CN111176455B - Flexible tactile feedback device for temperature and texture consistency presentation - Google Patents
Flexible tactile feedback device for temperature and texture consistency presentation Download PDFInfo
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- CN111176455B CN111176455B CN202010013318.9A CN202010013318A CN111176455B CN 111176455 B CN111176455 B CN 111176455B CN 202010013318 A CN202010013318 A CN 202010013318A CN 111176455 B CN111176455 B CN 111176455B
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; 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
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
- G01K7/22—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a non-linear resistance, e.g. thermistor
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Abstract
本发明的技术方案是提供一种温度和纹理一致性呈现的柔性触觉反馈装置，是由触摸模块、控制模块和散热驱动模块组成；触摸模块是可弯曲的薄片状，能够提供温度反馈和模拟纹理触感的静电振动刺激；该触觉模块包括柔性静电振动薄膜、柔性制冷片、柔性散热器、导热硅脂、散热翅柱和温度传感器；该控制模块包括温度驱动器和静电振动驱动器。该散热驱动模块包括水泵和水管。本发明具有可弯曲的特征，允许用户以揉搓滑动的交互方式感受产生的触觉反馈，能够贴合在曲面物体表面实现触觉反馈功能；实现了温度和纹理信息的联合反馈，更加逼真的触觉反馈效果，其中模拟纹理的静电振动刺激是一种物理刺激，不会对人体产生电击伤害。
The technical solution of the present invention is to provide a flexible tactile feedback device with consistent presentation of temperature and texture, which is composed of a touch module, a control module and a heat dissipation drive module; the touch module is a flexible sheet, which can provide temperature feedback and simulate texture touch-sensitive electrostatic vibration stimulation; the haptic module includes a flexible electrostatic vibration film, a flexible cooling sheet, a flexible heat sink, a thermal conductive silicone grease, a heat dissipation fin and a temperature sensor; the control module includes a temperature driver and an electrostatic vibration driver. The cooling drive module includes a water pump and a water pipe. The present invention has the feature of being bendable, allowing users to feel the tactile feedback in the interactive way of rubbing and sliding, and can fit on the surface of a curved object to realize the tactile feedback function; realize the joint feedback of temperature and texture information, and achieve a more realistic tactile feedback effect , in which the electrostatic vibration stimulation of the simulated texture is a kind of physical stimulation, which will not cause electric shock damage to the human body.
Description
Technical Field
The invention provides a flexible tactile feedback device for showing temperature and texture consistency, relates to a bendable temperature and texture tactile feedback device, and belongs to the technical field of human-computer interaction.
Background
In virtual reality shopping, people have strong demands for being able to touch the material of the commodity. For example, when purchasing goods such as clothes in a virtual reality environment, people naturally feel the material of the clothes by touching the virtual clothes in accordance with the habit of shopping in a shopping mall.
In real environments, when a person touches real clothes, the temperature and texture touch senses are always coupled and cannot be peeled. The above facts indicate that simulating temperature and texture simultaneously seems to provide a more realistic texture feel in a virtual reality environment. Chinese invention patent (application publication No. CN 106708262A) discloses an electronic device and a tactile feedback device thereof, wherein a tactile output module includes an inductive stimulation generator and a temperature controller. The human body can be felt by tactile textures through electric stimulation, and the temperature controller can simulate the heat conductivity coefficients of different materials. The way of simulating the texture by electrical stimulation does not conform to the natural interaction way of sliding and touching the real texture by people, and potential electric shock injury exists.
In addition, since a cloth product such as clothes is flexible, in order to make a habit of purchasing clothes in a shopping mall naturally shift to virtual reality, the tactile sensation generation device needs to have flexibility and allow the user to feel tactile sensation by rubbing and sliding the fingers. Most current devices that provide texture and temperature feedback are rigid or do not provide a kneading slip interaction.
Disclosure of Invention
The purpose of the invention is as follows:
the present invention aims to overcome the drawbacks of the prior art and to provide a flexible tactile feedback device with combined temperature and electrostatic vibration feedback, allowing the user to experience realistic temperature and texture feedback in a rubbing-sliding interactive manner.
