Accurate touch wave micro-actuation array feedback control method and device

Abstract

The embodiment of the invention provides an accurate touch wave micro-actuation array feedback control method and device, and the method comprises the steps: controlling the phase difference of a transversely-arranged motor pair and a longitudinally-arranged motor pair to change from negative to positive in a linear stepping manner, keeping the relative amplitude symmetric and unchanged, and achieving the smooth movement of a focus in the transverse and longitudinal directions; the phase of the transversely-arranged motor and the phase of the longitudinally-arranged motor are controlled to be consistent, the vibration amplitude is gradually changed from low to high or from high to low, the physiological response difference of different skin depth sensors to the frequency degree is utilized, pure-signal-driven depth direction touch sense is formed, micro actuating motors are adopted, and the motors are small, exquisite, light, convenient to use and high in reliability. The system can work under extremely low power consumption, is suitable for being integrated in a portable device and a wearable device, remarkably improves the portability and energy efficiency of the device, can render movable focuses on the skin surface and different depths of a user through an independent motor phase modulation technology, and can simulate complex pattern information through the focuses and tracks of the focuses. Compared with the prior art, richer and finer tactile experience can be provided, compared with an electric adhesion technology needing user action intervention, active tactile feedback is provided, the user can receive tactile information without any physical operation, and interaction naturalness and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and in particular to a precise tactile micro-actuator array feedback control method, a precise tactile micro-actuator array feedback control device, a computer device, and a storage medium. Background Technology

[0002] Previous haptic feedback solutions involved embedding actuators in mobile phones to provide haptic feedback by vibrating parts of the device. At most, they could change the amplitude, duration, or frequency within a small range to represent different information. This approach was limited in its modes and the haptic information and content that could be conveyed was limited. Electro-adhesive haptic surfaces were passive and required constant sliding by the hand to feel the texture information. They also required high voltage, which was unsafe and affected the integration of them into wearable devices. Non-contact haptic feedback devices such as ultrasonic arrays were limited by the high power requirements of ultrasonic transducers, and these devices were often bulky and heavy. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a precise tactile micro-actuator array feedback control method, a precise tactile micro-actuator array feedback control device, a computer device, and a storage medium to overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, this invention discloses a precise haptic micro-actuator array feedback control method, applied to a haptic feedback device. The haptic feedback device includes a horizontally arranged motor and a vertically arranged motor, comprising:

[0005] The phase difference between the horizontally positioned motor and the vertically positioned motor is controlled to change from negative to positive in a linear step manner, while maintaining relative amplitude symmetry, so as to achieve smooth movement of the focus along the horizontal and vertical directions.

[0006] The motors positioned laterally and longitudinally are controlled to have the same phase, while the vibration amplitude gradually changes from low to high or from high to low. This utilizes the physiological differences in the frequency response of receptors at different depths of the skin to form a purely signal-driven depth-direction tactile sensation.

[0007] Preferably, the method includes:

[0008] Define the target tactile pattern and control the dynamic generation of the tactile pattern through the time domain;

[0009] A set of haptic parameters is generated, which includes control parameters for each actuating motor.

[0010] Preferably, defining the target tactile pattern includes:

[0011] The target tactile pattern is decomposed into a series of discrete focal point sets;

[0012] For each focal element, calculate the frequency, amplitude, and phase corresponding to that focal element.

[0013] Preferably, the generated haptic parameter set includes control parameters for each actuating motor, including:

[0014] A propagation model for generating surface waves;

[0015] The phase difference of each motor is calculated based on the above propagation model.

[0016] Preferably, the generated haptic parameter set includes control parameters for each actuating motor, including:

[0017] The motor output amplitude is adjusted according to the tactile needs of each point, and the control signal of each motor is generated. By adjusting the frequency, amplitude and phase, the preset tactile pattern is dynamically rendered.

[0018] Preferably, the motor includes a microneedle motor, and the displacement field is pre-calculated to generate energy from a single microneedle placed at the origin. This field captures the spatial response of skin tissue to a unit excitation and serves as a building block for full array computation. The array of microneedle motors includes square arrays, circular arrays, and fan-shaped arrays.

