Miniaturized haptic feedback, miniaturized haptic feedback device

Abstract

A miniaturized haptic feedback device and a miniaturized haptic feedback unit are disclosed. The haptic feedback device includes: a feedback component, the feedback component including: an opening; a feedback arm extending toward the interior of the opening; a support component connected to the feedback component; and an electric field generating component disposed on the support component, configured to receive an AC control signal and generate an alternating electric field at the feedback arm based on the AC control signal. The feedback arm is configured to reciprocate in response to the alternating electric field to provide haptic feedback. The maximum length of the miniaturized haptic feedback device is less than or equal to 15 mm; the central angle of the feedback arm is in the range of 0° to 80°; the thickness of the feedback component is in the range of 10 μm to 800 μm; and the signal frequency of the AC control signal is in the range of 100 Hz to 300 Hz.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent control, and more specifically to a miniaturized haptic feedback device and a miniaturized haptic feedback mechanism. Background Technology

[0002] With the widespread application of intelligent control in civilian and commercial fields, Virtual Reality (VR) and Augmented Reality (AR) are playing an increasingly important role in various fields such as civilian and commercial. Therefore, haptic feedback, especially miniaturized haptic feedback devices, is also facing higher requirements.

[0003] Currently, haptic feedback typically uses haptic feedback devices (also called haptic actuators) placed on target parts of the human body (such as fingertips) to transmit corresponding haptic feedback (such as vibration) to the human body based on specific control signals. However, current haptic feedback devices have relatively large outer dimensions. Specifically, on the one hand, the diameter of existing circular haptic feedback devices is typically 18mm or more, which cannot provide high-resolution haptic feedback at the fingertips; on the other hand, the thickness of these haptic feedback devices is relatively large, for example, 3mm or more, which leads to a poor human-computer interaction experience when worn or placed on corresponding parts of the body.

[0004] Therefore, there is a need for a small haptic feedback device that can provide good haptic feedback, high resolution and accuracy of haptic feedback, and a small outline size, so as to give users a good human-computer interaction experience. Summary of the Invention

[0005] To address the above problems, this disclosure provides a miniaturized haptic feedback device. Using the miniaturized haptic feedback device provided by this disclosure, the resolution and accuracy of haptic feedback can be effectively improved while providing good haptic feedback. Furthermore, this haptic feedback device has a small profile size, making it a small feedback device that provides users with a good human-computer interaction experience.

[0006] According to one aspect of this disclosure, a miniaturized haptic feedback device is provided, comprising: a feedback component, the feedback component including: an opening; a feedback arm extending toward the interior of the opening; a support component connected to the feedback component; and an electric field generating component disposed on the support component, configured to receive an alternating current control signal and generate an alternating electric field at the feedback arm based on the alternating current control signal; wherein the feedback arm is configured to reciprocate in response to the alternating electric field to provide haptic feedback; and wherein the maximum length dimension of the miniaturized haptic feedback device is less than or equal to 15 mm; the central angle of the feedback arm is in the range of 0° to 80°; the thickness of the feedback component is in the range of 10 μm to 800 μm; and the signal frequency of the alternating current control signal is in the range of 100 Hz to 300 Hz.

[0007] In some embodiments, the maximum length of the miniaturized haptic feedback device is in the range of 3 mm to 10 mm.

[0008] In some embodiments, the maximum length of the miniaturized haptic feedback device is 5 mm.

[0009] In some embodiments, the thickness of the feedback component is in the range of 20 μm to 100 μm, and the thickness of the miniaturized haptic feedback device is in the range of 1 mm to 2 mm.

[0010] In some embodiments, the thickness of the feedback component is 40 μm, and the thickness of the miniaturized haptic feedback device is 1.45 mm.

[0011] In some embodiments, the feedback component is a thin film material.

[0012] In some embodiments, the resonant frequency of the miniaturized haptic feedback device is in the range of 100Hz to 300Hz, and the signal frequency of the AC control signal is the same as the resonant frequency of the miniaturized haptic feedback device.

[0013] In some embodiments, the feedback arm is provided with a magnetic vibration component engagement portion, and the magnetic vibration component is fixed in the magnetic vibration component engagement portion of the feedback arm; the support component is provided with an extension cavity corresponding to the opening; and wherein the magnetic vibration component is configured to reciprocate in response to the alternating electric field in at least a portion of the extension cavity to provide tactile feedback to the user.

[0014] In some embodiments, the center point of the magnetic vibration component coincides with the center point of the magnetic vibration component joint, the center point of the magnetic vibration component joint coincides with the center point of the feedback component, the center angle of the feedback arm is 60°, and the signal frequency of the AC control signal is 200Hz.

[0015] In some embodiments, the miniaturized haptic feedback device is a ring-shaped haptic feedback device, wherein: the feedback component is a ring-shaped thin film, and the feedback arm is a thin film arm extending toward the hollow region of the ring-shaped thin film, one side of the thin film arm is operably in contact with a target object, and the other side of the thin film arm is provided with a magnetic vibration component engagement portion, the magnetic vibration component being fixed in the magnetic vibration component engagement portion of the feedback arm; the support component is a cylindrical support component, the inner wall of the cylindrical support component defining an extension cavity; the electric field generating component is a ring-shaped electric field generating component, and is disposed at the end of the cylindrical support component away from the ring-shaped thin film; and wherein the maximum length dimension of the miniaturized haptic feedback device is the outer diameter of the ring-shaped haptic feedback device.

[0016] In some embodiments, the outer diameter of the annular electric field generating component, the outer diameter of the cylindrical support component, and the outer diameter of the annular film are the same; the first annular width of the annular film is the same as the second annular width of the cylindrical support component; and the third annular width of the annular electric field generating component is greater than or equal to the first annular width.

[0017] According to another aspect of this disclosure, a miniaturized haptic feedback device is proposed, comprising: a haptic actuation layer including: a substrate made of a flexible material; a haptic feedback array including a plurality of miniaturized haptic feedback units as described above, the haptic feedback array being disposed within the substrate to provide haptic feedback; a control module electrically connected to the plurality of miniaturized haptic feedback units in the haptic feedback array to provide an AC control signal to at least a portion of the plurality of miniaturized haptic feedback units; and an interface layer made of a flexible material, disposed on and covering the haptic actuation layer.

[0018] In some embodiments, the control module includes: a controller; a digital-to-analog converter (DAC) connected to the controller, wherein the DAC includes multiple conversion channels, each corresponding to one of the multiple miniaturized haptic feedback devices; wherein the controller is configured to receive user input control information and, based on the input control information, control the corresponding conversion channel in the DAC to output an AC drive signal; and multiple current amplifiers corresponding to and connected to the multiple conversion channels of the DAC, each of the multiple current amplifiers being configured to amplify the AC drive signal of the corresponding conversion channel to generate a target AC control signal.

[0019] In some embodiments, the input control information includes: identification data of the target miniaturized haptic feedback device, the target frequency value of the target miniaturized haptic feedback device, and the target current value.

[0020] In some embodiments, controlling the corresponding conversion channel of the digital-to-analog converter to output an AC drive signal based on the input control information includes: determining a target conversion channel of the digital-to-analog converter corresponding to the target miniaturized haptic feedback device based on the identification data of the target miniaturized haptic feedback device; determining a target flip state of the AC drive signal output by the target conversion channel based on the target frequency value of the target miniaturized haptic feedback device, and generating a flip state control signal; determining a target level value of the AC drive signal output by the target conversion channel based on the target current value of the target miniaturized haptic feedback device, and generating a target voltage control signal; and controlling the corresponding conversion channel of the digital-to-analog converter to output an AC drive signal based on the flip state control signal and the target voltage control signal.

[0021] In some embodiments, determining the target flip state of the AC drive signal output by the target conversion channel based on the target frequency value of the target miniaturized haptic feedback device, and generating the flip state control signal includes: determining the target number of cycles for a preset time step corresponding to the target frequency value based on the target frequency value and a preset time step; obtaining the current number of cycles for the preset time step, comparing the current number of cycles with the target number of cycles, and generating the flip state control signal based on the comparison result.

[0022] In some embodiments, generating a flip state control signal based on the comparison result includes: generating a flip state control signal when the current loop count is equal to half of the target loop count, and clearing the current loop count of the preset time step to zero.

[0023] In some embodiments, controlling the corresponding conversion channel of the digital-to-analog converter to output an AC drive signal based on the flip state control signal and the target voltage control signal includes: controlling the corresponding conversion channel of the digital-to-analog converter to output a voltage signal with a target level value based on the target voltage control signal; and inverting the voltage signal output by the corresponding conversion channel of the digital-to-analog converter based on the flip state control signal to generate an AC drive signal.

[0024] In some embodiments, the miniaturized haptic feedback device further includes multiple pairs of flexible electrodes, wherein each pair of flexible electrodes corresponds one-to-one with a plurality of miniaturized haptic feedback units, and one end of each flexible electrode is electrically connected to the corresponding miniaturized haptic feedback unit, and the other end is electrically connected to a control module corresponding to the miniaturized haptic feedback unit, so as to provide the miniaturized haptic feedback unit with an AC control signal from the corresponding control module.

[0025] The miniaturized haptic feedback device provided in this disclosure can effectively achieve haptic feedback with high resolution and accuracy, and has a small outline size, thus providing users with a good human-computer interaction experience. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The following drawings are not intentionally drawn to scale to actual size; their focus is on illustrating the main points of this disclosure.

