Key adjustable force feedback system of keyboard

Abstract

The invention relates to the technical field of force feedback, and discloses a key-adjustable force feedback system of a keyboard, which comprises an inductance shaft assembly, a sensor module, a feedback force adjusting module, a control processing module, a user configuration interface and an output device, and is characterized in that the feedback force adjusting module is used for generating combined feedback force of electromagnetic force and mechanical force; the combined feedback force comprises electromagnetic force jointly determined by coil current and key displacement and mechanical force determined by an elastic element and a damping element. By adopting a synergistic effect technology of electromagnetic feedback force and mechanical feedback force, and combining an optimization algorithm and real-time data input of a sensor module, accurate dynamic adjustment and energy consumption optimization of key feedback force are realized, and multi-segment paragraph sense feedback is provided through a PWM signal and a nonlinear elastic design. The feedback speed and coherence are improved by means of a prediction control algorithm, so that the defects of single key stroke feedback mode, low adjustment speed, insufficient use scene adaptability and the like are overcome, and various operation requirements are met.

Description

Technical Field

[0001] The present invention relates to the technical field of force feedback, and specifically to an adjustable force feedback system for keyboard keys. Background Art

[0002] With the wide application of keyboards in scenarios such as gaming, office work, and professional design, users have put forward higher requirements for key feedback performance. However, existing keyboard technologies still have many deficiencies in the flexible adjustment of feedback force and personalized experience.

[0003] Traditional mechanical keyboards use springs and physical contacts as the main feedback structure. Although the paragraph feeling is clear, the feedback force depends on a fixed mechanical design and it is difficult to achieve dynamic adjustment. Users cannot adjust the paragraph feeling or rebound speed of the keys according to actual needs, resulting in poor adaptability to usage scenarios. For example, in the office scenario, gentle key feedback is required, while in the gaming scenario, stronger feedback force and paragraph feeling are needed, and such diverse requirements cannot be met in mechanical keyboards.

[0004] Optical axis keyboards adopt optical induction technology to replace traditional mechanical contacts. Although the durability and sensitivity of the keys are improved, the feedback force is still single. The feedback characteristics of the optical axis mostly depend on a fixed mechanical structure and cannot be precisely adjusted according to the depth or speed of the user's pressing. During high-frequency operations, the feedback experience of the keys lacks variation and it is difficult to meet the high standards of users for sensitivity and operation comfort.

[0005] Magnetic axis keyboards use electromagnetic force to provide key feedback. Although the non-contact response ability is improved to a certain extent, the design of the feedback force is often fixed and lacks the flexibility of dynamic adjustment. Many magnetic axis keyboards show response delays in real-time feedback force adjustment, and users cannot obtain timely and accurate feedback during rapid key operations. In addition, the electromagnetic feedback design also has a high power consumption problem, and the heat accumulation of the electromagnetic coil during frequent use easily affects the performance and lifespan of the keyboard.

[0006] Existing keyboard technologies usually adopt a unified feedback force design and it is difficult to support independent adjustment of key areas. Whether it is a mechanical keyboard, an optical axis keyboard or a magnetic axis keyboard, the feedback characteristics of all keys are usually the same, ignoring the needs of regional key operations. In gaming, users hope that the operation keys have a stronger paragraph feeling, while the keys in other areas require lighter feedback force. Existing technologies still lack effective means to achieve regional and personalized adjustment. Summary of the Invention

[0007] In view of the deficiencies of the existing technology, the present invention provides an adjustable force feedback system for keyboard keys, which solves the problems that the key feedback force of existing keyboards cannot be adjusted in real time dynamically according to user needs and it is difficult to meet the personalized feedback needs in multiple scenarios.

[0008] To achieve the above object, the present invention is implemented through the following technical solutions: A key force feedback adjustable system for a keyboard, comprising,

[0009] An inductive shaft assembly for sensing the pressing state of a key and generating a feedback force by acting on the key shaft through electromagnetic force;

[0010] A sensor module for collecting information on the pressing force, pressing speed, and pressing displacement of the key;

[0011] A feedback force adjustment module for coordinately adjusting the electromagnetic force and the mechanical force according to the target feedback force;

[0012] A control and processing module for calculating key feedback force parameters based on an optimization algorithm and sending an adjustment instruction to the feedback force adjustment module through a control signal;

[0013] A user configuration interface for the user to input target feedback parameters, including a feedback mode and a feedback force curve;

[0014] An output device for applying the feedback force to the key shaft through the inductive shaft assembly.

