Oscillator array for generating tactile feedback and audio, method and application thereof

Abstract

The invention relates to a vibrator array for generating tactile feedback and audio frequency, a method and application thereof, the vibrator array comprises an array main body part, the array main body part comprises at least two vibrators, and each vibrator can do reciprocating mechanical motion in one direction to generate vibration; each internal and external connection elastic sheet is connected with the corresponding vibrator and comprises a flat sheet body, an internal connection rib and an external connection rib; the supporting structural member is used for supporting the vibrator and the internal and external connecting elastic sheets; the signal transmission processing part is electrically connected with the vibrator; wherein the vibrator simultaneously realizes massage, vibration tactile feedback and audio playing functions through vibration, and the audio playing function is realized through two modes of air conduction and bone conduction; the integration of massage, vibration tactile feedback and audio playing functions is realized through the same vibrator unit; the vibrator array can generate clear vibration direction and directivity and provide more accurate tactile feedback.

Description

Technical Field

[0001] The invention relates to a vibrator array, method and application for generating tactile feedback and audio, and in particular to a multifunctional vibrator array system capable of simultaneously realizing massage, vibration tactile feedback and audio playback functions. Background Art

[0002] Haptic feedback technology is a technology that enables users to perceive virtual environments or device feedback through touch. This technology is widely used in virtual reality (VR), augmented reality (AR), game controllers, medical simulation equipment, and smart phones. Haptic feedback transmits information to users through vibration, pressure, temperature changes, etc., allowing them to have a more realistic interactive experience.

[0003] Audio feedback refers to the technology of transmitting information through sound signals. This technology is widely used in alarm systems, user interface interactions, entertainment devices, and hearing aids. The role of audio feedback is to transmit information through hearing, thereby guiding users to operate or convey certain status information.

[0004] Bone conduction technology is an innovative method of transmitting sound to the inner ear through vibration, which is different from the traditional air conduction method (i.e., sound wave conduction outside the ear). Its working principle is based on the physiological characteristics of the human body and the law of sound wave propagation, and has unique application advantages and safety. The sound we hear is usually transmitted through the air outside the ear. The sound waves are transmitted to the eardrum through the external auditory canal, and then transmitted to the inner ear through the middle ear bones. Bone conduction technology directly uses the vibration of the skull and skull to transmit sound, bypassing the outer ear and middle ear and directly acting on the inner ear.

[0005] Bone conduction products usually work by first converting electroacoustic signals into mechanical vibrations, and then transmitting the vibrations to the inner ear area or tissue nerves through the internal bones of the human body by direct contact with the human body. Specifically, bone conduction products usually contain one or more vibration units (vibrators), which can be placed in various parts of the human body such as the head, neck, waist, etc., and can be used in the fields of tactile feedback, audio hearing, etc. When the relevant product is connected to an electrical signal or plays audio, the vibrator will generate corresponding mechanical vibrations, through which real tactile feedback can be achieved; at the same time, the vibrations can be quickly transmitted to the auditory nervous system of the inner ear through the bones of the head, neck, waist, etc., to form auditory perception.

[0006] A vibrator is a device that can convert electrical energy into mechanical vibrations. There are many types of vibrators, including piezoelectric vibrators, electromagnetic vibrators, and electric vibrators. Vibrators are used in many fields, especially in devices that require tactile feedback and audio output, where vibrators play a key role.

[0007] The natural frequency and amplitude of the oscillator are affected by the characteristics of the spring clip; in particular, the characteristics of the spring clip are affected by the spring clip connecting ribs. Through the design of the spring clip connecting ribs, the vibration behavior of the oscillator can be adjusted and controlled to adapt to different application scenarios.

[0008] A vibrator array is a system consisting of multiple vibrators that can achieve complex vibration patterns by controlling each vibrator independently or in coordination. Vibrator array technology makes the design of tactile feedback and audio feedback more flexible and diverse. In tactile feedback applications, vibrator arrays can generate different vibration patterns to simulate various touch sensations. In audio applications, vibrator arrays can be used to generate or enhance sound effects.

[0009] Current tactile feedback and audio feedback technologies still have limitations in some aspects. For example, a single vibrator has limited ability to provide diverse tactile feedback and it is difficult to achieve complex tactile effects. The design of audio feedback often relies on independent audio devices and lacks effective integration with tactile feedback.

[0010] In the existing solution, the vibration motor drives tactile feedback: ERM (eccentric rotating mass) is a device that generates vibration by rotating the eccentric mass. When the current passes through the vibration motor, the motor drives the eccentric mass to rotate, generating centrifugal force, thereby causing vibration. By controlling the frequency and amplitude of the current, the intensity and frequency of the vibration can be adjusted. It is generally used in mobile phones, smart watches or game controllers to vibrate when receiving a call or message, and to vibrate during the game to simulate the feeling of impact or shooting, thereby enhancing the immersion of the game.

[0011] Piezoelectric actuators: Piezoelectric actuators work based on the piezoelectric effect. When an electric field is applied, the piezoelectric material will undergo mechanical deformation (stretching or bending), thereby generating vibrations. The vibration characteristics of the piezoelectric actuator can be controlled by adjusting the frequency and amplitude of the applied voltage. It is generally used in touch screen devices or other wearable devices to use vibration to simulate effects such as button clicks and sliding.

[0012] Linear Resonant Actuator (LRA): Uses an internal resonant mass and spring system to generate vibrations. The internal mass block is driven to vibrate within a fixed frequency range through linear motion. When the applied electrical signal is consistent with its resonant frequency, the LRA can work at the highest efficiency and produce a strong and clear vibration effect. It is generally used in game controllers, high-end headphones and earphones, and portable audio equipment.

[0013] The existing solutions have the following problems: Although vibration motor drives (ERM), piezoelectric drives, linear resonant actuators (LRA), etc. can simulate some scenes in life through vibration to a certain extent, thereby giving users reminders and help, these methods all have narrow bandwidths and relatively monotonous usage scenarios, making it difficult to achieve complex tactile experiences. With the rapid development of living standards and technology, users hope to have a more realistic and multi-scenario tactile experience.

