KR20240042594A - Feedback device and method for providing thermal using the same - Google Patents

Abstract

The present invention relates to a feedback device that outputs thermal feedback and a method of providing thermal feedback using the same. The method of providing thermal feedback according to one aspect of the present invention involves contacting the user's body part with heat generated from a thermoelectric element to which power is applied. A method of providing thermal feedback performed by a feedback device that outputs thermal feedback by transmitting it to the user through a contact surface, comprising: obtaining an initiation message of the thermal feedback including a type of the thermal feedback; and when the type of thermal feedback is thermal feedback, outputting the thermal sensory feedback by performing a thermal grill operation that combines the heat generating operation and the endothermic operation, wherein the step of outputting the thermal sensory feedback includes: , applying a constant voltage for the heat generation operation to the thermoelectric element, applying a reverse voltage whose power application direction is opposite to the constant voltage for the heat absorption operation to the thermoelectric element, and applying the constant voltage, and It includes alternately repeating the step of applying a reverse voltage.

Description

Feedback device and method of providing thermal feedback using the same {FEEDBACK DEVICE AND METHOD FOR PROVIDING THERMAL USING THE SAME}

The present invention relates to a feedback device that outputs thermal feedback and a method of providing thermal feedback using the same.

Recently, as technology for virtual reality (VR) or augmented reality (AR) has developed, the demand for providing feedback through various senses to increase user immersion in content is increasing. In particular, virtual reality technology was mentioned as one of the promising future technologies at the 2016 Consumer Electronics Show (CES). In line with this trend, research is being actively conducted to move away from the current user experience (UX: User eXperience) that is mainly limited to sight and hearing, and to provide user experience for all human senses, including smell and touch.

A thermoelectric element (TE: ThermoElement) is a device that generates an exothermic or endothermic reaction by receiving electrical energy through the Peltier effect. It has been expected to be used to provide thermal feedback to users, but is mainly used in existing devices using flat boards. The application of thermoelectric elements has been limited because it is difficult to adhere closely to the user's body parts.

However, as the development of flexible thermoelectric elements (FTE) has recently reached a successful stage, it is expected that it will be able to overcome the problems of conventional thermoelectric elements and effectively deliver thermal feedback to users.

One object of the present invention is to provide a feedback device that provides thermal feedback to a user and a method of providing thermal feedback using the same.

Another object of the present invention is to provide a feedback device that provides thermal feedback that includes thermal sensation using hot and cold sensations in addition to hot and cold sensations, and a method of providing thermal feedback using the same.

Another object of the present invention is to provide a feedback device capable of outputting multi-stage thermal feedback by controlling the intensity of heating or endothermic operation, and a method of providing thermal feedback using the same.

Another object of the present invention is to provide a feedback device that outputs thermal sensation using voltage control, area control, time division, etc., and a method of providing thermal feedback using the same.

Another object of the present invention is to provide a feedback device that prevents damage to the user's skin due to thermal feedback and a method of providing thermal feedback using the same.

Another object of the present invention is to provide a feedback device that prevents thermal reversal hallucinations and a method of providing thermal feedback using the same.

Another object of the present invention is to provide a feedback device that appropriately prevents thermal reversal hallucinations for each of the warm and cold feedbacks, and a method of providing thermal feedback using the same.

The problem to be solved by the present invention is not limited to the above-mentioned problems, and problems not mentioned can be clearly understood by those skilled in the art from this specification and the attached drawings. .

According to one aspect of the present invention, a method of providing thermal feedback performed by a feedback device that outputs thermal feedback by transferring heat generated from a thermoelectric element to which power is applied to the user through a contact surface in contact with a body part of the user, comprising: Obtaining an initiation message of the thermal feedback including the type of thermal feedback; and when the type of thermal feedback is thermal feedback, outputting the thermal sensory feedback by performing a thermal grill operation that combines the heat generating operation and the endothermic operation, wherein the step of outputting the thermal sensory feedback includes: , applying a constant voltage for the heat generation operation to the thermoelectric element, applying a reverse voltage whose power application direction is opposite to the constant voltage for the heat absorption operation to the thermoelectric element, and applying the constant voltage, and A method of providing thermal feedback may be provided including the step of alternately repeating the step of applying a reverse voltage.

According to another aspect of the present invention, a communication module for communicating with an external device; A thermoelectric element that receives power and performs a heat-generating or endothermic operation, a power terminal that supplies power to the thermoelectric element, and a contact surface provided on one side of the thermoelectric element and in contact with a part of the user's body, wherein the contact surface is a heat output module that outputs thermal feedback by transferring heat generated by the heat generating operation or the endothermic operation to the user; and receiving an initiation message of the thermal feedback including the type of the thermal feedback from the external device through the communication module, and when the type of the thermal feedback is thermal sensory feedback, the heat output module performs the heat generating operation and the endothermic operation. A controller that applies the power to perform a heat grill operation with a combined operation and outputs the heat sensation feedback, wherein the controller applies a constant voltage for the heat generation operation to the thermoelectric element and a direction in which the constant voltage and power are applied. A feedback device may be provided that controls the heat output module to perform the heat grill operation by alternately and repeatedly applying this opposite reverse voltage.

The means for solving the problem of the present invention are not limited to the above-mentioned solution means, and the solution methods not mentioned will be clearly understood by those skilled in the art from this specification and the attached drawings. You will be able to.

According to the present invention, thermal feedback can be provided to the user.

In addition, according to the present invention, it is possible to provide a thermal sensation in addition to a thermal sensation by providing a thermal sensation using a heat sensation and a cold sensation.

Additionally, according to the present invention, the user experience can be improved by outputting thermal feedback of various intensities by adjusting the intensity of the heating or endothermic operation.

Additionally, according to the present invention, the user's safety can be ensured by preventing damage to the user's skin due to thermal feedback.

Additionally, according to the present invention, it is possible to prevent deterioration of user experience caused by heat reversal hallucinations.

The effects of the present invention are not limited to the effects described above, and effects not mentioned can be clearly understood by those skilled in the art from this specification and the attached drawings.

