CN104679241B - A kind of wide cut frictional force control tactile representation device and method - Google Patents
A kind of wide cut frictional force control tactile representation device and method Download PDFInfo
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Abstract
The invention discloses a kind of wide cut degree frictional force control tactile representation device and method, the device includes tactile sense reproduction module, Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module, finger position detection module, the permanent magnet and central control module for being pasted on operator's finger back；Tactile sense reproduction module includes tactile panel, transparent electrode arrays module, piezoelectric ceramics array module, electromagnet array module, display module and housing.Air press mold effect, electroluminescent dither effect, electromagnetic force are controlled three kinds of principles to blend by the reproducting method of the present invention, realize the increase of frictional force between operator's finger and tactile sense reproduction module and reduce two-way wide amplitude adjusted, and then realize high performance tactile sense reproduction.The present invention can realize multi-modal perception, have larger practical value.
Description
Technical field
The present invention relates to tactile sense reproduction field of human-computer interaction, more particularly to a kind of wide cut frictional force control tactile representation device
And method.
Background technology
In the various sensory perceptual systems such as vision, the sense of hearing, smell, the sense of taste and the power tactile of the mankind, power tactile provide the mankind with
Two-way information exchange channel between environment, the various active sexual behaviour that forming other sensory perceptual systems can not realize (are felt as touched
Know object, operation instrument and explore environment etc.), thus with unique critical role.At present, tactile sense reproduction technology mainly has：
Tactile sense reproduction based on vibration, the tactile sense reproduction based on force feedback equipment, tactile sense reproduction based on array etc..
Information representation based on vibration is the tactile sense reproduction pattern being commonly used.The actuator of various vibrating tactiles is
Handheld device introduces tactile vibrations and provides a solution, promotes the portable sexual development of tactile sense reproduction.Some researchers make
It is used to generating various vibration modes with these actuators, tactile icon realizes the exchange of non-vision property information.Jussi
Rantala et al. a handheld devices that can simulate different touch postures using vibrating tactile Technology design.But it is based on
The tactile sense reproduction of vibration is a kind of tactile switch technology, and it is not directly perceived enough.
Force feedback equipment is mainly used in realizing the Force feedback in man-machine interaction, and operator uses force feedback equipment and void
When intending object reciprocation, force feedback equipment can prevent the motion of operator from being interacted to avoid puncturing.Southeast China University's Li Jia fine jades
Phantom hand controllers are based on Song Aiguo etc., it is proposed that based on dummy object surface tri-dimensional profile information, and then realize that texture touches
Feel the method reproduced.Tactile sense reproduction method advantage based on force feedback is that tactile can be increased again on the basis of power is felt and reproduced
It is existing, and the device of tactile sense reproduction need not be additionally designed for.However, this method also has the shortcomings that certain：Opereating specification is limited, body
Heavy, expensive, equipment the inherency of product and the stability of a system easily influence tactile sense reproduction performance etc..
It is relative with obtain tactile sense reproduction using force feedback equipment for, tactile sense reproduction is built using the structure of array
Equipment is most straightforward approach, thus is constantly subjected to the concern of people.The design inspiration of the array tactile sense reproduction equipment of early stage
From dot matrix printer and braille system, their driving method is had nothing in common with each other, and has using marmem, has use
Baric systerm, also have using voice coil loudspeaker voice coil encourage.Weiss and Wacharamanotham of Aachen, Germany polytechnical university etc. are utilized
The permanent magnet and electromagnetic excitation being attached on operator's finger construct FingerFlux systems.Electromagnetic excitation in the system uses
The design philosophy of Madgets tables, i.e., synthesize an electromagnetic field Two-Dimensional Moment using the discrete electromagnet grid of one 19 × 12
Battle array (wherein each electromagnet includes the copper cash of 3500 circles).In addition, the name of the design such as Haywardy of Canadian McGill universities
For " LATERO " device, its obtains tactilely-perceptible using the probe array that can be displaced sideways, and they say the probe array of design
Reckon for 6 × 10, high resolution is up to 1.8 × 1.2mm.The advantage of array tactile representation system be comparison it is directly perceived, can be actively
Haptic stimulus is applied to operator, but it also has certain limitation：Limited by technique and technical merit, power consumption and cost
Height, it is difficult to be miniaturized.
