WO2021128018A1 - 一种仿形触觉反馈器件及其触觉反馈生成方法 - Google Patents

一种仿形触觉反馈器件及其触觉反馈生成方法 Download PDF

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Publication number
WO2021128018A1
WO2021128018A1 PCT/CN2019/128031 CN2019128031W WO2021128018A1 WO 2021128018 A1 WO2021128018 A1 WO 2021128018A1 CN 2019128031 W CN2019128031 W CN 2019128031W WO 2021128018 A1 WO2021128018 A1 WO 2021128018A1
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Prior art keywords
profiling
contact surface
profiling module
module
tactile feedback
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PCT/CN2019/128031
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English (en)
French (fr)
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马杰
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瑞声声学科技(深圳)有限公司
瑞声科技(新加坡)有限公司
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Priority to PCT/CN2019/128031 priority Critical patent/WO2021128018A1/zh
Publication of WO2021128018A1 publication Critical patent/WO2021128018A1/zh

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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

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  • the present invention relates to the technical field of tactile feedback, in particular to a profiling tactile feedback device.
  • tactile feedback technology reproduces the sense of touch for users through a series of actions such as force and vibration. It has become the general trend of modern technological innovation and development. It is used in consumer electronic products (such as mobile phones, tablets, etc.), automobiles, and music equipment. , Medical and other equipment are widely used.
  • the purpose of the present invention is to provide a profiling tactile feedback device and a method for generating tactile feedback so as to make the force feedback signal more realistic.
  • a profiling tactile 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 The contact module includes a second profiling module which is disposed opposite to the first profiling module and electrically connected to the driver, and the driver drives the second profiling module relative to the first profiling module Movement;
  • the second profiling module and the first profiling module are provided with at least one on the opposite surface of the profiling module when the second profiling module is driven by a driver to move to the first profiling module so as to move with the first profiling module
  • a second contact surface for contacting the profiling module to generate a reaction force, and a surface of the first profiling module opposite to the second profiling module is provided with at least one first contact corresponding to the second contact surface surface.
  • the surface of the second profiling module opposite to the first profiling module is provided with a second bump protruding toward the first profiling module, and the first profiling module is connected to the first profiling module.
  • the opposite surfaces of the two profiling modules are provided with a first accommodating groove that cooperates with the second protrusion, a second contact surface is formed on the side surface of the second protrusion opposite to the first accommodating groove, and the first contact surface is formed On the side wall of the first receiving groove opposite to the second bump.
  • the opposite surface of the first profiling module and the second profiling module is provided with a first bump protruding toward the second profiling module, and the second profiling module is connected to the first protruding module.
  • the opposite surface of a profiling module is provided with a second receiving groove that cooperates with the first protrusion, and the second contact surface is formed on the side wall of the second receiving groove opposite to the first protrusion, and the first contact surface It is formed on the side surface of the first convex block opposite to the second receiving groove.
  • the second contact surface is parallel to the first contact surface.
  • the direction of the reaction force is perpendicular to the first contact surface.
  • the driver is an electromagnetic driver.
  • the method for generating tactile feedback of the profiling tactile feedback device includes:
  • the controller receives the 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, so that the second contact surface contacts the first contact surface, so that the first contact surface generates a reaction force against the second contact surface to generate tactile feedback.
  • the driver drives the second profiling module to move repeatedly, thereby generating periodic tactile feedback.
  • the controller controls the driver to drive the second contact surface to move so that the time for contacting the first contact surface is T1, and the time value of T1 is controlled by the controller.
  • the present invention has the beneficial effect that: the present invention uses a driver to drive the second profiling module to move relative to the first profiling module, and the second contact surface contacts the first contact surface to generate an instantaneous reaction force, thereby Realize force feedback and make tactile feedback more realistic.
  • Figure 1 is a schematic diagram of an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the first structure of the profiling contact module in the embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the second structure of the profiling contact module in the embodiment of the present invention.
  • FIG. 4 is a perspective view of the third structure of the profiling contact module in the embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the first profiling module moving to the right relative to the second profiling module in the embodiment of the present invention
  • FIG. 6 is a schematic diagram of the first profiling module moving to the left relative to the second profiling module in the embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of multiple first contact surfaces and multiple second contact surfaces used in cooperation in an embodiment of the present invention.
