Haptic feedback substrate and driving method therefor, and haptic feedback device

Abstract

A haptic feedback substrate and a driving method therefor, and a haptic feedback device, which relate to the technical field of texture reproduction. The haptic feedback substrate comprises: a touch-control board, which has a touch-control surface; and a plurality of actuators, which are arranged on the side of the touch-control board facing away from the touch-control surface and comprise a plurality of first actuators arranged in a first direction, and a plurality of second actuators arranged in a second direction, the first direction intersecting the second direction, wherein the first actuators are used for driving the touch-control board to generate a first vibration, and the second actuators are used for driving the touch-control board to generate a second vibration, the first vibration and the second vibration being used for forming texture feedback in different directions on the touch-control surface.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of texture rendition, and in particular to a haptic feedback substrate and a driving method thereof, and a haptic feedback device. BACKGROUND

[0002] Haptic feedback is a cutting-edge technology in the field of virtual reality and humancomputer interaction. Multimedia terminals such as smartphones and tablets that use haptic feedback technology have broad application prospects in education, entertainment, and medical fields. SUMMARY

[0003] The present disclosure provides a haptic feedback substrate, including:

[0004] a touch panel with a touch surface; and

[0005] a plurality of actuators disposed on a side of the touch panel facing away from the touch surface, comprising a plurality of first actuators arranged along a first direction, and a plurality of second actuators arranged along a second direction, wherein the first direction and the second direction intersect with each other;

[0006] the first actuators are configured for driving the touch panel to generate a first vibration, the second actuators are configured for driving the touch panel to generate a second vibration, and the first vibration and the second vibration are used for forming texture feedback in different directions on the touch surface.

[0007] In some embodiments, the touch surface includes first sides and second sides that are adjacent to each other, the plurality of first actuators are disposed close to the first sides, and the plurality of second actuators are disposed close to the second sides.

[0008] In some embodiments, the plurality of first actuators are disposed close to one or two of the first sides, and two of the first sides are disposed opposite to each other; and

[0009] the plurality of second actuators are disposed close to one or two of the second sides, and two of the second sides are disposed opposite to each other.

[0010] In some embodiments, the first sides are parallel to the first direction, and the second sides are parallel to the second direction.

[0011] In some embodiments, the plurality of actuators further include:

[0012] a plurality of third actuators, configured for driving the touch panel to generate a third vibration, so that vibration feedback is formed on the touch surface;

[0013] the plurality of third actuators are arranged along a first symmetry axis and disposed close to a geometric center of the touch surface, the first symmetry axis is a symmetry axis of the touch surface along the first direction; and / or

[0014] in the case that the plurality of first actuators are disposed close to one of the first sides, the touch surface further includes a third side disposed opposite to the first side, and the third actuators are disposed close to a midpoint of the third side; and / or

[0015] in the case that the plurality of first actuators are disposed close to one of the first sides, and the plurality of second actuators are disposed close to one of the second sides, the touch surface further comprises a third side disposed opposite to the first side, and a fourth side disposed opposite to the second side, and the third actuators are disposed close to a connecting vertex of the third side and the fourth side.

[0016] In some embodiments, the plurality of third actuators arranged along the first symmetry axis are symmetrically disposed on both sides of the geometric center; or

[0017] among the plurality of third actuators arranged along the first symmetry axis, one is disposed at the geometric center, and remaining third actuators are symmetrically disposed on both sides of the geometric center.

[0018] In some embodiments, the touch surface includes a first symmetry axis extending along the first direction and a second symmetry axis extending along the second direction, the plurality of first actuators are arranged in sequence on the first symmetry axis, and the plurality of second actuators are arranged in sequence on the second symmetry axis.

[0019] In some embodiments, the touch surface is a polygon, and the plurality of actuators further include:

[0020] a plurality of third actuators disposed close to interior conners of the polygon, the third actuators are configured for driving the touch panel to generate a third vibration, so that vibration feedback is formed on the touch surface.

[0021] In some embodiments, the plurality of the first actuators are staggered in sequence in the second direction, and the plurality of the second actuators are staggered in sequence in the first direction.

[0022] In some embodiments, the touch surface includes a first diagonal line and a second diagonal line intersecting with each other, the plurality of first actuators are arranged in sequence on the first diagonal line, and the plurality of second actuators are arranged in sequence on the second diagonal line.

[0023] In some embodiments, the plurality of actuators further include:

[0024] a plurality of third actuators configured for driving the touch panel to generate a third vibration so that vibration feedback is formed on the touch surface, a frequency of the third vibration is less than the frequency of the first vibration and the frequency of the second vibration;

[0025] the plurality of third actuators include at least one of: actuators provided independently of the first actuators and the second actuators, the first actuators, and the second actuators.

[0026] In some embodiments, the plurality of third actuators are symmetrically disposed, and a distance between any two adjacent third actuators is the same.

[0027] In some embodiments, a distance between two adjacent first actuators in the first direction is less than or equal to a first half wavelength, the first half wavelength is a half wavelength of a waveform of the first vibration propagating along the second direction;

[0028] the distance between two adjacent second actuators in the second direction is less than or equal to a second half wavelength, the second half wavelength is a half wavelength of a waveform of the second vibration propagating along the first direction.

[0029] In some embodiments, the first direction and the second direction are perpendicular to each other.

[0030] In some embodiments, a width of each of the first actuators in the second direction is greater than or equal to one quarter of the first half wavelength, and less than or equal to the first half wavelength, wherein the first half wavelength is a half wavelength of a waveform of the first vibration propagating along the second direction;

[0031] the width of each of the second actuators in the first direction is greater than or equal to one quarter of the second half wavelength, and less than or equal to the second half wavelength, wherein the second half wavelength is a half wavelength of a waveform of the second vibration propagating along the first direction.

[0032] In some embodiments, each of the first actuators is located at a peak or a trough of the waveform of the first vibration, and each of the second actuators is located at a peak or a trough of the waveform of the second vibration.

[0033] In some embodiments, the plurality of actuators are disposed symmetrically about a symmetry axis that is the symmetry axis of the touch surface; and / or

[0034] the plurality of actuators are symmetrically arranged about a symmetry center, and the symmetry center is the geometric center of the touch surface.

[0035] In some embodiments, the plurality of first actuators and the plurality of second actuators have different symmetry axes.

[0036] In some embodiments, the actuators include at least one of: a piezoelectric (PZT) film, monolithic piezoelectric ceramic, stacked piezoelectric ceramic, cymbal-type piezoelectric ceramic, monolithic polyvinylidene fluoride film, stacked polyvinylidene fluoride film, cymbal-type polyvinylidene fluoride film and a linear motor.

[0037] The present disclosure provides a haptic feedback device, including:

[0038] the haptic feedback substrate according to any one of the embodiments; and

[0039] a driving assembly connected to the first actuators and the second actuators respectively, and the driving assembly is configured for outputting a driving signal to the first actuators or the second actuators according to touch information of the touch object on the touch panel, so that the first actuators drive the touch panel to generate the first vibration, and the second actuators drive the touch panel to generate the second vibration, and the touch information comprises at least one of: a touch pressure, a touch position, a touch operation and touch time of the touch object.

[0040] The present disclosure provides a driving method of a haptic feedback substrate, applied to the haptic feedback substrate according to any one of the embodiments, the driving method including:

[0041] acquiring touch information, and the touch information includes at least one of: a touch pressure, a touch position, a touch operation and touch time of the touch object; and

[0042] outputting a driving signal to the first actuators or the second actuators according to the touch information, so that the first actuators drive the touch panel to generate a first vibration, and the second actuators drive the touch panel to generate a second vibration.

[0043] In some embodiments, the touch information including a touch operation of the touch object, and the drive signal includes a first drive signal and a second drive signal, the outputting a driving signal to the first actuators or the second actuators according to the touch information includes:

[0044] in response to the touch operation being a sliding along the second direction, outputting the first driving signal to the first actuators so that the first actuators drive the touch panel to generate the first vibration; and

[0045] in response to the touch operation being a sliding along the first direction, outputting the second driving signal to the second actuators so that the second actuators drive the touch panel to generate the second vibration.

[0046] In some embodiments, the touch information includes the touch pressure of the touch obj ect, the drive signal includes a third drive signal, and the plurality of actuators further include third actuators, the plurality of third actuators include at least one of: actuators provided independently of the first actuators and the second actuators, the first actuators, and the second actuators, the driving method further includes:

[0047] determining, according to the touch pressure, whether a pressing operation is exerted by the touch object;

[0048] in response to determining that a pressing operation is exerted by the touch object, outputting a third driving signal to the third actuators, so that the third actuators drive the touch panel to generate a third vibration, and the third vibration is used for forming vibration feedback on the touch surface.

