WO2011089296A1 - Portable tactile vision system and tactile stimulation device for same - Google Patents

Abstract

The invention relates to a portable tactile vision system and to a tactile stimulation device for same. Said portable tactile vision system comprises: image capturing means (1) carried on the glasses (4) of a user (5); data processing means processing the images captured by the image capturing means (1), in order to obtain processed signals; and tactile stimulation means (3) that can be fixed to the body of a user (5) and comprise a stimulator with a tactile stimulation matrix of nxm stimulation points (12). The stimulator receives the processed signals, converts them into mechanical tactile sensations, and applies them to the skin of the user (5) at selected stimulation points (12) to obtain a tactile identification of the captured images. The resolution of each tactile stimulation matrix is such that n≥20 y m≥20. The stimulator is applied mainly to the hand, arm or back of the user.

Description

 Portable touch vision system and touch stimulation device for it

Field of the Invention

 The present invention, consisting of a portable tactile vision system, is applicable in any industry and leisure sector, specifically where production processes, service provision or, in general, any activity or discipline where contact is required visual without the possibility of ocular perception, either due to lack of light or because of inability to focus precisely on the objective (objective located at an excessive distance or outside the observer's line of sight, visual impairment, etc.) or also where a visual contact is required additional when the view is occupied, either because it cannot be diverted in view of the activity or image being performed, or because the perception of additional complex information represented as visual information is necessary. Explicitly, direct applications can be cited in the field of medicine, leisure, video games, air and maritime navigation, communications, televigilance and security.

Background of the invention

 Studies to achieve instant recognition of images or written texts without visual perception began there in the 70s (US3594823 patent of

Paul Bach-Y-Rita, Gardner and Palmer 1989, Vidal Verdú et al., 2007, Killebrew, 2007,

Kyung et al., 2008, Yoon and Yu, 2008).

 Success in this task has been achieved thanks to the knowledge that we have today of:

 • The neuronal plastic capacity of the brain that allows the generation of neuronal connections between primary somatosensory areas and secondary and tertiary areas of visual association of cognitive functions based on tactile stimulation, which is called neuroplasticity.

· The cerebral organization that facilitates the representation of personal space, the more complex representation of peripersonal space and the memorial representation of tactile neurons (Harris et al., 2002) of both personal and peripersonal space through cerebral sensory areas (Kandel and col, 2001), due to the high degree of effectiveness of touch to determine the position and morphology of objects (Wheat et al., 1995)

 • The ability to associate different stimulation modalities (Amedi col., 2007, Swisher et al., 2007), tactile information modulation (Haggard et al., 2007) and location. exact objects, by touch recognition.

All these studies have demonstrated the ^' feasibility of global spatial recognition of objects, people or printed reading through touch.

In recent years, some devices have emerged, based directly or indirectly on these principles, with which one way or another has attempted to ^' replace the sense of sight ^' with another sensory excitation. Citing the most relevant, the following can be listed:

 • Spatial recognition through the ear.

 • Letter recognition through index finger stimulation.

 • Braille graphic display.

 . · Electrodes in the tongue.

 • Surgical implants in the brain.

 • Electrostimulation of the forehead.

 • Electrostimulation in the torso.

 • Surgical implant of skin stimulators.

 All these devices only partially achieve the objectives pursued, hence their limited penetration both in the market and in society. A brief description of its basic principles is included below:

1. Spatial recognition through the ear.

 These systems are based on the transformation of images into sounds with different tones, intensities, frequencies and durations; that is, visual perception is replaced by an acoustic perception.

 It is required to have a camera, headphones, microphone for control and an image sonification software with a refresh capacity of one to four images per second, which allows a resolution of the order of 100 by 100 pixels.

The biggest drawback of these systems is that they cancel the ability to hear anything other than the sound of the images. Nor do they allow reading. Í

 2. Letter recognition by index finger stimulation.

 There is an industrial device based on this principle that is commercially known as Optacón. .

 This technology replaces the human eye with a camera capable of capturing the image of a text and transforming it into vibratory signals that are applied to a stimulator in contact with the index finger. The black color produces vibration and the rest white. It is a device designed only for text recognition.

 Based on the same principles as Optacón, Princeton University has developed a finger stimulator (Exeter) with higher resolution, which allows even object recognition.

 The devices based on this technology hinder the normal use of the hands and are in addition to complicated industrialization due to their large size. 3. Braille graphic display.

 Technology based on Braille graphic displays has led to various accomplishments.

 As a result of the Itactl research program of the European Commission, an interactive screen based on thousands of mobile actuators capable of representing an array of Braille characters, as well as simple tactile graphics (in vertical or horizontal mode) has been developed. This technology is applicable in the development of interactive graphic computer interfaces for the visually impaired.

 Based on the same principle, there is a commercial product built by Meier, Maucher and Schemmel (University of Heidelberg). This device consists of 48 piezoelectric actuators capable of representing tactile graphics by elevation.

 As more relevant disadvantages of this technology, it is worth mentioning:

 • The pins only represent two states: on (black) or off (white).

 · The touch interface is active, that is to say, the user must continually swipe over it to use it.

 • Only applicable for simple letter and graphic recognition.

• Difficult the normal use of the hands. 4. Electrodes in the tongue. The so-called electric eye of Dr. Maurice Pitto (University of Montreal), tries to take advantage of the conductivity of saliva to transmit electrical impulses.

 The device consists of a small panel with 12 x 12 electrodes that rests on the tongue and transmits visual signals using sensory electrical impulses.

 Patent document US6430450B1 by Paul Bach-Y-Rita describes another tactile stimulator for the tongue.

 This technology has as fundamental disadvantages the difficulty that the user experiences in speaking; the need to use an uncomfortable and annoying device, which also produces some social rejection for being unsightly and, finally, its exclusive use for text recognition.

5. Surgical electrode implant in the brain.

 Dr. Dobelle, who died in 2004, dedicated almost his entire professional life to the implementation of a device that, through an implant of a stimulator in the visual cortex, allowed to recover at least part of the visual acuity of a blind person.

 This system consists of a mini-camera to capture the images, a pocket computer, which performs the information processing, and a stimulator.

 The stimulator consists of 400 electrodes, fed with an information refresh rate of 4 to 8 images per second and is implanted by surgery in the visual cortex.

 The vision has a tunnel effect, allowing to recognize shadows, shapes and letters (does not measure distances).

 To increase vision, it would be necessary to increase the number of electrodes and, above all, not to remain on the surface of the cortex, which would imply greater risks in the intervention. It is currently implanted in 8 patients and has barely had acceptance within the visually impaired community.

 Other inconveniences:

 • Need for surgery (with the inconveniences and risks involved)

• Not useful if the visual cortex is damaged or has not developed.

 • Allows only three hours of autonomy.

 • Significant weight (5 kg)

· Not able to measure distances. 6. Electrostimulation on the forehead: FSRS

 Based on the concept of electrical stimulation by electrodes implanted in the brain, this product generates stimulation by means of electrodes on the forehead of individuals, with a similar degree of resolution as the previous one since they handle approximately the same number of electrostimulators (some 400).

 Although it does not require surgery, the main drawback of this system is its low resolution.

7. Surgical electrode implant in the skin

 EP1684850A2 patent document describes a tactile stimulator implanted under the epidermis. However, it brings the following disadvantages:

 • Requires surgery.

 • Small resolution.

 • Low refresh rate.

 • Not able to measure distances.

 • Low autonomy.

 • Problems in the alignment of transmitters with stimulators

8. Electrostimulation in the torso

 The website "http://www.tactilevision.ru/engiish" discloses an artificial vision device with camera, visual information processor (as a backpack) and tactile stimulator in the torso. The stimulation is carried out by means of electrical impulses, with a set of 110x9 electrodes.

 This invention has the following disadvantages:

 - It uses electrical impulses (electrodes) that must be different between men and women;

 - High weight (around 9kg) of the device, which makes it non-portable;

 - Small resolution of the stimulation matrix;

- Unpleasant sensation (tingling); , ^' '

 - High consume.

Apart from the limitations already described, the technologies described above have in general other 'many disadvantages: they are only valid for writing recognition or simple figures, high recognition delay, poor portability, low resolution, etc. On the other hand, none of them has the focus and scope of the present invention. Description of the invention

 The invention relates to a portable touch vision system according to claim 1 and a portable touch vision device according to claim 17. Preferred embodiments of the system and device are defined in the dependent claims.

