CN106951098A - A kind of VR systems sense of touch gloves apparatus and its implementation - Google Patents
A kind of VR systems sense of touch gloves apparatus and its implementation Download PDFInfo
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- CN106951098A CN106951098A CN201710362106.XA CN201710362106A CN106951098A CN 106951098 A CN106951098 A CN 106951098A CN 201710362106 A CN201710362106 A CN 201710362106A CN 106951098 A CN106951098 A CN 106951098A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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Abstract
The present invention is a kind of VR systems sense of touch gloves apparatus and its implementation, described device includes glove bodies, motor, central control module, motor drive module, wireless communication module and power supply module, motor is arranged on glove bodies in the interlayer of finger movement joint part, it is connected by wire with central control module, central control module is connected by connecting circuit with wireless communication module, motor drive module and power supply module, and then central control module realizes the interconnection with VR main frames by radio communication.Methods described surveys hand exercise by gesture identification equipment, detection information is input to VR main frames and virtual hand is produced by game engine modeling, by being modeled to virtual hand collision detection and object texture, produce particular motor on the waveform signal driving gloves of certain frequency and amplitude to vibrate, to reproduce the shape and texture sense of touch of dummy object.The tactile experience effect that VR equipment belts come is significantly greatly increased, and it is handling good, convenient degree is high.
Description
Technical field
The invention belongs to power haptic interaction field, and in particular to a kind of virtual reality system sense of touch gloves apparatus and its realization
Method.
Background technology
Virtual reality technology is also referred to as VR (Virtual Reality) technology, is given people in life of today and amusement
Bring extremely real feeling of immersion experience, but existing VR systems typically only possess the reproduction work(of vision and sense of hearing these two aspects
Can, lack reproduction in terms of power tactile, therefore the VR systems have certain shortcoming and deficiency, such as man-machine interaction in experience
Property is inadequate.In the prior art, the power haptic interaction device of Virtual reality system is mainly based upon vibrating motor, gas for foreign countries
What the modes such as capsule, piezo-activator, device for force feedback, electrostatic force were realized.Hispanic NeuroDigital Technologies
Company have developed a kind of haptic gloves GloveOne that virtual environment contact sense is expressed with DC vibration motor, and the device is at every
10 direct current generators are arranged on gloves, when virtual environment detects collision, touch feedback is provided by gloves motor oscillating；
Houston, U.S.A Rice University researcher develops a " all-round hand " (Hands Omni) sense of touch gloves, each gloves
Multiple inflation folliculus built in tip portion, the touch sense of finger when grasping object by the extrusion simulation of air bag；U.S. George China
The researcher of Sheng Dun universities have developed a force feedback gloves (RML) for virtual environment interaction, and the gloves pass through peace
Metal litter deformation on finger produces force feedback, and then reproduces the shape of virtual environment object；Disney research institute
Olivier Bau et al. devise it is a TeslaTouch is obtained based on mobile terminal, screen table of the device in mobile terminal
Touched using the attraction or repulsion of positive and negative charge on finger and screen to change the frictional force between finger and screen in face
Feel feedback, enhance touch interactive experience.A kind of nearest extrapolated VRgluv gloves of state, the gloves be by device for force feedback come
The extruding for producing object is felt, finger motion is hindered come the soft durometer of reconstructed object by brake apparatus, but the device volume
It is big, not easy to operate and finger free movement can be hindered with weight.The country enters the power haptic interaction towards virtual reality system
Research field it is slower, the current technical field substantially belongs to blank.And most of power haptic interaction device mainly towards
Mobile terminal application either realizes that the power tactile of the external combined with virtual reality system is handed in the way of device for force feedback
Mutual equipment is less.And the external strength haptic apparatus generally existing volume that has existed is too fat to move, power consumption is larger, haptic device not
Enough true and accurate the shortcomings of, it is impossible to the power haptic interaction sense of reality experience good to user, and inconvenient to carry and applicability
Difference causes most equipment practicality poor.Therefore, haptic feedback technology is used for VR systems, man-machine interaction can be effectively improved
The sense of reality and handling, while extending the function of man-machine interactive system and using scope.VR Helmet Mounted Displays, VR all-in-ones and
Somatic sensation television game main frame is widely used, development is mutually fitted therewith as new human-computer interaction device in terms of amusement, education
The glove-type tactile representation device answered, there is great market prospects and application value.