1 to 7 relate to a gaming controller among implementation examples of a feedback device according to an embodiment of the present invention.
8 to 14 relate to a wearable device among implementation examples of a feedback device according to an embodiment of the present invention.
Figure 15 is a block diagram of the configuration of a feedback device according to an embodiment of the present invention.
Figure 16 is a block diagram of the configuration of a feedback unit according to an embodiment of the present invention.
Figure 17 is a diagram of one form of a heat output module according to an embodiment of the present invention.
Figure 18 is a diagram of another form of a heat output module according to an embodiment of the present invention.
Figure 19 is a diagram of another form of a heat output module according to an embodiment of the present invention.
Figure 20 is a diagram of another form of a heat output module according to an embodiment of the present invention.
21 is a block diagram of the configuration of an application unit according to an embodiment of the present invention.
Figure 22 is a schematic diagram of the configuration of an application unit according to an embodiment of the present invention.
Figure 23 is a diagram of a heat generation operation for providing thermal feedback according to an embodiment of the present invention.
Figure 24 is a graph regarding the strength of thermal feedback according to an embodiment of the present invention.
Figure 25 is a diagram of an endothermic operation for providing cooling feedback according to an embodiment of the present invention.
Figure 26 is a graph regarding the intensity of cooling feedback according to an embodiment of the present invention.
Figure 27 is a graph regarding the strength of warm/cold feedback using voltage control according to an embodiment of the present invention.
Figure 28 is a graph regarding hot/cold feedback with the same amount of temperature change according to an embodiment of the present invention.
Figure 29 is a graph regarding the adjustment of the intensity of the heating/cooling feedback through operation control for each thermoelectric element group according to an embodiment of the present invention.
Figure 30 is a graph relating to the adjustment of the intensity of warming/cooling feedback through power application timing control according to an embodiment of the present invention.
Figure 31 is a diagram showing the operation of a voltage control heat grill according to an embodiment of the present invention.
Figure 32 is a table regarding voltages for providing neutral heat grill feedback in the voltage control method according to an embodiment of the present invention.
Figure 33 is a diagram showing the operation of a heat grill using an area control method according to an embodiment of the present invention.
Figure 34 is a diagram showing a thermoelectric element array composed of thermoelectric element groups with different areas for a thermal control method according to an embodiment of the present invention.
Figure 35 is a diagram of an example of a heat grill operation using a time division method according to an embodiment of the present invention.
Figure 36 is a diagram of another example of a heat grill operation using a time division method according to an embodiment of the present invention.
Figure 37 is a diagram of an example of a heat grill operation using a combined method of area control and time division according to an embodiment of the present invention.
Figure 38 is a diagram of another example of a heat grill operation using a combined method of area control and time division according to an embodiment of the present invention.
Figure 39 is a diagram of another example of a heat grill operation using a combined method of area control and time division according to an embodiment of the present invention.
Figure 40 is a diagram showing the temperature change of the contact surface during heat generating and endothermic operations according to an embodiment of the present invention.
Figure 41 is a diagram relating to heat reversal hallucination according to an embodiment of the present invention.
Figure 42 is a graph showing the temperature change trend of the contact surface due to the buffer voltage according to an embodiment of the present invention.
Figure 43 is a graph showing the temperature change trend of the contact surface according to the thermal reversal hallucination prevention operation with a plurality of buffering stages according to an embodiment of the present invention.
Figure 44 is a graph showing a temperature change trend due to cessation of thermal feedback of various intensities according to an embodiment of the present invention.
Figure 45 is a graph showing the difference in temperature change speed between warm feedback and cold feedback of the same intensity according to an embodiment of the present invention.
Figure 46 is a diagram showing the time difference between the buffering section at the end of the warm feedback and the cold feedback according to an embodiment of the present invention.
Figure 47 is a graph showing the temperature change of the contact surface upon termination of heat grill feedback according to an embodiment of the present invention.
Figure 48 is a graph illustrating an operation for removing a sense of warmth upon termination of heat grill feedback according to an embodiment of the present invention.
Figure 49 is a schematic diagram of an example of an electrical signal for a heat transfer operation according to an embodiment of the present invention.
FIG. 50 is a diagram illustrating a heat transfer operation according to FIG. 49.
Figure 51 is a schematic diagram of an example of an electrical signal for a heat transfer operation according to an embodiment of the present invention.
FIG. 52 is a diagram illustrating a heat transfer operation according to FIG. 51.
Figure 53 is a schematic diagram of an example of an electrical signal for a heat transfer operation according to an embodiment of the present invention.
FIG. 54 is a diagram illustrating a heat transfer operation according to FIG. 53.
Figure 55 is a schematic diagram of an example of an electrical signal for a heat transfer operation according to an embodiment of the present invention.
FIG. 56 is a diagram illustrating a heat transfer operation according to FIG. 55.
Figure 57 is a flowchart of a first example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 58 is a flowchart of a second example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 59 is a flowchart of a third example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 60 is a flowchart of a fourth example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 61 is a flowchart of a fifth example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 62 is a flowchart of a sixth example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 63 is a flowchart of a seventh example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 64 is a flowchart of an eighth example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 65 is a flowchart of a ninth example of a method for providing thermal feedback according to an embodiment of the present invention.
Figure 66 is a flowchart of a tenth example of a method for providing thermal feedback according to an embodiment of the present invention.

The embodiments described in this specification are intended to clearly explain the spirit of the present invention to those skilled in the art to which the present invention pertains. Therefore, the present invention is not limited to the embodiments described in this specification, and the present invention The scope of should be construed to include modifications or variations that do not depart from the spirit of the present invention.

The terms used in this specification are general terms that are currently widely used as much as possible in consideration of their function in the present invention, but this may vary depending on the intention, custom, or the emergence of new technologies in the technical field to which the present invention pertains. You can. However, if a specific term is defined and used with an arbitrary meaning, the meaning of the term will be described separately. Therefore, the terms used in this specification should be interpreted based on the actual meaning of the term and the overall content of this specification, not just the name of the term.

The drawings attached to this specification are intended to easily explain the present invention, and the shapes shown in the drawings may be exaggerated as necessary to aid understanding of the present invention, so the present invention is not limited by the drawings.

In this specification, if it is determined that a detailed description of a known configuration or function related to the present invention may obscure the gist of the present invention, the detailed description thereof will be omitted as necessary.

According to one aspect of the present invention, heat generated by a thermoelectric operation including at least one of a heating operation and an endothermic operation of a thermoelectric element to which power is applied is transferred to the user through a contact surface in contact with a body part of the user, thereby providing thermal feedback. A method of providing thermal feedback performed by a feedback device that outputs, comprising: applying operating power to the thermoelectric element to initiate output of the thermal feedback; stopping application of the operating power to terminate output of the thermal feedback; and to prevent the user from feeling a thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, in the process where the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature when the application of the operating power is stopped. A method of providing thermal feedback including the step of applying buffer power to reduce the rate of temperature change may be provided.

Here, the thermal reversal hallucination is that when the application of the operating power is stopped, the user performs the thermoelectric operation based on the initial temperature even though the temperature of the contact surface is in the same direction as the temperature changed by the thermoelectric operation based on the initial temperature. It may mean feeling the temperature in the opposite direction to the temperature changed by.

Also, here, the buffer power source may be a power source in the same direction as the operating power source.

Also, here, the buffer power source may have at least one of voltage and current smaller than the operating power source.

