Tactile device and interaction device for providing force feedback

Abstract

The present invention discloses a haptic device and an interaction device for providing force feedback. The haptic device for providing force feedback includes a housing assembly, a magnetic circuit assembly, and a coil assembly. The housing assembly includes a pressing member, a fixing member, and an elastic member. The magnetic circuit assembly includes a magnet unit, and the magnet unit includes a first magnet and a second magnet with opposite magnetization directions. The coil assembly includes a coil bracket and a coil fixed on the coil bracket. A pressing space is formed between the coil bracket and the fixing member, and the pressing member abuts against the coil bracket to drive the coil bracket to move within the pressing space. The elastic member is used to generate an elastic feedback force. The magnetization directions of the first magnet and the second magnet are respectively parallel to the axis direction of the coil, and the coil is arranged beside the magnet unit and located in the magnetic field loop formed by the magnetic circuit assembly, so that an electromagnetic feedback force is generated when the coil is energized. The present invention can achieve various haptic feedbacks, simulate real haptic experiences, and has good feedback force linearity and reduced costs.

Description

Technical Field

[0001] The present invention relates to the technical field of interactive devices, and particularly to a tactile device and an interactive device for providing force feedback. Background Art

[0002] With the progress of society and the development of network technology, interactive devices with tactile devices for providing force feedback are increasingly favored by people, such as gaming devices, AR or VR devices. However, existing interactive devices generally use motors to drive force feedback. Through a reduction mechanism such as a gearbox or a similar gear train, the speed is reduced and the output force is increased to achieve the effect of force feedback. This structure uses a motor as the driving source, and most of the working states are stall states. Long-term stall will lead to a short service life of the motor, non-linear output torque of the motor, poor linearity of the feedback force, and the gear reduction box requires precision machining, resulting in high costs. Summary of the Invention

[0003] The main object of the present invention is to provide a tactile device and an interactive device for providing force feedback, aiming to solve the technical problems of poor linearity of the feedback force and high cost of existing interactive devices.

[0004] To achieve the above object, the tactile device for providing force feedback provided by the present invention includes:

[0005] A housing assembly, including a pressing member, a fixing member, and an elastic member;

[0006] A magnetic circuit assembly, including a magnet unit, the magnet unit including a first magnet and a second magnet with opposite magnetization directions, and the first magnet and / or the second magnet being fixed to the fixing member;

[0007] A coil assembly, including a coil bracket and a coil fixed on the coil bracket. A pressing space is formed between the coil bracket and the fixing member, and the pressing member abuts against the coil bracket to drive the coil bracket to move within the pressing space; both ends of the elastic member are respectively fixed to the fixing member and the coil bracket to generate an elastic feedback force; the magnetization directions of the first magnet and the second magnet are respectively parallel to the axis direction of the coil, and the coil is arranged beside the magnet unit and within the magnetic field circuit formed by the magnetic circuit assembly, so that an electromagnetic feedback force is generated when the coil is energized.

[0008] Optionally, the magnetic circuit assembly includes a magnet unit and a magnetic conductive plate unit respectively fixed to the fixing member, the magnet unit and the magnetic conductive plate unit form the magnetic field circuit, and the coil is located between the magnet unit and the magnetic conductive plate unit.

[0009] Optionally, the magnetic conduction plate unit includes a first magnetic conduction plate and a second magnetic conduction plate, and the number of coils is two. One of the coils is located between the first magnetic conduction plate and the magnet unit, and the other coil is located between the second magnetic conduction plate and the magnet unit.

[0010] Optionally, the magnet unit includes a first magnet and a second magnet. The magnetization directions of the first magnet and the second magnet are opposite. The first magnet is fixed to the fixing member, and the second magnet is fixed to the side of the first magnet facing away from the fixing member.

[0011] Optionally, the coil bracket is formed with a receiving cavity, and a first through hole and a second through hole which are oppositely arranged and respectively communicate with the receiving cavity. Part of the magnet unit is located in the receiving cavity, and the first through hole and the second through hole are used for the magnet unit to pass through when the pressing member is pressed.