  • FIG. 8 is a coordinate diagram of force and time generated by the rightward movement of the first profiling module relative to the second profiling module in FIG. 5;
  • FIG. 9 is a coordinate diagram of the periodic force and time generated by the first profiling module in FIG. 7 moving to the right relative to the second profiling module;
  • FIGS. 5 and 6 are coordinate diagrams of the force and time generated by the reciprocating movement of the first profiling module relative to the second profiling module in FIGS. 5 and 6;
  • the present invention provides a profiling tactile feedback device. Please refer to FIG. 1.
  • the profiling tactile feedback device includes a profiling contact module, a driver 2 and a controller 1, and the controller 1 and the driver 2 are electrically connected.
  • the profiling contact module includes 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, and the second profiling module 4
  • the profiling module 3 is electrically connected to the driver 2, and further, the second profiling module 3 can be driven to move in any direction relative to the first profiling module 4 through the driver 2.
  • first profiling module 4 and the second profiling module 3 are provided with at least one first contact surface 40 on the opposite surface
  • the second profiling module 3 and the first profiling module 4 are provided with at least one first contact surface on the opposite surface.
  • Two contact surface 30 Two contact surface 30.
  • the second profiling module 3 is provided with a second protrusion 31b on the surface opposite to the first profiling module 4, and the second protrusion 31b faces the first profiling module 4
  • the shaped module 4 is raised.
  • the first profiling module 4 is recessed inwardly on the surface opposite to the second profiling module 3 to form a first receiving groove 41b, wherein, optimally, the second protrusion 31b is at least partially placed in the first receiving groove 41b,
  • the first receiving groove 41b has enough space for the second protrusion 31b to move, that is, a clearance fit is formed between the second protrusion 31b and the first receiving groove 41b, and the second contact surface 30 is formed on the second protrusion 31b and the first protrusion 31b.
  • a side surface opposite to the receiving groove 41b, and the first contact surface 40 is formed on the side wall of the first receiving groove 41b opposite to the second bump 31b.
  • the second protrusion 31b moves in the first accommodating groove 41b in the direction driven by the driver 2 and interacts with the first accommodating groove.
  • 41b is contact pressing, that is, the second contact surface 30 contacts the first contact surface 40 to press, thereby generating a reaction force of the second contact surface 30 pushing away the first contact surface 40, thereby realizing force feedback.
  • the way of fitting between the second protrusion 31b and the first receiving groove 41b may be an interference fit or other ways, as long as the second profiling module 3 is driven by the driver 2.
  • the second protrusion 31b and the first receiving groove 41b can contact each other to form a force to realize force feedback, which is not limited here.
  • the second profiling module 3 is recessed inwardly to form a second receiving groove 31c on the surface opposite to the first profiling module 4, and the first profiling module 4 is in contact with the second profiling module 4
  • the opposite surface of the profiling module 3 is provided with a first bump 41c, and the first protruding block 41c protrudes toward the second profiling module 3.
  • the first protrusion 41c is at least partially placed in the second receiving groove 31c, and the second receiving groove 31c has enough space for the first protrusion 41c to move, that is, between the second protrusion and the first receiving groove 31c. A clearance fit is formed between them.
  • the second contact surface 30 is formed on the side wall of the second receiving groove 31c opposite to the first protrusion 41c, and the first contact surface 40 is formed on the side surface of the first protrusion 41c opposite to the second receiving groove 31c.
  • the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, and the second receiving slot 31c moves in the direction driven by the driver 2 and contacts and squeezes the first protrusion 41c, that is, the second
  • the contact surface 30 contacts and presses with the first contact surface 40, thereby generating a reaction force of the second contact surface 30 pressing the first contact surface 40, thereby realizing force feedback.
  • the matching method between the first protrusion 41c and the second receiving groove 31c may be interference fit or other matching methods, as long as the second profiling module 3 is driven by the driver 2.
  • the second protrusion 41c and the first receiving groove 31c can contact each other to form a force to realize force feedback, which is not limited here.
