DE102016111634B4 - Apparatus and method for generating a tactile stimulus - Google Patents

Abstract

Device (100) for mounting on a finger, comprising:
a holder (1) for laterally and longitudinal releasably fixing the device (100) on a finger-end member of the finger,
a first output unit (11) for outputting first haptic signals,
a second output unit (12) for outputting second haptic signals, and
- A control unit (20) for driving the first and the second output unit, wherein
- The holder (1) is designed such that in the plugged onto the finger state of the holder (1) the finger berry of the finger end member is freely accessible and raised with respect to the holder (1),
- The first and second output unit (12) are arranged on the holder (1) such that in a plugged on the finger state of the device (100), the first output unit (11) and the second output unit (12) the finger end laterally opposite contact, and
- The first output unit (11) and the second output unit (12) are each designed to generate tactile stimuli on the finger-end member by the output of haptic signals.

Description

The invention relates to a device and a method for generating a tactile stimulus on a finger tip. The device serves in particular as a human-machine interface for "virtual reality" applications.

• • JANG, Inyoung; LEE, Donfjun: „Experiments with cutaneous haptic feedback - A preliminary study“, in: Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10^th International Conference on. IEEE, 2013, S. 232-233 ;
• • SCHEIBE, Robert; MOEHRING, Mathias; FROEHLICH, Bernd: Tactile feedback at the finger tips for improved direct interaction in immersive environments“, in: 3D User Interfaces, 2007. 3DUI‘07. IEEE Symp. 2007 .

With such a device, the sense of touch of the wearer can be stimulated on at least one of his fingers so that the impression of, for example, touching or manipulating a virtual object arises for the wearer. Such devices are for example from the publications US 2001/0043847 A1 . US 2008/0226134 A1 . WO 2006/054163 A2 . US Pat. No. 7,138,976 B1 or US 6,110,130 A known. In addition, such devices are the subject of, for example, the following articles:

• • JANG, inyoung; LEE, Donfjun: "Experiments with Cutaneous Haptic Feedback - A Preliminary Study", in: Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10 ^th International Conference on. IEEE, 2013, pp. 232-233 ;
• • DISK, Robert; MOEHRING, Mathias; FROEHLICH, Bernd: Tactile feedback at the finger tips for improved direct interaction in immersive environments ", in: 3D User Interfaces, 2007. 3DUI'07. IEEE Symp. 2007 ,

The object of the invention is to improve such a device in such a way that an actual contact of a real object by a wearer of the device is influenced or hindered as little as possible by the device and, moreover, the most realistic feedback possible for virtual touches on the wearer's finger can.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Other features, applications and advantages of the invention will become apparent from the following description, as well as the explanation of embodiments of the invention, which are illustrated in the figures.

A first aspect of the invention relates to a device for attachment to a finger. In this case, the device has the following elements: a holder for laterally and longitudinal releasably fixing the device on a finger tip of the finger, a first output unit for outputting first haptic signals, a second output unit for outputting second haptic signals, and a control unit for driving the first and the second output unit. According to the invention, the holder is designed in such a way that in the fingered state of the holder, the finger berry of the finger end member is freely accessible and raised with respect to the holder. Furthermore, the first and second output units are arranged on the holder such that in a state of the device plugged on the finger, the first output unit and the second output unit laterally contact the finger end member, and the first output unit and the second output unit are respectively adapted to generate tactile stimuli on the finger-end by outputting haptic signals.

The output units are advantageously connected to a control unit which serves to control the output units. This connection can be wired and / or wirebound. The control unit advantageously comprises control electronics. The control unit further advantageously comprises an energy source, for example a battery, or a unit for wireless energy reception, for example a coil.

The term "finger end member" herein refers to the third phalanx, which is also referred to as the phalanx distalis. It is the phalanx on which the fingernail of the respective finger is located.

In the present case, the underside of the finger end member is referred to as the finger berry of a finger. This is the palmar oriented surface of the finger tip, where the papillary ridges formed there form the characteristic human fingerprint, i. E. that surface of the finger end member which is opposite the fingernail.

The term "fingertip tip" here refers to the distally oriented end face of the finger end member. The fingertip tip connects the fingertip on the underside of the finger tip with the fingernail on the top of the finger tip.