[0015] Preferably, the feedback force adjustment module is used to generate a combined feedback force of electromagnetic force and mechanical force, and the combined feedback force includes an electromagnetic force jointly determined by the coil current and the key displacement and a mechanical force determined by an elastic element and a damping element.

[0016] Preferably, the electromagnetic force is generated by controlling the coil current through a PWM signal, and the magnitude of the coil current is calculated and adjusted in real time by the control and processing module.

[0017] Preferably, the control and processing module calculates the feedback force parameters based on an optimization objective function, and the optimization objective function is used to minimize the deviation between the target feedback force and the actual feedback force, and at the same time optimize the dynamic response and energy consumption of the feedback system.

[0018] Preferably, the optimization objective function balances the following objectives through a weight coefficient: the square of the error between the target feedback force and the actual feedback force, the square of the deviation of the key movement response, and the total energy consumption of the system.

[0019] Preferably, the user configuration interface is used to support the selection of multiple feedback modes, and the feedback modes include a linear mode, a non-linear mode, and a paragraph feeling mode, and support single-key or regional adjustment.

[0020] Preferably, the feedback force in the non-linear mode is jointly determined by the key displacement and the pressing speed and is generated according to the feedback curve set by the user.

[0021] Preferably, the mechanical force includes an elastic force provided by an elastic element and a damping force provided by a damping element, and the magnitudes of the elastic force and the damping force are determined by adjusting the elastic coefficient and the damping coefficient through a control processing module.

[0022] Preferably, the output device includes a magnetic core component, an induction coil, and a key shaft. The magnetic core component generates a magnetic field change in the induction coil as the key shaft moves to generate an induction signal.

[0023] Preferably, the control processing module dynamically calculates feedback parameters and adjusts the current signal and mechanical parameters of the feedback force adjustment module in real time according to the key press data collected by the sensor module and the target feedback force curve input by the user.

[0024] The present invention provides a key adjustable force feedback system for a keyboard, which has the following beneficial effects:

[0025] 1. The present invention adopts a technical solution of the synergistic action of electromagnetic feedback force and mechanical feedback force, realizing the real-time dynamic adjustment of the key feedback force. By controlling the magnitude of the electromagnetic force and the proportional distribution of the mechanical force, the technical effect of accurately controlling the key paragraph feeling and feedback sensitivity is achieved. Compared with the single electromagnetic force or mechanical force generation scheme in the prior art, the problem that the key feedback force is not flexible enough and cannot adapt to various usage scenarios is solved. The present invention can provide a key feel adapted to multiple scenarios by adjusting the driving current of the electromagnetic coil in real time, especially realizing personalized feedback optimization in game or office scenarios.

[0026] 2. The present invention adopts an optimization algorithm combined with the real-time data input of the sensor module to dynamically calculate the feedback force parameters. By optimizing the objective function to balance the relationship between feedback accuracy, response speed, and energy consumption, the effect of improving the key feedback performance and energy efficiency is achieved. In the prior art, the problems of energy consumption optimization or dynamic response delay are often ignored, while the present invention solves the problems of feedback adjustment lag and high energy consumption through an intelligent algorithm, making the key operation more efficient and energy-saving.

[0027] 3. The present invention combines PWM signal control technology and non-linear elastic design to dynamically adjust the proportion of electromagnetic force and mechanical force at different stages of the key stroke, realizing the feedback force output of multi-stage paragraph feeling and bottom touch feeling. The technical effect of more personalized user experience is achieved. In the prior art, the paragraph feeling simulation is relatively fixed and cannot be adjusted flexibly. The present invention solves the problem of single and insufficiently diverse key stroke feedback modes, meeting the requirements of different scenarios such as office and games.

[0028] 4. Through the predictive control algorithm, the present invention calculates the motion state of the key in advance, combines the historical data provided by the sensor module, and realizes the pre-optimization of the feedback force parameters, achieving the technical effects of faster and smoother feedback force generation. Different from the passive response depending on the key state in the prior art, the present invention solves the problems of slow feedback force adjustment speed and discontinuous user operation experience, and provides a better solution for high-frequency key scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the system framework of the present invention;

[0030] Figure 2 It is a schematic diagram of the force feedback step flow of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the specification of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment:

[0033] Please refer to the attached Figure 1 and the attached Figure 2 , the present invention embodiment provides an adjustable force feedback system for the keys of a keyboard, including

[0034] Inductive shaft assembly: It consists of an induction coil, a magnetic core component, and a key shaft. By the movement of the magnetic core component, the change of the magnetic field is sensed, providing the basis for the generation of electromagnetic feedback force, and is used to sense the pressing depth, pressing force, and speed of the key, providing the initial physical signal conversion ability.

