Tactile feedback device and wearable device

Abstract

The invention discloses a tactile feedback device and wearable equipment. The tactile feedback device is used for the wearable device, the tactile feedback device comprises a first channel, a connecting channel and a plurality of first micro-capsules, every two adjacent first micro-capsules are communicated through the corresponding connecting channel, the first channel is connected with at least one first micro-capsule, and the first channel is used for allowing fluid to pass through so that the first micro-capsules can bulge or sink. In the tactile feedback device provided by the embodiment of the invention, the plurality of first micro-capsules form a whole through the connecting channel, so that the resistances of fluids introduced into the plurality of first micro-capsules from the first channel are almost consistent, and the bulging or sinking of the plurality of first micro-capsules can be synchronously controlled through the first channel; therefore, the synchronism of vibration feedback of the first micro-capsules is improved.

Description

Technical Field

[0001] The present application relates to the technical field of wearable devices, and in particular to a tactile feedback device and a wearable device. Background Art

[0002] With the continuous development of virtual reality and augmented reality industries, in order to improve the user's immersion in virtual scenes, the development of somatosensory enhancement, especially tactile feedback technology, has received more and more attention. In some technologies, fluid can be used to drive the expansion and contraction of multiple microcapsules to achieve tactile feedback. However, in related technologies, among multiple microcapsules, due to the inconsistent fluid resistance corresponding to each microcapsule, the synchronization of vibration feedback of each microcapsule is poor. Summary of the invention

[0003] The present application provides a tactile feedback device and a wearable device.

[0004] The tactile feedback device of the embodiment of the present application is used for a wearable device. The tactile feedback device is provided with a first channel, a connecting channel and a plurality of first microcapsules. Two adjacent first microcapsules are connected through the connecting channel. The first channel is connected to at least one of the first microcapsules. The first channel is used for allowing fluid to pass through so as to make the first microcapsules bulge or sink.

[0005] In the tactile feedback device of the embodiment of the present application, multiple first microcapsules are connected through channels to form a whole, so that the resistance of the fluid passing into the multiple first microcapsules from the first channel is almost consistent, and the bulging or depression of the multiple first microcapsules can be synchronously controlled through the first channel, thereby improving the synchronization of vibration feedback of the multiple first microcapsules.

[0006] The wearable device of the embodiment of the present application includes:

[0007] The tactile feedback device described in the above embodiments;

[0008] A fluid control device is used to control the amount of fluid in the first microcapsule through the first channel.

[0009] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0011] Figure 1 is a schematic diagram of the coordination relationship between a wearable device and a finger according to an embodiment of the present application;

[0012] Figure 2 is a schematic structural diagram of a tactile feedback device according to an embodiment of the present application;

[0013] Figure 3 yes Figure 2 A cross-sectional view of the tactile feedback device in the A1-A1 direction;

[0014] Figure 4 yes Figure 2 A cross-sectional view of the tactile feedback device in the B1-B1 direction;

[0015] Figure 5 is a schematic structural diagram of a tactile feedback device according to an embodiment of the present application;

[0016] Figure 6 yes Figure 5 A cross-sectional view of the tactile feedback device taken along the A2-A2 direction;

[0017] Figure 7 yes Figure 5 A cross-sectional view of the tactile feedback device in the B2-B2 direction;

[0018] Figure 8 is a schematic structural diagram of a tactile feedback device according to an embodiment of the present application;

[0019] Fig. 9 is a schematic diagram of a swelling process of a first microcapsule according to an embodiment of the present application;

[0020] Fig.10 A schematic diagram of the force state of a finger and a first microcapsule according to an embodiment of the present application;

[0021] Fig.11 is a schematic structural diagram of a tactile feedback device according to an embodiment of the present application;

[0022] Fig.12 yes Fig.11 A cross-sectional view of the tactile feedback device in the DD direction;

[0023] Fig.13 is a schematic diagram of the force state of a finger and a first microcapsule according to an embodiment of the present application;

[0024] Fig.14 is a schematic structural diagram of a tactile feedback device according to an embodiment of the present application;

[0025] Fig.15 yes Fig.14 A cross-sectional view of the tactile feedback device in the E1-E1 direction;

[0026] Fig.16 It is a schematic diagram of the force state of a finger and a first microcapsule and a second microcapsule according to an embodiment of the present application;

[0027] Fig.17 is a schematic structural diagram of a tactile feedback device according to an embodiment of the present application;

[0028] Fig.18 yes Fig.17 A cross-sectional view of the tactile feedback device in the E2-E2 direction;

[0029] Fig.19 It is a schematic diagram of the force status of a finger and a first microcapsule and a second microcapsule according to an embodiment of the present application.

[0030] Description of reference numerals:

[0031] Tactile feedback device 100; wearable device 1000; finger 2000; first microcapsule 10; first channel 20; connecting channel 30; wearable part 200; adjusting part 300; fluid control device 400; substrate 40; flexible layer 50; cavity 41; bottom layer 42; middle layer 43; sealing part 44; pipeline 45; second microcapsule 60; second channel 70. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0034] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0036] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0037] At present, there are two ways to implement tactile feedback used in tactile feedback devices. One is to implement it through an electrically driven vibration plate, such as piezoelectric ceramics and vibration motors, specifically by applying the high-frequency vibration generated by the alternating voltage to the part in contact with the human body, thereby achieving the effect of tactile feedback; the other is to implement it through a fluid-driven microcapsule array, specifically by repeatedly filling or sucking out the fluid (liquid or gas) into or out of the microcapsule array, driving the microcapsule array to vibrate, so as to act on the part in contact with the human body, thereby producing a tactile feedback effect.

