Human body tactile feedback device based on three-dimensional needle carving wall and vibration waveform control method thereof

Abstract

The invention discloses a human body tactile feedback device based on a three-dimensional needle carving wall, the human body tactile feedback device comprises a hard base surface and a soft base surface, one side, far away from the hard base surface, of the soft base surface is provided with a plurality of groups of needle bodies through a bearing honeycomb-shaped base plate, one side of each needle body is provided with a mounting groove, a spring is fixedly mounted in each mounting groove, and the spring is fixedly mounted in the mounting groove. One end of the spring is fixedly connected with a human body contact mechanism inserted into the mounting groove, and the human body contact mechanism is used for making contact with a human body and conducting tactile feedback. The tail end of the needle body is embedded into the soft base surface made of the flexible silica gel material, so that the height of the needle body can be dynamically adjusted according to the contact pressure of a human body, the physical adaptability and the adaptability of fitting the curved surface of the human body are improved, and the vibration transmission attenuation is reduced; in addition, independent control of a single needle body and cooperative movement of multiple needles can be achieved, and all the independent needle bodies can be integrated to form an array whole with a certain density.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction and tactile feedback technology, specifically to a human tactile feedback device based on a three-dimensional needle-carved wall and its vibration waveform control method. Background Technology

[0002] Human-Computer Interaction (HCI) is a multidisciplinary field encompassing computer science, cognitive psychology, design, and other areas. It aims to research and develop more effective and intuitive ways for people to interact with computer systems. With technological advancements, HCI has transcended traditional keyboard and mouse input methods, expanding to include speech recognition, gesture control, virtual reality, and many other forms.

[0003] Haptic feedback is an important component of human-computer interaction. It enhances the user's interactive experience with digital products by providing physical feedback. This feedback is typically achieved through vibration, force feedback, or deformation, with the aim of giving users a more realistic feel when operating the device, such as feeling the impact in a mobile game or experiencing the sensation of touching an object in a virtual reality environment.

[0004] I. Limitations of traditional haptic feedback devices include:

[0005] Rigid form: Existing vibration motors (such as LRA and ERM) usually adopt a fixed array layout, which makes it difficult to conform to the complex geometric features of the human body surface (such as the palm and back), resulting in significant attenuation of vibration energy.

[0006] Insufficient directionality: Traditional vibration waveforms are mostly unidirectional or statically superimposed, which cannot simulate dynamic tactile trajectories (such as texture friction and pressure gradient).

[0007] Mechanical losses and delays: Assembly gaps or material damping in the vibration transmission path lead to energy loss and response delays, such as the efficiency reduction of LRA due to resonant frequency shift.

[0008] II. The Potential and Challenges of Three-Dimensional Needle Carving Wall Technology:

[0009] Structural features: The three-dimensional needle-carved wall is composed of dense needle-shaped (ellipsoidal) units. The displacement of the needles can be adjusted by external force or drive to form a three-dimensional relief, which has the physical adaptability to conform to the curves of the human body.

[0010] Unresolved compatibility issues: Existing needle-carved walls are mostly used for static display or one-way pressure feedback, lacking support for dynamic control of vibration waveforms. Furthermore, the needle body (such as mechanical push rods) is large in size due to its materials and structure, and its vertical structure makes it difficult to integrate into wearable devices or medical and home devices.

[0011] In the existing technology, some technical solutions use piezoelectric drive and flexible hinges, such as the "three-dimensional vibration platform based on flexible hinge structure", which uses piezoelectric ceramic stacks to drive flexible hinges to achieve multi-degree-of-freedom vibration output. However, its structure is complex and not optimized for human contact.

