CN108693956B - Mechanical feedback device and method and control method of virtual reality interactive accessory - Google Patents
Mechanical feedback device and method and control method of virtual reality interactive accessory Download PDFInfo
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- CN108693956B CN108693956B CN201710225363.9A CN201710225363A CN108693956B CN 108693956 B CN108693956 B CN 108693956B CN 201710225363 A CN201710225363 A CN 201710225363A CN 108693956 B CN108693956 B CN 108693956B
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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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- 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
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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 embodiment of the invention discloses a mechanical feedback device, which comprises: the sensing bag is filled with fluid media, and the sensing bag filled with the fluid media generates tension for force feedback after deformation; the control unit is connected with the induction bag through a first catheter; the control unit is used for detecting a fluid pressure parameter of the fluid medium in the first conduit and feeding the fluid pressure parameter back to an external controller; the control unit is also used for carrying out filling and releasing operations on the induction bag according to a control command sent by the external controller. According to the invention, the force feedback is carried out by filling the sensing bag with the fluid medium, the process design is simpler, and the sensing bag is a flexible component, so that the sense of reality brought to VR users is stronger.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a mechanical feedback device and method and a control method of a virtual reality interactive accessory.
Background
In the VR technique, the VR equipment shows the virtual scene for the user through the head-mounted display screen, can bring the virtual scene visual sense of immersing for the user. However, there are many links in VR-based applications that require a user to interact with a virtual object in a virtual scene, and in order to enhance the sense of reality of the user interacting with the virtual object in a virtual reality environment, VR technology also supports some virtual reality interaction accessories, such as VR control gloves, tights for capturing motion gestures, and the like.
In these virtual reality interactive accessories, VR control gloves are usually based on mechanical feedback gloves, as shown in fig. 1, the mechanical feedback mechanism of the VR control gloves adopts a mechanical principle, and applies an acting force to a finger and a palm, a plurality of electric steering engines need to be arranged on the gloves, and a mechanical connecting rod structure is adopted to connect with the finger, when finger force feedback needs to be generated, a microprocessor outputs an instruction to the electric steering engines, the steering engines drive the mechanical connecting rods, the connecting rods move in the opposite direction to apply an acting force to the finger, and the finger movement is limited to realize feedback.
For example, when a user holds a virtual basketball in a virtual scene, the microprocessor determines the opening degree of the glove according to the size of the basketball, and then controls the steering engine to apply acting force, so that the user can only keep the opening posture even if holding the basketball with strength, and the reality sense of holding the basketball in the virtual scene is brought to the user.
However, the VR control glove needs a plurality of electric steering engines, the overall size of the product is large, and the mechanical connecting rod is of a hard structure, so that more springs and other parts are needed to be added for buffering if the operation of a user is more realistic, and the process complexity of the existing VR control glove is higher.
Disclosure of Invention
Based on this, in order to simplify the process degree of the force feedback device in the conventional technology, a mechanical feedback device is particularly provided, which comprises:
a mechanical feedback device, comprising:
the sensing bag is filled with fluid media, and the sensing bag filled with the fluid media generates tension for force feedback after deformation;
the control unit is connected with the induction bag through a first catheter;
the control unit is used for detecting a fluid pressure parameter of the fluid medium in the first conduit and feeding the fluid pressure parameter back to an external controller;
the control unit is also used for carrying out filling and releasing operations on the induction bag according to a control command sent by the external controller.
In addition, based on the mechanical feedback device, a mechanical feedback method is also provided, and the method includes:
the control unit is used for controlling the pressure of the air in the air to be measured according to the target pressure reference value;
and the control unit performs filling and releasing operations on the sensing capsule according to a target pressure reference value sent by the external controller.
In addition, based on the mechanical feedback device, a method for controlling a virtual reality interactive accessory is also provided, which includes:
the virtual reality application host generates a target pressure reference value according to at least one of the size parameter and the elastic parameter of the virtual prop in the virtual scene, and sends the target pressure reference value to the control unit;
and the control unit fills or releases fluid medium into or from the sensing bag according to the target pressure reference value indicated in the control instruction.
The embodiment of the invention has the following beneficial effects:
the force feedback device uses the sensing bag filled with fluid medium as a force source for generating force feedback effect, and when the force feedback device is used, the sensing bag can be attached to the movable part of any movable component and the human joint corresponding to the flexible wearable substrate or directly attached to the human joint to generate the force feedback effect. After the control unit fills the fluid medium into the sensing bag according to the target pressure parameter sent by the external controller, the deformation of the sensing bag can be caused by the bending of the moving part or the human joint, and the deformation of the sensing bag can generate corresponding tension because the sensing bag is filled with the fluid medium, and the tension is the effect of force feedback. Compared with a mechanical rod pulling mode adopted on the VR glove in the prior art, the element is simpler, and the design process is simpler.
