Tactile feedback substrate, driving method thereof and tactile feedback device

Abstract

The invention discloses a tactile feedback substrate, a driving method thereof and a tactile feedback device, and relates to the technical field of texture reproduction. The tactile feedback substrate includes: a touchpad having a touch surface; the actuators are arranged on the side, away from the touch surface, of the touch panel and comprise a plurality of first actuators arranged in the first direction and a plurality of second actuators arranged in the second direction, and the first direction and the second direction intersect with each other; wherein the first actuator is used for driving the touchpad to generate first vibration, the second actuator is used for driving the touchpad to generate second vibration, and the first vibration and the second vibration are used for forming texture feedback in different directions on the touch surface.

Description

Tactile feedback substrate and driving method thereof, and tactile feedback device Technical Field

[0001] The present disclosure relates to the technical field of texture reproduction, and in particular to a tactile feedback substrate and a driving method thereof, and a tactile feedback device. Background Art

[0002] Haptic feedback is a cutting-edge technology in the field of virtual reality and human-computer interaction. Multimedia terminals such as smartphones and tablets that use haptic feedback technology have broad application prospects in education, entertainment, and medical fields.

[0003] Overview

[0004] The present disclosure provides a tactile feedback substrate, comprising:

[0005] a touchpad having a touch surface; and

[0006] a plurality of actuators disposed on a side of the touch panel away from the touch surface, comprising: a plurality of first actuators arranged along a first direction, and a plurality of second actuators arranged along a second direction, wherein the first direction and the second direction intersect each other;

[0007] The first actuator is used to drive the touch panel to generate a first vibration, and the second actuator is used to drive the touch panel to generate a second vibration. The first vibration and the second vibration are used to form texture feedback in different directions on the touch surface.

[0008] In some embodiments, the touch surface includes a first side and a second side adjacent to each other, the plurality of first actuators are disposed near the first side, and the plurality of second actuators are disposed near the second side.

[0009] In some embodiments, the plurality of first actuators are disposed near one or two of the first sides, and the two first sides are disposed opposite to each other;

[0010] The plurality of second actuators are disposed close to one or two of the second side edges, and the two second side edges are disposed opposite to each other.

[0011] In some embodiments, the first side is parallel to the first direction, and the second side is parallel to the second direction.

[0012] In some embodiments, the plurality of actuators further comprises:

[0013] a plurality of third actuators, the third actuators being used to drive the touch panel to generate a third vibration, so as to form vibration feedback on the touch surface;

[0014] Wherein, the plurality of third actuators are arranged along a first symmetry axis and disposed close to the geometric center of the touch surface, and the first symmetry axis is the symmetry axis of the touch surface along the first direction; and / or

[0015] In the case where the plurality of first actuators are disposed near one of the first sides, the touch surface further includes a third side disposed opposite to the first side, and the third actuator is disposed near a midpoint of the third side; and / or

[0016] When the multiple first actuators are arranged near one of the first sides and the multiple second actuators are arranged near one of the second sides, the touch surface further includes a third side arranged opposite to the first side and a fourth side arranged opposite to the second side, and the third actuator is arranged near the connecting vertex of the third side and the fourth side.

[0017] In some embodiments, the plurality of third actuators arranged along the first symmetry axis are symmetrically disposed on both sides of the geometric center; or

[0018] Among the multiple third actuators arranged along the first symmetry axis, one is arranged at the geometric center, and the remaining ones are symmetrically arranged on both sides of the geometric center.

[0019] In some embodiments, the touch surface has a first symmetry axis extending along the first direction and a second symmetry axis extending along the second direction, the multiple first actuators are arranged in sequence on the first symmetry axis, and the multiple second actuators are arranged in sequence on the second symmetry axis.

[0020] In some embodiments, the touch surface is polygonal, and the plurality of actuators further include:

[0021] A plurality of third actuators are provided near the inner corners of the polygon, and the third actuators are used to drive the touch panel to generate a third vibration, so as to form vibration feedback on the touch surface.

[0022] In some embodiments, a plurality of the first actuators are sequentially staggered in the second direction, and a plurality of the second actuators are sequentially staggered in the first direction.

[0023] In some embodiments, the touch surface includes a first diagonal line and a second diagonal line intersecting each other, the plurality of first actuators are sequentially arranged on the first diagonal line, and the plurality of second actuators are sequentially arranged on the second diagonal line.

[0024] In some embodiments, the plurality of actuators further comprises:

[0025] a plurality of third actuators, the third actuators being configured to drive the touch panel to generate a third vibration to form vibration feedback on the touch surface, wherein a frequency of the third vibration is lower than a frequency of the first vibration and a frequency of the second vibration;

[0026] The plurality of third actuators may include at least one of: an actuator provided independently of the first actuator and the second actuator, the first actuator, and the second actuator.

[0027] In some embodiments, the plurality of third actuators are symmetrically arranged, and the distance between any two adjacent third actuators is equal.

[0028] In some embodiments, a distance between two adjacent first actuators in the first direction is less than or equal to a first half wavelength, where the first half wavelength is half the wavelength of a waveform of the first vibration propagating along the second direction;

[0029] A distance between two adjacent second actuators in the second direction is less than or equal to a second half wavelength, where the second half wavelength is half the wavelength of a waveform of the second vibration propagating along the first direction.

[0030] In some embodiments, the first direction and the second direction are perpendicular to each other.

[0031] In some embodiments, the width of the first actuator in the second direction is greater than or equal to one quarter of the first half wavelength and less than or equal to the first half wavelength, where the first half wavelength is half the wavelength of the waveform of the first vibration propagating along the second direction;

[0032] The width of the second actuator in the first direction is greater than or equal to one quarter of the second half wavelength and less than or equal to the second half wavelength, where the second half wavelength is half the wavelength of the waveform of the second vibration propagating along the first direction.

[0033] In some embodiments, the first actuator is located at a peak or a trough of the waveform of the first vibration, and the second actuator is located at a peak or a trough of the waveform of the second vibration.

[0034] In some embodiments, the plurality of actuators are arranged axially symmetrically, and the axis of symmetry is the axis of symmetry of the touch surface; and / or

[0035] The plurality of actuators are centrally symmetrically arranged, and the center of symmetry is the geometric center of the touch surface.

[0036] In some embodiments, the plurality of first actuators and the plurality of second actuators have different axes of symmetry.

[0037] In some embodiments, the actuator includes at least one of the following: a PZT piezoelectric film, a monolithic piezoelectric ceramic, a stacked piezoelectric ceramic, a cymbal-type piezoelectric ceramic, a monolithic polyvinylidene fluoride film, a stacked polyvinylidene fluoride film, a cymbal-type polyvinylidene fluoride film, and a linear motor.

[0038] The present disclosure provides a tactile feedback device, comprising:

[0039] The tactile feedback substrate of any embodiment; and

[0040] The driving component is connected to the first actuator and the second actuator respectively, and is used to output a driving signal to the first actuator or the second actuator based on touch information of the touch body on the touch panel, so that the first actuator drives the touch panel to generate a first vibration and the second actuator drives the touch panel to generate a second vibration, wherein the touch information includes at least one of the following: touch pressure, touch position, touch operation and touch time of the touch body.

[0041] The present disclosure provides a driving method for a tactile feedback substrate, which is applied to the tactile feedback substrate as described in any embodiment. The driving method includes:

[0042] Acquiring touch information, the touch information including at least one of the following: touch pressure, touch position, touch operation, and touch time of the touch object;

[0043] According to the touch information, a driving signal is output to the first actuator or the second actuator, so that the first actuator drives the touch panel to generate a first vibration, and the second actuator drives the touch panel to generate a second vibration.

[0044] In some embodiments, the touch information includes a touch operation of the touch-sensitive body, the drive signal includes a first drive signal and a second drive signal, and the step of outputting the drive signal to the first actuator or the second actuator based on the touch information includes:

[0045] When the touch operation is sliding along the second direction, outputting the first driving signal to the first actuator so that the first actuator drives the touch panel to generate a first vibration;

[0046] When the touch operation is sliding along the first direction, the second driving signal is output to the second actuator, so that the second actuator drives the touch panel to generate a second vibration.

[0047] In some embodiments, the touch information includes a touch pressure of the touch-sensitive object, the drive signal includes a third drive signal, the plurality of actuators further includes a third actuator, and the third actuator includes at least one of the following: an actuator provided independently of the first actuator and the second actuator, the first actuator, and the second actuator. The driving method further includes:

[0048] determining, based on the touch pressure, whether the touch object has been pressed;

[0049] If the determination result is that the touch object has been pressed, the third driving signal is output to the third actuator, so that the third actuator drives the touch panel to generate a third vibration, and the third vibration is used to form vibration feedback on the touch surface.

