Temperature feedback control method and handle

Abstract

The application relates to the technical field of remote control, in particular to a temperature feedback control method and a handle, wherein the temperature feedback control method comprises the following steps: acquiring a temperature feedback instruction sequence sent by game software, wherein the temperature feedback instruction sequence comprises a plurality of temperature feedback instructions arranged in a preset order; generating corresponding driving electric signals according to each temperature feedback instruction in the preset order; and inputting the driving electric signals into a refrigeration and heating module in sequence. The main purpose of the application is to provide a temperature feedback control method, which aims to realize the interaction between a user and a virtual scene in terms of temperature haptics.

Description

Technical Field

[0001] This invention relates to the field of remote control technology, and in particular to a temperature feedback control method and a handle. Background Technology

[0002] As an important device for human-computer interaction, game controllers have gradually integrated temperature feedback functions in recent years. By integrating thermoelectric cooling and heating devices (TEC) into game controllers, games can control the surface of the controller to heat up or cool down based on the ambient temperature or character status in the virtual scene (such as being near a fire, in a cold environment, on fire or frozen, etc.), thereby providing users with an immersive temperature-sensing experience.

[0003] In related technologies, game controllers typically use a single command for temperature feedback. The game software sends only one heating or cooling command at a time, and the controller responds by implementing the corresponding temperature change. However, in complex game scenarios, characters may experience multiple temperature change events consecutively (e.g., being first frozen, then burned, or alternating between hot and cold damage). This necessitates the game controller receiving multiple independent commands, which may introduce communication and response delays between each command. This results in less smooth temperature feedback transitions, negatively impacting the user experience. Summary of the Invention

[0004] The main objective of this invention is to provide a temperature feedback control method that aims to enable users to interact with virtual scenes in terms of temperature and tactile sensation.

[0005] To achieve the above objectives, the temperature feedback control method proposed in this invention is applied to a handle, which is equipped with a cooling and heating module. The temperature feedback control method includes: The temperature feedback instruction sequence sent by the game software is obtained, wherein the temperature feedback instruction sequence includes multiple temperature feedback instructions arranged in a preset order; According to a preset order, corresponding drive electrical signals are generated sequentially based on each temperature feedback command; Each of the aforementioned driving electrical signals is sequentially input into the cooling and heating module.

[0006] In one embodiment of the present invention, the step of generating the corresponding driving electrical signal further includes: In response to user calibration operations, the cooling and heating modules are controlled to output multiple preset reference temperatures sequentially. Obtain user feedback information regarding their perception of each of the preset reference temperatures; A personal mapping model is generated based on the preset reference temperature and the sensory feedback information; The driving electrical signal is determined based on the temperature feedback command and the personal mapping model.

[0007] In one embodiment of the present invention, the step of generating a personal mapping model based on the preset reference temperature and the sensory feedback information includes: Based on the preset reference temperature and the sensory feedback information, a temperature sensory mapping table is established; The personal mapping model is generated based on the preset sensory curve and the temperature perception mapping table.

[0008] After the step of generating the personal mapping model based on the preset sensory curve and the temperature perception mapping table, the method further includes: In response to the mapping update command, new user feedback information corresponding to each of the preset reference temperatures is retrieved again. A new personal mapping model is generated based on the new sensory feedback information and the preset reference temperature.

[0009] In one embodiment of the present invention, the step of responding to the mapping update instruction and re-acquiring the user's new sensory feedback information corresponding to each of the preset reference temperatures includes: Respond to the mapping update command and obtain the user's ambient temperature; Based on the user's ambient temperature, new user feedback information corresponding to each of the preset reference temperatures is obtained again.

[0010] In one embodiment of the present invention, after the step of sequentially inputting each of the driving electrical signals into the cooling and heating module, the method further includes: Generate a transitional electrical signal; At the start of the preset remaining time of the current driving electrical signal, the transition electrical signal is input to the cooling and heating module until the current temperature feedback command ends.

[0011] In one embodiment of the present invention, the step of generating the transition electrical signal includes: Obtain the drive electrical signal corresponding to the next temperature feedback command; The transition signal is generated based on the current driving electrical signal and the driving electrical signal corresponding to the next temperature feedback command.

[0012] In one embodiment of the present invention, the step of inputting the transition electrical signal to the cooling / heating module at the start of the preset remaining time of the current driving electrical signal, until the current temperature feedback command ends, includes: Obtain the preset remaining duration of the current driving electrical signal; When the remaining input time of the driving electrical signal is less than or equal to the preset remaining time, the transition electrical signal is input to the cooling and heating module until the current temperature feedback command ends.

[0013] In one embodiment of the present invention, the step of obtaining the remaining input duration of the current driving electrical signal includes: Obtain the duration of the current driving electrical signal; Based on the preset remaining ratio and the duration, the preset remaining duration of the current driving electrical signal is determined.

[0014] In one embodiment of the present invention, the temperature feedback command further includes the duration corresponding to the driving electrical signal.

[0015] The present invention also proposes a handle, the handle including a controller and a cooling / heating module, the cooling / heating module being electrically connected to the controller, the controller being configured to perform the temperature feedback control method described in any one of the above.

[0016] In this technical solution, the temperature feedback control method provided by the present invention solves the problems of communication delay, response delay, and unsmooth temperature feedback switching caused by the game controller needing to receive multiple independent commands when a character is subjected to multiple temperature change events in a complex game scene. Specifically, the game software pre-encodes multiple consecutive temperature change events (e.g., freezing followed by fire) into a temperature feedback command sequence, in which multiple temperature feedback commands are arranged in the order of the events. After the game controller acquires the command sequence at once, it does not need to wait for each independent command to communicate back and forth, but automatically executes the temperature change corresponding to each command in the preset order, thereby eliminating the communication gaps and response waiting time caused by multiple command transmissions. During each temperature change execution, the game controller generates the corresponding drive electrical signal according to the current command and inputs it into the cooling and heating module to realize the sequential switching from one temperature state to another. Therefore, this invention not only significantly reduces the overall latency in continuous temperature feedback scenarios, ensuring the real-time and continuity of temperature sensing interaction, but also avoids feedback errors or loss caused by communication packet loss or command congestion, greatly enhancing the user's immersive experience in fast-paced, multi-event alternation games. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A first flowchart of an embodiment of the temperature feedback control method provided by the present invention; Figure 2 A second flowchart of an embodiment of the temperature feedback control method provided by the present invention; Figure 3 A third flowchart of an embodiment of the temperature feedback control method provided by the present invention; Figure 4 A fourth flowchart of an embodiment of the temperature feedback control method provided by the present invention; Figure 5 A fifth flowchart of an embodiment of the temperature feedback control method provided by the present invention; Figure 6 A sixth flowchart of an embodiment of the temperature feedback control method provided by the present invention; Figure 7 A seventh flowchart of an embodiment of the temperature feedback control method provided by the present invention; Figure 8 The eighth flowchart is an embodiment of the temperature feedback control method provided by the present invention; Figure 9 The ninth flowchart is an embodiment of the temperature feedback control method provided by the present invention.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0022] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] The main objective of this invention is to provide a temperature feedback control method that aims to enable users to interact with virtual scenes in terms of temperature and tactile sensation.

