CN104102380A - Touch device and method for realizing force recognition - Google Patents
Touch device and method for realizing force recognition Download PDFInfo
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- CN104102380A CN104102380A CN201410141290.1A CN201410141290A CN104102380A CN 104102380 A CN104102380 A CN 104102380A CN 201410141290 A CN201410141290 A CN 201410141290A CN 104102380 A CN104102380 A CN 104102380A
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Abstract
The invention provides a touch device and a method for realizing force recognition, which belong to the field of multipoint touch. The touch device for realizing force recognition comprises a front panel and a back panel arranged behind the front panel, the front panel comprises a protective screen, an LCD (Liquid Crystal Display) front panel and a diffuser, the diffuser is attached flat on the lower surface of the LCD front panel, the LCD front panel is attached flat on the lower surface of the protective screen, and the haze generated by the protective screen, the LCD front panel and the diffuser is greater than or equal to 70 percent; the back panel comprises backlight sources, infrared sources and a camera array, and the backlight sources are arranged evenly, and are used for providing light needed by image display; the infrared sources are arranged evenly, and are used for illuminating a touch object to be captured by cameras; the camera array comprises a group of evenly arranged cameras, and is used for capturing the image of the touch object; any position on the protective screen is within the visual field of at least one camera.
Description
Technical field
The invention belongs to multi-point touch field, be specifically related to a kind of touch control device and method that realizes dynamics identification.
Background technology
Existing multipoint-touch-technology comprises resistance-type, condenser type, surface acoustic wave, optics frame etc., wherein resistance-type requires pressure to be greater than certain value and just can perceive touch object, and condenser type, surface acoustic wave all require touch object must touch screen, the touch object of optics frame type within can only perception 5mm.That is to say, these technology are merely able to the information of perception finger or other touch control objects and touch-control surface contact point at present, and information is very barren.
Dynamics identification refers to the variation of dynamics size when system can be identified user's finger or other touch object touch-control surface of contact, the for example identification of writing brush style of writing, and dynamics identification can allow user's writing on screen have the variation of thickness, the word writing out is more natural, can compare favourably with the calligraphy effect of real world.Dynamics identification can be enriched the gesture in multi-point touch field more, by dynamics size, and identification user's real intention.But existing capacitance plate and frame screen etc. are merely able to identify the position of user's touch-control, there is no the relevant information of dynamics.
Summary of the invention
The object of the invention is to solve the difficult problem existing in above-mentioned prior art, a kind of touch control device and method that realizes dynamics identification is provided, can perception finger with writing brush etc. the various raw informations in the time suspending, after contacting, comprising: the dynamics size of the motion track before contact with the change of distance of touch-control surface, while contacting, shape, the image information of contactant etc. of contactant.Can be further to expand man-machine interaction, provide user's experience of remarkable fluency that hardware foundation is provided.
The present invention is achieved by the following technical solutions:
A kind of touch control device of realizing dynamics identification, comprise front panel and the rear panel that is arranged on its rear, described front panel comprises protection screen, LCD front panel and diffusion sheet from top to bottom successively, described diffusion sheet is flattened on the lower surface of LCD front panel, LCD front panel is flattened on the lower surface of protection screen, and three forms the mist degree that is more than or equal to 70%;
Described rear panel comprises back light, infrared light supply and camera array, and described back light is evenly arranged, in order to provide display frame required light; Described infrared light supply is evenly arranged, and in order to the touch object that throws light on, catches for camera; Described camera array comprises one group of camera of evenly arranging, in order to catch the picture of touch object;
On described protection screen, arbitrary position is all within the visual field at least 1 camera.
Described protection screen, LCD front panel and arbitrary neighborhood in diffusion sheet two-layer bonded to together with, or three layers be bonded together successively, bonding employing be that refractive index is the transparent glue of 1.3-1.55.
Described rear panel comprises astigmatism plate, and it is arranged on the top of back light, infrared light supply and camera array, and in described astigmatism plate, the position of corresponding each camera all has hole.
The described touch control device of realizing dynamics identification comprises reflector, and it is arranged on each side in the space forming between front panel and rear panel, the light in order to reflection from back light and infrared light supply.
Described protection screen is selected anti-dazzle tempered glass.
