. By optimizing the lighting strategy, the overall energy consumption can be greatly reduced, and the energy-saving target is achieved. And real-time feedback and optimization: the system can collect physiological feedback data of the user in real time and perform analysis and optimization in combination with subjective feelings of the user. Through online learning and algorithm iteration, the system can continuously improve the control precision and the user satisfaction. The user does not need complex operation, and the system can automatically provide the best lighting experience according to the user state. The control burden of the user is relieved, and the usability and friendliness of the system are improved.

The invention discloses a lighting environment evaluation system for simulating an underground working space, and relates to the technical field of lighting environments. Comprising an immersive virtual reality environment experience system which is used for experiencing different space illumination scenes by people in an immersive manner; a human body physiological index acquisition system; the human body subjective perception acquisition system is used for acquiring subjective feelings of personnel through questionnaires preset in a virtual environment; the task performance system is determined by the task collection time length of the visual task preset in the virtual environment and the answer condition, and the work efficiency performance is evaluated through the inverse efficiency score; and the comprehensive data processing system is used for receiving, sorting and analyzing the data collected by each system. According to the method, the limitation of traditional single information feedback and qualitative method evaluation is broken through, diachronic and instantaneous perception dynamic changes are considered, a quantitative evaluation system integrating subjective perception, objective physiological indexes and working efficiency performance is established based on multi-source information feedback, and the method can be applied to long-term closed space place illumination environment evaluation.

The invention discloses a virtual reality motion sickness subjective feeling intervention method based on a perception theory, and relates to the technical field of virtual reality, and the method comprises the steps: collecting current user body feeling parameter information, the body feeling parameter information comprises but is not limited to head motion data, eyeball motion data and physiological data; performing real-time analysis on the currently acquired data by using a data analysis algorithm, and judging whether the user has early data of motion sickness or not; an early sign of motion sickness of a user is judged through a data analysis algorithm, a visual perception adjustment step is started immediately, and then a physiological signal of the user is captured and analyzed in real time in virtual reality experience, so that the motion sickness can be recognized and intervened in time in the early stage of motion sickness; an intervention method can be timely formulated for a user who generates subjective feeling of motion sickness, and discomfort of the user can be quickly relieved.

The invention discloses a fitness guidance method based on a knowledge graph, and further discloses a system used by the fitness guidance method based on the knowledge graph. According to the method, the multi-modal heterogeneous features are determined, so that the features for describing the relevance among physiological signals, body-building actions and subjective feedback of the user during body-building of the target user can be obtained; the determination of the multi-modal heterogeneous features is beneficial to comprehensively perceiving the physiological status, exercise performance and subjective feeling of the user by fusing the time-frequency change features of the biological signals, the spatial-temporal features of the key skeleton points and the semantic features fed back by the user, so that the comprehensive understanding of the fitness state of the user is formed.

According to one embodiment of the present invention, when assisting recognition of a user's subjective feeling of movement when operating an avatar, operation information of the avatar input by the user is acquired, and on the basis of the acquired operation information, an operation form of the avatar is determined. Furthermore, avatar operation control information corresponding to the operation form is generated, and on the basis of the generated avatar operation control information, the operation of the avatar displayed on a display device is controlled; and stimulus control information corresponding to the operation form is generated, and a stimulus presentation device is controlled using the generated stimulus control information, such that a stimulus is presented, in synchronization with the operation of the avatar, to a muscle among the user's muscles that corresponds to the operation part of the avatar.

