Tactile sensation generating unit, device, and tactile sensation generating control method

Abstract

The application relates to a touch sensation generating unit, a device and a touch sensation generating control method. The touch sensation generating unit comprises a micro air bag, which is used to perform at least one operation of rotation, contraction, inflation, deflation and discharge to generate different touch sensation effects. In the application, the operations of rotation, contraction, inflation, deflation and discharge performed by the micro air bag in the touch sensation generating unit can be used to generate different touch sensation effects, so as to solve the problem that corresponding touch sensations cannot be felt when a virtual world is watched.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a touch sensing unit, method, apparatus, electronic device, and storage medium. Background Technology

[0002] In existing technologies, most devices or equipment for the metaverse are visual in nature. Users can view the virtual world through virtual reality (VR) devices, but they cannot feel the corresponding touch. Summary of the Invention

[0003] This application provides a tactile sensing unit, device, and tactile sensing control method to solve the problem of not being able to feel the corresponding tactile sensation when viewing a virtual world.

[0004] In a first aspect, this application provides a tactile sensing unit, which includes a micro airbag;

[0005] The micro-airbag is used to perform at least one of the following operations according to a control signal: rotation, contraction, inflation, deflation, and discharge, wherein the control signal is an electrical signal.

[0006] Optionally, the tactile generating unit further includes an expansion interface disposed on the micro airbag;

[0007] The extended interface of the haptic generation unit is communicatively connected to the central controller for communicating with the central controller;

[0008] The expansion interface of the haptic generation unit is also connected to the expansion interfaces of other haptic generation units for communication with the other haptic generation units.

[0009] Optionally, the tactile generating unit further includes a rotating subunit, which is disposed in a micro airbag;

[0010] The rotating subunit is used to drive the micro airbag to rotate by rotating itself, so as to generate the tactile sensation of touching an object.

[0011] Optionally, the surface of the micro-airbag is provided with protrusions and depressions.

[0012] Optionally, the tactile sensing unit further includes an electrical stimulation subunit, which is made of a flexible inductive material attached to the surface of the micro-airbag.

[0013] The extended interface of the tactile sensing unit is also used to transmit the current inside the micro air bladder to the flexible inductive material.

[0014] The flexible inductive material is used to release the current to generate a tactile sensation of touching a sharp object.

[0015] Secondly, this application provides a tactile sensing device, which includes a plurality of tactile sensing units as described in any embodiment of the first aspect, and these plurality of tactile sensing units are interconnected.

[0016] Thirdly, this application provides a tactile sensing system, which includes a plurality of tactile sensing units as described in any embodiment of the first aspect and a central controller;

[0017] The central controller is used to send control signals to multiple haptic generating units, and the control signals are electrical signals.

[0018] The tactile generating unit is used to respond to the received control signal by performing at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, in order to generate different tactile effects.

[0019] Optionally, the system further includes a virtual reality device; the virtual reality device is communicatively connected to the central controller;

[0020] The virtual reality device is used to send virtual reality data to the central controller;

[0021] The central controller is used to receive the virtual reality data, parse the virtual reality data to obtain the behavior of a specified object, generate a control signal based on the behavior of the specified object, and send the control signal to the haptic generation unit.

[0022] Optionally, the central controller is specifically configured to determine the tactile area and tactile type based on the behavior of the specified object, generate the control signal, and send the control signal to the tactile generating unit located within the tactile area.

[0023] Optionally, the central controller is used to scan the positions of the multiple haptic units and the connection relationships between the multiple haptic generating units, and to construct a distribution map of the haptic generating units.

[0024] Fourthly, this application provides a wearable device having a tactile generating device as described in the second aspect attached thereto.

[0025] Fifthly, this application provides a tactile sensing control method, which is applied to a central controller and includes:

[0026] Generate a control signal, wherein the control signal is an electrical signal;

[0027] The control signal is sent to the tactile generation unit to control the tactile generation unit to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, to generate different tactile effects.

[0028] Sixthly, this application provides a tactile sensing control device, the tactile sensing control device comprising:

[0029] A generation module is used to generate control signals, wherein the control signals are electrical signals;

[0030] The control module is used to send the control signal to the tactile generation unit to control the tactile generation unit to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, to generate different tactile effects.

[0031] In a seventh aspect, this application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0032] Memory, used to store computer programs;

[0033] When a processor executes a program stored in a memory, it implements the steps of the tactile sensation generation control method described in any embodiment of the fifth aspect.