[0035] Sensor module: Integrated with a pressure sensor, a speed sensor, and a displacement sensor. It real-time monitors the physical state of the key, including the pressing force, movement speed, and stroke position.

[0036] Feedback force adjustment module: It includes a PWM control circuit and a mechanical rebound device to adjust the electromagnetic feedback force according to the input signal and output precise key feedback. It can generate a combined feedback of electromagnetic force and mechanical force to meet the user's needs in various scenarios.

[0037] Control processing module: The core part of the system, responsible for optimizing the feedback force parameters. Using an optimization algorithm, it converts the target feedback force curve input by the user into specific control signals, including a microcontroller (MCU) and a feedback calculation algorithm module.

[0038] User configuration interface: Provide a convenient configuration interface through which users can adjust the feedback force, sensitivity, and feedback curve of each button. Users can select different feedback modes through this module and set personalized parameters for single buttons or regions.

[0039] Output device: It includes a key shaft, a rebound device, and a feedback force transmission mechanism. The calculated feedback force is applied to the button for the user to perceive.

[0040] The generation of electromagnetic feedback force is one of the important steps in the button adjustable force feedback system. The implementation of this step is closely related to the control processing module, the feedback force adjustment module, and the inductive shaft assembly, etc., and depends on the real-time data input provided by the sensor module. The electromagnetic feedback force is jointly determined by factors such as coil current and button displacement through optimized algorithm calculation of feedback parameters.

[0041] The basic principle of the electromagnetic feedback force generation step is based on Ampere's law and the action law of Lorentz force.

[0042] The electromagnetic feedback force is generated by the combined action of the current in the induction coil and the magnetic field strength, and its magnitude is related to the button displacement and the control signal. The feedback force adjustment module adjusts the instantaneous current intensity of the coil through a PWM signal, thereby changing the magnitude of the electromagnetic force to achieve dynamic adjustment. The control signal is generated by the control processing module according to the optimized algorithm, and the specific calculation process combines the user's target feedback parameters and the real-time physical state of the button.

[0043] The magnetic core component is embedded in the key shaft to form a complete inductive shaft structure with the inductive coil. When the user presses the button, the magnetic core component moves along the button stroke direction, causing a change in the magnetic flux in the coil. At this time, the electromagnetic force generated by the current in the induction coil will change with the change of the button displacement and is then applied to the user through the key shaft.

[0044] The electromagnetic feedback force can be expressed by the following formula:

[0045] F elec (t) = k 1 ·I(t)·B(t)

[0046] Where:

[0047] F elec (t): Real-time electromagnetic feedback force, unit is Newton (N);

[0048] k 1 : Structure-related proportional coefficient of the inductive shaft, related to factors such as the number of coil turns and the characteristics of the magnetic core material;

[0049] I(t): Instantaneous current intensity in the coil, unit is Ampere (A);

[0050] B(t): The magnetic induction intensity in the coil, with the unit of Tesla (T).

[0051] The magnetic induction intensity B(t) has a linear relationship with the key displacement x(t).

[0052] For example, when the magnetic core component moves during the key stroke, it will change the magnetic field distribution in the coil. Generally, the magnitude of the magnetic induction intensity can be approximately expressed as:

[0053] B(t) = k 2 ·x(t)

[0054] Where:

[0055] k 2 : The magnetic induction proportionality coefficient, with the unit of Tesla per meter (T / m), which is related to the geometric shape and material properties of the magnetic core component;

[0056] x(t): The real-time displacement of the key, with the unit of meter (m).

[0057] Substituting the above formula into the electromagnetic force expression, the electromagnetic feedback force is further expressed as:

[0058] F elec (t) = k 1 ·k 2 ·I(t)·x(t)

[0059] In this case, the magnitude of the electromagnetic force is linearly related to the key displacement and the coil current. This formula reflects the characteristic that the greater the key displacement, the stronger the feedback force, and is applicable to the key feedback mode that requires a clear paragraph feeling.