[0024] To achieve the above objectives, the temperature feedback control method proposed in this invention is applied to a handle, which is equipped with a cooling and heating module. Please refer to [link / reference needed]. Figure 1 Temperature feedback control methods include: S10: Obtain the temperature feedback command sequence sent by the game software, wherein the temperature feedback command sequence contains multiple temperature feedback commands arranged in a preset order; S20: Generate corresponding drive electrical signals according to each temperature feedback command in a preset order; S30: Input each drive electrical signal into the cooling and heating module in sequence.

[0025] First, it's important to explain that a game controller is a gaming peripheral that a user holds and communicates with gaming software platforms such as game consoles, personal computers, or mobile devices. Game controllers have a heating / cooling module that generates heat or cooling effects on the controller's surface. This heating / cooling module can use a thermoelectric cooler (TEC), which achieves cooling or heating by changing the direction of the input current; alternatively, it can use a Peltier element, which utilizes the Peltier effect to generate a temperature difference under current-driven operation.

[0026] In step 10, game software refers to a program running on a game console, personal computer, smartphone, or cloud gaming server that can generate temperature feedback instructions based on the character's state in the virtual scene (e.g., near a fire, in a cold environment, on fire, or frozen).

[0027] A temperature feedback command sequence is a data set composed of multiple temperature feedback commands arranged in a certain logical order. Each temperature feedback command contains at least current direction information to instruct the cooling or heating module to perform cooling or heating, and current information (or voltage magnitude information) to indicate temperature changes. The preset order refers to the order in which the game software pre-sets the order of commands based on the timing or logical dependencies of virtual events, such as executing cooling commands before heating commands, or executing weak heating commands before strong heating commands.

[0028] In one embodiment, the temperature feedback command sequence can be an array containing multiple command objects, which the gamepad receives all at once via wireless communication (such as Bluetooth). In another embodiment, the temperature feedback command sequence can be a command string connected by delimiters, which the gamepad parses to obtain the commands sequentially. The gamepad's controller (e.g., a microcontroller unit, MCU) obtains the temperature feedback command sequence sent by the game software through its communication interface.

[0029] In step 20, the controller in the handle generates corresponding drive electrical signals according to a preset sequence based on each temperature feedback command. These drive electrical signals are electrical parameters used to drive the cooling and heating modules, specifically representing voltage or current signals. The magnitude of the drive electrical signal determines the intensity of cooling or heating, and the polarity of the drive electrical signal determines the direction of cooling or heating (e.g., positive current corresponds to heating, and reverse current corresponds to cooling).

[0030] After receiving the temperature feedback command sequence, the controller in the handle processes each command one by one according to the order of the commands in the sequence. For the currently processed command, the controller calculates the amplitude and polarity of the corresponding drive electrical signal based on the direction and intensity information contained in the command. For example, if the command requests heating with a high intensity, the controller generates a voltage signal with an amplitude of +5V; if the command requests cooling with a low intensity, it generates a voltage signal with an amplitude of -2V.

[0031] In one embodiment, the controller internally stores a mapping table that directly converts the intensity level in the command into the corresponding pulse width modulation (PWM) duty cycle, generating different drive voltages by changing the duty cycle. In another embodiment, the controller directly outputs an analog voltage based on the digital intensity value in the command via a digital-to-analog converter (DAC). In this way, the handle can generate a unique drive electrical signal for each temperature feedback command.

[0032] In step 30, each drive electrical signal is sequentially input into the cooling and heating module. Specifically, when the first drive electrical signal is input, the cooling and heating module begins to produce the corresponding heating or cooling effect; after the drive electrical signal continues for a certain period of time (determined by the duration parameter in the instruction or the default duration preset by the system), the controller stops inputting the signal and immediately inputs the second drive electrical signal into the cooling and heating module, and so on, until all drive electrical signals have been input.

[0033] In one embodiment, the controller can control the switching of different drive signals using an array of electronic switches (e.g., MOSFETs), activating only one signal path at a time. In another embodiment, the controller directly updates the output register of its digital-to-analog converter or PWM module, thereby quickly switching to the next drive signal. Through this sequential input method, the cooling and heating modules can output temperature changes of different intensities and directions in a sequence preset by the game software.

[0034] In one application scenario, the user's controller has established a Bluetooth connection with the game console running the game software. The game character is first hit by an ice-type monster in the virtual world, and then immediately struck by fire magic. Based on these two sequential events, the game software generates a temperature feedback command sequence: the first command is "cooling, intensity 10," and the second command is "heating, intensity 12," and sends this sequence to the controller via Bluetooth.

[0035] Upon receiving the command sequence, the controller recognizes the preset order as cooling followed by heating. First, the controller generates a driving electrical signal (e.g., -3V) corresponding to a cooling intensity of 10 based on the first command and inputs this signal into the cooling / heating module. The controller surface begins to gradually cool, and the user experiences the cold. After a preset time or after the first event ends, the controller stops inputting the first signal and then generates a driving electrical signal (e.g., +4V) corresponding to a heating intensity of 12 based on the second command. This signal is then input into the cooling / heating module, and the controller surface gradually heats up to a warm temperature, allowing the user to experience the heat of the flame. Thus, the user experiences alternating periods of cold and heat on the controller, achieving tactile interaction with continuous temperature events in the virtual scene.