The invention discloses a traditional Chinese medicine physiotherapy effect feedback system and method, and the method comprises the steps: obtaining the physiological, pulse, tongue and subjective feeling information of a patient through a multi-modal data collection and preprocessing module, and mapping the information into a high-dimensional and quantized traditional Chinese medicine feature vector through a multi-layer attention mechanism conversion network; a'physical therapy-syndrome-effect 'dynamic quantitative correlation model is constructed, a reinforcement learning and causal inference mechanism is built in the model, the causal influence of physical therapy intervention on traditional Chinese medicine syndromes can be quantified, dynamic evolution of the syndromes can be predicted, the syndromes can be converted into clinical effects, and therefore traditional Chinese medicine mechanism feedback which can be deeply explained is provided. On the basis, the system evaluates the comprehensive curative effect in real time through an original traditional Chinese medicine physical therapy dynamic curative effect index generation module, and provides highly personalized physical therapy scheme optimization suggestions based on a traditional Chinese medicine mechanism through an intelligent feedback and intervention recommendation module in combination with a traditional Chinese medicine knowledge graph and an individual effect file. And deep intelligent evaluation and real-time optimization of the traditional Chinese medicine physiotherapy effect are realized.

The invention relates to the technical field of vehicle sound quality, in particular to a hidden outer handle sound quality optimization method and device, and the method comprises the steps: collecting the noise of a hidden outer handle of a vehicle in the opening and closing process, so as to analyze a plurality of psychological acoustic parameters in the opening and closing process; obtaining a noise subjective score of the hidden outer handle; and analyzing relevancy between the psychoacoustic parameters and the noise subjective score to determine at least one objective evaluation item of the hidden outer handle and a corresponding objective parameter index so as to optimize the hidden outer handle until the actual index reaches the objective parameter index corresponding to the at least one objective evaluation item. Therefore, the problems that in the prior art, the noise of the vehicle and the outer handle of the vehicle door is optimized by independently depending on the sound pressure level for reducing the noise, it is difficult to effectively connect with the actual subjective feeling of a user on the noise, targeted optimization cannot be conducted, and the use requirements of a driver and passengers and the optimization requirements in an actual scene cannot be met are solved.

The application relates to an eye movement tracking method and an eye movement tracking device. The method builds an eye movement tracking system of a human eye, collects a fixation point of the human eye in real time, and calculates a trajectory graph and a hotspot graph of the fixation point of the human eye when observing an object. According to the result, the key points of attention and the key parts of interest of the human eye when browsing the external object are evaluated. The application can be used not only for improving and adjusting the product design style, but also for adapting to the subjective feelings of the public and attracting the eyeballs of the audience. Meanwhile, the application can also be used for evaluating the emotions and fatigue states of the human eye and clinically treating emotional disorders in the field of nerves.

The application relates to the field of artificial intelligence and natural language processing technology, and discloses an AI follow-up robot intelligent interaction method and system, wherein the method comprises the following steps: extracting a structured entity; constructing a semantic context vector based on the structured entity; performing emotion source classification according to the emotion polarity; outputting an individualized response expected time; judging whether the response is overdue and triggering a compensation reminder strategy. Compared with the follow-up interaction response mode in the prior art which depends on a rule template or a keyword trigger, especially in the unstructured scene where a patient expresses the drug experience, subjective feeling or non-timely response in free language, the technical problem that accurate recognition, emotion understanding and individualized compensation are difficult to realize is solved, and since the application introduces a structured label extraction mechanism, fuses an emotion discrimination method, and combines a response prediction model of historical behavior and emotion state, sensitive information recognition in doctor-patient interaction is realized, and the understanding ability and follow-up interaction efficiency of the AI follow-up robot are improved.

The invention discloses an old people thermal comfort prediction method and system. Four groups of subjective feeling models for predicting TSV (thermal sensation) and ASV (wind sensation) of the old people with different weakness levels are respectively constructed on the basis of multi-dimensional parameters of the old people with different weakness levels, wherein the multi-dimensional parameters comprise environmental parameters, body parameters, physiological parameters, skin temperature change characteristics, skin temperature and sweating amount change characteristics and overall and local flow changes. The TSV (thermal sensation) and ASV (wind sensation) subjective feeling models are used for predicting the TSV (thermal sensation) and ASV (wind sensation) of the old people with different weakness levels. And meanwhile, an optimal model feature subset is extracted by adopting recursive feature elimination, and a prediction model with optimal performance is established. The method can provide solid data basis and modeling method support for subsequent intelligent control of the thermal environment suitable for aging.

