Electric tactile feedback method and circuit, intelligent wearable device and program product

Abstract

The invention discloses an electric tactile feedback method and circuit, intelligent wearable equipment and a program product, and relates to the technical field of virtual reality interaction, the electric tactile feedback method is applied to the intelligent wearable equipment, the intelligent wearable equipment is configured with an electrode array, and the electric tactile feedback method comprises the following steps: obtaining target tactile feedback information, wherein the target tactile feedback information comprises a target contact position; according to the target contact position, a preset electrode mapping table is inquired, a conduction electrode combination is obtained, and the superposition position of an electrode electric field in the conduction electrode combination is the target contact position; electrodes, corresponding to the conduction electrode combinations, in the electrode array are sequentially controlled to be conducted, so that tactile feedback is generated at the target contact position. The technical problem that an existing electric tactile feedback method is low in tactile feedback resolution is solved.

Description

Technical Field

[0001] The present application relates to the field of virtual reality interaction technology, and in particular to an electric tactile feedback method, circuit, smart wearable device and program product. Background Art

[0002] Virtual reality interaction technology, as a rapidly developing technology field in recent years, has greatly enriched the user experience. In the pursuit of a more realistic and intuitive interactive experience, electrotactile feedback technology, as an important sensory simulation method, has received widespread attention and research.

[0003] In the current electrotactile feedback scheme, achieving high-resolution tactile feedback depends largely on the density of electrodes in the electrode array. Generally speaking, the smaller and denser the electrodes, the more detailed the tactile feedback. However, the skin area of ​​the human body on the hand is limited, and the smaller the electrode, the greater the contact impedance with the skin. These factors greatly limit the number and density of electrodes in the electrode array, resulting in low resolution of tactile feedback in existing electrotactile feedback methods.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide an electric tactile feedback method, circuit, smart wearable device and program product, aiming to solve the technical problem of low resolution of tactile feedback in existing electric tactile feedback methods.

[0006] To achieve the above purpose, the present application proposes an electrotactile feedback method, which is applied to a smart wearable device. The smart wearable device is equipped with an electrode array. The electrotactile feedback method includes: Acquiring target tactile feedback information, wherein the target tactile feedback information includes a target contact point position; According to the target contact point position, a predetermined electrode mapping table is queried to obtain a conductive electrode combination, wherein the superposition position of the electrode electric field in the conductive electrode combination is the target contact point position; The electrodes corresponding to the conductive electrode combination in the electrode array are controlled to be conductive in sequence to generate tactile feedback at the target touch point position.

[0007] In one embodiment, before the step of querying a predetermined electrode mapping table according to the target contact point position to obtain a conductive electrode combination, the following steps are included: Obtaining the position of each electrode in the electrode array; Combining the electrodes in terms of distribution and quantity to obtain candidate electrode combinations, and determining the superposition position of the electrode electric fields in each candidate electrode combination; The superimposed positions are used as contact positions corresponding to the candidate electrode combinations, and a predetermined electrode mapping table is constructed based on the contact positions corresponding to the candidate electrode combinations.

[0008] In one embodiment, the candidate electrode combinations include one or more of the following combinations: A combination of an anode and a cathode, wherein the contact position corresponding to the candidate electrode combination is exactly between the cathode and the anode; A combination of two pairs of cathodes and anodes placed alternately, wherein the contact position corresponding to the candidate electrode combination is the intersecting point of the two pairs of cathodes and anodes; There are a plurality of cathode combinations on the same straight line around an anode, and the distance between the contact position corresponding to the candidate electrode combination and the anode is negatively correlated with the number of the cathodes; An anode is surrounded by a combination of multiple cathodes, and the contact position corresponding to the candidate electrode combination is directly below the anode.

[0009] In one embodiment, the target tactile feedback information also includes a stimulation timing of a target contact point position, and the step of sequentially controlling the electrodes in the electrode array corresponding to the conductive electrode combination to be turned on to generate tactile feedback at the target contact point position includes: According to the stimulation sequence, the stimulation time of each target contact point is obtained; According to the stimulation time, the electrodes corresponding to the conductive electrode combination in the electrode array are controlled to be conductive in sequence, so as to stimulate each target contact position according to the stimulation sequence.

[0010] In one embodiment, before the step of sequentially controlling the electrodes corresponding to the conductive electrode combination in the electrode array to be conductive so as to generate tactile feedback at the target touch point position, the step includes: Outputting a predetermined reference stimulation signal from the electrode array, and receiving a maximum current intensity corresponding to a maximum intensity tactile sensation fed back from the predetermined reference stimulation signal, and a minimum current intensity corresponding to a minimum intensity tactile sensation; Based on the highest current intensity and the lowest current intensity, generating at least one intermediate current intensity, and taking the highest current intensity, the lowest current intensity and each intermediate current intensity as candidate tactile gears, wherein the intermediate current intensity is between the highest current intensity and the lowest current intensity; The step of sequentially controlling the electrodes in the electrode array corresponding to the conductive electrode combination to conduct to generate tactile feedback at the target touch point position also includes: After receiving the gear selection instruction, determining the candidate tactile gear corresponding to the gear selection instruction as the target tactile gear; According to the current intensity corresponding to the target tactile gear, the electrodes corresponding to the conductive electrode combination in the electrode array are controlled to be conductive in sequence, so as to generate tactile feedback at the target touch point position.

[0011] In addition, to achieve the above-mentioned purpose, the present application also proposes an electric tactile feedback circuit, which is applied to the above electric tactile feedback method, and the electric tactile feedback circuit includes a power module, a control module, a boost circuit, a current limiting circuit, a stimulation waveform generation circuit and an electrode array; The boost circuit is connected to the power module and the control module respectively, and is used to boost the initial voltage input by the power module to a predetermined voltage; The current limiting circuit is connected to the boost circuit and the stimulation waveform generating circuit respectively, and is used to limit the input current of the stimulation waveform generating circuit to within a specified current threshold; The stimulation waveform generation circuit is connected to the electrode array through the multi-channel multiplexing module, and the power supply module is connected to the multi-channel multiplexing module through a voltage inverter; The control module is connected to the stimulation waveform generating circuit and the multi-channel multiplexing module respectively, and is used to control the stimulation waveform generating circuit to generate and output an AC stimulation signal, and to control the multi-channel multiplexing module to turn on the electrodes corresponding to the conductive electrode combination corresponding to the target contact position in the electrode array, so as to generate tactile feedback at the target contact position.