[0036] In this technical solution, the temperature feedback control method provided by the present invention solves the problems of communication delay, response delay, and unsmooth temperature feedback switching caused by the game controller needing to receive multiple independent commands when a character is subjected to multiple temperature change events in a complex game scene. Specifically, the game software pre-encodes multiple consecutive temperature change events (e.g., freezing followed by fire) into a temperature feedback command sequence, in which multiple temperature feedback commands are arranged in the order of the events. After the game controller acquires the command sequence at once, it does not need to wait for each independent command to communicate back and forth, but automatically executes the temperature change corresponding to each command in the preset order, thereby eliminating the communication gaps and response waiting time caused by multiple command transmissions. During each temperature change execution, the game controller generates the corresponding drive electrical signal according to the current command and inputs it into the cooling and heating module to realize the sequential switching from one temperature state to another. Therefore, this invention not only significantly reduces the overall latency in continuous temperature feedback scenarios, ensuring the real-time and continuity of temperature sensing interaction, but also avoids feedback errors or loss caused by communication packet loss or command congestion, greatly enhancing the user's immersive experience in fast-paced, multi-event alternation games.

[0037] In one embodiment of the present invention, please refer to Figure 2 The step of generating the corresponding driving electrical signal also includes: S21: In response to user calibration operations, control the cooling and heating modules to output multiple preset reference temperatures sequentially; S22: Obtain user feedback on the perceived temperature of each preset reference temperature; S23: Generate a personal mapping model based on preset reference temperature and sensory feedback information; S24: Determine the driving electrical signal based on temperature feedback instructions and a personal mapping model.

[0038] In step 21, after responding to the user's calibration operation, the controller of the gamepad controls the cooling and heating modules to sequentially output multiple preset reference temperatures. The user calibration operation refers to the instruction triggered by the user's first use of the gamepad, either actively through buttons or touch areas on the gamepad, or through the game software interface, to enter calibration mode. Simultaneously, the preset reference temperatures refer to multiple surface temperature values ​​of the gamepad that are pre-set in the gamepad firmware for users to subjectively compare. These temperature values ​​typically cover a range from neutral (neither cold nor hot) to the upper and lower limits of comfort, i.e., including both low-temperature points below neutral and high-temperature points above neutral. For example, a set of discrete temperature points can be set: 22℃ (significantly cool), 25℃ (slightly cool), 28℃ (neutral to cool), 31℃ (neutral to warm), 34℃ (warm), 37℃ (hot), and 40℃ (very hot). After receiving the user's calibration operation, the controller of the gamepad automatically drives the cooling and heating modules to reach each preset reference temperature sequentially, from low to high or from high to low, and maintains it for a sufficient time (e.g., 3-5 seconds) for the user to fully experience the temperature.

[0039] In one embodiment, the controller internally stores a list of preset reference temperatures, sequentially reads this list, and uses PID closed-loop control to stabilize the surface temperature of the cooling and heating modules at the target value. In another embodiment, the controller directly outputs the drive current corresponding to each preset reference temperature by looking up a pre-calibrated current-temperature correspondence table, without requiring closed-loop feedback.

[0040] In step 22, user feedback information for each preset reference temperature is obtained. This feedback information refers to data input by the user during the presentation of each preset reference temperature, expressed as their subjective temperature sensation, via input components on the controller (such as a touchpad, joystick, or buttons) or via a paired gaming terminal (such as a slider on a smartphone screen). For example, the user can select levels such as "too cold," "cold," "comfortable," "warm," or "too hot," or input a numerical rating from 0 to 100. Simultaneously with outputting each preset reference temperature, the controller of the controller initiates a timing window, which waits for and records the user's feedback input.

[0041] In one embodiment, the controller has multiple capacitive touch buttons, each corresponding to a sensitivity level. When a user touches a button, the controller immediately records that level. In another embodiment, the controller sends a "Please rate" prompt to a mobile app via Bluetooth. The user can then input a score on their phone, and the score is sent back to the controller.

[0042] In step 23, a personal mapping model is generated based on the preset reference temperature and the user feedback information. The personal mapping model is a mapping relationship that converts the intensity parameters (e.g., levels 0-15) in the temperature feedback commands sent by the game software into actual driving electrical signals (e.g., voltage or current values). Specifically, the controller uses each preset reference temperature output in step 21 and the user's feedback information at that temperature as a set of training data points. Through mathematical fitting (e.g., linear interpolation, polynomial fitting, or S-curve fitting), a "temperature → subjective feeling" relationship curve is constructed. Then, combined with the target subjective feeling curve desired by the game software (e.g., the correspondence between intensity level and desired feeling intensity), the "intensity level → target temperature" relationship is deduced. Finally, based on the physical characteristics of the cooling and heating modules (the conversion relationship between temperature and driving electrical signals), a mapping table of "intensity level → driving electrical signal" is calculated.

[0043] In one embodiment, the personal mapping model is stored in the non-volatile memory of the controller as a lookup table (LUT), with each row corresponding to an intensity level and containing the drive voltage value required for that level. In another embodiment, the personal mapping model is stored as polynomial coefficients, and the controller obtains the drive electrical signal through polynomial calculations during runtime.

[0044] In step 24, the driving electrical signal is determined based on the temperature feedback command and the personal mapping model. When the controller receives a temperature feedback command (containing an intensity level parameter) from the game software, the controller extracts the intensity level from the command and then uses the personal mapping model generated in step 23 to convert the intensity level into the corresponding driving electrical signal.

[0045] In one application scenario, when a new user uses the controller for the first time, they can tap "Start Calibration" via a mobile app. The controller receives this calibration request. It reads an internal list of multiple preset reference temperatures and controls the cooling and heating modules to output these temperatures sequentially. For each preset reference temperature output, the mobile app displays a corresponding prompt (e.g., "Please rate your current temperature experience"). The user then inputs a subjective rating based on the prompt. The controller records each preset reference temperature and its corresponding user rating. Once all preset reference temperatures have been output and user ratings have been collected, the controller uses this data to build a personalized mapping model.

[0046] Subsequently, the game software sends a temperature feedback command. The controller extracts the intensity level information from the temperature feedback command, substitutes it into the personal mapping model to calculate the corresponding driving voltage value, which is the driving electrical signal used to drive the cooling and heating modules to output the corresponding temperature so that the heat felt by the user is exactly consistent with their personal tactile expectations, without being too hot or not hot enough.