[0027] Figure 1 A schematic block diagram of a miniaturized haptic feedback device 100 according to an embodiment of the present disclosure is shown;

[0028] Figure 2 A schematic diagram of a ring-shaped haptic feedback device 200 according to an embodiment of the present disclosure is shown;

[0029] Figure 3 A schematic diagram is shown of one side of the annular thin film 210 according to an embodiment of the present disclosure, where a magnetic vibration component joint is provided;

[0030] Figure 4 A schematic diagram showing the circular haptic feedback device viewed from the outside is shown;

[0031] Figure 5 A schematic diagram showing the placement of the ring-shaped haptic feedback device on the human finger is shown.

[0032] Figure 6 A schematic diagram showing the center angle of the magnetic vibration component joint provided with a magnetic vibration component according to an embodiment of the present disclosure is shown;

[0033] Figure 7 The diagram shows the relationship between the frequency and amplitude of the input AC current for the annular tactile feedback device according to an embodiment of the present disclosure under different center angles;

[0034] Figure 8 A structural block diagram of a miniaturized haptic feedback device 300 according to an embodiment of the present disclosure is shown;

[0035] Figure 9 A perspective view of a miniaturized haptic feedback device obtained according to an embodiment of the present disclosure is shown;

[0036] Figure 10 Shown from the outside Figure 9 The view obtained from the miniaturized haptic feedback device shown;

[0037] Figure 11 A structural block diagram of a control module according to an embodiment of the present disclosure is shown;

[0038] Figure 12 An exemplary flowchart of a process 400 for outputting an AC drive signal according to an embodiment of the present disclosure is shown;

[0039] Figure 13 A schematic diagram of a flexible electrode according to an embodiment of the present disclosure is shown;

[0040] Figure 14 A schematic diagram of the AC control signal output by the control module according to an embodiment of the present disclosure is shown;

[0041] Figure 15 A schematic diagram illustrating the flexibility characteristics of a miniaturized haptic feedback device according to an embodiment of the present disclosure is shown;

[0042] Figure 16 A schematic diagram illustrating the application of a miniaturized haptic feedback device according to an embodiment of the present disclosure in the process of realizing Braille reading is shown. Detailed Implementation

[0043] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are also within the scope of protection of this disclosure.

[0044] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0045] While this application makes various references to certain modules of the systems according to embodiments of this application, any number of different modules can be used and run on user terminals and / or servers. The modules described are merely illustrative, and different aspects of the systems and methods may use different modules.

[0046] Flowcharts are used in this application to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, various steps can be processed in reverse order or simultaneously as needed. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0047] Artificial intelligence (AI) is the theory, methods, technology, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce a new kind of intelligent machine that can react in a way similar to human intelligence. AI studies the design principles and implementation methods of various intelligent machines, enabling them to possess the functions of perception, reasoning, and decision-making.

[0048] This disclosure relates to the application of artificial intelligence technology in intelligent control, particularly in the application of artificial intelligence technology in haptic feedback processes. Specifically, this disclosure proposes a miniaturized haptic feedback device and a miniaturized haptic feedback apparatus. By significantly reducing the maximum outer contour size of the haptic feedback device (e.g., significantly reducing the outer diameter and thickness of a circular haptic feedback device), and simultaneously optimizing the center angle and thickness of the feedback component of the miniaturized haptic feedback device, good haptic feedback can be achieved while significantly reducing the size of the haptic feedback device. Furthermore, the haptic feedback resolution and accuracy of the haptic feedback device are effectively improved. This also facilitates various combinations and arrangements of the haptic feedback device on different parts of the human body to achieve feedback on complex haptic forces.

[0049] It should be understood that the tactile feedback device described in this disclosure refers to a component used to provide corresponding tactile feedback to the human body based on control signals.

[0050] Currently, haptic feedback typically uses haptic feedback devices (also called haptic actuators) placed on target parts of the human body (such as fingertips) to transmit corresponding haptic feedback (such as vibration feedback) to the human body based on specific control signals. However, current haptic feedback devices have relatively large outer dimensions. Specifically, on the one hand, the diameter of existing circular haptic feedback devices is typically 18mm or more, which cannot provide high-resolution haptic feedback at the fingertips; on the other hand, the thickness of these haptic feedback devices is relatively large, for example, 2.5mm or more, which leads to a poor human-computer interaction experience when worn or placed on corresponding parts of the body.

[0051] Therefore, there is a need for a small haptic feedback device that can provide good haptic feedback, high resolution and accuracy of haptic feedback, and a small outline size, so as to give users a good human-computer interaction experience.

[0052] Based on the above, according to one aspect of this disclosure, a miniaturized haptic feedback device is proposed. Figure 1 A schematic block diagram of a miniaturized haptic feedback device 100 according to an embodiment of the present disclosure is shown.

[0053] Reference Figure 1 The miniaturized haptic feedback device 100 includes: a feedback component 110, a support component 120, and an electric field generating component 130.

[0054] The feedback component 110 refers to a component that provides tactile feedback. This feedback component can be fixed to a target object to directly act on it; or it can act indirectly on the target object, for example, by providing a thin film or flexible interface between the feedback component and the target object, with the feedback component acting on the film or flexible interface, which then contacts the target object. However, it should be understood that the above only provides exemplary methods for the feedback component to provide tactile feedback, and the embodiments of this disclosure are not limited to the placement of the feedback component or the specific method by which it provides tactile feedback.

[0055] For example, when the target object is a target part of the human body, and the feedback component acts directly on the target object, the feedback component can be attached to the skin of the target part of the human body, for example, by an adhesive, such as on the wrist or the back of the hand, or it can be fixed to the target part of the human body by other fixing components or fixing methods. The embodiments of this disclosure are not limited to the specific method of fixing the feedback component to the target part.

[0056] It should be understood that, depending on actual needs, the feedback component may be, for example, a feedback film to provide a good user experience, or it may be a planar or plate-like piece made of other flexible materials.

[0057] Furthermore, the feedback component 110 includes, for example, an opening and a feedback arm, with the feedback arm extending toward the interior of the opening.

[0058] It should be understood that the feedback arm described in this application refers to a cantilever portion that is connected at one end to the feedback component and suspended at the other end inside the opening, used to provide tactile feedback.

[0059] It should be understood that the feedback arm may extend, for example, over half the length of the opening, or it may extend over a quarter the length of the opening. Embodiments of this disclosure are not limited to the specific length by which the feedback arm extends within the opening.

[0060] It should be understood that at least a portion of the feedback arm of the feedback component may be made of a magnetic material, such as an ultrathin magnetic material film; or the feedback arm of the feedback component may be provided with a magnetic vibration component joint, and a magnetic component may be provided in the magnetic vibration component joint.

[0061] The support member 120 is connected to the feedback member. It should be understood that the support member 120 refers to a member used to support the feedback member 110 and provide space for the vibration of the feedback arm of the feedback member.

[0062] In some embodiments, the support member 120 may be disposed on the side of the feedback member 110 away from the target object, and the support member may also have a through cavity corresponding to the opening. However, it should be understood that the above only provides an exemplary arrangement of the support member. The embodiments of this disclosure are not limited to the specific arrangement and structure of the support member.

[0063] The electric field generating component 130 is disposed on the support component 120 and is configured to receive an AC control signal and generate an alternating electric field at the feedback arm based on the AC control signal.

[0064] For example, the electric field generating component can be disposed at the end of the support component away from the feedback component, or, depending on actual needs, the electric field generating component can be disposed in the section of the support component near the end, or in the middle section of the support component. It should be understood that the embodiments of this disclosure are not limited to the specific placement position of the electric field generating component on the support component.

[0065] For example, the electric field generating component may be a component formed by a wound copper coil, and the copper coil may have two signal receiving ports for receiving AC control signals and generating an alternating electric field accordingly based on the AC control signals.

[0066] The AC control signal refers to a current or voltage signal whose current direction changes periodically with time. For example, the AC control signal can be an AC control signal with a frequency of 220Hz or an AC control signal with a frequency of 300Hz.

[0067] Furthermore, the feedback arm is configured to reciprocate in response to the alternating electric field to provide tactile feedback.

[0068] It should be understood that the embodiments of this disclosure are not limited to the specific travel distance and frequency of the reciprocating motion of the feedback arm.

[0069] For example, when the feedback arm is provided with a magnetic vibration component joint, and the magnetic vibration component is fixed in the vibration component joint of the feedback arm, the feedback arm is reciprocated in response to the alternating electric field to provide tactile feedback. This means that the magnetic vibration component provided in the feedback component is configured to drive the feedback arm to reciprocate in response to the alternating electric field to provide tactile feedback to the user.

[0070] It should be understood that the feedback component 110, the support component 120, and the electric field generating component 130 can be bonded to each other, for example, via an adhesive. Embodiments of this disclosure are not limited to the bonding method of the various components within this miniaturized haptic feedback device.

[0071] Furthermore, the maximum length of this miniaturized haptic feedback device is less than or equal to 15 mm. The center angle of the feedback arm is in the range of 0° to 80°, and the thickness of the feedback component is in the range of 10 μm to 800 μm.

[0072] The maximum length dimension of the miniaturized haptic feedback device refers to the maximum length distance between the two opposite endpoints of the outer contour of the miniaturized haptic feedback device on a plane. For example, when the miniaturized haptic feedback device is a ring-shaped haptic feedback device, the maximum length dimension is, for example, the maximum outer diameter dimension of the miniaturized haptic feedback device on a plane.

[0073] The central angle of the feedback arm refers to the angle formed by the lines connecting the junction of the feedback arm and the feedback component to the center point of the vibrating portion of the feedback arm that reciprocates in response to the alternating electric field. For example, when the feedback arm is provided with a magnetic vibration component junction (on which a magnetic vibration component is provided), the center point of the vibrating portion is the center point of the magnetic vibration component junction.

