667 results about "Touch Senses" patented technology

The invention discloses a dexterous hand teleoperation method based on vision-touch fusion. The method comprises the following steps: 1) vision detection; the method comprises the following steps of (1) carrying out remote control, (2) carrying out redirection, (3) carrying out tactile grabbing, (4) carrying out vision-tactile interaction, (5) carrying out a communication process and (6) carrying out dexterous hand.The method can stably map human hand actions under the complex vision condition, safe and reliable grabbing control is achieved through tactile feedback, meanwhile, multiple dexterous hand configurations and cross-platform deployment are supported, and the precision, robustness and practicability of teleoperation can be improved.

The invention discloses a multi-task dexterous hand operation method based on self-adaptive two-way distillation, which comprises the following steps of: constructing a plurality of single-task expert strategies based on vision-touch pre-training, and collecting state-action tracks of a high-degree-of-freedom dexterous manipulator on various operation tasks; on-line distillation is utilized to distill multi-task expert data into a unified diffusion strategy sharing perception characterization and task coding, and modeling action multi-modal distribution is generated through diffusion type actions; a self-adaptive routing network is introduced, supervision weights of all experts are dynamically distributed according to the current observation state, and weighted distillation of the mixed experts is achieved; and after the performance of the unified strategy is superior to that of experts, performing reverse distillation on the unified diffusion strategy into expert strategies of all tasks by adopting action-reward combined constraint, and performing two-way iterative distillation circulation. Through forward and reverse knowledge migration between a unified strategy and a task expert, the problems of observation distribution offset and task imbalance in multi-task dexterous operation can be effectively relieved.

The invention discloses a dexterous hand environment article sensing and modeling algorithm based on body sensing. The algorithm comprises the steps that a mechanical arm drives a dexterous hand to approach an object; tactile-spatial data acquisition: a three-axis force sensor is arranged at the tail end of each finger of the dexterous hand, and the system is in contact with an object through multiple fingers of the dexterous hand to acquire multi-dimensional information of the appearance, surface characteristics and local topology of the object; active exploration sampling, multi-finger movement of the mechanical arm and the dexterous hand, and active penetration of unknown object surface and enhanced sampling of local features through the dexterous hand by the system; the method comprises the following steps: modeling an object attribute, analyzing a mechanical response sequence obtained by tactile-spatial data acquisition and active exploration sampling, modeling a target object in three dimensions of elasticity, hardness and local geometric morphology, and realizing accurate identification and modeling of an unknown object appearance form and an object attribute in an environment. The distribution uniformity of the tactile point cloud and the model integrity are improved, the hardware dependency is reduced, and the environmental adaptability is enhanced.

The invention discloses an upper limb rehabilitation intelligent self-adaptive system based on multi-modal fusion and MRD-FES cooperation. The system comprises a multi-modal signal acquisition module, a dynamic intention analysis module, a variable damping precise execution module, a neural remodeling strengthening module and a quantitative effect evaluation module. The tDCS-MRD-FES time sequence cooperation protocol is provided, the cortical excitability is improved through tDCS preprocessing, MRD drives training based on intention, FES closed loop strengthens muscle contraction, and vibration tactile feedback is assisted to strengthen sensory movement integration. And the quantitative effect evaluation module further combines a neuroplasticity index and clinical scale digitalization to realize dynamic optimization of training parameters.

The invention provides a touch force feedback simulation method and system based on a pressure deformation signal, and relates to the technical field of touch interaction and tactile feedback, and the method comprises a data collection process: configuring a sensor to collect the physical state of a touch interface, and obtaining an instantaneous pressure and deformation signal; the impedance compensation process comprises the following steps: step 1, acquiring an instantaneous signal; 2, constructing a dynamic hysteresis loop model; step 3, calculating a viscosity energy loss value; 4, generating an energy compensation waveform; 5, an actuator is driven to generate reverse damping vibration; according to the method, the material viscosity loss is quantified through the physical phase space model, reverse energy is accurately injected, and the problems of touch hysteresis and soft collapse caused by viscoelasticity of a touch interface are effectively solved.

