CN108646911A - The flexible wearable force feedback generation device and method of independent Mini-type spiral paddle traction - Google Patents
The flexible wearable force feedback generation device and method of independent Mini-type spiral paddle traction Download PDFInfo
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- CN108646911A CN108646911A CN201810322409.3A CN201810322409A CN108646911A CN 108646911 A CN108646911 A CN 108646911A CN 201810322409 A CN201810322409 A CN 201810322409A CN 108646911 A CN108646911 A CN 108646911A
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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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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Abstract
The invention discloses a kind of the flexible wearable force feedback generation devices and method of independent Mini-type spiral paddle traction.Including wearable textiles and middle control module；Wearable textiles fix force feedback and generate component, and force feedback generates component and arranged in wearable textiles surface spaced array, and force feedback generates component and connect with middle control module；It includes supporting module and the Mini-type spiral paddle traction module in supporting module that force feedback, which generates component,.Supporting module includes support base, lower mechanical snap, pressure sensor and lower interface, and Mini-type spiral paddle traction module includes shell, upper interface, upper mechanical snap, protective cover and Mini-type spiral paddle and motor.Device for force feedback designed by the present invention, it is wearable in any position using object, accurate flexible force feedback can be generated.
Description
Technical field
The present invention relates to a kind of flexible apparatus and methods, more particularly, to a kind of the soft of independent Mini-type spiral paddle traction
The wearable force feedback generation device of property and method.
Background technology
Force feedback is a kind of method for transmitting information by haptic stimulus, can be widely applied to viewing experience, virtual reality
In experience, picture can be coordinated to build better feeling of immersion with sound, force feedback can also be applied to the information output of wearable device
In, different information is transmitted to wearer by the force feedback of preset different mode.Existing device for force feedback and method have
Mechanically, electromagnetic type, pneumatic type：It is mechanically that vibration is generated by the rotation of mass block or is moved by motor driving part part
Generate the pressure to skin；Electromagnetic type is generated to skin by being converted to electric field after magnetic field carries out suction reprimand to magnetic part
Pressure；Pneumatic type is the pressure generated by the inflation/deflation proceduredriven component movement of small air pump to skin.Existing power is anti-
There is volume big (the mechanical, electromagnetic type, the pneumatic type that are moved by motor driving part part), sense of touch are unclear for feedback device and method
The problem of clear (being rotated by mass block mechanical), and the stroke of feedback element is fixed and (is moved by motor driving part part
It is mechanical), cannot respond to the reaction force of skin, it is stronger to the mechanical sense of user, while when a certain component failure, usually
It can influence the function of package unit.
Invention content
In order to solve the problems, such as to be proposed in background technology, the present invention proposes a kind of flexibility of independent Mini-type spiral paddle traction
Wearable force feedback generation device and method, using independent Mini-type spiral paddle traction module as force feedback unit, and it is automatic
Its control time and its response speed are demarcated, fine and smooth soft sense of touch can be reappeared, and the failure of part traction module will not shadow
Ring the normal work of other parts.
The technical solution adopted by the present invention is：
One, a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction, it is characterised in that：
Device includes wearable textiles and middle control module；Force feedback is fixed on wearable textiles generates component, force feedback
It generates component to arrange in wearable textiles surface spaced array, force feedback generates component and connect with middle control module.
It includes supporting module and the Mini-type spiral paddle traction mould in supporting module that the force feedback, which generates component,
Block；
Supporting module includes support base, lower mechanical snap, pressure sensor and lower interface, and support base, which is fixed on, to wear
Fabric surface is worn, the both sides of support base are equipped with lower mechanical snap, and support base top surface is equipped with lower interface and pressure sensor, pressure
Force snesor touches the bottom surface of shell；
Mini-type spiral paddle traction module includes shell, upper interface, upper mechanical snap, protective cover and Mini-type spiral paddle and electricity
The both sides of machine, shell are equipped with upper mechanical snap, and the bottom surface of shell is equipped with upper interface, and housing top surface is fixed with protective cover, protective cover
It is interior that Mini-type spiral paddle and motor are housed；
It matches to be formed between the lower mechanical snap of support base and the upper mechanical snap of shell and snap connection, support base
Lower interface and the upper interface of shell between be correspondingly connected with.
