Systems and methods for intelligent waveform interruption

Abstract

Various implementations provide waveform-based intelligent interrupt feedback. Various systems and methods coordinate the transition from a current waveform associated with a current feedback control signal to a subsequent waveform associated with a subsequent feedback control signal, such that the amplitude and direction of the beginning of the subsequent waveform matches the amplitude and direction of the end of the current waveform. For example, various implementations include electronic devices comprising a touch-sensitive interface, a waveform actuator, a memory, and a processor. The touch-sensitive interface includes one or more touch sensors and a touch surface. The touch sensors recognize touch events on the touch surface. For example, the touch sensors may include force-based sensors (e.g., MEMS sensors).

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to U.S. Provisional Patent Application No. 62 / 955,335, filed December 30, 2019, which is incorporated herein by reference in its entirety and forms part of this document. Background Technology

[0003] Traditional control systems in vehicles typically provide operators with a combination of mechanical, single-function control devices such as switches, buttons, joysticks, knobs, and dials. Operators interact with these control systems by manipulating these devices to perform various control functions. As the number of controllable features increases, switch panels can easily become cluttered with numerous switches, buttons, joysticks, knobs, and dials.

[0004] To reduce clutter in control panels and meet consumer demand for more switching functionality, some control systems have implemented the use of electronic touch-sensitive sensor devices (e.g., force-based, capacitive, piezoresistive, or mechanical sensors) that provide tactile feedback to notify the user that the device has received touch input. Tactile feedback can be provided by a waveform actuator that generates a waveform. However, if the tactile feedback response changes based on the received input and the generated waveform changes at the point of transition, this change in waveform can lead to discontinuous tactile sensations. For example, the amplitude and / or direction of the end of the first waveform signal and the beginning of the second waveform signal may differ at the transition point. Figures 1A-1C The diagram illustrates the discontinuity in the transition between the first waveform signal, the second waveform signal, and the waveform signal transition caused by switching from the first waveform signal to the second waveform signal at the interruption point. For example, in some cases, at the transition point, the direction of the end of the first waveform signal is negative, while the direction of the beginning of the second waveform signal is positive, thus causing a discontinuity.

[0005] Therefore, there is a need for systems and methods to improve the haptic feedback provided in response to changes in received input. Summary of the Invention

[0006] In one aspect, an electronic device is disclosed. One embodiment includes a touch-sensitive interface comprising one or more touch sensors and a touch surface, the touch sensors recognizing touch events on the touch surface; a waveform actuator; a memory; and a processor electrically communicating with the one or more touch sensors, the waveform actuator, and the memory. The processor executes instructions stored in the memory, the instructions causing the processor to: receive touch signals from the one or more touch sensors; select a feedback control signal from a plurality of feedback control signals based on the received touch signals, the selected feedback control signal causing the waveform actuator to propagate at least one pressure wave comprising a waveform, wherein the waveform is different for each of the feedback control signals; and, in response to a received touch signal that prompts the selection of a subsequent feedback control signal different from the current feedback control signal, coordinate a transition from a current waveform associated with the current feedback control signal to a subsequent waveform associated with the subsequent feedback control signal, such that the amplitude and direction of the beginning of the subsequent waveform match the amplitude and direction of the end of the current waveform. It should be understood that when the current waveform has a negative slope, the direction of the current waveform is negative, and when the current waveform has a positive slope, the direction of the current waveform is positive. Similarly, when the subsequent waveform has a negative slope, the direction of the subsequent waveform is negative, and when the subsequent waveform has a positive slope, the direction of the subsequent waveform is positive.

[0007] In some respects, the transition occurs when the amplitudes of the current waveform and subsequent waveforms are zero.

[0008] In some respects, the waveform produces an auditory and / or tactile response to the touch surface.

[0009] In some aspects, instructions for the processor to coordinate the transition include: receiving data indicating the amplitude and direction of the current waveform at a predetermined time interval, stopping the propagation of the current waveform and starting the propagation of the subsequent waveform at a specific time interval within the predetermined time interval, wherein at the specific time interval within the predetermined time interval, the amplitude and direction of the current waveform are the same as the amplitude and direction of the subsequent waveform.

[0010] Alternatively or optionally, the instructions further cause the processor to measure the time elapsed of the touch signal within a range associated with the feedback control signal; compare the time elapsed with a minimum time elapsed; and, in response to the time elapsed being greater than the minimum time elapsed, select a feedback control signal from the plurality of feedback control signals.