(Patent No. in the patent of entitled " vibrating tactile interface " of the Lille science and technology university application of France：
CN101632054A), its vibrating tactile interface being previously mentioned is by reducing the friction between operator's finger and tactile interface
Force coefficient reproduces fine texture tactile.This tactile interface use only air press mold effect principle, be only capable of realizing list
The friction coefficient regulation in one direction.In addition, the friction coefficient of each point is identical on synchronization tactile interface, it is impossible to realizes face
The multi-point touch of plate surface.
In the patent (Patent No. of entitled " method and apparatus of stimulus to the sense organ " of the application of senseg companies
US7982588B2 in), the tactile interface being previously mentioned is realized based on electroluminescent vibration principle.The surface of the tactile panel has
One layer of system based on electrostatic, different roughness and resistance can be simulated, produce different texture tactiles.Based on electroluminescent
The tactile sense reproduction equipment power dissipation of dither effect is low, can realize multi-point touch, but can only realize the increase of friction coefficient.
Entitled " tactile representation device and tactile sense reproduction based on the control of bi-directional friction power of Nanjing Aero-Space University's application
Patent (the Patent No. of method "：CN104063054A in), the tactile interface being previously mentioned is by electroluminescent dither effect principle and sky
Air pressure film effect principle is combined.The tactile panel is used in Surface Machining electrod-array and the stickup piezoelectricity pottery below panel
The method of porcelain realizes tactile sense reproduction, and electrod-array includes some electrode groups, height be present between Different electrodes in each electrode group
Difference, it is possible to achieve the bidirectional modulation of friction coefficient.The electrod-array that this tactile interface uses is not easy to process, and rubs
The adjustable range of force coefficient is not wide in range enough.
Tactile representation device designed by the present invention has merged air press mold effect, electroluminescent dither effect and electromagnetic force control
Three kinds of principles are made, two-way friction coefficient regulation can be realized, and can realizes the fine setting of friction coefficient, and frictional force system
Several adjustable extents is more wide in range.Device designed by the present invention can realize that frictional force adjustable range amplitude is more broad, rub
Wipe force coefficient and adjust more careful tactile sense reproduction pattern.Therefore, the present apparatus has the area of essence with three of the above tactile interface
Not.
The content of the invention
The technical problems to be solved by the invention are for the defects of background technology, there is provided a kind of wide cut frictional force control
Tactile representation device and method.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of wide cut frictional force controls tactile representation device, includes tactile sense reproduction module, Piezoelectric Ceramics Excitation signal generation
It is module, electrod-array pumping signal generation module, electromagnet array stimulating signal generation module, finger position detection module, viscous
It is affixed on the permanent magnet and central control module of operator's finger back；
The tactile sense reproduction module includes tactile panel, transparent electrode arrays module, piezoelectric ceramics array module, electromagnet
Array module, display module and housing；
The tactile panel is transparent, rigid rectangular slab；The transparent electrode arrays module is arranged on tactile panel
On；The piezoelectric ceramics array module is fixed between lower surface and the housing of tactile panel；The electromagnet array is fixed on
Below display module；The display module is fixed on the underface of tactile panel, and enough tactiles are reserved between tactile panel
The space of Rendering module vibration；
The Piezoelectric Ceramics Excitation signal generation module and piezoelectric ceramics array module are electrically connected, and the electrod-array swashs
Encourage signal generation module with transparent electrode arrays modular electrical to be connected, the electromagnet array stimulating signal generation module and electromagnetism
Iron array module is electrically connected, and the central control module swashs with Piezoelectric Ceramics Excitation signal generation module, electrod-array respectively
Signal generation module, electromagnet array stimulating signal generation module, display module, finger position detection module is encouraged to be electrically connected；
The Piezoelectric Ceramics Excitation signal generation module is used for the drive signal for producing piezoelectric ceramics array module；
The electrod-array pumping signal generation module is used for the drive signal for producing transparent electrode arrays module；
The electromagnet array stimulating signal generation module is used for the drive signal for producing electromagnet array；
The display module is used to show dummy object；
The finger position detection module is used to detect finger position；
The central control module is used to control Piezoelectric Ceramics Excitation signal generation module, the generation of electrod-array pumping signal
Module, electromagnet array stimulating signal generation module produce drive signal, and control finger position detection module obtains operator's hand
Refer to position, and control display module shows dummy object.