The described touch control device of realizing dynamics identification comprises display driving system, image identification system and power-supply system:
Described display driving system, in order to receive the display from computing machine, drives described LCD front panel under the cooperation of back light, shows user interface;
The picture that described image identification system catches in order to receive camera, by analysis, carry out Contact recognition, dynamics identification, surface of contact shape size identification, the most one or more users' operation, is converted to the information of multiple contact objects, comprise its position, dynamics, surface of contact shape, offer computing machine;
Described power-supply system is in order to power to this touch control device of realizing dynamics identification.
A method that realizes dynamics identification, described method comprises:
Step 1: take pictures
Under the triggering of synchronizing signal, all cameras are taken pictures simultaneously;
Step 2.1: distortion correction
According to the rectification data of obtaining in advance, the image that each camera is photographed carries out distortion correction and obtains image after treatment;
Step 2.2: dynamic background and background removal
By figure image subtraction dynamic background after treatment, obtain the image of touch object;
Step 2.3: surface of contact identification
The image that step 2.2 is generated carries out brightness space analysis and obtains shape and the area of surface of contact;
The image that step 2.2 is generated carries out luminance difference spatial analysis and obtains shape and the area of surface of contact;
Shape and the area of two surface of contact that comprehensive brightness space analysis and luminance difference spatial analysis obtain, obtain the surface of contact less with actual surface of contact error and shape and area;
Step 3: touch information transmission
The shape of the surface of contact that step 2.3 is obtained and area, as dynamics information, pass to computing machine.
In described step 1, the mistiming of the behavior of taking pictures of each camera should be less than or equal to 1 millisecond;
Each camera carries out at least 30 times and take p.s..
Described step 2.2 is achieved in that
The image after treatment that step 2.1 is obtained and current dynamic background compare, will be on a large scale, by a small margin, slowly change be defined as real background change, by among a small circle, significantly, unexpected variation be defined as prospect change;
Described real background is changed in the dynamic background that is logged into preservation and obtains new dynamic background, using this new dynamic background as current dynamic background;
Dynamic background current figure image subtraction is obtained to result;
Describedly figure image subtraction dynamic background is obtained to result be achieved in that the gray-scale value of the each point in two width images is done to subtraction obtains result.
The described image that step 2.2 is generated carries out shape and area that brightness space analysis obtains surface of contact and is achieved in that the brightness value of each point in the image that step 2.2 is generated, as the height value of this point, obtains a topomap in brightness space; This topomap is analyzed, compared by the absolute altitude value of every and with relative mistake and the setup parameter of nearest mountain peak peak value, obtain shape and the area of surface of contact;
The described image that step 2.2 is generated carry out luminance difference spatial analysis obtain the shape of surface of contact and area be achieved in that the brightness value of each point in the image that step 2.2 is generated and this point around the difference of the brightness average of point as the height value of this point, obtain a topomap in luminance difference space, this topomap is analyzed, compare by the absolute altitude value of every and with relative mistake and the setup parameter of nearest mountain peak peak value, obtain shape and the area of surface of contact, obtain shape and the area of surface of contact.
Compared with prior art, the invention has the beneficial effects as follows:
1. utilize the present invention, the information of user's touch-control dynamics can be provided;
2. utilize the present invention significantly to promote and write and painting effect, particularly Chinese calligraphy;
3. utilize the present invention, do not need the pen of special pressure perception, can write and paint with finger, writing brush, oil painting brush etc.;
4. the present invention has reduced the complexity of user interface: user is without the thickness of choosing pen by menu.
Brief description of the drawings
Fig. 1 is the structural drawing that the present invention realizes the touch control device of dynamics identification.
Fig. 2 is the schematic diagram of the inventive method.
Fig. 3-1st, the little schematic diagram of surface of contact that contact hour forms.
Fig. 3-2nd, the large schematic diagram of surface of contact forming when contact is large.
Fig. 4 is the distortion correction schematic diagram in the inventive method.
Fig. 5 is dynamic background in the inventive method and the schematic diagram of background removal.
Fig. 6-1st, the level line that Fig. 3-1 surface of contact forms.
Fig. 6-2nd, the level line that Fig. 3-2 surface of contact forms.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail:
The present invention is at contact panel rear installation infrared light source and camera array, and under the irradiation of infrared light supply, camera catches the image of the touch objects such as finger; For arbitrary position in touch surface, be at least positioned at the visual range of 1 camera.