The technical scheme is as follows:
the technical scheme of the invention is to provide a flexible tactile feedback device for showing temperature and texture consistency, which consists of a touch module, a control module and a heat dissipation driving module; the touch module is a bendable sheet and can provide temperature feedback and electrostatic vibration feedback for simulating texture touch feeling, the control module provides driving signals required by the temperature feedback and the electrostatic vibration feedback, and the heat dissipation driving module is used for dissipating heat of the touch module;
the touch module comprises a flexible electrostatic vibration film (1), a temperature sensor (2), a flexible refrigerating sheet (3), a flexible radiator (4), heat-conducting silicone grease (9) and radiating finned columns (10); the connection relationship is as follows: the bottom surface of the flexible electrostatic vibration film (1) is tightly attached to the cold surface of the flexible refrigeration sheet (3) through the heat conduction silicone grease (9), the periphery of the flexible refrigeration sheet (3) is tightly attached to the flexible radiator (4), the flexible refrigeration sheet (3) is embedded in the groove of the flexible radiator (4), and then the flexible radiator (4) forms a hollow structure with a cavity water channel; the temperature sensor (2) is tightly attached to the top surface of the flexible electrostatic vibration film (1); in order to increase the disturbance degree of water flow in the flexible radiator (4) to enhance the heat dissipation capacity of the flexible radiator, the heat dissipation finned columns (10) are uniformly distributed on the hot surface of the flexible refrigeration sheet (3);
the control module comprises a temperature driver (5) and an electrostatic vibration driver (6); the temperature driver (5) and the electrostatic vibration driver (6) are independent of each other; the temperature driver (5) is connected with the flexible refrigerating sheet (3) and the temperature sensor (2) through a lead, and sends a specific electric signal to control the temperature of the flexible refrigerating sheet (3) in a closed loop mode according to the information of the temperature sensor (2); the electrostatic vibration driver (6) is connected with the flexible electrostatic vibration film (1) through a lead and sends a specific electric signal to drive the electrostatic vibration film to generate electrostatic vibration feedback;
the heat dissipation driving module comprises a water pump (7) and a water pipe (8); the water pump (7) is connected with the flexible radiator (4) in two directions through a water pipe (8);
the flexible electrostatic vibration film (1) is of a three-layer film structure and comprises the following components in parts by weight: a substrate, a conductive layer and an insulating layer; the thickness of the conductive layer is less than 100 microns, and the optimal material is a flat copper foil; the thickness range of the insulating layer is 2-10 microns, and the optimal scheme is that a layer of polyimide is spin-coated on the surface of the copper foil by a spin coating method; the substrate is high heat conduction nano carbon, and the thickness is less than 50 microns;
the temperature sensor (2) adopts a contact temperature sensor with high dynamic response, and preferably, the temperature sensor is a thermistor temperature sensor;
the flexible refrigeration sheet (3) is an existing product, can adopt a flexible refrigeration sheet which is developed by Korea TEGway company and has the model of FTE1-01, has a rectangular sheet structure and is divided into a cold surface and a hot surface;
the flexible radiator (4) is in a hollow cuboid structure with 3 water channels, does not have an upper surface and is provided with a water inlet and a water outlet; the preferred material is Dragon skin series silicone rubber from Smooth-On, Inc;
the temperature driver (5) is an existing product, can adopt a dual-channel temperature controller of Chengdu Xixian technology Limited company, and has the model of TCM-M207;
the electrostatic vibration driver (6) adopts a signal generator to generate a low-voltage signal, and the low-voltage signal is amplified by a high-voltage amplifier to generate an electrostatic vibration driving signal; the signal generator is required to be capable of generating square wave voltage signals with the frequency range of 0-20000Hz and the amplitude range of +/-10, and the high-voltage amplifier at least has 60 times of voltage amplification capacity;
the water pump (7) adopts a speed-adjustable water pump with the head of more than 3m, and can select the existing product; the preferred model is PU-SC800 from FREEZE corporation;
the water pipe (8) is made of a soft plastic pipe, and the preferred size is that the inner diameter is 4mm, and the outer diameter is 6 mm;
the heat-conducting silicone grease (9) adopts nano diamond silicone grease (such as nano diamond silicone grease of Innovation coating LLC);
the structure of the radiating fin column (10) is a 3 x 3mm cube, and the hot surface of the flexible refrigerating sheet (8) is fully paved to form an array, and the preferred material is copper;
according to the scheme, the proper driving signals are applied, and when the finger of a user rubs and slides on the surface of the touch module, the temperature and texture tactile feedback can be sensed at the same time.