[0019] This invention discloses a precise haptic micro-actuation array feedback control device, characterized in that it is applied to a haptic feedback device, the haptic feedback device comprising a horizontally arranged motor and a vertically arranged motor, including:

[0020] The first control module is used to control the phase difference between the horizontally positioned motor and the vertically positioned motor to change from negative to positive in a linear step manner, while maintaining the relative amplitude symmetry, so as to achieve smooth movement of the focus along the horizontal and vertical directions.

[0021] The second control module is used to control the phase of the horizontally set motor and the vertically set motor to be consistent, while the vibration amplitude gradually changes from low to high or from high to low. It utilizes the physiological response differences of the skin's different depth receptors to frequency to form a pure signal-driven depth-direction tactile sensation.

[0022] Preferably, the device includes:

[0023] The definition module is used to define the target tactile pattern and control the dynamic generation of the tactile pattern through the time domain;

[0024] A generation module is used to generate a set of haptic parameters, which includes control parameters for each actuating motor.

[0025] Preferably, the definition module includes:

[0026] The decomposition submodule decomposes the target tactile pattern into a series of discrete focal point sets;

[0027] The calculation submodule calculates the frequency, amplitude, and phase of each focal element.

[0028] This invention discloses a computer device, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described steps of precise tactile micro-actuator array feedback control.

[0029] This invention discloses a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned steps of precise haptic micro-actuator array feedback control.

[0030] The embodiments of the present invention have the following advantages:

[0031] In this embodiment of the invention, a haptic feedback device is applied. The haptic feedback device includes a horizontally arranged motor and a vertically arranged motor. The device includes: controlling the phase difference between the horizontally and vertically arranged motors to change linearly from negative to positive while maintaining relative amplitude symmetry, thus achieving smooth movement of the focal point along the horizontal and vertical directions; controlling the phase of the horizontally and vertically arranged motors to be consistent, while the vibration amplitude gradually changes from low to high or from high to low, utilizing the physiological response differences of receptors at different skin depths to frequency, forming a purely signal-driven depth-direction haptic feedback. Miniature actuation motors are used; these motors are small and lightweight, capable of operating with extremely low power consumption, suitable for integration into portable and wearable devices, significantly improving the portability and energy efficiency of the device. Through independent motor phase adjustment technology, this invention can render movable focal points on the user's skin surface at different depths. These focal points and their trajectories can simulate complex pattern information. Compared with existing technologies, it can provide a richer and more refined tactile experience. Compared with electro-adhesive technology that requires user intervention, this invention provides active tactile feedback. Users can receive tactile information without performing any physical operations, which increases the naturalness and efficiency of the interaction. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1This is a schematic diagram of the structure of a tactile feedback device according to an embodiment of the present invention;

[0034] Figure 2 This is a flowchart illustrating the steps of an embodiment of a precise tactile micro-actuator array feedback control method according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of an interaction in a two-dimensional planar direction according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of an interaction in the depth plane direction according to an embodiment of the present invention;

[0037] Figure 5 This is a two-dimensional planar actuator signal diagram according to an embodiment of the present invention;

[0038] Figure 6 This is an actuator signal diagram in the depth plane direction according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of a microneedle motor acting on the skin according to an embodiment of the present invention;

[0040] Figure 8 This is a structural block diagram of an embodiment of a precise tactile micro-actuator array feedback control device according to an embodiment of the present invention;

[0041] Figure 9 This is an internal structural diagram of a computer device according to one embodiment. Detailed Implementation

[0042] To make the technical problems solved, the technical solutions, and the beneficial effects of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0043] In one embodiment of the present invention, such as Figure 1 As shown, four miniature actuation motors are configured, each independently controlled, and installed in four symmetrical positions within the printed square card slot. The basic settings of the motors are initialized, including their starting frequency and phase. This ensures that each actuation unit can respond accurately to subsequent control commands, laying the foundation for rendering complex pattern information. The target pattern information is input through a software control interface, which is then converted into corresponding actuation commands. The four motors are then phase-tuned to ensure they can operate at different times and frequencies to simulate the tactile effects of skin surfaces and different depths.

[0044] Simultaneously, an algorithm is implemented that, based on a physical model of skin surface waves, calculates the optimal motor activation mode and timing. By analyzing the characteristics of the expected haptic pattern, the algorithm adjusts the vibration frequency and intensity generated by each motor, as well as the phase differences between them, to accurately simulate the dynamics of skin surface waves. This step allows the haptic feedback device to simulate haptic information at a finer granularity, improving pattern complexity and realism, resulting in a richer and more natural user experience.

