Electric tactile feedback method, electric tactile feedback circuit and intelligent handle

Abstract

The invention provides an electric tactile feedback method, an electric tactile feedback circuit and an intelligent handle, and belongs to the field of virtual reality interaction, and the method comprises the steps: obtaining array type electrical stimulation information corresponding to tactile feedback triggered by a user; the array type electrical stimulation information comprises a plurality of tactile generation point locations, an excitation time sequence and electrode combination information corresponding to each tactile generation point location, and each piece of electrode combination information comprises an electrode serial number, a stimulation voltage amplitude, a stimulation current amplitude and a stimulation frequency; determining an array voltage signal according to the stimulation voltage amplitude; determining an analog regulation and control signal according to the stimulation current amplitude and / or the stimulation frequency; determining a first pulse width modulation signal according to the electrode serial number and the excitation time sequence; according to the array voltage signal, the plurality of simulation regulation and control signals and the plurality of first pulse width modulation signals, the plurality of tactile sense generation point positions are controlled to apply array type electrical stimulation to the user, so that complex array type tactile sense is realized, and the problem that in the prior art, the single-point tactile sense expression information amount is seriously insufficient is solved.

Description

Technical Field

[0001] This application belongs to the field of virtual reality interaction technology, and in particular relates to an electro-haptic feedback method, an electro-haptic feedback circuit, and a smart controller. Background Technology

[0002] In today's human-computer interaction field, haptic feedback technology, as an important sensory interaction method, is rapidly developing and becoming widespread. By simulating physical touch, haptic feedback technology allows users to interact with devices more intuitively and is widely used in virtual reality (VR), augmented reality (AR), smartphones, game controllers, medical devices, and other fields.

[0003] However, traditional haptic feedback circuits provide single-point feedback, which can only provide haptic signals at a single point. This results in a severe lack of information conveyed by a single point of haptic sensation, making it impossible to match the complex spatial operations of users during interaction. Summary of the Invention

[0004] The purpose of this application is to provide an electro-haptic feedback method, an electro-haptic feedback circuit, and a smart handle, which aims to solve the problem of insufficient single-point haptic feedback information in traditional haptic feedback circuits.

[0005] This application provides an electrotactile feedback method, including:

[0006] Acquire array-type electrical stimulation information corresponding to the tactile feedback triggered by the user; wherein, the array-type electrical stimulation information includes multiple tactile generation points, excitation timing sequence, and electrode combination information corresponding to each tactile generation point, and each electrode combination information includes at least two electrode numbers, stimulation voltage amplitude, stimulation current amplitude, and stimulation frequency;

[0007] The array voltage signal is determined based on the amplitude of the stimulation voltage.

[0008] The analog control signal is determined based on the stimulation current amplitude and / or the stimulation frequency;

[0009] The first pulse width modulation signal is determined based on the electrode number and the excitation timing.

[0010] Based on the array voltage signal, multiple analog control signals, and multiple first pulse width modulation signals, multiple tactile generation points are controlled to apply array-type electrical stimulation to the user.

[0011] In some embodiments, after acquiring the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user, the method further includes:

[0012] Based on the skin impedance detection results of the electrode array, it is determined whether the electrode corresponding to the tactile generation point is an abnormal electrode;

[0013] If so, the electrode number of at least one normal electrode combination corresponding to the tactile generation point is retrieved, and the proportion of the stimulation current amplitude flowing through the normal electrode combination is adjusted to obtain the adjusted stimulation current amplitude.

[0014] In some embodiments, after acquiring the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user, the method further includes:

[0015] Based on the skin impedance detection results of the electrode array, the stimulation voltage amplitude and the stimulation frequency are adjusted to obtain the adjusted stimulation voltage amplitude and the adjusted stimulation frequency.

[0016] In some embodiments, determining the array voltage signal based on the stimulation voltage amplitude includes:

[0017] The second pulse width modulation signal is determined based on the stimulation voltage amplitude;

[0018] The power supply is boosted and current-limited according to the second pulse width modulation signal to obtain the array voltage signal.

[0019] In some embodiments, determining the analog modulation signal based on the stimulation current amplitude and the stimulation frequency includes:

[0020] The digital control signal is determined based on the amplitude of the stimulation current and the stimulation frequency;

[0021] The digital control signal is converted from digital to analog to obtain the analog control signal.

[0022] In some embodiments, controlling a plurality of tactile generating points to apply array-type electrical stimulation to the user based on the array voltage signal, the analog modulation signal, and the first pulse width modulation signal includes:

[0023] Based on the array voltage signal, the analog control signal, and the first pulse width modulation signal, the tactile generation point is formed between any two electrodes in the electrode array.

[0024] In some embodiments, controlling a plurality of tactile generating points to apply array-type electrical stimulation to the user based on the array voltage signal, the analog modulation signal, and the first pulse width modulation signal includes:

[0025] Based on the array voltage signal, the analog control signal, and the first pulse width modulation signal, an interference electric field stimulation signal is formed between any four electrodes in the control electrode array.

[0026] This application provides an electrotactile feedback circuit, which is applied to any of the electrotactile feedback methods described in the above embodiments. The electrotactile feedback circuit includes a control module, a stimulation signal control array connected to the control module (10), a boost current limiting control module, a digital-to-analog conversion module, and an electrode array.

[0027] The control module is used to acquire array-type electrical stimulation information corresponding to the tactile feedback triggered by the user; wherein, the array-type electrical stimulation information includes multiple tactile generation points, excitation timing sequence and electrode combination information corresponding to each tactile generation point, and each electrode combination information includes at least two electrode numbers, stimulation voltage amplitude, stimulation current amplitude and stimulation frequency.

[0028] The control module is used to determine a first pulse width modulation signal according to the electrode number and the excitation timing, and is also used to determine a digital control signal according to the stimulation current amplitude and / or the stimulation frequency, and is also used to determine a second pulse width modulation signal according to the stimulation voltage amplitude.

[0029] The stimulation signal control array is used to acquire multiple first pulse width modulation signals;

[0030] The boost current limiting control module is also connected to the stimulation signal control array, and is used to boost current limiting control of the power supply according to the second pulse width modulation signal, obtain the array voltage signal, and send the array voltage signal to the stimulation signal control array;

[0031] The digital-to-analog conversion module is also connected to the stimulation signal control array, and is used to perform digital-to-analog conversion on multiple digital modulation signals to obtain multiple analog modulation signals, and send the multiple analog modulation signals to the stimulation signal control array;

[0032] The stimulation signal control array is also connected to the electrode array and is used to control the application of array-type electrical stimulation to the user by the plurality of tactile generation points formed in the electrode array according to the array voltage signal, the plurality of the analog control signals and the plurality of the first pulse width modulation signals.

[0033] In some embodiments, the stimulation signal control array includes a plurality of parallel electrode control modules, and the electrode array includes a plurality of electrodes;

[0034] Each of the electrode control modules is connected to the boost current limiting control module and is used to acquire the array voltage signal;

[0035] Each of the electrode control modules is connected to the control module and is used to acquire the first pulse width modulation signal;

[0036] Each of the electrode control modules is connected to the digital-to-analog conversion module and is used to acquire the analog control signal;

[0037] Each of the electrode control modules is connected to the electrode and is used to control the formation of the tactile generation point between any two electrodes in the electrode array according to the array voltage signal, the first pulse width modulation signal and the analog control signal.

