KR102707600B1 - Retrotactile reproduction system and driving method thereof - Google Patents

Abstract

A tactile reproduction system according to various embodiments of the present invention may include an electrical stimulation module that generates an electrical signal; a heating module that generates a temperature change; a hardness module that generates a volume change; and a driving module that drives the electrical stimulation module, the heating module, and the hardness module.
A driving method of a tactile reproduction system according to various embodiments of the present invention may include: a step of receiving object surface information and personalized tactile information; a step of determining a magnitude of a voltage applied to an electrical stimulation module; a step of determining a magnitude of a voltage to be applied to a heating module; a step of determining a stopper height of a hardness module; and a step of driving the system.

Description

{Retrotactile reproduction system and driving method thereof}

Various embodiments of the present invention relate to a tactile reproduction system and a method for driving the same, and more particularly, to a tactile reproduction system capable of comprehensively conveying texture, temperature, hardness, etc. of an object and a method for driving the same.

Extended Reality (XR) refers to all virtual combinations created by computer technology and wearable devices, and is a concept that includes Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR). As the extended reality (XR) market grows, demand for tactile reproduction technology that inputs and reproduces data related to the five senses of humans is also increasing.

Previously, research was conducted to provide stimulation based on vibration-based haptics, ultrasonic stimulation, pin type stimulation, etc., but they had the disadvantage of being very different from the tactile sensation felt by humans.

Publication of Patent Publication No. 10-2018-0123525 (November 16, 2018) Publication of Patent Publication No. 10-2001-0063411 (July 9, 2001) Publication of Patent Publication No. 10-2021-0125790 (October 19, 2021) Patent Registration No. 10-2235905 (April 2, 2021)

The present invention is intended to solve the above-described problem, and to provide a tactile reproduction system capable of providing a virtual tactile signal to a user and comprehensively conveying the texture, temperature, hardness, etc. of an object, and a method for operating the same.

A tactile reproduction system according to various embodiments of the present invention may include an electrical stimulation module that generates an electrical signal; a heating module that generates a temperature change; a hardness module that generates a volume change; and a driving module that drives the electrical stimulation module, the heating module, and the hardness module.

A driving method of a tactile reproduction system according to various embodiments of the present invention may include: a step of receiving object surface information and personalized tactile information; a step of determining a magnitude of a voltage applied to an electrical stimulation module; a step of determining a magnitude of a voltage to be applied to a heating module; a step of determining a stopper height of a hardness module; and a step of driving the system.

The tactile reproduction system according to various embodiments of the present invention can provide a virtual tactile signal to the user. That is, by stimulating the tactile receptors of the user by applying electrical stimulation to the user's skin, an electrical signal similar to that when touching an actual object can be transmitted to the brain. Therefore, the sense of alienation can be reduced compared to the existing haptic, ultrasonic, etc. method. In addition, the tactile reproduction system of the present invention can comprehensively transmit the texture, temperature, hardness, etc. of an object. Therefore, it can be effectively utilized in extended reality such as virtual reality or augmented reality.

FIG. 1 is a block diagram of a tactile reproduction system according to one embodiment of the present invention.
FIG. 2 is a perspective view of a tactile reproduction system according to one embodiment of the present invention.
FIG. 3 is an exploded perspective view of a tactile reproduction system according to one embodiment of the present invention.
Figures 4 to 6 are plan views of an electrical stimulation module.
Figure 7 is a plan view of a heating module.
Figure 8 is a plan view and a cross-sectional view of the heating module of Figure 7.
Figure 10 is a perspective view of the hardness module.
Figures 11 and 12 are cross-sectional views taken along line B-B' of Figure 10.
FIG. 13 is a flowchart of an operation method of a tactile reproduction system according to various embodiments of the present invention.