[0011] In some respects, the received touch signal includes a touch position on the touch surface, and the selected feedback control signal is at least partially based on the touch position.

[0012] In some aspects, the one or more touch sensors include one or more force sensors, and touch signals received from the one or more touch sensors include force signals. In this case, the instructions may also cause the processor to determine a force amplitude associated with the received force signal, wherein the selected feedback control signal is based at least in part on the determined force amplitude. In some cases, the one or more force sensors include three or more force sensors, and the instructions further cause the processor to determine the amplitude, acceleration, and / or position of a force applied to the touch surface based on force signals received from the three or more force sensors, wherein the feedback control signal is selected at least in part based on the amplitude, acceleration, and / or position of the force applied to the touch surface.

[0013] In some aspects, the instructions also cause the processor to measure the time taken for the force amplitude to be within a force amplitude level range associated with the feedback control signal; compare the time taken with a minimum time taken; and select a feedback control signal from the plurality of feedback control signals in response to the time taken being greater than the minimum time taken.

[0014] In various situations, each waveform can represent voltage, power, current, etc.

[0015] This document also discloses a method for providing feedback to an electronic device in response to a touch event. In one aspect, the method includes receiving a touch signal from one or more touch sensors of the electronic device; selecting a feedback control signal from a plurality of feedback control signals based on the received touch signal, the feedback control signal causing an actuator to propagate at least one pressure wave comprising a waveform, wherein the waveform is different for each of the plurality of feedback control signals; and coordinating a transition from a current waveform associated with the current feedback control signal to a subsequent waveform associated with the subsequent feedback control signal in response to a received touch signal that prompts the selection of a subsequent feedback control signal different from the current feedback control signal, such that the amplitude and direction of the beginning of the subsequent waveform match the amplitude and direction of the end of the current waveform.

[0016] In some cases of the method, the transition occurs when the amplitudes of the current and subsequent waveforms are zero.

[0017] In some instances of the method, the waveform generates auditory and / or tactile responses.

[0018] In some cases, the method steps for coordinating the transition further include receiving data indicating the amplitude and direction of the current waveform at a predetermined time interval, stopping the propagation of the current waveform and starting the propagation of the subsequent waveform at a specific time interval within the predetermined time interval, wherein at the specific time interval within the predetermined time interval, the amplitude and direction of the current waveform are the same as the amplitude and direction of the subsequent waveform.

[0019] Alternatively or optionally, the method may further include measuring the duration of the touch signal within a range associated with the feedback control signal; comparing the duration with a minimum duration; and selecting a feedback control signal from the plurality of feedback control signals in response to the duration being greater than the minimum duration.

[0020] In some cases of the method, the received touch signal includes a touch position on the touch surface, and the selected feedback control signal is at least partially based on the touch position.

[0021] Alternatively or optionally, the one or more touch sensors may include one or more force sensors, and the touch signals received from the one or more touch sensors include force signals. In this case, the method may further include determining a force amplitude associated with the received force signal, wherein the selected feedback control signal is at least partially based on the determined force amplitude.

[0022] In some aspects, one or more force sensors include three or more force sensors, and the method further includes determining the amplitude, acceleration, and / or position of a force applied to the touch surface based on force signals received from the three or more force sensors, wherein the feedback control signal is selected at least in part based on the amplitude, acceleration, and / or position of the force applied to the touch surface. In this case, the method may further include measuring the time taken for the force amplitude to be within a force amplitude level range associated with the feedback control signal; comparing the time taken with a minimum time taken; and selecting a feedback control signal from the plurality of feedback control signals in response to the time taken being greater than the minimum time taken.

[0023] In various respects, the method can be used to represent waveforms of voltage, electrical power, current, etc. Attached Figure Description

[0024] Exemplary features and embodiments are disclosed in the accompanying drawings. However, this disclosure is not limited to the precise arrangements and means shown. Similar elements in different embodiments are designated using the same reference numerals.

[0025] Figures 1A-1CThe illustration depicts a first waveform signal, a second waveform signal, and the discontinuity of transition between the first waveform signal and the second waveform signal in an exemplary prior art control system.

[0026] Figure 2 The illustration shows a perspective cross-sectional view of an electronic device according to one embodiment.