The structural representation of the touch control device of a kind of dynamics that realizes based on the LCD identification that Fig. 1 provides for the present embodiment, is respectively in figure:
1) front panel, comprising:
A) protection screen 101: be the thick anti-dazzle tempered glass of 5mm (can use 1mm～15mm) in the present embodiment, in order to robust touch face to be provided, protection LCD, while specifically enforcement, can select suitable protection screen according to actual needs.
B) LCD panel 102: be LCD front panel (Cell) to be responsible for display frame.
C) diffusion sheet 103: diffusion sheet is the light from back light in order to diffusion, and more uniform picture is provided.In the situation that installing diffusion sheet and overall mist degree additional and being more than or equal to 70%, rear panel easily designs, as long as it is substantially even, can ensure to show evenly.Entirety mist degree main (> 80%) is provided by diffusion sheet (diffuser), is secondly liquid crystal front panel, and the frosted of protection screen front surface is processed also small contribution.In a word, as long as ensure overall mist degree.General transmittance > 85%, the diffusion sheet of mist degree > 70% selected.The thickness of diffusion sheet is generally between 20 microns to 230 microns.
When concrete enforcement, can be not bonding between these three layers, also can glue two-layerly arbitrarily, or three is bonded together, in the present embodiment, the transparent glue that this three is 1.5 by refractive index is adhesively fixed, to eliminate light unnecessary reflection between three.For example can adopt UV glue (without shadow glue), silica gel etc.
1) rear panel, comprising:
A) back light 302: in the present embodiment, adopt white LED lamp pearl array, in order to provide display frame required light.When concrete enforcement, can adopt as required RGB-LED light source or CCFL (fluorescent tube, fluorescent tube)
B) infrared light supply 303: in the present embodiment, adopt 850nm infrared LED lamp pearl array or laser infrared light source etc., wait and touch object in order to illumination finger, catch for camera.When concrete enforcement, back light and infrared light supply both can be arranged on the dead astern of front panel, also can be arranged on back upper place, the back lower place or rear survey side, and these are determined according to actual needs.
C) camera array: in the present embodiment, adopt 6 to the camera 301 of infrared-sensitive (while specifically enforcement, number and the array of camera can be set according to the size of touch screen, as long as ensure in touch surface that arbitrary position is all within the visual field in 1 camera.), in order to catch the picture of the touch objects such as finger, writing brush, offer image identification system.System is sent trigger pip with a fixed frequency (as 60 times per second) to camera array, and each camera starts to take pictures in the time receiving trigger pip.Make like this taking pictures of each camera synchronously carry out.Require the mutual gap of the actual photo opporunity of each camera to be less than or equal to 1ms (millisecond).
D) astigmatism plate 202: in the present embodiment, choosing has filled astigmatism plate, in order to further fuzzy back light, provides more uniform picture, has also played the effect of LCD front panel being carried out to thermal isolation simultaneously.
E) reflector 201: in the present embodiment, on 4 of plate facades, choosing has filled reflector in the back, in order to more effectively to utilize the light from back light and infrared light supply;
Back light is arranged and will be tried one's best evenly, avoids picture to occur dark space or speck.Infrared light supply is arranged and will be tried one's best evenly, makes the exposure value of each camera as far as possible consistent.Camera is arranged as far as possible evenly, can catch the object of which movement of whole viewing area.
2) display driving system 401: in order to receive the display (in the present embodiment, being HDMI, VGA or DVI) from computing machine, drive LCD front panel under the cooperation of back light, show user interface.
3) image identification system 403: the picture catching in order to receive camera, by analysis, carry out Contact recognition, dynamics identification, surface of contact shape size identification, the most one or more users' operation, is converted to the information of multiple contact objects, comprise its position, dynamics, surface of contact shape etc., offer computing machine.
4) power-supply system 402: be back light, infrared light supply and the power supply of other electricity consumption devices.
In the present embodiment, front panel and rear panel combination form a rectangular parallelepiped, and wherein front panel (protection screen, LCD panel, diffusion sheet) forms the upper surface of rectangular parallelepiped; In rear panel, back light, infrared light supply and camera are arranged in rectangular parallelepiped lower surface, cover astigmatism plate above, on four facades, cover reflector.