[0014] The vibration energy generated by the above-mentioned existing solutions will be transmitted in a relatively uniform manner, without obvious directionality and directivity, and it is also impossible to modify the state of vibration through software combination. Therefore, the vibration cannot be purposefully transmitted to a specific position to provide an accurate tactile feedback experience. Usually, vibration feedback can only be provided in a local area, and the vibration area in contact with the human body is small, which limits the scope and effect of the tactile experience. At most, dual-channel control can be used, divided into left and right channels. For example, the vibration feedback driven by the vibration motor on the game controller can provide two different left and right vibration feelings according to the left and right directions. However, people's feelings are more three-dimensional, not only in the left and right directions, but also in the up and down or upper left, upper right, lower left, lower right and other combined directions. The above-mentioned existing solutions cannot meet this demand well.

[0015] At present, the design of shrapnel mostly adopts a single-layer connecting rib structure. Although this design is simple, it seems to be somewhat inadequate in complex application environments. First, the load-bearing capacity, amplitude and adaptability of the single-layer connecting rib shrapnel are relatively limited, and it is difficult to meet the requirements of the vibrator array in terms of tactile feedback and audio hearing; secondly, the shrapnel circle is consistent with the outer circle of the vibrator outer cylinder, and it is impossible to connect and fix it with the vibrator outer cylinder and the vibrator array device at the same time, which makes it difficult to apply the shrapnel to the vibrator array and achieve effective tactile feedback and auditory perception.

[0016] There are also deficiencies in the way the shrapnel is connected to external entities or devices. First, the shrapnel lacks the necessary extension part on the outside, and can only be connected and fixed to the outer tube of the vibrator, and there is no part to connect and fasten with other external devices; secondly, the lack of elastic suspension structure design leads to poor adaptability of the shrapnel, making it difficult to adapt to the needs of application scenarios and application devices such as tactile feedback and auditory feedback, and difficult to apply to vibrator arrays; when facing different pressures on different parts of the human body such as the head, neck, and waist, it is difficult to ensure the relative position of the vibrator and the normal working environment. During long-term use, the vibrator is prone to loosening, damage, and other problems, affecting the product's service life, performance, and practicality. Summary of the invention

[0017] The present invention is aimed at the above technical problems. The present invention proposes a vibrator array technology integrating tactile feedback and audio output. By accurately controlling the working state of each vibrator, complex tactile and audio effects can be generated. The application of this technology can significantly improve the user experience and is widely applicable to the fields of smart devices, virtual reality systems, entertainment equipment, and human-computer interaction interfaces.

[0018] To achieve the above object, the present invention provides the following technical solutions:

[0019] A vibrator array for generating tactile feedback and audio, comprising:

[0020] An array main body part, the array main body part comprising:

[0021] at least two vibrators, each of which is capable of reciprocating mechanical motion in one direction to generate vibration;

[0022] An internal and external connecting spring piece connected to each of the vibrators, the internal and external connecting spring piece comprising a flat sheet body, an internal connecting rib and an external connecting rib;

[0023] A supporting structure for supporting the vibrator and the inner and outer connecting springs; and

[0024] a signal transmission processing part, the signal transmission processing part being electrically connected to the vibrator;

[0025] The vibrator realizes massage, vibration tactile feedback and audio playback functions simultaneously through vibration, and the audio playback function is realized through air conduction and bone conduction.

[0026] Specifically, the structure of the internal and external connecting springs includes:

[0027] The flat sheet body comprises an inner ring part and an outer ring part;

[0028] At least two inner connecting ribs are provided on the inner ring portion and are used to connect with the outer cylinder of the vibrator in a hard contact and tight fit manner;

[0029] at least two of the outer connection ribs are disposed between the outer ring portion and the inner ring portion, and are used to provide connection between the inner and outer connection springs and an external device; and

[0030] At least one positioning hole or positioning groove is used to fix the inner and outer connecting springs on the outer cylinder of the vibrator or the vibrator array.

[0031] Specifically, the inner connecting ribs and the outer connecting ribs are distributed in 120° rotational symmetry; wherein the inner connecting ribs are arranged in a clockwise rotation direction, the outer connecting ribs are arranged in a counterclockwise rotation direction, and the outer connecting ribs are a spiral structure.

[0032] Specifically, the structure of the supporting structure comprises:

[0033] at least two through holes for mounting the vibrator;

[0034] an annular blind hole surrounding each of the through holes; and

[0035] At least three screw holes are provided in each of the annular blind hole regions for fixing the inner and outer connecting springs;

[0036] The thickness of the supporting structure is 8 mm, and it can produce adaptive deformation as it contacts the concavity and convexity of the human body, so that the angle between the vibration direction of the vibrator and the normal direction of the contact surface skin is less than 80 degrees.

[0037] Specifically, it also includes a protective cover arranged above each of the vibrators, wherein the protective cover has a hemispherical or cylindrical curved protrusion, which is used to reserve space for the vibration of the vibrator and prevent the vibrator from being squeezed.

[0038] Specifically, the signal transmission processing part includes an audio cable, an amplifier board, a battery power supply and a switch; wherein each of the vibrators in the vibrator array can be controlled by a single signal channel, or multiple vibrators can be controlled by different signal channels respectively, or multiple vibrators can be grouped and controlled by the same signal channel.

[0039] Specifically, the vibrator array achieves tactile and auditory directionality and spatial sensation by adjusting the amplitude and phase difference of the vibrators in different array units; wherein, when the vibrator array includes six vibrators, a 5.1-channel spatial audio effect can be produced, and the six vibrators correspond to the left front, right front, center, left surround, right surround and low-frequency effect channels respectively.

[0040] Specifically, the vibrator array inputs two high-frequency signals into different array units respectively, and utilizes the self-demodulation effect of the nonlinear medium to generate a low-frequency signal of the difference frequency of the two high-frequency signals, thereby realizing low-frequency vibration touch or vibration hearing; wherein the nonlinear medium includes human tissue or the supporting structure.

[0041] A method for generating tactile feedback and audio comprises the following steps: providing the vibrator array;

[0042] Inputting signals to at least two vibrators of the vibrator array to cause the vibrators to vibrate;

[0043] By adjusting the vibration parameters of the vibrator, massage, vibration tactile feedback and audio playback functions are simultaneously realized;

[0044] The vibration parameters include vibration frequency, vibration amplitude and vibration phase, and the directionality and spatial sensation of touch and hearing can be achieved by adjusting the vibration parameters.