[0034] Eighthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the tactile sensation generation control method as described in any embodiment of the fifth aspect.

[0035] The technical solutions provided in this application have the following advantages compared with the prior art:

[0036] In the tactile generation unit provided in this application embodiment, the micro airbag performs at least one of the following operations according to the control signal: rotation, contraction, inflation, deflation, and discharge, to generate different tactile effects, thereby solving the problem of not being able to feel the corresponding tactile sensation when watching a virtual world. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of a tactile sensing unit provided in an embodiment of this application;

[0040] Figure 2 This is a schematic diagram of the structure of a tactile sensing system provided in an embodiment of this application;

[0041] Figure 3 A flowchart illustrating a tactile sensation generation control method provided in an embodiment of this application;

[0042] Figure 4 A schematic diagram of a tactile sensing control device provided in an embodiment of this application;

[0043] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] To address the issue of not being able to feel corresponding tactile sensations when viewing virtual worlds, embodiments of this application provide a tactile sensation generation unit, such as... Figure 1 As shown.

[0046] The tactile generating unit includes a micro-airbag, which performs at least one of the following operations—rotation, contraction, inflation, deflation, and discharge—based on a control signal to generate different tactile effects.

[0047] Among them, the control signal is an electrical signal.

[0048] In this way, the tiny air bladders in the haptic generation unit can perform operations such as rotation, contraction, inflation, deflation, and discharge according to control signals, thereby producing different haptic effects. This solves the problem of not being able to feel the corresponding haptic sensations when watching a virtual world, or in other words, it solves the problem of users not being able to feel the haptic sensations when controlling the corresponding objects in the virtual world to perform actions such as touching, pressing, touching hard, soft, and sharp objects. It allows users to experience haptic sensations similar to those they would experience in the real world when controlling the corresponding objects in the virtual world to perform actions such as touching, pressing, touching hard, soft, and sharp objects.

[0049] Optionally, the haptic sensing unit also includes an expansion interface, which is disposed on the micro-airbag, or in other words, the micro-airbag has an expansion interface. The expansion interface of the haptic sensing unit is connected to the central controller for communication with the central controller. Furthermore, the expansion interface of the haptic sensing unit is also connected to other haptic sensing units for communication with them.

[0050] In this way, the haptic generating unit can communicate with the central controller and other haptic generating units through its expansion interface, realize data transmission between the haptic generating unit and the central controller, and realize data transmission between multiple haptic generating units, which facilitates the linkage between multiple haptic generating units.

[0051] In one possible implementation, there are multiple expansion interfaces located on the same micro airbag.

[0052] Specifically, such as Figure 1 As shown, four expansion ports are provided on the four side surfaces of the same micro airbag.

[0053] The expansion interface is located at the center of each side surface of the micro airbag.

[0054] Multiple tactile generating units can be arbitrarily connected and transmit signals through an expansion interface. This arbitrary connection can be done manually by the user or under the control of the central diabolo device.

[0055] Optionally, the tactile sensing unit further includes a rotating subunit, which is disposed within a micro-airbag; in other words, a rotating subunit is disposed within a micro-airbag. This rotating subunit is used to rotate itself to drive the micro-airbag to rotate, thereby generating the tactile sensation of touching an object.

[0056] In this way, the tactile generating unit can rotate the tiny airbag by rotating the rotating subunit fixed in its tiny airbag, thereby giving the user who touches the tactile generating unit the tactile sensation of touching an object. The aforementioned rotating subunit can change the shape of the tiny airbag by rotating, achieving a tactile sensation different from pressing.

[0057] In one possible implementation, the rotating sub-unit inside the micro-airbag is a three-dimensional device similar to an ellipse, which can achieve the protrusion and depression of the micro-airbag by rotation.

[0058] In one possible implementation, such as Figure 1As shown, the rotating subunit is composed of a linear elliptical structure and a linear structure connecting to the micro air bladder, or the rotating subunit is composed of a linear circular structure and a linear structure connecting to the micro air bladder.

[0059] The linear structure connecting the micro-airbags is a rotating shaft, which connects to two extended interfaces on the opposite side of the micro-airbag through the center point of the micro-airbag. In this way, the rotating sub-unit rotates around the line of the central connecting interface, thereby realizing the rotation of the micro-airbag around the line of the central connecting interface. The user can feel a tactile sensation by touching the upper and lower surface positions of the unit, such as the upper and lower protruding positions.