The invention discloses a college student subject anxiety intervention system based on music therapy and auricular point stimulation, and relates to the technical field of psychological intervention and health management. The system comprises a data acquisition module, an evaluation analysis module, an intervention strategy generation module, a music intervention module, an auricular point stimulation module and an effect feedback module. The data acquisition module is used for acquiring physiological signals of college students, test taking related information and anxiety self-evaluation data; the evaluation analysis module constructs an anxiety grade evaluation model based on the collected data to determine an anxiety grade; the intervention strategy generation module matches a corresponding music therapy and an auricular point stimulation scheme according to the anxiety level; the music intervention module plays personalized music, and the auricular point stimulation module realizes accurate and safe auricular point electrical stimulation through a flexible electrode; the effect feedback module collects physiological signals and subjective feelings in intervention in real time, and dynamically adjusts an intervention scheme. The method combines two therapies to realize individual accurate intervention of anxiety taken by college students, is remarkable in effect and high in safety, and can be widely applied to the field of college psychological health education.

The application discloses a test method for blasting vibration human response and perception quantitative evaluation, and relates to the technical field of blasting protection, comprising: carrying out field test of blasting vibration human response, and collecting soil vibration and human vibration response data; carrying out vibration table test of first field human vibration response under different vibration working conditions, and obtaining vibration table parameters for simulating field blasting vibration; establishing a human vibration response model; carrying out vibration table test of second field human vibration response under different vibration working conditions, and calculating average growth rate of human heart rate variability frequency domain index value; calculating and analyzing human vibration response data; establishing quantitative relationship between average growth rate of heart rate variability frequency domain index value and human subjective feeling; establishing relationship between blasting parameters and human comfort; and establishing blasting vibration human comfort partition, wherein the application can accurately evaluate human perception under different blasting working conditions.

The invention discloses a blast vibration human body response and perception quantitative evaluation test method, and relates to the technical field of blast protection, and the method comprises the steps: carrying out a blast vibration human body response field test, and collecting soil vibration and human body vibration response data; carrying out a vibration table test of a first field of human body vibration response under different vibration working conditions to obtain vibration table parameters for simulating field blasting vibration; establishing a human body vibration response model; carrying out a vibration table test of a second field of human body vibration response under different vibration working conditions, and calculating the average growth rate of the human body heart rate variability frequency domain index value; calculating and analyzing human body vibration response data; establishing a quantitative relationship between the average growth rate of the heart rate variability frequency domain index values and the subjective feeling of the human body; establishing a relationship between the blasting parameters and the human body comfort; according to the method, the human body sensing conditions under different blasting working conditions are accurately evaluated.

The application relates to a click-induced detection method under the guidance of subjective and objective perspectives, and belongs to the technical field of natural language processing. First, subjective feelings and objective entity knowledge contained in a post in click-induced content are extracted to generate subjective and objective preference distribution. Then, post and article information is mined from the subjective feeling and objective content association perspective to form a final comprehensive content representation. Finally, the comprehensive representation is used for inductive label prediction. The method not only obtains a comprehensive representation of the semantics, writing style and emotional tendency of the post from the subjective perspective, but also captures the content association features of the post and the article from the objective perspective. The method can mine key language and subjective feeling clues and can quickly make a judgment. The method learns text features on the objective level based on the association between the post and the article content from the objective entity perspective, extracts rich auxiliary information from the content association between the post and the article, and can comprehensively make a judgment.