Also, here, in the step of applying the buffer power, at least one of the voltage and current of the buffer power may be reduced while the buffer power is applied.

Also, here, in the step of applying the buffer power, the buffer power in the form of a duty signal may be applied.

Also, here, when the operating power is applied in the form of a duty signal, the duty rate of the buffer power may be smaller than the duty rate of the operating power.

Also, here, in the step of applying the buffer power, the duty rate of the buffer power may be reduced while the buffer power is applied.

Also, here, the thermoelectric element is provided as a thermocouple array including a plurality of individually controllable thermocouple groups, and in the step of applying the buffer power, the buffer power is applied to only some of the plurality of thermocouple groups. You can.

Also, here, among the plurality of thermocouple groups, the number of thermocouple groups to which the buffering power is applied may be smaller than the number of thermocouple groups to which the operating power is applied.

Also, here, while the buffer power is applied, the number of thermocouple groups to which the buffer power is applied can be reduced.

Also, here, in the step of applying the buffer power, the buffer power may be applied after stopping the application of the operating power and waiting without applying power for a predetermined period of time.

Also, here, the feedback device can adjust the strength of the thermal feedback to a plurality of strengths, and can perform the step of applying the buffer power only when the strength of the thermal feedback is greater than or equal to a predetermined strength.

Also here, the feedback device is capable of adjusting the intensity of the thermal feedback to a plurality of intensities, and the step of obtaining the intensity of the thermal feedback; generating the operating power based on the strength of the thermal feedback; and determining whether to apply the buffer power according to whether the intensity of the thermal feedback is greater than or equal to a predetermined intensity.

According to another aspect of the present invention, a thermoelectric element that performs a thermoelectric operation including at least one of a heat-generating operation and a heat-absorbing operation, a power terminal that supplies power for the thermoelectric operation to the thermoelectric element, and a thermoelectric element on one side of the thermoelectric element. a heat output module that is provided and includes a contact surface in contact with a body part of the user, and outputs thermal feedback by transmitting heat generated by the thermoelectric operation to the user through the contact surface; and applying operating power to the power terminal to start output of the thermal feedback, stopping application of the operating power to terminate the output of the thermal feedback, and changing the thermoelectric operation according to the cessation of application of the operating power. In the process of returning the temperature of the contact surface to the initial temperature, a buffer power that reduces the rate of temperature change of the contact surface is applied to the power terminal to prevent the user from experiencing thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback. A feedback device including a feedback controller may be provided.

Here, the thermal reversal hallucination is that when the application of the operating power is stopped, the user performs the thermoelectric operation based on the initial temperature even though the temperature of the contact surface is in the same direction as the temperature changed by the thermoelectric operation based on the initial temperature. It may mean feeling the temperature in the opposite direction to the temperature changed by.

Also, here, the buffer power source may be a power source in the same direction as the operating power source.

Also, here, the buffer power source may have at least one of voltage and current smaller than the operating power source.

Also, here, the feedback controller may reduce at least one of the voltage and current of the buffer power while the buffer power is applied.

Also, here, the feedback controller may apply the buffer power in the form of a duty signal.

Also, here, when the operating power is applied in the form of a duty signal, the duty rate of the buffer power may be smaller than the duty rate of the operating power.

Also, here, the feedback controller may reduce the duty rate of the buffer power while the buffer power is applied.

Also, here, the thermoelectric element is provided as a thermocouple array including a plurality of individually controllable thermocouple groups, and the feedback controller may apply the buffer power to only some of the plurality of thermocouple groups.

Also, here, among the plurality of thermocouple groups, the number of thermocouple groups to which the buffering power is applied may be smaller than the number of thermocouple groups to which the operating power is applied.

Also, here, the feedback controller may reduce the number of thermocouple groups to which the buffer power is applied while the buffer power is applied.

Also, here, the feedback controller may wait without applying power for a predetermined time after stopping the application of the operating power and then apply the buffer power.

Also, here, the heat output module can adjust the strength of the thermal feedback to a plurality of strengths, and the feedback controller can apply the buffer power only when the strength of the thermal feedback is greater than a predetermined strength.

Also here, the feedback controller obtains the strength of the thermal feedback, generates the operating power based on the strength of the thermal feedback, and controls the buffer power according to whether the strength of the thermal feedback is greater than or equal to a predetermined strength. You can decide whether to approve it or not.

According to another aspect of the present invention, heat generated by a thermoelectric operation including at least one of a heat-generating operation and an endothermic operation of a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each operating individually is generated by a user. A method of providing thermal feedback performed by a feedback device that outputs thermal feedback by transmitting it to the user through a contact surface in contact with a body part, wherein an operation group that is at least a part of the plurality of thermocouple groups to initiate output of the thermal feedback applying power for the thermoelectric operation to; and stopping the application of the power to terminate the output of the thermal feedback; wherein, in the stopping step, the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature as the application of the power is stopped. In the process, the application of the power to some of the operation groups is stopped so that the temperature change rate of the contact surface is reduced to prevent the user from experiencing thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, and then the operation is performed. A method of providing thermal feedback may be provided to discontinue application of the power to the remainder of the group.

According to another aspect of the present invention, a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each individually performing a thermoelectric operation including at least one of a heat generating operation and an endothermic operation, the thermoelectric element comprising: It includes a power terminal that supplies power for the thermoelectric operation and a contact surface provided on one side of the thermoelectric element and in contact with a body part of the user, and transfers heat generated by the thermoelectric operation to the user through the contact surface. a heat output module that outputs thermal feedback by doing so; and applying power for the thermoelectric operation to at least a part of an operation group among the plurality of thermocouple groups in order to start output of the thermal feedback, and stopping the application of the power to end the output of the thermal feedback. In order to prevent the user from feeling thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, in the process where the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature when application is stopped, the temperature change rate of the contact surface is changed. A feedback device may be provided including a feedback controller that stops applying the power to some of the operation groups and then stops applying the power to the remainder of the operation groups so that the power is reduced.

