Tactile feedback device

Abstract

A haptic feedback device (1) comprises: at least one haptic signal generating element (2) extending in a main plane (P1), and at least one actuator (3) coupled to the haptic signal generating element (2). The actuator (3) is configured to move a region of the haptic signal generating element (2) in a direction (D1) perpendicular to the main plane (P1) by generating a transverse wave that propagates along the longitudinal axis (A1) of the haptic signal generating element (2) from the region. This technical solution helps an actuator to generate displacement of an element along its entire length or region by allowing a transverse wave to pass through the length or region, thereby helping to reduce the number of necessary actuators and constructive interference between multiple signals. The above-mentioned displacement can occur at a frequency that allows effective vibration related to human sensitivity.

Description

Technical Field

[0001] The present invention relates to a haptic feedback device, including at least one actuator. Background Art

[0002] The main interaction surfaces of mobile devices are equipped with touch-sensitive input electronics, such as buttons, strips, pads, and other surfaces scattered around the periphery of the device, such as power and volume controls. The back and sides of most devices, as well as the corresponding protective covers, are inert surfaces that do not interact with the user's hand holding the device, but rather interact through the touch screen.

[0003] The ability to interact with the back and sides of the device or accessory would reduce the clutter and obstruction of the hand to visual elements. However, the touch-sensitive input on the back and sides of the device must not be confused with the normal handling or squeezing of the device. The advancement of haptic technology has been enhanced by allowing haptic information to be perceived by the user, supporting the development of this interaction space. Nevertheless, there is still a challenge in providing haptic feedback with a high enough clarity for the user to detect the exact location without visual cues.

[0004] In addition, current actuator technologies cannot provide continuous feedback without adverse resonance effects and are limited to discrete pulses of so-called active-edge feedback. Active-edge technology utilizes multiple actuators distributed across the device. This allows the haptic device to be used alone as a display for haptic notifications, or to enhance the interaction using a graphical user interface and dynamically provide haptic feedback at different resolutions and speeds. However, this increases power consumption, requires more complex control techniques, and increases the risk of manufacturing errors due to the precise mechanics involved in the components. Summary of the Invention

[0005] The object of the present invention is to provide a haptic feedback device. The above and other objects are achieved by the features of the independent claims. Other implementations are obvious from the dependent claims, the description, and the drawings.

[0006] According to a first aspect, there is provided a haptic feedback device, wherein the device includes: at least one haptic signal generating element extending in a main plane; at least one actuator coupled to the haptic signal generating element, the actuator being configured to move a region of the haptic signal generating element in a direction perpendicular to the main plane by generating a transverse wave that propagates along the longitudinal axis of the haptic signal generating element from the region.

[0007] The described technical solution helps an actuator generate displacement of an element along the length or area by allowing a transverse wave to pass through its entire length or area. This can minimize the number of actuators, create additional free space, and reduce energy consumption. Additionally, by separating actuation (force generation) and tactile stimulation, high-definition multi-point tactile feedback, increased signal control, increased tactile signal transmission efficiency, and constructive interference between multiple signals can be achieved.

[0008] In a possible implementation of the first aspect, the tactile signal generating element extends in at least one direction such that the transverse wave can propagate in that direction.

[0009] In another possible implementation of the first aspect, the displacement is generated at a frequency that allows effective vibration based on human sensitivity.

[0010] In another possible implementation of the first aspect, the tactile signal generating element includes at least one seismic mass element. Such a configuration allows for high-fidelity tactile patterns while still minimizing the number of actuators, energy consumption, and simplifying its control.

[0011] In another possible implementation of the first aspect, the tactile signal generating element includes a plurality of seismic mass elements that are distributed along the longitudinal axis of the tactile signal generating element, and each seismic mass element is separated from an adjacent seismic mass element by a gap. By providing multiple masses, it allows the transverse wave to propagate through the individual displacements of each mass in sequence. The propagation of the transverse wave focuses the user's attention on a specific area of skin contact.

[0012] In another possible implementation of the first aspect, the seismic mass elements have the same shape, which is preferably one of spherical, cylindrical, ellipsoidal, polyhedral, or free form.