As a kind of wide cut frictional force control further prioritization scheme of tactile representation device of the present invention, the display module
Using LCD MODULE.
As a kind of wide cut frictional force control further prioritization scheme of tactile representation device of the present invention, the housing uses
Hard foam.
As a kind of wide cut frictional force control further prioritization scheme of tactile representation device of the present invention, the permanent magnet is
Oblate cylindricality rubidium magnet.
As a kind of wide cut frictional force control further prioritization scheme of tactile representation device of the present invention, the transparency electrode
Array includes at least two layers of transparent electrode arrays layer, and is machined with insulating barrier on every layer of transparent electrode arrays layer.
The invention also discloses a kind of reproducting method that tactile representation device is controlled according to the wide cut frictional force, comprising following
Step：
Step 1) obtains operator's finger position, and institute's need at generation finger position are calculated according to the haptic mode currently reproduced
Equivalent friction coefficient value μ；
Step 2) obtains the initial friction force coefficient μ 0 of the upper surface of transparent electrode arrays module, transparent electrode arrays module
The maximum friction force coefficient △ μ that can increaseEV, the maximum friction force coefficient △ μ that can reduce of piezoelectric ceramics array moduleSQZ, with
And the maximum friction force coefficient △ μ that electromagnet array module can increase or reduceMAG；
If step 3) μ ∈ [μ 0, μ 0+ △ μEV], transparent electrode arrays module is controlled, produces electroluminescent dither effect, increase behaviour
Friction coefficient between the upper surface of author's finger and transparent electrode arrays module is to μ；
If step 4) μ ∈ [μ 0- △ μSQZ, μ 0], piezoelectric ceramics array module is controlled, produces air press mold effect, reduces behaviour
Friction coefficient between the upper surface of author's finger and transparent electrode arrays module is to μ；
If step 5) μ ∈ [μ 0+ △ μEV,μ0+△μEV+△μMAG], control first electromagnet array module and permanent magnet it
Between produce attraction, the friction coefficient between the upper surface of operator's finger and transparent electrode arrays module is increased to most
Greatly, transparent electrode arrays module is then controlled by the frictional force between the upper surface of operator's finger and transparent electrode arrays module
Coefficient increases to μ；
If step 6) μ ∈ [μ 0- △ μSQZ-△μMAG,μ0-△μSQZ], control first electromagnet array module and permanent magnet it
Between produce repulsive force, it is reduced to the friction coefficient between the upper surface of operator's finger and transparent electrode arrays module
Minimum, piezoelectric ceramics array module is then controlled by the friction between the upper surface of operator's finger and transparent electrode arrays module
Force coefficient is decreased to μ；
Step 7), ifThen rubbed according to what system can reproduce
Power scope is wiped, the friction coefficient in the haptic mode that currently reproduces is handled, it is belonged to the scope that system reproduces.
As the further prioritization scheme of reproducting method that tactile representation device is controlled according to the wide cut frictional force, the step
Rapid detailed step 7) is：According to friction coefficient maximin in the haptic mode currently reproduced, normalized is done.