[0074] Furthermore, the center angle of the feedback arm and the thickness of the feedback component will affect the resonant frequency of this miniaturized haptic feedback device (the specific relationship will be explained in detail below with reference to the appendix). Figure 7(To be explained) By reasonably setting the center angle of the feedback arm and the thickness of the feedback component, the resonant frequency of the miniaturized tactile feedback device can be flexibly adjusted so that the resonant frequency is within a frequency range that is more conducive to being perceived by the target object (such as the human body).

[0075] For example, when the center angle of the feedback arm is set in the range of 0° to 80° and the thickness of the feedback component is in the range of 10μm to 800μm, the resonant frequency of the miniaturized haptic feedback device will be approximately in the range of 100Hz to 300Hz.

[0076] Furthermore, the frequency of the AC control signal is in the range of 100Hz to 300Hz. This frequency range coincides with the resonant frequency range of the miniaturized haptic feedback device and is within the frequency range easily perceived by the human body.

[0077] In this application, by setting the maximum length of the miniaturized haptic feedback device to be less than or equal to 15mm, compared to haptic feedback devices in the prior art with a maximum length or maximum outer diameter greater than or equal to 18mm, the miniaturized haptic feedback device of this application can reduce the planar size of the haptic feedback device. This is beneficial when the haptic feedback device is placed on a small body part such as the fingertip, so that the miniaturized haptic feedback device can fit well into the body part, and the tactile force generated by the reciprocating motion of the magnetic vibration element can be applied to the target area comprehensively and accurately. It also helps to reduce the invalid haptic feedback caused by most of the feedback arm being located outside the target area. Furthermore, by setting the center angle of the feedback arm in the range of 0° to 80°, the thickness of the feedback component in the range of 10μm to 800μm, and the signal frequency of the AC control signal in the range of 100Hz to 300Hz, it is possible to maintain good feedback function (feedback intensity) while miniaturizing the size, thereby improving the accuracy and resolution of the haptic feedback. On the other hand, by setting the miniaturized tactile feedback device in this application, it is also beneficial to integrate multiple miniaturized tactile feedback devices in the target area according to actual needs, thereby providing tactile feedback of complex tactile forces.

[0078] In some embodiments, the feedback arm is provided with a magnetic vibration component engagement portion, and the magnetic vibration component is fixed in the magnetic vibration component engagement portion of the feedback arm.

[0079] The magnetic vibration component junction refers to the area of ​​the feedback arm used for connection and fixation with a magnetic vibration component (e.g., a magnet). Depending on the specific needs, the magnetic vibration component junction may have a rectangular shape or a circular shape. Embodiments of this disclosure are not limited to the specific composition of the magnetic vibration component junction.

[0080] The magnetic vibration component refers to a component made of magnetic material that can achieve reciprocating motion in the miniaturized haptic feedback device.

[0081] It should be understood that the magnetic vibration component can be, for example, a magnet, such as a permanent magnet, or other types of magnets may be selected according to actual needs. The embodiments of this disclosure are not limited to the specific composition and shape of the magnetic component.

[0082] Furthermore, the magnetic vibration component can be bonded to the feedback arm of the feedback component via an adhesive and fixed relative to each other, or it can be fixed to the magnetic vibration component joint in other ways. The embodiments disclosed herein are not limited to the specific bonding method between the magnetic vibration component and the magnetic vibration component joint.

[0083] The support component is provided with an extension cavity corresponding to the opening. It should be understood that the extension cavity corresponding to the opening of the feedback component means that the cavity opening of the extension cavity corresponds to the opening, that is, the area defined by the inner surface of the extension cavity is greater than or equal to the area defined by the opening of the opening, so that the feedback arm of the feedback component can move flexibly to provide the required tactile feedback.

[0084] Depending on actual needs, the extension cavity can be, for example, a through cavity or a non-through cavity, and the extension cavity can have different cavity shapes. The embodiments disclosed herein are not limited by the cavity type and specific shape of the extension cavity.

[0085] Furthermore, the magnetic vibration component is configured to reciprocate in response to the alternating electric field in at least a portion of the extended cavity to provide tactile feedback to the user.

[0086] It should be understood that the phrase "reciprocating motion in at least a portion of the extension cavity" as used in this application means that the magnetic vibrating component can move within a portion of the extension cavity (e.g., within half the length) or within the entire length of the extension cavity. However, it is not intended to limit the trajectory and space of the magnetic vibrating component. It should be understood that the reciprocating motion of the magnetic vibrating component can also include reciprocating motion outside the extension cavity.

[0087] The process by which the magnetic vibration component reciprocates in response to the alternating electric field can be described more specifically. When an AC control signal is input to the electric field generating component, the electric field generating component generates an alternating electric field based on the AC control signal. This alternating electric field induces an alternating magnetic field, causing the magnetic vibration component to reciprocate within this alternating magnetic field (towards and away from the electric field generating component). This, in turn, causes the feedback arm in the feedback component to alternately move towards the target object (e.g., in contact with the target object) and away from the target object (e.g., separated from the target object), thereby achieving the transmission of tactile feedback. Furthermore, the tactile force of this tactile feedback is determined by a combination of the inherent vibration frequency of the miniaturized tactile feedback device, the signal frequency of the AC control signal, and the signal strength (current or voltage value) of the AC control signal.

[0088] Based on the above, in this application, by setting the feedback arm to have a magnetic vibration component joint (on which a magnetic vibration component is fixed), and setting the support component to have an extension cavity corresponding to the opening, the magnetic vibration component responds to the alternating electric field and reciprocates in at least a part of the extension cavity to provide tactile feedback to the user, so that the feedback arm can be effectively driven to reciprocate via the magnetic component, thereby effectively improving the vibration amplitude and the intensity of the tactile feedback generated by the miniaturized tactile feedback device.

[0089] In some embodiments, the miniaturized haptic feedback device is a ring-shaped haptic feedback device. Figure 2 A schematic diagram of a ring-shaped haptic feedback device 200 according to an embodiment of the present disclosure is shown.

[0090] Reference Figure 2 The annular haptic feedback device 200 has, for example, a structure similar to that of the miniaturized haptic feedback device. Specifically, it includes, for example, a feedback component, a support component, and an electric field generating component disposed along the central axis Oc. Furthermore, the annular haptic feedback device also includes a magnetic vibration component fixed to the feedback component.

[0091] The feedback component is a circular annular film 210, and the feedback arm is a film arm 211 extending toward the hollow region of the circular annular film. One side of the film arm is operably in contact with the target object, and the other side of the film arm is provided with a magnetic vibration component joint, in which the magnetic vibration component is fixed.

[0092] It should be understood that the target object can be, for example, a target part of the human body, such as the fingertips of a hand, or the back of the hand, neck, or back area. Alternatively, when the miniaturized haptic feedback device indirectly provides haptic feedback, the target object can be, for example, a thin film or flexible interface disposed on the exterior of the miniaturized haptic feedback device. The embodiments of this disclosure are not limited to the specific location or composition of the target object.

[0093] The phrase "operably in contact with the target object" means that, when the miniaturized haptic feedback device is in operation, the feedback arm can, in response to an input AC control signal, alternately be in contact with and separated from the target object. It should be understood that "contact" here is not intended to limit the manner or degree of contact between the two objects. The state of "contact" can be, for example, a light contact with surface adhesion, or a deep contact that causes significant deformation between them. Embodiments of this disclosure are not limited to this specific contact method or degree of contact.

[0094] The annular film can be defined, for example, by concentric outer and inner walls of the film, and the annular film can have a first annular width D1.

[0095] For example, the annular film can be obtained by high-precision laser cutting of a PI film, or it can be made of a PET film or other flexible materials. The embodiments disclosed herein are not limited to the specific material and composition of the annular film.

[0096] Figure 3 A schematic diagram is shown of one side of the annular thin film 210 according to an embodiment of the present disclosure, where a magnetic vibration component joint is provided. (Refer to...) Figure 3 For example, the annular film can be described in more detail.

[0097] The annular film 210 has a film arm 211, for example, including an extension 2111 and a magnetic vibration component junction 2112. The extension 2111 is defined by a first film arm side 211A and a second film arm side 211B. The magnetic vibration component junction 2112 of the film arm is connected to the extension 2111, and in this embodiment, the magnetic vibration component junction has, for example, a circular shape, and its center point coincides with the center point of the feedback component. The area of ​​the magnetic vibration component junction is, for example, greater than or equal to the area of ​​the magnetic vibration component to which it is joined.

[0098] However, it should be understood that the above only provides an exemplary structure of a circular annular film and its magnetic vibration junction. Depending on actual needs, the magnetic vibration junction may also have a rectangular shape or other shapes. The embodiments of this disclosure are not limited to the specific shape of the magnetic vibration junction.

[0099] For example, the magnetic vibration joint can be joined and fixed to the magnetic vibration component (e.g., a magnet) via ultraviolet-cured adhesive, or other fixing methods can be used.

[0100] The support component is a cylindrical support component 220, and the inner wall of the cylindrical support component 220 defines an extension cavity.

[0101] For example, the cylindrical support component may be a support component formed by printing with photocurable resin using 3D printing technology, or the support component may be made of metal, glass, or other rigid materials. The embodiments disclosed herein are not limited to the specific composition of the cylindrical support structure.

