Haptic equalizer design method and apparatus, electronic device, and computer readable medium

Abstract

The present application relates to a haptic equalizer design method and device, electronic equipment and computer readable medium. A haptic equalizer design method includes: determining a frequency mapping relationship between an input frequency and an output frequency, the input frequency being a design frequency of a haptic effect, and the output frequency being an actual frequency of the haptic effect output by a motor; determining a gain mapping relationship between an input intensity and an output gain, the input intensity being a design intensity of the haptic effect; determining a frequency-intensity relationship representing a corresponding relationship between the actual frequency and the intensity of the haptic effect; and generating a haptic equalizer based on the frequency mapping relationship, the gain mapping relationship and the frequency-intensity relationship, the input of the haptic equalizer including the design frequency and the design intensity of the haptic effect, and the output including the actual frequency and the actual intensity of the haptic effect output by the motor, the actual intensity corresponding to a product between the output gain determined by the gain mapping relationship and the intensity determined by the frequency-intensity relationship.

Description

Technical Field

[0001] This invention relates to a method and apparatus for designing haptic equalizers, as well as related electronic devices and computer-readable media. Background Technology

[0002] Many electronic devices, including VR devices, gaming devices, and mobile phones, can simulate real-world environments or provide user interaction by offering haptic effects. Designers can create different waveforms to produce different haptic effects for different applications. Currently, designers can design haptic effects, i.e., waveforms, according to IEEE standards or similar haptic effect design standards. However, different electronic devices may be equipped with different motors and drive systems, resulting in different playback frequencies and intensity ranges. Therefore, a waveform designed for the motor of one electronic device may not be suitable for direct playback by the motor of another electronic device, or the playback effect may be drastically different, failing to achieve the desired playback effect.

[0003] Therefore, it is still necessary to design a haptic equalizer that can map the designed waveform to the actual parameter space of the motor in order to achieve the desired playback effect. Summary of the Invention

[0004] One aspect of the present invention provides a haptic equalizer design method, which may include: determining a frequency mapping relationship between an input frequency and an output frequency, wherein the input frequency is a design frequency of the haptic effect and the output frequency is the actual frequency of the haptic effect output by a motor; determining a gain mapping relationship between an input intensity and an output gain, wherein the input intensity is a design intensity of the haptic effect; determining a frequency-intensity relationship, wherein the frequency-intensity relationship represents the correspondence between the actual frequency and intensity of the haptic effect; and generating a haptic equalizer based on the frequency mapping relationship, the gain mapping relationship, and the frequency-intensity relationship, wherein the input of the haptic equalizer includes the design frequency and design intensity of the haptic effect, and the output of the haptic equalizer includes the actual frequency and actual intensity of the haptic effect output by the motor, wherein the actual intensity corresponds to the product between the output gain determined by the gain mapping relationship and the intensity determined by the frequency-intensity relationship.

[0005] In some embodiments, the method may further include: acquiring an intensity attribute, the intensity attribute being one of displacement, velocity, and acceleration; and acquiring capability parameters of the motor and / or the drive system for driving the motor, wherein at least one of the intensity attribute and the capability parameters is used to determine one or more of the frequency mapping relationship, the gain mapping relationship, and the frequency intensity relationship.

[0006] In some embodiments, the frequency mapping relationship may include a whole segment mapping or multiple segmented mappings within a predetermined frequency range. The multiple segmented mappings may include continuous mappings or discontinuous mappings, and each of the whole segment mapping and the multiple segmented mappings may include one linear mapping or multiple nonlinear mappings.

[0007] In some embodiments, the gain mapping relationship may include a whole segment mapping or multiple segmented mappings, and each of the whole segment mapping and the multiple segmented mappings may include a linear mapping, multiple concave mappings, or multiple convex mappings.

[0008] In some embodiments, the step of determining the frequency intensity relationship may include: selecting a design mode, the design mode including a low degree of freedom mode and a high degree of freedom mode; and when the low degree of freedom mode is selected, setting a center frequency and corresponding intensity, bandwidth parameters and envelope to generate a frequency intensity relationship; or when the high degree of freedom mode is selected, setting multiple frequency points and corresponding intensities, and setting a relationship curve between the frequency points to generate a frequency intensity relationship.

[0009] In some embodiments, the envelope may include a rectangular envelope or a circular arc envelope.

