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

Abstract

A haptic feedback method, a haptic feedback apparatus, and a haptic feedback device, relating to the technical field of haptic feedback. The haptic feedback method is applied to a haptic feedback substrate. The haptic feedback substrate comprises a touch substrate and an actuator connected to the touch substrate. The touch substrate comprises an interaction area. The interaction area comprises a plurality of interaction points separated from each other. The haptic feedback method comprises: acquiring a touch position of a touch body on a touch substrate; if the touch position is located in an interaction area, determining a target interaction point from among a plurality of interaction points on the basis of a positional relationship between the touch position and the interaction points; and on the basis of the correspondence between the interaction points and first driving signals, providing to an actuator a first driving signal corresponding to the target interaction point, so that the actuator drives the touch substrate to vibrate, wherein there is a time interval between the first driving signals corresponding to different interaction points.

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 substrate, the haptic feedback substrate comprising a touch substrate and an actuator connected to the touch substrate, the touch substrate comprising an interaction region, the interaction region comprising a plurality of interaction points separated from each other, the haptic feedback method comprising:

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

[0006] if the touch position is located in the interaction region, determining a target interaction point from the plurality of interaction points according to a positional relationship between the touch position and the interaction points;

[0007] providing a first driving signal corresponding to the target interaction point to the actuator according to a corresponding relationship between the interaction points and the first driving signal, so that the actuator drives the touch substrate to vibrate, wherein the first driving signals corresponding to different interaction points have a time interval.

[0008] In some embodiments, the step of determining a target interaction point from the plurality of interaction points according to a positional relationship between the touch position and the interaction points comprises:

[0009] if the touch position is an initial contact position of the touch body in the interaction region, determining an interaction point with the smallest distance from the touch position as the target interaction point.

[0010] In some embodiments, the step of determining a target interaction point from the plurality of interaction points according to a positional relationship between the touch position and the interaction points comprises:

[0011] if the touch position is a non-initial contact position of the touch body in the interaction region, determining an interaction point coinciding with the touch position as the target interaction point.

[0012] In some embodiments, the target interaction point includes a first target interaction point and a second target interaction point, and the first target interaction point and the second target interaction point are sequentially determined according to the positional relationship between the touch position and the interaction point.

[0013] The step of providing the actuator with the first driving signal corresponding to the target interaction point according to the correspondence between the interaction point and the first driving signal includes:

[0014] According to the correspondence between the interaction point and the first driving signal, the actuator is provided with the first driving signal corresponding to the first target interaction point.

[0015] If the first driving signal corresponding to the first target interaction point has been executed, the actuator is provided with the first driving signal corresponding to the second target interaction point.

[0016] If the first driving signal corresponding to the first target interaction point has not been executed, the actuator is not provided with the first driving signal corresponding to the second target interaction point.

[0017] In some embodiments, the first driving signals corresponding to different interaction points are the same.

[0018] In some embodiments, the first driving signals corresponding to at least two interaction points are different.

[0019] In some embodiments, the plurality of interaction points includes a starting interaction point and an ending interaction point, and the step of providing the actuator with the first driving signal corresponding to the target interaction point according to the correspondence between the interaction point and the first driving signal includes:

[0020] According to the distance between the target interaction point and the starting interaction point or the ending interaction point, the distance between the starting interaction point and the ending interaction point, the first driving signal corresponding to the starting interaction point, and the first driving signal corresponding to the ending interaction point, the actuator is provided with the first driving signal corresponding to the target interaction point.

[0021] In some embodiments, the first driving signal includes a carrier signal and a modulation signal, and the frequency of the carrier signal is greater than the frequency of the modulation signal.

[0022] At least one driving parameter is different between different driving signals, and the driving parameter includes the duration of the first driving signal, the amplitude of the carrier signal, the frequency of the modulation signal, and the number of zero-crossing points of the modulation signal in one period.

[0023] In some embodiments, the plurality of interaction points comprises a starting interaction point and an ending interaction point, and in a direction from the starting interaction point to the ending interaction point, a driving parameter of the first driving signal corresponding to each of the interaction points increases or decreases according to a preset trend, wherein the preset trend comprises at least one of a linear trend, an exponential trend, a power trend, and a logarithmic trend.

[0024] In some embodiments, the modulation signal has an even number of zero-crossing points in one period, and the number is greater than or equal to 10 and less than or equal to 40.

[0025] In some embodiments, after the step of obtaining the touch position of the touch object on the touch substrate, the method further comprises:

[0026] In response to the touch position moving from outside or inside the interaction area to the boundary of the interaction area, a second driving signal is provided to the actuator, the frequency of the second driving signal being less than the frequency of the first driving signal, the first driving signal being used to form a textured haptic feedback on the surface of the touch substrate, and the second driving signal being used to form a button haptic feedback on the surface of the touch substrate.

[0027] In some embodiments, the plurality of interaction points comprises an ending interaction point, and after the step of providing the first driving signal corresponding to the target interaction point to the actuator according to the correspondence between the interaction points and the first driving signal in the case where the target interaction point is the ending interaction point, the method further comprises:

[0028] A second driving signal is provided to the actuator, the frequency of the second driving signal being less than the frequency of the first driving signal, the first driving signal being used to form a textured haptic feedback on the surface of the touch substrate, and the second driving signal being used to form a button haptic feedback on the surface of the touch substrate.

[0029] In some embodiments, the frequency of the second driving signal is greater than or equal to 50 Hz and less than or equal to 500 Hz.

[0030] In some embodiments, the duration of the first driving signal corresponding to one of the interaction points is greater than or equal to one period of the first driving signal and less than or equal to ten periods of the first driving signal.

[0031] In some embodiments, the first driving signal comprises a carrier signal and a modulation signal, the frequency of the carrier signal being greater than or equal to 20 kHz, and the frequency of the modulation signal being greater than or equal to 10 Hz and less than or equal to 40 Hz.

[0032] In some embodiments, the time-domain waveform of the modulation signal is a sinc function waveform, a sampling function waveform, a rectangular waveform, or a half-wave.

[0033] In some embodiments, the waveform function of the modulation signal is:

[0034] 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-crossings of the modulation signal in one period. t

[0035] The present disclosure provides a haptic feedback device applied to a haptic feedback substrate, the haptic feedback substrate comprising a touch substrate and an actuator connected to the touch substrate, the touch substrate comprising an interaction region, the interaction region comprising a plurality of interaction points separated from each other, the haptic feedback device comprising:

[0036] a position acquisition module configured to acquire a touch position of a touch object on the touch substrate;

[0037] a target determination module configured to, if the touch position is located in the interaction region, determine a target interaction point from the plurality of interaction points according to a positional relationship between the touch position and the interaction points;

[0038] a signal driving module configured to provide a first driving signal corresponding to the target interaction point to the actuator according to a corresponding relationship between the interaction points and the first driving signal, so that the actuator drives the touch substrate to vibrate, wherein the first driving signals corresponding to different interaction points have a time interval.

[0039] The present disclosure provides a haptic feedback device, comprising:

[0040] a haptic feedback substrate comprising a touch substrate and an actuator connected to the touch substrate, the touch substrate comprising an interaction region, the interaction region comprising a plurality of interaction points separated from each other;

[0041] a driving assembly connected to the touch substrate and the actuator respectively and configured to perform the haptic feedback method as described in any one of the embodiments.