[0047] Based on steps 21 to 24, the temperature feedback control method provided by this invention, by introducing user calibration and personalized mapping in the step of generating the driving electrical signal, can solve the problem that standard temperature feedback cannot adapt to individual experiences due to differences in subjective perception of the same temperature among different users. Specifically, in response to the user calibration operation, the controller sequentially outputs multiple preset reference temperatures covering a range of hot and cold temperatures, and collects the user's subjective feedback on each reference temperature; then, based on the correspondence between these reference temperatures and the feedback, it generates a personal mapping model specific to the user; when a temperature feedback command is subsequently received from the game software, the controller converts the abstract command intensity into an actual driving electrical signal based on the personal mapping model. Thus, each user's temperature sensitivity characteristics are captured and used for calculating the driving signal, making the subjective intensity of the same game command consistent across different users, avoiding situations where sensitive users feel too much or insensitive users feel nothing, significantly improving the universality of temperature feedback and user comfort.

[0048] In one embodiment of the present invention, please refer to Figure 3 Step 23 includes: S231: Establish a temperature perception mapping table based on the preset reference temperature and sensory feedback information; S232: Generate a personal mapping model based on the preset sensory curves and temperature perception mapping table.

[0049] In step 231, a temperature perception mapping table is established based on the preset reference temperature and user feedback information. The temperature perception mapping table is a structured dataset used to record the user's discrete subjective ratings for each preset reference temperature. This table contains at least two columns: one column represents the preset reference temperature value (e.g., 22℃, 25℃, 28℃, 31℃, 34℃, 37℃, 40℃), and the other column represents the user's perception rating for that temperature (e.g., a value from 0 to 100). The perception rating is the user's subjective evaluation, where low scores represent cold discomfort, high scores represent heat discomfort, and medium scores represent neutral comfort. The controller maps each preset reference temperature output in step 21 to the user perception rating obtained in step 22 at that temperature, forming several records, and stores these records in non-volatile memory, thereby establishing the temperature perception mapping table.

[0050] In step 232, a personal mapping model is generated based on the preset sensory curve and the temperature perception mapping table. The preset sensory curve is a curve predefined in the controller firmware or game software used to convert the intensity level sent by the game into the desired subjective rating. This curve represents the correspondence between the "abstract intensity level of the game" and the "subjective rating that the user should feel." For example, the curve can be a linear curve: intensity level 0 corresponds to a subjective rating of 50 (neutral), intensity level 15 corresponds to a subjective rating of 90 (hot), with a uniform increase in the middle; or it can be an S-shaped curve, with a gentle change near the middle intensity level and a sharp change at both ends.

[0051] The personal mapping model is the mapping relationship that ultimately converts game intensity levels into actual driving electrical signals. The controller first uses discrete data points from the temperature perception mapping table to establish a continuous "target temperature → subjective rating" mapping table through mathematical fitting methods (such as linear interpolation, polynomial fitting, or spline interpolation). Then, the controller acquires a preset sensory curve and reads the expected subjective rating corresponding to each intensity level from this curve. Next, the controller substitutes each expected subjective rating into the inverse function of the aforementioned "target temperature → subjective rating" to calculate the target temperature corresponding to each intensity level. Finally, based on the physical driving characteristics of the cooling and heating modules, the controller converts each target temperature into a corresponding driving electrical signal, generating a mapping table with intensity level as input and driving electrical signal as output—that is, the personal mapping model.

[0052] In one embodiment, the personal mapping model is stored in the form of a lookup table, containing multiple entries, each corresponding to an intensity level, and each entry stores a driving voltage value. In another embodiment, the personal mapping model is stored in the form of a linear function, storing only two parameters: slope and intercept. The driving electrical signal is calculated during runtime.

[0053] In one application scenario, assume the controller of the handle has obtained the following temperature perception mapping relationships through steps 21 and S22: 22℃→20 points, 25℃→35 points, 28℃→50 points, 31℃→55 points, 34℃→70 points, 37℃→85 points, 40℃→95 points. The controller stores these data pairs in an array, establishing a mapping relationship table between temperature and perception. Subsequently, the controller calls a preset sensory curve, where intensity level 0 corresponds to a desired score of 50 points, and intensity level 15 corresponds to a desired score of 90 points. Then, the controller performs linear interpolation on the data points in the temperature perception mapping relationship table to construct a continuous correspondence between absolute temperature and subjective score. Then, for intensity level 0 with a desired score of 50 points, the target temperature of 28℃ is deduced from this correspondence; for intensity level 15 with a desired score of 90 points, the target temperature of 37℃ is deduced; and for intensity level 7 with a desired score of 70 points, the target temperature of 34℃ is deduced. Next, the controller converts the target temperature corresponding to each intensity level into the driving voltage based on the driving characteristics of the cooling and heating modules (such as the conversion coefficient between the target temperature and the driving voltage). For example, intensity level 0 corresponds to 0V, and intensity level 15 corresponds to 2.7V. The controller generates a lookup table, i.e., a personal mapping model, to represent the correspondence between intensity levels 0 to 15 and their corresponding driving voltages.

[0054] When the game sends a heating command with an intensity level, the controller directly reads the corresponding drive voltage value from the lookup table to drive the cooling and heating modules.

[0055] In one embodiment of the present invention, please refer to Figure 4 Step 232 is followed by: S233: Respond to the mapping update command and re-acquire the user's new sensory feedback information corresponding to each preset reference temperature; S234: Generate a new personal mapping model based on the new sensory feedback information and the preset reference temperature.

[0056] In step 233, the controller responds to the mapping update command and reacquires the user's new sensory feedback information corresponding to each preset reference temperature. The mapping update command is a control signal used to trigger the recalibration of the personal mapping model. This command can be triggered by various conditions, such as the user actively initiating a recalibration request through the controller button or mobile software, the controller detecting a significant change in the usage environment (such as seasonal changes or geographical relocation), or the system automatically triggering a model refresh at regular intervals.

[0057] Upon receiving a mapping update command, the controller enters recalibration mode. In this mode, the controller again controls the cooling and heating modules to sequentially output multiple preset reference temperatures identical to those during the initial calibration. For each output preset reference temperature, the controller re-acquires the user's current subjective feedback information regarding that temperature via the input components on the controller or the paired gaming terminal. This new feedback information refers to the user's re-entered rating at the current point in time, compared to the rating given during the last calibration.

