Evaluation method and device of tactile feedback system, and electronic equipment

Abstract

The embodiment of the invention provides an evaluation method and device of a tactile feedback system and electronic equipment, and the method comprises the steps: operating a long vibration test case in a preset test environment to obtain long vibration bandwidth data of the tactile feedback system; operating a short vibration test case in a preset test environment to obtain short vibration bandwidth data of the tactile feedback system; and evaluating the long vibration touch experience and the short vibration touch experience of the touch feedback system according to the long vibration bandwidth data and the short vibration bandwidth data respectively. According to the evaluation method of the tactile feedback system, provided by the embodiment of the invention, evaluation on the tactile feedback product can be realized, and the performance quality of the tactile feedback product is objectively reflected.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of haptic feedback, and in particular, to an evaluation method, device, and electronic device for a haptic feedback system. Background Art

[0002] With the development of haptic feedback technology, its application scope has expanded to various fields such as gaming, medical, augmented reality, virtual reality, etc., and it is also being used in the entertainment industry, professional medical equipment, wearable gloves, surgical procedures, teleoperators, exoskeleton devices, advanced prosthetics, physical rehabilitation, intelligent assistive devices, and near-field robotics. With the entry of various manufacturers, there are great differences in the performance of various haptic feedback products, and there are also significant differences in the evaluation methods carried out by each manufacturer on haptic feedback products, which results in uneven quality of haptic feedback products, and customers cannot select haptic feedback products that meet their requirements according to their needs. Summary of the Invention

[0003] In view of this, one of the technical problems solved by the embodiments of the present application is to provide an evaluation method, device, and electronic device for a haptic feedback system, which at least partially solve the above defects.

[0004] In a first aspect, the embodiments of the present application provide an evaluation method for a haptic feedback system, the method including: running a long vibration test case in a preset test environment to obtain long vibration bandwidth data of the haptic feedback system; running a short vibration test case in the preset test environment to obtain short vibration bandwidth data of the haptic feedback system; respectively evaluating the long vibration haptic experience and the short vibration haptic experience of the haptic feedback system according to the long vibration bandwidth data and the short vibration bandwidth data.

[0005] In some specific embodiments of the present application, before running the long vibration test case in the preset test environment to obtain the long vibration bandwidth data of the haptic feedback system, it further includes: connecting the whole machine of the haptic feedback system to a terminal, and receiving haptic event information sent by the terminal; connecting the whole machine of the haptic feedback system to a waveform viewing device through an acceleration sensor, and the acceleration sensor sends the acceleration signal of the haptic feedback system to the waveform viewing device to form the preset test environment.

[0006] In some specific embodiments of the present application, a carrier simulating a human hand is arranged on the lower surface of the whole machine of the haptic feedback system.

[0007] In some specific embodiments of the present application, running the long vibration test cases in a preset test environment to obtain the long vibration bandwidth data of the haptic feedback system includes: running each long vibration test case to obtain the acceleration curve corresponding to each long vibration test case; using the interval where the amplitude of the acceleration tends to be stable as the acceleration steady state interval, and measuring the peak-to-peak value of the long vibration acceleration and the long vibration frequency in the acceleration steady state interval; performing fitting processing according to the peak-to-peak value of the long vibration acceleration and the long vibration acceleration frequency of the acceleration curve corresponding to each long vibration test case to obtain the long vibration acceleration frequency response curve; obtaining the start value of the available long vibration frequency and the end value of the available long vibration frequency according to the threshold of the available peak-to-peak value of the long vibration acceleration in the long vibration acceleration frequency response curve, and obtaining the long vibration bandwidth data according to the start value of the available long vibration frequency and the end value of the available long vibration frequency.

[0008] In some specific embodiments of the present application, the long vibration bandwidth data is Fc1±DW1 (Hz), where Fc1 is the available long vibration frequency and DW1 is the single-sided available frequency range of the long vibration. Where Fstart1 is the start value of the available long vibration frequency and Fend1 is the end value of the available long vibration frequency.

[0009] In some specific embodiments of the present application, running the short vibration test cases in a preset test environment to obtain the short vibration bandwidth data of the haptic feedback system includes: running each short vibration test case to obtain the acceleration curve corresponding to each short vibration test case; measuring the peak-to-peak value of the short vibration acceleration of the acceleration curve and the frequency at the maximum acceleration energy as the short vibration acceleration frequency; performing fitting processing according to the peak-to-peak value of the short vibration acceleration and the available short vibration frequency of the acceleration curve corresponding to each short vibration test case to obtain the short vibration frequency response curve; obtaining the start value of the available short vibration frequency and the end value of the available short vibration frequency according to the threshold of the available peak-to-peak value of the short vibration acceleration in the short vibration frequency response curve, and obtaining the short vibration bandwidth data according to the start value of the available short vibration frequency and the end value of the available short vibration frequency.

[0010] In some specific embodiments of the present application, the short vibration bandwidth data is Fc2±DW2 (Hz), where Fc2 is the available short vibration frequency and DW2 is the single-sided available frequency range of the short vibration. The Where Fstart2 is the start value of the available short vibration frequency and Fend2 is the end value of the available short vibration frequency.