The invention discloses a dexterous hand grabbing stability control system and method based on force control compliant interaction.The system comprises a dexterous hand, a mechanical arm, a force sensing module, a touch sensor, an actuator and an upper computer actuator, the dexterous hand is installed at the tail end of the mechanical arm through a mechanical interface, and the dexterous hand and the mechanical arm form a cooperative control closed loop through real-time communication; according to the control mode of the dexterous hand grabbing stability control system, the upper layer completes object positioning and global motion planning through a mechanical arm, the lower layer completes a layered collaborative architecture of contact perception, compliant control and task action execution through a dexterous hand, and compliant grabbing and stable control over objects are achieved. The mechanical characteristics in the grabbing process can be adjusted in a self-adaptive mode, it is ensured that objects with different hardness are stably and smoothly grabbed, and the problem that the objects slide or are damaged is effectively solved.

The present application relates to the field of artificial intelligence, and discloses a VEM-multimodal emotional skin system, which adopts a micro electromagnet to realize expression simulation of skin through a magnetic peristalsis method in a soft magnetic colloid, and adopts various touch sensing methods to realize touch sensing of the skin, wherein the multimodal emotional skin system supports a VEM-Token rhythm model, a VEM-sync emotion synchronization model and a VEM-fe expression function model through expression instructions and touch functions which can be closed-loop and standardized, forms an innovative scheme of emotional skin, provides a multimodal emotional skin product of expression output and touch sensing input of a humanoid robot, realizes an emotional simulation function of 'blushing at a touch', and can be used for facial skin and body skin.

The invention discloses a robot perception enhancement method based on a vision-touch fusion codec, and belongs to the technical field of robot perception and artificial intelligence. Aiming at the problems that a single visual perception scheme cannot directly observe contact information, the robustness is poor under environment change and multi-modal fusion is difficult, the method is characterized by comprising the following steps: synchronously collecting visual and tactile data, and carrying out time sequence alignment and preprocessing; respectively converting the image blocks and the tactile signals into feature sequences and adding position codes; feature interaction is carried out through cross-modal attention in a unified encoder, and training is carried out by adopting a joint random masking and reconstruction mechanism to obtain shared representation; the shared characterization is used for a downstream robotic operation task. According to the method, the observability of the contact behavior is realized, the perception robustness under shielding and illumination changes is improved, and more stable perception input is provided for a smart operation task.

The invention provides a virtual reality body rehabilitation system. The virtual reality body rehabilitation system comprises a virtual domain system, a body feeling stimulation system, a body feeling evaluation system, an equipment domain system and a central control module. The virtual domain system specifically induces the sense of ownership, the sense of autonomy and the sense of position by creating a virtual environment of a virtual avatar, real-time action mapping and adaptation rehabilitation tasks; the body feeling stimulation system takes visual stimulation as a core and is matched with linkage of various kinds of sensory stimulation, so that the authenticity of body experience is enhanced; the body feeling evaluation system evaluates real-time body feeling and provides reliable data support for regulation and control. On the basis of the physical cognition theory, the virtual reality technology, the multi-mode sensing technology, the neuroscience and the rehabilitation medicine principle are fused, multi-channel feeling collaborative stimulation such as vision, body feeling and touch feeling is achieved by constructing the immersive virtual environment, a patient is induced to generate physical experience, abnormal body representation is remodeled, nerve plasticity and function recovery are promoted, and the rehabilitation effect of the patient is improved. The patient is helped to return to normal life and society.