[0012] In one embodiment, the stimulation waveform generation circuit includes a first transistor, a second transistor, a third transistor, a fourth transistor, a fifth transistor, and a sixth transistor; The collector of the first transistor is connected to the current limiting circuit and the collector of the second transistor respectively; The base of the first transistor is connected to one end of the first resistor, and the emitter of the first transistor is connected to the anode of the electrode pair and the collector of the third transistor respectively; The other end of the first resistor is connected to the collector of the fifth transistor, the base of the fifth transistor is connected to the control module, and the emitter of the fifth transistor is grounded; The base of the second transistor is connected to one end of the second resistor, and the emitter of the second transistor is connected to the cathode of the electrode pair and the collector of the fourth transistor respectively; The other end of the second resistor is connected to the collector of the sixth transistor, the base of the sixth transistor is connected to the control module, and the emitter of the sixth transistor is grounded; The base of the third transistor is connected to one end of the third resistor, and the other end of the third resistor is connected to the control module; The base of the fourth transistor is connected to one end of the fourth resistor, and the other end of the fourth resistor is connected to the control module; An emitter of the third transistor and an emitter of the fourth transistor are commonly grounded.

[0013] In one embodiment, the electrotactile feedback circuit further includes a voltage sampling circuit and a current sampling circuit; The voltage sampling circuit is connected in parallel with the current limiting circuit, and the voltage sampling circuit is connected to the control module to transmit the collected circuit voltage to the control module; The stimulation waveform generation circuit is connected in series with the sampling resistor and then grounded, the current sampling circuit is connected in parallel with the sampling resistor, and the current sampling circuit is connected to the control module to transmit the collected circuit current to the control module.

[0014] In addition, to achieve the above objectives, the present application also proposes a smart wearable device, which includes the above electrotactile feedback circuit.

[0015] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the electric tactile feedback method as described above are implemented.

[0016] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the electric tactile feedback method as described above are implemented.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: The present application obtains target tactile feedback information, wherein the target tactile feedback information includes the target contact position; according to the target contact position, a predetermined electrode mapping table is queried to obtain a conductive electrode combination, wherein the superposition position of the electrode electric field in the conductive electrode combination is the target contact position; and the electrodes corresponding to the conductive electrode combination in the electrode array are sequentially controlled to be conductive, so as to generate tactile feedback at the target contact position. Therefore, the present application adjusts the distribution of conductive electrodes in the electrode array, which is equivalent to changing the shape of the entire electrode, and adjusts the number of conductive electrodes in the electrode array, which is equivalent to changing the current distribution, and finally realizes the change of the position and intensity of the superimposed electric field. Therefore, the present application adds virtual stimulation points between the electrodes of the physical entity with the help of the change of the superimposed electric field, and can greatly improve the resolution of tactile feedback without increasing the scale of the electrode array. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the electric tactile feedback method of the present application; Figure 2 A schematic diagram of the structure of an electrode array involved in an embodiment of the present application; Figure 3 A schematic diagram of a first scenario of a candidate electrode combination involved in an embodiment of the present application; Figure 4 A schematic diagram of a second scenario of a candidate electrode combination involved in an embodiment of the present application; Figure 5 A schematic diagram of a third scenario of a candidate electrode combination involved in an embodiment of the present application; Figure 6 A schematic diagram of a fourth scenario of a candidate electrode combination involved in an embodiment of the present application; Figure 7 A schematic diagram of a scene of a contact point position involved in an embodiment of the present application; Figure 8 A circuit diagram of a first embodiment of an electric tactile feedback circuit of the present application; Fig. 9 A waveform diagram of an AC stimulation signal involved in an embodiment of the present application; Fig.10 A circuit diagram of a stimulation waveform generating circuit involved in an embodiment of the present application; Fig.11 A circuit diagram of a second embodiment of the electric tactile feedback circuit of the present application; Fig.12 This is a partial circuit diagram of the electric tactile feedback circuit of the present application.

[0021] Description of Figure Numbers: 10. Power module; 20. Control module; 30. Boost circuit; 40. Current limiting circuit; 50. Stimulation waveform generating circuit; Q1, first transistor; Q2, second transistor; Q3, third transistor; Q4, fourth transistor; Q5, fifth transistor; Q6, sixth transistor; R1, first resistor; R2, second resistor; R3, third resistor; R4, fourth resistor; R5, fifth resistor; R6, sixth resistor; R7, seventh resistor; R8, eighth resistor; 60. Multi-channel multiplexing module; VI. voltage inverter; 70. electrode array; 80. voltage sampling circuit; 90. current sampling circuit; Rs. sampling resistor.

[0022] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0023] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0024] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0025] The main solution of the embodiment of the present application is: obtaining target tactile feedback information, wherein the target tactile feedback information includes a target contact position; querying a predetermined electrode mapping table according to the target contact position to obtain a conductive electrode combination, wherein the superposition position of the electrode electric field in the conductive electrode combination is the target contact position; and sequentially controlling the electrodes in the electrode array corresponding to the conductive electrode combination to conduct, so as to generate tactile feedback at the target contact position.

[0026] In this embodiment, for the convenience of description, the following description is made with the smart wearable device as the execution subject.

[0027] In the current electrotactile feedback scheme, achieving high-resolution tactile feedback depends largely on the density of electrodes in the electrode array. Generally speaking, the smaller and denser the electrodes, the more detailed the tactile feedback. However, the skin area of ​​the human body on the hand is limited, and the smaller the electrode, the greater the contact impedance with the skin. These factors greatly limit the number and density of electrodes in the electrode array, resulting in low resolution of tactile feedback in existing electrotactile feedback methods.