[0012] Optionally, the coil bracket is provided with a fixing hole, and the coil is embedded in the fixing hole.

[0013] Optionally, the housing assembly further includes a fixing shaft. The elastic member is sleeved on the fixing shaft, and the pressing member is rotatably connected to the fixing shaft.

[0014] Optionally, the coil bracket is provided with a rotation hole for the fixing shaft to pass through, and the elastic member is located beside the rotation hole.

[0015] Optionally, a third magnet is provided on the coil bracket. The haptic device for providing force feedback further includes a circuit board fixed to the fixing member, and a magnetic field sensor corresponding to the third magnet is provided on the circuit board.

[0016] In addition, the present invention further provides an interaction device, including the haptic device for providing force feedback as described above.

[0017] In the present invention, by fixing the magnet unit on the fixing member of the housing assembly, the coil assembly includes a coil bracket and a coil fixed on the coil bracket. A pressing space is formed between the coil bracket and the fixing member. The pressing member of the housing assembly abuts against the coil bracket. When pressing the pressing member by hand, the pressing member can drive the coil bracket to move within the pressing space. Since the two ends of the elastic member of the housing assembly are respectively fixed to the fixing member and the coil bracket, when pressing the pressing member and the coil is not energized, the reaction force exerted on the hand by the pressing member is the elastic feedback force provided by the elastic member; when pressing the pressing member and the coil is energized, due to the magnetization directions of the first magnet and the second magnet, the magnetic circuit assembly forms a magnetic field circuit. The coil is arranged beside the magnet unit and within the magnetic field circuit formed by the magnetic circuit assembly. The magnetization directions of the first magnet and the second magnet are respectively parallel to the axial direction of the coil. The energized coil is subjected to the Ampere force within the magnetic field circuit. The reaction force exerted on the hand by the pressing member is the elastic feedback force provided by the elastic member and the electromagnetic feedback force provided by the coil; the direction of the energizing current of the coil can be changed to provide a positive electromagnetic feedback force or a negative electromagnetic feedback force, realizing various tactile feedbacks, simulating a real tactile experience, and having good feedback force linearity and reduced costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0019] Figure 1 is an exploded view of an embodiment of the tactile device of the present invention;

[0020] Figure 2 is Figure 1 a schematic structural diagram of the tactile device shown;

[0021] Figure 3 is Figure 2 a partial cross-sectional view of the tactile device shown;

[0022] Figure 4 is Figure 2 a schematic structural diagram of the coil bracket of the tactile device shown;

[0023] Figure 5 is Figure 2 a partial structural schematic diagram of the tactile device in the initial state shown;

[0024] Figure 6 is Figure 2 a partial structural schematic diagram of the tactile device in the moving state shown;

[0025] Figure 7 Another schematic diagram of a part of the tactile device shown in the initial state; Figure 2 Another schematic diagram of a part of the tactile device shown in the moving state.

[0026] Figure 8 Another schematic diagram of a part of the tactile device shown in the initial state; Figure 2 Another schematic diagram of a part of the tactile device shown in the moving state.

[0027] Description of the reference numerals in the embodiments of the drawings:

[0028]

[0029]

[0030] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0033] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0034] The present invention provides a tactile device for providing force feedback. Refer to Figures 1 to 3, a haptic device 100 for providing force feedback includes a housing assembly 110, a magnetic circuit assembly 120, and a coil assembly 130. The housing assembly 110 includes a pressing member 111, a fixing member 112, and an elastic member 113. The magnetic circuit assembly 120 includes a magnet unit 121, and the magnet unit 121 includes a first magnet 1211 and a second magnet 1212. The magnetization directions of the first magnet 1211 and the second magnet 1212 are opposite. The first magnet 1211 and / or the second magnet 1212 is fixed to the fixing member 112. The coil assembly 130 includes a coil bracket 132 and a coil 131 fixed on the coil bracket 132. A pressing space is formed between the coil bracket 132 and the fixing member 112. The pressing member 111 abuts against the coil bracket 132 to drive the coil bracket 132 to move within the pressing space. The two ends of the elastic member 113 are respectively fixed to the fixing member 112 and the coil bracket 132 to generate an elastic feedback force. The magnetization directions of the first magnet 1211 and the second magnet 1212 are respectively parallel to the axis direction of the coil 131. The coil 131 is disposed beside the magnet unit 121 and within the magnetic field loop formed by the magnetic circuit assembly 120, so that an electromagnetic feedback force is generated when the coil 131 is energized.