[0010] In some embodiments, the step of determining the frequency intensity relationship may further include: generating a capability curve based on the intensity attribute and capability parameters of the motor and / or the drive system used to drive the motor; and using the capability curve to limit the generated frequency intensity relationship to obtain a final frequency intensity relationship.

[0011] Another aspect of the present invention provides a haptic equalizer design apparatus, which may include: a frequency design module for determining a frequency mapping relationship between an input frequency and an output frequency, wherein the input frequency is a design frequency of the haptic effect and the output frequency is the actual frequency of the haptic effect output by the motor; a gain design module for determining a gain mapping relationship between an input intensity and an output gain, wherein the input intensity is a design intensity of the haptic effect; an intensity design module for determining a frequency-intensity relationship, wherein the frequency-intensity relationship represents the correspondence between the actual frequency and intensity of the haptic effect; and an equalizer generation module for generating a haptic equalizer based on the frequency mapping relationship, the gain mapping relationship, and the frequency-intensity relationship, wherein the input of the haptic equalizer includes the design frequency and design intensity of the haptic effect, and the output of the haptic equalizer includes the actual frequency and actual intensity of the haptic effect output by the motor, wherein the actual intensity corresponds to the product between the output gain determined by the gain mapping relationship and the intensity determined by the frequency-intensity relationship.

[0012] In some embodiments, the apparatus may further include: an intensity attribute acquisition module for setting an intensity attribute, wherein the intensity attribute is one of displacement, velocity, and acceleration; and a capability parameter acquisition module for acquiring capability parameters of the motor and / or the drive system for driving the motor, wherein at least one of the intensity attribute and the capability parameter is used to determine one or more of the frequency mapping relationship, the gain mapping relationship, and the frequency intensity relationship.

[0013] In some embodiments, the frequency mapping relationship may include a whole segment mapping or multiple segmented mappings within a predetermined frequency range. The multiple segmented mappings may include continuous mappings or discontinuous mappings, and each of the whole segment mapping and the multiple segmented mappings may include one linear mapping or multiple nonlinear mappings.

[0014] In some embodiments, the gain mapping relationship may include a whole segment mapping or multiple segmented mappings, and each of the whole segment mapping and the multiple segmented mappings may include a linear mapping, multiple concave mappings, or multiple convex mappings.

[0015] In some embodiments, the strength design module may include: a mode selection unit for selecting a design mode, the design mode including a low degree of freedom mode and a high degree of freedom mode; a low degree of freedom design unit for designing a frequency-intensity relationship when the low degree of freedom mode is selected; and a high degree of freedom design unit for designing a frequency-intensity relationship when the high degree of freedom mode is selected.

[0016] In some embodiments, the low-degree-of-freedom design unit may include: a center frequency setting subunit for setting a center frequency and an intensity corresponding to the center frequency; a bandwidth setting subunit for setting a frequency bandwidth centered on the center frequency; and an envelope setting subunit for setting the shape of the envelope line passing through the points determined by the center frequency and the corresponding intensity within the frequency bandwidth.

[0017] In some embodiments, the high degree of freedom design unit may include: a frequency point setting subunit for setting multiple frequency points and corresponding intensities; and a relationship curve setting subunit for setting the relationship curve between the frequency points.

[0018] In some embodiments, the strength design module may further include: a capability curve generation unit, configured to generate a capability curve based on the strength attributes and capability parameters of the motor and / or the drive system used to drive the motor; and a strength limiting unit, configured to use the capability curve to limit the generated frequency-strength relationship to obtain a final frequency-strength relationship.

[0019] Another aspect of the present invention provides an electronic device that may include: a processor; and a memory storing instructions that, when executed by the processor, cause the electronic device to perform the methods described above.

[0020] Another aspect of the present invention provides a computer-readable medium on which instructions may be stored, the instructions being executed by a processor to perform the methods described above.

[0021] This invention can be used by professional waveform designers or non-professionals to easily generate haptic equalizers, thereby converting the designed waveform to the actual parameter space of the motor of a specific electronic device to achieve the desired playback effect.

[0022] Other features and advantages of the present invention will become apparent from the following description of exemplary embodiments taken in conjunction with the accompanying drawings. Attached Figure Description

[0023] Figure 1 A flowchart illustrating a tactile equalizer design method according to an embodiment of the present invention is shown.

[0024] Figure 2A A schematic graph illustrating the frequency mapping relationship according to an embodiment of the present invention is shown.