According to yet another aspect of the present invention, it is linked with a content playback device that drives multimedia content including games and tangible applications, to obtain the user's operation used for the multimedia content and to generate thermal energy accompanying the multimedia content. A gaming controller that provides thermal feedback to provide an experience, comprising: a casing that includes a grip portion held by a user and forms an exterior of the gaming controller; an input module that receives user input according to the user's manipulation; a communication module that communicates with the content playback device; It includes a thermoelectric element that performs a thermoelectric operation, a power terminal that supplies power to the thermoelectric element, and a contact surface provided on the gripper and transferring heat generated according to the thermoelectric operation of the thermoelectric element to the user, the contact surface a heat output module that outputs the thermal feedback by transferring heat generated by the thermoelectric operation to the user; and obtaining the user input received through the input module, transmitting the user input to the content playback device through the communication module, and receiving information about the thermal feedback from the content playback device through the communication module. and select an operating voltage from among a plurality of predetermined voltage values based on the strength of the thermal feedback according to the thermal feedback information, generate an operating power based on the operating voltage, and the thermal output module provides the thermal feedback. Applying the operating power to the power terminal to output, stopping application of the operating power so that output of the thermal feedback is terminated, and selecting a buffer voltage lower than the operating voltage among the plurality of predetermined voltage values, In the process of generating a buffer power based on the buffer voltage and returning the temperature of the contact surface changed by the thermoelectric operation to the initial temperature when the application of the operating power is stopped, the user experiences a thermal hallucination opposite to the thermal feedback. A gaming controller may be provided that includes a controller that applies buffering power to the power terminal to reduce the rate of temperature change of the contact surface in order to prevent experiencing thermoelectric hallucinations.

Here, the controller determines whether the power application direction is forward or reverse based on whether the type of thermal feedback is warm feedback or cold feedback, and applies the operating power and the buffer power in the determined power application direction. It can be approved.

Also, here, the intensity of the thermal feedback includes a first intensity and a second intensity that is stronger than the first intensity, and the plurality of predetermined voltage values include a first voltage value and a second intensity that is greater than the first voltage value. and a voltage value, wherein the controller selects the operating voltage as the first voltage value when the intensity of the thermal feedback is the first intensity, and selects the operating voltage as the first voltage value when the intensity of the thermal feedback is the second intensity. may be selected as the second voltage value, and when application of the operating voltage having the second voltage value is stopped, the buffer voltage may be selected as the first voltage value.

Also, here, the controller may apply the buffer power when the application of the operating power is stopped only when the operating voltage is greater than the first voltage value.

Also, here, the intensity of the thermal feedback further includes a third intensity that is stronger than the second intensity, the plurality of predetermined voltage values include a third voltage value that is greater than the second voltage value, and the controller When the strength of the thermal feedback is the third strength, the operating voltage is selected as the third voltage value, and when application of the operating power having the third voltage value is stopped, the buffer voltage is set to the first voltage value. You can choose.

Also, here, the intensity of the thermal feedback further includes a third intensity that is stronger than the second intensity, the plurality of predetermined voltage values include a third voltage value that is greater than the second voltage value, and the controller When the strength of the thermal feedback is the third strength, the operating voltage is selected as the third voltage value, and when application of the operating power having the third voltage value is stopped, the buffer voltage is set to the first voltage value and A second voltage value may be selected, and when applying the buffer power, the second voltage value may be applied first and then the first voltage value may be applied.

According to another aspect of the present invention, thermal feedback is output by transmitting heat generated by a thermoelectric operation, including a heating operation and an endothermic operation of a thermoelectric element to which power is applied, to the user through a contact surface in contact with a part of the user's body. A method of providing thermal feedback performed by a feedback device, comprising: obtaining types of thermal feedback including warm feedback and cold feedback; applying operating power to initiate output of the thermal feedback to the thermoelectric element in consideration of the type of the thermoelectric feedback; stopping application of the operating power to terminate output of the thermal feedback; and a buffer power for preventing the user from feeling a thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, in the process where the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature upon cessation of application of the operating power. generating according to the type of thermal feedback; And applying the buffer power to the thermoelectric element to reduce the rate of temperature change of the contact surface. A method of providing thermal feedback including a step may be provided.

Here, the buffer power source is smaller than the voltage of the operating power source and may have different voltage values depending on the type of thermal feedback.

Also, here, the generating step includes generating the buffer power having a first voltage value when the thermal feedback is the warm feedback, and generating the buffer power having a first voltage value greater than the first voltage value when the thermal feedback is the cold feedback. It may include generating the buffer power having a voltage value.

Also, here, the generating step includes generating the buffer power having a first voltage value when the thermal feedback is the warm feedback, and generating a second voltage value smaller than the first voltage value when the thermal feedback is the cold feedback. It may include generating the buffer power having a voltage value.

Also, here, the buffer power source is smaller than the voltage of the operating power source and may have different current values depending on the type of thermal feedback.

Also, here, the generating step includes generating the buffer power supply having a first current value when the thermal feedback is the warm feedback, and generating a second current value greater than the first current value when the thermal feedback is the cold feedback. It may include generating the buffer power having a current value.

Also, here, the generating step includes generating the buffer power supply having a first current value when the thermal feedback is the warm feedback, and generating a second current value smaller than the first current value when the thermal feedback is the cold feedback. It may include generating the buffer power having a current value.

Also, here, the ratio of the voltage of the buffer power to the operating power is less than “1” and may be different depending on the type of thermal feedback.

Also, here, the step of applying the operating power includes applying an operating power having a first voltage value when the thermal feedback is the warm feedback, and applying an operating power having a second voltage value when the thermal feedback is the cooling feedback. A step of applying power, wherein the generating step includes generating the buffer power having a third voltage value when the thermal feedback is the warm feedback, and generating a fourth voltage value when the thermal feedback is the cold feedback. and generating the buffer power supply having a value, wherein the ratio of the third voltage value to the first voltage value may be greater than the ratio of the fourth voltage value to the second voltage value.

Also, here, the step of applying the operating power includes applying an operating power having a first voltage value when the thermal feedback is the warm feedback, and applying an operating power having a second voltage value when the thermal feedback is the cooling feedback. A step of applying power, wherein the generating step includes generating the buffer power having a third voltage value when the thermal feedback is the warm feedback, and generating a fourth voltage value when the thermal feedback is the cold feedback. and generating the buffer power supply having a value, wherein the ratio of the third voltage value to the first voltage value may be smaller than the ratio of the fourth voltage value to the second voltage value.

Also, here, the ratio of the current of the buffer power to the operating power is less than “1” and may be different depending on the type of thermal feedback.

Also, here, the step of applying the operating power includes applying an operating power having a first current value when the thermal feedback is the warm feedback, and applying an operating power having a second current value when the thermal feedback is the cooling feedback. A step of applying power, wherein the generating step includes generating the buffer power supply having a third current value when the thermal feedback is the warm feedback, and generating a fourth current value when the thermal feedback is the cold feedback. and generating the buffer power supply having a value, wherein the ratio of the third current value to the first current value may be greater than the ratio of the fourth current value to the second current value.

Also, here, the step of applying the operating power includes applying an operating power having a first current value when the thermal feedback is the warm feedback, and applying an operating power having a second current value when the thermal feedback is the cooling feedback. A step of applying power, wherein the generating step includes generating the buffer power supply having a third current value when the thermal feedback is the warm feedback, and generating a fourth current value when the thermal feedback is the cold feedback. and generating the buffer power supply having a value, wherein the ratio of the third current value to the first current value may be smaller than the ratio of the fourth current value to the second current value.