From a structural point of view, there are significant differences and advantages over ^{^} devices and technologies that precede this invention:

 • Existing products are based on the substitution of visual perception with another type of sensory perception (hearing, touch) through the use of devices of different nature. The invention, on the contrary, goes further, systematizing a procedure, supported by a technology, with which the development of new neuronal pathways is achieved, through repetitive stimulations, between the cerebral areas of tactile perception and those of image perception. The physical devices associated with this procedure constitute only a part of it.

 · The present invention can provide the user with both vision through a single camera and a single stimulator, as well as a stereoscopic effect; using two cameras and two stimulators:

 The capture of images is carried out by means of a camera in the basic application or by a double camera (stereoscopic effect) - The tactile stimulation is achieved through totally new physical devices. For this, in a preferred embodiment, stimulators are used that integrate a modular matrix of 20x20 points, allowing to reach 100x100 stimulus points, giving the image a high resolution. The concept of modular matrix allows in any case to create larger matrices depending on the need of the applications implemented.

The matrices can be placed in such a way that they act on a different cerebral hemisphere, or in stereoscopic application with two matrices. The location of the matrices (a group in the left area of the body and another n | a right area of the body) causes the tactile sensations separately reach the two cerebral hemispheres. The right cerebral hemisphere controls the sensations of the left area of the body and the left hemisphere those of the right area.

 • The stimulatory procedure of the stimulators, with a stimulation frequency between 100 and 300 ms., Allows the development of the new neuronal pathways between the brain zone that perceives and processes the tactile stimuli and the brain area responsible for processing the optical information

 • The learning process that complements technology is inherent in the invention and an important part of it.

 Other advantages can be highlighted that mark differences over what already exists:. The characteristics of the physical devices make it perfectly portable (low weight), with great autonomy, comfortable and aesthetic.

 • Touch stimulation is nice.

• Does not cause "tingling" or skin irritation. _v From a functional point of view, the advantageous effects that the invention provides are:

 > · The simultaneous interaction on the two cerebral hemispheres facilitates the subject a real sensation of stereoscopic vision, perceiving white, ■ black and gray tones (unlike other devices that facilitate only recognition and reading).

 • Distance sensitivity.

 . · The resolution of the perceived image is one hundred times greater than that provided by any other known technology.

 • Low cost of materials.

 • In the case of abdominal implantation, the navel will be used as an anchor for the stimulator to always fix it in the same position (as a nose for glasses)

 The portable touch vision system comprises:

 - means of image capture;

 - data processing means responsible for processing the images captured by the image capture means to obtain processed signals; Y

- tactile stimulation means (or tactile stimulation device) fixed to the body of a user, comprising at least one stimulator, each in turn comprising a matrix of tactile stimulation that has nxm stimulation points, said tactile stimulation means being configured to receive said processed signals and convert them into tactile sensations perceptible by the user and apply them on their skin at the selected stimulation points of suitable way to obtain a tactile recognition of the captured images. The tactile stimulation means are configured to provide a mechanical tactile stimulation at the stimulation points. The resolution - of the touch stimulation matrix is such that it is met that n≥20 and m≥20.

 In a preferred embodiment the image capture means comprise a video camera, although it could be extended to two cameras, the data processing means are configured to process the images of each video camera independently, so that from this point of view, it is not more complex to process one or two cameras since each one goes to a processing module, and it is the brain that integrates the signals; and the tactile stimulation means comprise one or two 20x20 stimulation matrices, fixed on different sides of the user's body and configured to each receive the processed signals from one / two video cameras {in a preferred embodiment a stimulator is placed in. the hand, although at the user's convenience it can be put in both). Its extension to other parts of the body is a function of a slow learning period, although from the technical point of view, there is no greater complexity in increasing the size of the matrices since the 20x20 matrix is modular, it will therefore be the user who determines the configuration. If the user wants a short learning period and have a free hand, he will choose the basic application of a camera and a stimulator; if you want stereoscopic vision, you must use the stimulators on both hands; and if you want higher resolution, a long learning period to get "see" with other parts of the body (arm, abdomen and back). If two video cameras are used, they are preferably supported on each side of a pair of portable glasses by the user.

 The tactile stimulation means are preferably responsible for applying tactile stimulation on the hands, although they may be in other parts of the body.

The system preferably comprises a mobile device that has an image processing application responsible for processing the images captured by the image capture means to obtain the processed signals. The mobile device may comprise at least one video camera configured to perform the functions of the image capture means. The mobile device may be configured to, in case the user requires it, send the captured images to a remote server and this, in turn, forward the processed images remotely to the mobile device. A utility of the set of glasses (i.e. micro cameras), drivers, communication devices (USB and Bluetooh), is the possibility that anyone, blind or sighted, can send a video report to their mobile phone to a retransmission center, without the use of their hands and with a perfect "tripod" (the neck).

 In a preferred embodiment the tactile stimulation means are configured to effect a refresh of the application of the tactile sensations on the user's skin according to a refresh period between 100ms and 300ms.

 The image capture means may have autofocus and distance measurement means to the autofocus point, said image capture means being configured to send the corresponding distance to the point to the data processing means, together with the captured images. of autofocus of said images; and because the tactile stimulation means are additionally configured to receive, together with the processed signals, the corresponding distance to the autofocus point and convert said distance into tactile sensations interpretable by the user to obtain the corresponding distance to the autofocus point. This interpretation of distance is based on a row of stimulation points located at one end of the tactile stimulation matrix.

 It can also be equipped with a zoom control, variable as required by the user, for which a system is developed that allows, through facial movements, its handling. The zoom can be controlled with slight movements of the head detected by an accelerometer installed in the glasses, thus for example, a slight inclination of the head to the right increases the zoom, and to the left decreases it. Other gestures detected in this way can activate other functions.

 The tactile stimulation means (or tactile stimulation device) are preferably configured to perform a mechanical tactile stimulation by vibration, although they could also be performed by mechanical pressure. For this purpose, the system may comprise, at each point of stimulation, a dielectric or ionic elastomer to effect mechanical tactile stimulation by vibration, or it may comprise means of injection of pressurized air configured to effect said mechanical tactile stimulation by pressure,

In the case of using the dielectric elastomer as a stimulator, multiple improvements have been made without which it would not be possible to comply with the parameters - in necessary to achieve the neuronal stimulation necessary to reach the occipital lobe. The innovations introduced are the following:

 - Innovations related to the electronic control system of dielectric matrices and the suppression algorithms of the effects of contamination between stimulation points.

 - The internal electrical connection of the matrix, by means of automated pin insertion into the endings of the elastomeric conductive paste, which facilitates the manufacturing process.

 - The introduction of a new layer that allows mechanical amplification, by means of pins that are placed at the stimulation points.

 - The elimination of neuronal noise, which occurs with the contact on the skin of the pins that are not, vibrating, through a tissue that allows its suppression, without eliminating the vibration of the pins that are active. In the case of pneumatic stimulation, the stimulator may comprise, to effect tactile stimulation by injection of pressurized air;

 - a plurality of nanoconducts, in number n or m depending on whether they are associated with the n rows or m columns of the touch stimulation matrix;

 - a plurality of plates, in number m in case there are n ducts or in number n in case there are m ducts, associated in each case with the m columns or even n rows of the touch stimulation matrix;

 - a plurality of holes, as many as plates, in each conduit;

 - a plurality of openings, as many as ducts, in each plate;

 - a nanovalve coupled to each duct and configured to inject air when activation occurs; Y

 - one nanomotor for each plate, each nanomotor configured to, when its activation occurs, actuate the corresponding plate to match the openings of said plate with the holes of the different ducts.

 The at least one stimulator is also configured to, in case of having to perform a mechanical tactile stimulation at a stimulation point {i, j), corresponding to row i and column j, activate the corresponding nanovalve and the corresponding nanomotor to inject air over the user's skin at said point of stimulation (i, j).

The at least one stimulator preferably has, for each stimulation point, more than two levels of mechanical tactile stimulation, each level associated with a different intensity and / or hue of color. Each level of stimulation can be obtained in at least one of the following ways:

 - depending on the amplitude of the pressure exerted at the point of stimulation;

- depending on the frequency of vibration exerted by an actuator at the point of stimulation;

 - depending on the duration of the pulses of the excitation signal of an actuator at the point of stimulation.