[0027] Figures 3A-3C The illustration shows a current waveform signal, a subsequent waveform signal, and a continuous transition between the current waveform signal and the subsequent waveform signal according to one embodiment.

[0028] Figure 4 The diagram illustrates a flowchart of a method according to one implementation.

[0029] Figure 5 An exemplary computer according to aspects of the disclosed embodiments is illustrated. Detailed Implementation

[0030] Various implementations provide intelligent interruption based on waveform feedback. Various systems and methods coordinate the transition from the current waveform associated with the current feedback control signal to the subsequent waveform associated with the subsequent feedback control signal, such that the amplitude and direction of the beginning of the subsequent waveform match the amplitude and direction of the end of the current waveform. For clarity, when the current waveform has a negative slope, the direction of the current waveform is negative, and when the current waveform has a positive slope, the direction of the current waveform is positive. Similarly, when the subsequent waveform has a negative slope, the direction of the subsequent waveform is negative, and when the subsequent waveform has a positive slope, the direction of the subsequent waveform is positive.

[0031] For example, various embodiments include an electronic device that includes a touch-sensitive interface, a waveform actuator, a memory, and a processor. The touch-sensitive interface includes one or more touch sensors and a touch surface. The touch sensor identifies touch events on the touch surface. For example, the touch sensor may include a force-based sensor (e.g., a MEMS sensor), a capacitive sensor, a piezoresistive sensor, a mechanical sensor, or other suitable sensors for identifying touch events on the touch surface.

[0032] Exemplary electronic devices include switching assemblies installed within the interior compartment of a vehicle, such as the electronic devices described in U.S. Patent Application Publication No. 2018 / 0188876, the entire contents of which are incorporated herein by reference and form part of this document. However, this is merely a non-limiting example of such electronic devices, and this disclosure is not limited to such components or installation environments.

[0033] Figure 2An exemplary electronic device 100 according to one embodiment is illustrated. Electronic device 100 is a switching assembly that can be installed within the interior of a vehicle (e.g., on the steering wheel, doors, or dashboard) and is used to control various vehicle systems, such as entertainment systems, heating and air conditioning systems, display options on the dashboard or elsewhere in the vehicle, telephone systems, navigation systems, and vehicle settings. Electronic device 100 includes a touch-sensitive interface 120, a waveform actuator 140, a memory 160, and a processor 180. Touch-sensitive interface 120 includes one or more touch sensors 200 and a touch surface 220. Touch sensors 200 recognize touch events on touch surface 220. Figure 2 The touch sensor 200 shown is a force-based microelectromechanical system (MEMS) sensor that provides an output signal corresponding to the amount of force received by the sensor. Furthermore, output signals from multiple MEMS force sensors can be used to identify touch locations on the touch surface 220. For example, according to some embodiments, the MEMS force sensor is capable of detecting a force applied to the touch surface 220 with a displacement of only 2 micrometers in the z-direction (perpendicular to the plane including the touch surface 220). However, in other embodiments, the touch sensor may include other suitable types of sensors for identifying touch events on the touch surface, such as capacitive sensors, piezoresistive sensors, and mechanical sensors.

[0034] The processor 180 is in electrical communication with one or more touch sensors 200, waveform actuators 140, and memory 160. Figure 2 In the example shown, the processor 180 and memory 160 are located on a printed circuit board disposed within the housing 101 of the device 100. Additionally, a force sensor 200 is disposed on this printed circuit board. However, in other embodiments, the processor and / or memory may be disposed externally to the device 100 and / or the touch sensor 200 may be disposed on another rigid surface within the device.

[0035] A waveform actuator 140 is arranged within the device 100 such that the output surface of the waveform actuator 140 is adjacent to or abuts the contact surface of the touch-sensitive interface 120. For example, Figure 2 The waveform actuator 140 shown is a loudspeaker (e.g., a coneless voice coil assembly), and the waveform output is an audible or inaudible sound wave that changes the air pressure near the loudspeaker's output surface by propagating multiple pressure waves along the propagation axis, which causes the touch surface 220 to vibrate in the z-direction. Figure 2 The propagation axis of the actuator 140 shown is perpendicular to the output surface of the actuator 140 and the touch surface 220. Therefore, at least a portion of the pressure wave propagating from the output surface is directed and captured by the touch surface 220, which causes the touch surface 220 to vibrate or oscillate along the z-direction.