[0038] The tactile feedback device has the characteristics of high integration, high flexibility and high tactile resolution, which requires its internal structure to meet the requirements of miniaturization and thinness. The applicant has found that, on the one hand, the vibration tactile feedback generated by the electrically driven vibration plate has the characteristics of low amplitude and high frequency, that is, the vibration amplitude of the vibration plate is limited. In order to enhance the tactile perception, the vibration plate is made to work at a high frequency, which makes the tactile feedback device only able to perform a single high-frequency response, which will result in the low-frequency vibration demand of tactile feedback cannot be fully met; on the other hand, there are defects in the selection of the vibration plate, the unit volume of the motor driving the vibration plate is large, the integration of multi-unit modules is difficult, and the driving voltage of the piezoelectric vibration plate is high (greater than 36V), and the safety of use needs to be evaluated.

[0039] In order to solve the problem that high frequency and low frequency of tactile feedback are difficult to adapt to each other, the applicant has further studied and found that the method of fluid-driven microcapsule array can control the change of tactile feedback device from low amplitude to high amplitude and low frequency to high frequency by adjusting the filling pressure, filling and suction frequency of the fluid filled into or sucked out of the microcapsule array. In addition, since the microcapsule array has the characteristics of small component size and sensitive triggering, this method has strong size designability, high integration and high resolution of tactile feedback.

[0040] The fluid driving the microcapsule array needs to flow into the microcapsule array through multiple small-scale microchannels. The microcapsules and microchannels in the microcapsule array are sealed with each other and do not interfere with each other, so as to achieve the control of the microcapsule array unit point level, thereby achieving extremely high control accuracy. However, since the lengths of the microchannels corresponding to different microcapsules are different, the fluid flow resistance in the microchannel is inconsistent, resulting in inconsistent delays in filling or sucking out the fluid, which makes the delay of vibration feedback more obvious, and thus causes inconsistent tactile feedback delays in different areas of the tactile feedback device, which leads to poor synchronization of vibration feedback of each microcapsule. In addition, the more microchannels there are, the more difficult it is to control.

[0041] Based on the above considerations, in order to solve the problem of poor synchronization of vibration feedback of each microcapsule due to inconsistent fluid resistance corresponding to each microcapsule, the applicant has designed a tactile feedback device after in-depth research. By connecting multiple microcapsules into a whole, and changing the above-mentioned multiple small-scale microchannels into a smaller number of large-scale channels, the filling pressure, filling and suction frequency and other parameters when the fluid flows into the microcapsule are synchronously controlled through the channel. This makes the fluid resistance passing through multiple microcapsules almost consistent, so that the delay of fluid filling or suction is almost consistent, so that the tactile feedback delay in different areas of the tactile feedback device is almost consistent, thereby improving the synchronization of vibration feedback of each microcapsule.

[0042] See also Figure 1 and Figure 2The tactile feedback device 100 of the embodiment of the present application is used for a wearable device 1000. The tactile feedback device 100 is provided with a first channel 20, a connecting channel 30 and a plurality of first microcapsules 10. Two adjacent first microcapsules 10 are connected through the connecting channel 30. The first channel 20 is connected to at least one first microcapsule 10. The first channel 20 is used for allowing fluid to pass through so as to make the first microcapsule 10 bulge or sink.

[0043] In the tactile feedback device 100 of the embodiment of the present application, multiple first microcapsules 10 form a whole through the connecting channel 30, so that the resistance of the fluid passing into the multiple first microcapsules 10 from the first channel 20 is almost the same, and the bulging or depression of the multiple first microcapsules 10 can be synchronously controlled by the first channel 20, thereby improving the synchronization of vibration feedback of the multiple first microcapsules 10.

[0044] Specifically, the tactile feedback device 100 is a device that achieves tactile feedback to the user by changing the frequency or degree of contact with the user. The tactile feedback device 100 can be installed on the user's fingers 2000, toes, etc. For ease of explanation, the following will be described as the tactile feedback device 100 being installed on the user's fingers 2000.

[0045] The wearable device 1000 may be a related accessory of a device based on virtual reality and augmented reality technology. The wearable device 1000 may include a tactile feedback device 100 and a fluid control device 400. The fluid control device 400 is used to control the amount of fluid in the first microcapsule 10 through the first channel 20. The fluid control device 400 may be an air pump, a magnetic element, etc. For example, the fluid control device 400 is an air pump, and the amount of fluid in the first microcapsule 10 is controlled through the first channel 20 by adjusting the frequency of pumping gas into the tactile feedback device 100. For another example, the fluid control device 400 is a combination of a magnetic element and a magnetic fluid. The magnetic element may drive the magnetic fluid to enter or exit the first microcapsule 10 by powering on or off. Further, the amount of fluid in the first microcapsule 10 is controlled through the first channel 20 by adjusting the frequency of the magnetic element driving the magnetic fluid to enter or exit.