 Also object of the present invention is the portable touch stimulation device (or means) described for the touch vision system.

 The at least one stimulator can be fixed in the abdomen or in the lumbar part of the user by means of an anchor or fixation in the abdomen, in the case of greater definition 12x9 matrices of 20x20 or in the arms 6x4 matrices of 20x20.

 The object of the present invention is also a portable touch stimulation device for touch vision systems.

Brief description of the drawings

 A series of drawings that help to better understand the invention and that expressly relate to an embodiment of said invention that is presented as a non-limiting example thereof is described below very briefly.

 Figure 1 shows the basic components of the invention.

 Figure 2 reflects how a known image with a stimulation comparable to that of the invention is perceived.

Figure 3 shows schematically the tactile stimulation means and ^■ the stimulation points.

 Figure 4 shows the communication of the mobile device with the remote help and support server.

 Figure 5 represents the operation of an actuator on the flexible membrane of the touch stimulation matrix.

 Figures 6A and 6B show the principle of operation of dielectric elastomers used as actuators in the touch stimulation matrix.

 Figures 7A and 7B represent the operation of the touch stimulation matrix where the actuators are pneumatic stimulators.

Figures 8A and 8B show the dielectric elastomer elements in a array disposition {eiastomer matrix). ,

Figure 9 shows a scheme of the application of a bias voltage to the elements of an eiastomer matrix, and the different voltages to a row r and column C in particular.

 Figure 10 shows, for the example depicted in Figure 9, the graph of the voltage applied to the ERC element (R row, column C) of the matrix.

 In Figure 11, for the example represented in Figure 9, the graph of the voltage applied to the rest of the elements in row R of the matrix.

 In Figure 12, for the example represented in Figure 9, the graph of the voltage applied to the rest of the elements of column C of the matrix.

 Figure 13 shows an example to simultaneously activate different elements of a column C of the eiastomer matrix.

 Figure 14 shows a basic switching scheme for a voltage generating device for activation of the eiastomer matrix.

 Figures 15A and 15B represent the schematic for a single taxel activation.

 Figure 16 shows an example of the reference voltage generator used in the voltage generating device for the activation of the eiastomer matrix.

 Figures 17A and 17B represent, as an example, the activation circuit of a 3x3 matrix of eiastomer.

 Figures 18A and 18B show the dielectric eiastomer elements in a matrix arrangement (eiastomer matrix).

 Figures 19A and 19B represent a side section of the matrix of elastomer actuators in 2D and 3D, respectively.

 Figure 20 shows in more detail a side section of the matrix of elastomer actuators.

Description of a preferred embodiment of the invention

The scientific basis of the invention lies in a double principle: on the one hand the existence of areas of the brain genetically designed to develop specific functions (such as the occipital lobe for vision) and on the other hand, the great capacity of "neuron plasticity ! " (creation of new neuronal connections between different areas of the brain) and of "neurogenesis" (generation of new neurons) that the human brain has. Instead of using visual receivers to access the areas where vision is interpreted and where images are therefore generated, in the invention tactile receivers are used to reach these areas. The receptors are subjected to stimuli that faithfully reproduce the visual information, so that, through the tactile pathway, they naturally reach the cerebral cortex and specifically to the areas of sensory information processing and tactile recognition. The system object of the invention allows the subject to develop a new neuronal connection between the brain areas of tactile perception and those of image perception, so that the tactile sensation is transformed into a visual sensation.

 The development of this neuronal pathway is achieved after a learning program and thanks to the special characteristics of the stimulation process (resolution of the stimulation matrix and refresh rate).

 The system consists of several elements, the result of the development of a new technology, whose basic components (Figure 1) are:

 - Image capture media 1.

 Data processing means (mobile device 2 or other device).

 - Touch stimulation means 3.

 The images are captured by one or two cameras that comprise, in a preferred embodiment, the image capture means 1 and transferred by physical or wireless connection to the data processing means. The data processing means transform the treated signals into tactile impulses following a stimulation protocol. These impulses, which contain all the visual information, are applied to tactile stimulation means 3.

The tactile stimulation means 3 are, in a preferred embodiment, a 20x20 tactile stimulator which is placed as indicated in Figure 1 in the hand. Preferred implementations are also those that correspond to two stimulators, one in each hand and for a higher resolution those made in the arms, the back, which can reach 108 modules, 12x9 of 20x20, with 43,200 points. This information naturally reaches the area of tactile perception of the brain and from there it is transferred to the brain area of image perception following the new developed neural connection. The development of this neuronal connection is closely related to the stimulation protocol and the learning process, which will be explained later. As a result of this process, the subject or user 5 transforms his tactile perception into an optical perception, managing to see, identify and recognize images. Figure 2 reflects how a known image is perceived, with a resolution of 96x64, with a stimulation comparable to that of the invention, ran three levels of brightness.

 The visual receiver or image capture means 1 consists, in a preferred embodiment, of one or two digital cameras integrated on glasses 4, as shown schematically in Figure 1, with autofocus, distance meter, zoom functions and contrast controlled voluntarily remotely. The camera or cameras send the captured images to the data processing means, to provide the user with a simple vision in the case of a camera or in the case of two a stereoscopic vision. The camera of a mobile phone can also be used as image capture means 1.

Each camera captures the image of their focus area and transforms it into ^'electrical signals. These signals are processed by the application of image processing (which highlights contours, eliminates backgrounds, etc.) and is transmitted separately to the two stimulators. The stimulators transform the received signals into viractile impulses, which are captured by the sensory system of the individual. The information captured by each camera acts separately on each of the stimulators.

 The location of the stimulators on the individual's body (one on the right side and the other on the left) causes stimulus reception to be recorded in the two cerebral hemispheres (left and right, respectively). The brain is responsible for the integration of this double information (exactly as it integrates the information received by the left and right eye) and creates the stereoscopic sensation. As indicated previously, it will be the subject who, depending on the learning period, chooses the configuration he deems most appropriate.

The tactile stimulation means 3 are shown in Figure 3 and can be placed in the hand or arm, which incorporate a material, which eliminates the neuronal noise caused by the stimulation points that do not vibrate, as they continue to play the skin. The user is fixed using fixing means (such as sailboat, buckle, etc.) Regardless of the image capture speed, the system refreshes the information of the stimulators with a period between 100 and 300 ms. The information transmitted in each soda is what Instantly capture the cameras. This information, converted into electrical signals, is processed to highlight the key elements of the image and transformed into the stimulator into pressure signals to produce tactile sensations.

 The image reception, converted into electrical signals, is carried out directly on the stimulator itself. The intermediate processor (mobile device or remote processor) only processes the signal captured by the cameras to highlight the most relevant images and eliminate the secondary.

 The invention in its basic configuration works with a single camera and a single stimulator, although in this case the stereoscopic effect would be lost. However, it is sufficient for subjects who have undergone experimentation and it is also logically cheaper, so it will be the preferred configuration.

 The data processing means, or processing device, processes the images received and simplifies them to send the signal you need to the touch stimulation means 3. Any personal computer or even any commercial mobile phone (with minimum memory performance, capacity and processing speed) are valid to perform the function of the data processing means. Preferably use is made of mobile telephony devices or SoC (System On Chip) configurations

 In the data processing means, signals associated with images are received and processed there for later sending to the tactile stimulation means 3.

 When the user requires it, the images can be sent to a remote server 8 to help him recognize what the cameras send in case he needs help or has recognition problems. In these circumstances, as shown in Figure 4, the mobile device sends the images to the remote server 8 using any of its own data communication services (GPRS, UMTS, etc.). This transmission can also be used to remotely assist the individual, for example through verba communication! It could also be used, in the event that the server is close to the subject, other means of communication, such as WiFi.

Communications between the image capture means 1 (the cameras), the data processing medium (the mobile device 2) and the touch stimulation means 3 are carried out via cable and / or wireless technology (Bluetopth or other ). The images are treated by an image processing application installed in the data processing means (the mobile device 2), although in the case that the images are sent to the remote server 8, they will reach the server so that an assistant already either human or automated, it can help and support the user in the recognition of images using both the voice of the phone and manipulating the images that are sent to the stimulator.

 The image treatment application can recognize edges and contours and is able to optimize contrasts. This functional profile is achieved using programs developed on mobile phones or in SoC-type systems.