[0049] In some embodiments, the third actuator is further configured for generating a voltage signal in response to the touch panel being pressed by the touch object, the acquiring the touch information includes:

[0050] acquiring the voltage signal of the third actuator, wherein the voltage signal is used for representing a magnitude of the touch pressure;

[0051] the determining, according to the touch pressure, whether a pressing operation is exerted by the touch object includes:

[0052] in response to the voltage signal being greater than or equal to a preset voltage threshold, determining that a pressing operation is exerted by the touch object;

[0053] in response to the touch pressure being less than the voltage threshold, determining that no pressing operation is exerted on the touch object.

[0054] The above description is merely a summary of the technical solutions of the present disclosure. In order to make the technical means of the present disclosure more clearly understood and can be implemented in accordance with the contents of the specification, and in order to make the above and other objects, features, and advantages of the present disclosure more apparent, specific implementations of the present disclosure are set forth below. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to describe technical solutions of the embodiments of the present disclosure or the related art more clearly, the accompanying drawings used in the illustration of the embodiments or the related art will be briefly introduced. Apparently, the accompanying drawings in the following explanation illustrate merely some embodiments of the present disclosure, and those skilled in the art may obtain other accompanying drawings based on these accompanying drawings without paying any creative effort. It should be noted that the scales shown in the drawings are indicative only and do not represent actual scales.

[0056] FIG. lisa schematic diagram illustrating force conditions of an air film between a finger and a touch panel;

[0057] FIG. 2 is a schematic cross-sectional structural diagram of a haptic feedback substrate;

[0058] FIG. 3 is a schematic planar structural diagram of a first type of haptic feedback substrates;

[0059] FIG. 4 is a schematic planar structural diagram of a second type of haptic feedback substrates;

[0060] FIG. 5 is a schematic planar structural diagram of a third type of haptic feedback substrates;

[0061] FIG. 6 is a schematic planar structural diagram of a fourth type of haptic feedback substrates;

[0062] FIG. 7 is a schematic planar structural diagram of a fifth type of haptic feedback substrates;

[0063] FIG. 8 is a schematic planar structural diagram of a sixth type of haptic feedback substrates;

[0064] FIG. 9 is a schematic planar structural diagram of a seventh type of haptic feedback substrates;

[0065] FIG. 10 is a schematic planar structural diagram of an eighth type of haptic feedback substrates;

[0066] FIG. 11 is a schematic diagram illustrating positions of first actuators and second actuators;

[0067] FIG. 12 is a schematic simulation diagram of a vibration mode of a third vibration;

[0068] FIG. 13 is a schematic simulation diagram of vibration modes of a first vibration and a second vibration in the first type of haptic feedback substrates;

[0069] FIG. 14 is a schematic simulation diagram of vibration modes of a first vibration and a second vibration in the eighth type of haptic feedback substrates; and

[0070] FIG. 15 is a schematic structural diagram of a haptic feedback device. DETAILED DESCRIPTION

[0071] In order to make objects, solutions and advantages of embodiments of the present disclosure clearer, a clear and thorough description for technical solutions in the embodiments of the present disclosure will be given below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are a part of embodiments of the present disclosure, not all the embodiments. All other embodiments obtained, based on the embodiments in the present disclosure, by those skilled in the art without paying creative effort fall within the protection scope of the present disclosure.

[0072] In the related art, an actuator can be used to realize a key function on the surface of a touch panel, but fails to generate a texture feedback effect modulated by the sliding friction force of the finger. Therefore, how to enrich the tactile sense of the touch panel is an urgent technical problem to be solved.

[0073] According to the Reynolds lubrication theory, when a finger 11 operates on a touch panel 12, the touch panel 12 vibrates, causing the air film between the finger 11 and the touch panel 12 to be compressed. Accordingly, an overpressure that causes the finger 11 to float is generated, thereby making the finger 11 feel a smoother haptic sense. FIG. 1 shows force conditions of the air film between the finger 11 and the touch panel 12, where Ps is the pressure exerted by the finger 11, Pr is the supporting force of the touch panel 12, and Pa is the pressure of the air film.

[0074] The present disclosure provides a haptic feedback substrate, as shown in FIG. 2, the haptic feedback substrate includes: a touch panel 21 with a touch surface SO; and a plurality of actuators 22 disposed on a side of the touch panel 21 facing away from the touch surface SO.

[0075] As shown in any one of FIG. 3 to FIG. 10, the actuators 22 include a plurality of first actuators 31 arranged along a first direction fi and a plurality of second actuators 32 arranged along a second direction fa, and the first direction fi and the second direction fa intersect with each other.

[0076] Among them, the first actuators 31 are configured for driving the touch panel 21 to generate a first vibration, and the second actuators 32 are configured for driving the touch panel 21 to generate a second vibration. The first vibration and the second vibration are used for forming texture feedback in different directions on the touch surface SO.

[0077] Exemplarily, as shown in FIG. 3 to FIG. 10, the first direction fi and the second direction fa are perpendicular to each other.

[0078] In the case that a touch object slides along the second direction fa, a first driving signal may be provided to the first actuators 31. In response to the first driving signal, the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave (sine wave) propagating along the second direction fa on the touch surface SO. In this way, friction force modulation is formed in the second direction fa, that is, texture feedback is formed in the second direction fa.

[0079] In the case that the touch object slides along the first direction fi, a second driving signal may be provided to the second actuators 32. In response to the second driving signal, the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave (sine wave) propagating along the first direction fi on the touch surface SO. In this way, friction force modulation is formed in the first direction fi, that is, texture feedback is formed in the first direction fi.

[0080] According to the haptic feedback substrate provided by the present disclosure, by providing a plurality of first actuators 31 arranged along the first direction fi and a plurality of second actuators 32 arranged along the second direction fa, the friction modulation and texture feedback in corresponding directions may be achieved during the sliding of the finger, thereby providing the user with a rich and realistic haptic experience.

[0081] In the present disclosure, as shown in FIG. 3 to FIG. 9, the arrangement direction of the plurality of first actuators 31 may be parallel to the first direction fi. Alternatively, as shown in FIG. 10, an angle between the arrangement direction of the plurality of first actuators 31 and the first direction fi is an acute angle or an obtuse angle, that is, an arrangement direction of orthographic projections of the plurality of first actuators 31 in the first direction fi is parallel to the first direction fi, so that the first Lamb wave has a component in the second direction fz.

[0082] As shown in FIG. 3 to FIG. 9, the arrangement direction of the plurality of second actuators 32 may be parallel to the second direction fz. Alternatively, as shown in FIG. 10, the angle between the arrangement direction of the plurality of second actuators 32 and the second direction fz is an acute angle or an obtuse angle, that is, the arrangement direction of orthographic projections of the plurality of second actuators 32 in the second direction fz is parallel to the second direction £2, so that the second Lamb wave has a component in the first direction fi.

[0083] In a specific implementation, the plurality of first actuators 31 arranged along the first direction fj may be spaced apart. However, if the distance dl between two adjacent first actuators 31 in the first direction fi is too large, the first Lamb wave mode of vibration is prone to problems such as breakpoints, uneven standing waves, and excessive noise.

[0084] In order to solve these problems, in some embodiments, as shown in any one of FIG.3 to FIG. 10, the distance dl between two adjacent first actuators 31 in the first direction fi is less than or equal to a first half wavelength 1 / 2 X b The first half wavelength 1 / 2 X ] is half of the wavelength of the waveform of the first vibration propagating along the second direction fz, that is, half of the wavelength of the first Lamb wave. These embodiments are conducive to obtaining a more stable and single first Lamb wave vibration mode, and the smaller the distance dl, the more stable and unity the vibration mode of the first Lamb wave.

[0085] Exemplarily, as shown in any one of FIG.3 to FIG. 10, the distance dl between two adjacent first actuators 31 in the first direction fi may be greater than 0 and less than or equal to the first half wavelength 1 / 2 X b In this way, the first Lamb wave vibration mode is ensured to be stable and single, and problems such as cracks or breakage are avoided during the attachment process of the first actuator 31, especially when the first actuator 31 uses relatively brittle piezoelectric ceramics.

[0086] Exemplarily, the plurality of first actuators 31 arranged along the first direction fi may also be closely arranged as an integrated structure, that is, the distance dl between two adjacent first actuators 31 in the first direction fi is equal to 0, which can maximally improve the stability and unity of the first Lamb wave vibration mode.

[0087] Exemplarily, as shown in any one of FIG. 3 to FIG. 10, the distance dl between any two adjacent first actuators 31 in the first direction fi is the same.