[0046] See also Figure 1 In some embodiments, the wearable device 1000 may include a wearable component 200 and an adjusting component 300. The wearable component 200 may be a glove, a sock, etc. The wearable component 200 may be fixed to a body part of a user, and the adjusting component 300 may be an elastic cloth, a retractable belt, etc. The tactile feedback device 100 may be disposed in the wearable component 200 and contact the finger 2000. The adjusting component 300 may be fixedly connected to the tactile feedback device 100 so that the tactile feedback device 100 may fit on the finger 2000 and adjust the tightness of the contact between the tactile feedback device 100 and the finger 2000.

[0047] The first microcapsule 10 may swell or dent under the action of the fluid, and the cross-sectional shape of the first microcapsule 10 when swollen may be a regular shape such as a circle, an ellipse or a polygon, or an irregular shape. The number of the first microcapsules 10 may be two, three, four or even more, and the plurality of first microcapsules 10 may be evenly distributed or otherwise arranged in the tactile feedback device 100, for example, the plurality of first microcapsules 10 may be arranged along a straight path, and the spacing between the plurality of first microcapsules 10 may be the same.

[0048] The size of the first microcapsule 10, the array arrangement of the plurality of first microcapsules 10, and the fluid pressure entering the first microcapsule 10 can all be adjusted as required, thereby realizing vibration tactile feedback, normal force tactile feedback, tangential force tactile feedback, etc., so that the tactile feedback device 100 has extremely high tactile feedback designability and adaptability.

[0049] The cross section of the connecting channel 30 may be a regular shape such as a circle or a rectangle, or an irregular shape. The connecting channel 30 may be a linear channel or a zigzag channel. There may be multiple connecting channels 30, and multiple connecting channels 30 may connect multiple first microcapsules 10 into a whole, and the fluids in the multiple first microcapsules 10 may be interconnected, and one of the two ends of one connecting channel 30 may be connected to a first microcapsule 10, respectively.

[0050] The cross section of the first channel 20 can be a regular shape such as a circle, a rectangle, or an irregular shape. The first channel 20 can be a linear channel or a zigzag channel. The number of the first channel 20 can be one, so as to achieve synchronous control of multiple first microcapsules 10. The fluid enters one of the first microcapsules 10 through the first channel 20, and further flows into the other first microcapsules 10 through the connecting channel 30. The size of the first channel 20 should be set as large as possible, and the length of the connecting channel 30 should be set as short as possible.

[0051] It can be understood that, since all the first microcapsules 10 share one first channel 20 and the length of the connecting channel 30 is relatively short, the fluid resistance when the fluid flows through the connecting channel 30 is also relatively small, so that the fluid resistance when the fluid flows through the first channel 20 to each first microcapsule 10 is almost the same, and each first microcapsule 10 can move synchronously.

[0052] See also Figure 2 , Figure 3 and Figure 4 In some embodiments, the tactile feedback device 100 includes a substrate 40 and a flexible layer 50 , the flexible layer 50 is softer than the substrate 40 , the substrate 40 is provided with a cavity 41 , a first channel 20 and a connecting channel 30 , and the flexible layer 50 covers the cavity 41 to form a first microcapsule 10 .

[0053] Thus, after the fluid is introduced into the first channel 20 , the fluid will fill the cavity 41 . As the fluid continues to be introduced, the fluid will squeeze the flexible layer 50 , causing the flexible layer 50 to bulge or dent, thereby achieving the bulging or depression of the first microcapsule 10 .

[0054] Specifically, the substrate 40 can be used to support the flexible layer 50. The cross-sectional shape of the substrate 40 can be a regular shape such as a circle or a square, or an irregular shape. A through hole can be opened along the extension direction of the substrate 40, and the fluid can enter the through hole through the first channel 20. The through hole can include multiple identical or different parts, and the multiple parts are connected through the connecting channel 30.

[0055] The flexible layer 50 is the part of the tactile feedback device 100 that contacts the user, and the vibration and deformation of the flexible layer 50 can be used as tactile feedback for the user. The flexible layer 50 can cover the substrate 40 and cover the through hole, thereby forming a cavity 41.

[0056] The flexible layer 50 is softer than the base 40, which means that when the flexible layer 50 and the base 40 are subjected to the same external force, the flexible layer 50 is more easily deformed. For example, the flexible layer 50 can be made of a material that can be deformed and restored under the action of a fluid, such as silicone and polyvinyl chloride, and the base 40 can be made of a material that is not easily deformed under the action of a fluid, such as polypropylene and phenolic resin.

[0057] See also Figure 3 In some embodiments, the substrate 40 may be an integrally formed structure. For example, the substrate 40 having the cavity 41, the first channel 20 and the connecting channel 30 may be formed by 3D printing technology to achieve a higher degree of integration.

[0058] See also Figure 5 , Figure 6 and Figure 7 In some embodiments, the substrate 40 includes a bottom layer 42 and an intermediate layer 43 stacked with the bottom layer 42 , the intermediate layer 43 is located between the flexible layer 50 and the bottom layer 42 , and the intermediate layer 43 is provided with a cavity 41 , a first channel 20 and a connecting channel 30 .