According to another aspect of the present invention, thermal feedback is output by transmitting heat generated by a thermoelectric operation, including a heating operation and an endothermic operation of a thermoelectric element to which power is applied, to the user through a contact surface in contact with a part of the user's body. A method of providing thermal feedback performed by a feedback device, comprising: obtaining types of thermal feedback including warm feedback and cold feedback; applying operating power to initiate output of the thermal feedback to the thermoelectric element in consideration of the type of the thermoelectric feedback; stopping application of the operating power to terminate output of the thermal feedback; Obtaining a buffer time set differently depending on the type of thermal feedback; and to prevent the user from feeling a thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, in the process where the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature when the application of the operating power is stopped. A method of providing thermal feedback including the step of applying a buffering power that reduces the rate of temperature change to the thermoelectric element during the buffering time may be provided.

Here, applying the buffer power includes applying the buffer power for a first time when the thermal feedback is the warm feedback, and applying the buffer power for a second time greater than the first time when the thermal feedback is the cold feedback. It may include applying the buffer power while the buffering power is applied.

Also, here, the step of applying the buffer power includes applying the buffer power for a first time when the thermal feedback is the warm feedback, and applying the buffer power for a second time less than the first time when the thermal feedback is the cold feedback. It may include applying the buffer power for a period of time.

According to yet another aspect of the present invention, heat generated by a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each individually performing thermoelectric operations including a heating operation and an endothermic operation is transferred to a user's body part. A method of providing thermal feedback performed by a feedback device that outputs thermal feedback by transmitting it to the user through a contact surface in contact with the user, comprising: obtaining types of thermal feedback including warm feedback and cold feedback; applying operating power for starting output of the thermal feedback to at least some operating groups among the plurality of thermocouple groups in consideration of the type of the thermoelectric feedback; and stopping application of the operating power to terminate output of the thermal feedback. determining a buffer group including a smaller number of thermocouple groups than the operating group in consideration of the type of thermal feedback; and to prevent the user from feeling a thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, in the process where the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature when the application of the operating power is stopped. A method of providing thermal feedback including the step of applying buffering power to the buffering group to reduce the rate of temperature change may be provided.

Here, the determining step includes including a first number of the thermocouple groups in the buffering group when the thermal feedback is the warm feedback, and including the first number of the thermocouple groups in the buffering group when the thermal feedback is the cold feedback. It may include including a second number of thermocouple groups greater than the number.

Also, here, the determining step includes including a first number of the thermocouple groups in the buffering group when the thermal feedback is the warm feedback, and including the first number of the thermocouple groups in the buffering group when the thermal feedback is the cold feedback. It may include including a second number of the thermocouple groups less than one.

According to yet another aspect of the present invention, heat generated by a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each individually performing thermoelectric operations including a heating operation and an endothermic operation is transferred to a user's body part. A method of providing thermal feedback performed by a feedback device that outputs thermal feedback by transmitting it to the user through a contact surface in contact with the user, comprising: obtaining types of thermal feedback including warm feedback and cold feedback; applying power to start output of the thermal feedback to at least one operating group among the plurality of thermocouple groups in consideration of the type of the thermoelectric feedback; and stopping the application of the power to terminate the output of the thermal feedback; wherein, in the stopping step, the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature as the application of the power is stopped. In the process, the application of the power to some of the operation groups is stopped so that the temperature change rate of the contact surface is reduced to prevent the user from experiencing thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, and then the operation is performed. A method of providing thermal feedback may be provided to discontinue application of the power to the remainder of the group.

According to yet another aspect of the present invention, a thermoelectric element that performs a thermoelectric operation including a heat generating operation and an endothermic operation, a power terminal that supplies power for the thermoelectric operation to the thermoelectric element, and a power terminal provided on one side of the thermoelectric element. a heat output module that includes a contact surface in contact with a body part of the user and outputs thermal feedback by transmitting heat generated by the thermoelectric operation to the user through the contact surface; and obtaining the type of thermal feedback including warm feedback and cold feedback, applying operating power for starting the output of the thermal feedback to the thermoelectric element in consideration of the type of the thermoelectric feedback, and terminating the output of the thermal feedback. In order to stop the application of the operating power, and in the process where the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature as the application of the operating power is stopped, the user experiences heat that is a thermal hallucination opposite to the thermal feedback. A feedback controller that generates a buffering power to prevent reverse hallucinations according to the type of thermal feedback and applies the buffering power to the thermoelectric element to reduce the rate of temperature change of the contact surface; a feedback device including a is provided. It can be.

Here, the buffer power source is smaller than the voltage of the operating power source and may have different voltage values depending on the type of thermal feedback.

Also, here, the feedback controller generates the buffer power having a first voltage value when the thermal feedback is the warm feedback, and a second voltage value greater than the first voltage value when the thermal feedback is the cold feedback. It is possible to generate the buffer power having .

Also, here, the feedback controller generates the buffer power having a first voltage value when the thermal feedback is the warm feedback, and a second voltage value smaller than the first voltage value when the thermal feedback is the cold feedback. It is possible to generate the buffer power having .

Also, here, the buffer power source is smaller than the voltage of the operating power source and may have different current values depending on the type of thermal feedback.

Also, here, the feedback controller generates the buffer power having a first current value when the thermal feedback is the warm feedback, and generates a second current value greater than the first current value when the thermal feedback is the cold feedback. It is possible to generate the buffer power having .

Also, here, the feedback controller generates the buffer power having a first current value when the thermal feedback is the warm feedback, and generates a second current value smaller than the first current value when the thermal feedback is the cold feedback. It is possible to generate the buffer power having .

Also, here, the ratio of the voltage of the buffer power to the operating power is less than “1” and may be different depending on the type of thermal feedback.

Also, here, the feedback controller applies operating power having a first voltage value when the thermal feedback is the warm feedback, and applies operating power having a second voltage value when the thermal feedback is the cooling feedback, When the thermal feedback is the warm feedback, the buffer power is generated with a third voltage value, and when the thermal feedback is the cold feedback, the buffer power is generated with a fourth voltage value, and the first voltage value is generated. The ratio of the third voltage value to the voltage value may be greater than the ratio of the fourth voltage value to the second voltage value.

Also, here, the feedback controller applies operating power having a first voltage value when the thermal feedback is the warm feedback, and applies operating power having a second voltage value when the thermal feedback is the cooling feedback, When the thermal feedback is the warm feedback, the buffer power is generated with a third voltage value, and when the thermal feedback is the cold feedback, the buffer power is generated with a fourth voltage value, and the first voltage value is generated. The ratio of the third voltage value to the voltage value may be smaller than the ratio of the fourth voltage value to the second voltage value.

