CN111538402B - Profiling haptic feedback device and haptic feedback generation method thereof - Google Patents
Profiling haptic feedback device and haptic feedback generation method thereof Download PDFInfo
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- CN111538402B CN111538402B CN201911350814.7A CN201911350814A CN111538402B CN 111538402 B CN111538402 B CN 111538402B CN 201911350814 A CN201911350814 A CN 201911350814A CN 111538402 B CN111538402 B CN 111538402B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/014—Force feedback applied to GUI
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- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention provides a profiling touch feedback device which comprises a profiling contact module, a driver electrically connected with the profiling contact module and a controller electrically connected with the driver. The profiling contact module comprises a first profiling module, a second profiling module which is arranged opposite to the first profiling module and is electrically connected with a driver, and the driver drives the second profiling module to move relative to the first profiling module. At least one second contact surface which is contacted with the first profiling module to generate counter force is arranged on the surface of the second profiling module opposite to the first profiling module, and at least one first contact surface which is contacted with the second contact surface correspondingly is arranged on the surface of the first profiling module opposite to the second profiling module. According to the invention, the driver drives the second profiling module to move relative to the first profiling module, so that the second contact surface is contacted with the first contact surface to generate counter force, the force feedback is realized, and the tactile feedback is more vivid.
Description
[ field of technology ]
The invention relates to the technical field of tactile feedback, in particular to a profiling tactile feedback device.
[ background Art ]
As is well known, the haptic feedback technology, which reproduces the touch feeling by a series of movements such as force and vibration, has become a trend of innovative development of modern technology, and is widely used in electronic products (such as mobile phones, tablet computers, etc.), automobiles, musical instruments, medical equipment, etc. for people to consume.
The types of the current tactile feedback devices for feeding back the contact force are various, and the tactile feedback devices comprise generators for feeding back the contact force such as electromagnetic valves, vibration and impact, but the feedback effect of the force value of the devices is single, and the reality of the force feedback effect is lacking.
Therefore, it is necessary to provide a new profiling haptic feedback device and haptic feedback generation method thereof, which makes the force feedback signal more realistic.
[ invention ]
The invention aims to provide a profiling tactile feedback device and a tactile feedback generation method thereof, so that a force feedback signal is more vivid.
The technical scheme of the invention is as follows: a profiling haptic feedback device comprising a profiling contact module, a driver electrically connected to the profiling contact module, and a controller electrically connected to the driver; the profiling contact module comprises a first profiling module, a second profiling module, a first profiling module and a second profiling module, wherein the first profiling module is arranged opposite to the first profiling module and is electrically connected with the driver, and the driver drives the second profiling module to move relative to the first profiling module; at least one second contact surface which is driven by a driver to move towards the first profiling module by the second profiling module so as to be contacted with the first profiling module to generate counter force is arranged on the surface of the second profiling module opposite to the first profiling module, and at least one first contact surface which is correspondingly contacted with the second contact surface is arranged on the surface of the first profiling module opposite to the second profiling module.
Preferably, a second protruding block protruding towards the first profiling module is arranged on the surface, opposite to the first profiling module, of the second profiling module, a first accommodating groove matched with the second protruding block is arranged on the surface, opposite to the first profiling module, of the first profiling module, a second contact surface is formed on the side surface, opposite to the first accommodating groove, of the second protruding block, and a first contact surface is formed on the side wall, opposite to the second protruding block, of the first accommodating groove.
Preferably, a first protruding block protruding towards the second profiling module is arranged on the surface, opposite to the second profiling module, of the first profiling module, a second accommodating groove matched with the first protruding block is arranged on the surface, opposite to the first profiling module, of the second profiling module, a second contact surface is formed on the side wall, opposite to the first protruding block, of the second accommodating groove, and a first contact surface is formed on the side surface, opposite to the second accommodating groove, of the first protruding block.
Preferably, the second contact surface is parallel to the first contact surface.
Preferably, the direction of the reaction force is perpendicular to the first contact surface.
Preferably, the driver is an electromagnetic driver.
The method for generating the tactile feedback of the profiling tactile feedback device comprises the following steps:
the controller receives a pressure or friction signal from the second profiling module;
the controller controls the driver to work;
the driver drives the second profiling module to move relative to the first profiling module such that the second contact surface contacts the first contact surface such that the first contact surface generates a counter force against the second contact surface to generate haptic feedback.
Preferably, the driver drives the second profiling module to move repeatedly, thereby generating periodic haptic feedback.