In addition, the sensing bag can be arranged inside the human joint, so that the generated force feedback effect is the pushing force from the inside to the outside of the joint, and the feeling of holding an article by a user under a real environment is more met. And the mode that the mechanical bar stretched is adopted in the conventional technology, compared with the mode that the force feedback device in this application produced the force feedback effect authenticity better.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic diagram of a force feedback device according to one embodiment;
FIG. 2 is a force feedback schematic of a force feedback device in one embodiment;
FIG. 3 is a force feedback schematic of a force feedback device in one embodiment;
FIG. 4 is a schematic diagram of a force feedback device with a fluid medium storage unit in one embodiment.
FIG. 5 is a schematic diagram of a force feedback device with at least one fluid medium storage unit according to one embodiment;
FIG. 6 is a schematic diagram of a VR glove based on the force feedback device in one embodiment;
FIG. 7 is a force feedback effect diagram illustrating the attachment of a sensing capsule to the lateral side of a joint according to one embodiment;
FIG. 8 is a force feedback effect diagram illustrating the attachment of a sensing capsule to the inside of a joint according to one embodiment;
FIG. 9 is a schematic diagram of a VR interaction tight based on the force feedback device in one embodiment;
FIG. 10 is a schematic diagram of a force feedback device that can be placed around a finger, arm, or lower leg in one embodiment;
FIG. 11 is a schematic diagram of a force feedback device that can be placed around a finger, arm, or lower leg in one embodiment;
FIG. 12 is a diagram illustrating the wearing of a force feedback device with multiple sensor bladders configured to fit around a finger, arm, or lower leg, according to one embodiment;
FIG. 13 is a flow diagram of a force feedback method in one embodiment;
FIG. 14 is a flowchart of a method for controlling a virtual reality interactive accessory, under an embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to simplify the process complexity of VR interaction accessories that give the user a realistic sense of VR interaction, in one embodiment a mechanical feedback device is proposed, as shown in fig. 1, comprising a sensing capsule 10, a control unit 20 connected to the sensing capsule via a first conduit 12, the control unit 20 being further connectable to an external controller 30. When the mechanical feedback device is used, the sensing bag 10 can be attached to the movable part of the movable assembly and the human joint corresponding to the flexible wearable substrate or directly attached to the human joint, and the tension of a fluid medium in the sensing bag caused by the deformation of the sensing bag can generate a force feedback effect.
Specifically, the sensing bladder 10 is filled with a fluid medium, and the sensing bladder filled with the fluid medium generates tension for force feedback after deformation. The sensing bladder 10 may be a bladder-shaped structure, and the bladder wall is made of an elastic material, such as rubber. When the sensing bag is not filled with fluid medium, the sensing bag is in a shriveled state and can be bent freely; after the sensing bladder 10 is filled with a certain pressure fluid medium, the sensing bladder 10 is squeezed due to bending, and the volume of the sensing bladder tends to be reduced, so that the fluid in the sensing bladder generates tension which enables the sensing bladder 10 to keep an expanded state due to the fluid pressure.
For example, referring to FIG. 2, in use, the sensing balloon 10 may be attached to a moveable member at a articulation location or a body joint, and the sensing balloon 10 may be a block-like structure after being filled with a fluid medium. As shown in fig. 3, when the movable arm of the movable member moves, the sensing bag 10 is pressed, so that the sensing bag 10 deforms, and if the sensing bag 10 is filled with a fluid medium, force feedback is generated on the movable arm; when the filled fluid medium in the sensing bladder 10 is released, the sensing bladder 10 becomes deflated and the force feedback to the moveable arm is cancelled.
The fluid medium used to fill the sensing capsule may be either a gaseous medium or a liquid medium. However, the compressibility of gaseous media is much greater than the compressibility of liquid media. Therefore, in the case of injecting the same volume of fluid medium, the tension generated by filling the gaseous medium to maintain the sensing balloon 10 in the inflated state is smaller than the tension generated by filling the liquid medium to maintain the sensing balloon 10 in the inflated state, which also allows the feedback speed of the sensing balloon 10 using the liquid medium to be faster (the inflation tension is generated by filling a smaller volume of liquid). But the compression ratio of the gas medium is larger, so that the sensing bag in a filling state has larger elasticity, and the feedback force is softer.
For safety, in embodiments where a gaseous medium is used, the gaseous medium may be a non-flammable gas, such as air, nitrogen, carbon dioxide, etc., and a lighter non-flammable gas, such as helium, may be used to reduce the weight of the sensing balloon 10. In embodiments where a liquid medium is used, the liquid medium may be water, a non-flammable oil, or the like.
The control unit 20 is operable to detect a fluid pressure parameter of the fluid medium in the first conduit 12, and feed the fluid pressure parameter back to the external controller 30; the filling and releasing operations of the sensing capsule 10 are performed according to control commands issued from the external controller 30.
