CN110794953A - Haptic feedback system using biomimetic ligaments - Google Patents

Abstract

The invention discloses a touch feedback system applied to virtual reality, which comprises a line concentration device, a feedback point wearing device group, a bionic ligament group, a power device and a micro control unit. The feedback point wearing device set comprises a plurality of wearing devices and is worn on a plurality of feedback parts by a user. The bionic ligament group comprises a plurality of bionic ligaments, wherein the first ends of the bionic ligaments are fixed on a corresponding feedback point wearing device, and the second ends of the bionic ligaments are contained in the line concentration device. The power device is used for applying a plurality of groups of pulling forces to the plurality of bionic ligaments. The micro control unit is used for indicating the power device to adjust a plurality of groups of tensile force values according to the virtual reality situation, and further providing corresponding touch feedback for each feedback part. Therefore, the virtual reality haptic feedback system uses the bionic ligament with light weight, the accuracy of applying the haptic feedback cannot be influenced by sweat, and the body of a user cannot be injured.

Description

Haptic feedback system using bionic ligaments

technical field

The invention relates to a haptic feedback system, in particular to a virtual reality haptic feedback system using bionic ligaments.

Background technique

Virtual reality (VR) uses computer technology to simulate a three-dimensional and high-fidelity three-dimensional space. When a user wears a special display device to enter, it will produce the illusion of being in reality. In this virtual reality space, the operator can interact with virtual objects or other players.

In addition to virtual reality headsets, some manufacturers have also launched virtual reality gloves, which aim to replace the handlebar operation control with more accurate gesture recognition. On the other hand, in order to simulate situations such as shooting recoil in virtual reality games, extracting the weight of objects, or the feedback force of the steering wheel during racing, some manufacturers use electrical musclestimulation (EMS) technology to provide virtual reality haptic feedback. The principle of myoelectric current is similar to electrotherapy in medical applications. The conductive patch is used to stimulate the muscles to a certain extent to produce muscle contraction behavior. For example, when the user picks up heavy objects in the virtual reality world, the controller sends instructions to stimulate the virtual reality gloves. The specific electrodes in the device stimulate the contraction of muscle fibers in specific areas, so that the user can get the tactile feedback of being pulled by a heavy object. However, the application of myoelectric technology in the field of virtual reality has its limitations. In addition to sweat easily changing the conductivity between the electrode patch and the skin, which affects the accuracy, the material of the electrode patch can cause uncomfortable allergic reactions to some people. In addition, since users are likely to play virtual reality games for a long time, the frequent use of myoelectric technology to provide tactile feedback may cause burns to the muscles. users may also cause accidents.

SUMMARY OF THE INVENTION

In view of the above-mentioned problems of the prior art, an object of the present invention is to provide a light weight. The accuracy of applying haptic feedback will not be affected by sweat, and the haptic feedback system will not cause any harm to the user's body.

In order to achieve the above object, the present invention discloses a tactile feedback system using bionic ligaments, which includes a wire hub device, a feedback point wearing device group, a bionic ligament group, a power device, and a micro-control unit. The feedback point wearing device group includes a feedback point wearing device, which is worn by a user at a feedback part. The bionic ligament group includes a bionic ligament, the first end of which is fixed on the feedback point wearing device, and the second end of which is accommodated in the hub device. The power device is used to exert a pulling force on the bionic ligament. The micro-control unit is used for instructing the power device to adjust the value of the pulling force according to a virtual reality situation, so as to provide a tactile feedback to the feedback part.

Description of drawings

FIG. 1 is a functional block diagram of a haptic feedback system applied to virtual reality in an embodiment of the present invention.

2 to 4 are schematic diagrams of the implementation of the haptic feedback system according to the embodiment of the present invention.

FIG. 5 is a schematic diagram of a linking manner of each device in a haptic feedback system according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of possible hand movements of a user in a virtual reality application according to an embodiment of the present invention.