  • the second profiling module 3 is provided with a plurality of continuously arranged third protrusions 31a on the surface opposite to the first profiling module 4, and the third protrusions 31a
  • the block 31a protrudes toward the second profiling module 3, and a third receiving groove 32a is formed between the two third protrusions 31a.
  • the first profiling module 4 is provided with a plurality of fourth protrusions 41a arranged in a row on the surface opposite to the second profiling module 3, and the fourth protrusions 41a protrude toward the second profiling module 3, and the two fourth protrusions
  • a fourth receiving groove 42a is formed between the blocks 41a.
  • the third protrusion 31a is at least partially placed in the fourth receiving groove 42a
  • the fourth receiving groove 42a has enough space for the third protrusion 31a to move
  • the fourth protrusion 41a is at least partially placed in the third Inside the receiving groove 32a
  • the fourth receiving groove 42a has enough space for the fourth protrusion 41a to move, between the third protrusion 31a and the fourth receiving groove 42a, and between the fourth protrusion 41a and the third receiving groove 32a All constitute a clearance fit.
  • the second contact surface 30 is formed on the opposite side of the third bump 31a and the fourth bump 41a (ie, the fourth receiving groove 42a), and the first contact surface 40 is formed on the fourth bump 41a and the third bump 31a (ie The third receiving groove 32a) is on the opposite side surface.
  • the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, and the plurality of third protrusions 31a move in the fourth receiving groove 42a along the driving direction of the driver 2 and interact with the fourth protrusion.
  • the block 41a contacts and squeezes, that is, the multiple second contact surfaces 30 and the multiple first contact surfaces 40 contact and squeeze at the same time, thereby generating a larger reaction force of the second contact surface 30 pushing away the first contact surface 40, thereby Achieve greater force feedback.
  • the mating manner between the third protrusion 31a and the fourth receiving groove 42a, and between the fourth protrusion 41a and the third receiving groove 32a may be interference fit or other
  • the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4
  • the second protrusion 41c and the first receiving groove 31c can contact each other to form a force to realize force feedback.
  • Embodiment 3 the structure of Embodiment 3 is that the multiple second bumps 31b (that is, the third bumps 31a) in Embodiment 1 are continuously arranged and multiple One first receiving groove 41b (that is, the fourth receiving groove 42a) is arranged continuously (that is, every two first receiving grooves 41b are arranged continuously to form a fourth protrusion 41a), or it is composed of a plurality of first protrusions in the second embodiment.
  • the blocks 41c (that is, the fourth protrusion 41a) are continuously arranged and the plurality of second receiving grooves 31c (that is, the third receiving groove 32a) are continuously arranged (that is, the fourth protrusion is formed between every two second receiving grooves 31c in continuous arrangement. 31a) Composition.
  • 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.
  • the largest area of the second contact surface 30 and the first contact surface 40 can be contacted and squeezed to generate a larger reaction force and increase the force feedback.
  • the driver 2 can be an electromagnetic driver 2
  • the second profiling module 3 is a conductor. The conductor is energized. Under the action of the electromagnetic driver 2, the direction of movement of the second profiling module 3 can be controlled by controlling the direction of the current. The realization of the second profiling module 3 can perform back-and-forth movement to increase force feedback.
  • the present invention also proposes a method for generating tactile feedback of the profiling tactile feedback device.
  • the method includes: the controller 1 receives a pressure or friction signal from the second profiling module 3 , The controller 1 controls the driver 2 to work and drives 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 faces the second
  • the contact surface 30 generates a reaction force, thereby generating tactile feedback.
  • the relationship between the reaction force and time generated by the movement of the second profiling module 3 relative to the first profiling module 4 in the profiling tactile feedback device is described in detail with the structure of the foregoing embodiment 3, as follows:
  • the controller 1 controls the driver 2 to work and drives the second profiling module 3 to move to the right relative to the first profiling module 4, that is, the first contact surface 40 moves to the right.
  • the first contact surface 40 is in an empty state without contacting the second contact surface 30 within t1, and contacts and squeezes with the second contact surface 30 from t1 to t2, and then contacts the second contact surface 30 after t2. Separate and continue to move to the right.
