Methods for generating tactile sensation, devices for reproducing tactile sensation, and computer storage media

Abstract

A tactile sensation generation method, a tactile sensation reproduction device, and a computer storage medium are disclosed. The tactile sensation reproduction device includes a display module, a tactile sensation reproduction module, and a control module. The tactile sensation generation method includes: acquiring the location of a virtual functional area touched by a user, detected by the display module; when the location of the virtual functional area touched by the user is an edge of the virtual functional area, outputting a first driving signal to the tactile sensation reproduction module through the control module, thereby causing the tactile sensation reproduction module to generate boundary tactile sensation; when the location of the virtual functional area touched by the user is a middle part of the virtual functional area, outputting a second driving signal to the tactile sensation reproduction module through the control module, thereby causing the tactile sensation reproduction module to generate tactile feedback.

Description

Technical Field

[0001] This disclosure relates to, but is not limited to, the field of touch technology, and particularly to a tactile sensation generation method, a tactile sensation reproduction device, and a computer storage medium. Background Technology

[0002] Currently, most virtual haptic buttons provide feedback to users by controlling the presence or absence of excitation signals. When a finger touches the button area of ​​the interactive interface, the actuator activates, causing the substrate to vibrate; when the finger leaves the button area, the actuation stops, and the haptic feedback disappears. The tactile sensation of the button comes from whether there is an excitation signal driving the actuator. However, human tactile perception is extremely complex, and the single tactile feedback of the presence or absence of vibration cannot realistically reproduce the sense of boundary experienced when touching the edge of a physical button in reality. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0004] This disclosure provides a tactile sensation generation method for a tactile sensation reproduction device. The tactile sensation reproduction device includes a display module, a tactile sensation reproduction module, and a control module. The tactile sensation generation method includes:

[0005] The display module detects the location of the virtual function area touched by the user.

[0006] When the user touches the edge of the virtual functional area, the control module outputs a first driving signal to the haptic reproduction module, thereby causing the haptic reproduction module to generate boundary touch.

[0007] When the user touches the middle part of the virtual functional area, the control module outputs a second driving signal to the tactile reproduction module, thereby causing the tactile reproduction module to generate tactile feedback.

[0008] In some exemplary embodiments, the first driving signal includes a first signal, a second signal, and a third signal; the driving cycle corresponding to the first driving signal is divided into a first time period, a second time period, and a third time period; the tactile reproduction module is configured to acquire the first signal during the first time period to achieve a stable vibration state; the tactile reproduction module is configured to acquire the second signal and vibrate according to the type and intensity of the boundary tactile sensation during the second time period; the tactile reproduction module is configured to acquire the third signal and stop vibrating during the third time period, wherein the type and intensity of the boundary tactile sensation are determined according to the frequency and voltage amplitude of the first signal and the frequency and voltage amplitude of the second signal.

[0009] In some exemplary embodiments, the length of the first time period is less than the length of the second time period, and the length of the third time period is less than the length of the second time period.

[0010] In some exemplary embodiments, the frequency of the second signal is less than the frequency of the first signal.

[0011] In some exemplary embodiments, the intensity of the boundary tactile sensation generated by the tactile reproduction module is proportional to the voltage amplitude of the second signal.

[0012] In some exemplary embodiments, the voltage amplitude of the first signal is greater than or equal to the voltage amplitude of the second signal.

[0013] In some exemplary embodiments, the maximum voltage amplitude of the second signal is between 70% and 100% of the maximum voltage amplitude of the first signal.

[0014] In some exemplary embodiments, the tactile reproduction module includes an actuator and a touch substrate, the actuator being disposed on the touch substrate, and the tactile reproduction module including multiple resonant frequencies, with different resonant frequencies corresponding to different vibration types.

[0015] In some exemplary embodiments, the voltage amplitude of the first signal is less than or equal to the maximum drive voltage amplitude of the actuator.

[0016] In some exemplary embodiments, the frequency of the first signal is a first frequency, which is the resonant frequency of the tactile reproduction module, or the difference between the first frequency and the resonant frequency of the tactile reproduction module is within a preset first difference range.

[0017] In some exemplary embodiments, the first duration is n1 first cycles, where the first cycle = 1 / the first frequency, n1 > 0, and the magnitude of n1 is determined based on the motion acceleration measured by the tactile reproduction module.

[0018] In some exemplary embodiments, the frequency of the second signal is a second frequency, or the second signal is an amplitude-modulated wave with the second frequency as the carrier frequency; the second frequency is the resonant frequency of the tactile reproduction module, or the difference between the second frequency and the resonant frequency of the tactile reproduction module is within a preset second difference range.

[0019] In some exemplary embodiments, the second duration is n2 second cycles, the second cycle = 1 / the second frequency, n2 > 0, and the magnitude of n2 is determined according to the frequency of the second signal and the type of boundary tactile sensation generated by the tactile reproduction module.

[0020] In some exemplary embodiments, the frequency of the third signal is a third frequency, the third duration is n3 third cycles, the third cycle = 1 / the third frequency, the third frequency is the same as the second frequency, and n3 is between 1 and 3.

