Tactile reproduction structure, driving method thereof, and touch control device

Abstract

The present application discloses a tactile reproduction structure, its driving method, and a touch control device. The tactile reproduction structure includes: a substrate and an actuator connected to the substrate. Among them, the substrate includes: a first flexible film layer, a second flexible film layer, a magnetic field generation structure, and a ferrofluid. The first flexible film layer and the second flexible film layer are disposed opposite to each other. The ferrofluid is filled in the cavity between the first flexible film layer and the second flexible film layer. The magnetic field generation structure is used to generate a magnetic field, and this magnetic field is used to control the arrangement of magnetic particles in the ferrofluid to adjust the stiffness of the substrate. The actuator is used to generate a standing wave to drive the substrate to vibrate. This structure can not only achieve tactile reproduction on a flexible substrate, but also generate deformation in the direction perpendicular to the touch surface, effectively enriching the tactile simulation function of tactile reproduction.

Description

Technical Field

[0001] The present application relates to the field of touch technology, and in particular, to a tactile reproduction structure, a driving method thereof, and a touch device. Background Art

[0002] Haptic feedback technology is a key focus in current technological development. Its concept is to enable interaction between a device terminal and the human body through touch. Haptic feedback can be divided into two categories: one is vibration feedback, and the other is tactile reproduction technology. Surface tactile reproduction technology can be used to perceive object characteristics by touching the screen with a bare finger, enabling efficient and natural interaction on multimedia terminals, and thus has great research value, attracting extensive attention from domestic and foreign research scholars. Physically, surface touch refers to the interaction between the surface roughness of an object and the skin (such as the fingertip), resulting in different frictional forces due to different surface structures. Therefore, by controlling the surface frictional force, different tactile sensations or touches can be simulated.

[0003] Currently, tactile reproduction structures based on the squeeze film effect are widely used in touch products. This structure uses high-frequency vibrations on the terminal surface to generate a high-pressure air film with the finger surface, changing the magnitude of the frictional force between the finger and the terminal surface, thereby achieving the simulation of surface touch sensations. However, this structure is limited by the stiffness of the vibrating body and is mostly used in products with a rigid substrate such as a glass substrate, making it difficult to meet the tactile reproduction requirements of flexible substrate products. Summary of the Invention

[0004] The present application provides a tactile reproduction structure, a driving method thereof, and a touch device, which can effectively improve the above problems.

[0005] In a first aspect, an embodiment of the present application provides a tactile reproduction structure, including: a substrate and an actuator connected to the substrate, wherein:

[0006] The substrate includes: a first flexible film layer, a second flexible film layer, a magnetic field generating structure, and a ferrofluid. The first flexible film layer and the second flexible film layer are disposed opposite to each other. The ferrofluid is filled in the cavity between the first flexible film layer and the second flexible film layer. The magnetic field generating structure is used to generate a magnetic field, and the magnetic field is used to control the arrangement of magnetic particles in the ferrofluid to adjust the stiffness of the substrate;

[0007] The actuator is used to generate a standing wave to drive the substrate to vibrate.

[0008] Further, the magnetic field generating structure is disposed on a first surface of the first flexible film layer and / or a second surface of the second flexible film layer, where the second surface is the surface opposite to the first surface.

[0009] Further, the magnetic field generating structure includes a first magnetic layer and a second magnetic layer. The first magnetic layer is disposed on the first surface of the first flexible film layer, and the second magnetic layer is disposed on the second surface of the second flexible film layer. The magnetic poles of the first magnetic layer and the second magnetic layer are opposite to each other.

[0010] Further, the first magnetic layer includes a plurality of first magnetic units arranged at intervals, and the second magnetic layer includes a plurality of second magnetic units arranged at intervals. The orthographic projection of each first magnetic unit on the second flexible film layer at least partially overlaps with the orthographic projection of a second magnetic unit.

[0011] Further, the magnetic field generating structure is an electromagnetic induction structure for generating the magnetic field when powered on.

[0012] Further, the electromagnetic induction structure includes a magnetic material layer, an insulating layer, and a conductive coil stacked together.

[0013] Further, the electromagnetic induction structure includes a piezoelectric layer and a magnetostrictive material disposed on the piezoelectric layer.

[0014] Further, the actuator is disposed on the surface of the first flexible film layer or the second flexible film layer away from the magnetorheological fluid, and is configured to drive the substrate to vibrate in a direction perpendicular to the surface of the substrate.

