CN212379815U - Novel electromagnetic touch simulation feedback device based on linear motor - Google Patents
Novel electromagnetic touch simulation feedback device based on linear motor Download PDFInfo
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- CN212379815U CN212379815U CN202021053288.6U CN202021053288U CN212379815U CN 212379815 U CN212379815 U CN 212379815U CN 202021053288 U CN202021053288 U CN 202021053288U CN 212379815 U CN212379815 U CN 212379815U
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Abstract
本实用新型公开了一种基于线性马达的新型电磁触觉模拟反馈装置，包括用于实时采集用户在虚拟现实交互过程中的手势信息的体感信息采集模块、力反馈信息处理模块、线性振动马达和磁场产生模块，其中，体感信息采集模块连接力反馈信息处理模块的输入端，并将手势信息发送给力反馈信息处理模块；力反馈信息处理模块的输出端连接线性振动马达和磁场产生模块，并将其生成的力反馈信号发送给线性振动马达和磁场产生模块，以触发线性振动马达震动和磁场产生模块产生相应磁场斥力。本实用新型装置简单轻便，且能够在虚拟现实环境的使用当中，有效模拟完整逼真的力反馈效果。
The utility model discloses a novel electromagnetic tactile simulation feedback device based on a linear motor, comprising a somatosensory information acquisition module, a force feedback information processing module, a linear vibration motor and a magnetic field for real-time acquisition of user gesture information in a virtual reality interaction process A generation module, wherein the somatosensory information acquisition module is connected to the input end of the force feedback information processing module, and sends the gesture information to the force feedback information processing module; the output end of the force feedback information processing module is connected to the linear vibration motor and the magnetic field generation module, and the The generated force feedback signal is sent to the linear vibration motor and the magnetic field generating module to trigger the linear vibration motor to vibrate and the magnetic field generating module to generate a corresponding magnetic field repulsion force. The device of the utility model is simple and portable, and can effectively simulate the complete and realistic force feedback effect in the use of the virtual reality environment.
Description
Technical Field
The utility model relates to a virtual reality technical field, in particular to novel electromagnetic touch simulation feedback device based on linear motor.
Background
The virtual reality technology is that a virtual reality environment similar to real environment experience is constructed through equipment such as an immersive stereoscopic display and a somatosensory feedback device and through designed human-computer interaction experience. Along with the development of the virtual reality technology, the force feedback is more important in the field, the operator can obtain better telepresence experience due to the introduction of the force feedback device, the operation experience of the operator in the virtual reality environment is optimized, the force feedback device can transmit the force information in the virtual environment to the operator, and the accuracy and the sensitivity of the operation are further improved. Meanwhile, the force feedback device can also collect the action information of an operator in real time, and then a more vivid force feedback effect is simulated through a computer.
At present, most of the existing force feedback devices have the problems that the device mechanism is complex, the precision of simulating force feedback is not high, the contact body feeling in a virtual reality environment cannot be truly restored, and the like. For example, chinese patent No.: 201810718709.3, name: the utility model provides a pressure unit and force feedback data gloves based on electromagnetic effect, this utility model application specifically do: the pressure unit deforms through itself, so that a user of the pressure unit feels touch pressure, and then the force feedback effect in the virtual reality environment is simulated. Although the glove can achieve a force feedback effect to a certain degree, in practical application, the force feedback device is heavy in design and complex in mechanism, flexible movement of an operator is limited to a certain degree, and the presence of the operator in the use process is weakened. In addition, chinese patent No.: 201910400828.9, name: the utility model provides a variable rigidity force feedback gloves of adjustable size, this utility model application specifically is: when the free/constrained state switching unit is in a constrained state, the rigidity of the variable rigidity unit can be continuously changed from the maximum value to the minimum value, the variable rigidity unit, the free/constrained state switching unit and the fingertip connecting unit limit rotation, the variable rigidity force feedback glove feeds back a passive feedback force to a human hand, the magnitude of the passive feedback force is adjusted by adjusting the rigidity of the variable rigidity unit, and the human hand can feel different rigidity of virtual objects due to different passive feedback forces, namely, a user can sense the virtual objects with different rigidity attributes. Although this gloves can realize the variable rigidity force feedback effect to a certain extent, can't effectual provide the force feedback of fingertip sense of touch, in the middle of virtual reality environment's the use, can't the complete lifelike force feedback effect of effective simulation.