[0050] In some embodiments, the third actuator is further configured to generate a voltage signal when the touch object presses the touch panel, and the step of obtaining the touch information includes:

[0051] Acquiring a voltage signal from the third actuator, where the voltage signal is used to represent the magnitude of the touch pressure;

[0052] The step of determining whether the touch object has been pressed according to the touch pressure includes:

[0053] If the voltage signal is greater than or equal to a preset voltage threshold, it is determined that the touch object has been pressed;

[0054] If the touch pressure is less than the voltage threshold, it is determined that there is no pressing operation on the touch object.

[0055] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below.

[0056] BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following is a brief introduction to the drawings required for the description of the embodiments or related technologies. Obviously, the drawings described below are some embodiments of the present disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts. It should be noted that the scales in the drawings are for illustration only and do not represent the actual scale.

[0058] FIG1 exemplarily shows the force applied to the air film between a finger and a touch panel;

[0059] FIG2 exemplarily shows a cross-sectional structural diagram of a tactile feedback substrate;

[0060] FIG3 exemplarily shows a schematic planar structural diagram of a first tactile feedback substrate;

[0061] FIG4 exemplarily shows a schematic planar structural diagram of a second tactile feedback substrate;

[0062] FIG5 exemplarily shows a schematic planar structural diagram of a third tactile feedback substrate;

[0063] FIG6 exemplarily shows a schematic planar structural diagram of a fourth tactile feedback substrate;

[0064] FIG7 exemplarily shows a schematic planar structural diagram of a fifth tactile feedback substrate;

[0065] FIG8 exemplarily shows a schematic planar structural diagram of a sixth tactile feedback substrate;

[0066] FIG9 exemplarily shows a schematic planar structural diagram of a seventh tactile feedback substrate;

[0067] FIG10 exemplarily shows a schematic planar structural diagram of an eighth tactile feedback substrate;

[0068] FIG11 exemplarily shows a schematic diagram of the positions of the first actuator and the second actuator;

[0069] FIG12 exemplarily shows a mode shape simulation diagram of the third vibration;

[0070] FIG13 exemplarily shows a simulation diagram of mode shapes of the first vibration and the second vibration in the first tactile feedback substrate;

[0071] FIG14 exemplarily shows a simulation diagram of mode shapes of the first vibration and the second vibration in the eighth tactile feedback substrate;

[0072] FIG15 exemplarily shows a structural diagram of a tactile feedback device.

[0073] Detailed description

[0074] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0075] In related technologies, actuators can only realize key functions on the surface of the touchpad, and cannot generate texture feedback effects based on friction modulation based on finger sliding. Therefore, how to enrich the tactile feel of the touchpad is a technical problem that needs to be solved urgently.

[0076] Based on Reynolds' lubrication theory, when finger 11 operates on touchpad 12, the vibration of touchpad 12 compresses the air film between finger 11 and touchpad 12, generating an overpressure that causes finger 11 to float, resulting in a smoother touch experience. Figure 1 shows the force applied to the air film between finger 11 and touchpad 12, where Ps is the pressure applied by finger 11, Pr is the support force of touchpad 12, and Pa is the air film pressure.

[0077] The present disclosure provides a tactile feedback substrate, as shown in FIG2 , comprising: a touch panel 21 having a touch surface S0 ; and a plurality of actuators 22 disposed on a side of the touch panel 21 away from the touch surface S0 .

[0078] As shown in any one of FIG. 3 to FIG. 10 , the plurality of actuators 22 include: a plurality of first actuators 31 arranged along a first direction f1 , and a plurality of second actuators 32 arranged along a second direction f2 , where the first direction f1 and the second direction f2 intersect each other.

[0079] The first actuator 31 is used to drive the touch panel 21 to generate a first vibration, and the second actuator 32 is used to drive the touch panel 21 to generate a second vibration. The first vibration and the second vibration are used to form texture feedback in different directions on the touch surface S0.

[0080] Exemplarily, as shown in FIG. 3 to FIG. 10 , the first direction f1 and the second direction f2 are perpendicular to each other.

[0081] When the touch body slides along the second direction f2, a first driving signal can be provided to the first actuator 31. In response to the first driving signal, the first actuator 31 drives the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave (sine wave) propagating along the second direction f2 on the touch surface S0, thereby forming friction force modulation in the second direction f2, that is, forming texture feedback in the second direction f2.

[0082] When the touch body slides along the first direction f1, a second driving signal can be provided to the second actuator 32. In response to the second driving signal, the second actuator 32 drives the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave (sine wave) propagating along the first direction f1 on the touch surface S0, thereby forming friction force modulation in the first direction f1, that is, forming texture feedback in the first direction f1.

[0083] The tactile feedback substrate provided by the present disclosure, by providing a plurality of first actuators 31 arranged along a first direction f1 and a plurality of second actuators 32 arranged along a second direction f2, can achieve friction modulation and texture feedback in the corresponding direction during finger sliding, providing users with a rich and realistic tactile experience.

[0084] In the present disclosure, as shown in Figures 3 to 9 , the arrangement direction of the plurality of first actuators 31 may be parallel to the first direction f1. Alternatively, as shown in Figure 10 , the angle between the arrangement direction of the plurality of first actuators 31 and the first direction f1 is an acute angle or an obtuse angle, that is, the orthographic projection arrangement direction of the plurality of first actuators 31 in the first direction f1 is parallel to the first direction f1, so that the first Lamb wave has a component in the second direction f2.

[0085] As shown in Figures 3 to 9, the arrangement direction of the plurality of second actuators 32 may be parallel to the second direction f2. Alternatively, as shown in Figure 10, the angle between the arrangement direction of the plurality of second actuators 32 and the second direction f2 is an acute angle or an obtuse angle, that is, the orthographic projection arrangement direction of the plurality of second actuators 32 in the second direction f2 is parallel to the second direction f2, so that the second Lamb wave has a component in the first direction f1.

[0086] In a specific implementation, the plurality of first actuators 31 arranged along the first direction f1 can be arranged at intervals. However, if the interval d1 between two adjacent first actuators 31 in the first direction f1 is too large, the first Lamb wave vibration mode is prone to problems such as breakpoints, uneven standing waves, and excessive noise.

[0087] To address these issues, in some embodiments, as shown in any of Figures 3 to 10 , the spacing d1 between two adjacent first actuators 31 in the first direction f1 is less than or equal to a first half-wavelength 1 / 2λ1, which is half the wavelength of the waveform of the first vibration propagating in the second direction f2, i.e., half the wavelength of the first Lamb wave. This embodiment facilitates obtaining a more stable and single first Lamb wave mode shape, and the smaller the spacing d1, the more stable and single the first Lamb wave mode shape.

[0088] For example, as shown in any one of Figures 3 to 10, the distance d1 between two adjacent first actuators 31 in the first direction f1 can be greater than 0 and less than or equal to the first half wavelength 1 / 2λ1. This can ensure that the first Lamb wave vibration mode is stable and single, and avoid problems such as cracks or breakage of the first actuator 31 during the attachment process, especially when the first actuator 31 uses relatively brittle piezoelectric ceramics.

[0089] Exemplarily, the multiple first actuators 31 arranged along the first direction f1 can also be closely arranged into an integrated structure, that is, the distance d1 between two adjacent first actuators 31 in the first direction f1 is equal to 0, which can maximize the stability and unity of the first Lamb wave vibration mode.

[0090] Exemplarily, as shown in any one of FIG. 3 to FIG. 10 , the distance d1 between any two adjacent first actuators 31 in the first direction f1 is the same.

[0091] In a specific implementation, the multiple second actuators 32 arranged along the second direction f2 can be arranged at intervals. To avoid problems such as breakpoints in the second Lamb wave mode, uneven standing waves, and excessive noise, in some embodiments, as shown in any of Figures 3 to 10, the spacing d2 between two adjacent second actuators 32 in the second direction f2 is less than or equal to the second half-wavelength 1 / 2λ2, which is half the wavelength of the waveform of the second vibration propagating along the first direction f1, that is, half the wavelength of the second Lamb wave. This embodiment is conducive to obtaining a more stable and single first Lamb wave mode, and the smaller the spacing d2, the more stable and single the second Lamb wave mode.