[0042] In some embodiments, the touch substrate is a touch display panel, the interaction region comprises an interaction key displayed on the touch display panel, an active area of the interaction key, and an area extending from a boundary of the active area by a preset distance, the preset distance being greater than 0 mm.

[0043] ​The above description is only a summary of the technical solutions of the present disclosure. In order to enable a clearer understanding of the technical means of the present disclosure, the above description can be implemented according to the content of the specification, and in order to enable the above and other purposes, features and advantages of the present disclosure to be more apparent and easy to understand, the following specific embodiments of the present disclosure are described.

[0044] Brief Description of Drawings

[0045] 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 as follows. 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 creating any creative labor. It should be noted that the proportions in the drawings are only for illustration and do not represent the actual proportions.

[0046] FIG. 1 shows a curve of the lateral friction force or normal force changing with the sliding distance in the related art;

[0047] FIG. 2 shows a flowchart of a haptic feedback method provided by the present disclosure;

[0048] FIG. 3 shows a schematic diagram of a finger at different touch positions on a touch substrate;

[0049] FIG. 4 shows a structural diagram of a haptic feedback device;

[0050] FIG. 5 shows a schematic diagram of several interaction regions;

[0051] FIG. 6 shows a waveform diagram of a carrier signal, a modulation signal, and a first driving signal synthesized by the carrier signal and the modulation signal;

[0052] FIG. 7 shows a vibration mode of a touch substrate driven by an actuator under a high-frequency signal;

[0053] FIG. 8 shows a relationship between the first driving signal and an interaction point in a first haptic feedback method example, and a curve of the lateral friction force on the finger changing with the touch position;

[0054] FIG. 9 shows a relationship between the first driving signal and an interaction point in a second haptic feedback method example, and a curve of the lateral friction force on the finger changing with the touch position;

[0055] FIG. 10 shows a relationship between the first driving signal and an interaction point in a third haptic feedback method example, and a curve of the lateral friction force on the finger changing with the touch position;

[0056] Fig. 11 shows a curve of the lateral friction force on the finger varying with the touch position in the fourth example of the haptic feedback method;

[0057] Fig. 12 shows the relationship between the first driving signal and the interaction point, and a curve of the lateral friction force on the finger varying with the touch position in the fifth example of the haptic feedback method;

[0058] Fig. 13 shows a curve of the lateral friction force on the finger varying with the touch position in the sixth example of the haptic feedback method;

[0059] Fig. 14 shows a waveform diagram of a second sinusoidal wave;

[0060] Fig. 15 shows a vibration mode of the touch substrate driven by the actuator under the second sinusoidal wave;

[0061] Fig. 16 shows a flowchart of a haptic feedback method.

[0062] DETAILED DESCRIPTION

[0063] In order to make the objects, 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 those of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

[0064] The haptic feedback substrate comprises a touch substrate and an actuator connected to the touch substrate. By applying a driving signal to the actuator, the actuator drives the touch substrate to vibrate, thereby realizing the haptic feedback function on the surface of the touch substrate.

[0065] 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 button feedback. The other is that the actuator drives the touch substrate to vibrate at a high frequency to generate a film pressing effect, thereby changing the friction coefficient between the touch object (such as a finger) and the surface of the touch substrate to simulate the texture haptic feedback.

[0066] 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 ability 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.

[0067] The high-frequency vibration haptic feedback can be used to generate texture haptic feedback, such as the haptic effect of touching silk, carpet, etc. The high-frequency vibration can be used to simulate, for example, a sliding bar, a knob, etc.

[0068] For the simulation of elements such as sliding bars and knobs, the following solutions can be adopted: 1) change the normal force of the finger on the surface of the touch substrate by intermittent low-frequency vibration to simulate the sliding operation; 2) change the friction coefficient between the finger and the touch substrate by the pressure film effect generated by high-frequency vibration, and then change the lateral friction force between the finger and the touch substrate to simulate the sliding operation.

[0069] The present disclosure provides a haptic feedback method applied to a haptic feedback substrate, as shown in FIG. 4, the haptic feedback substrate comprising a touch substrate 10 and an actuator 11 connected with the touch substrate 10. The execution subject of the haptic feedback method is, for example, a driving assembly 12 of the haptic feedback substrate, as shown in FIG. 4, the driving assembly 12 being connected with the touch substrate 10 and the actuator 11 respectively.

[0070] Exemplarily, as shown in FIG. 4, the driving assembly 12 comprises, for example, a control board 121 and an amplification circuit 122. Specifically, the control board 121 can detect the touch position of a touch object on the touch substrate 10 in real time, and when it is detected that haptic feedback needs to be triggered, a driving signal is sent out, which 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 haptic feedback.

[0071] Exemplarily, as shown in FIG. 5, the touch substrate 10 comprises an interactive area 50.

[0072] Exemplarily, the touch substrate 10 is a touch display panel. In FIG. 5, the interactive area 50 is the area within the dashed line frame, the interactive area 50 comprises an interactive key 51 displayed on the touch display panel, an active area of the interactive key 51, and an area extending a preset distance from the boundary of the active area of the interactive key 51, the preset distance being 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.

[0073] Exemplarily, as shown in FIG. 5, in the direction perpendicular to the sliding direction of the interactive key 51, the width of the interactive area 50 is, for example, 20 mm.

[0074] Exemplarily, the interactive key 51 can be a sliding interactive key (as shown in FIG. 5), a rolling interactive key, a knob interactive key, or a button interactive key, etc.

[0075] Exemplarily, there are two kinds of sliding interactive keys, which are a sliding interactive key 51A (as shown in FIG. 5a) and a sliding interactive key 51B (as shown in FIG. 5b).

[0076] As shown in FIG. 5a, the sliding interaction key 51A slides on the sliding bar continuously, and can stop at any position within the range of 0% to 100% on the sliding bar.

[0077] As shown in FIG. 5b, the sliding interaction key 51B slides on the sliding bar discontinuously, and can only stop at the positions on the sliding bar that are marked by the segments, i.e., the interaction points.

[0078] For example, as shown in FIG. 5b, the interaction region 50 includes a plurality of interaction points that are separated from each other. The distance between two adjacent interaction points can be equal or unequal, which is not limited in the present disclosure.

[0079] As shown in FIG. 5b, the sliding bar includes six interaction points (e.g., JH1 to JH6) that are distributed equidistantly in the extension direction of the sliding bar, and are located at 0%, 20%, 40%, 60%, 80% and 100% of the sliding bar respectively. The number of the interaction points included in the interaction region 50 can be adjusted according to the actual length of the sliding bar and actual requirements.

[0080] For example, as shown in FIG. 5b, the plurality of interaction points in the interaction region 50 include a starting interaction point SP and an ending interaction point EP. In FIG. 5b, the leftmost interaction point JH1 is the starting interaction point SP, and the rightmost interaction point JH6 is the ending interaction point EP.

[0081] It should be noted that an interaction point can include one coordinate point in the interaction region 50, or a plurality of coordinate points, such as a line segment shown in FIG. 5b.

[0082] As shown in FIG. 2, the tactile feedback method includes:

[0083] Step S21: obtaining a touch position of a touch object on the touch substrate 10.

[0084] For example, the touch object is 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 regarded as the touch position.