[0025] Figure 2B A schematic graph illustrating the frequency mapping relationship according to another embodiment of the present invention is shown.

[0026] Figure 3 A schematic graph illustrating the gain mapping relationship according to some embodiments of the present invention is shown.

[0027] Figure 4 A flowchart illustrating the process of determining the frequency-intensity relationship according to an embodiment of the present invention is shown.

[0028] Figure 5A A schematic diagram of the frequency intensity relationship curve based on rectangular envelope design in a low-degree-of-freedom design mode according to an embodiment of the present invention is shown.

[0029] Figure 5B A schematic diagram of the frequency intensity relationship curve based on circular envelope design in a low-degree-of-freedom design mode according to another embodiment of the present invention is shown.

[0030] Figure 6A A schematic diagram of a frequency intensity relationship curve designed in a high degree of freedom design mode according to an embodiment of the present invention is shown.

[0031] Figure 6B A schematic diagram of a frequency intensity relationship curve designed in a high degree of freedom design mode according to another embodiment of the present invention is shown.

[0032] Figure 7 A schematic diagram illustrating the intensity mapping of a haptic equalizer according to an embodiment of the present invention is shown.

[0033] Figure 8 A block diagram of a haptic equalizer design device according to an embodiment of the present invention is shown.

[0034] Figure 9 A block diagram of an intensity design module in a tactile equalizer design device according to an embodiment of the present invention is shown.

[0035] Figure 10A A block diagram of a low-degree-of-freedom design unit in the intensity design module of a tactile equalizer design device according to an embodiment of the present invention is shown.

[0036] Figure 10B A block diagram of a high-degree-of-freedom design unit in the strength design module of a tactile equalizer design device according to an embodiment of the present invention is shown.

[0037] Figure 11 A block diagram of an electronic device according to an embodiment of the present invention is shown. Detailed Implementation

[0038] Some exemplary embodiments of the invention will now be described with reference to the accompanying drawings. To provide a clear and complete description of these exemplary embodiments, certain specific details are provided below. However, it should be understood that the invention should not be limited to these specific details of the exemplary embodiments. Rather, embodiments of the invention may be practiced without these specific details or by employing other alternative methods, without departing from the spirit and principles of the invention as defined in the claims.

[0039] Figure 1 A flowchart of a haptic equalizer design method 100 according to an embodiment of the present invention is shown. The steps of method 100 will be described in sequence below; however, it should be understood that, unless the context explicitly states or implies otherwise, some steps may be performed in a different order, or multiple steps may be performed simultaneously.

[0040] Reference Figure 1Method 100 may begin with step 110, obtaining the intensity attribute. Here, the intensity attribute is the attribute of the motor vibration intensity mapped by the designed haptic equalizer, which can generally be, for example, displacement, velocity, or acceleration. Different intensity attributes have different measurement standards, so the attribute of the intensity parameter used needs to be clearly defined when designing the haptic equalizer. In step 110, the attribute of the intensity parameter can be obtained in response to user selection or input, or the intensity attribute of the motor can be obtained by reading, for example, the motor configuration or drive file. In some embodiments, step 110 may also be omitted, for example, the haptic equalizer may use a predetermined intensity attribute. It is also understood that when the intensity attribute used by the haptic equalizer is different from the intensity attribute in the designed haptic waveform file or haptic effect file, conversion can be made between intensity attributes, for example, converting the intensity value corresponding to the displacement attribute to the intensity value corresponding to the velocity or acceleration attribute, etc., etc., which will not be listed here.

[0041] In step 120, capability parameters of the motor and / or the drive system used to drive the motor can be obtained. It should be understood that in this application, the term "motor" can refer to any device capable of providing a tactile effect output, in addition to referring to various conventional motors that output a tactile effect through vibration. Examples of motor capability parameters may include the frequency range, intensity range, etc., of the vibrations it can provide; capability parameters of the drive system may include drive voltage limits, drive current limits, etc. Similarly, in step 120, relevant capability parameters can be obtained in response to user input, or they can be obtained by reading, for example, a configuration file of the motor and / or drive system. It is understood that the vibration waveform generated by the tactile mapper cannot exceed the capability range of the motor and its drive system; in other words, the intensity attributes determined in steps 110 and 120, as well as the capability parameters of the motor and / or drive system, can be used to determine one or more of the frequency mapping relationships, gain mapping relationships, and frequency intensity relationships discussed below, which will be described in detail below. In some embodiments, a pre-configured range of capability parameters for the motor and / or drive system may also exist, so step 120 may be omitted.