The advantages and effects are as follows:
the beneficial effects produced by the invention are as follows:
1. the texture simulation mode through electrical stimulation is not consistent with the natural interaction mode of sliding touch of people on real textures, and irreversible electric shock injury is easily caused to people. The invention can realize the combined feedback of temperature and texture information at the same time and at the same position, can provide more vivid tactile feedback effect, and most importantly, the electrostatic vibration stimulation for simulating the texture is physical stimulation, essentially friction stimulation and can not generate electric shock injury to human bodies.
2. The invention discloses a temperature feedback device for realizing electrostatic vibration effect simulation tactile texture on a rigid structure and based on Peltier effect on the rigid structure. But flexible tactile feedback that can provide both temperature and texture feedback, and that allows the user to generate tactile sensations on flexible, bendable devices in accordance with the store's custom of purchasing clothing, a means of feeling virtual tactile sensations in a rubbing-and-slide fashion, does not appear. The invention provides a flexible tactile feedback device capable of constantly presenting temperature and texture information in time and space. The touch module of the device is of a flexible material and allows the user to feel the generated tactile feedback in a rubbing-sliding interactive manner. In addition, the invention has the characteristic of being bendable, so that the invention can be attached to the surface of a curved object to realize the function of tactile feedback.
Drawings
FIG. 1 is a schematic view of the structure of the apparatus of the present invention.
FIG. 2 is a schematic diagram of a flexible touch module of the present invention.
Fig. 3 is an exploded view of the touch area of the present invention.
FIG. 4 is a schematic top view of a flexible heat sink of the present invention.
FIG. 5 is a schematic view of the position of the heat dissipating fin of the present invention.
The numbers, symbols and codes in the figures are explained as follows:
1 flexible electrostatic vibration film; 2 a temperature sensor; 3, a flexible refrigeration sheet; 4 a flexible heat sink;
5 a temperature driver; 6 an electrostatic vibration driver; 7, a water pump; 8, a water pipe; 9, heat-conducting silicone grease;
10 radiating fin columns;
Detailed Description
The invention relates to a flexible tactile feedback device with consistent temperature and texture, which has a structural schematic diagram shown in figure 1 and consists of a touch module, a control module and a heat dissipation driving module; the touch module is a bendable sheet and can provide temperature feedback and electrostatic vibration feedback for simulating texture touch feeling, the control module provides driving signals required by the temperature feedback and the electrostatic vibration feedback, and the heat dissipation driving module is used for dissipating heat of the touch module;
the touch module comprises a flexible electrostatic vibration film 1, a temperature sensor 2, a flexible refrigeration sheet 3, a flexible radiator 4, heat-conducting silicone grease 9 and a radiating fin column 10, and the overall schematic diagram of the touch module is shown in fig. 2.