Preferably, the controller controls the driver to drive the second contact surface to move so that the time of contacting the first contact surface is T1, and the time value of T1 is controlled by the controller.
Compared with the prior art, the invention has the beneficial effects that: the invention adopts the driver to drive the second profiling module to move relative to the first profiling module, and the second contact surface is contacted with the first contact surface to generate instant counter force, thereby realizing force feedback and ensuring that the tactile feedback is more vivid.
[ description of the drawings ]
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first configuration of a profiling contact module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a second configuration of a profiling contact module according to an embodiment of the present invention;
FIG. 4 is a perspective view of a third configuration of a profiling contact module according to an embodiment of the present invention;
FIG. 5 is a schematic view of a first profiling module moving rightward relative to a second profiling module in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a first profiling module moving to the left relative to a second profiling module in an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a plurality of first contact surfaces and a plurality of second contact surfaces according to an embodiment of the present invention;
FIG. 8 is a graph of force versus time generated by rightward movement of the first profiling module relative to the second profiling module of FIG. 5;
FIG. 9 is a graph of periodic force versus time generated by rightward movement of the first profiling module relative to the second profiling module of FIG. 7;
FIG. 10 is a graph of force versus time generated by the back and forth movement of the first profiling module relative to the second profiling module of FIGS. 5 and 6;
[ detailed description ] of the invention
The invention will be further described with reference to the drawings and embodiments.
The invention provides a profiling touch feedback device, referring to fig. 1, which comprises a profiling contact module, a driver 2 and a controller 1, wherein the controller 1 is electrically connected with the driver 2. The profiling contact module comprises a first profiling module 4 and a second profiling module 3, the first profiling module 4 is fixed, the second profiling module 3 is arranged opposite to the first profiling module 4, the second profiling module 3 is electrically connected with the driver 2, and further, the driver 2 can drive the second profiling module 3 to move in any direction relative to the first profiling module 4. Wherein, at least one first contact surface 40 is arranged on the surface of the first profiling module 4 opposite to the second profiling module 3, and at least one second contact surface 30 is arranged on the surface of the second profiling module 3 opposite to the first profiling module 4.
Specifically, in embodiment 1, referring to fig. 2, the second profiling module 3 is provided with a second bump 31b on a surface opposite to the first profiling module 4, and the second bump 31b protrudes toward the first profiling module 4. The first profiling module 4 is formed with a first accommodating groove 41b recessed inward on a surface opposite to the second profiling module 3, wherein, optimally, the second bump 31b is at least partially placed in the first accommodating groove 41b, the first accommodating groove 41b has enough space for the second bump 31b to move, that is, a clearance fit is formed between the second bump 31b and the first accommodating groove 41b, the second contact surface 30 is formed on a side surface opposite to the first accommodating groove 41b of the second bump 31b, and the first contact surface 40 is formed on a side wall opposite to the second bump 31b of the first accommodating groove 41 b. Thus, when the second profiling module 3 moves relative to the first profiling module 4 under the drive of the driver 2, the second projection 31b moves in the first receiving groove 41b in the direction of the drive of the driver 2 and contacts and presses the first receiving groove 41b, that is, the second contact surface 30 contacts and presses the first contact surface 40, thereby generating a reaction force by which the second contact surface 30 pushes away the first contact surface 40, and thus realizing feedback of force. However, the engagement between the second protrusion 31b and the first receiving groove 41b may be, in some embodiments, an interference fit or other engagement, as long as the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, and the second protrusion 31b and the first receiving groove 41b may contact with each other to form a force to realize force feedback, which is not limited herein.
In embodiment 2, referring to fig. 3, the second profiling module 3 is formed with a second receiving groove 31c recessed inward on a surface opposite to the first profiling module 4, the first profiling module 4 is provided with a first bump 41c on a surface opposite to the second profiling module 3, and the first bump 41c protrudes toward the second profiling module 3. Preferably, the first protrusion 41c is at least partially disposed in the second receiving groove 31c, and the second receiving groove 31c has enough space for the first protrusion 41c to move, i.e. a clearance fit is formed between the second protrusion and the first receiving groove. The second contact surface 30 is formed on a side wall of the second receiving groove 31c opposite to the first bump 41c, and the first contact surface 40 is formed on a side surface of the first bump 41c opposite to the second receiving groove 31 c. Thereby, the second profiling module 3 moves relative to the first profiling module 4 under the driving of the driver 2, and the second receiving groove 31c moves along the driving direction of the driver 2 and contacts and presses the first bump 41c, that is, the second contact surface 30 contacts and presses the first contact surface 40, thereby generating a reaction force of the second contact surface 30 pressing the first contact surface 40, and thus realizing force feedback. However, the engagement between the first protrusion 41c and the second receiving groove 31c may be, in some embodiments, an interference fit or other engagement, as long as the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, and the second protrusion 41c and the first receiving groove 31c may contact with each other to form a force to realize force feedback, which is not limited herein.