The control unit 20 may comprise a fluid pressure sensor by which the fluid pressure in the first conduit 12 is detected. Since the first conduit 12 is in communication with the sensing balloon 10 and due to the fluid properties of the fluid medium, the fluid pressure in the first conduit 12 as detected by the fluid pressure sensor is the fluid pressure in the sensing balloon 10.
When the sensing bag 10 is deformed and bent, the fluid in the sensing bag 12 is squeezed, so that the fluid pressure is increased and is transmitted to the fluid in the first conduit through the fluid, and the fluid pressure sensor detects the fluid pressure parameter, i.e. the deformation of the sensing bag 10 can be detected. And, the more violent the sensing bladder deformation and the larger the bending degree, the larger the fluid pressure parameter value detected by the fluid pressure sensor, so the control unit 20 can determine the deformation or bending degree of the sensing bladder 10 according to the magnitude of the fluid pressure parameter value detected by the fluid pressure sensor.
The control unit 20 may feed back the detected fluid pressure parameter to the external controller after detecting the fluid pressure parameter through the fluid pressure sensor. The control unit 20 can establish a wired or wireless connection with an external controller, and since the data transmission amount is small, a wireless connection can be preferably used, thereby reducing the trouble of winding wires and pipes. The wireless connection may include a bluetooth, wifi, or zigbee connection.
In one embodiment, the external controller may be a virtual reality application host or a game host. After the control unit 20 transmits the fluid pressure parameter to the virtual reality VR application host or the game host, the VR application host or the game host may determine the bending degree of the sensing capsule 10 according to the fluid pressure parameter, so as to determine whether there is an input instruction according to the bending degree, or construct a corresponding virtual gesture or a virtual prop in a virtual scene according to the bending degree.
The control unit 20 can also perform the filling and releasing operations of the sensing capsule 10 according to the control commands issued by the external controller 30. Since the fluid pressure parameter in the sensing bladder 10 corresponds to the deformation of the sensing bladder, the external controller 30 can set the target pressure reference value to enable the sensing bladder 10 to generate a corresponding feedback force through expansion and elasticity.
The control unit 20 may continuously detect the fluid pressure parameter of the first catheter 12 corresponding to the sensing balloon 10 after receiving the target pressure reference value indicated by the external controller 30 through the control command, and fill the first catheter with the fluid medium in case that the detected fluid pressure parameter is lower than the target pressure reference value; in case the detected fluid pressure parameter is higher than the target pressure reference value, the fluid medium in the first conduit 12 is released.
A pump assembly connected to the first conduit may be provided in the control unit 20, through which the sensing balloon is filled and released. As shown in fig. 4, the apparatus further comprises a fluid medium storage unit 40 connected to the control unit 20 via the second conduit 22. The control unit 20 is also used for connecting the pump assembly in the fluid medium control unit 20 with the first catheter 12 and the second catheter 22 when the sensing balloon 10 is filled and released, and sucking the fluid medium in the fluid medium storage unit 40 through the second catheter 22 and then injecting the fluid medium into the sensing balloon 10 communicated with the first catheter 12 when the sensing balloon 10 is filled; upon release of the sensing balloon 10, the fluid medium in the sensing balloon 10 is drawn through the first catheter 12 and then injected into the fluid medium storage unit 40, which is in communication with the second catheter 22.
It should be noted that in the embodiment using air as the fluid medium, the fluid medium storage unit 40 may not be provided, but the air medium may be directly extracted and released from the atmosphere, but in order to increase the filling speed or the releasing speed, it is preferable that the air is also compressed and stored in the fluid medium storage unit 40, and through the second conduit 22 and the control unit 20, since the air in the fluid medium storage unit 40 has a certain pressure, the filling speed is faster during filling.
In addition, the number of the fluid medium storage units 40 may be one or more, and each fluid medium storage unit 40 stores different fluid media, for example, as shown in fig. 5, 2 storage tanks may be provided as the fluid medium storage units, wherein a storage tank stores gas and B storage tank stores liquid. As mentioned above, when the force feedback is required to be performed quickly, the liquid in the B storage tank can be pumped to fill the sensing bag 10, and due to the compressibility of the liquid, the sensing bag 10 can be filled quickly and expanded to generate a larger tension for feedback, which is suitable for a stiffer virtual article for VR application; when a soft and elastic force feedback environment is needed, liquid can be pumped from the storage tank A to fill the sensing bag 10, and the degree of force feedback is more elastic due to the higher compressibility of the gas.
Further, in a VR application scenario, the mechanical feedback device can be combined with a wearable flexible substrate to generate a force feedback effect for human interaction. In particular, the mechanical feedback device may further comprise a wearable flexible substrate, and the wearable flexible substrate may comprise gloves, knee pads, elbow pads, waist supports, tights, or the like. Sensing balloon 10 may be affixed to the wearable flexible substrate in a position corresponding to a human joint.