[0045] A device using the vibrator array, wherein the device is one of the following: a sleeping pad, a pillow, a head-worn device, a sofa, a massage chair, a vehicle-mounted backrest, a vehicle-mounted pillow, a vest, a belt, a leggings, a helmet, a hat, a neck massager, a handheld massager, a leg massager, a foot massager, an abdominal massager or a chest massager; wherein, when the device is a head-worn device, the head-worn device includes an AR / VR device, an eye mask, a forehead wearer, headphones or glasses.

[0046] The present invention has the following beneficial effects:

[0047] 1. The integration of massage, vibration tactile feedback and audio playback functions is achieved through the same vibrator unit.

[0048] 2. Directionality and directivity: The vibrator array can produce clear vibration direction and directivity, providing more accurate tactile feedback.

[0049] 3. Multi-channel control: The vibrator array can achieve multi-channel control, and the number of channels can be greater than 2, thereby generating more complex tactile and audio effects.

[0050] 4. Difference frequency signal: The vibrator array can generate difference frequency signal, which is conducive to the generation of low-frequency vibration.

[0051] 5. Multiple mode combinations: Through different vibrator array layouts and connection combinations, the vibrator array can provide multiple user experience modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic diagram of the structure of the shrapnel of the present invention;

[0053] Figure 2 It is a schematic diagram of the structure of the dual-vibrator array of the present invention;

[0054] Figure 3-6 It is a schematic diagram of the structure of the six-vibrator array of the present invention;

[0055] Figure 7-9 is a diagram of the use state of the six-vibrator array of the present invention;

[0056] Figure 10-11 It is a schematic diagram of the structure of the vibrator array of Example 5 of the present invention. DETAILED DESCRIPTION

[0057] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics of one or more embodiments can be combined in any suitable form.

[0058] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0059] The present invention relates to a vibrator array method for generating tactile feedback and audio and its application, in particular to a multifunctional vibrator array system capable of simultaneously realizing massage, vibration tactile feedback and audio playback functions.

[0060] like Figure 1-9 As shown, the vibrator array of the present invention includes an array main body and a signal transmission processing part. The array main body is mainly composed of at least two vibrators 1, internal and external connection springs 2 connected to each vibrator 1, and a supporting structure 3 supporting the vibrator 1 and the internal and external connection springs 2. The signal transmission processing part is electrically connected to the vibrator 1 and is used to control the working state of the vibrator 1. Among them, the supporting structure 3 can be a soft silicone plate or a hard plate. It does not have to be a plate, but can be a ring column, or a structure of other shapes and materials.

[0061] Vibrator 1 is the core component of the present invention, which is characterized in that it can perform reciprocating mechanical motion in one direction to generate vibration. Through this vibration, vibrator 1 can simultaneously realize three functions of massage, vibration tactile feedback and audio playback. It is worth noting that the audio playback function of the present invention is realized by air conduction and bone conduction, which greatly enhances the effect and applicability of audio transmission. We can control the vibration amplitude and frequency of vibrator 1 to achieve different functional effects. For example, for the massage function, we may choose a lower frequency (such as 10-50Hz) and a larger amplitude; for audio playback, we need a higher frequency range (such as 20Hz-20kHz).

[0062] Next, let's discuss in detail the structural design of the inner and outer connecting springs 2. The inner and outer connecting springs 2 include a flat sheet body, an inner connecting rib and an outer connecting rib. The flat sheet body is further divided into an inner ring part and an outer ring part. The inner connecting rib is arranged in the inner ring part, and is used to connect with the outer cylinder of the vibrator 1 in a hard contact tight fit manner. This connection method ensures that vibration can be efficiently transmitted, and also improves the stability of the overall structure.

[0063] The external connection rib is arranged between the outer ring part and the inner ring part, and its main function is to provide the connection between the internal and external connection springs 2 and the external device. This design enables the vibrator array to flexibly adapt to different application scenarios. In addition, the internal and external connection springs 2 also include at least one positioning hole or positioning groove, which is used to fix the internal and external connection springs 2 on the outer tube of the vibrator 1 or the vibrator array, further enhancing the stability of the structure.

[0064] Preferably, in one embodiment of the present invention, the inner connecting ribs and the outer connecting ribs are 120° rotationally symmetrically distributed. This symmetrical distribution not only ensures uniform force transmission, but also effectively reduces unnecessary distortion and deformation. More interestingly, the inner connecting ribs are arranged in a clockwise rotation direction, while the outer connecting ribs are arranged in a counterclockwise rotation direction, and the outer connecting ribs are a spiral structure. This counter-rotating design may produce a unique vibration mode, which helps to enhance the vibration effect or produce specific tactile feedback.

[0065] The supporting structure 3 is another key component, which is made of a soft silicone plate. Its structure includes at least two through holes, an annular blind hole surrounding each through hole, and at least three screw holes arranged in each annular blind hole area. The through hole is used to install the vibrator 1, the annular blind hole may play a role in adjusting the vibration propagation, and the screw hole is used to fix the internal and external connection springs 2.

[0066] It is worth noting that the thickness of the support structure 3 is 8 mm. This thickness is carefully selected. It provides sufficient buffer and deformation space while maintaining the compactness of the overall structure. More importantly, this thickness allows the support structure 3 to deform adaptively as it contacts the concave and convex parts of the human body, so that the angle between the vibration direction of the vibrator 1 and the normal direction of the contact surface skin is kept within a small range, usually less than 80 degrees. This design ensures that the vibration can be transmitted to the human body to the greatest extent, improving the effects of massage and tactile feedback.

[0067] In order to further protect the vibrator 1 and optimize its working environment, the present invention further provides a protective cover 4 above each vibrator 1. The protective cover 4 has a hemispherical or cylindrical curved protrusion, which not only reserves sufficient space for the vibration of the vibrator 1, but also effectively prevents the vibrator 1 from being squeezed by external force, thereby ensuring its normal operation.