[0035] The haptic device 100 of the present invention can be a game controller, a game button, or a button for VR or AR devices. The magnetic circuit component 120 and the fixing member 112 are fixed as the stator part, and the pressing member 111 and the coil assembly 130 are movable as the rotor part under the action of the hand force. It should be noted that the "activity" here can be movement or rotation. The pressing member 111 can be an analog button. When the coil 131 is not energized, pressing the surface of the pressing member 111 with the hand drives the coil bracket 132 to move. When the coil 131 is not energized, the reaction force of the pressing member 111 on the hand is the elastic feedback force provided by the spring, and this elastic feedback force is opposite to the pressing direction of the hand. The magnetization directions of the first magnet 1211 and the second magnet 1212 are opposite. The magnetic circuit component 120 can form a magnetic field circuit. The coil is located beside the magnet unit 121, and the magnetization directions of the first magnet 1211 and the second magnet 1212 are respectively parallel to the axis direction of the coil 131. When the coil 131 is energized, the coil 131 is subjected to the Ampere force in the magnetic field circuit formed by the magnetic circuit component 120, and the electromagnetic feedback force is conducted to the pressing member 111. The direction of this electromagnetic feedback force can be the same as or opposite to the pressing direction of the hand, depending on the energization direction of the current in the coil 131. For example, in an embodiment, when the coil 131 is energized with a positive current, a positive electromagnetic feedback force is generated, and the direction of the electromagnetic feedback force is the same as that of the elastic feedback force, both opposite to the pressing direction of the hand; when the coil 131 is energized with a negative current, a negative feedback force is generated, and the electromagnetic feedback force is the same as the pressing direction of the hand and opposite to the direction of the elastic feedback force. Of course, in other embodiments, it can also be set that when the coil 131 is energized with a positive current, a negative electromagnetic feedback force is generated, and when the coil 131 is energized with a negative current, a positive electromagnetic feedback force is generated, which is jointly determined by the direction of the magnetic field circuit and the energization direction of the coil 131. The electromagnetic feedback force is proportional to the magnitude of the current in the coil 131. By controlling the direction and magnitude of the current in the coil 131, electromagnetic feedback forces of different directions and magnitudes can be provided, realizing various haptic feedbacks and simulating real haptic experiences. Moreover, compared with the traditional method of using a motor drive, the feedback force has good linearity and reduces costs.

[0036] In one embodiment, the magnetic circuit assembly 120 further includes a magnetic conductive plate unit 122 fixed to the fixing member 112. The magnet unit 121 and the magnetic conductive plate unit 122 form a magnetic field loop. The coil 131 is located between the magnet unit 121 and the magnetic conductive plate unit 122. The magnet unit 121 and the magnetic conductive plate unit 122 are arranged in parallel at intervals. The coil 131 is clamped between the magnet unit 121 and the magnetic conductive plate unit 122, and the plane where the winding direction of the coil 131 is located is also parallel to the magnet unit 121 and the magnetic conductive plate unit 122 respectively. The direction of the magnetic field loop is clockwise as shown in Figure 3. According to the left-hand rule, the Ampere force received by the coil 131 after being energized is parallel to the plane where the coil 131 is located. Specifically, whether it is a positive electromagnetic feedback force or a negative electromagnetic feedback force is determined by the energizing direction of the coil 131. When installing the coil 131, the coil 131 can be made as parallel as possible to the moving direction of the pressing member 111 so that the electromagnetic feedback force can be the same as or opposite to the pressing direction of the hand. Of course, in other embodiments, the direction of the magnetic field loop can also be opposite to Figure 3 the direction shown, and the magnetic circuit assembly 120 can also be set to other structures. For example, the magnetic circuit assembly 120 includes two magnet units 121 arranged at intervals. The coil 131 is a ring structure, and the coil 131 is suspended in the magnetic gap formed by the magnet units 121, as long as the Ampere force finally received by the coil 131 is as much as possible in the same plane as the direction of the hand pressing the pressing member 111.