[0021] In some exemplary embodiments, the phase of the second signal differs from the phase of the third signal by 180°.

[0022] In some exemplary embodiments, the waveform type of the first signal includes a square wave, a sine wave, and a triangle wave.

[0023] In some exemplary embodiments, the waveform type of the second signal includes square wave, sine wave, triangle wave and amplitude-modulated wave.

[0024] In some exemplary embodiments, the waveform type of the third signal includes square wave, sine wave, and triangle wave.

[0025] This disclosure also provides a tactile reproduction device, including a display module, a tactile reproduction module, and a control module, wherein: the display module is configured to detect a portion of a virtual functional area touched by a user; the control module is configured to acquire the portion of the virtual functional area touched by the user detected by the display module, and when the portion of the virtual functional area touched by the user is an edge of the virtual functional area, output a first driving signal to the tactile reproduction module, and when the portion of the virtual functional area touched by the user is a middle portion of the virtual functional area, output a second driving signal to the tactile reproduction module; the tactile reproduction module is configured to receive the first driving signal output by the control module to generate boundary tactile sensation; or, receive the second driving signal output by the control module to generate tactile feedback.

[0026] In some exemplary embodiments, the tactile reproduction module includes an actuator and a touch substrate, the actuator being disposed on the touch substrate, and the tactile reproduction module including multiple resonant frequencies, with different resonant frequencies corresponding to different vibration types.

[0027] In some exemplary embodiments, the actuator includes a piezoelectric actuator, a linear motor actuator, an eccentric rotor actuator, and an electrostatic actuator.

[0028] This disclosure also provides a computer storage medium storing computer-executable instructions for performing the steps of the tactile generation method as described in any of the preceding claims.

[0029] After reading and understanding the accompanying diagrams and detailed descriptions, other aspects can be understood. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the technical solutions of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure. The shapes and sizes of the components in the drawings do not reflect actual proportions and are only intended to illustrate the content of this disclosure.

[0031] Figure 1 A flowchart illustrating a tactile sensation generation method provided as an exemplary embodiment of this disclosure;

[0032] Figure 2 Schematic diagrams of three virtual functional areas provided for exemplary embodiments of this disclosure;

[0033] Figure 3a A schematic diagram of the structure of a tactile reproduction module provided for an exemplary embodiment of this disclosure;

[0034] Figure 3b for Figure 3a The diagram shows an operational scenario of the tactile reproduction module.

[0035] Figure 3c and Figure 3d Schematic diagrams of two vibration scenarios of the touch substrate provided for exemplary embodiments of this disclosure;

[0036] Figure 4a A schematic diagram of a driving signal provided for an exemplary embodiment of this disclosure;

[0037] Figure 4b A schematic diagram of another driving signal provided for an exemplary embodiment of this disclosure;

[0038] Figure 5a A schematic diagram of yet another driving signal provided for an exemplary embodiment of this disclosure;

[0039] Figure 5b A schematic diagram of yet another driving signal provided for an exemplary embodiment of this disclosure;

[0040] Figure 6 A schematic diagram of the structure of a tactile reproduction device provided for an exemplary embodiment of this disclosure;

[0041] Figure 7 This is a schematic diagram of the structure of a tactile sensation generation device provided for an exemplary embodiment of the present disclosure. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be arbitrarily combined with each other.

[0043] Unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" indicate that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, but do not exclude other elements or objects.

[0044] Currently, when a finger touches a virtual button on the surface of a tactilely reproduced product interface, the virtual button mostly provides feedback to the user by controlling the presence or absence of an excitation signal. When a finger touches the button area of ​​the interface, the actuator works, causing the substrate to vibrate; when the finger leaves the button area, the drive stops, and the tactile feedback disappears. The tactile sensation of the button comes from whether there is an excitation signal driving the actuator. However, human tactile perception is extremely complex, and simply relying on the presence or absence of vibration as a single tactile feedback cannot deeply reproduce the feel of a real physical button. Physical buttons have edges, and the tactile sensation at the edge and center of the button is different when a finger touches it. To achieve a deep reproduction of the button, it is necessary to generate different tactile stimuli when the finger touches it, so that the finger can feel both the edge and the main body of the button.

[0045] like Figure 1 As shown, this disclosure provides a tactile sensation generation method for a tactile sensation reproduction device. The tactile sensation reproduction device includes a display module, a tactile sensation reproduction module, and a control module. The tactile sensation generation method includes the following steps:

[0046] Step 101: Obtain the location of the virtual function area touched by the user, as detected by the display module;

[0047] Step 102: When the user touches the edge of the virtual functional area, the control module outputs a first driving signal to the haptic reproduction module, thereby causing the haptic reproduction module to generate boundary touch.

[0048] Step 103: When the user touches the middle part of the virtual functional area, the control module outputs a second driving signal to the tactile reproduction module, thereby causing the tactile reproduction module to generate tactile feedback.

[0049] The tactile feedback generation method of this disclosure combines the boundary tactile feedback of the virtual functional area with the main tactile feedback of the actual functional area. When the user touches the edge of the virtual functional area, the control module outputs a first driving signal to the tactile feedback reproduction module. When the user touches the middle of the virtual functional area, the control module outputs a second driving signal to the tactile feedback reproduction module. This method more realistically restores the tactile feedback of the actual functional area.