[0102] Reference Figure 2 The cylindrical support member has, for example, an outer wall and an inner wall, and defines an annular shell between the inner wall and the outer wall of the cylindrical support member. The annular shell may have, for example, a second annular width D2, which may be the same as the first annular width D1, so that the cylindrical support member can be well engaged with the annular film.

[0103] It should be understood that the extended cavity can be formed as a through cavity or a non-through cavity, and its shape can be flexibly set according to the actual situation. The embodiments of this disclosure are not limited to the specific cavity shape and structure of the extended cavity.

[0104] For example, the length L2 of the extension cavity along the direction of movement of the magnetic vibration component (which, for example, generally coincides with the central axis Oc of the miniaturized haptic feedback device) is, for example, greater than the length L4 of the magnetic vibration component 240 (e.g., a magnet) along the direction of movement, preferably, for example, 2 to 4 times the length L4 of the magnetic vibration component along the direction of movement, so that the reciprocating motion of the magnetic vibration component is entirely within the extension cavity.

[0105] The electric field generating component is an annular electric field generating component 230, and is disposed at the end of the cylindrical support component 220 away from the annular film 210. The annular electric field generating component 230 has, for example, a third annular width D3.

[0106] For example, the annular electric field generating component 230 may be made of enameled copper wire wound together, and two AC control signal input terminals may be led out from the enameled copper wire to receive AC control signals; or the annular electric field generating component may be connected to the output terminal of a controller to control the annular electric field generating component according to the AC control signal output by the controller.

[0107] Furthermore, the maximum length of the miniaturized haptic feedback device is equal to the outer diameter of the annular haptic feedback device. Figure 4 A schematic diagram showing the circular haptic feedback device viewed from the outside is shown. Figure 5 A schematic diagram is shown showing the placement of the circular haptic feedback device on the human finger.

[0108] For example, when the outer diameter of the annular electric field generating component 230, the outer diameter of the cylindrical support component 220, and the outer diameter of the annular film 210 of the annular haptic feedback device are all the same, for example, d, then the maximum length dimension of the miniaturized haptic feedback device is d.

[0109] In this application, by setting the miniaturized haptic feedback device as a ring-shaped haptic feedback device, and setting the feedback component as a ring-shaped thin film, the support component as a cylindrical support component, and the electric field generating component as a ring-shaped electric field generating component, it is possible to simplify the manufacturing process of the miniaturized haptic feedback device, and to facilitate the better movement of the magnet within the support component by the ring electromagnetic guidance generated by the ring electric field generating component, while also facilitating a further reduction in the outer contour size of the miniaturized haptic feedback device.

[0110] In some embodiments, when the miniaturized haptic feedback device is a ring-shaped haptic feedback device, the outer diameter of the ring-shaped electric field generating component, the outer diameter of the cylindrical support component, and the outer diameter of the ring-shaped film are the same; the first ring width of the ring-shaped film is the same as the second ring width of the cylindrical support component; and the third ring width of the ring-shaped electric field generating component is greater than or equal to the first ring width.

[0111] Based on the above, by setting the outer diameter of the annular electric field generating component, the outer diameter of the cylindrical support component, and the outer diameter of the annular film to be the same, it is beneficial to ensure that the assembled miniaturized haptic feedback device has a smooth surface, and that the outer diameter of each core component is the same as the maximum outer diameter of the miniaturized haptic feedback device, which facilitates miniaturization while taking into account the size and function of each component. On the other hand, by setting the first annular width of the annular film to be the same as the second annular width of the cylindrical support component, and the third annular width of the annular electric field generating component to be greater than or equal to the first annular width, it is beneficial to achieve good assembly of the annular electric field generating component, the cylindrical support component, and the annular film.

[0112] In some embodiments, the maximum length of the miniaturized haptic feedback device is in the range of 3 mm to 10 mm.

[0113] By setting the maximum length of this miniaturized haptic feedback device within the range of 3mm to 10mm, compared to existing haptic feedback devices with a maximum length or outer diameter greater than or equal to 18mm, the miniaturized haptic feedback device of this application can significantly reduce its planar size. This facilitates better adaptation to small body parts such as fingertips, further improving the accuracy and resolution of the haptic feedback. It also allows for the integration of multiple miniaturized haptic feedback devices at a target area to provide haptic feedback for complex tactile forces, depending on actual needs.

[0114] In some embodiments, the maximum length of the miniaturized haptic feedback device is 5 mm.

[0115] For example, we will now use a circular haptic feedback device as an example to illustrate the design method for this maximum outer contour dimension in more detail. (Refer to...) Figure 2 When the miniaturized haptic feedback device is a ring-shaped haptic feedback device, for example: the inner diameter of the ring-shaped film is set to 4mm and the outer diameter to 5mm; the inner diameter of the cylindrical support component is set to 4mm and the outer diameter to 5mm; the ring-shaped electric field generating component is wound with enameled copper wire with a wire diameter of 0.05mm, and the inner diameter of the ring-shaped electric field generating component is set to 2mm and the outer diameter to 5mm; the diameter of the magnetic vibration component is set to 2mm.

[0116] However, it should be understood that the above is only an exemplary way to set the maximum length of the miniaturized haptic feedback device to 5mm. Other settings can be adopted to achieve a maximum length of 5mm, depending on actual needs.

[0117] In this application, by setting the maximum length of the miniaturized haptic feedback device to 5mm, the planar size of the haptic feedback device can be significantly reduced. This facilitates better adaptation to small body parts such as fingertips, further improving the accuracy and resolution of the haptic feedback. It also allows for the integration of multiple miniaturized haptic feedback devices into a target area as needed, providing haptic feedback for complex tactile forces. Specifically, when the maximum length of the miniaturized haptic feedback device is 5mm, at least nine haptic feedback devices can be integrated into a small target area, such as the fingertip, enabling multi-layered and complex haptic force feedback at the fingertip, improving the user's human-computer interaction experience, and greatly increasing the integration level of the haptic feedback device.

[0118] In some embodiments, the thickness of the feedback component is in the range of 20 μm to 100 μm, and the thickness of the miniaturized haptic feedback device is in the range of 1 mm to 2 mm.

[0119] By setting the thickness of the feedback component within the range of 20μm to 100μm, the vibration amplitude of the feedback component can be increased, enabling a miniaturized haptic feedback device with significantly reduced size to provide good haptic feedback. Furthermore, by setting the thickness of this miniaturized haptic feedback device within the range of 1mm to 2mm, compared to existing haptic feedback devices with a thickness of 3mm or more, the thickness of the haptic feedback device can be significantly reduced, achieving a miniaturized design. Simultaneously, this design prevents user discomfort due to the thickness of the miniaturized haptic feedback device, thus improving the human-computer interaction experience.

[0120] In some embodiments, the thickness of the feedback component is 40 μm, and the thickness of the miniaturized haptic feedback device is 1.45 mm.

[0121] The following section will use a circular haptic feedback sensor as an example to illustrate the design approach for this thickness in more detail. (Refer to...) Figure 2 When the miniaturized haptic feedback device is a ring-shaped haptic feedback device, in order to achieve a thickness of 1.45 mm, for example, the thickness of the ring-shaped film can be set to 40 μm; the thickness of the cylindrical support component can be set to 1 mm; the thickness of the ring-shaped electric field generating component can be set to 0.25 mm; and the thickness of the magnetic vibration component can be set to 0.5 mm. Then, the ring-shaped film and the cylindrical support component, and the cylindrical support component and the ring-shaped electric field generating component are coated with adhesive of appropriate thickness to connect them, and finally a miniaturized haptic feedback device with a thickness of 1.45 mm is formed.

[0122] However, it should be understood that the above is only an exemplary way to set the thickness of the miniaturized haptic feedback device to 1.45mm. Other settings can be adopted to achieve a maximum length of 1.45mm, depending on actual needs.

[0123] In this application, by setting the thickness of the feedback component to 40μm, the vibration amplitude of the feedback component can be effectively enhanced by utilizing the ultra-thin thickness setting. Furthermore, by setting the thickness of the miniaturized haptic feedback device to 1.45mm, the thickness of the miniaturized haptic feedback device is minimized to the greatest extent while taking into account the vibration space of the magnetic vibration component. This effectively balances the intensity of haptic feedback, the miniaturized design of the haptic feedback device, and the user's human-computer interaction experience, thereby achieving good haptic feedback intensity while significantly improving the user's human-computer interaction experience.

[0124] In some embodiments, the feedback component is a thin-film material. By using a thin-film material for the feedback component, its elasticity and flexibility can be further improved, making it easier for the feedback component to respond to vibrations generated by the alternating electric field. This allows for effective consideration of the tactile feedback intensity of the miniaturized tactile feedback device while achieving a miniaturized design.

[0125] In some embodiments, the resonant frequency of the miniaturized haptic feedback device is in the range of 100Hz to 300Hz, and the signal frequency of the AC control signal is the same as the resonant frequency of the miniaturized haptic feedback device.

[0126] The resonant frequency refers to the frequency at which the amplitude of the miniaturized haptic feedback device reaches its maximum value and the vibration is most intense.

[0127] By setting the resonant frequency of the miniaturized haptic feedback device to be the same as the signal frequency of the AC control signal, it is beneficial to achieve good resonance for the miniaturized haptic feedback device. At the same time, considering that the human body is most sensitive to vibration in the frequency range of 100Hz to 300Hz, setting the resonant frequency within this range allows the resonant frequency of the haptic actuator to be adjusted to the range most sensitive to human skin, improving the reliability and effectiveness of the haptic feedback.

