KR-20260066514-A - METHOD AND SYSTEM FOR STANDARDIZING TACTILE SENSATION AND IMPLEMENTING ARTIFICIAL TACTILE SENSATION BASED ON STANDARD TACTILE SAMPLES

KR20260066514AKR 20260066514 AKR20260066514 AKR 20260066514AKR-20260066514-A

Abstract

The present disclosure provides a method and system for tactile standardization and artificial tactile implementation based on standard tactile samples. In the present disclosure, the tactile standardization method is configured to prepare a plurality of standard tactile samples having a plurality of uniformly arranged protrusions, wherein at least one variable of the protrusions is different, and for each of the standard tactile samples, the accelerometer is moved over the protrusions while the tip of the accelerometer is in contact with the protrusions to measure tactile data through the accelerometer, and to standardize the tactile data into stages of at least one tactile element corresponding to the variable, and the standardized tactile data can be used to reproduce an artificial tactile signal for a real object or a virtual object.

Inventors

황한정
천성우
이형탁
박경용
김기운

Assignees

고려대학교 세종산학협력단

Dates

Publication Date: 20260512
Application Date: 20241104

Claims (15)

In a tactile standardization method performed by a computer system, A step of preparing a plurality of standard tactile samples having a plurality of uniformly arranged protrusions, wherein at least one variable of the protrusions is different; For each of the above standard tactile samples, a step of moving the accelerometer over the protrusions while bringing the tip of the accelerometer into contact with the protrusions, thereby measuring tactile data through the accelerometer; and Step of standardizing the tactile data into stages of at least one tactile element corresponding to the above variable including, Tactile standardization method.
In Article 1, The step of standardizing the above tactile data is, For each of the above standard tactile samples, a step of detecting the stages perceived by at least one person corresponding to the standard tactile samples by moving the finger over the protrusions while contacting at least one finger with the protrusions; and Step of standardizing the tactile data into the stages perceived in correspondence with the standard tactile samples including, Tactile standardization method.
In Article 2, A step of determining artificial tactile signals corresponding to each of the standard tactile samples based on the tactile data; A step of reproducing each of the artificial tactile signals through a tactile reproduction module to detect the stages perceived by at least one person in correspondence with the artificial tactile signals; and A step of verifying the standardized tactile data by comparing the stages perceived in correspondence with the standard tactile samples with the stages perceived in correspondence with the artificial tactile signals. including, Tactile standardization method.
In Article 1, The above tactile element comprises at least one of roughness, hardness, slipperiness, or temperature, Tactile standardization method.
In Article 1, The above variable includes at least one of a spatial ratio representing the distance between two adjacent protrusions, the height of the protrusions, the perimeter representing the width of the protrusions, or the material of the protrusions. Tactile standardization method.
In Article 1, The step of preparing the above standard tactile samples is, For tactile standardization regarding roughness, the step of preparing the standard tactile samples having different widths of the protrusions; In the case of tactile standardization regarding hardness, a step of preparing the standard tactile samples having different materials for the protrusions; or In the case of tactile standardization for the roughness and hardness, the step of preparing standard tactile samples having different widths of the protrusions and materials. including one of Tactile standardization method.
In Article 6, The above width is determined within the range of 200 μm to 2000 μm, Tactile standardization method.
In Article 1, The above tactile data is, For each of the above standard tactile samples, having a frequency calculated from the period according to the movement speed of the acceleration sensor and the interval and length of contact between the tip and the protrusions, Tactile standardization method.
In Article 1, The above standardized tactile data is used to reproduce artificial tactile signals for real or virtual objects, Tactile standardization method.
In Article 1, With respect to an actual object, the step of moving the acceleration sensor on the surface while bringing the tip of the acceleration sensor into contact with the surface of the actual object, thereby measuring other tactile data through the acceleration sensor; and A step of reproducing an artificial tactile signal for the actual object using the standardized tactile data based on the similarity between the tactile data and the other tactile data. including, Tactile standardization method.
In a computer system for tactile standardization, Memory; and A processor connected to the memory and configured to execute at least one instruction stored in the memory. Includes, The above processor is, A plurality of standard tactile samples are prepared having a plurality of uniformly arranged protrusions, wherein at least one variable of the protrusions is different, and For each of the above standard tactile samples, the accelerometer is moved over the protrusions while the tip of the accelerometer is in contact with the protrusions, and tactile data is measured through the accelerometer. Configured to standardize the tactile data into stages of at least one tactile element corresponding to the above variable, Computer system.
In Article 11, The above processor is, For each of the above standard tactile samples, at least one finger is moved over the protrusions while in contact with the protrusions, and the stages perceived by at least one person in correspondence with the standard tactile samples are detected. Configured to standardize the tactile data into the stages perceived in correspondence with the standard tactile samples, Computer system.
In Article 12, The above processor is, Based on the above tactile data, artificial tactile signals corresponding to each of the above standard tactile samples are determined, and By reproducing the artificial tactile signals respectively through a tactile reproduction module, the stages perceived by at least one person in correspondence with the artificial tactile signals are detected, and Configured to verify the standardized tactile data by comparing the stages perceived in correspondence with the standard tactile samples and the stages perceived in correspondence with the artificial tactile signals. Computer system.
In Article 11, The above tactile element comprises at least one of roughness, hardness, slipperiness, or temperature, Computer system.
In Article 11, The above variable includes at least one of a spatial ratio representing the distance between two adjacent protrusions, the height of the protrusions, the perimeter representing the width of the protrusions, or the material of the protrusions. Computer system.