[0036] Processor 180 executes instructions stored in memory 160. These instructions cause processor 180 to perform the following operations: (1) receive touch signals from one or more touch sensors 200; (2) select a feedback control signal from a plurality of feedback control signals based on the received touch signal, wherein the selected feedback control signal causes waveform actuator 140 to propagate at least one pressure wave comprising a waveform, wherein the waveform is different for each feedback control signal; (3) in response to a received touch signal that prompts the selection of a subsequent feedback control signal different from the current feedback control signal, coordinate the transition from the current waveform associated with the current feedback control signal to the subsequent waveform associated with the subsequent feedback control signal, such that the amplitude and direction of the beginning of the subsequent waveform match the amplitude and direction of the end of the current waveform.

[0037] For example, in some implementations, coordinating the transition from a current waveform to a subsequent waveform includes: (1) receiving data indicating the amplitude and direction of the current waveform at a predetermined time interval, and (2) stopping the propagation of the current waveform and starting the propagation of the subsequent waveform at a specific time interval within the predetermined time interval, wherein at that specific time interval within the predetermined time interval, the amplitude and direction of the current waveform are the same as the amplitude and direction of the subsequent waveform. Figure 3C In the example shown, a transition occurs when the amplitudes of the current and subsequent waveforms are zero and the directions of the end of the current waveform and the beginning of the subsequent waveform are positive. In other embodiments, a transition may occur when the amplitudes are the same but not necessarily zero and the directions of the end of the current waveform and the beginning of the subsequent waveform are the same. Furthermore, in other embodiments, a transition may occur when the direction of the end of the current waveform and the direction of the beginning of the subsequent waveform are negative.

[0038] In some implementations, these instructions further cause the processor 180 to perform the following operations: (1) measuring the duration of a touch signal within a range associated with a feedback control signal; (2) comparing the duration with a minimum duration; and (3) selecting a feedback control signal from a plurality of feedback control signals in response to the duration being greater than the minimum duration. This prevents unintentional brief inputs to the touch interface from causing feedback.

[0039] Furthermore, in some embodiments, the received touch signal includes the touch position on the touch surface 220, and the selected feedback control signal is at least partially based on the touch position.

[0040] In embodiments where one or more touch sensors 200 include one or more force sensors, touch signals received from the one or more touch sensors 200 include force signals. In some embodiments, these instructions further cause the processor 180 to determine a force amplitude associated with the received force signal, and a selected feedback control signal is based at least in part on the determined force amplitude. Furthermore, in embodiments where one or more force sensors include three or more force sensors, these instructions further cause the processor 180 to determine the magnitude, acceleration, and / or position of the force applied to the touch surface 220 based on the force signals received from the three or more force sensors.

[0041] For example, in some embodiments, each force sensor receives a portion of the force applied to the touch surface 220, and the force received by each sensor is processed by the processor 180 to determine the location and magnitude of the applied force. The location of the force is determined by the portion of the force received by each force sensor and their known positions relative to each other. For example, in some embodiments, the force received by each sensor is associated with resistance. The location of the applied force is measured in either one dimension (e.g., x-axis or y-axis) or two dimensions (e.g., x-direction and y-direction or plane), and the magnitude of the force is measured along the z-direction. In embodiments including four force sensors (e.g., arranged in a rectangle relative to each other), the location of the force is determined by measurements of the four corners of the force signals received from each sensor. In further or alternative embodiments, the location of the force is determined by using triangulation of three force sensors. For example, if one of the four force sensors fails during operation, the location is determined by triangulation using the force signals received from the remaining three sensors.

[0042] Furthermore, in some embodiments, these instructions also cause processor 180 to perform the following operations: (1) measuring the time elapsed within a force amplitude level range associated with a feedback control signal; (2) comparing the elapsed time with a minimum elapsed time; and (3) selecting a feedback control signal from a plurality of feedback control signals in response to the elapsed time being greater than the minimum elapsed time. For example, memory 160 stores processing parameters, such as a range of forces exceeding a time value indicating that an input signal has been received. Inputs received outside this range are ignored by the system as unintentional contact with touch surface 220. For example, in one embodiment, the upper limit of the input range is the application of a force of 10N over a period of 20 seconds or less. Furthermore, in further or additional embodiments, these instructions set a force threshold (e.g., 2.5N) for locking an input area around the force input location and a second, higher threshold (e.g., 3N) for the force received within the input area, which is used to enable system 100. Additional descriptions of the force threshold and virtual input region are provided in U.S. Patent Application Publication Nos. 2015 / 0097791 and 2015 / 0097795, published on April 9, 2015 (the entire contents of which are incorporated herein by reference and constitute a part thereof).

