Handle touch enhancement device, signal generation method and gamepad

Abstract

The invention discloses a handle touch enhancement device, a signal generation method and a gamepad, in the device, an electric touch sensing module comprises a film electrode and an elastic piston structure, the film electrode is arranged on the surface of a handle main body, and the elastic piston structure is movably mounted relative to the handle main body, so that the hand of a user can stably contact the film electrode; the programmable high-voltage power supply is used for converting the low-voltage direct current signal into a high-voltage direct current signal and outputting the high-voltage direct current signal to the high-voltage switch system; the high-voltage switch system comprises a switch microcontroller and a shift register chip, the switch microcontroller outputs a control instruction signal to the shift register chip, and the shift register chip outputs a high-voltage direct-current signal to the membrane electrode according to the control instruction signal. According to the technical scheme, fine and immersive tactile feedback can be provided for the user, the perception dimension of space interaction is increased, and the space interaction performance, interaction authenticity and interaction richness are improved.

Description

Technical Field

[0001] The present invention relates to the field of electro-tactile technology, and in particular to a handle tactile enhancement device based on electrical stimulation, a method for generating a handle tactile enhancement signal based on electrical stimulation, and a game handle. Background Art

[0002] With the rapid development of the game industry, players' demand for immersive gaming experiences is increasing day by day. Traditional game handles mainly provide tactile feedback through mechanical vibration. Although this technology enhances the interactivity of games to a certain extent, its limitations are gradually emerging.

[0003] In game handles, vibration kits and interfaces have been widely used. When there are collisions, strikes, or environmental changes in the interaction scenario, the vibration effect of the handle can enhance the user experience. However, an obvious defect of vibrotactile is the collateral effect on the surrounding skin, resulting in its inability to provide the perception of clear patterns and the simulation of rich textures and textures.

[0004] As a tactile rendering technology that has received much attention, electro-tactile technology has currently been widely studied and used to render various realistic tactile sensations, such as temperature, vibration, and pressure. Summary of the Invention

[0005] In view of the above problems, the present invention provides a handle tactile enhancement device, a signal generation method, and a game handle. By regulating multiple micro-current output modes of the electro-tactile perception module through an external micro-current electro-tactile drive module, when a user holds the handle body, they can feel a variety of tactile perceptions through the electro-tactile array embedded in the handle surface, increasing the perception dimension of spatial interaction, providing delicate and immersive tactile feedback for users, and improving spatial interaction performance, interaction authenticity, and interaction richness.

[0006] To achieve the above object, the present invention provides a handle tactile enhancement device based on electrical stimulation, including: an electro-tactile perception module and an electro-tactile drive module;

[0007] The electro-tactile perception module includes a thin-film electrode and an elastic piston structure. The thin-film electrode is disposed in a preset area on the surface of the handle body, and the elastic piston structure is movably installed relative to the handle body, so that when the user holds the handle body, the hand can stably contact the thin-film electrode;

[0008] The electro-tactile drive module includes a programmable high-voltage power supply and a high-voltage switch system. The programmable high-voltage power supply is used to convert a low-voltage DC signal into a high-voltage DC signal according to a preset ratio and output it to the high-voltage switch system;

[0009] The high-voltage switch system includes a switch microcontroller and a shift register chip. The switch microcontroller outputs a control instruction signal to the shift register chip, and the shift register chip outputs the high-voltage DC signal to the thin-film electrode according to the control instruction signal.

[0010] In the above technical solution, preferably, the electro-tactile perception module includes a preset number of the thin-film electrodes, and the thin-film electrodes are respectively arranged at different preset positions on the surface of the handle body, so that different positions of the user's hand can be in corresponding contact with the thin-film electrodes when the user holds the handle body.

[0011] The thin-film electrode adopts a concentric ring electrode including an inner ring electrode and an outer ring electrode. The inner ring electrode and the outer ring electrode are separated by a ring with a width of 1 mm. The outside of the thin-film electrode is made of PCB material, and the internal circuit is made of copper.

[0012] In the above technical solution, preferably, a part of the elastic piston structure is fixed on the handle body and is connected to another part through a spring and a buckle, and the elastic piston structure needs to make the left thumb of the user in any button on the left side of the handle body when the user holds the handle body, or when the left joystick is dragged in any direction, the left piston structure electrode can be in contact with the left thenar muscle, and when the user holds the handle body, the right thumb of the user is in any button on the right side of the handle body, or when the right joystick is dragged in any direction, the right piston structure electrode can be in contact with the right thenar muscle.