[0060] The instantaneous current I(t) in the coil is controlled by the PWM signal.

[0061] The PWM signal is generated by the control processing module, specifically including duty cycle adjustment and frequency setting. As an option, the duty cycle α represents the proportion of the high-level time of the PWM signal in a cycle, and its range is [0,1]. The relationship between the instantaneous current and the duty cycle can be expressed as:

[0062] I(t) = α·I max

[0063] Where:

[0064] I(t): The instantaneous current intensity in the coil, with the unit of Ampere (A);

[0065] α: The duty cycle of the PWM signal;

[0066] I max : The maximum value of the coil current, with the unit of Ampere (A).

[0067] Combined with the aforementioned relationship between the magnetic induction intensity and the key displacement, the expression of the final electromagnetic feedback force is as follows:

[0068] F elec (t) = k 1 ·k 2 ·α·I max ·x(t)

[0069] The duty cycle of the PWM signal is dynamically adjusted by the control processing module to meet the feedback requirements in different scenarios.

[0070] For example, in the game mode, the control processing module will preferentially increase the duty cycle α and at the same time increase the maximum current I max value, thereby enhancing the effect of the electromagnetic force to meet the scenario requirements of rapid continuous key presses. In the office mode, the duty cycle α and the maximum current I max will be appropriately reduced to provide a softer key feedback.

[0071] The inductance parameters of the coil will affect the change rate and response accuracy of the electromagnetic feedback force.

[0072] To ensure the rapid response of the feedback force, the number of turns of the coil is usually designed in the range of 500 to 1500 turns. The DC resistance R of the coil will limit the maximum current I max , so it is necessary to reasonably select the coil material and cross-sectional area according to the energy efficiency optimization scheme. Generally, using copper wire with high conductivity can effectively reduce the resistance and thus reduce the energy loss.

[0073] To improve the stability of the electromagnetic force, the coil current signal is dynamically adjusted in combination with the key displacement and speed.

[0074] For example, when the key speed is high, the feedback force will be appropriately enhanced according to the speed compensation algorithm to reduce the user's input error. This dynamic adjustment can be achieved through the following formula:

[0075]

[0076] Where:

[0077] k 4 : Speed compensation coefficient, related to the key feedback sensitivity;

[0078] The real-time speed of the key, in meters per second (m / s).

[0079] In the electromagnetic feedback force generation step, the above formula and implementation method provide theoretical support and implementation means for the dynamic adjustment of the feedback force. The control module generates a PWM signal to control the coil current by combining the real-time state of the button and the target feedback force curve, realizing the real-time adjustment of the feedback force. The coil current, magnetic induction intensity, button displacement, and speed jointly determine the magnitude and change trend of the feedback force, providing users with an accurate and adjustable button force feedback experience.

[0080] The generation of mechanical feedback force is one of the important components of the button adjustable force feedback system. This step works together with the electromagnetic feedback force generation step to achieve the dynamic adjustment and precise control of the button feedback force. The generation of mechanical feedback force mainly relies on elastic elements and damping elements, providing resilience and damping effects to offer stability and diversity to the button feedback characteristics.

[0081] The mechanical feedback force is composed of elastic force and damping force, and its calculation is based on the real-time displacement and speed of the button.

[0082] Generally, the elastic force is mainly generated by the spring structure to provide the rebound characteristic of the button. The damping force is provided by the damping element, acting during the button movement to suppress excessive vibration and provide movement resistance. The combination of these two forces enables the button to exhibit adjustable paragraph feeling and tactile characteristics in different pressing states.

[0083] The mechanical feedback force F mech (t) is expressed as:

[0084] F mech (t) = F spring (t) + F damp (t)

[0085] Where:

[0086] F spring (t): The elastic force generated by the elastic element;

[0087] F damp (t): The damping force generated by the damping element.

[0088] The elastic force F spring (t) is determined by the displacement of the button.

[0089] The elastic force can be expressed as:

[0090] F spring (t) = -k 3 x(t)

[0091] Where:

[0092] k 3: Elastic coefficient, with the unit of Newton per meter (N / m), related to the material and design parameters of the spring;

[0093] x(t): The real-time displacement of the key, with the unit of meter (m).

[0094] Generally, the elastic coefficient k 3 is designed according to the usage scenario of the key. For example:

[0095] In the game mode, k 3 is usually higher to provide stronger resilience.