[0037] Further, the magnetic conductive plate unit 122 includes a first magnetic conductive plate 1221 and a second magnetic conductive plate 1222. The number of coils 131 is two. One coil 131 is located between the first magnetic conductive plate 1221 and the magnet unit 121, and the other coil 131 is located between the second magnetic conductive plate 1222 and the magnet unit 121. The magnet unit 121 and the first magnetic conductive plate 1221 and the second magnetic conductive plate 1222 on both sides together form a magnetic field loop. The first magnetic conductive plate 1221 and the second magnetic conductive plate 1222 are respectively parallel to the magnet unit 121. The two coils 131 are parallel to each other, and the energizing directions of the two coils 131 are the same. The two coils 131 are jointly located in the magnetic field loop, and the directions of the Ampere forces received are the same, increasing the electromagnetic feedback force. In other embodiments, the number of coils 131 can also be one, three, etc., which can be specifically set according to needs.

[0038] In a further embodiment, the first magnet 1211 is fixed to the fixing member 112, the second magnet 1212 is fixed to the side of the first magnet 1211 away from the fixing member 112, the magnetic plate unit 122 is arranged in the vertical direction, the first magnet 1211 and the second magnet 1212 are magnetized in the horizontal direction, and a closed magnetic field loop is formed with the first magnetic plate 1221 and the second magnetic plate 1222, and the first magnet 1211 and the second magnet 1212 are arranged in parallel in the vertical direction, which reduces the width of the tactile device 100. As an alternative embodiment, the first magnet 1211 and the second magnet 1212 are arranged in parallel in the horizontal direction and are both fixed to the fixing member 112, and the first magnet 1211 and the second magnet 1212 are magnetized in the vertical direction respectively, which can also form a closed magnetic field loop. In another embodiment, the magnet unit 121 can also be set as an integral magnet, as long as the magnetization directions of the two ends of the magnet are opposite.

[0039] like Figure 4 As shown, the coil bracket 132 is formed with a accommodating cavity 1323 and two first through holes 1321 and second through holes 1322 that are oppositely arranged and respectively connected to the accommodating cavity 1323. Part of the magnet unit 121 is located in the accommodating cavity 1323. The first through hole 1321 and the second through hole 1322 are used for allowing the magnet unit 121 to pass through when the contact-pressing member 111 is pressed. The first through hole 1321 is located between the fixing member 112 and the second through hole 1322. In the initial state, the magnet unit 121 passes through the first through hole 1321, and the portion of the magnet unit 121 away from the fixing member 112 is located in the accommodating cavity 1323 of the coil support 132. The touch-pressing member 111 is correspondingly formed with a makeshift space for accommodating the magnetic circuit assembly 120. When the touch-pressing member 111 is pressed by hand, the touch-pressing member 111 gradually approaches the fixing member 112, and the portion of the magnet unit 121 away from the fixing member 112 passes through the second through hole 1322. Part of the magnet unit 121 and the magnetic conductive plate unit 122 can be gradually accommodated in the makeshift space of the touch-pressing member 111. The tactile device 100 has a compact structure and saves space.

[0040] The coil support 132 is provided with a fixing hole 1324, the coil 131 is embedded in the fixing hole 1324, the magnet unit 121 is located inside the coil support 132, the magnetic plate unit 122 is located outside the coil support 132, the first through hole 1321 and the second through hole 1322 are opened in the vertical direction, the through hole is opened in the horizontal direction, the coil 131 is fixed to the coil support 132 along the edge of the fixing hole 1324, and the width of the tactile device 100 is reduced. Two through holes can be provided to fix two coils 131 to increase the electromagnetic feedback force.