[0088] In some specific implementations, the plurality of second actuators 32 arranged along the second direction fz may be spaced apart. In order to avoid the problems of breakpoints, uneven standing waves and excessive noise in the second Lamb wave vibration mode, in some embodiments, as shown in any one of FIG.3 to FIG. 10, the distance d2 between two adjacent second actuators 32 in the second direction fz is less than or equal to a second half wavelength 1 / 2 X 2. The first half wavelength 1 / 2 X 2 is half of the wavelength of the waveform of the second vibration propagating along the second direction fi, that is, half of the wavelength of the second Lamb wave. This embodiment is conducive to obtaining a more stable and unity first Lamb wave vibration mode, and the smaller the distance dl, the more stable and unity the vibration mode of the second Lamb wave.

[0089] Exemplarily, as shown in any one of FIG.3 to FIG. 10, the distance d2 between two adjacent first actuators 32 in the second direction fz may be greater than 0 and less than or equal to the second half wavelength 1 / 2 X 2. In this way, the second Lamb wave vibration mode is ensured to be stable and unity, and problems such as cracks or breakage are avoided during the attachment process of the second actuator 32, especially when the second actuator 32 uses relatively brittle piezoelectric ceramics.

[0090] Exemplarily, the plurality of second actuators 32 arranged along the second direction fz may also be closely arranged as an integrated structure, that is, the distance d2 between two adjacent second actuators 32 in the second direction fz is equal to 0, which can maximally improve the stability and unity of the second Lamb wave vibration mode.

[0091] Exemplarily, as shown in any one of FIG. 3 to FIG. 10, the distance d2 between any two adjacent second actuators 32 in the second direction fz is the same.

[0092] In order to prevent the first actuators 31 from hindering the deformation of the touch panel 21, in some embodiments, as shown in any one of FIG. 3 to FIG. 10, the width wl of each of the first actuators 31 in the second direction fz is greater than or equal to one quarter of the first half wavelength 1 / 2 A u and less than or equal to the first half wavelength 1 / 2 A b and the first half wavelength 1 / 2 A j is half of the wavelength of the waveform of the first vibration propagating along the second direction fz, that is, half of the wavelength of the first Lamb wave.

[0093] In an embodiment, a better texture feedback effect can be obtained by setting the width wl to be greater than and equal to 1 / 8 A b but less than and equal to 1 / 2 A b

[0094] In order to prevent the second actuators 32 from hindering the deformation of the touch panel 21, in some embodiments, as shown in any one of FIG. 3 to FIG. 10, the width w2 of each of the second actuators 32 in the first direction fi is greater than or equal to one quarter of the second half wavelength 1 / 2 A 2, and less than or equal to the second half wavelength 1 / 2 A 2, and the second half wavelength 1 / 2 A 2 is half of the wavelength of the waveform of the second vibration propagating along the first direction fi, that is, half of the wavelength of the second Lamb wave.

[0095] In an embodiment, a better texture feedback effect can be obtained by setting the width w2 to be greater than and equal to 1 / 8 A 2, but less than and equal to 1 / 2 A 2.

[0096] It should be noted that in order to achieve the air squeeze film effect between the finger and the touch panel 21 and to reproduce the texture, the first half wavelength 1 / 2 A 1 and the second half wavelength 1 / 2 A 2 are both less than or equal to the width W of the finger, that is, 1 / 2 A i^W, 1 / 2 A 2^W. For example, the width W of the finger is 10-15 mm.

[0097] When the width of the touch panel 21 along the first direction fi is 'a', the wavelength of the second Lamb wave propagating along the first direction fi is M =2 a / (n-l), 1 / 2 A 2= a / (n-l), where n is a positive integer greater than 1.

[0098] When the width of the touch panel 21 along the second direction fi is 'b', the wavelength of the first Lamb wave propagating along the second direction fi is / 1 =2 b / (n-l), and 1 / 2 X 1= b / (n-l), where n is a positive integer greater than 1.

[0099] In some embodiments, as shown in FIG. 11, each of the first actuators 31 is located at the peak Pl or trough T1 of the first vibration, and each of the second actuators 32 is located at the peak P2 or trough T2 of the second vibration. Since the amplitude at the node N of the wave is small, and the amplitude at the peak Pl / Pl or trough T1 / T2 is large, by disposing the first actuator 31 at the peak Pl or trough T1 of the first Lamb wave and disposing the second actuator 32 at the peak P2 or trough T2 of the second Lamb wave, it is beneficial to enhance the amplitude of the vibration and improve the texture feedback effect.

[00100] In order to obtain a better texture feedback effect, the amplitude of the first vibration and the second vibration may be greater than or equal to 1 micrometer. The frequency of the first vibration and the second vibration may be greater than or equal to 20 kHz.

[00101] In some embodiments, as shown in any one of FIG. 3 to FIG. 10, the plurality of actuators 22 further include a plurality of third actuators 33 for driving the touch panel 21 to generate a third vibration, so as to form vibration feedback on the touch surface SO, where the frequency of the third vibration is less than the frequency of the first vibration and the frequency of the second vibration.

[00102] In specific embodiments, the third actuators 33 may include at least one of: actuators 22 that are provided to be independent from the first actuators 31 and the second actuators 32; the first actuators 31; and the second actuators 32. That is, the third actuators 33 may be provided to be independent from the first actuators 31 and the second actuators 32. Alternatively, the third actuators 33 may be time-division multiplexed with the first actuators 31, or be time-division multiplexed with the second actuators 32.

[00103] When the touch object presses the touch panel 21, a third driving signal may be provided to the third actuators 33. In response to the third driving signal, the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming vibration feedback that is perpendicular to the touch surface SO on the touch surface SO. Referring to FIG. 12, a simulation diagram of the vibration mode of the third vibration is shown.

[00104] By providing the third actuators 33, a richer haptic feedback effect can be achieved on the touch surface SO of the touch panel 21, which can not only realize friction force modulation but also the vibration feedback in the vertical direction during the sliding of the finger, thereby further enriching the user's haptic experience.

[00105] Exemplarily, the frequency of the third vibration may be less than or equal to 500 Hz, for example 200 Hz.

[00106] In order to improve the uniformity of the vibration haptic feedback, the orthographic projections of the plurality of third actuators 33 on the touch surface SO are evenly arranged within the range of the touch surface SO.

[00107] In some embodiments, as shown in any one of FIG. 3 to FIG. 10, the plurality of third actuators 33 are symmetrically arranged, and the distance d3 between any two adjacent third actuators 33 is the same.

[00108] Among them, the distance d3 between two adjacent third actuators 33 includes: the distance between two adjacent third actuators 33 in the first direction fi, the distance between two adjacent third actuators 33 in the second direction fa, and the distance between two adjacent third actuators 33 in the third direction f?, and the third direction f? is different from the first direction fi and the second direction fa.

[00109] Exemplarily, as shown in any one of FIG.3 to FIG. 10, the distance dl between two adjacent first actuators 31 in the first direction fi and the distance d2 between two adjacent second actuators 32 in the second direction fa are less than or equal to the distance d3 between two adjacent third actuators 33.

[00110] Exemplarily, the third actuators 33 may also be used for detecting a touch pressure. When the touch object presses the touch panel 21, the third actuators 33 generate a voltage signal based on the positive piezoelectric effect, the voltage signal is compared with a preset voltage threshold, so as to determine whether the touch panel 21 is pressed by the touch object. In response to determining that the touch panel is pressed by the touch object, a third driving signal is output to the third actuators 33 so that the third actuators 33 drive the touch panel 21 to generate the third vibration.

[00111] In some embodiments, as shown in any one of FIG. 3 to FIG. 8, the touch surface SO includes first sides bl and second sides b2 adjacent to each other, the plurality of first actuators 31 are disposed close to the first sides bl, and the plurality of second actuators 32 are disposed close to the second sides b2.

[00112] In some embodiments, as shown in any one of FIG. 5 to FIG. 8, the plurality of first actuators 31 are disposed close to one of the first sides bl.

[00113] In some embodiments, as shown in FIG. 3 or FIG. 4, the plurality of first actuators 31 are disposed close to two of the first sides bl, and two of the first sides bl are disposed opposite to each other. Accordingly, by disposing two rows of first actuators 31, the vibrations generated by the two rows of first actuators 31 are superimposed on each other, thereby enhancing the texture feedback effect generated by the first vibration.

[00114] In some embodiments, as shown in any one of FIG. 5 to FIG. 8, the plurality of second actuators 32 are disposed close to one of the second sides b2.

[00115] In some embodiments, as shown in FIG. 3 or FIG. 4, the plurality of second actuators 32 are disposed close to two of the second sides b2, and two of the second sides b2 are disposed opposite to each other. Accordingly, by disposing two rows of second actuators 32, the vibrations generated by the two rows of second actuators 32 are superimposed on each other, thereby enhancing the texture feedback effect generated by the second vibration.