Also, here, the ratio of the current of the buffer power to the operating power is less than “1” and may be different depending on the type of thermal feedback.

Also, here, the feedback controller applies an operating power having a first current value when the thermal feedback is the warm feedback, and applies an operating power having a second current value when the thermal feedback is the cooling feedback, When the thermal feedback is the warm feedback, the buffer power is generated with a third current value, and when the thermal feedback is the cold feedback, the buffer power is generated with a fourth current value, and the first current value is generated. The ratio of the third current value to the current value may be greater than the ratio of the fourth current value to the second current value.

Also, here, the feedback controller applies an operating power having a first current value when the thermal feedback is the warm feedback, and applies an operating power having a second current value when the thermal feedback is the cooling feedback, When the thermal feedback is the warm feedback, the buffer power is generated with a third current value, and when the thermal feedback is the cold feedback, the buffer power is generated with a fourth current value, and the first current value is generated. The ratio of the third current value to the current value may be smaller than the ratio of the fourth current value to the second current value.

According to yet another aspect of the present invention, a thermoelectric element that performs a thermoelectric operation including a heat generating operation and an endothermic operation, a power terminal that supplies power for the thermoelectric operation to the thermoelectric element, and a power terminal provided on one side of the thermoelectric element. a heat output module that includes a contact surface in contact with a body part of the user and outputs thermal feedback by transmitting heat generated by the thermoelectric operation to the user through the contact surface; and obtaining the type of thermal feedback including warm feedback and cold feedback, applying operating power for starting the output of the thermal feedback to the thermoelectric element in consideration of the type of the thermoelectric feedback, and terminating the output of the thermal feedback. For this purpose, the application of the operating power is stopped, a buffer time is set differently depending on the type of thermal feedback, and the temperature of the contact surface changed by the thermoelectric operation is reduced to the initial temperature when the operating power is stopped. A feedback controller that applies a buffering power that reduces the rate of temperature change of the contact surface to the thermoelectric element during the buffering time to prevent the user from experiencing thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, during the return process; A feedback device including a may be provided.

Here, the feedback controller applies the buffer power for a first time when the thermal feedback is the warm feedback, and applies the buffer power for a second time greater than the first time when the thermal feedback is the cold feedback. It can be approved.

Also, here, the feedback controller applies the buffer power for a first time when the thermal feedback is the warm feedback, and applies the buffer power for a second time less than the first time when the thermal feedback is the cold feedback. can be approved.

According to yet another aspect of the present invention, a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each individually performing a thermoelectric operation including a heat-generating operation and an endothermic operation, and the thermoelectric operation in the thermoelectric element. It includes a power terminal that supplies power for and a contact surface provided on one side of the thermoelectric element and in contact with a body part of the user, and provides thermal feedback by transferring heat generated by the thermoelectric operation to the user through the contact surface. A heat output module that outputs; and obtaining a type of the thermal feedback including a warm feedback and a cold feedback, and applying operating power for starting output of the thermal feedback to at least one operating group of the plurality of thermocouple groups in consideration of the type of the thermoelectric feedback. In order to terminate the output of the thermal feedback, the application of the operating power is stopped, a buffer group including a smaller number of thermocouple groups than the operating group is determined in consideration of the type of the thermal feedback, and the operating power The temperature change rate of the contact surface to prevent the user from feeling thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, in the process where the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature when the application of the thermoelectric operation is stopped. A feedback device including a feedback controller that applies buffering power to the buffering group to reduce can be provided.

Here, the feedback controller includes a first number of thermocouple groups in the buffering group when the thermal feedback is the warm feedback, and includes a first number of thermocouple groups in the buffering group when the thermal feedback is the cold feedback. A second larger number of the thermocouple groups may be included.

Also, here, the feedback controller includes a first number of thermocouple groups in the buffering group when the thermal feedback is the warm feedback, and includes the first number of thermocouple groups in the buffering group when the thermal feedback is the cold feedback. A second, smaller number of the thermocouple groups may be included.

According to yet another aspect of the present invention, a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each individually performing a thermoelectric operation including a heat-generating operation and an endothermic operation, and the thermoelectric operation in the thermoelectric element. It includes a power terminal that supplies power for and a contact surface provided on one side of the thermoelectric element and in contact with a body part of the user, and provides thermal feedback by transferring heat generated by the thermoelectric operation to the user through the contact surface. A heat output module that outputs; and obtaining a type of the thermal feedback, including a warm feedback and a cold feedback, and applying power to start output of the thermal feedback to at least one operation group of the plurality of thermocouple groups in consideration of the type of the thermoelectric feedback. , the application of the power is stopped to terminate the output of the thermal feedback, but the user opposes the thermal feedback in the process of returning the temperature of the contact surface changed by the thermoelectric operation to the initial temperature as the application of the power is stopped. In order to prevent experiencing thermal reversal hallucinations, which are thermal hallucinations that occur, the application of the power to some of the operation groups is stopped to reduce the rate of temperature change of the contact surface, and then the application of the power to the rest of the operation groups is stopped. A feedback device including a feedback controller may be provided.

According to another aspect of the present invention, a heat generating operation, an endothermic operation of a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each operating individually, and a heat grill combining the heat generating operation and the endothermic operation. Thermal energy is performed by a feedback device that outputs thermal feedback including warm feedback, cold feedback, and heat sensory feedback by transferring heat generated by thermoelectric motion including motion to the user through a contact surface in contact with the user's body part. As a method of providing feedback, in order to start output of the thermal sensing feedback, forward power for the heat generation operation is applied to a first group of the plurality of thermocouple groups, and a second thermocouple group different from the first group of the plurality of thermocouple groups is applied. controlling the thermoelectric element to perform the heat grill operation by applying reverse power for the heat absorption operation to the group; and stopping the application of the forward power and the reverse power to terminate the output of the thermal feedback, but adjusting the timing of application of the forward power and the interruption of application of the reverse power to be different. A provision method may be provided.

Here, by adjusting the timing of application of the forward power and the interruption of application of the reverse power differently, a portion of the contact surface adjacent to the first group that performs the heat-generating operation and a portion of the contact surface that performs the heat-absorbing operation are It may further include returning the area adjacent to the two groups to the initial temperature at substantially the same time point.

Also, here, in the controlling step, in order to exclude the user from experiencing a thermal sensation due to the heat sensory feedback, the amount of temperature increase of the first group according to the heating operation is determined by the amount of temperature increase of the second group according to the endothermic operation. Applying the reverse power supply having a voltage value or current value greater than the forward power supply so that the temperature drop amount is smaller, and in the adjusting step, the second group having a larger temperature drop amount when the application of the forward power supply and the reverse power supply is stopped. The reverse power supply may be stopped before the forward power supply so that the first group with a small temperature increase amount achieves thermal equilibrium at the initial temperature.