[0013] In the above technical solution, preferably, the programmable high-voltage power supply includes an isolation power supply module, a buck module, a power microcontroller, a digital-to-analog conversion chip, and an operational amplifier.

[0014] The isolation power supply module is used to convert the 12V DC input into ±100V high voltage and supply it to the operational amplifier, and the buck module is used to convert the 12V DC input into a 5V DC voltage.

[0015] The power microcontroller is used to control the digital-to-analog conversion chip to output four analog signals and input the analog signals into the operational amplifier. The operational amplifier is used to convert the ±100V high voltage into a high-voltage DC signal according to a preset ratio according to the analog signals and output the high-voltage DC signal to the high-voltage switch system.

[0016] The high-voltage DC signal is fed back to the power microcontroller through a resistor divider, and the power microcontroller adjusts the analog signal according to the PID algorithm to maintain the stability of the high-voltage DC signal.

[0017] In the above technical solution, preferably, the high-voltage switch system uses the same number of the shift register chips as the thin-film electrodes, each thin-film electrode is connected to two outputs of the same shift register chip, and the shift register chip supports a high-impedance state;

[0018] When the High-Z enable pin of the switch microcontroller is set to a logic low level, the outputs of all the shift register chips can be set to a floating state.

[0019] In the above technical solution, preferably, the output voltage of the electro-tactile driving module is lower than 200V and the output current is lower than 2mA.

[0020] The present invention also provides a method for generating a handle tactile enhancement signal based on electrical stimulation, which is applied to the handle tactile enhancement device based on electrical stimulation disclosed in any one of the above technical solutions, and includes:

[0021] Circularly detecting an electro-tactile activation instruction based on the interface of the switch microcontroller;

[0022] Determining the electro-tactile signals of the thin-film electrodes arranged at different positions on the handle body according to the electro-tactile activation instruction;

[0023] According to the electro-tactile signal types of each thin-film electrode, corresponding pulse signals are respectively output to the inner-ring electrode and the outer-ring electrode of the thin-film electrode, so that a user holding the handle body can feel a preset tactile sensation.

[0024] In the above technical solution, preferably, when one thin-film electrode needs to be activated, high-voltage or low-voltage signals with opposite states are provided to the inner-ring electrode and the outer-ring electrode of the thin-film electrode to generate a local tactile sensation;

[0025] When multiple thin-film electrodes are activated, a time-division multiplexing method is used to quickly switch and activate the multiple thin-film electrodes at a frequency higher than 1000Hz. Whenever one thin-film electrode is activated, the remaining thin-film electrodes are set to a high-impedance state to generate a tactile sensation that moves in space;

[0026] When all the thin-film electrodes are activated simultaneously, a time-division multiplexing technique is used to activate all the thin-film electrodes to generate a full-hand tactile sensation.

[0027] In the above technical solution, preferably, the thin-film electrode has two modes: anodic stimulation and cathodic stimulation. For the anodic stimulation mode, the inner-ring electrode is at a high voltage and the outer-ring electrode is at a low voltage, and the tactile sensation of the anodic stimulation is a vibration sensation. For the cathodic stimulation mode, the inner-ring electrode is at a low voltage and the outer-ring electrode is at a high voltage, and the tactile sensation of the cathodic stimulation is a pressure sensation;

[0028] The electro-tactile signals include long signals and short signals. The long signals refer to the signals whose changes can be felt during one stimulation, and the short signals refer to the signals of a single stimulation. The long signals and the short signals are composed of preset pulses. The parameters of the long signals and the short signals include the array number of the target electrode array, the number of electrodes included in the target electrode array, the frequency, the duration, the pulse frequency, the number of stimulations in a single pulse, and the ratio of the duration of a single pulse to the time interval between two pulses.