[00116] In some embodiments, as shown in any one of FIG. 3 to FIG. 8, the first sides bl are parallel to the first direction fj, and the second sides b2 are parallel to the second direction fj.

[00117] In FIG. 3 to FIG. 8, the touch surface SO is a polygon, and the first side bl and the second side b2 are two adjacent sides of the polygon.

[00118] Exemplarily, as shown in any one of FIG. 3 to FIG. 8, the length of the first side bl is greater than the length of the second side b2.

[00119] In some embodiments, as shown in any one of FIG. 3 to FIG. 8, the plurality of third actuators 33 are arranged along a first symmetry axis Al and disposed close to a geometric center C of the touch surface SO, and the first symmetry axis Al is the symmetry axis of the touch surface SO along the first direction fi.

[00120] In the case that the length of the first side bl is greater than the length of the second side b2, the uniformity of the vibration haptic sensation can be improved by providing a plurality of third actuators 33 arranged along the first symmetry axis Al.

[00121] Exemplarily, as shown in FIG. 4, the plurality of third actuators 33 arranged along the first symmetry axis Al are symmetrically disposed on both sides of the geometric center C. In FIG. 4, two third actuators 33 are arranged along the first symmetry axis Al and symmetrically disposed on both sides of the geometric center C.

[00122] Exemplarily, as shown in FIG. 3 or any one of FIG. 5 to FIG. 8, among the plurality of third actuators 33 arranged along the first symmetry axis Al, one is arranged at the geometric center C, and the remaining ones are symmetrically arranged on both sides of the geometric center C. In FIG. 3, FIG. 5 to FIG. 8, three third actuators 33 are arranged along the first symmetry axis Al, one of which is located at the geometric center C, and the other two are symmetrically arranged on both sides of the geometric center C.

[00123] As shown in any one of FIG. 5 to FIG. 8, in the case that the plurality of first actuators 31 are disposed close to one of the first sides bl, the touch surface SO further includes a third side b3 disposed opposite to the first side bl, and the third actuators 33 are disposed close to a midpoint C2 of the third side b3.

[00124] Exemplarily, as shown in any one of FIG. 5 to FIG. 8, in the case that the plurality of first actuators 31 are disposed close to one of the first sides bl, and the plurality of second actuators 32 are disposed close to one of the second sides b2, the touch surface SO also includes a third side b3 arranged opposite to the first side bl, and a fourth side b4 arranged opposite to the second side b2, and the third actuator 33 is disposed close to a connecting vertex of the third side b3 and the fourth side b4.

[00125] Exemplarily, as shown in any one of FIG. 3 to FIG. 8, the touch surface SO is a polygon (for example a quadrilateral), and the first actuator 31 or the second actuator 32 disposed close to a comer of the polygon is time-division multiplexed as the third actuator 33.

[00126] Exemplarily, as shown in any one of FIG. 3 to FIG. 8, the first actuator 31 disposed close to the midpoint Cl of the first side bl is time-division multiplexed as the third actuator 33.

[00127] In some embodiments, as shown in FIG. 9, the touch surface SO has a first symmetry axis Al extending along the first direction fi and a second symmetry axis A2 extending along the second direction fa, the plurality of first actuators 31 are arranged in sequence on the first symmetry axis Al, and the plurality of second actuators 32 are arranged in sequence on the second symmetry axis A2.

[00128] As shown in FIG. 9, the plurality of first actuators 31 and the plurality of second actuators 32 are arranged in a cross shape.

[00129] In some embodiments, as shown in FIG. 9, the touch surface SO is a polygon, and the third actuators 33 are disposed close to the comers of the polygon. In FIG. 9, the touch surface SO is a quadrilateral, and the third actuators 33 are disposed close to the four corners of the quadrilateral.

[00130] In order to improve the vibration amplitude and vibration uniformity, exemplarily, as shown in FIG. 9, the actuator 22 disposed close to the geometric center C of the touch surface SO is timedivision multiplexed as the first actuator 31, the second actuator 32 and the third actuator 33, that is, the first actuator 31 or the second actuator 32 disposed close to the geometric center C is time-division multiplexed as the third actuator 33.

[00131] In some embodiments, as shown in FIG. 10, the plurality of first actuators 31 are sequentially disposed in a staggered way along the second direction fz, and the plurality of second actuators 32 are sequentially disposed in a staggered way along the first direction fi.

[00132] Exemplarily, the offset distance between any two adjacent first actuators 31 in the second direction fz is the same, and the offset distance between any two adjacent second actuators 32 in the first direction fi is the same.

[00133] In some embodiments, as shown in FIG. 10, the touch surface SO includes a first diagonal line LI and a second diagonal line L2 that intersect with each other, the plurality of first actuators 31 are arranged in sequence on the first diagonal line LI, and the plurality of second actuators 32 are arranged in sequence on the second diagonal line L2.

[00134] As shown in FIG. 10, the plurality of first actuators 31 and the plurality of first actuators 31 are distributed to form an “X” shape.

[00135] In the present embodiment, since the first vibration generated by the first actuators 31 arranged along the first diagonal line LI includes Lamb wave components in both the first direction fi and the second direction fi, and the second vibration generated by the second actuators 32 arranged along the second diagonal line L2 includes Lamb wave components in both the first direction fi and the second direction fi, the first actuators 31 and the second actuators 32 may be time-division multiplexed.

[00136] When the touch object slides along the second direction fi, a first driving signal may be provided to the first actuators 31, or a first driving signal may be provided to both the first actuators 31 and the second actuators 32. By providing the first driving signal to both the first actuators 31 and the second actuators 32, the modulation intensity of the friction force along the second direction fi may be increased, and the texture feedback effect is enhanced.

[00137] When the touch object slides along the first direction fi, a second driving signal may be provided to the second actuators 32, or a second driving signal may be provided to both the first actuators 31 and the second actuators 32. By providing the second driving signal to both the first actuators 31 and the second actuators 32, the modulation intensity of the friction force along the first direction fi may be increased, and the texture feedback effect is enhanced.

[00138] In order to achieve vibration feedback, exemplarily, as shown in FIG. 10, the actuator 22 disposed close to the geometric center C of the touch surface SO is time-division multiplexed as the first actuator 31, the second actuator 32 and the third actuator 33, that is, the first actuator 31 or the second actuator 32 disposed close to the geometric center C is time-division multiplexed as the third actuator 33.

[00139] In order to achieve vibration feedback, exemplarily, as shown in FIG. 10, the touch surface SO is a polygon, and the actuator 22 disposed close to the interior comer of the polygon is timedivision multiplexed as at least two of: the first actuator 31, the second actuator 32 and the third actuator 33.

[00140] As shown in FIG. 10, the touch surface SO is a quadrilateral, and the actuator 22 located on the first diagonal line LI and disposed close to the interior comer of the quadrilateral is time-division multiplexed as the first actuator 31 and the third actuator 33, or is time-division multiplexed as the first actuator 31, the second actuator 32 and the third actuator 33. The actuator 22 located on the second diagonal line L2 and disposed close to the interior corner of the quadrilateral is time-division multiplexed as the second actuator 32 and the third actuator 33, or is time-division multiplexed as the first actuator 31, the second actuator 32 and the third actuator 33.

[00141] In some embodiments, as shown in FIG. 3, FIG. 4, FIG. 9 or FIG. 10, the plurality of actuators 22 are symmetrically arranged with respect to a symmetry axis, and the symmetry axis is the symmetry axis of the touch surface SO, for example the first symmetry axis Al and the second symmetry axis A2.

[00142] In some embodiments, as shown in FIG. 3, FIG. 4, FIG. 9 or FIG. 10, the plurality of actuators 22 are symmetrically arranged about a symcenter, and the symcenter is the geometric center C of the touch surface SO.

[00143] In some embodiments, as shown in any one of FIG. 5 to FIG. 8, the plurality of first actuators 31 and the plurality of second actuators 32 have different symmetry axes. For example, the plurality of first actuators 31 are symmetric about the second symmetry axis A2, and the plurality of second actuators 32 are symmetric about the first symmetry axis Al.

[00144] Exemplarily, the actuators 22 utilize the inverse piezoelectric effect of piezoelectric materials to drive the touch panel 21 to vibrate. The "inverse piezoelectric effect" is the inverse effect of the "positive piezoelectric effect", that is, the dielectric may undergo elastic deformation under the drive of an electrical signal.

[00145] In some embodiments, the actuators 22 include at least one of: a piezoelectric (PZT) film, a monolithic piezoelectric ceramic, a stacked piezoelectric ceramic, a cymbal-type piezoelectric ceramic, a monolithic polyvinylidene fluoride film, a stacked poly vinylidene fluoride film, a cymbaltype polyvinylidene fluoride film, and a linear motor.

