Tactile feedback method, tactile feedback device and tactile feedback equipment

Abstract

The invention discloses a tactile feedback method, a tactile feedback device and tactile feedback equipment, and relates to the technical field of tactile feedback. The tactile feedback method is applied to a tactile feedback substrate, the tactile feedback substrate comprises a touch substrate and an actuator connected with the touch substrate, the touch substrate comprises an interaction key, and the tactile feedback method comprises the steps that whether a touch body conducts interaction operation on the interaction key or not is detected; if yes, a first driving signal is provided for an actuator; under the condition that the first driving signal meets a first preset condition, a second driving signal is provided for the actuator, the frequency of the second driving signal is different from that of the first driving signal, and the first driving signal and the second driving signal are both used for driving the actuator to vibrate so as to form vibration tactile feedback on the surface of the touch substrate.

Description

Tactile feedback methods, tactile feedback devices, and tactile feedback equipment Technical Field

[0001] This disclosure relates to the field of haptic feedback, and in particular to a haptic feedback method, haptic feedback device, and haptic feedback equipment. Background Technology

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

[0003] Overview

[0004] This disclosure provides a haptic feedback method applied to a haptic feedback substrate, the haptic feedback substrate including a touch substrate and an actuator connected to the touch substrate, the touch substrate including interactive keys, and the haptic feedback method including:

[0005] Detect whether the touch device performs an interactive operation on the interaction key;

[0006] If so, a first drive signal is provided to the actuator;

[0007] When the first driving signal meets the first preset condition, a second driving signal is provided to the actuator. The frequency of the second driving signal is different from the frequency of the first driving signal. Both the first driving signal and the second driving signal are used to drive the actuator to vibrate, so as to form vibration tactile feedback on the surface of the touch substrate.

[0008] In some implementations, the first preset condition includes at least one of the following:

[0009] The duration of the first driving signal is greater than or equal to two cycles of the first driving signal, and less than or equal to ten cycles of the first driving signal; and

[0010] Under the excitation of the first driving signal, the actuator drives the amplitude of the vibration of the touch substrate to reach a stable state.

[0011] In some implementations, the first driving signal and the second driving signal have the same initial phase.

[0012] In some implementations, the first driving signal has an initial phase opposite to that of the second driving signal.

[0013] In some implementations, the amplitude of the second driving signal is greater than or equal to the amplitude of the first driving signal.

[0014] In some embodiments, after the step of providing the second drive signal to the actuator, the method further includes:

[0015] When the second driving signal meets the second preset condition, a third driving signal is provided to the actuator. The frequency of the third driving signal is different from that of the second driving signal. The third driving signal is used to drive the actuator to vibrate, so as to form vibration tactile feedback on the surface of the touch substrate.

[0016] In some implementations, the second preset condition includes at least one of the following:

[0017] The duration of the second driving signal is greater than or equal to two cycles of the second driving signal, and less than or equal to ten cycles of the second driving signal; and

[0018] Under the excitation of the second driving signal, the actuator drives the vibration amplitude of the touch substrate to reach a stable state.

[0019] In some implementations, the duration of the second drive signal is less than or equal to the duration of the first drive signal.

[0020] In some implementations, the duration of the second drive signal is less than or equal to 10 ms.

[0021] In some embodiments, the third driving signal has the same or opposite initial phase as the second driving signal.

[0022] In some implementations, the amplitude of the third driving signal is greater than or equal to the amplitude of the second driving signal.

[0023] In some embodiments, the frequencies of the first driving signal and the second driving signal are both the resonant frequencies of the haptic feedback substrate.

[0024] In some embodiments, the frequency of the second driving signal and the frequency of the first driving signal are both greater than or equal to 50Hz and less than or equal to 500Hz.

[0025] This disclosure provides a haptic feedback device applied to a haptic feedback substrate, the haptic feedback substrate including a touch substrate and an actuator connected to the touch substrate, the touch substrate including interactive keys, and the haptic feedback device including:

[0026] The acquisition module is configured to detect whether the touch object is performing an interactive operation on the interaction key;

[0027] A first drive module is configured to provide a first drive signal to the actuator if the condition is met.

[0028] The second driving module is configured to provide a second driving signal to the actuator when the first driving signal meets a first preset condition. The frequency of the second driving signal is different from the frequency of the first driving signal. Both the first driving signal and the second driving signal are used to drive the actuator to vibrate, so as to form vibration tactile feedback on the surface of the touch substrate.