 The image processing application performs the following functions:

 • Image processing.

 • Transmission and reception of images and processed signal.

 • Process and send the distance signal to the autofocus point to the touch stimulation means 3.

 Image processing has several configurable options:

 • Detection and highlighting of borders and contours (Sobel / Canny algorithms)

• Camera command management (zoom, contrast, brightness)

 • Change the image to its negative (change from white to black)

In a preferred embodiment the ^means' tactile stimulation 3 is a tactile stimulation array of 20x20 (but may take other resolutions) applying vibrotactile stimulation on the skin with a high frequency to activate different receptors. The excitation points are created on a flexible membrane 10 on which 400 actuators interact 11. As shown in Figures 5A and 5B, each actuator 11, once activated, applies a force F on a stimulation point 12 created by the actuator on the surface of the membrane 10. Figure 5C represents in detail the membrane 10 temporarily flexed at the stimulation point 12 by the actuator 11. Normally the width or diameter D of the stimulation point 12 will be at most 1.5mm, while the protuberance ΔΗ will reach at least 0.05mm so that the user can feel it.

 The stimulation is vibrototail, so that in order to obtain different stimulations, the stimulators 3 are fed with a signal in the form of a train of pulses of determined frequency (vibration frequency) and duration (pulse).

There are therefore several levels of stimulation depending on the frequency of vibration. Two levels of vibration, absence of vibration or vibration are considered in the preferred implementation. Therefore, to achieve more levels will be modified the vibration frequency of the taxel. Therefore, the stimulator allows several levels or intensities of action, associated with various shades of color (white, black and gray scales), this feeling can be achieved by modulating the amplitude of the actuator displacement, its frequency of vibration or the duration of the pulses of the signal that feeds it.

 Additionally, the touch stimulation matrix has a row of pins on one side that reflect the distance at which the camera is focusing at that moment. It is tactile information and it is in the learning process where the subject must be taught to interpret the sensation of distance.

 The technology developed to drive the touch stimulation matrix is based on devices (drivers) capable of handling complex matrices without interference between adjacent stimulation points 12.

 A summary of the technical characteristics of the touch stimulation matrix, in a preferred embodiment, is included in Table 1 below:

Table 1. Stimulator specifications

The stimulator actuators 11 are devices that can be based on two different technologies: - Dielectric or ionic elastomers: These are micromechanical devices manufactured with a type of electroactive polymer (dielectric or ionic elastomer), whose basic principles of operation are shown in Figure 6A and 6B. When a continuous high voltage U is applied between both faces of a thin film of dielectric elastomer 21, in a first 22 and a second 22 'electrodes, it expands in the direction of the plane due to the pressure p in the direction of the thickness induced by An electric field When the applied voltage disappears, the elastomer film recovers the original form. This effect can be created, for example, tactile sensations in a small area of the skin surface (the area of application) when the elastomer matrix is applied or fixed to a human body, preferably in a sensitive region (for example , hand, arm, abdomen or lower back).

 - Pneumatic stimulators: the stimulator is constructed with a matrix of nanomotors and nanovalves, as shown in Figures 7A and 7B. To achieve the matrix of 100x100 points, 100 ducts 30 (columns) with 100 holes 31 equidistant from each other are used, as flutes. At one end of each duct 30 a micro valve 32 that injects air is coupled. Horizontally (in the figure) 100 plates 33 (rows) are arranged, each with 100 openings 34 and driven by a micromotor 35, which allows opening or closing the holes 31 of the ducts 30. In the rest position of the nanomotor 35 (when not activated), as shown in Figure 7A, the openings 34 of the plates 33 do not coincide with the holes 31 of the conduits 30.

 The operation scheme is as follows: if it is desired that the air flows through the element of the tactile stimulation matrix found in the first row and the first column, firstly the plate 33 of the first row is operated by means of the nanomotor 35 in the direction of the arrow, as shown in Figure 7B, whereby all the openings 34 of the plate 33 of the first row coincide with the holes 31 of the different conduits 30 located in the first row. Simultaneously, the nano-valve 32 of the duct 30 of the first column is activated to blow air that, a! match hole 31 and opening 34 of the first row and column, escapes through the element of the chosen matrix (row 1, column 1). The tactile sensation pursued is achieved by the pressure exerted on the skin by the air bubble generated in. the stimulation point corresponding to that element of the matrix.

The system can be made with discrete elements, as contemplated for clarity in this description, or using technology MEMS microdevices (for the realization of nanovalves and nanomotors) on a common silicon support.

 Of course, for the realization of the tactile stimulation matrix, different resolutions can be chosen (that is, different numbers of rows and columns), yes, in a sufficiently high number to obtain a minimum resolution necessary for the user to perceive the image in detail, said minimum resolution normally dependent on the scene to be represented.

 For the neuronal habilitation process to succeed, both the stimulation protocol and the learning protocol are very important.

 The first key to neuronal empowerment lies in the touch information refresh protocol (stimulation protocol). A refresh period between 100ms and 300ms is able to achieve the necessary neuronal excitation to establish the required brain connections.

 The second key to the process of neuronal empowerment is associative learning (learning protocol): frequency, intensity, duration, are factors that with stimulated patterns' simple and temporarily synchronized lead to neuronal habilitative success.

 The learning method is preferably carried out in sessions of 30, minutes every 8 hours, 3 times a day, 7 days a week. Each session consists of learning a group of stimular patterns, in the first simple sessions and in the last more complex ones.

 The dynamics of the procedure used is as follows:

 • Simple static images of level 1: signs and letters.

 • Simple static images of level 2: words.

 · Complex static images of level 1: isolated object with a light background.

• Complex static images of level 2: several objects with a light and dark background.

• Complex dynamic images of level 3: scenes of daily life Figures 6A and 6B show, as indicated above, the principle of operation of a dielectric elastomer actuator 23. The present invention allows the dielectric elastomer matrix to be controlled. avoiding interference The matrix is addressed by the selection of an element, at the intersection of a particular row and column. Multiplexing is the term applied to the division in time by which each element of the matrix is excited or activated. Without However, when the matrix is large, coupling interference arises (noise in the form of unwanted excitation of adjacent unselected elements). The present invention provides an activation system for passive matrix that has a signal to noise ratio (S / N) for the activation of large arrays of linear elements.

Returning to Figures 6A and 6B, assuming that the volume remains constant, the effective pressure is as follows:

p = E _Í E ₀ / G '

where E _r is the relative permittivity of the elastomers, E ₀ = 8854 · 10 ² As / Vm is the permittivity in a vacuum, U is the applied voltage and d is the thickness of the elastomer film at rest. The pressure increases quadratically with the electric field and is therefore the main relationship that regulates the response of the actuator. It is important to note that the elastomer behavior is the same regardless of! positive or negative sign of the applied voltage U.

 The equivalent electrical model for an elastomeric element is a parallel capacitor and resistance configuration, in which the capacitance is the result of two electrodes applied on the elastomeric film, and the resistance is the loss resistance caused by the conductivity of the elastomer film.

The coarse mode technique is a recent embodiment of EPAM (Electroactive Polymer Artificial Muscle). In this embodiment, the "active" polymer film is coated with a thicker passive layer, so that changes in the thickness of the polymer during EPAM are transferred, at least partially, to the passive layer. This passive layer can be considered as passive in relation to the polymer film in that it does not respond to the application of an electric field by changing area or thickness as does the EPAM layer. However, the passive layer is coupled to the EPAM film so that changes in area and thickness of the EPAM film induce shear forces in the passive layer that change the thickness of this layer. Therefore, this change in thickness of the passive layer can be used to enlarge _A in absolute terms, the. displacement produced by the change in thickness of the EPAM polymer film.

In a matrix of elastomers, a set of dielectric elastomers arranged in rows and columns, a single element (taxel) is excited by applying a voltage between the column and the row that intersect in that element. Each taxei has two electrodes, each electrode on a different side of the dielectric (one electrode 22 is located in the rows and another electrode 22 'is part of the columns, as shown schematically in Figure 8A, which represents a 3x3 elastomer matrix). The intersection of columns and rows defines each taxel. Due to the capacitor / resistance equivalence of each element, the excitation of one of them implies a crosstalk excitation of the rest of the elements of the matrix. For a matrix of MxN, M <= N, where N and M are large (more than 10) this excitation per diaphony is close to 50% of the voltage applied to the elements of the row and column involved in the excitation of the element , and 1 / M for the rest of the elements. For eilo, if N or are large, the crosstalk excitation of the rest of the elements that are not located in the same row or in the same column is greatly reduced. However, it increases to about 50% in the rows and columns involved.