[0085] Step S22: if the touch position is located in the interaction region 50, determining a target interaction point from the plurality of interaction points according to the positional relationship between the touch position and the interaction points.

[0086] For example, the positional relationship can include the distance, the included angle and the relative position between the touch position and the interaction points.

[0087] In a specific implementation, it can be firstly judged whether the touch position is located in the interaction region 50, if yes, it is further judged whether the positional relationship between the touch position and the interaction point meets the preset condition, and the interaction point meeting the preset condition is determined as the target interaction point. The preset condition may, for example, be that the distance between the touch position and the interaction point is the closest or coincides.

[0088] Exemplarily, the step S22 may, specifically, include: if the touch position is an initial contact position of the touch object in the interaction region 50, determining the interaction point with the closest distance to the touch position as the target interaction point.

[0089] As shown in a of FIG. 3, when the touch object (such as a finger) first touches in the interaction region 50, the touch position of the touch object in the interaction region 50 is an initial contact position, in this case, the distances between the interaction points JH1-JH6 and the touch position can be calculated, and then the interaction point (such as the interaction point JH1 shown in FIG. 3) with the closest distance is determined as the target interaction point, and a haptic feedback is triggered, that is, the first driving signal corresponding to the target interaction point is provided to the actuator 11. Meanwhile, the sliding button in the display picture can also be controlled to be adjusted to the position of the target interaction point.

[0090] Exemplarily, the step S22 may, specifically, include: if the touch position is a non-initial contact position of the touch object in the interaction region 50, determining the interaction point coinciding with the touch position as the target interaction point.

[0091] As shown in b and c of FIG. 3, in the process of sliding of the touch object (such as a finger) from the initial contact position, the interaction point coinciding with the touch position can be determined as the target interaction point. The touch object slides through the interaction point JH2 and the interaction point JH3 in turn, that is, the touch position first coincides with the interaction point JH2, at this time, the interaction point JH2 can be determined as the target interaction point. Then, the touch position coincides with the interaction point JH3, at this time, the interaction point JH3 can be determined as the target interaction point.

[0092] The step S23: according to the corresponding relationship between the interaction point and the first driving signal, providing the first driving signal corresponding to the target interaction point to the actuator 11, so that the actuator 11 drives the touch substrate 10 to vibrate, wherein the first driving signals corresponding to different interaction points have time intervals.

[0093] Exemplarily, the corresponding relationship between the interaction point and the first driving signal can be pre-set in the driving assembly 12.

[0094] The time interval between the first driving signals corresponding to different interaction points means that there is a time interval between the first driving signal corresponding to one interaction point and the first driving signal corresponding to another interaction point, and no driving signal is provided to the actuator 11 in the time interval, so that no tactile feedback is generated on the surface of the touch substrate 10.

[0095] As shown in a of FIG. 3, when the touch body (such as a finger) first touches in the interaction area 50, the closest interaction point to the initial touch position is the interaction point JH1, so the interaction point JH1 is determined as the target interaction point, and a tactile feedback is triggered, that is, the first driving signal 1 corresponding to the interaction point JH1 is provided to the actuator 11. Under the action of the first driving signal 1, the tactile feedback 1 is generated on the surface of the touch substrate 10.

[0096] As shown in b of FIG. 3, the touch body (such as a finger) slides to the right from the initial touch position, and the touch position first coincides with the interaction point JH2. At this time, the interaction point JH2 is determined as the target interaction point, and a tactile feedback is triggered, that is, the first driving signal 2 corresponding to the interaction point JH2 is provided to the actuator 11. Under the action of the first driving signal 2, the tactile feedback 3 is generated on the surface of the touch substrate 10.

[0097] As shown in c of FIG. 3, the finger continues to slide to the right, and the touch position coincides with the interaction point JH3. At this time, the interaction point JH3 is determined as the target interaction point, and a tactile feedback is triggered, that is, the first driving signal 3 corresponding to the interaction point JH3 is provided to the actuator 11. Under the action of the first driving signal 3, the tactile feedback 3 is generated on the surface of the touch substrate 10.

[0098] Since there is a time interval between the first driving signals corresponding to different interaction points, that is, there is a time interval between the first driving signal 1, the first driving signal 2 and the first driving signal 3, there is a time interval between the tactile feedbacks corresponding to different interaction points, that is, there is a time interval between the tactile feedback 1, the tactile feedback 2 and the tactile feedback 3. In this way, the segmented triggering of the tactile feedback at multiple interaction points is realized, that is, only when the touch position passes through the interaction point, the tactile feedback is generated, and when sliding between the interaction points, there is no tactile feedback, so that the tactile feedback of the surface of the touch substrate 10 is rough, the user can estimate the current position of the finger according to the rough tactile feedback, support the user to perform blind operation on the surface of the tactile substrate, help the user to better master the operation progress, and prevent mis-touch.

[0099] Exemplarily, the tactile feedback can be a texture tactile feedback formed by high-frequency vibration of the actuator 11 driving the touch substrate 10, or a key tactile feedback formed by low-frequency vibration of the actuator 11 driving the touch substrate 10, etc.

[0100] Exemplarily, the vibration generated by the actuator 11 driving the touch substrate 10 can be a key vibration or a button vibration, or a friction vibration or a texture vibration, and the present disclosure does not limit this.

[0101] Exemplarily, the target interaction point includes a first target interaction point and a second target interaction point, and the first target interaction point and the second target interaction point are target interaction points determined in sequence according to the positional relationship between the touch position and the interaction point. For example, the first target interaction point is determined first, and the second target interaction point is determined later.

[0102] Exemplarily, step S23 can specifically include:

[0103] Step S31: According to the corresponding relationship between the interaction point and the first driving signal, the first driving signal corresponding to the first target interaction point is provided to the actuator 11.

[0104] Step S32: If the first driving signal corresponding to the first target interaction point has been executed, the first driving signal corresponding to the second target interaction point is provided to the actuator 11.

[0105] Step S33: If the first driving signal corresponding to the first target interaction point has not been executed, the first driving signal corresponding to the second target interaction point is not provided to the actuator 11.

[0106] For example, when the touch object slides along the sliding bar in the interaction area 50, for example, slides through the interaction point JH2 and the interaction point JH3 in sequence. In this process, the interaction point JH2 is first determined as the target interaction point, and the target interaction point is the first target interaction point. The first driving signal corresponding to the first target interaction point is provided to the actuator 11. Then, the interaction point JH3 is determined as the target interaction point, and the target interaction point is the second target interaction point. Before the first driving signal corresponding to the second target interaction point is provided to the actuator 11, it can be first judged whether the first driving signal corresponding to the first target interaction point has been executed. If yes, the first driving signal corresponding to the second target interaction point is provided to the actuator 11. If no, the first driving signal corresponding to the second target interaction point is not provided to the actuator 11. In this way, the first driving signal corresponding to the first target interaction point and the first driving signal corresponding to the second target interaction point can be avoided from being provided to the actuator 11 at the same time, which is beneficial to reduce noise interference.

[0107] It should be noted that the first target interaction point and the second target interaction point can be the same interaction point or different interaction points, and the present disclosure does not limit this.

[0108] In some implementations, the first driving signal is the same for different interaction points. Specifically, the voltage amplitude (as shown in Figure 8a), frequency, and duration of the first driving signal corresponding to multiple interaction points are all constant values.