[0015] Further, the substrate further includes: a sealing layer disposed in the peripheral edge region between the first flexible film layer and the second flexible film layer, for forming a cavity between the first flexible film layer and the second flexible film layer to fill the magnetorheological fluid;

[0016] The orthographic projection of the actuator on the second flexible film layer is located within the orthographic projection of the sealing layer on the second flexible film layer.

[0017] Further, the actuator is disposed on the side surface of the substrate, and is configured to drive the substrate to vibrate in a direction parallel to the surface of the substrate.

[0018] In a second aspect, an embodiment of the present application provides a driving method for a tactile reproduction structure, which is applied to the tactile reproduction structure described in the first aspect above. The method includes:

[0019] Obtaining touch information of a user;

[0020] Based on the touch information, sending a first driving signal to the magnetic field generating structure to control the stiffness of the substrate, and sending a second driving signal to the actuator to control the vibration state of the substrate.

[0021] In a third aspect, an embodiment of the present application provides a touch control device, including a touch control layer and the haptic reproduction structure described in the first aspect above, where the touch control layer and the substrate of the haptic reproduction structure are stacked.

[0022] Further, the touch control device further includes a display structure, and the display structure is stacked between the touch control layer and the substrate.

[0023] The technical solution provided by the embodiment of the present application has at least the following technical effects or advantages:

[0024] The haptic reproduction structure provided by the embodiment of the present application improves the structure of the substrate. Two flexible film layers are provided, and a magnetic fluid is filled between the first flexible film layer and the second flexible film layer. The distribution of magnetic particles in the magnetic fluid is controlled by generating a magnetic field through a magnetic field generating structure, so as to adjust the stiffness of the entire substrate. On this basis, a standing wave is generated by an actuator connected to the substrate, causing the substrate to resonate. In this way, on the one hand, when the substrate is adjusted to the required stiffness by driving the magnetic field generating structure, the squeeze film effect can be adjusted by controlling the vibration of the actuator to control the frictional force between the finger and the touch surface, thereby realizing haptic reproduction based on a flexible substrate; on the other hand, during the process of the user pressing the touch surface, the stiffness of the substrate can be controlled by the magnitude of the magnetic field generated by the driving magnetic field generating structure, causing the substrate to deform in a direction perpendicular to the touch surface, realizing the touch simulation similar to pressing a button, effectively enriching the touch simulation function of the haptic reproduction structure, and being beneficial to providing a more real haptic experience for the user.

[0025] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically given below. Description of the Drawings

[0026] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0027] Figure 1 is a schematic structural diagram of an exemplary haptic reproduction structure in an embodiment of the present application;

[0028] Figure 2 is a schematic structural diagram of an exemplary conductive coil in an embodiment of the present application;

[0029] Figure 3 Schematic diagram of the structure of another exemplary conductive coil in the embodiments of the present application;

[0030] Figure 4 Schematic diagram of the structure of an exemplary magnetic induction structure in the embodiments of the present application;

[0031] Figure 5 Schematic diagram of the structure of another exemplary magnetic induction structure in the embodiments of the present application;

[0032] Figure 6 Schematic diagram of the arrangement state of magnetic particles in the embodiments of the present application;

[0033] Figure 7 Schematic diagram of the stress-deformation relationship of the substrate under different Young's moduli in the embodiments of the present application;

[0034] Figure 8 Schematic diagram of the structure of another exemplary tactile reproduction structure in the embodiments of the present application;

[0035] Figure 9 Flowchart of a driving method for a tactile reproduction structure in the embodiments of the present application;

[0036] Figure 10 Force analysis diagram of a sliding touch behavior in the embodiments of the present application;

[0037] Figure 11 Force analysis diagram of a pressing touch behavior in the embodiments of the present application. Detailed implementation manners

[0038] For a tactile reproduction structure based on the squeeze film effect, to form the squeeze film effect, there are certain requirements for the stiffness of the vibrating body. Generally speaking, the formula for the frequency at which the vibrating body resonates, i.e., the resonance frequency, is as follows:

[0039]

[0040] In the formula, f r represents the resonance frequency, λ represents the tactile half-wavelength, that is, the half-wavelength of the standing wave generated by the actuator, G b represents the stiffness of the vibrating body, and M b represents the mass of the vibrating body.