[0012] Furthermore, human skin and subcutaneous tissue contain four types of mechanoreceptors at different depths that respond to external stimuli. Among them, Meissner corpora are mainly found in the superficial layer of the skin, with a response frequency generally between 5-500 Hz. Compared to other deep skin receptors, they are more easily stimulated by electrical currents, with a spatial distribution rate of 3-5 mm. Merkel discs are mainly distributed at the bottom of the epidermis, exhibiting a disc-shaped structure interconnected below the Meissner corpora. They are highly sensitive to spatial properties acting on the skin surface, such as the thickness, texture, and surface stretch of objects. Merkel discs have a very low response frequency and a spatial resolution of approximately 0.4-0.6 mm, exhibiting high sensitivity to dynamic stimuli. Pacinian ring-shaped corpora are mainly distributed in the deep layers of the skin, representing the deepest location of the aforementioned three types of skin receptors. Their shape is mainly ring-shaped, with a response frequency generally between 60-80 Hz. They are highly sensitive to spatial changes acting on the skin surface, such as vibrations and friction of objects. Ruffini's corpora are mainly distributed in the dermis of the skin, with a response frequency comparable to that of the Merkel touch disc. They also have a large sensory area (approximately five times that of Meissner's corpora) and a small spatial distribution. However, because the effect of Ruffini's corpora on tactile sensation is not as significant as the other three sensory receptors, current tactile feedback research typically only analyzes the stimulus responses to the first three skin sensations. Different skin receptors correspond to only one type of tactile sensation in the skin; only when multiple skin receptors are stimulated simultaneously can the human body generate a rich tactile experience.

[0013] In addition, the density distribution sensitivity of skin in different areas of the human body to external stimuli varies greatly. For example, the density of the fingertips and lips is the highest at zero degrees, while the sensitivity of the trunk, abdomen and back is the lowest. This determines the difference in the minimum distribution density of the array vibration unit at the human body contact interface in different areas. To this end, we propose a human tactile feedback device based on a three-dimensional needle-carved wall and its vibration waveform control method. Summary of the Invention

[0014] The purpose of this invention is to provide a human tactile feedback device based on a three-dimensional needle-carved wall and its vibration waveform control method, so as to solve the problems that need to be solved in the background art.

[0015] To achieve the above objectives, the present invention provides the following technical solution: a human tactile feedback device based on a three-dimensional needle-carved wall, comprising a rigid base surface and a soft base surface, wherein a soft base surface is provided on one side of the rigid base surface, and a supporting honeycomb substrate is provided on the side of the soft base surface away from the rigid base surface. Multiple sets of needles are provided inside the supporting honeycomb substrate, and an installation groove is provided on one side of each needle. A spring is fixedly installed inside the installation groove, and one end of the spring is fixedly connected to a human contact mechanism inserted into the installation groove. The human contact mechanism is used to contact the human body and provide tactile feedback.

[0016] As a further description of the above technical solution:

[0017] The human contact mechanism includes a connecting frame, a hinge chain, a vibrating mass block, and a power block. The connecting frame is inserted into the mounting slot and fixedly connected by a spring. One side of the connecting frame is connected to the vibrating mass block through two sets of hinge chains. A power block is provided between the connecting frame and the vibrating mass block.

[0018] As a further description of the above technical solution:

[0019] The power block is configured as a micro piezoelectric ceramic stack, and the soft substrate is made of silicone material.

[0020] As a further description of the above technical solution:

[0021] A method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall, comprising the following steps:

[0022] Step 1: Convert the tactile signal into a needle displacement sequence;

[0023] Step 2: Use phase difference control to generate traveling wave or standing wave effects to simulate tactile directionality and spatial changes;

[0024] Step 3: Through a low-latency control circuit, the FPGA chip is used to achieve multi-channel synchronous control, adjust the needle position in real time, and provide instant tactile feedback.

[0025] As a further description of the above technical solution:

[0026] The generation of the traveling wave effect includes the following steps:

[0027] Step A1: Determine the propagation direction: Determine the propagation direction of the synthesized wavefront on the equiphase surface in space, and use the angle θ to represent the propagation direction, wherein the angle θ is relative to the array axis;

[0028] Step A2: Calculate the phase difference between adjacent needles: Set the phase difference Δφ between adjacent needles. The formula for calculating the phase difference Δφ is:

[0029] Δφ = -(2πd / λ) × sin(θ),

[0030] in,

[0031] d: refers to the distance between the needles;

[0032] λ: Represents wavelength, which is the physical length of a wave over one complete cycle;

[0033] Step A3: Assigning the phase of the needle body: The formula for calculating the phase of the needle body is:

[0034] φn=n×Δφ=-n×(2πd / λ)×sin(θ),

[0035] Where n is the phase of the nth needle, when all signals are synchronously superimposed according to the set phase difference, a planar traveling wave propagating in a specific direction is formed in the θ direction.