As shown in fig. 6, in the application scenario corresponding to fig. 6, the wearable flexible substrate of the mechanical feedback device is a glove, and the sensing bag 10 can be attached to the finger joint position and the palm joint position of the glove. When the sensing bag 10 is not inflated, the sensing bag is in a belt-shaped structure; the sensing balloon 10 is in a strip-shaped configuration after being filled with a fluid medium.
In this embodiment, the attaching manner of the sensing bag 10 to the wearable flexible substrate corresponding to the position of the human body joint includes at least one of gluing, hook-and-loop gluing, magnetic attaching, and bandage fixing attaching. The sensing bag 10 can be directly fixed on the glove by gluing, sewing and binding, or movably fixed on the glove by gluing (magic tape) and magnetic attaching. Adopt the fixed mode laminating response bag 10 of activity, can make the user become the mutual gloves of VR with other gloves through activity laminating response bag, it is more convenient to use.
Further, the position where the sensing bag 10 is attached to the wearable flexible substrate corresponds to the inner side of the human joint. That is, the sensing bladder 10 is attached to the glove at the finger joints on the inner side of the palm. Because the human body is in a grabbing mode through the palm, the sensing bag is arranged in the palm for force feedback, and the resistance feeling brought by the shape and elasticity of an object for grabbing operation can be simulated and simulated when the object is grabbed. Referring to fig. 7, if it is arranged at the outer side of the finger joint, the resistance feeling given to the user is derived from the outward pulling force generated by the deformation of the sensing bladder, whereas as shown in fig. 8, it is only arranged at the inner side of the finger joint, the resistance feeling given to the user is derived from the inner side of the palm. This makes the VR gloves when using, and the authenticity is stronger.
Further, still referring to fig. 6, in the present application scenario, the number of sensing capsules is one or more than one. For example, in fig. 6, a sensing bag is attached to each finger and palm of the VR glove, and there are 6 sensing bags. The one or more sensing balloons may be independent or partially independent of each other with the first catheter connected to the control unit. That is, in fig. 6, the 6 sensing balloons may be connected to the same control unit 20 through separate first catheters, or some of the sensing balloons may be connected to the control unit 20 through the same catheter.
The control unit 20 may also be adapted to assign a conduit identification to at least one first conduit and to feed back the fluid pressure parameter of each first conduit and the identification of that first conduit to the external controller.
For example, in fig. 6, 5 sensing balloons on the fingers and palm are connected to the control unit 20 through independent first catheters, and the control unit 20 may be 5 finger and palm numbers, for example, the first catheters from the thumb to the sensing balloon on the little finger are 1 to 5 in sequence, and the first catheter from the sensing balloon on the palm is 6 in number. The control unit 20 detects the fluid pressure parameters of the first catheter No. 1 to 6 and sends them to the external controller corresponding to No. 1 to 6, which can then determine which finger is bending according to the numbers.
For example, when the user bends only the thumb, the control unit 20 detects that the fluid pressure parameter of the catheter No. 1 is large, and after transmitting it to the external controller, it can be determined that the user has performed the operation of bending the thumb.
Alternatively, the sensing balloon may be partially connected to the first catheter independently, and as in the above example, the little finger and ring finger may be connected to the control unit 20 using the same first catheter, so that the little finger and ring finger are numbered the same. When the numbered first catheter is filled, the sensing balloons on the little and ring fingers of the glove are inflated simultaneously. That is, for joint activities that are not sensitive, the same fluid pressure parameter may be used to determine the degree of bending or deformation.
In an application scenario where the external controller is a virtual reality application host, the virtual reality application host may further instruct the VR glove to produce a force feedback effect according to the size and elastic coefficient of the virtual prop. For example, if a program running in the VR application host detects that a user grabs a rubber ball in a virtual scene, a target pressure reference value may be determined according to the size of the rubber ball and the elasticity of the rubber ball, and then sent to the control unit in the VR glove, and the control unit may fill a fluid medium into the sensing bag of the VR glove according to the target pressure reference value.
The control unit can continuously detect a fluid pressure parameter of a first catheter corresponding to the sensing balloon, and the first catheter is filled with fluid medium under the condition that the detected fluid pressure parameter is lower than the target pressure reference value; releasing fluid medium in the first conduit in the event that the detected fluid pressure parameter is higher than the target pressure reference value.
It should be noted that, when filling and releasing the fluid medium, there is a certain error value, that is, when the control unit detects that the value of the fluid pressure parameter of the fluid medium in the first conduit exceeding the target pressure reference value is greater than the first threshold value, the releasing operation is performed; the filling operation is only performed when the control unit detects that the fluid pressure parameter of the fluid medium in the first conduit is lower than the target pressure reference value by an absolute value greater than a second threshold value.