[0068] The signal transmission processing part is another important component of the present invention, which includes an audio line, an amplifier board, a battery power supply and a switch. These components work together to provide the necessary power and control signals for the vibrator 1. It is worth mentioning that the vibrator array of the present invention has a high degree of flexibility and controllability. Each vibrator 1 can be controlled by a single signal channel, or multiple vibrators 1 can be controlled by different signal channels respectively, or multiple vibrators 1 can be grouped and controlled by the same signal channel. This flexible control method enables the present invention to produce complex vibration patterns and audio effects.

[0069] A prominent feature of the present invention is that it can achieve tactile and auditory directivity and spatial sensation. This is achieved by adjusting the amplitude and phase difference of the vibrator 1 in different array units. We can control the amplitude and phase of the synthesized signal to achieve directional control of the vibration.

[0070] In particular, when the vibrator array includes six vibrators 1, we can produce a 5.1-channel spatial audio effect. In this configuration, the six vibrators 1 correspond to the left front, right front, center, left surround, right surround and low-frequency effect channels respectively. This layout can create a very realistic surround sound effect, greatly enhancing the user's sense of immersion.

[0071] The present invention also utilizes a unique technology to generate low-frequency vibrations. Specifically, we input two high-frequency signals into different array units respectively, and utilize the self-demodulation effect of a nonlinear medium (such as human tissue or a supporting structure 3), wherein the supporting structure 3 is a soft silicone plate, to generate a low-frequency signal of the difference frequency of the two high-frequency signals. This method can effectively generate low-frequency vibratory tactile or vibratory auditory sensations without the use of a large low-frequency vibrator. We can control the frequency of the difference frequency signal to generate the desired low-frequency vibration effect.

[0072] The present invention also proposes a method for generating tactile feedback and audio. The method first provides a vibrator array as described above, and then inputs a signal to at least two vibrators 1 of the vibrator array to make the vibrator 1 vibrate. Then, by adjusting the vibration parameters of the vibrator 1, massage, vibration tactile feedback and audio playback functions are simultaneously realized. The vibration parameters here include vibration frequency, vibration amplitude and vibration phase. By precisely controlling these parameters, we can achieve the directionality and spatial perception of touch and hearing.

[0073] Finally, the vibrator array of the present invention can be widely used in a variety of devices, such as sleeping pads, pillows, head wear devices, sofas, massage chairs, vehicle backrests, vehicle pillows, vests, belts, leggings, helmets, hats, neck massagers, handheld massagers, leg massagers, foot massagers, abdominal massagers or chest massagers, etc. In particular, when applied to head wear devices, it can include AR / VR devices, eye masks, forehead wearers, headphones or glasses. This wide range of application prospects fully reflects the practicality and innovation of the present invention.

[0074] Example 1: Circular + 3 inner connecting ribs + 3 outer connecting rib spring design

[0075] like Figure 1 As shown, the spring piece 2 in this embodiment adopts a circular design and is divided into two main parts, an inner ring and an outer ring. The inner ring is connected to the outer cylinder of the vibrator 1 through three inner connecting ribs, and the outer ring is connected to the supporting structure 3 through three outer connecting ribs. The supporting structure 3 is a soft silicone plate. The inner and outer connecting ribs are evenly distributed in the spring piece 2 in a 120° rotationally symmetrical manner. This symmetrical distribution ensures the uniform transmission of the vibration force and effectively reduces unnecessary distortion and deformation.

[0076] It is worth noting that the inner connecting rib rotates clockwise, while the outer connecting rib rotates counterclockwise. This counter-rotating design cleverly balances the internal and external torques, which helps to produce a more stable and uniform vibration effect. The inner ring is designed with openings and is connected to the outer tube of the vibrator 1 mainly by snap-fitting and welding. This connection method not only ensures stability, but also facilitates disassembly and maintenance.

[0077] The outer ring is designed with positioning holes, and the spring 2 and the vibrator 1 are fastened to the external device by screws. This design greatly increases the adaptability of the vibrator array, making it easy to adapt to different application scenarios, while ensuring the stable performance of the product performance.

[0078] Example 2: Dual-element array

[0079] like Figure 2 As shown, this embodiment shows the design of a dual-vibrator array. The array body consists of two high-performance vibrators 1, springs 2 connected inside and outside, and a supporting structure 3, and the supporting structure 3 is a soft silicone plate. Each vibrator 1 can make reciprocating mechanical motion in one direction to generate vibration. This vibration can not only produce tactile feedback, but also generate audio at the same time, where the audio reception method includes air conduction and bone conduction.

[0080] The spring piece 2 adopts the internal and external connection structure described in Example 1. The inner ring structure is connected to the outer cylinder of the vibrator 1 in a hard contact and tight fit manner to ensure that the vibration can be efficiently transmitted. The outer ring structure is fixed to the support structure 3 by screws to form a stable overall structure. The spring piece used above uses an internal and external connection structure. The spring piece can be round or square; the spring piece is divided into an inner ring, an outer ring and a center ring. The inner ring structure can be connected to the outer cylinder of the vibrator in a hard contact and tight fit manner. The outer ring structure of the spring piece can be fixed to the support structure by screw connection, and the center ring is connected to the central component of the above-mentioned high-performance vibrator by welding or the like; the spring piece includes an inner connecting rib and an outer connecting rib. The inner connecting rib connects the inner ring and the center ring, and is combined with the vibrator component installed in conjunction with the inner ring to form a complete vibrator. The outer connecting rib can be regarded as the connecting part of the combined vibrator and the outer ring. The outer connecting rib is spiral and has a long length. Its purpose is to reduce the stiffness coefficient of the spring piece to a suitable size, thereby enhancing the vibration amplitude of the vibrator, and the vibration will be more obvious.

[0081] The supporting structure 3 serves to provide a structure that supports the vibrator 1 and the spring 2. Other soft nonlinear materials can also be used. The purpose is that when the vibrator vibrates in the nonlinear material, it will generate sum frequency signals and difference frequency signals, wherein the difference frequency signal is conducive to the generation of low-frequency signals, making the vibration more obvious. A through hole is opened on the 8mm thick supporting structure, and then an annular blind hole is opened. Three screw holes are reserved in the annular area of ​​the blind hole. The outer ring of the spring 2 can be connected to the silicone plate by screws. At this time, the vibrator is placed in the through hole, supported by the silicone plate, and has enough vibration space.