Figure 8B is a schematic illustration of dielectric elastomeric elements in a matrix of M rows and N columns. The lines in Figure 8B represent conductive wires that connect the electrodes of each elastomeric taxel, while the boxes (Ri, R ₂ ¡ _M ; CI, C ₂ , C _n ) represent connection terminals. The first electrode 22 and the second 22 'are located where the rows intersect with the columns.

The voltage applied (+ U) to row R (R _R ) and column C (C _c ) will excite the element at the crossing point of that row and column. If a voltage (-U) is applied, the same excitation occurs. If the rest of the rows and columns are floating (in open circuit, with no voltage applied) there will be a crosstalk coupling to the rest of the elements.

 To avoid this crosstalk, a polarization voltage is introduced to all elements of the matrix so that the interference coincides with this polarization voltage but with a changed sign. This polarization voltage will also help to make the elastomer work with smaller voltage changes than in the case where polarization voltage is not used with almost no response to mechanical losses.

If each row is connected to a common voltage of row V1 and each column to a common voltage of column V2, the polarization voltage of each element will be (V2 - V1). To excite an E _RC element of matrix 24, the voltage in row R (R _R ) and in column C (C _C ) must be changed. In row R (R _R ) an activation voltage of row V3 is applied. and in column C (C _C ) a column activation voltage V0, as depicted in Figure 9. For row R (R _R ) and column C (C _c ), the voltage of that element E _RC will be (V3-V0), as shown in Figure 10. The voltage in the rest of the elements in the row R (RR) will be (V3-V2), as seen in Figure 11. The voltage in the rest of the elements in column C (C _c ) will be (V1-V0), as shown in Figure 12. The dashed line of the lower graphs in Figures 10, 11 and 12 represent the voltages applied to the columns (V0 is the column activation voltage), while the continuous line in the lower graphs is the voltage applied to the rows ( V3 is the activation voltage of rows). In these Figures 10, 11 and 12 the upper graph represents the voltage resulting from the difference between the voltage applied in the rows (V _raw ), ^f in continuous line, and the voltage applied to the columns (V _C0 | _umr ,), in dashed line of the graph below. The upper graph of Figure 10 represents the resulting voltage applied to the activated taxel (E _RC element), the upper graph in Figure 11 is the resulting voltage applied to the rest of the elements in the same R row, and the upper graph in the Figure 12 is the resulting voltage applied to the rest of the elements in the same column C. -

Choosing the voltages (V1-V0) equal to (V2-V1) and equal to (V3-V2) will get an excitation of the elements with zero crosstalk, since the voltage induced in the non-objective elements will only change sign but not of magnitude, which will not produce any variation in the mechanical condition of the elastomer. In Figures 10, 1, 1 and 12, the voltages chosen are, by way of example: V0 = OkV; V1 = 1 kV; V2 = 2Kv; V3 = 3kV. .

 As shown in Figures 11 and 12, there is no change in the condition of the elastomer when the applied voltage ranges from + 1kV to -1kV, which is the resulting voltage applied to the rest of the elements in column C (Figure 12) and in the rest of the elements of row R (Figure 1).

Since the mechanical response is proportional to the square of the applied voltage, with a polarization voltage of 1 kV and an applied voltage of 3kV, the ratio of mechanical response from polarized to active will be 9 to 1, and therefore, a user you will easily perceive the mechanical response to an excitation of an E _RC element of elastomer matrix 24 (in the case of tactile stimulations).

With this technique, several elements of! To the same column (or row) can be activated simultaneously, which allows activating the complete matrix of M x N in M steps (or steps). Thus, there are N columns of which only one works at a time and there are M rows of which j (j ^<= M) work simultaneously. In the same way, the matrix could be rotated 90 degrees and work one row at a time with multiple columns. For activate several elements in a specific column (E3c, E _6c> E _8C ), the procedure will be as follows: To activate (apply a voltage V3 a) all the rows containing the elements that will be active (in the example shown in Figure 13, the activation rows R ₃ , R _{6 and} R ₈ ), and simultaneously activate (apply a voltage V0) the selected common activation column (C _c ). As a result, the elements E3C, EBC and Eec are activated at the same time. After activating the selected elements located in the common activation column (C _c ), the selected elements will be activated in other chosen columns C _{c +} i (or in any other chosen column, it is not necessary that the columns be activated consecutively in increasing order ), and so on until all the columns of the matrix have been activated, so that the entire matrix is activated. AND! time between consecutive column activations depends on the size and response time of the taxales; the electronics would normally allow activation times of 15 to 20 / s. The width of the activation pulse depends on the response of the taxel. Typically the width of the applied pulse can be 1000 // S, since it produces a greater vibration effect than the longer pulses. The pulse width can be chosen in line with the application, normally less than 2Ó // s. ,

As previously mentioned, the use of voltages | V1 - V0 | equal to ¡V2-V1 | and equal to | V3-V2 | allow excitation of elements with zero crosstalk. However, if some background activation of the non-objective taxa is desired (for example, in a tactile visual system a constant residual vibration near the human perception threshold may be useful to increase the tactile sensitivity), the selection of V1 and V2 offset of the ho-crosstalk condition (V1-V0) equal to (V2-V1) and equal to (V3-V2) will lead to a residual activation of the rest of the taxa. For example, selecting V1 = 1/3 * V3 * (1 + x) and V2 = 2/3 * V3 * (1-x) with 0 <x <0.5, will create a ^' residual activation with 10% of the V3 voltage when x = 0.1.

Since V0 can always be considered as a ground reference, V0 = 0. And in the case where x = 0, the condition for compliance is 1 ^~~ 3 ^~ '° ^0Π

V3> V2> V1> V0.

 V 2V ■

If x ≠ 0, the resulting condition would be = ^ - · (1 + χ) ₎ ν ₂ = - ~ · (1 ~ ^χ ) with

V3> V2> V1> V0.

Applying short pulses (around 1000us) to the taxels (varies depending on the mechanical response of the taxel) can enhance the feeling of hit that is perceived in the skin. Based on the mechanical response of the taxel, a pulse width can be chosen that adds up the activation and deactivation strokes of the taxel and thus reinforces tactile perception.

 As a further aspect of the present invention, a voltage generating apparatus has been provided to make the matrix work according to the method discussed. Reference voltages and connection switches to those voltages are required. The voltage generated apparatus consists of two circuits, the high voltage switching circuit and the reference voltage generator used by the switching circuit.

 One of the problems of working with high voltages is that even with circuit activation currents with very low polarization, the losses are considerable. To avoid this, optocouplers are used, which thus keep the high voltage switching circuit separate from the low voltage activation circuit.

The circuit of Figure 14 represents the basic switching scheme where one of the terminals of a load (for example a taxi) can be electrically connected to both V _A and V _B (V _A and V _B can be any of the voltages V0 , V1, V2, V3), based on the control signals V _C i and V _C 2- Optocouplers 70, can be used in this particular application. Resistors R1 and R2 quickly discharge the base of the output transistor to allow rapid switching. Through a high voltage switching circuit 27 and a voltage activation circuit 26, the voltages are applied to the electrodes (22,22 ') of the actuating dielectric elastomers 23.

 The optocouplers 70 support maximum output voltages in the 400V range, while in our application voltages of the order of 2000V are required (see Figure 10). But the signals to activate the elastomer matrix taxa are low intensity, since only current is needed to charge the equivalent capacitor 71 of the taxel, which is about 1 pF.

 Thus, these characteristics allow the use of several optocouplers 70 in series to achieve the desired high voltage of 2000V, with each transistor at the output of the optocouplers 70 acting as a zener device when the voltages approach break values, while the current through them it is small enough to allow the device to remain within the approved power dissipation values.

In the case of the device used in this application, the MOC8204, the maximum power dissipated is 300mW which leads us to values of the order of 600uA for the average current that the device will withstand under voltage limiting conditions (500V is considered here).