[0109] In other embodiments, the first driving signals corresponding to at least two interaction points are different. These different first driving signals may have different durations (as shown in Figure 9), different voltage amplitudes (as shown in Figure 10), or different frequencies (as shown in Figure 12), etc.

[0110] In some implementations, the first driving signal includes a carrier signal and a modulation signal, wherein the frequency of the carrier signal is greater than the frequency of the modulation signal.

[0111] For example, as shown in Figure 6, the carrier signal f1(t) is a single-frequency sine wave with the wave function f1(t) = U0sin(2πf h t), f h U is the frequency of the carrier signal, and U0 is the amplitude of the carrier signal, i.e., the voltage amplitude of the first driving signal. Under the drive of the wave function f1(t), the mode shape of the touch substrate 10 is a standing wave mode shape, as shown in Figure 7.

[0112] For example, the frequency of the carrier signal is, for example, the resonant frequency of the touch substrate 10, and is greater than or equal to 20 kHz.

[0113] For example, the time-domain waveform of the modulation signal is a singer function waveform, a sampling function waveform, a rectangular wave, or a half-wave, etc. When the time-domain waveform of the modulation signal is a singer function waveform or a sampling function waveform, the noise generated by the actuator 11 driving the touch substrate 10 to vibrate can be reduced.

[0114] For example, as shown in Figure 6, the modulation signal g(t) is a singer function, and the corresponding waveform function is:

[0115] Where t is time, f t Let n be the frequency of the modulating signal, and n be the number of zero-crossing points of the modulating signal in one period.

[0116] The number of zero-crossing points is the number of real numbers t that make g(t) = 0.

[0117] For example, the number of zero-crossings of the modulated signal in one period is an even number, greater than or equal to 10 and less than or equal to 40. The modulated signal g(t) shown in Figure 6 has 24 zero-crossings in one period.

[0118] For example, the frequency of the modulated signal is greater than or equal to 10 Hz and less than or equal to 40 Hz.

[0119] Exemplarily, as shown in FIG. 6, the first driving signal h(t) is a combined 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), so as to adjust the friction coefficient between the finger and the touch substrate 10.

[0120] As shown in FIG. 6, the frequency f of the modulation signal g(t) is 20 Hz, and accordingly, the period of the first driving signal h(t) is 50 ms. The modulation signal g(t) and the first driving signal h(t) shown in FIG. 6 are both waveforms in one period (vibration period shown in FIG. 6), that is, the period number Ct = 1. t As shown in FIG. 6, the frequency f of the modulation signal g(t) is 20 Hz, and accordingly, the period of the first driving signal h(t) is 50 ms. The modulation signal g(t) and the first driving signal h(t) shown in FIG. 6 are both waveforms in one period (vibration period shown in FIG. 6), that is, the period number Ct = 1.

[0121] Exemplarily, at least one driving parameter is different between different first driving signals (such as the first driving signal 1 and the first driving signal 2), and the driving parameter includes the duration (such as the period number Ct) of the first driving signal, the amplitude (such as U0) of the carrier signal, the frequency (such as f t ) of the modulation signal, and the number (such as n) of zero-crossing points of the modulation signal in one period. The period number Ct refers to the number of periods of the first driving signal contained in the duration of the first driving signal.

[0122] Exemplarily, the duration of the first driving signal corresponding to one interaction point is greater than or equal to one period of the first driving signal (that is, the period number Ct = 1) and less than or equal to ten periods of the first driving signal (that is, the period number Ct = 10).

[0123] Exemplarily, the duration of the first driving signal corresponding to one interaction point is four periods (that is, the period number Ct = 4), five periods (that is, the period number Ct = 5), or six periods (that is, the period number Ct = 6) of the first driving signal. In this way, it is beneficial to generate strong haptic feedback in a short time, which can not only avoid haptic lag, but also ensure a pause between two adjacent haptic feedbacks, thereby enhancing the sense of frustration.

[0124] Under the driving of the high-frequency signal (such as a signal with a frequency greater than 20 kHz), the actuator 11 drives the touch substrate 10 to vibrate at high frequency. 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 the finger feels a smoother touch. Therefore, the high-frequency vibration can reduce the lateral friction of the finger on the surface of the touch substrate 10, and the greater the amplitude of the high-frequency vibration, the smaller the lateral friction of the finger on the surface of the touch substrate 10.

[0125] In some embodiments, the driving parameter of the first driving signal corresponding to each interaction point increases or decreases according to a preset trend in a direction from the starting interaction point SP to the ending interaction point EP. The preset trend may, for example, include at least one of a linear trend, an exponential trend, a power trend, and a logarithmic trend.

[0126] To prevent false touch, exemplary after step S21, further comprising: in response to the touch position moving from outside the interaction area 50 or inside the interaction area 50 to the boundary of the interaction area 50, providing a second driving signal to the actuator 11, the frequency of the second driving signal being less than the frequency of the first driving signal, the first driving signal being used to form a textured tactile feedback on the surface of the touch substrate 10, and the second driving signal being used to form a key tactile feedback on the surface of the touch substrate 10.

[0127] Exemplary, in the process of the touch position moving from outside the interaction area 50 to inside the interaction area 50, when the touch position is outside the interaction area 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 moves to the boundary of the interaction area 50 (i.e. the boundary between inside the interaction area 50 and outside the interaction area 50). In response to the touch position moving to the boundary of the interaction area 50, key tactile feedback can be triggered, i.e. the second driving signal is provided to the actuator 11 for a first preset time length, to remind the user that he is about to enter the interaction area 50 and can further perform corresponding operations.

[0128] Exemplary, in the process of the touch position moving from inside the interaction area 50 to outside the interaction area 50, when the touch position is inside the interaction area 50, textured tactile feedback can be triggered, i.e. the first driving signal is continuously provided to the actuator 11 until the touch position moves to the boundary of the interaction area 50. In response to the touch position moving to the boundary of the interaction area 50, key tactile feedback can be triggered, i.e. the second driving signal is provided to the actuator 11 for a first preset time length, to remind the user that he is about to leave the interaction area 50 and avoid false touch. When the touch position moves to outside the interaction area 50, no tactile feedback can be triggered, i.e. no first driving signal or second driving signal is provided to the actuator 11.

[0129] Exemplary, the first preset time length is greater than or equal to one period of the second driving signal and less than or equal to ten periods of the second driving signal. For example, if the frequency of the second driving signal is f l , then the first preset time length is greater than or equal to 1 / f l , and less than or equal to 10 / f l .

[0130] To prevent accidental touches, for example, when the target interaction point is the termination interaction point EP, after step S23, the method may further include: providing a second driving signal to the actuator 11, the frequency of the second driving signal being less than the frequency of the first driving signal, the first driving signal being used to form textured tactile feedback on the surface of the touch substrate 10, and the second driving signal being used to form button tactile feedback on the surface of the touch substrate 10.

[0131] For example, during the movement of the touch position along the direction from the starting interaction point SP to the ending interaction point EP, in response to the touch position coinciding with the ending interaction point EP, i.e. the target interaction point is the ending interaction point EP, texture haptic feedback can be triggered, i.e., a first drive signal corresponding to the ending interaction point EP is provided to the actuator 11. After the first drive signal is executed, vibration haptic feedback can be triggered, i.e., a second drive signal of a second preset duration is provided to the actuator 11 to remind the user that the button ending interaction point EP has been reached, thus avoiding accidental touch.