[0045] Reference Figure 2 The diagram illustrates a step flowchart of a precise haptic micro-actuator array feedback control method according to a certain embodiment of the present invention, which may specifically include the following steps:

[0046] Step 101: Control the phase difference between the horizontally positioned motor and the vertically positioned motor pair to change from negative to positive in a linear step manner, while maintaining relative amplitude symmetry, so as to achieve smooth movement of the focus along the horizontal and vertical directions.

[0047] In one embodiment of the present invention, such as Figure 3 As shown, four miniature actuation motors (pairs opposite each other) are symmetrically arranged in the two-dimensional plane (XY direction). By adjusting the phase difference between the relative motor pairs from negative to positive in a linear step manner while maintaining relative amplitude symmetry, smooth movement of the focal point along the horizontal and vertical directions is achieved on the skin surface. For example, the phase transitions in groups of 30 steps to construct a vibrating focal point with a continuous sense of movement. This avoids dependence on computationally complex functions and better meets the requirements of real-time control and low power consumption. The three-dimensional focal control in this invention does not rely on complex function modeling, but is based on the physical interference characteristics of multi-motor cooperation, using a simple and efficient control strategy to form a dynamically perceptible focal trajectory on the skin surface.

[0048] like Figure 5 As shown, when adjusting the focus changes along the x and y axes, taking the positive x-axis as an example, the two actuators located on the x-axis will generate the signals shown in the figure. Figure 5 In the figure, Channel 1 represents the excitation signal of actuator 1, Channel 2 represents the excitation signal of actuator 2, Channel 3 represents the excitation signal of actuator 3, and Channel 4 represents the excitation signal of actuator 4. The vertical axis in the figure represents voltage, and the horizontal axis represents time.

[0049] Step 102: Control the phase of the horizontally set motor and the vertically set motor to be consistent, and the vibration amplitude gradually changes from low to high or from high to low. This utilizes the physiological response differences of skin receptors at different depths to frequency to form a pure signal-driven depth-direction tactile sensation.

[0050] On the other hand, such as Figure 4As shown, a fixed-phase, uniform amplitude control strategy is adopted for depth direction (Z-axis) control. When the phases of the four motors are consistent and the vibration amplitude gradually increases from low to high, the user perceives a depth sensation of "pushing into the skin"; conversely, when the amplitude gradually decreases from high to low, a tactile impression of "emerging from the deep layers of the skin" is generated. This simulation of depth sensation fully utilizes the physiological differences in the response of different depth receptors in the skin to frequency, forming a longitudinal tactile feedback mechanism that requires no structural displacement and is purely signal-driven.

[0051] like Figure 6 As shown, when sensing changes along the z-axis, i.e., the depth direction, the excitation signal pulses of the four actuator units have constant time delays, but their amplitudes increase or decrease in a step-like manner to render the perception of inward and outward. Figure 6 In the figure, Channel 1 represents the excitation signal of actuator 1, Channel 2 represents the excitation signal of actuator 2, Channel 3 represents the excitation signal of actuator 3, and Channel 4 represents the excitation signal of actuator 4. The vertical axis in the figure represents voltage, and the horizontal axis represents time.

[0052] In one embodiment of the present invention, the method includes: defining a target tactile pattern and controlling the dynamic generation of the tactile pattern in the time domain; generating a tactile parameter set, wherein the generated tactile parameter set includes control parameters for each actuating motor.

[0053] This invention utilizes the surface wave method to precisely control the fluctuations on the skin surface by adjusting the vibration frequency, vibration amplitude, and phase difference of the actuator motor, thereby rendering complex and delicate tactile patterns.

[0054] The specific steps are as follows: 1. Target tactile pattern P(t): defined as a two-dimensional or three-dimensional spatial distribution function used to represent the expected tactile pattern.

[0055] 2. Time domain t: used to control the dynamic generation process of tactile patterns.

[0056] 3. Tactile parameter set {f i A i ,φ i}: Control parameters for each actuating motor, including frequency f i Amplitude A i and phase φ i .

[0057] In a further embodiment of the present invention, defining the target tactile pattern includes: decomposing the target tactile pattern into a series of discrete focal point sets; and for each focal element, calculating the frequency, amplitude, and phase corresponding to the focal element.

[0058] The target tactile pattern P(t) is decomposed into a series of discrete focal point sets {p1, p2, ..., p...}. n}, where each focal point p i From its spatial coordinates (x i ,y i (and time representation).

