Haptic feedback method, haptic feedback apparatus and haptic feedback device

Abstract

A haptic feedback method, a haptic feedback apparatus and a haptic feedback device, which relate to the technical field of haptic feedback. The haptic feedback method is applied to the haptic feedback device. The haptic feedback device comprises a touch-control substrate, and an actuator connected to the touch-control substrate, wherein the touch-control substrate comprises a first key area. The haptic feedback method comprises: acquiring the touch-control position of a touch-control body on a touch-control substrate; and on the basis of a positional relationship between the touch-control position and a first key area, providing a first driving signal or a second driving signal to an actuator, wherein the frequency of the first driving signal is greater than the frequency of the second driving signal, the first driving signal is used for driving the actuator to drive the touch-control substrate to vibrate, so as to form texture haptic feedback on a surface of the touch-control substrate, and the second driving signal is used for driving the actuator to drive the touch-control substrate to vibrate, so as to form key haptic feedback on the surface of the touch-control substrate.

Description

Haptic feedback method, haptic feedback device and haptic feedback apparatus TECHNICAL FIELD

[0001] The present disclosure relates to the field of haptic feedback, and in particular to a haptic feedback method, a haptic feedback device and a haptic feedback apparatus. BACKGROUND

[0002] Haptic feedback is a frontier technology in the field of virtual reality and human-computer interaction. Multimedia terminals such as smart phones and tablet computers that apply haptic feedback technology have broad application prospects in the fields of education, entertainment and medical treatment.

[0003] SUMMARY

[0004] The present disclosure provides a haptic feedback method applied to a haptic feedback apparatus, the haptic feedback apparatus comprising a touch substrate and an actuator connected to the touch substrate, the touch substrate comprising a first key region, the haptic feedback method comprising:

[0005] obtaining a touch position of a touch object on the touch substrate;

[0006] providing a first driving signal or a second driving signal to the actuator according to a positional relationship between the touch position and the first key region, wherein a frequency of the first driving signal is greater than a frequency of the second driving signal, the first driving signal being used to drive the actuator to drive the touch substrate to vibrate so as to form a textured haptic feedback on a surface of the touch substrate, and the second driving signal being used to drive the actuator to drive the touch substrate to vibrate so as to form a key haptic feedback on the surface of the touch substrate.

[0007] In some embodiments, the step of providing the first driving signal or the second driving signal to the actuator according to the positional relationship between the touch position and the first key region comprises:

[0008] if the touch position is located inside the first key region, continuously providing the first driving signal to the actuator until the touch position moves out of the first key region.

[0009] In some embodiments, before the step of continuously providing the first driving signal to the actuator, the method further comprises:

[0010] providing the second driving signal to the actuator for a first preset time period, the first preset time period being greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

[0011] In some embodiments, the step of providing the first driving signal or the second driving signal to the actuator according to the positional relationship between the touch position and the first key region comprises:

[0012] In response to the touch position moving from inside or outside the first key region to the boundary of the first key region, providing the second driving signal to the actuator for a second preset time period, the second preset time period being greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

[0013] In some embodiments, the first key region comprises a starting point and an ending point of a key, and a direction from the starting point to the ending point is a preset direction. The step of providing the first driving signal or the second driving signal to the actuator according to the positional relationship between the touch position and the first key region comprises:

[0014] In response to the touch position moving in the preset direction to the ending point within the first key region, providing the second driving signal to the actuator for a third preset time period, the third preset time period being greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

[0015] In some embodiments, the haptic feedback device further comprises a speaker, and the haptic feedback method further comprises:

[0016] controlling the speaker to play a first prompt sound when the first driving signal is provided to the actuator; and / or

[0017] controlling the speaker to play a second prompt sound when the second driving signal is provided to the actuator.

[0018] In some embodiments, the touch substrate further comprises a second key region. After the step of providing the first driving signal or the second driving signal to the actuator according to the positional relationship between the touch position and the first key region, the haptic feedback method further comprises:

[0019] If the touch position moves from the first key region to inside the second key region, the keys in the second key region and the haptic feedback corresponding to the second key region are not triggered.

[0020] In some embodiments, the touch substrate further comprises a non-key region. The step of providing the first driving signal or the second driving signal to the actuator according to the positional relationship between the touch position and the first key region comprises:

[0021] If the touch position moves from the non-key region to inside the first key region, a key in the first key region is triggered, and a first driving signal or a second driving signal is provided to the actuator according to the positional relationship between the touch position and the first key region.

[0022] In some embodiments, the first driving signal includes a carrier signal, and a frequency of the carrier signal is greater than or equal to 20 kHz.

[0023] In some embodiments, the first driving signal further includes a modulation signal, and a frequency of the modulation signal is greater than or equal to 10 Hz and less than or equal to 40 Hz.

[0024] In some embodiments, a time-domain waveform of the modulation signal is a Sine function waveform, a sample function waveform, a rectangular wave, or a half wave.

[0025] In some embodiments, a waveform function of the modulation signal is:

[0026] wherein g(t) is the modulation signal, t is time, f is a frequency of the modulation signal, and n is a number of zero-crossing points of the modulation signal in one period. t

[0027] In some embodiments, a frequency of the second driving signal is greater than or equal to 50 Hz and less than or equal to 500 Hz.