FIG. 7 and FIG. 8 are schematic diagrams illustrating an implementation manner of a relay wearable device group in an embodiment of the present invention.

Among them, the reference numerals are described as follows:

5 casing

6 stitches

10 Bionic Ligament Sets

11～18 Bionic ligament

20 Feedback Point Wearable Device Set

21 Left wristband

22 Right wristband

23 Left Ankle Sleeve

24 Right Ankle Sleeve

30 Relay wearable device group

31 Left elbow cover

32 Right Elbow Cover

40 Optical Ruler

50 Powerplant

60 Hubs

70 Microcontrollers

100 Haptic Feedback System

S1～S3 Arrow

Detailed ways

FIG. 1 is a functional block diagram of a haptic feedback system 100 applied to virtual reality according to an embodiment of the present invention. The haptic feedback system 100 includes a bionic tendon set 10 , a feedback point wearable device set 20 , a relay wearable device set 30 , an optical ruler 40 , a power device 50 , a hub device 60 , and a micro-controller Unit (microcontroller unit, MCU) 70 .

The feedback point wearable device group 20 may include a plurality of wearable devices, which are worn by the user on different feedback parts of the body. The bionic ligament group 10 includes a plurality of bionic ligaments, the first end of each bionic ligament is fixed to a corresponding wearable device in the feedback point wearable device group 20 , and the second end is stored in the hub device 60 . According to the situation of virtual reality, the micro-control unit 70 can instruct the power device 50 to pull or relax the corresponding bionic ligaments in the bionic ligament group 10 , and the user can feel the vibration/impact in different parts of the body with different frequencies and strengths of tension. /weight and other haptic feedback. The relay wearable device group 30 includes a plurality of relay wearable devices, which are respectively worn by the user between different feedback parts of the body and the hub device 60 , so that the bionic ligament group 10 can be closely attached to the human body without being detached. It will not affect the process of pulling or loosening the bionic ligament. Under a specific pulling force, the optical ruler 40 can record the force state between the power device 50 and the bionic ligament group 10, so that the micro-control unit 70 can judge the current action of the user.

In the embodiment of the present invention, the feedback point wearable device group 20 may include wearable devices such as wrist wraps, ankle wraps, or chest straps, and the relay wearable device group 30 may include wearable devices such as knee wraps or elbow wraps. However, the types of the feedback point wearable device group 20 and the relay wearable device group 30 do not limit the scope of the present invention.

2 to 4 are schematic diagrams of the implementation of the haptic feedback system 100 according to the embodiment of the present invention. 2 shows a front view of the user wearing the haptic feedback system 100 , FIG. 3 shows a rear view of the user wearing the haptic feedback system 100 , and FIG. 5 shows a side view of the user wearing the haptic feedback system 100 .

In the embodiments shown in FIGS. 2 to 4 , the bionic ligament group 10 includes bionic ligaments 11 to 18 , and the feedback point wearing device group 20 includes a left wrist cover 21 , a right wrist cover 22 , a left ankle cover 23 , and a right ankle cover A sleeve 24 and a chest strap 25 , and the relay wearing device group 30 includes a left elbow sleeve 31 and a right elbow sleeve 32 . The hub device 60 can be implemented as a backpack, and can accommodate the optical ruler 40 , the power device 50 and the micro-control unit 70 (not shown in FIGS. 2 to 4 ).

FIG. 5 is a schematic diagram of a linking manner of each device in the haptic feedback system 100 according to an embodiment of the present invention. The first ends of the bionic ligaments 11 to 12 are fixed to the left wrist cuff 21 , the central part passes through the left elbow cuff 31 , and the second ends are accommodated in the hub device 60 . The first ends of the bionic ligaments 13 to 14 are fixed to the right wrist cuff 22 , the central part passes through the right elbow cuff 32 , and the second ends are accommodated in the hub device 60 . The first end of the bionic ligament 15 is fixed to the left ankle sleeve 23 , and the second end is accommodated in the hub device 60 . The first end of the bionic ligament 16 is fixed to the right ankle sleeve 24 , and the second end is received in the hub device 60 . When the power device 50 pulls the bionic ligaments 11-16 with different frequencies and forces (as indicated by arrows S1-S3), the user can feel vibration/impact/weight and other tactile feedback in the left and right hands and left and right legs.