[0059] In this way, in the process of manufacturing the cavity 41, the first channel 20 and the connecting channel 30, the surface of the intermediate layer 43 can be directly processed, and then the bottom layer 42 and the intermediate layer 43 can be connected by welding, which has low manufacturing difficulty and low manufacturing cost. In addition, the thickness of the intermediate layer 43 and the bottom layer 42 has little effect on the cavity 41, the first channel 20 and the connecting channel 30, and the thickness of the substrate 40 can be set to be smaller, so that the tactile feedback device 100 has a high degree of integration.

[0060] Specifically, the substrate 40 may be a split molding structure, and along the thickness direction of the middle layer 43, the bottom layer 42 may be arranged on one side of the middle layer 43, and the bottom layer 42 may support the middle layer 43; the flexible layer 50 may be arranged on the other side of the middle layer 43, and the middle layer 43 may be used to support the flexible layer 50. Along the thickness direction of the middle layer 43, the outline dimensions of the bottom layer 42 and the middle layer 43 may be the same, or the orthographic projection areas of the bottom layer 42 and the middle layer 43 may be the same.

[0061] See also Figure 3 and Figure 6 In some embodiments, the tactile feedback device 100 may further include a sealing portion 44 and a pipe 45, one end of which is inserted into the first channel 20. The sealing portion 44 may be glue, a sealing ring, etc. The sealing portion 44 may seal the gap between the first channel 20 and the pipe 45 to prevent the fluid in the first microcapsule 10 from being lost.

[0062] See also Figure 8 , Fig. 9 and Fig.10 In some embodiments, when the first microcapsules 10 are in the first bulging state, there is a gap between two adjacent first microcapsules 10 .

[0063] Thus, the normal force F and the tangential force N of each first microcapsule 10 on the finger 2000 are very small, and the tactile perception of the finger 2000 mainly comes from the vibration frequency of the array of multiple first microcapsules 10. At this time, the tactile feedback device 100 mainly provides vibration tactile feedback.

[0064] Specifically, the first bulging state is related to the size of the first microcapsule 10, the array arrangement of the plurality of first microcapsules 10, and the pressure of the fluid passed into the first microcapsule 10. It can be understood that, when the amount of fluid passed into the first microcapsule 10 and the array arrangement of the plurality of first microcapsules 10 are constant, a first microcapsule 10 of a smaller size can also be selected so that there is a gap between two adjacent first microcapsules 10.

[0065] See also Fig. 9 In some embodiments, the height H1 of the first microcapsule 10 in the first bulging state ranges from 0.1 mm to 3 mm. For example, H1 can range from 0.1 mm to 3 mm, 1 mm to 2.5 mm, 1.5 mm to 2.5 mm, etc. For another example, H1 can range from 0.1 mm to 1 mm, 1.5 mm to 1.8 mm, 2.5 mm to 3 mm, etc.

[0066] In this way, when the bulging height H1 of the first microcapsule 10 is in the range of 0.1mm-3mm, the bulging degree of the first microcapsule 10 is not large, and the normal force F and tangential force N of each first microcapsule 10 on the finger 2000 are very small. The tactile perception of the finger 2000 mainly comes from the vibration frequency of the array of multiple first microcapsules 10. At this time, the tactile feedback device 100 mainly provides vibration tactile feedback.

[0067] Specifically, the bulging height H1 of the first microcapsule 10 is the distance that the flexible layer 50 deforms away from the middle layer 43 after the fluid is introduced. When the bulging height H1 of the first microcapsule 10 is less than 0.1 mm, the tactile perception of the finger 2000 is not obvious.

[0068] See also Fig.11 , Fig.12 and Fig.13 In some embodiments, when the first microcapsules 10 are in the second bulging state and subjected to external pressure, two adjacent first microcapsules 10 can contact each other.

[0069] In this way, the tangential force N of the finger 2000 caused by the first microcapsule 10 is negligible, and the finger 2000 is mainly acted upon by the normal force F. At this time, the tactile feedback device 100 mainly provides normal force tactile feedback.

[0070] Specifically, the second bulging state is related to the size of the first microcapsule 10, the array arrangement of the plurality of first microcapsules 10, and the pressure of the fluid passed into the first microcapsule 10. It can be understood that, when the amount of fluid passed into the first microcapsule 10 and the array arrangement of the plurality of first microcapsules 10 are constant, a first microcapsule 10 of a larger size can also be selected so that two adjacent first microcapsules 10 can contact each other.

[0071] See also Fig.12 In some embodiments, the height H1A of the first microcapsule 10 in the second bulging state ranges from 3 mm to 40 mm. For example, H1A can range from 3 mm to 30 mm, 3 mm to 20 mm, 5 mm to 15 mm, etc. For another example, H1A can range from 3 mm to 4 mm, 10 mm, 20 mm, 35 mm, 40 mm, etc.