[0028] The present disclosure provides a kind of haptic feedback device, applied to haptic feedback equipment, the haptic feedback equipment includes touch substrate, and with the touch substrate connection actuator, the touch substrate includes first key region, the haptic feedback device includes:

[0029] Acquisition module is configured to obtain the touch position of touch body on the touch substrate;

[0030] Driving module is configured to provide first driving signal or second driving signal to the actuator according to the positional relationship between the touch position and the first key region, wherein the frequency of the first driving signal is greater than the frequency of the second driving signal, the first driving signal is used to drive the actuator to drive the touch substrate vibration, to form the textured haptic feedback on the surface of the touch substrate, and the second driving signal is used to drive the actuator to drive the touch substrate vibration, to form the key haptic feedback on the surface of the touch substrate.

[0031] The present disclosure provides a kind of haptic feedback device, including:

[0032] Touch substrate includes first key region;​

[0033] an actuator connected with the touch substrate; and

[0034] a driving component connected with the touch substrate and the actuator respectively, for executing the haptic feedback method as described in any of the embodiments;

[0035] wherein the actuator is configured to drive the touch substrate to vibrate under the driving of the first driving signal to form a textured haptic feedback on the surface of the touch substrate, and drive the touch substrate to vibrate under the driving of the second driving signal to form a key haptic feedback on the surface of the touch substrate.

[0036] The above description is only a summary of the technical solutions of the present disclosure. In order to enable one of ordinary skill in the art to better understand the technical means of the present disclosure and implement the same according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present disclosure more apparent and easy to understand, the specific embodiments of the present disclosure are described below.

[0037] Brief Description of Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the related art, the drawings needed to be used in the embodiments or related art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings according to these drawings without creative labor. It should be noted that the proportions in the drawings are only for illustration and do not represent actual proportions.

[0039] FIG. 1 shows a structural diagram of a haptic feedback device;

[0040] FIG. 2 shows a flowchart of a haptic feedback method provided by the present disclosure;

[0041] FIG. 3 shows two position relationship diagrams between a finger and a first key area;

[0042] FIG. 4 shows several diagrams of first key areas;

[0043] FIG. 5 shows waveform diagrams of a carrier signal, a modulated signal, and a driving signal synthesized by the carrier signal and the modulated signal;

[0044] FIG. 6 shows a vibration mode of the actuator driving the touch substrate to vibrate under the driving of a high-frequency signal;

[0045] FIG. 7 shows a waveform diagram of a second driving signal;

[0046] FIG. 8 exemplarily shows a vibration mode of the touch substrate driven by the actuator under the driving of the second driving signal;

[0047] FIG. 9 exemplarily shows a flowchart of a haptic feedback method;

[0048] FIG. 10 exemplarily shows a schematic diagram of the first key area and the second key area.

[0049] DETAILED DESCRIPTION

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are some but not all of the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

[0051] The haptic feedback device comprises a touch substrate and an actuator connected to the touch substrate. The actuator drives the touch substrate to vibrate by applying a driving signal, and then the haptic feedback function is realized on the surface of the touch substrate.

[0052] The haptic feedback is usually realized in two ways. One is that the actuator drives the touch substrate to vibrate at a low frequency to simulate the feedback of a button. The other is that the actuator drives the touch substrate to vibrate at a high frequency to generate a squeeze film effect, so as to change the friction coefficient between the touch object (such as a finger) and the surface of the touch substrate to simulate the texture haptic feedback.

[0053] The haptic feedback of the low-frequency vibration can be realized by the normal or lateral vibration of the touch substrate. In general, when the actuator can generate a large enough amplitude, the actuator only needs to drive the touch substrate to generate the corresponding vibration feedback. When the driving capacity of the actuator is weak, the structure design is needed to make the touch substrate resonate, so as to generate a large enough amplitude, and then realize the corresponding haptic feedback. The low-frequency vibration can be used to simulate the effect of button vibration, for example.

[0054] The haptic feedback of the high-frequency vibration can be used to generate the texture haptic feedback, such as the haptic effect of touching silk, carpet, etc. The high-frequency vibration can be used to simulate the slide bar, knob, and other buttons, for example.

[0055] For the simulation of the slide bar and knob and other button elements, the following schemes can be adopted: 1) intermittent low-frequency vibration is used to change the normal force of the finger on the surface of the touch substrate to simulate the sliding operation; 2) the high-frequency vibration is used to generate a squeeze film effect to change the friction coefficient between the finger and the touch substrate, and then change the lateral friction force between the finger and the touch substrate to simulate the sliding operation.

[0056] In the related art, when a finger slides on a touch substrate, a driving signal applied to an actuator is constant, so that no differentiated tactile feedback is made for the finger sliding at different positions, and the user cannot be prompted about the actual position of the finger sliding, which is prone to cause mis-touch.

[0057] To solve the above problems, the present disclosure provides a tactile feedback method applied to a tactile feedback device, as shown in FIG. 1, the tactile feedback device comprising a touch substrate 10 and an actuator 11 connected with the touch substrate 10. The execution subject of the tactile feedback method is, for example, a driving assembly 12 in the tactile feedback device, as shown in FIG. 1, the driving assembly 12 being connected with the touch substrate 10 and the actuator 11 respectively.