The present invention realizes the method for dynamics identification, specific as follows:
The structure being formed by cover glass, LCD Cell and diffusion sheet; there is on the whole the mist degree (mist degree is mainly contributed by diffusion sheet) of > 70%, make direct projection light when through this structure, scattering can occur; mist degree is larger, and dispersion effect is larger.Its effect is, in the time of the touch object of camera capturing structure opposite side, and the object that distance protection glass is nearer, imaging more clear (as shown in 601 in Fig. 2), fuzzyyer (as shown in 602 in Fig. 2), as shown in Figure 2.
When use can deformation touch object time, such as finger, writing brush etc., along with the change of contact, shape and the area of surface of contact also change, as shown in Fig. 3-1 and Fig. 3-2.
Ultimate principle and the step of native system work are:
1, make way for the camera of front-panel structure opposite side, touch object is taken, obtain image
2, utilize above-described " near object clear, far object is fuzzy " feature, image is analyzed, identify the boundary of contact portion and noncontact part, thereby obtain shape and the area of surface of contact
3, the information of the shape of surface of contact and area is sent to upper strata operating system and application software specific as follows:
Step 1: take pictures
Under the triggering of synchronizing signal, all cameras are taken pictures simultaneously, and the mistiming of the behavior of taking pictures is answered 1 millisecond of <;
The required illumination of taking pictures is provided by infrared light supply;
Carry out at least 30 p.s. and take, in order to reach better writing effect, should at least adopt 60 times or above filming frequency per second;
Step 2.1: distortion correction
As shown in Figure 4, (use correction tool according to the rectification data of obtaining in advance, on screen in the visible area of camera, show nxn dot matrix, by automatic program identification or the mode of manually pressing, obtain the position (nxn camera picture internal coordinate point) of these nxn dot matrix in camera picture, obtain like this nxn the corresponding relation of putting in nxn of camera point and screen plane, the corresponding relation of extrapolating the point in each point and the screen plane on camera picture with this, these corresponding relations are corrected data exactly.), (be after each camera has been taken pictures to the image photographing, all carry out at once distortion correction) carry out the distortion correction (gray-scale value of the each point on the picture that camera is captured, according to above-mentioned corresponding relation, in Flat-picture corresponding point, give identical gray-scale value, obtain like this gray level image after distortion correction.)。After treatment, in a region R, be close to the straight grid of real touch surface, will in image after treatment, present straight.
Step 2.2: dynamic background and background removal
As shown in Figure 5, for follow-up identification better, need to be background image of figure image subtraction, to obtain the image of touch object.
---with image and existing dynamic background, (dynamic background is initially the first width and photographs picture, constantly change at run duration afterwards, its variation pattern is described in the back, and what emphasize here is that image and current dynamic background are compared) compare;
---the prospect that filters out changes: movement images and dynamic background, and be changed to, by a small margin, slowly real background on a large scale and change (as ambient light changes, the infrared light supply variation that causes of temperature variation etc.), should count dynamic background; And among a small circle, significantly, the unexpected prospect that is changed to changes (as user's hand, teacup etc.), should not count dynamic background, this step, filters out significantly changing suddenly among a small circle.The range size, the size of amplitude and the defining according to actual conditions and define suddenly or slowly of changing that change.
---change of background is charged in the dynamic background of preservation: this step, by change of background, picture on a large scale, by a small margin, slowly change, count dynamic background
The method of charging to is:
Dynamic background (x, y)=dynamic background (x, y) * (1-turnover rate)+(change of background (x, y)+dynamic background (x, y)) * turnover rate;
0 < turnover rate <=1
----by figure image subtraction dynamic background (the gray-scale value of each point of 2 width images does subtraction), result is passed to surface of contact identification module below.
Step 2.3: surface of contact identification
First analyze at brightness space:
---the height using the brightness of each image point as this point
---can obtain like this topomap that has Plain and mountain peak
---a contact contacting is gently as a mountain peak, and as in Figure 6-1, and a heavy contact is as a highland, as shown in Fig. 6-2
Then analyze in luminance difference space:
---the brightness of every in image deduct average around (for example around to this point apart from the surrounding's point that is a little this point that is less than or equal to 3.)
Scope around and system (such as resolution ratio of camera head) correlativity is larger, and radius around can be between 1 to 20;
Average may be weighted mean, for example:
Average (p)=∑ f (| p-p ' |) * V (p ')
For arbitrfary point p, average (p) is put average around for it.