The middle control module includes sequentially connected power supply module, control module and radio receiving transmitting module, power supply module
With control module through being connected to Mini-type spiral paddle and motor after the upper interface of the lower interface of support base and shell, power supply module and
Control module connects pressure sensor simultaneously.
The lower interface and upper interface are power interface and data transfer interface.
The lower mechanical snap is that support base two sides volume turns over the raised line to be formed, and upper mechanical snap is to be arranged in shell
The strip groove of two sides, raised line are flush-mounted in strip groove and are clasped so that being formed between support base and shell.
The present invention is according to tactile signals sequence at the corresponding moment by controlling the miniature spiral shell in Mini-type spiral paddle traction module
Rotation paddle and motor, which are rotated in the forward direction or reversely rotated, generates pulling force or pressure, and then drives wearable textiles apparent motion and generate not
The soft sense of touch of ad eundem.
The present invention detects the Mini-type spiral paddle in Mini-type spiral paddle traction module by the pressure sensor in supporting module
And the control response time of motor, and then when realizing that each force feedback generates Mini-type spiral paddle and the different response of motor of component
Between be arranged.
The present invention is modular design, in a small number of parts when several Mini-type spiral paddle traction module failures, by touching
It is correct that the mode of sense distribution progress equivalent process controls the Mini-type spiral paddle traction module work generation that residual energy does not fail normally
Touch feedback so that whole system can also work normally.
Two, a kind of flexible wearable force feedback production method of independent Mini-type spiral paddle traction, method include：
In device formally before use, being sent one by one to Mini-type spiral paddle traction module from the control module of middle control module identical
Generation pressure or pulling force control signal and tracer signal delivery time, pass through the branch below Mini-type spiral paddle traction module
The pressure sensor detection pressure value and its power of hold mode block generate the moment, by signal delivery time and power generate between the moment when
Between offset be index record be stored in control module；It is formal in use, for each Mini-type spiral paddle traction module in device
Tactile impressions information, sent to Mini-type spiral paddle traction module with the time offset that shifts to an earlier date by control module generate pressure or
The control signal of pulling force accurately generates pressure or pulling force to control each Mini-type spiral paddle traction module, to realize sense of touch sequence
The high-fidelity of row restores.
Sense of touch is controlled signal sequence in advance and is sent to device, the wireless receipts of middle control module by wireless module by external host
For hair module after receiving sense of touch control signal sequence, the time in the control module according to each Mini-type spiral paddle traction module is inclined
Shifting amount recodes to sense of touch control signal sequence so that each Mini-type spiral paddle traction module is in correct time by spiral
Paddle forward or reverse generates corresponding pressure or pulling force, realizes that sense of touch is accurately presented.
In specific implementation, when some Mini-type spiral paddle traction module is because of malfunction and failure, other modules are being had no effect on just
Often work can make whole device still in can working condition by the job control to other modules.
Due to receiving control signal to force feedback is generated on the skin from Mini-type spiral paddle traction module, certain sound is needed
Between seasonable, therefore the present apparatus is more suitable for that picture, synchronous sound is coordinated to play the occasion for having sense of touch sequence.
The beneficial effects of the invention are as follows：
Device for force feedback designed by the present invention, it is wearable in any position using object, and generate accurate flexible
Force feedback.
And when part Mini-type spiral paddle traction module is because of malfunction and failure, whole device still in can working condition, and
And it can be safeguarded by being individually replaced.