[0058] Since factors such as a user's skin condition, ambient temperature, and physiological adaptability may change over time, new sensory feedback information can reflect the user's current true temperature perception characteristics. In one embodiment, the mapping update command is triggered by the user pressing a specific button on the controller, and the controller immediately initiates a recalibration process upon receiving the button signal. In another embodiment, the controller can have a built-in real-time clock, and the controller can automatically generate mapping update commands at preset intervals, thereby periodically updating the personal mapping model.

[0059] In step 234, a new personal mapping model is generated based on the new sensory feedback information and the preset reference temperature. This new personal mapping model is a reconstructed mapping relationship based on the reacquired sensory feedback information. After the controller obtains the new sensory feedback information (i.e., the new score corresponding to each preset reference temperature), it executes the same processing flow as steps 231 and S232: first, it uses the new data to re-establish the temperature sensory mapping relationship table (storing the preset reference temperature and the new sensory score in a one-to-one correspondence); then, based on the preset sensory curve (the same curve as during initial calibration) and the newly established relationship table, it generates an updated mapping model with intensity level as input and driving electrical signal as output through fitting, back-calculation, and transformation.

[0060] In one embodiment, the controller directly writes the new personal mapping model into non-volatile memory, overwriting the old personal mapping model, and automatically uses the new model the next time it runs. In another embodiment, the controller retains the old personal mapping model while storing the new personal mapping model, and allows the user to choose which model to use via software, to accommodate scenarios where different users share the same controller.

[0061] In one application scenario, the controller was originally used by user A and had undergone initial calibration, generating a personal mapping model suitable for user A. Subsequently, user B used the controller. Due to the different temperature sensitivities of users A and B (e.g., user A is more heat-tolerant, user B is more heat-sensitive), user B felt that the heating feedback in the game was too strong. User B sent a mapping update command to the controller by clicking "Switch User Calibration" through the mobile app. After receiving the mapping update command, the controller entered recalibration mode. The controller controlled the cooling and heating modules to output preset reference temperatures of 22℃, 25℃, 28℃, 31℃, 34℃, 37℃, and 40℃ in sequence. After each temperature was output, the mobile app interface prompted "Please rate your current temperature experience," and user B entered a rating based on their subjective feeling. The controller recorded user B's new rating for each temperature.

[0062] After all temperature data points have been collected, the controller uses user B's rating data and combines it with the original preset sensory curve to regenerate a new personalized mapping model suitable for user B. Then, when the game sends a heating command of the same intensity level, the controller uses the new model to output a driving voltage adapted to user B, enabling user B to obtain a comfortable temperature experience.

[0063] Further, please refer to Figure 5 Step 233 includes: S2331: Respond to the mapping update command and obtain the user's ambient temperature; S2332: Based on the user's ambient temperature, re-acquire the user's new sensory feedback information corresponding to each preset reference temperature.

[0064] In step 2331, after responding to the mapping update command, the controller acquires the user's ambient temperature. The user's ambient temperature refers to the air temperature of the environment in which the controller is currently located. Ambient temperature significantly affects the user's perception of the controller's surface temperature; for example, in a high-temperature environment, the same controller surface will feel cooler, while in a low-temperature environment, the same controller surface will feel warmer. The controller is equipped with an ambient temperature sensor (e.g., a thermistor, a digital temperature sensor chip) to acquire the user's ambient temperature. When the controller receives the mapping update command, it reads the current ambient temperature value through this sensor as the user's ambient temperature.

[0065] In step 2332, the controller can re-acquire new user feedback information corresponding to each preset reference temperature based on the user's ambient temperature. Specifically, during recalibration, the controller adjusts the calibration process or feedback information acquisition method according to the acquired current ambient temperature. For example, the controller considers the influence of ambient temperature while re-outputting the preset reference temperature sequence. On the one hand, the controller can use the ambient temperature as a reference benchmark to dynamically adjust the absolute value of the preset reference temperature, so that the output reference temperature has a consistent temperature difference step relative to the ambient temperature, thereby ensuring the comparability of the user's subjective feelings during calibration at different ambient temperatures. On the other hand, the controller can also store the user's feedback information in association with the ambient temperature after acquisition for model correction.

[0066] In one embodiment, the controller pre-stores an ambient temperature compensation table and adjusts the preset reference temperatures based on the current ambient temperature (e.g., for every 1°C increase in ambient temperature, all preset reference temperatures are adjusted upwards by 0.2°C), then outputs the adjusted reference temperatures for the user to experience. In another embodiment, the controller does not change the absolute value of the output reference temperature, but after the user inputs a feeling rating, the rating is recorded along with the ambient temperature to generate a temperature feeling mapping table with an ambient label; when constructing a personal mapping model, the controller selects the closest historical calibration data based on the current operating ambient temperature for interpolation or weighted fusion.

[0067] Understandably, regardless of the method used, the ultimate goal is to eliminate the interference of ambient temperature on the user's subjective calibration, so that the reacquired sensory feedback information can truly reflect the user's own temperature sensitivity characteristics, rather than the influence of ambient temperature.

[0068] In one application scenario, a user initially calibrated the controller in a winter indoor environment, generating a personal mapping model. Subsequently, as summer approached and indoor temperatures rose, the user perceived a discrepancy in the temperature feedback intensity set during calibration (e.g., insufficient heating or cooling for the same game commands). The user initiated a mapping update command by clicking the "Ambient Temperature Calibration" button on a mobile app. Upon receiving this command, the controller obtains the current ambient temperature using a temperature sensor. Based on this ambient temperature, the controller compensates for the offset of preset reference temperatures. Assuming the original list of preset reference temperatures was 22℃, 25℃, 28℃, 31℃, 34℃, 37℃, and 40℃, due to the higher current ambient temperature, to ensure the user experiences the same subjective "hot" / cold" sensation as in a 20℃ environment, the controller increases each preset reference temperature by 3℃, resulting in actual output reference temperatures of 25℃, 28℃, 31℃, 34℃, 37℃, 40℃, and 43℃.