[00146] In some embodiments, the plurality of actuators 22 have the same structure and size. Of course, the plurality of actuators 22 may also have different structures or sizes, which is not limited in the present disclosure.

[00147] In some embodiments, the orthographic projection of the actuator 22 on the touch surface SO is in a shape of at least one of: a circle, a square (as shown in FIG. 3 to FIG. 10), a rectangle, or other polygons.

[00148] In some embodiments, as shown in FIG. 2, the haptic feedback substrate further includes: a base substrate 23, and the plurality of actuators 22 are located between the base substrate 23 and the touch panel 21.

[00149] Exemplarily, the thickness of the base substrate 23 is less than or equal to 1.5 mm.

[00150] Exemplarily, the base substrate 23 is in a shape of a rectangle, and an aspect ratio of the rectangle is greater than or equal to 1.3.

[00151] The driving process of the touch substrate provided by the present disclosure is described below with reference to several specific examples.

[00152] In a first to seventh examples, as shown in FIG. 3 to FIG. 9, the touch panel 21 is in the shape of a rectangle, the size of the rectangle along the first direction fi is 120 mm, the size of the rectangle along the second direction fi is 60 mm, and the thickness is 0.5 mm. The size of the actuator 22 in the first direction fi and the size of the actuator 22 in the second direction fi are both 5 mm. The distance between the first actuators 31 along the first direction fi is 7.8 mm, and the distance between the second actuators 32 along the second direction fi is 6.8 mm.

[00153] In the first example, as shown in FIG. 3, the plurality of first actuators 31 are disposed close to two first sides bl that are arranged opposite to each other, and the plurality of second actuators 32 are disposed close to two second sides b2 that are arranged opposite to each other. The plurality of actuators 22 further include 3 third actuators 33 arranged along the first symmetry axis Al, one of which is located at the geometric center C, and the remaining two are symmetrically disposed on both sides of the geometric center C.

[00154] When the touch object slides along the second direction fi, a first driving signal may be provided to the plurality of first actuators 31 (including actuators 22 near the four interior comers) disposed close to the two first sides bl, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction fi on the touch surface SO. A simulation diagram of the vibration mode of the first Lamb wave is shown in the lower figure in FIG. 13, where the frequencies of the first driving signal and the first vibration are, for example, 25.51 kHz. Since the distance dl between the first actuators 31 is less than and equal to 1 / 2 X b and 1 / 2 X j is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the second direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the second direction fi.

[00155] When the touch object slides along the first direction fi, a second driving signal may be provided to the plurality of second actuators 32 (including actuators 22 near the four interior comers) disposed close to the two second sides b2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction fi on the touch surface SO. A simulation diagram of the vibration mode of the second Lamb wave is shown in the upper figure in FIG. 13, where the frequencies of the second driving signal and the second vibration are, for example, 20.2 kHz. Since the distance d2 between the second actuators 32 is less than and equal to 1 / 2 X 2, and 1 / 2 X 2 is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the first direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the first direction fi.

[00156] When the touch object presses the touch panel 21, a third driving signal may be simultaneously provided to 3 third actuators 33 located on the first symmetry axis Al and close to the geometric center C of the touch surface SO, 4 actuators 22 disposed close to the interior corners of the quadrilateral, and 2 actuators 22 disposed close to the midpoint Cl of each of the two first sides b 1, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface SO on the touch surface SO.

[00157] In a second example, as shown in FIG. 4, the plurality of first actuators 31 are disposed close to two first sides b 1 that are arranged opposite to each other, and the plurality of second actuators 32 are disposed close to two second sides b2 that are arranged opposite to each other. The plurality of actuators 22 further include 2 third actuators 33 arranged along the first symmetry axis Al, and the 2 third actuators 33 are symmetrically disposed on both sides of the geometric center C.

[00158] When the touch object slides along the second direction f2, a first driving signal may be provided to the plurality of first actuators 31 (including actuators 22 near the four interior comers) disposed close to the two first sides bl, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction fa on the touch surface SO. The frequencies of the first driving signal and the first vibration are both greater than 20 kHz. Since the distance dl between the first actuators 31 is less than and equal to 1 / 2 A i, and 1 / 2 X x is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the second direction f2. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the second direction fi.

[00159] When the touch object slides along the first direction fi, a second driving signal may be provided to the plurality of second actuators 32 (including actuators 22 near the four interior comers) disposed close to the two second sides b2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction fi on the touch surface SO. The frequencies of the second driving signal and the second vibration are both greater than 20 kHz. Since the distance d2 between the second actuators 32 is less than and equal to 1 / 2 A 2, and 1 / 2 A 2 is less than and equal to 10~ 15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the first direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the first direction fi.

[00160] When the touch object presses the touch panel 21, a third driving signal may be simultaneously provided to 2 third actuators 33 located on the first symmetry axis Al and close to the geometric center C of the touch surface SO, 4 actuators 22 disposed close to the interior comers of the quadrilateral, and 2 actuators 22 disposed close to the midpoint Cl of each of the two first sides b 1, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface SO on the touch surface SO.

[00161] In a third example, as shown in FIG. 5, the plurality of first actuators 31 are disposed close to one of the first sides bl (the bottom side), and the plurality of second actuators 32 are disposed close to one of the second sides b2 (the right side). The plurality of actuators 22 further include 3 third actuators 33 arranged along the first symmetry axis Al, one of which is located at the geometric center C, and the other two are symmetrically disposed on both sides of the geometric center C. The plurality of actuators 22 further include a third actuator 33 disposed close to a midpoint C2 of the third side b3 (i.e., the top side), and a third actuator 33 disposed close to a connecting vertex (i.e., the top left comer) of the third side b3 and the fourth side b4 (i.e., the left side).

[00162] When the touch object slides along the second direction fi, a first driving signal may be provided to the plurality of first actuators 31 (including actuators 22 near the bottom left corner and the bottom right corner) disposed close to the one first side b 1, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction fi on the touch surface SO. The frequencies of the first driving signal and the first vibration are both greater than 20 kHz. Since the distance dl between the first actuators 31 is less than and equal to 1 / 2 i, and 1 / 2 X t is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the second direction fa. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the second direction fi.

[00163] When the touch object slides along the first direction fi, a second driving signal may be provided to the plurality of second actuators 32 (including actuators 22 near the top right comer and the bottom right comer) disposed close to the one second side b2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction fi on the touch surface SO. The frequencies of the second driving signal and the second vibration are both greater than 20 kHz. Since the distance d2 between the second actuators 32 is less than and equal to 1 / 2 X 2, and 1 / 2 2 is less than and equal to 10~ 15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the first direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the first direction fi.

[00164] When the touch object presses the touch panel 21, a third driving signal may be simultaneously provided to 3 third actuators 33 located on the first symmetry axis Al and close to the geometric center C of the touch surface SO, the third actuator 22 disposed close to the midpoint C2 of the third side b3, 4 actuators 22 disposed close to the interior comers of the quadrilateral, and the actuator 22 disposed close to the midpoint Cl of the first side bl, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface SO on the touch surface SO.

[00165] In a fourth example, as shown in FIG. 6, the plurality of first actuators 31 are disposed close to one of the first sides bl (the top side), and the plurality of second actuators 32 are disposed close to one of the second sides b2 (the left side). The plurality of actuators 22 further include 3 third actuators 33 arranged along the first symmetry axis Al, one of which is located at the geometric center C, and the other two are symmetrically disposed on both sides of the geometric center C. The plurality of actuators 22 further include a third actuator 33 disposed close to a midpoint C2 of the third side b3 (i.e., the bottom side), and a third actuator 33 disposed close to a connecting vertex (i.e., the bottom right corner) of the third side b3 and the fourth side b4 (i.e., the right side).

[00166] When the touch object slides along the second direction f2, a first driving signal may be provided to the plurality of first actuators 31 (including actuators 22 near the top left comer and the top right comer) disposed close to the first side bl, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction f> on the touch surface SO. The frequencies of the first driving signal and the first vibration are both greater than 20 kHz. Since the distance dl between the first actuators 31 is less than and equal to 1 / 2 A i, and 1 / 2 A j is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the second direction fz. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the second direction £?.

[00167] When the touch object slides along the first direction fi, a second driving signal may be provided to the plurality of second actuators 32 (including actuators 22 near the top left corner and the bottom left comer) disposed close to the one of the second sides b2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction fi on the touch surface SO. The frequencies of the second driving signal and the second vibration are both greater than 20 kHz. Since the distance d2 between the second actuators 32 is less than and equal to 1 / 2 A 2, and 1 / 2 A 2 is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the first direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the first direction fi.