[0050] In some exemplary embodiments, the first driving signal includes a first signal, a second signal, and a third signal, and the driving cycle corresponding to the first driving signal is divided into a first time period, a second time period, and a third time period.

[0051] The tactile reproduction module is configured to acquire a first signal in a first time period to achieve a stable vibration state; the tactile reproduction module is configured to acquire a second signal and vibrate in a second time period based on the type and intensity of the boundary tactile sensation; the tactile reproduction module is configured to acquire a third signal and stop vibrating in a third time period, wherein the type and intensity of the boundary tactile sensation are determined based on the frequency and voltage amplitude of the first signal and the frequency and voltage amplitude of the second signal.

[0052] The tactile sensation generation method of this disclosure divides a first driving signal into a first signal, a second signal, and a third signal. Since there is a difference between the frequency and voltage amplitude of the first signal and the frequency and voltage amplitude of the second signal, the tactile sensation reproduction module generates boundary tactile sensation by switching between the first signal and the second signal. This can then be combined with the main tactile sensation of the virtual functional area to more realistically reproduce the tactile feedback of the actual functional area.

[0053] In some exemplary embodiments, such as Figure 2 As shown, the types of virtual function areas can include buttons, bar icons, indicator keys, etc.

[0054] In some exemplary embodiments, such as Figure 3a As shown, the tactile reproduction module includes an actuator 1032 and a touch substrate 1031. The actuator 1032 is disposed on the touch substrate 1031 (the actuator 1032 and the touch display substrate 1031 form a vibration substrate). The tactile reproduction module includes multiple resonant frequencies, and different resonant frequencies correspond to different vibration types.

[0055] like Figure 3bAs shown, when a finger touches the touch substrate 1031 of the haptic reproduction product, the actuator 1032 causes the touch substrate 1031 to vibrate, generating an acceleration 'a' that varies with time 't'. Assuming the mass of the touch substrate 1031 is 'm', then according to Newton's second law, the normal force exerted by the touch substrate 1031 on the finger is F = ma. When the finger touches the edge of the virtual button, edge vibration feedback is needed. Combining the above mechanical analysis, if the vibration of the touch substrate 1031 when the finger touches the edge of the virtual function area is controlled, that is, if the acceleration 'a' of the touch substrate 1031 is controlled, the magnitude of the normal force F on the finger can be affected by the vibration of the touch substrate 1031 at different accelerations 'a' when the user touches the edge of the button, thus generating corresponding edge tactile feedback and enriching the user's experience of the virtual function area.

[0056] In some exemplary embodiments, the length of the first time period is shorter than the length of the second time period, which is to enable the actuator to quickly reach the vibration amplitude required for operation in the first time period, and the length of the third time period is shorter than the length of the second time period, which is to enable the actuator to quickly stop vibrating in the third time period.

[0057] In order to achieve the boundary touch sensation of the virtual functional area, the touch sensation generation method of this embodiment generates the following three driving signals: (1) First signal: used to quickly drive the actuator 1032 to the vibration amplitude required for operation in the first time period; (2) Second signal: used to generate different normal forces on the touch substrate 1031 in the second time period by designing different driving waveforms; (3) Third signal: used to quickly stop the vibration of the actuator 1032 in the third time period to prevent the ringing phenomenon of the actuator 1032, so as to generate a stronger boundary sensation.

[0058] In some exemplary embodiments, the type and intensity of the boundary tactile sensation generated by the tactile reproduction module are determined based on the frequency and voltage amplitude of the first signal and the frequency and voltage amplitude of the second signal.

[0059] In some exemplary embodiments, the frequency of the second signal is less than the frequency of the first signal.

[0060] For example, the first signal can be a high-frequency signal (e.g., the frequency of the first signal can be 23.7KHz), and the second signal can be a low-frequency signal (e.g., the frequency of the second signal can be 200Hz).

[0061] In some exemplary embodiments, the intensity of the boundary tactile sensation generated by the tactile reproduction module is proportional to the voltage amplitude of the second signal.

[0062] In some exemplary embodiments, the larger the voltage amplitude of the second signal, the stronger the boundary touch sensation generated by the tactile reproduction module; the smaller the voltage amplitude of the second signal, the weaker the boundary touch sensation generated by the tactile reproduction module.

[0063] Taking an actuator as an example, the excitation frequency is in the range of 10Hz to 1kHz. Because the resolution of human tactile perception is fixed, as the frequency increases, the number of waveform cycles that generate boundary tactile sensation also increases. Different frequencies f, different numbers of cycles n, and different driving voltages V correspond to different amplitudes of the substrate and different normal forces applied to the finger. Different frequencies and different numbers of cycles mainly affect the type of boundary tactile sensation, such as sharp boundaries, steps, and gentle slopes, while different driving voltages mainly affect the intensity of the boundary tactile sensation.