[0028] The present application provides a solution, which is equivalent to changing the shape of the entire electrode by adjusting the distribution of the electrodes that are turned on in the electrode array, and adjusting the number of electrodes that are turned on in the electrode array is equivalent to changing the current distribution, and finally achieving the change in the position and intensity of the superimposed electric field. Therefore, the present application adds virtual stimulation points between the electrodes of the physical entity by changing the superimposed electric field, and can greatly improve the resolution of tactile feedback without increasing the size of the electrode array.

[0029] Based on this, the present application embodiment provides an electric tactile feedback method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the electric tactile feedback method of the present application.

[0030] In this embodiment, the electrotactile feedback method is applied to a smart wearable device, the smart wearable device is equipped with an electrode array, and the electrotactile feedback method includes steps S10 to S30: Step S10, obtaining target tactile feedback information, wherein the target tactile feedback information includes a target contact point position; It should be noted that smart wearable devices can be smart watches, smart bracelets and other devices. Figure 2As shown, the smart wearable device is equipped with an electrode array, which is composed of a plurality of electrodes arranged on the smart wearable device. Figure 2 In the embodiment, the electrode array is a 3*3 electrode layout, the electrode diameter is at least 1mm, and the electrode spacing is at least 2mm. When there is a need for expansion, the electrode array can expand the number of electrodes individually or add a whole column or a whole row of electrodes.

[0031] In addition, it should be noted that the target tactile feedback information includes a target contact point position, and the target contact point position is a position within the coverage area of ​​the electrode array where tactile feedback is expected to be generated.

[0032] In this embodiment, at least one position in the electrode array coverage area where tactile feedback is expected to be generated can be used as the target contact position. As another example, in this embodiment, it can be not only an independent contact position, but also a tactile track. The target tactile feedback information can include the target contact position and its stimulation sequence, and the stimulation sequence is the time series of the target contact position.

[0033] Step S20, according to the target contact point position, query the predetermined electrode mapping table to obtain the conductive electrode combination, wherein the superposition position of the electrode electric field in the conductive electrode combination is the target contact point position; It should be noted that the predetermined electrode mapping table includes the corresponding relationship between each candidate electrode combination and the contact point position.

[0034] This embodiment can query a predetermined electrode mapping table according to the target contact position, and use the candidate electrode combination corresponding to the target contact position as the conductive electrode combination, wherein the superposition position of the electrode electric field in the conductive electrode combination is the target contact position. When two adjacent electrodes in the electrode array output AC stimulation signals at the same time, each electrode will generate an independent electric field. Due to the spatial superposition effect of the electric field, a new electric field will be superimposed between the two electrodes, and the neurons located under the new electric field (i.e., at the superposition position) will be activated, so that a virtual stimulation point is generated. Therefore, this embodiment achieves the change of the superposition position of the electric field of each electrode by changing the combination of the conductive electrodes in the electrode array, thereby realizing electrotactile feedback for virtual stimulation points where there is no physical entity electrode position.

[0035] In a feasible implementation manner, step S20 may include steps A10 to A30: Step A10, obtaining the position of each electrode in the electrode array; Step A20, combining the electrodes in terms of distribution and quantity to obtain candidate electrode combinations, and determining the superposition position of the electrode electric fields in each candidate electrode combination; Step A30: taking the superimposed positions as the contact positions corresponding to the candidate electrode combinations, and constructing a predetermined electrode mapping table based on the contact positions corresponding to the candidate electrode combinations.

[0036] It should be noted that the candidate electrode combination is a combination of electrodes with different distributions and numbers in the electrode array. The number and position combination of the electrodes in the candidate electrode combination can be selected according to the specific contact position requirements, and this embodiment does not limit the number and position combination of the electrodes in the candidate electrode combination.

[0037] In this embodiment, by obtaining the position of each electrode in the electrode array, and then combining the electrodes in terms of distribution and quantity, each candidate electrode combination is obtained, and the superposition position of the electrode electric field in each candidate electrode combination is determined; the superposition position is used as the contact point position corresponding to the candidate electrode combination, and a predetermined electrode mapping table is constructed based on the contact point position corresponding to each candidate electrode combination. In this way, a predetermined electrode mapping table describing the correspondence between each candidate electrode combination and the contact position is constructed.

[0038] In some embodiments, the candidate electrode combinations include one or more of the following combinations: A combination of an anode and a cathode, wherein the contact position corresponding to the candidate electrode combination is exactly between the cathode and the anode; A combination of two pairs of cathodes and anodes placed alternately, wherein the contact position corresponding to the candidate electrode combination is the intersecting point of the two pairs of cathodes and anodes; There are a plurality of cathode combinations on the same straight line around an anode, and the distance between the contact position corresponding to the candidate electrode combination and the anode is negatively correlated with the number of the cathodes; An anode is surrounded by a combination of multiple cathodes, and the contact position corresponding to the candidate electrode combination is directly below the anode.