As the further prioritization scheme of reproducting method that tactile representation device is controlled according to the wide cut frictional force, the step
Rapid detailed step 7) can also be：If the equivalent friction coefficient value μ needed at finger position touches beyond what is currently reproduced
Friction coefficient maximin scope in feel pattern, directly represented using system friction force coefficient upper lower limit value.
The present invention compared with prior art, has following technique effect using above technical scheme：
1. the device controls single principle or general existing based on air press mold effect, electroluminescent dither effect, electromagnetic force
Air press mold effect is creative to be merged three kinds of principles on the basis of electroluminescent dither effect is combined, electromagnetic force
Control can both produce the effect of increasing friction force, can also produce the effect for reducing frictional force so that tactile representation device
Friction coefficient adjustable extent becomes wider, and three kinds of principles are merged can both realize finely in increasing friction force direction
Regulation, fine regulation can also be realized on the direction for reducing frictional force, you can with the frictional force grade of more horn of plenty
To reproduce dummy object, so that the sense of reality felt dummy object, add system that operator is relatively sharp；
2. the device uses transparent tactile panel, electrod-array also uses transparent electrode arrays, therefore can be in tactile
Display screen is added under panel to show dummy object, it is possible to achieve multi-modal perception；
3. the permanent magnet worn on finger can produce electromagnetic force with the electromagnet in tactile representation device, so as to
Realize contactless tactile sense reproduction.
Brief description of the drawings
Fig. 1 is the tactile representation device structural representation in the present invention；
Fig. 2 is tactile panel Top electrode array structure top view in the present invention；
Fig. 3 is tactile panel Top electrode array structure side view in the present invention；
Fig. 4 is the synthesis tactile panel construction top view in the present invention；
Fig. 5 is the synthesis tactile panel construction side view in the present invention.
In figure, 10- tactiles panel, 20- transparent electrode arrays, 30- piezoelectric ceramics array module, 40- electromagnet array moulds
Block, 50- permanent magnets, the upper surface of 10a- tactile panels, the lower surface of 10b- tactile panels, 20a- first layer transverse direction rhombus electrodes
Array layer, 20b- second layers longitudinal direction rhombus electrode array layer, the layer insulatings of 60a- first, the layer insulatings of 60b- second, 70- liquid crystal
Display screen, 80- hard foams.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
Tactile representation device involved in the present invention, employ air press mold effect, electroluminescent dither effect and electromagnetic force
Three kinds of principles of control are blended to realize the Comprehensive Control of frictional force.The structural representation of its whole tactile representation device such as Fig. 1
It is shown.
The device includes tactile sense reproduction module, Piezoelectric Ceramics Excitation signal generation module, the generation of electrod-array pumping signal
Module, electromagnet array stimulating signal generation module, finger position detection module, the permanent magnet for being pasted on operator's finger back
And central control module.
Tactile sense reproduction module as shown in Figure 4, Figure 5, including tactile panel 10, transparent electrode arrays module 20, piezoelectric ceramics
Array module 30, electromagnet array module 40, LCDs 70 and hard foam 80.
Tactile panel 10 is transparent, rigid rectangular slab, has an a upper surface 10a and lower surface 10b.Tactile
Panel 10 is fixed by hard foam 80.
Transparent electrode arrays 20 include some transparent electrode arrays layers, and each layer of transparent electrode arrays layer includes some electricity
Pole, each layer of transparent electrode arrays layer top all process a layer insulating, each electrode and electrod-array pumping signal generation mould
The output end of block drive signal connects one to one.In this example, first layer transverse direction rhombus transparent electrode arrays layer 20a is added
Work is on the upper surface 10a of tactile panel.And in the first layer insulating of Surface Machining 60a thereon.The longitudinal transparent rhombus of the second layer
Electrod-array layer 20b is formed on insulating barrier 60a, and the second layer insulating 60b is processed thereon.