[0013] In another possible implementation of the first aspect, the tactile feedback device further includes a connecting element for interconnecting adjacent seismic mass elements of a tactile signal generating element. The connecting element is an elastic element that extends coaxially with the longitudinal axis of the tactile signal generating element, or for interconnecting adjacent seismic mass elements of adjacent tactile signal generating elements, the connecting element is an elastic element that extends perpendicular to the longitudinal axis of the tactile signal generating element and is coplanar with the main plane. The connecting element restricts the displacement of the seismic mass elements and helps standardize the transfer of mechanical energy along the tactile signal generating element, and the attenuation is predictable.

[0014] In another possible implementation of the first aspect, the connecting element facilitates the propagation of the transverse wave from one seismic mass element to an adjacent seismic mass element.

[0015] In another possible implementation of the first aspect, the connecting element extends collinearly with the tactile signal generating element, facilitating the most efficient propagation of the transverse wave.

[0016] In another possible implementation of the first aspect, the connecting element comprises a smart material, preferably one of an electro-mechanical polymer-metal composite or alloy, electro-active material, photo-active material, temperature-active material, and magneto-active material, such that the mechanical properties of the tactile feedback device are more easily adjustable and controllable.

[0017] In another possible implementation of the first aspect, the tactile feedback device further comprises at least one spacer element, which is used to limit the displacement of the seismic mass element relative to an adjacent seismic mass element of the same tactile signal generating element, and / or to limit the displacement of the seismic mass element relative to the seismic mass element of an adjacent tactile signal generating element.

[0018] In another possible implementation of the first aspect, the spacer element is an elastic element that extends perpendicular to the longitudinal axis of the tactile signal generating element and is non-coplanar with the main plane.

[0019] In another possible implementation of the first aspect, the spacer element is used to interconnect adjacent seismic mass elements of adjacent tactile signal generating elements. This facilitates the propagation of the transverse wave in multiple directions.

[0020] In another possible implementation form of the first aspect, at least one of the connecting element and the spacer element has a predetermined spring coefficient and a predetermined damping coefficient, facilitating the configuration of the element in any suitable manner to generate a specific frequency, amplitude, etc. of the transverse wave. Additionally, this allows for high-fidelity stimulation of the user's skin at a specific designated location while suppressing the transverse wave, i.e., the vibration signal, in the surrounding interface surface.

[0021] In another possible implementation of the first aspect, the actuator is coupled to at least one seismic mass element of the tactile signal generating element through a contact coupling or a non-contact coupling, increasing the flexibility of the tactile feedback device.

[0022] In another possible implementation of the first aspect, the contact coupling comprises a mechanical linkage, which optionally includes a hydraulic connection or an ultrasonic connection.

[0023] In another possible implementation of the first aspect, the non-contact coupling includes a magnetic connection or a magnetic field connection, and the magnetic connection or the magnetic field connection optionally includes a pressure connection or a pneumatic connection.

[0024] In another possible implementation of the first aspect, the linear actuator is an electromagnetic actuator or a piezoelectric actuator.

[0025] In another possible implementation of the first aspect, the haptic feedback device includes a first actuator and a second actuator coupled to the at least one haptic signal generating element, the first actuator generating a first transverse wave propagating along the haptic signal generating element in a first propagation direction,

[0026] the second actuator generating a second transverse wave propagating along the haptic signal generating element in a second propagation direction, wherein the second propagation direction is opposite to the first propagation direction, such that the first transverse wave and the second transverse wave interfere constructively.

[0027] In another possible implementation of the first aspect, the haptic feedback device includes a plurality of actuators and a plurality of haptic signal generating elements, wherein each actuator is coupled to at least one haptic signal generating element and each haptic signal generating element is coupled to at least one actuator. This contributes to the most flexible configuration of the haptic feedback device.

[0028] According to a second aspect, there is provided a haptic device including a haptic feedback device as described above and a volume of material for tactile contact with a user of the haptic display device, the haptic signal generating elements of the haptic feedback device being at least partially embedded in the volume of material such that the longitudinal axis of each haptic signal generating element is coplanar with a main plane of the volume of material, such that propagation of a transverse wave along the longitudinal axis of the haptic signal generating element produces a displacement of the volume of material in a direction perpendicular to the main plane.

