A tactile pattern rendering method and electronic device

Abstract

The purpose of this application is to provide a tactile pattern rendering method and an electronic device, which can perform corresponding rendering processes for different tactile patterns, refine the tactile rendering scheme, and improve the accuracy of tactile rendering. The method includes: obtaining the position of the tactile receptor of the tactile feedback object; determining a target position point sequence based on the position of the tactile receptor and the tactile pattern to be rendered, wherein the target position point is the position point on the tactile receptor where the tactile sensation needs to be formed for rendering the tactile pattern; and controlling the tactile rendering device to perform tactile rendering on the tactile receptor based on the target position point sequence.

Description

Technical Field

[0001] This application relates to the field of haptic feedback technology, and in particular to a haptic pattern rendering method and electronic device. Background Technology

[0002] The skin is the most widely distributed and largest area of ​​tactile receptors in the human body. Different mechanoreceptors are distributed under the skin in hairless areas of the human body, which respond to stimuli such as vibration, stretching, texture and pressure.

[0003] With the continuous development of human-computer interaction technology, haptic feedback technology provides a new way of human-computer interaction and is an important research direction in the field of human-computer interaction at present. In the research of non-contact haptic feedback, haptic feedback based on ultrasonic phased array is currently a research hotspot both domestically and internationally. By using the focused sound beam formed by ultrasonic waves in the air to generate haptic feedback, it breaks through the limitations of traditional contact-based haptic feedback, which relies on wearable devices or physical media, and brings a better user experience.

[0004] In existing non-contact haptic feedback solutions, haptic feedback schemes based on ultrasonic phased arrays mostly focus on hardware architecture and single-point focusing performance verification, lacking a complete haptic feedback implementation scheme. Summary of the Invention

[0005] The purpose of this application is to provide a tactile pattern rendering method and electronic device, which can perform corresponding rendering processes for different tactile patterns, refine the tactile rendering scheme, and improve the accuracy of tactile rendering.

[0006] In a first aspect, a tactile pattern rendering method is provided, the method comprising: obtaining the position of the tactile receptor of the tactile feedback object; determining a target position point sequence based on the position of the tactile receptor and the tactile pattern to be rendered, wherein the target position point is the position point on the tactile receptor where the tactile sensation to be formed for rendering the tactile pattern is required; and controlling a tactile rendering device to perform tactile rendering on the tactile receptor based on the target position point sequence.

[0007] The tactile rendering method provided in this application captures the position of the tactile receptors of the tactile feedback object in real time in a non-contact manner, thereby accurately mapping the virtual tactile pattern onto the target position point sequence on the tactile receptors. Finally, it drives the ultrasonic transducer array to focus ultrasonic waves to generate radiation pressure, and completes the tactile pattern rendering at the corresponding position without contact. This process provides a complete tactile rendering process, which can improve the accuracy of tactile rendering and optimize the tactile rendering experience.

[0008] Optionally, based on the position of the tactile receptors and the tactile pattern to be rendered, a target location point sequence is determined, including: determining the type of the tactile pattern; and determining the target location point sequence based on the position of the tactile receptors, the tactile pattern, and the type of the tactile pattern.

[0009] Optionally, the type of tactile pattern includes at least one of the following: dot tactile pattern, line tactile pattern, and surface tactile pattern.

[0010] Optionally, when the type of tactile pattern includes a dot tactile pattern, a target position point sequence is determined based on the position of the tactile receptor, the tactile pattern, and the type of the tactile pattern, including: determining a first position point based on the position of the tactile receptor; the first position being the rendering center of the tactile pattern in the tactile receptor; determining a circular trajectory with the first position point as the center and based on a preset radius; and determining a target position point sequence based on N equally spaced target position points on the circular trajectory with the preset radius less than or equal to the preset radius.

[0011] Optionally, N is greater than the preset number, which is the minimum number of position points that can be rendered within a single haptic pattern rendering cycle.

[0012] Optionally, the haptic pattern rendering device includes an ultrasonic transducer array; the minimum number of position points that can be rendered within a single haptic pattern rendering cycle is determined based on the single haptic pattern rendering cycle, the single-focus generation time of the ultrasonic transducer array, and the haptic feedback time of the haptic feedback object.

[0013] Optionally, when the type of tactile pattern includes a line tactile pattern, a target position point sequence is determined based on the position of the tactile receptor, the tactile pattern, and the type of the tactile pattern, including: determining a second position point based on the position of the tactile receptor; the second position point is the rendering position point corresponding to the endpoint of the line tactile pattern in the tactile receptor; determining M equally spaced target position points based on the length of the line tactile pattern and the second position point; the M target position points are located on the same straight line; and determining a target position point sequence based on the M target position points.

[0014] Optionally, the tactile pattern rendering device includes an array of ultrasonic transducers; the interval between any two adjacent target location points among the M target location points is less than or equal to half the ultrasonic wavelength.

[0015] Optionally, the tactile pattern rendering device includes an ultrasonic transducer array; when there are multiple online tactile patterns and adjacent online tactile patterns are parallel to each other, the spacing between adjacent online tactile patterns is greater than the ultrasonic wavelength.

[0016] Optionally, when the type of tactile pattern includes a surface tactile pattern, determining the target location point sequence based on the location of the tactile receptor, the tactile pattern, and the type of the tactile pattern includes: decomposing the surface tactile pattern into at least two parallel line tactile patterns; wherein the spacing between two adjacent line tactile patterns is less than the ultrasonic wavelength; and determining the target location point sequence based on the location of the tactile receptor and the at least two parallel line tactile patterns.

[0017] Optionally, based on the position of the tactile receptors and at least two parallel line tactile patterns, a target position point sequence is determined, including: for each line tactile pattern, determining a third position point based on the position of the tactile receptors; the third position point is the rendering position point corresponding to the endpoint of the current line tactile pattern in the tactile receptors; determining P equally spaced target position points based on the length of the current line tactile pattern and the third position point; the P target position points are located on the same straight line; determining the target position point sequence corresponding to the current line tactile pattern based on the P target position points; merging the target position point sequences corresponding to all line tactile patterns to obtain the target position point sequence corresponding to the surface tactile pattern.