  • 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 remain unchanged, as the end of the first contact surface 40 and the end of the second contact surface 30 gradually come closer to contact and squeeze, the first The reaction force generated by the contact surface 40 against the second contact surface 30 gradually increases, until the end of the first contact surface 40 and the end of the second contact surface 30 contact and squeeze, the first contact surface 40 opposes the second contact surface 30.
  • the reaction force generated by the two contact surfaces 30 is at the maximum value F, and then, as the end of the first contact surface 40 gradually moves away from the end of the second contact surface 30 until the first contact surface 40 and the second contact surface 30 are completely separated,
  • the reaction force generated by the first contact surface 40 against the second contact surface 30 ranges from the maximum value F to 0, as shown in FIG. 8.
  • the controller 1 controls the driver 2 to work and drives the second profiling module 3 to move in the opposite direction relative to the first profiling module 4, that is, to move to the left.
  • the second contact surface 30 is not in contact with the first profiling module 4.
  • a contact surface 40 is in an empty state when contacting and squeezing, that is, it is in a hollow state without contact with the second contact surface 30 within t3, and it contacts and squeezes with the second contact surface 30 from t3 to t4, and after t3 time It separates from the second contact surface 30 and continues to move relative to the left.
  • the second contact surface 30 starts to contact the first contact surface 40, that is, at time t3, the first contact surface 40 and the second contact surface 30 begin to generate a contact with the second profiling module 3 to the right.