[0039] In this embodiment, as a first example of a candidate electrode combination, a combination of an anode and a cathode, the contact position corresponding to the candidate electrode combination is exactly between the cathode and the anode. Figure 3 As shown, the anode A and cathode C in the electrode array naturally conform to the current orientation under the AC stimulation signal. Figure 3 The location of the black triangle in the middle is the virtual stimulation point (i.e., the superposition position of the electrode electric field). (During operation, the current flows from anode A through the skin into cathode C during the positive cycle, and from cathode C through the skin into anode A during the negative cycle.) Since the current guide has another characteristic, the position and intensity of the superimposed electric field will change when the current distribution between the two electrodes is changed. As a second example of a candidate electrode combination, a combination of two pairs of cathodes and anodes placed alternately, the contact position corresponding to the candidate electrode combination is the intersecting point of the two pairs of cathodes and anodes. Figure 4As shown in the figure, when two pairs of cathodes C and anodes A are placed alternately, the four electrodes working simultaneously will cause the touch sensation to be generated at the center of the four electrodes (i.e., the virtual stimulation point). The position of the black triangle in the figure is the virtual stimulation point. As a third example of a candidate electrode combination, there are multiple combinations of cathodes on the same straight line around an anode, and the distance between the contact position corresponding to the candidate electrode combination and the anode is negatively correlated with the number of cathodes. Figure 5 As shown in the figure, when three cathodes C work simultaneously near an anode A, it is equivalent to using a cathode C with a larger area. At this time, the current distribution changes, and the superimposed electric field will be more biased toward the anode A, so the virtual stimulation point is also biased toward the anode A. As a fourth example of a candidate electrode combination, a combination of multiple cathodes surrounding an anode, the contact position corresponding to the candidate electrode combination is directly below the anode. Figure 6 As shown, if you want to produce a tactile sensation directly below the electrode, you need to surround the anode A with four cathodes C or surround the anode A with three cathodes C at the edge of the array, so that the virtual stimulation point is located directly below the anode A.

[0040] In this embodiment, the positions of the electrodes in the electrode array can be obtained, and then the electrodes can be combined in terms of distribution and quantity to obtain candidate electrode combinations. Figure 3 , Figure 4 , Figure 5 and Figure 6 These four electrode combinations form the basis for the electrode array to generate virtual stimulation points. Figure 7 As shown, a 3*3 electrode array can generate 29 virtual stimulation points according to the above four electrode combinations, which is far more than the 9 tactile points generated by using a single positive electrical pulse as a stimulation signal in the traditional scheme. As the number of electrodes in the electrode array continues to increase, this gap will also be larger. This embodiment can determine the superposition position of the electrode electric field corresponding to each electrode according to the position of each electrode in the candidate electrode combination. Therefore, this embodiment can use the superposition position as the contact position corresponding to the candidate electrode combination, and construct a predetermined electrode mapping table based on the contact position corresponding to each candidate electrode combination.

[0041] Step S30, sequentially controlling the electrodes in the electrode array corresponding to the conductive electrode combination to be conductive, so as to generate tactile feedback at the target touch point position.

[0042] This embodiment can control the conduction of electrodes corresponding to the conductive electrode combination in the electrode array in sequence. After the electrodes corresponding to the conductive electrode combination are turned on, the superimposed position of the electrode electric fields corresponding to each electrode is the target contact position, and the neurons of the human skin at the target contact position are activated, thereby generating tactile feedback at the target contact position.

[0043] In a feasible implementation manner, the target tactile feedback information further includes a stimulation timing of the target contact point position, and step S30 may include steps S31-S32: Step S31, obtaining the stimulation time of each target contact point according to the stimulation timing sequence; Step S32, according to the stimulation time, sequentially controlling the electrodes in the electrode array corresponding to the conductive electrode combination to be conductive, so as to stimulate each target contact position according to the stimulation sequence.

[0044] It should be noted that the target tactile feedback information also includes the stimulation timing of the target contact position, and the stimulation timing is the time series of the target electric shock position.

[0045] For the scenario where the electric tactile feedback is a tactile track, this embodiment can obtain the stimulation moment of each target contact position according to the stimulation timing, and then control the conduction of the electrodes corresponding to the conductive electrode combination in the electrode array in sequence according to the stimulation moment, so as to stimulate each target contact position according to the stimulation timing and generate the corresponding tactile track. In this way, this embodiment can realize electric tactile feedback for the tactile track.

[0046] In a feasible implementation manner, step S30 may include steps B10 to B30: Step B10, outputting a predetermined reference stimulation signal from the electrode array, and receiving a maximum current intensity corresponding to a maximum intensity tactile sensation fed back from the predetermined reference stimulation signal, and a minimum current intensity corresponding to a minimum intensity tactile sensation; Step B20, generating at least one intermediate current intensity based on the highest current intensity and the lowest current intensity, and using the highest current intensity, the lowest current intensity and each intermediate current intensity as candidate tactile gears, wherein the intermediate current intensity is between the highest current intensity and the lowest current intensity; It should be noted that the predetermined reference stimulation signal is a stimulation signal that is preset as a reference tactile intensity. Exemplarily, the predetermined reference stimulation signal is a stimulation signal that increases from weak to strong.

[0047] This embodiment can output a predetermined reference stimulation signal from the electrode array, and receive the maximum acceptable tactile intensity of the user and the minimum acceptable tactile intensity of the user in response to the predetermined reference stimulation signal, and determine the maximum current intensity corresponding to the maximum tactile intensity and the minimum current intensity corresponding to the minimum tactile intensity. In this way, this embodiment screens out a current intensity range that meets the user's personalized tactile needs (i.e., the current intensity between the highest current intensity and the lowest current intensity). Based on the highest current intensity and the lowest current intensity, the current intensity between the highest current intensity and the lowest current intensity is divided to generate at least one intermediate current intensity between the highest current intensity and the lowest current intensity, and the highest current intensity, the lowest current intensity and each intermediate current intensity are used as candidate tactile gears. Exemplarily, assuming that 6 tactile gears are desired to be set, the calculation formula for the intermediate current intensity can be as follows: In one mode, the first intermediate gear is set using the difference between the maximum current intensity and the minimum current intensity, the minimum current intensity and the first coefficient a, I1 = IMIN + a(IMAX − IMIN); In one mode, the fourth intermediate gear is set using the difference between the maximum current intensity and the minimum current intensity, the minimum current intensity and the second coefficient b, I4 = IMIN + b*(IMAX − IMIN ); In one method, the second intermediate gear and the third intermediate gear are set by utilizing the difference between the current intensity of the first intermediate gear and the minimum current intensity, the difference between the current intensity of the fourth intermediate gear and the minimum current intensity, and the minimum current intensity, and the weights of the difference between the current intensity of the first intermediate gear and the minimum current intensity and the difference between the current intensity of the fourth intermediate gear and the minimum current intensity are adjusted by the third coefficient m and the fourth coefficient n, so that the second intermediate gear is closer to the first intermediate gear between the first intermediate gear and the fourth intermediate gear (that is, the weight of the difference between the current intensity of the fourth intermediate gear and the minimum current intensity is greater), and the third intermediate gear is closer to the fourth intermediate gear between the first intermediate gear and the fourth intermediate gear (that is, the weight of the difference between the current intensity of the first intermediate gear and the minimum current intensity is greater).