[0011] In some specific embodiments of the present application, when running the long vibration test case in a preset test environment to obtain the long vibration bandwidth data of the haptic feedback system, it further includes: obtaining the long vibration single - unit deviation and the long vibration temperature deviation corresponding to the long vibration test case; when running the short vibration test case in a preset test environment to obtain the short vibration bandwidth data of the haptic feedback system, it further includes: obtaining the short vibration single - unit deviation and the short vibration temperature deviation corresponding to the short vibration test case; when evaluating the long vibration haptic experience and the short vibration haptic experience of the haptic feedback system respectively according to the long vibration bandwidth data and the short vibration bandwidth data, it further includes: evaluating the long vibration haptic experience and the short vibration haptic experience of the haptic feedback system respectively according to the long vibration single - unit deviation and the long vibration temperature deviation, and the short vibration single - unit deviation and the short vibration temperature deviation.

[0012] In a second aspect, an embodiment of the present application provides an evaluation device for a haptic feedback system. The device includes: a long vibration bandwidth obtaining module, configured to run a long vibration test case in a preset test environment to obtain the long vibration bandwidth data of the haptic feedback system; a short vibration bandwidth obtaining module, configured to run a short vibration test case in a preset test environment to obtain the short vibration bandwidth data of the haptic feedback system; a haptic evaluation module, configured to evaluate the long vibration haptic experience and the short vibration haptic experience of the haptic feedback system respectively according to the long vibration bandwidth data and the short vibration bandwidth data.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor; and a memory coupled to the processor and including instructions stored thereon, which when executed by the processor cause the electronic device to execute the method according to the first aspect.

[0014] The evaluation solution of the haptic feedback system in the embodiments of the present application runs a long vibration test case in a preset test environment to obtain the long vibration bandwidth data of the haptic feedback system. Runs a short vibration test case in a preset test environment to obtain the short vibration bandwidth data of the haptic feedback system. The embodiments of the present application evaluate the long vibration haptic experience and the short vibration haptic experience of the haptic feedback system respectively according to the long vibration bandwidth data and the short vibration bandwidth data. The embodiments of the present application provide an evaluation method for a haptic feedback system, which can evaluate haptic feedback products and objectively reflect the performance and quality of haptic feedback products. Description of the Drawings

[0015] Some specific embodiments of the embodiments of the present application will be described in detail hereinafter with reference to the drawings in an exemplary but non - restrictive manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0016] Figure 1Flowchart of an evaluation method for a haptic feedback system according to an embodiment of the present application;

[0017] Figure 2 Flowchart of an evaluation method for a haptic feedback system according to another embodiment of the present application;

[0018] Figure 3 Schematic diagram of a test environment for an evaluation method of a haptic feedback system according to still another embodiment of the present application;

[0019] Figure 4 Flowchart of step S1 of an evaluation method for a haptic feedback system according to still another embodiment of the present application;

[0020] Figure 5 Schematic diagram of an acceleration curve of an evaluation method for a haptic feedback system according to still another embodiment of the present application;

[0021] Figure 6 Schematic diagram of a long vibration frequency response curve of an evaluation method for a haptic feedback system according to still another embodiment of the present application;

[0022] Figure 7 Flowchart of step S2 of an evaluation method for a haptic feedback system according to still another embodiment of the present application;

[0023] Figure 8 Schematic diagram of an acceleration curve of an evaluation method for a haptic feedback system according to still another embodiment of the present application;

[0024] Figure 9 Schematic diagram of an acceleration frequency of an evaluation method for a haptic feedback system according to still another embodiment of the present application;

[0025] Figure 10 Schematic diagram of a short vibration frequency response curve of an evaluation method for a haptic feedback system according to still another embodiment of the present application;

[0026] Figure 11 Structural diagram of an evaluation device for a haptic feedback system according to an embodiment of the present application;

[0027] Figure 12 Schematic diagram of an electronic device applied in still another embodiment of the present application. Detailed implementation manners

[0028] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and detailedly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art shall fall within the scope of protection of the embodiments of the present invention.

[0029] Reference is made to the accompanying drawings in the following detailed description, which form a part of the detailed description and illustrate exemplary embodiments. Additionally, it is to be understood that other embodiments may be utilized and structural and / or logical changes may be made without departing from the scope of the claimed subject matter. It should also be noted that directions and references (e.g., up, down, top, bottom, etc.) may be used solely to facilitate the description of features in the drawings. Thus, the following detailed description is not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and their equivalents.

[0030] In the following description, numerous details are set forth. However, it will be apparent to those skilled in the art that embodiments herein may be practiced without these specific details. In some instances, well-known methods and devices are shown in block diagram form, rather than in detail, to avoid obscuring the embodiments herein. References throughout this specification to "an embodiment" or "one embodiment" or "some embodiments" mean that a particular feature, structure, function, or characteristic described in connection with the embodiment is included in at least one embodiment herein. Thus, appearances of the phrases "in an embodiment" or "in one embodiment" or "some embodiments" throughout this specification are not necessarily referring to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, functions, or characteristics may be combined in any suitable manner. For example, a first embodiment may be combined with a second embodiment in any case where the particular features, structures, functions, or characteristics associated with the two embodiments are not mutually exclusive.