[00168] When the touch object presses the touch panel 21, a third driving signal may be simultaneously provided to the 3 third actuators 33 located on the first symmetry axis Al and close to the geometric center C of the touch surface SO, the third actuator 22 disposed close to the midpoint C2 of the third side b3, 4 actuators 22 disposed close to the interior comers of the quadrilateral, and the actuator 22 disposed close to the midpoint Cl of the first side bl, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface SO on the touch surface SO.

[00169] In a fifth example, as shown in FIG. 7, the plurality of first actuators 31 are disposed close to one of the first sides bl (the top side), and the plurality of second actuators 32 are disposed close to one of the second sides b2 (the right side). The plurality of actuators 22 further include 3 third actuators 33 arranged along the first symmetry axis Al, one of which is located at the geometric center C, and the other two are symmetrically disposed on both sides of the geometric center C. The plurality of actuators 22 further include a third actuator 33 disposed close to a midpoint C2 of the third side b3 (i.e., the bottom side), and a third actuator 33 disposed close to a connecting vertex (i e., the bottom left corner) of the third side b3 and the fourth side b4 (i.e., the left side).

[00170] When the touch object slides along the second direction f2, a first driving signal may be provided to the plurality of first actuators 31 (including actuators 22 near the top left comer and the top right comer) disposed close to the first side bl, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction fz on the touch surface SO. The frequencies of the first driving signal and the first vibration are both greater than 20 kHz. Since the distance dl between the first actuators 31 is less than and equal to 1 / 2 A i, and 1 / 2 A j is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the second direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the second direction fz.

[00171] When the touch object slides along the first direction fi, a second driving signal may be provided to the plurality of second actuators 32 (including actuators 22 near the top right comer and the bottom right comer) disposed close to the second side b2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction fi on the touch surface SO. The frequencies of the second driving signal and the second vibration are both greater than 20 kHz. Since the distance d2 between the second actuators 32 is less than and equal to 1 / 2 A 2, and 1 / 2 A 2 is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the first direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the first direction fi.

[00172] When the touch object presses the touch panel 21, a third driving signal may be simultaneously provided to the 3 third actuators 33 located on the first symmetry axis Al and close to the geometric center C of the touch surface SO, the third actuator 22 disposed close to the midpoint C2 of the third side b3, 4 actuators 22 disposed close to the interior comers of the quadrilateral, and the actuator 22 disposed close to the midpoint Cl of the first side bl, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface SO on the touch surface SO.

[00173] In a sixth example, as shown in FIG. 8, the plurality of first actuators 31 are disposed close to one of the first sides bl (the bottom side), and the plurality of second actuators 32 are disposed close to one of the second sides b2 (the left side). The plurality of actuators 22 further include 3 third actuators 33 arranged along the first symmetry axis Al, one of which is located at the geometric center C, and the other two are symmetrically disposed on both sides of the geometric center C The plurality of actuators 22 further include a third actuator 33 disposed close to a midpoint C2 of the third side b3 (i.e., the top side), and a third actuator 33 disposed close to a connecting vertex (i.e., the top right comer) of the third side b3 and the fourth side b4 (i.e., the right side).

[00174] When the touch object slides along the second direction f2, a first driving signal may be provided to the plurality of first actuators 31 (including actuators 22 near the bottom left corner and the bottom right corner) disposed close to the first side bl, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction fz on the touch surface SO. The frequencies of the first driving signal and the first vibration are both greater than 20 kHz. Since the distance dl between the first actuators 31 is less than and equal to 1 / 2 X b and 1 / 2 X i is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the second direction fz. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the second direction fz.

[00175] When the touch object slides along the first direction fi, a second driving signal may be provided to the plurality of second actuators 32 (including actuators 22 near the top left corner and the bottom left comer) disposed close to the second side b2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction fi on the touch surface SO. The frequencies of the second driving signal and the second vibration are both greater than 20 kHz. Since the distance d2 between the second actuators 32 is less than and equal to 1 / 2 X 2, and 1 / 2 X 2 is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the first direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the first direction fi.

[00176] When the touch object presses the touch panel 21, a third driving signal may be simultaneously provided to the 3 third actuators 33 located on the first symmetry axis Al and close to the geometric center C of the touch surface SO, the third actuator 22 disposed close to the midpoint C2 of the third side b3, 4 actuators 22 disposed close to the interior comers of the quadrilateral, and the actuator 22 disposed close to the midpoint Cl of the first side bl, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming a vibration feedback perpendicular to the touch surface SO on the touch surface SO.

[00177] In a seventh example, as shown in FIG. 9, the plurality of first actuators 31 are arranged in sequence along the first symmetry axis Al, the plurality of second actuators 32 are arranged in sequence along the second symmetry axis A2, and the plurality of actuators 22 further include 4 third actuators 33 disposed close to the four interior corners of the quadrilateral.

[00178] When the touch object slides along the second direction f2, a first driving signal may be provided to the plurality of first actuators 31 (including the actuator 22 disposed at the geometric center C) located on the first symmetry axis Al, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction f> on the touch surface SO. The frequencies of the first driving signal and the first vibration are both greater than 20 kHz. Since the distance dl between the first actuators 31 is less than and equal to 1 / 2 A b and 1 / 2 A j is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the second direction fz. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the second direction £?.

[00179] When the touch object slides along the first direction fj, a second driving signal may be provided to the plurality of second actuators 32 (including the actuator 22 disposed at the geometric center C) located on the second symmetry axis A2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction fj on the touch surface SO. The frequencies of the second driving signal and the second vibration are both greater than 20 kHz. Since the distance d2 between the second actuators 32 is less than and equal to 1 / 2 A 2, and 1 / 2 A 2 is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the first direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the first direction fi.

[00180] When the touch objects presses the touch panel 21, a third driving signal may be simultaneously provided to 4 actuators 22 disposed close to the interior corners of the quadrilateral and the actuator 22 disposed close to the geometric center C of the touch surface SO, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming vibration feedback perpendicular to the touch surface SO on the touch surface SO.

[00181] In an eighth example, as shown in FIG. 10, the touch panel 21 is rectangular, a size of which along the first direction fi is 120 mm, a size along the second direction f2 is 60 mm, and the thickness is 0.5 mm. The sizes of the actuator 22 in the first direction fi and the second direction f? are both 5 mm. The distance between the first actuators 31 along the first direction fi is 7.3 mm, and the distance between the second actuators 32 along the second direction fa is 6.1 mm. The plurality of first actuators 31 are arranged in sequence along the first diagonal line LI, and the plurality of second actuators 32 are arranged in sequence along the second diagonal line L2.

[00182] When the touch object slides along the second direction fa, a first driving signal may be provided to the plurality of first actuators 31 (including the actuator 22 disposed at the geometric center C) located on the first diagonal line LI, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, thereby forming a first Lamb wave propagating along the second direction fa on the touch surface SO. A simulation diagram of the vibration mode of the first Lamb wave is shown in the lower figure in FIG. 14. The frequencies of the first driving signal and the first vibration are both greater than 20 kHz. Since the distance dl between the first actuators 31 is less than and equal to 1 / 2 X b and 1 / 2 X t is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the second direction fa. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the second direction fz.

[00183] When the touch object slides along the first direction fi, a second driving signal may be provided to the plurality of second actuators 32 (including the actuator 22 disposed at the geometric center C) located on the second symmetry axis A2, so that the second actuators 32 drive the touch panel 21 to generate a second vibration, thereby forming a second Lamb wave propagating along the first direction fi on the touch surface SO. A simulation diagram of the vibration mode of the second Lamb wave is shown in the upper figure in FIG. 14. The frequencies of the second driving signal and the second vibration are both greater than 20 kHz. Since the distance d2 between the second actuators 32 is less than and equal to 1 / 2 X 2, and 1 / 2 X 2 is less than and equal to 10~15mm, the air squeezing film effect can be achieved, thereby forming friction force modulation in the first direction fi. Therefore, a haptic feedback effect of the friction texture can be perceived when the finger slides along the first direction fi.

[00184] When the touch objects presses the touch panel 21, a third driving signal may be provided to 4 actuators 22 disposed close to the interior corners of the quadrilateral and one actuator 22 disposed close to the geometric center C of the touch surface SO, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, thereby forming vibration feedback perpendicular to the touch surface SO on the touch surface SO.

[00185] The present disclosure also provides a haptic feedback device, as shown in FIG. 15, the haptic feedback device includes: a haptic feedback substrate 151 as provided in any of the embodiments; and a driving assembly 152. The driving assembly 152 is respectively connected to the first actuators 31 and the second actuators 32, and configured for outputting a driving signal to the first actuators 31 or the second actuators 32 according to touch information of the touch object on the touch panel 21, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, and the second actuators 32 drive the touch panel 21 to generate a second vibration. The touch information includes at least one of: a touch pressure, a touch position, a touch operation and touch time of the touch object.