[0082] A hemispherical or cylindrical boss is welded on the inner circle of the spring 2 toward the outside of the array plate. Its main purpose is to reserve enough space for the vibrator 1 to vibrate and prevent the vibrator from being squeezed and unable to produce effective vibration. Secondly, when vibrating, the area in contact with the human body will be smaller and the vibration feeling will be more concentrated.

[0083] A through hole is also opened on the array plate, and the vibrator and spring are installed to form the double vibrator array shown in the figure. The distance between the two springs should be at least 5mm. The purpose is that the supporting structure needs to undergo a certain deformation to adapt to and fit various parts of the human body. The greater the distance between the springs, the greater the angle at which the supporting structure can be bent.

[0084] When the vibrator receives an input signal, it starts to vibrate. Under the action of the external connecting ribs of the shrapnel, the vibration amplitude increases, generating tactile feedback and audio.

[0085] The thickness of the supporting structure 3 is 8 mm, which is carefully calculated to provide sufficient buffer while maintaining the compactness of the overall structure. A through hole and an annular blind hole are provided on the supporting structure 3. The through hole is used to install the vibrator 1, and the annular blind hole has three screw holes reserved for fixing the spring 2.

[0086] It is worth mentioning that a hemispherical or cylindrical boss is welded on the inner circle of the spring 2 toward the outside of the array plate. This design not only reserves enough space for the vibration of the vibrator 1, but also reduces the area in contact with the human body during vibration, making the vibration sensation more concentrated.

[0087] When vibrators 1 receive input signals, they start to vibrate. By adjusting the vibration parameters of the left and right vibrators 1, we can achieve the directionality and directivity of tactile feedback.

[0088] The left and right vibrators on the array board are connected to the left and right sound channels respectively, and the two vibrators can be controlled separately. The vibration sensation comes from the vibration of the springs driven by the vibrators after they are powered on.

[0089] The above dual-vibrator array can achieve the directionality and directivity of tactile feedback. We can simplify the model of the dual-vibrator array and analyze the vibration signals of the two vibrators as follows:

[0090] The positions of vibrator 1 and vibrator 2 in the tactile feedback are r1 and r2 respectively. When the two vibrators vibrate at the same time, the signals generated by vibrator 1 and vibrator 2 are respectively:

[0091] H1(t)=B1 sin(2πft+ψ1)

[0092] H2(t)=B2 sin(2πft+ψ2)

[0093] Where ψ1 and ψ2 are the phases of oscillator 1 and oscillator 2 respectively.

[0094] We set ψ1 = 0:

[0095] H1(t)=B1 sin(2πft)

[0096] H2(t)=B2 sin(2πft+Δψ)

[0097] When the vibration frequencies of the two oscillators are the same, the phase difference Δψ=ψ2-ψ1.

[0098] When the two vibrators vibrate simultaneously, the tactile composite signal in space is:

[0099] H(t)=B1 sin(2πft)+B2 sin(2πft+Δψ)

[0100] Using trigonometric identities:

[0101] sin(x+y)=sinxcosy+cosxsiny

[0102] Expand H2(t):

[0103] H2(t)=B2[sin(2πft)cosΔψ+cos(2πft)sinΔψ]

[0104] Add H1(t) and the expanded H2(t):

[0105] H(t)=(B1+B2 cos(Δψ))sin(2πft)+B2 sin(Δψ)cos(2πft)

[0106] Assume that H(t) is a sine wave with amplitude A and phase angle α, that is:

[0107] H(t)=A sin(2πft+α)

[0108] According to the trigonometric sum and difference formula:

[0109] sin(A+B)=sinAcosB+cosAsinB

[0110] have:

[0111] H(t)=A sin(2πft+α)=A sin(2πft)+A cos(2πft)sin(α)

[0112] The previous formula is:

[0113] A cos(α)=B1+B2 cos(Δψ)

[0114] A sin(α)=B2 sin(Δψ)

[0115] According to the above two formulas, calculate the amplitude A:

[0116]

[0117] The phase angle α is calculated by the inverse tangent function:

[0118]

[0119] At this point, we have discovered that adjusting the phase difference Δψ is equivalent to adjusting the phase angle α of the synthetic signal, thereby forming tactile feedback of different intensities in different directions.

[0120] The vibrators can adjust the amplitude of vibration. Stronger vibrations can achieve the function of massaging the body or head. In addition, the two vibrators can also emit audio while generating vibratory tactile feedback. The audio signal is similar to the vibration signal in mathematical form. Both involve wave phenomena. Vibration describes mechanical waves, while audio describes sound waves. The wave equation can describe these two phenomena in a unified way. Both involve frequency, amplitude, and phase.

[0121] That is to say, the above derivation of two vibrators vibrating in space synthesizing two signals into one signal is not only applicable to vibration, but also to audio. And like vibration, the generated audio can be made directional and directive by adjusting the phase difference. The directional and directivity of this audio is synchronized with the directional and directivity of vibration. This kind of audio directional and directivity is spatial audio. When using spatial audio on a headrest, head-mounted device, or back or waist massager, the audio heard has a stronger sense of space.

[0122] This directivity and directionality can act on different parts of the human body, such as the forehead, back of the head, waist, legs and abdomen, etc. The vibration can be concentrated on one of the parts as needed. Taking the use of fitting the waist as an example, the vibrator array plate is fitted on the waist. At this time, relaxing audio content can be connected to make the vibrator start to vibrate at a certain frequency, and the phase is adjusted to make the vibration direction concentrated on the lumbar part to increase the vibration amplitude, which can achieve the effect of vibration massage and relaxation; taking the use of fitting the back of the head as an example, the vibrator array plate is fitted on the back of the head, and appropriate music can be played. The music is divided into left and right channels. The outputs of the left and right channels are connected to the left and right vibrators after passing through a digital-to-analog converter and a power amplifier. At this time, when the vibrator starts to vibrate, since the two vibrators are close to the left and right ear canals of a person, the audio sound emitted by the vibrator can be more easily received. In addition, the vibration of the vibrator is very close to the skull of the back of the head, separated by only a layer of scalp. At this time, the vibrator array can produce a bone conduction effect, transmitting the emitted audio through the skull to the ear canal, and the played audio can be heard.