A longitudinal direction of the finger corresponds to a longitudinal direction of the finger end member, that is, a distal-proximal line along the finger end member. A lateral direction is perpendicular to the longitudinal direction and is preferably additionally perpendicular to a palmar-dorsal line through the finger tip.

The holder of the device is designed such that in the plugged on the finger state of the holder, the fingertip of the finger end member is freely accessible and raised with respect to the holder. Accordingly, the holder is arranged on the finger end member in the plugged state that when touching an object with the At the bottom of the finger, the fingertip of the respective finger first comes into contact with an object, even before the holder touches the object. In other words, the holder in the attached state is arranged such that the holder of the finger-berry does not interfere with a touch of an object, nor obstructed nor falsified the impression of touch.

As used herein, the term "raised over the support" means that the fingertip is protruding from the support in a palmar direction away from the finger.

Furthermore, the first and the second output unit are arranged on the holder such that, in a state of the device plugged onto the finger, the first output unit and the second output unit contact the finger end member laterally opposite one another. Advantageously, each of the output units comprises a controllable actuator which can generate forces and / or moments and transmit them to the finger-end member. Examples of such actuators are shape memory metals, piezo elements, electroactive polymers, etc.

In contrast to actuators placed locally on a finger pad, which hide the finger pad, the first output unit and the second output unit, in particular associated actuators for producing tactile feedback, are arranged laterally on a finger end member so as to hold the finger pad on the underside of a finger end member as little as possible or not obscure.

In particular, by simulation patterns, generated by aperiodic forces and moments or vibrations, the first output unit and the second output unit are able to simulate a tactile stimulus on the fingertip. This gives the wearer of the device the impression that he would, for example, touch a virtual object with the respective fingertip.

In particular, the first output unit and the second output unit generate haptic signals in the form of aperiodic forces and moments or vibrations (with frequencies / amplitudes). The tactile stimuli generated by the first output unit and the second output unit are advantageously matched to one another, for example by different frequencies and or amplitudes of the respective feedback signals, so that the perceived tactile stimulus can be varied locally and in intensity over the area of the fingertip. The signals output by the first output unit and the second output unit thus generate a tactile stimulus by stimulating the sense of touch of the wearer of the device.

It is an advantageous effect of the invention that the device for attachment to a finger tip is not detrimental to an undistorted impression of an actual contact of an object, and in particular despite the free fingertip a tactile stimulus can be delivered to a finger for virtual touch, the sensation an actual touch of a real object realistically emulates for a wearer of the device.

The above embodiments, which refer to the uncovered finger berry due to the arrangement and orientation of the device, are analogously applied to the embodiment described below.

According to an advantageous embodiment, the holder is designed such that in the plugged on the finger state of the holder, the fingertip tip of the finger end member is freely accessible and raised with respect to the holder. Similar to an uncovered fingertip, this advantageous embodiment additionally has an uncovered and freely accessible fingertip tip. In this case, the holder is advantageously arranged on the finger end member so that the fingertip tip of the finger end member is able to touch an object without causing the holder or another element of the device is therebetween and thus stand in the way or could interfere. Advantageously, it is thereby possible for a wearer of the device to touch real objects, in particular with both the fingertip and the fingertip tip of the relevant finger-end member, to which the device is attached, without an element of the device being located therebetween.

According to an advantageous embodiment, the first output unit and the second output unit are each designed to output haptic signals by the generation of forces and / or torques. The transmitted forces / torques can be generated by the output units time-variably, for example, each with a frequency and amplitude, which can also be time-dependent.

Preferably, the force / torque application takes place at the output units by piezoactuators, electroactive polymers or shape memory materials, the latter preferably being heated / cooled as a function of a current flow and thus deformable adjustable. Alternatively, in particular microelectronic motors or linear actuators are used.

According to an advantageous embodiment, the first output unit and the second Output unit each designed to output haptic signals by the generation of oscillating forces and / or oscillating torques. Advantageously, it is achieved that by utilizing a known mechanical tissue dynamics and a targeted excitation of these particular impressions can be generated.

According to an advantageous embodiment, the first output unit and the second output unit each have a plurality of segments, in particular a plurality of actuators, for the respective output of haptic signals, wherein the individual segments can be individually controlled by the control unit. According to a further advantageous embodiment, a plurality of first output units and a plurality of second output units, as described above, are arranged on the holder.