In embodiment 3, referring to fig. 1 and 4, the second profiling module 3 is provided with a plurality of third protrusions 31a arranged continuously on a surface opposite to the first profiling module 4, the third protrusions 31a protrude toward the second profiling module 3, and a third receiving groove 32a is formed between the two third protrusions 31 a. The first profiling module 4 has a plurality of fourth protrusions 41a arranged in series on a surface facing the second profiling module 3, the fourth protrusions 41a protrude toward the second profiling module 3, and a fourth receiving groove 42a is formed between the fourth protrusions 41 a. Preferably, the third protrusion 31a is at least partially disposed in the fourth accommodating groove 42a, the fourth accommodating groove 42a has enough space to allow the third protrusion 31a to move, the fourth protrusion 41a is at least partially disposed in the third accommodating groove 32a, and the fourth accommodating groove 42a has enough space to allow the fourth protrusion 41a to move, and clearance fit is formed between the third protrusion 31a and the fourth accommodating groove 42a and between the fourth protrusion 41a and the third accommodating groove 32a. The second contact surface 30 is formed on a side surface of the third bump 31a opposite to the fourth bump 41a (i.e., the fourth receiving groove 42 a), and the first contact surface 40 is formed on a side surface of the fourth bump 41a opposite to the third bump 31a (i.e., the third receiving groove 32 a). Thereby, the second profiling module 3 moves relative to the first profiling module 4 under the drive of the driver 2, the plurality of third protrusions 31a move in the fourth accommodating groove 42a along the drive direction of the driver 2 and contact and squeeze the fourth protrusions 41a, that is, the plurality of second contact surfaces 30 contact and squeeze the plurality of first contact surfaces 40 simultaneously, thereby generating a larger reaction force that the second contact surfaces 30 push the first contact surfaces 40 away, and realizing larger force feedback. However, the engagement between the third protrusion 31a and the fourth receiving groove 42a and the engagement between the fourth protrusion 41a and the third receiving groove 32a may be, in some embodiments, an interference fit or other engagement, as long as the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, and the force feedback is achieved by the contact between the second protrusion 41c and the first receiving groove 31c, which is not limited herein. It should be noted that, in combination with embodiment 1 and embodiment 2, the structure of embodiment 3 is constituted by the continuous arrangement of the plurality of second bumps 31b (i.e., the third bumps 31 a) and the continuous arrangement of the plurality of first receiving grooves 41b (i.e., the fourth receiving grooves 42 a) in embodiment 1 (i.e., the fourth bumps 41a can be formed by the continuous arrangement of every two first receiving grooves 41 b), or the continuous arrangement of the plurality of first bumps 41c (i.e., the fourth bumps 41 a) and the continuous arrangement of the plurality of second receiving grooves 31c (i.e., the third receiving grooves 32 a) in embodiment 2 (i.e., the fourth bumps 31a are formed between the continuous arrangement of every two second receiving grooves 31 c).
In addition, in other embodiments, in order to increase the haptic feedback effect of the profiling haptic feedback device of the present invention, the second contact surface 30 is parallel to the first contact surface 40, and the direction of the reaction force is perpendicular to the first contact surface 40, so that the contact extrusion of the second contact surface 30 and the first contact surface 40 with the largest area can generate a larger reaction force, and the feedback of the force is increased. The driver 2 may be an electromagnetic driver 2, the second profiling module 3 is a conductor, the conductor is electrified, and under the action of the electromagnetic driver 2, the direction of the movement of the second profiling module 3 can be controlled by controlling the direction of the current, so that the second profiling module 3 can do reciprocating movement, and the feedback of the force is increased.