[0048] I2 = IMIN +[m*((I4- IMIN)^2+n*(I1- IMIN))^2)]^(1 / 2); I3 = IMIN +[m*(n* (I4- IMIN)^2+ (I1- IMIN))^2)]^(1 / 2).

[0049] Among them, 0<a<b<1, 0<m<1<n.

[0050] Finally, IMIN < I1 < I2 < I3 < I4 < IMAX, that is, 4 tactile levels are added between the lowest current intensity IMIN and the highest current intensity IMAX, so that there are a total of 6 levels for adjusting the tactile intensity.

[0051] Step S30 may further include steps C10 to C20: Step C10, after receiving the gear selection instruction, determine the candidate tactile gear corresponding to the gear selection instruction as the target tactile gear; Step C20, according to the current intensity corresponding to the target tactile gear, sequentially control the electrodes corresponding to the conduction electrode combination in the electrode array to conduct, so as to generate tactile feedback at the target contact position.

[0052] In this embodiment, when tactile feedback needs to be generated, after receiving the gear selection instruction, the candidate tactile gear corresponding to the gear selection instruction can be determined as the target tactile gear, and then, according to the current intensity corresponding to the target tactile gear, the electrodes corresponding to the conduction electrode combination in the electrode array are sequentially controlled to conduct, so as to generate tactile feedback at the target contact position.

[0053] In this embodiment, by outputting a predetermined reference stimulus signal from the electrode array, receiving the highest current intensity corresponding to the maximum intensity tactile sensation feedback for the predetermined reference stimulus signal, and the lowest current intensity corresponding to the minimum intensity tactile sensation, the current intensity range that meets the user's personalized tactile sensation requirements is screened out. Furthermore, the candidate tactile gears obtained after dividing this current intensity range are more in line with the user's personalized tactile requirements.

[0054] The first embodiment of the present application provides an electro-tactile feedback method, which is applied to a smart wearable device. The smart wearable device is configured with an electrode array. By obtaining target tactile feedback information, where the target tactile feedback information includes the target contact position; according to the target contact position, query a predetermined electrode mapping table to obtain a conduction electrode combination, where the superposition position of the electrode electric fields in the conduction electrode combination is the target contact position; sequentially control the electrodes corresponding to the conduction electrode combination in the electrode array to conduct, so as to generate tactile feedback at the target contact position. Thus, in this embodiment, by adjusting the distribution of the conducting electrodes in the electrode array, it is equivalent to changing the overall shape of the electrodes, and adjusting the number of the conducting electrodes in the electrode array is equivalent to changing the current distribution. Finally, the change in the position and intensity of the superimposed electric field is realized. Therefore, by means of the change in the superimposed electric field, virtual stimulation points are added between the physical entity electrodes, and without increasing the scale of the electrode array, the resolution of the tactile feedback can be greatly improved.

[0055] In the second embodiment of the present application, as Figure 8As shown, this embodiment proposes an electrotactile feedback circuit, which includes a power module 10, a control module 20, a boost circuit 30, a current limiting circuit 40, a stimulation waveform generation circuit 50, a multi-channel multiplexing module 60 and an electrode array 70; The boost circuit 30 is connected to the power module 10 and the control module 20 respectively, and is used to boost the initial voltage input by the power module 10 to a predetermined voltage; The current limiting circuit 40 is connected to the boost circuit 30 and the stimulation waveform generating circuit 50 respectively, and is used to limit the input current of the stimulation waveform generating circuit 50 to within a specified current threshold; The stimulation waveform generation circuit 50 is connected 70 to the electrode array via the multi-channel multiplexing module 60, and the power supply module 20 is connected 60 to the multi-channel multiplexing module via the voltage inverter VI; The control module 20 is respectively connected to the stimulation waveform generating circuit 50 and the multi-channel multiplexing module 60, and is used to control the stimulation waveform generating circuit 50 to generate and output an AC stimulation signal, and control the multi-channel multiplexing module 60 to turn on the electrodes corresponding to the conductive electrode combination corresponding to the target contact position in the electrode array 70, so as to generate tactile feedback at the target contact position.

[0056] It should be noted that the predetermined voltage is a voltage value within a preset safe voltage range, and illustratively, the preset safe voltage range may be less than 36 V. The specified current threshold is a preset maximum current value flowing into the stimulation waveform generating circuit 50, such as 3 mA, 5 mA, 10 mA, etc.

[0057] In addition, it should be noted that Fig. 9 As shown, Fig. 9 Schematic diagram of the waveform of the AC stimulation signal involved in the embodiment of the present application. The AC stimulation signal can be determined by six pulse parameters, namely, the delay D before stimulation, the pulse width W, the pulse period P, the pulse amplitude I, the number of pulses NPB that trigger the tactile sensation each time, and the tactile generation period T. It can be understood that the present embodiment can generate composite AC stimulation signals with different tactile sensations and tailor-made for different groups of people by adjusting these six pulse parameters. It can be understood that the present embodiment can provide several groups of AC stimulation signals corresponding to different pulse parameters for users to choose from. Of course, the user's set pulse parameters can also be obtained to generate an AC stimulation signal with a corresponding waveform.