[0092] For example, as shown in any one of Figures 3 to 10, the spacing d2 between two adjacent second actuators 32 in the second direction f2 can be greater than 0 and less than or equal to the second half wavelength 1 / 2λ2. This can ensure that the second Lamb wave vibration mode is stable and single, and avoid problems such as cracks or breakage of the second actuator 32 during the attachment process, especially when the second actuator 32 uses relatively brittle piezoelectric ceramics.

[0093] For example, the plurality of second actuators 32 arranged along the second direction f2 may be closely arranged into an integrated structure, that is, the distance d2 between two adjacent second actuators 32 in the second direction f2 is equal to 0, which can maximize the stability and unity of the second Lamb wave vibration mode.

[0094] Exemplarily, as shown in any one of FIG. 3 to FIG. 10 , the distance d2 between any two adjacent second actuators 32 in the second direction f2 is the same.

[0095] In order to prevent the first actuator 31 from hindering the deformation of the touch panel 21, in some embodiments, as shown in any one of Figures 3 to 10, the width w1 of the first actuator 31 in the second direction f2 is greater than or equal to one-quarter of the first half-wavelength 1 / 2λ1, and less than or equal to the first half-wavelength 1 / 2λ1, where the first half-wavelength 1 / 2λ1 is half the wavelength of the waveform of the first vibration propagating along the second direction f2, that is, half the wavelength of the first Lamb wave.

[0096] In this embodiment, by setting 1 / 8λ1≤width w1≤1 / 2λ1, a better texture feedback effect can be obtained.

[0097] In order to prevent the second actuator 32 from hindering the deformation of the touch panel 21, in some embodiments, as shown in any one of Figures 3 to 10, the width w2 of the second actuator 32 in the first direction f1 is greater than or equal to one-quarter of the second half-wavelength 1 / 2λ2, and less than or equal to the second half-wavelength 1 / 2λ2, where the second half-wavelength 1 / 2λ2 is half the wavelength of the waveform of the second vibration propagating along the first direction f1, that is, half the wavelength of the second Lamb wave.

[0098] In this embodiment, by setting 1 / 8λ2≤width w2≤1 / 2λ2, a better texture feedback effect can be obtained.

[0099] It should be noted that in order to achieve an air squeeze film effect between the finger and the touchpad 21 and reproduce texture, the first half-wavelength 1 / 2λ1 and the second half-wavelength 1 / 2λ2 are both less than or equal to the finger width, that is, 1 / 2λ1 ≤ W and 1 / 2λ2 ≤ W. The finger width W is, for example, 10-15 mm.

[0100] When the width of the touch panel 21 along the first direction f1 is a, the wavelength of the second Lamb wave propagating along the first direction f1 is λ2=2a / (n-1), 1 / 2λ2=a / (n-1), where n is a positive integer greater than 1.

[0101] When the width of the touch panel 21 along the second direction f2 is b, the wavelength of the first Lamb wave propagating along the second direction f2 is λ1=2b / (n-1), 1 / 2λ1=b / (n-1), where n is a positive integer greater than 1.

[0102] In some embodiments, as shown in FIG11 , the first actuator 31 is located at the peak P1 or trough T1 of the first vibration, and the second actuator 32 is located at the peak P2 or trough T2 of the second vibration. Because the amplitude at the node N is smaller, while the amplitude at the peak P1 / P1 or trough T1 / T2 is larger, placing the first actuator 31 at the peak P1 or trough T1 of the first Lamb wave and the second actuator 32 at the peak P2 or trough T2 of the second Lamb wave facilitates enhanced vibration amplitude and texture feedback.

[0103] In order to achieve a better texture feedback effect, the vibration amplitude of the first vibration and the second vibration can be greater than or equal to 1 micron. The frequency of the first vibration and the second vibration can be greater than or equal to 20 kHz.

[0104] In some embodiments, as shown in any one of Figures 3 to 10 , the plurality of actuators 22 further include a plurality of third actuators 33. The third actuators 33 are configured to drive the touch panel 21 to generate a third vibration to provide vibration feedback on the touch surface S0. The frequency of the third vibration is lower than the frequencies of the first and second vibrations.

[0105] In a specific implementation, the third actuator 33 may include at least one of the following: the actuator 22 provided independently of the first actuator 31 and the second actuator 32, the first actuator 31, and the second actuator 32. In other words, the third actuator 33 may be provided independently of the first actuator 31 and the second actuator 32, and may also be time-shared multiplexed with the first actuator 31 and the second actuator 32.

[0106] When the touch object presses the touch panel 21, a third drive signal can be provided to the third actuator 33. In response to the third drive signal, the third actuator 33 drives the touch panel 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface S0 on the touch surface S0. A simulation diagram of the mode shape of the third vibration is shown in FIG12.

[0107] By setting the third actuator 33, a richer tactile feedback effect can be achieved on the touch surface S0 of the touch panel 21, which can not only realize the modulation of friction force during the finger sliding process, but also realize vibration feedback in the vertical direction, further enriching the user's tactile experience.

[0108] Illustratively, the frequency of the third vibration may be less than or equal to 500 Hz, such as 200 Hz.

[0109] In order to improve the uniformity of the vibration tactile feedback, the orthographic projections of the plurality of third actuators 33 on the touch surface S0 are evenly arranged within the range of the touch surface S0.

[0110] In some embodiments, as shown in any one of FIG. 3 to FIG. 10 , the plurality of third actuators 33 are symmetrically arranged, and the distance d3 between any two adjacent third actuators 33 is equal.

[0111] Among them, the distance d3 between two adjacent third actuators 33 includes: the distance between two adjacent third actuators 33 in the first direction f1, the distance between two adjacent third actuators 33 in the second direction f2, and the distance between two adjacent third actuators 33 in the third direction f3, and the third direction f3 is different from the first direction f1 and the second direction f2.

[0112] Exemplarily, as shown in any one of Figures 3 to 10, the distance d1 between two adjacent first actuators 31 in the first direction f1 and the distance d2 between two adjacent second actuators 32 in the second direction f2 are less than or equal to the distance d3 between two adjacent third actuators 33.

[0113] For example, the third actuator 33 can also be used for touch pressure detection. When a touch-sensitive object presses the touchpad 21, the third actuator 33 generates a voltage signal based on the positive piezoelectric effect. By comparing this voltage signal with a preset voltage threshold, it can be determined whether the touch-sensitive object has pressed the touchpad 21. If the touch-sensitive object is determined to have pressed the touchpad 21, a third drive signal is output to the third actuator 33, causing the third actuator 33 to drive the touchpad 21 to generate a third vibration.

[0114] In some embodiments, as shown in any one of FIG. 3 to FIG. 8 , the touch surface S0 includes a first side b1 and a second side b2 adjacent to each other, the plurality of first actuators 31 are disposed near the first side b1 , and the plurality of second actuators 32 are disposed near the second side b2 .

[0115] In some embodiments, as shown in any one of FIG. 5 to FIG. 8 , a plurality of first actuators 31 are disposed near a first side b1 .

[0116] In some embodiments, as shown in FIG3 or FIG4 , a plurality of first actuators 31 are disposed near two first sides b1, with the two first sides b1 being disposed opposite each other. Thus, by providing two rows of first actuators 31, the vibrations generated by the two rows of first actuators 31 are superimposed on each other, thereby enhancing the texture feedback effect generated by the first vibrations.

[0117] In some embodiments, as shown in any one of FIG. 5 to FIG. 8 , a plurality of second actuators 32 are disposed near a second side b2 .

[0118] In some embodiments, as shown in FIG3 or FIG4 , multiple second actuators 32 are disposed near two second sides b2, with the two second sides b2 being disposed opposite each other. Thus, by providing two rows of second actuators 32, the vibrations generated by the two rows of second actuators 32 are superimposed on each other, thereby enhancing the texture feedback effect generated by the second vibrations.

[0119] In some embodiments, as shown in any one of FIG. 3 to FIG. 8 , the first side b1 is parallel to the first direction f1 , and the second side b2 is parallel to the second direction f2 .

[0120] In FIG. 3 to FIG. 8 , the touch surface S0 is a polygon, and the first side b1 and the second side b2 are two adjacent sides of the polygon.

[0121] Exemplarily, as shown in any one of FIG. 3 to FIG. 8 , the length of the first side b1 is greater than the length of the second side b2 .

[0122] In some embodiments, as shown in any one of FIG. 3 to FIG. 8 , the plurality of third actuators 33 are arranged along a first symmetry axis A1 and disposed close to the geometric center C of the touch surface S0 . The first symmetry axis A1 is the symmetry axis of the touch surface S0 along the first direction f1 .

[0123] When the length of the first side b1 is greater than the length of the second side b2 , the provision of a plurality of third actuators 33 arranged along the first symmetry axis A1 is beneficial for improving the uniformity of the vibration tactile sensation.