[0041] The movement of the contact member 111 gradually approaching the fixing member 112 may be a parallel movement or a rotation. In one embodiment, Figure 2As shown, the housing assembly 110 further includes a fixed shaft 114. The elastic member 113 is sleeved on the fixed shaft 114, and the pressing member 111 is rotatably connected to the fixed shaft 114. A rotating bracket 1111 is provided on the pressing member 111, and a through hole for the fixed shaft 114 to pass through is provided on the rotating bracket 1111. Figure 5 and Figure 7 Both are the initial states of the tactile device. When pressing the pressing member 111 by hand, the pressing member 111 can rotate around the rotating shaft, and at the same time, the coil bracket 132 also rotates within the pressing space. As Figure 6 and Figure 8 shown, the tactile device is in a moving state. As Figure 1 , Figure 4 and Figure 5 shown, the coil bracket 132 is in the shape of a triangular prism, the magnet unit 121, the coil 131, and the magnetic conduction plate unit 122 are all fan-shaped. The coil 131 includes a first long axis 1311, a second long axis 1312, and a short axis 1313 that are sequentially connected end to end. The first long axis 1311 and the second long axis 1312 respectively extend along the radial direction of the magnet unit 121 of the magnet unit 121. The first long axis 1311 is located beside the first magnet 1211 and is arranged close to the second magnet 1212. The second long axis 1312 is located beside the second magnet 1212. When the coil 131 is energized, the Ampere force directions received by the first long axis 1311 and the second long axis 1312 are the same. In an embodiment where the coil bracket 132 can move parallel when pressing the pressing member 111, the magnet unit 121 and the magnetic conduction plate unit 122 can be set in a rectangular shape, and the coil 131 can be rectangular or circular.

[0042] As Figure 4 shown, a rotating hole 1325 for the fixed shaft 114 to pass through is provided on the coil bracket 132, and the elastic member 113 is located beside the rotating hole 1325. The coil bracket 132 and the pressing member 111 can be fixed to each other; they can also be not fixed and only in contact fit. The coil bracket 132 also passes through the fixed shaft 114, which can further increase the stability when the coil bracket 132 rotates. Among them, the elastic member 113 can be a torsion spring, sleeved on the fixed shaft 114, with one end fixed to the fixing member 112 and the other end fixed to the coil bracket 132. Through a certain pre-pressure, a certain torque is maintained between the fixing member 112 and the coil bracket 132. The number of elastic members 113 can be set to two, and the two elastic members 113 are respectively located on both sides of the coil bracket 132 to further increase the elastic feedback force. In addition, mounting holes are provided on the first magnetic conduction plate 1221 and the second magnetic conduction plate 1222. The first magnetic conduction plate 1221 and the second magnetic conduction plate 1222 are fixed to the fixed shaft 114 through the mounting holes. The ends of the first magnetic conduction plate 1221 and the second magnetic conduction plate 1222 away from the pressing member 111 can also be fixed to the fixing member 112 to increase the stability of the magnetic conduction plate unit 122.

[0043] As shown Figures 5 to 8 in the figure, a third magnet 1326 is provided on the coil bracket 132. The tactile device 100 for providing force feedback further includes a circuit board 140 fixed to the fixing member 112. A magnetic field sensor 141 corresponding to the third magnet 1326 is provided on the circuit board 140. The magnetic field sensor 141 is a device that can convert various magnetic fields and their changing quantities into electrical signals for output. The magnetic field sensor 141 is provided at the end of the coil bracket 132, and the third magnet 1326 is provided at the end of the circuit board 140. When the hand presses the touch member 111, the coil bracket 132 gradually approaches the fixing member 112, Figure 8 which is the state when the third magnet just contacts the circuit board. By monitoring the magnetic field intensity of the third magnet 1326 through the magnetic field sensor 141, the position of the touch member 111 can be determined. According to the position of the touch member 111, the magnitude of the current passing through the coil 131 can be changed to change the electromagnetic feedback force, so that the user can obtain different tactile experiences. The third magnet 1326 can be selected as a Hall magnet, and the magnetic field sensor 141 is a Hall sensor. The Hall sensor is a magnetic field sensor 141 made according to the Hall effect. The Hall effect is a kind of magnetoelectric effect. When a current passes through a semiconductor perpendicular to an external magnetic field, the carriers are deflected, and an additional electric field will be generated in the direction perpendicular to the current and the magnetic field, thereby generating a potential difference at both ends of the semiconductor. The Hall sensor has high measurement accuracy and strong anti-interference ability against external magnetic fields. In other embodiments, the magnetic field sensor 141 can also be other types of magnetic field sensors 141 such as thin film magnetoresistive sensors, magnetoresistive sensors, eddy current sensors, magnetic liquid acceleration sensors or magnetic liquid level sensors.