[0029] The technical solution helps an actuator to produce a displacement of the user contact surface along the length or area by allowing a transverse wave to pass through its entire length or area. This helps to minimize the number of components, helps to reduce the additional free space within the device and / or the size of the device, and reduces energy consumption. In addition, the haptic signal generating elements are carried and supported by the volume of material.

[0030] In a possible implementation of the second aspect, the connecting element of the haptic feedback device is used to interconnect the seismic mass element of the haptic signal generating element with the volume of material. This limits the displacement of the seismic mass element and helps to standardize the transfer of mechanical energy, and the attenuation is predictable.

[0031] In another possible implementation of the second aspect, the spacer element of the haptic feedback device is used to limit the displacement of the seismic mass element of the haptic signal generating element relative to the material volume. By limiting the displacement range, the material volume will not be damaged due to excessive displacement.

[0032] In another possible implementation of the second aspect, the gap separating adjacent seismic mass elements of the haptic signal generating element is filled with the material of the material volume.

[0033] In another possible implementation of the second aspect, the haptic device is one of a VR haptic headset, a wearable device, a smartphone, a tablet computer, or a laptop computer.

[0034] In another possible implementation of the second aspect, the material volume is one of the housing of an electronic device, the fabric of a haptic garment, or the material of a steering wheel cover.

[0035] In another possible implementation of the second aspect, the material volume includes a polymer material, which helps the haptic feedback device to be covered by the material volume and contributes to a durable and thin haptic device.

[0036] This aspect and other aspects will be apparent in the embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In the following detailed part of the present invention, aspects, embodiments, and implementations will be explained in more detail with reference to the exemplary embodiments shown in the drawings, where:

[0038] Figure 1 A schematic side view of a haptic feedback device provided for an embodiment of the present invention;

[0039] Figure 2a And Figure 2b Partial side views of two haptic feedback devices provided for two embodiments of the present invention;

[0040] Figure 3a And Figure 3b Cross-sectional side views of two haptic feedback devices provided for two embodiments of the present invention;

[0041] Figure 4 A schematic side view of a haptic feedback device provided for an embodiment of the present invention;

[0042] Figure 5a And Figure 5b Schematic diagrams of the spring function and damping function of the connection element and spacer element of the haptic feedback device provided for the embodiments of the present invention;

[0043] Figure 6 Schematic top view of a haptic feedback device provided by an embodiment of the present invention;

[0044] Figure 7a and Figure 7b Schematic top view of a haptic signal generation element provided by an embodiment of the present invention;

[0045] Figure 8 Schematic top view of a haptic signal generation element provided by an embodiment of the present invention, wherein the haptic signal generation element is disposed in a two - dimensional or three - dimensional material grid;

[0046] Figures 9a to 11b Cross - sectional top view and cross - sectional side view of an embodiment of a haptic device provided by an embodiment of the present invention;

[0047] Figures 12a to 12e Schematic diagram of a haptic device provided by another embodiment of the present invention. Detailed description of specific embodiments

[0048] Figures 9a to 12e An embodiment of a haptic device 8 including a haptic feedback device 1 is shown, which will be described in more detail below, as well as a material volume 9 for user haptic contact with the haptic device 8.

[0049] The haptic device can be a haptic display device, such as Figure 12b the VR haptic headset shown in Figure 12a the wearable device shown in Figure 9a and Figure 9b the smartphone, tablet or laptop shown in Figures 10a to 11b the housing of any electronic device shown in Figure 12d and Figure 12e the fabric of the haptic clothing shown in Figure 12c or the material of the steering wheel cover shown in

[0050] Figures 1 to 4 An embodiment of the above - mentioned haptic feedback device 1 is shown. The device 1 includes at least one haptic signal generation element 2 extending in a main plane P1, and at least one actuator 3 coupled to the haptic signal generation element 2. As Figure 1 、 Figure 6 and Figures 9a to 12e shown in

[0051] Each actuator 3 is used to move the area of the tactile signal generating element 2 in the direction D1 perpendicular to the main plane P1 by generating a tactile signal in the form of a transverse wave, as Figure 1 shown. The transverse wave propagates from this area and along the longitudinal axis A1 of the tactile signal generating element 2. The displacement area may correspond to the area of the tactile signal generating element 2 coupled to the actuator 3. The actuator 3 may be an electromagnetic actuator or a piezoelectric actuator.

