A vibration haptic-based touch screen and touch pen interaction method

Abstract

The application provides a touch screen and touch pen interaction method based on vibration haptics, which provides directional haptic information and customized haptics for users by embedding sensors and vibration haptic generation devices in a touch pen. The touch pen device comprises a touch pen shell, a sensor array, a control unit and a haptic generation device. The touch pen shell is used for accommodating other devices. The sensor array is located in the touch pen shell and is mainly responsible for collecting pressure and posture information of the touch pen during use. The haptic generation device is located at the tail of the touch pen shell and is responsible for generating directional haptic information and customized haptics according to corresponding control information. The control unit is located inside the touch pen between the sensor array and the haptic generation device, and is connected with the sensor array, the haptic generation device and an upper computer in a data mode, and is responsible for calculating sensor array data and generating control information of the haptic generation device.

Description

Technical Field

[0001] This invention belongs to the field of vibration tactile sensing, specifically relating to a method for tactile interaction using a pressure sensor, a gyroscope, and a linear motor. Background Technology

[0002] With the development of touchscreen technology, the cost of touchscreens has continued to decrease, and the number of devices using touchscreens has increased significantly in recent years. Along with the development of touchscreen devices, touchscreen writing pen devices have also emerged. The emergence of styluses aims to help touchscreen devices replace traditional writing devices such as blackboards and paper to a certain extent. Styluses give touchscreens better scalability and reusability compared to traditional writing devices, and can also assist in the realization of complex functions with the help of high-performance computing devices. However, the experience of writing on paper still has irreplaceable advantages, such as excellent writing feel and beautiful fonts. Although improving the writing feel is always an important indicator in the design iteration of styluses, current designs often focus on improving haptic feedback on the touchscreen itself. For example, using linear motors attached to the touchscreen to provide haptic feedback in conjunction with user movements, or using special screen coatings to increase the friction of the touchscreen surface, are all improvements made to the touchscreen itself. However, these improvements can also have certain negative impacts on the usability of the touchscreen itself.

[0003] Touch is sensed and fed back to the brain by tactile corpora embedded in the skin. There are many types of tactile corpora, each responsible for sensing and responding to specific types of tactile stimuli. The human hand has the highest density of tactile corpora, especially at the fingertips, making it the most sensitive area for tactile feedback. The mechanism of tactile perception is primarily based on tactile biomechanics, using finite element analysis to study the impact of finger deformation and the stress-strain response of soft tissue under external dynamic loads on mechanoreceptor cells related to touch. This analysis examines the intrinsic connections between external mechanical stimuli, finger mechanical responses, sensory signals, and tactile perception. Currently, enhancing the tactile experience of touchscreens requires multiple layers of media to reach the user, which reduces tactile intensity and shortens the tactile feedback transmission time.

[0004] Vibration haptics is currently the most widely used tactile sensory technology. It's an effective and cost-efficient method of generating tactile feedback, primarily relying on vibration motors. Vibration motors are widely used and their size allows them to be mounted on small devices like styluses. Linear motors are a type of vibration motor. They convert electromagnetic force into mechanical energy and reciprocate along a single axis. Compared to traditional rotor motors, they offer advantages such as faster start-up and response. Furthermore, because the linear motor's oscillator moves along a single axis, its ability to provide directional guidance to the user has been proven. Research indicates that a lack of directionality is a significant factor reducing writing accuracy when writing on non-traditional media. By providing users with directional information, they can write with greater precision on non-traditional media.

[0005] By strategically arranging linear motors and using thin-film pressure sensors to provide the necessary parameter values, users can experience a variety of tactile sensations, including directional information, while using a stylus. Developing a small, simple, and reliable technology based on vibration haptics, which can be attached to a stylus, is of great significance for enhancing the realism and tactile richness of stylus use. Summary of the Invention

[0006] The purpose of this invention is to propose a method for interaction between a stylus and a touchscreen based on vibration haptic feedback. This method controls the orderly vibration of a linear motor with a specific arrangement by collecting data from pressure sensors and gyroscopes, providing directional information and customized haptic feedback to the stylus user.