[0029] The present invention also provides a game handle, which includes a handle body, and the handle body is equipped with a handle tactile enhancement device based on electrical stimulation disclosed in any one of the above technical solutions.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows: By regulating various micro-current output modes of the electro-tactile perception module through the external micro-current electro-tactile drive module, when the user holds the handle body, they can feel a variety of tactile perceptions through the electro-tactile array embedded in the surface of the handle, increasing the perception dimension of spatial interaction, providing delicate and immersive tactile feedback for the user, and improving the spatial interaction performance, interaction authenticity and interaction richness. Description of the Drawings

[0031] Figure 1 It is a schematic diagram of the frame structure of a handle tactile enhancement device based on electrical stimulation disclosed in an embodiment of the present invention;

[0032] Figure 2 It is a waveform schematic diagram of an electro-tactile signal mode disclosed in an embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of the distribution position of the thin film electrodes on the handle body disclosed in an embodiment of the present invention.

[0034] In the figure, the corresponding relationship between each component and the reference numeral is as follows:

[0035] 1. Right trigger electrode, 2. Left trigger electrode, 3. Right grip electrode, 4. Left grip electrode, 5. Confirm key electrode, 6. Left joystick electrode, 7. Right piston structure electrode, 8. Left piston structure electrode, 9. Elastic piston structure, 10. Handle body. Detailed Embodiments

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] The following further describes the present invention in detail with reference to the accompanying drawings:

[0038] As Figure 1 shown, a handle haptic enhancement device based on electrical stimulation according to the present invention includes: an electro-tactile perception module and an electro-tactile drive module;

[0039] The electro-tactile perception module includes a thin-film electrode and an elastic piston structure. The thin-film electrode is disposed in a preset area on the surface of the handle body, and the elastic piston structure is movably installed relative to the handle body so that the user's hand can stably contact the thin-film electrode when holding the handle body.

[0040] The electro-tactile drive module includes a programmable high-voltage power supply and a high-voltage switch system. The programmable high-voltage power supply is used to convert a low-voltage DC signal into a high-voltage DC signal according to a preset ratio and output it to the high-voltage switch system;

[0041] The high-voltage switch system includes a switch microcontroller and a shift register chip. The switch microcontroller outputs a control instruction signal to the shift register chip, and the shift register chip outputs the high-voltage DC signal to the thin-film electrode according to the control instruction signal.

[0042] In this embodiment, the electro-tactile perception module is regulated by an external micro-current electro-tactile drive module in various micro-current output modes, so that when the user holds the handle body, various tactile perceptions can be felt through the electro-tactile array embedded in the handle surface, increasing the perception dimension of spatial interaction, providing delicate and immersive tactile feedback for the user, and improving the spatial interaction performance, interaction authenticity, and interaction richness.

[0043] Among them, the electro-tactile perception module is a tactile perception area composed of thin-film electrodes. The thin-film electrodes form an array for providing various tactile type outputs. The electro-tactile drive module is used to control the thin-film electrode array and drive different electrodes in the thin-film electrode array to perform preset types of tactile stimuli, so as to provide different feelings for the user during the process of holding the handle. When used as a game handle, it can be pre-modified based on game code, and when electro-tactile needs to be activated in the game, the game console sends an electro-tactile activation instruction to the game handle, so as to control the game handle to provide corresponding electro-tactile feedback.

[0044] In the above embodiments, preferably, the electro-tactile perception module includes a preset number of thin-film electrodes, which are respectively arranged at different preset positions on the surface of the handle body, so that different positions of the user's hand can be in corresponding contact with the thin-film electrodes when the user holds the handle body;

[0045] The thin-film electrode adopts a concentric ring electrode including an inner ring electrode and an outer ring electrode. The radius of the inner ring electrode is 2.5 mm, and the radius of the outer ring electrode is 5 mm. The inner ring electrode and the outer ring electrode are separated by a circular ring with a ring width of 1 mm. The outside of the thin-film electrode is made of PCB material, and the internal circuit is made of copper. The part in contact with air is gold-plated or silver-plated to prevent chemical reactions during discharge and improve durability.

[0046] During the implementation process, through the arrangement of the thin-film electrode array corresponding to different positions of the hand relative to the handle body, electro-tactile perception stimuli are provided for different positions of the hand. Through the design of the inner ring electrode and the outer ring electrode, different stimulation modes of the inner ring electrode and the outer ring electrode can be realized, and the interaction richness of tactile perception can be improved.

[0047] In the above embodiments, preferably, the elastic piston structure is 3D printed from PLA material and consists of two parts. One part is fixed to the handle body and is connected to the other part through a spring and a buckle, which is used to ensure that a specific hand area can always stably contact the electrode when the user is using it. Moreover, the elastic piston structure needs to make the left thumb of the user in contact with any button on the left side of the handle body when holding the handle body, or when dragging the left joystick in any direction, the electrode of the left piston structure can be in contact with the thenar of the left hand. When the right thumb of the user is in contact with any button on the right side of the handle body when holding the handle body, or when dragging the right joystick in any direction, the electrode of the right piston structure can be in contact with the thenar of the right hand.