[0124] 4 , the plurality of third actuators 33 arranged along the first symmetry axis A1 are symmetrically disposed on both sides of the geometric center C. In FIG4 , two third actuators 33 are arranged along the first symmetry axis A1 and symmetrically disposed on both sides of the geometric center C.

[0125] For example, as shown in FIG3 or any one of FIG5 to FIG8 , among the plurality of third actuators 33 arranged along the first symmetry axis A1, one is disposed at the geometric center C, and the remaining ones are symmetrically disposed on both sides of the geometric center C. In FIG3 and FIG5 to FIG8 , three third actuators 33 are arranged along the first symmetry axis A1, one of which is located at the geometric center C, and the remaining two are symmetrically disposed on both sides of the geometric center C.

[0126] As shown in any one of FIG. 5 to FIG. 8 , when multiple first actuators 31 are disposed near a first side b1 , the touch surface S0 further includes a third side b3 disposed opposite the first side b1 , and the third actuator 33 is disposed near a midpoint C2 of the third side b3 .

[0127] Exemplarily, as shown in any one of Figures 5 to 8, when multiple first actuators 31 are arranged near a first side b1, and multiple second actuators 32 are arranged near a second side b2, the touch surface S0 also includes a third side b3 arranged opposite to the first side b1, and a fourth side b4 arranged opposite to the second side b2, and the third actuator 33 is arranged near the connecting vertex of the third side b3 and the fourth side b4.

[0128] Exemplarily, as shown in any one of FIG. 3 to FIG. 8 , the touch surface S0 is a polygon (such as a quadrilateral), and the first actuator 31 or the second actuator 32 disposed near an inner corner of the polygon is time-multiplexed as the third actuator 33 .

[0129] Exemplarily, as shown in any one of FIG. 3 to FIG. 8 , the first actuator 31 disposed near the midpoint C1 of the first side b1 is time-multiplexed into the third actuator 33 .

[0130] In some embodiments, as shown in FIG9 , the touch surface S0 has a first symmetry axis A1 extending along a first direction f1 and a second symmetry axis A2 extending along a second direction f2, and a plurality of first actuators 31 are sequentially arranged on the first symmetry axis A1, and a plurality of second actuators 32 are sequentially arranged on the second symmetry axis A2.

[0131] As shown in FIG. 9 , the plurality of first actuators 31 and the plurality of second actuators 32 are arranged in a cross shape.

[0132] In some embodiments, as shown in Figure 9 , the touch surface S0 is a polygon, and the third actuator 33 is disposed near the inner corners of the polygon. In Figure 9 , the touch surface S0 is a quadrilateral, and the third actuator 33 is disposed near the four inner corners of the quadrilateral.

[0133] In order to improve the vibration amplitude and vibration uniformity, exemplarily, as shown in Figure 9, the actuator 22 set near the geometric center C of the touch surface S0 is time-shared multiplexed into the first actuator 31, the second actuator 32 and the third actuator 33, that is, the first actuator 31 or the second actuator 32 set near the geometric center C is time-shared multiplexed into the third actuator 33.

[0134] In some embodiments, as shown in FIG. 10 , a plurality of first actuators 31 are sequentially staggered in the second direction f2 , and a plurality of second actuators 32 are sequentially staggered in the first direction f1 .

[0135] Exemplarily, any two adjacent first actuators 31 are offset by the same distance in the second direction f2 , and any two adjacent second actuators 32 are offset by the same distance in the first direction f1 .

[0136] In some embodiments, as shown in FIG10 , the touch surface S0 includes a first diagonal line L1 and a second diagonal line L2 that intersect each other, a plurality of first actuators 31 are sequentially arranged on the first diagonal line L1 , and a plurality of second actuators 32 are sequentially arranged on the second diagonal line L2 .

[0137] As shown in FIG. 10 , a plurality of first actuators 31 are arranged in an “X” shape.

[0138] In this embodiment, since the first vibration generated by the multiple first actuators 31 arranged along the first diagonal line L1 has Lamb wave components in the first direction f1 and the second direction f2, and the second vibration generated by the multiple second actuators 32 arranged along the second diagonal line L2 has Lamb wave components in the first direction f1 and the second direction f2, the first actuator 31 and the second actuator 32 can be time-shared multiplexed.

[0139] When the touch body slides along the second direction f2, a first driving signal can be provided to the first actuator 31, or a first driving signal can be provided to the first actuator 31 and the second actuator 32 at the same time. The latter can increase the friction force modulation intensity along the second direction f2 and enhance the texture feedback effect.

[0140] When the touch body slides along the first direction f1, a second driving signal can be provided to the second actuator 32, or a second driving signal can be provided to the first actuator 31 and the second actuator 32 at the same time. The latter can increase the friction force modulation intensity along the first direction f1 and enhance the texture feedback effect.

[0141] In order to achieve vibration feedback, exemplarily, as shown in Figure 10, the actuator 22 set near the geometric center C of the touch surface S0 is time-multiplexed into the first actuator 31, the second actuator 32 and the third actuator 33, that is, the first actuator 31 or the second actuator 32 set near the geometric center C is time-multiplexed into the third actuator 33.

[0142] To achieve vibration feedback, illustratively, as shown in FIG10 , the touch surface S0 is a polygon, and the actuators 22 disposed near the inner corners of the polygon are time-multiplexed into at least two of the following: a first actuator 31 , a second actuator 32 , and a third actuator 33 .

[0143] As shown in FIG10 , the touch surface S0 is a quadrilateral. The actuators 22 located on the first diagonal line L1 and near the inner corners of the quadrilateral are time-multiplexed into the first actuator 31 and the third actuator 33, or the first actuator 31, the second actuator 32, and the third actuator 33. The actuators 22 located on the second diagonal line L2 and near the inner corners of the quadrilateral are time-multiplexed into the second actuator 32 and the third actuator 33, or the first actuator 31, the second actuator 32, and the third actuator 33.

[0144] In some embodiments, as shown in FIG. 3 , FIG. 4 , FIG. 9 or FIG. 10 , the plurality of actuators 22 are axially symmetrically arranged, and the axis of symmetry is the axis of symmetry of the touch surface S0 , such as the first axis of symmetry A1 and the second axis of symmetry A2 .

[0145] In some embodiments, as shown in FIG. 3 , FIG. 4 , FIG. 9 or FIG. 10 , the plurality of actuators 22 are centrally symmetrically arranged, and the center of symmetry is the geometric center C of the touch surface S0 .

[0146] 5 to 8 , the plurality of first actuators 31 and the plurality of second actuators 32 have different symmetry axes. For example, the plurality of first actuators 31 are symmetric about the second symmetry axis A2, and the plurality of second actuators 32 are symmetric about the first symmetry axis A1.

[0147] For example, the actuator 22 drives the touch panel 21 to vibrate by utilizing the inverse piezoelectric effect of the piezoelectric material. The inverse piezoelectric effect is the inverse effect of the direct piezoelectric effect, which is the elastic deformation of the dielectric under the drive of an electrical signal.

[0148] In some embodiments, the actuator 22 includes at least one of: a PZT piezoelectric film, a monolithic piezoelectric ceramic, a stacked piezoelectric ceramic, a cymbal piezoelectric ceramic, a monolithic polyvinylidene fluoride film, a stacked polyvinylidene fluoride film, a cymbal polyvinylidene fluoride film, and a linear motor.

[0149] In some embodiments, the plurality of actuators 22 have the same structure and size. Of course, the plurality of actuators 22 may also have different structures or sizes, which is not limited in the present disclosure.

[0150] In some embodiments, the orthographic projection shape of the actuator 22 on the touch surface S0 includes at least one of the following: a circle, a square (as shown in FIG. 3 to FIG. 10 ), a rectangle, and other polygons.

[0151] In some embodiments, as shown in FIG. 2 , the tactile feedback substrate further includes a base substrate 23 , and a plurality of actuators 22 are located between the base substrate 23 and the touch panel 21 .

[0152] Exemplarily, the thickness of the base substrate 23 is less than or equal to 1.5 mm.

[0153] Exemplarily, the base substrate 23 is a rectangle, and the aspect ratio of the rectangle is greater than or equal to 1.3.

[0154] The driving process of the touch substrate provided by the present disclosure is described below with reference to several specific examples.

[0155] In the first through seventh examples, as shown in Figures 3 through 9 , the touchpad 21 is rectangular, with a dimension of 120 mm along the first direction f1, a dimension of 60 mm along the second direction f2, and a thickness of 0.5 mm. The actuators 22 each have a dimension of 5 mm in both the first and second directions f1 and f2. The first actuators 31 are spaced 7.8 mm apart along the first direction f1, and the second actuators 32 are spaced 6.8 mm apart along the second direction f2.