Preferably, the segments / actuators of the respective output unit are each designed to independently generate an aperiodic or periodic force curve or torque curve, or vibrations. Advantageously, this results in further degrees of freedom for the stimulation of the sense of touch on a finger-end member, in particular so different touch-sensitive zones can be taken into account at the finger-end member. Preferably, the conditions of the impacts with a force on the segments are adjustable and particularly adaptable to the respective person.

• - eine Kamera für Licht im sichtbaren Wellenlängenbereich,
• - eine Kamera für Licht im infraroten Wellenlängenbereich,
• - eine Time-of-Flight Kamera,
• - eine Stereokamera,
• - einen Ultraschall-Abstandssensor,
• - einen Laser-Abstandssensor,
• - einen Luftfeuchtigkeitssensor,
• - einen Temperatursensor,
• - einen Luftdrucksensor,
• - einen Helligkeitssensor,
• - einen UV-Sensor,
• - einen Gravitationssensor,
• - einen Lagesensor.

According to an advantageous embodiment, an environmental sensor is provided for determining an environment of the device, wherein the environmental sensor comprises one or more of the following elements:

• a camera for light in the visible wavelength range,
• a camera for light in the infrared wavelength range,
• - a time-of-flight camera,
• - a stereo camera,
• an ultrasonic distance sensor,
• a laser distance sensor,
• - a humidity sensor,
• a temperature sensor,
• an air pressure sensor,
• a brightness sensor,
• a UV sensor,
• a gravitational sensor,
• - a position sensor.

Advantageously, the environmental sensor is arranged on the holder.

• - eine Körpertemperatur,
• - eine elektrische Leitfähigkeit der Haut,
• - eine Pulsfrequenz,
• - einen Blutdruck,
• - einen Hormonwert,
• - einen Blutzuckerwert,
• - eine Sauerstoffsättigung.

According to an advantageous embodiment, a human sensor is provided for determining physiological parameters at the finger end member, the physiological parameters comprising one or more of the following elements:

• - a body temperature,
• - an electrical conductivity of the skin,
• a pulse rate,
• - a blood pressure,
• a hormone value,
• - a blood sugar value,
• - an oxygen saturation.

Advantageously, the human sensor is arranged on the holder.

• - Leuchtdiode LED,
• - LCD- oder LED Bildschirm,
• - Touchscreen,
• - Taster,
• - Schalter,
• - taktile Sensorhaut,
• - Lautsprecher,
• - Mikrofon für Spracheingabe/-steuerung.

According to an advantageous embodiment, an interaction unit (human-machine interface) for inputting and / or outputting information for operation of the device by a user and / or for notification of the user, wherein the interaction unit comprises one or more of the following elements :

• - LED,
• - LCD or LED screen,
• - touch screen,
• - buttons,
• - Counter,
• - tactile sensor skin,
• - Speaker,
• - Microphone for voice input / control.

The interaction unit can be advantageously used with the described device wired or wireless. Advantageously, the interaction unit is arranged on the holder.

According to an advantageous embodiment, a force sensor is provided for determining a force exerted by the finger end member on an environment force. Advantageously, the force sensor is arranged on the holder. Advantageously, an interaction in a "virtual reality" environment between a user and a computer system is possible, since not only the person receives a tactile feedback, but also the computer system feedback on the expended force of the user.

According to an advantageous embodiment, a communication unit for communication with a second identical device is provided on another finger-end member. The communication unit is advantageously arranged on the holder. Of course, the second identical device has a corresponding communication unit. Advantageously, information transmission between at least two of the proposed devices is achieved in this embodiment, so that complex tactile information can be selectively transmitted to a plurality of finger end members.

According to an advantageous embodiment, there is an interface for transmitting data and / or information and / or energy between the device and a handheld exoskeleton and / or an external power supply.

Another aspect of the invention relates to a handheld exoskeleton with a device as described above. Advantageous developments of the hand exoskeleton result from an analogous and analogous transmission of the statements made to the proposed device above.