[0018] Optionally, when the tactile pattern rendering device includes an ultrasonic transducer array, the tactile rendering device is controlled to perform tactile rendering on the tactile receptor based on the target position point sequence, including: determining the ultrasonic wave propagation distance and phase delay time based on the target position point sequence; and controlling the tactile rendering device to perform tactile rendering on the tactile receptor based on the ultrasonic wave propagation distance and phase delay time.

[0019] Optionally, based on the target location point sequence, the tactile rendering device is controlled to perform tactile rendering on the tactile receptor, including: based on the target location point sequence, the tactile rendering device is controlled to perform single-point focusing, single tactile pattern rendering, and multiple tactile pattern rendering on the tactile receptor in sequence.

[0020] Optionally, based on the target location point sequence, the tactile rendering device is controlled to perform tactile rendering on the tactile receptor, including: during the tactile pattern rendering process based on the target point sequence, controlling the duty cycle of the pulse signal of the tactile pattern rendering device to gradually increase from zero to a preset threshold and maintain it; after the tactile pattern rendering is completed, controlling the duty cycle of the pulse signal of the tactile pattern rendering device to gradually increase or decrease from the preset threshold to zero.

[0021] In a second aspect, a tactile pattern rendering apparatus is provided to implement the tactile pattern rendering method provided in the first aspect. The tactile pattern rendering apparatus includes: an acquisition unit, a processing unit, and a control unit; the acquisition unit is used to acquire the position of the tactile receptor of the tactile feedback object; the processing unit is used to determine a target position point sequence based on the position of the tactile receptor and the tactile pattern to be rendered, wherein the target position points are the tactile sensations that need to be formed on the tactile receptors for rendering the tactile pattern; and the control unit is used to control the tactile rendering device to perform tactile rendering on the tactile receptors based on the target position point sequence.

[0022] Optionally, a processing unit is used to determine the type of tactile pattern; and to determine a sequence of target location points based on the location of the tactile receptors, the tactile pattern, and the type of the tactile pattern.

[0023] Optionally, the type of tactile pattern includes at least one of the following: dot tactile pattern, line tactile pattern, and surface tactile pattern.

[0024] Optionally, when the type of tactile pattern includes a dot tactile pattern, the processing unit is specifically used to determine a first position point based on the position of the tactile sensor; the first position is the rendering center of the tactile pattern in the tactile sensor; a circular trajectory is determined with the first position point as the center and based on a preset radius; the preset radius is less than or equal to N target position points at equal intervals on the circular trajectory, and a sequence of target position points is determined.

[0025] Optionally, N is greater than the preset number, which is the minimum number of position points that can be rendered within a single haptic pattern rendering cycle.

[0026] Optionally, the haptic pattern rendering device includes an ultrasonic transducer array; the minimum number of position points that can be rendered within a single haptic pattern rendering cycle is determined based on the single haptic pattern rendering cycle, the single-focus generation time of the ultrasonic transducer array, and the haptic feedback time of the haptic feedback object.

[0027] Optionally, when the type of tactile pattern includes a line tactile pattern, the processing unit is specifically used to determine a second position point based on the position of the tactile receptor; the second position point is the rendering position point corresponding to the endpoint of the line tactile pattern in the tactile receptor; based on the length of the line tactile pattern and the second position point, determine M equally spaced target position points; the M target position points are located on the same straight line; and determine a target position point sequence based on the M target position points.

[0028] Optionally, the tactile pattern rendering device includes an array of ultrasonic transducers; the interval between any two adjacent target location points among the M target location points is less than or equal to half the ultrasonic wavelength.

[0029] Optionally, the tactile pattern rendering device includes an ultrasonic transducer array; when there are multiple online tactile patterns and adjacent online tactile patterns are parallel to each other, the spacing between adjacent online tactile patterns is greater than the ultrasonic wavelength.

[0030] Optionally, when the type of tactile pattern includes a surface tactile pattern, the processing unit is specifically used to decompose the surface tactile pattern into at least two parallel line tactile patterns; wherein the spacing between two adjacent line tactile patterns is less than the ultrasonic wavelength; and to determine a target location point sequence based on the position of the tactile receptor and the at least two parallel line tactile patterns.

[0031] Optionally, the processing unit is specifically used to determine, for each line tactile pattern, a third position point based on the position of the tactile receptor; the third position point is the rendering position point corresponding to the endpoint of the current line tactile pattern in the tactile receptor; based on the length of the current line tactile pattern and the third position point, determine P equally spaced target position points; the P target position points are located on the same straight line; based on the P target position points, determine the target position point sequence corresponding to the current line tactile pattern; merge the target position point sequences corresponding to all line tactile patterns to obtain the target position point sequence corresponding to the surface tactile pattern.

[0032] Optionally, when the tactile pattern rendering device includes an ultrasonic transducer array, the control unit is specifically used to determine the ultrasonic propagation distance and phase delay time based on the target location point sequence; and to control the tactile rendering device to perform tactile rendering on the tactile receptor based on the ultrasonic propagation distance and phase delay time.

[0033] Optionally, the control unit is specifically used to control the tactile rendering device to sequentially perform single-point focusing, single-time tactile pattern rendering, and multiple-time tactile pattern rendering on the tactile sensor based on the target location point sequence.

[0034] Optionally, the control unit is specifically used to control the duty cycle of the pulse signal of the tactile pattern rendering device to gradually increase from zero to a preset threshold and maintain it during the tactile pattern rendering process based on the target point sequence; and to control the duty cycle of the pulse signal of the tactile pattern rendering device to gradually increase or decrease from the preset threshold to zero after the tactile pattern rendering is completed.

[0035] Thirdly, this application provides an electronic device comprising: a processor and a memory; the memory storing processor-executable instructions; when the processor is configured to execute the instructions, causing the electronic device to implement the method of the first aspect described above.

[0036] Fourthly, this application provides a computer-readable storage medium comprising: computer software instructions; which, when executed in an electronic device, cause the electronic device to implement the method described in the first aspect.

[0037] Fifthly, this application provides a computer program product comprising a computer program; when the computer program is run in an electronic device, it causes the electronic device to implement the method described in the first aspect.