[0042] Then, in steps 130, 140, and 150, the frequency mapping relationship, gain mapping relationship, and frequency intensity relationship of the haptic equalizer can be determined respectively. Examples will be given below to illustrate each relationship in detail. It should be understood that although steps 130, 140, and 150 are described in a certain order below, these three steps can be performed in any order, and are not limited to the order described here.

[0043] In step 130, when determining the frequency mapping relationship, the range of the input frequency and the range of the mapped output frequency can be set, and then the mapping relationship within the corresponding range can be determined. The input frequency range can be the design frequency range in the haptic effect (or waveform) design file to which the haptic equalizer can be applied, and the output frequency range can be the actual frequency range of the haptic effect output by the motor, which should be within the capability range of the motor and its drive system. In some embodiments, if a generally deep haptic effect is desired, the overall frequency can be mapped to the low-frequency side; if a generally crisp haptic effect is desired, the overall frequency can be mapped to the high-frequency side.

[0044] Figure 2A and Figure 2B Some embodiments of frequency mapping relationships are shown. For example... Figure 2A As shown, the input frequency (i.e., the design frequency) f D The range can be set to [f D1 ,f D2 The range of the mapped output frequency (i.e., the actual frequency) can be set to [f]. R1 ,f R2 The mapping relationship can be set to a mapping across the entire frequency range. Figure 2A A linear mapping relationship is shown, which can be represented by the following formula 1:

[0045] f R (f D ) = a*f D + b, f D ∈[f D1 , f D2 ] (Formula 1)

[0046] Where a and b are the determined mapping coefficients. However, it should be understood that multiple nonlinear mappings can also be used; for example, Equation 2 below shows an example of a quadratic nonlinear mapping (which is in...). Figure 2A (Not shown in the image):

[0047] f R (f D ) = a*f D 2 + b*f D + c, f D ∈[f D1 , f D2 ] (Formula 2)

[0048] Where a, b, and c are the determined mapping coefficients.

[0049] Furthermore, frequency mapping relationships can also include segmented mappings across multiple frequency ranges, such as... Figure 2B As shown, the mapping within each frequency band can employ either a single linear mapping or multiple nonlinear mappings. In this embodiment, multiple frequency bands can be determined separately, for example... Figure 2B The [f] shown D1 ,f D2 ]、[f D2 ,f D3 ]、[f D3 ,f D4 ] and [f D4 ,f D5 Four frequency bands are defined, and the mapping relationship within each frequency band is determined. The mapping relationships within different frequency bands can be independent and different from each other, for example, represented by Formula 1 of the linear mapping relationship above, or Formula 2 of the quadratic nonlinear mapping relationship, or by a formula (not shown) of a higher-order nonlinear mapping relationship. It should also be understood that multiple frequency bands can be consecutive, for example... Figure 2B As shown, or it could be discontinuous.

[0050] The gain mapping relationship determined in step 140 can be used to determine the input intensity I. D Mapped to the corresponding gain value G(I) D ), where the input intensity I D It is the design intensity of the tactile effect waveform, the gain value G(I) D ) is the gain value used to determine the actual output strength of the motor. Figure 3 The diagram illustrates a gain mapping determined according to one embodiment, where the input intensity ID ranges from [0, 100] and the output gain ranges from [0, 1]. The mapping can be, for example, a linear mapping (shown as a straight line), a concave mapping (shown as a thick dashed line), or a convex mapping (shown as a thin dashed line). It should be understood that the gain range [0, 1] here is merely an example and, depending on the motor's output intensity capability, can be mapped to different (e.g., larger) gain ranges.

[0051] The frequency-intensity relationship determined in step 150 can represent the correspondence between the actual frequency and intensity of the tactile effect output by the motor. In some embodiments, a low-degree-of-freedom design pattern or a high-degree-of-freedom design pattern can be used to determine the frequency-intensity relationship, which will be referred to here. Figure 4 Please describe it in detail. For example... Figure 4 As shown, in step 151, the design mode of the frequency intensity relationship can be selected, namely the low degree of freedom mode or the high degree of freedom mode.