The invention also provides a method for generating the tactile feedback of the profiling tactile feedback device, which comprises the following steps: the controller 1 receives a pressure or friction signal from the second profiling module 3, and the controller 1 controls the driver 2 to operate and drive the second profiling module 3 to move relative to the first profiling module 4 so that the second contact surface 30 contacts the first contact surface 40, so that the first contact surface 40 generates a counter force to the second contact surface 30, thereby generating haptic feedback. The reaction force generated by the movement of the second profiling module 3 relative to the first profiling module 4 in the profiling haptic feedback device will now be described in detail with the structure of example 3 as follows:
referring to fig. 5 and 7, when the controller 1 controls the driver 2 to operate and drives the second profiling module 3 to move rightward relative to the first profiling module 4, i.e., the first contact surface 40 moves rightward. Initially, the first contact surface 40 is not contacted with the second contact surface 30 in a blank state in the time t1, is contacted and pressed with the second contact surface 30 in the time t1 to t2, and is separated from the second contact surface 30 to continue to move rightward after the time t 2. Wherein, during the contact extrusion process of the first contact surface 40 and the second contact surface 30, i.e. at time t1, the first contact surface 40 starts to generate a reaction force against the second contact surface 30, and under the condition that the upper and lower relative positions of the second profiling module 3 and the first profiling module 4 are unchanged, as the extreme end of the first contact surface 40 and the extreme end of the second contact surface 30 gradually approach to contact extrusion, the reaction force generated by the first contact surface 40 against the second contact surface 30 gradually increases until the extreme end of the first contact surface 40 and the extreme end of the second contact surface 30 contact extrusion, the reaction force generated by the first contact surface 40 against the second contact surface 30 is the maximum value F, and then, as the extreme end of the first contact surface 40 gradually moves away from the extreme end of the second contact surface 30 to the first contact surface 40 and the second contact surface 30, the reaction force generated by the first contact surface 40 against the second contact surface 30 is completely separated from the maximum value F to 0, as shown in fig. 8. And, at this time, the controller 1 controls the driver 2 to operate and drives the second profiling module 3 to move reversely, i.e. to move leftwards, relative to the first profiling module 4, and similarly, the second contact surface 30 is not in contact with and pressed against the first contact surface 40 to be in a blank state at first, i.e. is not in contact with the second contact surface 30 to be in a blank state at t3, is in contact with and pressed against the second contact surface 30 at t3 to t4, and is separated from the second contact surface 30 after t3 to continue to move leftwards relatively. Wherein, in the time t3 to t4, the second contact surface 30 starts to contact the first contact surface 40, that is, in the time t3, the first contact surface 40 starts to generate a reaction force opposite to the reaction force generated by the rightward movement of the second profiling module 3 on the second contact surface 30; and under the condition that the relative position of the second profiling module 3 and the first profiling module 4 is unchanged, as the extreme end of the first contact surface 40 and the extreme end of the second contact surface 30 are gradually contacted and pressed, the reaction force generated by the first contact surface 40 on the second contact surface 30 is gradually increased until the reaction force generated by the first contact surface 40 on the second contact surface 30 is contacted and pressed to the extreme end of the first contact surface 40 and the extreme end of the second contact surface 30, the reaction force generated by the first contact surface 40 on the second contact surface 30 is the maximum value-F, and then, as the extreme end of the first contact surface 40 is gradually far away from the extreme end of the second contact surface 30, the reaction force is completely separated from the first contact surface 40 to the second contact surface 30, and is from the maximum value-F to 0, as shown in fig. 6 and 10. In this way, the driver 2 drives the second profiling module 3 to move repeatedly so that periodic haptic feedback can be generated.
In addition, referring to fig. 7, when the plurality of second contact surfaces 30 move in the same direction relative to the plurality of first contact surfaces 40, the second contact surfaces 30 can periodically generate a reaction force to the first contact surfaces 40 and generate periodic tactile feedback as time t varies, as shown in fig. 9.
In the embodiment, the time value of t1 can be controlled by the controller 1, the conductor is electrified by matching with the electromagnetic driver 2 and the second profiling module 3 which is the conductor, under the action of the electromagnetic driver 2, the movement speed of the second profiling module 3 can be controlled by controlling the current, and the time of t1 can be further controlled, so that the feedback force cycle time is shorter and more frequent, the force feedback effect is increased, and the tactile feedback is more vivid.
While the invention has been described with respect to the above embodiments, it should be noted that modifications can be made by those skilled in the art without departing from the inventive concept, and these are all within the scope of the invention.
Claims (9)
1. A contoured haptic feedback device, characterized by: the device comprises a profiling contact module, a driver electrically connected with the profiling contact module and a controller electrically connected with the driver; the profiling contact module comprises a first profiling module, a second profiling module, a first profiling module and a second profiling module, wherein the first profiling module is arranged opposite to the first profiling module and is electrically connected with the driver, and the driver drives the second profiling module to move relative to the first profiling module; the surface of the second profiling module opposite to the first profiling module is provided with at least one second contact surface which is driven by a driver to move towards the first profiling module so as to be contacted with the first profiling module to generate counter force, the surface of the first profiling module opposite to the second profiling module is provided with at least one first contact surface which is contacted with the second contact surface correspondingly, the surface of one profiling module opposite to the other profiling module of the first profiling module and the second profiling module is provided with a convex block which protrudes towards the other profiling module, the surface of the other profiling module opposite to the one profiling module is provided with a containing groove matched with the convex block, and the first contact surface and the second contact surface are respectively formed in the containing groove and one of the convex blocks.