[0064] In some exemplary embodiments, the frequency of the second signal is primarily selected based on the resonant frequency of the tactile reproduction module comprised of the actuator and the touch substrate. Because the tactile reproduction module exhibits different modes at different resonant frequencies, different vibration types are generated. For example, when the frequency of the second signal is approximately 200Hz, the vibration of the touch substrate is as follows: Figure 3c As shown, at this time, the touch substrate resonates along its short side; when the frequency of the second signal is around 500Hz, the vibration of the touch substrate is as follows. Figure 3d As shown, at this time, the touch substrate resonates along its long side.

[0065] In some exemplary embodiments, the voltage amplitude V1 of the first signal is greater than or equal to the voltage amplitude V2 of the second signal.

[0066] In some exemplary embodiments, the maximum voltage amplitude of the second signal is between 70% and 100% of the maximum voltage amplitude of the first signal.

[0067] In some exemplary embodiments, the voltage amplitude V1 of the first signal is less than or equal to the maximum drive voltage amplitude of the actuator.

[0068] In this embodiment, the driving process of the first signal is to quickly bring the actuator into normal operating condition. This is because the actuator requires a certain amount of time to start oscillation; typically, low-frequency vibrators, such as linear motors, have a start-up time of tens of milliseconds, while piezoelectric ceramic actuators typically have a time of several milliseconds. The driving process of the first signal applies a voltage greater than that required for normal operation to the actuator, causing it to quickly reach the amplitude of its normal operating state; therefore, this can be referred to as an overdrive process.

[0069] In this embodiment of the disclosure, the voltage amplitude V2 is generally related to the characteristics of the actuator. In some exemplary embodiments, the voltage amplitude V2 may be 80% of the maximum peak voltage of the actuator.

[0070] In some exemplary embodiments, the frequency of the first signal is a first frequency f1, the first frequency f1 is the resonant frequency of the tactile reproduction module, or the difference between the first frequency f1 and the resonant frequency of the tactile reproduction module is within a preset first difference range.

[0071] In some exemplary embodiments, when the first frequency f1 is less than 1000Hz, the preset first difference range can be ±50Hz; when the first frequency f1 is between 1000Hz and 20KHz, the preset first difference range can be ±200Hz; and when the first frequency f1 is greater than 20KHz, the preset first difference range can be ±500Hz.

[0072] In this embodiment, the preset first difference range can be determined based on the actual resonant frequency and the vibration characteristics of the tactile reproduction module. For example, when the resonant frequency of the tactile reproduction module is the first resonant frequency (exemplary, 200Hz), the preset first difference range can be ±50Hz; when the resonant frequency of the tactile reproduction module is the second resonant frequency (exemplary, 1200Hz), the preset first difference range can be ±200Hz. This disclosure does not impose any limitations on this.

[0073] In some exemplary embodiments, the first duration is n1 first cycles, where the first cycle = 1 / first frequency, n1 > 0, and the magnitude of n1 is determined based on the motion acceleration measured on the tactile reproduction module.

[0074] In this embodiment, the first frequency f1 is generally derived from a resonant frequency of the tactile reproduction module. The tactile reproduction module may have more than one resonant frequency; different first frequencies can be selected depending on the desired tactile sensation. For example, to generate a sharper boundary tactile sensation and to achieve a relatively short stimulation time for the fingers, a first frequency f1 in the kilohertz range can be selected, with a voltage amplitude of V1. Applying n1 cycles of this resonant frequency allows the actuator to quickly reach the desired amplitude along with the touch-sensitive substrate. n1 refers to the required number of cycles of the f1 frequency. The selection of this value is related to the system characteristics of the actuator and the touch-sensitive substrate and can be determined based on the measured vibration acceleration of the tactile reproduction module. The voltage amplitude V1 of the first signal is related to the characteristics of the actuator and generally will not exceed the maximum driving voltage of the actuator, but it is usually greater than the voltage amplitude V2 of the second signal.

[0075] In some exemplary embodiments, the frequency of the second signal is a second frequency f2, or the second signal is an amplitude-modulated wave with the second frequency f2 as the carrier frequency;

[0076] The second frequency f2 is the resonant frequency of the vibrating substrate, or the difference between the second frequency f2 and the resonant frequency of the vibrating substrate is within a preset second difference range.

[0077] In some exemplary embodiments, when the second frequency f2 is less than 1000Hz, the preset second difference range can be ±50Hz; when the second frequency f2 is between 1000Hz and 20KHz, the preset second difference range can be ±100Hz; and when the second frequency f2 is greater than 20KHz, the preset second difference range can be ±500Hz.

[0078] In this embodiment, the selection of the second frequency f2 is also based on the resonant frequency of the tactile reproduction module composed of the actuator and the touch substrate. Because the tactile reproduction module has different modes under different resonant frequencies, different vibration types will be generated.

[0079] In this embodiment, the preset second difference range can be determined based on the actual resonant frequency and the vibration characteristics of the tactile reproduction module. For example, when the resonant frequency of the tactile reproduction module is the second resonant frequency (exemplary, 200Hz), the preset second difference range can be ±50Hz; when the resonant frequency of the tactile reproduction module is the second resonant frequency (exemplary, 1200Hz), the preset second difference range can be ±100Hz. This disclosure does not impose any limitations on this.