The invention relates to the technical field of element assembly, in particular to a mechanical arm control method for element assembly, electronic equipment and a medium. The method comprises the following steps: firstly, carrying out global scanning on an operation area through a visual sensor, and collecting first positioning information for assembling a male terminal and second positioning information for assembling a female terminal in real time; based on the first positioning information, a first dexterous hand of a first mechanical arm is controlled to grab the assembly male terminal, and the tail end pose of the assembly male terminal is estimated through a touch sensor array to obtain real-time pose data of the male terminal; based on the second positioning information, controlling the first dexterous hand to grab the assembly male terminal to move to an insertion preparation position; and based on the real-time pose data of the male terminal, the first dexterous hand is controlled to perform assembly insertion operation on the assembly male terminal, and the first dexterous hand is controlled to be separated from the assembly male terminal after a preset assembly achievement condition is met. In this way, robot target remote control actions adapting to diversified scenes can be achieved.

An information handling system may include a processor, a data storage device, a power management unit, a thermo-haptic mouse, including an array of thermoelectric generators of a thermo-haptic module to selectively heat or cool a portion of the thermo-haptic mouse to be felt by a user of the thermo-haptic mouse, and a piezoelectric actuator of the thermo-haptic module to selectively apply a vibration to the portions of the thermo-haptic mouse to be felt by the user of the thermo-haptic mouse, and the processor executing code of a mouse training machine learning system to: receive, as training input, captured images during the execution of a gaming application and provide, as output, image recognition dataset descriptive of recognized game action event environmental data during execution of the gaming application, the image recognition dataset to be used by the processor executing a thermo-haptic feedback model evaluation system to provide thermo-haptic signals to the array of thermoelectric generators and the piezoelectric actuator to provide thermo-haptic feedback commensurate with the game action event environment during game play.

The invention relates to a lower limb motor function recovery system and method based on a motor imagery brain-computer interface, and the system comprises a noninvasive electroencephalogram signal collection module which is used for collecting an electroencephalogram signal when a patient carries out a lower limb motor imagery task; the signal processing and intention recognition module is used for carrying out feature extraction and classification recognition on the collected electroencephalogram signals and outputting the motor imagery intention of the patient; the multi-sensory feedback module is used for providing multi-sensory feedback information including visual sense, auditory sense, tactile sense and proprioceptive sense for the patient; the lower limb rehabilitation training module is used for executing lower limb rehabilitation training actions corresponding to the motor imagery intention; the central control module is configured to receive the recognition result of the motor imagery intention and generate a control instruction according to the recognition result to drive the multi-sensory feedback module and the lower limb rehabilitation training module to work cooperatively. According to the system, a multi-sensory collaborative feedback mode is adopted to simulate multi-sensory interaction, and the identification degree and training compliance of a motor imagery task of a patient are improved.

The invention discloses a music teaching touch device for blind people, which comprises a supporting seat and a teaching touch seat, and a plurality of dynamic dot matrix seats are arranged on the teaching touch seat in an array. Three rows and two columns of flexible pads are arranged at the top of each dynamic dot matrix base to form a Braille display matrix, and an electromagnetic plunger assembly is arranged below each dynamic dot matrix base to independently drive each dot position to protrude and reset, so that dynamic display of music Braille and graphs is achieved. The bottom of the dynamic dot matrix seat is connected through a silica gel bowl, and a conducting strip is arranged in the bowl and can be in contact with a corresponding conducting material on a circuit board in the teaching touch seat. When a user presses the dynamic dot matrix seat displaying specific notes, pitch sounding of the notes is triggered. According to the invention, the dynamic tactile display function and the pressing input function are integrated, so that refreshing and interactive learning of the braille music score are realized, and a multi-mode feedback closed loop is realized through tactile sense, auditory sense and operation.