[0038] The beneficial effects of the second to fifth aspects mentioned above are described in the corresponding description of the first aspect and will not be repeated here. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A schematic diagram of a tactile pattern rendering system provided in an embodiment of this application;

[0041] Figure 2 A focusing position-normalized acoustic radiation force map provided for embodiments of this application;

[0042] Figure 3 A normalized acoustic radiation force map with different matrix sizes is provided for embodiments of this application;

[0043] Figure 4 A flowchart illustrating yet another tactile pattern rendering method provided in this application embodiment;

[0044] Figure 5 A flowchart illustrating yet another tactile pattern rendering method provided in this application embodiment;

[0045] Figure 6 A flowchart illustrating yet another tactile pattern rendering method provided in this application embodiment;

[0046] Figure 7 A schematic diagram illustrating a tactile pattern rendering method provided in an embodiment of this application;

[0047] Figure 8 A flowchart illustrating yet another tactile pattern rendering method provided in this application embodiment;

[0048] Figure 9 A schematic diagram illustrating yet another tactile pattern rendering method provided in an embodiment of this application;

[0049] Figure 10 A flowchart illustrating yet another tactile pattern rendering method provided in this application embodiment;

[0050] Figure 11 A schematic diagram illustrating yet another tactile pattern rendering method provided in an embodiment of this application;

[0051] Figure 12 A flowchart illustrating yet another tactile pattern rendering method provided in this application embodiment;

[0052] Figure 13 A schematic diagram illustrating yet another tactile pattern rendering method provided in an embodiment of this application;

[0053] Figure 14 A flowchart illustrating yet another tactile pattern rendering method provided in this application embodiment;

[0054] Figure 15 A pulse signal waveform diagram provided in an embodiment of this application;

[0055] Figure 16 This application provides another pulse signal waveform diagram.

[0056] Figure 17 This application provides another pulse signal waveform diagram.

[0057] Figure 18 This is a schematic diagram of the structure of a tactile pattern rendering device provided in an embodiment of this application;

[0058] Figure 19 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0059] Reference numerals: tactile pattern rendering system 100, input module 101, processing module 102, control module 103, drive module 104, ultrasonic transducer array 105. Detailed Implementation

[0060] In the embodiments of this application, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of that feature.

[0061] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0062] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0063] Based on the aforementioned background technology, non-contact tactile feedback to the skin of a target object can be achieved by using an array of ultrasonic transducers to apply acoustic radiation force to the target in mid-air. Ultrasonic waves are emitted by the transducers, and by adjusting the phase emitted by each transducer, the ultrasonic waves arrive at the target point simultaneously, thereby maximizing the applied acoustic radiation force.

[0064] Existing tactile rendering technologies based on ultrasonic transducer arrays mainly focus on the rendering process of a single focal point, while there is no complete implementation solution for the specific pattern rendering process.

[0065] To address the aforementioned technical problems, this application provides a tactile pattern rendering method that can perform corresponding rendering processes for different tactile patterns, refines the tactile rendering scheme, and improves the accuracy of tactile rendering. The method includes: obtaining the position of the tactile receptors of the tactile feedback object; determining a target position point sequence based on the position of the tactile receptors and the tactile pattern to be rendered, wherein the target position points are the tactile sensations that need to be formed on the tactile receptors for rendering the tactile pattern; and controlling a tactile rendering device to perform tactile rendering on the tactile receptors based on the target position point sequence.

[0066] The solutions provided in the embodiments of this application will now be described with reference to the accompanying drawings.

[0067] Figure 1 This is a schematic diagram of a tactile pattern rendering system provided in an embodiment of this application. The tactile pattern rendering system can be built into a tactile pattern rendering device, such as... Figure 1 As shown, the tactile pattern rendering system 100 includes an input module 101, a processing module 102, a control module 103, a drive module 104, and an ultrasonic transducer array 105.

[0068] The input module 101 is used to obtain the position information of the tactile receptors of the tactile feedback object.

[0069] In some embodiments, the input module 101 is further configured to acquire a tactile pattern to be rendered.

[0070] For example, input module 101 includes devices such as radar and camera.

[0071] The processing module 102 is used to determine the target position point sequence of the tactile pattern to be rendered based on the position of the tactile receptors of the tactile feedback object and the tactile pattern to be rendered.

[0072] In some embodiments, the type of tactile pattern includes at least one of the following: dot tactile pattern, line tactile pattern, and surface tactile pattern.

[0073] In some embodiments, the processing module 102 determines the target location point sequence (location coordinates) and other rendering parameters, such as phase and amplitude, based on the haptic algorithm.

[0074] The control module 103 is used to convert the target position data and other rendering parameters output by the processing module 102 into a pulse width modulation (PWM) signal through a focusing algorithm. The PWM signal is used to drive the ultrasonic transducer array 105 to perform tactile pattern rendering.

[0075] In some embodiments, the focusing algorithm can be implemented using a field-programmable gate array (FPGA).

[0076] The drive module 104 amplifies the control signal (PWM signal) through a signal amplifier, thereby driving the ultrasonic transducer array 105.

[0077] The ultrasonic transducer array 105 renders tactile patterns at the target location of the tactile feedback object based on control signals.

[0078] In some embodiments, different ultrasonic transducer arrays 105 can be selected according to different rendering requirements.

[0079] For example, Figure 2 The normalized acoustic radiation force of ultrasonic transducer arrays of different array sizes at different focusing positions is provided.

[0080] from Figure 2 As can be seen, the normalized acoustic radiation force of ultrasonic transducer arrays of different sizes (16*16, 10*10, 8*8) varies at different focusing positions, and the tactile sensation produced by different sizes of acoustic radiation force is different.

[0081] For example, Figure 3 A schematic diagram is provided showing the normalized acoustic radiation force of ultrasonic transducer arrays of different array sizes at the same carrier frequency.

[0082] from Figure 3 As can be seen, the larger the ultrasonic transducer array, the greater the acoustic radiation force it can generate, and consequently the greater the tactile feedback that the tactile feedback object can produce.

[0083] Therefore, the appropriate array size can be selectively chosen based on factors such as the focal position of the tactile pattern and the required tactile size.