Piezoelectric ceramics array module is fixed on the lower surface 10b of tactile panel 10 by binding agent thin layer, and by hard
Sponge 80 supports, and electrod-array is fixed on the inside of tactile panel by micro-processing technology, and electromagnet array is thin by binding agent
Layer is fixed on below LCDs, and is positioned over the underface of tactile panel 10.
Piezoelectric ceramics array module 30 in the example, is made up of piezo ceramic element matrix, these piezoelectric ceramics
Element matrix is secured on the lower surface 10b of tactile panel 10, and is supported by hard foam 80.
Electromagnet array module 40 forms electromagnetic field two-dimensional matrix (wherein each electromagnetism by some height identical electromagnet
The copper cash number of turn that iron includes is identical), the lower section of LCDs 70 is uniformly pasted onto, with the permanent magnet 50 being worn on finger
Electromagnetic force is produced, wherein LCDs 70 is placed on the underface of tactile panel 10, and centre reserves certain the air gap.
Transparent electrode arrays module as shown in Figure 2 and Figure 3, processes first layer transparent electrode arrays layer on tactile panel, and
Insulating barrier (such as Kapton) is being processed thereon, if processing dried layer transparent electrode arrays layer (two or more) successively.
Each transparent electrode arrays layer includes some electrodes, all processes a layer insulating above each layer of transparent electrode arrays layer, each
The output end of electrode and electrod-array pumping signal generation module drive signal connects one to one.
The pumping signal of air press mold effect includes sine voltage the signal V1 and V2 of two opposite in phase, and Qi Feng peaks
Value and frequency are adjustable.Apply voltage signal V1 and V2 to piezo ceramic element, just encourage piezo ceramic element generation
Vibration, piezo ceramic element now make tactile panel do dither as exciting source, so operator's finger with it is transparent
Air press mold effect is produced between the upper surface of electrod-array module, i.e., produces " air film " therebetween, reaches frictional force system
The purpose that number reduces, operator's finger is set to produce smooth feeling when touching the upper surface of transparent electrode arrays module.
The pumping signal of electroluminescent dither effect is amplitude and frequency adjustable alternating signal V3 (such as square wave, sine wave
Deng), electrod-array encourages the amplitude that is each independently of the others and frequency adjustable alternation of the module mainly for generation of multichannel
Signal, then the alternating signal of the multichannel is corresponded and is applied to each electrode.So between finger and electrode just
An electric capacity is formd, electrostatic force, i.e. electrode pair finger are produced between finger and electrode that the voltage applied on electrode makes
Generate attraction.But caused electrostatic force very little, and no perception nerve endings inside the cuticula of finger,
Therefore it is not felt by this normal direction electrostatic attraction.However, when finger is sliding on the upper surface 10a of tactile panel 10, this
Individual electrostatic force will produce a tangential force of sliding friction to skin, it is assumed that sliding friction force coefficient is μ, then tangential to slide
The size of frictional force is：
ft=μ (Fe+FN),
Wherein FNIt is pressure of the finger to panel, FeIt is electrostatic force, μ is the coefficient of sliding friction of panel and finger.
By change the amplitude of voltage applied, frequency, etc. factor, it is possible to change the size of this force of sliding friction.
The angle perceived from finger, people will perceive the concave-convex sense of friction surface.
The pumping signal of electromagnet array is multichannel PWM wave voltage signal V4, and its amplitude and frequency are adjustable.It is right
Each electromagnet should be applied to, by changing voltage signal, it is possible to change electromagnetic force, and then finger can be changed with touching
Feel the friction coefficient of Rendering module, operator's can when touching tactile sense reproduction module produces harsh feeling and smooth feeling.
1. tactile sense reproduction module.We using on transparent material (such as quartz glass) micro Process transparent electrode arrays,
Piezoelectric ceramic piece is pasted, electromagnet iron array is pasted onto LCDs lower surface and is placed on display screen tactile in its lower surface
Feel that the method below Rendering module obtains comprehensive tactile sense reproduction module, its structural representation is as shown in Figure 2 and Figure 3.