[0128] In some embodiments, when the miniaturized haptic feedback device has a magnetic vibration component joint and a magnetic vibration component is disposed on the magnetic vibration component joint, the center point of the magnetic vibration component coincides with the center point of the magnetic vibration component joint, the center point of the magnetic vibration component joint coincides with the center point of the feedback component, the center angle of the vibration component joint is 60°, and the signal frequency of the AC control signal is 200Hz.

[0129] The following section will use a circular haptic feedback device as an example for a more detailed explanation. Figure 6 A schematic diagram of the center angle of the magnetic vibration component joint provided with a magnetic vibration component according to an embodiment of the present disclosure is shown.

[0130] Reference Figure 6 The circular haptic feedback device is, for example, based on the aforementioned... Figures 2 to 5 The described structure, more specifically, has, for example, the aforementioned reference. Figure 3 The described annular film 210 includes a magnetic vibration component 240, for example, having a circular shape and disposed on the magnetic vibration component junction 2112. The center point of the magnetic vibration component 240 coincides, for example, with the center point of the magnetic vibration component junction 2112, and the center point of the magnetic vibration component junction 2112 further coincides, for example, with the center point of the annular film 210, all three having the same center point M. As previously described, the film arm also includes an extension 2111, defined by a first film arm side 211A and a second film arm side 211B. The magnetic vibration component junction 2112 of the film arm is connected, for example, to the extension 2111 and forms the cantilever end of the film arm. In this case, the angle φ formed by the lines connecting the junction points A and B of the film arm and the annular film to the center point M of the vibration junction in the feedback arm is the central angle. Figure 6 The diagram shows the case where the central angle φ is 60 degrees.

[0131] Figure 7 The diagram illustrates the relationship between the frequency and amplitude of the input AC current for the annular haptic feedback device according to an embodiment of the present disclosure under different center angles.

[0132] As mentioned above, the tactile force of the miniaturized tactile sensor and the tactile feedback is determined by the resonant frequency of the miniaturized tactile feedback device, the signal frequency of the AC control signal, and the signal strength of the AC control signal. Since the magnetic vibration component of the miniaturized tactile sensor is mounted on the feedback arm of the feedback component, and when the center point of the magnetic vibration component coincides with the center point of the magnetic vibration component joint, and the center point of the magnetic vibration component joint coincides with the center point of the feedback component, the resonant frequency of the miniaturized tactile sensor will be significantly affected by the central angle of the magnetic vibration component joint.

[0133] Specifically, Figure 7 The waveform diagrams shown in Figure af illustrate the structure of miniaturized haptic feedback devices with center angles of 30°, 60°, 90°, 120°, 150°, and 180°, and the relationship between the normalized amplitude of the miniaturized haptic feedback device and the input AC control signal at these angles. (Refer to...) Figure 7It can be seen that when the center angle is set to be small (e.g., less than 90 degrees), the contact area between the feedback arm and the feedback component is small, and the magnetic vibration component is more likely to vibrate. As a result, the resonant frequency of the miniaturized tactile sensor will decrease, meaning that only a small frequency AC control signal is needed to make the magnetic vibration component reach its maximum resonance state. When the center angle is set to be small (e.g., greater than 90 degrees), the contact area between the feedback arm and the feedback component is large, the constraint force on the magnetic vibration component increases, and the magnetic vibration component is more difficult to vibrate. As a result, the resonant frequency of the miniaturized tactile sensor will increase, meaning that a larger frequency AC control signal is needed to make the magnetic vibration component reach its maximum resonance state.

[0134] Therefore, in this application, by setting the center point of the magnetic vibration component to coincide with the center point of the magnetic vibration component joint, and the center point of the magnetic vibration component joint to coincide with the center point of the feedback component, and on this basis, flexibly adjusting the center angle of the magnetic vibration component joint within the range of 30° to 80°, the resonant frequency of the miniaturized tactile feedback device can be easily and conveniently adjusted according to actual needs and the frequency of the input control signal in the actual application, the sensitive frequency information of the human body, etc., thereby adjusting the resonant frequency of the tactile actuator to the range of human skin's most sensitive sensitivity, improving the reliability and effect of tactile feedback.

[0135] Considering that the human body is most sensitive to vibration in the frequency range of 100Hz to 300Hz, for example, for the aforementioned ring-shaped haptic feedback device with a maximum outer diameter of 5mm and a thickness of 1.45mm (the thickness of the feedback component is 40μm), when its central angle is set to 60°, for example, the resonant frequency of the miniaturized haptic feedback device can reach 200Hz, so that the resonant frequency of the miniaturized haptic feedback device coincides with the frequency range in which the human body is most sensitive to vibration. At this time, by further applying a sinusoidal alternating current control signal with a voltage value of 0.5V (current value of 56.18mA) and a frequency of 200Hz, the miniaturized haptic feedback device can exhibit a vibration amplitude of 1.55mm, thereby further improving the efficiency and effect of the haptic feedback, so that the user can clearly perceive the haptic feedback.

[0136] According to another aspect of this disclosure, a miniaturized haptic feedback device 300 is proposed, which includes a haptic execution layer 310 and an interface layer 320. Figure 8 A structural block diagram of a miniaturized haptic feedback device 300 according to an embodiment of the present disclosure is shown. Figure 9 A perspective view of a miniaturized haptic feedback device obtained according to an embodiment of the present disclosure is shown.

[0137] Reference Figure 8 and Figure 9The interface layer 320 is made of a flexible material and is disposed on and covers the haptic actuation layer.

[0138] For example, the tactile actuation layer 310 may have a first side and a second side. The first side, for example, faces or contacts a target object, such as the skin on the back of a human hand, to provide tactile feedback. The second side of the tactile actuation layer 310, away from the specific part of the human body, is used to contact an interface layer disposed on the second side of the tactile actuation layer and covering the tactile actuation layer to achieve good protection of the core components of the tactile actuation layer.

[0139] However, it should be understood that the above is only an example of how to set up the haptic execution layer and the interface layer, and the embodiments of this disclosure are not limited to the specific setting and location of the haptic execution layer and the interface layer.

[0140] For example, the interface layer can be made of high-modulus silicone to provide good flexibility, facilitating the stretching and extension of the miniaturized haptic feedback device. Alternatively, other flexible materials can be selected to manufacture the interface layer, depending on actual needs. The embodiments of this disclosure are not limited to the specific composition of the interface layer or the specific type of flexible material it comprises.

[0141] Reference Figure 8 The haptic execution layer 310 may further include, for example, a substrate 311, a haptic feedback array 312, and a control module 313.

[0142] The substrate 311 is made of a flexible material, which can be positioned relative to a target object (e.g., a target part of the human body). It should be understood that the substrate can be made of the same flexible material as the interface layer, or it can be made of a different flexible material. Embodiments of this disclosure are not limited to the specific manufacturing material of the substrate or its placement location.

[0143] The haptic feedback array 312 includes a plurality of miniaturized haptic feedback units as described above, the haptic feedback array being disposed, for example, within the substrate 311, to provide haptic feedback.

[0144] For example, the haptic feedback array may include nine miniaturized haptic feedback units arranged in a 3x3 matrix, or it may include sixteen miniaturized haptic feedback units arranged in a 4x4 matrix. It should be understood that the specific number and arrangement of the miniaturized haptic feedback units in the haptic feedback array can be set according to the actual application scenario. The embodiments disclosed herein are not limited to the number and arrangement of the miniaturized haptic feedback units in the haptic feedback array.

[0145] For example, the feedback component of the miniaturized haptic feedback device in the haptic feedback array 312 may be exposed from the lower surface of the substrate, so that the feedback arm of the feedback component can be operatively brought into contact with a target part of the human body.

[0146] Specifically, for example, the substrate 311 may be provided with a plurality of mounting holes, which correspond to the size and structure of the miniaturized haptic feedback device 100, such that the miniaturized haptic feedback device 100 can be completely embedded in the substrate 311 and exposed to the lower surface of the substrate through the holes.

[0147] Figure 10 Shown from the outside Figure 9 The view obtained from the miniaturized haptic feedback device shown, from Figure 10 The feedback components (feedback films) of multiple miniaturized haptic feedback devices (here, circular haptic feedback devices) can be clearly seen exposed at the ends of the lower surface of the substrate, and the 5mm marked therein indicates that the maximum length of the outer contour of the miniaturized haptic feedback device used here is 5mm.

[0148] However, the miniaturized haptic feedback device can also be configured to be completely housed within the substrate. Embodiments of this disclosure are not limited to the arrangement of the miniaturized haptic feedback device on the substrate.

[0149] The control module 313 is electrically connected to the plurality of miniaturized haptic feedback units in the haptic feedback array to provide AC control signals to at least a portion of the plurality of miniaturized haptic feedback units.

[0150] For example, the control module may include a control circuit consisting of a controller, a digital-to-analog converter, and multiple current amplifiers. However, it should be understood that the embodiments of this disclosure are not limited to the specific composition of the control module.

[0151] The control module can be located, for example, inside the substrate, or it can be located in a control layer independent of the substrate. The embodiments disclosed herein are not limited to the specific location or structure of the control module.

[0152] In this application, a tactile execution layer and an interface layer are set in a miniaturized tactile feedback device, and the tactile execution layer is further configured to include a substrate, a tactile feedback array, and a control module. On the one hand, multiple miniaturized tactile feedback devices can be combined in the miniaturized tactile feedback device according to actual needs, thereby realizing complex tactile force feedback to the target object and improving the reliability and accuracy of tactile feedback. On the other hand, considering that flexibility is a very important reference standard for miniaturized tactile feedback devices (such as wearable electronic skin), by setting the interface layer and substrate to be made of flexible materials, the miniaturized tactile feedback device can be endowed with corresponding flexible characteristics, so that the miniaturized tactile feedback device can stretch or bend according to the movement state of the corresponding part of the human body, so that it can still provide good tactile force feedback during the movement of the target part or the performance of specific operations, thereby improving the reliability of tactile force feedback. The developed flexible and lightweight miniaturized tactile feedback device achieves the optimal resolution design of miniaturized tactile feedback devices based on mechanical vibrators. The high resolution developed based on micro tactile actuators will greatly expand the application range of miniaturized tactile feedback devices.