[0031] As used in the description and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0032] The terms "coupled" and "connected" along with their derivatives may be used herein to describe a functional or structural relationship between components. It should be understood that these terms are not intended as synonyms for each other. Instead, in a particular embodiment, "connected" may be used to indicate that two or more elements are in direct physical, optical, or electrical contact with each other. "Coupled" may be used to indicate that two or more elements are in direct or indirect physical contact or electrical contact with each other (with other intermediate elements therebetween), and / or that two or more elements cooperate or interact with each other (e.g., as in a causal relationship).

[0033] As used herein, the terms "above", "below", "between", and "on" refer to the relative position of one component or material with respect to other components or materials, where such physical relationships are significant. For example, in the context of materials, one material or material disposed above or below another material may be in direct contact, or may have one or more intermediate materials. Also, one material disposed between two materials or materials may be in direct contact with the two layers, or may have one or more intermediate layers. In contrast, a first material or material "on" a second material or material is in direct contact with the second material / material. Similar distinctions are to be made in the context of component assembly.

[0034] As used throughout this description and in the claims, a list of items joined by the terms "at least one of" or "one or more of" may mean any combination of the listed items. For example, the phrase "at least one of A, B, or C" may mean A; B; C; A and B; A and C; B and C; or A, B, and C.

[0035] The term "circuit" or "module" may refer to one or more passive and / or active components that are arranged to cooperate with each other to provide a desired function. The term "signal" may refer to at least one current signal, voltage signal, or magnetic signal. The terms "substantially", "near", "approximate", "close", and "about" generally refer to within + / - 10% of the target value.

[0036] First, the technical terms used in the embodiments of the present application will be explained below.

[0037] Linear motor: Belongs to a linear motor, which is an actuator that directly converts electrical energy into linear motion mechanical energy and is commonly used to provide tactile acceleration.

[0038] Tactile event: A system event that triggers a tactile feedback system to generate tactile vibration.

[0039] Tactile long vibration: Refers to a tactile vibration with a vibration duration exceeding 100 ms.

[0040] Tactile short vibration: Refers to a tactile vibration with a vibration duration less than 100 ms.

[0041] Tactile brake: Refers to a method of quickly stopping the vibration of the motor oscillator by applying a drive waveform with a phase opposite to the speed of the motor oscillator.

[0042] Gpp: Peak-to-peak acceleration.

[0043] The relevant evaluations of the tactile feedback system usually include: evaluations of impact force, effective frequency response, dynamic ability, noise, and vibration quality.

[0044] The impact force characterizes the sense of impact of the tactile effect, reflects the intensity performance range of the system, and can be measured by the rapid start time (abbreviated as RT) and the rapid stop time (abbreviated as BT). Excellent impact performance can handle various usage scenarios (such as collision, explosion, shooting scenarios) to ensure an excellent sense of explosive power. There are mainly two forms of impact force performance, namely steady state and transient state. The steady state often refers to long vibration, with the ability to output for a long time and being strong and powerful; the transient state is short vibration, being crisp and powerful without being muddled.

[0045] The effective frequency response is evaluated by two indicators: "effective bandwidth" and "resonant frequency". Specifically, the effective bandwidth characterizes the frequency bandwidth range that the designer can use. The wider this value is, the better the performance. The effective bandwidth includes the effective low-frequency bandwidth (<100Hz), the effective high-frequency bandwidth (>250Hz), and the effective mid-frequency bandwidth to have rich expressiveness. Among them, the wider the effective bandwidth is, the better. The resonant frequency (i.e., F0) is the maximum operating point of the vibrator system, which reflects its characteristics. Based on the performance characteristics of the device, the lower this indicator is, the better. For the various application limitations of the device, the lower the resonant frequency, the greater the vibration potential that can be manifested, and the more prominent the comprehensive performance.

[0046] The dynamic ability refers to the vibration change response ability of the vibration system, reflecting the adjustable performance accuracy and application space of the system. This dimension is evaluated by two basic indicators: the intensity change performance and the frequency change performance. The comprehensive interval of the intensity change performance and the frequency change performance reflects the dynamic ability range. The larger this interval range is, the richer the distinguishable performance that can be applied, and the more powerful its performance.

[0047] Noise is a by-product of motor vibration. The smaller the vibration noise is, the stronger its processing ability is, the more it can reflect the purity of vibration perception, and the less interference there is to the user experience.

[0048] The vibration quality is an indicator that reflects the level of vibration quality, affects the quality of the user experience, and is also related to the software, hardware, and tactile design in the vibration system.

[0049] The above-mentioned relevant indicators of the tactile feedback system cannot objectively and accurately evaluate the tactile feedback system. When the specific evaluation method and measurement conditions change, the indicator results will all change.

[0050] The evaluation conclusions of the above-mentioned evaluation indicators are relatively subjective and cannot objectively and accurately reflect the actual situation of the tactile feedback system. For example, impact force, noise, vibration quality, etc. are all evaluation indicators of subjective perception, and the evaluation results given by different evaluators vary greatly.

[0051] This causes difficulties for customers in selecting a haptic feedback system due to the ambiguity of these metrics, which in turn brings difficulties to product design, and even leads to an extended product design cycle and a failure to meet product quality requirements.

[0052] To at least partially solve the above technical problems, an embodiment of the present application provides an evaluation method for a haptic feedback system. Refer to Figure 1 , the method includes:

[0053] Step S1: Run a long vibration test case in a preset test environment to obtain long vibration bandwidth data of the haptic feedback system.

[0054] Step S2: Run a short vibration test case in a preset test environment to obtain short vibration bandwidth data of the haptic feedback system.