[0038] In some embodiments, any four electrode control modules are used to control the formation of an interference electric field stimulation signal between the four correspondingly connected electrodes according to the array voltage signal, the first pulse width modulation signal, and the analog modulation signal.

[0039] This application provides a smart handle, including the electro-haptic feedback circuit and housing described in any of the above embodiments;

[0040] The electrotactile feedback circuit includes an electrode array, in which multiple electrodes are distributed on multiple side walls and the back of the housing.

[0041] In some embodiments, the electrotactile feedback circuit further includes a control module and an inertial measurement module, wherein the inertial measurement module is connected to the control module;

[0042] The inertial measurement module is used to acquire dynamic information triggered by the user in real time when the user grips the smart handle, and send the dynamic information to the control module.

[0043] The control module is used to synchronously acquire the array-type electrical stimulation information required for tactile feedback based on the dynamic information, and control the electrode array to apply array-type electrical stimulation to the user based on the array-type electrical stimulation information.

[0044] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0045] After acquiring tactile feedback triggered by a user's action, corresponding array-type electrical stimulation information is generated. In this array-type electrical stimulation information, each tactile generation point is formed by at least two electrodes, or at least a pair of electrodes. Each electrode has a corresponding electrode number, stimulation voltage amplitude, stimulation current amplitude, and stimulation frequency. Based on the stimulation voltage amplitude, the determined array voltage signal can regulate the voltage amplitude of the electrodes applying array-type electrical stimulation to the user's skin. This, in turn, regulates the voltage amplitude corresponding to the tactile generation point applying array-type electrical stimulation to the user's skin, determining whether tactile sensation can be perceived, the gradient of perceived intensity, and the safety boundaries.

[0046] Based on the amplitude and / or frequency of the stimulation current, the determined analog control signal can regulate the current amplitude and / or frequency of the electrodes that apply array-type electrical stimulation to the user's skin. In turn, it can regulate the current amplitude and / or frequency corresponding to the tactile generation points that apply array-type electrical stimulation to the user's skin, which can directly activate nerves and determine the actual intensity and / or type of tactile stimulation (e.g., numbness, vibration, or pressure).

[0047] The excitation timing sequence is a time sequence of multiple tactile generation points. At least two electrodes generate one tactile generation point. The excitation timing sequence can also be understood as a time sequence of multiple electrode combinations in an electrode array. The position of the corresponding electrode in the electrode array can be determined by the electrode number. Furthermore, based on the electrode number and the excitation timing sequence, the determined first pulse width modulation signal can regulate the position of the electrodes applying array-type electrical stimulation to the user's skin, thereby regulating the tactile generation points applied to the user's skin.

[0048] Furthermore, based on the array voltage signal, analog control signal, and first pulse width modulation signal, multiple tactile generation points can be controlled to simultaneously apply array-type electrical stimulation to the user, thereby achieving array-type electro-tactile feedback. Therefore, the electro-tactile feedback method provided in this application can acquire the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user in real time. Based on this information, the array voltage signal, analog control signal, and first pulse width modulation signal required for applying the array-type electrical stimulation can be determined, thereby controlling multiple tactile generation points to achieve multi-dimensional stimulation of the array-type electrical stimulation signal. This realizes complex array-type tactile sensation, increases the amount of tactile information expressed, and can match the user's complex spatial operations (such as three-dimensional spatial gestures) during interaction, solving the problem of insufficient single-point tactile information expression in traditional technologies. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A flowchart illustrating the steps of the electro-haptic feedback method provided in this application;

[0051] Figure 2 A schematic diagram illustrating the generation of electrodes and tactile generation points provided in this application;

[0052] Figure 3 This is a block diagram of the overall structure of the electro-tactile feedback circuit provided in this application;

[0053] Figure 4 A schematic diagram illustrating the connection structure between the multiple electrode control modules and the multiple electrodes provided in this application;

[0054] Figure 5 A schematic diagram of the generation structure of the interference electric field stimulation signal provided in this application;

[0055] Figure 6 A schematic diagram of the switching module, proportional current module, and connection structure between electrodes in the electrode control module provided in this application;

[0056] Figure 7 A schematic diagram of the circuit connection structure between the switching module, the proportional current module, and the electrodes provided in this application;

[0057] Figure 8 A schematic diagram of the electrode array distribution provided in this application;

[0058] Figure 9 A schematic diagram illustrating the electrotactile dynamic effects of the game controller provided in this application. Detailed Implementation

[0059] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0060] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0061] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0063] Please see Figure 1 This application provides an electrotactile feedback method, comprising:

[0064] Step S10: Obtain the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user; wherein, the array-type electrical stimulation information includes multiple tactile generation points, excitation timing sequence and electrode combination information corresponding to each tactile generation point, and each electrode combination information includes at least two electrode numbers, stimulation voltage amplitude, stimulation current amplitude and stimulation frequency.

[0065] Step S20: Determine the array voltage signal based on the stimulation voltage amplitude;

[0066] Step S30: Determine the analog control signal based on the amplitude of the stimulation current and / or the stimulation frequency;

[0067] Step S40: Determine the first pulse width modulation signal based on the electrode number and excitation timing.

[0068] Step S50: Based on the array voltage signal, multiple analog control signals, and multiple first pulse width modulation signals, control multiple tactile generation points to apply array-type electrical stimulation to the user.

[0069] In this embodiment, after obtaining the tactile feedback triggered by the user's action in step S10, corresponding array-type electrical stimulation information will exist. In the array-type electrical stimulation information, each tactile generation point is formed by at least two electrodes 510, or can be understood as being formed by at least one pair of electrodes 510. Each electrode has a corresponding electrode number, stimulation voltage amplitude, stimulation current amplitude, and stimulation frequency. Each tactile generation point ( Figure 2 Each of the black dots (in the center) has a unique number, such as... Figure 2As shown. In the tactile generation point (1, 5, 2, 2), 1 and 5 represent the first electrode 510 and the fifth electrode 510, respectively, which can also be understood as electrode serial numbers, representing the specific location of the electrodes. 2 and 2 represent the coordinates of the tactile generation point. It can also be understood that the first two digits represent a pair of electrodes 510 corresponding to the tactile generation point, and the last two digits represent the coordinates of the tactile generation point.

[0070] In step S20, based on the stimulation voltage amplitude, the determined array voltage signal can regulate the voltage amplitude of the electrodes that apply array electrical stimulation to the user's skin, thereby regulating the voltage amplitude corresponding to the tactile generation points that apply array electrical stimulation to the user's skin, and determining whether tactile sensation can be perceived, the gradient of perception intensity, and the safety boundary.