The content of the invention
Goal of the invention：For above-mentioned the deficiencies in the prior art, present invention generally provides a kind of VR systems sense of touch gloves apparatus
And its implementation, the device can greatly strengthen virtual reality tactile experience sense and with it is easy to use, manipulate, it is convenient
The characteristics of property is strong.
Technical scheme：The present invention is a kind of VR systems sense of touch gloves apparatus and its implementation, including VR system sense of touch hands
The implementation method of covering device and the device.
A kind of VR systems sense of touch gloves apparatus, including glove bodies, motor, central control module, motor drive module, nothing
Line communication module and power supply module, described motor are arranged on glove bodies and closed positioned at the finger tip of five fingers of palm and activity
Position is saved, the motor and wire are installed in the interlayer at the above-mentioned position of glove bodies, the motor passes through wire and center
Control module is connected, and described central control module is by connecting circuit and wireless communication module, motor drive module and power supply
Component is connected, and described central control module, motor drive module, wireless communication module and power supply module, which is arranged at, is worn on hand
In control box on wrist, described central control module is realized and VR main frames, VR all-in-ones and body by wireless communication module
Feel the interconnection of game host.
Further, described glove bodies surface is using ice silk breathable fabric, and inside uses cotton fabric.
Further, described motor is micro-burst motor, including direct current generator and linear electric machine, the direct current generator
For oblate eccentric rotor motor, the linear electric machine is with the spring-mass block of linear movement form motion, and single gloves
Upper arrangement number of motors is 5-10, and two gloves motor arrangements that a pair of gloves is included are identical, the vibrating motor direct
Footpath is 5mm-15mm.
Further, described motor drive module is by DRV2603 family chips, including DRV2603, DRV2604,
The models such as DRV2605 and peripheral circuit composition, the size of the driving chip is 2 square millimeters, is encapsulated using QFN, can
Driving is linear and rotor two breeds of horses reaches.Driver fast braking can be realized, simplify input signal transmission (10KHz to 250KHz
Wide in range input can simplify input signal processing scheme, without scaling input common mode voltage), larger vibration intensity and low is provided
Power consumption.
Further, described communication includes the communication mode of bluetooth, WiFi communication and 2.4GHz.
Further, described power supply module includes lithium battery or nickel-cadmium cell and connection circuit, described lithium battery
Or nickel-cadmium cell is rechargeable type and provides the battery of D.C. regulated power supply.
In addition, the invention also discloses a kind of implementation method of VR systems sense of touch gloves apparatus：Methods described needs and hand
Gesture identification equipment is combined, after user's wearing gloves, detects that hand exercise position and finger change attitude by gesture identification equipment,
Detection information is input in the virtual environment of VR main frames, VR all-in-ones or somatic sensation television game main frame and by Unity or UE4 etc.
Game engine software modeling produces virtual hand, when the object of virtual hand and virtual environment collides, and collision detection triggering is touched
Signal is hit by wireless communication transmissions to central control module, central control module is according to hand position of collision and virtual object body surface
The modeling of face texture information, selects particular motor sequence number and produces the voltage signal of certain amplitude and frequency to motor drive module,
Motor drive module is amplified to waveform signal, and motor vibrometer reaches, so the shape of tactile sense reproduction dummy object and
Surface texture information.
A kind of implementation method of VR systems sense of touch gloves apparatus of the present invention, including dummy object shape and surface line
The reproducting method of tactile is managed, the dummy object shape representation method is that virtual hand is touched to finger and the gloves master of dummy object
The finger particular motor of body is mapped, when virtual hand finger touches dummy object, and the motor of correspondence finger enters on gloves
Row vibration, the shape of dummy object is reproduced with this；Dummy object surface texture reproducting method：Remember first in software database
Dummy object surface texture roughness is recorded, roughness is mapped as to the vibration frequency of linear electric machine and the composite wave of vibration amplitude
Shape, roughness is bigger, and oscillation intensity is bigger, and the haptic effect that user experiences is more coarse.