[0041] Since the human ear is more sensitive to vibrations less than 20 kHz, when designing the vibration of the tactile reproduction structure, the resonance frequency f r needs to be greater than 20 kHz. The stiffness of the flexible substrate is much smaller than that of glass. For example, generally, the stiffness of glass > 40 GPa, while the stiffness of the PI (polyimide) substrate < 2 GPa. If the tactile reproduction structure uses a flexible substrate, the resonance frequency of the flexible substrate will be affected by the stiffness Gb becomes very small as the [relevant factor] decreases, and flexible substrates are mostly hyperelastic bodies, so a good film pressing effect cannot be formed.

[0042] In view of this, the embodiments of the present application provide a tactile reproduction structure, its driving method, and a touch control device. The tactile reproduction structure includes: a substrate substrate and an actuator connected to the substrate substrate, where: the substrate substrate includes: a first flexible film layer, a second flexible film layer, a magnetic field generating structure, and a ferrofluid. The first flexible film layer and the second flexible film layer are disposed opposite to each other. The ferrofluid is filled in the cavity between the first flexible film layer and the second flexible film layer. The magnetic field generating structure is used to generate a magnetic field, and this magnetic field is used to control the arrangement of magnetic particles in the ferrofluid, thereby adjusting the stiffness of the substrate substrate; the actuator is used to generate a standing wave, causing the substrate substrate to resonate. In this way, by controlling the magnetic field generated by the magnetic field generating structure and adjusting the stiffness of the substrate substrate, the influence of the flexible substrate stiffness on the resonance frequency can be effectively compensated, thereby realizing tactile reproduction on the flexible substrate. In addition, by adjusting the stiffness of the substrate substrate, deformation in the direction perpendicular to the touch surface can also be achieved, that is, simulating the touch feeling similar to pressing a button, effectively enriching the touch feeling simulation function of the tactile reproduction structure, which is beneficial to providing a more real tactile experience for users.

[0043] Next, the exemplary embodiments of the tactile reproduction structure, its driving method, and the touch control device provided by the present application will be described in detail with reference to the accompanying drawings. It should be noted that in the drawings, the dimensions of layers and regions may be exaggerated for clarity of illustration. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. The term "and / or" appearing herein is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The term "plurality" includes two or more cases.

[0044] In a first aspect, the embodiments of the present application provide a tactile reproduction structure, as Figure 1 shown, the tactile reproduction structure includes: a substrate substrate 100 and an actuator 140 connected to the substrate substrate 100. Among them, the substrate substrate 100 includes: a first flexible film layer 101, a second flexible film layer 102, a magnetic field generating structure 110, and a ferrofluid 120.

[0045] Specifically, the first flexible film layer 101 and the second flexible film layer 102 are disposed opposite to each other. For example, the first flexible film layer 101 and the second flexible film layer 102 can use flexible thin film materials such as PET (polyethylene terephthalate), PI, PDMS (polydimethylsiloxane), or PMMA (polymethyl methacrylate, also known as acrylic), and can be specifically determined according to the needs of the actual application scenario.

[0046] The magnetic field generating structure 110 can be disposed between the first flexible film layer 101 and the second flexible film layer 102. For example, for convenient processing, it can be disposed on the first surface of the first flexible film layer 101 and / or the second surface of the second flexible film layer 102. Herein, the second surface is the surface opposite to the first surface.

[0047] In terms of the specific structure level, for example, the magnetic field generating structure 110 can be an electromagnetic induction structure, which generates a magnetic field by applying electricity to achieve the control effect of an electromagnet. It should be noted that two electromagnetic induction structures capable of achieving the control effect of an electromagnet are mainly listed below. In other embodiments of the present application, other applicable electromagnetic induction structures can also be used, and this embodiment does not limit this.

[0048] First, similar to the structure of an electromagnet, the electromagnetic induction structure can include a magnetically permeable material layer, an insulating layer, and a conductive coil stacked. For example, through semiconductor processing technology, a metal layer with a coil pattern can be formed on the insulating layer, that is, a conductive coil is formed. As Figure 2 shown, the conductive coil has a first electrode terminal a and a second electrode terminal b. When electricity is applied to the first electrode terminal a and the second electrode terminal b, when current passes through the coil, a magnetic field will be generated around the coil. The magnetically permeable material is magnetized under the action of this magnetic field, so as to generate a magnetic field that is superimposed on the magnetic field generated by the coil to obtain a magnetic field with the required intensity. For details, reference can be made to the related technology.