The invention provides a cigarette packaging intelligent design method based on a full-connection neural network. Obtaining design elements of the cigarette package; obtaining a perceptual word library for reflecting subjective feelings of consumers on the cigarette packages; a model used for reflecting the mapping relation between the perceptual word bank and the cigarette packaging design elements is constructed through a full-connection neural network; establishing a mapping relationship between the user portrait and the package design preference thereof through the user investigation data; and inputting the user portrait into the model, and designing the cigarette packaging style by using the model. According to the method, the intelligent prediction of the packaging style can be realized, so that the intelligent design of the cigarette packaging is better realized; and meanwhile, a recommended design element combination scheme is further output through the interactive interface, and the integrating degree between the packaging design and the user preference is improved.

The application is suitable for the field of audio evaluation, and provides an evaluation method and device for sound space feeling and electronic equipment. The evaluation method for sound space feeling provided by the application comprises: acquiring a spatial audio signal output by sound; determining an angle matrix of the spatial audio signal according to the spatial audio signal; and determining a spatial feeling objective index according to the angle matrix of the spatial audio signal, wherein the spatial feeling objective index comprises at least any one of a positioning feeling objective index and an immersion feeling objective index. The application constructs a set of reasonable objective evaluation indexes, and can be close to the subjective feeling of users as much as possible, combines the advantages of the objective evaluation method, such as convenient operation and strong repeatability, and the subjective evaluation method, such as high correlation with hearing feeling, and can bring greater benefits to the evaluation of sound (for example, a vehicle-mounted immersive sound system).

According to the closed-loop feedback training method and device for hypoglycemia perception reconstruction, a closed-loop training system integrating monitoring, stimulation, recording and evaluation is established, a patient is helped to reestablish the correct recognition and perception ability of the brain on hypoglycemia early signals, and the serious hypoglycemia risk is reduced fundamentally. The method comprises the following steps: (1) acquiring continuous blood glucose monitoring data of a user through a data interface, and judging whether a training trigger condition is met or not based on a blood glucose lowering trend of the data; (2) when it is judged that the training opportunity arrives, a preset specific tactile stimulus is applied to the user through a tactile feedback device; (3) when the tactile stimulation is applied, a guide instruction is sent to a user through a user interface, and a recording entrance is provided; (4) the blood glucose value / trend at the training time, the applied tactile stimulation mode and the subjective feeling recorded by the user are stored in an associated mode, a training log is formed, and the training log is analyzed regularly.

The present invention belongs to the technical field of medical equipment, and specifically discloses a plum blossom needle device that is easy to adjust, including a plum blossom needle body, a mounting seat, and a reset mechanism, a depth adjustment mechanism, a force adjustment mechanism, and a frequency adjustment mechanism arranged on the mounting seat, wherein the depth adjustment mechanism is used to adjust the tapping depth of the plum blossom needle body, the force adjustment mechanism is used to adjust the tapping force of the plum blossom needle body, the frequency adjustment mechanism is used to intermittently drive the plum blossom needle body to tap and is also used to adjust the tapping frequency of the plum blossom needle body; the reset mechanism is used to restore the plum blossom needle body to its original position. The above device can solve the problem that the operator is required to control the tapping force, tapping depth, and tapping frequency of the plum blossom needle by subjective feeling in the prior art, which has high requirements on the operator's skills, experience, and physical fitness, has a very low degree of productization and automation, and cannot be effectively popularized, hindering the development of appropriate technology of traditional Chinese medicine.

The invention belongs to the technical field of acoustic detection, and relates to musical instrument playing (subjective feeling), playing mechanics (biomechanics), musical instrument acoustics and psychoacoustics, in particular to a detection system and method for scientific bowing of string-pulling musical instruments. According to the invention, change rules of myoelectricity, electroencephalogram and sound signals in two playing states, namely instantaneous power generation in a fast muscle relaxed state and continuous excitation of string vibration by inertia, and continuous power generation in a fast muscle fatigue state to excite string vibration, are studied, and corresponding association of the myoelectricity, electroencephalogram and sound signals in different power generation states is analyzed; a player can perform special pronunciation training on the basis of the pronunciation training device and understand the force exerting and pronunciation mechanisms, and a better playing effect is achieved. According to the scientific playing detection method for the string instrument based on interaction of the arm movement information, the myoelectricity, the electroencephalogram and the sound signals, objective evaluation of different force exerting states of a playing main body can be achieved, and a scientific evaluation method is provided for teaching and playing of string instruments.