[00186] Those skilled in the art will appreciate that the haptic feedback device provided by the present disclosure has the advantages of the above-mentioned haptic feedback substrate. The haptic feedback device provided by the present disclosure may be integrated into products such as vehiclemounted displays, laptops, and monitors to provide users with a rich and realistic haptic experience.

[00187] For example, the touch operation may be an operation gesture of a finger, such as clicking, sliding, and sliding tracks.

[00188] In some embodiments, the connections between the actuators 22 and the driving assembly 152 are in parallel, so that the driving assembly 152 can independently drive each actuator 22.

[00189] In some embodiments, the haptic feedback device may further include a display panel. The driving assembly may also be connected to the display panel, and is further configured for driving the touch display panel 11 to display an interactive screen.

[00190] In some embodiments, the haptic feedback device may further include a touch circuit, and the touch circuit may be integrated inside the display panel or may be independently provided from the display panel. The touch circuit may be a capacitive touch circuit or a resistive touch circuit.

[00191] Exemplarily, the driving assembly 152 and the touch circuit may be disposed between the plurality of actuators 22 and the base substrate 23.

[00192] For a capacitive touch circuit, when a touch object such as a user's finger operates on the touch panel 21, the touch capacitance of the touch circuit at the touch position will change. The touch wiring in the touch circuit can send the touch capacitance at each position to the drive assembly 152, so that the drive assembly 152 can determine touch information such as the touch position based on the touch capacitance.

[00193] Exemplarily, the driving assembly 152 may include, for example, at least one of: a microcontroller unit (MCU), and an FPGA (Field Programmable Gata Array), etc., which is not limited in the embodiment.

[00194] Exemplarily, when the haptic feedback device is applied to a terminal, the driving assembly 152 may be a processor in the terminal.

[00195] The present disclosure also provides a driving method of a haptic feedback substrate, which is applied to the haptic feedback substrate provided in any of the above embodiments (as shown in any of FIG.3 to FIG. 10). The driving method includes steps below.

[00196] At step SOI, the touch information is acquired, and the touch information includes at least one of: a touch pressure, a touch position, a touch operation and touch time of the touch object.

[00197] At step S02, a driving signal is output to the first actuators 31 or the second actuators 32 according to the touch information, so that the first actuators 31 drive the touch panel 21 to generate a first vibration, and the second actuators 32 drive the touch panel 21 to generate a second vibration.

[00198] In some embodiments, the touch information includes a touch operation of a touch object, the driving signal includes a first driving signal and a second driving signal, and step S02 may specifically include step Sil and step S12.

[00199] At step Sil, when the touch operation is sliding along the second direction fa, the first driving signal is output to the first actuators 31, so that the first actuators 31 drive the touch panel 21 to generate a first vibration.

[00200] At step S12, when the touch operation is sliding along the first direction fi, the second driving signal is output to the second actuators 32, so that the second actuators 32 drive the touch panel 21 to generate a second vibration.

[00201] In some embodiments, the touch information includes a touch pressure of the touch object, the driving signal includes a third driving signal, and the plurality of actuators 22 further include third actuators 33, the third actuators 33 include at least one of: actuators 22 that are independently provided from the first actuators 31 and the second actuators 32; the first actuators 31; and the second actuators 32. The driving method further includes step S21 and step S22.

[00202] At step S21, whether a pressing operation has been exerted by the touch object is determined according to the touch pressure.

[00203] At step S22, if it is determined that a pressing operation has been exerted by the touch obj ect, a third driving signal is output to the third actuators 33, so that the third actuators 33 drive the touch panel 21 to generate a third vibration, and the third vibration is used to form vibration feedback on the touch surface SO.

[00204] In some embodiments, the third actuator 33 is further configured for generating a voltage signal when the touch object presses the touch panel 21, and step SOI may specifically include step S31.

[00205] At step S31, the voltage signal of the third actuator 33 is acquired, where the voltage signal is used for representing the magnitude of the touch pressure.

[00206] Furthermore, step S21 may specifically include step S32 and step S33.

[00207] At step S32, if the voltage signal is greater than or equal to a preset voltage threshold, it is determined that a pressing operation has been exerted by the touch object.

[00208] At step S33, if the touch pressure is less than the voltage threshold, it is determined that no pressing operation has been exerted on the touch object.

[00209] In the present disclosure, "a plurality of means two or more, and "at least one" means one or more, unless otherwise explicitly and specifically limited.

[00210] In the description of the present disclosure, it should be understood that orientation or positional relationships indicated by terms "upper", "lower" etc. are based on those shown in the accompanying drawings. The orientation or positional relationships are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as limiting the present disclosure.

[00211] In the present disclosure, the terms "comprising", "including" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device including a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or device. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or device that includes the element.

[00212] Herein, terms such as "one embodiment," "some embodiments," "exemplary embodiments," "one or more embodiments," "examples," "one example," "some examples" are intended to indicate specific features, structures, materials, or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. Schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be included in any suitable manner in any one or more embodiments or examples.

[00213] Herein, relational terms such as "first" and "second" are merely used to distinguish an entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or sequence between these entities or operations.

[00214] Expressions "coupled" and "connected" may be used in describing some embodiments. For example, the term "connected" may be used in some embodiments to indicate that two or more components are in direct physical or electrical contact with each other. For another example, the term "coupled" may be used in some embodiments to indicate that two or more components are in direct physical or electrical contact with each other. However, the term "coupled" or "communicatively coupled" may also refer to two or more components that are not in direct contact with each other but still cooperate or interact with each other. The embodiments disclosed herein are not necessarily limited to the present disclosure.

[00215] "At least one of A, B and C" and "at least one of A, B or C" have the same meaning, and each includes the following combinations of A, B and C: only A , only B, only C; the combination of A and B; the combination of A and C; the combination of B and C; and the combination of A, B and C.

[00216] "A and / or B" includes the following three combinations: only A; only B; and a combination of A and B.

[00217] As used in this disclosure, the term "if1 is optionally interpreted to mean "when..." or "upon..." or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase “if it is determined that"’ ” or “if [stated condition or event] is detected” is, optionally, interpreted to mean “upon determining that’”” or “in response to determining that’”” or “upon detecting [stated condition or event]” or “in response to detecting [stated condition or event], ” depending on the context.

[00218] The use of "used for" or "configured to" in this document means open and inclusive language that does not exclude devices that are adapted to or configured to perform additional tasks or steps.

[00219] The use of "based on" or "according to" in this article implies openness and inclusiveness. Processes, steps, calculations or other actions based on one or more of the stated conditions or values may in practice be based on other conditions or exceed the stated values. Processes, steps, calculations or other actions based on one or more of the stated conditions or values may in practice be based on other conditions or exceed the stated values.

[00220] As used herein, "about", "approximately" or "approximately" includes the stated value as well as an average within an acceptable range of deviations from a particular value, the acceptable range of deviation is determined by those skilled in the art by taking into account the measurement in question and the errors associated with the measurement of the specific quantity (i e., the limitations of the measurement system).

[00221] As used in this disclosure, "parallel", "vertical", "equal", and "flush" include the situations described and situations similar to the situations described, and the range of similar situations is within an acceptable range of deviation, where the acceptable range of deviation is determined by those skilled in the art by taking into account the measurement being discussed and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, wherein the acceptable deviation range of approximate parallelism may be, for example, a deviation within 5 0 ; "Vertical" includes absolutely vertical and approximately vertical, wherein the acceptable deviation range of approximately vertical may be, for example, a deviation within 5° . "Equal" includes absolute equality and approximate equality, wherein the acceptable deviation range of approximate equality may be, for example, that the difference between the two equals is less than or equal to 5% of either one. "Flush" includes absolutely flush and approximately flush, wherein the acceptable deviation range of approximately flush may be, for example, that the distance between the two flush ones is less than or equal to 5% of the size of either one.

[00222] It will be understood that when a layer or element is referred to as being on another layer or substrate, it means that the layer or element is directly on the other layer or substrate, or there is an intermediate layer between the layer or element and another layer or substrate.

[00223] Example embodiments are described herein with reference to cross-sectional illustrations and / or plan views that are idealized illustrations. In the drawings, the thickness of layers and regions are exaggerated for clarity. Accordingly, variations from the shapes in the drawings due, for example, to manufacturing techniques and / or tolerances are contemplated. Thus, example embodiments should not be construed as limited to the shapes of regions illustrated herein but are to include deviations in shapes that result from, for example, manufacturing. For example, an etched area shown as a rectangle will typically have curved features. Accordingly, the regions shown in the figures are schematic in nature and their shapes are not intended to illustrate the actual shapes of regions of the device and are not intended to limit the scope of the exemplary embodiments.