[0153] Typical control modules generate corresponding AC control signals for each miniaturized haptic feedback unit via square wave conditioning circuits or operational amplifier circuits. However, on the one hand, such control circuits are complex in structure, expensive to manufacture, prone to failure, and have low stability and reliability. On the other hand, such control circuits are bulky, have poor portability, and cannot be well adapted to miniaturized haptic feedback units (such as ring-shaped haptic feedback units with a diameter of about 5mm) and their various application scenarios.

[0154] Therefore, in this application, the AC control signal is generated by further transmitting it via a digital-to-analog converter, which enables the reuse of multiple conversion channels of the digital-to-analog converter, thereby achieving independent and real-time control of multiple miniaturized haptic feedback devices through a control module with a smaller size. Figure 11 A structural block diagram of a control module according to an embodiment of the present disclosure is shown. The following will be combined with… Figure 11 The control module and its working process will be described in more detail.

[0155] Reference Figure 11 The control module 313 includes, for example, a controller 3131, a digital-to-analog converter 3132, and multiple current amplifiers 3133. Figure 11 Four current amplifiers are shown in Figures 3133-1 to 3133-4.

[0156] The digital-to-analog converter (DAC) is a component that converts digital signals into corresponding analog signals. Its input is a digital signal, and its output is an analog signal. The DAC 3132 is connected to the controller 3131. Specifically, the input terminal of the DAC is connected, for example, to the output terminal of the controller. Furthermore, the DAC 3132 includes multiple conversion channels CH, each corresponding to one of the multiple miniaturized haptic feedback devices, to output a corresponding analog signal to that miniaturized haptic feedback device.

[0157] Figure 11 The four conversion channels CH1-CH4 are illustrated by way of example; however, it should be understood that the embodiments of this disclosure are not limited to the specific number of channels that the digital-to-analog converter has.

[0158] The controller is configured to receive user input control information and, based on the input control information, control the corresponding conversion channel in the digital-to-analog converter to output AC drive signals.

[0159] The AC drive signal refers to the AC electrical signal used to drive the haptic feedback of the corresponding miniaturized controller. Furthermore, the digital-to-analog converter typically outputs a voltage signal with weak current driving capability, generally less than 10mA.

[0160] The input control information may be, for example, input control information from a host computer, or input information sent from other devices or systems that are wired or wirelessly connected to the controller. The embodiments of this disclosure are not limited to the specific source of the input control information.

[0161] The input control information includes, for example, the necessary information required to control the haptic feedback of the miniaturized haptic feedback device. For instance, the input control information may include identification data of the target miniaturized haptic feedback unit, the target frequency value of the target miniaturized haptic feedback unit, and the target current value. However, it should be understood that, depending on actual control needs, the input control information may also include other information, and the embodiments of this disclosure are not limited to the specific composition of the input control information.

[0162] The process by which the controller controls the output AC drive signal of the corresponding channel in the digital-to-analog converter based on input control information can be, for example, as follows: Based on the identification data of the target miniaturized haptic feedback device, determine the target conversion channel of the digital-to-analog converter corresponding to the target miniaturized haptic feedback device; Based on the target frequency value of the target miniaturized haptic feedback device, determine the target flip state of the AC drive signal output by the target conversion channel, and generate a flip state control signal; Based on the target current value of the target miniaturized haptic feedback device, determine the target level value of the AC drive signal output by the target conversion channel, and generate a target voltage control signal; Based on the flip state control signal and the target voltage control signal, control the corresponding conversion channel in the digital-to-analog converter to output the AC drive signal.

[0163] However, it should be understood that the above only provides an exemplary process for outputting an AC drive signal, and the embodiments of this disclosure are not limited to the specific way in which the controller controls the digital-to-analog converter to output an AC drive signal.

[0164] The plurality of current amplifiers correspond to and are connected to the plurality of conversion channels of the digital-to-analog converter. Each of the plurality of current amplifiers is configured to amplify the AC drive signal of the corresponding conversion channel to generate a target AC control signal.

[0165] The current amplifier refers to a component used to amplify the current value of the AC drive signal. Depending on the actual needs, the current amplifier can be, for example, a current feedback amplifier (CFA), such as a voltage follower circuit, or other current amplification circuits, such as power amplifier circuits, can be selected. The embodiments of this disclosure are not limited to the specific composition and structure of the current amplifier.

[0166] Reference Figure 11 The four current amplifiers shown as 3133-1 to 3133-4 correspond one-to-one with and are connected to the conversion channels CH1 to CH4 of the analog-to-digital converter. Each current amplifier is connected to the corresponding miniaturized haptic feedback units c1 to c4 in the haptic feedback array. Specifically, taking current amplifier 3133-1 as an example, the input terminal of current amplifier 3133-1 is connected to the output terminal of conversion channel CH1, and the output terminal of current amplifier 3133-1 is connected to the corresponding miniaturized haptic feedback unit c1 to amplify the AC drive signal of conversion channel CH1 and generate a target AC control signal for miniaturized haptic feedback unit c1.

[0167] The target AC control signal refers to the AC drive signal used to control the target miniaturized haptic feedback device to achieve the target haptic feedback intensity. Specifically, as mentioned earlier, since the signal current drive capability of the digital-to-analog converter is typically less than 10mA, while a current drive capability of around 60mA is usually required to effectively drive the miniaturized haptic feedback device to achieve haptic feedback, this current amplifier can convert the low-drive-capability AC drive signal into a high-drive-capability AC control signal, thereby achieving a good driving process for the target miniaturized controller.

[0168] Based on the above, in this application, the control module includes a controller, a digital-to-analog converter (DAC), and multiple current amplifiers. The controller controls the corresponding channels of the DAC to output AC drive signals based on actual control needs. These AC drive signals are then amplified by the current amplifiers. This allows for independent and real-time control of multiple miniaturized haptic feedback devices by reusing the multiple channels integrated in the DAC, significantly reducing the size and complexity of the control module. Furthermore, by amplifying the AC drive signals via current amplifiers, the signal strength of the AC control signal (with strong current drive capability) is well maintained while ensuring the miniaturization of the control module. This ensures that the miniaturized haptic feedback device achieves both miniaturization and good feedback strength.

[0169] In some embodiments, the input control information includes: identification data of the target miniaturized haptic feedback device, the target frequency value of the target miniaturized haptic feedback device, and the target current value.

[0170] The identification data of the target miniaturized haptic feedback device refers to the identification information characterizing the miniaturized haptic feedback device to be controlled. This identification data can be, for example, a fixed serial number or key number of the target miniaturized haptic feedback device, or it can be a code or identifier pre-set by the user or system. The embodiments of this disclosure are not limited to the specific content of the identification data of the target miniaturized haptic feedback device.

[0171] The target frequency value of the miniaturized haptic feedback device refers to the frequency required of the AC control signal to drive the miniaturized haptic feedback device to achieve the target haptic feedback intensity and frequency. For example, the target frequency value can be set to the resonant frequency of the miniaturized haptic feedback device, so that the miniaturized haptic feedback device produces a larger vibration amplitude at this frequency than at other frequencies, thereby enhancing its haptic feedback intensity. Alternatively, the target frequency value can be set or adjusted according to actual needs. The embodiments of this disclosure are not limited to the specific composition of the target frequency value.

[0172] The target current value refers to the current driving capability required by the AC control signal to enable the miniaturized haptic feedback device to have the target vibration amplitude. Specifically, the current value of the AC control signal is usually positively correlated with the amplitude of the miniaturized haptic feedback device during vibration.

[0173] Based on the above, in this application, by setting the input control information to include the identification data of the target miniaturized haptic feedback device, the target frequency value and the target current value of the target miniaturized haptic feedback device, it is possible to accurately locate the miniaturized haptic feedback device to be controlled based on the input control information, and determine the frequency and current value that the AC control signal to be output should have based on the target frequency value and the target current value, thereby achieving high-precision and high-reliability control of the miniaturized haptic feedback device.

[0174] In some embodiments, the process of controlling the corresponding conversion channel output AC drive signal in the digital-to-analog converter based on the input control information can be described in more detail, for example. Figure 12 An exemplary flowchart illustrating a process 400 for outputting an AC drive signal according to an embodiment of the present disclosure is shown.

[0175] Reference Figure 12 First, in step S401, based on the identification data of the target miniaturized haptic feedback device, the target conversion channel of the digital-to-analog converter corresponding to the target miniaturized haptic feedback device is determined.

[0176] The target conversion channel refers to the conversion channel in the digital-to-analog converter that corresponds to the target miniaturized haptic feedback device. For example, the conversion channel corresponding to the target miniaturized haptic feedback device can be determined based on a lookup table of conversion channels and miniaturized haptic feedback devices, or the target conversion channel can be determined in other ways. The embodiments of this disclosure are not limited to the specific method of determining the target conversion channel.

[0177] Subsequently, in step S402, based on the target frequency value of the target miniaturized haptic feedback device, the target flip state of the AC drive signal output by the target conversion channel is determined, and a flip state control signal is generated.