The flexible electrostatic vibration film 1 is divided into three layers: a substrate, a conductive layer, and an insulating layer. To reduce the effect of the thickness of the conductive layer on the flexibility of the device, the thickness of the conductive layer should be less than 100 microns, and the optimal solution is to use a flat copper foil as the conductive layer. The thickness of the insulating layer is 2-10 microns, and the optimal scheme is that a layer of 2-micron polyimide is spin-coated on the surface of the copper foil by a spin coating method. In order to improve the heat conduction efficiency of the copper foil, the substrate is made of high-heat-conduction nano carbon, and the thickness of the substrate is less than 50 microns. As shown in fig. 3, the bottom surface of the flexible electrostatic vibration film 1 is closely attached to the cold surface of the flexible cooling sheet 3 through the heat conductive silicone grease 9, the periphery of the flexible cooling sheet 3 is closely attached to the flexible heat sink 4, and the hot surface of the flexible cooling sheet is immersed in the hollow portion of the flexible heat sink 4. As shown in fig. 4, the flexible radiator 4 is hollow inside, has three water channels connected in series, and has a water inlet and a water outlet on the outside. Because the internal structure of the flexible radiator is complex and needs to have greater flexibility, the optimal implementation scheme is that the flexible radiator is integrally molded by silicon rubber casting, namely a mould of the flexible radiator 4 is manufactured by 3D printing, and then Dragon skin series silicon rubber of Smooth-On, Inc. In order to increase the disturbance degree of the water flow in the flexible radiator 4 to enhance the heat dissipation capability thereof, the heat surface of the flexible refrigeration sheet 3 is uniformly distributed with the heat dissipation finned columns 10, and the optimal scheme is to use tiny copper blocks as the heat dissipation finned columns 10 and uniformly stick the tiny copper blocks to the heat surface of the flexible refrigeration sheet 3 (as shown in fig. 5). The temperature sensor 2 is used to measure the surface temperature of the flexible electrostatic vibration film 1 and return the measured value to the temperature driver 5 to realize closed-loop control of the temperature. Since the present invention requires a high temperature response to simulate the temperature change of a finger in contact with a material, the temperature sensor requires high sensitivity and low thermal inertia. In order to meet these requirements, the optimal solution of the temperature sensor 2 is to use two NTC thermistor temperature sensors, which are placed on the surface of the flexible electrostatic vibration film 1 and covered with heat-conducting silicone grease to ensure tight connection.
The control module in the present invention includes a temperature driver 5 and an electrostatic vibration driver 6. The temperature driver 5 and the electrostatic vibration driver 6 are independent of each other;
the temperature driver 5 is connected with the flexible refrigeration piece 3 and the temperature sensor 2 through a lead, and sends a specific electric signal to control the temperature of the flexible refrigeration piece in a closed loop mode according to the information of the temperature sensor 2; the preferred scheme of the temperature driver 5 is to select the existing product, can adopt a dual-channel temperature controller of Chengdu industry virtuous technology Limited company, and the model is TCM-M207; the electrostatic vibration driver 6 is capable of generating a square wave voltage signal with an amplitude in the range of + -300V and a frequency in the range of 1-20000 Hz. The optimal implementation scheme is that a signal generator generates square wave voltage signals, the amplitude range is +/-10, the voltage amplitude is amplified by 60 times through a high-voltage amplifier, and the amplified signals are applied to the flexible electrostatic vibration film 1 through a lead.
The heat dissipation driving module comprises a water pump 7 and a water pipe 8; for carrying away heat from the touch module.
The water pump 7 is connected with the water inlet pipe and the water outlet pipe of the flexible radiator 4 through the water pipe 8 to form a closed loop, the water pump drives water flow, and the water flow flows through the hot surface of the flexible refrigeration sheet 3 to take away heat on the hot surface of the flexible refrigeration sheet 3
Since the touch module of the present invention is made of flexible material and forms a sheet structure, the user's fingers can use the device in a rubbing and sliding interactive manner, and the user can feel temperature and texture tactile feedback at the same time and at the same position as touching a real object, applying an appropriate driving signal.
Claims (6)
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| CN115904058A (en) * | 2021-09-29 | 2023-04-04 | 北京京东方技术开发有限公司 | Apparatus and method for measuring surface sensory characteristics of a material |
| CN113934306B (en) * | 2021-11-02 | 2023-11-03 | 北京航空航天大学 | A mouse device that provides textured tactile feedback |
| CN114895794A (en) * | 2022-06-20 | 2022-08-12 | 北京航空航天大学 | Transparent tactile feedback skin device and application system thereof |
| CN114942695B (en) * | 2022-06-20 | 2024-08-06 | 北京航空航天大学 | Flexible multi-mode touch presentation device and system based on fluid driving |
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