[00224] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, rather than limiting it. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions may be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A haptic feedback substrate, comprising:a touch panel with a touch surface; anda plurality of actuators disposed on a side of the touch panel facing away from the touch surface, comprising a plurality of first actuators arranged along a first direction, and a plurality of second actuators arranged along a second direction, wherein the first direction and the second direction intersect with each other;wherein the first actuators are configured for driving the touch panel to generate a first vibration, the second actuators are configured for driving the touch panel to generate a second vibration, and the first vibration and the second vibration are used for forming texture feedback in different directions on the touch surface.

2. The haptic feedback substrate according to claim 1, wherein the touch surface comprises first sides and second sides that are adjacent to each other, the plurality of first actuators are disposed close to the first sides, and the plurality of second actuators are disposed close to the second sides.

3. The haptic feedback substrate according to claim 2, wherein the plurality of first actuators are disposed close to one or two of the first sides, and two of the first sides are disposed opposite to each other; andthe plurality of second actuators are disposed close to one or two of the second sides, and two of the second sides are disposed opposite to each other.

4. The haptic feedback substrate according to claim 2 or 3, wherein the first sides are parallel to the first direction, and the second sides are parallel to the second direction.

5. The haptic feedback substrate according to any one of claims 2 to 4, wherein the plurality of actuators further comprise:a plurality of third actuators, configured for driving the touch panel to generate a third vibration, so that vibration feedback is formed on the touch surface;wherein the plurality of third actuators are arranged along a first symmetry axis and disposed close to a geometric center of the touch surface, wherein the first symmetry axis is a symmetry axis of the touch surface along the first direction; and / orin response to the plurality of first actuators being disposed close to one of the first sides, the touch surface further comprises a third side disposed opposite to the first side, and the third actuators are disposed close to a midpoint of the third side; and / orin response to the plurality of first actuators being disposed close to one of the first sides, and the plurality of second actuators being disposed close to one of the second sides, the touch surface further comprises a third side disposed opposite to the first side, and a fourth side disposed oppositeto the second side, and the third actuators are disposed close to a connecting vertex of the third side and the fourth side.

6. The haptic feedback substrate according to claim 5, wherein the plurality of third actuators arranged along the first symmetry axis are symmetrically disposed on both sides of the geometric center; oramong the plurality of third actuators arranged along the first symmetry axis, one is disposed at the geometric center, and remaining third actuators are symmetrically disposed on both sides of the geometric center.

7. The haptic feedback substrate according to claim 1, wherein the touch surface comprises a first symmetry axis extending along the first direction and a second symmetry axis extending along the second direction, the plurality of first actuators are arranged in sequence on the first symmetry axis, and the plurality of second actuators are arranged in sequence on the second symmetry axis.

8. The haptic feedback substrate according to claim 7, wherein the touch surface is a polygon, and the plurality of actuators further comprise:a plurality of third actuators disposed close to interior corners of the polygon, wherein the third actuators are configured for driving the touch panel to generate a third vibration, so that vibration feedback is formed on the touch surface.

9. The haptic feedback substrate according to claim 1, wherein the plurality of the first actuators are staggered in sequence in the second direction, and the plurality of the second actuators are staggered in sequence in the first direction.

10. The haptic feedback substrate according to claim 9, wherein the touch surface comprises a first diagonal line and a second diagonal line intersecting with each other, the plurality of first actuators are arranged in sequence on the first diagonal line, and the plurality of second actuators are arranged in sequence on the second diagonal line.

11. The haptic feedback substrate according to any one of claims 1 to 10, wherein the plurality of actuators further comprise:a plurality of third actuators, configured for driving the touch panel to generate a third vibration so that vibration feedback is formed on the touch surface, wherein a frequency of the third vibration is less than the frequency of the first vibration and the frequency of the second vibration;the plurality of third actuators comprise at least one of: actuators provided independently of the first actuators and the second actuators, the first actuators, and the second actuators.

12. The haptic feedback substrate according to claim 11, wherein the plurality of third actuators are symmetrically disposed, and a distance between any two adjacent third actuators is same.

13. The haptic feedback substrate according to any one of claims 1 to 12, wherein a distance between two adjacent first actuators in the first direction is less than or equal to a first half wavelength,wherein the first half wavelength is a half wavelength of a waveform of the first vibration propagating along the second direction;the distance between two adjacent second actuators in the second direction is less than or equal to a second half wavelength, wherein the second half wavelength is a half wavelength of a waveform of the second vibration propagating along the first direction.

14. The haptic feedback substrate according to any one of claims 1 to 13, wherein the first direction and the second direction are perpendicular to each other.

15. The haptic feedback substrate according to any one of claims 1 to 14, wherein a width of each of the first actuators in the second direction is greater than or equal to one quarter of a first half wavelength, and less than or equal to the first half wavelength, wherein the first half wavelength is a half wavelength of a waveform of the first vibration propagating along the second direction;the width of each of the second actuators in the first direction is greater than or equal to one quarter of a second half wavelength, and less than or equal to the second half wavelength, wherein the second half wavelength is a half wavelength of a waveform of the second vibration propagating along the first direction.

16. The haptic feedback substrate according to any one of claims 1 to 15, wherein each of the first actuators is located at a peak or a trough of the waveform of the first vibration, and each of the second actuators is located at a peak or a trough of the waveform of the second vibration.

17. The haptic feedback substrate according to any one of claims 1 to 16, wherein the plurality of actuators are disposed symmetrically about a symmetry axis that is the symmetry axis of the touch surface; and / orthe plurality of actuators are symmetrically arranged about a symmetry center, and the symmetry center is the geometric center of the touch surface.

18. The haptic feedback substrate according to any one of claims 1 to 16, wherein the plurality of first actuators and the plurality of second actuators have different symmetry axes.

19. The haptic feedback substrate according to any one of claims 1 to 18, wherein the actuators comprise at least one of: a piezoelectric (PZT) film, monolithic piezoelectric ceramic, stacked piezoelectric ceramic, cymbal-type piezoelectric ceramic, monolithic polyvinylidene fluoride film, stacked polyvinylidene fluoride film, cymbal-type polyvinylidene fluoride film and a linear motor.

20. A haptic feedback device, comprising:the haptic feedback substrate according to any one of claims 1 to 19; anda driving assembly connected to the first actuators and the second actuators respectively, wherein the driving assembly is configured for outputting a driving signal to the first actuators or the second actuators according to touch information of a touch object on the touch panel, so that the first actuators drive the touch panel to generate the first vibration, and the second actuators drive the touch panel togenerate the second vibration, and the touch information comprises at least one of: a touch pressure, a touch position, a touch operation and touch time of the touch object.

21. A driving method of a haptic feedback substrate, applied to the haptic feedback substrate according to any one of claims 1 to 19, the driving method comprising:acquiring touch information, and the touch information comprises at least one of: a touch pressure, a touch position, a touch operation and touch time of a touch object; andoutputting a driving signal to the first actuators or the second actuators according to the touch information, so that the first actuators drive the touch panel to generate the first vibration, and the second actuators drive the touch panel to generate the second vibration.

22. The driving method according to claim 21, wherein the touch information comprises the touch operation of the touch object, and the drive signal comprises a first drive signal and a second drive signal, the outputting a driving signal to the first actuators or the second actuators according to the touch information comprises:in response to the touch operation being a sliding along the second direction, outputting the first driving signal to the first actuators, so that the first actuators drive the touch panel to generate the first vibration; andin response to the touch operation being a sliding along the first direction, outputting the second driving signal to the second actuators, so that the second actuators drive the touch panel to generate the second vibration.

23. The driving method according to claim 21 or 22, wherein the touch information comprises the touch pressure of the touch object, the drive signal comprises a third drive signal, and the plurality of actuators further comprise third actuators, the plurality of third actuators comprise at least one of: actuators provided independently of the first actuators and the second actuators, the first actuators, and the second actuators, the driving method further comprises:determining, according to the touch pressure, whether a pressing operation is exerted by the touch object;in response to determining that a pressing operation is exerted by the touch object, outputting a third driving signal to the third actuators, so that the third actuators drive the touch panel to generate a third vibration, and the third vibration is used for forming vibration feedback on the touch surface.

24. The driving method according to claim 23, wherein the third actuator is further configured for generating a voltage signal in response to the touch panel being pressed by the touch object, the acquiring the touch information comprises:acquiring the voltage signal of the third actuator, wherein the voltage signal is used for representing a magnitude of the touch pressure;the determining, according to the touch pressure, whether a pressing operation is exerted by the touch object comprises:in response to the voltage signal being greater than or equal to a preset voltage threshold, determining that a pressing operation is exerted by the touch object;in response to the touch pressure being less than the voltage threshold, determining that no pressing operation is exerted on the touch object.

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