Figures 15A and 15B show the schematic diagram for the activation of a single pixel (both figures separated on line I, for reasons of size), where voltages V3 and V1 can be applied to terminal A of the elastomer and voltages V2 and V0 can be applied to terminal B of the elastomer (terminals A and B of the charge of the pixel correspond to the electrodes (22,22 ') of the elastomer represented in Figure 6A; the voltages in the rows are applied to the corresponding first electrode 22, and voltages in the columns are applied to the corresponding second electrode 22 ', or vice versa), represented by the capacitor 71 in the schematic. The erase control signals (V _C i, V _C 2) are in charge of deleting the terminals A and B of the elastomer, while the engraving control signals (co> Vc3) are in charge of the terminal engraving A and B.

 In terminal A, the polarization resistors R30 and R49 set the inactive state for opto-couplers 70 when they are not activated. Resistor R49 is by default setting terminal A to V1. Diode D19 keeps the erase block of terminal A isolated from the rest of the circuit unless it is activated. Diode D20 prevents the voltage of terminal A from being less than V1. Resistors R50 and R51 limit the maximum current through opto-couplers 70. Similarly in terminal B (resistor R36 defaults terminal B to V2, etc.).

 The resistors between the emitter and base terminals of the opto-collector output transistors accelerate the discharge time of the base, allowing a rapid shutdown of the transistor.

 Switching times of 15us are achieved for voltages from -1 kV to + 3kV (a variation of 4kV). The loss of power is reduced to losses in polarization resistors only when opto-couplers are active.

 V0, V1, V2 and V3 are the reference voltages, where (V1 -V0) = (V2-V1) = (V3-V2) and equal to Ί / 3 of the total voltage V3 (when V0 = 0). To achieve these reference voltages from a Vcc power supply, a low loss divider circuit has been introduced as part of the invention.

The reference voltage generator 28 is formed by a resistor voltage divider 93 of low intensity and a high resistive value to provide a reference voltage to a chain of low-impedance output stage transistors, as shown in Figure 16 . The resistive voltage divider 94, composed of different resistors 93 (of 10ΜΩ in the example), sets the reference to two transistors, a PNP transistor 90 and an NPN transistor 91, in a follower emitter configuration, with both emitters together as voltage outgoing. Since transistors with a maximum V _ceo voltage in the 400V range are being used, a series of this basic block is repeated to achieve the desired high voltage. The resistor R4 in parallel with the capacitor C17 is used to sample and filter passage under the total voltage.

 If the emitter output voltage tends to go above the input reference voltage, the PNP transistor 90 is polarized and a current through the collector will maintain the output voltage following the input reference. Similarly, if the emitter output voltage tends to distance below the input reference voltage, the NPN transistor is polarized and a current through the collector will maintain the output voltage following the input reference.

 This collector current will produce a chain reaction with similar response in the rest of the blocks. The capacitors 92 at the output are used to store energy between the activation pulses of taxales, absorbing the demand for current peaks of the voltage pulses in the taxa. The output voltages V0, V1, V2 and V3 are the reference voltages shown from Figures 9 to 15.

 As the circuit is scaled to activate a larger matrix, the erase block can be common to all recorder blocks per terminal, reducing the size of the entire circuit. A control circuit of nine taxales for a 3x3 matrix is shown in Figures 17A and 17B (both figures separated on lines I, II and III, for reasons of size). Here the erase block in each terminal is shared with all the engraving blocks, as the erase block is isolated from the circuit by a diode, and all the recorder blocks will be active at the same time, this common draft block will carry the terminal signal X to the initial value through the diode once the recorder blocks are deactivated.

In order to activate or record certain columns, several recorder control signals are provided per column (V _S ci, Vsc2.Vsc3) _> as many as the number of columns. Similarly, to activate the rows, there are several control signals recorders per rows (VSRI, VSR2, VSR ₃ ), as many as the number of rows.

Therefore, to activate the row i, and column j Rj, C _j, the control signals _SR recorders V and V _SCj must be activated. In addition, and as described in Figure 13, several rows can be activated at the same time while activating a particular column. An erase control signal is provided for each terminal: One sign! of column deletion control (V _RC ) for the deletion of the columns (applying the common column voltage V2) and a control signal of deletion of the rows (V _RR ) for the deletion of the rows (applying the voltage of common row V1). The eraser and recorder signals cannot occur at the same time, in addition, to reduce the power consumption a small discharge time must be introduced for the output transistors in the opto-coupler between the deactivation of the recorder signal and the activation of the signal of erase

 In a desirable embodiment, a matrix of 100x100 taxales may be activated so that the time to activate consecutive columns will be between 200 / s-1000 vs, so the time needed to activate the complete matrix would be around 20ms-100ms ( a frequency of 10Hz-50Hz).

Below is a technique for the manufacture of a tactile matrix optimized for the tactile transfer of information without interference between taxales (taxel is a touch pixel, a touch element), of small size, easily scalable in resolution (number of rows and columns), flexible and low production complexity.

This optimized tactile matrix solves the problem of both mechanical and electrical interferences between taxales.

 For tactile transmission applications the scheme of Figure 6A presents several problems, such as coupling between taxales through the same skin, weak transmission of energy. These problems are solved with the present invention, while enhancing the mechanical transmission of the deformations executed in the elastomer.

Figure 18A shows the arrangement of the electrodes (22,22 ') in the dielectric elastomer 21, in an array arrangement (elastomer matrix). Figure 18B represents a detail of the elastomer matrix, in which it is appreciated how the upper electrodes 22 are electrically connected by rows 40 and the lower electrodes 2 'are electrically connected by columns 41. In the figure it is appreciated that rows 40 and columns 41 are perpendicular; However, this is not essential, since they could be arranged at any angle (even parallel), although for greater ease of excitation of the electrodes it is recommended that they be perpendicular. The electrodes are preferably circular, as shown in Figure 18B, but could take other forms (for example, square, rhomboidal, rectangular, etc.) The structure of the elastomer actuator matrix is, represented in ⁽ as Figures 19A and 19B, where the various components are seen in several layers. Figure 19A shows a 2D side section, while Figure Β9Β represents a side section in .. 3D Each of the elements described here contributes to better performance Taxel incorporated elements are basically ^'

 Lower support 44 with functions of acting concentrator and prestressing element of the upper 48 and lower 48 'passive layers. The lower support 44 is preferably hemispherical so that the tension is distributed uniformly and does not cause material ruptures

 Actuator pins 45 embedded in a pin support layer 46 for direct capture of the energy generated in the taxe! by the base of pin 45a, which is in contact with the upper passive layer 48, and for concentration of the pressure exerted on the opposite end of the pin (pin head 45b) with a diameter much smaller than the base, so The pressure is increased in quadratic relation to the ratio of base diameter / pin head. In a preferred embodiment a ratio of 1.8 / 0.6 is used, 0.6 mm being the diameter of the pin in contact with the skin and 1.8 mm the size of the pin base, smaller than the diameter of the actuator which is 2.5 mm. All these parameters can be modified and optimized, based on experimental results and simulations.

 - Printed circuit board 47 with support and electrical connection functions.

 - Pre-tensioning of the passive layers of the dielectric elastomer in thick mode. It can be achieved by various techniques, such as lower-scale or pressure-tensioning of the lower support 44 on the plate.

Starting at the bottom we have a PCB, printed circuit board 47, which serves as support and support for the rest of the elements, as well as support for the electrical connections (electrical terminals 49) necessary for the operation of the matrix. This PCB 47 can be very thin, thus offering flexibility to the final device, which is convenient for a better adaptation to the body part with which it will be in contact. As shown in Figure 19B at the ends of the rows and columns of electrodes there is a small volume of conductive paste (termination of connection 50), the same one used for the electrodes, which serves to connect the elastomer matrix with the electrical terminal 49 on the PCB 47, by means of connection elements 52. In this way the connections can be made once the process is finished of manufacturing the matrix, which is very convenient to simplify this process.