[0052] When the low-degree-of-freedom design mode is selected, in steps 152, 154, and 156, the center frequency and corresponding intensity, frequency bandwidth, and envelope curve can be set, respectively. The center frequency and frequency bandwidth together determine the frequency range, while the envelope curve determines the intensity within that frequency range. For example, Figure 5A and Figure 5B Examples of low-degree-of-freedom designs are shown. Figure 5A In the middle, the determined center frequency is f Rc Its corresponding intensity is x1, and here we assume the intensity attribute is displacement (of course, other intensity attributes can also be used), and the frequency bandwidth is bw1, thus determining [f R1 ,f R2 The frequency range of f, where f R1 =f Rc -bw1 / 2,f R2 =f Rc +bw1 / 2. Figure 5A The rectangular envelope is shown as a dashed line, corresponding to [f R1 ,f R2 Intensity value E(f) within the frequency range R ). Figure 5B and Figure 5A Similarly, but using an arc-shaped envelope curve. It should be understood that other envelope curve shapes can also be used depending on design requirements.

[0053] When the high degree of freedom design mode is selected, in step 153, multiple frequency points and corresponding intensities can be set, for example... Figure 6B The frequency point f shown R1 f R2 f R3 f R4 and f R5 These correspond to intensities x1, x2, x3, x4, and x5, respectively. Then, in step 155, the relationship curve between the frequency points can be set, which can be a linear relationship or a nonlinear relationship. Figure 6A The solid lines in the diagram show the frequency and intensity E(f) between various frequency points. R An example of the relationship curves between ) using continuous mapping, Figure 6B An embodiment of a discontinuous mapping is shown, wherein at least two frequency bands may be discontinuous, for example at frequency point f. R2 and f R3 There is no frequency f between them R With intensity E(f) R The relationship curve between ().

[0054] As can be seen from the above description, in low-degree-of-freedom mode, various predefined envelopes can be used to set the relationship curve between frequency and intensity within a set bandwidth, which is suitable for fast and simple design methods; while in high-degree-of-freedom mode, multiple frequency bands can be flexibly defined, and the desired relationship curve can be set on each frequency band, thus enabling more complex and varied relationship curve designs.

[0055] Continue to refer to Figure 4 In step 157, the frequency intensity relationship E(f) can be generated based on the determined envelope or the relationship curves of each frequency band. R It can be understood that the generated frequency intensity relationship E(f) R The haptic effect should not exceed the capability range of the motor used to output the haptic effect and the drive system driving the motor. Therefore, in one embodiment, in step 158, a capability curve can also be generated based on the intensity attribute set in step 110 and the capability parameter obtained in step 120, which represents the actual frequency f. R The maximum strength that the motor can achieve is determined. Then, in step 159, the capability curve can be used to limit the frequency intensity relationship generated in step 157, thereby obtaining the final frequency intensity relationship.

[0056] For example in Figure 5A In this context, when a portion of the defined rectangular envelope exceeds the capability curve, the corresponding capability curve can be used to constrain (i.e., replace) that portion of the envelope; however, the remaining portion of the envelope does not exceed the capability curve, therefore it is not necessary to replace the remaining portion of the envelope with the capability curve, ultimately yielding the frequency intensity relationship E(f) shown by the solid line. R Similarly, in Figure 5B In the illustrated embodiment, by using a capability curve to constrain the circular envelope, the frequency intensity relationship E(f) shown by the solid line was ultimately obtained. R ). And in Figure 6A and Figure 6B Since the relationship curve set does not exceed the capability curve, step 159, which uses the capability curve to limit the relationship curve, does not cause any change in the relationship curve.

[0057] Return to reference Figure 1 After determining the frequency mapping relationship f R (f D ), gain mapping relationship G(I) D The relationship between frequency intensity E(f) and frequency intensity R Following this, in step 160, a haptic equalizer (EQ) can be generated, which can be represented by the following formula 3:

[0058] f R =f R (f D),

[0059] I R = E(f R )*G(I D ), Formula 3

[0060] It is understandable that the input to a haptic equalizer (EQ) can include the design frequency f of the haptic effect (or waveform). D and design strength I D The output may include the actual frequency f of the motor output. R and actual strength I R The actual strength I R Corresponding to design strength I D A given gain G(I) D ) and based on actual frequency f R The determined intensity E(f) R The product of ). For example, such as Figure 7 As shown, for the design frequency f D1 and design strength I D1 Based on the frequency mapping relationship, the design frequency f can be... D1 Mapped to actual frequency f R1 Based on the gain mapping relationship, the design strength I can be determined. D1 The corresponding gain is G(I) D1 ) = g1. Furthermore, based on the frequency intensity relationship, the frequency f can be determined relative to the actual frequency. R1 The corresponding intensity value E(f) R1 Finally, the actual strength I was determined. R1 =g1*E(f R1 ),like Figure 7 As shown. Therefore, the design of tactile effects (f) D1 I D1 ) is converted into the tactile effect to be actually output (f R1 I R1 ), to supply the motor output.