[0029] This disclosure provides a haptic feedback device, including:

[0030] A haptic feedback substrate includes a touch substrate and an actuator connected to the touch substrate, the touch substrate including interactive keys;

[0031] The driving component, connected to the touch substrate and the actuator respectively, is configured to perform the haptic feedback method as described in any embodiment.

[0032] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below.

[0033] Brief description of the attached diagram

[0034] To more clearly illustrate the technical solutions in the embodiments or related technologies of this disclosure, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the scale in the drawings is for illustration only and does not represent the actual scale.

[0035] Figure 1 illustrates a schematic diagram of a planar structure of a haptic feedback substrate;

[0036] Figure 2 illustrates a structural diagram of a haptic feedback device;

[0037] Figure 3 illustrates two interactive key diagrams;

[0038] Figure 4 illustrates, exemplarily, a flowchart of the steps of a haptic feedback method provided in this disclosure;

[0039] Figure 5 illustrates, exemplarily, the resonant mode of the haptic feedback substrate excited by the first driving signal;

[0040] Figure 6 illustrates, exemplarily, the displacement of the position of the first actuator under the excitation of the first drive signal;

[0041] Figure 7 exemplarily illustrates the resonant mode of the haptic feedback substrate excited by the second driving signal;

[0042] Figure 8 illustrates, exemplarily, the displacement of the position of the first actuator under the excitation of the second drive signal;

[0043] Figure 9 illustrates the waveform of the first driving signal Q(t) exemplarily;

[0044] Figure 10 exemplarily illustrates the displacement of the first actuator under the excitation of the first driving signal Q(t);

[0045] Figure 11 illustrates the waveform of the second driving signal Q(t) exemplarily;

[0046] Figure 12 illustrates the waveform of the third driving signal Q(t) as an example.

[0047] Detailed description

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0049] The haptic feedback substrate includes a touch substrate and an actuator connected to the touch substrate. By applying a driving signal to the actuator, the actuator drives the touch substrate to vibrate, thereby realizing the haptic feedback function on the surface of the touch substrate.

[0050] Haptic feedback is typically achieved in two ways: first, an actuator drives the touch substrate to vibrate at low frequencies to simulate button feedback; second, an actuator drives the touch substrate to vibrate at high frequencies to generate a pressure film effect, thereby changing the coefficient of friction between the touch object (such as a finger) and the surface of the touch substrate to simulate textured haptic feedback. Low-frequency vibration can be used to simulate the effect of button vibration, for example. High-frequency vibration can be used to generate textured haptic feedback, such as the tactile effect of touching silk or carpet. High-frequency vibration can also be used to simulate sliders, knobs, etc.

[0051] Low-frequency tactile feedback can be achieved through normal or lateral vibration of the touch substrate. Typically, when the actuator can generate a sufficiently large amplitude, it is sufficient for the actuator to drive the touch substrate to produce corresponding vibration feedback. When the actuator's driving capability is weak, structural design is required to make the touch substrate resonate, thereby generating a sufficiently large amplitude and achieving the corresponding tactile feedback.

[0052] The inventors discovered that when the touch substrate is large or its perimeter is strongly constrained, and the number and driving capability of the actuators are limited, the vibration generated on the surface of the touch substrate is very weak, making it impossible to achieve the tactile feedback effect of simulating buttons, and thus unable to provide operation prompts to the user, affecting the user experience.

[0053] To address the aforementioned problems, this disclosure provides a haptic feedback method applied to a haptic feedback substrate, as shown in FIG1. ​​The haptic feedback substrate includes a touch substrate 10 and an actuator 11 connected to the touch substrate 10. The execution entity of this haptic feedback method is, for example, a driving component 12 of the haptic feedback substrate.

[0054] As shown in Figure 2, the driving component 12 is connected to both the touch substrate 10 and the actuator 11. The driving component 12 includes a control board 121 and an amplifier circuit 122. The control board 121 can detect the touch information of a touch object (such as a finger) on the touch substrate 10 in real time. When the touch information meets the triggering conditions for haptic feedback, it sends a low-voltage driving signal. The amplifier circuit 122 amplifies the low-voltage driving signal to obtain a high-voltage driving signal. Under the excitation of the high-voltage driving signal, the actuator 11 drives the touch substrate 10 to generate haptic feedback. The touch information may include touch position and touch pressure, etc.