[0043] For example, Figures 3A-3C The diagram illustrates a current waveform signal, a subsequent waveform signal, and a continuous transition between the current and subsequent waveform signals according to one embodiment. In this example, the waveform signal represents the voltage applied to the waveform actuator 140, but in other embodiments, each waveform represents power, current, pressure, etc.

[0044] Figure 4A method 1000 for providing feedback to an electronic device in response to a touch event is illustrated according to one embodiment. The method begins at step 1001, wherein a touch signal is received from one or more touch sensors of the electronic device. Then, in step 1002, the duration of the touch signal within a touch signal level range associated with a feedback control signal is measured. Next, in step 1003, the duration is compared to a minimum duration, and in step 1004, in response to the duration being greater than the minimum duration, a feedback control signal is selected from a plurality of feedback control signals based on the received touch signal. For example, according to some embodiments, the feedback control signal is selected at least in part based on the touch position on the touch surface. The feedback control signal causes a waveform actuator to propagate at least one pressure wave comprising a waveform, wherein the waveform is different for each of the plurality of feedback control signals. Next, in step 1005, in response to a received touch signal that prompts the selection of a subsequent feedback control signal different from the current feedback control signal, the transition from the current waveform associated with the current feedback control signal to the subsequent waveform associated with the subsequent feedback control signal is coordinated such that the amplitude and direction at the beginning of the subsequent waveform match the amplitude and direction at the end of the current waveform. Coordinating the transition includes: receiving data indicating the amplitude and direction of the current waveform at a predetermined time interval, and stopping the propagation of the current waveform and starting the propagation of the subsequent waveform at a specific time interval within the predetermined time interval. At the specific time interval within the predetermined time interval, the amplitude and direction of the current waveform are the same as the amplitude and direction of the subsequent waveform.

[0045] In embodiments where one or more touch sensors are force sensors, the touch signals received from the one or more touch sensors include force signals. Furthermore, in steps 1002-1004, a force amplitude associated with the received force signal is determined, and a selected feedback control signal is based at least in part on the determined force amplitude.

[0046] In an embodiment where one or more force sensors include three or more force sensors, method 1000 includes determining the magnitude, acceleration, and / or position of a force applied to a touch surface based on force signals received from the three or more force sensors, and selecting a feedback control signal based at least in part on the magnitude, acceleration, and / or position of the force applied to the touch surface.

[0047] Figure 5 An exemplary computer is illustrated. Electronic device 100 and other system components can be used. Figure 5 Implement using all or some of the components shown.

[0048] A computer may include one or more hardware components, such as a central processing unit (CPU) 521, a random access memory (RAM) module 522, a read-only memory (ROM) module 523, a storage device 524, a database 525, one or more input / output (I / O) devices 526, and an interface 527. Alternatively and / or additionally, a computer may include one or more software components, such as a computer-readable medium including computer-executable instructions for performing methods associated with the exemplary embodiments. It is contemplated that one or more hardware components listed above may be implemented using software. For example, storage unit 524 may include software partitions associated with one or more other hardware components. It should be understood that the components listed above are merely examples and are not intended to be limiting.

[0049] CPU 521 may include one or more processors, such as processor 180, each processor being configured to execute instructions and process data to perform one or more functions associated with a computer used to perform the embodiments described above. CPU 521 may be communicatively coupled to RAM 522, ROM 523, storage unit 524, database 525, I / O device 526, and interface 527. CPU 521 may be configured to execute sequences of computer program instructions to perform various processes. Computer program instructions may be loaded into RAM 522 for execution by CPU 521.

[0050] RAM 522 and ROM 523 may each include one or more devices for storing information associated with the operation of CPU 521. For example, ROM 523 may include a memory device configured to access and store computer-associated information, including information for identifying, initializing, and monitoring the operation of one or more components and subsystems. RAM 522 may include a memory device for storing data associated with one or more operations of CPU 521. For example, ROM 523 may load instructions into RAM 522 for execution by CPU 521. For example, RAM 522 and / or ROM 523 may include memory 160.