[0058] As shown in FIG. 2, the tactile feedback method comprises:

[0059] Step S21: obtaining a touch position P of a touch body on the touch substrate 10.

[0060] The touch body is, for example, a finger of a user. When the finger touches the touch substrate 10, the center position of the mutual contact between the finger and the touch substrate 10 can be taken as the touch position P.

[0061] Step S22: providing a first driving signal or a second driving signal to the actuator 11 according to the positional relationship between the touch position P and the first key area 50, wherein the frequency of the first driving signal is greater than the frequency of the second driving signal, the first driving signal is used to drive the actuator 11 to drive the touch substrate 10 to vibrate, so as to form a texture tactile feedback on the surface of the touch substrate 10, and the second driving signal is used to drive the actuator 11 to drive the touch substrate 10 to vibrate, so as to form a key tactile feedback on the surface of the touch substrate 10.

[0062] Exemplarily, as shown in FIG. 3, when the position of the touch body (such as the finger shown in FIG. 3) on the touch substrate 10 is a touch position P1, the touch position P1 is located inside the first key area 50, the first driving signal can be provided to the actuator 11, under the action of the first driving signal, the actuator 11 drives the touch substrate 10 to vibrate at a high frequency, and a texture tactile feedback is generated on the surface of the touch substrate 10. When the position of the touch body on the touch substrate 10 is a touch position P2, the touch position P2 is located on the boundary of the first key area 50 (i.e. the boundary between the inside of the first key area 50 and the outside of the first key area 50), the second driving signal can be provided to the actuator 11, under the action of the second driving signal, the actuator 11 drives the touch substrate 10 to vibrate at a low frequency, and a key tactile feedback is generated on the surface of the touch substrate 10.

[0063] The haptic feedback method provided by the present disclosure provides the first driving signal or the second driving signal to the actuator 11 according to the positional relationship between the touch position P and the first key area 50. Since the first driving signal and the second driving signal are used to generate different haptic feedback effects, the user can determine the positional relationship between the finger and the first key area 50 according to different tactile feelings, enrich the user's haptic feedback experience, support the user to perform blind operation on the surface of the haptic substrate, help the user to better master the operation progress, and prevent mis-touch.

[0064] Exemplarily, the positional relationship between the touch position P and the first key area 50 includes the distance between the touch position P and the first key area 50, the overlapping relationship, and the like.

[0065] Exemplarily, the touch substrate 10 is a touch display panel, as shown in FIG. 4, the first key area 50 is the area in the dashed box, and the first key area 50 includes the key 51 displayed on the touch display panel, the active area of the key 51, and the area expanded by a preset distance from the boundary of the active area of the key 51. The preset distance is greater than 0 mm. For example, the preset distance is greater than or equal to 5 mm and less than or equal to 10 mm.

[0066] Exemplarily, as shown in FIG. 4, in the direction perpendicular to the sliding direction of the key 51, the width of the first key area 50 is, for example, 20 mm.

[0067] Exemplarily, the key 51 can be a sliding key (as shown in FIG. 4) or a rotary key, etc.

[0068] Exemplarily, as shown in FIG. 4, the key 51 is a sliding key, and the starting point SP and the ending point EP of the key 51 are the opposite ends of the sliding bar. In FIG. 4, the starting point SP of the key 51 is the left end of the sliding bar, and the ending point EP is the right end of the sliding bar.

[0069] Exemplarily, there are two kinds of sliding keys 51, a sliding key 51A (as shown in FIGS. a and b of FIG. 4) and a sliding key 51B (as shown in FIG. c of FIG. 4). As shown in FIGS. a and b of FIG. 4, the sliding process of the sliding key 51A on the sliding bar is continuous, and the sliding key 51A can stop at any position in the range of 0% to 100% on the sliding bar. As shown in FIG. c of FIG. 4, the sliding process of the sliding key 51B on the sliding bar is discontinuous, and the sliding key 51B can only stop at the positions with segmented marks on the sliding bar. The sliding bar shown in FIG. c of FIG. 4 includes six segmented marks, which are 0%, 20%, 40%, 60%, 80%, and 100%, respectively, and the six segmented marks divide the sliding bar into five segments. The number of segmented marks of the sliding bar can be adjusted according to the actual length of the sliding bar and actual needs.

[0070] Exemplarily, as shown in FIG. 1, the driving assembly 12 comprises a control board 121 and an amplification circuit 122, for example. Specifically, the control board 121 can detect the touch position P of the touch body on the touch substrate 10 in real time, and send a driving signal when it is detected that the haptic feedback needs to be triggered, and the driving signal is amplified by the amplification circuit 122. Under the action of the amplified driving signal, the actuator 11 drives the touch substrate 10 to generate a vibration haptic feedback.

[0071] Exemplarily, the first driving signal comprises a carrier signal, and the frequency of the carrier signal is greater than or equal to 20 kHz.

[0072] Under the driving of the high-frequency carrier signal, the actuator 11 drives the touch substrate 10 to vibrate at a high frequency, and the high-frequency vibration compresses the air film between the finger and the touch substrate 10, generates an overpressure that makes the finger float, and thus makes the finger feel a smoother touch, so the high-frequency vibration can reduce the lateral friction of the finger on the surface of the touch substrate 10.