[0055] For example, as shown in FIG3, the touch substrate 10 includes an interaction key 30. For example, the touch substrate 10 is a touch display panel, and the interaction key 30 is located on the display screen of the touch display panel. The interaction key 30 is a virtual key on the display screen that can interact with the user.

[0056] For example, the interaction key 30 can be a button (as shown in Figure 3a), a knob (as shown in Figure 3b), a slider, or a scroll key, etc.

[0057] In the vehicle display, the interaction key 30 can be used to adjust the volume, or to adjust the air conditioning temperature. The interaction key 30 can also be a button on the touchpad.

[0058] As shown in Figure 4, this tactile feedback method includes:

[0059] Step S41: Detect whether the touch object is performing an interactive operation on the interaction key 30.

[0060] For example, interactive operations may include: pressing a button, rotating a knob, sliding a slider, and scrolling a scroll key, etc.

[0061] For example, the touch position and touch pressure of the touch element on the touch substrate 10 can be detected first; then, based on the detected touch information, it can be determined whether the touch element is performing an interactive operation on the interaction key 30. For example, if the touch position overlaps with the interaction key 30 and the touch pressure is greater than a specified value, it can be determined that the touch element is pressing the button.

[0062] Step S42: If yes, then provide a first drive signal to actuator 11.

[0063] For example, the first driving signal is a low-frequency signal, and the frequency of the first driving signal is, for example, greater than or equal to 50Hz and less than or equal to 500Hz. Under the excitation of the first driving signal, the actuator 11 drives the touch substrate 10 to vibrate at a low frequency 1, thereby forming a vibration tactile feedback 1 on the surface of the touch substrate 10.

[0064] Step S43: When the first driving signal meets the first preset condition, a second driving signal is provided to the actuator 11. The frequency of the second driving signal is different from that of the first driving signal. Both the first driving signal and the second driving signal are used to drive the actuator 11 to vibrate, so as to form vibration tactile feedback on the surface of the touch substrate 10.

[0065] For example, the second driving signal is a low-frequency signal, and the frequency of the second driving signal is, for example, greater than or equal to 50Hz and less than or equal to 500Hz. Under the excitation of the second driving signal, the actuator 11 drives the touch substrate 10 to vibrate at a low frequency 2, thereby forming a vibration tactile feedback 2 on the surface of the touch substrate 10.

[0066] The vibration generated by the actuator 11 driving the touch board 10 can be button vibration or button vibration, etc., and this disclosure does not limit it.

[0067] In this disclosure, when the first driving signal meets the first preset condition, the driving signal provided to the actuator 11 is switched from the first driving signal to the second driving signal, and the tactile feedback substrate is switched from low-frequency vibration 1 to low-frequency vibration 2. During the switching process, the vibration amplitude or acceleration of the tactile feedback substrate increases, thereby enhancing the vibration intensity and enhancing the tactile sensation.

[0068] To further enhance the vibration intensity, for example, the frequency of the first driving signal is the resonant frequency of the haptic feedback substrate.

[0069] To further enhance the vibration intensity, for example, the frequency of the second driving signal is the resonant frequency of the haptic feedback substrate.

[0070] To verify the effect of enhanced vibration, the inventors tested the amplitude of vibration of the same haptic feedback substrate (as shown in Figure 1) under different driving signals. As shown in Figure 1, the touch substrate 10 is a 120mm*75mm glass substrate, and three actuators 11 are provided on one side of the touch substrate 10, namely the first actuator 111, the second actuator 112 and the third actuator 113.

[0071] In the first set of tests, a first driving signal was used to excite the haptic feedback substrate. Referring to Figure 5, the resonant mode Z1 of the haptic feedback substrate excited by the first driving signal is shown. The first driving signal is a single-frequency sine wave with the waveform function Q1(t) = U1sin(2πf1t), where f1 is the frequency of the first driving signal. Under the excitation of the first driving signal Q1(t), the actuator 11 resonates with the touch substrate 10, and the resonant mode is shown in Figure 5. With U1 = 1V and f1 = 114.31Hz, referring to Figure 6, the displacement of the first actuator 111 under the excitation of the first driving signal is shown. As shown in Figure 6, the peak-to-peak displacement of the first actuator 111 is 7.9e-8mm, and the amplitude reaches a stable state after one cycle of excitation, meaning the amplitude is approximately stable at a fixed value.

