Tactile stimulation device, driving method, wearable device and storage medium

Abstract

The present invention relates to a tactile stimulation device, a driving method, a wearable device and a storage medium. The tactile stimulation device comprises: a vibration array, comprising a plurality of vibration modules connected in parallel, wherein the resonant frequencies of any two vibration modules are different; a controller connected to a power driving circuit, and generating a corresponding driving signal according to vibration demand information of the vibration array; and a power driving circuit connected to the vibration array, and used to generate an electric energy signal required for vibration of the vibration array according to the driving signal. The above device not only realizes the independent control of the vibration unit, but also reduces the cost of the power driving circuit, achieving both.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a tactile stimulation device, a driving method, a wearable device and a storage medium. Background Art

[0002] In the field of consumer electronics, vibration devices can provide vibration feedback that matches the operation, giving users a good user experience.

[0003] With the rise of the concept of the metaverse, devices such as AR / VR have an increasingly high demand for tactile feedback. The tactile feedback that a single device can provide is extremely limited and can no longer meet users' demand for the authenticity of the tactile experience. Therefore, a vibration array is needed to achieve a more realistic and richer tactile experience.

[0004] Although the introduction of vibration arrays improves the authenticity and richness of touch, each vibration unit needs to be equipped with an independent driving circuit, which leads to a significant increase in the cost of the driving circuit; it also increases the size and weight of wearable devices, affecting the user experience.

[0005] By sharing a set of drive circuits for all vibration units, the cost of the drive circuits required for the vibration array can be reduced, while also reducing the size and weight of the wearable device to a certain extent. However, this method makes it difficult to achieve independent control of the vibration units, and often requires the introduction of power selection switches to connect the units that need to vibrate to the power drive circuit, which in turn requires the addition of an equal number of power selection switches. Although independent control of the vibration units is achieved, the cost of the drive circuit is increased.

[0006] In summary, there is an urgent need for a vibration array and a driving method thereof, which can achieve both independent control of the vibration units and reduce the cost of the power driving circuit. Summary of the invention

[0007] The present application provides a tactile stimulation device, a driving method, a wearable device and a storage medium using a driving array driven by a set of power driving circuits.

[0008] A first aspect provides a tactile stimulation device, comprising a vibration array, a controller, and a power driving circuit, wherein the vibration array comprises a plurality of vibration modules connected in parallel, and the resonance frequencies of any two of the vibration modules are different;

[0009] The controller is connected to the power driving circuit and generates a corresponding driving signal according to the vibration requirement information of the vibration array;

[0010] A power driving circuit is connected to the vibration array and is used to generate an electric energy signal required for the vibration array to vibrate according to the driving signal.

[0011] In some embodiments, the vibration module is a linear resonant motor.

[0012] In some embodiments, the power driving circuit includes: a power supply and a power amplifier connected to the power supply, the input end of the power amplifier is connected to the output end of the controller, and the output end of the power amplifier is connected to the input end of the vibration array.

[0013] A second aspect provides a driving method of the tactile stimulation device as described above, the method comprising:

[0014] The controller acquires vibration requirement information of the vibration array, and generates a corresponding driving signal according to the vibration requirement information;

[0015] The power driving circuit generates an electric energy signal required for the vibration array to vibrate according to the driving signal.

[0016] In some embodiments, generating a corresponding driving signal according to the vibration requirement information includes:

[0017] The controller determines, according to the vibration requirement information, a target vibration module in the vibration array that needs to be vibrated and a vibration intensity of the target vibration module;

[0018] The controller generates a driving signal corresponding to each target vibration module according to the vibration intensity of each target vibration module;

[0019] The controller generates a driving signal corresponding to the vibration array according to the driving signals of all the target vibration modules.

[0020] In some embodiments, the controller generates a driving signal corresponding to each target vibration module according to the vibration intensity of each target vibration module, including:

[0021] The controller determines the voltage amplitude of each target vibration module according to the vibration intensity of each target vibration module;

[0022] The controller determines the resonance frequency and vibration duration of each target vibration module according to the vibration requirement information;

[0023] The controller generates a driving signal corresponding to each of the target vibration modules according to the voltage amplitude, the resonance frequency and the vibration duration of each of the target vibration modules.