P ' is a p point around
V (p ') be the brightness value of p ' point
F () is a weighting coefficient function, and it provides weight according to p ' to the distance of p (| p-p ' |);
---in the figure generating, there is fast-changing region (region clearly) meeting than changing slow (fuzzy region), thereby distinguish screen and the object that frames out, as the part of a writing brush laminating screen and other part of contact screen not.
Specifically, in figure, each is pressed after step processes, generate a secondary new figure above.The analysis of doing on this figure is called the analysis on luminance difference space.In former figure, brightness changes unexpected region, (as described above in topomap, cliffy summit), very high in new figure; In former figure, brightness changes region (as in topomap, mild slope) slowly, very dark in new figure.For example, a miter angle is clicked the finger of screen, in brightness space, analyze, the surface of contact easy (mistakenly) drawing divides prolongation to Fingers root, and analyze in luminance difference space, easily (mistakenly) shrinks to finger tip part, and both combine, and can obtain more accurately area and the shape of surface of contact.
This step, in conjunction with the result of these two analyses, provides shape and the area of surface of contact, and specifically, comprehensive judge can adopt several different methods, is exemplified below:
Method 1: independently obtain the outline of surface of contact shape by two kinds of methods, two outlines do and on average obtain net shape;
Method 2: be that each point is given a mark by two kinds of methods, two scores of each point are added, as final score is greater than particular fraction line, this point is regarded as in surface of contact, and gained surface of contact is done to the regular processing of edge-smoothing, obtains final surface of contact shape.
Step 3: touch information transmission
---using contact area information (shape that step 2 obtains and area) as dynamics information, pass to as operating systems such as Windows8, make the upper layer software (applications) that can use dynamics information to obtain this information by the touch-control message of operating system
---the information of touch-control shape need be passed through expansion interface, passes to the specific software that senior calligraphy and drawing require.
Existing senior drawing writing software can receive dynamics information by standard interface, and dynamics information is at present from pressure perception pen.System of the present invention is the current unique touch-control that can identify user's finger, writing brush, oil painting brush etc., and position and dynamics information is accurately offered to the system of these softwares.Except providing dynamics information, native system also additionally provides contact shape information.
Technique scheme is one embodiment of the present invention, for those skilled in the art, the invention discloses on the basis of application process and principle, be easy to make various types of improvement or distortion, and be not limited only to the described method of the above-mentioned embodiment of the present invention, therefore previously described mode is just preferred, and does not have restrictive meaning.
Claims (10)
1. realize the touch control device of dynamics identification for one kind, it is characterized in that: the described touch control device of realizing dynamics identification comprises front panel and is arranged on the rear panel at its rear, described front panel comprises protection screen, LCD front panel and diffusion sheet from top to bottom successively, described diffusion sheet is flattened on the lower surface of LCD front panel, LCD front panel is flattened on the lower surface of protection screen, and three forms the mist degree that is more than or equal to 70%;
Described rear panel comprises back light, infrared light supply and camera array, and described back light is evenly arranged, in order to provide display frame required light; Described infrared light supply is evenly arranged, and in order to the touch object that throws light on, catches for camera; Described camera array comprises one group of camera of evenly arranging, in order to catch the picture of touch object;
On described protection screen, arbitrary position is all within the visual field at least 1 camera.
2. the touch control device of realizing dynamics identification according to claim 1; it is characterized in that: described protection screen, LCD front panel and arbitrary neighborhood in diffusion sheet two-layer bonded to together with; or three layers are bonded together successively, bonding employing be that refractive index is the transparent glue of 1.3-1.55.
3. the touch control device of realizing dynamics identification according to claim 1, it is characterized in that: described rear panel comprises astigmatism plate, it is arranged on the top of back light, infrared light supply and camera array, and in described astigmatism plate, the position of corresponding each camera all has hole.
4. the touch control device of realizing dynamics identification according to claim 1, it is characterized in that: the described touch control device of realizing dynamics identification comprises reflector, it is arranged on each side in the space forming between front panel and rear panel, the light in order to reflection from back light and infrared light supply.
5. the touch control device of realizing dynamics identification according to claim 1, is characterized in that: described protection screen is selected anti-dazzle tempered glass.
