Input method with haptic feedback and vibration suppression, and associated input device

Abstract

The invention relates to an input device (1) for detecting manual input with haptic feedback, comprising: an actuating element (2) mounted to oscillate about a rest position in a direction of oscillation (b) and having a natural mode having a first natural frequency (f1); an actuator (4) arranged on the actuating element (2) for inducing vibration in the direction of oscillation (b) on the actuating element (2), which has an excitation mass (5) mounted to oscillate on the actuating element (2) and an actuator natural mode having a second natural frequency (f2); detection means (6, 8) for detecting at least one commencement of manual touching and / or actuation of the actuating element (2);and a control unit (12) electrically connected to the detection means (6, 8) for generating an electrical excitation signal (S(t)) and applying the electrical excitation signal (S(t)) to the actuator (4) during and / or after detection of the touch and / or actuation; wherein the electrical excitation signal (S(t)) has a continuous amplitude spectrum (FFT(S(t))) with specific properties, and an associated input method.

Description

[0001] The present invention relates to an input method with improved, more pronounced, haptic feedback. Furthermore, the invention relates to an input device for detecting a manual input, comprising an actuating element that is set into vibration after detecting a manual touch and / or actuation by an actuator to generate the haptic feedback. Finally, the invention further relates to the use of the input device in a motor vehicle.

[0002] Input devices of this type are generally known and are described, for example, in DE 2013 007 962 A1. Input devices are used to capture a manual input, which is usually performed by a user, in order to assign a switching and / or control function to the actuation. For this purpose, the input device generally has at least one actuating element that can be actuated by the user using a hand or a finger. In this way, the user can activate and / or deactivate functions as desired or perform a control operation. Such input devices are widely used in motor vehicles, such as passenger cars or trucks, and are used, for example, to control vehicle components.

[0003] It is known to couple the actuating element to an actuator and thereby generate a haptically perceptible feedback, also called haptic feedback, for a user who actuates and / or touches the actuating element.

[0004] Although the coupling of the actuating element with the actuator has proven successful, there is still room for improvement in the design and implementation of the feedback, particularly when it comes to generating pronounced haptic feedback that is limited to a few overshoots of the rest position of the actuating element and at the same time is characterized by the rapid achievement of a particularly pronounced maximum acceleration and / or the rapid decay of the oscillation after reaching the maximum deflection of the actuating element due to a clever energization of the actuator with an electrical excitation signal.It has been shown that a short, impulse-like, quickly distorting and decaying deflection is preferable. This not only gives the operator a high impression of quality, but also requires interaction with the control element to have a rapid sequence of haptic feedback so that the operator can even associate it with the input made. This is not possible if a subsequent haptic feedback coincides with the decaying previous haptic feedback, such as its after-oscillation. It would be possible to dampen the oscillating bearing of the actuating element. However, this is detrimental to the energy input into the oscillating system and would minimize the resulting deflection for the same excitation energy. Furthermore, the mechanical tuning of an oscillating system is difficult and creates considerable problems for mass production with reproducible results.

[0005] There is therefore a need for an input method and an associated input device, wherein the excitation signal imparts an advantageous vibration behavior to the vibrating system, in particular by avoiding complex mechanical tuning.

[0006] This object is achieved by an input method according to claim 1, by an input device according to the co-ordinate device claim, and by the use of the co-ordinate use claim. Advantageous embodiments are the subject of the dependent claims. It should be noted that the features listed individually in the patent claims can be combined with one another in any technologically expedient manner and demonstrate further embodiments of the invention. The description, particularly in conjunction with the figures, further characterizes and specifies the invention.

[0007] The invention relates to an input method with haptic feedback, which comprises the following steps. In a provision step, an actuating element is provided which is mounted so as to oscillate about a rest position in a direction of oscillation and to which an eigenmode with a first eigenfrequency, in particular in the direction of oscillation, is assigned. This eigenfrequency results, for example, from the mounting and / or the material properties of the actuating element. The first eigenfrequency can be determined, for example, by measuring the deflection upon frequency-specific excitation of the actuating element and results, for example, among other things, fromfrom the oscillating mounting of the actuating element, such as from elasticity or spring constants of the at least one return element that elastically returns the actuating element, the mass of the actuating element and from a damping constant that results from an optionally provided damping element and / or the air resistance. For example, the oscillating mounting of the actuating element is designed such that the actuating element is mounted essentially perpendicular to the actuation direction, preferably parallel to an actuation surface formed on the actuating element and arranged for actuation. A mounting that oscillates about a rest position is understood to mean a monostable mounting of the actuating element, i.e. one that returns to a rest position.