Beneficial effect：Apparatus of the present invention produce controllable point of amplitude, intensity, frequency using distributed vibrating motor array
Cloth vibratory stimulation, the tactile features such as shape, the texture of virtual environment object, tool are reproduced by the vibratory stimulation with change in time and space
Standby manipulating principle is simple, good portability, can be set with various gestures identification equipment, VR main frames, VR all-in-ones and somatic sensation television game main frame
Standby compatible advantage.Innovative point in the inventive method is mainly the shape for realizing dummy object and surface texture touch reproduces.
Brief description of the drawings
Fig. 1 is the motor arrangement schematic diagram of sense of touch gloves apparatus of the present invention；
Fig. 2 is dummy object reproducting method system block diagram of the present invention；
Fig. 3 is sense of touch gloves apparatus operation principle schematic diagram of the present invention.
Embodiment
In order to which detailed discloses a kind of VR systems sense of touch gloves apparatus of the present invention and its implementation, with reference to
Figure of description and specific embodiment are further elaborated, and those skilled in the art should learn, without prejudice to the present invention
Lower the done improvement of spirit and displacement should be fallen into the scope of the present invention.
Specific embodiment 1
This gloves hardware unit includes glove bodies and its control box.The arrangement of motor such as Fig. 1 institutes on haptic gloves
Show, 10 linear vibration electric motors are disposed with single gloves, arranged by each two motors of finger, and vibrating motor is entered
Line number, represents each position motor by corresponding sequence number and is controlled, the linear electric machine of this gloves is one linearly to transport
The spring-mass block of dynamic form motion, its advantage is in motion process, to have sense of direction, while area is smaller.When in use,
Wearing gloves control box on user's arm, include in control box central control module, motor drive module, wireless blue tooth module with
And power supply module, the microprocessor of central control module can be to tactile relevant information progress high speed processing, motor drive module
Specific frequency, the voltage signal of amplitude and drive amplification can be produced according to the instruction of microcontroller, transmit to motor and perform mould
Block, motor vibration.
Specific embodiment 2
Fig. 2 is represented after the system block diagram of gloves tactile sense reproduction method, user's wearing gloves, and both hands are placed on into gesture identification
In the detectable scope of equipment, gesture identification equipment carries out space orientation to hand by infrared camera and detects digital flexion
Angle, by this information transmission to VR main frames.The information that the unity engine softwares of VR main frames are transmitted to gesture input device is built
Mould, generates virtual hand model, virtual hand is with the manual work of user, when the object of virtual hand and virtual environment collides,
Trigger collision detection record collision finger sequence number and dummy object surface texture roughness.VR main frames will be collided by Bluetooth communication
Information Wireless transceiver is to the microcontroller of haptic gloves, and microcontroller is according to the collision finger sequence number with dummy object of virtual hand
And dummy object surface texture information modeling, generation specific voltage amplitude and frequency waveform signal send to actuator driving electricity
Road, and then drive the vibrating motor progress vibrometer of the relevant position sequence number on gloves to reach.The final shape for reproducing dummy object
And surface texture information, its sense of touch gloves apparatus operation principle and its step are as shown in Figure 3.
Wherein, for the haptic rendering of article surface vein, VR main frames extract the roughness letter of object from dummy object
Roughness is mapped in the amplitude of linear actuators driving voltage after breath by converting, the amplitude of roughness and driving voltage exists
People can linear positive correlation, i.e. roughness be bigger in sensing range, and driving voltage amplitude is bigger.And then make one to touch object
Finger experiences the linear vibration sense into certain relation with object roughness.
Specific embodiment 3
In " the fruit person of bearing " somatic sensation television game, player needs to simulate katana with arm in current game, and gesture is known
Other equipment (Kinect) is detected to player's hand motion and inputted to game host, is cut by virtual hand (katana) and cuts mad
Disorderly the fruit that dances in the air obtains high score.But player can not experience and touch the true sense of touch of fruit and the shape of fruit, and adopt
With the present invention, user is dressed after haptic gloves, when the virtual hand (katana) in game touches virtual fruit, game host
Collision information is sent to gloves microcontroller, gloves microcontroller maps electricity according to virtual hand with position that virtual fruit is contacted
Machine sequence number, the amplitude and frequency of mapped linear electric motor voltage are calculated with fruit surface grain roughness, eventually through
Motor oscillating realizes sense of touch true reappearance.
