Patent Publication Number: US-2022221931-A1

Title: Motion platform, haptic feedback device and human-computer interactive system

Description:
RELATED APPLICATIONS 
     This application is a continuation application of PCT Application No. PCT/CN2021/081114, filed on Mar. 16, 2021, which in turn claims priority to Chinese Patent Application No. 202010320603.5 and filed on Apr. 22, 2020. The two applications are incorporated herein by reference in their entirety. 
    
    
     FIELD OF THE TECHNOLOGY 
     This application relates to a motion platform, a haptic feedback device, and a human-computer interactive system. 
     BACKGROUND OF THE DISCLOSURE 
     With the continuous progress of science and technology, technologies such as virtual reality (VR) and augmented reality (AR) have been widely used. Technologies related to visual feedback has been developed, but there is great room for the development of haptic feedback technologies. The visual feedback technology can feedback a scene of a remote or virtual world to a user, and the haptic feedback technology can feedback the force of a remote or virtual world to a user. The combination of haptic feedback and visual feedback technologies can further enhance the user&#39;s sense of presence. 
     SUMMARY 
     Embodiments of this application provide a motion platform, a haptic feedback device, and a human-computer interactive system. 
     The motion platform includes a static platform, a dynamic platform, and a linkage assembly; the static platform and the dynamic platform being connected by the linkage assembly, and the static platform can drive motion of the dynamic platform through the linkage assembly, thereby transmitting a force of a remote or virtual world to the dynamic platform. 
     The haptic feedback device includes at least two motion platforms and a platform connection element connecting the at least two motion platforms. When a thumb and an index finger of a user are respectively placed on the dynamic platforms of the two motion platforms, through relative motion, the two dynamic platforms can realize the relative motion between the thumb and index finger such as pinching and rubbing, thereby transmitting the force of the remote or virtual world to the user and realizing haptic feedback. The motion platform and the haptic feedback device have characteristics of high stiffness, simple and compact structure, and good dynamic performance. 
     An embodiment of this application provides a motion platform, which includes a, a first platform, a second platform and a linkage assembly, the first platform and the second platform being connected by the linkage assembly, the second platform being configured to move relative to the first platform. The first platform comprises a first power take-off and a second power take-off, the first power take-off comprising a first output shaft and the second power take-off comprising a second output shaft. The linkage assembly comprises a first parallelogram linkage mechanism and a second parallelogram linkage mechanism connected to each other, and a two-bar linkage mechanism. The first parallelogram linkage mechanism and the second parallelogram linkage mechanism have a same or parallel planes of motion, the first parallelogram linkage mechanism being fixedly connected to the first output shaft, the second parallelogram linkage mechanism being fixedly connected to the second platform, and the first output shaft being configured to drive planar motion of the first parallelogram linkage mechanism and the second parallelogram linkage mechanism. The two-bar linkage mechanism and the first parallelogram linkage mechanism have the same plane of motion, one end of the two-bar linkage mechanism being fixedly connected to the second output shaft, the other end of the two-bar linkage mechanism being hinged with the second platform, and the second output shaft being configured to drive motion of the two-bar linkage mechanism. 
     An embodiment of this application further provides a haptic feedback device, which includes at least two motion platforms provided by the embodiments of this application and a platform connection element connecting the at least two motion platforms, each of the motion platforms being fixed on the platform connection element through the included first platform. 
     An embodiment of this application further provides a human-computer interactive system, which includes the haptic feedback device according to any of the foregoing and a control apparatus, the control apparatus being connected to the haptic feedback device and being configured to control motion of the haptic feedback device based on force information. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic three-dimensional structural diagram of a motion platform provided by an embodiment of this application; 
         FIG. 2  is a schematic top structural view of the motion platform provided by the embodiment of this application; 
         FIG. 3  is a schematic bottom structural view of the motion platform provided by the embodiment of this application; 
         FIG. 4  is a schematic side structural view of the motion platform provided by the embodiment of this application; 
         FIG. 5  is a schematic three-dimensional structural diagram of a haptic feedback device provided by an embodiment of this application; 
         FIG. 6  is a schematic three-dimensional structural diagram of a motion state of a haptic feedback device provided by an embodiment of this application; 
         FIG. 7  is a schematic three-dimensional structural diagram of another motion state of a haptic feedback device provided by an embodiment of this application; and 
         FIG. 8  is a schematic structural diagram of a human-computer interactive system provided by an embodiment of this application. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     To make the objectives, technical solutions, and advantages of the embodiments of this application more comprehensible, the following clearly and completely describes the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are a part rather than all of the embodiments of this application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of this application without creative efforts shall fall within the protection scope of this application. 