[0051] Storage unit 524 may include any type of mass storage device configured to store information that CPU 521 may need to perform processes consistent with the disclosed embodiments. For example, storage unit 524 may include one or more disk and / or optical disk devices, such as hard disk drives, CD-ROMs, DVD-ROMs, or any other type of mass media device.

[0052] Database 525 may include one or more software and / or hardware components that cooperate to store, organize, classify, filter, and / or arrange data used by CPU 521. For example, database 525 may store data related to waveforms to be generated based on received input. It is anticipated that database 525 may store additional and / or different information than the information listed above.

[0053] I / O device 526 may include one or more components configured to interact with Figure 5 The device shown is associated with a user for information communication. For example, I / O device 526 may include a console with an integrated keyboard and mouse to allow a user to maintain a historical database of information, update associations, and access digital content. I / O device 526 may also include a display with a graphical user interface (GUI) for outputting information on the monitor. I / O device 526 may also include peripheral devices, such as a printer for printing information associated with the computer, and user-accessible disk drives (e.g., USB ports, floppy disks, CD-ROM or DVD-ROM drives, etc.) to allow a user to input data stored on a portable media device, microphone, speaker system, or any other suitable type of interface device.

[0054] Interface 527 may include one or more components configured to send and receive data over a communication network, such as the Internet, a local area network, a workstation peer-to-peer network, a direct-link network, a wireless network, or any other suitable communication platform. For example, interface 527 may include one or more modulators, demodulators, multiplexers, multiplexers, network communication devices, wireless devices, antennas, modems, and any other type of device configured to perform data communication over a communication network.

[0055] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. More specific examples (not an exhaustive list) of computer-readable storage media will include: an electrical connection having one or more wires, a portable computer floppy disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable optical disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cables, RF, etc., or any suitable combination thereof.

[0056] Computer program code can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" programming language or similar languages. The program code can be executed entirely on a computing unit.

[0057] It should be understood that each box in a flowchart and / or block diagram, and combinations of boxes in a flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, create means for implementing the functions / actions specified in the boxes of the flowchart and / or block diagram.

[0058] It should be understood that the various techniques described herein can be implemented in combination with hardware or software, or, where appropriate, in combination thereof. Therefore, the methods and apparatus of this disclosure, or certain aspects or portions thereof, can take the form of program code (i.e., instructions) embodied in a tangible medium such as a floppy disk, CD-ROM, hard disk drive, or any other machine-readable storage medium, wherein when the program code is loaded into and executed by a machine such as a computing device, the machine becomes an apparatus for practicing the subject matter of this disclosure. In the case of executing program code on a programmable computer, the computing device typically includes a processor, a processor-readable storage medium (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. For example, one or more programs can implement or utilize the processes described in connection with the subject matter of this disclosure by using application programming interfaces (APIs), reusable controls, etc. Such programs can be implemented in high-level procedural or object-oriented programming languages ​​to communicate with a computer system. However, if desired, the program can be implemented in assembly or machine language. In any case, the language can be a compiled language or an interpreted language, and it can be combined with hardware implementations.

[0059] This document provides several exemplary embodiments. However, it should be understood that various modifications may be made without departing from the spirit and scope of the disclosure herein. As used in the specification and appended claims, the singular forms “a,” “an,” and “the” include a plural of references unless the context clearly specifies otherwise. As used herein, the term “comprising” and variations thereof are used synonymously with the term “including” and variations thereof and are open-ended, non-limiting terms. Although the terms “comprising” and “including” are used herein to describe various embodiments, the terms “consistently consisting of” and “comprises” may be used in place of “comprising” and “including” to provide more specific embodiments and are also disclosed.