[0123] The above-mentioned dual-vibrator array can generate a difference frequency signal. When two signals with close frequencies are superimposed, a low-frequency signal equal to the difference between the two frequencies will appear in the spectrum. The generation and modulation process of the difference frequency signal can be used in various application scenarios, including acoustic and vibration control.

[0124] The specific implementation is as follows:

[0125] Assume that the vibrations of the two oscillators are represented by sine waves, with frequencies f1 and f2 respectively. Their vibration equations are:

[0126] y1(t)=A1cos(2πf1t+φ1)

[0127] y2(t)=A2cos(2πf2t+φ2)

[0128] in:

[0129] A1 and A2 are the amplitudes of the two oscillators, f1 and f2 are the frequencies of the two oscillators, and they are high frequencies with similar frequencies, φ1 and φ2 are the initial phases of the two oscillators, and t is the time

[0130] When the vibrations of the two oscillators overlap at the same point, the composite signal is:

[0131] y(t)=y1(t)+y2(t)=A1cos(2πf1t+φ1)+A2cos(2πf2t+φ2)

[0132] To simplify the analysis, assume that the amplitudes of the two oscillators are the same, i.e. A1 = A2 = A, and the initial phases are the same, i.e. φ1 = φ2 = 0. Δf is the difference in the frequencies of the two oscillators, so the composite signal is:

[0133] y(t)=Acos(2πf1t)+Acos(2π(f1+Δf)t)

[0134] According to the trigonometric sum-difference product formula:

[0135]

[0136] have

[0137] y(t)=Acos(2πf1t)+Acos(2π(f1+Δf)t)

[0138] =2cos(πΔft)*cos(2πf1t+πΔft)

[0139] The above results show that cos(πΔft) is a low-frequency signal with a frequency of And cos(2πf1t+πΔft) is a high-frequency carrier signal with a frequency of f1. Therefore, the superposition of these two high-frequency signals can be regarded as a high-frequency signal being amplitude modulated by a low-frequency signal.

[0140] The physical meaning of the above derivation process is that by inputting two high-frequency signals, the result of superposition is equivalent to using the difference frequency (low-frequency signal) of the two high-frequency signals as an amplitude modulation signal modulated on the carrier of the high-frequency signal.

[0141] According to the self-demodulation effect of nonlinear acoustics and nonlinear vibration theory, when high-frequency sound waves propagate in a nonlinear medium, low-frequency components will be generated in the medium. These low-frequency components can be demodulated from high-frequency signals. In fact, the human body is also a nonlinear system. When two high-frequency signals act on the human body, they will be self-demodulated as low-frequency signals of amplitude through the above-mentioned superposition effect and self-demodulation effect, thus producing low-frequency touch and hearing.

[0142] The low-frequency vibration generated by the difference frequency signal can bring unique tactile feedback. By utilizing the combination of two high-frequency vibrators as mentioned above and adjusting their frequency difference, the generation of low-frequency vibration can be precisely controlled.

[0143] Example 3: Four-element array

[0144] This embodiment is an extension of the embodiment 2, using a larger area of ​​the silicone plate 3, and opening four vibrator reserved holes in two rows and two columns. This design allows us to expand from a two-vibrator array to a four-vibrator array, while maintaining the consistency of the specifications and connection methods of the spring piece 2 and the vibrator 1.

[0145] The advantage of a four-element array is that it provides more degrees of control freedom. Each element 1 can be controlled individually and vibrates independently according to the frequency and amplitude of the input signal. This means that we can arbitrarily control the frequency, amplitude and phase of each element 1 through software.

[0146] In addition, we can also analyze the four vibrators 1 in groups of two, and the function of each group is the same as that of the dual vibrator array in Example 2. Furthermore, we can adjust the phase of each vibrator 1 to synthesize the signals of the four vibrators 1 into a vibration signal, and this vibration signal has specific directivity and directionality.

[0147] Regarding Example 3, Example 2 is consistent with Example 1, and each vibrator can be controlled individually, and each vibrator vibrates individually according to the frequency amplitude of the signal line input, that is, the frequency, amplitude and phase of each vibrator can be arbitrarily controlled by software. Further, the four vibrators can be analyzed as a group of two, and at this time, each group of vibrators has the same function as Example 1, and can produce the same directivity and directionality. Furthermore, the four vibrators can also be used as in the previous dual vibrator array derivation, by adjusting the phase of each vibrator, to synthesize the signals of the four vibrators into a vibration signal, and this vibration signal has specific directivity and directionality.

[0148] There are multiple modes for connecting the vibrators in the array. In addition to controlling the four vibrators individually, on the basis of the four-vibrator array, the four vibrators can be further connected symmetrically between the left and right sides of the middle, and connected to the left and right channels respectively. At this time, connect the audio cable to the computer or other device to play the audio. At this time, the two vibrators on the left side of the array will receive the same signal, and all vibrations will remain consistent. The same is true for the two vibrators on the right side. If the audio played is stereo audio, you can feel a clear difference between the left and right.

[0149] On the basis of the four-vibrator array, the four vibrators are further cross-connected diagonally, and the two pairs of vibrators are respectively connected to the left and right channels. This staggered connection method will weaken the stereo feeling when experiencing stereo audio in the above way, but the feeling will not be as uniform as when the four vibrators vibrate in the same way.

[0150] Example 4: Six-element array

[0151] like Figure 3-9 As shown, this embodiment shows a design of a six-dividing element array. The six dividing elements 1 are arranged in two rows and three columns, and three dividing elements 1 are connected to the left channel in a staggered manner, and the other three dividing elements 1 are connected to the right channel. The six vibrators are divided into two rows and three columns. Three vibrators are connected to the left channel in an interlaced manner, and the other three vibrators are connected to the right channel. At this time, playing audio can make the six vibrators vibrate, and the six vibrators vibrate to cover a wider area, which can be attached to the waist position, and a large part of the body area can have obvious vibration. The two left vibrators are connected to the left channel, the two right vibrators are connected to the right channel, and the two middle vibrators are not connected. This is a variant of the four-vibrator array of Example 2. The two vibrators are separated farther apart. In this connection mode, the silicone plate array is attached to the back of the human head, and the left and right vibrators are closer to the left and right ears. When playing stereo audio, the sense of space will be stronger, and it is obvious that the left and right are constantly changing. At the same time, the vibration is also constantly changing in size. The advantage of this design is that when playing audio, the six vibrators 1 can vibrate at the same time, covering a wider area. For example, when attached to the waist position, a large part of the body area can feel obvious vibration.