The range of Mini-type spiral paddle traction module is unrelated with the size of module itself, only the maximum with Mini-type spiral paddle
Rotating speed is related, therefore stronger touch feedback can be generated with smaller size, while produced by the propulsion of Mini-type spiral paddle
Pressure or pulling force it is very soft, when being hindered by skin generated power can Natural Attenuation, with real-life sense of touch
It is more close.
Description of the drawings
Fig. 1 is apparatus of the present invention overall diagram；
Fig. 2 is the structural schematic diagram of supporting module of the present invention；
Fig. 3 is the structural schematic diagram of Mini-type spiral paddle traction module of the present invention；
Fig. 4 is the middle control module composition figure of the present invention；
Fig. 5 is the sense of touch sequence diagram for touching arm when implementing from left to right；
Fig. 6 is that the tactile caused by electromechanical characteristic difference misreads schematic diagram when implementing；
Fig. 7 is sense of touch sequence time migration processing flow chart of the present invention；
Fig. 8 is that flow chart is played simultaneously in tactile impressions information of the present invention；
Fig. 9 is the case where a small number of several Mini-type spiral paddle traction modules of the embodiment of the present invention fail schematic diagram.
In figure：Wearable textiles 1, supporting module 2, Mini-type spiral paddle traction module 3, middle control module 4；Support base 21,
Lower mechanical snap 22, pressure sensor 23, lower interface 24；It is shell 31, upper interface 32, upper mechanical snap 33, protective cover 34, miniature
Propeller and motor 35.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment invention is further described in detail.
As shown in Figure 1, present invention specific implementation includes wearable textiles 1 and middle control module 4；Wearable textiles 1 closely paste
Human body surface is invested, middle control module 4 is fixed on 1 side of wearable textiles, force feedback generation group is fixed on wearable textiles 1
Part, force feedback generate component in 1 surface spaced array arrangement of wearable textiles, and force feedback generates component and connect with middle control module 4.
Wearable textiles 1 may be worn on the positions such as chest, the back of the body, neck, arm, finger, the leg of people.
It includes supporting module 2 and the Mini-type spiral paddle traction module 3 in supporting module 2 that force feedback, which generates component,.
As shown in Fig. 2, supporting module 2 includes support base 21, lower mechanical snap 22, pressure sensor 23 and lower interface
24, support base 21 is fixed on 1 surface of wearable textiles, and the both sides of support base 21 are equipped with lower mechanical snap 22, support base
21 top surfaces are equipped with lower interface 24 and pressure sensor 23, and pressure sensor 23 touches the bottom surface of shell 31；The pressure of supporting module 2
Force snesor 23 and lower interface 24 are connected to middle control module 4.
As shown in figure 3, Mini-type spiral paddle traction module 3 includes shell 31, upper interface 32, upper mechanical snap 33, protective cover
34 and Mini-type spiral paddle and motor 35, the both sides of shell 31 be equipped with upper mechanical snap 33, the bottom surface of shell 31 is equipped with upper interface 32,
31 top surface of shell is fixed with protective cover 34, and Mini-type spiral paddle and motor 35 are housed in protective cover 34；The lower machinery of support base 21
It matches to be formed between buckle 22 and the upper mechanical snap 33 of shell 31 and snap connection, the lower interface 24 and shell of support base 21
It is correspondingly connected between 31 upper interface 32.Lower interface 24 and upper interface 32 are power interface and data transfer interface, for miniature
Propeller and motor 35 are connected to middle control module 4 through lower interface 24 and upper interface 32.
Lower mechanical snap 22 is that 21 two sides of support base volume turns over the raised line to be formed, and upper mechanical snap 33 is to be arranged in shell
The strip groove of 31 two sides, raised line, which is flush-mounted in strip groove so that forming buckle between support base 21 and shell 31, matches
It closes.In specific implementation, the mode that is fixedly connected between support base 21 and shell 31 can also be using strong magnet connection, to replace
Mechanical snap connects.