[0072] In the second set of tests, a second driving signal was used to drive the haptic feedback substrate. Referring to Figure 7, the resonant mode Z2 of the haptic feedback substrate excited by the second driving signal is shown. The second driving signal is a single-frequency sine wave with the waveform function Q2(t) = U2sin(2πf2t), where f2 is the frequency of the second driving signal. Under the excitation of the second driving signal Q2(t), the actuator 11 resonates with the touch substrate 10, and the resonant mode is shown in Figure 7. With U2 = 1V and f2 = 321.29Hz, referring to Figure 8, the displacement of the first actuator 111 under the excitation of the second driving signal is shown. As shown in Figure 8, the peak-to-peak displacement of the first actuator 111 is 10e-8mm, and the amplitude reaches a stable state after one cycle of excitation, meaning the amplitude is approximately stable at a fixed value.

[0073] In the third set of tests, the haptic feedback board was driven by the driving signal Q(t) shown in Figure 9. As shown in Figure 9, the driving signal Q(t) is divided into two segments: in the stage 0 ≤ t ≤ Δt1, the driving signal Q(t) is the first driving signal Q1(t); in the stage Δt1 < t ≤ Δt2, the driving signal Q(t) is the second driving signal Q2(t). The waveform function of the driving signal Q(t) is as follows:

[0074] Referring to Figure 10, the displacement of the first actuator 111 under the excitation of the driving signal Q(t) is shown. As shown in Figure 10, during the process of switching the driving signal Q(t) from the first driving signal Q1(t) to the second driving signal Q2(t), the peak-to-peak displacement of the first actuator 111 reaches 18e-8 mm, which is greater than the peak-to-peak displacement of the first actuator 111 in the first and second sets of tests. Therefore, it can be seen that during the process of switching the driving signal Q(t) from the first driving signal Q1(t) to the second driving signal Q2(t), the amplitude of the haptic feedback substrate increases, thus enhancing the tactile sensation.

[0075] For example, the first preset condition may include: under the excitation of the first driving signal, the amplitude of the vibration of the touch substrate 10 driven by the actuator 11 reaches a stable state.

[0076] When the first driving signal meets the preset conditions, the overall vibration of the tactile feedback substrate reaches a stable state. At this time, switching the driving signal from the first driving signal to the second driving signal is beneficial to further enhance the vibration intensity and tactile sensation.

[0077] For example, the first preset condition may include: the duration of the first driving signal is greater than or equal to two cycles of the first driving signal, and less than or equal to ten cycles of the first driving signal. In this way, it can be ensured that the amplitude of the vibration of the touch substrate 10 driven by the actuator 11 reaches a stable state under the excitation of the first driving signal, and it can also ensure that timely tactile feedback is generated on the surface of the touch substrate 10, reducing the feedback delay time.

[0078] For example, the duration Δt1 of the first driving signal is equal to n1 / f1, where n1 represents the number of cycles of the first driving signal and is a positive integer. That is, the duration of the first driving signal is an integer multiple of its cycle. Since the amplitude of the position of the first actuator 111 reaches a stable state one cycle after the first driving signal begins to excite, n1 is greater than or equal to 2 in order to ensure that mode Z1 reaches a stable state.

[0079] For example, the duration of the second driving signal is Δt2 = n2 / f2, where n2 represents the number of cycles of the second driving signal and is a positive integer. That is, the duration of the second driving signal is an integer multiple of its cycle. Since the amplitude of the position of the first actuator 111 reaches a stable state one cycle after the second driving signal begins to excite, n2 is greater than or equal to 2 in order to ensure that mode Z2 reaches a stable state.

[0080] It should be noted that the values ​​of n1 and n2 are related to the damping characteristics of the haptic feedback substrate. The damping coefficient of the haptic feedback substrate used in the above test is 0.002. When the damping coefficient of the haptic feedback substrate changes, the values ​​of n1 and n2 can be adjusted accordingly.

[0081] For example, as shown in Figure 9, the first driving signal and the second driving signal have the same initial phase. This helps to increase the vibration amplitude of the haptic feedback substrate and improve the tactile intensity.

[0082] For example, as shown in Figure 9, the waveform function of the first driving signal is Q1(t) = U1sin(2πf1t), and the waveform function of the second driving signal is Q2(t) = U2sin(2πf2t). Alternatively, the waveform function of the first driving signal is Q1(t) = U1sin(2πf1t+π), and the waveform function of the second driving signal is Q2(t) = U2sin(2πf2t+π).