[0055] Step S3: Evaluate the long vibration haptic experience and short vibration haptic experience of the haptic feedback system according to the long vibration bandwidth data and short vibration bandwidth data respectively.

[0056] In the embodiment of the present application, specific bandwidth data is obtained through long vibration and short vibration test cases, avoiding the instability of subjective evaluation. This method can provide more objective and quantifiable evaluation metrics, thereby reducing the influence of human factors on the evaluation results. Compared with traditional subjective evaluation experiments with multiple people over a long time, this method can quickly obtain evaluation results by presetting a test environment and standardized test cases, saving time and resources. Since this method is based on specific bandwidth data for evaluation, it has high stability and repeatability. This makes the evaluation results more reliable and enables consistent evaluation results to be obtained repeatedly at different times and locations.

[0057] In some specific implementations of the embodiment of the present application, refer to Figure 2 , before step S1, it further includes:

[0058] Step S01: Connect the entire haptic feedback system to the terminal and receive haptic event information sent by the terminal.

[0059] Specifically, the terminal is usually a laptop computer. The terminal is used to send haptic events to the entire haptic feedback system, causing the entire haptic feedback system to vibrate. The terminal can precisely control the vibration of the haptic feedback system to ensure the consistency and repeatability of the test conditions. The terminal can flexibly adjust the parameters of haptic events (such as vibration frequency, amplitude, etc.) to adapt to different test requirements.

[0060] Specifically, the terminal is connected to the entire haptic feedback system through a control data cable to ensure the stable transmission of haptic event information, avoid data loss or transmission errors, ensure the real-time nature of haptic events, and reduce the influence of signal transmission delay on the test results.

[0061] Step S02: Connect the entire haptic feedback system to the waveform viewing device through an acceleration sensor. The acceleration sensor sends the acceleration signal of the haptic feedback system to the waveform viewing device to form a preset test environment.

[0062] Specifically, the waveform viewing device is usually an oscilloscope, which is used to collect the acceleration signal of the haptic feedback system, can monitor and record the acceleration signal in real time, provide dynamic test data, and record the test data for subsequent analysis and comparison.

[0063] The acceleration sensor is used to collect the acceleration of the haptic feedback system. It is recommended to be attached to the surface of the haptic feedback system near the internal vibrator, and the acceleration detection direction is consistent with the vibration direction of the entire haptic feedback system. The acceleration sensor can accurately measure the acceleration of the haptic feedback system and provide high-precision test data. The position of the acceleration sensor near the internal vibrator ensures the accuracy and sensitivity of the measured signal, ensures that the acceleration detection direction is consistent with the vibration direction, and avoids measurement errors.

[0064] Specifically, an acceleration acquisition line is used to connect the acceleration sensor and the waveform acquisition device to transmit the acceleration information and ensure the integrity and stability of the acceleration signal during transmission.

[0065] In some specific implementations of the embodiments of the present application, a carrier simulating a human hand is provided on the lower surface of the entire haptic feedback system.

[0066] Specifically, a sponge is used to simulate a human hand. When the haptic feedback system generates vibration, the entire machine can vibrate on the sponge. The sponge can simulate the softness and elasticity of a human hand, making the test results closer to the actual use scenario.

[0067] See Figure 3 , in the embodiments of the present application, the entire haptic feedback system, the sponge, and the acceleration sensor are all placed in an incubator. The incubator is used to adjust the working temperature of the haptic feedback system. The incubator can accurately control the temperature of the test environment to ensure the performance of the haptic feedback system is tested under different temperature conditions. The incubator simulates the temperature change in the actual use environment and improves the practicality and reliability of the test results.

[0068] In some specific implementations of the embodiments of the present application, see Figure 4 , step S1 includes:

[0069] Step S11: Run each long vibration test case to obtain the acceleration curve corresponding to each long vibration test case.

[0070] Specifically, set the ambient temperature to 25°C, and use the test cases specified in Table 1 to conduct the long vibration bandwidth test for the long vibration bandwidth test. In the bandwidth test, each pattern contains an EVENT, and the parameters in each event refer to those specified in Table 2.

[0071] Table 1

[0072] Table 2

[0073] If the test case is C(n), it means that the "vibration type" of this tactile description is "long vibration", the "relative start time" is 0, the "reference vibration intensity" is 100, the "reference vibration frequency" is n, the "duration" is 300 milliseconds, the vibration starts at 0 milliseconds, reaches 100 at 50 milliseconds, starts to decline from 100 at 250 milliseconds, and stops at 300 milliseconds, and the frequency remains at the "reference frequency" during the vibration. Among them, 100 in the "reference vibration intensity" of 100 is a normalized relative parameter, and 100 represents the maximum vibration intensity, which is set by the designer of the tactile feedback system. For example, for a tactile feedback system with a vibration intensity range of 0 - 2G, then 0 - 100 of the reference vibration intensity represents the vibration intensity of 0 - 2G. 100 represents 2G, 50 represents 1G, 0 represents 0G of the vibration intensity, and so on. Among them, n represents the reference frequency. For example, for a tactile feedback system with a vibration frequency range of 100Hz - 300Hz, then the reference frequency n = 0 - 100, where 0 represents 100Hz, 50 represents 200Hz, 100 represents 300Hz, and so on. When the designer designs the tactile feedback system, select the test case T(n), which means that "T" represents short vibration and n represents the reference frequency. If n = 100, it represents the short vibration test at 300Hz.