[0084] It should be noted that, Figure 1 This is just an example framework diagram. Figure 1 The number of devices included and the names of each device are unlimited, except for... Figure 1 In addition to the device shown, other devices may also be included, but this application does not limit the scope of the embodiments.

[0085] It should be noted that the application scenarios of the embodiments of this disclosure are not limited. The system architecture and business scenarios described in the embodiments of this disclosure are for the purpose of more clearly illustrating the technical solutions of the embodiments of this disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of this disclosure. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this disclosure are also applicable to similar technical problems.

[0086] The tactile pattern rendering method provided in the embodiments of this application will be described in detail below.

[0087] Figure 4 A flowchart of a tactile pattern rendering method provided in this application embodiment is applied to, for example... Figure 1 The tactile pattern rendering system shown, such as Figure 4 As shown, the method includes the following steps S10-S30:

[0088] S10. Obtain the location of the tactile receptors of the tactile feedback object.

[0089] In some embodiments, a haptic feedback object refers to an entity that can receive tactile stimuli and generate perception. For example, a haptic feedback object may be a person, an animal, or the like.

[0090] In some embodiments, the tactile receptors of a tactile feedback object refer to the tactile patterns rendered on the target area of ​​the tactile feedback object, such as a person's palm or fingers.

[0091] In some embodiments, the position of the tactile sensor of the tactile feedback object can be obtained in a non-contact manner. Key points (such as joints, palms, fingertips, etc.) are set on the tactile sensor of the tactile feedback object, and spatial position data (such as orientation data, distance data, etc.) of the key points are captured by radar equipment, photography equipment, etc., thereby obtaining the spatial position of the tactile sensor.

[0092] In some embodiments, the relative position of the haptic receptors of the haptic feedback object with respect to the haptic rendering device is obtained.

[0093] For example, a spatial coordinate system is established, with the position of the haptic rendering device as the origin of the spatial coordinate system. The spatial position of the haptic sensor is transformed to obtain the position coordinates of the haptic sensor in the spatial coordinate system. These position coordinates can be regarded as the relative position of the haptic sensor of the haptic feedback object with respect to the haptic rendering device.

[0094] S20. Determine the target location point sequence based on the position of the tactile receptors and the tactile pattern to be rendered.

[0095] The target location point is the location point on the tactile receptor where the tactile pattern needs to be rendered to create a tactile sensation.

[0096] In some embodiments, a haptic rendering algorithm is used to determine rendering parameters such as the coordinates of the target location points based on the position of the haptic receptors and the haptic pattern to be rendered, thereby obtaining a sequence of target location points.

[0097] S30. Based on the target location point sequence, control the tactile rendering device to perform tactile rendering on the tactile receptor.

[0098] In some embodiments, the haptic rendering device is controlled to perform haptic rendering on the haptic sensor in a non-contact manner. The haptic rendering device has a built-in ultrasonic transducer array, and the ultrasonic waves emitted by the ultrasonic transducer array are focused at the target location point, thereby generating radiation pressure at the target location point to achieve haptic rendering.

[0099] In some embodiments, parameters required for haptic rendering are generated based on the target location point sequence. Taking an ultrasonic transducer array as an example, the parameters required for haptic rendering include the spatial coordinates of the target location point relative to the ultrasonic transducer array, the phase and amplitude of the ultrasonic wave, and the driving voltage or current of the ultrasonic transducer array.

[0100] The tactile rendering method provided in this application captures the position of the tactile receptors of the tactile feedback object in real time in a non-contact manner, thereby accurately mapping the virtual tactile pattern onto the target position point sequence on the tactile receptors. Finally, it drives the ultrasonic transducer array to focus ultrasonic waves to generate radiation pressure, and completes the tactile pattern rendering at the corresponding position without contact. This process provides a complete tactile rendering process, which can improve the accuracy of tactile rendering and optimize the tactile rendering experience.

[0101] In some embodiments, to optimize the haptic rendering effect, a corresponding haptic rendering method can be determined for different types of haptic patterns, such as... Figure 5As shown, the above step S20 can be specifically implemented as follows: S201-S202:

[0102] S201. Determine the type of tactile pattern.

[0103] In some embodiments, the type of tactile pattern includes at least one of the following: dot tactile pattern, line tactile pattern, and surface tactile pattern. A dot tactile pattern is a pattern that can generate dot-shaped tactile sensation on the tactile receptors of a tactile feedback object; a line tactile pattern is a pattern that can generate line-shaped tactile sensation on the tactile receptors of a tactile feedback object; and a surface tactile pattern is a pattern that can generate surface-shaped tactile sensation on the tactile receptors of a tactile feedback object.

[0104] In some embodiments, feature determination rules are established for different types of tactile patterns, then features of the tactile patterns are extracted, and the extracted features are matched with the feature determination rules to determine the type of tactile pattern.

[0105] For example, the features of the extracted tactile pattern include the length, width, etc. of the tactile pattern.

[0106] S202. Determine the target location point sequence based on the location of the tactile receptors, the tactile pattern, and the type of the tactile pattern.

[0107] The following describes the tactile pattern rendering methods for different types of tactile patterns.

[0108] In some embodiments, where the type of tactile pattern includes dot tactile patterns, such as Figure 6 As shown, step S202 above can be specifically implemented as follows: steps S401-S403:

[0109] S401. Determine the first position point based on the position of the tactile receptor.

[0110] The first position is the rendering center of the tactile pattern (dot tactile pattern) in the tactile receptor.

[0111] In some embodiments, after obtaining the position of the tactile sensor, the tactile range of the tactile sensor can be determined, and a suitable position within the tactile range can be selected as a first position point. For example, the geometric center point of the tactile range can be selected as the first position point.

[0112] S402. Using the first position point as the center, determine the circular trajectory based on the preset radius.

[0113] In some embodiments, the preset radius is less than or equal to the minimum tactilely discernible distance of the tactile sensor.

[0114] For example, Figure 7The image shows a circular trajectory (dashed circle) of haptic pattern rendering at a specific point on the fingertip.