As shown in figure 4, middle control module 4 includes sequentially connected power supply module, control module and radio receiving transmitting module, power supply
Module and control module after the upper interface 32 of the lower interface 24 of support base 21 and shell 31 through being connected to Mini-type spiral paddle and electricity
Machine 35, power supply module and control module connect pressure sensor 23 simultaneously, and what radio receiving transmitting module reception outside sended over touches
Feel signal sequence and the current sense of touch status information of issue device.
Wearable textiles 1 wrap up the whole of human body, can also wrap up the part of human body for being worn on human body.It can
Continuous matter fabric, chemical ＆ blended fabric or imitation leather fabric, the fabric, which can be selected, in wearable textile 1 is also the carrier of other modules, while having interior
Connection each supporting module in portion's powers for them and provides the data transmission link being connected with middle control module.
The array that the arrangement of supporting module 2 is formed is installed, supporting module 2 is for fixing Mini-type spiral on wearable textiles 1
Paddle traction module 3 simultaneously provides power interface, data transfer interface for Mini-type spiral paddle traction module 3, and Mini-type spiral paddle draws mould
The pressure sensor of block 3 can be used for the calibration of haptic feedback response time.
Mini-type spiral paddle traction module 3 is the source of flexible force feedback, is rotated by Mini-type spiral paddle and promotes generation soft
Pulling force or pressure act on skin after generate sense of touch.
Middle control module 4 is mainly made of power supply module, control module, radio receiving transmitting module, and power supply module is responsible for other
Module and the Mini-type spiral paddle traction module power supply assembled, control module is according to the corresponding miniature spiral shell of tactile signals sequence control
Rotation paddle traction module, which is rotated in the forward direction or reversely rotated, generates corresponding pulling force or pressure, and radio receiving transmitting module is for receiving sense of touch letter
Number sequence sends status information etc..
The specific embodiment of the invention and its implementation process are as follows：
This technology provides flexible force feedback equipments.The equipment includes wearable textiles 1 and middle control module 4；It is wearable to knit
Object 1 fixes force feedback and generates component, and force feedback generates component in 1 surface spaced array arrangement of wearable textiles, and force feedback generates
Component is connected with middle control module 4；It includes supporting module 2 and the miniature spiral shell in supporting module 2 that force feedback, which generates component,
Revolve paddle traction module 3.Supporting module 2 includes support base 21, lower mechanical snap 22, pressure sensor 23 and lower interface 14, micro-
Type propeller traction module 3 includes shell 31, upper interface 32, upper mechanical snap 33, protective cover 34 and Mini-type spiral paddle and motor
35。
In one embodiment, flexible force feedback equipment is worn on arm by user, while wearing virtual implementing helmet
360 degree of panoramic videos are watched with multi-sound-channel earphone.Assuming that plot is the arm of leading role by from left to right there are one in video
It touches, before playing 360 degree of panoramic videos, sense of touch sequence will shift to an earlier date by the computer that is connected with virtual implementing helmet
Wireless device is sent to flexible force feedback equipment, is received by the radio receiving transmitting module of the middle control module 4 on flexible force feedback equipment
To and be stored in control module, in the control module can to the tactile impressions information in these sense of touch sequences carry out time migration at
Reason, in general, by force feedback generating unit ID number, force feedback moment and force feedback numerical value occur for the tactile impressions information in sense of touch sequence
Composition, force feedback numerical value are just to indicate that the force feedback is pressure feedback, and it is that pulling force is anti-that force feedback numerical value, which is the negative indication force feedback,
Feedback.
Since the electrical characteristic of each Mini-type spiral paddle traction module 3, mechanical property are it is not possible that complete one in specific implementation
It causes, therefore disparate modules receive that control propeller rotation after control signal generates corresponding pulling force or the response time of pressure will not
It is identical, it, may be entirely different because of the excitation of above-mentioned deviation and the sense of touch sequence recorded if used not calibrated
Touch feeling.