[0071] In step S30, the analog control signal determined based on the stimulation current amplitude and / or stimulation frequency can control the current amplitude and / or frequency of the electrodes that apply array-type electrical stimulation to the user's skin, thereby controlling the current amplitude and / or frequency corresponding to the tactile generation points that apply array-type electrical stimulation to the user's skin, which can directly activate nerves and determine the actual tactile stimulation intensity and / or tactile type (e.g., numbness, vibration, or pressure).

[0072] In step S40, the excitation timing sequence is a time sequence of multiple tactile generation points. At least two electrodes generate one tactile generation point. The excitation timing sequence can also be understood as a time sequence of multiple electrode combinations in the electrode array 50. The position of the corresponding electrode in the electrode array 50 can be determined by the electrode number. Furthermore, based on the electrode number and the excitation timing sequence, the determined first pulse width modulation signal can regulate the position of the electrodes applying array-type electrical stimulation to the user's skin, thereby regulating the tactile generation point applying array-type electrical stimulation to the user's skin.

[0073] Furthermore, in step S50, based on the array voltage signal, the analog control signal, and the first pulse width modulation signal, multiple tactile generation points can be controlled to simultaneously apply array-type electrical stimulation to the user, thereby achieving array-type electrotactile feedback. Therefore, the electrotactile feedback method provided in this application can acquire the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user in real time. Based on this information, the array voltage signal, analog control signal, and first pulse width modulation signal required for applying the array-type electrical stimulation are determined, thereby controlling multiple tactile generation points to achieve multi-dimensional stimulation of the array-type electrical stimulation signal. This realizes complex array-type tactile sensation, increases the amount of tactile information expressed, and can match the user's complex spatial operations (such as three-dimensional spatial gestures) during interaction, solving the problem of insufficient single-point tactile information expression in traditional technologies.

[0074] In some embodiments, after obtaining the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user in step S10, the method further includes:

[0075] Step S101: Based on the skin impedance detection results of the electrode array, determine whether the electrode corresponding to the tactile generation point is an abnormal electrode.

[0076] Step S102: If yes, retrieve the electrode number of at least one normal electrode combination corresponding to the tactile generation point, and adjust the ratio of the stimulation current amplitude flowing through the normal electrode combination to obtain the adjusted stimulation current amplitude.

[0077] In this embodiment, before generating a tactile sensation in step S101, skin impedance detection of the electrode array is required to confirm the contact state between each electrode 510 in the electrode array 50 and the user's skin, as well as whether there are any problems with the electrode circuit itself, and to identify which electrodes 510 are in a short-circuit or open-circuit state. Then, the abnormal electrodes 510 in the electrode array 50 are shielded to obtain the normal electrodes in the electrode array 50, ensuring the accuracy of the tactile feedback.

[0078] If the skin impedance in the electrode array skin impedance test result is zero, it indicates a short circuit in the circuit containing the corresponding electrode, making it an abnormal electrode. If the skin impedance in the electrode array skin impedance test result is infinite, it indicates an open circuit in the circuit containing the corresponding electrode, also making it an abnormal electrode.

[0079] Furthermore, in step S102, as Figure 2 As shown, simultaneously activating any two electrodes 510 can create tactile sensation between the two electrodes 510, such as... Figure 2 The black dot in the center represents the tactile feedback point. By adjusting the ratio of the current amplitude flowing through the two electrodes 510, the tactile feedback point can be shifted between the two electrodes 510. In a pair of electrodes 510, the tactile feedback point shifts to the electrode with the larger current amplitude. For example, for the tactile feedback point between the first and fourth electrodes 510, when the current amplitude of the first electrode 510 is greater than that of the fourth electrode 510, the tactile feedback point shifts towards the position of the first electrode 510.

[0080] When responding to tactile feedback triggered by the user, the system retrieves pre-stored array-type electrical stimulation information from the tactile waveform library. Based on this information, it determines the number of tactile generation points to be stimulated, the stimulation sequence, and the electrode number, stimulation voltage amplitude, stimulation current amplitude, and stimulation frequency for each point.

[0081] Based on the skin impedance detection results of the electrode array, if the electrode corresponding to the tactile generation point is an abnormal electrode, the electrode combination corresponding to the tactile generation point needs to be adjusted to obtain the normal electrode combination corresponding to the tactile generation point. Each tactile generation point corresponds to at least one generation method, for example... Figure 2 In the tactile generation points (1, 5, 2, 2) shown, 1 and 5 represent the points generated by the first electrode 510 and the fifth electrode 510, respectively, and 2 and 2 represent the coordinates of the tactile generation points. The tactile generation point (2, 2) can also be generated by exciting the first electrode 510 and the ninth electrode 510 with a non-uniform current amplitude ratio. The tactile generation point (2, 2) can also be generated by exciting the second electrode 510 and the fourth electrode 510 with a uniform current amplitude ratio.

[0082] Furthermore, when the electrode corresponding to the tactile generation point is an abnormal electrode, in step S102, at least one normal electrode combination corresponding to the tactile generation point is retrieved to obtain the adjusted electrode sequence number, thus ensuring tactile sensation generation. When the electrode combination corresponding to the tactile generation point changes, the amplitude of the corresponding stimulation current of the electrode also changes accordingly, so as to regulate the proportion of the stimulation current amplitude flowing through the normal electrode combination, thereby obtaining the regulated stimulation current amplitude, so that the updated normal electrode combination can generate the required tactile feedback.

[0083] In some embodiments, the tactile generating points stimulated at the same time interval will be traversed within 20ms to 25ms. 20ms to 25ms is the interval at which the human body distinguishes between two tactile sensations. In order to achieve a left-to-right tactile sensation, the tactile generating points in each column are triggered in a left-to-right order, and the tactile generating points in each column are traversed once within 25ms, which can ensure that the user perceives a strip of tactile sensation.

[0084] In some embodiments, after obtaining the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user in step S10, the method further includes:

[0085] Step S103: Based on the skin impedance detection results of the electrode array, the stimulation voltage amplitude and stimulation frequency are adjusted to obtain the adjusted stimulation voltage amplitude and stimulation frequency.

[0086] In this embodiment, the change in skin impedance can be captured based on the skin impedance detection results of the electrode array. Based on Ohm's law, the amplitude of the stimulation voltage of the electrical stimulation signal applied to the electrodes can be adjusted according to the change in skin impedance, thereby keeping the amplitude of the stimulation current flowing into the user's skin stable, so that the intensity of the user's electrotactile perception does not fluctuate with changes in skin impedance.

[0087] When the skin impedance of the electrode array increases, the stimulation frequency and voltage amplitude can be increased to maintain the same stimulation intensity. Conversely, when the skin impedance decreases, the stimulation frequency and voltage amplitude need to be reduced to avoid causing a stinging sensation. Therefore, by adjusting the stimulation voltage amplitude and frequency based on the skin impedance detection results of the electrode array, the stability and consistency of the user's tactile perception can be improved, addressing the problem of perceptual fluctuations caused by dynamic changes in skin physiological characteristics.