This invention discloses a method, device, and storage medium for analyzing the vibration isolation performance of a seat. The method includes: acquiring seat vibration data and subjective evaluation data from a human-seat vibration test; determining the root mean square (RMS) value of the total weighted acceleration at different measuring points on the seat based on the seat vibration data to obtain the RMS value of the total weighted acceleration for multiple subjects; performing linear regression analysis on the multiple RMS values ​​of the total weighted acceleration and different vibration excitations to determine the benchmark vibration excitation; performing correlation analysis on the multiple RMS values ​​of the total weighted acceleration and subjective evaluation data to determine the target evaluation threshold based on the benchmark vibration excitation; and using the target evaluation threshold as the threshold for objective evaluation indicators to analyze the vibration isolation performance of the seat. In this invention, the target evaluation threshold is used as the comfort evaluation standard, and the objective evaluation indicators have a high degree of consistency with human subjective feelings, thus improving the reliability and accuracy of seat vibration isolation performance analysis.

The invention discloses a remote rehabilitation evaluation method and system after knee joint replacement, and the method comprises the steps: fusing the real-time objective motion data of a patient with the latest subjective feeling data, and obtaining the fusion input data; intelligently generating a plurality of personalized rehabilitation schemes according to the fused input data; and the personalized rehabilitation scheme is converted into rehabilitation suggestions based on natural languages for the user to select. According to the method, the targeted personalized rehabilitation scheme is intelligently generated according to the real-time data of the patient, the rehabilitation process of the patient can be accurately evaluated in real time, rehabilitation abnormity can be found in time, necessary adjustment suggestions are provided, on the basis, objective motion data and latest subjective feeling data are fused to generate the rehabilitation scheme, and the rehabilitation efficiency is improved. The rehabilitation scheme is highly matched with the actual demand of the patient, the invalid recovery time is shortened, and the postoperative rehabilitation quality and efficiency of the patient are remarkably improved.

The invention discloses a bladder nerve electrical stimulator intelligent regulation and control system based on multi-source physiological feedback and a control method thereof. The system comprises a multi-source physiological signal acquisition module, an edge calculation processing unit and a communication module. The control method comprises the steps that objective physiological signals of a patient and subjective feeling feedback serving as event anchor points are synchronously collected through the collection module; in the learning stage, the edge calculation processing unit automatically associates objective physiological signals in a time window before occurrence based on the event anchor points so as to construct a personalized model; in the self-adaption stage, the model is used for processing real-time objective physiological signals, the risk level of the bladder state is predicted, and a corresponding regulation and control strategy is selected according to the risk level to generate an electrical stimulation parameter regulation and control instruction; and finally, the instruction is issued through the communication module. The bladder nerve electrical stimulator aims to solve the technical problems that parameters of an existing bladder nerve electrical stimulator are fixed and cannot be adaptively adjusted, and the accuracy, comfort and effect of treatment are helped to be improved.

To suppress a decrease in operational subjective feeling in a system in which operational input to a GUI screen displayed on a display device is performed by using a remote-control device.SOLUTION: A remote-control device 11 includes an operated surface 111. A detection device 12 detects a positional relationship between a finger 21 of a user 20 at a predetermined position P and the operated surface 111. A display device 13 three-dimensionally displays a GUI screen 131 associated with a controlled function and a pointer image for performing operational input to the GUI screen 131 so as to correspond to the positional relationship. The display device 13 is disposed so that a center position 131a of the GUI screen 131 is positioned to one of the left and the right of a sagittal plane 22 of the user 20 facing forward at the predetermined position P. The remote-control device 11 is disposed so that a center position 111a of the operated surface 111 is positioned to the other of the left and the right of the sagittal plane 22.SELECTED DRAWING: Figure 1