[0058] In this embodiment, the electrotactile feedback circuit includes a power module 10, a control module 20, a boost circuit 30, a current limiting circuit 40, a stimulation waveform generating circuit 50 and an electrode array 70. The power module 10 is used to supply power to the components in the electrotactile feedback circuit, such as the boost module 30 and the control module 20. The boost circuit 30 is connected to the power module 10 and the control module 20 respectively, and the initial voltage input by the power module 10 is boosted to the predetermined voltage indicated by the control module 20. The current limiting circuit 40 is connected to the boost circuit 30 and the stimulation waveform generating circuit 50 respectively, and the input current of the stimulation waveform generating circuit 50 is limited within the specified current threshold indicated by the control module 20, thereby limiting the voltage and current flowing into the skin from the source through the voltage limiting and current limiting processing, thereby reducing safety hazards. The stimulation waveform generating circuit 50 is connected to the electrode array 70 through the multi-channel multiplexing module 60, and the power module 20 is connected to the multi-channel multiplexing module 60 through the voltage inverter VI. The voltage inverter VI is used to change the polarity of the output voltage of the power module 20, that is, to swap the positive and negative poles of the DC voltage. The channel multiplexing module 60 is used to merge multiple signal or data channels into a single transmission line through time division multiplexing, frequency division multiplexing or other multiplexing technologies. The control module 20 is connected to the stimulation waveform generation circuit 50 and the multi-channel multiplexing module 60 respectively, and is used to control the stimulation waveform generation circuit 50 to generate and output an AC stimulation signal, and control the multi-channel multiplexing module 60 to turn on the electrodes corresponding to the conductive electrode combination corresponding to the target contact position in the electrode array 70, thereby generating tactile feedback at the target contact position to electrically stimulate the user's skin.

[0059] The stimulation waveform generating circuit 50 may be an H-bridge circuit, which is used to flip the electrical properties of the output of the power supply 20, thereby generating an AC stimulation signal. Fig.10As shown, the stimulation waveform generating circuit 50 includes a first transistor Q1, a second transistor Q2, a third transistor Q3, a fourth transistor Q4, a fifth transistor Q5 and a sixth transistor Q6; the collector of the first transistor Q1 is respectively connected to the current limiting circuit 40 and the collector of the second transistor Q2; the base of the first transistor Q1 is connected to one end of the first resistor R1, and the emitter of the first transistor Q1 is respectively connected to the anode A in the electrode pair 61 and the collector of the third transistor Q3; the other end of the first resistor R1 is connected to the collector of the fifth transistor Q5, the base of the fifth transistor Q5 is connected to the control module 20, and the emitter of the fifth transistor Q5 is grounded; The base is connected to one end of the second resistor R2, and the emitter of the second transistor Q2 is respectively connected to the cathode C in the electrode pair 61 and the collector of the fourth transistor Q4; the other end of the second resistor R2 is connected to the collector of the sixth transistor Q6, the base of the sixth transistor Q6 is connected to the control module 20, and the emitter of the sixth transistor Q6 is grounded; the base of the third transistor Q3 is connected to one end of the third resistor R3, and the other end of the third resistor R3 is connected to the control module 20; the base of the fourth transistor Q4 is connected to one end of the fourth resistor R4, and the other end of the fourth resistor R4 is connected to the control module 20; the emitter of the third transistor Q3 and the emitter of the fourth transistor Q4 are grounded together. Among them, the first transistor Q1 and the second transistor Q2 are PNP (P-type, N-type, P-type, a P-type semiconductor region is sandwiched between two N-type semiconductor regions) transistors, and the third transistor Q3, the fourth transistor Q4, the fifth transistor Q5 and the sixth transistor Q6 are NPN (N-type, P-type, N-type, a N-type semiconductor region is sandwiched between two P-type semiconductor regions) transistors. Therefore, this embodiment achieves the reversal of the voltage direction by controlling the conduction and disconnection of the first transistor Q1, the second transistor Q2, the third transistor Q3, and the fourth transistor Q4. It can be understood that the two multi-channel multiplexing modules 60 connected to the electrode array 70 can use a multi-channel multiplexing chip, or a multi-channel analog switch chip to achieve a multi-channel multiplexing effect. Fig.10The number of electrodes in the middle electrode array 70 is only for illustration, and may be more than 4. Since the human body can distinguish the time interval between two electrical stimulations (generally at least 25ms), the multi-channel multiplexing module 60 uses a multi-channel multiplexing chip, and the electrodes corresponding to the conductive electrode combination corresponding to the target contact position in the electrode array 70 are turned on by time division multiplexing, that is, the electrodes corresponding to the conductive electrode combination need to be traversed once by the multi-channel multiplexing module 60 within a predetermined sensing interval (such as 25ms, 20ms, etc.). If the multi-channel multiplexing module 60 uses a multi-channel analog switch chip, since the multi-channel analog switch chip is integrated by multiple single-pole single-throw switch paths, the electrodes corresponding to the conductive electrode combination corresponding to the target contact position in the electrode array 70 can be turned on by controlling the conduction or closing of the branches in the multiple single-pole single-throw switch paths.

[0060] In some embodiments, the stimulation waveform generating circuit 50 further includes a fifth resistor R5 and a sixth resistor R6; one end of the fifth resistor R5 is respectively connected to the current limiting circuit 40 and the collector of the first transistor Q1, and the other end of the fifth resistor R5 is respectively connected to the base of the first transistor Q1 and one end of the first resistor R1; one end of the sixth resistor R6 is respectively connected to the current limiting circuit 40 and the collector of the second transistor Q2, and the other end of the sixth resistor R6 is respectively connected to the base of the second transistor Q2 and one end of the second resistor R2. Therefore, compared with the conventional H-bridge circuit, this embodiment adds two pull-up resistors, the fifth resistor R5 and the sixth resistor R6, to ensure that the first transistor Q1 and the second transistor Q2 are completely turned off when not in use, which can further improve the circuit safety and circuit stability. In some embodiments, the stimulation waveform generation circuit 50 further includes a seventh resistor R7 and an eighth resistor R8; one end of the seventh resistor R7 is respectively connected to the other end of the first resistor R1 and the collector of the fifth transistor Q5, and the other end of the seventh resistor R7 is respectively connected to the emitter and anode A of the first transistor Q1; one end of the eighth resistor R8 is respectively connected to the other end of the second resistor R2 and the collector of the sixth transistor Q6, and the other end of the eighth resistor R8 is respectively connected to the emitter and cathode C of the second transistor Q2. Therefore, compared with the conventional H-bridge circuit, this embodiment adds the seventh resistor R7 and the eighth resistor R8 as a discharge path, which can eliminate the transistor residual voltage, thereby improving the response speed of the stimulation waveform generation circuit 50, reducing the loss, and also improving the circuit stability of the stimulation waveform generation circuit 50.