     Unless otherwise defined, a technical term or a scientific term used in this application is to have a general meaning understood by persons of ordinary skill in the art of this application. The “first”, the “second”, and similar terms used in this application do not indicate any order, quantity or significance, but are used to only distinguish different components. Similar terms such as “include” or “comprise” are intended to mean that an element or object appearing before the word covers the enumerated element or object appearing after the word and its equivalents, without excluding other elements or objects. Similar terms such as “connect” or “connected” are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Up”, “down”, “left”, “right”, or the like are used to only indicate a relative positional relationship, which may change accordingly when an absolute position of a described object is changed. 
     Embodiments of this application provide a motion platform, a haptic feedback device, and a human-computer interactive system. The motion platform includes a static platform, a dynamic platform, and a linkage assembly. The static platform and the dynamic platform are connected by the linkage assembly, and the static platform can drive motion of the dynamic platform through the linkage assembly, thereby transmitting the force of a remote or virtual world to the dynamic platform. The haptic feedback device includes at least two motion platforms and a platform connection element connecting the at least two motion platforms. When limbs of a user, such as a thumb and an index finger, are respectively placed on the dynamic platforms of the two motion platforms, through relative motion, the two dynamic platforms can realize the relative motion between the thumb and the index finger such as pinching and rubbing, thereby transmitting the force of the remote or virtual world to the user and realizing haptic feedback. In addition, the motion platform and the haptic feedback device have characteristics of high stiffness, simple and compact structure, and good dynamic performance. 
     The motion platform, the haptic feedback device, and the human-computer interactive system provided by the embodiments of this application are described in detail below with reference to the accompanying drawings. 
     In the embodiments of this application, the two or more components hinged with each other and a revolute joint formed by hinging described in the following indicate that the two or more components have a common rotation axis, and two or more components can rotate relatively around the common rotation axis. 
       FIG. 1  is a schematic three-dimensional structural diagram of a motion platform according to an embodiment of this application,  FIG. 2  is a schematic top structural view of the motion platform,  FIG. 3  is a schematic bottom structural view of the motion platform, and  FIG. 4  is a schematic side structural view of the motion platform. As shown in  FIGS. 1 to 4 , the motion platform  10  provided by the embodiment of this application includes a static platform  100 , a dynamic platform  200 , and a linkage assembly  300  (as shown in the dotted block in  FIG. 1 ). The static platform  100  and the dynamic platform  200  are connected by the linkage assembly  300 , and the dynamic platform  200  can make planar motion relative to the static platform  100 . 
     The “static platform” and “dynamic platform” are used herein to indicate that they can make relative motion to each other, and are not limited to the fact that the static platform must be in a static state and the dynamic platform must be in a moving state. Therefore, the static platform and the dynamic platform herein may also be referred to as a “first platform” and a “second platform” respectively. 
     As shown in  FIGS. 1 to 4 , the static platform  100  includes a mounting rack  103  on which a first power take-off  101  and a second power take-off  102  are fixedly provided. The first power take-off  101  includes a first output shaft  1011 , and the second power take-off  102  includes a second output shaft  1021  (not shown in  FIG. 1 , see  FIG. 3 ), and the first output shaft  1011  and the second output shaft  1021  are provided in parallel. For example, the first power take-off  101  and the second power take-off  102  are motors which can be connected to the mounting rack  103  by screws. Embodiments of this application do not limit the type of the motors, for example, the motors may be servo motors, stepping motors, or the like. 
     In some embodiments, as shown in  FIGS. 1 to 4 , the linkage assembly  300  includes a first parallelogram linkage mechanism, a second parallelogram linkage mechanism, and a two-bar linkage mechanism. 
     In some embodiments, as shown in  FIGS. 1 to 4 , the first parallelogram linkage mechanism and the second parallelogram linkage mechanism have same or parallel planes of motion, the first parallelogram linkage mechanism is fixedly connected to the first output shaft  1011 , the second parallelogram linkage mechanism is fixedly connected to the dynamic platform  200 , and the first output shaft  1011  is configured to drive the planar motion of the first parallelogram linkage mechanism and the second parallelogram linkage mechanism. 