[0049] For example, the magnetically permeable material layer can be made of cobalt iron silicon oxide (CoFeSiO) material, or other applicable materials such as NiZnCuFeO, CoFeHfO, CoFeAlO, BaCoFeO and other magnetic materials can also be used. A magnetic field can be applied during the processing to align the magnetic moments of the ferromagnetic materials in the same direction.

[0050] The insulating layer can use dielectric materials such as oxides or nitrides. For example, silicon dioxide (SiO2) or silicon nitride can be used.

[0051] The conductive coil can be made of a metal material such as copper or gold. Of course, other applicable conductive materials such as indium tin oxide (ITO) can also be used. For example, the wire coil can be a square coil, as Figure 2 shown, or it can also be a circular coil, as Figure 3As shown, it can be designed according to actual needs, as long as it can generate the required magnetic field when powered on. In this embodiment, the specific shape of the coil is not limited. It should be noted that Figure 2 and Figure 3 the width of the wire 200 is omitted for the conductive coils shown in

[0052] Second, the electromagnetic induction structure may include a piezoelectric layer and a magnetostrictive material disposed on the piezoelectric layer. For example, the piezoelectric layer may include: an upper electrode, a lead zirconate titanate thin film (PZT), and a lower electrode stacked, and the magnetostrictive material may be: a nickel nanostructure array presenting a single magnetic domain. The nickel nanostructure array presenting a single magnetic domain can generate a weak magnetic field, causing the energy change of the single magnetic domain; then, an electric field is formed by applying electricity to the upper and lower electrodes of the piezoelectric layer, and this electric field causes the lead zirconate titanate thin film to generate strain due to the piezoelectric effect. The strain is transmitted to the nickel nanostructure array through mechanical coupling, causing the nickel nanostructure array to change its magnetization state due to the inverse magnetostrictive effect, further causing the energy change of the single magnetic domain. Combining the weak magnetic field generated by the nickel nanostructure array itself with the energy change of the single magnetic domain under the action of the electric field can generate a magnetic field with the required intensity, and the magnetic pole flipping can be controlled by changing the direction of the electric field, achieving the control effect of an electromagnet. For details, reference can be made to the related technology. This method can realize a nanoscale "electromagnet", which is beneficial to reducing the thickness of the electromagnetic induction structure.

[0053] It can be understood that the magnetic field generation structure 110 needs to have two magnetic poles. In an alternative embodiment, the two magnetic poles can be distributed on the surfaces of different flexible film layers. For example, the magnetic field generation structure 110 includes a first magnetic layer and a second magnetic layer. The first magnetic layer is disposed on the first surface of the first flexible film layer 101, and the second magnetic layer is disposed on the second surface of the second flexible film layer 102. The magnetic poles of the first magnetic layer and the second magnetic layer are opposite.

[0054] Taking the first electromagnetic induction structure as an example above, the magnetic pole direction can be controlled by changing the power supply direction, that is, changing the current direction. For example, in the first magnetic layer, the first electrode terminal a is used as the positive electrode, and the second electrode terminal b is used as the negative electrode. In the second magnetic layer, the first electrode terminal a is used as the negative electrode, and the second electrode terminal b is used as the positive electrode. Taking the second electromagnetic induction structure as an example above, the magnetic pole direction can be controlled by changing the direction of the electric field. For example, in the first magnetic layer, the upper electrode is used as the positive electrode, and the lower electrode is used as the negative electrode. In the second magnetic layer, the upper electrode is used as the negative electrode, and the lower electrode is used as the positive electrode.

[0055] Of course, in other embodiments of the present application, if the magnetic field generation structure 110 is disposed on the first surface of the first flexible film layer 101 or the second surface of the second flexible film layer 102, the two magnetic poles are also distributed on the same flexible film layer, and the specific arrangement manner can be set according to the needs of the actual scenario. This embodiment does not limit this.

[0056] Further, in order to generate a relatively uniform magnetic field between the first flexible film layer 101 and the second flexible film layer 102 for convenient control, as Figure 1 shown, the first magnetic layer may include a plurality of first magnetic units 111 arranged at intervals. Correspondingly, the second magnetic layer includes a plurality of second magnetic units 112 arranged at intervals. Each first magnetic unit 111 is arranged opposite to a second magnetic unit 112 and at least partially overlaps in the orthographic projection on the second flexible film layer 102. It should be noted that Figure 1 the number of magnetic units shown in is only for illustration and is not a limitation. The specific number and size of the magnetic units need to be determined according to factors such as the size of the substrate 100 and the required magnetic field distribution in the actual application scenario.