[0061] The above describes an embodiment of the method 100 for designing a haptic equalizer. The following will refer to... Figure 8 , Figure 9 , Figure 10A and Figure 10B An embodiment of the device 200 for designing a haptic equalizer will be described below. Since many details have already been discussed above in the description of the design method of the haptic equalizer, an embodiment of the haptic equalizer design device 200 will be briefly described here.

[0062] First refer to Figure 8The haptic equalizer design device 200 may include an intensity attribute acquisition module 210, a capability parameter acquisition module 220, a frequency design module 230, a gain design module 240, an intensity design module 250, and an equalizer generation module 260.

[0063] The intensity attribute acquisition module 210 can be used to acquire intensity attributes, such as displacement, velocity, and acceleration. In some embodiments, the haptic equalizer design device 200 may also use default or predetermined intensity attributes, so the intensity attribute acquisition module 210 may be omitted.

[0064] The capability parameter acquisition module 220 can be used to acquire capability parameters of the motor and / or the drive system used to drive the motor. In some embodiments, the haptic equalizer design device 200 may also use default or predetermined capability parameters, so the capability parameter acquisition module 220 may be omitted. As previously mentioned, the intensity attributes and capability parameters can be used in the operation of determining frequency mapping relationships, gain mapping relationships, and frequency intensity relationships.

[0065] The frequency design module 230 can be used to determine the frequency mapping relationship between the input frequency and the output frequency, where the input frequency is the design frequency of the haptic effect and the output frequency is the actual frequency of the haptic effect output by the motor. The frequency mapping relationship determined by the frequency design module 230 may include a whole-segment mapping or multiple segmented mappings within a predetermined frequency range, wherein the multiple segmented mappings include continuous mappings or discontinuous mappings, and each of the whole-segment mapping and the multiple segmented mappings may include one linear mapping or multiple nonlinear mappings.

[0066] The gain design module 240 can be used to determine a gain mapping relationship between input intensity and output gain, where the input intensity is the designed intensity of the haptic effect. In some embodiments, the gain mapping relationship may include a linear mapping, a concave mapping, or a convex mapping.

[0067] The intensity design module 250 can be used to determine the frequency-intensity relationship, which represents the correspondence between the actual frequency and intensity of the tactile effect.

[0068] The equalizer generation module 260 can be used to generate a haptic equalizer based on the determined frequency mapping relationship, gain mapping relationship, and frequency intensity relationship. The input of the haptic equalizer may include the design frequency and design intensity of the haptic effect, and the output of the haptic equalizer may include the actual frequency and actual intensity of the haptic effect output by the motor, wherein the actual intensity corresponds to the product between the output gain determined based on the gain mapping relationship and the intensity determined based on the frequency intensity relationship.

[0069] Figure 9A block diagram of an intensity design module 250 in a tactile equalizer design device 200 according to an embodiment of the present invention is shown. Figure 9 As shown, the strength design module 250 may further include a mode selection unit 251, a low degree of freedom design unit 253, a high degree of freedom design unit 255, a capability curve generation unit 257, and a strength limitation unit 259.

[0070] The mode selection unit 251 can be used to select the design mode for the frequency intensity relationship, such as a low-degree-of-freedom mode or a high-degree-of-freedom mode. When the low-degree-of-freedom mode is selected, the low-degree-of-freedom design unit 253 can be used to design the frequency intensity relationship. When the high-degree-of-freedom mode is selected, the high-degree-of-freedom design unit 255 can be used to design the frequency intensity relationship.

[0071] The capability curve generation unit 257 can be used to generate a capability curve based on strength attributes and capability parameters of the motor and / or the drive system used to drive the motor.