Description

Method and System for Standardizing Tactile Sensation and Improving Artificial Tactile Sensation Based on Standard Tactile Samples The present disclosure relates to a method and system for tactile standardization and artificial tactile implementation based on standard tactile samples. Recently, with the development of various human-machine interface technologies such as virtual reality (VR), augmented reality (AR), medical surgical robots, virtual simulators, and remote robots, there has been growing interest in implementing technologies where the five senses are engineered to be synchronized. Among the five senses, the importance of touch is rapidly increasing because it is an essential sense in human sensory perception that provides a sense of realism through close contact and interaction with external objects. However, research on touch lags behind that of sight and hearing in terms of technological development. This is because standardization is difficult, as touch is a multidimensional sensation resulting from the combination of various elements such as temperature, texture, pressure, and vibration. Tactile standardization is an essential element in implementing artificial touch, as it plays a crucial role in consistently conveying the sensations people experience through touch, as well as in evaluating and utilizing these sensations. General research on artificial tactile sensations has been implemented by excluding tactile standardization and focusing on mimicking tactile signals from actual surfaces by reproducing small actuators through periodic signal generation or by directly scratching an object's surface using an accelerometer and reproducing it to a haptic device. This approach has limitations, as it allows users to perceive only partial sensations, such as the presence or absence of simple vibration or pressure, or to replicate only the sensations associated with the specific object used for signal reproduction. Consequently, simply reproducing tactile signals from actual surfaces makes it difficult to provide a consistent sensation due to variations in tactile perception among individuals. FIG. 1 is a diagram illustrating the configuration of a computer system for tactile standardization according to various embodiments. FIG. 2 is a drawing illustrating standard tactile samples according to various embodiments. FIG. 3 is a diagram illustrating a tactile standardization method performed by a computer system according to various embodiments. Figure 4 is a diagram illustrating the tactile data measurement step of Figure 3. Figure 5 is a diagram illustrating the cognitive test progress steps of Figure 3. Hereinafter, various embodiments of the present disclosure are described with reference to the accompanying drawings. In the following, the term "tactile sensation" refers to one of the five human senses and can mean the sensation in which external receptors on the skin surface perceive a stimulus when a stimulus is applied to the surface of the body. The term "tactile standardization" can mean establishing defined standards or norms to consistently convey specific tactile experiences or information. FIG. 1 is a diagram illustrating the configuration of a computer system (100) for tactile standardization according to various embodiments. Referring to FIG. 1, the computer system (100) may include at least one of an input module (110), an output module (120), an accelerometer (130), a haptic feedback module (140), a memory (150), or a processor (160). In some embodiments, at least one of the components of the computer system (100) may be omitted, and at least one other component may be added. In some embodiments, at least two of the components of the computer system (100) may be implemented as a single circuit. The components of the computer system (100) may be integrated into a single device or distributed across at least two devices. The input module (110) can input a signal to be used in at least one component of the computer system (100). The input module (110) may be configured to detect a signal directly input by a user or to generate a signal by detecting changes in the surroundings. For example, the input module (110) may include at least one of a microphone, at least one physical button, or a touch pad. Meanwhile, the input module (110) may include a receiving device configured to receive a signal from an external device. The receiving device will be described in more detail later. The output module (120) can output information to the outside of the computer system (100). The output module (120) may be implemented as a tactile display to provide a tactile interface. To this end, the output module (120) may include at least one of a display module configured to visually output information or an audio output module configured to audibly output information. For example, the audio output device may include at least one of a speaker or a receiver. Meanwhile, the output module (120) may include