[0060] Materials, systems, apparatus, methods, compositions, and components are disclosed that can be used in the products of the disclosed methods, systems, and apparatus; can be used in combination with the products of the disclosed methods, systems, and apparatus; can be used to prepare the products of the disclosed methods, systems, and apparatus; or are the products of the disclosed methods, systems, and apparatus. These and other components are disclosed herein, and it should be understood that when combinations, subsets, interactions, groups, etc., of these components are disclosed, although various individual and collective combinations and arrangements of these components may not be specifically mentioned, each is specifically considered and described herein. For example, if an apparatus is disclosed and discussed, each and every combination and arrangement of that apparatus, as well as possible modifications, is specifically considered unless specifically indicated to the contrary. Similarly, any subset or combination of these is specifically considered and disclosed. This concept applies to all aspects of this disclosure, including but not limited to steps in methods using the disclosed system or apparatus. Therefore, if multiple additional steps are available to be performed, it should be understood that each of these additional steps can be performed using any particular method step or combination of method steps of the disclosed method, and each such combination or subset of combinations is specifically considered and should be considered disclosed.

Claims

1. An electronic device, comprising: A touch-sensitive interface, the touch-sensitive interface including one or more touch sensors and a touch surface, the touch sensors recognizing touch events on the touch surface; Waveform actuator; Memory; and A processor, which is in electrical communication with the one or more touch sensors, the waveform actuator, and the memory, wherein the processor executes instructions stored in the memory, the instructions causing the processor to: A first pressure wave comprising a first waveform is propagated by the waveform actuator during a first time period, wherein a first feedback control signal causes the waveform actuator to propagate the first pressure wave during the first time period; Receive touch signals from the one or more touch sensors, wherein the touch signals are received at any time within the first time period; In response to receiving the touch signal, a second feedback control signal is selected from a plurality of feedback control signals based on the received touch signal. The selected second feedback control signal causes the waveform actuator to propagate a second pressure wave comprising a second waveform during a second time period, wherein each waveform is different for each of the feedback control signals, and wherein the second time period is adjacent to and immediately follows the first time period; and In response to the received touch signal, a second feedback control signal different from the first feedback control signal is selected, coordinating the transition from a first waveform associated with the first feedback control signal during the first time period to a second waveform associated with the second feedback control signal during the second time period, such that during the transition, the amplitude and direction of the beginning of the second waveform at the start of the second time period match the amplitude and direction of the ending of the first waveform at the end of the first time period. In the first time period, only the first waveform generates an auditory and / or tactile response to the touch surface, while in the second time period, only the second waveform generates an auditory and / or tactile response.

2. The electronic device according to claim 1, wherein, The transition occurs when the amplitudes of the first waveform and the second waveform are zero.

3. The electronic device according to any one of claims 1 and 2, wherein, The auditory and / or tactile response of the first waveform to the touch surface during the first time period is different from the auditory and / or tactile response of the second waveform to the touch surface during the second time period.

4. The electronic device according to any one of claims 1-3, wherein, Instructions that enable the processor to coordinate the transition include: Receive data indicating the amplitude and direction of the first waveform at a predetermined time interval; The propagation of the first waveform stops and the propagation of the second waveform begins at a specific time interval within the predetermined time interval, wherein at the specific time interval within the predetermined time interval, the amplitude and direction of the first waveform are the same as those of the second waveform.

5. The electronic device according to any one of claims 1-4, wherein, When the first waveform has a negative slope, the direction of the first waveform is negative, and when the first waveform has a positive slope, the direction of the first waveform is positive.

6. The electronic device according to any one of claims 1-5, wherein, The instruction also causes the processor to: Measure the time elapsed of the touch signal within the range associated with the feedback control signal; Compare the time consumed with the minimum time consumed; and In response to the time consumption being greater than the minimum time consumption, the second feedback control signal is selected from the plurality of feedback control signals.

7. The electronic device according to any one of claims 1-6, wherein, The received touch signal includes the touch position on the touch surface, and the selected second feedback control signal is at least partially based on the touch position.

8. The electronic device according to any one of claims 1-5, wherein: The one or more touch sensors include one or more force sensors, and The touch signals received from the one or more touch sensors include force signals.

9. The electronic device according to claim 8, wherein, The instructions further cause the processor to determine a force amplitude associated with the received force signal, wherein the selected second feedback control signal is based at least in part on the determined force amplitude.

10. The electronic device according to claim 8, wherein, The one or more force sensors include three or more force sensors, and the instructions further cause the processor to determine the magnitude, acceleration, and / or position of the force applied to the touch surface based on force signals received from the three or more force sensors, wherein the feedback control signal is selected at least in part based on the magnitude, acceleration, and / or position of the force applied to the touch surface.