As the application scenarios of the virtual reality technology become wider, an accurate and portable force feedback device is urgently needed in order to pursue a realistic experience closer to reality.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming and not enough, provide a novel electromagnetic touch simulation feedback device based on linear motor, the device is simple light, and can effectively simulate complete lifelike force feedback effect in the middle of virtual reality environment's the use.
The purpose of the utility model is realized through the following technical scheme: a novel electromagnetic touch simulation feedback device based on a linear motor comprises a somatosensory information acquisition module, a force feedback information processing module, a linear vibration motor and a magnetic field generation module, wherein the somatosensory information acquisition module is used for acquiring gesture information of a user in a virtual reality interaction process in real time; the output end of the force feedback information processing module is connected with the linear vibration motor and the magnetic field generating module, and force feedback signals generated by the force feedback information processing module are sent to the linear vibration motor and the magnetic field generating module so as to trigger the linear vibration motor to vibrate and the magnetic field generating module to generate corresponding magnetic field repulsive force.
Preferably, the somatosensory information acquisition modules are independently arranged and positioned in the activity space of the user, and the number of the somatosensory information acquisition modules is at least one; the linear vibration motor and the magnetic field generation module are both worn on the hand of the user.
Furthermore, the linear vibration motor and the magnetic field generation module are arranged on an insulating glove which can be worn by a user and jointly form a force feedback sensing device, wherein the linear vibration motor is arranged at the position of a corresponding fingertip on the glove, and the magnetic field generation module is arranged at the position of the glove corresponding to a sensitive part of the touch of the hand, including the surface of a finger knuckle and the palm center.
Further, the number of the linear vibration motors is multiple, and at least one linear vibration motor is arranged at the fingertip position of each finger on the glove.
Furthermore, the insulating gloves are made of rubber.
Furthermore, the magnetic field generating module is an electromagnet sheet, and the electromagnet sheet is a complete sheet covering the position of the glove corresponding to the sensitive part of the human hand touch, or a plurality of small sheets distributed on the glove corresponding to the position of the sensitive part of the human hand touch.
Preferably, the force feedback information processing module is connected with the somatosensory information acquisition module, the linear vibration motor and the magnetic field generation module respectively in a wired connection or wireless connection mode.
Preferably, the force feedback information processing module is an independently arranged upper computer.
The utility model discloses for prior art have following advantage and effect:
(1) the utility model discloses novel electromagnetic touch simulation feedback device based on linear motor is including feeling information acquisition module, force feedback information processing module, linear vibration motor and magnetic field production module, through arranging the gesture information that the user was gathered to the body sensing equipment at the distal end, and in transmitting force feedback information processing module in real time, combine current virtual reality environment to generate force feedback signal and give linear vibration motor and magnetic field production module, produce the module with triggering linear vibration motor vibrations and magnetic field and produce the module and produce corresponding magnetic field repulsion. The magnetic force mutual exclusion strength of the magnetic field generation module can be changed by changing the size and the direction of the magnetic field intensity generated by the magnetic field generation module, and meanwhile, the linear vibration motor can also make corresponding vibration feedback, so that an accurate force feedback effect can be realized. The utility model discloses a linear vibrating motor and magnetic field produce the module in coordination as the force feedback mechanism, have strengthened the telepresence of the mutual process of virtual reality environment, are favorable to improving user's operating rate and precision.
(2) The utility model discloses in the device, body sense information acquisition module is independent of the power feedback that power linear vibration motor and magnetic field produced the module and constitute and experiences the device to reduce electromagnetic touch simulation feedback device's complexity, make the overall design of device more simple and convenient nimble, both convenient the maintenance, can more do benefit to the operator again and use under the state of motion the utility model discloses the device, simultaneously, the utility model discloses a use region scope also can be bigger.
(3) The utility model discloses a force feedback impression device for one has integrated the gloves of linear vibrating motor and electro-magnet thin slice, the user directly dresses the telepresence that can obtain being close to the reality scene and experiences, and this gloves do not contain other mechanical device, consequently, the utility model discloses a force feedback impression device not only the cost is lower, and mechanical structure is simple and convenient moreover, and weight is lighter for the user can obtain more nimble use impression.