[0083] For example, as shown in Figure 11, the first driving signal and the second driving signal have opposite initial phases. This helps to increase the change in vibration acceleration of the haptic feedback substrate and improve the tactile intensity.

[0084] For example, as shown in Figure 11, the waveform function of the first driving signal is Q1(t) = U1sin(2πf1t), and the waveform function of the second driving signal is Q2(t) = U2sin(2πf2t+π). Alternatively, the waveform function of the first driving signal is Q1(t) = U1sin(2πf1t+π), and the waveform function of the second driving signal is Q2(t) = U2sin(2πf2t).

[0085] For example, as shown in Figure 9 or Figure 11, the amplitude of the second driving signal is greater than or equal to the amplitude of the first driving signal. That is, U2 ≥ U1.

[0086] During the vibration of the actuator 11, the drive signal can be switched once (as shown in Figure 9 or Figure 11) or switched multiple times (such as twice, three times, etc.) to further enhance the tactile sensation.

[0087] In some embodiments, after step S43, the method may further include: when the second driving signal satisfies the second preset condition, providing a third driving signal to the actuator 11, wherein the frequency of the third driving signal is different from the frequency of the second driving signal, and the third driving signal is used to drive the actuator 11 to vibrate so as to form vibration tactile feedback on the surface of the touch substrate 10.

[0088] For example, the third driving signal is a low-frequency signal, and the frequency of the third driving signal is, for example, greater than or equal to 50Hz and less than or equal to 500Hz. Under the excitation of the third driving signal, the actuator 11 drives the touch substrate 10 to vibrate at a low frequency 3, thereby forming a vibration tactile feedback 3 on the surface of the touch substrate 10.

[0089] For example, the third driving signal is a single-frequency sine wave with the waveform function Q3(t)=U3sin(2πf3t), where f3 is the frequency of the third driving signal.

[0090] In this embodiment, as shown in Figure 12, the driving signal Q(t) is divided into three segments. In the stage 0 ≤ t ≤ Δt1, the driving signal Q(t) is the first driving signal Q1(t); in the stage Δt1 < t ≤ Δt2, the driving signal Q(t) is the second driving signal Q2(t); and in the stage Δt2 < t ≤ Δt3, the driving signal Q(t) is the third driving signal Q3(t). The waveform function of the driving signal Q(t) is as follows:

[0091] As shown in Figure 12, the driving signal Q(t) is switched twice. The first switch changes the signal from the first driving signal Q1(t) to the second driving signal Q2(t), and the second switch changes the signal from the second driving signal Q2(t) to the third driving signal Q3(t). Because the vibration amplitude of the haptic feedback substrate increases during the switching process, the vibration intensity and tactile feedback can be further enhanced.

[0092] To further enhance the tactile feedback, for example, the frequency of the third driving signal is the resonant frequency of the tactile feedback substrate.

[0093] For example, the second preset condition may include: under the excitation of the second driving signal, the amplitude of the vibration of the touch substrate 10 driven by the actuator 11 reaches a stable state.

[0094] When the second driving signal meets the preset conditions, the overall vibration of the tactile feedback substrate reaches a stable state. At this time, switching the driving signal from the second driving signal to the third driving signal is beneficial to further enhance the vibration intensity and tactile sensation.

[0095] For example, the second preset condition may include: the duration of the second driving signal is greater than or equal to two cycles of the second driving signal, and less than or equal to ten cycles of the second driving signal.

[0096] In this way, it can be ensured that the amplitude of the vibration of the touch substrate 10 driven by the actuator 11 reaches a stable state under the excitation of the second driving signal, and it can also be ensured that the time interval between the two switching is not too long, avoiding multiple discontinuous touch sensations corresponding to one touch operation.

[0097] For example, the duration of the second driving signal is less than or equal to the duration of the first driving signal. In this way, by reducing the time interval between the two switching operations, the tactile sensation corresponding to the two switching operations is continuous and uninterrupted, avoiding multiple discontinuous tactile sensations corresponding to a single touch operation.

[0098] For example, the duration of the second drive signal is less than or equal to 10ms. This ensures that the tactile sensation corresponding to the two switches is continuous and uninterrupted, avoiding multiple discontinuous tactile sensations corresponding to a single touch operation.

[0099] For example, the third driving signal has the same initial phase as the second driving signal. This helps to increase the vibration amplitude of the haptic feedback substrate and improve the tactile intensity.