[0024] In some embodiments, the controller generates a driving signal corresponding to the vibration array according to the driving signals of all the target vibration modules, including:

[0025] The driving signals of all the target vibration modules are linearly superimposed to generate a driving signal corresponding to the vibration array.

[0026] In some embodiments, after the controller generates a driving signal corresponding to the vibration array according to the driving signals of all the target vibration modules, the process further includes:

[0027] The driving signal passes through a plurality of series-connected resonant traps, wherein the plurality of series-connected resonant traps correspond one-to-one to non-target vibration modules that are not required to vibrate in the vibration array, and the corresponding resonant traps and the non-target vibration modules have the same resonant frequency.

[0028] A third aspect provides a wearable device, comprising a tactile stimulation device, wherein the tactile stimulation device is the tactile stimulation device described above.

[0029] A fourth aspect provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0030] The above-mentioned tactile stimulation device, driving method, wearable device and storage medium, the vibration array includes a plurality of parallel vibration modules, and the resonant frequencies of any two of the vibration modules are different; the controller is connected to the power driving circuit, and generates a corresponding driving signal according to the vibration demand information of the vibration array; the power driving circuit is connected to the vibration array, and is used to generate the electric energy signal required for the vibration of the vibration array according to the driving signal. The controller obtains the vibration demand information of the vibration array, and generates a corresponding driving signal according to the vibration demand information; the power driving circuit generates the electric energy signal required for the vibration of the vibration array according to the driving signal. Therefore, the present application adopts a plurality of vibration units to form a vibration array, and realizes vibration feedback of multiple scenes through the combined vibration of each unit; the entire vibration array system only includes one set of power driving circuits, and does not require any other power selection switch, the driving circuit has low cost, and thus brings the advantages of small device volume and weight, and improves the wearing experience; the driving method of synthesizing multi-frequency signals realizes independent control of the vibration state of each vibration unit in an array vibration system that shares a set of power driving circuits and does not need to introduce a power selection switch, and the vibration state includes: whether to vibrate, vibration intensity, and vibration duration. The improved driving method of synthesized multi-frequency signals introduces multiple series-connected resonant notch filters to process the synthesized driving signals, suppresses the components in the signals generated by the dynamic process at the resonant frequencies of each unit that does not need to vibrate, and avoids the problem of weak and short-term vibrations of the units that do not need to vibrate being affected by the dynamic process of the synthesized driving signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1A schematic diagram of a system framework applicable to the tactile stimulation device in an embodiment of the present application;

[0032] Figure 2 A flow chart of a driving method of a tactile stimulation device in an embodiment of the present application;

[0033] Figure 3 Another flow chart of the driving method of the tactile stimulation device in the embodiment of the present application;

[0034] Figure 4 This is an example of a vibration array of a tactile stimulation device in an embodiment of the present application;

[0035] Figure 5 A schematic diagram of driving waveforms of each vibration unit in the driving method of the tactile stimulation device in an embodiment of the present application;

[0036] Figure 6 This is a process of processing a driving signal of a driving method for a tactile stimulation device in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] It can be understood that the terms "first", "second", etc. used in the present application can be used in this article to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0039] like Figure 1 As shown, in one embodiment, a tactile stimulation device is proposed, which may include: a vibration array, a controller, and a power driving circuit, wherein the vibration array includes a plurality of vibration modules connected in parallel, and the resonance frequencies of any two vibration modules are different;

[0040] A controller is connected to the power driving circuit and generates a corresponding driving signal according to the vibration demand information of the vibration array;

[0041] The power driving circuit is connected to the vibration array and is used to generate the electric energy signal required for the vibration array to vibrate according to the driving signal.

[0042] In this embodiment, a plurality of vibration units are used to form a vibration array, and vibration feedback in multiple scenarios is achieved through the combined vibration of each unit; for example, these vibration units are all linear resonant motors of the same type, and the resonant frequencies of all linear resonant motors are different; furthermore, the entire vibration array system includes only one set of power drive circuits, and does not require any other power selection switches, so the drive circuit has a low cost, which in turn brings the advantages of small device size and weight, thereby improving the wearing experience.