Hereinafter, various embodiments of the present document are described with reference to the attached drawings. It should be understood that the embodiments and terms used herein are not intended to limit the technology described in this document to specific embodiments, but include various modifications, equivalents, and/or substitutes of the embodiments.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

First, a tactile reproduction system according to one embodiment of the present invention will be described with reference to FIGS. 1 and 2.

Referring to FIG. 1, a tactile reproduction system (100) according to one embodiment of the present invention may include an electrical stimulation module (101), a heating module (102), a hardness module (103), and a driving and communication module (104).

The electrical stimulation module (101) is a module that generates an electrical signal. The electrical stimulation module (101) can generate an electrical stimulus for stimulating a user's tactile receptor. Specifically, the electrical stimulation module (101) can stimulate a user's tactile receptor by applying current to the user, and an electrical signal generated thereby can be transmitted to the user's brain to implement a sense of touch. That is, the electrical stimulation module (101) can transmit an artificial sense of touch by applying an electrical stimulus to the user's skin.

The heating module (102) is a module that generates temperature changes. The heating module (102) can allow a user to feel temperature. That is, the heating module (102) can reproduce the temperature characteristics of an object.

The hardness module (103) is a module that causes a change in volume. The hardness module (103) can reproduce the hardness characteristics of an object by causing a change in volume or a change in height.

The driving and communication module (104) may include a driving module (105) and a communication module (106). The driving module (105) may drive the electrical stimulation module (101), the heating module (102), and the hardness module (103). For example, the driving module (105) may drive the electrical stimulation module (101), the heating module (102), and the hardness module (103) by applying an appropriate voltage. The driving module (105) may be equipped with a power source such as a battery.

The communication module (106) can communicate with an external control device, etc. The communication module (106) can communicate with an external control device that stores data related to object surface information and personalized tactile information. The communication module (106) can receive object surface information and personalized tactile information from an external control device and transmit the same to the driving module (105). The driving module (105) can drive the electrical stimulation module (101), the heating module (102), and the hardness module (103) according to the received information. The communication module (106) can include at least one of a cellular module, a WiFi module, or a Bluetooth module.

In the drawing, the drive module (105) and the communication module (106) are depicted as being provided separately from other modules, but the embodiment is not limited thereto and may be provided integrated with other modules.

Referring to FIG. 2, the tactile reproduction system (100) according to one embodiment of the present invention can be implemented with the size of a joint of a human finger. Accordingly, the tactile reproduction systems (100) can be applied to gloves, etc., and can reproduce tactile sensation when a user wears the gloves. Through gloves, etc. to which the tactile reproduction system (100) of the present invention is applied, it can be effectively utilized in extended reality (XR) such as virtual reality (VR) or augmented reality (AR).

FIG. 3 is an exploded perspective view of a tactile reproduction system according to one embodiment of the present invention.

Referring to FIG. 3, a tactile reproduction system (100) according to one embodiment of the present invention may include an electrical stimulation module (101), a heating module (102), a hardness module (103), and a driving and communication module (104).

The electrical stimulation module (101), the heating module (102), and the hardness module (103) can be stacked vertically. Meanwhile, the drive and communication module (104) can be stacked vertically like other modules, or can be arranged horizontally and connected with cables, etc.

The electrical stimulation module (101), the heating module (102), the hardness module (103), and the driving and communication module (104) can be bonded by a flexible printed circuit (FPC) (107). For example, the driving and communication module (104) can apply a voltage signal to the electrical stimulation module (101), the heating module (102), and the hardness module (103) through the FPC (107).

Hereinafter, the electrical stimulation module (101) will be described in detail with reference to FIGS. 4 to 6. FIGS. 4 to 6 are plan views of the electrical stimulation module.