[0036] A method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall, wherein the generation of the standing wave effect includes the following steps:

[0037] Step B1: Right-traveling wave group phase: The formula for calculating the right-traveling wave group phase is:

[0038] φn_right=-n×(2πd / λ)×sin(θ0),

[0039] Step B2: Leftward traveling wave group phase: The formula for calculating the leftward traveling wave group phase is:

[0040] φn_left=+n×(2πd / λ)×sin(θ0),

[0041] Step B3: Calculate the composite field: The formula for calculating the composite field is as follows:

[0042] Etotal(x,t)∝2Acos(ωt)cos(KxX),

[0043] Where θ0 is the angle of the wave propagation direction relative to the array axis, and kxX is the product of the wave number component kx in the x-direction and the position X;

[0044] Step B4: Determine the location of nodes and antinodes:

[0045] The formula for calculating the node position xnode is:

[0046] xnode = [(m + 1 / 2)π] / kx,

[0047] The formula for calculating the antinode position xantinode is:

[0048] xantinode=[mπ] / kx,

[0049] Where m is set to an integer, and kx represents the wavenumber component in the x-direction.

[0050] As a further description of the above technical solution:

[0051] The operation method of the low-delay control circuit in step three includes the following steps:

[0052] Step C1: The tactile feedback device receives the tactile signal to be simulated and converts the tactile signal into an electrical signal;

[0053] Step C2: Use the FPGA chip to analyze the electrical signals and determine the actions that each needle needs to perform. Based on the different electrical signals, the FPGA chip decomposes the electrical signal instructions into operation commands for each needle.

[0054] Step C3: The control circuit calculates the phase difference between each needle unit according to a preset algorithm, applies the specific phase difference to the corresponding needle body, and creates the required waveform;

[0055] Step C4: The low-latency control circuit monitors the status of each needle in real time and adjusts the drive parameters according to the actual output effect;

[0056] Step C5: The low-delay control circuit sends a drive signal to each needle to activate the micro piezoelectric ceramic stacked power block, causing the needle to move and vibrate.

[0057] As a further description of the above technical solution:

[0058] The tactile signals received in step C1 include pressure signals, texture signals, and orientation signals.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] 1. The needle body of the present invention is embedded in the soft base surface made of flexible silicone material. This setting can dynamically adjust the height of the needle body according to the contact pressure of the human body, improve the physical adaptability and comfort of conforming to the curve of the human body, and reduce the attenuation of vibration transmission.

[0061] 2. Secondly, regarding the human body contact mechanism and the setting of the power block, one end of the vibrating mass block is connected to the needle body through a hinge chain, and a micro piezoelectric ceramic stack is used as the power block, which can realize independent control of a single needle body and coordinated movement of multiple needles. It can integrate each independent needle body and form an array of a certain density. Moreover, the stiffness of the spring and the parameters of the vibrating mass block can be adjusted. Furthermore, the addition of soft base surface, bearing honeycomb substrate and spring and other buffer materials can be used to absorb high-frequency noise or non-target area transmission.

[0062] 3. The waveform direction control algorithm can map the tactile signal into a needle displacement sequence, generate traveling wave or standing wave effect through phase difference control, and then use FPGA chip to realize multi-channel synchronous control to solve the response delay problem of traditional PWM drive. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of the front cross-sectional view of the feedback device of the present invention.

[0064] In the diagram: 1. Hard substrate, 2. Soft substrate, 3. Needle, 4. Supporting honeycomb substrate, 5. Mounting groove, 6. Human contact mechanism, 7. Connecting frame, 8. Spring, 9. Hinge chain, 10. Vibrating mass block, 11. Power block. Detailed Implementation

[0065] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] Example 1:

[0067] Please see Figure 1This invention provides a technical solution: a human tactile feedback device based on a three-dimensional needle-carved wall, comprising a rigid base surface 1 and a soft base surface 2. The soft base surface 2 is disposed on one side of the rigid base surface 1, and a supporting honeycomb substrate 4 is disposed on the side of the soft base surface 2 away from the rigid base surface 1. Multiple sets of needles 3 are disposed inside the supporting honeycomb substrate 4. A mounting groove 5 is opened on one side of the needle 3. A spring 8 is fixedly installed inside the mounting groove 5. One end of the spring 8 is fixedly connected to a human contact mechanism 6 inserted into the mounting groove 5. The human contact mechanism 6 is used to contact the human body and provide tactile feedback. The human contact mechanism 6 includes a connecting frame 7, a hinge chain 9, a vibrating mass block 10, and a power block 11. The connecting frame 7 is inserted into the mounting groove 5 and fixedly connected to the spring 8. The vibrating mass block 10 is connected to one side of the connecting frame 7 through two sets of hinge chains 9. The power block 11 is disposed between the connecting frame 7 and the vibrating mass block 10.