  • the movement produces a reaction force opposite to the reaction force; and when the relative position of the second profile module 3 and the first profile module 4 remains unchanged, as the end of the first contact surface 40 and the end of the second contact surface 30 The end gradually approaches the contact extrusion, and the reaction force generated by the first contact surface 40 on the second contact surface 30 gradually increases until the end of the first contact surface 40 and the end of the second contact surface 30 are in contact and squeezed.
  • 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 end of the first contact surface 40 gradually moves away from the end of the second contact surface 30 to the first contact surface 40 and the second contact surface 30 are completely separated, and the reaction force ranges from the maximum value -F to 0, as shown in FIG. 6 and FIG. 10.
  • the driver 2 drives the second profiling module 3 to move repeatedly, so that periodic tactile feedback can be generated.
  • the time value of t1 can be controlled by the controller 1.
  • the electromagnetic driver 2 and the second profiling module 3 which is a conductor, the conductor is energized.
  • the current can be controlled by
  • the speed of the movement of the second profiling module 3 can be controlled, and the length of the t1 time can be controlled, so that the feedback force cycle time is shorter and more frequent, thereby increasing the force feedback effect and making the tactile feedback more realistic.

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Abstract

一种仿形触觉反馈器件，包括仿形接触模组、与仿形接触模组电连接的驱动器、以及与驱动器电连接的控制器。仿形接触模组包括第一仿形模块、以及与第一仿形模块相对设置且与驱动器电连接的第二仿形模块，驱动器驱动第二仿形模块相对第一仿形模块运动。第二仿形模块与第一仿形模块相对的表面设置有至少一个与所述第一仿形模块接触从而产生反力的第二接触面，第一仿形模块与第二仿形模块相对的表面设置有至少一个与第二接触面对应接触的第一接触面。本发明通过驱动器驱动第二仿形模块相对第一仿形模块运动，使第二接触面与第一接触面接触产生反力，实现力的反馈，并使触觉反馈更加逼真。

Description

[根据细则26改正29.07.2020]　一种仿形触觉反馈器件及其触觉反馈生成方法
本发明涉及触觉反馈的技术领域，尤其是涉及一种仿形触觉反馈器件。
背景技术
众所周知，触觉反馈技术，是通过作用力、振动等一系列动作为使用者再现触感，现已经成为现代科技创新发展的大势所趋，在人们消费的电子产品(如手机、平板等)、汽车、音乐器材、医疗等设备上被广泛运用。
目前用于反馈接触力的触觉反馈器件的类型多样，其中，包含有电磁阀类、振动类、撞击类等反馈接触力的发生器，但这类装置，其力值的反馈效果单一，缺乏力反馈效果的逼真性。
因此，有必要提供一种新的仿形触觉反馈器件及其触觉反馈生成方法，使力反馈信号更加逼真。
技术问题
本发明的目的在于提供一种仿形触觉反馈器件及其触觉反馈生成方法，使力反馈信号更加逼真。
问题的解决方案
技术解决方案