[0073] Exemplarily, as shown in FIG. 5, the carrier signal f1(t) is a single-frequency sine wave, and the wave function is f1(t) = U0sin(2πf h t), f h is the frequency of the carrier signal, and U0is the amplitude of the carrier signal, i.e. the voltage amplitude of the first driving signal. Under the driving of the wave function f1(t), the vibration mode of the touch substrate 10 is a standing wave mode, as shown in FIG. 6.

[0074] Exemplarily, the frequency of the carrier signal is the resonance frequency of the touch substrate 10.

[0075] Exemplarily, the first driving signal further comprises a modulation signal, and the frequency of the modulation signal is greater than or equal to 10 Hz and less than or equal to 40 Hz.

[0076] Exemplarily, the time-domain waveform of the modulation signal is a sinc function waveform, a sampling function waveform, a rectangular wave or a half wave. When the time-domain waveform of the modulation signal is a sinc function waveform or a sampling function waveform, the noise generated by the vibration of the touch substrate 10 driven by the actuator 11 can be reduced.

[0077] Exemplarily, the wave function of the modulation signal is:

[0078] wherein g(t) is the modulation signal, t is the time, f t is the frequency of the modulation signal, and n is the number of zero-crossing points of the modulation signal in one period.

[0079] wherein the number of zero-crossing points is the number of real numbers t that make g(t) = 0.

[0080] For example, the number of zero-crossings of the modulation signal in one period is an even number, greater than or equal to 10 and less than or equal to 40. The number of zero-crossings of the modulation signal g(t) in one period shown in Figure 5 is 24.

[0081] For example, as shown in Figure 5, the first driving signal h(t) is a composite signal of the carrier signal f1(t) and the modulation signal g(t), and the corresponding waveform function is h(t) = f1(t) * g(t). The modulation signal g(t) is mainly used to adjust the amplitude of the carrier signal f1(t), thereby adjusting the coefficient of friction between the finger and the touch substrate 10.

[0082] For example, as shown in Figure 5, the frequency f of the modulation signal g(t) t The frequency is 20Hz, and correspondingly, the period of the first driving signal h(t) is 50ms. Figure 5 shows that both the modulation signal g(t) and the first driving signal h(t) are waveforms within one period.

[0083] For example, the frequency of the second drive signal is greater than or equal to 50Hz and less than or equal to 500Hz.

[0084] For example, the frequency of the second driving signal is the resonant frequency of the touch substrate 10.

[0085] For example, as shown in Figure 7, the waveform of the second driving signal is a single-frequency sine wave, and the waveform function is f2(t) = sin(2πf). l t), where f l The frequency of the second driving signal is shown in Figure 8. The actuator 11, driven by the second driving signal, causes the touch substrate 10 to vibrate in the following mode.

[0086] In some implementations, step S22 may specifically include:

[0087] Step S31: If the touch position P is located inside the first button area 50, the first drive signal is continuously provided to the actuator 11 until the touch position P moves out of the first button area 50.

[0088] For example, during the movement of the touch position P on the surface of the touch substrate 10, when the touch position P is within the boundary of the first button area 50 (i.e., inside the first button area 50), tactile feedback is triggered, that is, a first driving signal is continuously provided to the actuator 11. When the touch position P moves out of the first button area 50, for example, moves outside the boundary of the first button area 50 (i.e., outside the first button area 50), tactile feedback may no longer be triggered, that is, the first driving signal is no longer provided to the actuator 11.

[0089] In some embodiments, in step S31, before the step of continuously providing the first driving signal to the actuator 11, the method can further include: providing a second driving signal to the actuator 11 for a first preset time period, the first preset time period being greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

[0090] wherein one period of the second driving signal is 1 / f l , the first preset time period is greater than or equal to 1 / f l , and less than or equal to 20 / f l .

[0091] For example, if the initial touch position P of the finger on the touch substrate 10 is inside the first key area 50, i.e., the first touch position P obtained is inside the first key area 50, in this case, the key haptic feedback can be triggered before the texture haptic feedback is triggered, i.e., the first preset time period of the second driving signal is provided to the actuator 11 before the first driving signal is continuously provided to the actuator 11, so as to remind the user that the interaction has been successfully performed, and the corresponding operation can be further performed.

[0092] In some embodiments, step S22 can specifically include:

[0093] In response to the touch position P moving from inside or outside the first key area 50 to the boundary of the first key area 50, a second driving signal is provided to the actuator 11 for a second preset time period, the second preset time period being greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

[0094] wherein one period of the second driving signal is 1 / f l , the second preset time period is greater than or equal to 1 / f l , and less than or equal to 20 / f l .

[0095] Exemplarily, in the process that the touch position P moves from outside the first key region 50 to inside the first key region 50, when the touch position P is outside the first key region 50, no tactile feedback can be triggered, i.e. no first driving signal or second driving signal is provided to the actuator 11, until the touch position P moves to the boundary of the first key region 50 (i.e. the boundary between inside the first key region 50 and outside the first key region 50). In response to the touch position P moving to the boundary of the first key region 50, key tactile feedback can be triggered, i.e. the second driving signal is provided to the actuator 11 for a second preset time length, to remind the user that the interactive region is about to be entered and the corresponding operation can be further performed. When the touch position P moves to inside the first key region 50, texture tactile feedback can be triggered, i.e. the first driving signal is continuously provided to the actuator 11 until the touch position P moves out of the first key region 50.