First, referring to FIG. 4, the electrical stimulation module (101) may include a first substrate (110), a first electrode (111), and a second electrode (112). The first electrode (111) may be a driving electrode, and the second electrode (112) may serve as a reference electrode (ground electrode). The first electrode (111) and the second electrode (112) may be spaced apart from each other on the same first substrate (110). The first electrodes (111) and/or the second electrodes (112) may be provided in multiple numbers. For example, the first electrodes (111) may be arranged in multiple numbers on the first substrate (110), and a specific stimulation waveform may be input to each first electrode (111). That is, a voltage of a specific magnitude may be applied to each first electrode (111). The magnitude of the voltage may vary depending on object surface information and personalized tactile information.

The first electrode (111) and the second electrode (112) may include conductive materials such as various metal materials.

In Fig. 4, the first electrode (111) is illustrated as being circular, but the embodiment is not limited thereto, and may have various shapes such as a triangle, a square, a pentagon, a hexagon, a polygon, etc. In addition, the second electrode (112) is illustrated as having a square frame shape, but the embodiment is not limited thereto, and may have various frame shapes such as a circle, a pentagon, a hexagon, a polygon, etc.

Meanwhile, referring to FIG. 5, the electrical stimulation module (101) according to various embodiments of the present invention may include a first substrate (120), a first electrode (121), and a second electrode (122). The first electrodes (121) may be arranged in multiple pieces on the first substrate (120), and the second electrodes (122) may be arranged spaced apart from the first electrodes (121). For example, the second electrodes (122) may be arranged entirely on the first substrate (120) at a certain distance from the edge of the first electrode (121) so as not to overlap. In FIG. 5, the first electrode (121) is illustrated as having a circular shape, but the embodiment is not limited thereto, and may have various shapes such as a triangle, a square, a pentagon, a hexagon, and a polygon.

Meanwhile, referring to FIG. 6, the electrical stimulation module (101) according to various embodiments of the present invention may include a first substrate (130), a first electrode (131), and a second electrode (132). The first electrodes (131) may be arranged in multiple pieces on the first substrate (130), and the second electrodes (132) may be arranged spaced apart from each of the first electrodes (131) while surrounding each of the first electrodes (131). For example, the second electrodes (132) may be arranged in multiple pieces so as to be spaced apart from the edges of each of the first electrodes (131) and not overlap each other. Although the first electrode (131) is illustrated as being circular in FIG. 6, the embodiment is not limited thereto, and may have various shapes such as a triangle, a square, a pentagon, a hexagon, a polygon, etc. In addition, although the edge of the second electrode (132) is illustrated as being rectangular in FIG. 6, the embodiment is not limited thereto, and may have shapes such as a circle, a pentagon, a hexagon, a polygon, etc.

Hereinafter, the heating module (102) will be described in detail with reference to FIGS. 7 and 8. FIG. 7 is a plan view of the heating module. FIG. 8 is a plan view and a cross-sectional view of the heating module.

First, referring to FIG. 7, the heating module (102) is a resistance-type heating module and may include a second substrate (140) and a metal electrode (142). The metal electrode (142) may be entirely arranged on the second substrate (140). The metal electrode (142) may include various metals such as platinum, copper, nickel, iron, manganese, and rhodium as a resistance heating element. When power is applied to the metal electrode (142), heat may be generated and the temperature characteristics of the object may be implemented.

Meanwhile, referring to FIG. 8, the heating module (102) may be a Peltier element. Specifically, the heating module (102) may include a third electrode (144), a fourth electrode (146), a p-type semiconductor (147), and an n-type semiconductor (148). The third electrode (144) and the fourth electrode (146) may be arranged to be spaced apart from each other. The p-type semiconductor (147) and the n-type semiconductor (148) may be arranged to cross between the third electrode (144) and the fourth electrode (146). When voltage is applied to the third electrode (144) and the fourth electrode (146), current flows, holes are generated in the p-type semiconductor (144), and due to the movement of holes and heat, one of the third electrode (144) and the fourth electrode (146) is heated, and the other electrode is cooled. Therefore, the heating module (102) can implement not only high temperature but also low temperature.