[0080] In this embodiment of the disclosure, the second signal can be a fixed frequency signal or an amplitude-modulated wave signal with an envelope of other frequencies outside the fixed frequency.

[0081] In some exemplary embodiments, the second duration is n2 second cycles, where the second cycle = 1 / second frequency, n2 > 0, and the magnitude of n2 is determined based on the frequency of the second signal and the type of boundary tactile sensation generated by the tactile reproduction module.

[0082] In this embodiment, the selection of the number n2 of the second cycle is related to the current second frequency f2 and the desired tactile sensation type. The value of n2 affects the finger sensory corpuscle; intuitively, n2 affects whether a single stimulus or multiple stimuli are received. For example, assuming f2 = 100Hz, when the value of n2 is 1, the user experiences a single stimulus; when the value of n2 is 2, the user experiences two distinguishable stimuli. As the second frequency f2 increases, the value of n2 that allows for the perception of two stimuli will increase.

[0083] In some exemplary embodiments, the frequency of the third signal is the third frequency f3, the third duration is n3 third cycles, the third cycle = 1 / third frequency, and n3 > 0;

[0084] The third frequency f3 is the same as the second frequency f2, and n3 is a natural number between 1 and 3.

[0085] In this embodiment, the value of n3 is related to the third frequency f3. When the third frequency f3 is different, the number of periods of n3 required is also different. In practical applications, n3 is determined by the following method: based on the motion acceleration and time curve measured by the tactile reproduction module.

[0086] In this embodiment, the third signal is primarily used to quickly brake the actuator to a non-vibration state. Because the actuator will naturally stop vibrating after the applied voltage ceases, typically taking tens of milliseconds, this residual sound negatively impacts tactile sensation. Applying a reverse voltage helps the actuator stop vibrating quickly.

[0087] The selection of the third frequency f3, voltage amplitude V3, and number of third cycles n3 used in the third signal are all related to the actuator characteristics and the desired tactile sensation. The third frequency f3 can be the same as the second frequency f2 used in the second signal, and n3 can be optimized and corrected based on the measured acceleration-time curve.

[0088] In some exemplary embodiments, the voltage amplitude V3 of the third signal may be lower or higher than the voltage amplitude V2 of the second signal.

[0089] In some exemplary embodiments, the phase of the second signal differs from the phase of the third signal by 180°.

[0090] In some exemplary embodiments, the waveform type of the first signal includes a square wave, a sine wave, and a triangle wave.

[0091] In some exemplary embodiments, the waveform type of the second signal includes square wave, sine wave, triangle wave and amplitude-modulated wave.

[0092] In some exemplary embodiments, the waveform type of the third signal includes square wave, sine wave, and triangle wave.

[0093] In this embodiment, the waveform types of the first signal and the second signal can be the same or different; the waveform types of the second signal and the third signal can be the same or different; the waveform types of the first signal and the third signal can be the same or different. For example, as shown... Figure 4a As shown, the waveforms of the first, second, and third signals are all sine waves. Figure 4b As shown, the waveforms of the first, second, and third signals are all square waves.

[0094] In this embodiment, the boundary perception effect of a square wave is better than that of a sine wave. This is because, within the same time frame, the work done by the actuator driving the vibrating substrate due to the vibration generated by the square wave is greater than the work done by the actuator driving the vibrating substrate due to the vibration generated by the sine wave. However, a square wave is composed of many sinusoidal harmonics, which can generate some unpleasant noise during driving.

[0095] In the human sensory system, touch is not just a bandwidth. The skin can sense mechanical vibrations up to 10kHz, but its ability to distinguish signals drops below 320Hz. Generally, the human finger can sense compressive stress in the 10Hz frequency band, skin motion stimulation in the 30Hz band, vibration stimulation in the 50-400Hz band, and skin stretching at lower frequencies. Therefore, different frequencies and stimulation durations will produce different tactile sensations. Experiments have shown that human skin perceives vibration stimulation at frequencies between 0.4 and 1000Hz best. When the virtual functional area operates at the resonant frequency of the actuator used (700-800Hz), the tactile sensation is sharpest with strong edge sensitivity. At other frequencies between 0.4Hz and 1kHz, the edge sensitivity increases as the frequency approaches its resonant frequency and decreases as it moves away, becoming softer at the edges.

[0096] For example, such as Figure 4b As shown, at a driving voltage of 40Vpp and a frequency of 700Hz, a square wave driving waveform with about 40 cycles will produce a sharp edge feel.

[0097] like Figure 5a As shown, at a driving voltage of 40Vpp and a frequency of 500Hz, a square wave driving waveform with 35 cycles can produce a relatively soft, gentle slope boundary feel.

[0098] like Figure 5b As shown, at a driving voltage of 40Vpp and a frequency of 100Hz, a 12-cycle square wave driving waveform can produce a step-like boundary tactile sensation.

[0099] Similarly, the tactile feedback can be optimized by modulating the voltage Vpp based on the existing boundary tactile feedback.

[0100] like Figure 6 As shown in the figure, this disclosure also provides a tactile reproduction device, including a display module 601, a control module 602, and a tactile reproduction module 603.

[0101] The display module 601 is configured to detect the part of the virtual function area touched by the user.