[0100] For example, as shown in Figure 12, the waveform function of the second driving signal is Q2(t) = U2sin(2πf2t), and the waveform function of the third driving signal is Q3(t) = U3sin(2πf3t). Alternatively, the waveform function of the second driving signal is Q2(t) = U2sin(2πf2t+π), and the waveform function of the third driving signal is Q3(t) = U3sin(2πf3t+π).

[0101] For example, the third driving signal has an initial phase opposite to that of the second driving signal. This helps to increase the change in vibration acceleration of the haptic feedback substrate and improve the tactile intensity.

[0102] For example, the waveform function of the second driving signal is Q2(t) = U2sin(2πf2t), and the waveform function of the third driving signal is Q3(t) = U3sin(2πf3t+π). Alternatively, the waveform function of the second driving signal is Q2(t) = U2sin(2πf2t+π), and the waveform function of the third driving signal is Q3(t) = U3sin(2πf3t).

[0103] For example, as shown in Figure 12, the amplitude of the third driving signal is greater than or equal to the amplitude of the second driving signal. That is, U3 ≥ U2.

[0104] For example, the frequency of the third driving signal may be the same as or different from the frequency of the first driving signal.

[0105] For example, the amplitude of the third driving signal may be the same as or different from the amplitude of the first driving signal.

[0106] For example, the third driving signal and the first driving signal can be the same driving signal, and they have the same frequency, amplitude and initial phase.

[0107] For example, the first drive signal, the second drive signal, and the third drive signal are all drive signals provided to the actuator in response to the same interactive operation. Enhanced tactile feedback can be generated during the switching of different drive signals (such as the process of switching the first drive signal to the second drive signal, or the process of switching the second drive signal to the third drive signal).

[0108] For example, different driving signals are continuously and uninterrupted during the switching process (such as the process of switching from the first driving signal to the second driving signal, or the process of switching from the second driving signal to the third driving signal), that is, the waveform of the driving signal Q(t) in the time domain is continuous and uninterrupted.

[0109] This disclosure provides a haptic feedback device applied to a haptic feedback substrate. The haptic feedback substrate includes a touch substrate 10 and an actuator 11 connected to the touch substrate 10. The touch substrate 10 includes an interaction key 30. The haptic feedback device includes: an acquisition module configured to detect whether a touch body performs an interaction operation on the interaction key 30; a first driving module configured to provide a first driving signal to the actuator 11 if the first driving signal satisfies a first preset condition; and a second driving module configured to provide a second driving signal to the actuator 11 when the first driving signal satisfies a first preset condition. The frequency of the second driving signal is different from the frequency of the first driving signal. Both the first driving signal and the second driving signal are used to drive the actuator 11 to vibrate, so as to form vibration haptic feedback on the surface of the touch substrate 10.

[0110] Regarding the haptic feedback device provided in this disclosure, the specific methods by which each module performs its operation have been described in detail in the embodiments of the haptic feedback method, and will not be elaborated upon here. Those skilled in the art will understand that the haptic feedback device provided in this disclosure has the advantages of the aforementioned haptic feedback method.

[0111] The haptic feedback device disclosed herein can be integrated into products such as in-vehicle displays, laptops, and monitors to provide users with a rich and realistic haptic experience.

[0112] This disclosure provides a haptic feedback device, as shown in FIG2. The haptic feedback device includes: a haptic feedback substrate, the haptic feedback substrate including a touch substrate 10, and an actuator 11 connected to the touch substrate 10, the touch substrate 10 including an interactive key 30; and a driving component 12, which is connected to the touch substrate 10 and the actuator 11 respectively, and is configured to provide a haptic feedback method in any embodiment.

[0113] Those skilled in the art will understand that the haptic feedback device provided in this disclosure has the advantages of the aforementioned haptic feedback method. The haptic feedback device provided in this disclosure can be integrated into products such as in-vehicle displays, laptops, and monitors, providing users with a rich and realistic haptic experience.

[0114] As shown in Figure 2, the driving component 12 is connected to both the touch substrate 10 and the actuator 11. The driving component 12 includes a control board 121 and an amplifier circuit 122. The control board 121 can detect the touch information of a touch object (such as a finger) on the touch substrate 10 in real time. When the touch information meets the triggering conditions for haptic feedback, it sends a low-voltage driving signal. The amplifier circuit 122 amplifies the low-voltage driving signal to obtain a high-voltage driving signal. Under the excitation of the high-voltage driving signal, the actuator 11 drives the touch substrate 10 to generate haptic feedback. The touch information may include touch position and touch pressure, etc.