[0007] To achieve the above objectives, the present invention designs a touchscreen haptic interaction stylus device based on vibration haptic feedback, comprising:

[0008] The haptic stylus device includes a sensor array containing various sensors to collect data on the current state of the pen.

[0009] The haptic generation device consists of multiple linear motors arranged in different postures, used to output directional information and customized haptic feedback to stylus users.

[0010] Furthermore, the tactile pen device is made of photosensitive resin, has a pen-like shape, dimensions of 25*25*230 (mm), and a total weight of 78g.

[0011] Furthermore, the haptic stylus device includes a pressure sensor array and a mounting port for a haptic generation device. The pressure sensor array is located inside the stylus device and is not rigidly connected to the pen body; its main function is to collect various information during stylus use. The sensor array includes thin-film pressure sensors located around the perimeter and bottom of the array, and a gyroscope sensor located at the end of the array. The mounting port for the haptic generation device is located at the rear of the haptic stylus device, facilitating the replacement of the haptic generation device.

[0012] Furthermore, the aforementioned thin-film pressure sensors are all composed of a circular thin-film pressure-sensing interface with a diameter of 7.5 mm and wires. Depending on the pressure applied to the sensing interface, the resistance of the pressure sensor varies, which can be converted into different pressure values, with a range of 2-5000 g.

[0013] Furthermore, the gyroscope can measure three-axis attitude and three-axis acceleration to measure the current attitude of the stylus device in real time, with an attitude range of 2000 degrees per second and an acceleration range of 16 G, so that the haptic stylus device can match different haptic sensations according to the attitude.

[0014] Furthermore, by collecting 5-axis pressure data from the stylus and attitude and acceleration data from the gyroscope, the real-time state of the stylus device during use can be simulated and reproduced. The information is then uploaded to the host computer via the data cable at the tail. The host computer uses the sensor data to determine and output the optimal tactile feedback.

[0015] Furthermore, the haptic generation device is a combination of multiple linear motors. Four linear motors perpendicular to the axis of the stylus device provide directional information perpendicular to the stylus, and two linear motors parallel to the axis of the stylus device provide directional information parallel to the stylus. The haptic generation device is non-rigidly connected to the mounting port of the stylus device and provides corresponding haptic patterns by receiving sensor data processed and mapped by the host computer.

[0016] Compared with the prior art, the positive effects of this invention are:

[0017] This invention provides a vibration-based stylus device for writing on touchscreens. It collects and analyzes environmental information through built-in sensors, and uses a haptic generation device containing a linear motor to receive the analyzed instructions and provide the user with directional information and various haptic experiences. This enhances the haptic experience during stylus writing without affecting the properties of the touchscreen device itself, and is of great significance for improving the realism and richness of stylus interaction. Attached Figure Description

[0018] Figure 1This is a schematic diagram of the tactile stylus device of the present invention. The dashed lines in the diagram represent the internal structure of the device that is not visible from the current direction.

[0019] Figure 2 This is a schematic diagram of the tactile mode provided by the tactile generation device of the present invention. The dashed lines in the diagram represent the vibration motor inside the device.

[0020] Figure 3a , Figure 3b , Figure 3c , Figure 3d , Figure 3e A schematic diagram of the tactile mode is provided for the tactile generation device of the present invention, wherein the coordinate system is based on the ground as the YZ plane. Detailed Implementation

[0021] To make the above features and advantages of the present invention more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings. The embodiments described in this invention are only some embodiments of the present invention, and not all embodiments.

[0022] This example provides a haptic-based stylus device, including a haptic stylus device and a haptic generation device, such as... Figure 1 As shown, 1 is the stylus shell, 2 is the pressure sensor array, 3 is the gyroscope sensor, 4 is the control device, and 5 is the haptic generation device. The stylus shell contains an interface for accommodating devices 2 to 4, allowing devices 2 to 4 to be non-rigidly connected to the stylus shell. Devices 1 to 4 constitute a haptic stylus device.