[0102] The control module 602 is configured to acquire the location of the virtual functional area touched by the user detected by the display module 601. When the location of the virtual functional area touched by the user is the edge of the virtual functional area, the control module 602 outputs a first driving signal to the haptic reproduction module 603. When the location of the virtual functional area touched by the user is the middle of the virtual functional area, the control module 602 outputs a second driving signal to the haptic reproduction module 603.

[0103] The tactile reproduction module 603 is configured to receive a first drive signal output by the control module 602 to generate boundary tactile sensation; or, to receive a second drive signal output by the control module 602 to generate tactile feedback.

[0104] In some exemplary embodiments, the first driving signal includes a first signal, a second signal, and a third signal, and the driving cycle corresponding to the first driving signal is divided into a first time period, a second time period, and a third time period; the tactile reproduction module is configured to acquire the first signal during the first time period to achieve a stable vibration state; the tactile reproduction module is configured to acquire the second signal and vibrate according to the type and intensity of the boundary tactile sensation during the second time period; the tactile reproduction module is configured to acquire the third signal and stop vibrating during the third time period, wherein the type and intensity of the boundary tactile sensation are determined according to the frequency and voltage amplitude of the first signal and the frequency and voltage amplitude of the second signal.

[0105] The tactile reproduction device disclosed herein controls the overdrive, excitation, and braking processes of the tactile reproduction module 603 by generating a first signal, a second signal, and a third signal in the control module 602, thereby generating boundary tactile sensations of virtual functional areas on the tactile reproduction module 603. In this embodiment, the control module 602 optimizes the existing tactile reproduction product's control method, which relies solely on the presence or absence of a drive waveform. Based on the mechanical analysis of a finger touching a button, the control module 602 designs segmented combinations of various parameters of the drive signal to add boundary tactile sensations to the virtual functional area. Furthermore, it can adjust the parameters according to the sharpness of the button edges, more realistically reproducing the tactile feedback effect of the buttons and enriching the user's tactile experience of the virtual functional area.

[0106] In some exemplary embodiments, the tactile reproduction module includes an actuator and a touch substrate. The actuator is disposed on the touch substrate, and the tactile reproduction module includes multiple resonant frequencies, with different resonant frequencies corresponding to different vibration types.

[0107] In some exemplary embodiments, the actuator includes piezoelectric actuators, linear motor actuators, eccentric rotor actuators, and electrostatic actuators.

[0108] In some exemplary embodiments, the type and intensity of the boundary tactile sensation generated by the tactile reproduction module are determined based on the frequency and voltage amplitude of the first signal and the frequency and voltage amplitude of the second signal.

[0109] In some exemplary embodiments, the length of the first time period is shorter than the length of the second time period, and the length of the third time period is shorter than the length of the second time period.

[0110] In some exemplary embodiments, the frequency of the second signal is less than the frequency of the first signal.

[0111] In some exemplary embodiments, the intensity of the boundary tactile sensation generated by the tactile reproduction module is proportional to the voltage amplitude of the second signal.

[0112] In some exemplary embodiments, the voltage amplitude of the first signal is greater than or equal to the voltage amplitude of the second signal.

[0113] In some exemplary embodiments, the maximum voltage amplitude of the second signal is between 70% and 100% of the maximum voltage amplitude of the first signal.

[0114] In some exemplary embodiments, the voltage amplitude of the first signal is less than or equal to the maximum drive voltage amplitude of the actuator.

[0115] In some exemplary embodiments, the frequency of the first signal is a first frequency, which is the resonant frequency of the tactile reproduction module, or the difference between the first frequency and the resonant frequency of the tactile reproduction module is within a preset first difference range.

[0116] In some exemplary embodiments, the first duration is n1 first cycles, where the first cycle = 1 / first frequency, n1 > 0, and the magnitude of n1 is determined based on the motion acceleration measured on the tactile reproduction module.

[0117] In some exemplary embodiments, the frequency of the second signal is a second frequency, or the second signal is an amplitude-modulated wave with the second frequency as the carrier frequency;

[0118] The second frequency is the resonant frequency of the tactile reproduction module, or the difference between the second frequency and the resonant frequency of the tactile reproduction module is within a preset second difference range.

[0119] In some exemplary embodiments, the second duration is n2 second cycles, where the second cycle = 1 / second frequency, n2 > 0, and the value of n2 is determined based on the frequency of the second signal and the type of boundary tactile sensation generated by the tactile reproduction module.

[0120] In some exemplary embodiments, the frequency of the third signal is a third frequency, the third duration is n3 third cycles, the third cycle = 1 / third frequency, and n3 > 0;

[0121] The third frequency is the same as the second frequency, and n3 is between 1 and 3.

[0122] In some exemplary embodiments, the phase of the second signal differs from the phase of the third signal by 180°.

[0123] In some exemplary embodiments, the waveform type of the first signal includes a square wave, a sine wave, and a triangle wave.

[0124] In some exemplary embodiments, the waveform type of the second signal includes square wave, sine wave, triangle wave and amplitude-modulated wave.

[0125] In some exemplary embodiments, the waveform type of the third signal includes square wave, sine wave, and triangle wave.