Such as when a certain group of sense of touch sequential recording be to touch the tactile impressions information of arm from left to right when, as shown in figure 5,
Under the control of control module, it first receives force feedback positioned at the Mini-type spiral paddle traction module of leftmost ID_01 and signal occurs,
The Mini-type spiral paddle traction module for being then within intermediate ID_02 receives force feedback generation signal, is located at the ID_03's of rightmost
Mini-type spiral paddle traction module finally receives force feedback and signal occurs, although the sequence of movement for receiving force feedback generation signal is
ID_01、ID_02、ID_03.If but due to the Mini-type spiral paddle traction module 3 of the different ID_02 of electrical characteristic, mechanical property
There are many Mini-type spiral paddle traction module 3 of the response speed compared with ID_01, Mini-type spiral paddle may start earlier rotation to
Corresponding pulling force or pressure are generated, as shown in fig. 6, user can feel first to be touched among arm, then it is that left side is touched again
It touches, and then right side is touched, misreads to will produce tactile.
To solve this problem, when the present invention is by installing response of the pressure sensor to each Mini-type spiral paddle traction module additional
Between carry out the accurate response time check and correction for measuring to realize that module is different.
Proof-reading formally uses preceding progress in device, it is formal in device before use, by middle control module 4 control module by
One sends the identical force feedback for generating pressure to Mini-type spiral paddle traction module 3 occurs signal and tracer signal delivery time,
Pressure value is detected by the pressure sensor 23 of the supporting module 2 below Mini-type spiral paddle traction module 3 and pressure generates the moment,
It is using the difference of pressure generation moment and signal delivery time as time offset and with the ID number of Mini-type spiral paddle traction module
Index is stored in control module.For example force feedback is sent to the Mini-type spiral paddle traction module of ID_01 in t moment and signal occurs
Afterwards, the pressure sensor of lower support base detects pressure value at the t' moment and records, then the Mini-type spiral paddle of ID_01
The time offset of traction module is t'-t, the offset will using its ID number as index record in the control module.
It is formal in use, the radio receiving transmitting module for controlling module 4 in the middle receives sense of touch sequence and is stored in control in device
After module, time migration processing can be carried out to the tactile impressions information in these sense of touch sequences in the control module.As shown in fig. 7, right
In the tactile impressions information for the Mini-type spiral paddle traction module that should be sent to a certain ID number, control module will be examined by its ID number first
Rope goes out the corresponding time offset t'-t being stored in control module of the Mini-type spiral paddle traction module, then by tactile impressions information
In force feedback occur the moment and subtract moment, new force feedback generation occurs as new force feedback after time offset t'-t
Moment is recombine in original force feedback numerical value and is stored in control module together as new tactile impressions information.
In the present embodiment, sound is played when computer control virtual implementing helmet plays video and controls multi-sound-channel earphone
While, the flexible force feedback equipment sending time synchronizing signal that can be also dressed to user by the wireless device of computer,
In general, time synchronizing signal is the time value that content is currently played, sends interval and be less than 20 milliseconds.As shown in figure 8, working as
After the radio receiving transmitting module of the middle control module 4 of flexible force feedback equipment receives time synchronizing signal, the control mould of middle control module 4
Block can retrieve all unexcited tactile impressions informations of its storage inside, be less than when the moment occurs for the force feedback for retrieving tactile impressions information
Or equal to the time value entrained by time synchronizing signal, and subtracted more than or equal to the time value entrained by time synchronizing signal
At 20 milliseconds, the ID number recorded according to the tactile impressions information is sent into force feedback hair to corresponding Mini-type spiral paddle traction module 3
Raw signal, while by the tactile impressions information labeled as excited state, the direction of rotation of Mini-type spiral paddle and rotary speed are by sense of touch
The force feedback numerical value that information is recorded is determined, is promoted by the rotation of Mini-type spiral paddle and is generated corresponding pressure or pulling force,
It is transmitted on skin by support base 2 and wearable textiles 1 again, since tactile impressions information was done at time migration
Reason, end user's real experiences will be to will be completely the same with expeced time at the time of sense of touch, to realize picture, sound, sense of touch
It is played simultaneously.