[0132] The second preset duration is greater than or equal to one period of the second driving signal, and less than or equal to ten periods of the second driving signal. For example, one period of the second driving signal is 1 / f. l The second preset duration is greater than or equal to 1 / f l And less than or equal to 10 / f l .

[0133] For example, the first preset duration and the second preset duration can be different from each other, thereby creating tactile feedback of varying durations for the buttons, further enriching the user's tactile experience, helping the user better grasp the operation progress, and further preventing accidental touches. Of course, the first preset duration and the second preset duration can also be the same, and this disclosure does not limit this.

[0134] For example, the frequency of the second drive signal is greater than or equal to 50Hz and less than or equal to 500Hz.

[0135] For example, the frequency of the second driving signal is the resonant frequency of the touch substrate 10.

[0136] For example, as shown in Figure 14, 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 15. The actuator 11, driven by the second driving signal, causes the touch substrate 10 to vibrate in the following mode.

[0137] Exemplarily, the step S23 can specifically include: providing the actuator 11 with the first driving signal corresponding to the target interaction point according to the distance between the target interaction point and the starting interaction point SP or the ending interaction point EP, the distance between the starting interaction point SP and the ending interaction point EP, the first driving signal corresponding to the starting interaction point SP, and the first driving signal corresponding to the ending interaction point EP.

[0138] The following will exemplarily illustrate the scheme provided by the present disclosure by taking an example of the interaction region 50 including the sliding interaction key 51B. In the following example, the interaction region 50 includes a plurality of interaction points, the touch object moves in the interaction region 50 along a preset direction, the preset direction is a direction in which the starting interaction point SP points to the ending interaction point EP, the first driving signal is a combined signal of the carrier signal f1(t) and the modulation signal g(t), and the wave function is h(t) = f1(t)*g(t).

[0139] In the first example, the first driving signals corresponding to different interaction points are completely same, i.e., the voltage amplitudes of the first driving signals corresponding to different interaction points are same (as shown in a of FIG. 8), the frequencies of the first driving signals corresponding to different interaction points are same, and the durations of the first driving signals corresponding to different interaction points are same.

[0140] FIG. 8b shows the change of the lateral friction force received by the finger during the continuous sliding in the interaction region 50 with the touch position in the case that the first driving signals corresponding to different interaction points are same, wherein the abscissa sd represents the distance between the touch position and the starting interaction point. Since the voltage of the first driving signal corresponding to different interaction points is a constant value U0, the change amplitude of the lateral friction force received by the finger at different interaction points during the sliding of the finger in the interaction region 50 along the preset direction is constant.

[0141] In addition, since the frequency of the first driving signal corresponding to different interaction points is a constant value, the change frequency of the lateral friction force received by the finger at different interaction points is constant. Since the duration of the first driving signal corresponding to different interaction points is a constant value, the change number of the lateral friction force received by the finger at different interaction points is constant.

[0142] In the second example to the sixth example, the first driving signals corresponding to different interaction points are different.

[0143] In the second example, the durations or the cycle numbers Ct of different first driving signals (such as the first driving signal 1 and the first driving signal 2) are different. Specifically, when the touch position moves in the interaction region 50 along the preset direction, the cycle number Ct of the first driving signal corresponding to each interaction point P increases in a linear trend. FIG. 9a shows the corresponding relationship between the cycle number Ct and the interaction points. As shown in a of FIG. 9, the cycle numbers Ct of the first driving signals corresponding to the interaction points JH1 to JH6 are 1, 2, 3, 4, 5 and 6 in turn.

[0144] For example, when the finger slides to the interaction point JH3, the system triggers a haptic feedback signal once, and the duration of the first driving signal is three periods of the first driving signal (i.e., the number of periods Ct=3). When the finger slides to the interaction point JH4, the system triggers a haptic feedback signal once again, and the duration of the first driving signal is four periods of the first driving signal (i.e., the number of periods Ct=4). When the finger continuously slides in the sliding bar region, the lateral friction force felt by the finger is shown in FIG. 9b, where the horizontal axis sd represents the distance between the touch position and the starting interaction point.

[0145] As shown in FIG. 9b, because the number of periods of the first driving signal corresponding to different interaction points is different, the number of times of lateral friction force changes felt by the finger at different interaction points gradually increases when the finger slides in the preset direction in the interaction region 50. For example, the number of times of lateral friction force changes felt by the finger at the interaction point JH1 is 1, the number of times of lateral friction force changes felt by the finger at the interaction point JH2 is 2, the number of times of lateral friction force changes felt by the finger at the interaction point JH3 is 3, and so on.

[0146] In addition, because the voltage of the first driving signal corresponding to different interaction points is a constant value U0, the change amplitude of the lateral friction force felt by the finger at different interaction points is constant. Because the frequency of the first driving signal corresponding to different interaction points is a constant value, the change frequency of the lateral friction force felt by the finger at different interaction points is constant.

[0147] In the present example, for any target interaction point in the interaction region 50, the number of periods Ctcorresponding to the target interaction point can be determined according to the distance d1 between the target interaction point and the starting interaction point SP, the distance d between the starting interaction point SP and the ending interaction point EP, the number of periods Ct min corresponding to the starting interaction point SP, and the number of periods Ct max corresponding to the ending interaction point EP. For example, Ct= Ct min + (Ct max -Ct min )*m%, where m% is greater than or equal to 0% and less than or equal to 100%, and m%=d1 / d. Here, Ct max is greater than Ct min .

[0148] In a third example, the carrier signal amplitude U0 is different between different first driving signals (such as the first driving signal 1 and the first driving signal 2). Specifically, when the touch position moves in the preset direction in the interaction region 50, the carrier signal amplitude U0 corresponding to each interaction point increases in a linear trend. The curve of the linear change of the carrier signal amplitude U0 with the interaction point position is shown in FIG. 10a. The carrier signal amplitude U0 corresponding to the starting interaction point SP is U0=U0min The amplitude of the carrier signal corresponding to the termination interaction point EP is U0 = U max .

[0149] In this example, for any target interaction point within the interaction area 50, the distance d1 between the target interaction point and the starting interaction point SP, the distance d between the starting interaction point SP and the ending interaction point EP, and the carrier signal amplitude U corresponding to the starting interaction point SP can be used as a reference. min And the carrier signal amplitude U corresponding to the termination interaction point EP max Determine the carrier signal amplitude U0 corresponding to the target interaction point, for example, U0 = U min+ (U max -U min )*m%, where m% is greater than or equal to 0% and less than or equal to 100%, and m% = d1 / d. Where U max Greater than U min .

[0150] For example, U min The minimum voltage required to produce the pressure film effect, U max The voltage required for the pressure film effect to achieve the minimum coefficient of friction, U min with U max The specific value is related to the structure of the haptic feedback substrate.

[0151] By changing the amplitude voltage of the first driving signal during the sliding process, the lateral friction force felt by the finger is altered. Based on the principle of the pressure film effect, as the finger slides from the left end to the right end, the pressure film effect gradually increases with the increase of the carrier signal amplitude U0, the lateral friction force felt by the finger gradually decreases, and the surface of the touch substrate 10 feels increasingly smooth. Referring to Figure b in Figure 10, the change in lateral friction force experienced by the finger with the touch position is shown when the carrier signal amplitude U0 changes linearly with the interaction point position. The horizontal axis sd represents the distance between the touch position and the initial interaction point.