[0061] On the one hand, this embodiment can limit the voltage and current flowing into the skin from the source through voltage limiting and current limiting processing, thereby reducing safety hazards. On the other hand, the control module 20 controls the stimulation waveform generation circuit 50 to generate and output an AC stimulation signal to the electrode array 70, so that the electrodes corresponding to the conductive electrode combination corresponding to the target contact position in the electrode array 70 are turned on, and tactile feedback is generated at the target contact position. Therefore, this embodiment is equivalent to changing the shape of the entire electrode by adjusting the distribution of conductive electrodes in the electrode array 70, and adjusting the number of conductive electrodes in the electrode array 70 is equivalent to changing the current distribution, and finally achieving the position and intensity changes of the superimposed electric field. Therefore, this embodiment adds virtual stimulation points between the electrodes of the physical entity with the help of the change of the superimposed electric field, and the resolution of the tactile feedback can be greatly improved without increasing the scale of the electrode array 70.

[0062] like Fig.11 As shown, in some embodiments, the electric tactile feedback circuit further includes a voltage sampling circuit 80 and a current sampling circuit 90; The voltage sampling circuit 80 is connected in parallel with the current limiting circuit 40 , and the voltage sampling circuit 80 is connected with the control module 20 , and is used to transmit the collected circuit voltage to the control module 20 ; The stimulation waveform generation module 50 is connected in series with the sampling resistor Rs and then grounded. The current sampling circuit 90 is connected in parallel with the sampling resistor Rs. The current sampling circuit 90 is connected to the control module 20 for transmitting the collected circuit current to the control module 20 .

[0063] In this embodiment, the voltage sampling circuit 80 is connected in parallel with the current limiting circuit 40, and the voltage sampling circuit 80 is connected to the control module 20, and is used to transmit the collected circuit voltage to the control module 20; the stimulation waveform generation module 50 is connected in series with the sampling resistor Rs and then grounded, and the current sampling circuit 90 is connected in parallel with the sampling resistor Rs, and the current sampling circuit 90 is connected to the control module 20, and is used to transmit the collected circuit current to the control module 20. In this way, the circuit voltage and circuit current in the input stimulation waveform generation module 50 can be collected to realize the voltage and current monitoring of the electric tactile feedback circuit. Fig.12, the voltage sampling circuit 80 can be connected in parallel with the current limiting circuit 40, and the voltage sampling circuit 80 is connected to the control module 20 to transmit the collected circuit voltage to the control module 20. The emitter of the third transistor Q3 and the emitter of the fourth transistor Q4 in the two stimulation waveform generating units 51 are connected in series with the sampling resistor Rs and then grounded, the current sampling circuit 90 is connected in parallel with the sampling resistor Rs, and the current sampling circuit 90 is connected to the control module 20 to transmit the collected circuit current to the control module 20. It can be understood that the control module 20 can directly cut off the electrotactile feedback circuit when it detects that the circuit voltage exceeds the predetermined safety voltage, or the circuit current exceeds the predetermined safety current. The control module 20 can also calculate the current skin impedance based on the circuit voltage and the circuit current, and then adjust the waveform of the AC stimulation signal in the composite AC stimulation signal according to the current skin impedance. Exemplarily, the waveform of the AC stimulation signal can be proportionally scaled according to the impedance difference between the current skin impedance and the previous skin impedance.

[0064] The present application provides a smart wearable device, which includes the above-mentioned electric tactile feedback circuit. For example, the smart wearable device may be a wearable device with a tactile feedback requirement, such as a smart bracelet or a smart watch.

[0065] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0066] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the electric tactile feedback method in the above-mentioned embodiment.

[0067] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0068] The computer-readable storage medium may be included in the electric tactile feedback device; or may exist independently without being assembled into the electric tactile feedback device.

[0069] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electric tactile feedback device, the electric tactile feedback device: obtains target tactile feedback information, wherein the target tactile feedback information includes a target contact position; queries a predetermined electrode mapping table according to the target contact position to obtain a conductive electrode combination, wherein the superposition position of the electrode electric field in the conductive electrode combination is the target contact position; and sequentially controls the electrodes in the electrode array corresponding to the conductive electrode combination to be conductive, so as to generate tactile feedback at the target contact position.

[0070] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0071] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0072] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0073] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned electric tactile feedback method, and can solve the technical problem of low resolution of tactile feedback in the existing electric tactile feedback method. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the electric tactile feedback method provided in the above-mentioned embodiment, and will not be elaborated here.

[0074] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned electric tactile feedback method when executed by a processor.

[0075] The computer program product provided by the present application can solve the technical problem of low resolution of tactile feedback in the existing electric tactile feedback method. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the electric tactile feedback method provided by the above embodiment, which will not be elaborated here.

[0076] The above are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An electrotactile feedback method, characterized in that: Applied to a smart wearable device, the smart wearable device is equipped with an electrode array, and the electrotactile feedback method includes: Acquiring target tactile feedback information, wherein the target tactile feedback information includes a target contact point position; According to the target contact point position, query a predetermined electrode mapping table to obtain a conductive electrode combination, wherein the superposition position of the electrode electric field in the conductive electrode combination is the target contact point position; The electrodes in the electrode array corresponding to the conductive electrode combination are controlled to be conductive in sequence to generate tactile feedback at the target contact point position.