[0043] Furthermore, the driving method of the tactile stimulation device is a driving method of synthesizing multi-frequency signals. In an array vibration system that shares a set of power driving circuits and does not require the introduction of a power selection switch, independent control of the vibration state of each vibration unit is achieved, and the vibration state includes: whether to vibrate, vibration intensity, and vibration duration.

[0044] In the improved driving method of synthesized multi-frequency signals, a plurality of series-connected resonant notch filters are introduced to process the synthesized driving signal, and the components in the signal generated by the dynamic process at the resonant frequency of each unit that does not need to vibrate are suppressed, thereby avoiding the problem of the units that do not need to vibrate being affected by the dynamic process of the synthesized driving signal and generating weak and short-term vibrations, and achieving an array vibration effect consistent with expectations.

[0045] In some embodiments, the vibration module is a linear resonant motor.

[0046] In some embodiments, the power driving circuit includes: a power supply and a power amplifier connected to the power supply, the input end of the power amplifier is connected to the output end of the controller, and the output end of the power amplifier is connected to the input end of the vibration array.

[0047] Among them, the DC power supply is usually a battery; the power drive circuit is usually composed of a DC power supply and a power amplifier (abbreviated as PA), the PA obtains a drive signal from the controller and converts the drive signal into a voltage output with load capacity; the vibration array is composed of multiple devices, all of which are linear resonant motors of the same type, and the resonant frequencies of all linear resonant motors are different; all devices of the vibration array are directly connected to the power drive circuit; the controller generates a drive signal according to certain rules based on the received vibration demand, and drives the vibration array to generate array vibration with the help of the power drive circuit.

[0048] In this application, a plurality of vibration units are used to form a vibration array, and vibration feedback in multiple scenarios is realized through the combined vibration of each unit; these vibration units are all linear resonant motors of the same type, and the resonant frequencies of all linear resonant motors are different; the entire vibration array system includes only one set of power drive circuits, and does not require any other power selection switches, and the drive circuit has low cost, which in turn brings the advantages of small device size and weight, thereby improving the wearing experience.

[0049] like Figure 2 As shown, in one embodiment, the driving method of the tactile stimulation device may include:

[0050] Step 201: The controller obtains vibration requirement information of the vibration array, and generates a corresponding driving signal according to the vibration requirement information;

[0051] The vibration requirement includes: whether each vibration unit vibrates, the vibration intensity, and the vibration duration.

[0052] Step 202: The power driving circuit generates an electric energy signal required for the vibration array to vibrate according to the driving signal.

[0053] In one embodiment, the above step 202 may include,

[0054] Step 2021: The controller determines the target vibration module that needs to be vibrated in the vibration array and the vibration intensity of the target vibration module according to the vibration requirement information;

[0055] It can be understood that the target vibration module of the specific vibration and the vibration intensity of the target vibration module are preset.

[0056] Step 2022: The controller generates a driving signal corresponding to each target vibration module according to the vibration intensity of each target vibration module;

[0057] Wherein, the driving signals corresponding to the respective target vibration modules are calculated according to the vibration intensities of the respective target vibration modules.

[0058] Step 2023: The controller generates a driving signal corresponding to the vibration array according to the driving signals of all target vibration modules.

[0059] The driving signals of all target vibration modules are linearly superimposed to generate a driving signal corresponding to the vibration array.

[0060] In one embodiment, the above step 2022 may include,

[0061] Step 2022a: The controller determines the voltage amplitude of each target vibration module according to the vibration intensity of each target vibration module;

[0062] Among them, the voltage amplitude of the target vibration module is the product of the vibration intensity and a fixed parameter. The fixed parameter is the ratio of the voltage amplitude to the acceleration amplitude of the target vibration module under steady-state conditions. This value is a fixed parameter of the linear resonant motor and can be obtained through the motor design parameter manual or the motor sweep frequency characteristic curve.

[0063] Step 2022b: The controller determines the resonant frequency and vibration duration of each target vibration module according to the vibration demand information;

[0064] Among them, the resonance frequency and vibration duration of the target vibration module are also preset.