     In some embodiments, as shown in  FIGS. 1 to 4 , a first turning point (a connection point between a first end  3011  of a first link  301  described in the following and the first output shaft  1011 ) of the first parallelogram linkage mechanism is fixedly connected to the first output shaft  1011 , and a second turning point (a connection point between a second end  3032  of a third link  303  described in the following and the static platform  100 ) adjacent to the first turning point is hinged with the static platform  100 . The first output shaft  1011  is configured to drive the planar motion of the first parallelogram linkage mechanism through the first turning point. 
     In some embodiments, as shown in  FIGS. 1 to 4 , the first parallelogram linkage mechanism and the second parallelogram linkage mechanism have same or parallel planes of motion. A first side (a second link  302  described in the following) of the second parallelogram linkage mechanism is connected to the first parallelogram linkage mechanism, and the first side of the second parallelogram linkage mechanism is parallel to a connecting line of the first turning point and the second turning point of the first parallelogram linkage mechanism (that is, the line connecting the first output shaft  1011  and the second output shaft  1021  on the plane of motion), and a second side (for example, a fifth link  305  shown later in  FIG. 1 ) of the second parallelogram linkage mechanism parallel to the first side is fixedly connected to the dynamic platform  200 . 
     Although in  FIGS. 1 to 4  the first parallelogram linkage mechanism and the second parallelogram linkage mechanism share a same link (a second link  302  described in the following), the first parallelogram linkage mechanism and the second parallelogram linkage mechanism may not share the same link, which will be further described in the following. 
     In some embodiments, as shown in  FIGS. 1 to 4 , the two-bar linkage mechanism and the first parallelogram linkage mechanism have the same plane of motion, one end (a first end  3071  of a seventh link  307  described in the following) of the two-bar linkage mechanism is fixedly connected to the second output shaft  1021 , the other end (a second end  3082  of an eighth link  308  described in the following) of the two-bar linkage mechanism is hinged with the second platform  200 . The second output shaft  1021  is configured to drive the planar motion of the two-bar linkage mechanism. 
     In some embodiments, as shown in  FIGS. 1 to 4 , the linkage assembly  300  includes a first link  301 , a second link  302 , a third link  303 , a fourth link  304 , a fifth link  305 , a sixth link  306 , a seventh link  307 , and an eighth link  308 . A first end of  3011  of the first link  301  is fixedly connected to the first output shaft, a second end  3012  of the first link  301  is hinged with a first end  3021  of the second link  302  to form a first revolute joint  311 , a second end  3022  of the second link  302  is hinged with a first end  3031  of the third link  303  to form a second revolute joint  312 , and a second end  3032  of the third link  303  is hinged with the static platform  100  to form a third revolute joint  313 . The first link  301 , the second link  302 , the third link  303 , and a line connecting an axis of the first output shaft and an axis of the third revolute joint  313  form the first parallelogram linkage mechanism. The first power take-off  101  can drive the planar motion of the first parallelogram linkage mechanism, and an extension direction of the second link  302  remains unchanged during the motion. 
     In some embodiments, as shown in  FIGS. 1 to 4 , a first end  3041  of the fourth link  304  is hinged to the first revolute joint  311 , and a second end  3042  of the fourth link  304  is hinged with a first end  3051  of the fifth link  305  to form a fourth revolute joint  314 . A second end  3052  of the fifth link  305  is hinged with a first end  3061  of the sixth link  306  to form a fifth revolute joint  315 . A second end  3062  of the sixth link  306  is hinged to the second revolute joint  312 . The second link  302 , the fourth link  304 , the fifth link  305 , and the sixth link  306  form the second parallelogram linkage mechanism. Thus, the second parallelogram linkage mechanism and the first parallelogram linkage mechanism share the second link  202 , thereby reducing the number of revolute joints and simplifying the structure of the motion platform. The first parallelogram linkage mechanism can drive the planar motion of the second parallelogram linkage mechanism, and an extension direction of the fifth link  305  remains unchanged during the motion. 
     The first end  3041  of the fourth link  304  and the second end  3062  of the sixth link  306  may also be hinged at other positions. For example, the first end  3041  of the fourth link  304  is hinged at a middle portion of the first link  301 , and the second end  3062  of the sixth link  306  is hinged at a middle portion of the third link  303 . The middle portion refers to a certain part between two ends of a link, and is not limited to a midpoint position of the link. For another example, the first end and the second end of the second link  302  are respectively provided with extensions based on the structure shown in  FIG. 1 , the first end of the fourth link  304  is hinged on the extension of the first end of the second link  302 , and the second end of the sixth link  306  is hinged on the extension of the second end of the second link  302 . The foregoing hinged position of the first end  3041  of the fourth link  304  and the hinged position of the second end  3062  of the sixth link  306  also enable the planar motion of the second parallelogram linkage mechanism. 