[0088] Furthermore, when the electrode corresponding to the tactile generation point is an abnormal electrode, in step S102, at least one normal electrode combination corresponding to the tactile generation point is retrieved to obtain the adjusted electrode sequence number. Based on the adjusted stimulation voltage amplitude, the array voltage signal can be adjusted to obtain the adjusted array voltage signal. Based on the adjusted stimulation frequency, the analog adjustment signal can be adjusted to obtain the adjusted analog adjustment signal. Based on the adjusted stimulation current amplitude, the analog adjustment signal can also be adjusted to obtain the adjusted analog adjustment signal. Based on the adjusted electrode sequence number and excitation timing, the first pulse width modulation signal can be adjusted to obtain the adjusted first pulse width modulation signal.

[0089] Therefore, based on the regulated array voltage signal, the regulated analog regulation signal, and the regulated first pulse width modulation signal, multiple tactile generation points can be controlled to apply array-type electrical stimulation to the user.

[0090] In some embodiments, step S20, determining the array voltage signal based on the stimulation voltage amplitude, includes:

[0091] Step S210: Determine the second pulse width modulation signal based on the stimulation voltage amplitude;

[0092] Step S220: Based on the second pulse width modulation signal, the power supply is boosted and current-limited to obtain the array voltage signal.

[0093] In this embodiment, the second pulse width modulation signal, determined based on the stimulation voltage amplitude, can be used to boost and limit the power supply. This can be understood as first increasing the voltage and then limiting the current. By boosting the voltage supplied by the power supply according to the second pulse width modulation signal PWM2, the voltage can be adjusted to the supply voltage required by the electrodes of the array-type electrical stimulation, thereby enabling the regulation of the voltage amplitude corresponding to the tactile generation points of the array-type electrical stimulation applied to the user's skin.

[0094] By limiting the current supplied by the power supply according to the second pulse width modulation signal PWM2, the current can be restricted within the safe current threshold range, avoiding safety risks caused by excessive current. Through the second pulse width modulation signal, the power supply is boosted and current-limited, allowing for coordinated boosting and current limiting. The boosted array voltage signal is used as the target, while the current is limited to a safe upper limit, thus ensuring the safety and reliability of applying array-type electrical stimulation to the user's skin.

[0095] In some embodiments, step S30, determining the analog modulation signal based on the stimulation current amplitude and / or stimulation frequency, includes:

[0096] Step S310: Determine the digital control signal based on the stimulation current amplitude and / or stimulation frequency;

[0097] Step S320: Convert the digital control signal to an analog signal to obtain an analog control signal.

[0098] In this embodiment, the digital control signal can be adjusted by the amplitude and frequency of the stimulation current. The amplitude of the stimulation current can also be adjusted, as can the stimulation frequency. Furthermore, by adjusting the amplitude and / or frequency of the stimulation current, the digital control signal can be changed to adjust the tactile sensation ultimately applied to the user's skin.

[0099] Converting digital control signals into analog control signals can provide the required current to the electrodes of array-type electrical stimulation, and can regulate the current amplitude and / or frequency corresponding to the tactile generation points of array-type electrical stimulation applied to the user's skin, thereby enabling timely application of array-type electrical stimulation to the user.

[0100] In some embodiments, step S50, controlling multiple tactile generation points to apply array-type electrical stimulation to the user based on the array voltage signal, the analog control signal, and the first pulse width modulation signal, includes:

[0101] Step S510: Based on the array voltage signal, the analog control signal and the first pulse width modulation signal, control the formation of tactile generation points between any two electrodes 510 in the electrode array 50.

[0102] In this embodiment, the electrode 510 can be controlled to apply an electrical stimulation signal to the user's skin based on the array voltage signal, the first pulse width modulation signal PWM1, and the analog control signal. Since each electrode 510 is in contact with the user's skin, an electrical stimulation pathway can be formed between any two electrodes 510 in the electrode array 50 through the user's skin.

[0103] The electrodes 510 in the electrode array 50 are also independent of each other, and any two electrodes 510 can be combined to form any electrical stimulation pathway. When the electrodes 510 in the electrode array 50 come into contact with different locations on the user's skin, any electrical stimulation pathway can form any tactile generation point on the user's skin, so that the user can feel point-like, line-like, surface-like, and three-dimensional tactile feedback, no longer limited to a single point feedback.

[0104] Therefore, the electrotactile feedback method provided in this application can arbitrarily change the current flow direction of the electrical stimulation pathway on the user's skin, and can control any number of electrodes 510 to receive and send currents of different magnitudes and combinations of different currents, creating different stimulation sensations or even virtual stimulation points, thus achieving complex tactile sensations.

[0105] In some embodiments, step S50, controlling multiple tactile generation points to apply array-type electrical stimulation to the user based on the array voltage signal, the analog control signal, and the first pulse width modulation signal, includes:

[0106] Step S520: Based on the array voltage signal, the analog control signal and the first pulse width modulation signal, control the formation of an interference electric field stimulation signal between any four electrodes 510 in the electrode array 50.

[0107] In this embodiment, the interference electric field stimulation signal is formed by simultaneously applying two electrical stimulation signals of different frequencies to the same skin location. The electrotactile feedback method provided in this application allows for the formation of interference electric field stimulation signals between any four electrodes 510. The interference electric field stimulation signal can further reduce the operating voltage of the electrical stimulation signal, decrease the adaptability of the user's skin to electrical stimulation, and increase the amplitude of the stimulation current injected into the user's skin.

[0108] Please see Figure 3 This application provides an electro-haptic feedback circuit 100. The electro-haptic feedback circuit 100 includes a control module 10, a stimulation signal control array 20 connected to the control module 10, a boost current limiting regulation module 30, a digital-to-analog conversion module 40, and an electrode array 50. The control module 10 is used to acquire array-type electrical stimulation information corresponding to the haptic feedback triggered by the user. The array-type electrical stimulation information includes multiple haptic generation points, excitation timing, and electrode combination information corresponding to each haptic generation point. Each electrode combination information includes an electrode number, stimulation voltage amplitude, stimulation current amplitude, and stimulation frequency.

[0109] The control module 10 is used to determine a first pulse width modulation signal based on the electrode number and excitation timing, and is also used to determine a digital control signal based on the stimulation current amplitude and / or stimulation frequency, and to determine a second pulse width modulation signal based on the stimulation voltage amplitude.

[0110] The control module 10 sends a second pulse width modulation signal PWM2, multiple first pulse width modulation signals PWM1, and a digital control signal.

[0111] The stimulation signal control array 20 is used to acquire multiple first pulse width modulation signals. The boost current limiting control module 30 is also connected to the stimulation signal control array 20 and is used to boost and limit the power supply according to the second pulse width modulation signal PWM2 to obtain the array voltage signal and send the array voltage signal to the stimulation signal control array 20.

[0112] The digital-to-analog conversion module 40 is also connected to the stimulation signal control array 20, and is used to perform digital-to-analog conversion on multiple digital control signals to obtain multiple analog control signals, and send the multiple analog control signals to the stimulation signal control array 20. The stimulation signal control array 20 is also connected to the electrode array 50, and is used to control multiple tactile generating points formed in the electrode array 50 to apply array-type electrical stimulation to the user according to multiple first pulse width modulation signals PWM1, array voltage signals and multiple analog control signals.