[0057] Since the magnetic poles of the first magnetic unit 111 and the second magnetic unit 112 are opposite, and the two are arranged in pairs, a magnetic field can be formed between the two opposite magnetic poles. For example, the first magnetic layer includes M*N first magnetic units 111 arranged in an array. Correspondingly, the second magnetic layer also includes M*N second magnetic units 112 arranged in an array. Each first magnetic unit 111 is arranged opposite to a second magnetic unit 112.

[0058] In an alternative embodiment, the arrangement positions, sizes, and spacing distances of the first magnetic unit 111 and the second magnetic unit 112 are equal, that is, the orthographic projections of each first magnetic unit 111 and the corresponding second magnetic unit 112 on the second flexible film layer 102 completely overlap, so that each pair of magnetic units can generate a magnetic field perpendicular to the surface of the substrate 100.

[0059] It should be noted that the structures and materials of the first magnetic unit 111 and the second magnetic unit 112 are the same, and the difference lies in the opposite directions of the applied voltages, so that the magnetic poles presented by the two are opposite. For example, as Figure 4 shown, taking the first electromagnetic induction structure as an example above, the first magnetic unit 111 includes a first magnetic material layer 1110, a first insulating layer 1111, and a first conductive coil 1112. The second magnetic unit 112 includes a second magnetic material layer 1120, a second insulating layer 1121, and a second conductive coil 1122. As Figure 5 shown, taking the second electromagnetic induction structure as an example above, the first magnetic unit 111 includes: a first piezoelectric layer 1113 and a first magnetostrictive material 1114 provided on the first piezoelectric layer 1113. The second magnetic unit 112 includes: a second piezoelectric layer 1123 and a second magnetostrictive material 1124 provided on the second piezoelectric layer 1123. Herein, "first" and "second" are only used to distinguish the two magnetic units and are not used for other limitations.

[0060] The magnetorheological fluid 120 is filled in the cavity between the first flexible film layer 101 and the second flexible film layer 102. It can be understood that the magnetorheological fluid 120 is a colloidal solution, which is usually formed by coating magnetic particles in the nanometer order with a long-chain surfactant and uniformly dispersing them in a base liquid. For example, the magnetic particles can be iron tetroxide (Fe3O4) particles, and the outer-coated surfactant can be PMMA. The magnetorheological fluid 120 has no magnetic attraction in the static state, and under the action of an external magnetic field, the magnetic particles 121 exhibit magnetism.

[0061] During use, the magnetic field generation structure 110 can control the opening and closing of the magnetic field and the magnitude of the generated magnetic field. In the magnetic field off state, the magnetic particles 121 in the magnetorheological fluid 120 are randomly distributed, as shown in Figure (a) in Figure 6 At this time, the Young's modulus of the magnetorheological fluid 120 is small. In the magnetic field on state, the magnetic particles 121 distributed between different magnetic poles of the magnetic field generation structure 110 are arranged under the action of the magnetic field, as shown in Figure (b) in Figure 6 (The dotted arrow direction in the figure indicates the magnetic field direction), which increases the arrangement density of the magnetic particles 121, and the Young's modulus of the magnetorheological fluid 120 also increases accordingly. The Young's modulus measures the stiffness of an isotropic elastic body. When the Young's modulus increases, the stiffness of the substrate 100 increases. Therefore, by controlling the magnitude of the magnetic field generated by the magnetic field generation structure 110, the arrangement of the magnetic particles 121 in the magnetorheological fluid 120 can be controlled, thereby adjusting the stiffness of the substrate 100.

[0062] Figure 7 Shows the corresponding relationship between the deformation and stress generated by the substrate 100 under different Young's moduli. Among them, curve A represents Figure 6 the corresponding relationship between the deformation and stress generated by the substrate 100 in the state of Figure (b) in Figure 6 and curve B represents the corresponding relationship between the deformation and stress generated by the substrate 100 in the state of Figure (a) in

[0063] By comparing curve A and curve B, it can be seen that the smaller the Young's modulus, the greater the deformation generated under the same stress. Therefore, by controlling the magnetic field generated by the magnetic field generation structure 110 and adjusting the Young's modulus of the magnetorheological fluid 120 in the substrate 100, the pressing touch feeling of objects with different stiffness characteristics can be simulated.