A further aspect of the invention relates to a method for operating a device for attachment to a finger-end member, the device comprising: a holder for laterally and longitudinal releasably fixing the device on the finger-end member, a first output unit for outputting first haptic signals, a second output unit for Output of second haptic signals, and a control unit for driving the first and the second output unit, wherein the holder is designed such that in the finger-mounted state of the holder, the finger berry of the finger end member is freely accessible and raised with respect to the holder, and the first and the second output unit are arranged on the holder in such a way that, in a state of the device plugged onto the finger, the first output unit and the second output unit contact the finger end member laterally opposite one another. The method comprises the following steps. In a first step, the device is fixed to the finger-end member by means of the holder. In a second step, the first output unit and the second output unit are driven by a control unit. In a third step, the first haptic signals for a tactile stimulus are output at the finger-end member by the first output unit, and outputting second tactile signals for a tactile stimulus at the finger-end member by the second output unit.

Advantages and advantageous developments of the method result from an analogous and analogous transmission of the statements made above for the proposed device.

Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. The same, similar and / or functionally identical parts are provided with the same reference numerals.

• 1 eine Vorrichtung auf einem Fingerendglied gemäß einem Ausführungsbeispiel der Erfindung,
• 2 eine Vorrichtung auf einem Fingerendglied gemäß einem weiteren Ausführungsbeispiel der Erfindung, und
• 3 ein Verfahren für den Betrieb einer Vorrichtung zum Aufstecken auf ein Fingerendglied gemäß einem weiteren Ausführungsbeispiel der Erfindung.

Show it:

• 1 a device on a finger end member according to an embodiment of the invention,
• 2 a device on a finger end member according to another embodiment of the invention, and
• 3 a method for operating a device for attachment to a finger end member according to another embodiment of the invention.

1 shows a device 100 for putting on a finger. A holder 1 serves as the frame of the device 100 for laterally and longitudinal releasably fixing the device 100 on a finger end of the finger. The frame has a slight elasticity to fit fingers of different sizes. On the bracket 1 is a first output unit 11 for outputting first haptic signals and a second output unit 12 arranged to output second haptic signals. The dispensing units are here designed as rails, which are respectively arranged laterally next to the finger-berry, so that the fingertip in a palmar direction is the most projecting element away from the finger.

2 shows in two views respectively the device 100 on a finger. For driving the first output unit 11 and the second output unit 12 is a control unit 20 intended. The first output unit 11 and the second output unit 12 are each carried out in accordance with the control signals of the control unit 20 to produce in their range arbitrary force or moment curves, which act on the tissue of the finger. Among the possible temporal processes include vibrations. Here are the first output unit 11 and the second output unit 12 in each case a plurality of segments for the respective output of haptic signals, wherein the individual segments of the control unit 20 each are individually controllable. There are three segments per page. Furthermore, there is an environment sensor 31 for determining data in an environment of the device 100 available. This environment sensor 31 has an ultrasonic distance sensor, alternatively a laser distance sensor on. In addition, a human sensor is used 32 for determining physiological parameters on the finger tip. The physiological parameters include a body temperature, the electrical conductivity of the skin, the pulse rate and the blood pressure of the wearer of the device 100 , For determining a force exerted by the finger end member on an environment force is a force sensor 70 , An interaction unit 40 allows input and output of information for operation of the device 100 for a user. In addition, a communication unit allows 50 a communication with a second device on another finger, wherein the second device, the technical features of the device described herein 100 having. Transmitting data and energy between the device 100 and a handheld exoskeleton with a power supply takes over an interface 60 , The interface is preferably based on the USB standard.

3 shows a method for the operation of a device 100 for attachment to a finger tip, the device 100 includes: a bracket 1 for laterally and longitudinal releasably fixing the device 100 on the finger-end, a first output unit 11 for outputting first haptic signals, a second output unit 12 for outputting second haptic signals, and a control unit 20 for driving the first and the second output unit, wherein the holder 1 is designed such that in the plugged on the finger state of the holder 1 the fingertip of the finger tip freely accessible and raised against the holder 1 is, and the first and the second output unit 12 so on the bracket 1 are arranged that in a plugged on the finger state of the device 100 the first output unit 11 and the second output unit 12 Contact the finger end laterally opposite each other. The method comprises the following steps. In a first step S1 there is a fixing of the device 100 on the finger end member by means of the holder 1 , In a second step S2 the first output unit and the second output unit are actuated by the control unit 20 , In a third step S3 the first haptic signals for a tactile stimulus are output at the finger-end member by the first output unit 11 , In a fourth step S4 the second haptic signals for a tactile stimulus are output at the finger-end element by the second output unit 12 ,

Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description of the figures enable one skilled in the art to practice the exemplary embodiments, and those skilled in the art, having the benefit of the disclosed inventive concept, can make various changes, for example, to the function or arrangement of individual elements recited in an exemplary embodiment, without Protected area, which is defined by the claims and their legal equivalents, such as further explanation in the description.