[0115] When the preset radius of the circular trajectory is less than or equal to the minimum distinguishable distance of a certain part, the spatial distance between each point on the trajectory is less than the threshold that the tactile receptor can distinguish, thereby integrating the continuous tactile stimulation within the circular trajectory into a point-like tactile sensation, thus enabling the rendering of point tactile patterns.

[0116] For example, if the tactile sensor is a fingertip, its minimum resolvable distance is about 1 mm, then the preset radius can be set to ≤0.5 mm; if the tactile sensor is an arm, its minimum resolvable distance is about 5 mm, then the preset radius can be set to ≤2.5 mm.

[0117] S403. Based on N equally spaced target location points on a circular trajectory, determine the sequence of target location points.

[0118] In some embodiments, the 360° circumference of the circular trajectory is divided into N equal parts, each part corresponding to a central angle θ = 360° / N. The coordinates of N equally spaced points are then calculated using a polar coordinate transformation formula. Finally, these target position point coordinates are arranged in clockwise or counterclockwise order in ascending or descending order of angle to form a target position point sequence. This sequence includes the two-dimensional (or three-dimensional) spatial coordinates of each target position point (used to indicate the transducer focusing position) and the corresponding arrangement number (used to clarify the rendering sequence and ensure that continuous stimuli are integrated into point-like tactile sensations).

[0119] In some embodiments, N is greater than a preset number, which is the minimum number of position points that can be rendered in a single haptic pattern rendering cycle.

[0120] The minimum number of location points refers to the minimum number of location points required for a tactile receptor (or tactile feedback object) to perceive a recognizable complete tactile pattern, rather than discrete, isolated tactile stimuli.

[0121] In some embodiments, when the haptic pattern rendering device includes an ultrasonic transducer array, the minimum number of position points that can be rendered in a single haptic pattern rendering cycle is determined based on the single haptic pattern rendering cycle, the single focal point generation time of the ultrasonic transducer array, and the haptic feedback time of the haptic feedback object.

[0122] In order for the tactile receptors of the tactile feedback object to perceive the complete tactile pattern, the rendering cycle of a single tactile pattern needs to be shorter than the tactile feedback time of the tactile receptor. For example, the tactile feedback time of the human tactile nerve is about 50-100ms. If tactile pattern rendering is required on the human body, the rendering cycle of a single tactile pattern needs to be shorter than the tactile feedback time of the human tactile nerve.

[0123] The single-focus generation time of an ultrasonic transducer array is determined by the distance (or focal distance) between the tactile feedback object and the ultrasonic transducer array and the target location, the physical characteristics of ultrasound, and the actual performance of the ultrasonic transducer array. For example, if the speed of ultrasound in air is approximately 343 meters per second, and the focal distance is 10 centimeters, the ultrasound propagation time is approximately 290 microseconds. This time is added to the processing time of a single focal data by the tactile pattern rendering device to obtain the single-focus generation time of the ultrasonic transducer array.

[0124] This application does not specify a minimum number of location points in its embodiments.

[0125] In some embodiments, where the type of tactile pattern includes a line tactile pattern, such as Figure 8 As shown, step S202 above can be specifically implemented as steps S501-S503 as follows:

[0126] S501. Determine the second location point based on the position of the tactile receptor.

[0127] The second position point is the rendering position point of the endpoint of the line tactile pattern in the tactile receptor.

[0128] In some embodiments, after obtaining the location of the tactile sensor, it is possible to determine the tactile range of the tactile sensor and select a suitable location within the tactile range as a second location point.

[0129] In some embodiments, in addition to determining the second position point, in order to ensure that the final rendered pattern does not exceed the tactile range of the tactile sensor, it is necessary to determine the rendering position point corresponding to the other end point of the line tactile pattern in the tactile sensor. Then, based on the rendering position points corresponding to the two ends of the line tactile pattern in the tactile sensor, the final tactile pattern rendering is completed.

[0130] S502. Based on the length of the line tactile pattern and the second position point, determine M target position points at equal intervals.

[0131] Among them, M target locations are located on the same straight line.

[0132] In some embodiments, after determining the second position point, the required number of target position points is calculated based on the length of the line tactile pattern and the preset interval between two adjacent target position points. Then, starting from the second position point, subsequent target position points are generated sequentially along a certain direction at interval values, ultimately resulting in M ​​target position points.

[0133] For example, assuming the length of the line tactile pattern is 1cm and the preset interval is 2mm, then 6 (M=6) target location points are finally obtained.

[0134] In some embodiments, the preset interval between two adjacent target locations needs to be less than or equal to the minimum resolvable distance of the tactile sensor, so that the tactile stimulation sensed by the tactile sensor is continuously and linearly perceived, thereby realizing the rendering of the line tactile pattern.

[0135] In some embodiments, when the tactile pattern rendering device includes an ultrasonic transducer array, the interval between two adjacent target location points among the M target location points is less than or equal to half the ultrasonic wavelength.

[0136] S503. Determine the sequence of target location points based on M target location points.

[0137] In some embodiments, such as Figure 9 As shown, starting from the second position point, each target position point is arranged sequentially along the straight extension direction of the line tactile pattern, forming a continuous sequence from the second position point (the first position point among the M target position points) to the last Mth position point, thus obtaining the target position point sequence of the line tactile pattern.

[0138] In some embodiments, when the tactile pattern rendering device includes an ultrasonic transducer array, there are multiple line tactile patterns, and two adjacent line tactile patterns are parallel to each other, the spacing between two adjacent line tactile patterns is greater than the ultrasonic wavelength, wherein multiple line tactile patterns means at least two.

[0139] In some embodiments, where the type of tactile pattern includes a surface tactile pattern, such as Figure 10 As shown, the above step S202 can be specifically implemented as the following steps S601-S602:

[0140] S601. Decompose the surface tactile pattern into at least two parallel line tactile patterns.

[0141] In this case, the spacing between two adjacent tactile patterns is smaller than the wavelength of an ultrasonic wave.

[0142] In some embodiments, a haptic algorithm is used to decompose a surface haptic pattern into at least two parallel line haptic patterns based on the actual haptic sensing range of a single focal point of the haptic rendering device and the interval between two adjacent line haptic patterns.