[0059] For each focal point p i Calculate its corresponding frequency, amplitude, and phase:

[0060]

[0061] in:

[0062] f base : Reference frequency, set according to the preset haptic effect, such as 100Hz;

[0063] k: Frequency modulation coefficient, used to control the range of frequency variation.

[0064] In a certain embodiment of the present invention, the generation of the tactile parameter set includes control parameters for each actuating motor, including: generating a surface wave propagation model; and calculating the phase difference of each motor based on the above propagation model.

[0065] In haptic feedback devices, due to the viscoelastic properties of the skin, the propagation of surface waves can be approximated as Rayleigh waves with a wave velocity v. r It can be calculated using the following formula:

[0066]

[0067] in:

[0068] E: Young's modulus of the skin;

[0069] ρ: Skin density;

[0070] v: Poisson's ratio;

[0071] The phase difference of each motor is calculated based on the above propagation model:

[0072] φ i =2π·f i ·Δt i

[0073] Where: Δt i The propagation delay between motor i and the center point is calculated using the following formula:

[0074] Where, x c The y-axis represents the horizontal position of the center point. cIndicates the vertical position of the center point;

[0075] Furthermore, the generated haptic parameter set includes control parameters for each actuation motor, including:

[0076] The motor output amplitude is adjusted according to the tactile needs of each point, and the control signal of each motor is generated. By adjusting the frequency, amplitude and phase, the preset tactile pattern is dynamically rendered.

[0077] Adjust the motor output amplitude according to the tactile needs of each point (e.g., simulating a harder or softer surface):

[0078]

[0079] in:

[0080] A max Maximum vibration amplitude;

[0081] α: Attenuation coefficient;

[0082] d i : Distance from motor i to the center point.

[0083] Based on the above calculation results, control signals for each motor are generated.

[0084] S i (t)=A i ·sin(2πf i t+φ i );

[0085] By adjusting A i ,f i and φ i It can dynamically render preset tactile patterns and ensure that each actuating motor works synchronously, thereby generating a smooth and continuous tactile feedback effect.

[0086] The four motors, which are arranged horizontally and vertically, use the same base frequency of 200Hz for L / R and T / B to maintain coherence. Of course, other frequencies, such as 300Hz and 400Hz, can also be used. This invention does not impose too many restrictions on this.

[0087] X / Y plane movement: two pairs are placed together as a group, with equal amplitude, and a movable focus is formed by linear sweeping through phase difference.

[0088] Z-axis "depth": The four motors are in phase and have unified amplitude adjustment; the amplitude increases from small to large, which feels like "inward", and decreases from large to small, which feels like "outward".

[0089] Example 1: Horizontal sweep (from left to right);

[0090] For 30 steps k = 0 to 29:

[0091]

[0092] Δφ x [k] represents the change in phase difference in the X direction at the k-th control time (or sampling point); φ L [k] represents the phase of the left actuator at the k-th control moment; Δφ y [k] represents the change in phase difference in the Y direction at the k-th control time (or sampling point); φ R [k] represents the phase of the right-side actuator at the k-th control moment; φ T [k] represents the phase of the top actuator at the k-th control moment; φ B [k] represents the phase of the bottom actuator at the k-th control moment; A L,R,T,B This represents the amplitude of the left, right, top, and bottom actuators at time K;

[0093] Motion perception: The focus moves smoothly from left to right, while the depth remains unchanged.

[0094] Example 2: Pressing sensation (pure depth);

[0095] Maintain φ within 30 steps L,R,T,B =0, amplitude linear from A min =0.3 increment A max =0.3; where φ L,R,T,B This represents the phase of the left, right, top, and bottom actuators at time K; A min Indicates the minimum amplitude within the amplitude variation range; A max This indicates the maximum amplitude within the amplitude variation range;

[0096] Motion sensing: The focus moves "inward" in place; reverse scanning is "outward".

[0097] In one embodiment of the present invention, such as Figure 7 As shown, the horizontally arranged motor and the vertically arranged motor may include micro-needle motors. In one embodiment of the present invention, the type of motor is not limited in too much.

[0098] The displacement field is pre-calculated to generate the energy of a single microneedle placed at the origin. This field captures the spatial response of skin tissue to a unit excitation and serves as a building block for full array computation.