LIST OF REFERENCE NUMBERS

1

holder

11

first output unit

12

second output unit

20

control unit

31

environment sensor

32

Human sensor

40

Interaction device

50

communication unit

60

interface

70

force sensor

100

device

S1

Fix

S2

head for

S3

Output

S4

Output

Claims (10)

A device (100) for mounting on a finger, comprising: - a holder (1) for laterally and longitudinal releasably fixing the device (100) on a finger-end of the finger, - a first output unit (11) for outputting first haptic signals, - a second output unit (12) for outputting second haptic signals, and - a control unit (20) for actuating the first and the second output unit, wherein - the holder (1) is designed such that in the state of the holder (1) put on the finger the finger-berry of the finger-end member is freely accessible and elevated relative to the holder (1), - the first and the second dispensing unit (12) are arranged on the holder (1) such that in a state of the device (100) placed on the finger the first output unit (11) and the second output unit (12) laterally contact the finger-end member, and the first output unit (11) and the second output unit (12) are each adapted to generate tactile stimuli on the finger-end member by the output of haptic signals , Device (100) according to Claim 1 , wherein the holder (1) is designed such that in the plugged on the finger state of the holder (1), the fingertip tip of the finger end member is freely accessible and raised with respect to the holder (1). Device (100) according to Claim 1 or 2 wherein the first output unit (11) and the second output unit (12) are each adapted to output haptic signals by the generation of forces and / or torques. Device (100) according to Claim 1 to 3 wherein the first output unit (11) and the second output unit (12) are each adapted to output haptic signals by the generation of oscillating forces and / or oscillating torques. Device (100) according to one of the preceding claims, in which the first output unit (11) and the second output unit (12) each have a plurality of segments for respectively outputting haptic signals, the individual segments being individually controllable by the control unit (20). Apparatus (100) according to any one of the preceding claims, wherein an environmental sensor (31) is provided for determining an environment of the apparatus (100), the environmental sensor (31) comprising one or more of: a camera for light in the visible wavelength range, a camera for light in the infrared wavelength range, - a time-of-flight camera, - a stereo camera, an ultrasonic distance sensor, a laser distance sensor, - a humidity sensor, a temperature sensor, an air pressure sensor, a brightness sensor, a UV sensor, a gravitational sensor, - a position sensor. Apparatus (100) according to any one of the preceding claims, wherein a human sensor (32) for determining physiological parameters is present on the finger-end member, the physiological parameters comprising one or more of the following elements: - a body temperature, - an electrical conductivity of the skin, a pulse rate, - a blood pressure, a hormone value, - a blood sugar value, - an oxygen saturation. Device (100) according to one of the preceding claims, in which there is an interaction unit (40) for inputting and / or outputting information for operating the device (100) by a user and / or for informing the user, wherein the interaction unit (40) comprises one or more of the following elements: - LED, - LCD or LED screen, - touch screen, - buttons, - Counter, - tactile sensor skin, - Speaker, - Microphone for voice input / control. Apparatus (100) according to any one of the preceding claims, wherein there is a communication unit (50) for communicating with a second device (100) on another finger. A method of operating a device (100) for mounting on a finger-end member, the device (100) comprising: - a holder (1) for laterally and longitudinal releasably fixing the device (100) on the finger-end member, - a first output unit (11 ) for outputting first haptic signals, - a second output unit (12) for outputting second haptic signals, and - a control unit (20) for driving the first and the second output unit, wherein the holder (1) is designed such that in the on the Finger plugged state of the holder (1), the finger pad of the finger end member is freely accessible and raised with respect to the holder (1), and the first and the second output unit (12) are arranged on the holder (1) that in one on the finger plugged state of the device (100) the first output unit (11) and the second output unit (12) the finger end member laterally opposite contact, with the following Schri - Fixing (S1) of the device (100) on the finger-end member by means of the holder (1), - Driving (S2) the first output unit and the second output unit by the control unit (20), outputting (S3) first haptic signals for a tactile stimulus at the finger-end member by the first output unit (11), and outputting (S4) second haptic signals for a tactile stimulus on the finger-end member by the second output unit (12).

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