[0008] The actuating element can be formed by a lever, but also by a switch button, a key head, a touchpad or a touchscreen or combinations thereof and / or the like.

[0009] According to the invention, in a further provision step, an actuator arranged on the actuating element is provided, which is intended to induce vibrations in the direction of vibration on the actuating element and generate haptic feedback. The actuator is supported, for example, exclusively on the actuating element. According to the invention, the actuator has an excitation mass that is mounted on the actuating element in a vibrating, preferably freely vibrating, manner and can be driven by an electrical excitation signal, so that the actuator is also assigned a eigenmode, referred to here as the actuator eigenmode, with a second eigenfrequency, particularly in the direction of vibration.This can also be measured on the actuator, as described above, and essentially results from the elastic mounting of the excitation mass, for example, a spring element that restoring the excitation mass, and from a damping constant resulting from an optionally provided damping element and / or air resistance. The actuator is preferably an electrodynamic actuator, in particular a voice coil actuator, the latter also referred to as a "voice coil actuator."

[0010] In the case of an electrodynamic actuator, the second natural frequency is additionally influenced by the electromagnetic quality of its resonant circuit. This not only shifts the second natural frequency compared to a purely mechanical system, but also broadens the resonance curve around the second natural frequency overall, thus increasing the resonance half-width of the corresponding resonance curve.

[0011] Preferably, the mounting of the actuating part and the mounting of the excitation mass are coordinated such that the second natural frequency is higher than the first natural frequency. The first natural frequency is preferably in the range of 50 Hz to 100 Hz. The actuating element preferably has a mass in the range of 100 g to 1200 g, more preferably in the range of 500 g to 1000 g.

[0012] According to the invention, detection means are further provided for detecting at least the beginning of a manual touch and / or actuation of the actuating element. The detection means can be fully or partially integrated into the actuating element. A manual touch is understood, for example, to be contact with a finger or the hand of an operator or user, while actuation is understood to be the action of a hand or finger applying an actuating force to the actuating element.

[0013] The detection means are, for example, capacitive means which detect the contact and / or a change in position of the actuating element caused by the actuation or the associated force.

[0014] According to the invention, a control unit is further provided which is electrically connected to the detection means and is designed to generate the electrical excitation signal for exciting the actuator during or after detection of the contact and / or actuation by the detection means.

[0015] The input method according to the invention comprises the step of generating the haptic feedback by the control unit by applying the electrical excitation signal to the actuator during or after detection of the touch and / or actuation, thus inducing a movement of the actuating element in the direction of oscillation by means of the actuator. "During or after detection" means either the generation of the control signal immediately upon detection of the actuation or a generation delayed and subsequent to the detection.

[0016] According to the invention, a continuous and thus non-discrete amplitude spectrum, obtained, for example, by Fourier transformation, is assigned to the electrical excitation signal. The electrical excitation signal is preferably generated by filtering, such as high-pass and / or low-pass filtering, a pulse-width modulated output signal.

[0017] According to the invention, as far as the electrical excitation signal is concerned, it is provided that an early, first amplitude spectrum determined from an early, first excitation signal component of the electrical excitation signal differs from a second amplitude spectrum determined from a later, i.e. temporally subsequent, second excitation signal component in the frequency of their absolute maxima: namely that a frequency of the second maximum of the second amplitude spectrum is greater than a frequency of the first maximum of the first amplitude spectrum.The second excitation signal component, which is higher frequency than the first, thus provides a more pronounced haptic feedback compared to a uniform excitation signal, since the high-frequency excitation, depending on the vibration state of the actuating element when the second excitation signal component starts, has an acceleration-supporting or braking effect on the deflection movement of the actuating element and thus creates the possibility of limiting the vibration behavior of the actuating element to a few overshoots of the rest position, of increasing a maximum acceleration, of accelerating the reaching of this particularly pronounced maximum deflection and / or of accelerating the decay of the vibration after reaching the maximum deflection, without having to intervene in the mechanical tuning of the bearing.

[0018] Preferably, the second maximum of the second amplitude spectrum lies outside a bandwidth range limited by the first natural frequency and the second natural frequency.

[0019] Preferably, the second maximum of the second amplitude spectrum is assigned to a frequency which is at least 1.5 times, preferably at least twice, the larger of the two natural frequencies of the first natural frequency and the second natural frequency.