[0069] The controller sequentially outputs these compensated reference temperatures, and the mobile app provides corresponding rating prompts. Users rate each of the new preset reference temperatures based on their actual sensations under the current ambient temperature. The controller records the compensated reference temperatures and their corresponding ratings, and stores the current ambient temperature as a label. Subsequently, the controller uses this new data to regenerate the personal mapping model. In the new personal mapping model, since the user calibrated in a summer environment, subsequent use under the same summer environment will directly match the user's subjective sensations, thus resolving the feedback offset problem caused by changes in ambient temperature.

[0070] In one embodiment of the present invention, please refer to Figure 6 Step 30 and beyond also includes: S40: Generates a transition electrical signal; S50: At the start of the preset remaining time of the current drive electrical signal, input a transition electrical signal to the cooling and heating module until the current temperature feedback command ends.

[0071] In step 40, the transition signal is a temporary signal used to drive the cooling / heating module during the time period between the current drive signal ending and the next drive signal beginning. This transition signal differs from both the currently input drive signal and the next complete drive signal; it is an intermediate signal generated from both. The amplitude, polarity, or waveform of the transition signal lies between the current drive signal and the next drive signal to avoid sudden temperature changes caused by direct switching. While outputting the current drive signal, the controller simultaneously acquires the drive signal corresponding to the next temperature feedback command (which may have been received in advance or is about to be received), and then generates the transition signal according to preset rules (e.g., linear interpolation or weighted averaging).

[0072] In one embodiment, the controller has a buffer for pre-storing the drive electrical signal corresponding to the next temperature feedback command. When the current drive electrical signal reaches a predetermined stage, the controller reads the buffered signal and merges the current signal with the buffered signal using an arithmetic average to generate a transition electrical signal. In another embodiment, the controller uses hardware circuitry (e.g., an analog adder or a PWM mixer) to proportionally superimpose the current drive electrical signal with the next drive electrical signal, outputting the transition electrical signal in real time without software intervention.

[0073] In step S50, at the start of the preset remaining time of the current drive electrical signal, a transition electrical signal is input to the cooling / heating module until the current temperature feedback command ends. The preset remaining time refers to a time length threshold before the current drive electrical signal ends. This time length threshold can be an absolute time value (e.g., 300 milliseconds) or a preset proportion of the total duration of the current drive electrical signal (e.g., 10% of the total duration), and is not limited here. When the preset remaining time begins, it refers to the point in time from the current moment where the original end time of the current drive electrical signal is equal to the time length threshold.

[0074] When the controller detects that the current drive signal has been executed to the point where only a preset remaining time remains, the controller stops inputting the original current drive signal and instead inputs the transition signal generated in step S40 into the cooling and heating module, and continues to input the transition signal until the total duration specified by the current temperature feedback command is completely over.

[0075] In one embodiment, the preset remaining time is a fixed value. The controller monitors the remaining time in real time using a decrementing counter. When the counter value drops to the time point corresponding to 2 preset remaining times, a switching operation is triggered. In another embodiment, the preset remaining time is a certain percentage of the total duration of the current drive signal. The controller can calculate this threshold time when it starts executing the current drive signal and perform the switching operation at that time.

[0076] In a game scenario, the controller is executing a first temperature feedback command, which requires a +4V heating drive signal for a total duration of 2000 milliseconds. Simultaneously, the controller has received a second temperature feedback command in advance via the game software, which requires a -3V cooling drive signal and will be executed immediately after the first command ends. Based on this, the controller first generates a transition signal according to the current +4V signal and the next -3V signal. For example, the controller uses linear interpolation to calculate a series of intermediate voltage values ​​(such as +3V, +1V, -1V, etc.) that gradually change from +4V to -3V. At the same time, the controller presets the remaining time to 10% of the total duration, i.e., 200 milliseconds.

[0077] When the first drive signal has been input for 1800 milliseconds (with 200 milliseconds remaining), the controller stops inputting the +4V signal and begins inputting a transition signal. Over the next 200 milliseconds, the controller outputs transition voltages of +3V, +1V, -1V, and -3V sequentially.

[0078] When the 2000-millisecond total duration of the first instruction ends, the transition signal stabilizes at -3V, perfectly matching the drive signal required for the second instruction. At this point, the controller naturally transitions to the execution phase of the second instruction, continuing to input the -3V signal. The temperature change felt by the user on the controller surface is a continuous transition from "hot → warm → slightly cool → cold," without any abrupt changes or temperature gaps such as "hot → suddenly stop → cold," thus improving the smoothness of continuous temperature feedback and enhancing user immersion.

[0079] Further, please refer to Figure 7 Step 40 includes: S41: Obtain the drive electrical signal corresponding to the next temperature feedback command; S42: Generate a transition signal based on the current drive signal and the drive signal corresponding to the next temperature feedback command.

[0080] In step 41, the controller acquires the drive electrical signal corresponding to the next temperature feedback command. The next temperature feedback command refers to the next temperature feedback command to be executed in a preset order after the currently executing temperature feedback command. This command may have been received in advance by the controller of the gamepad and stored in the buffer (for example, all commands were received at once when acquiring the temperature feedback command sequence), or it may not have been received yet but can be acquired in advance through a preloading mechanism.

[0081] The drive electrical signal corresponding to the next temperature feedback command refers to the electrical signal parameters (such as voltage or current values) that the controller pre-calculates using its personal mapping model based on information such as the intensity level and direction in the next command, and is used to drive the cooling and heating modules. The controller needs to obtain this drive electrical signal in advance before the next command is officially executed in order to generate the transition electrical signal.

[0082] In step S42, a transitional electrical signal is generated based on the current driving electrical signal and the driving electrical signal corresponding to the next temperature feedback command. "Based on the current driving electrical signal and the next driving electrical signal" means that the generation of the transitional electrical signal depends on information from these two signals (e.g., amplitude, polarity, waveform). The controller, according to a preset generation rule, uses the current driving electrical signal and the next driving electrical signal as inputs to calculate a transitional electrical signal for an intermediate state. This transitional electrical signal can be a fixed intermediate value or a series of values ​​that change over time.

[0083] In one embodiment, the controller uses the arithmetic mean of the current driving signal and the next driving signal as a constant value for the transition signal, and consistently outputs this average value during the switching process. In another embodiment, the controller weights and mixes the two signals in a linear ratio, with the mixing ratio changing over time (e.g., initially the current signal has a weight of 1 and the next signal has a weight of 0, and at the end, their weights are reversed), thereby generating a dynamically changing sequence of transition signals. It is understood that regardless of the specific algorithm used, the core principle is to generate the transition signal based on the current signal and the next signal.