[0178] The target flip state refers to the signal flip state that the AC drive signal should have corresponding to the target period determined by the target frequency value. For example, if the target frequency value is 1000Hz, the corresponding target period is, for example, 1ms. If a square wave AC drive signal is generated, then in each 1ms period, the square wave AC drive signal is, for example, at a positive level for the first 0.5ms and at a negative level for the last 0.5ms. This allows us to determine the flip state of the AC drive signal (i.e., it needs to flip its level every 0.5ms).

[0179] The flip-state control signal is a signal used to indicate that the output level of the target conversion channel is flipped (reversed). This signal can be, for example, binary encoded or hexadecimal encoded, and the embodiments of this disclosure are not limited by the signal type and composition of the flip-state control signal.

[0180] Subsequently, in step S403, based on the target current value of the target miniaturized haptic feedback device, the target level value of the AC drive signal output by the target conversion channel is determined, and a target level control signal is generated.

[0181] It should be understood that, due to the inherent function of the digital-to-analog converter (DAC), its input and output are voltage values. Therefore, it is necessary to determine the corresponding target level value of the DAC based on the target current value driving the miniaturized haptic feedback device, and then generate the corresponding voltage control signal.

[0182] The target level value refers to the level value of the AC drive signal (voltage signal) output by the conversion channel in order to enable the AC control signal finally output by the control module to have a target current value so as to realize the feedback drive of the miniaturized haptic feedback device. It should be understood that the level value represents the absolute value of the voltage.

[0183] For example, the target level of the AC drive signal output by the conversion channel corresponding to the target current value can be determined based on the internal structure and component resistance values ​​of the control module. Alternatively, the target level value can be determined in other ways. The embodiments of this disclosure are not limited to the method of generating the target level value.

[0184] The target voltage control signal refers to the corresponding control signal that the controller should output to the input terminal of the digital-to-analog converter in order to make the AC drive signal output by the conversion channel have a target level value.

[0185] For example, the target voltage control signal corresponding to the target level value can be determined based on the ratio or correspondence table between the digital and analog quantities of the digital-to-analog converter. However, it should be understood that the embodiments of this disclosure are not limited thereto, and other methods can be used to generate the target voltage control signal.

[0186] It should be understood that the above steps S402 and S403 can be performed simultaneously, sequentially, or in reverse order. The embodiments of this disclosure are not limited to the specific execution order of steps S402 and S403.

[0187] After obtaining the flip-state control signal and the target voltage control signal, in step S404, based on the flip-state control signal and the target voltage control signal, the corresponding conversion channel in the digital-to-analog converter is controlled to output an AC drive signal. Specifically, based on the target voltage control signal, the corresponding conversion channel of the digital-to-analog converter is controlled to output a voltage signal with a target level value; based on the flip-state control signal, the voltage signal output by the corresponding conversion channel of the digital-to-analog converter is inverted to generate an AC drive signal.

[0188] It should be understood that the above is only an exemplary method for generating AC drive signals. The embodiments of this disclosure are not limited thereto; alternatively, based on the flip-state control signal and the target voltage control signal, the corresponding conversion channel in the digital-to-analog converter can be controlled to output AC drive signals in other ways as needed.

[0189] Based on the above, in this application, the target switching channel is determined by identifying the target miniaturized haptic feedback device, a target voltage control signal is generated based on the target current value, and a flip-state control signal is generated based on the target frequency value. This enables the precise determination of the switching channel corresponding to the target miniaturized haptic feedback device, and the corresponding voltage control signal and flip-state control signal of the switching channel are generated. This ensures that the digital-to-analog converter can generate an output signal that meets the frequency and current intensity requirements. Thus, through subsequent processing by the current amplifier, the target miniaturized haptic feedback device can be well controlled, thereby achieving the target haptic intensity.

[0190] In some embodiments, the aforementioned process S402 for generating the flip state control signal can be described in more detail. For example, firstly, based on the target frequency value and a preset time step, a target number of cycles corresponding to the target frequency value is determined. Then, the current number of cycles for the preset time step is obtained, and the current number of cycles is compared with the target number of cycles; based on the comparison result, a flip state control signal is generated.

[0191] The preset time step refers to the smallest unit of time used as a timestamp to characterize time changes. This preset time step can be set by the user or determined by the system itself. For example, it can be set to 10 μs or 50 μs. The embodiments of this disclosure are not limited to the size of this preset time step.

[0192] The target number of cycles corresponding to the target frequency value is determined, for example, by setting the preset time step to 10 μs. When the target frequency value is 1000 Hz, the corresponding target period is, for example, 1 ms. Then, the target number of cycles corresponding to the target period (target frequency value) can be calculated to be 100 cycles using the target period and the preset time step.

[0193] The current cycle count is the number of cycles from the initial moment after the preset time step is reset to zero to the current moment. For example, the preset time step can be reset to zero after each level flip.

[0194] For example, comparing the current loop count with the target loop count and generating a flip-over state control signal based on the comparison result could be achieved by generating the flip-over state control signal when the current loop count is equal to half of the target loop count. However, it should be understood that the above is only an exemplary approach. Embodiments of this disclosure are not limited to the specific method of generating the flip-over state control signal.

[0195] Based on the above, in this application, a preset time step is set, and the target number of cycles is calculated using this preset time step. A flip-state control signal is generated based on the comparison between the target number of cycles and the current number of cycles. This allows for the orderly flipping of the positive level output signal of the digital-to-analog converter (DAC), thus easily and conveniently controlling the AC drive signal output of the corresponding channel of the DAC. Therefore, while reusing the multiple channels of the DAC, the AC signal output of each channel of the DAC is well controlled, thereby achieving good control of the target miniaturized haptic feedback device.

[0196] In some embodiments, generating a flip state control signal based on the comparison result includes: generating a flip state control signal when the current loop count is equal to half of the target loop count, and clearing the current loop count of the preset step size to zero.

[0197] Specifically, for example, if the calculated target number of cycles is 100, it should be understood that the time for 100 cycles of the preset time step corresponds to the entire cycle of the output signal. Therefore, to generate an AC control signal, the output signal level should be flipped at half the cycle time, resulting in a positive level for half the cycle and a negative level for the other half, thus outputting an AC drive signal via the digital-to-analog converter's conversion channel. Thus, when the current cycle count is 50 (half the target cycle count), the controller will generate a flip state control signal. Responding to the received flip state control signal, the digital-to-analog converter will control the output signal to flip its level, converting the positive level to a negative level. Furthermore, after the flip, the current cycle count of the preset step is reset to zero, and the current cycle count is recalculated, ensuring that the previous flip does not affect subsequent flips. This effectively guarantees that the flip is strictly performed at half the cycle time, achieving a stable sinusoidal drive signal output.

[0198] In some embodiments, step S404 of controlling the corresponding conversion channel of the digital-to-analog converter to output an AC drive signal based on the flip state control signal and the target voltage control signal includes: controlling the corresponding conversion channel of the digital-to-analog converter to output a voltage signal with a target level value based on the target voltage control signal; and inverting the voltage signal output by the corresponding conversion channel of the digital-to-analog converter based on the flip state control signal to generate an AC drive signal.

[0199] The term "reverse" refers to flipping the direction of the voltage without changing its magnitude. For example, if the current voltage is 5V, the reversed voltage will be -5V.

[0200] Based on the above, in this application, for each target miniaturized haptic feedback device, the corresponding conversion channel of the digital-to-analog converter corresponding to the target miniaturized haptic feedback device is controlled to output the target level value by controlling the corresponding conversion channel of the digital-to-analog converter based on the target voltage control signal, and the voltage signal is reversed in an orderly manner by the flip state control signal, so as to independently, flexibly and synchronously control the output of AC drive signals with different frequencies and amplitudes of the multiple conversion channels of the digital-to-analog converter, which is beneficial to realize independent and flexible control of the haptic feedback of each target miniaturized haptic feedback device.

[0201] In some embodiments, the tactile actuation layer further includes multiple pairs of flexible electrodes, wherein each pair of flexible electrodes corresponds one-to-one with a plurality of miniaturized tactile feedback devices, and one end of the flexible electrode is electrically connected to the corresponding miniaturized tactile feedback device, and the other end is electrically connected to a control module corresponding to the miniaturized tactile feedback device, so as to provide the miniaturized tactile feedback device with an AC control signal from the corresponding control module. Figure 13A schematic diagram of a flexible electrode according to an embodiment of the present disclosure is further shown.

[0202] Reference Figure 13 The flexible electrode can be, for example, a stretchable copper electrode, or it can be made of other flexible materials as needed. Figure 13 The figure shows the copper electrode being directly coupled to, for example, a miniaturized controller, and also shows a copper wire connected to the copper electrode for electrical connection between the stretchable copper electrode and the control module (not shown in the figure).

[0203] In this application, flexibility is considered to be a very important reference standard for miniaturized haptic feedback devices (such as wearable electronic skin). By setting flexible electrodes, the flexibility characteristics of the miniaturized haptic feedback device can be enhanced, thereby enabling the miniaturized haptic feedback device to stretch or bend in accordance with the movement of the corresponding part of the human body, so that it can still provide good haptic feedback during the movement of the target part or the performance of a specific operation, thus improving the reliability of haptic feedback.