[0099] Or located in Any microneedle, it is applicable to any observation point The contribution of the displacement field can be obtained through coordinate offset:

[0100]

[0101] in, Represents the displacement field; Indicates location; The observation point is indicated; the total displacement field can be represented as follows:

[0102]

[0103] That is, the total displacement field is obtained by adding up all the displacement fields of the array, where N represents the number of micro-needle motors;

[0104] Furthermore, the array of microneedle motors includes a square array, a circular array, and a fan-shaped array;

[0105] Compared to traditional mobile phone vibration motors, which can only change amplitude and duration and cannot generate "direction" or "depth," virtual interactions can only convey limited tactile information. This invention, through multi-motor collaboration and a micro-needle array, can provide a spatial positioning sensation similar to real touch in interactions such as virtual buttons and virtual sliders.

[0106] Secondly, compared to ultrasonic non-contact tactile sensing, although ultrasonic arrays can generate spatial focus, they are large in size, consume a lot of power, and are difficult to integrate into wearable or small terminals. This invention can achieve a similar focus effect on the skin with only four micro motors and micro needle interfaces, which is more compact and consumes less power.

[0107] Third, compared to electro-adhesive surface friction tactile feedback, which requires continuous finger sliding to be perceived and involves high voltage which is unsafe, this invention provides active vibration feedback. Users can obtain a clear tactile sensation without sliding, and both voltage and power consumption are within safe limits. The high-density mechanical contact between the microneedle array and the skin surface of this invention allows the vibration signal to not only remain on the surface but also be perceived by receptors at different depths (such as Meissner and Pacinian corpora). This is closer to the real physical tactile sensation than traditional planar vibration, reducing the "floating" and "unrealistic" feeling of virtual signals.

[0108] In this invention, a focal point is formed through motor phase modulation and amplitude modulation. The independent phase modulation control of four motors generates a movable tactile focal point on the skin surface and in the depth direction. Users not only feel "vibration," but also "the vibration originating from a specific location or trajectory." This "spatial orientation" enhances the immersion of virtual interaction, effectively bridging the sensory gap between physical and virtual interaction. These applications collectively highlight the potential of microneedle-enhanced interfaces to provide spatially oriented tactile feedback in multi-tasking scenarios and immersive environments, thereby pushing the boundaries of tactile communication.

[0109] In one embodiment of the present invention, it is applied to a haptic feedback device, which includes a horizontally arranged motor and a vertically arranged motor. The device includes: controlling the phase difference between the horizontally and vertically arranged motors to change linearly from negative to positive while maintaining relative amplitude symmetry, thus achieving smooth movement of the focal point along the horizontal and vertical directions; controlling the phase of the horizontally and vertically arranged motors to be consistent, while the vibration amplitude gradually changes from low to high or from high to low, utilizing the physiological response differences of receptors at different skin depths to frequency, forming a purely signal-driven depth-direction haptic feedback. It employs miniature actuation motors, which are small and lightweight, capable of operating with extremely low power consumption, making them suitable for integration into portable and wearable devices, significantly improving the portability and energy efficiency of the device. Through independent motor phase adjustment technology, the present invention can render movable focal points on the user's skin surface at different depths, and these focal points and their trajectories can simulate complex pattern information. Compared with existing technologies, it can provide a richer and more refined tactile experience. Compared with electro-adhesive technology that requires user intervention, this invention provides active tactile feedback. Users can receive tactile information without performing any physical operations, which increases the naturalness and efficiency of the interaction.

[0110] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that a particular embodiment of the present invention is not limited to the described order of actions, because according to a particular embodiment of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to a particular embodiment of the present invention.

[0111] Reference Figure 8 The diagram shows a structural block diagram of a precise haptic micro-actuator array feedback control device according to a certain embodiment of the present invention, which may specifically include the following modules:

[0112] The first control module 301 is used to control the phase difference between the horizontally set motor and the vertically set motor pair to change from negative to positive in a linear step manner, while maintaining the relative amplitude symmetry, so as to achieve smooth movement of the focus along the horizontal and vertical directions.

[0113] The second control module 302 is used to control the phase of the horizontally set motor and the vertically set motor to be consistent, while the vibration amplitude gradually changes from low to high or from high to low. It utilizes the physiological response differences of the skin's different depth receptors to frequency to form a pure signal-driven depth-direction tactile sensation.