6. according to the touch control device of the dynamics that the realizes identification one of claim 1-5 Suo Shu, it is characterized in that: the described touch control device of realizing dynamics identification comprises display driving system, image identification system and power-supply system:
Described display driving system, in order to receive the display from computing machine, drives described LCD front panel under the cooperation of back light, shows user interface;
The picture that described image identification system catches in order to receive camera, by analysis, carry out Contact recognition, dynamics identification, surface of contact shape size identification, the most one or more users' operation, is converted to the information of multiple contact objects, comprise its position, dynamics, surface of contact shape, offer computing machine;
Described power-supply system is in order to power to this touch control device of realizing dynamics identification.
7. according to the method for the dynamics that the realizes identification of the touch control device of the dynamics that the realizes identification one of claim 1-6 Suo Shu, it is characterized in that: described method comprises:
Step 1: take pictures
Under the triggering of synchronizing signal, all cameras are taken pictures simultaneously;
Step 2.1: distortion correction
According to the rectification data of obtaining in advance, the image that each camera is photographed carries out distortion correction and obtains image after treatment;
Step 2.2: dynamic background and background removal
By figure image subtraction dynamic background after treatment, obtain the image of touch object;
Step 2.3: surface of contact identification
The image that step 2.2 is generated carries out brightness space analysis and obtains shape and the area of surface of contact;
The image that step 2.2 is generated carries out luminance difference spatial analysis and obtains shape and the area of surface of contact;
Shape and the area of two surface of contact that comprehensive brightness space analysis and luminance difference spatial analysis obtain, obtain the surface of contact less with actual surface of contact error and shape and area;
Step 3: touch information transmission
The shape of the surface of contact that step 2.3 is obtained and area, as dynamics information, pass to computing machine.
8. method according to claim 7, is characterized in that: described method comprises: in described step 1, the mistiming of the behavior of taking pictures of each camera should be less than or equal to 1 millisecond;
Each camera carries out at least 30 times and take p.s..
9. method according to claim 8, is characterized in that: described step 2.2 is achieved in that
The image after treatment that step 2.1 is obtained and current dynamic background compare, will be on a large scale, by a small margin, slowly change be defined as real background change, by among a small circle, significantly, unexpected variation be defined as prospect change;
Described real background is changed in the dynamic background that is logged into preservation and obtains new dynamic background, using this new dynamic background as current dynamic background;
Dynamic background current figure image subtraction is obtained to result;
Describedly figure image subtraction dynamic background is obtained to result be achieved in that the gray-scale value of the each point in two width images is done to subtraction obtains result.
10. method according to claim 9, it is characterized in that: the described image that step 2.2 is generated carries out shape and area that brightness space analysis obtains surface of contact and is achieved in that the brightness value of each point in the image that step 2.2 is generated, as the height value of this point, obtains a topomap in brightness space; This topomap is analyzed, compared by the absolute altitude value of every and with relative mistake and the setup parameter of nearest mountain peak peak value, obtain shape and the area of surface of contact;
The described image that step 2.2 is generated carry out luminance difference spatial analysis obtain the shape of surface of contact and area be achieved in that the brightness value of each point in the image that step 2.2 is generated and this point around the difference of the brightness average of point as the height value of this point, obtain a topomap in luminance difference space, this topomap is analyzed, compare by the absolute altitude value of every and with relative mistake and the setup parameter of nearest mountain peak peak value, obtain shape and the area of surface of contact, obtain shape and the area of surface of contact.
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| CN201410141290.1A CN104102380A (en) | 2013-04-09 | 2014-04-09 | Touch device and method for realizing force recognition |
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| CN 201310119507 CN103150063A (en) | 2013-04-09 | 2013-04-09 | LCD (Liquid Crystal Display)-based optical multi-touch equipment |
| CN201310119507.4 | 2013-04-09 | ||
| CN201410141290.1A CN104102380A (en) | 2013-04-09 | 2014-04-09 | Touch device and method for realizing force recognition |
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| CN201410143314.7A Pending CN104102394A (en) | 2013-04-09 | 2014-04-09 | Optical multi-point touch control equipment and method |
| CN201410141290.1A Pending CN104102380A (en) | 2013-04-09 | 2014-04-09 | Touch device and method for realizing force recognition |
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| CN103150063A (en) | 2013-06-12 |
| CN104102394A (en) | 2014-10-15 |
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