[0074] If the test case is T(n), it means that the "vibration type" of this tactile description is "short vibration", the "relative start time" is 0, the "reference vibration intensity" is 100, and the "reference vibration frequency" is n.

[0075] Step S12: Use the interval where the amplitude of the acceleration tends to be stable as the acceleration steady state interval, and measure the peak-to-peak value of the long vibration acceleration and the long vibration acceleration frequency in the acceleration steady state interval.

[0076] Based on the acceleration curve obtained from each test case, use the interval where the amplitude of the acceleration tends to be stable as the acceleration steady state interval, and measure the peak-to-peak value of the long vibration acceleration and the long vibration acceleration frequency as Figure 5 shown, and record them in Table 1.

[0077] By selecting the interval where the acceleration amplitude tends to be stable for measurement, the stability of the measurement result is ensured, and the influence of transient fluctuations is reduced. Measuring the peak-to-peak value of the long vibration acceleration and the long vibration acceleration frequency provides key performance indicators of the haptic feedback system under steady-state conditions and provides accurate data for subsequent analysis.

[0078] Step S13: Perform fitting processing according to the peak-to-peak value of the long vibration acceleration and the long vibration acceleration frequency of the acceleration curve corresponding to each long vibration test case to obtain a long vibration acceleration frequency response curve.

[0079] The specific fitting processing method adopts a known method, and the embodiments of the present application will not elaborate.

[0080] Through fitting processing, the data of multiple test cases are integrated into an acceleration frequency response curve, providing an overall performance view of the system. The long vibration acceleration frequency response curve can be used to predict the performance of the system at other frequencies and provide a reference for system optimization and design.

[0081] Step S14: Obtain the start value of the long vibration available frequency and the end value of the long vibration available frequency according to the threshold of the available peak-to-peak value of the long vibration acceleration in the long vibration acceleration frequency response curve, and obtain long vibration bandwidth data according to the start value of the long vibration available frequency and the end value of the long vibration available frequency.

[0082] According to the test results, fit the long vibration acceleration frequency response curve of the haptic feedback system, and select the threshold of the available peak-to-peak value of the long vibration acceleration according to the application requirements. Then, the frequency at which the peak-to-peak value of the long vibration acceleration is greater than the threshold of the available peak-to-peak value of the long vibration acceleration represents the available frequency. The available frequency starts from the start value Fstart1 of the long vibration available frequency and ends at the end value Fend1 of the long vibration available frequency, as Figure 6 shown.

[0083] Specifically, it is recommended to use 1G as the threshold of the available peak-to-peak value of the long vibration acceleration.

[0084] The embodiments of the present application avoid the instability of subjective evaluation through specific test cases and data measurement, and provide objective evaluation results. Through multiple test cases and comprehensive data collection, the performance of the haptic feedback system can be comprehensively evaluated. The long vibration bandwidth data is a key indicator for evaluating the performance of the haptic feedback system and can provide specific references for system optimization and design.

[0085] Specifically, the long vibration bandwidth data is Fc1±DW1(Hz), where Fc1 is the center frequency of the long vibration available frequency and DW1 is the one-sided available frequency range of the long vibration, where Fstart1 is the start value of the long vibration available frequency and Fend1 is the end value of the long vibration available frequency.

[0086] In the embodiment of the present application, by calculating the available long vibration frequency Fc1, the main working frequency of the haptic feedback system in the long vibration mode can be accurately reflected. By calculating the available single-sided long vibration frequency range DW1, the frequency coverage range of the haptic feedback system in the long vibration mode can be determined, so as to evaluate its performance at different frequencies.

[0087] In the embodiment of the present application, by formulaically calculating the long vibration bandwidth data, a clear quantitative evaluation method is provided, making the long vibration performance evaluation of the haptic feedback system more scientific and standardized. Through the definition and calculation of specific parameters, the long vibration performance of the haptic feedback system can be accurately evaluated, providing an important reference for system design and optimization.

[0088] In some specific implementations of the embodiment of the present application, refer to Figure 7 , step S2, includes:

[0089] Step S21: Run each short vibration test case to obtain the acceleration curve corresponding to each short vibration test case.

[0090] Specifically, set the environmental temperature to 25 °C, and use the test cases specified in Table 3 for short vibration bandwidth testing. In the bandwidth test, each pattern contains one EVENT, and the parameters in each event refer to the provisions of Table 2.

[0091] Table 3

[0092] Step S22: Measure the peak-to-peak short vibration acceleration of the acceleration curve and the frequency at the maximum acceleration energy as the short vibration acceleration frequency.

[0093] According to the acceleration curve obtained from each test case, measure the peak-to-peak short vibration acceleration, such as Figure 8 the peak-to-peak short vibration acceleration in Figure 9 . Obtain the acceleration spectrum from the acceleration curve, and take the frequency at the maximum energy as the short vibration acceleration frequency of this time, as shown in

[0094] . By measuring the peak-to-peak short vibration acceleration and the short vibration acceleration frequency of the acceleration curve, the key performance indicators of the haptic feedback system in the short vibration mode are provided, ensuring the accuracy of the measurement results. The frequency at the maximum acceleration energy is used as the short vibration acceleration frequency, which can reflect the main working frequency of the system in the short vibration mode and provides an important reference for subsequent analysis.