(4) The utility model discloses a magnetic field produces the module and adopts the electro-magnet thin slice to distribute the position that corresponds the sensitive position of staff's sense of touch on gloves, can change the direction in magnetic field and the intensity of magnetic force mutual exclusion through current signal's change, and then sense information is held to accurate reduction. In addition, the number of electro-magnet thin slice, shape to and the position of distribution can finely tune according to specific task scene needs, consequently the utility model discloses force feedback feels the commonality of device good, can be applicable to multiple virtual reality scene.
(5) The utility model discloses a tactile feedback is generated by the linear vibration motor simulation to can produce accurate lifelike vibrations feedback, be used for realizing the maximization reduction simulation of sense of touch.
Drawings
Fig. 1 is a schematic connection diagram of the novel electromagnetic touch simulation feedback device based on the linear motor of the present invention.
Fig. 2 is a schematic view of a placement position of the somatosensory information acquisition module.
Fig. 3 is a schematic view of a force feedback sensing device.
Fig. 4 is a schematic diagram of the operation of the apparatus of fig. 1.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Examples
The embodiment discloses a novel electromagnetic touch simulation feedback device based on a linear motor, as shown in fig. 1, including body feeling information acquisition module 1, force feedback information processing module, linear vibration motor and magnetic field generation module, body feeling information acquisition module connects force feedback information processing module's input, and linear vibration motor and magnetic field generation module are connected to force feedback information processing module's output.
The somatosensory information acquisition module is used for acquiring gesture information of a user in a virtual reality interaction process in real time and sending the gesture information to the force feedback information processing module. As shown in fig. 2, the motion sensing information acquisition module is independently arranged and located in the activity space of the user, and the motion sensing information acquisition module can be microsoft Kinect. The somatosensory information acquisition module can be arranged in one or more than one mode, and can be arranged in front of and/or behind a user according to specific problem situations.
The force feedback information processing module is used for comparing gesture changes of a user in real time, generating corresponding force feedback signals according to contact conditions of a virtual hand and a virtual object in a virtual reality scene, and sending the force feedback signals to the linear vibration motor and the magnetic field generating module. The force feedback signal is a current signal.
The force feedback information processing module, the somatosensory information acquisition module, the linear vibration motor and the magnetic field generation module can be connected in a wired or wireless mode. The force feedback information processing module of this embodiment is an independently arranged upper computer, and can be arranged in the activity space of the user, and also can be arranged in other rooms, such as a monitoring room outside the space.
The linear vibration motor and the magnetic field generation module are both worn on the hand of the user. The linear vibration motor is used for generating vibration of corresponding type and intensity according to the force feedback signal to simulate touch vibration feedback, and the principle is as follows: the linear vibration motor generates positive and negative alternating magnetic fields through high-frequency alternating current in two coils, and then generates 'vibration' sensed by hands through repeated suction and repulsion. The magnetic field generating module is used for generating a magnetic field with corresponding direction and strength according to the force feedback signal and simulating real grip feedback through magnetic repulsion.
In the present embodiment, the linear vibration motor 2 and the magnetic field generating module 3 are mounted on an insulating glove, such as a rubber glove, which can be worn by a user, and the three components together form a force feedback sensing device, as shown in fig. 3. The number of the linear vibration motors is multiple, and at least one linear vibration motor is arranged at the fingertip position of each finger on the glove.
The magnetic field generation module adopts an electromagnet sheet, as shown in fig. 3, the electromagnet sheet can be attached to the glove at a position corresponding to the sensitive touch of the human hand, including the finger knuckle surface and the palm center area of the human hand. The electromagnet sheet can be a complete sheet covering the position of the sensitive part of the hand touch on the glove or a plurality of small sheets distributed on the position of the glove corresponding to the sensitive part of the hand touch. The number, the shape and the distribution position of the electromagnet sheets can be flexibly set according to the specific task scene.
The force feedback signal comprises information of the magnitude, the touch feeling and the rigidity effect (rigidity) of the feedback force, and specifically, the force feedback information processing module correspondingly controls the magnetic field intensity and the direction of the magnetic field generated by the electromagnet sheet and the vibration type and the vibration intensity of the linear vibration motor through currents with different magnitudes, directions and frequencies, so that the magnitude, the touch feeling and the rigidity effect of the feedback force are realized. It can be seen that in the interaction process, the linear vibration motor and the electromagnet sheet cooperate together based on force feedback signals, and force feedback effects corresponding to virtual reality environment interaction events are created through vibration of various modes and magnetic mutual exclusion with different sizes.