The invention relates to the technical field of tactile interaction, in particular to a virtual material interaction system with tactile feedback, which comprises a contact state sensing module, a potential gradient calculation module, a friction dynamic regulation and control module, a tactile feedback generation module and an interaction state monitoring module. According to the invention, dynamic mapping of contact pressure, sliding speed and node potential is realized through multi-source signal fusion, so that touch perception keeps continuous response in time sequence, potential difference calculation forms an electric field regulation basis for microscopic change of a material, and space-level adjustment of a surface friction coefficient is realized through charge redistribution and polarization direction switching. The tactile feedback changes adaptively according to material features, the friction spectrum is recombined into a multi-frequency-domain tactile signal after Fourier decomposition, texture, hardness and damping features of different materials are presented in a layered mode, the tactile feedback has more dynamic details and direction consistency, the sense of reality and the tactile recognition degree of virtual materials are improved, and the sense of reality and the sense of touch recognition degree of the virtual materials are improved. And stable and natural interaction touch in the virtual environment is ensured.

The invention relates to the technical field of robot control, in particular to a control method and system for a mechanical arm of a collaborative robot. The method comprises the following steps: collecting multi-modal observation data such as vision, force and moment, touch, joint state and the like, and outputting an operation intention, a task stage and an uncertainty index after time sequence alignment and feature fusion; calculating security constraints according to the information, constructing a feasible region, adaptively updating impedance parameters, generating a control instruction, and issuing and executing the control instruction after constraint projection; meanwhile, an online self-calibration mechanism triggered by a residual error is introduced, and parameters such as sensing zero offset, friction and TCP are updated. According to the method, the flexibility, the operation precision and the safety of man-machine cooperation can be considered, the risks of impact, collision and clamping stagnation are reduced, and the long-term operation stability of the mechanical arm is improved.

The invention discloses a VR scene control method and system, and belongs to the technical field of VR scene control, and the method specifically comprises the steps: deploying a global time controller, generating a continuously increasing global timestamp at a fixed frequency, and transmitting the global timestamp to a scene rendering, audio processing and touch driving module; the scene interaction monitoring unit continuously collects user body movement and virtual object movement state data, analyzes interaction event types and characteristic parameters and then binds the interaction event types and the characteristic parameters with a current global timestamp to form an interaction information packet with the timestamp; a multi-modal feedback instruction generation unit receives the information packet, and generates three types of instructions carrying the same global timestamp based on the interaction event type, the characteristic parameters and the bound global timestamp; the feedback instruction distribution unit forwards the three types of instructions to corresponding modules at corresponding moments according to global timestamps carried by the instructions; and after executing feedback, each module records delay and sends the delay to the global time controller, so that the actual execution moments of three types of instructions in the next round are consistent.

Disclosed is a robotic system and method designed for the verification and validation of smart connected Human-Machine Interface (HMI) devices. The robotic system integrates a multi-finger modular robotic module, a haptic module, a finger actuator, vision cameras, vision lights, a finger rotary module, a Cartesian robotic arm, an onboard user interface, and an L-shaped door. The method involves replicating human finger interactions, simulating touch sensations on a device under test (DUT), ensuring continuous and reliable operation, utilizing vision cameras for navigation and verification, optimizing vision with controlled lighting, positioning cameras strategically, executing various tasks with a robotic arm, and facilitating user interaction through an onboard interface.

A touch sensing device according to one aspect of the present invention comprises: a first circuit which supplies a drive signal to a touch electrode; a second circuit which senses the amount of capacitance change occurring in the touch electrode; and a third circuit which generates first sensing data including a sensing value of each of a plurality of touch nodes on the basis of the sensed amount of capacitance change, determines whether to compensate touch sensitivity on the basis of the first sensing data, and when a determination is made to compensate touch sensitivity, generates second sensing data by adding a compensation value to the sensing value of at least one of the plurality of touch nodes.

This invention relates to a force feedback handle and its control method, belonging to the field of human-computer interaction technology based on tactile and force sensing. The force feedback handle is not only miniaturized but also has advantages such as low moment of inertia and good response, making it applicable to gantry crane operation, robot manipulation in extreme environments, and helicopter towing. The force feedback handle of this invention exhibits independent motion in two degrees of freedom, requiring no decoupling. In use, by interactively controlling the position of the handle in both degrees of freedom with the feedback force—that is, increasing the absolute value of the position in one degree of freedom corresponds to a corresponding increase in the damping force in the other—accidental activation can be prevented.