[0068] The human contact mechanism 6 consists of a vibrating mass block 10 and a power block 11. The power block 11 is connected to the vibrating mass block 10 and the connecting frame 7. The vibrating mass block 10 and the connecting frame 7 are hinged by a hinge chain 9 to prevent the vibrating mass block 10 from falling off. The connecting block 7 is connected to the needle body 3 by a spring 8. This arrangement can effectively control the directionality of the power block 11 and reduce energy loss. The supporting honeycomb substrate 4 can be fitted with multiple needle bodies 3 through regular array holes to form a three-dimensional needle-carved wall and a similar retractable structure in each rod shape. The other side of the needle body 3 is made of a soft base surface 2 of a certain thickness. The purpose is to make each human contact mechanism 6 fit better with the human body surface and finally be integrated and fixed by the hard base surface 1.

[0069] Please see Figure 1 The power block 11 is configured as a micro piezoelectric ceramic stack, and the soft substrate 2 is made of silicone. The micro piezoelectric ceramic stack can achieve micron-level displacement control, which allows the movement of each needle 3 to be adjusted very precisely. This high precision is crucial for simulating complex tactile directionality. Moreover, the micro piezoelectric ceramic stack made of piezoelectric material can respond quickly to changes in electrical signals, ensuring that there is almost no delay between receiving the command and executing the action when the micro piezoelectric ceramic stack is in use. This makes the entire device stand out more in VR / AR applications. Furthermore, the piezoelectric ceramic stack can support a wide frequency range of 0.1-500Hz vibration, meeting the needs of multiple scenarios from low-frequency massage to high-frequency tactile cues. This frequency range covers the response frequencies of various receptors on human skin, thereby enabling more realistic simulation of various tactile experiences.

[0070] Example 2:

[0071] A method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall, comprising the following steps:

[0072] Step 1: Convert the tactile signal into a needle displacement sequence;

[0073] Step 2: Use phase difference control to generate traveling wave or standing wave effects to simulate tactile directionality and spatial changes;

[0074] Step 3: Through a low-latency control circuit, the FPGA chip is used to realize multi-channel synchronous control, adjust the position of needle body 3 in real time, and provide instant tactile feedback.

[0075] This setup supports multi-dimensional tactile feedback (pressure, texture, direction), enhancing the realism of VR / AR interactions. Furthermore, the entire device is suitable for tactile guidance training in stroke rehabilitation. By stimulating neural remodeling through directional vibrations and generating traveling or standing wave effects using phase difference control, it can accurately simulate various tactile sensations, such as texture and friction. This allows users to experience richer and more realistic tactile feedback.

[0076] Employing low-latency control circuitry and utilizing FPGA chips for multi-channel synchronous control ensures an extremely short latency between receiving tactile signals and generating actual tactile feedback. This is particularly important for enhancing immersion, especially in virtual reality (VR) and augmented reality (AR) applications. Furthermore, the use of FPGA chips not only reduces latency but also improves overall system efficiency. The parallel processing capabilities and programmability of FPGA chips are suitable for applications requiring rapid response and complex logic operations. This method is also applicable to various fields such as virtual reality, medical rehabilitation, and smart wearable devices. For example, in medical rehabilitation, directional vibration stimulation can aid patients in neural remodeling training; in VR / AR environments, it can significantly enhance user immersion and the realism of interaction.

[0077] By adjusting the way tactile signals are converted into needle displacement sequences and the phase difference settings, different tactile modes can be easily created to meet different application needs and personal preferences.

[0078] The generation of the traveling wave effect includes the following steps:

[0079] Step A1: Determine the propagation direction: Determine the propagation direction of the synthesized wavefront on the equiphase surface in space, and use the angle θ to represent the propagation direction, wherein the angle θ is relative to the array axis;

[0080] Step A2: Calculate the phase difference between adjacent needle bodies 3: Set the phase difference between adjacent needle bodies 3

[0081] Δφ is used to ensure that the leading edge of the synthesized wave propagates in a specific direction. The formula for calculating the phase difference Δφ is:

[0082] Δφ = -(2πd / λ) × sin(θ),

[0083] in,

[0084] d: refers to the distance between the needle bodies 3;

[0085] λ: Represents wavelength, which is the physical length of a wave over one complete cycle;

[0086] Step A3: Assigning the phase of needle body 3: The formula for calculating the phase of needle body 3 is as follows:

[0087] φn=n×Δφ=-n×(2πd / λ)×sin(θ),

[0088] Where n is the phase of the nth needle body 3, when all signals are synchronously superimposed according to the set phase difference, a planar traveling wave propagating in a specific direction is formed in the θ direction.