[0113] In this embodiment, the stimulation signal control array 20 is connected to the control module 10 and the electrode array 50. Based on multiple first pulse width modulation (PWM) signals, it can regulate the positions of multiple electrodes in the electrode array 50 that apply array-type electrical stimulation to the user's skin, thereby forming multiple tactile generation points and corresponding excitation sequences. The position of the corresponding electrode in the electrode array 50 can be determined through the electrode number.

[0114] The boost current limiting control module 30 performs boost current limiting control on the power supply according to the second pulse width modulation signal PWM2, which can be understood as first increasing the voltage and then limiting the current. The boost current limiting control module 30 boosts the voltage provided by the power supply according to the second pulse width modulation signal PWM2, which can adjust the voltage to the supply voltage required by the stimulation signal control array 20, thereby adjusting the stimulation voltage amplitude applied by the stimulation signal control array 20 to each electrode on the electrode array 50.

[0115] The boost current limiting control module 30 limits the current supplied by the power supply according to the second pulse width modulation signal PWM2, which can limit the current within the safe current threshold range and avoid excessive current causing safety risks. Through the boost current limiting control module 30, boosting and current limiting can be coordinated. The boosted array voltage signal is used as the target, while the current is limited to the safe upper limit to achieve current constraint, thus ensuring the safe and reliable operation of the electrotactile feedback circuit 100.

[0116] The digital-to-analog conversion module 40 converts the digital control signal sent by the control module 10 into an analog control signal, providing the required current to the stimulation signal control array 20, thereby adjusting the stimulation current amplitude and stimulation frequency applied by the stimulation signal control array 20 to each electrode on the electrode array 50.

[0117] Each tactile generation point corresponds to an electrode combination, which can also be understood as simultaneously activating any two electrodes to form a tactile sensation between the two electrodes, thus creating a corresponding tactile generation point. The stimulation signal control array 20 provided in this application, based on the array voltage signal sent by the boost current limiting control module 30, the analog control signal sent by the digital-to-analog conversion module 40, and multiple first pulse width modulation signals (PWM1) sent by the control module 10, can regulate the array-type electrical stimulation information applied to the user's skin by the electrode array 50. This includes, for example, the electrode number, excitation sequence, stimulation voltage amplitude, stimulation current amplitude, and stimulation frequency corresponding to multiple tactile generation points. The electrode number can characterize the electrode's position.

[0118] Furthermore, through the electro-tactile feedback circuit 100 provided in this application, the electrode combination, excitation timing, stimulation voltage amplitude, stimulation current amplitude, and stimulation frequency of the multiple tactile generation points formed in the electrode array 50 can be arbitrarily changed, realizing multi-dimensional control of the array-type electrostimulation signal applied to the user's skin. This allows for precise adjustment of the multi-dimensional tactile sensation applied to the user's skin by the electrostimulation signal. Thus, through the electro-tactile feedback circuit 100 provided in this application, the electrode array 50 can be controlled to apply array-type electrostimulation to the user's skin, realizing complex array-type tactile sensations, increasing the amount of tactile information expressed, and matching the user's complex spatial operations (such as three-dimensional spatial gestures) during interaction, solving the problem of insufficient single-point tactile information expression in traditional technologies.

[0119] In some embodiments, the control module 10 includes a field-programmable gate array 110 and a microprocessor 120. The field-programmable gate array 110 is connected to the microprocessor 120 and transmits data signals through a serial peripheral interface (SPI).

[0120] In this embodiment, the field-programmable gate array 110 sends a second pulse width modulation signal PWM2, multiple first pulse width modulation signals PWM1, and multiple digital control signals to the boost current limiting control module 30, the stimulation signal control array 20, and the digital-to-analog conversion module 40, respectively. Signal transmission between the field-programmable gate array 110 and the host computer can be achieved through the microprocessor 120.

[0121] In some embodiments, the boost current limiting control module 30 includes a boost module 310, a discrete boost module 320, and a current limiting module 330. The boost module 310 is connected to the power management module 70 and the discrete boost module 320. The discrete boost module 320 is connected to the field-programmable gate array 110 and receives a second pulse width modulation signal PWM2. The discrete boost module 320 is also connected to the current limiting module 330. The discrete boost module 320 is connected to the stimulation signal control array 20.

[0122] In this embodiment, the boost module 310 can be a Boost power chip. The boost module 310 and the discrete boost module 320 work together. First, the boost module 310 boosts the power supply voltage provided by the power management module 70, for example, to 19V. Then, the discrete boost module 320 further boosts the voltage boosted by the boost module 310 according to the second pulse width modulation signal PWM2, forming an array voltage signal. This voltage can be adjusted to the supply voltage required by the stimulation signal control array 20, thereby adjusting the amplitude of the stimulation voltage applied to the electrode array 50 by the stimulation signal control array 20, for example, within the range of 45V to 90V. Boost regulation can be performed through the boost module 310 and the discrete boost module 320. Current limiting regulation can be performed through the current limiting module 330, limiting the current to a safe current threshold range to avoid excessive current and safety risks.

[0123] In some embodiments, the discrete boost module 320 includes electronic components such as resistors, capacitors, transistors, and Schottky diodes, which can be adjusted according to the actual application scenario. The current limiting module 330 includes electronic components such as current limiting resistors, diodes, and transistors, which can be adjusted according to the actual application scenario.

[0124] In some embodiments, the electro-haptic feedback circuit 100 further includes a power management module 70, an inertial measurement module 80, and a power delivery interface 90. The power management module 70 provides power. The power management module 70 can be a power management chip. The power delivery interface 90 can be a Type-C interface for connecting to an external power supply device. The power management module 70 can power the field-programmable gate array 110, the microprocessor 120, and the inertial measurement module 80. The inertial measurement module 80 can be used to assist in gesture control.

[0125] In some embodiments, the microprocessor 120 is also connected to the inertial measurement module 80 and transmits data signals via a serial peripheral interface (SPI). The inertial measurement module 80 can be an inertial measurement unit (IMU) that can be used to assist in gesture control. The inertial measurement module 80 can capture motion information of the device or human body (such as position, attitude, acceleration, angular velocity, etc.), and thus can serve as a sensing end for user actions, sensing the user's actions and feeding them back to the microprocessor 120, so that the electro-haptic feedback circuit 100 can correspondingly generate haptic feedback to the user.

[0126] In some embodiments, the electrotactile feedback circuit 100 further includes a voltage and current sampling module 60. The voltage and current sampling module 60 is connected to the stimulation signal control array 20 and is used to acquire the real-time voltage and current during the process of the stimulation signal control array 20 regulating the electrode array 50 to apply an electrical stimulation signal to the user's skin, thereby monitoring the voltage and current of the electrotactile feedback circuit. The voltage and current sampling module 60 feeds back the real-time voltage and current to the field-programmable gate array 110. The field-programmable gate array 110 can calculate the current skin impedance based on the real-time voltage and current, and then adjust multiple tactile generation points, the electrode combination corresponding to each tactile generation point, the excitation timing, the stimulation voltage amplitude, the stimulation current amplitude, and the stimulation frequency according to the current skin impedance to achieve the regulation of the electrical stimulation signal.