11. The electronic device according to any one of claims 9 or 10, wherein, The instruction also causes the processor to: The time taken to measure the force amplitude within the force amplitude level range associated with the second feedback control signal; Compare the time consumed with the minimum time consumed; as well as In response to the time consumption being greater than the minimum time consumption, the second feedback control signal is selected from the plurality of feedback control signals.

12. The electronic device according to any one of claims 1-11, wherein, Each waveform represents a voltage.

13. The electronic device according to any one of claims 1-11, wherein, Each waveform represents power.

14. The electronic device according to any one of claims 1-11, wherein, Each waveform represents an electric current.

15. A method for providing feedback to an electronic device in response to a touch event on the electronic device, the method comprising: A first pressure wave comprising a first waveform is propagated during a first time period, wherein a first feedback control signal causes the waveform actuator to propagate the first pressure wave during the first time period; The electronic device receives touch signals from one or more touch sensors, wherein the touch signals are received at any time during the first time period; In response to receiving the touch signal, a second feedback control signal is selected from a plurality of feedback control signals based on the received touch signal. The second feedback control signal causes the waveform actuator to propagate a second pressure wave comprising a second waveform within a second time period, wherein each waveform of each of the plurality of feedback control signals is different, and wherein the second time period is adjacent to and immediately follows the first time period; and In response to the received touch signal, a second feedback control signal different from the first feedback control signal is selected, coordinating the transition from a first waveform associated with the first feedback control signal during the first time period to a second waveform associated with the second feedback control signal during the second time period, such that during the transition, the amplitude and direction of the beginning of the second waveform at the start of the second time period match the amplitude and direction of the ending of the first waveform at the end of the first time period. In the first time period, only the first waveform generates an auditory and / or tactile response to the touch surface, while in the second time period, only the second waveform generates an auditory and / or tactile response.

16. The method according to claim 15, wherein, The transition occurs when the amplitudes of the first waveform and the second waveform are zero.

17. The method according to any one of claims 15 or 16, wherein, The auditory and / or tactile response generated by the first waveform during the first time period is different from the auditory and / or tactile response generated by the second waveform on the touch surface during the second time period.

18. The method according to any one of claims 15-17, wherein, Coordinating the aforementioned transformation also includes: Receive data indicating the amplitude and direction of the first waveform at a predetermined time interval; The propagation of the first waveform stops and the propagation of the second waveform begins at a specific time interval within the predetermined time interval, wherein at the specific time interval within the predetermined time interval, the amplitude and direction of the first waveform are the same as those of the second waveform.

19. The method according to any one of claims 15-18, wherein, When the first waveform has a negative slope, the direction of the first waveform is negative, and when the first waveform has a positive slope, the direction of the first waveform is positive.

20. The method according to any one of claims 15-19, further comprising: Measure the time elapsed of the touch signal within the range associated with the second feedback control signal; Compare the time consumed with the minimum time consumed; as well as In response to the time consumption being greater than the minimum time consumption, the second feedback control signal is selected from the plurality of feedback control signals.

21. The method according to any one of claims 15-20, wherein, The received touch signal includes the touch position on the touch surface, and the selected second feedback control signal is at least partially based on the touch position.

22. The method according to any one of claims 15-19, wherein: The one or more touch sensors include one or more force sensors, and The touch signals received from the one or more touch sensors include force signals.

23. The method of claim 22, further comprising determining a force amplitude associated with the received force signal, wherein, The selected second feedback control signal is based at least in part on the determined force amplitude.

24. The method according to claim 22, wherein, The one or more force sensors include three or more force sensors, and the method further includes determining the magnitude, acceleration, and / or position of the force applied to the touch surface based on force signals received from the three or more force sensors, wherein the feedback control signal is selected at least in part based on the magnitude, acceleration, and / or position of the force applied to the touch surface.

25. The method according to any one of claims 23 or 24, further comprising: Measure the time taken for the force amplitude to be within the force amplitude level range associated with the feedback control signal; Compare the time consumed with the minimum time consumed; as well as In response to the time consumption being greater than the minimum time consumption, the second feedback control signal is selected from the plurality of feedback control signals.

26. The method according to any one of claims 15-25, wherein, Each waveform represents a voltage.

27. The method according to any one of claims 15-25, wherein, Each waveform represents power.

28. The method according to any one of claims 15-25, wherein, Each waveform represents an electric current.

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