[0115] For example, as shown in FIG3, the touch substrate 10 includes an interaction key 30. For example, the touch substrate 10 is a touch display panel, and the interaction key 30 is located on the display screen of the touch display panel. The interaction key 30 is a virtual key on the display screen that can interact with the user.

[0116] For example, the interaction key 30 can be a button (as shown in Figure 3a), a knob (as shown in Figure 3b), a slider, or a scroll key, etc.

[0117] In the vehicle display, the interaction key 30 can be used to adjust the volume, or to adjust the air conditioning temperature. The interaction key 30 can also be a button on the touchpad.

[0118] For example, the touch substrate 10 is a touch display panel, and correspondingly, the driving component 12 is also used to drive the touch display panel to display interactive screens.

[0119] For example, the touch display panel includes a touch circuit and a display panel. The touch circuit can be integrated inside the display panel or can be set independently of the display panel. The touch circuit can be a capacitive touch circuit or a resistive touch circuit, etc.

[0120] For capacitive touch circuits, when a touch object, such as a user's finger, operates on the touch substrate 10, the touch capacitance at the touch position of the touch circuit will change. The touch traces in the touch circuit can send the touch capacitance at each position to the driving component 12. The driving component 12 can determine touch information such as touch position based on the touch capacitance.

[0121] For example, the driving component 12 may include at least one of the following: a microcontroller unit (MCU) and an FPGA (Field Programmable Gate Array), etc., which are not limited in this embodiment.

[0122] For example, the actuator 11 drives the touch substrate 10 to vibrate by utilizing the inverse piezoelectric effect of the piezoelectric material. The "inverse piezoelectric effect" is the inverse effect of the "direct piezoelectric effect", that is, the dielectric will undergo elastic deformation under the excitation of an electrical signal.

[0123] In some embodiments, the actuator 11 includes at least one of the following: a PZT piezoelectric film, a monolithic piezoelectric ceramic, a stacked piezoelectric ceramic, a cymbal-type piezoelectric ceramic, a monolithic polyvinylidene fluoride film, a stacked polyvinylidene fluoride film, a cymbal-type polyvinylidene fluoride film, and a linear motor.

[0124] In this disclosure, the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and are not intended to 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 limiting this disclosure.

[0125] In this disclosure, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0126] In this specification, "electrical connection" and "coupling" include situations where components are connected together by elements that have some electrical function. There are no particular limitations on what constitutes an "electrical function," as long as it allows for the transmission and reception of electrical signals between the connected components. Examples of "electrical functions" include not only electrodes and wiring, but also switching elements such as transistors, resistors, inductors, capacitors, and other components with various functions.

[0127] In this disclosure, "multiple" means two or more, and "at least one" means one or more, unless otherwise explicitly specified. "At least one of A, B, and C" has the same meaning as "at least one of A, B, or C," both including the following combinations of A, B, and C: A only, B only, C only, a combination of A and B, a combination of A and C, a combination of B and C, and a combination of A, B, and C. "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0128] The use of “for” or “configured to” in this disclosure implies an open and inclusive language that does not preclude applicability to or configuration to devices for performing additional tasks or steps.

[0129] As used in this disclosure, “about,” “approximately,” or “approximately” includes the stated value and the average value within an acceptable range of deviation from the given value, wherein the acceptable range of deviation is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the given quantity (i.e., the limitations of the measurement system).

[0130] As used in this disclosure, "parallel," "perpendicular," "equal," and "flush" include the described situation and situations that are similar to the described situation, within an acceptable deviation range, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, wherein an acceptable deviation range for approximate parallelism may be, for example, within 10° or 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, wherein an acceptable deviation range for approximate perpendicularity may also be, for example, within 10° or 5°. "Equal" includes absolute equality and approximate equality, wherein an acceptable deviation range for approximate equality may be, for example, a difference between the two equals being less than or equal to 5% of either one. "Flush" includes absolute flush and approximate flush, wherein an acceptable deviation range for approximate flush may be, for example, a distance between the flushes being less than or equal to 5% of either one's dimension.

[0131] It should be understood that when a layer or element is referred to as being disposed on one side of another layer or substrate, it may be that the layer or element is directly disposed on the other layer or substrate, or it may be that there is an intermediate layer between the layer or element and the other layer or substrate.