[0020] To effectively force a first deflection movement of the actuating element from the rest position, the frequency of the first maximum of the early amplitude spectrum preferably falls within a bandwidth range whose lower limit is defined by the lower resonance half-width of the smallest natural frequency from the first natural frequency and the second natural frequency, and whose upper limit is defined by the upper resonance half-width of the largest natural frequency from the first natural frequency and the second natural frequency. More preferably, the frequency of the first maximum falls within a bandwidth range limited by the first natural frequency and the second natural frequency, or the frequency associated with the second maximum corresponds to the first natural frequency and / or the second natural frequency.

[0021] Preferably, the resonance half-width of the electrodynamic actuator relating to the second natural frequency is 5 Hz or more, more preferably 20 Hz or more, most preferably 50 Hz or more.

[0022] Preferably, a duration of the entire excitation signal is limited to 30 ms, more preferably 25 ms, most preferably 20 ms.

[0023] Preferably, the excitation signal has a late, third excitation signal component following the second excitation signal component in time, with a late, third amplitude spectrum whose third maximum falls within a bandwidth range limited upwards by the second maximum, preferably the first maximum, i.e., in the direction of high frequencies. Even more preferably, the third maximum of the late amplitude spectrum falls within a bandwidth range whose lower limit is predetermined by the lower resonance half-width of the smallest natural frequency from the first natural frequency and the second natural frequency, and whose upper limit is predetermined by the upper resonance half-width of the largest natural frequency from the first natural frequency and the second natural frequency.Most preferably, the third maximum falls within a bandwidth range limited by the first natural frequency and second natural frequency, or the frequency associated with the second maximum corresponds to the first natural frequency and / or second natural frequency.

[0024] Preferably, a transition, for example an instantaneous transition or a transition with a duration of less than 1 ms, from the first excitation signal component to the second excitation signal component occurs before a first maximum acceleration of the actuating element is reached, thereby achieving an amplification of the maximum deflection but also an accelerated setting of the maximum deflection. Preferably, the duration of the second excitation signal component extends until a second maximum acceleration of the actuating element, opposite to the first maximum acceleration, is reached, or beyond, in order to reduce the number or deflection of the at least haptically perceptible over- or post-oscillations.

[0025] Preferably, the electrical excitation signal is de-energized, i.e., zero, at a time at which, after the maximum deflection, a deflection is undershot for the first time, which amounts to 1 / 10 of the maximum deflection of the actuating part.

[0026] The invention further relates to an input device with haptic feedback. This has an actuating element which is mounted so as to oscillate about a rest position in a direction of oscillation and to which an eigenmode with a first eigenfrequency, in particular in the direction of oscillation, is assigned. This first eigenfrequency results, for example, from the mounting and / or the material properties of the actuating element. The first eigenfrequency can be determined, for example, by measuring the deflection upon frequency-specific excitation of the actuating element and results, for example, from, among other things, the oscillating mounting of the actuating element, such as from elasticity or spring constants of the at least one restoring element which elastically restoringly mounts the actuating element, the mass of the actuating element and from a damping constant which results from an optionally provided damping element and / or the air resistance.For example, the oscillating mounting of the actuating element is designed such that the actuating element is mounted substantially perpendicular to the actuating direction, preferably parallel to an actuating surface formed on the actuating element and arranged for actuation. A mounting that oscillates about a rest position is understood to mean a monostable mounting of the actuating element, i.e., one that returns to a rest position.

[0027] The actuating element can be formed by a lever, but also by a switch button, a key head, a touchpad or a touchscreen or combinations thereof and / or the like.

[0028] According to the invention, the input device comprises an actuator arranged on the actuating element, which is intended to induce vibrations in the direction of vibration on the actuating element and generate haptic feedback. The actuator is supported, for example, exclusively on the actuating element. According to the invention, the actuator comprises an excitation mass mounted on the actuating element in a vibrating, preferably freely vibrating, manner and driven by an electrical excitation signal, so that the actuator is also assigned a natural mode, referred to here as the actuator natural mode, with a second natural frequency, particularly in the direction of vibration.This can also be measured on the actuator, as described above, and essentially results from the elastic mounting of the excitation mass, for example, a spring element that restoring the excitation mass, and from a damping constant resulting from an optionally provided damping element and / or air resistance. The actuator is preferably an electrodynamic actuator, in particular a voice coil actuator, the latter also referred to as a "voice coil actuator."