[0048] In the above embodiments, preferably, the programmable high-voltage power supply includes an isolation power supply module, a buck module, a power supply microcontroller, a digital-to-analog conversion chip, and an operational amplifier;

[0049] The isolation power supply module is used to convert the 12V DC input into ±100V high voltage and supply it to the operational amplifier. The buck module is used to convert the 12V DC input into 5V DC voltage for powering the logic part;

[0050] The power supply microcontroller MCU (such as using STC8H8K64U) is used to control the digital-to-analog conversion chip (such as using QuadDAC MS5614 chip) to output four analog signals, and input the analog signals into the operational amplifier (such as using Microchip HV264). The high-voltage H / V operational amplifier is used to convert the ±100V high voltage into a high-voltage DC signal according to the preset ratio with a fixed gain of 66.7 based on the analog signal, and output the high-voltage DC signal to the high-voltage switch system;

[0051] The high - voltage DC signal is fed back to the power microcontroller MCU through a resistor voltage divider, and the power microcontroller MCU adjusts the analog signal according to the PID (Proportional - Integral - Derivative) algorithm to maintain the stability of the high - voltage DC signal.

[0052] During implementation, the high - voltage switch system uses a microcontroller MCU based on Raspberry Pi Pico RP2040 as the switch microcontroller and eight Microchip HV513 H / V 8 - bit shift register chips as the shift register chips to jointly construct a 64 - channel high - voltage (H / V) switch system.

[0053] In the above - mentioned embodiment, preferably, the high - voltage switch system uses the same number of shift register chips as the thin - film electrodes. Each thin - film electrode is connected to two outputs of the same shift register chip. When outputting an electrical signal, each electrode of the eight concentric - ring electrodes uses two outputs of the same HV513 chip. The shift register chip supports a high - impedance state. By utilizing the high - impedance state of HV513, unnecessary current flow between fingers can be avoided, ensuring that the current only flows on the surface of the fingers. Each concentric - ring electrode is connected to the electro - tactile drive module, and the micro - current flows in at different voltages, waveforms, and frequencies through the drive circuit interface.

[0054] When the High - Z enable pin of the switch microcontroller is set to logic low, the outputs of all shift register chips can be set to the floating state.

[0055] In the above - mentioned embodiment, preferably, for safety reasons, the output voltage of the electro - tactile drive module is lower than 200V and the output current is lower than 2mA, and the electro - tactile voltage and current can be dynamically adjusted according to the user's hand sensitivity.

[0056] The present invention also proposes a method for generating a handle tactile enhancement signal based on electrical stimulation, which is applied to the handle tactile enhancement device based on electrical stimulation disclosed in any one of the above - mentioned embodiments, and includes:

[0057] Circularly detecting the electro - tactile activation instruction based on the interface of the switch microcontroller;

[0058] Determining the electro - tactile signals of the thin - film electrodes set at different positions on the handle body according to the electro - tactile activation instruction;

[0059] Outputting corresponding pulse signals to the inner - ring electrodes and outer - ring electrodes of the thin - film electrodes respectively according to the electro - tactile signal types of each thin - film electrode, so that the user holding the handle body can feel the preset tactile sensation.

[0060] During the implementation process, through the control of the electro-tactile drive module, various electro-tactile output modes are presented in the thin-film electrode area of the electro-tactile perception module, so that various tactile sensations can be provided to the skin. The various electro-tactile output modes include: all the concentric ring electrodes of all the thin-film electrodes are activated simultaneously to provide full-hand touch; some of the concentric ring electrodes are independently activated to provide precise touch; some of the concentric ring electrodes are activated sequentially to provide spatial dynamic electro-tactility.

[0061] In the above implementation manner, preferably, when a thin-film electrode needs to be activated, high-voltage or low-voltage signals with opposite states are provided to the inner-ring electrode and the outer-ring electrode of the thin-film electrode. For example, the inner-ring electrode is set to high voltage (or low voltage), and the outer-ring electrode is set to the opposite state to generate a local tactile sensation. The scenarios suitable for this mode include: touch, button feeling, etc.