Similarly, as shown in FIG. 4 , when the power device 50 pulls the bionic ligaments 17 to 18 with different frequencies and forces to change the pressure exerted by the chest belt 25 on the front chest, the user can feel the pressure on the front chest. Haptic feedback such as vibration/shock/weight.

FIG. 6 is a schematic diagram of possible hand movements of a user in a virtual reality application according to an embodiment of the present invention. The left elbow cover 31 and the right elbow cover 32 of the relay wearable device group 30 can ensure that the bionic ligaments 11-14 can be closely attached to the left and right arms of the user, and will not be detached due to different hand movements.

FIG. 7 and FIG. 8 are schematic diagrams of the implementation manner of the relay wearable device group 30 in the embodiment of the present invention. 7 and 8 show top views of the left elbow cuff 31 or the right elbow cuff 32 of FIG. 5 along the arrow S1 or S2. In order to allow the bionic ligaments 11 to 14 to move freely in the left elbow cuff 31 and the right elbow cuff 32 , a sleeve 5 with a smooth surface is provided in the relay wearing device group 30 . In the embodiment shown in FIG. 7 , the sleeve 5 and the relay wearable device group 30 can be combined with sutures 6 , so the bionic ligaments 11 to 14 can be pulled on the corresponding sleeve 5 according to the pulling force of the power device 50 . move within. In the embodiment shown in FIG. 8 , the sleeve 5 can be directly embedded in the material of the relay wearable device group 30 by using the embedded injection molding technology, so the bionic ligaments 11 to 16 can respond to the pulling force of the power device 50 Move within the corresponding sleeve 5 . However, the combination method and material of the sleeve 5 and the relay wearing device group 30 do not limit the scope of the present invention.

In the embodiments shown in FIGS. 2 to 4 , the relay wearing device group 30 includes a left elbow cover 31 and a right elbow cover 32 . In other embodiments of the present invention, the relay wearing device group 30 may further include a left knee cover and a right knee cover, which are respectively worn by the user on the left knee and the right knee to allow the bionic ligaments 15 and 16 to pass through respectively, and then Make sure that the bionic ligaments 15 and 16 can fit closely with the user's left and right legs, and will not be detached due to different leg movements.

In the embodiment of the present invention, the power device 50 may include a gear set, which pulls the corresponding bionic ligaments with different frequencies and strengths according to the virtual reality situation, thereby providing corresponding hand feedback, foot feedback or Chest Feedback. In another embodiment of the present invention, the gear set of the power device 50 may further provide a damping function, so as to increase or decrease the resistance of the user's actions according to the virtual reality situation. For example, in a virtual game, when the player is injured or bears a heavy object, the power device 50 can increase the resistance that each part of the user's body receives when pulling the bionic ligament through the damping function. In one embodiment, the gear set of the powerplant 50 may utilize multiple sets of gears similar to a bicycle derailleur to provide the damping function. In another embodiment, the powerplant 50 may utilize an opening and closing plate similar to a locomotive shifting mechanism to provide the damping function. However, the manner in which the power plant 50 provides the damping function does not limit the scope of the present invention.

In the embodiment of the present invention, under a specific tension, the optical ruler 40 can record the force state between the power device 50 and the bionic ligament group 10, so that the micro-control unit 70 can execute a calibration procedure or determine the current action of the user.