[0072] The strength limiting unit 259 can be used to limit the frequency strength relationship generated by the low degree of freedom design unit 253 or the high degree of freedom design unit 255 using the capability curve, thereby obtaining the final frequency strength relationship.

[0073] Figure 10A A block diagram is shown of a low-degree-of-freedom design unit 253 in the intensity design module 250 of a tactile equalizer design device 200 according to an embodiment of the present invention. Figure 10A As shown, the low-degree-of-freedom design unit 253 may include: a center frequency setting subunit 2531, used to set a center frequency and an intensity corresponding to the center frequency; a bandwidth setting subunit 2533, used to set a frequency bandwidth centered on the center frequency; and an envelope setting subunit 2535, used to set the shape of the envelope line passing through the points determined by the center frequency and the corresponding intensity within the frequency bandwidth range.

[0074] Figure 10B A block diagram of a high-degree-of-freedom design unit 255 in the intensity design module 250 of a tactile equalizer design device 200 according to an embodiment of the present invention is shown. Figure 10B As shown, the high degree of freedom design unit 255 may include: a frequency point setting subunit 2551, used to set multiple frequency points and corresponding intensities; and a relationship curve setting subunit 2553, used to set the relationship curve between frequency points.

[0075] Understandable, the above reference Figures 8 to 10B The various modules, units, and subunits in the described apparatus can be implemented as software, hardware, firmware, or a combination thereof to achieve their corresponding functions.

[0076] Figure 11A block diagram of an electronic device 300 according to an embodiment of the present invention is shown. The electronic device 300 can be used to perform the haptic equalizer design method 100 described above. (Refer to...) Figure 11 The electronic device 300 may include a processor 310 and a memory 320, which can be connected to each other via a bus system.

[0077] The processor 310 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0078] The memory 320 may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. Computer program instructions 322 may be stored on the computer-readable storage medium, and the processor 310 may execute the program instructions 322 to perform the haptic equalizer design method 100 described above.

[0079] Although not shown, the electronic device 100 may also include other related components, such as input devices like a keyboard, mouse, and touchpad, and output devices like a display and speaker. In some embodiments, the electronic device 100 may also include a motor for outputting tactile effects and a corresponding driver chip.

[0080] In addition to the embodiments of the methods, apparatuses, and electronic devices described above, some embodiments of this application may also provide a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the haptic equalizer design methods according to various embodiments of this application described above.

[0081] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0082] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the haptic equalizer design methods according to various embodiments of this application described above.

[0083] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0084] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0085] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0086] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0087] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0088] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A haptic equalizer design method, comprising: Determine the frequency mapping relationship between the input frequency and the output frequency, where the input frequency is the design frequency of the tactile effect and the output frequency is the actual frequency of the tactile effect output by the motor. Determine the gain mapping relationship between input intensity and output gain, where the input intensity is the design intensity of the haptic effect; Determine the frequency-intensity relationship, which represents the correspondence between the actual frequency and intensity of the tactile effect; as well as A haptic equalizer is generated based on the frequency mapping relationship, the gain mapping relationship, and the frequency intensity relationship. The input of the haptic equalizer includes the design frequency and design intensity of the haptic effect, and the output of the haptic equalizer includes the actual frequency and actual intensity of the haptic effect output by the motor. The actual intensity corresponds to the product between the output gain determined by the gain mapping relationship and the intensity determined by the frequency intensity relationship.

2. The method of claim 1, further comprising: Obtain the intensity attribute, which is one of displacement, velocity, and acceleration; as well as Obtain the capability parameters of the motor and / or the drive system used to drive the motor. Wherein, at least one of the intensity attribute and the capability parameter is used to determine one or more of the frequency mapping relationship, the gain mapping relationship, and the frequency intensity relationship.

3. The method as described in claim 1, wherein, The frequency mapping relationship includes a whole segment mapping or multiple segment mappings within a predetermined frequency range. The multiple segment mappings include continuous mappings or discontinuous mappings, and each of the whole segment mappings and the multiple segment mappings includes one linear mapping or multiple nonlinear mappings.

4. The method of claim 1, wherein, The gain mapping relationship includes a whole segment mapping or multiple segmented mappings, and each of the whole segment mapping and the multiple segmented mappings includes a linear mapping, multiple concave mappings, or multiple convex mappings.