     In some embodiments, as shown in  FIGS. 1 to 4 , the fifth link  305  is fixedly connected to the dynamic platform  200 . Thus, because the extension direction of the fifth link  305  remains unchanged during the motion, the dynamic platform  200  can make translational motion in the plane of motion, but cannot make rotational motion. 
     In some embodiments, as shown in  FIGS. 1 to 4 , a first end  3071  of the seventh link  307  is fixedly connected to the second output shaft, a second end  3072  of the seventh link  307  is hinged with a first end  3081  of the eighth link  308  to form a sixth revolute joint  316 , and a second end  3082  of the eighth link  308  is hinged with the dynamic platform  200  to form a seventh revolute joint  317  (not shown in  FIG. 1 , see  FIG. 3 ). The seventh link  307  and the eighth link  308  form the two-bar linkage mechanism. Thus, the second power take-off  102  and the first power take-off  101  jointly drive the dynamic platform  200  to make the translational motion in the plane of motion, and can accurately control the position of the dynamic platform  200 . 
     In some embodiments, the first end  3011  of the first link  301  is connected to the first output shaft of the first power take-off  101  by a flange, and the first end  3071  of the seventh link  307  is also connected to the second output shaft of the second power take-off  102  by a flange. Thus, the first power take-off  101  and the second power take-off  102  can respectively drive rotational motion of the first link  301  and the seventh link  307 . Definitely, the first link and the first power take-off or the seventh link and the second power take-off may also be connected by other means such as a coupling, which is not limited in the embodiments of this application. 
     For example, the axis of the first output shaft  1011 , the axis of the second output shaft  1021 , and the axis of the third revolute joint  313  lie in the same plane. Such arrangement helps improve control accuracy of the first output apparatus and the second output apparatus on the position of the dynamic platform. Definitely, the axis of the first output shaft  1011 , the axis of the second output shaft  1021 , and the axis of the third revolute joint  313  may not lie in the same plane. 
     For example, an axis of the fourth revolute joint  314 , an axis of the fifth revolute joint  315 , and an axis of the seventh revolute joint  317  lie in the same plane. Such arrangement helps improve control accuracy of the first output apparatus and the second output apparatus on the position of the dynamic platform. For example, the axis of the fifth revolute joint  315  is coincident with the axis of the seventh revolute joint  317 . Definitely, the axis of the fourth revolute joint  314 , the axis of the fifth revolute joint  315 , and the axis of the seventh revolute joint  317  may not lie in the same plane. 
     For example, as shown in  FIGS. 1 to 4 , the dynamic platform  200  includes a third power take-off  201 , a first connection element  202 , and a second connection element  203 . One end of the first connection element  202  is fixedly connected to the third power take-off  201 , and the other end of the first connection element  202  is hinged with a wall surface of the second connection element  203  to form an eighth revolute joint  318  (not shown in  FIG. 1 , see  FIG. 4 ). The third power take-off  201  is configured to drive the first connection element  202  to rotate, and the rotation of the first connection element  202  drives the second connection element  203  to rotate. The second connection element  203  is rotatable relative to the first connection element  202  about an axis of the eighth revolute joint  318 . 
     In some embodiments, as shown in  FIGS. 1 to 4 , the third power take-off  201  is a motor, which includes a third output shaft  2011  (not shown in  FIG. 1 , see  FIG. 4 ). For example, the motor is connected to the fifth link  305  by a screw, and the motor may be a servo motor or a stepping motor. For example, the third output shaft  2011 , the first output shaft  1011 , and the second output shaft  1021  are arranged in parallel. 
     In some embodiments, as shown in  FIGS. 1 to 4 , the first connection element  202  has an approximately arc shape, a first end  2021  of the first connection element  202  is fixedly connected to the third output shaft  2011 , and a second end  2022  of the first connection element  202  is hinged with the second connection element  203  to form the eighth revolute joint  318 . An axis of the eighth revolute joint  318  is not parallel to an axis of the third output shaft  2011 . For example, the axis of the eighth revolute joint  318  is perpendicular to or approximately perpendicular to the axis of the third output shaft  2011 , for example, the difference between the included angle and the right angle is less than a preset angle threshold (for example, the preset angle threshold is 5°). 