[0132] This disclosure describes exemplary embodiments with reference to cross-sectional views and / or plan views as idealized exemplary drawings. In the drawings, the thickness of layers and regions is enlarged for clarity. Therefore, variations in shape relative to the drawings are contemplated due to, for example, manufacturing techniques and / or tolerances. Thus, exemplary embodiments should not be construed as being limited to the shapes of the regions shown in this disclosure, but rather include shape deviations due to, for example, manufacturing processes. For example, etched regions shown as rectangular would typically have curved features. Therefore, the regions shown in the drawings are schematic in nature, and their shapes are not intended to show the actual shapes of the regions of the device, nor are they intended to limit the scope of the exemplary embodiments.

[0133] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure 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 disclosure.

Claims

1. A haptic feedback method applied to a haptic feedback substrate, the haptic feedback substrate including a touch substrate and an actuator connected to the touch substrate, the touch substrate including interactive keys, the haptic feedback method comprising: Detect whether the touch device performs an interactive operation on the interaction key; If so, a first drive signal is provided to the actuator; When the first driving signal meets the first preset condition, a second driving signal is provided to the actuator. The frequency of the second driving signal is different from the frequency of the first driving signal. Both the first driving signal and the second driving signal are used to drive the actuator to vibrate, so as to form vibration tactile feedback on the surface of the touch substrate.

2. The tactile feedback method according to claim 1, wherein, The first preset condition includes at least one of the following: The duration of the first driving signal is greater than or equal to two cycles of the first driving signal, and less than or equal to ten cycles of the first driving signal; and Under the excitation of the first driving signal, the actuator drives the amplitude of the vibration of the touch substrate to reach a stable state.

3. The tactile feedback method according to claim 1, wherein, The first driving signal and the second driving signal have the same initial phase.

4. The tactile feedback method according to claim 1, wherein, The first driving signal has an initial phase opposite to that of the second driving signal.

5. The tactile feedback method according to claim 1, wherein, The amplitude of the second driving signal is greater than or equal to the amplitude of the first driving signal.

6. The tactile feedback method according to any one of claims 1 to 5, wherein, Following the step of providing the second drive signal to the actuator, the method further includes: When the second driving signal meets the second preset condition, a third driving signal is provided to the actuator. The frequency of the third driving signal is different from that of the second driving signal. The third driving signal is used to drive the actuator to vibrate, so as to form vibration tactile feedback on the surface of the touch substrate.

7. The tactile feedback method according to claim 6, wherein, The second preset condition includes at least one of the following: The duration of the second driving signal is greater than or equal to two cycles of the second driving signal, and less than or equal to ten cycles of the second driving signal; and Under the excitation of the second driving signal, the actuator drives the vibration amplitude of the touch substrate to reach a stable state.

8. The tactile feedback method according to claim 6, wherein, The duration of the second driving signal is less than or equal to the duration of the first driving signal.

9. The tactile feedback method according to claim 6, wherein, The duration of the second drive signal is less than or equal to 10ms.

10. The tactile feedback method according to claim 6, wherein, The third driving signal has the same or opposite initial phase as the second driving signal.

11. The tactile feedback method according to claim 6, wherein, The amplitude of the third driving signal is greater than or equal to the amplitude of the second driving signal.

12. The haptic feedback method according to any one of claims 1 to 5, wherein, The frequencies of the first driving signal and the second driving signal are both the resonant frequencies of the haptic feedback substrate.

13. The haptic feedback method according to any one of claims 1 to 5, wherein, The frequencies of the second driving signal and the first driving signal are both greater than or equal to 50Hz and less than or equal to 500Hz.

14. A haptic feedback device applied to a haptic feedback substrate, the haptic feedback substrate including a touch substrate and an actuator connected to the touch substrate, the touch substrate including interactive keys, the haptic feedback device comprising: The acquisition module is configured to detect whether the touch object is performing an interactive operation on the interaction key; A first drive module is configured to provide a first drive signal to the actuator if the condition is met. The second driving module is configured to provide a second driving signal to the actuator when the first driving signal meets a first preset condition. The frequency of the second driving signal is different from the frequency of the first driving signal. Both the first driving signal and the second driving signal are used to drive the actuator to vibrate, so as to form vibration tactile feedback on the surface of the touch substrate.

15. A haptic feedback device, comprising: A haptic feedback substrate includes a touch substrate and an actuator connected to the touch substrate, the touch substrate including interactive keys; A driving component, connected to the touch substrate and the actuator respectively, is configured to perform the haptic feedback method as described in any one of claims 1 to 13.

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