[0063] Furthermore, in order to encapsulate the magnetorheological fluid 120 between the first flexible film layer 101 and the second flexible film layer 102, the substrate 100 further includes: a sealing layer 130. The sealing layer 130 is disposed in the peripheral edge region between the first flexible film layer 101 and the second flexible film layer 102, and is used to form a cavity between the first flexible film layer 101 and the second flexible film layer 102 to fill the magnetorheological fluid 120. For example, the sealing layer 130 can be formed by curing a sealant material.

[0064] The actuator 140 is used to generate a standing wave to drive the substrate 100 to vibrate. For example, the actuator 140 can be a piezoelectric element, and the piezoelectric element includes a first electrode layer 141, a piezoelectric thin film 142, and a second electrode layer 143 that are stacked. The piezoelectric thin film 142 has a piezoelectric effect. When a voltage is applied to the first electrode layer 141 and the second electrode layer 143, the generated electric field acts on the piezoelectric thin film 142, causing the piezoelectric thin film 142 to deform. The stronger the applied electric field intensity, the larger the vibration amplitude of the piezoelectric thin film 142. Therefore, by controlling the voltage applied to the actuator 140, the vibration frequency and amplitude of the piezoelectric thin film 142 can be controlled to form a standing wave with a specified waveform, driving the substrate 100 to vibrate.

[0065] Specifically, the actuator 140 can be vertically arranged or horizontally arranged relative to the surface of the substrate 100, and this embodiment does not limit this.

[0066] Among them, the vertical arrangement is specifically: the actuator 140 is arranged on the surface of the first flexible film layer 101 or the second flexible film layer 102 away from the ferrofluid 120, and is used to drive the substrate 100 to vibrate in a direction perpendicular to the surface of the substrate 100. It can be understood that in order to achieve the touch function, a touch layer needs to be stacked on the substrate 100 during specific applications. At this time, as an implementation manner, in order to avoid affecting the touch effect, the actuator 140 and the touch layer can be separately arranged on different surfaces of the substrate 100. For example, if the actuator 140 is arranged on the surface of the first flexible film layer 101 away from the ferrofluid 120, the touch layer can be arranged on the surface of the second flexible film layer 102 away from the ferrofluid 120. As another implementation manner, the actuator 140 can be arranged in the border area of the substrate 100. For example, the orthographic projection of the actuator 140 on the second flexible film layer 102 is located within the orthographic projection of the sealing layer 130 on the second flexible film layer 102. At this time, the actuator 140 can be arbitrarily arranged on the surface of the first flexible film layer 101 or the second flexible film layer 102 away from the ferrofluid 120.

[0067] The horizontal arrangement is specifically: the actuator 140 is arranged on the side surface of the substrate 100, as Figure 8 shown, and is used to drive the substrate 100 to vibrate in a direction parallel to the surface of the substrate 100.

[0068] During use, first, by controlling the magnitude of the magnetic field generated by the magnetic field generating structure 110, the substrate 100 is adjusted to a specified stiffness, which can effectively improve the problem that a flexible substrate such as a PI film has too low stiffness and cannot form a good film pressing effect. Among them, the specified stiffness is determined according to the needs of the actual use scenario. On this basis, by controlling the voltage applied to the actuator 140, the vibration frequency of the substrate 100 is adjusted to adjust the friction force of the touch surface, so that the user can feel the specified touch feeling on the touch surface.

[0069] Thus, for the tactile reproduction structure provided in this embodiment, when the Young's modulus of the magnetorheological fluid 120 filled between the two flexible film layers is increased, the stiffness of the entire substrate 100 can be increased, and the left shift (decrease) of the resonance frequency caused by the too low stiffness of the flexible substrate can be improved, so as to form a good film pressing effect on the flexible substrate and realize tactile reproduction. Moreover, during the process of the user sliding and touching the touch surface, by reducing the Young's modulus of the magnetorheological fluid 120 filled between the two flexible film layers, the vibration damping of the substrate 100 can be increased to achieve rapid shock absorption, which is beneficial to improving the touch contrast of the user's finger during the sliding process on the touch surface and providing a more real tactile experience.

[0070] In addition, when the Young's modulus of the magnetorheological fluid 120 filled between the two flexible film layers is reduced, the stiffness of the entire substrate 100 can be reduced. In this way, when the user presses the touch surface, the substrate 100 can generate a deformation in the direction perpendicular to the touch surface, realizing the touch simulation similar to pressing a button, effectively enriching the touch simulation function of the tactile reproduction structure and being beneficial to providing a more real tactile experience for the user.