[0072] In this way, when the bulging height H1A of the first microcapsule 10 is in the range of 3mm-40mm, the bulging degree of the first microcapsule 10 is relatively large. After the fluid is introduced, the first microcapsules 10 are squeezed against each other. At this time, the tangential force N of the first microcapsule 10 on the finger 2000 is negligible, and the finger 2000 is mainly affected by the normal force F exerted by the first microcapsule 10. At this time, the tactile feedback device 100 mainly provides normal force tactile feedback.

[0073] See also Figures 14 to 19In some embodiments, the tactile feedback device 100 is provided with a second microcapsule 60 and a second channel 70 connected to the second microcapsule 60, the second microcapsule 60 is located on one side of the first microcapsule 10, the volume of the second microcapsule 60 is greater than the volume of the first microcapsule 10, and the second channel 70 is used for allowing fluid to pass through so that the second microcapsule 60 bulges or concave; when both the first microcapsule 10 and the second microcapsule 60 are bulged, the bulging height H2 of the second microcapsule 60 is greater than the bulging height H1 of the first microcapsule 10.

[0074] Thus, since the volume of the second microcapsule 60 is greater than that of the first microcapsule 10 , the bulging degree of the second microcapsule 60 is greater than that of the first microcapsule 10 . For example, the bulging width and height of the first microcapsule 10 are greater than those of the first microcapsule 10 . When fluid is introduced into the first microcapsule 10 and the second microcapsule 60 respectively through the first channel 20 and the second channel 70, the bulging degree of the first microcapsule 10 is small, and the tangential force N and the normal force F of the first microcapsule 10 on the finger 2000 are both negligible, and the contact part between the finger 2000 and the first microcapsule 10 is mainly vibration tactile feedback; the bulging degree of the second microcapsule 60 is large, and the first microcapsule 10 and the second microcapsule 60 together constitute a microcapsule array, the first microcapsule 10 is located at the inner periphery of the array, and the second microcapsule 60 is located at the outer periphery of the array, and the second microcapsule 60 is closer to the edge of the finger 2000 than the first microcapsule 60. Therefore, in the normal direction, the second microcapsule 60 is farther away from the skin of the finger 2000, the normal force F is less than the tangential force N, and the finger 2000 is mainly acted upon by the tangential force N exerted by the second microcapsule 60. At this time, the tactile feedback device 100 mainly provides tangential force tactile feedback.

[0075] Specifically, the second microcapsule 60 can swell or sink under the action of the fluid, and the swelling direction of the second microcapsule 60 can be the same as the swelling direction of the first microcapsule 10. The cross-sectional shape of the second microcapsule 60 when swollen can be a regular shape such as a circle, an ellipse or a polygon, or an irregular shape. The number of the first microcapsules 10 can be two, three, four or even more, and the multiple first microcapsules 10 are evenly distributed or arranged in other ways in the tactile feedback device 100. For example, the multiple second microcapsules 60 are arranged along a straight path, and the spacing between the multiple second microcapsules 60 is the same.

[0076] See also Fig.15 and Fig.16 In some embodiments, the second microcapsule 60 can be disposed at both ends of the plurality of first microcapsules 10. For example, the number of the first microcapsules 10 is two, and along the arrangement direction of the two first microcapsules 10, the second microcapsules 60 can be disposed on both sides of the two first microcapsules 10, but the fluid is only introduced into the second microcapsule 60 on one side. At this time, the finger 2000 feels the tactile feedback during the sliding process of the object.

[0077] See also Fig.18 and Fig.19 In some embodiments, the plurality of second microcapsules 60 may be disposed at both ends of the plurality of first microcapsules 10. For example, the number of first microcapsules 10 is two, and along the arrangement direction of the two first microcapsules 10, the two second microcapsules 60 may be disposed on both sides of the two first microcapsules 10, respectively, and the second microcapsules 60 on both sides are both filled with fluid. At this time, the finger 2000 feels the tactile feedback of being wrapped by an object.

[0078] The size of the second microcapsule 60, the array arrangement of the plurality of second microcapsules 60, and the fluid pressure entering the second microcapsule 60 can all be adjusted as required, thereby realizing vibration tactile feedback, normal force tactile feedback, tangential force tactile feedback, etc., so that the tactile feedback device 100 has extremely high tactile feedback designability and adaptability.

[0079] The cross section of the second channel 70 can be a regular shape such as a circle or a rectangle, or an irregular shape. The second channel 70 can be a linear channel or a zigzag channel. The number of the second channels 70 can be the same as the number of the second microcapsules 60, and the fluid enters the corresponding second microcapsules 60 through the corresponding second channels 70, and the scale of the second channel 70 should be set as large as possible. It can be understood that since the scale of the second channel 70 is large, the fluid resistance when the fluid flows through the second channel 70 is small, so that the fluid resistance of the fluid flowing to each second microcapsule 60 when passing through the second channel 70 is almost the same.

[0080] See also Fig.15 In some embodiments, the bulging height H1 of the first microcapsule 10 ranges from 0.1 mm to 3 mm. For example, H1B can range from 0.1 mm to 2.5 mm, 1 mm to 2 mm, 1.5 mm to 2 mm, etc. For another example, H1B can range from 0.1 mm to 0.5 mm, 1 mm, 1.8 mm, 2.5 mm, 3 mm, etc.