[0052] The tactile signal generating element 2 may include at least one seismic mass element 4. The seismic mass elements 4 may have the same shape, and the shape may be spherical, as Figures 1 to 6 and Figures 9a to 12e shown as cylindrical, as Figure 7a shown, ellipsoidal, or Figure 7b shown as polyhedral, free form.

[0053] The tactile signal generating element 2 may have an elongated shape, as Figures 1 to 4 and Figures 6 to 12e shown. The elongated shape may be achieved by a plurality of sequentially arranged seismic mass elements 4 distributed along the longitudinal axis A1 of the tactile signal generating element 2.

[0054] The seismic mass elements 4 may be closely arranged adjacent to each other, preferably interconnected, as Figure 7b shown. Each seismic mass element 4 may also be separated from an adjacent seismic mass element 4 by a gap 5, as Figure 3a , Figure 3b , Figure 7a and Figure 8 shown. The gap 5 separating adjacent seismic mass elements 4 of the tactile signal generating element 2 may be filled with the material of the material volume 9.

[0055] As Figure 3b and Figure 6 shown, connection elements 6 may be provided to interconnect adjacent seismic mass elements 4 of a tactile signal generating element 2. The connection elements 6 help the transverse wave to propagate from the above-mentioned area of the tactile signal generating element 2 and along the longitudinal axis A1 of the tactile signal generating element 2 from one seismic mass element 4 to an adjacent seismic mass element 4. When the transverse wave reaches each seismic mass element 4, each seismic mass element 4 is sequentially displaced in the direction D1, i.e., perpendicular to the longitudinal axis A1.

[0056] The connecting element 6 is flexible and can be an elastic element that extends coaxially with the longitudinal axis A1 of the tactile signal generating element 2. The connecting element 6 can also extend collinearly with the tactile signal generating element 2. Additionally, one or more connecting elements 6 can be used to interconnect adjacent seismic mass elements 4 of adjacent tactile signal generating elements 2 (not shown), and the connecting element 6 is an elastic element that extends perpendicular to the longitudinal axis A1 of the tactile signal generating element 2 and is coplanar with the main plane P1.

[0057] The tactile connecting element 6 can also be used to interconnect the seismic mass element 4 with the material volume 9.

[0058] The connecting element 6 can include smart materials, that is, materials that sense environmental conditions and respond to environmental conditions or stimuli and respond to mechanical, chemical, electrical, or magnetic signals. The smart material can be any suitable material, preferably one of electro-mechanical polymer-metal composites or alloys, electroactive materials, photoactive materials, temperature-active materials, and magneto-active materials. The smart material helps to make the mechanical properties of the tactile feedback device easy to adjust and controllable.

[0059] The tactile feedback device 1 can also include at least one spacer element 10, wherein the spacer element 10 is used to limit the displacement of the seismic mass element 4 relative to adjacent seismic mass elements 4 of the same tactile signal generating element 2, as Figure 3a and Figure 3b shown. Accordingly, the spacer element 10 can be used to limit the displacement of the seismic mass element 4 relative to the seismic mass element 4 of an adjacent tactile signal generating element 2. The spacer element 10 can also be used to interconnect adjacent seismic mass elements 4 of adjacent tactile signal generating elements 2. Additionally, the spacer element 10 can be used to limit the displacement of the seismic mass element 4 relative to the material volume 9.

[0060] The spacer element 10 is an elastic element that extends perpendicular to the longitudinal axis A1 of the tactile signal generating element 2 and is non-coplanar with the main plane P1. One spacer element 10 can be provided in Figure 5a each gap 5 shown, or in a selected number of gaps 5 shown in Figure 3b .

[0061] At least one of the connecting element 6 and the spacer element 10 can have a predetermined spring coefficient and a predetermined damping coefficient, as shown in Figure 5a and Figure 5b . The spring coefficient and the damping coefficient can be selected together with the material of the material volume 9 so as to adjust wave propagation as needed.