The present disclosure is directed to a touch display device that is capable of reducing a load of a touch sensor structure disposed in a display panel and improving the accuracy of touch sensing capabilities of the touch display device. In one aspect, touch electrode lines disposed on an active area are disposed to be separated into a plurality of sub-areas. A number of touch routing lines connected to the touch electrode lines are disposed on the active area, thus a touch sensor structure with a reduced load can be provided while minimizing an increase of a non-active area due to an arrangement of the touch routing lines.

The invention relates to the technical field of bionic touch, in particular to a flexible touch sensor based on a filling structure and a preparation method. The flexible touch sensor comprises a flexible layer, and the flexible layer is provided with a containing groove. The liquid filling material is arranged in the accommodating groove; the sensing group is arranged on the side wall of the accommodating groove, the sensing group comprises a first fiber bragg grating and a second fiber bragg grating, and the first fiber bragg grating and the second fiber bragg grating are symmetrically arranged on the two side walls of the accommodating groove; and the packaging film is used for packaging the liquid filler and the sensing group. According to the embodiment of the invention, the miniature accommodating groove and the liquid filler are arranged on the flexible layer, so that the flexibility and the fitting property of the sensor can be improved, the fiber bragg gratings are symmetrically arranged on the accommodating groove, the lateral pressure has two opposite strains, and the temperature influence is eliminated through differential processing; and constant cooling and thermal diffusion stabilization effects on the sensing cavity in a dynamic environment can be realized.

The invention relates to the technical field of artificial intelligence, and discloses a child emotion calculation device and method, a storage medium and an accompanying toy, the child emotion calculation device comprises a sensing module configured to collect modal data including facial expressions, voices, contact behaviors, motion postures and environment information; a calculation module configured to receive the modal data and convert the modal data into digital features; the emotion understanding module is configured to identify a user emotion state and an interaction intention according to the digital characteristics; the decision reasoning module is configured to generate a personalized behavior strategy according to the emotional state and the interaction intention; and the interactive execution module is configured to output a physical feedback signal to an execution terminal according to the personalized behavior strategy. According to the method, simultaneous analysis of modes such as facial expressions, voices, intonations and tactile behaviors of children is realized through a multi-mode cooperation mechanism, the emotion recognition accuracy is greatly improved, and professional psychological accompanying support can be provided for the children.

The invention provides a hand multi-mode information sensing device and a robot humanoid skill learning method, and the device comprises a multi-mode touch sensor module which is used for sensing a hand multi-mode touch signal; the flexible strain sensor module is used for sensing a hand joint bending signal; the multi-modal motion capture module is used for sensing hand motion and posture signals, and the hand motion and posture signals comprise hand motion signals and / or hand posture signals; at least one of the hand multi-mode touch signals, the hand joint bending signals and the hand movement and posture signals forms hand multi-mode information representing gesture actions, hand movement and hand touch. According to the invention, sensing of hand multi-modal information in a hand operation process can be realized based on the hand multi-modal information sensing device, establishment of a sensing strategy and a control strategy is facilitated, cross-object and cross-task robust skill migration is realized, and self-adaptive operation capability and task success rate of a robot in an actual complex environment are remarkably improved.

The invention discloses a human-vehicle dynamic interaction method based on physiological perception, and the main design concept of the human-vehicle dynamic interaction method is as follows: in the use process of a vehicle, an intelligent wearable device sends a physiological signal of a user in the vehicle to a vehicle machine in real time; based on a trigger instruction of a user, the vehicle machine generates a visual driving signal and a touch driving signal according to the physiological signal; and the vehicle machine sends the visual driving signal to an in-vehicle display device for output display, and / or sends the touch driving signal to a vibration device to trigger vibration perception. In the scene of using the vehicle, the physiological signal collected by the intelligent wearable device is expanded into a human-vehicle bidirectional interaction mode, and a non-linguistic human-vehicle communication channel is established through physical feedback, so that the connection tending to emotional is established between the vehicle and a driver and passengers, and the use experience of a user on the vehicle can be remarkably improved.