[0096] In the office mode, k 3 is usually lower to reduce the operation fatigue of the key.

[0097] As an option, the spring can be designed as a linear spring or a non-linear spring. The linear spring provides a constant elastic coefficient within the key displacement range and is suitable for application scenarios that require smooth feedback. The elastic coefficient of the non-linear spring changes with displacement and can provide different paragraph feelings at different stages of the key travel. For example, at the initial stage of the key travel, the elastic coefficient of the non-linear spring is lower, providing a gentle initial pressing experience; at the end of the key travel, the elastic coefficient increases to enhance the bottom support force of the key.

[0098] In this embodiment, the damping force F damp (t) is related to the movement speed of the key.

[0099] The damping force can be expressed as:

[0100]

[0101] Where:

[0102] c: Damping coefficient, with the unit of Newton second per meter (N·s / m), related to the damping material and structural design;

[0103] The real-time speed of the key, with the unit of meter per second (m / s).

[0104] As an option, the magnitude of the damping coefficient c can be dynamically adjusted to adapt to different key feedback modes. For example:

[0105] In the fast key scenario, reduce the value of c to make the key rebound more quickly;

[0106] In the low-frequency key scenario, appropriately increase the value of c to reduce the redundant vibration of the key.

[0107] Specifically, the damping element can be in the form of liquid damping, rubber damping, magnetic damping, etc. For example, in some embodiments, the rubber damping member can be integrated at the bottom of the key shaft to provide motion damping through the internal resistance characteristics of the material. In another possible design, the magnetic damping element achieves non-contact damping through the eddy current effect generated by the coil, which can reduce mechanical wear and extend the system life.

[0108] In some embodiments, the combination of the elastic force and the damping force realizes the function of simulating the paragraph feeling.

[0109] Specifically, at different stages of the key stroke, by adjusting the elastic coefficient k 3 and the damping coefficient c, the change of the multi-segment feedback force can be realized. For example:

[0110] At the initial stage of the key stroke, the feedback force is light, providing a gentle triggering feeling;

[0111] At the middle stage of the stroke, the feedback force gradually increases, simulating the paragraph feeling of a mechanical keyboard;

[0112] At the end of the stroke, the feedback force increases rapidly, providing a clear bottoming feeling.

[0113] To achieve the above functions, the control processing module can dynamically adjust k 3 and c according to the set value of the user's feedback curve. In some embodiments, a non-linear adjustment algorithm is used to optimize the distribution of the paragraph feeling, so that the key still maintains stable mechanical characteristics during rapid operation.

[0114] As an implementation method, the mechanical feedback force generation step can work in cooperation with the electromagnetic feedback force generation step.

[0115] For example, in the game mode, the combination of electromagnetic force and mechanical force can provide a fast and strong key feedback experience. Specifically, at the initial stage of key pressing, the mechanical elastic force dominates the feedback force generation; at the middle stage of the key stroke, the electromagnetic force and the mechanical force act together to enhance the paragraph feeling of the key; at the stage of key release, the damping force plays a major role in smoothing the key rebound process.

[0116] In the office mode, the role of the mechanical force can account for the main part. By reducing the elastic coefficient k 3 and the damping coefficient c, an easy and stable key operation experience can be achieved.

[0117] In this embodiment, in order to further optimize the characteristics of the mechanical feedback force, the materials and structural designs of the spring and the damping element can be selected according to user needs.

[0118] For example, the spring can be made of high-strength alloy materials to increase durability, or composite materials can be used to provide adjustable non-linear elastic characteristics. The damping element can use different material combinations, such as a composite structure of rubber and metal, to meet the requirements of vibration damping and wear resistance simultaneously.

[0119] The mechanical feedback force generation step provides basic support for the key feedback force through the synergistic action of elastic force and damping force. Combined with the dynamic adjustment of the electromagnetic feedback force, the generation of the mechanical feedback force enables the present invention to meet the key operation requirements in various scenarios and provide users with a rich personalized feedback experience. Through the design optimization of the spring and damping element, the present invention can also significantly improve the durability and comfort of the key.

[0120] In the "adjustable force feedback system for keyboard keys" of the present invention, dynamic feedback optimization is part of the core function of the system, mainly achieving precise control of feedback through the comprehensive adjustment of electromagnetic feedback force and mechanical feedback force. The steps of dynamic feedback optimization are closely related to the control processing module and rely on the real-time key state data provided by the sensor module and the target feedback curve input by the user. On the basis of the aforementioned electromagnetic feedback force generation and mechanical feedback force generation, this step realizes the real-time dynamic adjustment of the feedback force through algorithm optimization to ensure that the key feedback performance meets the requirements set by the user.