[0081] In this way, the bulging height of the second microcapsule 60 is always greater than or equal to the bulging height of the first microcapsule 10. When fluid is introduced into the first microcapsule 10 and the second microcapsule 60 through the first channel 20 and the second channel 70 respectively, the bulging degree of the first microcapsule 10 is small, and the tangential force N and the normal force F of the first microcapsule 10 on the finger 2000 are negligible. The contact part between the finger 2000 and the first microcapsule 10 is mainly vibration tactile feedback.

[0082] See also Fig.15In some embodiments, the bulging height H2 of the second microcapsule 60 ranges from 3 mm to 40 mm. The bulging degree of the second microcapsule 60 is large, and the second microcapsule 60 can be located on one side of the first microcapsule 10. The second microcapsule 60 is closer to the edge of the finger 2000 than the first microcapsule 60. Therefore, in the normal direction, the second microcapsule 60 is farther from the skin of the finger 2000, and the normal force F is smaller than the tangential force N. The finger 2000 is mainly acted upon by the tangential force N exerted by the second microcapsule 60. At this time, the tactile feedback device 100 mainly provides tangential force tactile feedback.

[0083] It can be understood that when the height H1 of the first microcapsule 10 is greater than 3 mm, the height H1 of the first microcapsule 10 may be greater than the second microcapsule 60, and the part of the finger 2000 in contact with the first microcapsule 10 will receive normal force tactile feedback, while the tangential force N applied by the second microcapsule 60 is negligible. When the height H2 of the second microcapsule 60 is less than 3 mm, the situation is the same as above. When the height H2 of the second microcapsule 60 is greater than 40 mm, the first microcapsule 10 may be completely separated from the finger 2000, so that the tactile feedback completely disappears, resulting in the failure of the function of the tactile feedback device 100.

[0084] See also Fig.15 In some embodiments, the equivalent diameter D2 of the second microcapsule 60 ranges from 5 mm to 40 mm. For example, D2 can range from 5 mm to 35 mm, 5 mm to 25 mm, 10 mm to 20 mm, etc. For another example, D2 can range from 5 mm to 8 mm, 10 mm to 15 mm, 30 mm to 40 mm, etc.

[0085] Thus, when the equivalent diameter D2 of the second microcapsule 60 is in the range of 5 mm to 40 mm, the tactile perception of the finger 2000 is strong, and the pressure of the second microcapsule 60 on the finger 2000 is low. When the equivalent diameter D2 of the second microcapsule 60 is less than 5 mm, the tactile perception of the finger 2000 is weak; when the equivalent diameter D2 of the second microcapsule 60 is greater than 40 mm, the pressure of the second microcapsule 60 on the finger 2000 is strong, and the finger 2000 will feel pain, thereby affecting the user's experience.

[0086] Specifically, the equivalent diameter D2 of the second microcapsule 60 may be in the range of 8 mm to 30 mm, and further, the equivalent diameter D2 of the second microcapsule 60 may be in the range of 8 mm to 15 mm. The equivalent diameter D2 of the second microcapsule 60 is the diameter of the circumscribed circle of the cross section (the cross section perpendicular to the thickness direction of the substrate) of the second microcapsule 60. By repeatedly passing fluid into or out of the second microcapsule 60, the second microcapsule 60 will vibrate, and the vibration frequency of the second microcapsule 60 is determined by the speed of passing fluid into or out of the second microcapsule 60.

[0087] In some embodiments, the vibration frequency of the second microcapsule 60 ranges from 1 Hz to 400 Hz. For example, the vibration frequency range may be 1 Hz to 300 Hz, 50 Hz to 200 Hz, 100 Hz to 150 Hz, etc. For another example, the vibration frequency may be 1 Hz, 50 Hz, 100 Hz, 180 Hz, 205 Hz, 400 Hz, etc.

[0088] Thus, when the vibration frequency of the second microcapsule 60 is in the range of 1 Hz-400 Hz, the finger 2000 has a strong sense of touch. When the vibration frequency of the second microcapsule 60 is less than 1 Hz, the finger 2000 does not feel it clearly; the vibration frequency of the second microcapsule 60 is technically difficult to exceed 400 Hz, and the finger 2000 does not feel it sharply at this frequency.

[0089] Specifically, by repeatedly passing fluid into or out of the second microcapsule 60, the second microcapsule 60 will vibrate, and the vibration frequency of the second microcapsule 60 is determined by the speed of passing fluid into or out of the second microcapsule 60. The vibration frequency of the second microcapsule 60 can range from 1Hz to 100Hz, and further, the vibration frequency of the second microcapsule 60 can range from 1Hz to 50Hz. At this time, the vibration frequency of the first microcapsule 10 can range from 1Hz to 400Hz, and further, the vibration frequency of the first microcapsule 10 can range from 1Hz to 200Hz, and further, the vibration frequency of the first microcapsule 10 can range from 1Hz to 100Hz.

[0090] In some embodiments, the fluid pressure in the second microcapsule 60 ranges from 10 KPa to 400 KPa. For example, the fluid pressure ranges from 10 KPa to 380 KPa, 10 KPa to 200 KPa, 150 KPa to 180 KPa, etc. For another example, the fluid pressure can be 10 KPa, 100 KPa, 120 KPa, 200 KPa, 315 KPa, 400 KPa, etc.