[0096] Exemplarily, in the process that the touch position P moves from inside the first key region 50 to outside the first key region 50, when the touch position P is inside the first key region 50, texture tactile feedback can be triggered, i.e. the first driving signal is continuously provided to the actuator 11 until the touch position P moves to the boundary of the first key region 50. In response to the touch position P moving to the boundary of the first key region 50, key tactile feedback can be triggered, i.e. the second driving signal is provided to the actuator 11 for a second preset time length, to remind the user that the interactive region is about to be left and the false touch is avoided. When the touch position P moves to outside the first key region 50, no tactile feedback can be triggered, i.e. no first driving signal or second driving signal is provided to the actuator 11.

[0097] In some embodiments, the first key region 50 includes a start point SP and an end point EP of the key, and the direction from the start point SP to the end point EP is the preset direction f, and the step S22 can specifically include:

[0098] In response to the touch position P moving to the end point EP along the preset direction f inside the first key region 50, the second driving signal is provided to the actuator 11 for a third preset time length, the third preset time length is greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

[0099] wherein one period of the second driving signal is 1 / f l , the third preset time length is greater than or equal to 1 / f l and less than or equal to 20 / f l .

[0100] Exemplarily, in the process that the touch position P moves from the starting point SP (i.e. the left end of the sliding bar as shown in FIG. 4) to the ending point EP (i.e. the right end of the sliding bar as shown in FIG. 4), before reaching the ending point EP, the texture tactile feedback can be triggered, i.e. the first driving signal is continuously provided to the actuator 11 until the touch position P moves to the ending point EP. In response to the touch position P moving to the ending point EP, the key tactile feedback can be triggered, i.e. the second driving signal is provided to the actuator 11 for a first preset time length, so as to remind the user that the key ending point EP has been reached, and to avoid false touch.

[0101] Exemplarily, the first preset time length, the second preset time length and the third preset time length are different from each other, so as to form key tactile feedbacks with different time lengths, further enrich the user's touch feeling, help the user better master the operation progress, and further prevent false touch. Of course, the first preset time length, the second preset time length and the third preset time length can also be partially the same or all the same, which is not limited in the present disclosure.

[0102] In the case of triggering the key tactile feedback after triggering the texture tactile feedback, i.e. the first driving signal is provided to the actuator 11 first, and then the second driving signal is provided to the actuator 11, before providing the second driving signal to the actuator 11, the control board 121 can completely execute the first driving signal of the last cycle, and then execute the second driving signal.

[0103] In some embodiments, as shown in FIG. 1, the tactile feedback device further comprises a loudspeaker 13, which can be connected with the control board 121. Accordingly, the tactile feedback method can further comprise: controlling the loudspeaker 13 to play a first prompt sound when the first driving signal is provided to the actuator 11.

[0104] Exemplarily, the texture tactile feedback formed by the first driving signal and the first prompt sound can be triggered at the same time. In this way, in the process of user operation, the user can be provided with texture tactile feedback and auditory feedback at the same time, further optimizing the user experience.

[0105] In some embodiments, the tactile feedback method can further comprise: controlling the loudspeaker 13 to play a second prompt sound when the second driving signal is provided to the actuator 11.

[0106] Exemplarily, the case tactile feedback formed by the second driving signal and the second prompt sound can be triggered at the same time. In this way, in the process of user operation, the user can be provided with key tactile feedback and auditory feedback at the same time, further optimizing the user experience.

[0107] Exemplarily, the first prompt sound and the second prompt sound can be different. For example, the first prompt sound and the second prompt sound are different in tone, volume and / or timbre. Of course, the first prompt sound and the second prompt sound can also be the same, which is not limited in the present disclosure.

[0108] In some embodiments, as shown in FIG. 10, the touch substrate 10 further comprises a second key area 101, after step S22, the method can further comprise: if the touch position P moves from the first key area 50 to inside the second key area 101, the key in the second key area 101 and the tactile feedback corresponding to the second key area 101 are not triggered. In this way, the false touch caused by the user's finger moving out of the first key area 50 can be avoided.

[0109] Exemplarily, as shown in FIG. 10, during the movement of the touch position P from the first key area 50 to the second key area 101, when the touch position P is inside the first key area 50, the texture tactile feedback can be triggered, i.e., the first driving signal is continuously provided to the actuator 11 until the touch position P moves to the boundary of the first key area 50. In response to the touch position P moving to the boundary of the first key area 50, the key tactile feedback can be triggered, i.e., the second driving signal is provided to the actuator 11 for a first preset time length. During the movement of the touch position P out of the first key area 50 and into the second key area 101, the finger is always on the touch substrate 10, and it can be determined that the current operation of the finger is still the operation of the key 51 in the first key area 50, but the current touch position P has moved outside the first key area 50, i.e., even if the touch position P enters the second key area 101, the key 51 in the second key area 101 and the corresponding tactile feedback are not triggered. In this case, if the user needs to operate the key 51 in the second key area 101, the finger needs to leave the touch substrate 10 and re-touch the second key area 101 to trigger the key 51 in the second key area 101 and the corresponding tactile feedback.