本发明的技术方案如下：一种仿形触觉反馈器件，包括仿形接触模组、与所述仿形接触模组电连接的驱动器、以及与所述驱动器电连接的控制器；所述仿形接触模组包括第一仿形模块与所述第一仿形模块相对设置且与所述驱动器电连接的第二仿形模块，所述驱动器驱动第二仿形模块相对所述第一仿形模块运动；所述第二仿形模块与所述第一仿形模块相对的表面设置有至少一个在所述第二仿形模块被驱动器驱动向所述第一仿形模块运动以致与所述第一仿形模块接触从而产生反力的第二接触面，所述第一仿形模块与所述第二仿形模块相对的表面设置有至少一个与所述第二接触面对应接触的第一接触面。
优选地，所述第二仿形模块与所述第一仿形模块相对的表面设有朝向所述第一仿形模块凸起的第二凸块，所述第一仿形模块与所述第二仿形模块相对的表面设有配合所述第二凸块的第一收容槽，第二接触面形成于所述第二凸块与所述第一收容槽相对的侧面，第一接触面形成于所述第一收容槽与所述第二凸块相对的侧壁。
优选地，所述第一仿形模块与所述第二仿形模块相对的表面设有朝向所述第二仿形模块凸起的第一凸块，所述第二仿形模块与所述第一仿形模块相对的表面设有配合所述第一凸块的第二收容槽，第二接触面形成于所述第二收容槽与所述第一凸块相对的侧壁，第一接触面形成于所述第一凸块与所述第二收容槽相对的侧面。
优选地，所述第二接触面与所述第一接触面平行。
优选地，所述反力的方向垂直于所述第一接触面。
优选地，所述驱动器为电磁驱动器。
其中，上述所述仿形触觉反馈器件的触觉反馈生成方法，包括：
控制器接收到来自第二仿形模块的压力或摩擦信号；
控制器控制驱动器进行工作；
驱动器驱动第二仿形模块相对第一仿形模块运动，以致所述第二接触面接触第一接触面，以致第一接触面对第二接触面产生反力从而生成触觉反馈。
较优地，所述驱动器驱动所述第二仿形模块反复运动，从而生成周期性触觉反馈。
较优地，所述控制器控制驱动器驱动第二接触面运动以致接触到所述第一接触面的时间为T1，所述T1的时间值由所述控制器控制。
发明的有益效果
有益效果
与现有技术相比，本发明的有益效果在于：本发明采用驱动器驱动第二仿形模块相对第一仿形模块运动，通过第二接触面与第一接触面接触从而产生瞬间反力，从而实现力的反馈，并使触觉反馈更加逼真。
对附图的简要说明
附图说明
图1为本发明实施例的原理图；
图2为本发明实施例中仿形接触模组第一种结构的示意图；
图3为本发明实施例中仿形接触模组第二种结构的示意图；
图4为本发明实施例中仿形接触模组第三种结构的立体图；
图5为本发明实施例中第一仿形模块相对第二仿形模块向右运动的示意图；
图6为本发明实施例中第一仿形模块相对第二仿形模块向左运动的示意图；
图7为本发明实施例中多个第一接触面与多个第二接触面配合使用的结构示意图；
图8为图5第一仿形模块相对第二仿形模块向右运动所产生作用力与时间的坐标图；
图9为图7第一仿形模块相对第二仿形模块向右运动所产生周期性作用力与时间的坐标图；
图10为图5和图6第一仿形模块相对第二仿形模块往返运动所产生作用力与时间的坐标图；
实施该发明的最佳实施例
本发明的最佳实施方式
下面结合附图和实施方式对本发明作进一步说明。
本发明提出一种仿形触觉反馈器件，请参照附图1，该仿形触觉反馈器件包括仿形接触模组、驱动器2和控制器1，控制器1与驱动器2电性连接。仿形接触模组包括第一仿形模块4和第二仿形模块3，第一仿形模块4固定不动，第二仿形模块3与第一仿形模块4相对设置，且第二仿形模块3与驱动器2电连接，进而，通过驱动器2可驱动第二仿形模块3相对第一仿形模块4的任意方向运动。其中，第一仿形模块4与第二仿形模块3相对的表面上设置有至少一个第一接触面40，第二仿形模块3与第一仿形模块4相对的表面设置有至少一个第二接触面30。
具体的，在实施例1中，请参照附图2，第二仿形模块3在与第一仿形模块4相对的表面设有一第二凸块31b，且第二凸块31b朝向第一仿形模块4凸起。第一仿形 模块4在与第二仿形模块3相对的表面向内凹陷形成有一第一收容槽41b，其中，最优的，第二凸块31b至少部分置于第一收容槽41b内，第一收容槽41b有足够的空间让第二凸块31b运动，即第二凸块31b与第一收容槽41b之间构成间隙配合，且第二接触面30形成于第二凸块31b与第一收容槽41b相对的侧面，第一接触面40形成于第一收容槽41b与第二凸块31b相对的侧壁。由此，第二仿形模块3在驱动器2驱动下相对第一仿形模块4运动时，第二凸块31b在第一收容槽41b内沿驱动器2驱动的方向上移动并与第一收容槽41b接触挤压，即第二接触面30与第一接触面40接触挤压，由此产生第二接触面30推开第一接触面40的反作用力，从而实现力的反馈。但需要说明的是，第二凸块31b与第一收容槽41b之间的配合方式，在一些实施例中，可以是过盈配合或其他配合方式，只要第二仿形模块3在驱动器2驱动下相对第一仿形模块4运动时，第二凸块31b与第一收容槽41b之间可相互接触形成作用力实现力反馈即可，在此不作限定。