[0060] In one possible implementation, the surface of the tiny airbags is designed with protrusions and depressions. Normally, the surface of an object is uneven. This allows for a more realistic tactile sensation when the user touches the haptic generating unit, creating the feeling of the user interacting with the virtual object by touching it.

[0061] As for the tactile sensation, it refers to the fact that when the rotating subunit rotates, the position of the protrusions on the surface of the tiny airbags changes with the rotation of the rotating device. By controlling the regular changes in the position of the tiny airbag protrusions, an effect similar to stroking can be achieved.

[0062] Optionally, the haptic generation unit further includes an electrical stimulation subunit, which is made of a flexible inductive material. This flexible inductive material refers to the electrical stimulation subunit being attached to the surface of the micro-airbag. In this case, the extended interface of the haptic generation unit is also used to transmit current from inside the micro-airbag to the flexible inductive material, which releases the current to generate the haptic sensation of touching a sharp object. In this way, the haptic generation unit can release current through the flexible inductive material covering the surface of the micro-airbag, thereby enabling the user touching the haptic generation unit to experience a more corresponding haptic sensation when the user's corresponding object performs the action of touching a sharp object in the virtual world.

[0063] The aforementioned flexible inductive material, namely the electrical stimulation subunit, is attached to the entire outer surface of the micro air sac and can change with the changes in the micro air sac.

[0064] Users can sense an electric current at any point on the surface of the haptic sensing unit by touching the haptic sensing unit, or more specifically, the tiny air bladder within the haptic sensing unit. The expansion interface transmits current along with control signals. Inside the tiny air bladder, the current is output to the surface of the tiny air bladder through the wiring-connected expansion interface, supplying the flexible inductive material on the surface of the tiny air bladder, thereby causing discharge through this flexible inductive material.

[0065] Understandably, the contraction of the tiny air bladder allows the user of the touch sensor unit to experience a corresponding tactile sensation when the user's corresponding object performs the action of pressing an object in the virtual world.

[0066] In addition, the inflation of the micro-airbags makes their surfaces more rigid, so that when the user of the touch sensor unit feels the action of touching a hard object in the virtual world, the corresponding touch sensation is generated.

[0067] Similarly, the deflation of the micro-airbag makes its surface softer, so that when the user of the touch sensor unit performs the action of touching a soft object in the virtual world, the corresponding touch sensation is generated.

[0068] Optionally, such as Figure 1 As shown, a frame is also provided around the micro-airbag, which fits snugly against the micro-airbag. Users can feel the changes in the micro-airbag by touching the frame. An expansion interface is located on the frame, and flexible inductive material is disposed on the outer surface of the frame. The location of the expansion interface is the same as described above and will not be repeated here.

[0069] To address the issue of not being able to experience corresponding tactile sensations when viewing virtual worlds, this application provides a tactile sensation generating device. This tactile sensation generating device includes multiple components as described above. Figure 1 The haptic sensing units shown are interconnected. By touching this device, users can experience corresponding realistic haptic sensations when using virtual reality devices.

[0070] It should be noted that the device consists of many tiny components, namely the aforementioned tactile generating unit. Each tiny component can change its own state, and the device can be installed in any wearable device or everyday items such as clothing and gloves. The state of the tiny components is controlled by electrical signals, thereby simulating the tactile sensation of the real world.

[0071] For example, the device mainly includes a micro-inflatable module, an electrical stimulation module, a central controller module, etc., and its main structure is as follows:

[0072] First, a micro-airbag is used as the main body of the micro-component. This micro-airbag can contract under the control of electrical signals. It also includes a rotating device (the aforementioned rotating sub-unit) that can change the shape of the airbag by rotation, thus achieving a tactile sensation similar to pressing or stroking. Simultaneously, the surface of the micro-airbag has an electrical stimulation module (the aforementioned flexible inductive material). This module can release current to generate a tactile sensation similar to touching a sharp object. Furthermore, the micro-airbag has four expansion interfaces for connecting with other micro-airbags and transmitting data, control signals, and current. The central control module can be a small chip that can connect to virtual reality devices (VR devices) and analyze data from them. When a user (the designated object) touches an object in the virtual world, the central control module converts the user's behavior into a control signal, which is then transmitted to the micro-component. Upon receiving the control signal, the micro-component adjusts its own state accordingly, allowing the user to experience a tactile sensation similar to that in the real world.