5. The method of claim 1, wherein, Determining the frequency-intensity relationship includes: Select a design pattern, which includes low-degree-of-freedom patterns and high-degree-of-freedom patterns; and When the low-degree-of-freedom mode is selected, the center frequency and corresponding intensity, bandwidth parameters, and envelope are set to generate a frequency-intensity relationship; or When the high degree of freedom mode is selected, multiple frequency points and corresponding intensities are set, and the relationship curve between the frequency points is set to generate a frequency-intensity relationship.

6. The method of claim 5, wherein, The envelope includes a rectangular envelope or a circular arc envelope.

7. The method of claim 5, wherein, Determining the frequency-intensity relationship also includes: A capability curve is generated based on the strength attributes and the capability parameters of the motor and / or the drive system used to drive the motor; and The capability curve is used to constrain the generated frequency intensity relationship to obtain the final frequency intensity relationship.

8. A haptic equalizer design device, comprising: The frequency design module is used to determine the frequency mapping relationship between the input frequency and the output frequency. The input frequency is the design frequency of the tactile effect, and the output frequency is the actual frequency of the tactile effect output by the motor. The gain design module is used to determine the gain mapping relationship between the input intensity and the output gain, wherein the input intensity is the design intensity of the haptic effect; The intensity design module is used to determine the frequency-intensity relationship, which represents the correspondence between the actual frequency and intensity of the tactile effect; as well as An equalizer generation module is used to generate a haptic equalizer based on the frequency mapping relationship, the gain mapping relationship, and the frequency intensity relationship. The input of the haptic equalizer includes the design frequency and design intensity of the haptic effect, and the output of the haptic equalizer includes the actual frequency and actual intensity of the haptic effect output by the motor. The actual intensity corresponds to the product between the output gain determined by the gain mapping relationship and the intensity determined by the frequency intensity relationship.

9. The apparatus of claim 8, further comprising: The intensity attribute acquisition module is used to acquire intensity attributes, wherein the intensity attribute is one of displacement, velocity, and acceleration. as well as A capability parameter acquisition module is used to acquire capability parameters of the motor and / or the drive system used to drive the motor. Wherein, at least one of the intensity attribute and the capability parameter is used to determine one or more of the frequency mapping relationship, the gain mapping relationship, and the frequency intensity relationship.

10. The apparatus of claim 8, wherein, The frequency mapping relationship includes a whole segment mapping or multiple segment mappings within a predetermined frequency range. The multiple segment mappings include continuous mappings or discontinuous mappings, and each of the whole segment mappings and the multiple segment mappings includes one linear mapping or multiple nonlinear mappings.

11. The apparatus of claim 8, wherein, The gain mapping relationship includes a whole segment mapping or multiple segmented mappings, and each of the whole segment mapping and the multiple segmented mappings includes a linear mapping, multiple concave mappings, or multiple convex mappings.

12. The apparatus of claim 8, wherein, The strength design module includes: A mode selection unit is used to select a design mode, which includes a low degree-of-freedom mode and a high degree-of-freedom mode. Low-degree-of-freedom design units are used to design frequency-intensity relationships when low-degree-of-freedom modes are selected; and High degree of freedom design unit, used to design frequency intensity relationship when a high degree of freedom mode is selected.

13. The apparatus of claim 12, wherein, The low-degree-of-freedom design unit includes: A center frequency setting subunit is used to set the center frequency and the intensity corresponding to the center frequency; A bandwidth setting subunit is used to set the frequency bandwidth centered on the center frequency; and An envelope setting subunit is used to set the shape of the envelope line passing through the center frequency and the corresponding intensity within the frequency bandwidth.

14. The apparatus of claim 12, wherein, The high-degree-of-freedom design unit includes: The frequency setting subunit is used to set multiple frequency points and their corresponding strengths; and The Relationship Curve Setting sub-unit is used to set the relationship curve between frequency points.

15. The apparatus of claim 12, wherein, The strength design module also includes: A capability curve generation unit is configured to generate a capability curve based on strength attributes and capability parameters of the motor and / or the drive system used to drive the motor; and An intensity limiting unit is used to limit the generated frequency intensity relationship using the capability curve to obtain the final frequency intensity relationship.

16. An electronic device comprising: processor; as well as A memory storing instructions that, when executed by the processor, cause the electronic device to perform the method of any one of claims 1 to 7.

17. A computer-readable medium having instructions stored thereon for execution by a processor to perform the method of any one of claims 1 to 7.

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