[0023] The pressure sensor array comprises a substrate supporting thin-film pressure sensors and five thin-film pressure sensors. The sensor substrate is inserted into the stylus housing from the rear, with a certain distance between it and the housing, and its position is limited by a gyroscope sensor (device 3). The thin-film pressure sensors consist of a pressure-sensing surface and signal wires; the pressure-sensing surface is fixed to a designated position on the sensor substrate using an adhesive substance.

[0024] The gyroscope sensor can measure three-axis gyroscope and three-axis acceleration information. The housing of the gyroscope sensor is not specifically defined. It is non-rigidly connected to the stylus housing and transmits information to the outside through signal wires.

[0025] The haptic generating device is located at the tail of the stylus shell and is not rigidly connected to it. This invention does not explicitly specify the appearance of the haptic generating device. The haptic generating device needs to contain at least five X-axis linear motors, such as... Figure 2As shown, the model of the linear motor is not explicitly specified. Four linear motors are arranged eccentrically to the central axis of the stylus, at 90-degree angles to each other. This allows the four linear motors to simulate forces in all directions perpendicular to the stylus axis. In actual use, the directions of the four pairs of motors relative to the ground may not be the same. In this case, data from the attitude sensor controls each motor to generate vibration direction information fixed relative to the ground coordinate system. The vibration axis of the last linear motor coincides with the central axis of the stylus, giving the stylus the ability to generate three-axis haptic information. The haptic generation device has signal transmission wires that receive control signals from the linear motors.

[0026] The control device is located between the tactile generation device and the gyroscope sensor, and is connected to devices 2, 3, and 5 via signal wires. The control device contains a high-performance processor and needs to have information processing and transmission capabilities. This invention does not explicitly limit the processor model within the control device, whether it needs to connect to a host computer, or the connection method. The control device needs to receive and process sensor data from devices 2 and 3 and send control signals to device 5.

[0027] Research shows that regular vibrations can provide the human body with directional information. The main difference in experience between using a stylus on a glass screen and writing on traditional paper lies in the lower coefficient of friction of the glass screen. This means the stylus cannot provide the same level of friction as paper, making it difficult for users to accurately position their writing, resulting in a writing experience far inferior to that of paper. Using designed vibrations to provide users with a tactile sensation that simulates the direction of friction can effectively enhance the stylus user experience. This haptic stylus offers at least five types of tactile feedback, illustrated in the diagram below. Figure 2 As shown:

[0028] 1) The vibrations of the first and second linear motors provide directional vibration tactile sensation in the X-axis direction.

[0029] 2) The vibrations of the third and fourth linear motors provide directional vibration tactile sensation in the Y-axis direction.

[0030] 3) The first linear motor, the second linear motor, the third linear motor, and the fourth linear motor vibrate in sequence to provide a clockwise vibration tactile sensation around the Z-axis.

[0031] 4) The fourth linear motor, the third linear motor, the second linear motor, and the first linear motor vibrate in sequence to provide a counterclockwise vibration tactile sensation around the Z-axis.

[0032] 5) The fifth linear motor vibration provides directional vibration tactile sensation in the Z-axis direction.

[0033] When the first, second, third, and fourth linear motors vibrate, because their positions are off-center from the stylus's central axis, they can provide the stylus user with tactile information in four directions: up, down, left, and right, perpendicular to the stylus's central axis. When the fifth linear motor vibrates, because it coincides with the stylus's central axis, it can change the vibration intensity according to the user's pressure on the stylus tip, providing the user with tactile information that provides feedback on the pressure applied.

[0034] The driving process of this embodiment is explained in detail in the driving diagram of Figure 3. Figure 3a , Figure 3b This represents a unidirectional tactile feedback process generated by two linear motors. Figure 3c This illustrates a unidirectional haptic feedback process generated by four linear motors. Figure 3d This illustrates the clockwise and counterclockwise tactile feedback processes generated by four linear motors. Figure 3e To illustrate the virtual force-based haptic feedback process, a brief implementation description is provided below for ease of understanding:

[0035] exist Figure 3a In the process, a pressure sensor collects pressure values, and a gyroscope collects the current posture and acceleration information of the stylus. The pressure sensor and gyroscope transmit the collected data to the control device via signal wires. The control device calculates the current vibration intensity of the linear motor and transmits the corresponding control information to the corresponding motor via signal wires. Figure 3a The first linear motor vibrates, and the third linear motor vibrates in turn, thus producing a tactile vibration in the negative X-axis direction; the third linear motor vibrates, and the first linear motor vibrates in turn, thus producing a tactile vibration in the positive X-axis direction.