2. the pumping signal for producing air press mold effect.In order to obtain air press mold effect and avoid what vibration was brought
Noise jamming, oscillating flat plate will be operate in ultrasonic vibration state.The control for the friction coefficient that air press mold effect is obtained, it is
Realized by adjusting the Oscillation Amplitude of flat board.We are at the Piezoelectric Ceramics Excitation signal of design：Voltage is adjustable (peak-to-peak value 0-
70V), the AC signal of frequency-adjustable (0-40KHz).
3. the pumping signal for producing electroluminescent dither effect.Typical pumping signal needed for electroluminescent dither effect is high electricity
Pressure, the pulse signal of low current.By high voltage power supply (250V or so), current-limiting resistance and switch arrays, this several part is real for we
It is existing.Because the electric field force that electroluminescent vibrational system is experienced by operator's finger carrys out regulating friction force coefficient, on electrod-array
Excitation signal voltage is higher, and effect is more obvious.However, being perfectly safe in order to ensure operator, we will use current-limiting resistance
Strict limitation is made to the maximum electric current of output with components such as capacitances.
4. the pumping signal for producing electromagnetic force.The pumping signal of electromagnet array of the system design is：Electricity
The adjustable PWM ripples of pressure, frequency, dutycycle.
5. the central control system based on microcontroller.The module selects the multi-functional micro-control based on ARM Cortex kernels
Device processed is realized.As the central control system of whole tactile sense reproduction equipment, the module will complete system configuration, pumping signal life
The critical function such as show into control, the detection of operator's finger position, with exogenous data communication, LCDs.
6. operator's finger position detects.The detection of operator's finger position is the important step of tactile representation system, and it is straight
Connect the generation for influenceing haptic mode and accuracy.Electrod-array layer include two layers, one layer make row battle array, one layer make array.Its work
Principle is mainly that all can produce fixed capacity between two adjacent electrodes if be powered between adjacent rows, two row.If people
Finger touch electrode array, then can produce new parasitic capacitance between finger and electrode, and controller can is calculated and sold
Refer to position.
Reproducting method based on wide cut frictional force control tactile representation device comprises the steps of：
Step 1) obtains operator's finger position, and institute's need at generation finger position are calculated according to the haptic mode currently reproduced
Equivalent friction coefficient value μ；
Step 2) obtains the initial friction force coefficient μ 0 of the upper surface of transparent electrode arrays module, transparent electrode arrays module
The maximum friction force coefficient △ μ that can increaseEV, the maximum friction force coefficient △ μ that can reduce of piezoelectric ceramics array moduleSQZ, with
And the maximum friction force coefficient △ μ that electromagnet array module can increase or reduceMAG；
If step 3) μ ∈ [μ 0, μ 0+ △ μEV], transparent electrode arrays module is controlled, produces electroluminescent dither effect, increase behaviour
Friction coefficient between the upper surface of author's finger and transparent electrode arrays module is to μ；
If step 4) μ ∈ [μ 0- △ μSQZ, μ 0], piezoelectric ceramics array module is controlled, produces air press mold effect, reduces behaviour
Friction coefficient between the upper surface of author's finger and transparent electrode arrays module is to μ；
If step 5) μ ∈ [μ 0+ △ μEV,μ0+△μEV+△μMAG], control first electromagnet array module and permanent magnet it
Between produce attraction, the friction coefficient between the upper surface of operator's finger and transparent electrode arrays module is increased to most
Greatly, transparent electrode arrays module is then controlled by the frictional force between the upper surface of operator's finger and transparent electrode arrays module
Coefficient increases to μ；
If step 6) μ ∈ [μ 0- △ μSQZ-△μMAG,μ0-△μSQZ], control first electromagnet array module and permanent magnet it
Between produce repulsive force, it is reduced to the friction coefficient between the upper surface of operator's finger and transparent electrode arrays module
Minimum, piezoelectric ceramics array module is then controlled by the friction between the upper surface of operator's finger and transparent electrode arrays module
Force coefficient is decreased to μ；
Step 7), ifThen rubbed according to what system can reproduce
Power scope is wiped, the friction coefficient in the haptic mode that currently reproduces is handled, it is belonged to the scope that system reproduces.