[0156] In the first example, as shown in FIG3 , a plurality of first actuators 31 are disposed near two opposing first sides b1, and a plurality of second actuators 32 are disposed near two opposing second sides b2. The plurality of actuators 22 further includes three third actuators 33 arranged along the first axis of symmetry A1, one of which is located at the geometric center C, and the remaining two are symmetrically disposed on either side of the geometric center C.

[0157] When the touch body slides along the second direction f2, a first drive signal can be provided to multiple first actuators 31 (including actuators 22 near the four inner corners) arranged near the two first side edges b1, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction f2 on the touch surface S0. Referring to the lower figure in FIG13 , a vibration mode simulation diagram of the first Lamb wave is shown. The frequency of the first drive signal and the first vibration is, for example, 25.51 kHz. Since the spacing d1 of the first actuators 31 is ≤ 1 / 2λ1, and 1 / 2λ1 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby forming friction force modulation in the second direction f2, so that the finger can feel the tactile feedback effect of the friction texture during the sliding process along the second direction f2.

[0158] When the touch body slides along the first direction f1, a second drive signal can be provided to multiple second actuators 32 (including actuators 22 near the four inner corners) arranged near the two second side edges b2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction f1 on the touch surface S0. Referring to the upper figure in Figure 13, a vibration mode simulation diagram of the second Lamb wave is shown. The frequency of the second drive signal and the second vibration is, for example, 20.2kHz. Since the spacing d2 of the second actuators 32 is ≤ 1 / 2λ2, and 1 / 2λ2 is ≤ 10-15mm, an air extrusion die effect can be achieved, thereby forming friction force modulation in the first direction f1, so that the finger can feel the tactile feedback effect of the friction texture during the sliding process along the first direction f1.

[0159] When the touch object presses the touch pad 21, a third drive signal can be simultaneously provided to the three third actuators 33 located on the first symmetry axis A1 and close to the geometric center C of the touch surface S0, the four actuators 22 arranged near the inner corners of the quadrilateral, and the two actuators 22 arranged near the midpoint C1 of the two first side edges b1, so that the third actuators 33 drive the touch pad 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface S0 on the touch surface S0.

[0160] In a second example, as shown in FIG4 , a plurality of first actuators 31 are disposed near two opposing first sides b1, and a plurality of second actuators 32 are disposed near two opposing second sides b2. The plurality of actuators 22 further includes two third actuators 33 arranged along the first axis of symmetry A1, and the two third actuators 33 are symmetrically disposed on either side of the geometric center C.

[0161] When the touch object slides along the second direction f2, a first drive signal can be provided to the multiple first actuators 31 (including the actuators 22 near the four inner corners) located near the two first side edges b1, causing the first actuators 31 to drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave on the touch surface S0 that propagates along the second direction f2. The frequencies of the first drive signal and the first vibration are both greater than 20 kHz. Because the spacing d1 of the first actuators 31 is ≤ 1 / 2λ1, and 1 / 2λ1 is ≤ 10-15 mm, an air squeeze die effect can be achieved, thereby generating friction force modulation in the second direction f2, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the second direction f2.

[0162] When the touch object slides along the first direction f1, a second drive signal can be provided to the multiple second actuators 32 (including the actuators 22 near the four inner corners) located near the two second side edges b2, causing the second actuators 32 to drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave on the touch surface S0 that propagates along the first direction f1. The frequencies of the second drive signal and the second vibration are both greater than 20 kHz. Because the spacing d2 of the second actuators 32 is ≤ 1 / 2λ2, and 1 / 2λ2 is ≤ 10-15 mm, an air squeeze die effect can be achieved, thereby generating friction force modulation in the first direction f1, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the first direction f1.

[0163] When the touch object presses the touch pad 21, a third drive signal can be simultaneously provided to the two third actuators 33 located on the first symmetry axis A1 and close to the geometric center C of the touch surface S0, the four actuators 22 arranged near the inner corners of the quadrilateral, and the two actuators 22 arranged near the midpoint C1 of the two first side edges b1, so that the third actuators 33 drive the touch pad 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface S0 on the touch surface S0.

[0164] In a third example, as shown in FIG5 , multiple first actuators 31 are disposed near a first side b1 (the lower side), and multiple second actuators 32 are disposed near a second side b2 (the right side). The multiple actuators 22 further include three third actuators 33 arranged along the first axis of symmetry A1, one of which is located at the geometric center C, and the remaining two are symmetrically disposed on either side of the geometric center C. The multiple actuators 22 further include a third actuator 33 disposed near the midpoint C2 of the third side b3 (i.e., the upper side), and a third actuator 33 disposed near the vertex (i.e., the upper left corner) connecting the third side b3 and the fourth side b4 (i.e., the left side).

[0165] When the touch object slides along the second direction f2, a first drive signal can be provided to multiple first actuators 31 (including actuators 22 near the lower left and lower right corners) located near one first side b1, causing the first actuators 31 to drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave on the touch surface S0 that propagates along the second direction f2. The frequencies of the first drive signal and the first vibration are both greater than 20 kHz. Because the spacing d1 of the first actuators 31 is ≤ 1 / 2λ1, and 1 / 2λ1 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the second direction f2, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the second direction f2.

[0166] When the touch body slides along the first direction f1, a second drive signal can be provided to multiple second actuators 32 (including actuators 22 near the upper right and lower right corners) located near a second side b2, causing the second actuators 32 to drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave on the touch surface S0 that propagates along the first direction f1. The frequencies of the second drive signal and the second vibration are both greater than 20 kHz. Because the spacing d2 of the second actuators 32 is ≤ 1 / 2λ2, and 1 / 2λ2 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the first direction f1, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the first direction f1.

[0167] When the touch object presses the touch pad 21, a third drive signal can be simultaneously provided to three third actuators 33 located on the first symmetry axis A1 and close to the geometric center C of the touch surface S0, one third actuator 33 arranged close to the midpoint C2 of the third side b3, four actuators 22 arranged close to the inner corners of the quadrilateral, and one actuator 22 arranged close to the midpoint C1 of the first side b1, so that the third actuator 33 drives the touch pad 21 to generate a third vibration, thereby forming vibration feedback perpendicular to the touch surface S0 on the touch surface S0.

[0168] In a fourth example, as shown in FIG6 , a plurality of first actuators 31 are disposed near a first side b1 (the upper side), and a plurality of second actuators 32 are disposed near a second side b2 (the left side). The plurality of actuators 22 further include three third actuators 33 arranged along the first axis of symmetry A1, one of which is located at the geometric center C, and the remaining two are symmetrically disposed on either side of the geometric center C. The plurality of actuators 22 further include a third actuator 33 disposed near the midpoint C2 of the third side b3 (i.e., the lower side), and a third actuator 33 disposed near the connecting vertex (i.e., the lower right corner) of the third side b3 and the fourth side b4 (i.e., the right side).

[0169] When the touch object slides along the second direction f2, a first drive signal can be provided to multiple first actuators 31 (including actuators 22 near the upper left and upper right corners) located near one first side b1, causing the first actuators 31 to drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave on the touch surface S0 that propagates along the second direction f2. The frequencies of the first drive signal and the first vibration are both greater than 20 kHz. Because the spacing d1 of the first actuators 31 is ≤ 1 / 2λ1, and 1 / 2λ1 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the second direction f2, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the second direction f2.

[0170] When the touch body slides along the first direction f1, a second drive signal can be provided to multiple second actuators 32 (including actuators 22 near the upper left and lower left corners) located near a second side edge b2, causing the second actuators 32 to drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave on the touch surface S0 that propagates along the first direction f1. The frequencies of the second drive signal and the second vibration are both greater than 20 kHz. Because the spacing d2 between the second actuators 32 is ≤ 1 / 2λ2, and 1 / 2λ2 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the first direction f1, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the first direction f1.

[0171] When the touch object presses the touch pad 21, a third drive signal can be simultaneously provided to three third actuators 33 located on the first symmetry axis A1 and close to the geometric center C of the touch surface S0, one third actuator 33 arranged close to the midpoint C2 of the third side b3, four actuators 22 arranged close to the inner corners of the quadrilateral, and one actuator 22 arranged close to the midpoint C1 of the first side b1, so that the third actuator 33 drives the touch pad 21 to generate a third vibration, thereby forming vibration feedback perpendicular to the touch surface S0 on the touch surface S0.