[0065] Step 2022c: The controller generates a driving signal corresponding to each target vibration module according to the voltage amplitude, resonant frequency and vibration duration of each target vibration module.

[0066] In one embodiment, the above step 2023 may include,

[0067] Step 2023a: linearly superimpose the driving signals of all target vibration modules to generate a driving signal corresponding to the vibration array.

[0068] In one embodiment, after the above step 2023, the following steps may also be included:

[0069] Step 2024, passing the driving signal through a plurality of series-connected resonant traps, wherein the plurality of series-connected resonant traps correspond one-to-one to non-target vibration modules in the vibration array that do not need to vibrate, and the corresponding resonant traps and the non-target vibration modules have the same resonant frequency.

[0070] Among them, multiple series-connected resonant notch filters are introduced to process the synthetic driving signal, and the components in the signal generated by the dynamic process at the resonant frequency of each unit that does not need to vibrate are suppressed, thereby avoiding the problem of weak and short-term vibration of the units that do not need to vibrate being affected by the dynamic process of the synthetic driving signal, and achieving an array vibration effect consistent with expectations.

[0071] like Figure 2 As shown, in a specific scenario, Figure 2 As shown, the method for generating the driving signal is:

[0072] Filter out the units that need vibration according to the vibration requirements;

[0073] Determine the voltage amplitude according to the vibration intensity requirement of each unit that needs to vibrate;

[0074] Construct corresponding sinusoidal signals according to the resonant frequency, voltage amplitude and vibration duration of each unit that needs to vibrate;

[0075] All sinusoidal signals are linearly superimposed to synthesize the driving signal;

[0076] The driving signal is sent to the power driving circuit to generate a voltage with power output capability that is consistent with the driving signal waveform, thereby driving the vibration array to generate array vibration.

[0077] like Figure 3 As shown, the method for generating the driving signal may also be:

[0078] Filter out the units that need vibration according to the vibration requirements;

[0079] Determine the voltage amplitude according to the vibration intensity requirement of each unit that needs to vibrate;

[0080] Construct corresponding sinusoidal signals according to the resonant frequency, voltage amplitude and vibration duration of each unit that needs to vibrate;

[0081] All sinusoidal signals are linearly superimposed to synthesize the pre-driving signal;

[0082] Processing the pre-driving signal, passing the pre-driving signal through a series of resonant notch filters connected in series, the number of which is the same as the number of units that do not need to vibrate; the resonant frequencies of these notch filters correspond one-to-one to the resonant frequencies of the units that do not need to vibrate, and generating the final driving signal after filtering;

[0083] The driving signal is sent to the power driving circuit to generate a voltage with power output capability that is consistent with the driving signal waveform, thereby driving the vibration array to generate array vibration.

[0084] like Figure 4 As shown, in one embodiment, a wearable device is provided, including a tactile stimulation device, and the tactile stimulation device is the tactile stimulation device mentioned above.

[0085] Taking the vibration array installed in the glove as an example, the driving method proposed in this patent is specifically described. Figure 4 It is a wearable vibration array device in the form of a glove. One vibration unit is installed on the palm and each fingertip, with a total of 6 linear resonant motors, numbered M1, M2, M3, M4, M5 and M6, and their corresponding resonant frequencies are f1 / f2 / f3 / f4 / f5 / f6. For example, the controller receives the system's array vibration requirements for M1 / M2 / M3 to generate vibrations, and the vibration intensities are A1 / A2 / A3, and the vibration durations are t1 / t / 2 / t3.