Also, here, in the adjusting step, when the application of the forward power and the reverse power is stopped, the forward power is turned on to prevent the contact surface from reaching thermal equilibrium at a temperature higher than the initial temperature due to residual heat generated by the thermoelectric operation. It can be stopped before the reverse power supply.

According to yet another aspect of the present invention, a thermoelectric element provided as a thermocouple array including a first thermocouple group performing a heat-generating operation and a second thermocouple group performing an endothermic operation, supplying power to the thermoelectric element. It includes a power terminal and a contact surface provided on one side of the thermoelectric element and in contact with a body part of the user, and heat generated according to the heat-generating operation of the first thermocouple group and the endothermic operation of the second thermocouple group. a heat output module that outputs heat sensation feedback by transferring cold heat to the user through the contact surface; And to initiate output of the thermal sensing feedback, the thermoelectric element is configured to apply forward power for the heat generation operation to the first thermocouple group and apply reverse power for the heat absorption operation to the second thermocouple group. Controlling to perform a thermal grill operation for output of thermal sensory feedback, and stopping the application of the forward power and reverse power to terminate the output of the thermal sensory feedback, at a time when application of the forward power is stopped and the reverse power A feedback device including a feedback controller that differently adjusts the application interruption point may be provided.

Here, the feedback controller adjusts the timing of application of the forward power and the interruption of application of the reverse power to be different, so that among the contact surfaces, a portion adjacent to the first thermocouple group that performs the heating operation and a portion of the contact surface are The area adjacent to the second group performing the endothermic operation may be returned to the initial temperature at substantially the same time.

In addition, here, the feedback controller adjusts the temperature increase of the first group according to the heat-generating operation to the temperature of the second group according to the endothermic operation in order to exclude the user from experiencing a thermal sensation due to the heat sensory feedback. The reverse power supply having a voltage value or current value greater than the forward power supply is applied so as to be smaller than the drop amount, and when the application of the forward power supply and the reverse power supply is stopped, the second group in which the temperature drop amount is large and the temperature rise amount is small in the second group. The reverse power source may be turned off before the forward power source so that the first group achieves thermal equilibrium at the initial temperature.

In addition, here, the feedback controller turns on the forward power to prevent the contact surface from achieving thermal equilibrium at a temperature higher than the initial temperature due to residual heat generated by the thermoelectric operation when the application of the forward power and reverse power is stopped. It can be stopped before reverse power.

According to another aspect of the present invention, a heat generating operation, an endothermic operation of a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each operating individually, and a heat grill combining the heat generating operation and the endothermic operation. Thermal energy is performed by a feedback device that outputs thermal feedback including warm feedback, cold feedback, and heat sensory feedback by transferring heat generated by thermoelectric motion including motion to the user through a contact surface in contact with the user's body part. As a method of providing feedback, in order to start output of the thermal sensing feedback, forward power for the heat generation operation is applied to a first group of the plurality of thermocouple groups, and a second thermocouple group different from the first group of the plurality of thermocouple groups is applied. controlling the thermoelectric element to perform the heat grill operation by applying reverse power for the heat absorption operation to the group; stopping application of the forward power and the reverse power to terminate the output of the thermal sensory feedback; and applying auxiliary power to at least one group of the first group and the second group so that the contact surface returns to the initial temperature.

Here, in the stopping step, the forward power and the reverse power can be stopped simultaneously.

Also, here, in the controlling step, in order to exclude the user from experiencing a thermal sensation due to the heat sensory feedback, the amount of temperature increase of the first group according to the heating operation is determined by the amount of temperature increase of the second group according to the endothermic operation. Applying the reverse power supply having a voltage value or current value greater than the forward power supply so that the temperature drop amount is smaller, and in the adjusting step, the second group having a larger temperature drop amount when the application of the forward power supply and the reverse power supply is stopped. The auxiliary power may be applied in the same direction as the forward power so that the first group with a small temperature increase amount achieves thermal equilibrium at the initial temperature.

Also, here, in the controlling step, in order to exclude the user from experiencing a thermal sensation due to the heat sensory feedback, the amount of temperature increase of the first group according to the heating operation is determined by the amount of temperature increase of the second group according to the endothermic operation. Applying the reverse power supply having a voltage value or current value greater than the forward power supply so that the temperature drop amount is smaller, and in the adjusting step, the second group having a larger temperature drop amount when the application of the forward power supply and the reverse power supply is stopped. and applying a first auxiliary power to the first group so that the first group with a small temperature increase is thermally balanced at the initial temperature, and applying a second auxiliary power to the second group in a direction opposite to that of the first auxiliary power. When applying an auxiliary power, at least one of the voltage value, current value, and application time of the auxiliary power in the same direction as the forward power among the first auxiliary power and the second auxiliary power may be greater than that of the other auxiliary power.

Also, here, in the adjusting step, when the application of the forward power and the reverse power is stopped, the auxiliary power is turned on to prevent the contact surface from reaching thermal equilibrium at a temperature higher than the initial temperature due to residual heat generated by the thermoelectric operation. It can be applied in the same direction as the reverse power source.

Here, in the adjusting step, the first group is used to prevent the contact surface from achieving thermal equilibrium at a temperature higher than the initial temperature due to residual heat generated by the thermoelectric operation when the application of the forward power and the reverse power is stopped. A first auxiliary power is applied to the second group, and a second auxiliary power whose power application direction is opposite to that of the first auxiliary power is applied to the second group, and which is the same as the reverse power among the first auxiliary power and the second auxiliary power. At least one of the voltage value, current value, and application time of the auxiliary power in one direction may be greater than that of another auxiliary power.

According to yet another aspect of the present invention, a thermoelectric element provided as a thermocouple array including a first thermocouple group performing a heat-generating operation and a second thermocouple group performing an endothermic operation, supplying power to the thermoelectric element. It includes a power terminal and a contact surface provided on one side of the thermoelectric element and in contact with a body part of the user, and heat generated according to the heat-generating operation of the first thermocouple group and the endothermic operation of the second thermocouple group. a heat output module that outputs heat sensation feedback by transferring cold heat to the user through the contact surface; And to initiate output of the thermal sensing feedback, the thermoelectric element is configured to apply forward power for the heat generation operation to the first thermocouple group and apply reverse power for the heat absorption operation to the second thermocouple group. Controlling to perform a thermal grill operation for output of thermal sensory feedback, stopping application of the forward power and reverse power to terminate the output of the thermal sensory feedback, and using the first thermoelectric so that the contact surface returns to the initial temperature. A feedback device including a feedback controller that applies auxiliary power to at least one group of the pair group and the second thermocouple group may be provided.