[0071] In a second aspect, an embodiment of the present application provides a driving method for a tactile reproduction structure, which is applied to the tactile reproduction structure provided in the first aspect above. As Figure 9 shown, the method includes the following steps:

[0072] Step S101, obtaining the touch information of the user;

[0073] Step S102, based on the touch information, sending a first driving signal to the magnetic field generating structure to control the stiffness of the substrate, and sending a second driving signal to the actuator to control the vibration state of the substrate.

[0074] During specific use, when the user touches the touch surface, the touch information of the user can be obtained through the touch layer. The touch information includes the touch position of the user on the touch surface, and the type of the user's touch behavior can be determined by identifying the touch position. For example, the type of touch behavior can include sliding touch and pressing touch.

[0075] Among them, sliding touch means that the user's finger slides on the touch surface. At this time, it is necessary to provide the user with a texture haptic simulation of the touched object. As Figure 10 shown, when the user's finger slides on the touch surface 300 in the arrow direction at a speed v, it will be subject to a lateral frictional force parallel to the touch surface 300 and a normal force F perpendicular to the touch surface 300 n , and the lateral frictional force includes the frictional force F parallel to the sliding direction t and the frictional force F perpendicular to the sliding direction o . By controlling the vibration of the substrate 100, adjusting the squeeze film effect and the slapping effect formed between the finger and the touch surface 300 to form a reaction force, and thus controlling the surface frictional force, the simulation of different haptic sensations or tactile sensations in the sliding touch scenario can be achieved.

[0076] Pressing touch means that the user performs a pressing operation on the touch surface. For example, as Figure 11 shown, when the object for which haptic simulation is required is the button 400, a mechanical analysis of the process of the user pressing the button shows that during the process of the user pressing the button 400, the applied force first increases as the deformation of the button increases, then decreases as the deformation increases, showing a negative stiffness characteristic, and finally increases as the deformation increases. Therefore, when the user performs a pressing touch behavior on the touch surface, if the pressed object is an elastic object such as a button or other soft materials, it is necessary to adjust the stiffness characteristic of the substrate 100 so that the substrate 100 deforms in the direction perpendicular to the touch surface, providing the user with a more realistic pressing tactile sensation.

[0077] For the sliding touch behavior, on the one hand, it is necessary to pre-determine the stiffness of the substrate 100 corresponding to the specified tactile sensation, so as to determine the first driving signal that needs to be sent to the magnetic field generating structure 110 to make the substrate 100 reach the specified stiffness. On the other hand, it is also necessary to pre-determine the vibration state of the substrate 100 corresponding to the above-mentioned specified tactile sensation, so as to determine the second driving signal that needs to be sent to the actuator 140. In this way, when it is recognized that the user has a sliding touch behavior, the substrate 100 can be adjusted to the specified stiffness by sending the pre-determined first driving signal to the magnetic field generating structure 110, and the pre-determined second driving signal is sent to the actuator 140 to make the substrate 100 present the specified vibration frequency, thereby realizing the simulation of the specified tactile sensation on the touch surface.

[0078] For a pressing touch behavior, the first driving signal to be sent to the magnetic field generating structure 110 can be determined according to the stiffness characteristics of the object corresponding to the touch position, that is, the corresponding relationship between the deformation and the stress when being pressed. When it is recognized that the user has a pressing touch behavior, without controlling the vibration of the substrate 100, by sending a pre-determined first driving signal to the magnetic field generating structure 110, the substrate can be adjusted to the corresponding stiffness characteristics, so that the pressing position presents a deformation in the direction perpendicular to the touch surface, providing a relatively real pressing touch feeling for the user.

[0079] In a third aspect, an embodiment of the present application further provides a touch control device, including: a touch control layer and the tactile reproduction structure provided in the first aspect above, and the touch control layer and the substrate 100 in the tactile reproduction structure are stacked.

[0080] Among them, the touch control layer is used to implement the touch control function of the touch control device, and the specific structure can be designed according to actual needs. For example, it can be a capacitive touch control layer, a resistive touch control layer, an infrared touch control layer, etc., and this embodiment does not make a limitation. For example, a capacitive touch control layer may include a touch control driving electrode, a touch control sensing electrode, a touch control trace, etc.

[0081] For example, the touch control device can be a touch panel, a touch display panel, a terminal device with a touch panel such as a virtual reality device, or a touch screen display device, etc., and this embodiment does not make a limitation.