[0114] Preferably, the device includes:

[0115] The definition module is used to define the target tactile pattern and control the dynamic generation of the tactile pattern through the time domain;

[0116] A generation module is used to generate a set of haptic parameters, which includes control parameters for each actuating motor.

[0117] Preferably, the definition module includes:

[0118] The decomposition submodule decomposes the target tactile pattern into a series of discrete focal point sets;

[0119] The calculation submodule calculates the frequency, amplitude, and phase of each focal element.

[0120] Preferably, the generation module includes:

[0121] The model generation submodule generates a surface wave propagation model;

[0122] The phase difference calculation submodule calculates the phase difference of each motor based on the propagation model.

[0123] Preferably, the generation module includes:

[0124] The rendering submodule adjusts the motor output amplitude according to the tactile requirements of each point, generates control signals for each motor, and dynamically renders preset tactile patterns by adjusting the frequency, amplitude, and phase.

[0125] Each module in the aforementioned precise tactile micro-actuation array feedback control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware within or independently of the processor in a computer device, or stored in software within the memory of a computer device, so that the processor can call and execute the corresponding operations of each module.

[0126] The precision tactile micro-actuator array feedback control device provided above can be used to execute the precision tactile micro-actuator array feedback control method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0127] In one embodiment, a computer device is provided, the internal structure of which can be shown in the figure below. Figure 9As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a precise haptic micro-actuator array feedback control method. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0128] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0129] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0130] The phase difference between the horizontally positioned motor and the vertically positioned motor is controlled to change from negative to positive in a linear step manner, while maintaining relative amplitude symmetry, so as to achieve smooth movement of the focus along the horizontal and vertical directions.

[0131] The motors positioned laterally and longitudinally are controlled to have the same phase, while the vibration amplitude gradually changes from low to high or from high to low. This utilizes the physiological differences in the frequency response of receptors at different depths of the skin to form a purely signal-driven depth-direction tactile sensation.

[0132] Preferably, the method includes:

[0133] Define the target tactile pattern and control the dynamic generation of the tactile pattern through the time domain;

[0134] A set of haptic parameters is generated, which includes control parameters for each actuating motor.

[0135] Preferably, defining the target tactile pattern includes:

[0136] The target tactile pattern is decomposed into a series of discrete focal point sets;

[0137] For each focal element, calculate the frequency, amplitude, and phase corresponding to that focal element.

[0138] Preferably, the generated haptic parameter set includes control parameters for each actuating motor, including:

[0139] A propagation model for generating surface waves;

[0140] The phase difference of each motor is calculated based on the above propagation model.

[0141] Preferably, the generated haptic parameter set includes control parameters for each actuating motor, including:

[0142] The motor output amplitude is adjusted according to the tactile needs of each point, and the control signal of each motor is generated. By adjusting the frequency, amplitude and phase, the preset tactile pattern is dynamically rendered.

[0143] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0144] The phase difference between the horizontally positioned motor and the vertically positioned motor is controlled to change from negative to positive in a linear step manner, while maintaining relative amplitude symmetry, so as to achieve smooth movement of the focus along the horizontal and vertical directions.

[0145] The motors positioned laterally and longitudinally are controlled to have the same phase, while the vibration amplitude gradually changes from low to high or from high to low. This utilizes the physiological differences in the frequency response of receptors at different depths of the skin to form a purely signal-driven depth-direction tactile sensation.

[0146] Preferably, the method includes:

[0147] Define the target tactile pattern and control the dynamic generation of the tactile pattern through the time domain;

[0148] A set of haptic parameters is generated, which includes control parameters for each actuating motor.

[0149] Preferably, defining the target tactile pattern includes:

[0150] The target tactile pattern is decomposed into a series of discrete focal point sets;

[0151] For each focal element, calculate the frequency, amplitude, and phase corresponding to that focal element.

[0152] Preferably, the generated haptic parameter set includes control parameters for each actuating motor, including:

[0153] A propagation model for generating surface waves;

[0154] The phase difference of each motor is calculated based on the above propagation model.

[0155] Preferably, the generated haptic parameter set includes control parameters for each actuating motor, including:

[0156] The motor output amplitude is adjusted according to the tactile needs of each point, and the control signal of each motor is generated. By adjusting the frequency, amplitude and phase, the preset tactile pattern is dynamically rendered.