[0029] In the case of an electrodynamic actuator, the second natural frequency is additionally influenced by the electromagnetic quality of its resonant circuit. This not only shifts the second natural frequency compared to a purely mechanical system, but also broadens the resonance curve around the second natural frequency overall, thus increasing the resonance half-width of the corresponding resonance curve.

[0030] Preferably, the mounting of the actuating part and the mounting of the excitation mass are coordinated such that the second natural frequency is higher than the first natural frequency. The first natural frequency is preferably in the range of 50 Hz to 100 Hz. The actuating element of the input device preferably has a mass in the range of 100 g to 1200 g, more preferably in the range of 500 g to 1000 g.

[0031] According to the invention, detection means are further provided for detecting at least the beginning of a manual touch and / or actuation of the actuating element. The detection means can be fully or partially integrated into the actuating element. A manual touch is understood, for example, to be contact with a finger or the hand of an operator or user, while actuation is understood to be the action of a hand or finger applying an actuating force to the actuating element.

[0032] The detection means are, for example, capacitive means which detect the contact and / or a change in position of the actuating element caused by the actuation or the associated force.

[0033] According to the invention, a control unit is further provided which is electrically connected to the detection means and is designed to generate the electrical excitation signal for exciting the actuator during or after detection of the contact and / or actuation by the detection means.

[0034] The control unit provided according to the invention is designed to generate haptic feedback by applying the electrical excitation signal to the actuator during or after detection of the touch and / or actuation, thus inducing a movement of the actuating element in the direction of oscillation by means of the actuator. "During or after detection" means either the generation of the control signal immediately upon detection of the actuation or a generation delayed and subsequent to the detection.

[0035] According to the invention, a continuous and thus non-discrete amplitude spectrum, obtained, for example, by Fourier transformation, is assigned to the electrical excitation signal. The electrical excitation signal is preferably generated by filtering, such as high-pass and / or low-pass filtering, a pulse-width modulated output signal.

[0036] According to the invention, as far as the electrical excitation signal is concerned, it is provided that an early amplitude spectrum determined from an early excitation signal component of the electrical excitation signal differs from a second amplitude spectrum determined from a later, i.e. temporally subsequent, second excitation signal component in the frequency of their absolute maxima: namely that a frequency of the second maximum of the second amplitude spectrum is greater than a frequency of the first maximum of the first amplitude spectrum.The second excitation signal component, which is higher frequency than the first, thus provides a more pronounced haptic feedback compared to a uniform excitation signal, since the high-frequency excitation, depending on the vibration state of the actuating element when the second excitation signal component starts, has an acceleration-supporting or braking effect on the deflection movement of the actuating element and thus creates the possibility of limiting the vibration behavior of the actuating element to a few overshoots of the rest position, of increasing a maximum acceleration, of accelerating the reaching of this particularly pronounced maximum deflection and / or of accelerating the decay of the vibration after reaching the maximum deflection, without having to intervene in the mechanical tuning of the bearing.

[0037] Preferably, the frequency of the second maximum of the second amplitude spectrum lies outside a bandwidth range limited by the first natural frequency and the second natural frequency.

[0038] Preferably, the second maximum of the second amplitude spectrum is assigned to a frequency which is at least 1.5 times, preferably at least twice, the larger of the two natural frequencies of the first natural frequency and the second natural frequency.

[0039] To effectively force a first deflection movement of the actuating element from the rest position, the first maximum of the early amplitude spectrum preferably falls within a bandwidth range whose lower limit is defined by the lower resonance half-width of the smallest natural frequency from the first natural frequency and the second natural frequency, and whose upper limit is defined by the upper resonance half-width of the largest natural frequency from the first natural frequency and the second natural frequency. More preferably, the first maximum falls within a bandwidth range limited by the first natural frequency and the second natural frequency, or the frequency associated with the second maximum corresponds to the first natural frequency and / or the second natural frequency.

[0040] Preferably, the resonance half-width of the electrodynamic actuator relating to the second natural frequency is 5 Hz or more, more preferably 20 Hz or more, most preferably 50 Hz or more.

[0041] Preferably, a duration of the entire excitation signal is limited to 30 ms, more preferably 25 ms, most preferably 20 ms.