[0110] In the above embodiments, the touch position P can leave the first key area 50 and enter the second key area 101 after moving to the end point EP of the key, or can leave the first key area 50 and enter the second key area 101 halfway, which is not limited in the present disclosure.

[0111] Exemplarily, as shown in FIG. 10, the first key area 50 is arranged adjacent to the second key area 101. In the case where the first key area 50 and the second key area 101 are close to each other, the boundary between the first key area 50 and the second key area 101 can be a dividing line between the first key area 50 and the second key area 101, which is arranged centrally between the first key area 50 and the second key area 101.

[0112] Exemplarily, as shown in FIG. 4, the second key area 101 includes the key 51 displayed on the touch display panel, an active area of the key 51, and an area extending out of the active area boundary of the key 51 by a preset distance, which is greater than 0 mm. The second key area 101 can be the same as or different from the first key area 50, which is not limited in the present disclosure.

[0113] In some embodiments, as shown in FIG. 10, the touch substrate 10 further includes a non-key area 102, and the step S22 specifically includes: if the touch position P moves from the non-key area 102 to inside the first key area 50, triggering the key 51 in the first key area 50, and providing the actuator 11 with the first driving signal or the second driving signal according to the positional relationship between the touch position P and the first key area 50. In this way, the accuracy of triggering the key in the first key area 50 and the corresponding tactile feedback can be improved.

[0114] In some embodiments, as shown in FIG. 10, the touch substrate 10 further includes a non-key area 102, and the step S22 specifically includes: if the touch position P moves from the non-key area 102 to inside the first key area 50, triggering the key 51 in the first key area 50, and providing the actuator 11 with the first driving signal or the second driving signal according to the positional relationship between the touch position P and the first key area 50. In this way, the accuracy of triggering the key in the first key area 50 and the corresponding tactile feedback can be improved.

[0115] The present disclosure provides a tactile feedback device, which is applied to a tactile feedback apparatus, as shown in FIG. 1, the tactile feedback apparatus includes a touch substrate 10 and an actuator 11 connected with the touch substrate 10, the touch substrate 10 includes a first key area 50, and the tactile feedback device includes:

[0116] The obtaining module is configured to obtain a touch position P of a touch object on the touch substrate 10.

[0117] The driving module is configured to provide the actuator 11 with a first driving signal or a second driving signal according to the positional relationship between the touch position P and the first key area 50, wherein the frequency of the first driving signal is greater than the frequency of the second driving signal, the first driving signal is used to drive the actuator 11 to drive the touch substrate 10 to vibrate, so as to form a texture tactile feedback on the surface of the touch substrate 10, and the second driving signal is used to drive the actuator 11 to drive the touch substrate 10 to vibrate, so as to form a key tactile feedback on the surface of the touch substrate 10.

[0118] As to the tactile feedback device provided by the present disclosure, the specific manners in which various modules perform operations have been described in detail in the embodiments of the tactile feedback method, and will not be elaborated here. Those skilled in the art can understand that the tactile feedback device provided by the present disclosure has the advantages of the above-mentioned tactile feedback method. The tactile feedback device provided by the present disclosure can be integrated in products such as vehicle-mounted displays, notebooks, and displays, to provide users with rich and realistic tactile experience.

[0119] The present disclosure provides a haptic feedback device, as shown in FIG. 1, comprising a touch substrate 10 including a first key area 50; an actuator 11 connected with the touch substrate 10; and a driving assembly 12 connected with the touch substrate 10 and the actuator 11 respectively, for executing the haptic feedback method provided by any of the embodiments.

[0120] The actuator 11 is configured to drive the touch substrate 10 to vibrate under the driving of the first driving signal, so as to form a texture haptic feedback on the surface of the touch substrate 10, and drive the touch substrate 10 to vibrate under the driving of the second driving signal, so as to form a key haptic feedback on the surface of the touch substrate 10.

[0121] It is understood by those skilled in the art that the haptic feedback device provided by the present disclosure has the advantages of the haptic feedback method described above. The haptic feedback device provided by the present disclosure can be integrated into products such as vehicle-mounted displays, notebooks, and displays, to provide users with a rich and realistic haptic experience.

[0122] Exemplarily, as shown in FIG. 1, the driving assembly 12 includes a control board 121 and an amplification circuit 122, for example. Specifically, the control board 121 can be configured to detect the touch position P of a touch object on the touch substrate 10 in real time, and send a driving signal when it is detected that the haptic feedback needs to be triggered, and the driving signal is amplified by the amplification circuit 122. Under the action of the amplified driving signal, the actuator 11 drives the touch substrate 10 to generate a vibration haptic feedback.

[0123] Exemplarily, as shown in FIG. 9, when a finger touches the touch substrate 10, the driving assembly 12 acquires the touch position P of the finger on the touch substrate 10, and determines whether the key 51 is clicked according to the touch position P. If yes, the type of the key 51 is further determined and it is determined whether the haptic feedback needs to be triggered. If yes, the first driving signal or the second driving signal is provided to the actuator 11 according to the positional relationship between the touch position P and the first key area 50, and a user interface (UI) animation displayed on the touch substrate 10 is triggered. The type of the key 51 includes a button, a knob, and a slide bar.