[0152] More interestingly, we can combine these six vibrators 1 with a 5.1-channel audio system. Specifically, we can correspond the six vibrators 1 to the six channels of the 5.1-channel system: left front (LF), right front (RF), center (C), left surround (LS), right surround (RS) and low frequency effect (LFE).

[0153] For example, we can configure the vibrator 1 in the upper left corner as the left front (LF) channel, the vibrator 1 in the lower left corner as the left surround (LS) channel, the vibrator 1 in the upper right corner as the right front (RF) channel, the vibrator 1 in the lower right corner as the right surround (RS) channel, the vibrator 1 in the upper middle corner as the center (C) channel, and the vibrator 1 in the lower middle corner as the low-frequency effect (LFE) channel.

[0154] When playing 5.1 channel music or audio, each vibrator 1 will produce different vibrations and audio according to the corresponding channel. If this array is attached to the back of the head, the user will be able to feel a very obvious sense of space.

[0155] The vibrator arrays mentioned above already have dual-vibrator arrays, four-vibrator arrays and six-vibrator arrays. The placement of the array vibrators and the connection method with the signal channel can be designed arbitrarily. Different numbers of vibrators, different placement methods, and different connection methods form different mode combinations, and the experience brought will be different.

[0156] The vibrator array described above is not limited to arrays composed of two, four and six vibrators. The array can be an array constructed by two or more vibrators according to a certain arrangement and combination rule. For example, three vibrators and five vibrators are within the designed array range. The unique advantage of the vibrator array is that different quantities and array arrangement patterns can be used according to different usage conditions and requirements to better realize the function.

[0157] Example 5

[0158] Please refer to Figure 10-11 The main carrier structure adopts a hexagonal or rectangular soft silicone bracket, and the six vibrators 1 are arranged at the vertex positions of a regular hexagon. These vibrators 1 can be controlled individually or synchronously. When controlled synchronously, the vibration experience of the massage will change from single-point vibration to hexagonal edge surface vibration formed by six vibrators 1, bringing a wider range of massage experience.

[0159] Further expanding this embodiment, another vibrator 1 can be added at the center of the hexagonal array. Based on this feature, two hexagonal arrays can be integrated into a double hexagonal array as shown in the figure, in which two vibrators are shared by the two arrays. At the same time, the vibrator of one hexagonal array is located at the center of the other array, forming a staggered double hexagonal array structure. Similarly, the array can be further expanded through multiple staggered arrangements in different directions, showing extremely high scalability.

[0160] In terms of control algorithms, management is performed on a complete hexagonal array basis. Taking a double hexagonal array as an example, in the initial stage, the algorithm can be used to control the six vibrator sets A in the left hexagonal array. 左 Start vibrating. According to the changing needs, such as different massage scenes or parts, you can switch to the vibrator set A on the right edge of the array. 右 starts to vibrate, and the difference set A 左 -A 右 Vibrator 1 stops vibrating. Through such a control process, the array can flexibly switch between different areas to form a continuously changing vibration effect. On a long array board composed of multiple staggered hexagonal arrays, this vibration effect can gradually progress from left to right, forming a vibration feeling similar to a marquee. At the same time, the vibration effect can also be extended to other directions, bringing more complex vibration patterns.

[0161] Tactile feedback from left to right or other directions can be achieved not only through the vibration of multiple independent vibrators, but the design advantage of the hexagonal array is that it expands the original local area vibration to a larger area, making the vibration more obvious and intense. In addition, the design still retains the flexibility of algorithm control, which can realize complex functions of different positions and spatial perceptions, providing a more immersive experience.

[0162] Example 6

[0163] The vibrator array can be applied to many products due to the rich mode combination mentioned above. The products can be embedded in massage chairs or massage cushions. The array can be spread out to cover a large area of ​​the back of the human body. It is particularly suitable for full-body massage vibration relaxation. The use of multiple vibrators to generate low-frequency difference frequency signals can provide deep massage effects, imitate the rhythm and strength of manual massage, and bring a more comfortable massage experience. It can also be embedded in a portable massager. By adjusting the frequency of the vibrator array, different massage modes can be achieved, such as soothing massage, deep massage, etc., to meet the needs of different users.

[0164] Furthermore, it can be combined with a car seat. In addition to providing the relevant functional effects of the above-mentioned massage chair, the low-frequency vibration generated by the difference frequency can remind the driver to pay attention to traffic conditions, prevent fatigue driving, improve fatigue caused by long-term driving, and improve riding comfort.

[0165] Thanks to the multiple vibrators of the vibrator array, the array can be embedded in VR and AR devices. By adjusting the frequency of multiple vibrators, the vibrator array can generate rich difference frequency signals and realize multiple vibration modes, such as vibration, pulse, wave, etc., bringing richer tactile feedback. And the difference frequency signal can be precisely controlled to achieve high-precision tactile feedback and provide a more delicate and realistic tactile experience. In addition, by adjusting the phase and frequency of multiple vibrators, the directionality and directivity of vibration can be controlled, which has important application value in the fields of virtual reality and augmented reality.

[0166] The vibrator array of the present invention can be widely used in a variety of scenarios and devices. The following are some specific application examples:

[0167] 1. Massage equipment: Embedding the vibrator array in a massage chair or massage cushion can cover a large area of ​​the back of the human body, which is particularly suitable for full-body massage vibration relaxation. By utilizing the low-frequency difference frequency signal generated by multiple vibrators, a deep massage effect can be provided, imitating the rhythm and strength of manual massage, bringing a more comfortable massage experience.

[0168] 2. Portable massager: The vibrator array is integrated into the portable massager. By adjusting the frequency of the vibrator array, different massage modes can be achieved, such as soothing massage, deep massage, etc., to meet the needs of different users.

[0169] 3. Car seats: Combining the vibrator array with the car seat can not only provide massage function, but also remind the driver to pay attention to traffic conditions through the low-frequency vibration generated by the difference frequency, prevent fatigue driving, improve fatigue caused by long-term driving, and improve riding comfort.