[0086] As Figure 2 In a specific scenario 1 shown, the specific process of generating the driving signal is:

[0087] According to the vibration requirements, the units that need to be vibrated are selected, namely, the vibration units M1 / M2 / M3;

[0088] The voltage amplitude is determined according to the vibration intensity requirement of each unit that needs to vibrate, that is, according to the vibration intensity A1 / A2 / A3 corresponding to M1 / M2 / M3, the voltage amplitudes of the three units are determined to be U1 / U2 / U3 respectively. The calculation formula is U1=k1*A1, U2=k2*A2, U3=k3*A3, k1 / k2 / k3 are the ratios of the voltage amplitude to the acceleration amplitude of M1 / M2 / M3 in the steady state respectively. This value is a fixed parameter of the linear resonant motor and can be obtained from the motor design parameter manual or the motor frequency sweep characteristic curve;

[0089] The corresponding sinusoidal signal is constructed according to the resonant frequency, voltage amplitude, and vibration duration of each unit that needs to vibrate, such as Figure 5 As shown, for M1, the corresponding sinusoidal signal is For M2, the corresponding sinusoidal signal is For M3, the corresponding sinusoidal signal is

[0090] All sinusoidal signals are linearly superimposed to synthesize the driving signal, that is, u1 / u2 / u3 are linearly superimposed to synthesize the driving signal u d =u1+u2+u3;

[0091] The driving signal is sent to the power driving circuit to generate a voltage with power output capability that is consistent with the driving signal waveform, thereby driving the vibration array to generate array vibration.

[0092] use Figure 2 In the driving method 1 shown in the figure, the driving signal constructed only contains the resonant frequency components of each unit that needs to vibrate, and does not contain the resonant frequency components of each unit that does not need to vibrate. Therefore, in the vibration array, only the units that need to vibrate produce vibrations consistent with the expected intensity and duration. The units that do not need to vibrate are affected by the transient components in the driving signal and only produce weak and short vibrations. Compared with the expected vibration intensity, the vibration sensation can be ignored. Therefore, the driving method 1 proposed in Figure 1 The low-cost array vibration system shown achieves independent control of the vibration, vibration intensity, and vibration duration of each vibration unit.

[0093] As Figure 3 In a specific scenario 2 shown, the specific process of generating the driving signal is:

[0094] According to the vibration requirements, the units that need to be vibrated are selected, namely, the vibration units M1 / M2 / M3;

[0095] The voltage amplitude is determined according to the vibration intensity requirement of each unit that needs to vibrate, that is, according to the vibration intensity A1 / A2 / A3 corresponding to M1 / M2 / M3, the voltage amplitudes of the three units are determined to be U1 / U2 / U3 respectively. The calculation formula is U1=k1*A1, U2=k2*A2, U3=k3*A3, k1 / k2 / k3 are the ratios of the voltage amplitude to the acceleration amplitude of M1 / M2 / M3 in the steady state respectively. This value is a fixed parameter of the linear resonant motor and can be obtained from the motor design parameter manual or the motor frequency sweep characteristic curve;

[0096] The corresponding sinusoidal signal is constructed according to the resonant frequency, voltage amplitude, and vibration duration of each unit that needs to vibrate, such as Figure 5 As shown, for M1, the corresponding sinusoidal signal is For M2, the corresponding sinusoidal signal is For M3, the corresponding sinusoidal signal is

[0097] All sinusoidal signals are linearly superimposed to synthesize the pre-drive signal, that is, u1 / u2 / u3 are linearly superimposed to synthesize the pre-drive signal u d =u1+u2+u3;

[0098] like Figure 6 As shown, the pre-driving signal is processed and passed through a series of resonant notches connected in series, the number of which is the same as the number of units that do not need to vibrate; the resonant frequencies of these notches correspond one-to-one to the resonant frequencies of the units that do not need to vibrate, and the final driving signal is generated after filtering;

[0099] The driving signal is sent to the power driving circuit to generate a voltage with power output capability that is consistent with the driving signal waveform, thereby driving the vibration array to generate array vibration.

[0100] Based on Scenario 1, Scenario 2 adds a series of resonant notch filters in series to accurately eliminate the components introduced by the dynamic process of the pre-drive signal at the resonant frequency of the unit that does not need to vibrate, thereby avoiding the vibration of the vibration unit that does not need to vibrate and producing array vibration consistent with expectations.

[0101] The present application realizes a linear resonant motor vibration array and a driving method thereof through the above scheme, especially the design of the preferred scheme. When the driving method is used to drive the vibration array system to output array vibration, it has at least the following characteristic advantages:

[0102] A vibration array is formed by using multiple vibration units, and vibration feedback in multiple scenarios is achieved through the combined vibration of each unit;

[0103] These vibration units are all linear resonant motors of the same type, and the resonant frequencies of all the linear resonant motors are different;

[0104] The entire vibration array system only includes one set of power drive circuits and does not require any other power selection switches. The drive circuit is low-cost, which in turn brings the advantages of small device size and weight, improving the wearing experience.