在实施例2中，请参照附图3，第二仿形模块3在与第一仿形模块4相对的表面向内凹陷形成有一第二收容槽31c，第一仿形模块4在与第二仿形模块3相对的表面设有一第一凸块41c，且第一凸块41c朝向第二仿形模块3凸起。其中，最优的，第一凸块41c至少部分置于第二收容槽31c内，第二收容槽31c有足够的空间让第一凸块41c运动，即第二凸块与第一收容槽之间构成间隙配合。且第二接触面30形成于第二收容槽31c与第一凸块41c相对的侧壁，第一接触面40形成于第一凸块41c与第二收容槽31c相对的侧面。由此，第二仿形模块3在驱动器2驱动下相对第一仿形模块4运动，第二收容槽31c沿驱动器2驱动的方向上移动并与第一凸块41c接触挤压，即第二接触面30与第一接触面40接触挤压，由此产生第二接触面30挤压第一接触面40的反作用力，从而实现力的反馈。但需要说明的是，第一凸块41c与第二收容槽31c之间的配合方式，在一些实施例中，可以是过盈配合或其他配合方式，只要第二仿形模块3在驱动器2驱动下相对第一仿形模块4运动时，第二凸块41c与第一收容槽31c之间可相互接触形成作用力实现力反馈即可，在此不作限定。
在实施例3中，请参照附图1和附图4，第二仿形模块3在与第一仿形模块4相对的表面设有多个连续排列的第三凸块31a，且第三凸块31a朝向第二仿形模块3凸 起，两第三凸块31a之间形成有第三收容槽32a。第一仿形模块4在与第二仿形模块3相对的表面设有多个连续排列的第四凸块41a，且第四凸块41a朝向第二仿形模块3凸起，两第四凸块41a之间形成有第四收容槽42a。其中，最优的，第三凸块31a至少部分置于第四收容槽42a内，第四收容槽42a有足够的空间让第三凸块31a运动，第四凸块41a至少部分置于第三收容槽32a内，且第四收容槽42a有足够的空间让第四凸块41a运动，第三凸块31a与第四收容槽42a之间以及第四凸块41a与第三收容槽32a之间均构成间隙配合。第二接触面30形成于第三凸块31a与第四凸块41a(即第四收容槽42a)相对的侧面，第一接触面40形成于第四凸块41a与第三凸块31a(即第三收容槽32a)相对的侧面。由此，第二仿形模块3在驱动器2驱动下相对第一仿形模块4运动，多个第三凸块31a在第四收容槽42a内沿驱动器2驱动的方向上移动并与第四凸块41a接触挤压，即多个第二接触面30与多个第一接触面40同时接触挤压，由此产生较大的第二接触面30推开第一接触面40的反作用力，从而实现较大力的反馈。但需要说明的是，第三凸块31a与第四收容槽42a之间以及第四凸块41a与第三收容槽32a之间的配合方式，在一些实施例中，可以是过盈配合或其他配合方式，只要第二仿形模块3在驱动器2驱动下相对第一仿形模块4运动时，第二凸块41c与第一收容槽31c之间可相互接触形成作用力实现力反馈即可，在此不作限定。还有，需要说明的是，结合实施例1和实施例2，可知，实施例3的结构是由实施例1中多个第二凸块31b(即指第三凸块31a)连续排列及多个第一收容槽41b(即指第四收容槽42a)连续排列(即每两第一收容槽41b连续排列可形成第四凸块41a)构成，或是由实施例2中多个第一凸块41c(即指第四凸块41a)连续排列及多个第二收容槽31c(即指第三收容槽32a)连续排列(即每两第二收容槽31c连续排列之间形成第四凸块31a)构成。
另外，在其他一些实施例中，为了增加本发明仿形触觉反馈器件的触觉反馈的效果，第二接触面30与第一接触面40平行，反力的方向垂直于所述第一接触面40，进而可使第二接触面30与第一接触面40最大面积的接触挤压，产生较大的反作用力，增加力的反馈。还有，驱动器2可采用为电磁驱动器2，第二仿形模块3为导体，导体通电，在电磁驱动器2的作用下，可通过控制电流的方向控制第二仿形模块3运动的方向，进而实现第二仿形模块3可做往返运动，增加力的反馈 。
根据上述实施例的仿形触觉反馈器件，本发明还提出了一种仿形触觉反馈器件的触觉反馈生成方法，该方法包括：控制器1接收到来自第二仿形模块3的压力或摩擦信号，控制器1控制驱动器2进行工作并驱动第二仿形模块3相对第一仿形模块4运动，以致所述第二接触面30接触第一接触面40，以致第一接触面40对第二接触面30产生反力，从而生成触觉反馈。现以上述实施例3的结构对该仿形触觉反馈器件中第二仿形模块3相对第一仿形模块4运动所产生的反作用力与时间的关系进行详细说明，如下：
参照附图5和附图7，当控制器1控制驱动器2进行工作并驱动第二仿形模块3相对第一仿形模块4向右运动，即第一接触面40向右运动。起初，第一接触面40在t1时间内未于第二接触面30接触呈空行状态，在t1至t2时间内与第二接触面30接触挤压，在t2时间后与第二接触面30分开继续向右运动。其中，在t1至t2时间内，即第一接触面40与第二接触面30接触挤压过程中，即在t1时间，第一接触面40对第二接触面30开始产生一个反作用力，并在第二仿形模块3与第一仿形模块4上下相对位置不变的情况下，随着第一接触面40的最末端与第二接触面30的最末端逐渐靠近接触挤压，第一接触面40对第二接触面30所产生的反作用力逐渐增大，至第一接触面40的最末端与第二接触面30的最末端相接触挤压时，该第一接触面40对第二接触面30所产生的反作用力为最大值F，而后，随第一接触面40的最末端逐渐远离第二接触面30的最末端至第一接触面40与第二接触面30完全分开，第一接触面40对第二接触面30所产生的反作用力由最大值F至0，如图8所示。