The present invention can also be equivalent by being carried out to sense of touch distribution when a small number of several Mini-type spiral paddle traction modules 3 fail
It is anti-to generate approximate accurately tactile that the mode of processing controls the work of Mini-type spiral paddle traction module 3 of residual energy normal operation
Feedback so that whole system can also work normally.Fig. 9 shows the case where a kind of several Mini-type spiral paddle traction modules of minority fail,
The Mini-type spiral paddle traction module failure of serial number ID_05 can not work, and will draw mould to surrounding Mini-type spiral paddle at this time
The force feedback numerical value for the tactile impressions information that block is received carries out equivalent process to ensure that whole system works normally.In flexible force feedback
Equipment receives time synchronizing signal and when the Mini-type spiral paddle traction module that is acted to needs sends force feedback signal occurs, soft
Property force feedback equipment on the current force feedback numerical value F of each Mini-type spiral paddle traction module be known quantity, and it is anti-not receive power
The current force feedback numerical value F of Mini-type spiral paddle traction module etc. that signal occurs for feedback is all 0, controls the control module of module 4 in the middle
When detecting that the Mini-type spiral paddle traction module of ID_05 is in failure state, following processing could be made that：By the miniature spiral shell of ID_05
The current force feedback numerical value F for the tactile impressions information that rotation paddle traction module is receivedID_05It decomposes and draws mould to the Mini-type spiral paddle of surrounding
Block, the numerical value undertaken needed for increase on the current force feedback numerical value F for the tactile impressions information that they are received, in the feelings shown in Fig. 9
In condition, the current force feedback numerical value F of the Mini-type spiral paddle traction module of ID_05ID_05Will by ID_01, ID_02 around, ID_03,
Totally 8 Mini-type spiral paddle traction modules undertake by ID_04, ID_06, ID_07, ID_08, ID_09, therefore the current power of each module
Fed back values F needs to add FID_05/ 8, realize the equivalent process executed because the Mini-type spiral paddle traction module of ID_05 fails.
By above-mentioned implementation as it can be seen that the device for force feedback designed by the present invention can generate accurate flexible force feedback, part
When malfunction and failure in can working condition, and replace easy to maintain, there is its to protrude significant technique effect.
Claims (10)
1. a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction, it is characterised in that：Including wearable
Fabric (1) and middle control module (4)；Force feedback is fixed on wearable textiles (1) and generates component, and force feedback generates component and can wear
Fabric (1) surface spaced array arrangement is worn, force feedback generates component and connect with middle control module (4).
2. a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction according to claim 1,
It is characterized in that：It includes supporting module (2) and the Mini-type spiral paddle in supporting module (2) that the force feedback, which generates component,
Traction module (3)；
Supporting module (2) includes support base (21), lower mechanical snap (22), pressure sensor (23) and lower interface (24), branch
Support pedestal (21) is fixed on wearable textiles (1) surface, and the both sides of support base (21) are equipped with lower mechanical snap (22), support bottom
Seat (21) top surface is equipped with lower interface (24) and pressure sensor (23), and pressure sensor (23) touches the bottom surface of shell (31)；
Mini-type spiral paddle traction module (3) include shell (31), upper interface (32), upper mechanical snap (33), protective cover (34) and
The both sides of Mini-type spiral paddle and motor (35), shell (31) are equipped with upper mechanical snap (33), and the bottom surface of shell (31), which is equipped with, above to be connect
Mouth (32), shell (31) top surface are fixed with protective cover (34), Mini-type spiral paddle and motor (35) are housed in protective cover (34)；
It matches to form buckle between the lower mechanical snap (22) of support base (21) and the upper mechanical snap (33) of shell (31)
Connection, is correspondingly connected between the lower interface (24) of support base (21) and the upper interface (32) of shell (31).