[0124] Exemplarily, the touch substrate 10 is a touch display panel, and the first key area 50 includes the key 51 displayed on the touch display panel, an active area of the key 51, and an area extending from the boundary of the active area of the key 51 by a preset distance, wherein the preset distance is greater than 0 mm.

[0125] Exemplarily, the touch substrate 10 is a touch display panel, and correspondingly, the driving assembly 12 is further configured to drive the touch display panel to display an interactive picture.

[0126] Exemplarily, the touch display panel comprises a touch circuit and a display panel. The touch circuit can be integrated inside the display panel, or can be arranged independently of the display panel. The touch circuit can be a capacitive touch circuit or a resistive touch circuit, etc.

[0127] For the capacitive touch circuit, when a touch object such as a user's finger operates on the touch substrate 10, the touch capacitance of the touch circuit at the touch position P changes. The touch wires in the touch circuit can send the touch capacitance at each position to the driving assembly 12, which can determine the touch position P and other touch information according to the touch capacitance.

[0128] Exemplarily, the driving assembly 12 can include at least one of a microcontroller unit (MCU), a field programmable gata array (FPGA), etc., and the present embodiment is not limited in this regard.

[0129] Exemplarily, the actuator 11 drives the touch substrate 10 to vibrate by using the inverse piezoelectric effect of piezoelectric material. The inverse piezoelectric effect is the inverse effect of the positive piezoelectric effect, i.e., the dielectric will be elastically deformed under the driving of the electric signal.

[0130] In some embodiments, the actuator 11 includes at least one of a PZT piezoelectric film, a monolithic piezoelectric ceramic, a stacked piezoelectric ceramic, a cymbal piezoelectric ceramic, a monolithic polyvinylidene fluoride film, a stacked polyvinylidene fluoride film, a cymbal polyvinylidene fluoride film, and a linear motor.

[0131] In the present disclosure, the terms "upper", "lower", etc. indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0132] In the present disclosure, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations.

[0133] In the present specification, "electrically connected" and "coupled" include cases where the constituent elements are connected together through an element having some electrical action. The element having some electrical action is not particularly limited as long as it can perform the transmission and reception of an electrical signal between the connected constituent elements. Examples of the element having some electrical action include not only electrodes and wiring but also switching elements such as transistors, resistors, inductors, capacitors, other elements having various functions, and the like.

[0134] In the present disclosure, the meaning of "a plurality of" is two or more, and the meaning of "at least one" is one or more, unless specifically limited otherwise. "At least one of A, B, and C" has the same meaning as "at least one of A, B, or C," and includes the following combinations of A, B, and C: only A, only B, only C, a combination of A and B, a combination of A and C, a combination of B and C, and a combination of A, B, and C. "A and / or B" includes the following three combinations: only A, only B, and a combination of A and B.

[0135] The use of "for" or "configured to" in the present disclosure means open and inclusive language that does not exclude devices suitable for or configured to perform additional tasks or steps.

[0136] As used in the present disclosure, "about," "approximately," or "around" includes the recited value and the average value within an acceptable range of deviation from the specific value, as determined by one of ordinary skill in the art taking into account the measurement being discussed and the error associated with the measurement of the specific quantity (i.e., the limitations of the measurement system).

[0137] As used in the present disclosure, "parallel," "perpendicular," "equal," "flush" include the recited condition and a condition similar to the recited condition, the similar condition being within an acceptable range of deviation, as determined by one of ordinary skill in the art taking into account the measurement being discussed and the error associated with the measurement of the specific quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallel and approximately parallel, where the acceptable range of deviation for approximately parallel can be, for example, within 10° or 5°; "perpendicular" includes absolute perpendicular and approximately perpendicular, where the acceptable range of deviation for approximately perpendicular can also be, for example, within 10° or 5°. "Equal" includes absolute equality and approximate equality, where the acceptable range of deviation for approximate equality can be, for example, a difference between the two that is less than or equal to 5% of either. "Flush" includes absolute flush and approximately flush, where the acceptable range of deviation for approximately flush can be, for example, a distance between the two that is less than or equal to 5% of either.

[0138] It should be understood that when a layer or element is referred to as being on or disposed on another layer or substrate, it can be directly on the other layer or substrate, or intervening layers can also be present.

[0139] The present disclosure describes example embodiments with reference to cross-sectional 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 of the illustrations as a result, for example, of manufacturing techniques and / or tolerances, are to be expected. Thus, the examples embodiments are not to be construed as limited to the precise shapes of regions illustrated in the drawings but are to include deviations in shapes that result, for example, from manufacturing. For example, an etched region illustrated as a rectangle will typically have rounded corners and / or uneven sidewalls as a result of manufacturing processes. Thus, the regions illustrated in the drawings are schematic and their shapes are not intended to illustrate the precise shape of a region of a device and are not intended to limit the scope of the examples embodiments.