The invention is suitable for the technical field of audio evaluation, and provides a sound equipment space sense evaluation method and device and electronic equipment. The sound equipment space sense evaluation method provided by the invention comprises the following steps: acquiring a space audio signal output by a sound equipment; determining an angle matrix of the spatial audio signal according to the spatial audio signal; and according to the angle matrix of the spatial audio signal, determining a space sense objective index, the space sense objective index including at least any one of the following items: a localization sense objective index and an immersion sense objective index. According to the method, a set of reasonable objective evaluation indexes is constructed, the objective evaluation indexes can be close to the subjective feeling of the user as much as possible, the advantages that the objective evaluation method is convenient to operate and high in repeatability and the advantage that the subjective evaluation method is highly related to the hearing feeling are combined, and greater benefits can be brought to evaluation of sound equipment (such as a vehicle-mounted immersion sound system).

The invention relates to the technical field of medical instruments, and discloses an acupuncture air feeling evaluation method and system, which solve the problems that subjective feeling during acupuncture is inconvenient to objectively characterize and scientificity of acupuncture treatment cannot be improved in the existing acupuncture process, and the acupuncture air feeling evaluation method comprises the following steps: S1, puncturing acupuncture points of a subject by using an invasive acupuncture electrode; s2, acquiring an electromyographic signal on the periphery of an acupuncture point of a subject and an MASS scale score of the subject; s3, performing signal processing and feature extraction on the acquired electromyographic signals; s4, correlating the electromyographic signal features with the MASS scale score of the subject, and obtaining an air feeling quantitative evaluation model through construction and training; s5, the electromyographic signals are processed and then input to obtain a gas sensing quantitative evaluation model; according to the invention, the subjective feeling is converted into quantifiable objective data and displayed, so that the subjective'Qi 'feeling in the acupuncture and moxibustion process can be described and recorded in a standardized manner, and the scientificity of acupuncture and moxibustion treatment is improved.

The invention provides a method for improving sleep quality based on control of REM stage stimulation, and the method comprises the steps: collecting the objective total sleep duration and subjective total sleep duration of a user, calculating to obtain a sleep error perception index, and determining whether the user is a contradictory insomnia; applying preset REM stimulation parameters to the user when the user enters the REM period and meets safety conditions, and monitoring physiological parameters of the user after being stimulated; the total sleep duration of the user at the night is collected, and the evaluation effect E of the intervention is obtained through calculation based on the evaluation model; when E is greater than 0, the intervention is valid, and when E is less than or equal to 0, the intervention is invalid. According to the method, the sleep error perception index is calculated through the sum of the objective total sleep duration and the subjective total sleep duration, and is used for screening and marking the crowd with the contradictory insomnia, so that intervention resources can be concentrated on the crowd with subjective feeling long-term deviation, and the intervention efficiency is improved.

The present invention discloses a hardness tactile reproduction method based on the bionic characteristics of tactile perception. This method reproduces the subjective feeling of a person perceiving the surface hardness of a real object. First, the interaction data when a human hand touches a real object is collected and input into a force tactile perception model to calculate the intensity of the hardness perceived subjectively by the person. Then, the subjectively perceived hardness is input into a hardness reproduction control model to calculate the control parameters of the hardness reproduction device, and a fused mechanical stimulus is generated through a vibration element and a force feedback device to feedback the reproduced hardness tactile feeling to the user. Compared with the traditional force tactile reproduction method based on "stimulus consistency", this method does not directly reproduce the force stimulus during real interaction to the user. Instead, it first calculates the hardness feeling generated by the real stimulus, and then the force tactile control model controls the reproduction device to generate a force tactile stimulus consistent with the real interaction hardness tactile feeling, so as to achieve a true expression of the hardness touch of a non-uniform hardness object.