[0126] This disclosure also provides a tactile sensation generation apparatus, which may include a processor and a memory storing a computer program executable on the processor, wherein the processor executes the computer program to implement the steps of the tactile sensation generation method as described in any of the preceding claims of this disclosure.

[0127] like Figure 7 As shown, in one example, the haptic generation device 700 may include a processor 710, a memory 720, a bus system 730, and a transceiver 740. The processor 710, memory 720, and transceiver 740 are connected via the bus system 730. The memory 720 stores instructions, and the processor 710 executes the instructions stored in the memory 720 to control the transceiver 740 to send signals. Specifically, under the control of the processor 710, the transceiver 740 can obtain the position coordinates of a finger from a positioning device, determine the virtual functional area touched by the finger and the location of the virtual functional area touched by the finger based on the finger's position coordinates, and select corresponding drive signal parameters based on the virtual functional area touched by the finger and the location of the virtual functional area touched by the finger. The drive signal is either a first drive signal or a second drive signal. The first drive signal or the second drive signal is output to the haptic reproduction module through the transceiver, thereby causing the haptic reproduction module to generate boundary haptic sensation or haptic feedback.

[0128] It should be understood that processor 710 can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0129] Memory 720 may include read-only memory and random access memory, and provides instructions and data to processor 710. A portion of memory 720 may also include non-volatile random access memory. For example, memory 720 may also store device type information.

[0130] In addition to a data bus, the bus system 730 may also include a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 7 The general labeled all buses as Bus System 730.

[0131] In implementation, the processing performed by the processing device can be accomplished through integrated logic circuits in the hardware of the processor 710 or through software instructions. That is, the method steps of this embodiment can be executed by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other storage media. This storage medium is located in memory 720, and the processor 710 reads information from memory 720 and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0132] This disclosure also provides a computer-readable storage medium storing executable instructions. When executed by a processor, these instructions can implement the tactile feedback generation method provided in any of the above embodiments of this disclosure. This tactile feedback generation method allows users to feel the boundary tactile sensation of a virtual functional area, which can then be combined with the main tactile sensation of the virtual functional area to more realistically reproduce the tactile feedback of the actual functional area. The method of generating tactile feedback by executing executable instructions to drive a tactile reproduction device is basically the same as the tactile feedback generation method provided in the above embodiments of this disclosure, and will not be described in detail here.

[0133] The tactile sensation generation method, tactile sensation reproduction device, and computer storage medium provided in this disclosure, through a control module, output a first driving signal to a tactile sensation reproduction module. When the user touches the middle part of the virtual functional area, the control module outputs a second driving signal to the tactile sensation reproduction module, combining the boundary tactile sensation of the virtual functional area with the main tactile sensation, thus more realistically reproducing the tactile feedback of the actual functional area. This disclosure is applicable to virtual tactile sensation reproduction devices using piezoelectric actuators, linear motors, eccentric rotors, electrostatic actuators, etc., and can generate locally adjustable boundary tactile sensation, realizing the boundary tactile sensation of the virtual functional area and enhancing the user's tactile experience.

[0134] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0135] While the embodiments disclosed herein are as described above, the content is merely for the purpose of facilitating understanding of this disclosure and is not intended to limit this disclosure. Any person skilled in the art to which this disclosure pertains may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed herein; however, the scope of protection of this disclosure shall still be determined by the scope defined in the appended claims.

Claims

1. A method for generating a tactile sensation, for a haptic reproduction device comprising a display module, a haptic reproduction module and a control module, the method comprising: detecting, by the display module, a position of a virtual function area touched by a user as an edge position or a middle position of the virtual function area, and obtaining the position; when the display module detects that the position of the virtual function area touched by the user is the edge position of the virtual function area, outputting, by the control module, a first driving signal to the haptic reproduction module, so that the haptic reproduction module generates a boundary tactile sensation; when the display module detects that the position of the virtual function area touched by the user is the middle position of the virtual function area, outputting, by the control module, a second driving signal to the haptic reproduction module, so that the haptic reproduction module generates a haptic feedback; the haptic reproduction module comprises an actuator and a touch substrate, the actuator is arranged on the touch substrate and located at an edge of the touch substrate; wherein the first driving signal output when the edge position of the virtual function area is touched comprises a first signal, a second signal and a third signal; the driving period corresponding to the first driving signal is divided into a first period, a second period and a third period; the first signal is used to drive the actuator located at the edge of the touch substrate to a vibration amplitude required for work in the first period; the second signal is used to make the edge of the touch substrate generate different normal forces in the second period by the actuator located at the edge of the touch substrate through different driving waveforms; wherein the driving waveforms under different frequencies f, different cycle numbers n and different driving voltages V correspond to different amplitudes of the touch substrate and different normal forces applied to the finger, wherein the different frequencies and the different cycle numbers affect the type of boundary tactile sensation, and the type of boundary tactile sensation at least includes sharp boundary feeling, step and gentle slope, and the different driving voltages affect the intensity of the boundary tactile sensation; the third signal is used to stop the vibration of the actuator located at the edge of the touch substrate in the third period.