[0105] A driving method for synthesizing multi-frequency signals is proposed. In an array vibration system that shares a set of power driving circuits and does not require the introduction of a power selection switch, independent control of the vibration state of each vibration unit is achieved. The vibration state includes: whether to vibrate, vibration intensity, and vibration duration.

[0106] An improved driving method for synthesized multi-frequency signals is proposed. Multiple series-connected resonant notch filters are introduced to process the synthesized driving signals. The components of the signals generated by the dynamic process at the resonant frequencies of each unit that does not need to vibrate are suppressed. This avoids the problem of weak and short-term vibrations of the units that do not need to vibrate being affected by the dynamic process of the synthesized driving signals, and achieves an array vibration effect consistent with expectations.

[0107] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: a controller obtains vibration requirement information of a vibration array and generates a corresponding drive signal according to the vibration requirement information; a power drive circuit generates an electric energy signal required for the vibration of the vibration array according to the drive signal.

[0108] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0109] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A tactile stimulation device, comprising a vibration array, a controller, and a power drive circuit, characterized in that: The vibration array comprises a plurality of vibration modules connected in parallel, and the resonance frequencies of any two of the vibration modules are different; The controller is connected to the power driving circuit, and determines the target vibration modules that need to vibrate in the vibration array and the vibration intensity of the target vibration modules according to the vibration requirement information of the vibration array; generates driving signals corresponding to the target vibration modules according to the vibration intensity of each target vibration module; and linearly superimposes the driving signals of all the target vibration modules to generate a driving signal corresponding to the vibration array; A power driving circuit, connected to the vibration array, and used to generate an electric energy signal required for the vibration array to vibrate according to the driving signal; The power driving circuit includes: a power supply and a power amplifier connected to the power supply, the input end of the power amplifier is connected to the output end of the controller, and the output end of the power amplifier is connected to the input end of the vibration array.

2. The tactile stimulation device according to claim 1, characterized in that The vibration module is a linear resonance motor.

3. A driving method for a tactile stimulation device as claimed in any one of claims 1 to 2, characterized in that: The method comprises: The controller obtains vibration requirement information of the vibration array, and generates a corresponding driving signal according to the vibration requirement information; The power driving circuit generates an electric energy signal required for the vibration array to vibrate according to the driving signal; The generating a corresponding driving signal according to the vibration requirement information comprises: The controller determines, according to the vibration requirement information, a target vibration module in the vibration array that needs to be vibrated and a vibration intensity of the target vibration module; The controller generates a driving signal corresponding to each target vibration module according to the vibration intensity of each target vibration module; The controller linearly superimposes the driving signals of all the target vibration modules to generate a driving signal corresponding to the vibration array.

4. The driving method of the tactile stimulation device according to claim 3, characterized in that: The controller generates a driving signal corresponding to each target vibration module according to the vibration intensity of each target vibration module, including: The controller determines the voltage amplitude of each target vibration module according to the vibration intensity of each target vibration module; The controller determines the resonance frequency and vibration duration of each target vibration module according to the vibration requirement information; The controller generates driving signals corresponding to each of the target vibration modules according to the voltage amplitude, the resonance frequency and the vibration duration of each of the target vibration modules.

5. The driving method of the tactile stimulation device according to claim 3, characterized in that: After the controller generates a driving signal corresponding to the vibration array according to the driving signals of all the target vibration modules, the method further includes: The driving signal passes through a plurality of series-connected resonant traps, wherein the plurality of series-connected resonant traps correspond one-to-one to non-target vibration modules that are not required to vibrate in the vibration array, and the corresponding resonant traps and the non-target vibration modules have the same resonant frequency.

6. A wearable device, characterized in that: It comprises a tactile stimulation device, wherein the tactile stimulation device is the tactile stimulation device according to any one of claims 1 to 2.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 3 to 5 are implemented.

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