并且，此时控制器1控制驱动器2进行工作并驱动第二仿形模块3相对第一仿形模块4作反向运动，即向左运动，同理，起初，第二接触面30未与第一接触面40接触挤压呈空行状态，即在t3时间内未于第二接触面30接触呈空形状态，在t3至t4时间内与第二接触面30接触挤压，在t3时间后与第二接触面30分开继续相对向左运动。其中，在t3至t4时间内，第二接触面30开始接触第一接触面40，即在t3时间，第一接触面40对第二接触面30开始产生一个与第二仿形模块3往右运动产生反作用力相反的反作用力；并在第二仿形模块3与第一仿形模块4相对位置不变的情况下，随着第一接触面40的最末端与第二接触面30的最末端逐渐靠 近接触挤压，第一接触面40对第二接触面30所产生的反作用力逐渐增大，至第一接触面40的最末端与第二接触面30的最末端相接触挤压时，该第一接触面40对第二接触面30所产生的反作用力为最大值-F，而后，随第一接触面40的最末端逐渐远离第二接触面30的最末端至第一接触面40与第二接触面30完全分开，反作用力由最大值-F至0，参照附图6和附图10所示。这样，驱动器2驱动第二仿形模块3反复运动，从而可生成周期性触觉反馈。
另外，参照附图7，当多个第二接触面30相对多个第一接触面40一直朝相同方向运动，随时间t的变化，第二接触面30对第一接触面40可周期性的产生一个反作用力，并生成周期性触觉反馈，参照附图9所示。
其中，在实施例中，t1的时间值可由控制器1控制，通过配合电磁驱动器2及为导体的第二仿形模块3，导体通电，在电磁驱动器2的作用下，可通过控制电流的大小实现控制第二仿形模块3运动的速度，进而可控制t1时间的长短，由此实现反馈的力周期时间更短、更频繁，由此增加力的反馈效果，使触觉反馈更加逼真。
以上所述的仅是本发明的实施方式，在此应当指出，对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出改进，但这些均属于本发明的保护范围。

Claims (9)

  1. 一种仿形触觉反馈器件，其特征在于：包括仿形接触模组、与所述仿形接触模组电连接的驱动器、以及与所述驱动器电连接的控制器；所述仿形接触模组包括第一仿形模块与所述第一仿形模块相对设置且与所述驱动器电连接的第二仿形模块，所述驱动器驱动第二仿形模块相对所述第一仿形模块运动；所述第二仿形模块与所述第一仿形模块相对的表面设置有至少一个在所述第二仿形模块被驱动器驱动向所述第一仿形模块运动以致与所述第一仿形模块接触从而产生反力的第二接触面，所述第一仿形模块与所述第二仿形模块相对的表面设置有至少一个与所述第二接触面对应接触的第一接触面。
  2. 根据权利要求1所述的一种仿形触觉反馈器件，其特征在于：所述第二仿形模块与所述第一仿形模块相对的表面设有朝向所述第一仿形模块凸起的第二凸块，所述第一仿形模块与所述第二仿形模块相对的表面设有配合所述第二凸块的第一收容槽，第二接触面形成于所述第二凸块与所述第一收容槽相对的侧面，第一接触面形成于所述第一收容槽与所述第二凸块相对的侧壁。
  3. 根据权利要求1所述的一种仿形触觉反馈器件，其特征在于：所述第一仿形模块与所述第二仿形模块相对的表面设有朝向所述第二仿形模块凸起的第一凸块，所述第二仿形模块与所述第一仿形模块相对的表面设有配合所述第一凸块的第二收容槽，第二接触面形成于所述第二收容槽与所述第一凸块相对的侧壁，第一接触面形成于所述第一凸块与所述第二收容槽相对的侧面。
  4. 根据权利要求1-3任一项所述的一种仿形触觉反馈器件，其特征在于：所述第二接触面与所述第一接触面平行。
  5. 根据权利要求1任一项所述的一种仿形触觉反馈器件，其特征在于：所述反力的方向垂直于所述第一接触面。
  6. 根据权利要求1所述的一种仿形触觉反馈器件，其特征在于：所述 驱动器为电磁驱动器。
  7. 一种如权利要求1所述的仿形触觉反馈器件的触觉反馈生成方法，其特征在于：所述方法包括：
    控制器接收到来自第二仿形模块的压力或摩擦信号；
    控制器控制驱动器工作；
    驱动器驱动第二仿形模块相对第一仿形模块运动，以致所述第二接触面接触第一接触面，以致第一接触面对第二接触面产生反力从而生成触觉反馈。
  8. 根据权利要求7所述的触觉反馈生成方法，其特征在于：所述驱动器驱动所述第二仿形模块反复运动，从而生成周期性触觉反馈。
  9. 根据权利要求7所述的触觉反馈生成方法，其特征在于：所述控制器控制驱动器驱动第二接触面运动以致接触到所述第一接触面的时间为T1，所述T1的时间值由所述控制器控制。
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