Referring to FIG. 9, according to various embodiments, the electrical stimulation module (101) and the heating module (102) may be provided in an integrated module (108) structure. That is, the integrated module (108) may be a module in which a first electrode (111) that generates an electrical signal and a metal electrode (142) as a heating element are formed on a single substrate (140).

Hereinafter, the hardness module (103) will be described in detail with reference to FIGS. 10 to 12. FIG. 10 is a perspective view of the hardness module. FIGS. 11 and 12 are cross-sectional views taken along line B-B' of FIG. 10.

The hardness module (103) may include a fourth substrate (151), a fifth substrate (152), a spring member (153), a stopper (154), and a driving unit (155).

The fourth substrate (151) and the fifth substrate (152) can be positioned spaced apart from each other. At least one of the fourth substrate (151) and the fifth substrate (152) can move up and down.

A plurality of spring members (153) may be arranged between the fourth substrate (151) and the fifth substrate (152). The spring members (153) may have elasticity so that they can be compressed as pressure is applied. The spring members (153) may support the fourth substrate (151).

A plurality of stoppers (154) can be arranged between the fourth substrate (151) and the fifth substrate (152). For example, the stoppers (154) can be arranged at an edge portion between the fourth substrate (151) and the fifth substrate (152). The stoppers (154) can change in height by moving up and down. The driving unit (155) can adjust the height of the stoppers (154).

For example, referring to FIGS. 11 and 12, the height can be changed to H1 or H2 by the driving unit (155) that drives the stopper (154). That is, when the height of the stopper (154) increases to H1 as shown in FIG. 11, the stopper (154) and the fourth substrate (151) come into contact, making it difficult to move the fourth substrate (151) up and down. Therefore, the height of the stopper (154) can be increased to reproduce the surface of a solid object.

Meanwhile, when the height of the stopper (154) is lowered to H2 as shown in Fig. 12, a space can be provided in which the fourth substrate (151) can move up and down. Accordingly, the height of the stopper (154) can be lowered to reproduce the surface of a soft object, and the fourth substrate (151) can move until it comes into contact with the stopper (154) due to the pressure of the user. Through this, the user can feel that he or she is touching a soft object.

Although the height of the stopper (154) is described as being controlled, the embodiment is not limited thereto, and the stopper (154) may include a piezoelectric material and change in volume depending on the voltage. That is, a change in volume may occur as voltage is applied to the stopper (154).

Hereinafter, with reference to FIG. 13, a driving method of a tactile reproduction system according to various embodiments of the present invention will be described. FIG. 13 is a flowchart of an operation of a driving method of a tactile reproduction system according to various embodiments of the present invention.

Referring to FIG. 13, a method for driving a tactile reproduction system according to various embodiments of the present invention may include a step of receiving object surface information and personalized tactile information (S110), a step of determining a magnitude of voltage applied to an electrical stimulation module (S120), a step of determining a magnitude of voltage to be applied to a heating module (S130), a step of determining a stopper height of a hardness module (S140), and a step of driving the system (S150).

First, in the step (S110) of receiving object surface information and personalized tactile information, it can be received from an external control device through the communication module of the tactile reproduction system.

Next, a step (S120) of determining the magnitude of the voltage to be applied to the electrical stimulation module according to the received information can be performed. That is, a specific stimulation waveform to be input to the electrical stimulation module can be determined according to the object surface information and personalized tactile information.

Next, a step (S130) of determining the magnitude of the voltage to be applied to the heating module according to the received information can be performed. That is, a specific voltage to be applied to the heating module can be determined according to the temperature information of the object surface.

Next, a step (S140) of determining the stopper height of the hardness module according to the received information can be performed. That is, the stopper height can be determined according to the hardness information of the object. If the object is hard, the stopper height can be made high, and if the object is soft, the stopper height can be made low.