[0062] When multiple thin-film electrodes are activated, the time-division multiplexing method is used to quickly switch and activate the multiple thin-film electrodes at a frequency higher than 1000 Hz. Whenever a thin-film electrode is activated, the remaining thin-film electrodes are set to the high-impedance state to generate a tactile sensation that moves in space, so as to ensure the locality of electro-tactility and prevent the discomfort caused by current across the hand. The scenarios suitable for this mode include: an object moving on the hand, stroking, etc.

[0063] When all the thin-film electrodes are activated simultaneously, the time-division multiplexing technology is used to activate all the thin-film electrodes to generate a full-hand tactile sensation. The scenarios suitable for this mode include: explosion, collision, etc.

[0064] During the implementation process, the state of each electrode at each moment has three: high voltage, low voltage, and high impedance. The current flows out of the skin from the high-voltage electrode and returns to the circuit from the low-voltage electrode position.

[0065] The minimum unit of the electro-tactile signal is one high voltage and one low voltage, and the electro-tactile sensation is generated when the voltage changes. On this basis, in order to regulate the tactile sensation of a single electrical stimulation, a pulse is designed as the basic unit of electro-tactility, and one pulse consists of multiple high and low voltages.

[0066] In the above implementation manner, preferably, the thin-film electrode has two modes: anodic stimulation and cathodic stimulation. In the anodic stimulation mode, the inner-ring electrode is at high voltage and the outer-ring electrode is at low voltage, and the tactile sensation of anodic stimulation is a vibration sensation. In the cathodic stimulation mode, the inner-ring electrode is at low voltage and the outer-ring electrode is at high voltage, and the tactile sensation of cathodic stimulation is a pressure sensation;

[0067] Such as Figure 2As shown, the electro-tactile signals include long signals and short signals. A long signal refers to a signal whose change can be felt during a single stimulation, and a short signal refers to a signal that allows the user to feel a single stimulation. A short signal does not necessarily mean it is shorter in overall duration. In fact, both are higher-level encapsulations of the commonly used pulses in electro-tactile, and the long and short signals are composed of preset pulses.

[0068] When designing the signals, the common parameters of the long and short signals include the target electrode array number, the number of electrodes included in the target electrode array, frequency, the duration (Duration) of the long or short signal, the pulse frequency PF, the number of stimulations PN in a single pulse, and the ratio DC of the duration of a single pulse to the time interval between two pulses.

[0069] The calculation formula for the duration EP of a single pulse is:

[0070]

[0071] The difference between the long signal and the short signal is that the long signal requires input of two PA values (the starting voltage PA1 and the ending voltage PA2 respectively).

[0072] PA1 or PA2 is determined by the starting or ending intensity of the stimulation. The intensity S is set to a number between 0 and 1. When the intensity is 0, it means the stimulation intensity is the user's perception threshold DT; when the intensity is 1, it means the stimulation intensity is the user's pain threshold PT. In other cases, it is linearly mapped to this interval, as shown in formula (2).

[0073] PA = DT + S * (PT - DT) (2)

[0074] During operation, the voltage V at each pulse is obtained from the calculation formula (3), where i is the pulse sequence number. According to this method, a uniformly changing electro-tactile sensation can be generated. While the short signal only requires input of a voltage value mapped from the intensity value to generate a uniform sensation.

[0075]

[0076] By combining the long and short signals, various desired electro-tactile signals can be generated. For example, in the signal design of an electro-tactile event of a grenade explosion, several discrete and gradually weakening short signals are used in the first half to simulate the bouncing effect of the grenade falling to the ground; a combination of long and short signals is used in the second half to simulate the explosion effect of the grenade. In this way, the corresponding electro-tactile signals can be quickly generated by extracting the characteristics of the target effect. The characteristics of some simple effects can be quickly obtained through subjective judgment, such as the effect of a rocket taking off; less intuitive characteristics can be extracted from audio, such as the effect of an object falling into water.

[0077] The present invention also provides a game controller, which includes a controller body, and a haptic feedback device based on electrostimulation as disclosed in any one of the above embodiments is installed on the controller body.