[0127] The field-programmable gate array 110 can also feed back the sampled values ​​of real-time voltage and real-time current to the microprocessor 120 so that when the real-time voltage exceeds the predetermined safe voltage value or / and the real-time current exceeds the predetermined safe current value, the field-programmable gate array 110 can be controlled to cut off the electrotactile feedback circuit 100 in a timely manner to ensure the safe and reliable operation of the electrotactile feedback circuit 100.

[0128] In some embodiments, the voltage and current sampling module 60 may employ a current monitoring chip and a voltage monitoring chip.

[0129] Please see Figure 4 In some embodiments, the stimulation signal control array 20 includes multiple parallel electrode control modules 210. The electrode array 50 includes multiple electrodes 510. Each electrode control module 210 is connected to the boost current limiting control module 30 for acquiring the array voltage signal. Each electrode control module 210 is connected to the control module 10 for acquiring the first pulse width modulation signal PWM1.

[0130] Each electrode control module 210 is connected to the digital-to-analog converter module 40 to acquire analog control signals. Each electrode control module 210 is connected to the electrode 510 and is used to control the formation of an electrical stimulation pathway between any electrode 510 in the electrode array 50 according to the array voltage signal, the first pulse width modulation signal PWM1, and the analog control signal, so as to apply array-type electrical stimulation to the user's skin.

[0131] In this embodiment, the multiple electrode control modules 210 are independent modules. Each electrode control module 210 receives an array voltage signal, a first pulse width modulation signal PWM1, and an analog control signal. The multiple electrodes 510 are arranged to form an electrode array 50.

[0132] Each electrode 510 corresponds to an electrode control module 210, and the electrode 510 is in contact with the user's skin. Furthermore, the electrode control module 210 can control the electrode 510 to apply an electrical stimulation signal to the user's skin based on the array voltage signal, the first pulse width modulation signal PWM1, and the analog control signal. Multiple electrode control modules 210 are connected one-to-one with multiple electrodes 510, and can individually control multiple electrodes 510 to apply electrical stimulation signals to the user's skin. Since each electrode 510 is in contact with the user's skin, an electrical stimulation pathway can be formed between any two electrodes 510 in the electrode array 50 through the user's skin, such as... Figure 4 The electrical stimulation pathways shown are represented by currents I1, I2, I3, I4, I5, I6, etc. Each current represents an electrical stimulation pathway.

[0133] The multiple electrode control modules 210 in the stimulation signal control array 20 are independent of each other, and the multiple electrodes 510 in the electrode array 50 are also independent of each other. Therefore, arbitrary combinations of electrodes can be made between the stimulation signal control array 20 and the electrode array 50 to form arbitrary electrical stimulation pathways. When multiple electrodes 510 in the electrode array 50 contact different locations on the user's skin, arbitrary electrical stimulation pathways can form arbitrary tactile generation points on the user's skin, allowing the user to experience point-like, line-like, surface-like, and three-dimensional tactile feedback, no longer limited to a single point. Therefore, through the electrotactile feedback circuit 100 provided in this application, the current flow direction of the electrical stimulation pathway on the user's skin can be arbitrarily changed, and multiple electrodes 510 can be controlled to receive and send currents of different magnitudes and combinations of different currents to create different stimulation sensations or even virtual stimulation points, achieving complex tactile sensations.

[0134] Furthermore, the multiple electrode control modules 210 in the stimulation signal control array 20 are independent of each other, and the multiple electrodes 510 in the electrode array 50 are also independent of each other. They can be freely combined with each other, and the number of electrode control modules 210 and electrodes 510 can be increased or decreased at will without affecting the control logic of the overall circuit. This greatly reduces the development cycle of the solution conversion for application in different scenarios, is easy to miniaturize and integrate, and reduces circuit costs.

[0135] Please see Figure 5 In some embodiments, any four-electrode control module 210 is used to control the formation of an interference electric field stimulation signal between the four correspondingly connected electrodes 510 according to the array voltage signal, the first pulse width modulation signal PWM1 and the analog control signal.

[0136] In this embodiment, the interference electric field stimulation signal is formed by simultaneously applying two electrical stimulation signals of different frequencies to the same skin location, such as... Figure 5 The four electrodes 510 shown form a first frequency f1 and a second frequency f2. Through the electrotactile feedback circuit 100 provided in this application, any four electrode control modules 210 can control the corresponding four electrodes 510 to form an interference electric field stimulation signal. This interference electric field stimulation signal can further reduce the operating voltage of the electrical stimulation signal, decrease the user's skin's adaptability to electrical stimulation, and increase the amplitude of the stimulation current injected into the user's skin.

[0137] Furthermore, through the electrotactile feedback circuit 100 provided in this application, any four electrode control modules 210 can control the four corresponding electrodes 510 to form an interference electric field stimulation signal. This avoids the need to add an additional operational amplifier constant current source circuit and its matching positive and negative power supply circuits because two different frequency electric stimulation signals need to be generated at the same time. The circuit structure is simple, easy to miniaturize and integrate, and reduces the circuit cost.

[0138] Please see Figure 6 In some embodiments, each electrode control module 210 includes a switching module 211 and a proportional current module 212. The switching module 211 is connected to the boost current limiting control module 30 and the control module 10. The switching module 211 is also connected to the electrode 510 and is used to control the electrode 510 to send an electrical stimulation signal to the user's skin when the array voltage signal and the first pulse width modulation signal PWM1 are turned on.

[0139] The proportional current module 212 is connected to the switch module 211 and the digital-to-analog conversion module 40. The proportional current module 212 is also connected to the electrode 510 and is used to control the electrode 510 to receive the electrical stimulation signal sent by another electrode 510 in the electrode array 50 when the analog control signal is turned on.

[0140] In this embodiment, the switching module 211 receives the array voltage signal and the first pulse width modulation signal PWM1, and is turned on under the control of the array voltage signal and the first pulse width modulation signal PWM1. When the switching module 211 is turned on, the array voltage signal forms a current flowing into the electrode 510 after passing through the switching module 211, causing the electrode 510 to send an electrical stimulation signal to the user's skin, such as... Figure 6 The I+ shown.

[0141] The proportional current module 212 receives an analog control signal. Under the control of the analog control signal, the proportional current module 212 is turned on, introducing the analog control signal into itself. When the proportional current module 212 is turned on, electrode 510 can be controlled to receive an electrical stimulation signal sent by another electrode 510, such as... Figure 6 The I- shown.

[0142] from Figure 6 As can be seen from path A, when the switch module 211 is turned on, the array voltage signal forms a current that flows into electrode 510 after passing through the switch module 211, and then flows through the user's skin and another electrode 510 to another proportional current module 212, and finally to ground.

[0143] from Figure 6 As can be seen from path B, when another switch module 211 is turned on, the array voltage signal, after passing through the other switch module 211, forms a current that flows into another electrode 510, passes through the user's skin and electrode 510, flows into the proportional current module 212, and then to ground. Furthermore, an electrical stimulation pathway can be formed between any two electrodes 510 in the electrode array 50 through the user's skin, and a bidirectional electrical stimulation signal can be generated, injecting positive and negative bidirectional currents into the user's skin to prevent excessive charge accumulation.

