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A virtual reality tactile feedback device based on ros system

A virtual reality, haptic feedback technology, applied in the input/output process of instruments, data processing, user/computer interaction input/output, etc., can solve the problem of not achieving hand motion control, lack of experience effect, poor mobility, etc. , to increase the fun, small size, easy to carry

Active Publication Date: 2021-01-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the feedback of the existing virtual reality technology focuses on physical feedback such as vibration feedback. This feedback method is to manipulate a certain object in the virtual world as a person, and there will be a corresponding vibration feeling in reality. This implementation method has shortcomings. If there are external objects in the virtual world, which are not controlled by yourself, it is often difficult to achieve impacts on the characters you control or to make your hands make specific movements, and the current virtual feedback technology is all about force feedback. Accurately achieve precise feedback control of human hand movements, some only simulate the feeling of the hand and do not achieve the movement control of the hand. Now the traditional physical-oriented pressure tactile feedback is generally large in size, poor in mobility, and the experience effect is often not improved.

Method used

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  • A virtual reality tactile feedback device based on ros system
  • A virtual reality tactile feedback device based on ros system
  • A virtual reality tactile feedback device based on ros system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049] Embodiment 1 of the present invention provides a virtual reality haptic feedback device based on a ROS system, such as figure 1 shown, the feedback device includes:

[0050] The control unit 1 is used to receive the data transmitted by the ROS system, process it, and send an output voltage instruction to the digital-to-analog conversion unit 2 according to the processing result;

[0051]A digital-to-analog conversion unit 2 for outputting voltage;

[0052] The voltage-current conversion unit 3 is used for receiving the voltage output by the digital-to-analog conversion unit 2, and calculates a constant current and sends it to the array type stimulating electrode glove 4; the constant current I is calculated by the following formula:

[0053] I=U 1 -U 0 / R 0

[0054] U 1 is the input voltage, U 0 is the fixed resistor voltage, R 0 is a fixed resistance;

[0055] The array type stimulating electrode glove 4 is used for the user to wear and outputs a constant curr...

Embodiment 2

[0058] Embodiment 2 of the present invention provides a virtual reality haptic feedback device based on a ROS system, which is basically the same as that of Embodiment 1, except that, as figure 2 As shown, the control unit 1 includes:

[0059] The information receiving module 11 is used to receive the data transmitted by the ROS system;

[0060] The scene screening module 12 is used for screening out the data with the hand scene from the data received by the information receiving module 11;

[0061] Marker identification module 13, used to filter out the data with the mark from the data with the hand scene;

[0062] The hand posture judgment module 14 is used for judging the hand posture from the marked data, and obtains the hand posture data, the hand posture data includes the hand movement angle J 1 ;

[0063] The voltage processing module 15 is configured to send an instruction of outputting the voltage to the digital-to-analog conversion unit 2 according to the relatio...

Embodiment 3

[0066] Embodiment 3 of the present invention provides a virtual reality haptic feedback device based on a ROS system, which is basically the same as that of embodiment 2, except that, as image 3 As shown, the feedback device further includes:

[0067] The initial current setting unit 5 is used to respectively set the maximum current value I for each user 大 and the minimum current value I 小 ;Because the physique of different people is different, the impedance of the human body and the feeling of the human body are also different, so each person must initialize the acceptable stimulation parameters, which are set through the adjustable buttons on the feedback device. The maximum current value and the minimum value current value, so as to avoid accidents during the experience;

[0068] The current detection unit 6 is used to record the constant current output by the voltage-current conversion unit 3 and send it to the control unit 1; to ensure that the output constant current ...

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Abstract

The invention provides an ROS system-based virtual reality tactile feedback device. The feedback device comprises a control unit, a digital-analog conversion unit, a voltage-current conversion unit and array stimulating electrode gloves. The feedback device realizes that variable current stimulation controls a human hand to realize a grasp action under non-autonomous consciousness and simulate a reality sense; corresponding collision is made for the hand to change the action of the hand in virtual reality; and the action of the hand of a human body is correspondingly changed autonomously in reality.

Description

technical field [0001] The invention belongs to the field of virtual reality feedback devices, in particular to a virtual reality haptic feedback device based on a ROS system. Background technique [0002] ROS System The abbreviation of ROS Robot Operating System is a robot software platform that provides some standard operating system services, such as hardware abstraction, low-level device control, routine function implementation, inter-process messages, and packet management. The ROS system is based on an image architecture, so that processes of different nodes can receive, publish, and aggregate various information. [0003] Virtual reality technology VR is the use of computer simulation to generate a virtual world of three-dimensional space, providing users with the simulation of visual, auditory, tactile and other senses, so that users can observe the real objects in three-dimensional space in a timely and unlimited manner as if they are in the real world. Virtual rea...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F3/01
CPCG06F3/016G06F3/017G06F2203/012
Inventor 吕晓东高兆龙戴传凯汤戎昱何际平
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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