[0143] For example, if the actual effective sensing diameter of the single focal point of the haptic rendering device on the haptic sensor of the haptic feedback object is measured in advance to be 8mm, then for a rectangular haptic pattern of 30mm×20mm, it is decomposed into 5 parallel line haptic patterns at 8mm intervals along one side of the rectangle.

[0144] In practical applications, the decomposition method of surface tactile patterns can also take into account factors such as the performance of tactile rendering devices, so that the tactile feedback object can ultimately feel a continuous and complete surface tactile sensation.

[0145] S602. Determine the target location point sequence based on the position of the tactile receptors and at least two parallel line tactile patterns.

[0146] In some embodiments, firstly, for each line tactile pattern, the target position point sequence corresponding to each line tactile pattern is obtained, and then all the target position point sequences of the tactile patterns are merged to obtain the target position point sequence corresponding to the surface tactile pattern.

[0147] In some embodiments, S602 can be specifically implemented as the following steps S701-S704:

[0148] S701. For each line tactile pattern, determine the third position point based on the position of the tactile receptor.

[0149] The third position point is the rendering position point of the endpoint of the current line tactile pattern in the tactile sensor.

[0150] S702. Based on the length of the current line tactile pattern and the third position point, determine P target position points at equal intervals; the P target position points are located on the same straight line.

[0151] S703. Determine the sequence of target position points corresponding to the current line tactile pattern based on P target position points.

[0152] The implementation process of S701-S703 is similar to that of line tactile patterns. Please refer to S501-S503 for details.

[0153] S704. Merge the target position point sequences corresponding to all line tactile patterns to obtain the target position point sequences corresponding to surface tactile patterns.

[0154] In some embodiments, the sequence of target position points corresponding to the tactile pattern can be generated sequentially from left to right and from top to bottom, or sequentially in an S-order.

[0155] For example, Figure 11 This is a schematic diagram illustrating the generation of a sequence of target location points corresponding to a surface tactile pattern in an S-shaped order (arrow direction) (each circle represents a target location point).

[0156] In some embodiments, where the haptic rendering device includes an array of ultrasonic transducers, such as Figure 12 As shown, step S30 can be specifically implemented as follows: steps S801-S802:

[0157] S801. Based on the target location point sequence, determine the ultrasonic wave propagation distance and phase delay time.

[0158] An ultrasonic transducer array consists of multiple ultrasonic transducers. For each target location in the target location sequence, the propagation distance of the ultrasonic waves emitted by a single ultrasonic transducer is different. It is necessary to determine the corresponding ultrasonic propagation distance and phase delay time based on the coordinates of the target location and the position of a single ultrasonic transducer, so that the ultrasonic transducer array can achieve ultrasonic focusing at the target location.

[0159] For example, for each point Q(x,y,z) in the target location point sequence, iterate through all ultrasonic transducers and calculate the Euclidean distance d from each transducer to Q. i Then press φ i =2π·d i / λ yields the phase delay.

[0160] S802. Based on the ultrasonic wave propagation distance and phase delay time, control the tactile rendering device to perform tactile rendering on the tactile sensor.

[0161] In some embodiments, the calculated phase delay is stored in the FPGA register, the phase delay data in the register is read in a loop, a drive signal is generated, the drive signal is amplified and then synchronously excites all ultrasonic transducers to drive the ultrasonic transducer array to focus at the target position point, and finally the register lines are refreshed sequentially by time division multiplexing to achieve continuous surface tactile rendering on the complete target position point sequence.

[0162] In some embodiments, in order to enable the tactile feedback object to continuously obtain tactile perception of tactile patterns, the process of controlling the tactile rendering device to perform tactile rendering on the tactile receptor based on the target position point sequence can be implemented as controlling the tactile rendering device to sequentially perform single-point focusing, single tactile pattern rendering, and multiple tactile pattern rendering on the tactile receptor based on the target position point sequence.

[0163] For example, such as Figure 13 As shown, single-point focusing refers to the process by which a haptic rendering device performs haptic rendering at a single location point. A single haptic pattern rendering indicates that the haptic rendering device completes multiple single-point focusing operations based on a sequence of target location points (such as...). Figure 13 The process shown is from point 1, point 2 to point Z. Multiple tactile pattern rendering means that the process of rendering multiple single tactile patterns is completed in a loop (that is, the process of rendering from point 1, point 2 to point Z in a loop multiple times).

[0164] For example, for rendering point tactile patterns, after rendering the N target position points (the target position point sequence of the point tactile pattern) generated based on the circular trajectory, the previous rendering process is repeated to achieve multiple rendering of the point tactile pattern; for rendering line tactile patterns, after rendering the M target position points (the target position point sequence of the line tactile pattern) generated above, the line tactile pattern is rendered in reverse or sequential order based on the order of the target position point sequence and this process is repeated to achieve multiple rendering of the line tactile pattern; for rendering surface tactile patterns, after rendering the target position point sequence of the surface tactile pattern, the line tactile pattern is rendered in reverse or sequential order based on the order of the target position point sequence and this process is repeated to achieve multiple rendering of the surface tactile pattern.

[0165] In some embodiments, when the haptic rendering device includes an ultrasonic transducer array, audible noise is generated by the ultrasonic transducer due to phase abrupt changes (when the phase change is large). In order to optimize the rendering experience of haptic patterns, it is necessary to suppress or eliminate the audible noise.

[0166] Based on the above issues, such as Figure 14 As shown, step S30 can be specifically implemented as follows: steps S901-S902:

[0167] S901. During the tactile pattern rendering process based on the target location point sequence, the duty cycle of the pulse signal of the tactile pattern rendering device is controlled to gradually increase from zero to a preset threshold and maintained.

[0168] For example, during a certain period of time (e.g., 2ms) after the haptic pattern begins to render, the duty cycle of the PWM signal is linearly increased from 0% to a preset threshold (e.g., 50%).

[0169] S902. After the tactile pattern rendering is completed, the duty cycle of the pulse signal controlling the tactile pattern rendering device gradually increases or decreases from a preset threshold to zero.

[0170] For example, during a certain period of time (e.g., 2ms) after rendering ends, the same PWM channel is used to linearly decrease the duty cycle to 0%.