[0157] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0158] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, an embodiment of the present invention may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, an embodiment of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0159] One embodiment of the present invention is described with reference to flowchart illustrations and / or block diagrams of a method, terminal device (system), and computer program product according to an embodiment of the present invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0160] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0161] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0162] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of any embodiment of the present invention.

[0163] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0164] The foregoing has provided a detailed description of a precise tactile micro-actuator array feedback control method, a precise tactile micro-actuator array feedback control device, a computer device, and a storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A precise tactile micro-actuator array feedback control method, characterized in that, Applied to a haptic feedback device, the haptic feedback device includes a horizontally arranged motor and a vertically arranged motor, including: The phase difference between the horizontally positioned motor and the vertically positioned motor is controlled to change from negative to positive in a linear step manner, while maintaining relative amplitude symmetry, so as to achieve smooth movement of the focus along the horizontal and vertical directions. The phases of the horizontally and vertically positioned motors are aligned, while the vibration amplitude gradually changes from low to high or from high to low, thus creating a purely signal-driven depth-direction tactile sensation.

2. The precise tactile micro-actuator array feedback control method according to claim 1, characterized in that, The method includes: Define the target tactile pattern and control the dynamic generation of the tactile pattern through the time domain; A set of haptic parameters is generated, which includes control parameters for each actuating motor.

3. The precise tactile micro-actuator array feedback control method according to claim 2, characterized in that, The defined target tactile pattern includes: The target tactile pattern is decomposed into a series of discrete focal point sets; For each focal element, calculate the frequency, amplitude, and phase corresponding to that focal element.

4. The precise tactile micro-actuator array feedback control method according to claim 2, characterized in that, The generated haptic parameter set includes control parameters for each actuation motor, including: A propagation model for generating surface waves; The phase difference of each motor is calculated based on the above propagation model.

5. The precise tactile micro-actuator array feedback control method according to claim 2, characterized in that, The generated haptic parameter set includes control parameters for each actuation motor, including: The motor output amplitude is adjusted according to the tactile needs of each point, and the control signal of each motor is generated. By adjusting the frequency, amplitude and phase, the preset tactile pattern is dynamically rendered.

6. The precise tactile micro-actuator array feedback control method according to claim 1, characterized in that, The motors include microneedle motors, and the displacement field is pre-calculated to generate energy from a single microneedle placed at the origin. This field captures the spatial response of skin tissue to a unit excitation and serves as a building block for full array computation. The arrays of the microneedle motors include square arrays, circular arrays, and fan-shaped arrays.

7. A precise haptic micro-actuator array feedback control device, characterized in that, Applied to a haptic feedback device, the haptic feedback device includes a horizontally arranged motor and a vertically arranged motor, including: The first control module is used to control the phase difference between the horizontally positioned motor and the vertically positioned motor to change from negative to positive in a linear step manner, while maintaining the relative amplitude symmetry, so as to achieve smooth movement of the focus along the horizontal and vertical directions. The second control module is used to control the phase of the horizontally set motor and the vertically set motor to be consistent, while the vibration amplitude gradually changes from low to high or from high to low, forming a pure signal-driven depth-direction tactile sensation.

8. The precise tactile micro-actuator array feedback control device according to claim 7, characterized in that, The device includes: The definition module is used to define the target tactile pattern and control the dynamic generation of the tactile pattern through the time domain; A generation module is used to generate a set of haptic parameters, which includes control parameters for each actuating motor.

9. The precise tactile micro-actuator array feedback control device according to claim 8, characterized in that, The definition module includes: The decomposition submodule decomposes the target tactile pattern into a series of discrete focal point sets; The calculation submodule calculates the frequency, amplitude, and phase of each focal element.

10. The precise tactile micro-actuator array feedback control device according to claim 8, characterized in that, The generation module includes: The model generation submodule generates a surface wave propagation model; The phase difference calculation submodule calculates the phase difference of each motor based on the propagation model.

11. The precise tactile micro-actuator array feedback control device according to claim 8, characterized in that, The generation module includes: The rendering submodule adjusts the motor output amplitude according to the tactile requirements of each point, generates control signals for each motor, and dynamically renders preset tactile patterns by adjusting the frequency, amplitude, and phase.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the step of precise tactile micro-actuator array feedback control as described in any one of claims 1 to 6.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of precise tactile micro-actuator array feedback control as described in any one of claims 1 to 6.

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