[0091] Thus, when the fluid pressure in the second microcapsule 60 is in the range of 10KPa-400KPa, the finger 2000 has a strong sense of touch. When the fluid pressure in the second microcapsule 60 is less than 10KPa, the finger 2000 does not feel it clearly; when the fluid pressure in the second microcapsule 60 is greater than 400KPa, the second microcapsule 60 will rupture.

[0092] Specifically, the fluid pressure in the second microcapsule 60 is positively correlated with the tangential force N. The fluid pressure in the second microcapsule 60 may range from 10 KPa to 100 KPa. Further, the fluid pressure in the second microcapsule 60 may range from 10 KPa to 60 KPa.

[0093] See also Fig.15In some embodiments, the equivalent diameter D1 of the first microcapsule 10 ranges from 1 mm to 20 mm. For example, D1 can range from 5 mm to 20 mm, 5 mm to 15 mm, 10 mm to 15 mm, etc. For another example, D1 can range from 5 mm to 8 mm, 13 mm, 15 mm, 18 mm, 20 mm, etc.

[0094] Thus, when the equivalent diameter D1 of the first microcapsule 10 is in the range of 1 mm to 20 mm, the tactile perception of the finger 2000 is strong, and the first microcapsule 10 exerts a low pressure on the finger 2000. When the equivalent diameter D1 of the first microcapsule 10 is less than 1 mm, the tactile perception of the finger 2000 is weak; when the equivalent diameter D1 of the first microcapsule 10 is greater than 20 mm, the first microcapsule 10 exerts a strong pressure on the finger 2000, and the finger 2000 feels pain, thereby affecting the user's experience.

[0095] Specifically, the equivalent diameter D1 of the first microcapsule 10 may be in the range of 1 mm to 10 mm. Further, the equivalent diameter D1 of the first microcapsule 10 may be in the range of 1 mm to 5 mm. Figure 2 and Fig.15 , the width W of the connecting channel 30 should be less than or equal to the equivalent diameter D1 of the first microcapsule 10. For example, the width W of the connecting channel 30 may range from 0.5 mm to 10 mm. Further, the width W of the connecting channel 30 may range from 1 mm to 5 mm. When the width W of the connecting channel 30 ranges from 0.5 mm to 10 mm, the fluid flowing into each first microcapsule 10 has a low delay, and the synchronization of the tactile feedback device 100 is excellent. The width W of the connecting channel 30 is less than 0.5 mm and is difficult to manufacture. The width W of the connecting channel 30 is greater than 10 mm, which is equivalent to the size of the first microcapsule 10, and the channel property of the connecting channel 30 is lost.

[0096] In some embodiments, the distance L between two adjacent first microcapsules 10 ranges from 0.5 mm to 20 mm. For example, L can range from 0.5 mm to 15 mm, 5 mm to 15 mm, 10 mm to 15 mm, etc. For another example, L can range from 0.5 mm to 8 mm, 13 mm, 15 mm, 18 mm, 20 mm, etc.

[0097] Thus, when the interval L between two adjacent first microcapsules 10 is in the range of 0.5 mm to 20 mm, the two first microcapsules 10 are easy to form, the manufacturing difficulty is low, and the tactile perception of the finger 2000 is strong. When the interval L between two adjacent first microcapsules 10 is less than 0.5 mm, the two first microcapsules 10 are difficult to form, and the manufacturing difficulty is high; when the interval L between two adjacent first microcapsules 10 is greater than 20 mm, the tactile perception of the finger 2000 is weak.

[0098] Specifically, see Figure 2 The distance L between two adjacent first microcapsules 10 may range from 1 mm to 10 mm. Further, the distance L between two adjacent first microcapsules 10 may range from 1 mm to 5 mm. Figure 4 , Figure 7 and Fig.15 The equivalent diameter D1 of the first microcapsule 10 is the diameter of the circumscribed circle of the cross section of the first microcapsule 10 , and the spacing L between two adjacent first microcapsules 10 refers to the distance between two adjacent first microcapsules 10 along the direction of the connecting channel 30 .

[0099] In some embodiments, the vibration frequency of the first microcapsule 10 ranges from 1 Hz to 400 Hz. For example, the vibration frequency range may be 1 Hz to 300 Hz, 50 Hz to 200 Hz, 100 Hz to 150 Hz, etc. For another example, the vibration frequency may be 1 Hz, 50 Hz, 100 Hz, 180 Hz, 205 Hz, 400 Hz, etc.

[0100] Thus, when the vibration frequency of the first microcapsule 10 is in the range of 1 Hz-400 Hz, the finger 2000 has a strong sense of touch. When the vibration frequency of the first microcapsule 10 is less than 1 Hz, the finger 2000 does not feel it clearly; the vibration frequency of the first microcapsule 10 is technically difficult to exceed 400 Hz, and the finger 2000 does not feel it sharply at this frequency.