[0062] The actuator 3 can be connected through a contact coupling 7a schematically shown in Figure 2a or as shown in Figure 2bThe non-contact coupling 7b schematically shown is coupled to one or more seismic mass elements 4 of the tactile signal generating element 2.

[0063] The contact coupling 7a may include a mechanical linkage. The mechanical linkage may include a hydraulic connection or an ultrasonic connection, and the actuator 3 generates a fluid wave or an ultrasonic wave that propagates through the mechanical linkage to the tactile signal generating element 2.

[0064] The non-contact coupling 7b may include a magnetic connection or a magnetic field connection. The magnetic connection or the magnetic field connection may include a pressure connection or a pneumatic connection, and the actuator 3 generates a pressure wave or a pulse that travels through the air gap between the actuator and the tactile signal generating element 2.

[0065] As Figures 10a to 12e shown, the tactile feedback device 1 may include a plurality of actuators 3 and a plurality of tactile signal generating elements 2. Each actuator 3 may be coupled to at least one tactile signal generating element 2, and each tactile signal generating element 2 may be coupled to at least one actuator 3. By synchronizing the actuation times or / and phases of the individual actuators 3, or delaying the actuation of an individual actuator 3 relative to the other actuators 3, constructive interference between the transverse waves can be achieved in any desired region along the tactile signal generating element.

[0066] The tactile feedback device 1 may include a first actuator 3 and a second actuator 3 coupled to the at least one tactile signal generating element 2, as Figure 6 shown. The first actuator 3 generates a first transverse wave that propagates along the tactile signal generating element 2 in a first propagation direction D2. Correspondingly, the second actuator 3 generates a second transverse wave that propagates along the tactile signal generating element 2 in a second propagation direction D3. The second propagation direction D3 is opposite to the first propagation direction D2, such that the first transverse wave and the second transverse wave can constructively interfere and strengthen the signal, i.e., increase the amplitude of the transverse wave at least at the local interference maximum.

[0067] As Figure 12b shown, each tactile signal generating element 2 may be coupled to only 1 actuator 3.

[0068] As Figures 9a to 10b and Figures 12a to 12e , each tactile signal generating element 2 may be coupled to a first actuator 3 and a second actuator 3, and the first actuator 3 and the second actuator 3 are approximately at each end of the tactile signal generating element 2. The tactile signal generating element 2 may extend parallelly through the material volume 9.

[0069] As Figure 11a 、 Figure 11b 、 Figure 12d and Figure 12eAs shown, the haptic signal generating elements 2 can also extend at an angle to each other such that the material volume 9 is still covered, but with fewer haptic signal generating elements 2, for example by using haptic signal generating elements 2 that extend diagonally. With this configuration, each actuator 3 can be connected to several haptic signal generating elements 2, also reducing the number of necessary actuators 3.

[0070] The haptic signal generating elements 2 of the haptic feedback device 1 can be at least partially embedded in the material volume 9 such that the longitudinal axis A1 of each haptic signal generating element 2 is coplanar with the main plane P2 of the material volume 9, as Figures 1 to 4 and Figure 9b shown.

[0071] The haptic signal generating elements 2 of the haptic feedback device 1 can also be arranged near the material volume 9 such that the longitudinal axis A1 of each haptic signal generating element 2 is parallel but not coplanar with the main plane P2 of the material volume 9, as Figure 10b and Figure 11b shown.

[0072] The propagation of the transverse wave along the longitudinal axis A1 of the haptic signal generating element 2 produces a displacement of the material volume 9 in the direction D1 perpendicular to the main plane P2.

[0073] The haptic device 8 can also include a haptic microcontroller wireless interface having a main controller and a driver, as well as a power source such as a battery (not shown).

[0074] Various aspects and implementations have been described herein in connection with various embodiments. However, those skilled in the art, by practicing the subject matter, studying the drawings, the present invention, and the appended claims, can understand and obtain other variations of the disclosed embodiments. In the claims, the word "comprising" does not exclude other elements or steps, and "a" does not exclude a plurality of elements or steps. A single processor or other unit can fulfill the functions of several items described in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not mean that a combination of these measures cannot be used in an advantageous implementation. A computer program can be stored or distributed on a suitable medium, such as an optical storage medium or a solid-state medium provided together with or as part of other hardware, and can also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.