3. a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction according to claim 2,
It is characterized in that：The middle control module (4) includes sequentially connected power supply module, control module and radio receiving transmitting module, power supply
Module and control module after the upper interface (32) of the lower interface (24) of support base (21) and shell (31) through being connected to miniature spiral shell
Paddle and motor (35) are revolved, power supply module and control module connect pressure sensor (23) simultaneously.
4. a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction according to claim 2,
It is characterized in that：The lower interface (24) and upper interface (32) is power interface and data transfer interface.
5. a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction according to claim 2,
It is characterized in that：The lower mechanical snap (22) is that support base (21) two sides volume turns over the raised line to be formed, upper mechanical snap
(33) it is strip groove of the setting in shell (31) two sides, raised line, which is flush-mounted in strip groove, makes support base (21) and shell
It is formed and is clasped between body (31).
6. a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction according to claim 2,
It is characterized in that：By controlling Mini-type spiral paddle in Mini-type spiral paddle traction module (3) and motor (35) rotates in the forward direction or reversely
Rotation generates pulling force or pressure, and then drives wearable textiles (1) apparent motion and generate different soft senses of touch.
7. a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction according to claim 2,
It is characterized in that：The miniature spiral shell in Mini-type spiral paddle traction module (3) is detected by the pressure sensor (23) in supporting module (2)
It revolves the control response time of paddle and motor (35), and then realizes that each force feedback generates the Mini-type spiral paddle and motor (35) of component
Different response time setting.
8. a kind of flexible wearable force feedback generation device of independent Mini-type spiral paddle traction according to claim 2,
It is characterized in that：In a small number of parts when several Mini-type spiral paddle traction module (3) failures, equivalent process is carried out by being distributed to sense of touch
Mode control Mini-type spiral paddle traction module (3) work that residual energy do not fail normally and generate correct touch feedback.
9. a kind of flexible wearable force feedback of independent Mini-type spiral paddle traction applied to any described devices of claim 1-8
Production method, it is characterised in that method includes：In device formally before use, from the control module of middle control module (4) one by one to micro-
Type propeller traction module (3) sends the identical control signal and tracer signal delivery time for generating pressure or pulling force, leads to
Pressure sensor (23) the detection pressure value and its power for crossing the supporting module (2) of Mini-type spiral paddle traction module (3) below generate
At the moment, it is that index record is stored in control module that signal delivery time and power, which are generated the time offset between the moment,；
Device is formal in use, tactile impressions information for each Mini-type spiral paddle traction module, inclined with the time shifted to an earlier date by control module
Shifting amount is sent to Mini-type spiral paddle traction module (3) generates the control signal of pressure or pulling force to control each Mini-type spiral paddle
Traction module (3) accurately generates pressure or pulling force.
10. a kind of flexible wearable force feedback production method of independent Mini-type spiral paddle traction according to claim 9,
It is characterized in that：Sense of touch is controlled signal sequence in advance and is sent to device by wireless module by external host, middle to control the wireless of module
Transceiver module is after receiving sense of touch control signal sequence, in the control module according to each Mini-type spiral paddle traction module (3)
Time offset recodes to sense of touch control signal sequence so that each Mini-type spiral paddle traction module (3) is accurate
Propeller forward or reverse is generated corresponding pressure or pulling force by the time, realizes that sense of touch is accurately presented.
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| CN201810322409.3A CN108646911B (en) | 2018-04-11 | 2018-04-11 | Independent micro propeller traction flexible wearable force feedback generation device and method |
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| CN201810322409.3A CN108646911B (en) | 2018-04-11 | 2018-04-11 | Independent micro propeller traction flexible wearable force feedback generation device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023197794A1 (en) * | 2022-04-11 | 2023-10-19 | 歌尔股份有限公司 | Calibration method and driving method of force feedback apparatus, devices, and storage mediums |
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| CN108646911B (en) | 2020-07-14 |
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