Some examples of the disclosure are directed to systems and methods for generating a haptic feedback response at an electronic pointing device based on the pose of one or more hands of the user. In one or more examples, an electronic device (e.g., computing system) has an electronic pointing device that is communicatively coupled (e.g., wired and / or wirelessly) to the electronic device and is configured to receive commands from the electronic to generate haptic feedback (e.g., vibration) patterns based on a detected pose of one or more hands of the user of the electronic pointing device.

A system and method for an input device with a haptic sensor assembly are provided. The haptic sensor assembly includes a sensor subassembly with one or more touch sensor devices configured to provide force sensing responsive to pressure from an input object. The sensor subassembly also includes a flexible substrate configured to deform in response to the pressure from the input object. The haptic sensor assembly further includes a haptic subassembly with one or more haptic devices configured to provide haptic feedback in response to detecting the input object. The haptic subassembly also includes a bracket assembly comprising a first bracket portion and a second bracket portion. The one or more haptic devices are supported by the second bracket portion of the bracket assembly. The first bracket portion of the bracket assembly is disposed below the one or more touch sensor devices and configured to be coupled to a reference voltage.

A smart ring system for changing applications and methods for making and using the same. The smart ring system comprises a wearable smart ring equipped with input mechanisms for user interaction, wireless communication devices for interfacing with a variety of electronic devices and / or a power management system for efficient energy use. The smart ring system advantageously can allow users to seamlessly switch between and control applications on connected devices, such as smartphones, cameras, televisions, smart home devices, mixed-reality devices, via a combination of rotational motion gestures, optical and capacitive based touch inputs, haptic feedback and color indications on the smart ring system. The smart ring system advantageously can be manufactured with one or more flexible printed circuit boards that can be encased via an over molding process, which allows for thinner and more compact device profile for improved wearability.

A device may receive, by a haptic interface module that is configured to interact with one or more haptic interface devices and an application that generates a computer-mediated environment comprising an avatar corresponding to a user wearing the one or more haptic interface devices, respective sensor data for each respective haptic interface device, wherein the respective sensor data for a respective haptic interface device indicates respective positioning of respective sensors of the respective wearable haptic interface. A device may process, by the haptic interface module, the respective sensor data to generate respective relative location data for each respective haptic interface device, wherein the relative location data is relative to a reference location defined with respect to the corresponding wearable haptic interface. A device may receive, by the haptic interface module, tracked location data from one or more motion tracking sensors, wherein the tracked location data indicates respective locations of the one or more haptic interface devices relative to a spatial environment of the user. A device may generate, by the haptic interface module, a series of motion capture frames based on the tracked location data and the respective relative location data for each respective haptic interface device, wherein each respective motion capture frame indicates a set of locations and orientations for each respective haptic interface device at a given time. A device may generate, by the haptic interface module, a series of kinematic frames based on the series of motion capture frames and one or more mediation processes that collectively convert, for each of the motion capture frames, the set of locations and orientations of the one or more respective haptic interface devices into a set of intended locations and intended orientations for configuring the avatar in the computer-mediated environment. A device may output the series of kinematic frames to the application, wherein the kinematic frames are provided to the application as user input.

The present application is a kind of touchpad and its force sensing information correction method, the touchpad includes force sensing layer and touch sensing layer, the force sensing layer contains a plurality of force sensing points, the touch sensing layer contains a plurality of touch sensing points, a force sensing point corresponds to n touch sensing points, by the touch sensing information received by the touch sensing layer, the force sensing information received by the force sensing layer is adjusted, so that the resolution of the adjusted force sensing information is higher than the resolution of the original received force sensing information, thereby achieving the purpose of correcting the force sensing information, to improve the accuracy of judging the force size of the object when operating on the touchpad.