After fluid media are filled in the sensing bag of the VR glove, when a user wears the VR glove to make a gesture of holding a ball, the holding action of closing fingers enables the sensing bag at the joint to be bent so as to generate deformation, and the sensing bag is filled with the fluid media, so that the deformation of the sensing bag can generate feedback force opposite to the holding action. The user feels the resistance feeling of the real elastic ball to the holding action. When the user grips with force, the finger joint department is buckled more seriously for the deformation of response bag is more violent, thereby can increase the effort of feedback, thereby when bringing the user and gripping the ball with force, the real elasticity that the ball elastic webbing given the user feels.
When a program running in the VR application host detects that a user grabs a basketball in a virtual scene, the basketball is larger than a rubber ball in size and higher in hardness, so that a higher target pressure reference value can be set, or a control instruction is given to the VR glove to change a fluid medium into a liquid, so that the feedback force of the sensing bag is stronger, and the force feedback effect is more rigid. The VR application host then sends the target pressure reference and an indication of the follower fluid media to a control unit in the VR glove, and the control unit can fill the fluid media into the sensor capsule of the VR glove according to the target pressure reference. Because the target pressure reference value is larger, more fluid media are filled in the sensing bag, and even the sensing bag is replaced by the liquid media, so that the small deformation of the sensing bag can generate a larger force feedback effect, and the real experience of holding the basketball is brought to a user.
Furthermore, in this embodiment, the control unit can be disposed at the back of the hand of the glove, and includes a display screen and other display devices, and the working state parameters of the control unit are displayed through the display screen, so that the user can observe the control unit conveniently. The fluid medium storage unit can also be arranged on the back of the hand or fixed on the shoulder or arm through a shoulder belt or an arm belt.
In an application scenario, the wearable flexible substrate of the mechanical feedback device is not limited to VR interactive gloves, and can be VR interactive knee pads, elbow pads, tights and the like. Referring to figure 9, the sensor bladders may be fitted inside the joints of the knee pad, elbow pad and tights to provide force feedback effects at various joint locations on the body. Likewise, in these application scenarios, the way in which multiple sensing capsules correspond to the same control unit may also be used. For example, in a VR interactive tight application scenario, multiple sensor bladders may be attached to the joints of the body and connected to the controller 20 via separate conduits to the back of the hand, arm, chest, and back, while the fluid medium storage unit may be carried by the user on the back or suspended from the chest, arm, thigh, and lower leg.
In one application scenario, the mechanical feedback device may also be independent of the wearable flexible substrate, for example, in fig. 10 and 11, the sensing balloon is in a ring-shaped band-shaped structure when not filled with a fluid medium; a cylindrical configuration after filling with a fluid medium. When the sensing capsule is used, the sensing capsule in the annular belt shape is sleeved at the finger joint, and a force feedback effect can be generated at the finger joint. Likewise, in this application scenario, a situation is also supported where multiple sensing capsules are connected to the same control unit. As shown in fig. 12, the user can put the sensing bags in each finger, the sensing bags are connected with the control unit arranged on the back of the hand through independent catheters, and after the control unit fills the sensing bags with fluid media, a force feedback effect can be generated on the bending movement of each finger independently. By adopting the induction bag with the annular belt-shaped structure, when the induction bag is used by a user, external equipment such as gloves and the like is not needed, and the induction bag can be directly sleeved on the joints of fingers, arms or legs for use, so that the induction bag is simpler and more convenient to operate, and the product form is simpler.
Based on the above mechanical feedback device, in an embodiment, there is also provided a mechanical feedback method, as shown in fig. 13, the method including:
step S102: the control unit comprises a target pressure reference value according to a control command sent by an external controller.
Step S104: and the control unit performs filling and releasing operations on the sensing bag according to the target pressure reference value sent by the external controller.
Because the force fed back by the mechanical feedback device corresponds to the fluid pressure in the sensing bag, if an external controller needs the mechanical feedback device to feed back a certain force, a target pressure reference value can be set and then sent to the mechanical feedback device control unit, the control unit can continuously detect the fluid pressure parameter of the fluid medium in the first conduit, and the fluid medium is filled into the first conduit under the condition that the detected fluid pressure parameter is lower than the target pressure reference value; releasing the fluid medium in the first conduit in case the detected fluid pressure parameter is higher than the target pressure reference value.
It should be noted that, when filling and releasing the fluid medium, there is a certain error value, that is, when the control unit detects that the value of the fluid pressure parameter of the fluid medium in the first conduit exceeding the target pressure reference value is greater than the first threshold value, the releasing operation is performed; the filling operation is only performed when the control unit detects that the fluid pressure parameter of the fluid medium in the first conduit is lower than the target pressure reference value by an absolute value greater than a second threshold value.
Furthermore, the control unit can also feed back the detected fluid pressure parameters to an external controller, and the external controller can determine the deformation and bending degree of the mechanical feedback device according to the fluid pressure parameters, and then determine a target pressure reference value according to the fluid pressure parameters to guide the mechanical feedback device to continue to be filled or released.
It should be noted that the control unit 20 may be a single chip or a computer subsystem with a fluid pressure sensor, a pump assembly, or the like, depending on the computer program to perform the above described force feedback method.