 On this PCB and located just below each taxel we have a lower hemispherical support 44 whose function is to concentrate the performance of the taxel in the center of it. This semi-spherical support fulfills a second function, that of pressing the passive layers (48.48 ') of silicone of the elastomer in thick mode, achieving with this pre-stretching a more intense response of action, since this action does not it only depends on the force that is capable of generating the taxel itself, but on part of this force that the passive layer is capable of transmitting. As can be seen in Figure 19A, if we start from an elastomer with a uniform lower passive layer 48 ', when placed against the base plate 47 with the half-spheres under the taxales, compression of the passive layer occurs at points or areas of compression 51 centered below the taxel, which is equivalent to a stretching of the silicone over the hemisphere producing a tension in the resting state that helps to improve the intensity and speed of the mechanical response of the taxel. Other methods of pre-stretching can be the elaboration of the matrix at a lower scale so as to stretch it to adhere it to the original scale base plate. The lower half-spheres 4 help to channel and concentrate the energy at the center point of the pin.

At the top of the elastomer are the other part of! enhancer device, formed by an embedded pin 45. The head of the pin must be close enough to the focus of the action to capture most of the energy generated. This pin 45 captures and channels the energy of the actuator to bring it to the outer end in contact with the skin. With the idea of minimizing the mechanical components and simplifying the process of manufacturing the matrix, these pins are held by an additional layer of silicone, pin support layer 46, which keeps them in contact with the upper passive layer 48 of the elastomer at all times. The proportions between the diameter of the electrodes (22,22 ') of the actuator, the thickness of the upper passive layers 48 (distance from pin 45 to the actuator) and lower 48' and the height of the lower hemispherical support 44 will determine the behavioral parameters 'of the taxel response, having to look for a compromise based on the parameter to optimize, such as vertical displacement, actuation force, response time, etc.

 Although in a thick mode actuator the deformation in the passive silicone layer is greater than the thickness of this layer for approximations where the diameter of the actuator is much greater than the thickness of the layer, it is also true that the energy expands in spherical shape inside the silicone core (elastomer assembly in thick mode) so that the energy per "unit area is smaller as we move away from the focus of action (in cubic proportion), hence the compromise between the thickness of the passive layer on which the head of the pin rests to obtain optimum results of performance in the pin by the energy captured by it.

When the taxel actuator is included between the lower support 44, attached to the common support plate 47 and the pin 45 itself, all the mechanical action is transferred to the actuator pin 45.

 The relationship between the thicknesses of the passive layers (48.48 ') has an impact on the actuation properties of the pin and the insulation between adjacent pins. On the one hand the greater the thickness, the greater the vertical displacement in a model where the diameter of the pin 45 is much greater than the thickness of the passive layer 48. As the diameter is comparable to the thickness of the passive layer, this vertical displacement decreases due to the deformation of the total volume of the passive layer.

 In a preferred embodiment, actuator diameters of about 2.5mm are used to allow a distance of 3mm between actuators, the lower passive layer 48 'is 1mm thick, the upper passive layer 8 on which the pin 45 rests is 0 , 5mm thick and the pin support layer 46 is another 0.5 to 0.7mm thick. The diameter of the pin head is 1.8mm and the tip 0.6mm. However, different measures could be used, as well as other shapes, for example small spherical actuator elements 45 '(as shown in Figure 21).

The manufacturing process of the device begins with the stretching of the elastomer until it is left in 20um thickness, application of the electrodes (22,22 ') by means of a mask and deposition of conductive paste. Subsequently, the silicone is deposited to form the two passive layers, the lower 48 '1mm thick and the upper 48' 0.5mm thick. At this point the connection of the PCB to each of the endings in the elastomer is made by inserting a thin conductive wire, the connecting element 52, (of the order of 0.1 mm in diameter) (which runs perpendicular to the passive layers and the elastomer at the connection point prepared for it (connection termination 50), also passing through the hole in the PCB that exists in each electrical terminal 49. The wire will be welded on the back of the PCB and cut just above of the passive layer 48 so that by adding the pin support layer 46 the connections are covered and electrically insulated.

 Next, the pins 45 are placed on each of the upper electrodes 22 and covered with the last 0.5 to 0.7mm thick silicone layer, the pin support layer 46.

 This last step can also be carried out separately, manufacturing a mat from 0.5 to 0.7mm thick with the embedded pins, for subsequent adhesion of this mat on the rest of the actuator matrix, simplifying the manufacturing process.

 Although described as two layers in the manufacturing process, the pin support layer 46 and the upper passive layer 48 once finished are fused and form a single one with the embedded pins 45.

 In the manufacturing process the dielectric elastomer layer 21 is always stretched. In addition, and optionally, passive layers (48.48 ') can be stretched to improve pressure transmission.

Claims

1. Portable touch vision system, comprising:

 - means for capturing images (1);

 - data processing means responsible for processing the images captured by the image capture means (1) to obtain processed signals; Y

 - tactile stimulation means (3) fixed to the body of a. user (5) and comprising at least one stimulator, each stimulator comprising in turn a tactile stimulation matrix with nxm stimulation points (12), said tactile stimulation means (3) being configured to receive said processed signals and convert them into tactile sensations perceptible by the user (5) and apply them on their skin at the selected stimulation points (12) to obtain a tactile recognition of the captured images, characterized in that the tactile stimulation means (3) are configured to provide at the points of stimulation (12) a mechanical tactile stimulation, and because the resolution of each tactile stimulation matrix is such that it is met that n≥20 and m≥20.

2. Portable touch vision system according to claim 1, characterized in that the image capture means (1) comprise a video camera supported on user-portable glasses (4) (5).

3. Portable touch vision system according to claim 1, characterized in that

 - the image capture means (1) comprise two video cameras each supported on a different side of a pair of glasses (4) that are portable by the user (5); .

 - the data processing means are configured to process the images of each video camera independently, obtaining two different processed signals;

- the tactile stimulation means (3) comprise two stimulators adjustable on different sides of the user's body (5) and configured to each receive the processed signals from a different video camera.

4. Portable touch vision system according to any of claims 2-3, characterized in that the touch stimulation means (3) are responsible for applying touch stimulation on at least one hand or one arm of the user.

5. Portable touch vision system according to any of the preceding claims, characterized in that it comprises a mobile device (2) that has an image processing application responsible for processing the images captured by the image capture means (1 ) to obtain the processed signals.

6. Portable touch vision system according to any of the preceding claims, characterized in that the tactile stimulation means (3) are configured to effect a refresh of the application of the tactile sensations on the user's skin (5) according to a refresh period between 100ms and 300ms.

7. Portable touch vision system according to any of the preceding claims, characterized in that the image capture means (1) have autofocus and distance measurement means a! autofocus point, said image capture means {1) being configured to send to the data processing means, together with the captured images, the corresponding distance to the autofocus point of said images; and because the tactile stimulation means (3) are additionally configured to receive, together with the processed signals, the corresponding distance to the autofocus point and convert said distance into tactile sensations interpretable by the user (5) to obtain the corresponding distance to the point of autofocus.

8. Portable touch vision system according to claim 7, characterized in that the least one stimulator is configured to apply the tactile sensations corresponding to the distance to the autofocus point in a row of stimulation points (12) of the tactile stimulation matrix.

9. Portable touch vision system according to any one of the preceding claims, characterized in that the tactile stimulation means (3) are configured to perform a vibratile stimulation.

10. Portable touch vision system according to the preceding claim, characterized in that it comprises at each point of stimulation (12) a dielectric or ionic elastomer to effect mechanical tactile stimulation by pressure.

11. Portable touch vision system according to claim 9, characterized in that it comprises pressurized air injection means configured to perform mechanical tactile pressure stimulation.

12. Portable touch vision system according to claim 1, characterized in that the at least one stimulator comprises, for performing tactile stimulation by

^• pressurized air injection:

 - a plurality of ducts (30), in number n or m depending on whether they are associated with the n rows or m columns of the touch stimulation matrix;

 - a plurality of plates (33), in number m in case there are n ducts (30) or in number n in case there are m ducts (30), associated in each case with the m columns or n rows of the touch stimulation matrix; ·

 - a plurality of holes (31), as many as plates (33), in each duct

. (30);

 - a plurality of openings (34), as many as ducts (30), in each plate (33);

 - a nanovalve (32) coupled to each duct (30) and configured to inject air when activation occurs; Y

, - a nanomotor (35) for each plate (33), each nanomotor (35) configured to, when activated, actuate the corresponding plate (33) to match the openings (34) of said plate (33) with the holes (31) of the different ducts (30); ^:

the at least one stimulator being configured to, in case of having to perform a mechanical tactile stimulation at a stimulation point (i, j), corresponding to row i and column j, activate the corresponding microvalve (32) and the corresponding micromotor (35) _v to inject air into the user's skin (5) at said stimulation point (i, j).