[0172] In a fifth example, as shown in FIG7 , a plurality of first actuators 31 are disposed near a first side b1 (the upper side), and a plurality of second actuators 32 are disposed near a second side b2 (the right side). The plurality of actuators 22 further include three third actuators 33 arranged along the first axis of symmetry A1, one of which is located at the geometric center C, and the remaining two are symmetrically disposed on either side of the geometric center C. The plurality of actuators 22 further include a third actuator 33 disposed near the midpoint C2 of the third side b3 (i.e., the lower side), and a third actuator 33 disposed near the connecting vertex (i.e., the lower left corner) of the third side b3 and the fourth side b4 (i.e., the left side).

[0173] When the touch object slides along the second direction f2, a first drive signal can be provided to multiple first actuators 31 (including actuators 22 near the upper left and upper right corners) located near one first side b1, causing the first actuators 31 to drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave on the touch surface S0 that propagates along the second direction f2. The frequencies of the first drive signal and the first vibration are both greater than 20 kHz. Because the spacing d1 of the first actuators 31 is ≤ 1 / 2λ1, and 1 / 2λ1 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the second direction f2, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the second direction f2.

[0174] When the touch body slides along the first direction f1, a second drive signal can be provided to multiple second actuators 32 (including actuators 22 near the upper right and lower right corners) located near a second side b2, causing the second actuators 32 to drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave on the touch surface S0 that propagates along the first direction f1. The frequencies of the second drive signal and the second vibration are both greater than 20 kHz. Because the spacing d2 of the second actuators 32 is ≤ 1 / 2λ2, and 1 / 2λ2 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the first direction f1, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the first direction f1.

[0175] When the touch object presses the touch pad 21, a third drive signal can be simultaneously provided to three third actuators 33 located on the first symmetry axis A1 and close to the geometric center C of the touch surface S0, one third actuator 33 arranged close to the midpoint C2 of the third side b3, four actuators 22 arranged close to the inner corners of the quadrilateral, and one actuator 22 arranged close to the midpoint C1 of the first side b1, so that the third actuator 33 drives the touch pad 21 to generate a third vibration, thereby forming vibration feedback perpendicular to the touch surface S0 on the touch surface S0.

[0176] In a sixth example, as shown in FIG8 , a plurality of first actuators 31 are disposed near a first side b1 (the lower side), and a plurality of second actuators 32 are disposed near a second side b2 (the left side). The plurality of actuators 22 further include three third actuators 33 arranged along the first axis of symmetry A1, one of which is located at the geometric center C, and the remaining two are symmetrically disposed on either side of the geometric center C. The plurality of actuators 22 further include a third actuator 33 disposed near the midpoint C2 of the third side b3 (i.e., the upper side), and a third actuator 33 disposed near the connecting vertex (i.e., the upper right corner) of the third side b3 and the fourth side b4 (i.e., the right side).

[0177] When the touch object slides along the second direction f2, a first drive signal can be provided to multiple first actuators 31 (including actuators 22 near the lower left and lower right corners) located near one first side b1, causing the first actuators 31 to drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave on the touch surface S0 that propagates along the second direction f2. The frequencies of the first drive signal and the first vibration are both greater than 20 kHz. Because the spacing d1 of the first actuators 31 is ≤ 1 / 2λ1, and 1 / 2λ1 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the second direction f2, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the second direction f2.

[0178] When the touch body slides along the first direction f1, a second drive signal can be provided to multiple second actuators 32 (including actuators 22 near the upper left and lower left corners) located near a second side edge b2, causing the second actuators 32 to drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave on the touch surface S0 that propagates along the first direction f1. The frequencies of the second drive signal and the second vibration are both greater than 20 kHz. Because the spacing d2 between the second actuators 32 is ≤ 1 / 2λ2, and 1 / 2λ2 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the first direction f1, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the first direction f1.

[0179] When the touch object presses the touch pad 21, a third drive signal can be simultaneously provided to three third actuators 33 located on the first symmetry axis A1 and close to the geometric center C of the touch surface S0, one third actuator 33 arranged close to the midpoint C2 of the third side b3, four actuators 22 arranged close to the inner corners of the quadrilateral, and one actuator 22 arranged close to the midpoint C1 of the first side b1, so that the third actuator 33 drives the touch pad 21 to generate a third vibration, thereby forming vibration feedback perpendicular to the touch surface S0 on the touch surface S0.

[0180] In the seventh example, as shown in FIG9 , multiple first actuators 31 are arranged in sequence along the first symmetry axis A1, multiple second actuators 32 are arranged in sequence along the second symmetry axis A2, and the multiple actuators 22 further include four third actuators 33 arranged near the four inner corners of the quadrilateral.

[0181] When the touch object slides along the second direction f2, a first drive signal can be provided to multiple first actuators 31 (including the actuator 22 located at the geometric center C) located along the first symmetric axis A1, causing the first actuators 31 to drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave on the touch surface S0 that propagates along the second direction f2. The frequencies of the first drive signal and the first vibration are both greater than 20 kHz. Because the spacing d1 of the first actuators 31 is ≤ 1 / 2λ1, and 1 / 2λ1 is ≤ 10-15 mm, an air squeeze die effect can be achieved, thereby generating friction force modulation in the second direction f2, allowing the finger to experience tactile feedback of a friction texture as it slides along the second direction f2.

[0182] When the touch object slides along the first direction f1, a second drive signal can be provided to multiple second actuators 32 (including the actuator 22 located at the geometric center C) located along the second axis of symmetry A2, causing the second actuators 32 to drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave on the touch surface S0 that propagates along the first direction f1. The frequencies of the second drive signal and the second vibration are both greater than 20 kHz. Because the spacing d2 between the second actuators 32 is ≤ 1 / 2λ2, and 1 / 2λ2 is ≤ 10-15 mm, an air squeeze die effect can be achieved, thereby generating friction force modulation in the first direction f1, allowing the finger to experience tactile feedback of a friction texture as it slides along the first direction f1.

[0183] When the touch body presses the touch pad 21, a third driving signal can be simultaneously provided to the four actuators 22 arranged near the inner corners of the quadrilateral and the one actuator 22 arranged near the geometric center C of the touch surface S0, so that the third actuator 33 drives the touch pad 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface S0 on the touch surface S0.

[0184] In the eighth example, as shown in Figure 10 , the touchpad 21 is rectangular, measuring 120 mm in the first direction f1, 60 mm in the second direction f2, and 0.5 mm thick. The actuators 22 each measure 5 mm in both the first and second directions f1 and f2. The first actuators 31 are spaced 7.3 mm apart in the first direction f1, and the second actuators 32 are spaced 6.1 mm apart in the second direction f2. Multiple first actuators 31 are arranged along a first diagonal line L1, and multiple second actuators 32 are arranged along a second diagonal line L2.

[0185] When the touch body slides along the second direction f2, a first drive signal can be provided to multiple first actuators 31 located on the first diagonal line L1 (including the actuator 22 located at the geometric center C), so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction f2 on the touch surface S0. The lower figure in FIG14 shows a simulation diagram of the vibration mode of the first Lamb wave. The frequencies of the first drive signal and the first vibration are both greater than 20 kHz. Because the spacing d1 of the first actuators 31 is ≤ 1 / 2λ1, and 1 / 2λ1 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby generating friction force modulation in the second direction f2, allowing the finger to feel the tactile feedback effect of the friction texture as it slides along the second direction f2.

[0186] When the touch body slides along the first direction f1, a second drive signal can be provided to multiple second actuators 32 (including the actuator 22 located at the geometric center C) located on the second symmetric axis A2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction f1 on the touch surface S0. Referring to the upper figure in FIG14 , a vibration mode simulation diagram of the second Lamb wave is shown. The frequencies of the second drive signal and the second vibration are both greater than 20 kHz. Since the spacing d2 of the second actuators 32 is ≤ 1 / 2λ2, and 1 / 2λ2 is ≤ 10-15 mm, an air extrusion die effect can be achieved, thereby forming friction force modulation in the first direction f1, so that the finger can feel the tactile feedback effect of the friction texture during the sliding process along the first direction f1.

[0187] When the touch body presses the touch pad 21, a third driving signal can be provided to the four actuators 22 arranged near the inner corners of the quadrilateral and the one actuator 22 arranged near the geometric center C of the touch surface S0, so that the third actuator 33 drives the touch pad 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface S0 on the touch surface S0.