     For example, the first end  2021  of the first connection element  202  is connected to the third output shaft  2011  of the third power take-off  201  by a flange. Thus, the third power take-off  201  can drive the rotational motion of the first connection element  202 . Definitely, the first end  2021  of the first connection element  202  and the third output shaft  2011  of the third power take-off  201  may also be connected by other means such as the coupling. 
     In some embodiments, as shown in  FIGS. 1 to 4 , the second connection element  203  is ring-shaped and allows a human finger to extend in. For example, the second connection element  203  may be annular, elliptical or rectangular, and its specific shape is not limited in the embodiments of this application, as long as the second connection element  203  allows a finger to extend in and does not interfere with the first connection element  202  in motion. 
     The third power take-off  201  can drive the second connection element  203  to rotate through the first connection element  202 , thereby increasing a degree of freedom of the second connection element  203  to enhance a haptic feedback effect. The second connection element  203  is hinged with the first connection element  202 , which can further increase the degree of freedom of the second connection element  203  to enhance adaptability of the second connection element to the finger. 
     The motion platform provided by the embodiment of this application has characteristics of high stiffness, simple and compact structure, and good dynamic performance. 
     In the motion platform provided by the embodiment of this application, the linkage assembly has two translational degrees of freedom in the plane of motion, where the first link  301  and the seventh link  307  are driving links, and the other links are driven links. The first power take-off  101  drives the first link  301  to rotate, and the second power take-off  102  drives the seventh link  307  to rotate, and the first link  301  and the seventh link  307  drive other links to move, so as to realize motion control of the dynamic platform  200 , thereby transmitting the force of the remote or virtual world to the dynamic platform. 
     In the motion platform provided by the embodiment of this application, the second connection element  203  has four degrees of freedom, which are two translational degrees of freedom following motion of the dynamic platform, a rotational degree of freedom following the first connection element  202  around the third power take-off  201 , and a rotational degree of freedom around the axis of the eighth revolute joint  318 . 
     When the user extends a finger into the second connection element of the dynamic platform, the dynamic platform drives the finger to move, thereby transmitting the force of the remote or virtual world to the user and realizing haptic feedback. 
     For example, as shown in  FIG. 4 , the motion platform provided by the embodiment of this application, in the axial direction of the first output shaft or the second output shaft (up and down direction in  FIG. 4 ), the first link  301 , the second link  302 , the third link  303 , the fourth link  304 , the fifth link  305 , and the sixth link  306  are located on the upper side, and the seventh link  307  and the eighth link  308  are located on the lower side. That is, the seventh link  307  and the eighth link  308  are located on a side of the first link  301 , the second link  302 , the third link  303 , the fourth link  304 , the fifth link  305 , and the sixth link  306  that is closer to the second connection element  203 . Such arrangement helps save space occupied by the motion platform. 
     In the axial direction of the first output shaft or the second output shaft, the seventh link  307  and the eighth link  308  may also be located on a side of the first link  301 , the second link  302 , the third link  303 , the fourth link  304 , the fifth link  305  and the sixth link  306  that is away from the second connection element  203 . 
     For example, in the motion platform provided by the embodiment of this application, at least one bearing is provided in the first revolute joint  311 . For example, the bearing is a rolling bearing, including an inner ring and an outer ring that can rotate relatively. The second end  3012  of the first link  301 , the first end  3021  of the second link  302 , and the first end  3041  of the fourth link  304  rotate relatively by using the bearing. Definitely, the first revolute joint  311  may also not include the bearing, and the second end  3012  of the first link  301 , the first end  3021  of the second link  302 , and the first end  3041  of the fourth link  304  rotate relatively by direct running fit. For example, the second revolute joint  312 , the third revolute joint  313 , the fourth revolute joint  314 , the fifth revolute joint  315 , the sixth revolute joint  316 , the seventh revolute joint  317 , and the eighth revolute joint  318  are in a structure similar to that of the first revolute joint  311 . 
     An embodiment of this application further provide a haptic feedback device.  FIG. 5  is a schematic three-dimensional structural diagram of the haptic feedback device provided by an embodiment of this application. For example, as shown in  FIG. 5 , the haptic feedback device provided by the embodiment of this application includes two motion platforms  10  and a platform connection element  20  connecting the two motion platforms. 
     For example, as shown in  FIG. 5 , the two motion platforms  10  are respectively connected to two ends of the platform connection element  20 , and the two motion platforms  10  are disposed opposite each other. The two motion platforms  10  being disposed opposite each other means that the dynamic platforms  200  of the two motion platforms  10  are close to each other while the static platforms of the two motion platforms  10  are away from each other. That is, sides on which the dynamic platforms  200  are provided of the two motion platforms face each other, so that two fingers can be brought closer to each other or the fingers can be conveniently inserted into the second connection element. 