[0036] Figure 3b The principle of tactile sensation and Figure 3a Similar in Chinese: Figure 3b The second linear motor vibrates and the fourth linear motor vibrates in sequence, thus producing a tactile vibration in the negative Y-axis direction; the fourth linear motor vibrates and the second linear motor vibrates in sequence, thus producing a tactile vibration in the positive Y-axis direction.

[0037] exist Figure 3cIn this system, all four motors perpendicular to the stylus axis participate in generating directional haptic feedback. Two adjacent motors work together to generate a phase of haptic feedback. By adjusting the vibration intensity of two adjacent motors vibrating in the same phase through a control device, haptic feedback at any angle and angle between the two vibrating motors can be generated: the first and second linear motors vibrate first, followed by the third and fourth linear motors, thus producing haptic feedback from the first quadrant to the third quadrant; the third and fourth linear motors vibrate first, followed by the first and second linear motors, thus producing haptic feedback from the third quadrant to the first quadrant; the first and fourth linear motors vibrate first, followed by the second and third linear motors, thus producing haptic feedback from the second quadrant to the fourth quadrant; the second and third linear motors vibrate first, followed by the first and fourth linear motors, thus producing haptic feedback from the fourth quadrant to the second quadrant.

[0038] Figure 3d The process of generating clockwise and counterclockwise tactile sensations is as follows: The linear motors vibrate in the order of the first linear motor, the second linear motor, the third linear motor, and the fourth linear motor to complete one cycle. Repeating this cycle can give the user a clockwise tactile sensation in the positive Z-axis direction. The linear motors vibrate in the order of the fourth linear motor, the third linear motor, the second linear motor, and the first linear motor to complete one cycle. Repeating this cycle can give the user a counterclockwise tactile sensation in the positive Z-axis direction.

[0039] Figure 3e In this system, the readings from pressure sensor 5 are linearly mapped to the fifth linear motor via the control module, providing the user with tactile feedback on the pressure applied.

[0040] The method of the present invention has been described in detail above through formal expressions and embodiments, but the specific implementation of the present invention is not limited thereto. Those skilled in the art can make various obvious changes and modifications without departing from the spirit and principles of the method described in the present invention. The scope of protection of the present invention should be determined by the claims.

Claims

1. A touchscreen haptic interaction stylus device based on vibration haptic feedback, characterized in that... include: The haptic stylus device includes a sensor array containing multiple sensors to collect the current status of the pen. The haptic generation device consists of multiple linear motors arranged in different postures, used to output directional information and customized haptic feedback to the stylus user; The tactile stylus device includes a pressure sensor array and a tactile generation device mounting port. The pressure sensor array is located inside the stylus device and is not rigidly connected to the pen body. It is responsible for collecting various information during the use of the stylus. The sensor array includes thin-film pressure sensors located around the perimeter and bottom of the sensor array. The sensor array also includes a gyroscope sensor located at the end of the sensor array. The tactile generation device mounting port is located at the tail of the tactile stylus device. The gyroscope sensor measures three-axis attitude and three-axis acceleration, which is used to measure the current attitude of the stylus device in real time. By collecting stylus pressure data and gyroscope attitude and acceleration data, the real-time state of the stylus device during use is simulated and restored. The information is then uploaded to the host computer via the data cable at the tail. The host computer judges and outputs tactile feedback based on the sensor data. The haptic generation device is a combination of multiple linear motors. Four linear motors perpendicular to the axis of the stylus device provide directional information perpendicular to the stylus, and two linear motors parallel to the axis of the stylus device provide directional information parallel to the stylus. The haptic generation device is non-rigidly connected to the mounting port of the stylus device and provides corresponding haptic modes by receiving sensor data processed and mapped by the host computer. Four linear motors are arranged eccentrically to the central axis of the stylus, at a 90-degree angle to each other. This allows the four linear motors to simulate forces in all directions perpendicular to the stylus axis. In actual use, the four pairs of motors may be in the same or different directions relative to the ground. In this case, the data information from the attitude sensor controls each motor to generate vibration direction information fixed relative to the ground coordinate system. The vibration axis of the last linear motor coincides with the central axis of the stylus, enabling the stylus to generate three-axis haptic information. The haptic generation device has signal transmission wires that receive control signals from the linear motors.