13. Portable touch vision system according to any of the preceding claims, characterized in that the at least one stimulator has, for each stimulation point (12), of more than two levels of different mechanical tactile stimulation, each level associated with a different color hue.

14. Portable touch vision system according to the preceding claim, characterized in that each level of stimulation is obtained in at least one of the following ways:

 - depending on the amplitude of the pressure exerted at the point of stimulation

■ (12);

 - depending on the frequency of vibration exerted by an actuator at the point of stimulation (12);

 - depending on the duration of the pulses of the excitation signal of an actuator at the stimulation point (12).

15. Portable touch stimulation device for touch vision systems ,. said tactile stimulation device (3) being fixed to the body of a user (5) and comprising at least one stimulator, each stimulator also comprising a tactile stimulation matrix with nxm stimulation points (12), said device being configured tactile stimulation (3) to receive signals processed from images captured by means of image capture (1) and convert them into tactile sensations perceptible by the user (5) and apply them on his skin at the stimulation points (12 ) selected to obtain a tactile recognition of the captured images, characterized in that said tactile stimulation device (3) is configured to provide a mechanical tactile stimulation at the stimulation points (12), and because the resolution of the tactile stimulation matrix is such that it is true that n> 20 and m 2Q.

16. Portable touch stimulation device according to claim 15, characterized in that the touch stimulation means (3) comprise two stimulators, fixed on different sides of the user's body (5) and configured to each receive the processed signals from a camera of different video. .

17. Portable touch stimulation device according to any one of claims 15 to 16, characterized in that the touch stimulation means (3) are responsible for applying touch stimulation on at least one hand or one arm of the user.

18. Portable touch stimulation device according to any of claims 15-17, characterized in that it is configured to effect a refresh of the application of tactile sensations on the user's skin (5) according to a refresh period between 100ms and 300ms.

19. Portable touch stimulation device according to any of. claims 15-18, characterized in that the at least one stimulator has, for each stimulation point (12), more than two levels of mechanical tactile stimulation, each. level associated with a different color hue.

20. Portable touch stimulation device according to any of claims 15-19, characterized in that it has, at each stimulation point (12), a dielectric actuator elastomer (23) with a first (22) and a second (22 ') electrode in which to apply an activation voltage to cause mechanical tactile stimulation, and why the device additionally comprises:

 - a high voltage switching circuit (27) for the application of the voltages to the electrodes (22,22 ') of the dielectric actuator elastomers (23);

- a voltage activation circuit (26) connected to the high voltage switching circuit (27) and configured, when selected to drive at least one dielectric elastomer actuator (E ₃ c, E _6C , Eac) of the stimulation matrix touch (24) located in the common activation column (C _c ) and in at least one activation row (! ¾, ¾, ¾), for:

· Apply, by means of the high voltage switching circuit (27), an activation voltage of the row (V3) to the first electrode (22) of all the actuating dielectric elastomers (23) located in the at least one activation row (R ₃ , R ₆ , R ₈ );

• apply, by means of the high-voltage switching circuit (27), a column activation voltage (V0) on the second electrode (22 ') of all the actuating dielectric elastomers (23) located on the common activation column (DC);

• apply, by means of the high voltage switching circuit (27), a common row voltage (V1) on the first electrode (22) of the dielectric actuator elastomers (23) located in all rows of the touch stimulation matrix (24) except in the a! less ^, one activation row (R ₃ , R ₆ , R _ñ ); • apply, by means of the high voltage switching circuit (27), a common column voltage (V2) for the second electrode (22 ') of the actuating dielectric elastomers (23) located in all the columns of the stimulation matrix touch (24) except in the activation column (C _c ).

21. Portable touch stimulation device according to claim 20, wherein the column of activation voltage (V0) is 0 volts and the activation voltage of the row (V3), common line voltage (V1) and voltage of the column

 V 2V

common (V2) are such that V _x = - † · (1 + x), V ₂ = - ^ - ^■ (1 - x) with V3>V2>V1> V0 y | x | less than 0.5.

22. Portable touch stimulation device according to any of claims 20-21, wherein the voltage of the row activation (V3), column activation voltage (V0), common line voltage (V1) and the voltage of the common column (V2) are such that | V3-V2 | is substantially equal to jV2-V1 | and substantially equal to | V1-V0 |.

23. Portable touch stimulation device according to any of claims 20-22, further comprising a reference voltage generator (28) for generating the voltage of the activation of the row (V3), voltage of the activation of the column ( V0), common line voltage (V1) and common column tension (V2).

24. Portable touch stimulation device according to claim 23, wherein the reference voltage generator (28) comprises a main supply voltage source (Vcc) and a voltage divider (94), which in turn comprises a plurality of resistors (93), each in charge of establishing the reference to a PNP transistor (90) and an NPN transistor (91), in a transmitter follower configuration, with their emitters together as output voltage.

25. Portable touch stimulation device according to any of claims 20-24, further comprising: - for each row of the touch stimulation matrix (24), a set of row block terminals controlled by a set of rows of the control signal (VSRI, V _SR 2, VSR3) for the application of the activation voltage of the row (V3);

- for each column of the touch stimulation matrix (24), a set of block column terminals controlled by a set of rows of the control signal (V _S ci, V _S c2.Vsc3) for the application of the voltage of column activation (V0);

- a terminal row reset block controlled by a row reset control signal (V _RR ) for the application of the common line voltage (V1);

- a terminal column reset block controlled by a reset control signal. of columns (V _RC ) for the application of the tension of the common column (V2). -

26. - Portable touch stimulation device according to any of claims 15-25, comprising:

 - a matrix of dielectric elastomers actuators (23) formed by:

 • an array of upper electrodes (22) connected in rows (40);

• a matrix of lower electrodes (22 ') facing the upper electrodes (22) and connected in columns (41); Y

 · A layer of dielectric elastomer (21) located between the upper electrode array (22) and the lower electrode array (22 ');

 - an upper (48) and lower (48 ') passive layer that respectively cover the dielectric actuator elastomers (23) upper and lower;

 - a printed circuit board (47) having a plurality of electrical terminals (49) electrically connected with the rows (40) and columns (41) of electrodes (22,22 ') of the dielectric dielectric elastomer matrix (23 );

 - a matrix of actuator elements (45,45 ') partially embedded in a support layer (46) located on the upper passive layer (48), a part of said actuator elements being facing the upper electrodes (22) and the protruding opposite part of the support layer (46).

27. - Portable touch stimulation device according to claim 26, wherein the actuator elements are pins (45), the base of said pins being actuators (45a) facing the upper electrodes (22) and the head of said actuator pins (45b) protruding from the support layer (46).

.

28.- Portable tactile stimulation device according to claim 27, wherein the base (45a) and the head (45b) of the actuator pins are circular, the diameter of the base (45a) being greater than the diameter of the head (45b ).

29. - Portable touch stimulation device according to claim 26, wherein the actuator elements are spherical (45 ').

/

 30. - Portable touch stimulation device according to any one of claims 26 to 29, comprising a matrix of lower supports (44) arranged on the printed circuit board (47) and facing the lower electrodes (22 '), and charged of generating a compression of the lower passive layer (48 ') in a compression zone (51) substantially centered with respect to the lower electrode (22').

31. - Portable touch stimulation device according to claim 30, wherein the lower supports (44) are hemispherical.

 -

32. - Portable touch stimulation device according to any of claims 26 to 31, wherein the electrical connection of each electrical terminal (49) of the printed circuit board (47) with the row (40) or column (41) of electrodes (22,22 ') is performed _. through a connection termination (50) located at one end of the corresponding row (40) or column (41).

33. - Portable touch stimulation device according to any one of claims 26 to 32, wherein the passive layers (48,48 ') are arranged stretched over the printed circuit board (47).

34. - Portable touch stimulation device according to any one of claims 26 to 33, wherein the electrodes (22,22 ') are circular.

35. - Portable touch stimulation device according to any of claims 26 to 34, wherein the support layer (46) is made of silicone.

36. - Portable touch stimulation device according to any one of claims 26-35, wherein the passive layers (48.48 ') are made of silicone.

37. - Portable touch stimulation device according to any one of claims .26-36, wherein the rows (40) of upper electrodes (22) and the columns (41) of lower electrodes (22 ') are arranged perpendicularly.