[0152] As shown in Figure 10b, since the amplitude U0 of the carrier signal of the first driving signal corresponding to different interaction points increases linearly, the change in lateral friction force felt by the finger at different interaction points gradually increases during the process of sliding the finger in the interaction area 50 along the preset direction.

[0153] Furthermore, since the frequency of the first driving signal corresponding to different interaction points is constant, the frequency of change in the lateral friction force felt by the finger at different interaction points is constant. Since the number of cycles of the first driving signal corresponding to different interaction points is constant, the number of changes in the lateral friction force felt by the finger at different interaction points is constant.

[0154] In the fourth example, the duration (e.g., number of cycles Ct) between different first driving signals (e.g., first driving signal 1 and first driving signal 2) and the carrier signal amplitude U0 are different. The correspondence between the number of cycles Ct and the interaction point is the same as in the second example, and the correspondence between the carrier signal amplitude U0 and the interaction point is the same as in the third example.

[0155] Referring to Figure 11, the lateral friction force experienced by the finger varies with the touch position when both the cycle number Ct and the carrier signal amplitude U0 change linearly with the interaction point position. The horizontal axis sd represents the distance between the touch position and the initial interaction point. As shown in Figure 11, during the interaction of the finger in the interaction area 50 along the preset direction, the lateral friction force felt by the finger gradually decreases, and the subtlety of the change in lateral friction force felt by the finger gradually increases.

[0156] As shown in Figure 11, since the amplitude U0 of the carrier signal of the first driving signal corresponding to different interaction points increases linearly, the amplitude of the change in lateral friction force felt by the finger at different interaction points gradually increases during the sliding of the finger along the preset direction within the interaction area 50. Furthermore, since the number of cycles of the first driving signal corresponding to different interaction points is different, the number of changes in lateral friction force felt by the finger at different interaction points gradually increases during the sliding of the finger along the preset direction within the interaction area 50.

[0157] In addition, since the frequency of the first driving signal corresponding to different interaction points is constant, the frequency of the change in lateral friction force felt by the finger at different interaction points is constant.

[0158] In the fifth example, the modulation signal frequency f between different first drive signals (such as first drive signal 1 and first drive signal 2) t Different. Specifically, when the touch position moves along a preset direction within the interaction area 50, the modulation signal frequency f corresponding to each interaction point... t It increases linearly. Refer to Figure 12a for the modulation signal frequency f. t A curve that linearly changes with the interaction point position P. The modulation signal frequency f changes as the finger slides on the slider. t The amplitude f of the carrier signal changes linearly with the position P of the initial interaction point. t =f min The amplitude f of the carrier signal corresponding to the termination interaction point EP t =f max .

[0159] In this example, for any target interaction point within the interaction area 50, the distance d1 between the target interaction point and the starting interaction point SP, the distance d between the starting interaction point SP and the ending interaction point EP, and the modulation signal frequency f corresponding to the starting interaction point SP can be used as the basis for the interaction.min and the modulation signal frequency f corresponding to the target interaction point EP max , determine the modulation signal frequency f corresponding to the target interaction point t , for example, f t = f min + (f max -f min )*m%, wherein m% is greater than or equal to 0% and less than or equal to 100%, m% = d1 / d. Wherein f max is greater than f min .

[0160] By changing the modulation signal frequency f t during the sliding process, the delicacy of the lateral friction force change felt by the finger can be changed. Referring to the b in FIG. 12, the lateral friction force felt by the finger changes with the change of the touch position when the modulation signal frequency f t changes linearly with the position of the interaction point P. The horizontal coordinate sd represents the distance between the touch position and the starting interaction point. During the process of sliding the finger from the left end to the right end, the delicacy of the lateral friction force change felt by the finger gradually increases with the linear increase of the modulation signal frequency f t .

[0161] As shown in b of FIG. 12, since the frequency of the first driving signal corresponding to different interaction points gradually increases, the frequency of the lateral friction force change felt by the finger at different interaction points gradually increases during the process of sliding the finger in the preset direction within the interaction area 50.

[0162] In addition, since the carrier signal amplitude U0 of the first driving signal corresponding to different interaction points is constant, the amplitude of the lateral friction force change felt by the finger at different interaction points is constant. Since the number of cycles of the first driving signal corresponding to different interaction points is constant, the number of times of the lateral friction force change felt by the finger at different interaction points is constant.

[0163] In the sixth example, the carrier signal amplitude U0 and the modulation signal frequency f t between different first driving signals (such as the first driving signal 1 and the first driving signal 2) are different, the corresponding relationship between the carrier signal amplitude U0 and the interaction point is the same as that in the third example, and the corresponding relationship between the modulation signal frequency f t and the interaction point support is the same as that in the fifth example.

[0164] Referring to FIG. 13, the carrier signal amplitude U0 and the modulation signal frequency f tIn the case of linear variation of the lateral friction force at each interaction point, the lateral friction force experienced by the finger varies with the touch position, and the horizontal coordinate sd represents the distance between the touch position and the starting interaction point. As shown in FIG. 13, during the process in which the finger slides from the left end to the right end, the lateral friction force experienced by the finger decreases, and the degree of delicacy of the change in the lateral friction force experienced by the finger gradually increases.

[0165] As shown in FIG. 13, because the carrier signal amplitude U0 of the first driving signal corresponding to different interaction points linearly increases, the change amplitude of the lateral friction force experienced by the finger at different interaction points gradually increases during the process in which the finger slides in the preset direction within the interaction region 50. Moreover, because the frequency of the first driving signal corresponding to different interaction points linearly increases, the change frequency of the lateral friction force experienced by the finger at different interaction points gradually increases.

[0166] In addition, because the number of cycles of the first driving signal corresponding to different interaction points is constant, the number of changes in the lateral friction force experienced by the finger at different interaction points is constant during the process in which the finger slides in the preset direction within the interaction region 50.

[0167] In some embodiments, the waveform of the first driving signal can also be a first sinusoidal wave, and the frequency of the first sinusoidal wave is, for example, the resonance frequency of the touch substrate 10 and is greater than or equal to 20 kHz.

[0168] For example, the waveform (i.e., the first sinusoidal wave) of the first driving signal is a sinusoidal wave of a single frequency, and the waveform function is f3(t) = sin(2πf g t), where f g is the frequency of the first sinusoidal wave.

[0169] In this embodiment, at least one driving parameter is different between different first driving signals (such as the first driving signal 1 and the first driving signal 2), and the driving parameters include the amplitude and the frequency of the first sinusoidal wave.

[0170] In some embodiments, the waveform of the first driving signal can also be a second sinusoidal wave, and the frequency of the second sinusoidal wave is, for example, the resonance frequency of the touch substrate 10 and is greater than or equal to 50 Hz and less than or equal to 500 Hz.

[0171] For example, the waveform (i.e., the second sinusoidal wave) of the first driving signal is a sinusoidal wave of a single frequency, and the waveform function is f2(t) = sin(2πf l t), where f l is the frequency of the second sinusoidal wave.