[0188] The present disclosure also provides a tactile feedback device. Referring to FIG. 15 , the tactile feedback device includes: a tactile feedback substrate 151 as provided in any embodiment; and a driving assembly 152, connected to a first actuator 31 and a second actuator 32, respectively. The driving assembly 152 is configured to output a driving signal to the first actuator 31 or the second actuator 32 based on touch information from a touch-sensitive object on a touch panel 21, so that the first actuator 31 drives the touch panel 21 to generate a first vibration, and the second actuator 32 drives the touch panel 21 to generate a second vibration. The touch information includes at least one of the following: touch pressure, touch position, touch operation, and touch duration of the touch-sensitive object.

[0189] Those skilled in the art will appreciate that the tactile feedback device provided by the present disclosure has the advantages of the above-mentioned tactile feedback substrate. The tactile feedback device provided by the present disclosure can be integrated into products such as car displays, notebooks, and monitors to provide users with a rich and realistic tactile experience.

[0190] The touch operation may be, for example, an operation gesture of a finger, such as clicking, sliding, and sliding traces.

[0191] In some embodiments, the connections between the plurality of actuators 22 and the driving assembly 152 are in parallel, so that the driving assembly 152 can independently drive each actuator 22 .

[0192] In some embodiments, the tactile feedback device may further include a display panel. The driving component may also be connected to the display panel and configured to drive the touch display panel 11 to display an interactive screen.

[0193] In some embodiments, the tactile feedback device may further include a touch circuit. The touch circuit may be integrated within the display panel or may be provided independently of the display panel. The touch circuit may be a capacitive touch circuit or a resistive touch circuit.

[0194] Exemplarily, the driving component 152 and the touch control circuit may be disposed between the plurality of actuators 22 and the base substrate 23 .

[0195] For a capacitive touch circuit, when a touch object such as a user's finger operates on the touch pad 21, the touch capacitance of the touch circuit at the touch position will change. The touch traces in the touch circuit can send the touch capacitance at each position to the driving component 152, and the driving component 152 can determine touch information such as the touch position based on the touch capacitance.

[0196] Exemplarily, the driving component 152 may include at least one of the following: a microcontroller unit (MCU), and an FPGA (Field Programmable Gate Array), etc., which is not limited in this embodiment.

[0197] Exemplarily, when the tactile feedback device is applied to a terminal, the driving component 152 may be a processor in the terminal.

[0198] The present disclosure further provides a driving method for a tactile feedback substrate, which is applied to the tactile feedback substrate provided in any of the above embodiments (as shown in any of FIG. 3 to FIG. 10 ), and the driving method includes:

[0199] Step S01: Acquire touch information, where the touch information includes at least one of the following: touch pressure, touch position, touch operation, and touch time of a touch object.

[0200] Step S02 : outputting a driving signal to the first actuator 31 or the second actuator 32 according to the touch information, so that the first actuator 31 drives the touch panel 21 to generate a first vibration, and the second actuator 32 drives the touch panel 21 to generate a second vibration.

[0201] In some embodiments, the touch information includes a touch operation of a touch object, and the drive signal includes a first drive signal and a second drive signal. Step S02 may specifically include:

[0202] Step S11 : when the touch operation is sliding along the second direction f2 , outputting a first driving signal to the first actuator 31 , so that the first actuator 31 drives the touch panel 21 to generate a first vibration.

[0203] Step S12 : When the touch operation is sliding along the first direction f1 , output a second driving signal to the second actuator 32 , so that the second actuator 32 drives the touch panel 21 to generate a second vibration.

[0204] In some embodiments, the touch information includes touch pressure of the touch object, the driving signal includes a third driving signal, the plurality of actuators 22 further includes a third actuator 33, and the third actuator 33 includes at least one of the following: an actuator 22 provided independently of the first actuator 31 and the second actuator 32, the first actuator 31, and the second actuator 32. The driving method further includes:

[0205] Step S21: determining whether the touch object has been pressed according to the touch pressure.

[0206] Step S22 : If the determination result is that the touch object has been pressed, a third driving signal is output to the third actuator 33 , so that the third actuator 33 drives the touch panel 21 to generate a third vibration. The third vibration is used to form a vibration feedback on the touch surface S0 .

[0207] In some embodiments, the third actuator 33 is further configured to generate a voltage signal when the touch object presses the touch panel 21 . Step S01 may specifically include:

[0208] Step S31: obtaining a voltage signal of the third actuator 33 , where the voltage signal is used to represent the magnitude of the touch pressure.

[0209] Furthermore, step S21 may specifically include:

[0210] Step S32: If the voltage signal is greater than or equal to a preset voltage threshold, it is determined that the touch object has been pressed.

[0211] Step S33: If the touch pressure is less than the voltage threshold, it is determined that there is no pressing operation on the touch object.

[0212] In the present disclosure, “a plurality of” means two or more, and “at least one” means one or more, unless otherwise clearly defined.

[0213] In the present disclosure, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on the present disclosure.

[0214] In this disclosure, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, product, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, commodity, or apparatus that includes the element.

[0215] References in this disclosure to "one embodiment," "some embodiments," "exemplary embodiments," "one or more embodiments," "an example," "an example," "some examples," and the like are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of the disclosure. Schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be included in any one or more embodiments or examples in any suitable manner.

[0216] In this disclosure, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0217] When describing some embodiments, the expressions "coupled" and "connected" may be used. For example, when describing some embodiments, the term "connected" may be used to indicate that two or more components are in direct physical or electrical contact with each other. For another example, when describing some embodiments, the term "coupled" may be used to indicate that two or more components are in direct physical or electrical contact. However, the term "coupled" or "communicatively coupled" may also refer to two or more components that are not in direct contact with each other, but still cooperate or interact with each other. The embodiments disclosed herein are not necessarily limited to the contents of this disclosure.

[0218] “At least one of A, B and C” has the same meaning as “at least one of A, B or C” and both include the following combinations of A, B and C: A only, B only, C only, the combination of A and B, the combination of A and C, the combination of B and C, and the combination of A, B and C.

[0219] “A and / or B” includes the following three combinations: A only, B only, and a combination of A and B.

[0220] As used in this disclosure, the term "if" is optionally interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined that" or "if [stated condition or event] is detected" are optionally interpreted to mean "upon determining" or "in response to determining" or "upon detecting [stated condition or event]" or "in response to detecting [stated condition or event]," depending on the context.

[0221] The use of "for" or "configured to" in this disclosure is intended to be open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps.

[0222] The use of "based on" or "according to" in this disclosure is intended to be open and inclusive. A process, step, calculation, or other action based on one or more stated conditions or values ​​may, in practice, be based on other conditions or values ​​beyond the stated values. A process, step, calculation, or other action based on one or more stated conditions or values ​​may, in practice, be based on other conditions or values ​​beyond the stated values.

[0223] As used in this disclosure, "about," "substantially," or "approximately" includes the stated value and an average value that is within an acceptable range of deviation from the particular value as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0224] As used in this disclosure, "parallel", "perpendicular", "equal", and "flush" include the situations described and situations similar to the situations described, and the range of the similar situations is within an acceptable deviation range, wherein the acceptable deviation range is as determined by a person of ordinary skill in the art taking into account the measurement in question and the errors associated with the measurement of the specific quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, wherein the acceptable deviation range of approximate parallelism can be, for example, a deviation within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, wherein the acceptable deviation range of approximate perpendicularity can also be, for example, a deviation within 5°. "Equal" includes absolute equality and approximate equality, wherein the acceptable deviation range of approximate equality can be, for example, the difference between the two being equal is less than or equal to 5% of either one. "Flush" includes absolute flushness and approximate flushness, wherein the acceptable deviation range of approximate flushness can be, for example, the distance between the two being flush is less than or equal to 5% of either one's size.

[0225] It will be understood that when a layer or element is referred to as being on another layer or substrate, it can be directly on the other layer or substrate, or intervening layers may be present therebetween.

[0226] The present disclosure describes exemplary embodiments with reference to cross-sectional and / or plan views that are idealized exemplary drawings. In the drawings, the thicknesses of layers and regions are exaggerated for clarity. Therefore, variations in shape relative to the drawings due to, for example, manufacturing techniques and / or tolerances are contemplated. Therefore, the exemplary embodiments should not be construed as limited to the shapes of the regions shown in this disclosure, but rather include deviations in shape due to, for example, manufacturing. For example, an etched region shown as a rectangle will typically have curved features. Therefore, the regions shown in the drawings are schematic in nature, and their shapes are not intended to illustrate the actual shape of regions of the device and are not intended to limit the scope of the exemplary embodiments.