[0078] As Figure 3 shown, in the implementation process, the structural composition of the electro-tactile handle part includes:

[0079] Right trigger electrode 1, corresponding to the right index finger;

[0080] Left trigger electrode 2, corresponding to the left index finger;

[0081] Right grip electrode 3, corresponding to the right middle finger;

[0082] Left grip electrode 4, corresponding to the left middle finger;

[0083] Confirmation key electrode 5, corresponding to the right thumb;

[0084] Left joystick electrode 6, corresponding to the left thumb;

[0085] Right piston structure electrode 7, corresponding to the right thenar;

[0086] Left piston structure electrode 8, corresponding to the left thenar;

[0087] Elastic piston structure 9;

[0088] Controller body 10.

[0089] In the implementation process, the game controller is applied to run games on a computer. The required operating environment is a computer, and the required software environment uses Unity 3D and Arduino IDE.

[0090] The purpose of the present invention is to provide haptic feedback for the game controller during games. Therefore, first of all, game code is required as a basis, and modifications are made to the game code. At the positions where electro-tactile needs to be activated in the game, instructions are sent to the Arduino IDE serial port. In this embodiment, Unity 3D is used as an example to make games and connect with Arduino IDE. In actual operation, other game engines can be used to replace Unity 3D.

[0091] Arduino IDE edits the code and burns the code into the electro-tactile drive device. This code continuously loops to detect the instructions received from the serial port, and executes the pre-set electro-tactile output code according to the specified signals, thereby outputting electro-tactile.

[0092] Install the above-mentioned haptic feedback device on the controller body, and connect the game controller to the computer. The overall implementation process mainly consists of 5 parts.

[0093] 1. The LCD (Liquid Crystal Display) is used to debug and monitor the status of the device. It can display system information, error codes, or operation parameters, helping users or technicians diagnose and solve problems.

[0094] 2. AC-DC adapter: This part is responsible for converting alternating current (AC) into direct current (DC) to provide the required power for the entire device. The adapter ensures the stable operation of the device and protects the internal circuit from voltage fluctuations.

[0095] 3. 64-channel high-voltage switch system: This is a switch system with 64 channels, used to control multiple thin-film electrodes or contacts in the electro-tactile perception module. It allows precise control of the activation state of each thin-film electrode, thus achieving complex tactile feedback patterns.

[0096] 4. Programmable high-voltage power supply: The high-voltage power supply part provides the required voltage for the electrode interface, which is obtained from a 12V power supply through a boost module. The electro-tactile perception module usually requires a relatively high voltage to generate effective tactile stimuli, and this part ensures the stability and safety of the voltage.

[0097] 5. Electrode interface: The electrode interface is used to connect the thin-film electrodes and is responsible for transmitting electrical signals to generate tactile sensations.

[0098] After the electro-tactile signal code is written in the Arduino IDE, it is pre-stored in the electro-tactile drive device. During the actual operation process, this part is completed by the handle merchant or game developer, and players only need to operate in the same way as a normal handle.

[0099] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A handle tactile enhancement device based on electrical stimulation, characterized in that: include: An electrotactile sensing module and an electrotactile driving module; The electrotactile sensing module includes a thin film electrode and an elastic piston structure, wherein the thin film electrode is arranged in a preset area on the surface of the handle body, and the elastic piston structure is movably installed relative to the handle body, so that the user's hand can stably contact the thin film electrode when holding the handle body; The electrotactile driving module includes a programmable high-voltage power supply and a high-voltage switch system, wherein the programmable high-voltage power supply is used to convert a low-voltage DC signal into a high-voltage DC signal according to a preset ratio and output the signal to the high-voltage switch system; The high-voltage switch system includes a switch microcontroller and a shift register chip. The switch microcontroller outputs a control instruction signal to the shift register chip, and the shift register chip outputs the high-voltage DC signal to the thin-film electrode according to the control instruction signal.

2. The handle tactile enhancement device based on electrical stimulation according to claim 1, characterized in that: The electrotactile sensing module includes a preset number of thin film electrodes, which are respectively arranged at different preset positions on the surface of the handle body, so that different positions of the hand of the user can contact the thin film electrodes correspondingly when holding the handle body; The thin film electrode adopts a concentric ring electrode including an inner ring electrode and an outer ring electrode, and the inner ring electrode and the outer ring electrode are separated by a ring with a ring width of 1 mm. The outside of the thin film electrode is made of PCB material, and the internal circuit is made of copper.