[0140] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present disclosure, rather than limit the present disclosure; even though the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced by equivalent replacements; and these modifications or replacements do not cause 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 method applied to a haptic feedback device, the haptic feedback device comprising a touch substrate and an actuator connected to the touch substrate, the touch substrate comprising a first key region, the haptic feedback method comprising: obtaining a touch position of a touch object on the touch substrate; and providing a first driving signal or a second driving signal to the actuator according to a positional relationship between the touch position and the first key region, wherein a frequency of the first driving signal is greater than a frequency of the second driving signal, the first driving signal is used to drive the actuator to vibrate the touch substrate to form a textured haptic feedback on a surface of the touch substrate, and the second driving signal is used to drive the actuator to vibrate the touch substrate to form a key haptic feedback on the surface of the touch substrate. The step of providing the first driving signal or the second driving signal to the actuator according to the positional relationship between the touch position and the first key region comprises: if the touch position is inside the first key region, continuously providing the first driving signal to the actuator until the touch position moves out of the first key region.

2. The tactile feedback method of claim 1, wherein, Before the step of continuously providing the first driving signal to the actuator, the method further comprises: providing the second driving signal to the actuator for a first preset time period, the first preset time period being greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

3. The tactile feedback method of claim 2, wherein, The step of providing the first driving signal or the second driving signal to the actuator according to the positional relationship between the touch position and the first key region comprises: in response to the touch position moving from inside or outside the first key region to a boundary of the first key region, providing the second driving signal to the actuator for a second preset time period, the second preset time period being greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

4. The tactile feedback method of claim 1, wherein, The first key region comprises a start point and an end point of a key, a direction from the start point to the end point being a preset direction, and the step of providing the first driving signal or the second driving signal to the actuator according to the positional relationship between the touch position and the first key region comprises: in response to the touch position moving to the end point in the preset direction within the first key region, providing the second driving signal to the actuator for a third preset time period, the third preset time period being greater than or equal to one period of the second driving signal and less than or equal to twenty periods of the second driving signal.

5. The tactile feedback method of claim 1, wherein, The haptic feedback device further comprises a speaker, and the haptic feedback method further comprises: controlling the speaker to play a first prompt sound when the first driving signal is provided to the actuator; and / or 6. The tactile feedback method of claim 1, wherein, controlling the speaker to play a second prompt sound when the second driving signal is provided to the actuator. ​ ​ 7. The tactile feedback method of claim 1, wherein, The touch substrate further comprises a second key area, and after the step of providing the actuator with the first driving signal or the second driving signal according to the positional relationship between the touch position and the first key area, the method further comprises: If the touch position moves from the first key area to inside the second key area, no key in the second key area is triggered and no tactile feedback corresponding to the second key area is triggered.

8. The tactile feedback method of claim 1, wherein, The touch substrate further comprises a non-key area, and the step of providing the actuator with the first driving signal or the second driving signal according to the positional relationship between the touch position and the first key area comprises: If the touch position moves from the non-key area to inside the first key area, a key in the first key area is triggered, and the actuator is provided with the first driving signal or the second driving signal according to the positional relationship between the touch position and the first key area.

9. The tactile feedback method according to any one of claims 1 to 8, wherein, The first driving signal comprises a carrier signal, and a frequency of the carrier signal is greater than or equal to 20 kHz.

10. The tactile feedback method of claim 9, wherein, The first driving signal further comprises a modulation signal, and a frequency of the modulation signal is greater than or equal to 10 Hz and less than or equal to 40 Hz.

11. The tactile feedback method of claim 10, wherein, A time-domain waveform of the modulation signal is a sinc function waveform, a sampling function waveform, a rectangular wave or a half wave.

12. The tactile feedback method of claim 10, wherein, A waveform function of the modulation signal is: Wherein, the g(t) is the modulation signal, the t is time, the f t is the frequency of the modulation signal, and the n is the number of zero-crossings of the modulation signal in one period.

13. The tactile feedback method according to any one of claims 1 to 8, wherein, A frequency of the second driving signal is greater than or equal to 50 Hz and less than or equal to 500 Hz. 14.A tactile feedback device applied to a tactile feedback apparatus, the tactile feedback apparatus comprising a touch substrate and an actuator connected to the touch substrate, the touch substrate comprising a first key area, the tactile feedback device comprising: an acquisition module configured to acquire a touch position of a touch body on the touch substrate; a driving module configured to provide the actuator with a first driving signal or a second driving signal according to a positional relationship between the touch position and the first key area, wherein a frequency of the first driving signal is greater than a frequency of the second driving signal, the first driving signal is used to drive the actuator to drive the touch substrate to vibrate so as to form a texture tactile feedback on a surface of the touch substrate, and the second driving signal is used to drive the actuator to drive the touch substrate to vibrate so as to form a key tactile feedback on the surface of the touch substrate. 15.A tactile feedback apparatus, comprising: a touch substrate comprising a first key area; an actuator connected to the touch substrate; and a driving assembly connected to the touch substrate and the actuator respectively, configured to perform the tactile feedback method according to any one of claims 1 to 13; wherein the actuator is configured to drive the touch substrate to vibrate under the driving of the first driving signal so as to form a texture tactile feedback on a surface of the touch substrate, and drive the touch substrate to vibrate under the driving of the second driving signal so as to form a key tactile feedback on the surface of the touch substrate. ​

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