[0171] For example, Figure 15 , Figure 16 , Figure 17 These are schematic diagrams of the pulse signal duty cycle gradually increasing, remaining constant, and gradually decreasing, respectively.

[0172] By gradually increasing or decreasing the duty cycle of the PWM signal, the phase of the emitted ultrasonic wave can be changed slowly, avoiding abrupt phase changes and thus suppressing noise.

[0173] As can be seen, the above mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the embodiments of this application provide corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the modules and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention.

[0174] This application embodiment can divide the tactile pattern rendering device into functional modules according to the above method example. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0175] Figure 18 This is a schematic diagram of a tactile pattern rendering device provided in an embodiment of this application, used to implement the tactile pattern rendering method provided in the above embodiments, such as... Figure 18 As shown, the tactile pattern rendering device 600 includes: an acquisition unit 601, a processing unit 602, and a control unit 603.

[0176] The acquisition unit 601 is used to acquire the position of the tactile receptor of the tactile feedback object; the processing unit 602 is used to determine the target position point sequence based on the position of the tactile receptor and the tactile pattern to be rendered, wherein the target position point is the position point on the tactile receptor where the tactile sensation needs to be formed for rendering the tactile pattern; and the control unit 603 is used to control the tactile rendering device to perform tactile rendering on the tactile receptor based on the target position point sequence.

[0177] Optionally, the processing unit 602 is specifically used to determine the type of tactile pattern; and to determine the target location point sequence based on the position of the tactile receptor, the tactile pattern, and the type of the tactile pattern.

[0178] Optionally, the type of tactile pattern includes at least one of the following: dot tactile pattern, line tactile pattern, and surface tactile pattern.

[0179] Optionally, when the type of tactile pattern includes a dot tactile pattern, the processing unit 602 is specifically used to determine a first position point based on the position of the tactile sensor; the first position is the rendering center of the tactile pattern in the tactile sensor; a circular trajectory is determined with the first position point as the center and based on a preset radius; the preset radius is less than or equal to N target position points at equal intervals on the circular trajectory, and a sequence of target position points is determined.

[0180] Optionally, N is greater than the preset number, which is the minimum number of position points that can be rendered within a single haptic pattern rendering cycle.

[0181] Optionally, the haptic pattern rendering device includes an ultrasonic transducer array; the minimum number of position points that can be rendered within a single haptic pattern rendering cycle is determined based on the single haptic pattern rendering cycle, the single-focus generation time of the ultrasonic transducer array, and the haptic feedback time of the haptic feedback object.

[0182] Optionally, when the type of tactile pattern includes a line tactile pattern, the processing unit 602 is specifically used to determine a second position point based on the position of the tactile sensor; the second position point is the rendering position point corresponding to the endpoint of the line tactile pattern in the tactile sensor; based on the length of the line tactile pattern and the second position point, determine M equally spaced target position points; the M target position points are located on the same straight line; and determine a target position point sequence based on the M target position points.

[0183] Optionally, the tactile pattern rendering device includes an array of ultrasonic transducers; the interval between any two adjacent target location points among the M target location points is less than or equal to half the ultrasonic wavelength.

[0184] Optionally, the tactile pattern rendering device includes an ultrasonic transducer array; when there are multiple online tactile patterns and adjacent online tactile patterns are parallel to each other, the spacing between adjacent online tactile patterns is greater than the ultrasonic wavelength.

[0185] Optionally, when the type of tactile pattern includes a surface tactile pattern, the processing unit 602 is specifically used to decompose the surface tactile pattern into at least two parallel line tactile patterns; wherein the spacing between two adjacent line tactile patterns is less than the ultrasonic wavelength; and to determine a target location point sequence based on the position of the tactile receptor and the at least two parallel line tactile patterns.

[0186] Optionally, the processing unit 602 is specifically used to determine, for each line tactile pattern, a third position point based on the position of the tactile receptor; the third position point is the rendering position point corresponding to the endpoint of the current line tactile pattern in the tactile receptor; based on the length of the current line tactile pattern and the third position point, determine P equally spaced target position points; the P target position points are located on the same straight line; based on the P target position points, determine the target position point sequence corresponding to the current line tactile pattern; and merge the target position point sequences corresponding to all line tactile patterns to obtain the target position point sequence corresponding to the surface tactile pattern.

[0187] Optionally, when the tactile pattern rendering device includes an ultrasonic transducer array, the control unit 603 is specifically used to determine the ultrasonic propagation distance and phase delay time based on the target location point sequence; and to control the tactile rendering device to perform tactile rendering on the tactile receptor based on the ultrasonic propagation distance and phase delay time.

[0188] Optionally, the control unit 603 is specifically used to control the tactile rendering device to perform single-point focusing, single-time tactile pattern rendering, and multiple-time tactile pattern rendering on the tactile sensor based on the target location point sequence.

[0189] Optionally, the control unit 603 is specifically used to control the duty cycle of the pulse signal of the tactile pattern rendering device to gradually increase from zero to a preset threshold and maintain it during the tactile pattern rendering process based on the target point sequence; and to control the duty cycle of the pulse signal of the tactile pattern rendering device to gradually increase or decrease from the preset threshold to zero after the tactile pattern rendering is completed.

[0190] In the case of implementing the functions of the integrated modules described above in hardware, this embodiment of the invention provides a possible structural schematic diagram of the electronic device involved in the above embodiments. For example... Figure 19 As shown, the electronic device 700 includes: a processor 702, a communication interface 703, and a bus 704. Optionally, the electronic device 700 may also include a memory 701.

[0191] Processor 702 may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 702 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 702 may also be a combination that implements computing functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0192] The communication interface 703 is used to connect to other devices via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0193] The memory 701 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0194] In one possible implementation, the memory 701 can exist independently of the processor 702. The memory 701 can be connected to the processor 702 via a bus 704 and is used to store instructions or program code. When the processor 702 calls and executes the instructions or program code stored in the memory 701, it can implement the model parameter compression method or model parameter decoding method provided in the embodiments of the present invention.

[0195] In another possible implementation, the memory 701 can also be integrated with the processor 702.

[0196] The 704 bus can be an extended industry standard architecture (EISA) bus, etc. The 704 bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 19 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0197] Through the above description of the implementation methods, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the service calling device can be divided into different functional modules to complete all or part of the functions described above.