[0082] It can be understood that when the touch control device is also a device with a display function, the touch control device further includes a display structure, and the display structure is stacked between the touch control layer and the substrate 100 of the tactile reproduction structure. The display structure is used to implement the display function. For example, it may include pixel units, etc., and the specific composition can refer to related technologies and will not be described in detail here.

[0083] In the above description, technical details such as the composition of each layer of the product are not described in detail. However, those skilled in the art should understand that various technical means can be used to form layers, regions, etc. of the required shape. In addition, in order to form the same structure, those skilled in the art can also design methods that are not exactly the same as the methods described above. Although the above embodiments are described separately, this does not mean that the measures in each embodiment cannot be used in combination advantageously.

[0084] In the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0085] In addition, those of ordinary skill in the art should understand that: the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present disclosure is limited to these examples; under the concept of the present disclosure, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of one or more embodiments of the present specification as described above, and they are not provided in detail for the sake of brevity.

[0086] Although the preferred embodiments of the present specification have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present specification.

Claims

1. A haptic reproduction structure, characterized in that, Comprising: A substrate substrate and an actuator connected to the substrate substrate, wherein: The substrate substrate includes: a first flexible film layer, a second flexible film layer, a magnetic field generating structure, and a ferrofluid. The first flexible film layer and the second flexible film layer are disposed opposite to each other. The ferrofluid is filled in a cavity between the first flexible film layer and the second flexible film layer. The magnetic field generating structure is used to generate a magnetic field, and the magnetic field is used to control the arrangement of magnetic particles in the ferrofluid to adjust the stiffness of the substrate substrate; The actuator is used to generate a standing wave to drive the substrate substrate to vibrate; The magnetic field generating structure includes a first magnetic layer and a second magnetic layer. The first magnetic layer is disposed on a surface of the first flexible film layer close to the second flexible film layer. The second magnetic layer is disposed on a surface of the second flexible film layer close to the first flexible film layer. The first magnetic layer includes a plurality of spaced-apart first magnetic units. The second magnetic layer includes a plurality of spaced-apart second magnetic units. The magnetic poles of the first magnetic units and the second magnetic units are opposite. The positive projection of each first magnetic unit on the second flexible film layer at least partially overlaps with the positive projection of a second magnetic unit; The actuator is disposed on a surface of the first flexible film layer or the second flexible film layer away from the ferrofluid, and is used to drive the substrate substrate to vibrate in a direction perpendicular to the surface of the substrate substrate. Alternatively, the actuator is disposed on a side surface of the substrate substrate and is used to drive the substrate substrate to vibrate in a direction parallel to the surface of the substrate substrate.

2. The haptic reproduction structure according to claim 1, characterized in that The first magnetic units and the second magnetic units are electromagnetic induction structures, and are used to generate the magnetic field when powered on.

3. The haptic reproduction structure according to claim 2, wherein The electromagnetic induction structure includes a magnetically permeable material layer, an insulating layer, and a conductive coil stacked.

4. The haptic reproduction structure according to claim 2, wherein The electromagnetic induction structure includes a piezoelectric layer and a magnetostrictive material disposed on the piezoelectric layer.

5. The tactile reproduction structure according to claim 1, characterized in that, The substrate substrate further includes: a sealing layer, and the sealing layer is disposed in a peripheral edge region between the first flexible film layer and the second flexible film layer, and is used to form a cavity between the first flexible film layer and the second flexible film layer to fill the ferrofluid; When the actuator is disposed on a surface of the first flexible film layer or the second flexible film layer away from the ferrofluid, the positive projection of the actuator on the second flexible film layer is located within the positive projection of the sealing layer on the second flexible film layer.

6. A driving method for a tactile reproduction structure, characterized in that, Applied to the tactile reproduction structure according to any one of claims 1-5, the method includes: Obtaining touch information of a user; Based on the touch information, sending a first driving signal to the magnetic field generating structure to control the stiffness of the substrate substrate, and sending a second driving signal to the actuator to control the vibration state of the substrate substrate.

7. A touch device, characterized in that, Including a touch layer and the tactile reproduction structure according to any one of claims 1-5, and the touch layer is stacked with the substrate substrate in the tactile reproduction structure.

8. The touch control device according to claim 7, wherein The touch device further includes a display structure, and the display structure is stacked between the touch layer and the substrate substrate.

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