[0101] Specifically, by repeatedly passing fluid into or out of the first microcapsule 10, the first microcapsule 10 will vibrate, and the vibration frequency of the first microcapsule 10 is determined by the speed of passing fluid into or out. When there is a gap between two adjacent first microcapsules 10, since the first microcapsules 10 are not bulging to a large extent, the normal force F and tangential force N of each first microcapsule 10 on the finger 2000 are very small, and the tactile perception of the finger 2000 mainly comes from the vibration frequency of the array formed by the first microcapsules 10. The vibration frequency range of the first microcapsule 10 can be 1Hz-200Hz, and further, the vibration frequency of the first microcapsule 10 can be 1Hz-100Hz; when two adjacent first microcapsules 10 can contact each other, the vibration frequency of the first microcapsule 10 can be 1Hz-100Hz, and further, the vibration frequency of the first microcapsule 10 can be 1Hz-50Hz.

[0102] In some embodiments, the fluid pressure in the first microcapsule 10 is in the range of 10 KPa-400 KPa. For example, the fluid pressure may be in the range of 10 KPa-380 KPa, 10 KPa-200 KPa, 150 KPa-180 KPa, etc. For another example, the fluid pressure may be 10 KPa, 100 KPa, 120 KPa, 200 KPa, 315 KPa, 400 KPa, etc.

[0103] Thus, when the fluid pressure in the first microcapsule 10 is in the range of 10KPa-400KPa, the finger 2000 has a strong sense of touch. When the fluid pressure in the first microcapsule 10 is less than 10KPa, the finger 2000 does not feel it clearly; when the fluid pressure in the first microcapsule 10 is greater than 400KPa, the first microcapsule 10 will rupture.

[0104] It can be understood that when the fluid pressure in the first microcapsule 10 is greater than 10 KPa, the tactile perception of the finger 2000 mainly comes from the normal force F and the vibration frequency of the first microcapsule 10 array, and the fluid pressure in the first microcapsule 10 is positively correlated with the normal force F. The fluid pressure in the first microcapsule 10 may range from 10 KPa to 100 KPa, and further, the fluid pressure in the first microcapsule 10 may range from 10 KPa to 60 KPa.

[0105] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0106] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A tactile feedback device for a wearable device, characterized in that: The tactile feedback device includes a first channel, a connecting channel and a plurality of first microcapsules, two adjacent first microcapsules are connected through the connecting channel, the first channel is connected to at least one of the first microcapsules, and the first channel is used for allowing fluid to pass through so as to make the first microcapsules bulge or sink.

2. The tactile feedback device according to claim 1, characterized in that: The tactile feedback device comprises a substrate and a flexible layer, the substrate is provided with a cavity, the first channel and the connecting channel, and the flexible layer covers the cavity to form the first microcapsule.

3. The tactile feedback device according to claim 2, characterized in that: The substrate includes a bottom layer and an intermediate layer stacked with the bottom layer, the intermediate layer is located between the flexible layer and the bottom layer, and the intermediate layer is provided with the cavity, the first channel and the connecting channel.

4. The tactile feedback device according to any one of claims 1 to 3, characterized in that: When the first microcapsules are in the first bulging state, there is a gap between two adjacent first microcapsules.

5. The tactile feedback device according to claim 4, characterized in that: The height of the first microcapsule in the first bulging state ranges from 0.1 mm to 3 mm.

6. The tactile feedback device according to any one of claims 1 to 3, characterized in that: When the first microcapsules are in the second bulging state and are subjected to external pressure, two adjacent first microcapsules can contact each other.

7. The tactile feedback device according to claim 6, characterized in that: The height of the first microcapsule in the second bulging state ranges from 3 mm to 40 mm.

8. The tactile feedback device according to any one of claims 1 to 3, characterized in that: The tactile feedback device is provided with a second microcapsule and a second channel connected to the second microcapsule, the second microcapsule is located on one side of the first microcapsule, the volume of the second microcapsule is greater than the volume of the first microcapsule, and the second channel is used for fluid to pass through so as to make the second microcapsule bulge or sink; When both the first microcapsule and the second microcapsule are swollen, the swollen height of the second microcapsule is greater than the swollen height of the first microcapsule.

9. The tactile feedback device according to claim 8, characterized in that: The height of the first microcapsule bulges is in the range of 0.1 mm to 3 mm; and / or the height of the second microcapsule bulges is in the range of 3 mm to 40 mm.

10. The tactile feedback device according to claim 8, characterized in that: The equivalent diameter of the second microcapsule is in the range of 5 mm to 40 mm; and / or, The vibration frequency of the second microcapsule is in the range of 1 Hz to 400 Hz; and / or, The fluid pressure in the second microcapsule ranges from 10 KPa to 400 KPa.

11. The tactile feedback device according to claim 1, characterized in that: The equivalent diameter of the first microcapsule is in the range of 1 mm to 20 mm; and / or, The distance between two adjacent first microcapsules ranges from 0.5 mm to 20 mm; and / or, The vibration frequency of the first microcapsule is in the range of 1 Hz to 400 Hz; and / or, The fluid pressure in the first microcapsule ranges from 10 KPa to 400 KPa.

12. A wearable device, characterized in that: include: The tactile feedback device according to any one of claims 1 to 11; A fluid control device is used to control the amount of fluid in the first microcapsule through the first channel.

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