[0198] This application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be executed by computer program instructions instructing related hardware. This program can be stored in the aforementioned computer-readable storage medium. When executed on a computer, the computer program instructions cause the computer to perform the model parameter compression method or model parameter decoding method as described in any of the above embodiments.

[0199] For example, the computer-readable storage media described above may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in this disclosure may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0200] This application also provides a computer program product, which includes a computer program that, when run on a computer, causes the computer to execute any of the model parameter compression methods or model parameter decoding methods provided in the above embodiments.

[0201] In the description of the embodiments of this application, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0202] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for rendering tactile patterns, characterized in that, The method includes: Obtain the location of the tactile receptors in the tactile feedback object; Based on the position of the tactile receptor and the tactile pattern to be rendered, a sequence of target position points is determined. The target position points are the tactile sensations that need to be formed on the tactile receptors to render the tactile pattern. Based on the target location point sequence, the tactile rendering device is controlled to perform tactile rendering on the tactile receptor.

2. The method according to claim 1, characterized in that, The determination of the target location point sequence based on the position of the tactile receptor and the tactile pattern to be rendered includes: Determine the type of the tactile pattern; The target location point sequence is determined based on the location of the tactile receptor, the tactile pattern, and the type of the tactile pattern.

3. The method according to claim 2, characterized in that, The tactile pattern includes at least one of the following types: Dot tactile patterns, line tactile patterns, and surface tactile patterns.

4. The method according to claim 3, characterized in that, When the type of the tactile pattern includes a dotted tactile pattern, determining the target location dot sequence based on the location of the tactile receptor, the tactile pattern, and the type of the tactile pattern includes: Based on the position of the tactile receptor, a first position point is determined; the first position is the rendering center of the tactile pattern in the tactile receptor. With the first position point as the center, a circular trajectory is determined based on a preset radius; the preset radius is less than or equal to the minimum tactile discriminable distance of the tactile sensor. Based on N equally spaced target location points on the circular trajectory, the sequence of target location points is determined.

5. The method according to claim 4, characterized in that, The number N is greater than a preset number, which is the minimum number of position points that can be rendered within a single tactile pattern rendering cycle.

6. The method according to claim 5, characterized in that, The tactile pattern rendering device includes an ultrasonic transducer array; the minimum number of position points that can be rendered within a single tactile pattern rendering cycle is determined based on the single tactile pattern rendering cycle, the single-focus generation time of the ultrasonic transducer array, and the tactile feedback time of the tactile feedback object.

7. The method according to claim 3, characterized in that, When the type of the tactile pattern includes a linear tactile pattern, determining the target location point sequence based on the position of the tactile receptor, the tactile pattern, and the type of the tactile pattern includes: Based on the position of the tactile sensor, a second position point is determined; the second position point is the rendering position point of the endpoint of the line tactile pattern in the tactile sensor. Based on the length of the line tactile pattern and the second position point, M equally spaced target position points are determined; the M target position points are located on the same straight line. The target location point sequence is determined based on the M target location points.

8. The method according to claim 7, characterized in that, The tactile pattern rendering device includes an ultrasonic transducer array; the interval between any two adjacent target location points among the M target location points is less than or equal to half the ultrasonic wavelength.

9. The method according to claim 7, characterized in that, The tactile pattern rendering device includes an ultrasonic transducer array; when there are multiple linear tactile patterns and adjacent linear tactile patterns are parallel to each other, the spacing between adjacent linear tactile patterns is greater than the ultrasonic wavelength.

10. The method according to claim 3, characterized in that, When the type of the tactile pattern includes a surface tactile pattern, determining the target location point sequence based on the position of the tactile receptor, the tactile pattern, and the type of the tactile pattern includes: The surface tactile pattern is decomposed into at least two parallel line tactile patterns; wherein the spacing between two adjacent line tactile patterns is less than the ultrasonic wavelength. The target location point sequence is determined based on the position of the tactile receptor and the at least two parallel line tactile patterns.

11. The method according to claim 10, characterized in that, Determining the target location point sequence based on the position of the tactile receptor and the at least two parallel line tactile patterns includes: For each line tactile pattern, a third position point is determined based on the position of the tactile receptor; the third position point is the rendering position point of the endpoint of the current line tactile pattern in the tactile receptor. Based on the length of the current tactile pattern and the third position point, P equally spaced target position points are determined; the P target position points are located on the same straight line. Determine the target position point sequence corresponding to the current line tactile pattern based on the P target position points; The target position point sequences corresponding to all line tactile patterns are merged to obtain the target position point sequence corresponding to the surface tactile pattern.

12. The method according to claim 1, characterized in that, When the tactile pattern rendering device includes an ultrasonic transducer array, controlling the tactile rendering device to perform tactile rendering on the tactile receptor based on the target position point sequence includes: Based on the target location sequence, the ultrasonic propagation distance and phase delay time are determined; Based on the ultrasonic wave propagation distance and the phase delay time, the tactile rendering device is controlled to perform tactile rendering on the tactile receptor.

13. The method according to claim 1, characterized in that, The step of controlling the haptic rendering device to perform haptic rendering on the haptic receptor based on the target location point sequence includes: Based on the target location point sequence, the tactile rendering device is controlled to sequentially perform single-point focusing, single-time tactile pattern rendering, and multiple-time tactile pattern rendering on the tactile sensor.

14. The method according to claim 1, characterized in that, The step of controlling the haptic rendering device to perform haptic rendering on the haptic receptor based on the target location point sequence includes: During the tactile pattern rendering process based on the target location point sequence, the duty cycle of the pulse signal controlling the tactile pattern rendering device is gradually increased from zero to a preset threshold and maintained. After the tactile pattern rendering is completed, the duty cycle of the pulse signal controlling the tactile pattern rendering device gradually increases or decreases from a preset threshold to zero.

15. An electronic device, characterized in that, It includes a processor and a memory, the processor being coupled to the memory; the memory is used to store computer instructions, which are loaded and executed by the processor to enable the computer device to implement the haptic pattern rendering method as described in any one of claims 1 to 14.

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