[0044] In addition, the present invention also provides an interaction device, including the above-mentioned tactile device 100 for providing force feedback. The interaction device can be a game console, an AR or VR device. The specific structure of this interaction device refers to the above embodiments. Since this interaction device adopts all the technical solutions of the above-mentioned all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated here one by one.

[0045] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the specification and drawings of the present invention under the inventive concept of the present invention, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. A tactile device for providing force feedback, It is characterized in that include: The housing assembly comprises a contact and pressure member, a fixing member and an elastic member; The magnetic circuit assembly comprises a magnet unit, wherein the magnet unit comprises a first magnet and a second magnet having opposite magnetization directions, and the first magnet and / or the second magnet are fixed to the fixing member; The coil assembly includes a coil support and a coil fixed on the coil support, a pressing space is formed between the coil support and the fixing member, and the contact pressure member abuts against the coil support to drive the coil support to move in the pressing space; the two ends of the elastic member are respectively fixed to the fixing member and the coil support to generate elastic feedback force; the magnetization directions of the first magnet and the second magnet are respectively parallel to the axial direction of the coil, and the coil is arranged beside the magnet unit and located in the magnetic field loop formed by the magnetic circuit assembly, so that the coil generates electromagnetic feedback force when energized.

2. The tactile device for providing force feedback according to claim 1, It is characterized in that The magnetic circuit assembly further includes a magnetic conductive plate unit fixed to the fixing member, the magnet unit and the magnetic conductive plate unit form the magnetic field loop, and the coil is located between the magnet unit and the magnetic conductive plate unit.

3. The haptic device for providing force feedback according to claim 2, It is characterized in that The magnetic conductive plate unit includes a first magnetic conductive plate and a second magnetic conductive plate. The number of the coils is two, one of the coils is located between the first magnetic conductive plate and the magnet unit, and the other coil is located between the second magnetic conductive plate and the magnet unit.

4. The haptic device for providing force feedback according to claim 2, It is characterized in that The first magnet is fixed to the fixing member, and the second magnet is fixed to a side of the first magnet facing away from the fixing member.

5. The haptic device for providing force feedback according to claim 2, It is characterized in that The coil support is formed with a accommodating cavity and two first and second via holes which are oppositely arranged and respectively connected to the accommodating cavity. Part of the magnet unit is located in the accommodating cavity. The first and second via holes are used for allowing the magnet unit to pass through when the contact-pressing member is pressed.

6. A tactile device for providing force feedback according to any one of claims 1 to 5, It is characterized in that The coil support is provided with a fixing hole, and the coil is embedded in the fixing hole.

7. A tactile device for providing force feedback according to any one of claims 1 to 5, It is characterized in that The housing assembly further comprises a fixed shaft, the elastic member is sleeved on the fixed shaft, and the contact-pressure member is rotatably connected to the fixed shaft.

8. The haptic device for providing force feedback according to claim 7, It is characterized in that The coil support is provided with a rotation hole for the fixed shaft to pass through, and the elastic member is located beside the rotation hole.

9. The tactile device for providing force feedback according to any one of claims 1 to 5, It is characterized in that A third magnet is provided on the coil bracket, and the haptic device for providing force feedback further includes a circuit board fixed to the fixing member, and a magnetic field sensor corresponding to the third magnet is provided on the circuit board.

10. An interaction device, characterized in that it includes the haptic device for providing force feedback according to any one of claims 1 to 9.

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