[0095] Step S23: Perform fitting processing based on the peak-to-peak value of the short vibration acceleration and the short vibration acceleration frequency of the acceleration curve corresponding to each short vibration test case to obtain a short vibration acceleration frequency response curve.

[0096] The specific fitting processing method adopts a known method, which will not be elaborated in the embodiments of the present application.

[0097] Through fitting processing, the data of multiple test cases are integrated into an acceleration frequency response curve, providing an overall performance view of the system. The short vibration acceleration frequency response curve can be used to predict the performance of the system at other frequencies, providing a reference for system optimization and design.

[0098] Step S24: Obtain the start value of the short vibration available frequency and the end value of the short vibration available frequency according to the threshold of the available peak-to-peak value of the short vibration acceleration in the short vibration frequency response curve, and obtain the short vibration bandwidth data according to the start value of the short vibration available frequency and the end value of the short vibration available frequency.

[0099] Fit the frequency response curve of the haptic feedback system according to the test results, and select the threshold of the available peak-to-peak value of the short vibration acceleration according to the application requirements. The frequency at which the peak-to-peak value of the short vibration acceleration is greater than the threshold of the available peak-to-peak value of the short vibration acceleration represents the available frequency, and the available frequency starts from the start value Fstart2 of the short vibration available frequency and ends at the end value Fend2 of the short vibration available frequency, as Figure 10 shown.

[0100] Specifically, it is recommended to use 1G as the threshold of the available peak-to-peak value of the short vibration acceleration.

[0101] The embodiments of the present application avoid the instability of subjective evaluation through specific test cases and data measurement, and provide objective evaluation results. Through multiple test cases and comprehensive data collection, the performance of the haptic feedback system can be comprehensively evaluated. The short vibration bandwidth data is a key indicator for evaluating the performance of the haptic feedback system, which can provide specific reference for system optimization and design.

[0102] Specifically, the short vibration bandwidth data is Fc2 ± DW2 (Hz), where Fc2 is the short vibration available frequency and DW2 is the short vibration single-sided available frequency range, where Fstart2 is the start value of the short vibration available frequency and Fend2 is the end value of the short vibration available frequency.

[0103] The embodiments of the present application can accurately reflect the main working frequency of the haptic feedback system in the short vibration mode by calculating the short vibration available frequency Fc2. By calculating the short vibration single-sided available frequency range DW2, the frequency coverage range of the haptic feedback system in the short vibration mode can be clarified, so as to evaluate its performance at different frequencies.

[0104] The embodiments of the present application provide a clear quantitative evaluation method by formulaically calculating the short vibration bandwidth data, making the evaluation of the short vibration performance of the haptic feedback system more scientific and standardized. Through the definition and calculation of specific parameters, the short vibration performance of the haptic feedback system can be accurately evaluated, providing an important reference for system design and optimization.

[0105] In the specific implementation of some embodiments of the present application, step S1 further includes:

[0106] Obtaining the long vibration monomer deviation and long vibration temperature deviation corresponding to the long vibration test case.

[0107] Step S2 further includes:

[0108] Obtaining the short vibration monomer deviation and short vibration temperature deviation corresponding to the short vibration test case.

[0109] Step S3 further includes:

[0110] Evaluating the long vibration haptic experience and short vibration haptic experience of the haptic feedback system according to the long vibration monomer deviation and long vibration temperature deviation, and short vibration monomer deviation and short vibration temperature deviation, respectively.

[0111] Specifically, in the acceleration steady state interval obtained from the long vibration test case, measure the peak-to-peak value Gpp1 of the acceleration,..., Gpp_10, and calculate the long vibration acceleration mean Gpp_avg, which can be expressed as:

[0112]

[0113] Define it as the deviation between the peak-to-peak value of the long vibration acceleration of each whole machine and the long vibration acceleration mean, then ΔGpp_n can be expressed as:

[0114] ΔGpp_n = |Gpp_n - Gpp_avg| (G), where Gpp_n is the peak-to-peak value of any acceleration.

[0115] The average deviation ΔGpp_avg can be expressed as:

[0116]

[0117] Then the long vibration monomer deviation can be expressed as:

[0118] Specifically, the embodiments of the present application use the long vibration test case to test the temperature deviation, and it is recommended to use C(50). Test the long vibration acceleration at different temperatures respectively. The recommended test temperature range is from -10°C to 50°C, with a step of 10°C. Among them, 25°C is the required test temperature. Table 4 is the long vibration temperature deviation test table.

[0119] Table 4

[0120] Taking the peak-to-peak acceleration Gpp_25C at room temperature of 25°C as a reference value, the average deviation ΔGpp_avg can be expressed as:

[0121]

[0122] Then the long vibration temperature deviation can be expressed as:

[0123] Specifically, measure the peak-to-peak acceleration and acceleration frequency in the acceleration steady state interval.

[0124] The average long vibration acceleration Gpp_avg of multiple whole tactile feedback systems can be expressed as:

[0125]

[0126] Defined as the deviation between the peak-to-peak long vibration acceleration of each whole machine and the average long vibration acceleration, then ΔGpp_n can be expressed as:

[0127] ΔGpp_n = |Gpp_n - Gpp_avg| (G)

[0128] The average deviation ΔGpp_avg can be expressed as:

[0129]

[0130] Then the long vibration single unit deviation can be expressed as:

[0131] Use the short vibration test case to test the temperature deviation, and it is recommended to use T(50). Test the short vibration acceleration at different temperatures respectively. The recommended test temperature range is from -10°C to 50°C, with a step of 10°C, and 25°C is the required test temperature.