[0042] The excitation signal preferably has a late excitation signal component which follows the second excitation signal component in time and has a late, third amplitude spectrum whose third maximum falls within a bandwidth range limited upwards by the second maximum, preferably the first maximum, i.e. in the direction of high frequencies. Even more preferably, the third maximum of the late amplitude spectrum falls within a bandwidth range whose lower limit is predetermined by the lower resonance half-width of the smallest natural frequency from the first natural frequency and the second natural frequency, and whose upper limit is predetermined by the upper resonance half-width of the largest natural frequency from the first natural frequency and the second natural frequency. Most preferably, the third maximum falls within a bandwidth range limited by the first natural frequency and the second natural frequency, or the frequency associated with the second maximum corresponds to the first natural frequency and / or the second natural frequency.

[0043] Preferably, a transition, for example an instantaneous transition or a transition with a duration of less than 1 ms, from the first excitation signal component to the second excitation signal component occurs before a first maximum acceleration of the actuating element is reached, thereby achieving an amplification of the maximum deflection but also an accelerated setting of the maximum deflection. Preferably, the duration of the second excitation signal component extends until a second maximum acceleration of the actuating element, opposite to the first maximum acceleration, is reached, or beyond, in order to reduce the number or deflection of the at least haptically perceptible over- or post-oscillations.

[0044] Preferably, the electrical excitation signal is de-energized, i.e., zero, at a time at which, after the maximum deflection, a deflection is undershot for the first time which amounts to 1 / 10 of the maximum deflection of the actuating part.

[0045] The invention further relates to the equally advantageous use of the input device according to one of the previously described embodiments in a motor vehicle. For example, the input device is arranged in a steering wheel, for example, in a steering wheel spoke supporting the steering wheel rim. In another embodiment, the input device is attached to a dashboard or an interior panel of the motor vehicle.

[0046] The invention is explained in more detail with reference to the following figures. These figures are to be understood as examples only and represent preferred embodiments. They show: Fig. 1 a sectional view through an input device 1 according to the invention; Fig. 2 the temporal, on the actuating element 2 of the input device 1 from Fig. 1 determined acceleration curve in relation to the time course of the electrical excitation signal S(t); Fig. 3 the amplitude spectra FFT(S1(t)) and FFT(S2(t)) respectively obtained from the early first excitation signal component S1(t) of the electrical excitation signal S(t) and the later, second excitation signal component S2(t) of the electrical excitation signal S(t).

[0047] Fig. 1 shows an embodiment of the input device 1 according to the invention. This is designed to carry out the input method according to the invention, as described in the following Fig. 2 and Fig. 3. The input device 1 according to the invention has a carrier 3 which is rigidly connected to an interior panel 9 of a motor vehicle. An actuating element 2 is movably mounted on the carrier 3 by means of elastic return elements 7, such as springs or elastomeric bearing means. The elastic return means 7 ensure that the actuating element 2 is mounted in a rest position along the direction of oscillation b, returning it to a rest position. The actuating element 2 defines an actuating surface 10. When an actuating force F applied by an operator (not shown), also called a user, acts on the actuating surface 10, the actuating element 2 is displaced in the direction of the carrier 3 in a direction opposite to the restoring effect of the springs 7, which in the present case is perpendicular to the direction of oscillation b.Other embodiments are also conceivable in which the direction of oscillation b and the direction of actuation coincide. Detection means 6, 8 for detecting an actuation of the actuating element 2 in the form of a capacitive force sensor 6, i.e. one which forms a measuring capacitance, are provided, which positively detects an actuation when a minimum approach is exceeded. In the input device 1 according to the invention, this actuation is to be confirmed to the operator by haptic feedback. For this purpose, an electrodynamic actuator 4 in the form of a moving coil actuator is provided, which is mounted exclusively on the actuating element 2 and has a permanent magnet fastened to the actuating element 2, in the field of which an excitation mass 5 with an electric coil is immersed and is mounted so as to oscillate freely by springs 11 along a direction parallel to the direction of oscillation b.By applying an electrical excitation signal S(t) generated by a control unit 12 to the electrodynamic actuator 5, the excitation mass 5 is excited to vibrate, and this vibration is transmitted to the actuating element 2. The actuator 4 is designed to cause the actuating element 2 to vibrate in a direction b of vibration parallel to the actuating surface 10. This vibration is perceived haptically by the operator as haptic feedback and should, if possible, subside quickly after the electrodynamic actuator 4 is de-energized. For this purpose, the coil of the actuator 4 is energized with an electrical excitation signal by a control unit 8 arranged on the carrier 3. This energization of the coil of the actuator 4 occurs after detection of an actuation by the force sensor 6 in order to excite an oscillation of the actuating element 2 in the direction b of vibration.According to the invention, a continuous and thus non-discrete amplitude spectrum, obtained, for example, by Fourier transformation, is assigned to the electrical excitation signal. The electrical excitation signal is preferably generated by filtering, such as high-pass and / or low-pass filtering, a pulse-width modulated output signal.