[0089] The generation of the standing wave effect includes the following steps:

[0090] Step B1: Right-traveling wave group phase: The formula for calculating the right-traveling wave group phase is:

[0091] φn_right=-n×(2πd / λ)×sin(θ0),

[0092] Step B2: Leftward traveling wave group phase: The formula for calculating the leftward traveling wave group phase is:

[0093] φn_left=+n×(2πd / λ)×sin(θ0),

[0094] Step B3: Calculate the composite field: The formula for calculating the composite field is as follows:

[0095] Etotal(x,t)∝2Acos(ωt)cos(KxX),

[0096] Where θ0 is the angle of the wave propagation direction relative to the array axis, and kxX is the product of the wave number component kx in the x-direction and the position X;

[0097] Step B4: Determine the location of nodes and antinodes:

[0098] The formula for calculating the node position xnode is:

[0099] xnode = [(m + 1 / 2)π] / kx,

[0100] The formula for calculating the antinode position xantinode is:

[0101] xantinode=[mπ] / kx,

[0102] Where m is set to an integer, and kx represents the wavenumber component in the x-direction.

[0103] The method of combining traveling wave and standing wave generation can achieve a variety of tactile effects, from simple vibrations to complex tactile textures, greatly expanding the possibilities of tactile feedback and meeting the needs of different application scenarios. Moreover, during the formation of traveling waves and standing waves, highly customized tactile feedback can be achieved by precisely controlling the displacement and phase of each needle, improving the accuracy and subtlety of tactile information transmission. The steps formed by the combined action of traveling waves and standing waves can provide users with a richer, more realistic, and personalized tactile experience. Therefore, the generation of traveling waves and standing waves not only improves the diversity and accuracy of tactile feedback but also enhances the user's immersion and interactive experience, which is crucial for developing efficient and realistic tactile feedback systems.

[0104] The operation method of the low-delay control circuit in step three includes the following steps:

[0105] Step C1: The tactile feedback device receives the tactile signal to be simulated and converts the tactile signal into an electrical signal, wherein the tactile signal includes pressure signal, texture signal and orientation signal;

[0106] Step C2: Use the FPGA chip to analyze the electrical signals and determine the actions that each needle 3 needs to perform. Based on the different electrical signals, the FPGA chip decomposes the electrical signal instructions into operation commands for each needle 3.

[0107] Step C3: The control circuit calculates the phase difference between each needle unit according to the preset algorithm, applies the specific phase difference to the corresponding needle body 3, and creates the required waveform;

[0108] Step C4: The low-latency control circuit monitors the status of each needle 3 in real time and adjusts the driving parameters according to the actual output effect to ensure accurate tactile feedback;

[0109] Step C5: The low-delay control circuit sends a drive signal to each needle 3 to activate the micro piezoelectric ceramic stacked power block 11, causing the needle 3 to move and vibrate.

[0110] The low-latency control circuit ensures an extremely short delay between receiving the tactile signal and generating actual tactile feedback. This is crucial for providing instant tactile feedback, especially in highly interactive applications such as virtual reality (VR) and augmented reality (AR), significantly enhancing user immersion and interactive experience. The FPGA chip analyzes the electrical signals and decomposes them into specific operational commands for each needle, enabling highly customized control of the displacement and vibration patterns of each needle. This precise control is particularly important for simulating complex tactile directionality and spatial changes. By calculating the phase difference between each needle unit and applying specific phase differences to the corresponding needle, the desired traveling wave or standing wave effect can be created, resulting in a more realistic and nuanced tactile sensation.

[0111] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A human tactile feedback device based on a three-dimensional needle-carved wall, comprising a rigid base surface (1) and a soft base surface (2), wherein the soft base surface (2) is disposed on one side of the rigid base surface (1), characterized in that: The soft substrate (2) is provided with a support honeycomb substrate (4) on the side away from the hard substrate (1). Multiple sets of needles (3) are provided inside the support honeycomb substrate (4). An installation groove (5) is opened on one side of the needle (3). A spring (8) is fixedly installed inside the installation groove (5). One end of the spring (8) is fixedly connected to a human contact mechanism (6) inserted into the installation groove (5). The human contact mechanism (6) is used to contact the human body and provide tactile feedback.