[0073] In addition, based on the characteristics of the micro-module (i.e. the aforementioned micro-component) being small and highly scalable, multiple micro-modules can be arbitrarily spliced ​​together according to different wearing parts. At the same time, the central processing module will scan all the linked parts each time it is linked to construct a distribution map of the micro-modules, so that when issuing instructions (i.e. the aforementioned control signals), they can be accurately sent to the designated unit (i.e. the tactile generation unit located in the tactile area).

[0074] To address the issue of not being able to feel corresponding tactile sensations when viewing virtual worlds, embodiments of this application provide a tactile sensation generation system, such as... Figure 2 As shown.

[0075] Optionally, the system includes multiple components as described above. Figure 1 The diagram shows the haptic generating units (or clusters of tiny components) and the central controller. These multiple haptic generating units are communicatively connected to the central controller.

[0076] The central controller sends control signals, which are electrical signals, to multiple haptic generating units. Each haptic generating unit, in response to the received control signals, performs at least one of the following operations: rotation, contraction, inflation, deflation, or discharge, to generate different haptic effects. Thus, under the control of the central controller, the haptic generating unit can produce a corresponding haptic sensation when touched by a user.

[0077] Optionally, the system also includes a virtual reality device that is communicatively connected to the central controller. The virtual reality device is used to send virtual reality data to the central controller. The central controller is used to receive the virtual reality data, parse the virtual reality data, obtain the behavior of a specified object, generate control signals based on the behavior of the specified object, and send the control signals to the haptic sensing unit.

[0078] In this way, the central controller can determine the behavior of the user's designated object in the virtual world based on the virtual reality data in the virtual reality device, and control the haptic generation unit based on the behavior so that the user who touches the haptic generation unit will generate the corresponding haptic sensation.

[0079] Optionally, the central controller is specifically used to determine the tactile area and tactile type based on the behavior of a specified object, and generate a control signal to send the control signal to the tactile generating unit located within the tactile area. In this case, the control signal is an electrical signal used to indicate the tactile area and tactile type.

[0080] Accordingly, the tactile generating unit located in the tactile area receives a control signal and, in response to the control signal, performs at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, to generate different tactile effects.

[0081] The control signal can be sent directly to the tactile generating unit located in the tactile area, or it can be forwarded to the tactile generating unit located in the tactile area through any at least one tactile generating unit, or it can be sent to all tactile generating units and the tactile generating units located in the tactile area can provide feedback, that is, to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge.

[0082] In one possible manner, the type of touch includes at least one of the following: stroking an object, pressing an object, touching a hard object, touching a soft object, touching a sharp object, etc.

[0083] Optionally, the central controller is also used to scan the positions of multiple haptic units and the connection relationships between multiple haptic generating units, and to construct a distribution map of these multiple haptic generating units.

[0084] In one possible implementation, the central controller can send control signals to the corresponding haptic generating units located within the haptic area based on the distribution map of the haptic generating units.

[0085] To address the issue of not being able to feel corresponding tactile sensations when viewing virtual worlds, this application provides a wearable device with the tactile sensing device described above attached, or in other words, a plurality of tactile sensing units described above attached to the wearable device. In this way, users can wear the wearable device and come into contact with the tactile sensing device attached to the wearable device to generate corresponding tactile sensations.

[0086] To address the issue of not being able to feel corresponding tactile sensations when viewing a virtual world, this application provides a tactile sensation generation control method, applied in the aforementioned central controller. For example... Figure 3 As shown. The tactile sensation generation control method includes steps 301-302:

[0087] Step 301: Generate control signals.

[0088] The control signal is an electrical signal.

[0089] Optionally, the central controller receives virtual reality data sent by the virtual reality device, parses the virtual reality data to obtain the behavior of the specified object, and generates control signals based on the behavior of the specified object.

[0090] In one possible implementation, the tactile area and tactile type are determined based on the behavior of a specified object, and a control signal is generated. In this case, the control signal is an electrical signal used to indicate the tactile area and tactile type.

[0091] Step 302: Send a control signal to the haptic generation unit to control the haptic generation unit to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge.

[0092] Accordingly, the tactile sensing unit receives a control signal and, in response to the received control signal, performs at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, so that the tactile sensing unit generates different tactile effects. In other words, the central controller sends a control signal to the tactile sensing unit to control the tactile sensing unit to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, to generate different tactile effects.

[0093] Through the above process, when a user controls the corresponding object to perform actions such as touching, pressing, touching hard, soft, or sharp objects in the virtual world, by controlling the tactile generating unit to perform at least one of the following operations: rotation, contraction, inflation, deflation, or discharge, the user who touches the tactile generating unit can experience a tactile sensation similar to that when performing actions such as touching, pressing, touching hard, soft, or sharp objects in the real world.