Specific embodiment 4
By taking the operation virtual instruction application in VR medical educations field as an example, virtual human body anatomy can be in display human body group
While knitting anatomical organ structure, its sectional anatomy structure is shown by gesture identification equipment, it is possible to which there is provided device for any rotation
Official or structure being accurately positioned in human space, 3 d measurement data and stereo-picture.But touch feedback is a lack of, causes to use
Family can not produce true sense of touch when being affectedly bashful analog scalpel, and apply the present invention, after user's wearing sense of touch gloves, when handling
During analog scalpel, the motor of specific finger produces the vibrating effect of certain waveform on gloves, simulates connecing for scalpel successively
Sense of touch, provides the user comprehensive virtual reality educational experience.
Claims (7)
1. a kind of VR systems sense of touch gloves apparatus, it is characterised in that：Driven including glove bodies, motor, central control module, motor
Dynamic model block, wireless communication module and power supply module, described motor be arranged on the finger tip that is located at five fingers in glove bodies and
Turning joint position, the motor and wire are installed in the interlayer at the above-mentioned position of glove bodies, and the motor passes through wire
What is constituted is connected with central control module, and described central control module is driven by connecting circuit with wireless communication module, motor
Dynamic model block and power supply module connection, described central control module, motor drive module, wireless communication module and power supply module are set
Put in the device being worn in wrist, described central control module is realized and VR main frames, VR mono- by wireless communication module
The interconnection of body machine and somatic sensation television game main frame.
2. a kind of VR systems sense of touch gloves apparatus according to claim 1, it is characterised in that：Described glove bodies surface
Using ice silk breathable fabric, inside uses cotton fabric.
3. a kind of VR systems sense of touch gloves apparatus according to claim 1, it is characterised in that：Described motor shakes to be miniature
Dynamic motor, including DC vibration motor and linear electric machine, the direct current generator are oblate eccentric rotor motor, the linear electricity
Machine is the spring-mass block moved in linear movement form, and arranges that number of motors is 5-10, a pair of gloves on single gloves
Comprising two gloves motor arrangements it is identical, the vibrating motor diameter be 5mm-15mm.
4. a kind of VR systems sense of touch gloves apparatus according to claim 1, it is characterised in that：Described motor drive module
It is made up of DRV family chips and peripheral circuit, the size of the driving chip is 2 square millimeters, is encapsulated using QFN, can
Driving is linear and rotor two breeds of horses reaches.
5. a kind of VR systems sense of touch gloves apparatus according to claim 1, it is characterised in that：Described communication
Using Bluetooth communication, WiFi communication and 2.4GHz mobile communications.
6. a kind of VR systems sense of touch gloves apparatus according to claim 1, it is characterised in that：Described power supply module includes
Lithium battery and connection circuit, described lithium battery is rechargeable type D.C. regulated power supply.
7. a kind of implementation method of VR systems sense of touch gloves apparatus：It is characterized in that：Methods described needs and gesture identification equipment
After combination, user's wearing gloves, detect that hand exercise position and finger change attitude by gesture identification equipment, by detection information
In the virtual environment for being input to VR main frames or VR all-in-ones or somatic sensation television game main frame, and pass through the game engines such as Unity or UE4
Software modeling produces virtual hand, when the object of virtual hand and virtual environment collides, and collision detection triggering collision alarm leads to
Wireless communication transmissions are crossed to central control module, the central control module is according to hand position of collision and dummy object surface line
Information modeling is managed, particular motor sequence number is selected and produces the voltage signal of certain amplitude and frequency to motor drive module, motor
Drive module is amplified to waveform signal, and motor vibrometer reaches, and then shape and the surface of tactile sense reproduction dummy object
Texture information.