[0048] According to the invention, as far as the electrical excitation signal S(t) is concerned, it is provided that this can be broken down into an early, first excitation signal part S1(t), a temporally later, second excitation signal part S2(t) and an even later, third excitation signal part S3(t) following the second excitation signal part S2(t), wherein the transition between these is almost instantaneous or at least less than 1 ms, as Fig. 2 shows. In particular, the first excitation signal part S1(t) and the second excitation signal part S2(t) differ in the frequency of their maxima when examining the corresponding amplitude spectra, for example by Fourier transformation. Fig. 3 shows, a frequency f2max of the second maximum of the second amplitude spectrum FFT(S2(t)) is greater than a frequency f1max of the first maximum of the first amplitude spectrum FFT(S1(t)). As Fig. 3 shows, the frequency f1max of the first maximum of the first amplitude spectrum FFT(S1(t)) lies in a bandwidth range limited by the first natural frequency f1 and the second natural frequency f2, while the frequency f2max of the second maximum of the second amplitude spectrum FFT(S2(t)) lies significantly outside this bandwidth range and is at least 1.5 times, preferably at least twice, the larger of the two natural frequencies from the first natural frequency f1 and the second natural frequency f2.

[0049] The second excitation signal component S2(t), which is later than the first and has a high frequency, provides a more pronounced haptic feedback compared to a uniform excitation signal, since the high frequency excitation, depending on the vibration state of the actuating element 2, has an acceleration-supporting or braking effect on the deflection movement of the actuating element 2 upon the onset of the second excitation signal component S2(t). This creates the possibility of limiting the vibration behavior of the actuating element 2 to a few overshoots of the rest position, of increasing a maximum deflection, of accelerating the reaching of this particularly pronounced maximum deflection and / or of accelerating the decay of the vibration after reaching the maximum deflection, without having to intervene in the mechanical tuning of the bearing of the actuating element 2. This effect is evident in the temporal acceleration behavior a(t) of the Fig. 2. This receives a “kick” from the second excitation signal component S2(t) by increasing the acceleration before reaching the maximum acceleration and during the opposite acceleration of the return movement.

[0050] The transition from the first excitation signal component S1(t) to the second excitation signal component S2(t) occurs before the first maximum acceleration a is reached. max of the actuating element 2, whereby an amplification of the maximum deflection but also an accelerated setting of the maximum deflection is achieved. Furthermore, the duration of the second excitation signal component S2(t) extends until a second, the first maximum acceleration a max opposite maximum acceleration a' max of the actuating element 2 and beyond, in order to reduce the number or deflection of the at least haptically perceptible over- or post-oscillations. How Fig.2 shows, the second excitation signal component S2(t) of the excitation signal S(t) is followed by a third excitation signal component S3(t) before the excitation signal S(t) becomes zero and thus the duration of the entire excitation signal S(t) is limited to 30 ms, more preferably 25 ms, most preferably 20 ms.

[0051] This late third excitation signal component S3(t) has a late, third amplitude spectrum FFT(S3(t)), the third maximum of which falls within a bandwidth range limited upwards by the frequency f2max of the second maximum, preferably the frequency f1max of the first maximum. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 2013 007 962 A1

[0002]