In an embodiment, based on the aforementioned mechanical feedback device and the virtual reality application host as the external controller, as shown in fig. 14, a method for controlling a virtual reality interactive accessory is further provided, including:
step S202: the virtual reality application host generates a target pressure reference value according to at least one of the size parameter and the elastic parameter of the virtual prop in the virtual scene, and sends the target pressure reference value to the control unit.
As mentioned above, since the force feedback of the mechanical feedback device has a corresponding relationship with the fluid pressure in the sensing bag, the virtual reality application host can control the force feedback effect of the mechanical feedback device by setting the target pressure reference value.
For example, when a user holds a virtual basketball in a virtual scene, the basketball has a large size, and a force feedback effect needs to be generated when the palm is in an opening range, so that a high target pressure reference value can be set. For a bunch of cotton in the virtual scene, a lower target pressure reference value can be set because the cotton is softer and the feedback effect is weaker during kneading.
Step S204: the control unit fills or releases the fluid medium to the sensing capsule according to the target pressure reference value indicated in the control instruction.
The control unit can continuously detect a fluid pressure parameter of a first catheter corresponding to the sensing balloon, and the first catheter is filled with fluid medium under the condition that the detected fluid pressure parameter is lower than the target pressure reference value; releasing fluid medium in the first conduit in the event that the detected fluid pressure parameter is higher than the target pressure reference value.
It should be noted that, when filling and releasing the fluid medium, there is a certain error value, that is, when the control unit detects that the value of the fluid pressure parameter of the fluid medium in the first conduit exceeding the target pressure reference value is greater than the first threshold value, the releasing operation is performed; the filling operation is only performed when the control unit detects that the fluid pressure parameter of the fluid medium in the first conduit is lower than the target pressure reference value by an absolute value greater than a second threshold value.
For example, in an application scenario where one force feedback device is a VR glove, the virtual reality application host may further instruct the VR glove to produce a force feedback effect according to the size and elastic coefficient of the virtual prop. For example, if a program running in the VR application host detects that a user grabs a rubber ball in a virtual scene, a target pressure reference value may be determined according to the size of the rubber ball and the elasticity of the rubber ball, and then sent to the control unit in the VR glove, and the control unit may fill a fluid medium into the sensing bag of the VR glove according to the target pressure reference value.
After fluid media are filled in the sensing bag of the VR glove, when a user wears the VR glove to make a gesture of holding a ball, the holding action of closing fingers enables the sensing bag at the joint to be bent so as to generate deformation, and the sensing bag is filled with the fluid media, so that the deformation of the sensing bag can generate feedback force opposite to the holding action. The user feels the resistance feeling of the real elastic ball to the holding action. When the user grips with force, the finger joint department is buckled more seriously for the deformation of response bag is more violent, thereby can increase the effort of feedback, thereby when bringing the user and gripping the ball with force, the real elasticity that the ball elastic webbing given the user feels.
When a program running in the VR application host detects that a user grabs a basketball in a virtual scene, the basketball is larger than a rubber ball in size and higher in hardness, so that a higher target pressure reference value can be set, or a control instruction is given to the VR glove to change a fluid medium into a liquid, so that the feedback force of the sensing bag is stronger, and the force feedback effect is more rigid. The VR application host then sends the target pressure reference and an indication of the follower fluid media to a control unit in the VR glove, and the control unit can fill the fluid media into the sensor capsule of the VR glove according to the target pressure reference. Because the target pressure reference value is larger, more fluid media are filled in the sensing bag, and even the sensing bag is replaced by the liquid media, so that the small deformation of the sensing bag can generate a larger force feedback effect, and the real experience of holding the basketball is brought to a user.
In one embodiment, the control unit detects a fluid pressure parameter in the first conduit, senses deformation of a sensing bag corresponding to the first conduit through the fluid pressure parameter, and sends the fluid pressure parameter to the virtual reality application host; and the virtual reality application host machine determines the target pressure reference value according to the fluid pressure parameter.
In one embodiment, the control unit may further detect a fluid pressure parameter in the first conduit, sense deformation of a sensing bladder corresponding to the first conduit through the fluid pressure parameter, and send the fluid pressure parameter to the virtual reality application host;
the virtual reality application host determines input gesture parameters according to the fluid pressure parameters, and generates a control instruction for a virtual scene according to the gesture parameters.
For example, as in the foregoing example of the VR glove, the control unit sends the detected fluid pressure parameters corresponding to the respective sensing bladders to the virtual reality application host, when the user makes a fist making gesture, the fluid pressure parameters generated by the sensing bladders in 5 fingers and a palm are both large, and the virtual reality application host can determine that the user inputs the fist making gesture parameters through the VR glove through threshold judgment; when the user is in a V shape, the fluid pressure parameters of the index finger and the middle finger are smaller, the fluid pressure parameters of other fingers and the palm are larger, and the virtual reality application host can determine the gesture parameters of the user in the V shape through threshold judgment.