[0172] In this embodiment, at least one driving parameter is different between different first driving signals (such as the first driving signal 1 and the first driving signal 2), and the driving parameters include the amplitude and the frequency of the second sinusoidal wave.

[0173] In the vehicle display, the interactive key 51 can be a sliding key for adjusting the volume, for example, the touch feeling increases as the volume increases. The interactive key 51 can also be a sliding key for adjusting the temperature of the air conditioner, for example, the touch feeling increases as the temperature increases. The interactive key 51 can also be a key in the touchpad, etc.

[0174] The present disclosure provides a kind of haptic feedback device, applied to haptic feedback substrate, haptic feedback substrate includes touch substrate 10, and the actuator 11 connected with touch substrate 10, touch substrate 10 includes interactive area 50, interactive area 50 includes multiple interactive points separated from each other.

[0175] The haptic feedback device includes: position acquisition module, configured to obtain the touch position of the touch body on the touch substrate 10;Target determination module is configured to if the touch position is located in the interactive area 50, then according to the position relationship between the touch position and the interactive point, determine the target interactive point from the multiple interactive points;And signal driving module is configured to according to the corresponding relationship between the interactive point and the first driving signal, the first driving signal corresponding to the target interactive point is provided to the actuator 11, to make the actuator 11 drive the touch substrate 10 to produce vibration, wherein the first driving signal corresponding to different interactive points has time interval.

[0176] Regarding the haptic feedback device provided by the present disclosure, the specific manner in which each module performs an operation has been described in detail in the embodiments of the haptic feedback method, and will not be described in detail here. Those skilled in the art can understand that the haptic feedback device provided by the present disclosure has the advantages of the above-mentioned haptic feedback method. The haptic feedback device provided by the present disclosure can be integrated in products such as vehicle displays, notebooks, and displays, to provide users with a rich and realistic haptic experience.

[0177] In the vehicle display, the interactive key 51 can be a sliding key for adjusting the volume, for example, the touch feeling increases as the volume increases. The interactive key 51 can also be a sliding key for adjusting the temperature of the air conditioner, for example, the touch feeling increases as the temperature increases. The interactive key 51 can also be a key in the touchpad, etc.

[0178] The present disclosure provides a kind of haptic feedback device, as shown in Figure 4, the haptic feedback device includes: haptic feedback substrate, haptic feedback substrate includes touch substrate 10, and the actuator 11 connected with touch substrate 10, touch substrate 10 includes interactive area 50, interactive area 50 includes multiple interactive points separated from each other;And driving assembly 12, respectively with touch substrate 10 and actuator 11 connection, configured to any embodiment provided haptic feedback method.

[0179] Those skilled in the art can understand 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 in a vehicle display, a notebook, a display, and the like, and can provide a user with a rich and realistic haptic experience.

[0180] Exemplarily, as shown in FIG. 4, the driving assembly 12 includes, for example, a control board 121 and an amplification circuit 122. Specifically, the control board 121 can be used to detect the touch position of the touch body on the touch substrate 10 in real time, and when it is detected that haptic feedback needs to be triggered, a driving signal is sent, 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 haptic feedback.

[0181] Exemplarily, as shown in FIG. 16, when a finger touches the touch substrate 10, the driving assembly 12 acquires the touch position of the finger on the touch substrate 10, determines whether the touch position corresponds to a click interaction key 51, and if so, further determines the type of the interaction key 51 and determines whether haptic feedback needs to be triggered, and if so, provides a driving signal to the actuator 11 and triggers a user interface (UI) animation displayed on the touch substrate 10. The interaction key 51 can be a sliding interaction key 51 (as shown in FIG. 5), a scrolling interaction key 51, a rotary knob interaction key 51, or a button interaction key 51, and the like.

[0182] Exemplarily, the touch substrate 10 is a touch display panel, and as shown in FIG. 5, the interaction area 50 is an area within the dashed line frame, the interaction area 50 includes the interaction key 51 displayed on the touch display panel, an active area of the interaction key 51, and an area extending outward from the boundary of the active area of the interaction key 51 by a preset distance, and 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.

[0183] In a vehicle display, the interaction key 51 can be a sliding key for adjusting the volume, for example, the touch feeling increases as the volume increases. The interaction key 51 can also be a sliding key for adjusting the temperature of the air conditioner, for example, the touch feeling increases as the temperature increases. The interaction key 51 can also be a key in a touchpad, and the like.

[0184] 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 interaction picture.

[0185] Exemplarily, the touch display panel includes a touch circuit and a display panel. The touch circuit can be integrated inside the display panel, or can be independently arranged from the display panel. The touch circuit can be a capacitive touch circuit or a resistive touch circuit, and the like.

[0186] 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 changes, and the touch wires in the touch circuit can send the touch capacitance at each position to the driving component 12, which can determine the touch position and other touch information according to the touch capacitance.

[0187] For example, the driving component 12 may, for example, include at least one of a microcontroller unit (MCU), an FPGA (Field Programmable Gata Array), and the like, and the present embodiment is not limited thereto.

[0188] For example, the actuator 11 drives the touch substrate 10 to generate vibration by using the inverse piezoelectric effect of piezoelectric material. The inverse piezoelectric effect is the inverse effect of the positive piezoelectric effect, that is, the elastic deformation of the dielectric under the driving of the electric signal.

[0189] 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.

[0190] In the present disclosure, the terms "upper", "lower", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements 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.

[0191] 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.

[0192] In the present specification, "electrically connected" and "coupled" include the case where the constituent elements are connected together through an element having a certain electrical effect. The element having a certain electrical effect is not particularly limited as long as it can perform the transmission and reception of electrical signals between the connected constituent elements. Examples of the element having a certain electrical effect include not only electrodes and wiring, but also switching elements such as transistors, resistors, inductors, capacitors, other elements having various functions, and the like.

[0193] 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 defined 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: 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.

[0194] 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.

[0195] As used in the present disclosure, "about", "approximately" or "around" includes the stated value and the average value within an acceptable range of deviation from the stated 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 particular quantity (i.e., the limitations of the measurement system).

[0196] As used in the present disclosure, "parallel", "perpendicular", "equal", "flush" include the stated condition and conditions similar to the stated condition within an acceptable range of deviation, wherein the acceptable range of deviation is 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 particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallel and approximately parallel, wherein the acceptable range of deviation for approximately parallel may be, for example, within 10° or 5°; "perpendicular" includes absolute perpendicular and approximately perpendicular, wherein the acceptable range of deviation for approximately perpendicular may also be, for example, within 10° or 5°. "Equal" includes absolute equality and approximate equality, wherein the acceptable range of deviation for approximate equality may be, for example, a difference between the two of less than or equal to 5% of either. "Flush" includes absolute flush and approximately flush, wherein the acceptable range of deviation for approximately flush may be, for example, a distance between the two of less than or equal to 5% of either dimension.

[0197] It should be understood that when a layer or element is referred to as being disposed on one side of another layer or substrate, it can be that the layer or element is directly disposed on the other layer or substrate, or there can be an intermediate layer between the layer or element and the other layer or substrate.

[0198] The present disclosure describes example embodiments with reference to cross-sectional and / or plan view illustrations that are schematic illustrations of idealized embodiments. Variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and / or tolerances, are to be expected. Thus, examples embodiments should not be construed as limited to the particular shapes of regions as illustrated herein 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 or curved features. Thus, the regions illustrated in the figures 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 example embodiments.