Further, the detailed step of the step 7) is：According to friction coefficient in the haptic mode currently reproduced most
Big minimum value, does normalized.
Further, the detailed step of the step 7) can also be：If the equivalent friction needed at finger position
Coefficient value μ exceeds friction coefficient maximin scope in the haptic mode currently reproduced, directly uses system friction system
Upper lower limit value is counted to represent.
Frictional force control involved in the present invention is by by air press mold effect, electroluminescent dither effect and electromagnetic excitation
Mode that three kinds of principles blend is realized.Wherein, air press mold effect can be used for reducing friction coefficient, electroluminescent vibration effect
Increasing friction force coefficient should be can be used for, electromagnetic force control both can be used for increasing friction force, can be used for reducing frictional force, can
Initial friction force coefficient to set tactile sense reproduction module as background active force.Wider frictional force can thus be realized
Coefficient control range, so as to reproduce more fine texture tactile, improve the authenticity of tactile sense reproduction.
Claims (7)
- A kind of 1. reproducting method of wide cut frictional force control tactile representation device, it is characterised in that the wide cut frictional force control Tactile representation device includes tactile sense reproduction module, Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation mould Block, electromagnet array stimulating signal generation module, finger position detection module, be pasted on the permanent magnet of operator's finger back with And central control module；The tactile sense reproduction module includes tactile panel, transparent electrode arrays module, piezoelectric ceramics array module, electromagnet array Module, display module and housing；The tactile panel is transparent, rigid rectangular slab；The transparent electrode arrays module is arranged on tactile panel；Institute Piezoelectric ceramics array module is stated to be fixed between lower surface and the housing of tactile panel；The electromagnet array is fixed on display mould Below block；The display module is fixed on the underface of tactile panel, and enough tactile sense reproduction moulds are reserved between tactile panel The space of block vibration；The Piezoelectric Ceramics Excitation signal generation module and piezoelectric ceramics array module are electrically connected, the electrod-array excitation letter Number generation module is connected with transparent electrode arrays modular electrical, the electromagnet array stimulating signal generation module and electromagnet battle array Row modular electrical is connected, and the central control module is believed with Piezoelectric Ceramics Excitation signal generation module, electrod-array excitation respectively Number generation module, electromagnet array stimulating signal generation module, display module, finger position detection module are electrically connected；The Piezoelectric Ceramics Excitation signal generation module is used for the drive signal for producing piezoelectric ceramics array module；The electrod-array pumping signal generation module is used for the drive signal for producing transparent electrode arrays module；The electromagnet array stimulating signal generation module is used for the drive signal for producing electromagnet array；The display module is used to show dummy object；The finger position detection module is used to detect finger position；The central control module is used to control Piezoelectric Ceramics Excitation signal generation module, electrod-array pumping signal generation mould Block, electromagnet array stimulating signal generation module produce drive signal, and control finger position detection module obtains operator's finger Position, and control display module show dummy object；The reproducting method comprises the steps of：Step 1）Obtain operator's finger position, calculated according to the haptic mode that currently reproduces needed at generation finger position etc. Imitate friction coefficient value μ；Step 2）Obtain initial friction force coefficient μ 0, the transparent electrode arrays module institute energy of the upper surface of transparent electrode arrays module The maximum friction force coefficient △ μ of increaseEV, the maximum friction force coefficient △ μ that can reduce of piezoelectric ceramics array moduleSQZ, Yi Ji