2. The apparatus according to claim 1, characterized in that: This haptic stylus offers at least five types of haptic feedback, as follows: The first and second linear motors are on the same horizontal line, i.e., the first horizontal line; the fourth and third linear motors are on a second horizontal line, which is parallel to the first horizontal line; the fifth linear motor is on the third horizontal line. The vibrations of the first and second linear motors provide directional vibration tactile sensation in the X-axis direction; The vibrations of the third and fourth linear motors provide directional vibration tactile sensation in the Y-axis direction; The first linear motor, the second linear motor, the third linear motor, and the fourth linear motor vibrate in sequence to provide a clockwise tactile vibration around the Z-axis. The fourth linear motor, the third linear motor, the second linear motor, and the first linear motor vibrate in sequence to provide a counterclockwise tactile vibration around the Z-axis. The fifth linear motor vibration provides directional vibration tactile feedback in the Z-axis direction.

3. The apparatus according to claim 1, characterized in that: When the first, second, third, and fourth linear motors vibrate, their positions are offset from the central axis of the stylus, providing the stylus user with tactile information in four directions: up, down, left, and right, perpendicular to the central axis of the stylus. When the fifth linear motor vibrates, it coincides with the central axis of the stylus, and its vibration intensity changes with the force of the user pressing the stylus tip, providing the user with tactile information that feedbacks the pressure applied.

4. The apparatus according to claim 1, characterized in that: The pressure sensor collects pressure values, and the gyroscope collects the current posture and acceleration information of the stylus. The pressure sensor and gyroscope transmit the collected data to the control device through signal wires. The control device calculates the vibration intensity of the current linear motor and transmits the corresponding control information to the corresponding motor through signal wires: the first linear motor vibrates, and the third linear motor vibrates in turn, thereby generating a vibration tactile sensation in the negative X-axis direction. The third linear motor vibrates, and the first linear motor vibrates in turn, thereby generating a tactile vibration in the positive X-axis direction; The second linear motor vibrates and the fourth linear motor vibrates in turn, thereby generating a tactile vibration in the negative Y-axis direction; The fourth linear motor vibrates, and the second linear motor vibrates in turn, thereby generating a tactile vibration in the positive Y-axis direction; All four motors perpendicular to the stylus axis participate in the generation of directional tactile sensation. Two adjacent motors work together to generate a stage of tactile sensation. The vibration intensity of two adjacent motors vibrating in the same stage is adjusted by the control device to generate tactile sensation at any angle and forward degree between the two vibrating motors: the first and second linear motors vibrate first, and the third and fourth linear motors vibrate later, thereby generating a vibration tactile sensation from the first quadrant to the third quadrant. The third and fourth linear motors vibrate first, followed by the first and second linear motors, thus producing a tactile vibration sensation from the third quadrant to the first quadrant. The first and fourth linear motors vibrate first, followed by the second and third linear motors, thus generating a tactile vibration sensation from the second quadrant to the fourth quadrant. The second and third linear motors vibrate first, followed by the first and fourth linear motors, thus generating a tactile vibration sensation from the fourth quadrant to the second quadrant. The linear motors vibrate in sequence, first, second, third, and fourth, to complete one cycle, and this cycle is repeated to give the user a clockwise tactile sensation in the positive Z-axis direction; the linear motors vibrate in sequence, fourth, third, second, and first, to complete one cycle, and this cycle is repeated to give the user a counterclockwise tactile sensation in the positive Z-axis direction. The control module linearly maps the readings from the pressure sensor to the fifth linear motor, providing the user with tactile feedback on the pressure applied.

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