2. The method for electrotactile feedback according to claim 1, wherein: Before the step of querying a predetermined electrode mapping table according to the target contact point position to obtain a conductive electrode combination, the method includes: Obtaining the position of each electrode in the electrode array; Combining the electrodes in terms of distribution and quantity to obtain candidate electrode combinations, and determining the superposition position of the electrode electric fields in each candidate electrode combination; The superimposed positions are used as contact positions corresponding to the candidate electrode combinations, and a predetermined electrode mapping table is constructed based on the contact positions corresponding to the candidate electrode combinations.

3. The electrotactile feedback method according to claim 2, wherein: The candidate electrode combinations include one or more of the following combinations: A combination of an anode and a cathode, wherein the contact position corresponding to the candidate electrode combination is exactly between the cathode and the anode; A combination of two pairs of cathodes and anodes placed alternately, wherein the contact position corresponding to the candidate electrode combination is the intersecting point of the two pairs of cathodes and anodes; There are a plurality of cathode combinations on the same straight line around an anode, and the distance between the contact position corresponding to the candidate electrode combination and the anode is negatively correlated with the number of the cathodes; An anode is surrounded by a combination of multiple cathodes, and the contact position corresponding to the candidate electrode combination is directly below the anode.

4. The electrotactile feedback method according to claim 2, wherein: The target tactile feedback information also includes a stimulation timing of a target contact position, and the step of sequentially controlling the electrodes in the electrode array corresponding to the conductive electrode combination to be conductive so as to generate tactile feedback at the target contact position includes: According to the stimulation timing sequence, obtaining the stimulation time of each target contact point position; According to the stimulation timing, the electrodes in the electrode array corresponding to the conductive electrode combination are controlled to be conductive in sequence, so as to stimulate each of the target contact positions according to the stimulation timing.

5. The electric tactile feedback method according to any one of claims 1 to 4, characterized in that: Before the step of sequentially controlling the electrodes in the electrode array corresponding to the conductive electrode combination to be conductive so as to generate tactile feedback at the target touch point position, the method includes: Outputting a predetermined reference stimulation signal from the electrode array, and receiving a maximum current intensity corresponding to a maximum intensity tactile sensation fed back from the predetermined reference stimulation signal, and a minimum current intensity corresponding to a minimum intensity tactile sensation; Based on the highest current intensity and the lowest current intensity, generating at least one intermediate current intensity, and using the highest current intensity, the lowest current intensity and each of the intermediate current intensities as candidate tactile gears, wherein the intermediate current intensity is between the highest current intensity and the lowest current intensity; The step of sequentially controlling the electrodes in the electrode array corresponding to the conductive electrode combination to be conductive so as to generate tactile feedback at the target touch point position also includes: After receiving the gear selection instruction, determining the candidate tactile gear corresponding to the gear selection instruction as the target tactile gear; According to the current intensity corresponding to the target tactile gear, the electrodes in the electrode array corresponding to the conductive electrode combination are controlled to be conductive in sequence, so as to generate tactile feedback at the target touch point position.

6. An electric tactile feedback circuit, characterized in that: Applicable to the electrotactile feedback method according to any one of claims 1 to 5, the electrotactile feedback circuit comprises a power module, a control module, a boost circuit, a current limiting circuit, a stimulation waveform generation circuit, a multi-channel multiplexing module and an electrode array; The boost circuit is connected to the power module and the control module respectively, and is used to boost the initial voltage input by the power module to a predetermined voltage; The current limiting circuit is connected to the boost circuit and the stimulation waveform generating circuit respectively, and is used to limit the input current of the stimulation waveform generating circuit to within a specified current threshold; The stimulation waveform generation circuit is connected to the electrode array via the multi-channel multiplexing module, and the power supply module is connected to the multi-channel multiplexing module via a voltage inverter; The control module is connected to the stimulation waveform generating circuit and the multi-channel multiplexing module respectively, and is used to control the stimulation waveform generating circuit to generate and output an AC stimulation signal, and to control the multi-channel multiplexing module to turn on the electrodes corresponding to the conductive electrode combination corresponding to the target contact position in the electrode array, so as to generate tactile feedback at the target contact position.

7. The electric tactile feedback circuit according to claim 6, characterized in that: The stimulation waveform generating circuit includes a first transistor, a second transistor, a third transistor, a fourth transistor, a fifth transistor and a sixth transistor; The collector of the first transistor is connected to the current limiting circuit and the collector of the second transistor respectively; The base of the first transistor is connected to one end of the first resistor, and the emitter of the first transistor is connected to the anode of the electrode pair and the collector of the third transistor respectively; The other end of the first resistor is connected to the collector of the fifth transistor, the base of the fifth transistor is connected to the control module, and the emitter of the fifth transistor is grounded; The base of the second transistor is connected to one end of the second resistor, and the emitter of the second transistor is connected to the cathode of the electrode pair and the collector of the fourth transistor respectively; The other end of the second resistor is connected to the collector of the sixth transistor, the base of the sixth transistor is connected to the control module, and the emitter of the sixth transistor is grounded; The base of the third transistor is connected to one end of a third resistor, and the other end of the third resistor is connected to the control module; The base of the fourth transistor is connected to one end of a fourth resistor, and the other end of the fourth resistor is connected to the control module; An emitter of the third transistor and an emitter of the fourth transistor are commonly grounded.

8. The electric tactile feedback circuit according to claim 7, characterized in that: The electrotactile feedback circuit also includes a voltage sampling circuit and a current sampling circuit; The voltage sampling circuit is connected in parallel with the current limiting circuit, and the voltage sampling circuit is connected to the control module, and is used to transmit the collected circuit voltage to the control module; The stimulation waveform generating circuit is connected in series with a sampling resistor and then grounded, the current sampling circuit is connected in parallel with the sampling resistor, and the current sampling circuit is connected to the control module for transmitting the collected circuit current to the control module.

9. A smart wearable device, characterized in that: The smart wearable device comprises the electrotactile feedback circuit as claimed in any one of claims 6 to 8.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the electrotactile feedback method according to any one of claims 1 to 5 are implemented.

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