2. The human tactile feedback device based on a three-dimensional needle-carved wall according to claim 1, characterized in that: The human contact mechanism (6) includes a connecting frame (7), a hinge chain (9), a vibrating mass block (10), and a power block (11). The connecting frame (7) is inserted into the mounting groove (5) and fixedly connected to the spring (8). The vibrating mass block (10) is connected to one side of the connecting frame (7) through two sets of hinge chains (9). The power block (11) is provided between the connecting frame (7) and the vibrating mass block (10).

3. The human tactile feedback device based on a three-dimensional needle-carved wall according to claim 1, characterized in that: The power block (11) is configured as a micro piezoelectric ceramic stack, and the soft substrate (2) is made of silicone material.

4. A method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall, applicable to a human tactile feedback device based on a three-dimensional needle-carved wall as described in any one of claims 1-3, characterized in that: The method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall includes the following steps: Step 1: Convert the tactile signal into a needle displacement sequence; Step 2: Use phase difference control to generate traveling wave or standing wave effects to simulate tactile directionality and spatial changes; Step 3: Through a low-latency control circuit, the FPGA chip is used to realize multi-channel synchronous control, adjust the position of the needle body (3) in real time, and provide instant tactile feedback.

5. The method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall according to claim 4, characterized in that: The generation of the traveling wave effect includes the following steps: Step A1: Determine the propagation direction: Determine the propagation direction of the synthesized wavefront on the equiphase surface in space, and use the angle θ to represent the propagation direction, wherein the angle θ is relative to the array axis; Step A2: Calculate the phase difference between adjacent needle bodies (3): Set the phase difference Δφ between adjacent needle bodies (3), and the formula for calculating the phase difference Δφ is: Δφ = -(2πd / λ) × sin(θ), in, d: refers to the distance between the needle bodies (3); λ: Represents wavelength, which is the physical length of a wave over one complete cycle; Step A3: Assigning the phase of the needle body (3): The formula for calculating the phase of the needle body (3) is as follows: φn=n×Δφ=-n×(2πd / λ)×sin(θ), Where n is the phase of the nth needle (3), when all signals are superimposed synchronously according to the set phase difference, a planar traveling wave propagating in a specific direction is formed in the θ direction.

6. The method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall according to claim 5, characterized in that: The generation of the standing wave effect includes the following steps: Step B1: Right-traveling wave group phase: The formula for calculating the right-traveling wave group phase is: φn_right=-n×(2πd / λ)×sin(θ0), Step B2: Leftward traveling wave group phase: The formula for calculating the leftward traveling wave group phase is: φn_left=+n×(2πd / λ)×sin(θ0), Step B3: Calculate the composite field: The formula for calculating the composite field is as follows: Etotal(x,t)∝2Acos(ωt)cos(KxX), Where θ0 is the angle of the wave propagation direction relative to the array axis, and kxX is the product of the wave number component kx in the x-direction and the position X; Step B4: Determine the location of nodes and antinodes: The formula for calculating the node position xnode is: xnode = [(m + 1 / 2)π] / kx, The formula for calculating the antinode position xantinode is: xantinode=[mπ] / kx, Where m is set to an integer, and kx represents the wavenumber component in the x-direction.

7. The method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall according to claim 1, characterized in that: The operation method of the low-delay control circuit in step three includes the following steps: Step C1: The tactile feedback device receives the tactile signal to be simulated and converts the tactile signal into an electrical signal; Step C2: Use the FPGA chip to analyze the electrical signals and determine the actions that each needle (3) needs to perform. Based on the different electrical signals, the FPGA chip decomposes the electrical signal instructions into operation commands for each needle (3). Step C3: The control circuit calculates the phase difference between each needle unit according to the preset algorithm, applies the specific phase difference to the corresponding needle body (3), and creates the required waveform; Step C4: The low-delay control circuit monitors the status of each needle (3) in real time and adjusts the driving parameters according to the actual output effect; Step C5: The low-delay control circuit sends a drive signal to each needle (3) to activate the micro piezoelectric ceramic stacked power block (11), causing the needle (3) to generate displacement and vibration.

8. The method for controlling human tactile vibration waveforms based on a three-dimensional needle-carved wall according to claim 6, characterized in that: The tactile signals received in step C1 include pressure signals, texture signals, and orientation signals.

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