[0075] Reference signs used in the claims shall not be construed as limiting the scope. Unless otherwise indicated, the drawings (e.g., cross-hatching, component arrangements, scale, degrees, etc.) shall be read in conjunction with the description and shall be considered as part of the whole written description of the invention. Since particular drawings are presented to the reader, the terms "horizontal", "vertical", "left", "right", "upward" and "downward", and their adjectival and adverbial derivatives (e.g., "horizontally", "rightward", "upward", etc.) used in the description refer only to the orientation of the structures shown. Similarly, the terms "inward" and "outward" generally refer to the direction of a surface relative to its axis of extension or axis of rotation, as the case may be.

Claims

1. A tactile feedback device (1), characterized in that, The device (1) comprises: at least one haptic signal generating element (2) extending in a main plane (P1), the haptic signal generating element (2) comprising a plurality of seismic mass elements (4) distributed along a longitudinal axis (A1) of the haptic signal generating element (2); at least one actuator (3) coupled to the haptic signal generating element (2), wherein the actuator (3) is configured to move a region of the haptic signal generating element (2) in a direction (D1) perpendicular to the main plane (P1) by generating a transverse wave that propagates along the longitudinal axis (A1) of the haptic signal generating element (2) from the region, and the transverse wave propagates from one seismic mass element (4) to an adjacent seismic mass element (4) along the longitudinal axis (A1) of the haptic signal generating element (2).

2. The tactile feedback device (1) according to claim 1, characterized in that, Each seismic mass element (4) is separated from an adjacent seismic mass element (4) by a gap (5).

3. The haptic feedback device (1) according to claim 2, characterized in that, It further comprises: a connecting element (6) for interconnecting adjacent seismic mass elements (4) of one haptic signal generating element (2), wherein the connecting element (6) is an elastic element extending coaxially with the longitudinal axis (A1) of the haptic signal generating element (2); or for interconnecting adjacent seismic mass elements (4) of adjacent haptic signal generating elements (2), wherein the connecting element (6) is an elastic element extending perpendicular to the longitudinal axis (A1) of the haptic signal generating element (2) and coplanar with the main plane (P1).

4. The tactile feedback device (1) according to claim 3, wherein, The connecting element (6) comprises a smart material, preferably one of an electro-mechanical polymer-metal composite or alloy, an electroactive material, a photoactive material, a temperature-active material, and a magneto-active material.

5. The haptic feedback device (1) according to any one of claims 2 to 4, characterized in that, It further comprises: at least one spacer element (10) for restricting the displacement of a seismic mass element (4) relative to an adjacent seismic mass element (4) of the same haptic signal generating element (2); and / or for restricting the displacement of a seismic mass element (4) relative to a seismic mass element (4) of an adjacent haptic signal generating element (2).

6. The tactile feedback device (1) according to claim 5, characterized in that, The spacer element (10) is an elastic element extending perpendicular to the longitudinal axis (A1) of the haptic signal generating element (2) and non-coplanar with the main plane (P1).

7. The haptic feedback device (1) according to any one of claims 2 to 4, characterized in that, The actuator (3) is coupled to at least one seismic mass element (4) of the haptic signal generating element (2) by a contact coupling (7a) or a non-contact coupling (7b).

8. The tactile feedback device (1) according to claim 7, characterized in that, The contact coupling (7a) comprises a mechanical linkage, which optionally comprises a hydraulic connection or an ultrasonic connection.

9. The haptic feedback device (1) according to claim 7, characterized in that, The non-contact coupling (7b) comprises a magnetic connection or a magnetic field connection, which optionally comprises a pressure connection or a pneumatic connection.

10. The haptic feedback device (1) according to claim 5, characterized in that, The actuator (3) is coupled to at least one seismic mass element (4) of the haptic signal generating element (2) by a contact coupling (7a) or a non-contact coupling (7b).

11. The haptic feedback device (1) according to any one of claims 2 to 4, characterized in that, The actuator (3) is an electromagnetic actuator or a piezoelectric actuator.