[0121] In this embodiment, dynamic feedback optimization is achieved by establishing an optimization objective function to calculate the feedback force parameters.

[0122] Generally, the optimization objective function needs to consider the accuracy of key feedback, dynamic response speed, and energy consumption efficiency simultaneously. There may be certain conflicts among these objectives. For example, increasing the response speed may lead to an increase in energy consumption. Therefore, the present invention constructs a multi-objective optimization function to comprehensively balance the relationship between feedback performance and energy consumption. The form of the optimization objective function is:

[0123]

[0124] Where:

[0125] J: The value of the optimization objective function;

[0126] F: The total feedback force actually generated, in Newtons (N);

[0127] F target : The target feedback force set by the user, in Newtons (N);

[0128] The real-time speed of the key, in meters per second (m / s);

[0129] The target speed, in meters per second (m / s);

[0130] I: The current of the electromagnetic coil, in amperes (A);

[0131] R: The resistance of the coil, in ohms (Ω);

[0132] c: The damping coefficient, in newton - seconds per meter (N·s / m);

[0133] λ 1 , λ 2 , λ 3 : The weight coefficients, respectively used to adjust the balance between the feedback force error, the speed response, and the energy consumption optimization.

[0134] As an option, the values of the above - mentioned weight coefficients can be flexibly set according to the application scenario. For example:

[0135] In the game mode, the value of λ 2 can be increased to preferentially meet the dynamic response requirements of the keys;

[0136] In the office mode, the value of λ 3 can be increased to reduce the energy consumption during the system operation.

[0137] Specifically, the dynamic feedback optimization relies on the Hamiltonian optimization method to calculate the optimal feedback parameters.

[0138] The solution of the optimization problem is based on the Hamiltonian function of the system, which is constructed from the Lagrangian function. The form of the Hamiltonian function is:

[0139]

[0140] Where:

[0141] H: The Hamiltonian function of the system;

[0142] L: The Lagrangian function of the system, expressed as L = T - U;

[0143] T: The kinetic energy of the key movement, expressed as where m is the equivalent mass of the key;

[0144] U: The potential energy of the key feedback force field, expressed as U = ∫Fdx.

[0145] Through the Hamiltonian function, the feedback force control equation of the key can be further obtained:

[0146]

[0147] Where is the generalized momentum.

[0148] In a possible implementation, by numerically solving the above control equations, the electromagnetic feedback force F can be determined. elec and the mechanical feedback force F mech optimal parameters. For example, when the key displacement is small, the electromagnetic force can be dominant; while at the end of the key travel, the mechanical elastic force can provide stronger support.

[0149] In this embodiment, the optimization process is dynamically completed in combination with the real-time data provided by the sensor module and the target curve input by the user.

[0150] Specifically, the optimization algorithm requires the following input data:

[0151] The key state collected by the sensor module, including the displacement x(t), velocity and the external force F ext (t) applied by the user.

[0152] The target feedback parameters provided by the user configuration interface, including the target feedback force curve F target (x, v) and the target velocity

[0153] As an option, the calculation period of the optimization algorithm can be dynamically adjusted according to the usage scenario of the key. For example:

[0154] In a high-frequency key scenario, the calculation period of the algorithm can be shortened to ensure that the feedback force can quickly respond to user operations;

[0155] In a low-frequency key scenario, the calculation period can be appropriately extended to reduce the system's computational load and energy consumption.

[0156] In some embodiments, the dynamic feedback optimization also includes the proportional adjustment of the electromagnetic feedback force and the mechanical feedback force.

[0157] For example, by adjusting the proportion of the electromagnetic force, the multi-stage paragraph feeling of the key can be achieved. Specifically:

[0158] In the initial stage of the key travel, the electromagnetic force is small, and the mechanical force dominates the generation of the feedback force, providing a gentle trigger feeling;

[0159] In the middle stage of the key travel, the electromagnetic force and the mechanical force act together to enhance the paragraph feeling of the key;

[0160] At the end of the key travel, the electromagnetic force gradually increases to provide a clearer bottoming feeling for the key.