[0227] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A tactile feedback substrate, comprising: A touchpad having a touch surface; as well as A plurality of actuators are arranged on a side of the touch panel away from the touch surface, including: a plurality of first actuators arranged along a first direction, and a plurality of second actuators arranged along a second direction, wherein the first direction and the second direction intersect each other; The first actuator is used to drive the touch panel to generate a first vibration, and the second actuator is used to drive the touch panel to generate a second vibration. The first vibration and the second vibration are used to form texture feedback in different directions on the touch surface.

2. The tactile feedback substrate according to claim 1, wherein, The touch surface includes a first side and a second side that are adjacent to each other. The plurality of first actuators are disposed close to the first side, and the plurality of second actuators are disposed close to the second side.

3. The tactile feedback substrate according to claim 2, wherein, The plurality of first actuators are arranged near one or two of the first side edges, and the two first side edges are arranged opposite to each other; The plurality of second actuators are disposed close to one or two of the second side edges, and the two second side edges are disposed opposite to each other.

4. The tactile feedback substrate according to claim 2 or 3, wherein, The first side is parallel to the first direction, and the second side is parallel to the second direction.

5. The haptic feedback substrate according to any one of claims 2 to 4, wherein, The plurality of actuators further comprises: a plurality of third actuators, the third actuators being used to drive the touch panel to generate a third vibration so as to form a vibration feedback on the touch surface; Wherein, the plurality of third actuators are arranged along a first symmetry axis and are disposed close to the geometric center of the touch surface, and the first symmetry axis is the symmetry axis of the touch surface along the first direction; and / or In the case where the plurality of first actuators are disposed close to one of the first sides, the touch surface further comprises a third side disposed opposite to the first side, and the third actuator is disposed close to a midpoint of the third side; and / or In the case where the plurality of first actuators are disposed close to one of the first sides, and the plurality of second actuators are disposed close to one of the second sides, the touch surface further includes a A third side edge is arranged opposite to the second side edge, and a fourth side edge is arranged opposite to the second side edge, and the third actuator is arranged close to a connecting vertex between the third side edge and the fourth side edge.

6. The tactile feedback substrate according to claim 5, wherein, A plurality of third actuators arranged along the first symmetry axis are symmetrically arranged on both sides of the geometric center; or Among the plurality of third actuators arranged along the first symmetry axis, one is arranged at the geometric center, and the remaining ones are symmetrically arranged on both sides of the geometric center.

7. The tactile feedback substrate according to claim 1, wherein, The touch surface has a first symmetry axis extending along the first direction and a second symmetry axis extending along the second direction. The plurality of first actuators are sequentially arranged on the first symmetry axis, and the plurality of second actuators are sequentially arranged on the second symmetry axis.

8. The haptic feedback substrate according to claim 7, wherein, The touch surface is a polygon, and the plurality of actuators further include: A plurality of third actuators are provided near the inner angle of the polygon, and the third actuators are used to drive the touch panel to generate a third vibration so as to form a vibration feedback on the touch surface.

9. The haptic feedback substrate according to claim 1, wherein, A plurality of the first actuators are staggered in sequence in the second direction, and a plurality of the second actuators are staggered in sequence in the first direction.

10. The haptic feedback substrate according to claim 9, wherein, The touch surface includes a first diagonal line and a second diagonal line that intersect each other. The plurality of first actuators are arranged in sequence on the first diagonal line, and the plurality of second actuators are arranged in sequence on the second diagonal line.

11. The haptic feedback substrate according to any one of claims 1 to 10, wherein, The plurality of actuators further include: A plurality of third actuators, which are used to drive the touch panel to generate a third vibration so as to form vibration feedback on the touch surface. The frequency of the third vibration is less than the frequencies of the first vibration and the second vibration; The plurality of third actuators may include at least one of the following: an actuator independently provided from the first actuator and the second actuator, the first actuator, and the second actuator.

12. The haptic feedback substrate according to claim 11, wherein, The plurality of third actuators are symmetrically arranged, and the distance between any two adjacent third actuators is equal.

13. The haptic feedback substrate according to any one of claims 1 to 12, wherein, The distance between two adjacent first actuators in the first direction is less than or equal to a first half-wavelength, and the first half-wavelength is the half-wavelength of the waveform of the first vibration propagating in the second direction; The distance between two adjacent second actuators in the second direction is less than or equal to a second half-wavelength, and the second half-wavelength is the half-wavelength of the waveform of the second vibration propagating in the first direction.

14. The haptic feedback substrate according to any one of claims 1 to 13, wherein, The first direction and the second direction are perpendicular to each other.

15. The haptic feedback substrate according to any one of claims 1 to 14, wherein, The width of the first actuator in the second direction is greater than or equal to one-fourth of the first half-wavelength and less than or equal to the first half-wavelength, and the first half-wavelength is the half-wavelength of the waveform of the first vibration propagating in the second direction; The width of the second actuator in the first direction is greater than or equal to one-fourth of the second half-wavelength and less than or equal to the second half-wavelength, and the second half-wavelength is the half-wavelength of the waveform of the second vibration propagating in the first direction.

16. The haptic feedback substrate according to any one of claims 1 to 15, wherein, The first actuator is located at the peak or trough position of the waveform of the first vibration, and the second actuator is located at the peak or trough position of the waveform of the second vibration.

17. The haptic feedback substrate according to any one of claims 1 to 16, wherein, The plurality of actuators are axially symmetrically arranged, and the axis of symmetry is the axis of symmetry of the touch surface; and / or The plurality of actuators are centrosymmetrically arranged, and the center of symmetry is the geometric center of the touch surface.

18. The haptic feedback substrate according to any one of claims 1 to 16, wherein, The plurality of first actuators and the plurality of second actuators have different axes of symmetry.

19. The haptic feedback substrate according to any one of claims 1 to 18, wherein, The actuator includes at least one of the following: a PZT piezoelectric thin film, a monolithic piezoelectric ceramic, a stacked piezoelectric ceramic, a cymbal piezoelectric ceramic, a monolithic polyvinylidene fluoride film, a stacked polyvinylidene fluoride film, a cymbal polyvinylidene fluoride film, and a linear motor.

20. A tactile feedback device, comprising: The tactile feedback substrate according to any one of claims 1 to 19; And A driving component, which is respectively connected to the first actuator and the second actuator, and is used to output a driving signal to the first actuator or the second actuator according to the touch information of a touch body on the touch panel, so that the first actuator drives the touch panel to generate a first vibration, and the second actuator drives the touch panel to generate a second vibration. The touch information includes at least one of the following: the touch pressure, touch position, touch operation, and touch time of the touch body.

21. A driving method for a haptic feedback substrate, applied to the haptic feedback substrate according to any one of claims 1 to 19, the driving method comprising: Obtaining touch information, the touch information including at least one of the following: the touch pressure of the touch body, the touch position, the touch operation, and the touch time; According to the touch information, outputting a driving signal to the first actuator or the second actuator, so that the first actuator drives the touch panel to generate a first vibration, and the second actuator drives the touch panel to generate a second vibration.

22. The driving method according to claim 21, wherein, The touch information includes the touch operation of the touch body, the driving signal includes a first driving signal and a second driving signal, and the step of outputting the driving signal to the first actuator or the second actuator according to the touch information includes: When the touch operation is a slide along the second direction, outputting the first driving signal to the first actuator, so that the first actuator drives the touch panel to generate a first vibration; When the touch operation is a slide along the first direction, outputting the second driving signal to the second actuator, so that the second actuator drives the touch panel to generate a second vibration.

23. The driving method according to claim 21 or 22, wherein, The touch information includes the touch pressure of the touch body, the driving signal includes a third driving signal, the plurality of actuators further includes a third actuator, and the third actuator includes at least one of the following: an actuator independently provided from the first actuator and the second actuator, the first actuator and the second actuator, and the driving method further includes: Judging whether the touch body has a pressing operation according to the touch pressure; If the judgment result is that the touch body has a pressing operation, outputting the third driving signal to the third actuator, so that the third actuator drives the touch panel to generate a third vibration, and the third vibration is used to form a vibration feedback on the touch surface.

24. The driving method according to claim 23, wherein, The third actuator is further configured to generate a voltage signal when the touch body presses the touch panel, and the step of obtaining the touch information includes: Obtaining the voltage signal of the third actuator, and the voltage signal is used to characterize the magnitude of the touch pressure; The step of judging whether the touch body has a pressing operation according to the touch pressure includes: If the voltage signal is greater than or equal to a preset voltage threshold, it is determined that the touch body has a pressing operation; If the touch pressure is less than the voltage threshold, it is determined that the touch body has no pressing operation.

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