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107515673A (en) * | 2017-08-03 | 2017-12-26 | 合肥江淮朝柴动力有限公司 | Mutual inductance gloves and the automobile line detection method based on mutual inductance gloves |
| CN107632702A (en) * | 2017-08-14 | 2018-01-26 | 天羽昌晟服饰（中山）有限公司 | A kind of holographic projection system and its workflow using photoinduction data glove |
| CN108809339A (en) * | 2018-05-08 | 2018-11-13 | 北京诺亦腾科技有限公司 | A kind of communication control method and transceiver of motion capture gloves |
| CN109085920A (en) * | 2018-07-20 | 2018-12-25 | 广东技术师范学院 | A kind of virtual read system based on VR technology |
| CN109542211A (en) * | 2018-09-17 | 2019-03-29 | 河南大学 | A kind of handset type instruction and data input unit run for operating equipment |
| CN109903626A (en) * | 2019-03-22 | 2019-06-18 | 国网河南省电力公司周口供电公司 | A kind of dress table based on VR technology, which connects, gives instructions by telegraph teaching system |
| CN110096131A (en) * | 2018-01-29 | 2019-08-06 | 华为技术有限公司 | Sense of touch exchange method, device and sense of touch wearable device |
| CN110703920A (en) * | 2019-10-15 | 2020-01-17 | 南京邮电大学 | Showpiece touch telepresence feedback equipment |
| CN111065987A (en) * | 2017-09-25 | 2020-04-24 | 惠普发展公司，有限责任合伙企业 | Augmented reality system using haptic redirection |
| CN111077984A (en) * | 2018-10-19 | 2020-04-28 | 北京微播视界科技有限公司 | Man-machine interaction method and device, electronic equipment and computer storage medium |
| CN111610857A (en) * | 2020-05-07 | 2020-09-01 | 闽南理工学院 | Gloves with interactive installation is felt to VR body |
| TWI707251B (en) * | 2019-01-03 | 2020-10-11 | 晶翔機電股份有限公司 | Operating method of interacting with a virtual reality for depending on a wearable device and operating device thereof |
| CN111782034A (en) * | 2020-06-10 | 2020-10-16 | 华南理工大学 | Novel electromagnetic touch simulation feedback device and method based on linear motor |
| CN112034145A (en) * | 2020-09-11 | 2020-12-04 | 中国计量大学 | Textile touch simulation device and method |
| CN112230778A (en) * | 2020-10-30 | 2021-01-15 | 北京京东方显示技术有限公司 | Operation virtual reality equipment |
| CN112905016A (en) * | 2021-03-10 | 2021-06-04 | 之江实验室 | Multi-modal tactile perception wearable device for augmented reality |
| CN113031771A (en) * | 2021-03-23 | 2021-06-25 | 山东大学 | Wearable vibrotactile somatosensory device and control method |
| CN113963609A (en) * | 2021-09-23 | 2022-01-21 | 四川大学 | Neurosurgery operation simulation operation model based on VR technique |
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| CN115410362A (en) * | 2022-08-17 | 2022-11-29 | 咪咕音乐有限公司 | Blind road passing guiding method, blind road passing guiding equipment, storage medium and device |
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| CN107515673A (en) * | 2017-08-03 | 2017-12-26 | 合肥江淮朝柴动力有限公司 | Mutual inductance gloves and the automobile line detection method based on mutual inductance gloves |
| CN107515673B (en) * | 2017-08-03 | 2020-05-08 | 合肥云内动力有限公司 | Mutual inductance glove and automobile line detection method based on same |
| CN107632702A (en) * | 2017-08-14 | 2018-01-26 | 天羽昌晟服饰（中山）有限公司 | A kind of holographic projection system and its workflow using photoinduction data glove |
| CN107632702B (en) * | 2017-08-14 | 2020-06-30 | 天羽昌晟服饰（中山）有限公司 | Holographic projection system adopting light-sensing data gloves and working method thereof |