2. A contoured haptic feedback device of claim 1, wherein: the surface of the second profiling module opposite to the first profiling module is provided with a second lug protruding towards the first profiling module, the surface of the first profiling module opposite to the second profiling module is provided with a first accommodating groove matched with the second lug, a second contact surface is formed on the side surface of the second lug opposite to the first accommodating groove, and a first contact surface is formed on the side wall of the first accommodating groove opposite to the second lug.
3. A contoured haptic feedback device of claim 1, wherein: the surface of the first profiling module opposite to the second profiling module is provided with a first lug protruding towards the second profiling module, the surface of the second profiling module opposite to the first profiling module is provided with a second accommodating groove matched with the first lug, a second contact surface is formed on the side wall of the second accommodating groove opposite to the first lug, and a first contact surface is formed on the side surface of the first lug opposite to the second accommodating groove.
4. A contoured haptic feedback device as claimed in any one of claims 1 to 3, wherein: the second contact surface is parallel to the first contact surface.
5. A contoured haptic feedback device of claim 1, wherein: the direction of the reaction force is perpendicular to the first contact surface.
6. A contoured haptic feedback device of claim 1, wherein: the driver is an electromagnetic driver.
7. A method of haptic feedback generation for a contoured haptic feedback device as recited in claim 1 wherein: the method comprises the following steps:
the controller receives a pressure or friction signal from the second profiling module;
the controller controls the driver to work;
the driver drives the second profiling module to move relative to the first profiling module such that the second contact surface contacts the first contact surface such that the first contact surface generates a counter force against the second contact surface to generate haptic feedback.
8. A haptic feedback generation method as recited in claim 7 wherein: the driver drives the second profiling module to repeatedly move, thereby generating periodic haptic feedback.
9. A haptic feedback generation method as recited in claim 7 wherein: the controller controls the driver to drive the second contact surface to move so that the time of contacting the first contact surface is T1, and the time value of T1 is controlled by the controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911350814.7A CN111538402B (en) | 2019-12-24 | 2019-12-24 | Profiling haptic feedback device and haptic feedback generation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911350814.7A CN111538402B (en) | 2019-12-24 | 2019-12-24 | Profiling haptic feedback device and haptic feedback generation method thereof |
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| CN111538402A CN111538402A (en) | 2020-08-14 |
| CN111538402B true CN111538402B (en) | 2023-09-01 |
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| CN101334691A (en) * | 2007-03-09 | 2008-12-31 | 索尼爱立信移动通信日本株式会社 | Vibration assembly, input device using the vibration assembly and electronic equipment using the input device |
| JP2013097438A (en) * | 2011-10-28 | 2013-05-20 | Mitsubishi Electric Corp | Tactile sense presentation device |
| CN107710129A (en) * | 2015-06-23 | 2018-02-16 | 触零有限公司 | Sensor device and method |
| CN207488950U (en) * | 2016-06-17 | 2018-06-12 | 普瑞车联有限公司 | Display device with touch-induction-type transparent display element |
| CN109511261A (en) * | 2017-07-14 | 2019-03-22 | 株式会社村田制作所 | Vibration-damper structure, vibration device and tactile prompt device |
| CN109661641A (en) * | 2016-09-08 | 2019-04-19 | 剑桥机电有限公司 | Touch feedback control assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101334691A (en) * | 2007-03-09 | 2008-12-31 | 索尼爱立信移动通信日本株式会社 | Vibration assembly, input device using the vibration assembly and electronic equipment using the input device |
| JP2013097438A (en) * | 2011-10-28 | 2013-05-20 | Mitsubishi Electric Corp | Tactile sense presentation device |
| CN107710129A (en) * | 2015-06-23 | 2018-02-16 | 触零有限公司 | Sensor device and method |
| CN207488950U (en) * | 2016-06-17 | 2018-06-12 | 普瑞车联有限公司 | Display device with touch-induction-type transparent display element |
| CN109661641A (en) * | 2016-09-08 | 2019-04-19 | 剑桥机电有限公司 | Touch feedback control assembly |
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