[0132] Table 5 is the short vibration temperature deviation test table.

[0133] Table 5

[0134] Taking the interval where the amplitude of acceleration tends to be stable as the acceleration steady state interval, measure the peak-to-peak acceleration and acceleration frequency in the acceleration steady state interval as Figure 8 shown.

[0135] Taking the peak-to-peak acceleration Gpp_25C at room temperature of 25°C as a reference value, the average deviation ΔGpp_avg can be expressed as:

[0136]

[0137] The short vibration temperature deviation can be expressed as:

[0138] In the embodiments of the present application, bandwidth and consistency are used as evaluation indicators for tactile feedback products. The bandwidth includes long vibration bandwidth and short vibration bandwidth. The bandwidth evaluation indicator belongs to an objective evaluation indicator and is not affected by the subjective cognition of the evaluator; the consistency includes long vibration single deviation, long vibration temperature deviation, short vibration single deviation, and short vibration temperature deviation. These evaluation indicators all belong to objective evaluation indicators and are not affected by the subjective cognition of the evaluator. The embodiments of the present application use objective evaluation indicators to evaluate tactile feedback products, avoiding the inaccuracy of evaluation results caused by subjective evaluation indicators, being able to accurately reflect the performance of tactile feedback products, facilitating users to select tactile feedback products, thereby shortening the product design cycle and improving product quality.

[0139] The embodiments of the present application provide a test environment configuration and test cases. Testing under the test conditions provided by the present invention can obtain more accurate and objective evaluation results, further accurately reflecting the performance of tactile feedback products, and ensuring the unity, systematicness, and objectivity of evaluation results.

[0140] Referring to Figure 11 , the embodiments of the present disclosure also provide an evaluation device for a tactile feedback system. The device includes:

[0141] A long vibration bandwidth obtaining module 111, configured to run a long vibration test case in a preset test environment to obtain long vibration bandwidth data of the tactile feedback system.

[0142] A short vibration bandwidth obtaining module 112, configured to run a short vibration test case in a preset test environment to obtain short vibration bandwidth data of the tactile feedback system.

[0143] A tactile evaluation module 113, configured to evaluate the long vibration tactile experience and short vibration tactile experience of the tactile feedback system according to the long vibration bandwidth data and the short vibration bandwidth data respectively.

[0144] Referring to Figure 12 , a schematic structural diagram of an electronic device according to an embodiment of the present disclosure is shown. The specific embodiments of the present disclosure do not limit the specific implementation of the electronic device.

[0145] As Figure 12 shown, the electronic device may include: a processor 1202, a communication interface 1204, a memory 1206, and a communication bus 1208.

[0146] Wherein:

[0147] The processor 1202, the communication interface 1204, and the memory 1206 communicate with each other via the communication bus 1208.

[0148] The communication interface 1204 is used to communicate with other electronic devices or servers.

[0149] The processor 1202 can implement the data processing method in the foregoing method embodiments through accelerators such as DLA provided therein.

[0150] The memory 1206 may include high-speed RAM memory and may also include non-volatile memory.

[0151] The memory 1206 is coupled to the processor 1202. The memory 1206 stores instructions that, when executed by the processor 1202, cause the electronic device to execute the evaluation method of any of the above-mentioned haptic feedback systems.

[0152] The embodiments of the present disclosure further provide a computer-readable storage medium, on which machine-executable instructions are stored, and the machine-executable instructions instruct a computer device to execute the evaluation method of any of the above-mentioned haptic feedback systems.

[0153] The embodiments of the present disclosure further provide a computer program product, which is tangibly stored in a computer-readable storage medium and includes machine-executable instructions that, when executed by a device, cause the device to execute the evaluation method of any of the above-mentioned haptic feedback systems.

[0154] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the foregoing method embodiments and have corresponding beneficial effects, which will not be elaborated herein.

[0155] The method according to the embodiments of the present application can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or be implemented as computer code that is originally stored in a remote recording medium or a non-transitory machine-readable medium and downloaded through a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (such as RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the check code generation method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the check code generation method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the check code generation method shown herein.

[0156] It should be understood that the embodiments in this specification are all described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the method embodiments, since they are basically similar to the methods described in the device and system embodiments, the description is relatively simple, and reference can be made to the relevant parts of other embodiments for the relevant content.

[0157] It should be understood that the specific embodiments of this specification have been described above. Other embodiments are within the scope of the claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0158] It should be understood that an element described in the singular form herein or shown only in one of the drawings does not represent limiting the quantity of the element to one. In addition, a module or element described or shown as separate herein can be combined into a single module or element, and a module or element described or shown as a single herein can be split into multiple modules or elements.

[0159] It should also be understood that the terminology and expressions used herein are for descriptive purposes only, and one or more embodiments of this specification should not be limited to these terms and expressions. The use of these terms and expressions does not mean excluding any equivalent features of the illustration and description (or parts thereof), and it should be recognized that various modifications that may exist should also be included within the scope of the claims. Other modifications, variations, and substitutions may also exist. Accordingly, the claims should be regarded as covering all such equivalents.