[0199] 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 can be replaced by equivalent replacements; and these modifications or replacements do not make the corresponding technical solutions 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 substrate, the haptic feedback substrate including a touch substrate and an actuator connected to the touch substrate, the touch substrate including an interaction area, the interaction area including a plurality of mutually spaced interaction points, the haptic feedback method comprising: Obtain the touch position of the touch element on the touch substrate; If the touch position is located within the interaction area, then the target interaction point is determined from the plurality of interaction points according to the positional relationship between the touch position and the interaction point; Based on the correspondence between the interaction point and the first driving signal, the actuator is provided with a first driving signal corresponding to the target interaction point, so that the actuator drives the touch substrate to vibrate, wherein there is a time interval between the first driving signals corresponding to different interaction points.

2. The tactile feedback method according to claim 1, wherein, The step of determining a target interaction point from the plurality of interaction points based on the positional relationship between the touch position and the interaction point includes: If the touch position is the initial contact position of the touch body within the interaction area, then the interaction point with the smallest distance from the touch position is determined as the target interaction point.

3. The tactile feedback method according to claim 1, wherein, The step of determining a target interaction point from the plurality of interaction points based on the positional relationship between the touch position and the interaction point includes: If the touch position is a non-initial contact position of the touch body within the interaction area, then the interaction point that coincides with the touch position is determined as the target interaction point.

4. The tactile feedback method according to claim 1, wherein, The target interaction point includes a first target interaction point and a second target interaction point. The first target interaction point and the second target interaction point are determined sequentially based on the positional relationship between the touch position and the interaction point. The step of providing the actuator with a first driving signal corresponding to the target interaction point based on the correspondence between the interaction point and the first driving signal includes: Based on the correspondence between the interaction point and the first driving signal, the actuator is provided with a first driving signal corresponding to the first target interaction point; If the first drive signal corresponding to the first target interaction point has been executed, then the actuator is provided with the first drive signal corresponding to the second target interaction point; If the first drive signal corresponding to the first target interaction point is not completed, then the actuator will not be provided with the first drive signal corresponding to the second target interaction point.

5. The tactile feedback method according to claim 1, wherein, The first driving signal is the same for different interaction points.

6. The tactile feedback method according to claim 1, wherein, At least two interaction points correspond to different first driving signals.

7. The tactile feedback method according to claim 6, wherein, The plurality of interaction points includes a start interaction point and an end interaction point. The step of providing the actuator with a first drive signal corresponding to the target interaction point according to the correspondence between the interaction points and the first drive signal includes: Based on the distance between the target interaction point and the starting interaction point or the ending interaction point, the distance between the starting interaction point and the ending interaction point, the first driving signal corresponding to the starting interaction point, and the first driving signal corresponding to the ending interaction point, the actuator is provided with a first driving signal corresponding to the target interaction point.

8. The tactile feedback method according to claim 6, wherein, The first driving signal includes a carrier signal and a modulation signal, wherein the frequency of the carrier signal is greater than the frequency of the modulation signal; At least one driving parameter differs between the different driving signals, and the driving parameter includes the duration of the first driving signal, the amplitude of the carrier signal, the frequency of the modulation signal, and the number of zero-crossings of the modulation signal in one period.

9. The tactile feedback method according to claim 6, wherein, The plurality of interaction points include a starting interaction point and a ending interaction point. In the direction from the starting interaction point to the ending interaction point, the driving parameters of the first driving signal corresponding to each interaction point increase or decrease according to a preset trend. The preset trend includes at least one of the following: linear trend, exponential trend, power trend, and logarithmic trend.

10. The tactile feedback method according to claim 9, wherein, The number of zero-crossing points of the modulated signal within one cycle is an even number, greater than or equal to 10 and less than or equal to 40.

11. The tactile feedback method according to claim 1, wherein, After the step of obtaining the touch position of the touch element on the touch substrate, the method further includes: In response to the touch position moving from outside or inside the interaction area to the boundary of the interaction area, a second driving signal is provided to the actuator. The frequency of the second driving signal is less than the frequency of the first driving signal. The first driving signal is used to form textured tactile feedback on the surface of the touch substrate, and the second driving signal is used to form button tactile feedback on the surface of the touch substrate.

12. The tactile feedback method according to claim 1, wherein, The plurality of interaction points includes a termination interaction point. If the target interaction point is the termination interaction point, after the step of providing the actuator with a first drive signal corresponding to the target interaction point based on the correspondence between the interaction points and the first drive signal, the method further includes: A second drive signal is provided to the actuator, the frequency of the second drive signal being less than the frequency of the first drive signal. The first drive signal is used to form textured tactile feedback on the surface of the touch substrate, and the second drive signal is used to form button tactile feedback on the surface of the touch substrate.

13. The tactile feedback method according to claim 11 or 12, wherein, The frequency of the second driving signal is greater than or equal to 50Hz and less than or equal to 500Hz.

14. The haptic feedback method according to any one of claims 1 to 12, wherein, The duration of the first driving signal corresponding to one of the interaction points is greater than or equal to one cycle of the first driving signal, and less than or equal to ten cycles of the first driving signal.

15. The haptic feedback method according to any one of claims 1 to 12, wherein, The first driving signal includes a carrier signal and a modulation signal, wherein the frequency of the carrier signal is greater than or equal to 20 kHz, and the frequency of the modulation signal is greater than or equal to 10 Hz and less than or equal to 40 Hz.

16. The haptic feedback method according to claim 15, wherein, The time-domain waveform of the modulation signal is a singer function waveform, a sampling function waveform, a rectangular wave, or a half-wave.

17. The haptic feedback method according to claim 15, wherein, The waveform function of the modulated signal is: Wherein, g(t) is the modulation signal, t is time, and f t The frequency of the modulation signal is n, and n is the number of zero-crossing points of the modulation signal in one period.

18. A haptic feedback device applied to a haptic feedback substrate, the haptic feedback substrate including a touch substrate and an actuator connected to the touch substrate, the touch substrate including an interaction area including a plurality of mutually spaced interaction points, the haptic feedback device comprising: The position acquisition module is configured to acquire the touch position of the touch body on the touch substrate; The target determination module is configured to determine a target interaction point from the plurality of interaction points based on the positional relationship between the touch position and the interaction point if the touch position is located within the interaction area; The signal driving module is configured to provide the actuator with a first driving signal corresponding to the target interaction point according to the correspondence between the interaction point and the first driving signal, so that the actuator drives the touch substrate to vibrate, wherein there is a time interval between the first driving signals corresponding to different interaction points.

19. A haptic feedback device, comprising: A haptic feedback substrate, the haptic feedback substrate including a touch substrate and an actuator connected to the touch substrate, the touch substrate including an interactive area including a plurality of interactive points separated from each other; A driving component, connected to the touch substrate and the actuator respectively, is configured to perform the haptic feedback method as described in any one of claims 1 to 17.

20. The haptic feedback device according to claim 19, wherein, The touch substrate is a touch display panel, and the interaction area includes an interaction key displayed on the touch display panel, an active area of ​​the interaction key, and an area extending outward from the boundary of the active area by a preset distance, wherein the preset distance is greater than 0 mm.

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