[0094] like Figure 4As shown in the figure, this application embodiment provides a tactile sensing generation control device, which includes a generation module 401 and a control module 402.

[0095] The generation module 401 is used to generate a control signal, which is an electrical signal.

[0096] The control module 402 is used to send control signals to the tactile generation unit to control the tactile generation unit to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, to generate different tactile effects.

[0097] like Figure 5 As shown in the figure, this application provides an electronic device, including a processor 501, a communication interface 502, a memory 503, and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other through the communication bus 504.

[0098] Memory 503 is used to store computer programs;

[0099] In one embodiment of this application, when the processor 501 executes the program stored in the memory 503, it implements the steps of the tactile sensation generation control method provided in any of the foregoing method embodiments.

[0100] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the tactile sensation generation control method provided in any of the foregoing method embodiments.

[0101] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0102] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A tactile sensing unit, characterized in that, The tactile sensing unit includes a micro air bladder; The micro-airbag is used to perform at least one of the following operations according to the control signal: rotation, contraction, inflation, deflation, and discharge, so as to generate different tactile effects. The control signal is an electrical signal. The tactile sensing unit also includes an expansion interface, which is disposed on the micro airbag; The extended interface of the haptic generation unit is communicatively connected to the central controller for communicating with the central controller; The expansion interface of the haptic generation unit is also connected to the expansion interfaces of other haptic generation units for communication with the other haptic generation units. The tactile generating unit also includes an electrical stimulation subunit, which is made of a flexible inductive material attached to the surface of the micro air sac. The extended interface of the tactile sensing unit is also used to transmit the current inside the micro air bladder to the flexible inductive material. The flexible inductive material is used to release the current to generate a tactile sensation similar to touching a sharp object.

2. The tactile sensing unit according to claim 1, characterized in that, The tactile sensing unit also includes a rotating subunit, which is disposed in a micro airbag; The rotating subunit is used to drive the micro airbag to rotate by rotating itself, so as to generate the tactile sensation of touching an object.

3. The tactile sensing unit according to claim 2, characterized in that, The surface of the tiny air bladder is provided with protrusions and depressions.

4. A tactile sensing device, characterized in that, The device includes a plurality of tactile generating units as described in any one of claims 1-3, and the plurality of tactile generating units are interconnected.

5. A tactile sensing system, characterized in that, The system includes a plurality of haptic generation units as described in any one of claims 1-3, and a central controller; The central controller is used to send control signals to multiple tactile generating units, and the control signals are electrical signals. The tactile generating unit is used to respond to the received control signal to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, so as to generate different tactile effects.

6. The tactile sensing system according to claim 5, characterized in that, The system also includes a virtual reality device; the virtual reality device is communicatively connected to the central controller. The virtual reality device is used to send virtual reality data to the central controller; The central controller is used to receive the virtual reality data, parse the virtual reality data to obtain the behavior of a specified object, generate a control signal based on the behavior of the specified object, and send the control signal to the haptic generation unit.

7. The tactile sensing system according to claim 6, characterized in that, The central controller is specifically used to determine the tactile area and tactile type based on the behavior of the specified object, generate the control signal, and send the control signal to the tactile generation unit located within the tactile area.

8. The tactile sensing system according to claim 5, characterized in that, The central controller is used to scan the positions of the multiple haptic generating units and the connection relationships between the multiple haptic generating units, and to construct a distribution map of the haptic generating units.

9. A wearable device, characterized in that, The wearable device is attached with the tactile generating device as described in claim 4.

10. A method for controlling tactile sensation generation, characterized in that, The method is applied to the central controller of the haptic generation system as described in claim 5, comprising: Generate a control signal, wherein the control signal is an electrical signal; The control signal is sent to the tactile generation unit to control the tactile generation unit to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, to generate different tactile effects.

11. A tactile sensing control device, characterized in that, A central controller applied in the haptic generation system as described in claim 5, the device comprising: A generation module is used to generate control signals, wherein the control signals are electrical signals; The control module is used to send the control signal to the tactile generation unit to control the tactile generation unit to perform at least one of the following operations: rotation, contraction, inflation, deflation, and discharge, to generate different tactile effects.

12. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When a processor executes a program stored in a memory, it implements the steps of the tactile sensation generation control method as described in claim 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the tactile sensation generation control method as described in claim 10.

Images