Next, in the step of driving the system (S150), the tactile reproduction system can be driven according to the magnitude of the voltage to be applied to the previously determined electrical stimulation module, the magnitude of the voltage to be applied to the heating module, and the stopper height of the hardness module. That is, in the step of driving the system (S150), an electrical stimulus for stimulating the user's tactile receptors can be generated through the electrical stimulation module. In the step of driving the system (S150), a temperature change can be generated through the heating module. In the step of driving the system (S150), a volume change of the hardness module can be generated. Through this, a virtual tactile signal can be provided to the user, and the texture, temperature, hardness, etc. of the object can be comprehensively conveyed.

The features, structures, effects, etc. described in the above-described embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects, etc. exemplified in each embodiment can be combined or modified and implemented in other embodiments by a person having ordinary knowledge in the field to which the embodiments belong. Therefore, the contents related to such combinations and modifications should be interpreted as being included in the scope of the present invention.

In addition, although the above has been described with reference to embodiments, these are merely examples and do not limit the present invention, and those with ordinary skill in the art to which the present invention pertains will recognize that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present embodiments. For example, each component specifically shown in the embodiments can be modified and implemented. In addition, the differences related to such modifications and applications should be interpreted as being included in the scope of the present invention defined in the appended claims.

Claims (14)

An electrical stimulation module that generates an electrical signal;
A heating module that generates temperature changes;
A hardness module including a stopper and a substrate placed on the stopper, and reproducing the hardness characteristics of an object depending on whether the stopper and the substrate are in contact by adjusting the height of the stopper; and
A tactile reproduction system comprising a driving module for driving the above-mentioned electrical stimulation module, heating module and hardness module. In the first paragraph,
A tactile reproduction system characterized in that the above electrical stimulation module generates electrical stimulation for stimulating the user's tactile receptors. In the first paragraph,
The above electrical stimulation module,
first substrate; and
A tactile reproduction system comprising a first electrode and a second electrode arranged on the first substrate and to which a voltage is applied. In the first paragraph,
The above heating module is a resistance type heating module.
Second substrate; and
Including a metal electrode disposed on the second substrate,
A tactile reproduction system in which voltage is applied to the above metal electrodes. In the first paragraph,
The above heating module,
Third electrodes and fourth electrodes arranged spaced apart from each other; and
A tactile reproduction system characterized by including a p-type semiconductor and an n-type semiconductor disposed between the third electrode and the fourth electrode. In the first paragraph,
A tactile reproduction system characterized in that the electrical stimulation module and the heating module are formed integrally. In the first paragraph,
The above hardness module is,
A fourth substrate and a fifth substrate are arranged spaced apart from each other;
a spring member disposed between the fourth substrate and the fifth substrate; and
A tactile reproduction system including a stopper disposed between the fourth substrate and the fifth substrate. In Article 7,
A tactile reproduction system further comprising a driving unit for adjusting the height of the stopper. In Article 7,
The above stopper comprises a piezoelectric material,
A tactile reproduction system in which voltage is applied to the above stopper. In the first paragraph,
A tactile reproduction system further comprising a communication module for receiving data required for operation. A step of receiving object surface information and personalized tactile information;
A step of determining the magnitude of voltage to be applied to the electrical stimulation module;
A step for determining the size of the voltage to be applied to the heating module;
A step of determining a stopper height of a hardness module including a stopper and a substrate placed on the stopper according to hardness information of an object; and
comprising steps for driving the system;
A driving method of a tactile reproduction system that reproduces the hardness characteristics of an object depending on whether the stopper and the substrate of the above-mentioned hardness module are in contact. In Article 11,
In the above driving step,
A method for driving a tactile reproduction system, characterized in that an electrical stimulus for stimulating a user's tactile receptor is generated through the electrical stimulus module. In Article 11,
In the above driving step,
A driving method of a tactile reproduction system characterized in that a temperature change occurs through the above heating module. In Article 11,
In the above driving step,
A driving method of a tactile reproduction system characterized in that a change in the volume of the above hardness module occurs.

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