[0204] The miniaturized haptic feedback device will now be described in conjunction with specific application scenarios. For example, when using the miniaturized haptic feedback device for Braille reading, it may employ the aforementioned miniaturized haptic feedback device, which integrates, for example, nine of the aforementioned miniaturized haptic feedback units (ring-shaped), arranged in a three-row, three-column array. The control module may include, for example, a controller, a digital-to-analog converter (with nine conversion channels corresponding to the nine miniaturized haptic feedback units), and nine current amplifiers. The controller controls the digital-to-analog converter to output AC drive signals via the process shown in method 400. Figure 14 A schematic diagram of the AC control signal output by the control module is shown, wherein the output AC control signal is a square wave AC signal with a frequency of 200Hz and a current value of + / -60mA. Figure 15 A schematic diagram of the flexibility characteristics of a miniaturized haptic feedback device according to an embodiment of the present disclosure is shown, wherein experiments were conducted on possible stretching, bending and torsion according to actual application scenarios, and corresponding finite element mechanical analysis was performed.

[0205] like Figure 15 As shown, by providing an interface layer and substrate made of flexible materials, the miniaturized haptic feedback device can be made highly flexible. In this embodiment, the flexible interface can, for example, adhere to a finger and is not easily detached, meeting the needs of everyday wearability.

[0206] Figure 16A schematic diagram illustrating the application of a miniaturized haptic feedback device according to an embodiment of the present disclosure in the process of realizing Braille reading is shown. (Refer to...) Figure 16 The specific process of Braille reading is as follows: First, the user outputs regular text to the controller. The controller can convert the currently input text into Braille and activate one or more of the nine miniaturized haptic feedback devices that correspond to the Braille text to output haptic feedback. Thus, when the user places their finger on the miniaturized haptic feedback device or dynamically touches the miniaturized haptic feedback device with their finger, effective Braille reading can be achieved.

[0207] All Braille letters can be fed back to the tester or blind user via vibrational tactile feedback through a nine-actuator array. Furthermore, this miniaturized tactile feedback device can be made into a finger sleeve for everyday wear, enabling a wearable flexible Braille reader based on active tactile stimulation.

[0208] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in a common dictionary shall be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0209] The foregoing description is illustrative of the invention and should not be construed as limiting it. Although several exemplary embodiments of the invention have been described, those skilled in the art will readily understand that many modifications can be made to the exemplary embodiments without departing from the novel teachings and advantages of the invention. Therefore, all such modifications are intended to be included within the scope of the invention as defined in the claims. It should be understood that the foregoing description is illustrative of the invention and should not be construed as limiting it to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The invention is defined by the claims and their equivalents.

Claims

1. A haptic feedback device, comprising: a feedback component, the feedback component comprising: an aperture; a feedback arm extending towards an inside of the aperture; a support component coupled to the feedback component; an electric field generating component disposed on the support component, configured to receive an alternating current control signal, and generate an alternating electric field at the feedback arm based on the alternating current control signal; wherein the feedback arm is configured to reciprocate in response to the alternating electric field to provide haptic feedback; and wherein a maximum length dimension of the haptic feedback device is less than or equal to 15 mm; a central angle of the feedback arm is in a range of 0° to 80°; a thickness of the feedback component is in a range of 10 μm to 800 μm; a signal frequency of the alternating current control signal is in a range of 100 Hz to 300 Hz; and the central angle of the feedback arm is an included angle generated by two sides of the feedback arm from a joint point of the feedback arm and the feedback component respectively and a center point of a vibrating part of the feedback arm reciprocating in response to the alternating electric field.

2. The haptic feedback device of claim 1, wherein, The maximum length dimension of the haptic feedback device is in a range of 3 mm to 10 mm.

3. The haptic feedback device of claim 1, wherein, The maximum length dimension of the haptic feedback device is 5 mm.

4. The haptic feedback device of claim 1, wherein, The thickness of the feedback component is in a range of 20 μm to 100 μm, and a thickness of the haptic feedback device is in a range of 1 mm to 2 mm.

5. The haptic feedback device of claim 1, wherein, The thickness of the feedback component is 40 μm, and the thickness of the haptic feedback device is 1.45 mm.

6. The haptic feedback device of claim 1, wherein, The feedback component is a thin film material. 7.The haptic feedback device of claim 1, wherein a resonance frequency of the haptic feedback device is in a range of 100 Hz to 300 Hz, and a signal frequency of the alternating current control signal is the same as the resonance frequency of the haptic feedback device. 8.The haptic feedback device of claim 1, wherein the feedback arm is provided with a magnetic vibrating component engaging portion, and a magnetic vibrating component is fixed in the magnetic vibrating component engaging portion of the feedback arm; the support component is provided with an extension cavity corresponding to the aperture; and wherein the magnetic vibrating component is configured to reciprocate in at least a portion of the extension cavity in response to the alternating electric field to provide haptic feedback to a user.

9. The haptic feedback device of claim 8, wherein, A center point of the magnetic vibrating component coincides with a center point of the magnetic vibrating component engaging portion, the center point of the magnetic vibrating component engaging portion coincides with a center point of the feedback component, a central angle of the feedback arm is 60°, and a signal frequency of the alternating current control signal is 200 Hz.

10. The haptic feedback device of claim 1, wherein, The haptic feedback device is a circular ring-shaped haptic feedback device, and wherein the feedback component is a circular ring-shaped thin film, and the feedback arm is a thin film arm extending towards a hollow region of the circular ring-shaped thin film, one side of the thin film arm is operable to contact a target object, and the other side of the thin film arm is provided with a magnetic vibrating component engaging portion, and a magnetic vibrating component is fixed in the magnetic vibrating component engaging portion of the feedback arm; the support component is a cylindrical support component, and an inner wall of the cylindrical support component defines an extension cavity. The electric field generating component is a circular ring-shaped electric field generating component, and is arranged at an end of the cylindrical support component away from the circular ring-shaped film; And wherein the maximum length dimension of the haptic feedback device is an outer diameter of the circular ring-shaped haptic feedback device.

11. The haptic feedback device of claim 10, wherein, An outer diameter of the circular ring-shaped electric field generating component, an outer diameter of the cylindrical support component, and an outer diameter of the circular ring-shaped film are the same; A first circular ring width of the circular ring-shaped film is the same as a second circular ring width of the cylindrical support component; A third circular ring width of the circular ring-shaped electric field generating component is greater than or equal to the first circular ring width.

12. A haptic feedback device, comprising: a haptic execution layer, comprising: a substrate made of a flexible material; a haptic feedback array comprising a plurality of haptic feedback devices as claimed in any one of the preceding claims 1-11, the haptic feedback array being arranged within the substrate to provide haptic feedback; a control module electrically connected to the plurality of haptic feedback devices in the haptic feedback array to provide alternating current control signals to at least a portion of the plurality of haptic feedback devices; and an interface layer made of a flexible material and arranged on and covering the haptic execution layer.

13. Haptic feedback device according to claim 12, wherein, The control module comprises: a controller; a digital-to-analog converter connected to the controller, and wherein the digital-to-analog converter comprises a plurality of conversion channels corresponding one-to-one to the plurality of haptic feedback devices; wherein the controller is configured to receive input control information of a user, and based on the input control information, control a corresponding conversion channel of the digital-to-analog converter to output an alternating current driving signal; a plurality of current amplifiers corresponding to the plurality of conversion channels of the digital-to-analog converter and connected to the corresponding conversion channels of the digital-to-analog converter, each of the plurality of current amplifiers being configured to amplify the alternating current driving signal of the corresponding conversion channel to generate a target alternating current control signal.

14. Haptic feedback device according to claim 13, wherein, The input control information comprises: identification data of a target haptic feedback device, a target frequency value and a target current value of the target haptic feedback device.

15. Haptic feedback device according to claim 14, wherein, The control of the corresponding conversion channel of the digital-to-analog converter to output the alternating current driving signal based on the input control information comprises: determining a target conversion channel of the digital-to-analog converter corresponding to the target haptic feedback device based on the identification data of the target haptic feedback device; determining a target flip state of the alternating current driving signal output by the target conversion channel based on the target frequency value of the target haptic feedback device, and generating a flip state control signal; determining a target voltage value of the alternating current driving signal output by the target conversion channel based on the target current value of the target haptic feedback device, and generating a target voltage control signal; controlling the corresponding conversion channel of the digital-to-analog converter to output the alternating current driving signal based on the flip state control signal and the target voltage control signal.

16. Haptic feedback device according to claim 15, wherein, The target flip state of the AC driving signal output by the target conversion channel is determined based on a target frequency value of the target haptic feedback device, and generating a flip state control signal comprises: A target cycle number of a preset time step corresponding to the target frequency value is determined based on the target frequency value and the preset time step; A current cycle number of the preset time step is obtained, and the current cycle number is compared with the target cycle number, and a flip state control signal is generated based on a comparison result.

17. Haptic feedback device according to claim 16, wherein, Generating a flip state control signal based on a comparison result comprises: When the current cycle number is equal to half of the target cycle number, a flip state control signal is generated, and the current cycle number of the preset time step is cleared.

18. The haptic feedback device of claim 15, wherein, Controlling the corresponding conversion channel of the digital-to-analog converter to output an AC driving signal based on the flip state control signal and a target voltage control signal comprises: Controlling the corresponding conversion channel of the digital-to-analog converter to output a voltage signal with a target level value based on the target voltage control signal; Reversing the voltage signal output by the corresponding conversion channel of the digital-to-analog converter based on the flip state control signal to generate an AC driving signal.

19. The haptic feedback device of claim 12, further comprising a plurality of pairs of flexible electrodes, and wherein the plurality of pairs of flexible electrodes correspond one-to-one to the plurality of haptic feedback devices and one end of the flexible electrodes is electrically connected to a corresponding haptic feedback device and the other end of the flexible electrodes is electrically connected to a corresponding control module to provide an AC electrical control signal from the corresponding control module to the haptic feedback device.

Images