[0084] In one application scenario, the controller of the handle is executing a first temperature feedback command, the corresponding driving signal of which is a +4V DC voltage (heating). The controller has already retrieved a second temperature feedback command from the command sequence cache, corresponding to a driving signal of -3V (cooling). To generate a transition signal, the controller first reads the current driving signal +4V and the next driving signal -3V. In one embodiment, the controller can use a weighted average method to generate the transition signal. At the beginning of the switching phase, the transition signal is set to (+4V)×0.8+(-3V)×0.2=+2.6V; after a period of time, it is adjusted to (+4V)×0.5+(-3V)×0.5=+0.5V; after another period of time, it is adjusted to (+4V)×0.2+(-3V)×0.8=-1.6V; finally transitioning to -3V. Thus, the controller generates a series of gradually changing transition signals based solely on the values ​​of these two signals, without requiring additional information.

[0085] In another embodiment, the controller directly uses the average value of the two signals (+4V + (-3V)) / 2 = +0.5V as a fixed transition signal, and continuously outputs +0.5V during the switching period.

[0086] Further, please refer to Figure 8 Step 50 includes: S51: Obtain the preset remaining duration of the current drive electrical signal; S52: When the remaining input time of the drive electrical signal is less than or equal to the preset remaining time, a transition electrical signal is input to the cooling and heating module until the current temperature feedback command ends.

[0087] In step S51, the controller acquires the preset remaining duration of the current drive signal. The preset remaining duration is a pre-set time threshold used to determine when to switch from the current drive signal to a transition signal. The preset remaining duration can be a fixed absolute time value (e.g., 200 milliseconds, 300 milliseconds) or a proportion relative to the total duration of the current drive signal (e.g., 10% of the total duration). The controller determines the value of the preset remaining duration before executing the current drive signal or at the very beginning of the process and stores it in a register.

[0088] In step S52, when the remaining input time of the drive signal is less than or equal to the preset remaining time, a transition signal is input to the cooling / heating module until the current temperature feedback command ends. The remaining input time of the drive signal, referred to as the remaining input duration, is the real-time remaining time from the current moment to the predetermined end time of the current drive signal. This duration is a dynamically decreasing quantity, gradually decreasing from the total duration of the current drive signal to zero over time.

[0089] The controller can update the remaining input duration in real time using a timer (e.g., a decrementing counter or by comparing the current timestamp with the end timestamp). When the remaining input duration is greater than the preset remaining duration, the controller continues to output the original current drive signal. Once it detects that the remaining input duration is less than or equal to the preset remaining duration, the controller begins to output a transition signal and continues to output the transition signal until the total duration specified by the current temperature feedback command has completely ended.

[0090] In one application scenario, the controller of the controller is executing a first temperature feedback command with a total duration of 2000 milliseconds and a corresponding drive signal of +4V (heating). The controller has a preset remaining duration of 200 milliseconds (a fixed value). The controller starts a decrementing counter with an initial value of 2000 milliseconds. During the input of the +4V signal, the controller reads the current value of the counter (i.e., the remaining input duration). When the time advances to 1800 milliseconds, the controller detects that the remaining input duration is exactly 200 milliseconds, equal to the preset remaining duration. The controller immediately triggers a switching mechanism and begins to output a transition signal. Over the next 200 milliseconds, the controller continuously outputs a transition signal (e.g., an intermediate voltage sequence gradually changing from +4V to -3V). When the remaining input duration decreases to 0, the total duration of the first temperature feedback command (2000 milliseconds) ends, and the transition signal has now reached the -3V required for the second command. For the controller, the temperature change felt by the user on the controller surface is as follows: a stable warm sensation for the first 1800 milliseconds, followed by a smooth transition from hot to cold in the next 200 milliseconds. This embodiment controls the timing of the transition signal input by comparing the real-time remaining input duration with the preset remaining duration, allowing users to adjust the smoothness of the transition according to different game scenarios or personalized preferences.

[0091] In one embodiment of the present invention, please refer to Figure 9 Step 51 includes: S511: Obtain the duration of the current drive electrical signal; S512: Determine the preset remaining duration of the current drive electrical signal based on the preset remaining ratio and duration.

[0092] In step 511, the controller first obtains the duration of the current drive signal. The duration of the current drive signal refers to the total length of time the drive signal should be continuously input to the cooling / heating module as specified by the current temperature feedback command. This duration is carried by the game software in the temperature feedback command and obtained by the controller of the gamepad when parsing the command. The controller stores this duration in an internal register for subsequent timing and threshold calculations. In one embodiment, the duration is dynamically set by the game software based on the duration of the virtual event. For example, if a game character stands in a hot virtual scene for 3000 milliseconds, the duration of the drive signal is also set to 3000 milliseconds.

[0093] In step 512, the preset remaining duration of the current driving electrical signal is determined based on the preset remaining ratio and the duration. The preset remaining ratio is a coefficient between 0 and 1, used to calculate a time window length from the duration; this window represents the input duration of the transition electrical signal. The preset remaining duration equals the duration multiplied by the preset remaining ratio. For example, if the duration is 2000 milliseconds and the preset remaining ratio is 10%, then the preset remaining duration is 200 milliseconds. This preset remaining ratio can be fixed by the system (e.g., fixed at 10%), dynamically adjusted according to the game scenario, or customized by the user through the settings interface.

[0094] The fundamental reason for determining the preset remaining time is that the duration of temperature feedback varies greatly for different game events. If the same absolute threshold (e.g., a fixed 200 milliseconds) is used for all commands, then for short commands (500 milliseconds), the transition window will be too large (e.g., 40%), which may cause the user to barely feel the original temperature before the switch begins; for long commands (10000 milliseconds), the transition window will be too small, and the switch may appear abrupt.

[0095] By binding the preset remaining duration to the duration of the current driving electrical signal, the length of the transition window can be proportional to the total duration of the instruction, thereby maintaining a consistent relative smoothness of transition between temperature events of different durations and avoiding inconsistent user experience caused by differences in event duration.