[0170] 4. VR / AR devices: By embedding the vibrator array into VR and AR head-mounted devices, a rich difference frequency signal can be generated by adjusting the frequency of multiple vibrators 1, and a variety of vibration modes such as vibration, pulse, and wave can be achieved, bringing richer tactile feedback. This precise and controllable tactile feedback can provide a more delicate and realistic tactile experience, greatly enhancing the user's sense of immersion.

[0171] 5. Smart home devices: Integrating vibrator arrays into smart pillows, smart sofas, or smart mattresses can provide personalized relaxation and sleep assistance functions. For example, low-frequency vibrations can be used to promote deep sleep, or specific vibration patterns can be used to assist meditation and relaxation.

[0172] 6. Medical rehabilitation equipment: In the field of physical therapy and rehabilitation, vibrator arrays can be used to develop professional treatment equipment. By precisely controlling the vibration frequency and intensity, customized treatment plans can be provided for different muscle groups and nervous systems to assist rehabilitation training and pain management.

[0173] 7. Game controller: Integrating the vibrator array into a gamepad or other game controller can provide more realistic and rich tactile feedback. For example, simulating the vibration of different road surfaces in a racing game, or simulating the recoil of different weapons in a shooting game.

[0174] These application examples fully demonstrate the potential of the vibrator array of the present invention in different fields. Through flexible configuration and precise control, we can bring unprecedented tactile and auditory experience to users and promote innovation and development in multiple industries.

[0175] In summary, the vibrator array for generating tactile feedback and audio and its application proposed in the present invention realizes a high degree of integration of massage, tactile feedback and audio playback through innovative structural design and signal processing technology. It can not only provide rich tactile and auditory experience, but also has a wide range of application prospects, providing new technical support and application ideas for the development of future smart devices, virtual reality, medical care and other fields.

[0176] It should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vibrator array for generating tactile feedback and audio, characterized in that: include: An array main body part, the array main body part comprising: at least two vibrators, each of which is capable of reciprocating mechanical motion in one direction to generate vibration; An internal and external connecting spring piece connected to each of the vibrators, the internal and external connecting spring piece comprising a flat sheet body, an internal connecting rib and an external connecting rib; A supporting structure for supporting the vibrator and the inner and outer connecting springs; and a signal transmission processing part, the signal transmission processing part being electrically connected to the vibrator; The vibrator realizes massage, vibration tactile feedback and audio playback functions simultaneously through vibration, and the audio playback function is realized through air conduction and bone conduction.

2. The vibrator array according to claim 1, characterized in that: The structure of the inner and outer connecting springs comprises: The flat sheet body comprises an inner ring part and an outer ring part; At least two inner connecting ribs are provided on the inner ring portion and are used to connect with the outer cylinder of the vibrator in a hard contact and tight fit manner; At least two of the external connection ribs are disposed between the outer ring portion and the inner ring portion, and are used to provide connection between the inner and outer connection springs and an external device; and At least one positioning hole or positioning groove is used to fix the inner and outer connecting springs on the outer cylinder of the vibrator or the vibrator array.

3. The vibrator array according to claim 2, characterized in that: The inner connecting ribs and the outer connecting ribs are distributed in 120° rotational symmetry; wherein the inner connecting ribs are arranged in a clockwise rotation direction, the outer connecting ribs are arranged in a counterclockwise rotation direction, and the outer connecting ribs are a spiral structure.

4. The vibrator array according to claim 1, characterized in that: The structure of the supporting structure comprises: at least two through holes for mounting the vibrator; an annular blind hole surrounding each of the through holes; and At least three screw holes are provided in each of the annular blind hole regions for fixing the inner and outer connecting springs; The thickness of the supporting structure is 8 mm, and it can produce adaptive deformation as it contacts the concavity and convexity of the human body, so that the angle between the vibration direction of the vibrator and the normal direction of the contact surface skin is less than 80 degrees.

5. The vibrator array according to claim 1, characterized in that: The invention also comprises a protective cover arranged above each of the vibrators, wherein the protective cover has a hemispherical or cylindrical curved protrusion, which is used to reserve space for the vibration of the vibrator and prevent the vibrator from being squeezed.

6. The vibrator array according to claim 1, characterized in that: The signal transmission processing part includes an audio line, an amplifier board, a battery power supply and a switch; wherein each of the vibrators in the vibrator array can be controlled by a single signal channel, or multiple vibrators can be controlled by different signal channels respectively, or multiple vibrators can be grouped and controlled by the same signal channel.

7. The vibrator array according to claim 1, characterized in that: The vibrator array achieves tactile and auditory directionality and spatial sensation by adjusting the amplitude and phase difference of the vibrators in different array units; wherein, when the vibrator array includes six vibrators, a 5.1-channel spatial audio effect can be produced, and the six vibrators correspond to the left front, right front, center, left surround, right surround and low-frequency effect channels respectively.

8. The vibrator array according to claim 1, characterized in that: The vibrator array inputs two high-frequency signals into different array units respectively, and utilizes the self-demodulation effect of the nonlinear medium to generate a low-frequency signal of the difference frequency of the two high-frequency signals, thereby realizing low-frequency vibration touch or vibration hearing; wherein the nonlinear medium includes human tissue or the supporting structure.

9. A method for generating tactile feedback and audio, characterized in that: The following steps are involved: Providing a vibrator array as described in any one of claims 1 to 8; Inputting signals to at least two vibrators of the vibrator array to cause the vibrators to vibrate; By adjusting the vibration parameters of the vibrator, massage, vibration tactile feedback and audio playback functions are simultaneously realized; The vibration parameters include vibration frequency, vibration amplitude and vibration phase, and the directionality and spatial sensation of touch and hearing can be achieved by adjusting the vibration parameters.

10. A device using the vibrator array according to any one of claims 1 to 8, characterized in that: The device is one of the following: a sleeping pad, a pillow, a head-worn device, a sofa, a massage chair, a vehicle-mounted backrest, a vehicle-mounted pillow, a vest, a belt, a leggings, a helmet, a hat, a neck massager, a handheld massager, a leg massager, a foot massager, an abdominal massager or a chest massager; wherein, when the device is a head-worn device, the head-worn device includes an AR / VR device, an eye mask, a forehead wearer, headphones or glasses.

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