12. The haptic feedback device (1) according to any one of claims 2 to 4, characterized in that, Comprises: A first actuator (3) and a second actuator (3) coupled to the at least one haptic signal generating element (2), wherein, the first actuator (3) generates a first transverse wave propagating along the haptic signal generating element (2) in a first propagation direction (D2), the second actuator (3) generates a second transverse wave propagating along the haptic signal generating element (2) in a second propagation direction (D3), the second propagation direction (D3) being opposite to the first propagation direction (D2), such that the first transverse wave and the second transverse wave constructively interfere.

13. The tactile feedback device (1) according to claim 5, characterized in that, Comprising: A first actuator (3) and a second actuator (3) coupled to the at least one haptic signal generating element (2), wherein, the first actuator (3) generates a first transverse wave propagating along the haptic signal generating element (2) in a first propagation direction (D2), the second actuator (3) generates a second transverse wave propagating along the haptic signal generating element (2) in a second propagation direction (D3), the second propagation direction (D3) being opposite to the first propagation direction (D2), such that the first transverse wave and the second transverse wave constructively interfere.

14. The haptic feedback device (1) according to claim 7, characterized in that, Comprising: A first actuator (3) and a second actuator (3) coupled to the at least one haptic signal generating element (2), wherein, the first actuator (3) generates a first transverse wave propagating along the haptic signal generating element (2) in a first propagation direction (D2), the second actuator (3) generates a second transverse wave propagating along the haptic signal generating element (2) in a second propagation direction (D3), the second propagation direction (D3) being opposite to the first propagation direction (D2), such that the first transverse wave and the second transverse wave constructively interfere.

15. The haptic feedback device (1) according to any one of claims 2 to 4, characterized in that, Comprising: A plurality of actuators (3) and a plurality of haptic signal generating elements (2), wherein each actuator (3) is coupled to at least one haptic signal generating element (2), and each haptic signal generating element (2) is coupled to at least one actuator (3).

16. The haptic feedback device (1) according to claim 5, characterized in that, Comprising: A plurality of actuators (3) and a plurality of haptic signal generating elements (2), wherein each actuator (3) is coupled to at least one haptic signal generating element (2), and each haptic signal generating element (2) is coupled to at least one actuator (3).

17. The tactile feedback device (1) according to claim 7, characterized in that, Comprising: A plurality of actuators (3) and a plurality of haptic signal generating elements (2), wherein each actuator (3) is coupled to at least one haptic signal generating element (2), and each haptic signal generating element (2) is coupled to at least one actuator (3).

18. A tactile device (8), characterized in that, Comprising the haptic feedback device (1) according to any one of claims 1 to 17 and a volume of material (9) for tactile contact with the user of the haptic device, wherein, the haptic signal generating elements (2) of the haptic feedback device (1) are at least partially embedded in the volume of material (9) such that the longitudinal axis (A1) of each haptic signal generating element (2) is coplanar with the main plane (P2) of the volume of material (9), The propagation of the transverse wave along the longitudinal axis (A1) of the tactile signal generating element (2) causes displacement of the material volume (9) in a direction (D1) perpendicular to the main plane (P2).

19. The haptic device (8) according to claim 18, characterized in that, The connecting element (6) of the tactile feedback device (1) is used to interconnect the seismic mass element (4) of the tactile signal generating element (2) with the material volume (9).

20. The haptic device (8) according to claim 18, characterized in that, The spacer element (10) of the tactile feedback device (1) is used to limit the displacement of the seismic mass element (4) of the tactile signal generating element (2) relative to the material volume (9).

21. The haptic device (8) according to claim 19, characterized in that, The spacer element (10) of the tactile feedback device (1) is used to limit the displacement of the seismic mass element (4) of the tactile signal generating element (2) relative to the material volume (9).

22. The haptic device (8) according to claim 18, characterized in that, The gap (5) separating adjacent seismic mass elements (4) of the tactile signal generating element (2) is filled with the material of the material volume (9).

23. The haptic device (8) according to claim 18, characterized in that, The tactile device (8) is one of a VR tactile headset, a wearable device, a smartphone, a tablet computer or a laptop computer.

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