[0161] As an implementation, the control processing module can adjust the intensity of the electromagnetic force and the parameters of the mechanical force in real time according to the output of the optimization algorithm. For example, in the office mode, the optimization algorithm can give priority to reducing the proportion of the electromagnetic force to reduce the energy consumption of the system; while in the game mode, the intensity of the electromagnetic force can be increased to meet the operation requirements of rapid key presses.

[0162] In this embodiment, to further improve the optimization efficiency, the dynamic feedback optimization can be calculated in combination with the predictive control algorithm.

[0163] For example, by analyzing the historical trend of the sensor data, the next movement state of the key is predicted. This can calculate the feedback parameters in advance and shorten the response time. The core of the predictive control algorithm is to construct a dynamic model of the key movement state, and its form is:

[0164]

[0165] Where:

[0166] x(t+Δt): Predicted key displacement;

[0167] Δt Time step;

[0168] Real-time acceleration of the key.

[0169] The dynamic feedback optimization combines the multi-objective optimization function, the Hamiltonian control method and the predictive control algorithm to ensure that the real-time adjustment of the key feedback force can achieve the comprehensive performance of high precision, fast response and energy-saving and high efficiency. Through the linkage with the sensor module and the control processing module, the optimization steps of the present invention can flexibly adapt to different user needs and provide precise and stable control support for the key force feedback

[0170] In this embodiment, the implementation steps start from the input of the user configuration interface, and through the calculation of the control processing module, the real-time output of the feedback force is realized.

[0171] Generally, the user inputs the target feedback parameters through the user configuration interface module. These parameters include the target feedback force curve, key mode, sensitivity setting, etc. The sensor module real-time collects the physical state data of the key, providing a basis for the dynamic adjustment of the feedback force.

[0172] As an option, the target feedback force curve configured by the user can adopt a linear or non-linear form. For example, a linear curve is used for the smooth feedback requirement in the office mode; a non-linear curve is suitable for the enhanced paragraph feeling requirement in the game mode.

[0173] Specifically, the sensor module measures the real-time state of the key, including the key displacement x(t), speed and the external force F applied by the userext (t). Among them, the key displacement is detected by a high-precision displacement sensor, the speed is obtained by calculating the time derivative of the displacement, and the user's external force is directly measured by a pressure sensor.

[0174] In a possible implementation, the control processing module performs optimization calculations based on user input and sensor data.

[0175] First, the control module preprocesses the data input by the sensor to filter out noise interference and calibrate the signal. Then, a feedback force optimization objective function is constructed, which comprehensively considers the accuracy of the feedback force, the dynamic response of the key, and the energy consumption efficiency.

[0176] The expression of the optimization objective function is:

[0177]

[0178] Where:

[0179] F is the actual feedback force, which is generated by the superposition of the electromagnetic feedback force and the mechanical feedback force;

[0180] F target is the target feedback force set by the user;

[0181] is the real-time speed of the key;

[0182] is the user's target speed;

[0183] I is the coil current, R is the coil resistance, and c is the damping coefficient;

[0184] λ 1 , λ 2 , λ 3 are the weight coefficients of the optimization objective.

[0185] Generally, the selection of the weight coefficient is related to the application scenario of the key. For example, in the game mode, the weight of λ 2 is relatively high to give priority to ensuring the dynamic response speed of the key. In the office mode, the value of λ 3 is appropriately increased to reduce energy consumption.

[0186] In this embodiment, the generation steps of the electromagnetic feedback force and the mechanical feedback force combine the results of the optimization calculation.

[0187] The electromagnetic feedback force is controlled by the feedback force adjustment module, and the coil current I(t) is adjusted in real time through a PWM signal. The magnitude of the electromagnetic force is related to the key displacement x(t), the magnetic induction intensity B(t), and the current intensity I(t), and its expression is:

[0188] F elecf(t) = k 1 ·k 2 ·I(t)·x(t)

[0189] where:

[0190] k 1 ,k 2 is the proportionality coefficient of the system, related to the coil design and magnetic core material;

[0191] I(t) is adjusted by the control module through the duty cycle to meet the output of the optimized calculation.

[0192] The mechanical feedback force is generated jointly by the elastic force and the damping force, and its total force formula is:

[0193]

[0194] where:

[0195] k 3 is the elastic coefficient, related to the material and shape of the spring;

[0196] c is the damping coefficient, related to the design parameters of the damping material or damping device.