Claims

[1] Input method with haptic feedback, comprising the following steps: Providing an actuating element (2) which is mounted to oscillate about a rest position in an oscillation direction (b) and has an eigenmode having a first eigenfrequency (f1); Providing an actuator (4) arranged on the actuating element (2) for inducing vibrations in the direction of vibration (b) on the actuating element (2) and thus for generating the haptic feedback, which actuator has an excitation mass (5) mounted in a vibrating manner on the actuating element (2) and drivable by an electrical excitation signal (S(t)) and an actuator eigenmode having a second natural frequency (f2); Providing detection means (6, 8) for detecting at least one start of a manual touch and / or actuation of the actuating element (2) and a control unit (12) electrically connected to the detection means (6, 8) for generating the electrical excitation signal (S(t)); Generating the haptic feedback by the control unit (12) by applying the electrical excitation signal (S(t)) to the actuator (5) during and / or after detecting the touch and / or actuation, wherein a continuous amplitude spectrum (FFT(S(t))) is assigned to the electrical excitation signal (S(t)), wherein an early, first amplitude spectrum (FFT(S1(t))) of an early, first excitation signal component (S1(t)) of the electrical excitation signal (S(t)) differs from a second amplitude spectrum (FFT(S2(t))) of a second excitation signal component (S2(t)) following the first excitation signal component (S1(t)) in the associated frequency of their absolute maxima, and a frequency (f2max) of the second maximum of the second amplitude spectrum (FFT(S2(t))) is greater than a frequency (f1max) of the first maximum of the first amplitude spectrum (FFT(S1(t))). [2] Input method according to claim 1, wherein the second maximum of the second amplitude spectrum (FFT(S2(t))) lies outside a bandwidth range limited by the first natural frequency (f1) and second natural frequency (f2). [3] Input method according to the preceding claim, wherein the second maximum is assigned a frequency (f2max) which is at least 1.5 times, preferably at least twice, the larger of the two natural frequencies of the first natural frequency (f1) and the second natural frequency (f1). [4] Input method according to one of the preceding claims, wherein the actuator (4) is an electrodynamic actuator, preferably a moving coil actuator. [5] Input method according to one of the preceding claims, wherein the first maximum of the early, first amplitude spectrum (FFT(S1(t))) falls within a bandwidth range whose lower limit is predetermined by the lower resonance half-width of the smallest natural frequency from the first natural frequency (f1) and the second natural frequency (f2) and whose upper limit is predetermined by the upper resonance half-width of the largest natural frequency from the first natural frequency (f1) and the second natural frequency (f2). [6] Input method according to one of the preceding claims, wherein the resonance half-width of the actuator (4) relating to the second natural frequency (f2) is 5 Hz or more, preferably 20 Hz or more, most preferably 50 Hz or more. [7] Input method according to one of the preceding claims, wherein a duration (t D ) of the excitation signal (S(t)) is limited to 30 ms, preferably 25 ms, most preferably 20 ms. [8] Input method according to one of the preceding claims, wherein the excitation signal (S(t)) has a late, third excitation signal component (S3(t)) following the second excitation signal component (S2(t)) in time, with a late, third amplitude spectrum (FFT(S3(t))) whose third maximum falls within a bandwidth range limited upwards by the frequency (f2max) of the second maximum, preferably the frequency (f1max) of the first maximum. [9] Input method according to one of the preceding claims, wherein the mounting of the actuating part (2) and the mounting of the excitation mass (5) are adjusted such that the second natural frequency (f2) is higher than the first natural frequency (f1). [10] Input method according to one of the preceding claims, wherein the first natural frequency (f1) is in the range of 50 Hz to 100 Hz. [11] Input method according to one of the preceding claims, wherein the actuating element (2) has a mass in the range of 100 g to 1200 g, preferably in the range of 500 g to 1000 g. [12] Input method according to one of the preceding claims, wherein a transition from the first excitation signal component (S1(t)) to the second excitation signal component (S2(t)) takes place before a first reaching of a first maximum acceleration (a max ) of the actuating element (2). [13] Input method according to the preceding claim, wherein the duration of the second excitation signal component (S1(t)) extends until a second, the first maximum acceleration (a max ) opposite maximum acceleration (a' max ) of the actuating element (2) or beyond. [14] Input method according to one of the preceding claims, wherein the electrical excitation signal (S(t)) is de-energized at a time at which, after the maximum deflection, a deflection which amounts to 1 / 10 of the maximum deflection of the actuating part (2) is undershot for the first time. [15] Input method according to one of the preceding claims, wherein the electrical excitation signal (S(t)) is generated by filtering, such as high-pass and / or low-pass filtering, a pulse-width modulated output signal. [16] Input device (1) for detecting a manual input with haptic feedback, comprising: an actuating element (2) mounted to oscillate about a rest position in an oscillation direction (b) with an eigenmode having a first eigenfrequency (f1); an actuator (4) arranged on the actuating element (2) for inducing vibrations in the direction of vibration (b) on the actuating element (2), which actuator has an excitation mass (5) mounted on the actuating element (2) for vibration and driven by an electrical excitation signal (S(t)), and an actuator eigenmode having a second natural frequency (f2); detection means (6, 8) for detecting at least one start of a manual touch and / or actuation of the actuating element (2); and a control unit (12) electrically connected to the detection means (6, 8) for generating the electrical excitation signal (S(t)) and applying the electrical excitation signal (S(t)) to the actuator (4) during and / or after detection of the contact and / or actuation; wherein the electrical excitation signal (S(t)) has a continuous amplitude spectrum (FFT(S(t))), wherein an early, first amplitude spectrum (FFT(S1(t))) of an early, first excitation signal component (S1(t)) of the electrical excitation signal (S(t)) differs from a second amplitude spectrum (FFT(S2(t))) of a second excitation signal component (S2(t)) temporally subsequent to the first excitation signal component (S1(t)) in the associated frequency of their absolute maxima, and a frequency (f2max) of the second maximum of the second amplitude spectrum (FFT(S2(t))) is greater than a frequency (f1max) of the first maximum of the first amplitude spectrum (FFT(S1(t))). [17] Input device (1) according to the preceding claim, wherein the second maximum of the second amplitude spectrum (FFT(S2(t))) lies outside a bandwidth range limited by the first natural frequency (f1) and second natural frequency (f2). [18] Input device (1) according to the preceding claim, wherein the second maximum is assigned a frequency (f2max) which is at least 1.5 times, preferably at least twice, the larger of the two natural frequencies of the first natural frequency (f1) and the second natural frequency (f1). [19] Input device (1) according to one of the preceding claims 16 to 18, wherein the actuator (4) is an electrodynamic actuator, preferably a moving coil actuator. [20] Input device (1) according to one of the preceding claims 16 to 19, wherein the first maximum of the early, first amplitude spectrum (FFT(S1(t))) falls within a bandwidth range whose lower limit is predetermined by the lower resonance half-width of the smallest natural frequency from the first natural frequency (f1) and the second natural frequency (f2) and whose upper limit is predetermined by the upper resonance half-width of the largest natural frequency from the first natural frequency (f1) and the second natural frequency (f2). [21] Input device (1) according to one of the preceding claims 16 to 20, wherein the resonance half-width of the actuator (4) relating to the second natural frequency (f2) is 5 Hz or more, preferably 20 Hz or more, most preferably 50 Hz or more. [22] Input device (1) according to one of the preceding claims 16 to 21, wherein a duration (t D ) of the excitation signal (S(t)) is limited to 30 ms, preferably 25 ms, most preferably 20 ms. [23] Input device (1) according to one of the preceding claims 16 to 22, wherein the excitation signal (S(t)) has a late, third excitation signal component (S3(t)) which follows the second excitation signal component (S2(t)) in time and has a late, third amplitude spectrum (FFT(S3(t))) whose third maximum falls within a bandwidth range which is limited upwards by the frequency (f2max) of the second maximum, preferably the frequency (f1max) of the first maximum. [24] Input device (1) according to one of the preceding claims 16 to 23, wherein the mounting of the actuating part (2) and the mounting of the excitation mass (5) are adjusted such that the second natural frequency (f2) is higher than the first natural frequency (f1). [25] Input device (1) according to one of the preceding claims 16 to 24, wherein the first natural frequency (f1) is in the range of 50 Hz to 100 Hz. [26] Input device (1) according to one of the preceding claims 16 to 25, wherein the actuating element (2) has a mass in the range of 100 g to 1200 g, preferably in the range of 500 g to 1000 g. [27] Input device (1) according to one of the preceding claims 16 to 26, wherein a transition from the first excitation signal component (S1(t)) to the second excitation signal component (S2(t)) takes place before a first reaching of a first maximum acceleration (a max ) of the actuating element (2). [28] Input device (1) according to the preceding claim, wherein the duration of the second excitation signal component (S1(t)) extends until a second, the first maximum acceleration (a max ) opposite maximum acceleration (a' max ) of the actuating element (2) or beyond. [29] Input device (1) according to one of the preceding claims 16 to 28, wherein the electrical excitation signal (S(t)) is de-energized at a time at which, after the maximum deflection, a deflection which amounts to 1 / 10 of the maximum deflection of the actuating part (2) is undershot for the first time. [30] Input device (1) according to one of the preceding claims 16 to 29, wherein the electrical excitation signal (S(t)) is generated by filtering, such as high-pass and / or low-pass filtering, a pulse-width modulated output signal. [31] Use of the input device (1) according to one of the preceding claims 16 to 30 in a motor vehicle.

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