After the virtual reality application host determines the gesture parameters according to the fluid pressure parameters, a corresponding control instruction for the virtual scene can be generated according to the gesture parameters. For example, if the fist making gesture parameter is preset as a determination, the user only needs to perform the fist making operation after wearing the VR glove, and can input a determination instruction in the VR application. If the gesture parameter of the V-shape is preset as the second option, when the user encounters a condition needing to select in the VR scene, the second option can be selected in the VR application only by performing the operation of comparing the V-shape after wearing the VR glove.
Further, the control unit may also fill or release the sensing bladder in advance according to a preset standard fluid pressure reference value. That is, when the user is in a relaxed state after wearing the mechanical feedback device, the control unit may first fill a portion of the fluid medium to maintain a certain fluid pressure, so that the sensing bladder is maintained in a fluid medium filled state at a necessary moment. For example, when the user fills the fluid medium with the standard fluid pressure reference value immediately after completing the fist making, the user can input the instruction corresponding to the gesture parameter after completing the fist making, and the instruction can be normally input by the control unit through detection of the fluid pressure parameter. If the fluid medium with the standard fluid pressure reference value is not filled, the deformation of the sensing bag cannot be detected through the fluid pressure parameters because the sensing bag is still in a shriveled state when the joint is bent. In addition, the standard fluid pressure reference value is filled in advance, so that fluid pressure parameters brought by the same gesture actions of the user are similar, and the virtual reality application host computer can conveniently determine the size degree of the deformation through threshold judgment.
The embodiment of the invention has the following beneficial effects:
the force feedback device uses the sensing bag filled with fluid medium as a force source for generating force feedback effect, and when the force feedback device is used, the sensing bag can be attached to the movable part of any movable component and the human joint corresponding to the flexible wearable substrate or directly attached to the human joint to generate the force feedback effect. After the control unit fills the fluid medium into the sensing bag according to the target pressure parameter sent by the external controller, the deformation of the sensing bag can be caused by the bending of the moving part or the human joint, and the deformation of the sensing bag can generate corresponding tension because the sensing bag is filled with the fluid medium, and the tension is the effect of force feedback. Compared with a mechanical rod pulling mode adopted on the VR glove in the prior art, the element is simpler, and the design process is simpler.
In addition, the sensing bag can be arranged inside the human joint, so that the generated force feedback effect is the pushing force from the inside to the outside of the joint, and the feeling of holding an article by a user under a real environment is more met. And the mode that the mechanical bar stretched is adopted in the conventional technology, compared with the mode that the force feedback device in this application produced the force feedback effect authenticity better.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (15)
1. A mechanical feedback device, comprising:
the sensing bag is filled with fluid media, and the sensing bag filled with the fluid media generates tension for force feedback after deformation; the sensing bag is attached to the position, corresponding to the inner side of the human joint, in the glove;
a control unit connected with the sensing balloon through a first conduit, the control unit being disposed independently of the glove;
a first fluid medium storage unit and a second fluid medium storage unit connected to the control unit through a second conduit, each fluid medium storage unit storing therein a different fluid medium;
the control unit is used for detecting a fluid pressure parameter of the fluid medium in the first conduit and feeding the fluid pressure parameter back to an external controller;
the control unit is further configured to receive a control instruction sent by the external controller, where the control instruction includes a target pressure reference value and an instruction to replace a fluid medium, the control unit releases the fluid medium from the sensing bag and stores the fluid medium in the first fluid medium storage unit according to the instruction to replace the fluid medium, and extracts the fluid medium from the second fluid medium storage unit according to the target pressure reference value to fill the sensing bag, so as to generate grip feedback for the virtual prop, and the target pressure reference value is determined by the external controller according to the size and the elastic coefficient of the virtual prop.
2. The mechanical feedback device according to claim 1, wherein the attachment manner of the sensing bag to the position of the glove corresponding to the inner side of the human joint includes at least one of gluing, thread gluing, magnetic attachment, and binding band fixing attachment.
3. The mechanical feedback device of any one of claims 1 or 2, wherein the sensing bladder is a ribbon-like structure when not filled with a fluid medium; after being filled with fluid medium, the structure is in a long strip shape.
4. The mechanical feedback device according to any one of claims 1 or 2, wherein the sensing bladder is an annular band-shaped structure when not filled with a fluid medium; a cylindrical configuration after filling with a fluid medium.
5. A mechanical feedback device according to any of claims 1 or 2, wherein said fluid medium is a gaseous medium or a liquid medium.
6. A mechanical feedback device according to any of claims 1 or 2, wherein the compressibility of the fluid medium stored in the first fluid medium storage unit is greater than the compressibility of the fluid medium stored in the second fluid medium storage unit;
the control unit is further configured to:
under a rigid force feedback virtual scene, the control unit extracts fluid medium from the second fluid medium storage unit according to a control instruction sent by the external controller to fill the induction bag;
and under a soft or elastic force feedback virtual scene, the control unit extracts fluid medium from the first fluid medium storage unit according to a control instruction sent by the external controller to fill the induction bag.