3. The handle tactile enhancement device based on electrical stimulation according to claim 1, characterized in that: A part of the elastic piston structure is fixed on the handle body and connected to the other part through a spring and a buckle, and the elastic piston structure needs to ensure that when the user holds the handle body, the left thumb is located at any button on the left side of the handle body, or when the left joystick is dragged to any direction, the left piston structure electrode can fit with the left thenar eminence, and when the user holds the handle body, the right thumb is located at any button on the right side of the handle body, or when the user holds the handle body, the right piston structure electrode can fit with the right thenar eminence.

4. The handle tactile enhancement device based on electrical stimulation according to claim 2 or 3, characterized in that: The programmable high-voltage power supply includes an isolation power module, a step-down module, a power microcontroller, a digital-to-analog conversion chip and an operational amplifier; The isolated power supply module is used to convert the 12V DC input into ±100V high voltage and supply it to the operational amplifier, and the step-down module is used to convert the 12V DC input into a 5V DC voltage; The power microcontroller is used to control the digital-to-analog conversion chip to output four analog signals, and input the analog signals into the operational amplifier, and the operational amplifier is used to convert the ±100V high voltage into a high-voltage DC signal according to a preset ratio according to the analog signal, and output the high-voltage DC signal to the high-voltage switch system; The high-voltage DC signal is fed back to the power microcontroller through a resistor divider, and the power microcontroller adjusts the analog signal according to a PID algorithm to maintain the stability of the high-voltage DC signal.

5. The handle tactile enhancement device based on electrical stimulation according to claim 4, characterized in that: The high-voltage switch system uses the same number of shift register chips as the thin-film electrodes, each of the thin-film electrodes is connected to two outputs of the same shift register chip, and the shift register chip supports a high impedance state; When the High-Z enable pin of the switch microcontroller is set to a logic low level, the outputs of all the shift register chips can be set to a floating state.

6. The handle tactile enhancement device based on electrical stimulation according to claim 5, characterized in that: The output voltage of the electrotactile driving module is lower than 200V, and the output current is lower than 2mA.

7. A method for generating a handle tactile enhancement signal based on electrical stimulation, characterized in that: The handle tactile enhancement device based on electrical stimulation applied to any one of claims 1 to 6 comprises: The switch microcontroller-based interface cycles to detect electrotactile activation commands; Determining the electrotactile signals of the thin film electrodes arranged at different positions on the handle body according to the electrotactile activation instruction; According to the type of the electrotactile signal of each of the thin film electrodes, corresponding pulse signals are output to the inner circle electrode and the outer circle electrode of the thin film electrode respectively, so that the user holding the handle body can feel the preset tactile feeling.

8. The method for generating a handle tactile enhancement signal based on electrical stimulation according to claim 7, characterized in that: When one of the thin film electrodes needs to be activated, high voltage or low voltage signals of opposite states are provided to the inner and outer electrodes of the thin film electrode to generate a local tactile sensation; When a plurality of the thin film electrodes are activated, the plurality of thin film electrodes are quickly switched and activated at a frequency higher than 1000 Hz by using a time division multiplexing method, and each time one of the thin film electrodes is activated, the remaining thin film electrodes are set to a high resistance state to generate a tactile sensation of movement in space; When all of the thin film electrodes are activated simultaneously, time division multiplexing technology is used to activate all of the thin film electrodes to produce a tactile sensation for the entire hand.

9. The method for generating a handle tactile enhancement signal based on electrical stimulation according to claim 8, characterized in that: The thin film electrode has two modes: anodal stimulation and cathodal stimulation. In the anodal stimulation mode, the inner ring electrode is high voltage and the outer ring electrode is low voltage. The tactile sensation of the anodal stimulation is vibration. In the cathodal stimulation mode, the inner ring electrode is low voltage and the outer ring electrode is high voltage. The tactile sensation of the cathodal stimulation is pressure. The electrotactile signal includes a long signal and a short signal. The long signal refers to a signal that can be felt to change in one stimulation, and the short signal refers to a signal of a single stimulation. The long signal and the short signal are composed of preset pulses. The parameters of the long signal and the short signal include the target electrode array array number, the number of electrodes included in the target electrode array, the frequency, the duration, the pulse frequency, the number of stimulations in a single pulse, and the ratio of a single pulse duration to the time interval between two pulses.

10. A game handle, characterized in that: It comprises a handle body, on which the handle tactile enhancement device based on electrical stimulation as claimed in any one of claims 1 to 6 is installed.

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