| CN111065987B (en) * | 2017-09-25 | 2023-07-28 | 惠普发展公司，有限责任合伙企业 | Augmented reality system, augmented reality input device, and computer-readable storage medium |
| CN111065987A (en) * | 2017-09-25 | 2020-04-24 | 惠普发展公司，有限责任合伙企业 | Augmented reality system using haptic redirection |
| CN110096131A (en) * | 2018-01-29 | 2019-08-06 | 华为技术有限公司 | Sense of touch exchange method, device and sense of touch wearable device |
| CN110096131B (en) * | 2018-01-29 | 2021-06-04 | 华为技术有限公司 | Touch interaction method and device and touch wearable equipment |
| CN108809339B (en) * | 2018-05-08 | 2019-10-18 | 北京诺亦腾科技有限公司 | A kind of communication control method and transceiver of motion capture gloves |
| CN108809339A (en) * | 2018-05-08 | 2018-11-13 | 北京诺亦腾科技有限公司 | A kind of communication control method and transceiver of motion capture gloves |
| CN109085920A (en) * | 2018-07-20 | 2018-12-25 | 广东技术师范学院 | A kind of virtual read system based on VR technology |
| CN109542211A (en) * | 2018-09-17 | 2019-03-29 | 河南大学 | A kind of handset type instruction and data input unit run for operating equipment |
| CN111077984A (en) * | 2018-10-19 | 2020-04-28 | 北京微播视界科技有限公司 | Man-machine interaction method and device, electronic equipment and computer storage medium |
| TWI707251B (en) * | 2019-01-03 | 2020-10-11 | 晶翔機電股份有限公司 | Operating method of interacting with a virtual reality for depending on a wearable device and operating device thereof |
| CN109903626A (en) * | 2019-03-22 | 2019-06-18 | 国网河南省电力公司周口供电公司 | A kind of dress table based on VR technology, which connects, gives instructions by telegraph teaching system |
| CN109903626B (en) * | 2019-03-22 | 2021-06-29 | 国网河南省电力公司周口供电公司 | Dress table connects electric teaching system based on VR technique |
| CN110703920A (en) * | 2019-10-15 | 2020-01-17 | 南京邮电大学 | Showpiece touch telepresence feedback equipment |
| CN110703920B (en) * | 2019-10-15 | 2022-03-08 | 南京邮电大学 | Showpiece touch telepresence feedback equipment |
| CN111610857A (en) * | 2020-05-07 | 2020-09-01 | 闽南理工学院 | Gloves with interactive installation is felt to VR body |
| CN111782034A (en) * | 2020-06-10 | 2020-10-16 | 华南理工大学 | Novel electromagnetic touch simulation feedback device and method based on linear motor |
| CN112034145A (en) * | 2020-09-11 | 2020-12-04 | 中国计量大学 | Textile touch simulation device and method |
| CN112034145B (en) * | 2020-09-11 | 2022-07-26 | 中国计量大学 | Textile touch simulation device and method |
| CN112230778A (en) * | 2020-10-30 | 2021-01-15 | 北京京东方显示技术有限公司 | Operation virtual reality equipment |
| CN112905016A (en) * | 2021-03-10 | 2021-06-04 | 之江实验室 | Multi-modal tactile perception wearable device for augmented reality |
| CN113031771A (en) * | 2021-03-23 | 2021-06-25 | 山东大学 | Wearable vibrotactile somatosensory device and control method |
| CN113031771B (en) * | 2021-03-23 | 2023-01-31 | 山东大学 | Wearable vibrotactile somatosensory device and control method |
| CN113963609A (en) * | 2021-09-23 | 2022-01-21 | 四川大学 | Neurosurgery operation simulation operation model based on VR technique |
| CN113963609B (en) * | 2021-09-23 | 2022-11-15 | 四川大学 | Neurosurgery operation simulation operation model based on VR technique |
| CN114770571A (en) * | 2022-04-01 | 2022-07-22 | 苏州大学 | Pneumatic feedback manipulator |
| CN114770571B (en) * | 2022-04-01 | 2024-01-05 | 苏州大学 | Pneumatic feedback manipulator |
| TWI823469B (en) * | 2022-07-11 | 2023-11-21 | 矽統科技股份有限公司 | Haptic feedback method for an electronic system and a haptic feedback electronic system |
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