For differences in body shapes or movements of different users, the haptic feedback system 100 in the embodiment of the present invention may first perform a calibration procedure. After the user wears the haptic feedback system 100, the micro-control unit 70 instructs the power device 50 to apply a fixed pulling force to the bionic ligament group 10, and then instructs the user to perform some basic actions. The optical scale 40 can record the gear scale in the power device 50 to obtain the deformation amount of the bionic ligament in different parts under different basic movements, and then adjust the force when applying the haptic feedback when executing the virtual reality application. In addition, in the process of executing the virtual reality application, the micro-control unit 70 can also determine the user's action according to the information recorded by the optical scale 40 and the data obtained by the previous calibration program.

In summary, the present invention provides a tactile feedback system using bionic ligaments. Multiple bionic ligaments can be fixed to different feedback points on the user's body through multiple sets of wearable devices, and the power device can be used for pulling force with different frequencies and strengths. Pulling the bionic ligament allows the user to feel tactile feedback such as vibration/shock/weight at the corresponding feedback point. The light weight of the bionic ligament will not affect the accuracy of applying tactile feedback due to sweat, nor will it cause any harm to the user's body.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A haptic feedback system using a biomimetic ligament, comprising:

a line concentration device;

a feedback point wearing device group which comprises a first feedback point wearing device worn on a first feedback part by a user;

the bionic ligament group comprises a first bionic ligament, wherein a first end of the first bionic ligament is fixed on the first feedback point wearing device, and a second end of the first bionic ligament is accommodated in the line concentration device;

the power device is used for applying a first pulling force to the first bionic ligament; and

the micro control unit is used for indicating the power device to adjust the value of the first pulling force according to a virtual reality situation so as to provide first tactile feedback for the first feedback part.

2. A haptic feedback system as recited in claim 1 wherein said first feedback point wearing device is a wrist band or an ankle band and said first feedback portion is a wrist or an ankle of said user.

3. The haptic feedback system of claim 1 wherein:

the bionic ligament group further comprises a second bionic ligament, the first end of the second bionic ligament is fixed on the first feedback point wearing device, and the second end of the second bionic ligament is accommodated in the line concentration device; and is

The power device is further used for applying the first pulling force to the second bionic ligament.

4. A haptic feedback system as recited in claim 3 wherein said first feedback point wearing device is a wristband or a chest strap and said first feedback portion is a wrist or an anterior chest of said user.

5. A haptic feedback system as in claim 3 further comprising a relay wearing device worn by the user at a relay location for providing a first channel and a second channel for passing the first and second biomimetic ligaments, respectively, wherein the relay location is located between the first feedback location and the hub device.

6. A haptic feedback system as recited in claim 5 wherein said first feedback point wearing device is a wrist or ankle cuff, said relay wearing device is an elbow or knee cuff, and said first feedback point is a wrist or ankle of said user.

7. The haptic feedback system of claim 5 further comprising a first sleeve and a second sleeve sewn to the relay-donning device to provide the first channel and the second channel, respectively, or embedded in the material of the relay-donning device to provide the first channel and the second channel, respectively, by an insert injection molding technique.

8. The haptic feedback system of claim 1 wherein:

the feedback point wearing device set further comprises a second feedback point wearing device which is worn on a second feedback part by the user;

the bionic ligament group further comprises a second bionic ligament, the first end of the second bionic ligament is fixed on the second feedback point wearing device, and the second end of the second bionic ligament is accommodated in the line concentration device;

the power device is used for applying a second pulling force to the second bionic ligament; and is

The micro control unit is further used for instructing the power device to adjust the value of the second pulling force according to the virtual reality situation, and further providing a second tactile feedback for the second feedback part.

9. A haptic feedback system as in claim 1 wherein the power device includes a gear set that uses multiple sets of gears or an open and close disk configuration to provide a damping.

10. The haptic feedback system of claim 9 further comprising:

and the optical ruler is used for recording the scales of the gear set so as to obtain the deformation quantity of the first bionic ligament.

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