7. The mechanical feedback device according to any one of claims 1 or 2, wherein the number of the sensing capsules is one or more than one;
the first catheters connected with the sensing bag and the control unit are independent or partially independent;
the control unit is further configured to assign a conduit identification to at least one of the first conduits and to feed back a fluid pressure parameter for each first conduit and the identification of that first conduit to an external controller.
8. The mechanical feedback device according to any one of claims 1 or 2, wherein the control unit is further configured to establish a wireless connection with the external controller, and communicate via the wireless connection;
the wireless connection comprises Bluetooth, wifi or zigbee, and the external controller is a virtual reality application host or a game host.
9. A mechanical feedback method based on the mechanical feedback device of any one of the preceding claims 1 to 8, characterized in that the method comprises:
the control unit feeds back the detected fluid pressure parameter to an external controller, and the fluid pressure parameter is used by the external controller to determine the control instruction;
the control unit receives a control command sent by the external controller, wherein the control command comprises a target pressure reference value and an instruction for replacing a fluid medium;
and the control unit releases the fluid medium from the sensing bag according to the indication of replacing the fluid medium and stores the fluid medium into the first fluid medium storage unit, extracts the fluid medium from the second fluid medium storage unit according to the target pressure reference value to fill the sensing bag, and generates holding feedback of the virtual prop, wherein the target pressure reference value is determined by the external controller according to the size and the elastic coefficient of the virtual prop.
10. The mechanical feedback method of claim 9, further comprising:
the control unit detects a fluid pressure parameter of the fluid medium in the first conduit, and extracts the fluid medium from the confirmed fluid medium storage unit to fill the sensing bag when the detected fluid pressure parameter is lower than the target pressure reference value; in case the detected fluid pressure parameter is higher than the target pressure reference value, releasing fluid medium from the sensing bladder and storing it to the corresponding fluid medium storage unit.
11. A method for controlling a virtual reality interactive accessory, the method being based on the mechanical feedback device of any one of the preceding claims 1 to 8 and a virtual reality application host as the external controller, the method comprising:
the virtual reality application host generates a control instruction according to at least one of a size parameter and an elastic parameter of a virtual prop in a virtual scene, the control instruction comprises a target pressure reference value and an instruction for replacing a fluid medium, and the control instruction is sent to the control unit, and the target pressure reference value is determined according to the size and the elastic coefficient of the virtual prop;
and the control unit releases the fluid medium from the sensing bag according to the instruction of replacing the fluid medium, stores the fluid medium into the first fluid medium storage unit, extracts the fluid medium from the second fluid medium storage unit according to the target pressure reference value and fills the sensing bag.
12. The method for controlling a virtual reality interactive accessory according to claim 11, the method further comprising:
the control unit continuously detects a fluid pressure parameter of the first catheter corresponding to the sensing bag, and extracts fluid medium from the confirmed fluid medium storage unit to fill the sensing bag when the detected fluid pressure parameter is lower than the target pressure reference value; in case the detected fluid pressure parameter is higher than the target pressure reference value, releasing fluid medium from the sensing bladder and storing it to the corresponding fluid medium storage unit.
13. The method for controlling a virtual reality interactive accessory according to claim 11, the method further comprising:
the control unit detects fluid pressure parameters in the first conduit, senses deformation of a sensing bag corresponding to the first conduit through the fluid pressure parameters, and sends the fluid pressure parameters to the virtual reality application host;
and the virtual reality application host machine determines the control instruction according to the fluid pressure parameter.
14. The method for controlling a virtual reality interactive accessory according to claim 11, the method further comprising:
the control unit detects fluid pressure parameters in the first conduit, senses deformation of a sensing bag corresponding to the first conduit through the fluid pressure parameters, and sends the fluid pressure parameters to the virtual reality application host;
and the virtual reality application host determines input gesture parameters according to the fluid pressure parameters, and generates a control instruction for the virtual scene according to the gesture parameters.
15. The method for controlling a virtual reality interactive accessory according to claim 14, wherein the controlling unit further comprises, before detecting the fluid pressure parameter in the first conduit:
and the control unit fills or releases the sensing bag according to a preset standard fluid pressure reference value.
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| CN109663347A (en) * | 2018-12-10 | 2019-04-23 | 广州玖的数码科技有限公司 | Force feedback interactive device and method between a kind of more people VR game members |
| CN109712531B (en) * | 2019-01-04 | 2021-02-26 | Oppo广东移动通信有限公司 | Electronic device, angle detection method, and storage medium |
| 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 |
| WO2024139568A1 (en) * | 2022-12-26 | 2024-07-04 | 杭州逗酷软件科技有限公司 | Force feedback mechanism, wearable device and simulation device assembly |
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