[0144] Therefore, when multiple electrodes 510 form an electrode array 50, the electrotactile feedback circuit 100 provided in this application can control any electrode 510 to send or receive electrical stimulation signals, forming various forms of current conduction combinations, which can generate currents of different magnitudes so that users can experience different tactile sensations.

[0145] Please see Figure 7 In some embodiments, the switching module 211 includes a first resistor 2111, a first transistor 2112, a second resistor 2113, a third resistor 2114, and a second transistor 2115. The first terminal of the first resistor 2111 is connected to the control module 10 and is used to acquire a first pulse width modulation signal PWM1. The base terminal of the first transistor 2112 is connected to the second terminal of the first resistor 2111, and the emitter terminal of the first transistor 2112 is grounded.

[0146] The first terminal of the second resistor 2113 is connected to the collector terminal of the first transistor 2112. The first terminal of the third resistor 2114 is connected to the collector terminal of the first transistor 2112. The base terminal of the second transistor 2115 is connected to the second terminal of the third resistor 2114, and the emitter terminal of the second transistor 2115 is connected to the second terminal of the second resistor 2113 and the boost current limiting control module 30 for acquiring array voltage signals. The collector terminal of the second transistor 2115 is connected to the electrode 510.

[0147] In this embodiment, the first transistor 2112 is an NPN transistor, and the second transistor 2115 is a PNP transistor. The first resistor 2111, the third resistor 2114, and the first transistor 2112 can control the switching on and off of the second transistor 2115. The third resistor 2114 acts as a current-limiting resistor to prevent excessive base current from burning out the second transistor 2115, and also accelerates charge discharge when the second transistor 2115 is turned off and reduces voltage overshoot.

[0148] In some embodiments, the proportional current module 212 includes a fourth resistor 2121, a third transistor 2122, a fifth resistor 2123, a fourth transistor 2124, a sixth resistor 2125, and a seventh resistor 2126. The first terminal of the fourth resistor 2121 is connected to the digital-to-analog converter module 40 for acquiring analog control signals.

[0149] The collector of the third transistor 2122 is connected to the second terminal of the fourth resistor 2121. The first terminal of the fifth resistor 2123 is connected to the emitter of the third transistor 2122, and the second terminal of the fifth resistor 2123 is grounded.

[0150] The base of the fourth transistor 2124 is connected to the base of the third transistor 2122. The first terminal of the sixth resistor 2125 is connected to the collector of the fourth transistor 2124, and the second terminal of the sixth resistor 2125 is connected to the collector of the second transistor 2115 and electrode 510. The first terminal of the seventh resistor 2126 is connected to the emitter of the fourth transistor 2124, and the second terminal of the seventh resistor 2126 is grounded.

[0151] In this embodiment, the third transistor 2122 is an NPN transistor. The fourth transistor 2124 is an NPN transistor. The fourth resistor 2121, the sixth resistor 2125, the fifth resistor 2123, the seventh resistor 2126, the third transistor 2122, and the fourth transistor 2124 form a proportional current source circuit, namely, a proportional current module 212. Through the proportional current module 212, the current generated by the analog control signal can be copied to the sixth resistor 2125 at an arbitrary ratio, that is, the current flowing through the sixth resistor 2125 has a current ratio to the current flowing through the fourth resistor 2121. In some embodiments, the current ratio can be set to 1 / 20, or it can be set according to actual application requirements. Furthermore, through the proportional current module 212, the current generated by the analog control signal can be copied to the sixth resistor 2125 at a ratio of 1 / 20, that is, the current flowing through the sixth resistor 2125 is 1 / 20 of the current flowing through the fourth resistor 2121. The proportional current module 212 can adjust the magnitude of the current flowing through the electrode 510 in each electrical stimulation pathway to generate different stimulation feedback.

[0152] Therefore, the electro-tactile feedback circuit 100 provided in this application can arbitrarily change the current flow direction of the electrical stimulation signal on the user's skin, and control any electrode 510 to participate in the generation of tactile sensation. At the same time, the electro-tactile feedback circuit 100 provided in this application can adjust the magnitude of the current flowing through each electrode 510 to produce different stimulation sensations and tactile generation points, and can realize complex array-type tactile sensation.

[0153] Furthermore, the electrode control module 210 provided in this application allows for the independent and free switching of the switch module 211 and the proportional current module 212. Even when both the switch module 211 and the proportional current module 212 are simultaneously switched on, the circuit will not burn out.

[0154] This application provides a smart device, including an electrotactile feedback circuit 100 of any of the above embodiments.

[0155] In this embodiment, the smart device can be a smart handle 200, a stylus, a smart ring, a smart wristband, AR glasses, and VR glasses, etc.

[0156] Please see Figure 8 This application provides a smart handle 200, including the electro-haptic feedback circuit 100 described in any of the above embodiments and a housing. The electro-haptic feedback circuit 100 includes an electrode array 50. Multiple electrodes 510 in the electrode array 50 are distributed on multiple sidewalls and the back of the housing.

[0157] In this embodiment, the multiple sidewalls of the housing of the smart handle 200 can be the sides, bottom, and top of the housing. The back of the housing of the smart handle 200 is positioned opposite to the front, and the front is the control area of ​​the smart handle 200.

[0158] Multiple electrodes 510 in the electrode array 50 are distributed on multiple side walls and the back of the housing, making the arrangement of the multiple electrodes 510 three-dimensional, and the electrode positions present a three-dimensional spatial representation. Thus, the tactile feedback generated by the electro-haptic feedback circuit 100 can be combined with three-dimensional spatial gesture control to express complex gesture operations or spatial information, providing sufficient information and accurate feedback experience.

[0159] In some embodiments, the inertial measurement module 80 in the electro-haptic feedback circuit 100 is connected to the control module 10. The inertial measurement module 80 is used to acquire dynamic information triggered by the user in real time when the user grips the smart handle 200, and send the dynamic information to the control module 10. The control module 10 is used to acquire the array-type electrical stimulation information required for haptic feedback synchronously according to the dynamic information, and control the electrode array 50 to apply array-type electrical stimulation to the user according to the array-type electrical stimulation information.

[0160] In this embodiment, multiple electrodes 510 in the electrode array 50 are evenly distributed on multiple sidewalls and the back of the smart handle 200 housing. The inertial measurement module 80 can capture and acquire dynamic information triggered by the user when the user grips the smart handle 200. The dynamic information includes the direction, speed, and posture of the movement triggered when the user grips the smart handle 200. The inertial measurement module 80 can serve as a sensing end for the user's actions, sensing the user's actions and feeding them back to the control module 10, so that the electrotactile feedback circuit 100 can correspondingly form an array of electrical stimulation feedback to the user.