As shown in fig. 4, the operation process of the novel electromagnetic tactile sensation analog feedback device based on the linear motor is as follows:
s1, wearing a force feedback sensing device comprising a linear vibration motor and a magnetic field generation module on a hand of a user, and starting virtual reality interaction by the user after the device is started;
s2, in the user interaction process, the somatosensory information acquisition equipment located in the user activity space acquires gesture information of a user in real time and sends the gesture information to the force feedback information processing module;
s3, the force feedback information processing module compares the gesture change of the user in real time, generates a corresponding force feedback signal according to the contact condition of the virtual hand and the virtual object in the virtual reality scene, and sends the force feedback signal to the linear vibration motor and the magnetic field generating module;
s4, generating vibration of corresponding type and intensity by the linear vibration motor according to the force feedback signal to simulate touch vibration feedback;
the magnetic field generating module generates a magnetic field with corresponding direction and strength according to the force feedback signal, and simulates real grip feedback through magnetic repulsion.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (8)
1. A novel electromagnetic touch simulation feedback device based on a linear motor is characterized by comprising a somatosensory information acquisition module, a force feedback information processing module, a linear vibration motor and a magnetic field generation module, wherein the somatosensory information acquisition module is used for acquiring gesture information of a user in a virtual reality interaction process in real time; the output end of the force feedback information processing module is connected with the linear vibration motor and the magnetic field generating module, and force feedback signals generated by the force feedback information processing module are sent to the linear vibration motor and the magnetic field generating module so as to trigger the linear vibration motor to vibrate and the magnetic field generating module to generate corresponding magnetic field repulsive force.
2. The linear motor-based novel electromagnetic touch simulation feedback device as claimed in claim 1, wherein the motion sensing information acquisition modules are independently arranged and located in the activity space of the user, and the number of the motion sensing information acquisition modules is at least one; the linear vibration motor and the magnetic field generation module are both worn on the hand of the user.
3. The linear motor-based novel electromagnetic touch simulation feedback device according to claim 2, wherein the linear vibration motor and the magnetic field generation module are mounted on an insulating glove wearable by a user and jointly form a force feedback sensing device, wherein the linear vibration motor is mounted on the glove at a position corresponding to a fingertip position, and the magnetic field generation module is mounted on the glove at a position corresponding to a sensitive part of human hand touch, including a finger knuckle surface and a palm center.
4. The linear motor based electromagnetic touch simulation feedback device according to claim 3, wherein the number of linear vibration motors is plural, and at least one linear vibration motor is provided at the fingertip position of each finger on the glove.
5. The linear motor based novel electro-magnetic haptic simulated feedback device of claim 3, wherein the insulating glove is made of rubber.
6. The linear motor based novel electro-magnetic haptic analog feedback device of claim 3, wherein the magnetic field generating module is an electro-magnetic sheet, and the electro-magnetic sheet is a complete sheet covering the position of the glove corresponding to the tactile sensitive portion of the human hand, or a plurality of small sheets distributed on the glove corresponding to the position of the tactile sensitive portion of the human hand.
7. The linear motor-based novel electromagnetic touch simulation feedback device according to claim 1, wherein the force feedback information processing module is connected with the somatosensory information acquisition module, the linear vibration motor and the magnetic field generation module respectively in a wired or wireless manner.
8. The linear motor-based novel electromagnetic touch simulation feedback device according to claim 1, wherein the force feedback information processing module is an independently arranged upper computer.
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| CN202021053288.6U CN212379815U (en) | 2020-06-10 | 2020-06-10 | Novel electromagnetic touch simulation feedback device based on linear motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111782034A (en) * | 2020-06-10 | 2020-10-16 | 华南理工大学 | Novel electromagnetic tactile analog feedback device and method based on linear motor |
| CN113640995A (en) * | 2021-09-10 | 2021-11-12 | 江西恒必达实业有限公司 | VR somatosensory equipment for personally submitting to natural environment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111782034A (en) * | 2020-06-10 | 2020-10-16 | 华南理工大学 | Novel electromagnetic tactile analog feedback device and method based on linear motor |
| CN113640995A (en) * | 2021-09-10 | 2021-11-12 | 江西恒必达实业有限公司 | VR somatosensory equipment for personally submitting to natural environment |
| CN113640995B (en) * | 2021-09-10 | 2022-07-22 | 江西恒必达实业有限公司 | VR somatosensory device capable of reducing natural environment in person |
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