     For example, as shown in  FIG. 5 , the mounting racks  103  of the static platforms  100  of the two motion platforms  10  are fixedly connected to two ends of the platform connection element  20  by screws. 
     For example, the planes of motion of the dynamic platforms  200  of the two motion platforms  10  are approximately parallel to each other or in the same plane. 
     When a thumb and index finger (which may also be other fingers) of a user respectively extend into the second connection elements  203  of the two motion platforms  10 , the second connection elements  203  of the two motion platforms make relative motion under the drive of the static platforms  100  and the dynamic platforms  200 , so that the relative motion between the finger tip of the thumb and the finger tip of the index finger can be realized, thereby transmitting the force of the remote or virtual world to the user and realizing haptic feedback. For example, the second connection elements  203  of the two motion platforms get closer to or are separated from each other, so that contact (pinching) or separation motion between the finger tip of the thumb and the finger tip of the index finger can be achieved; the second connection elements  203  of the two motion platforms make relative motion to each other in a direction parallel to the extension of the fifth link  305 , so that rubbing motion between the finger tip of the thumb and the finger tip of the index finger can be achieved. 
       FIG. 6  is a schematic three-dimensional structural diagram of a motion state of the haptic feedback device, and  FIG. 7  is a schematic three-dimensional structural diagram of another motion state of the haptic feedback device.  FIG. 6  and  FIG. 7  show different motion positions of the second connection element  203 . As shown in  FIG. 6 , in this state, a central axis of the second connection element  203  is approximately parallel to a plane of motion of the linkage assembly. As shown in  FIG. 7 , in this state, the central axis of the second connection element  203  is perpendicular to or approximately perpendicular to the plane of motion of the linkage assembly, for example, the difference between the included angle and the right angle is less than a preset angle threshold (for example, the preset angle threshold is 5°). 
     In some embodiments, the haptic feedback device provided by the embodiments of this application may also include a greater number of motion platforms  10 , so that the haptic feedback to more fingers can be achieved. The number of the motion platforms  10  is not limited in the embodiments of this application. 
     The haptic feedback device provided by the embodiment of this application also has characteristics of high stiffness, simple and compact structure, and good dynamic performance. 
     An embodiment of this application further provides a human-computer interactive system.  FIG. 8  is a schematic structural of the human-computer interactive system. As shown in  FIG. 8 , the human-computer interactive system includes the haptic feedback device according to any one of the foregoing embodiments and a control apparatus. The control apparatus is connected to the haptic feedback device and is configured to control motion of the haptic feedback device based on force information, so as to feed back the force to a human and realize human-computer interaction. For example, the force information may be information stored in the control apparatus or received from a remote or virtual world. 
     For example, the control apparatus may be a computer or other apparatuses with a data processing function. 
     For example, the human-computer interactive system may also include a visual feedback device. The visual feedback device feeds back a picture of the remote or virtual world to a human through a display apparatus, so as to realize a visual feedback function. 
     In the human-computer interactive system provided by the embodiment of this application, by combining the haptic feedback technology and the visual feedback technology, a user can feel the force and see the picture, thereby enhancing a human-computer interactive effect. 
     For example, the human-computer interactive system may also include an audio feedback device. The audio feedback device feeds back a sound of the remote or virtual world to a human through a sounding apparatus, so as to realize an audio feedback function. 
     In the human-computer interactive system provided by the embodiment of this application, by combining the haptic feedback technology, the visual feedback technology, and the audio feedback technology, the user can feel the force, see the picture, and hear the sound, thereby enhancing the human-computer interactive effect. 
     For example, the human-computer interactive system can be implemented as a virtual reality (VR) or augmented reality (AR) device. For example, the human-computer interactive system can be applied to a game device, a wearable device, a robot, a mobile advertisement, an automobile, a medical instrument, or other devices with haptic and visual feedback functions. 
     The accompanying drawings of the embodiments of this application only relate to the structures related to the embodiments of this application, and for other structures, reference may be made the general design. 
     The embodiments of this application and features in the embodiments may be combined with each other in various embodiments. 
     The foregoing descriptions are merely specific implementations of this application, but are not intended to limit the protection scope of this application. Any variation or replacement that can be readily conceived of by a person skilled in the art within the technical scope disclosed in this application shall fall within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.