Claims

1. An evaluation method for a tactile feedback system, characterized in that, The method includes: Under a preset test environment, running a long vibration test case to obtain long vibration bandwidth data of the haptic feedback system; Under a preset test environment, running a short vibration test case to obtain short vibration bandwidth data of the haptic feedback system; Evaluating the long vibration haptic experience and short vibration haptic experience of the haptic feedback system according to the long vibration bandwidth data and the short vibration bandwidth data respectively.

2. The evaluation method according to claim 1, wherein Before running the long vibration test case to obtain the long vibration bandwidth data of the haptic feedback system under the preset test environment, it further includes: Connecting the whole haptic feedback system to a terminal and receiving haptic event information sent by the terminal; Connecting the whole haptic feedback system to a waveform viewing device through an acceleration sensor, and the acceleration sensor sends the acceleration signal of the haptic feedback system to the waveform viewing device to form the preset test environment.

3. The evaluation method according to claim 2, characterized in that, A carrier simulating a human hand is arranged on the lower surface of the whole haptic feedback system.

4. The evaluation method according to claim 1, characterized in that The running of the long vibration test case to obtain the long vibration bandwidth data of the haptic feedback system under the preset test environment includes Running each long vibration test case to obtain an acceleration curve corresponding to each long vibration test case; Taking the interval where the amplitude of the acceleration tends to be stable as the acceleration steady state interval, and measuring the peak-to-peak value of the long vibration acceleration and the long vibration acceleration frequency in the acceleration steady state interval; Performing fitting processing according to the peak-to-peak value of the long vibration acceleration and the long vibration acceleration frequency of the acceleration curve corresponding to each long vibration test case to obtain a long vibration acceleration frequency response curve; Obtaining a long vibration available frequency start value and a long vibration available frequency end value according to the threshold of the available long vibration acceleration peak-to-peak value in the long vibration acceleration frequency response curve, and obtaining the long vibration bandwidth data according to the long vibration available frequency start value and the long vibration available frequency end value.

5. The evaluation method according to claim 4, characterized in that, The long vibration bandwidth data is Fc1 ± DW1 (Hz), where Fc1 is the available frequency of the long vibration and DW1 is the available frequency range on one side of the long vibration. Where Fstart1 is the starting value of the available frequency of the long vibration and Fend1 is the ending value of the available frequency of the long vibration.

6. The evaluation method according to claim 1, wherein The running of the short vibration test case to obtain the short vibration bandwidth data of the haptic feedback system under the preset test environment includes: Running each short vibration test case to obtain an acceleration curve corresponding to each short vibration test case; Measuring the peak-to-peak value of the short vibration acceleration of the acceleration curve and the frequency at the maximum acceleration energy as the short vibration acceleration frequency; Performing fitting processing according to the peak-to-peak value of the short vibration acceleration and the short vibration acceleration frequency of the acceleration curve corresponding to each short vibration test case to obtain a short vibration acceleration frequency response curve; Obtaining a short vibration available frequency start value and a short vibration available frequency end value according to the threshold of the available short vibration acceleration peak-to-peak value in the short vibration frequency response curve, and obtaining the short vibration bandwidth data according to the short vibration available frequency start value and the short vibration available frequency end value.

7. The evaluation method according to claim 6, characterized in that The short vibration bandwidth data is Fc2 ± DW2 (Hz), where Fc2 is the available frequency of the short vibration, and DW2 is the available frequency range on one side of the short vibration. The The where Fstart2 is the starting value of the available frequency of the short vibration, and Fend2 is the ending value of the available frequency of the short vibration.

8. The evaluation method according to claim 1, characterized in that, The running of the long vibration test case to obtain the long vibration bandwidth data of the haptic feedback system under the preset test environment further includes: Obtaining the long vibration single unit deviation and long vibration temperature deviation corresponding to the long vibration test case; The running of the short vibration test case to obtain the short vibration bandwidth data of the haptic feedback system under the preset test environment further includes: Obtaining the short vibration single unit deviation and short vibration temperature deviation corresponding to the short vibration test case; Evaluating the long-vibration tactile experience and the short-vibration tactile experience of the tactile feedback system respectively according to the long-vibration bandwidth data and the short-vibration bandwidth data further includes: Evaluating the long-vibration tactile experience and the short-vibration tactile experience of the tactile feedback system respectively according to the long-vibration single-unit deviation, the long-vibration temperature deviation, the short-vibration single-unit deviation, and the short-vibration temperature deviation.

9. An evaluation device for a tactile feedback system, characterized in that, The device includes: A long-vibration bandwidth acquisition module, configured to run a long-vibration test case in a preset test environment to obtain long-vibration bandwidth data of the tactile feedback system; A short-vibration bandwidth acquisition module, configured to run a short-vibration test case in a preset test environment to obtain short-vibration bandwidth data of the tactile feedback system; A tactile evaluation module, configured to evaluate the long-vibration tactile experience and the short-vibration tactile experience of the tactile feedback system respectively according to the long-vibration bandwidth data and the short-vibration bandwidth data.

10. An electronic device, comprising: A processor; And a memory, coupled to the processor and including instructions stored thereon, which when executed by the processor cause the electronic device to execute the method according to any one of claims 1-8.

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