[0096] In one embodiment, the preset remaining percentage is fixed at 10%. Each time a new instruction is executed, the controller multiplies the acquired duration by 0.1 to obtain the preset remaining duration of that instruction. In another embodiment, the preset remaining percentage is not fixed but dynamically changes according to the intensity level of the current driving electrical signal or the game scene type. For example, for drastic temperature changes (switching from high-intensity heating to high-intensity cooling), the controller can automatically increase the preset remaining percentage to provide a longer transition time and avoid abrupt switching; for gradual temperature changes, a lower percentage can be used to maintain response speed.

[0097] In one application scenario, the game software triggers two temperature feedback events of different durations. Event 1: The character is hit by a fireball, experiencing a burning sensation lasting 500 milliseconds (heating, high intensity), followed by being hit by ice magic, experiencing a freezing sensation lasting 500 milliseconds (cooling, high intensity). Event 2: The character enters a hot desert environment, experiencing a stuffy sensation lasting 10,000 milliseconds (heating, medium intensity), then enters a cold cave, experiencing a cold sensation lasting 10,000 milliseconds (cooling, medium intensity).

[0098] If a fixed absolute threshold is used (e.g., a fixed preset remaining duration of 200 milliseconds), then for event one (duration 500 milliseconds), the transition is triggered when the remaining input time is 300 milliseconds (i.e., when the total duration reaches 300 milliseconds), with the transition window accounting for 40%. The user just begins to feel the burning sensation, and before half the time is even over, the transition to cold begins, ruining the burning experience. For event two (duration 10000 milliseconds), the transition is only triggered when the remaining input time is 9800 milliseconds, with the transition window accounting for only 2%. The user barely feels the smooth transition from hot to cold, and the switch is too abrupt.

[0099] Based on this, using the proportionalization method proposed in this invention (with a preset remaining percentage fixed at 10%), the preset remaining duration for event one is 500 × 10% = 50 milliseconds, with the transition window occupying only 10%. The user only begins switching after a 450-millisecond burning experience, ensuring the complete presentation of the brief event. The preset remaining duration for event two is 10000 × 10% = 1000 milliseconds, with the transition window also occupying 10%. The user has a full second to smoothly transition from the sweltering heat to the cold, resulting in a natural experience. Therefore, by using a proportionalized preset remaining duration determination method based on duration, this invention ensures a relatively consistent transition smoothness for temperature events of different durations, avoiding inconsistent user experience caused by extreme differences in event duration.

[0100] The present invention also proposes a game controller, which includes a controller and a cooling / heating module. The cooling / heating module is electrically connected to the controller, which is configured to execute any of the temperature feedback control methods described above. Specifically, the controller acquires a sequence of temperature feedback instructions sent by the game software, generates corresponding drive electrical signals in a preset order, and inputs them sequentially into the cooling / heating module to achieve sequential heating or cooling of the game controller surface. Since the game controller proposed in this invention adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0101] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A temperature feedback control method applied to a handle, wherein the handle is equipped with a cooling and heating module, characterized in that, The temperature feedback control method includes: The temperature feedback instruction sequence sent by the game software is obtained, wherein the temperature feedback instruction sequence includes multiple temperature feedback instructions arranged in a preset order; According to a preset order, corresponding drive electrical signals are generated sequentially based on each temperature feedback command; Each of the driving electrical signals is sequentially input into the cooling and heating module.

2. The temperature feedback control method as described in claim 1, characterized in that, The step of generating the corresponding driving electrical signal further includes: In response to user calibration operations, the cooling and heating modules are controlled to output multiple preset reference temperatures sequentially. Obtain user feedback information regarding their perception of each of the preset reference temperatures; A personal mapping model is generated based on the preset reference temperature and the sensory feedback information; The driving electrical signal is determined based on the temperature feedback command and the personal mapping model.

3. The temperature feedback control method as described in claim 2, characterized in that, The step of generating a personal mapping model based on the preset reference temperature and the sensory feedback information includes: Based on the preset reference temperature and the sensory feedback information, a temperature sensory mapping table is established; The personal mapping model is generated based on the preset sensory curve and the temperature perception mapping table.

4. The temperature feedback control method as described in claim 3, characterized in that, After the step of generating the personal mapping model based on the preset sensory curve and the temperature perception mapping table, the method further includes: In response to the mapping update command, new user feedback information corresponding to each of the preset reference temperatures is retrieved again. A new personal mapping model is generated based on the new sensory feedback information and the preset reference temperature.

5. The temperature feedback control method as described in claim 4, characterized in that, The step of retrieving the user's new sensory feedback information corresponding to each of the preset reference temperatures, as stated in the response mapping update instruction, includes: Respond to the mapping update command and obtain the user's ambient temperature; Based on the user's ambient temperature, new user feedback information corresponding to each of the preset reference temperatures is obtained again.

6. The temperature feedback control method according to any one of claims 1 to 5, characterized in that, After the step of sequentially inputting each of the driving electrical signals into the cooling and heating module, the method further includes: Generate a transitional electrical signal; At the start of the preset remaining time of the current driving electrical signal, the transition electrical signal is input to the cooling and heating module until the current temperature feedback command ends.

7. The temperature feedback control method as described in claim 6, characterized in that, The step of generating the transition electrical signal includes: Obtain the drive electrical signal corresponding to the next temperature feedback command; The transition signal is generated based on the current driving electrical signal and the driving electrical signal corresponding to the next temperature feedback command.

8. The temperature feedback control method as described in claim 6, characterized in that, The step of inputting the transition electrical signal to the cooling / heating module at the start of the preset remaining time of the current driving electrical signal, until the current temperature feedback command ends, includes: Obtain the preset remaining duration of the current driving electrical signal; When the remaining input time of the driving electrical signal is less than or equal to the preset remaining time, the transition electrical signal is input to the cooling and heating module until the current temperature feedback command ends.

9. The temperature feedback control method as described in claim 8, characterized in that, The step of obtaining the preset remaining duration of the current driving electrical signal includes: Obtain the duration of the current driving electrical signal; Based on the preset remaining ratio and the duration, the preset remaining duration of the current driving electrical signal is determined.

10. The temperature feedback control method as described in claim 1, characterized in that, The temperature feedback command also includes the duration corresponding to the driving electrical signal.

11. A handle, characterized in that, The handle includes a controller and a cooling / heating module, the cooling / heating module being electrically connected to the controller, the controller being configured to perform the temperature feedback control method as described in any one of claims 1 to 10.

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