[0161] Please see Figure 9 When a user fully grasps the multiple electrodes 510 of the smart handle 200, and operates the smart handle 200 to draw a clockwise circle, swing left and right, or swing up and down, the control module 10 will synchronously swing clockwise, left and right, or up and down, sequentially controlling the multiple electrodes 510 in the electrode array 50 to stimulate the user's skin, producing a directional tactile feedback that is triggered along with the movement. Thus, the electro-tactile feedback circuit 100 in the smart handle 200 can transmit multi-dimensional information (such as rotation, translation, scaling, force, direction, shape, etc.), allowing the user to perceive directional electro-tactile feedback or electro-tactile feedback with localized gradual changes in intensity during three-dimensional gesture operations.

[0162] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0163] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0164] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0165] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0166] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0167] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0168] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0169] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for electrotactile feedback, characterized in that, include: Acquire array-type electrical stimulation information corresponding to the tactile feedback triggered by the user; wherein, the array-type electrical stimulation information includes multiple tactile generation points, excitation timing sequence, and electrode combination information corresponding to each tactile generation point, and each electrode combination information includes at least two electrode numbers, stimulation voltage amplitude, stimulation current amplitude, and stimulation frequency; The array voltage signal is determined based on the amplitude of the stimulation voltage. The analog control signal is determined based on the stimulation current amplitude and / or the stimulation frequency; The first pulse width modulation signal is determined based on the electrode number and the excitation timing. Based on the array voltage signal, multiple analog control signals, and multiple first pulse width modulation signals, multiple tactile generation points are controlled to apply array-type electrical stimulation to the user.

2. The electrotactile feedback method as described in claim 1, characterized in that, After acquiring the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user, the method further includes: Based on the skin impedance detection results of the electrode array, it is determined whether the electrode corresponding to the tactile generation point is an abnormal electrode; If so, the electrode number of at least one normal electrode combination corresponding to the tactile generation point is retrieved, and the proportion of the stimulation current amplitude flowing through the normal electrode combination is adjusted to obtain the adjusted stimulation current amplitude.

3. The electrotactile feedback method as described in claim 2, characterized in that, After acquiring the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user, the method further includes: Based on the skin impedance detection results of the electrode array, the stimulation voltage amplitude and the stimulation frequency are adjusted to obtain the adjusted stimulation voltage amplitude and the adjusted stimulation frequency.

4. The electrotactile feedback method as described in claim 1, characterized in that, Determining the array voltage signal based on the stimulation voltage amplitude includes: The second pulse width modulation signal is determined based on the stimulation voltage amplitude; The power supply is boosted and current-limited according to the second pulse width modulation signal to obtain the array voltage signal.

5. The electrotactile feedback method as described in claim 1, characterized in that, The step of determining the analog modulation signal based on the stimulation current amplitude and the stimulation frequency includes: The digital control signal is determined based on the amplitude of the stimulation current and the stimulation frequency; The digital control signal is converted from digital to analog to obtain the analog control signal.

6. The electrotactile feedback method as described in claim 1, characterized in that, The step of controlling multiple tactile generating points to apply array-type electrical stimulation to the user based on the array voltage signal, the analog control signal, and the first pulse width modulation signal includes: Based on the array voltage signal, the analog control signal, and the first pulse width modulation signal, the tactile generation point is formed between any two electrodes (510) in the control electrode array (50).

7. The electrotactile feedback method as described in claim 1, characterized in that, The step of controlling multiple tactile generating points to apply array-type electrical stimulation to the user based on the array voltage signal, the analog control signal, and the first pulse width modulation signal includes: Based on the array voltage signal, the analog control signal, and the first pulse width modulation signal, an interference electric field stimulation signal is formed between any four electrodes (510) in the control electrode array (50).

8. An electrotactile feedback circuit, characterized in that, The electrotactile feedback circuit, applied to any one of claims 1 to 7, comprises a control module (10), a stimulation signal control array (20) connected to the control module (10), a boost current limiting control module (30), a digital-to-analog conversion module (40), and an electrode array (50). The control module (10) is used to acquire the array-type electrical stimulation information corresponding to the tactile feedback triggered by the user; wherein, the array-type electrical stimulation information includes multiple tactile generation points, excitation timing and electrode combination information corresponding to each tactile generation point, and each electrode combination information includes at least two electrode numbers, stimulation voltage amplitude, stimulation current amplitude and stimulation frequency. The control module (10) is used to determine a first pulse width modulation signal according to the electrode number and the excitation timing, and is also used to determine a digital control signal according to the stimulation current amplitude and / or the stimulation frequency, and is also used to determine a second pulse width modulation signal according to the stimulation voltage amplitude. The stimulation signal control array (20) is used to acquire multiple first pulse width modulation signals; The boost current limiting control module (30) is also connected to the stimulation signal control array (20) and is used to boost current limiting control of the power supply according to the second pulse width modulation signal, obtain the array voltage signal, and send the array voltage signal to the stimulation signal control array (20). The digital-to-analog conversion module (40) is also connected to the stimulation signal control array (20) for performing digital-to-analog conversion on multiple digital control signals to obtain multiple analog control signals, and sending the multiple analog control signals to the stimulation signal control array (20). The stimulation signal control array (20) is also connected to the electrode array (50) and is used to control the application of array-type electrical stimulation to the user by the plurality of tactile generating points formed in the electrode array (50) according to the array voltage signal, the plurality of analog control signals and the plurality of first pulse width modulation signals.

9. The electrotactile feedback circuit as described in claim 8, characterized in that, The stimulation signal control array (20) includes multiple parallel electrode control modules (210), and the electrode array (50) includes multiple electrodes (510); Each of the electrode control modules (210) is connected to the boost current limiting control module (30) and is used to acquire the array voltage signal; Each of the electrode control modules (210) is connected to the control module (10) and is used to acquire the first pulse width modulation signal; Each of the electrode control modules (210) is connected to the digital-to-analog conversion module (40) for acquiring the analog control signal; Each of the electrode control modules (210) is connected to the electrode (510) and is used to control the formation of the tactile generation point between any two electrodes (510) in the electrode array (50) according to the array voltage signal, the first pulse width modulation signal and the analog control signal.

10. The electrotactile feedback circuit as described in claim 9, characterized in that, Any four of the electrode control modules (210) are used to control the formation of an interference electric field stimulation signal between the four correspondingly connected electrodes (510) according to the array voltage signal, the first pulse width modulation signal and the analog control signal.

11. A smart handle, characterized in that, Includes the electrotactile feedback circuit and housing as described in any one of claims 8 to 10; The electrotactile feedback circuit includes an electrode array (50), in which multiple electrodes (510) are distributed on multiple sidewalls and the back of the housing.

12. The smart handle as described in claim 11, characterized in that, The electro-tactile feedback circuit also includes a control module (10) and an inertial measurement module (80), the inertial measurement module (80) being connected to the control module (10); The inertial measurement module (80) is used to acquire dynamic information triggered by the user in real time when the user grips the smart handle, and send the dynamic information to the control module (10); The control module (10) is used to synchronously acquire the array-type electrical stimulation information required for tactile feedback based on the dynamic information, and to control the electrode array (50) to apply array-type electrical stimulation to the user based on the array-type electrical stimulation information.

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