2. The tactile sensation generating method according to claim 1, wherein The length of the first period is less than the length of the second period, and the length of the third period is less than the length of the second period.

3. The tactile sensation generation method according to claim 1, wherein: The frequency of the second signal is less than the frequency of the first signal.

4. The tactile sensation generation method according to claim 1, wherein: The intensity of the boundary tactile sensation generated by the haptic reproduction module is proportional to the voltage amplitude of the second signal.

5. The tactile sensation generation method according to claim 1, wherein: The voltage amplitude of the first signal is greater than or equal to the voltage amplitude of the second signal.

6. The tactile sensation generation method according to claim 1, wherein: The maximum voltage amplitude of the second signal is between 70% and 100% of the maximum voltage amplitude of the first signal.

7. The tactile sensation generation method according to claim 1, wherein: The haptic reproduction module comprises an actuator and a touch substrate, the actuator is arranged on the touch substrate, the haptic reproduction module comprises a plurality of resonance frequencies, and different resonance frequencies correspond to different vibration types.

8. The tactile sensation generation method according to claim 7, wherein: The voltage amplitude of the first signal is less than or equal to the maximum driving voltage amplitude of the actuator.

9. The tactile sensation generation method according to claim 1, wherein: The frequency of the first signal is a first frequency, and the first frequency is a resonance frequency of the haptic reproduction module, or the difference between the first frequency and the resonance frequency of the haptic reproduction module is within a preset first difference range.

10. The tactile sensation generating method according to claim 9, wherein: The first time length is n1 first periods, the first period = 1 / the first frequency, n1>0, and the size of n1 is determined according to the motion acceleration measured by the haptic reproduction module.

11. The tactile sensation generation method according to claim 1, wherein: The frequency of the second signal is a second frequency, or the second signal is an amplitude modulation wave with the second frequency as the carrier frequency. The second frequency is the resonant frequency of the haptic reproduction module, or the difference between the second frequency and the resonant frequency of the haptic reproduction module is within a preset second difference range.

12. The tactile sensation generation method according to claim 11, wherein: The second time length is n2 second periods, the second period = 1 / the second frequency, n2>0, and the size of n2 is determined according to the frequency of the second signal and the type of boundary haptics generated by the haptic reproduction module.

13. The tactile sensation generating method according to claim 12, wherein: The frequency of the third signal is a third frequency, and the third time length is n3 third periods, the third period = 1 / the third frequency. The third frequency is the same as the second frequency, and n3 is between 1 and 3.

14. The tactile sensation generation method according to claim 1, wherein: The phase of the second signal is 180° different from the phase of the third signal.

15. The tactile sensation generation method according to claim 1, wherein: The waveform type of the first signal includes square wave, sine wave, and triangular wave.

16. The tactile sensation generation method according to claim 1, wherein: The waveform type of the second signal includes square wave, sine wave, triangular wave, and amplitude modulation wave.

17. The tactile sensation generation method according to claim 1, wherein: The waveform type of the third signal includes square wave, sine wave, and triangular wave. 18.A haptic reproduction device, comprising a display module, a haptic reproduction module, and a control module, wherein: The display module is configured to detect the position of the virtual function area touched by the user as an edge position or a middle position of the virtual function area. The control module is configured to obtain the position of the virtual function area touched by the user detected by the display module, output a first driving signal to the haptic reproduction module when the display module detects that the position of the virtual function area touched by the user is an edge position of the virtual function area, and output a second driving signal to the haptic reproduction module when the display module detects that the position of the virtual function area touched by the user is a middle position of the virtual function area. The haptic reproduction module comprises an actuator and a touch substrate, the actuator is arranged on the touch substrate and located at the edge of the touch substrate, configured to receive the first driving signal output by the control module to generate a boundary haptics, or receive the second driving signal output by the control module to generate a haptic feedback. The first driving signal output when the edge position of the virtual function area is touched comprises a first signal, a second signal, and a third signal; the driving period corresponding to the first driving signal is divided into a first period, a second period, and a third period. The first signal is used to drive the actuator located at the edge of the touch substrate to the vibration amplitude required for work in the first period. The second signal is used to make the edge of the touch substrate generate different normal forces in a second time period by the actuator located at the edge of the touch substrate through different driving waveforms; wherein the driving waveforms under different frequencies f, different cycle numbers n and different driving voltages correspond to different amplitudes of the touch substrate and different normal forces applied to the finger, wherein the different frequencies and the different cycle numbers affect the type of the boundary touch, and the type of the boundary touch at least includes sharp boundary feeling, step and gentle slope, and the different driving voltages affect the intensity of the boundary touch; The third signal is used to stop the vibration of the actuator located at the edge of the touch substrate in a third time period.

19. The haptic rendering device of claim 18, wherein: The haptic reproduction module includes a plurality of resonance frequencies, and different resonance frequencies correspond to different vibration types.

20. The haptic rendering device of claim 19, wherein: The actuator includes a piezoelectric actuator, a linear motor actuator, an eccentric rotor actuator and an electrostatic actuator.

21. A computer storage medium, the computer storage medium storing computer executable instructions for performing the steps of the touch feeling generation method according to any one of claims 1 to 17.

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