[0197] As an option, the parameters of the mechanical feedback force can be dynamically adjusted according to the optimization results. For example, when the key displacement is large, increase the proportion of the elastic force F spring (t); during the key release phase, increase the damping force F damp (t) to smooth the key rebound process.

[0198] Specifically, the total output of the feedback force is generated by the superposition of the electromagnetic feedback force and the mechanical feedback force.

[0199] The total output of the feedback force can be expressed as:

[0200] F total (t) = F elec (t) + F mech (t)

[0201] In some embodiments, in order to achieve a multi-segment sense of paragraph, the control module dynamically adjusts the ratio of F elec (t) and F mech (t). For example, at the initial stage of the key stroke, the feedback force is mainly the mechanical elastic force; in the middle stage of the stroke, the electromagnetic force gradually increases to provide a clear sense of paragraph; at the end of the stroke, the electromagnetic force and the mechanical force act together to enhance the bottoming feeling of the key.

[0202] In a possible implementation, the control processing module further optimizes the feedback parameters by combining the predictive control algorithm.

[0203] Based on the historical data collected by the sensor module, the control module can predict the next movement state of the button and adjust the feedback force parameters in advance. For example, the predicted displacement x(t+Δt) of the button can be calculated by the following formula:

[0204]

[0205] Where:

[0206] Δt is the time step;

[0207] is the real-time acceleration of the button.

[0208] Through predictive control, the generation of the feedback force can respond more quickly to user operations, effectively improving the dynamic performance of the button.

[0209] Finally, the implementation steps end with the physical output of the feedback force.

[0210] The output device transmits the total feedback force to the user through the button shaft, completing the transmission of the mechanical signal. In the office mode, the output feedback force is softer; in the game mode, the feedback force is strong and the response is fast. Through the above implementation steps, the connection between each module is clear, and the generation and optimization of the feedback force can be efficiently completed, ensuring that the usage performance of the system meets the requirements of different scenarios.

[0211] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made in these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The keyboard key can adjust the force feedback system, characterized in that: include, The inductive switch assembly is used to sense the pressing state of the key and act on the key axis through electromagnetic force to generate feedback force; The sensor module is used to collect the information of the pressing force, pressing speed and pressing displacement of the button; A feedback force adjustment module, used for collaboratively adjusting the electromagnetic force and the mechanical force according to the target feedback force; A control processing module, used for calculating the key feedback force parameters based on the optimization algorithm, and sending an adjustment instruction to the feedback force adjustment module through a control signal; A user configuration interface, used for a user to input target feedback parameters, including a feedback mode and a feedback force curve; An output device for applying feedback force to the key switch through an inductive switch assembly.

2. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The feedback force adjustment module is used to generate a combined feedback force of electromagnetic force and mechanical force, wherein the combined feedback force includes the electromagnetic force determined by the coil current and the key displacement and the mechanical force determined by the elastic element and the damping element.

3. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The electromagnetic force is generated by controlling the coil current through a PWM signal, and the magnitude of the coil current is calculated and adjusted in real time by a control processing module.

4. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The control processing module calculates the feedback force parameters based on an optimization objective function, where the optimization objective function is used to minimize the deviation between the target feedback force and the actual feedback force while optimizing the dynamic response and energy consumption of the feedback system.

5. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The optimization objective function balances the following objectives through weight coefficients: the square of the error between the target feedback force and the actual feedback force, the square of the deviation of the key motion response, and the total energy consumption of the system.

6. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The user configuration interface is used to support multiple feedback mode selections, including a linear mode, a non-linear mode, and a paragraph sense mode, and supports single-key or regionalized adjustment.

7. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The feedback force in the nonlinear mode is determined by the button displacement and the pressing speed, and is generated according to the feedback curve set by the user.

8. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The mechanical force includes an elastic force provided by an elastic element and a damping force provided by a damping element. The magnitudes of the elastic force and the damping force are determined by adjusting the elastic coefficient and the damping coefficient by a control processing module.

9. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The output device comprises a magnetic core component, an induction coil and a key shaft. The magnetic core component generates a magnetic field change in the induction coil as the key shaft moves to generate an induction signal.

10. The keyboard key adjustable force feedback system according to claim 1, characterized in that: The control processing module dynamically calculates feedback parameters and adjusts the current signal and mechanical parameters of the feedback force adjustment module in real time according to the key pressing data collected by the sensor module and the target feedback force curve input by the user.

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