electricity The maximum friction force coefficient △ μ that magnet array module can increase or reduceMAG；Step 3）If μ ∈ [μ 0, μ 0+ △ μEV], transparent electrode arrays module is controlled, produces electroluminescent dither effect, increase operation Friction coefficient between the upper surface of person's finger and transparent electrode arrays module is to μ；Step 4）If μ ∈ [μ 0- △ μSQZ , μ 0], piezoelectric ceramics array module is controlled, produces air press mold effect, reduces operation Friction coefficient between the upper surface of person's finger and transparent electrode arrays module is to μ；Step 5）If μ ∈ [μ 0+ △ μEV , μ0+△μEV+△μMAG], control produced between electromagnet array module and permanent magnet first Raw attraction, makes the friction coefficient between the upper surface of operator's finger and transparent electrode arrays module increase to maximum, so Transparent electrode arrays module is controlled afterwards by the friction coefficient between the upper surface of operator's finger and transparent electrode arrays module Increase to μ；Step 6）If μ ∈ [μ 0- △ μSQZ-△μMAG , μ0-△μSQZ], control first between electromagnet array module and permanent magnet Repulsive force is produced, it is reduced to the friction coefficient between the upper surface of operator's finger and transparent electrode arrays module most It is small, piezoelectric ceramics array module is then controlled by the frictional force between the upper surface of operator's finger and transparent electrode arrays module Coefficient is decreased to μ；Step 7）If μ [μ 0- △ μSQZ-△μMAG , μ0+△μEV+△μMAG], then the frictional force model that can be reproduced according to system Enclose, the friction coefficient in the haptic mode that currently reproduces is handled, it is belonged to the scope that system reproduces.
- 2. the reproducting method of wide cut frictional force control tactile representation device according to claim 1, it is characterised in that described Display module uses LCD MODULE.
- 3. the reproducting method of wide cut frictional force control tactile representation device according to claim 1, it is characterised in that described Housing uses hard foam.
- 4. the reproducting method of wide cut frictional force control tactile representation device according to claim 1, it is characterised in that described Permanent magnet is oblate cylindricality rubidium magnet.
- 5. the reproducting method of wide cut frictional force control tactile representation device according to claim 1, it is characterised in that described Transparent electrode arrays include at least two layers of transparent electrode arrays layer, and are machined with insulating barrier on every layer of transparent electrode arrays layer.
- 6. the reproducting method based on the wide cut frictional force control tactile representation device described in claim 1, it is characterised in that described Step 7）Detailed step be：According to friction coefficient maximin in the haptic mode currently reproduced, normalized is done.
- 7. the reproducting method based on the wide cut frictional force control tactile representation device described in claim 1, it is characterised in that described Step 7）Detailed step be：If the equivalent friction coefficient value μ needed at finger position exceeds the tactile mould currently reproduced Friction coefficient maximin scope in formula, directly represented using system friction force coefficient upper lower limit value.
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| CN106227346B (en) * | 2016-07-25 | 2022-10-21 | 南京航空航天大学 | Force sense and touch sense fusion reproduction device and method based on electromagnetic field control |
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| CN107145225A (en) * | 2017-04-13 | 2017-09-08 | 浙江大学 | The frictional force tactile representation system and reproducting method of a kind of facing moving terminal |
| US10712931B2 (en) * | 2017-08-29 | 2020-07-14 | Apple Inc. | Systems for modifying finger sensations during finger press input events |
| CN109240485B (en) * | 2018-05-28 | 2020-11-13 | 厦门大学 | Texture touch reappearing device, display device and radian reappearing device |
| CN109272919B (en) * | 2018-11-16 | 2022-06-17 | 京东方科技集团股份有限公司 | Pixel driving circuit, display substrate, terminal and driving method thereof |
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| CN113031779A (en) * | 2021-03-29 | 2021-06-25 | 联想(北京)有限公司 | Processing method and electronic equipment |
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