Here, the feedback controller can simultaneously stop the forward power and the reverse power.

In addition, here, the feedback controller adjusts the temperature increase amount of the first thermocouple group according to the heat-generating operation to the second thermocouple group according to the endothermic operation in order to exclude the user from experiencing a thermal sensation due to the heat sensory feedback. The second thermocouple group applies the reverse power supply having a higher voltage or current value than the forward power supply so that it is smaller than the temperature drop of the pair group, and the temperature drop is large when the application of the forward power supply and the reverse power supply is stopped. The auxiliary power may be applied in the same direction as the forward power so that the first thermocouple group with a small temperature increase amount achieves thermal equilibrium at the initial temperature.

In addition, here, the feedback controller adjusts the temperature increase amount of the first thermocouple group according to the heat-generating operation to the second thermocouple group according to the endothermic operation in order to exclude the user from experiencing a thermal sensation due to the heat sensory feedback. The second thermocouple group applies the reverse power supply having a higher voltage or current value than the forward power supply so that it is smaller than the temperature drop of the pair group, and the temperature drop is large when the application of the forward power supply and the reverse power supply is stopped. A first auxiliary power is applied to the first thermocouple group so that the first thermocouple group with a small temperature rise is thermally balanced at the initial temperature, and the first auxiliary power and power application direction are applied to the second thermocouple group. A second auxiliary power opposite to this is applied, but at least one of the voltage value, current value, and application time of the auxiliary power in the same direction as the forward power among the first auxiliary power and the second auxiliary power is longer than the other auxiliary power. It can be big.

In addition, here, the feedback controller applies the auxiliary power to prevent the contact surface from reaching thermal equilibrium at a temperature higher than the initial temperature due to residual heat generated by the thermoelectric operation when the application of the forward power and reverse power is stopped. It can be applied in the same direction as reverse power.

Also, here, the feedback controller connects the first thermocouple to prevent the contact surface from reaching thermal equilibrium at a temperature higher than the initial temperature due to residual heat generated by the thermoelectric operation when the application of the forward power and reverse power is stopped. Apply a first auxiliary power to the group and apply a second auxiliary power to the second thermocouple group in a direction opposite to that of the first auxiliary power, wherein the reverse direction among the first auxiliary power and the second auxiliary power is applied. At least one of the voltage value, current value, and application time of the auxiliary power source in the same direction as the power source may be greater than that of other auxiliary power sources.

According to yet another aspect of the present invention, heat generated by a thermoelectric operation including at least one of a heating operation and an endothermic operation of a thermoelectric element to which power is applied is transferred to the user through a contact surface in contact with a part of the user's body, thereby providing thermal energy. A method of providing thermal feedback performed by a feedback device that outputs feedback, comprising: obtaining an initiation message requesting output of the thermal feedback; When the start message is obtained, applying operating power to the thermoelectric element to start output of the thermal feedback according to the start message; stopping application of the operating power to terminate output of the thermal feedback; In order to prevent the user from feeling a thermal reversal hallucination, which is a thermal hallucination opposite to the thermal feedback, in the process where the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature when the application of the operating power is stopped, the contact surface performing a buffering operation to reduce the rate of temperature change; And when the start message is newly acquired while performing the buffer operation, stopping the buffer operation and applying operating power to the thermoelectric element to start output of the thermal feedback according to the newly acquired start message; A method of providing thermal feedback comprising:

Here, the start message includes the provision time of the thermal feedback, and the step of stopping application of the operating power may be performed after applying the operating power during the provision time of the thermal feedback.

In addition, the method may further include obtaining a termination message requesting termination of output of the thermal feedback, and stopping application of the operating power when the termination message is obtained.

Also, here, the step of stopping the application of the operating power may be performed after applying the operating power for a predetermined period of time.

Also, here, the buffering operation may be performed by reducing at least one of the voltage value and the current value of the operating power source.

Also, here, the thermoelectric element is provided as a thermocouple array including a plurality of individually controllable thermocouple groups, and the step of performing the buffering operation includes the thermocouple array to which the operating power is applied among the plurality of thermocouple groups. This can be performed by reducing the number of pair groups.

According to another aspect of the present invention, a communication module that communicates with a content playback device that runs multimedia content including games and immersive applications; A thermoelectric element that performs a thermoelectric operation including at least one of a heat-generating operation and a heat-absorbing operation, a power terminal that supplies power for the thermoelectric operation to the thermoelectric element, and a power terminal provided on one side of the thermoelectric element and in contact with a part of the user's body. a heat output module that includes a contact surface and outputs thermal feedback for providing a thermal experience that is compatible with the multimedia content by transmitting heat generated by the thermoelectric operation to the user through the contact surface; Receive a start message requesting output of the thermal feedback through the communication module, and when the start message is received, apply operating power to the thermoelectric element to start output of the thermal feedback according to the start message, and In order to terminate the output of the feedback, the application of the operating power is stopped, and the temperature of the contact surface changed by the thermoelectric operation returns to the initial temperature according to the interruption of the application of the operating power. In the process of returning to the initial temperature, the user In order to prevent experiencing thermal reversal hallucinations, which are thermal hallucinations, a buffering operation is performed to reduce the rate of temperature change of the contact surface, and when the start message is newly received through the communication module while performing the buffering operation, the buffering operation is performed. A feedback device including a feedback controller that applies operating power to the thermoelectric element to stop and start output of the thermal feedback according to the newly received start message.

Here, the start message includes a time for providing the thermal feedback, and the feedback controller may stop applying the operating power after applying the operating power during the providing time for the thermal feedback.

Also, here, the controller may receive a termination message requesting termination of output of the thermal feedback through the communication module, and may stop applying the operating power when the termination message is received.

Also, here, the feedback controller may stop applying the operating power after applying the operating power for a predetermined period of time.

Also, here, the feedback controller may perform the buffering operation by reducing at least one of the voltage value and the current value of the operating power.

Also, here, the thermoelectric element is provided as a thermocouple array including a plurality of individually controllable thermocouple groups, and the feedback controller is configured to determine the number of thermocouple groups to which the operating power is applied among the plurality of thermocouple groups. The buffering operation can be performed by reducing .

According to another aspect of the present invention, a method of providing thermal feedback performed by a feedback device that outputs thermal feedback by transferring heat generated from a thermoelectric element to which power is applied to the user through a contact surface in contact with a body part of the user. Obtaining an initiation message of the thermal feedback including the type of thermal feedback; and when the type of thermal feedback is thermal feedback, outputting the thermal sensory feedback by performing a thermal grill operation that combines the heat generating operation and the endothermic operation, wherein the step of outputting the thermal sensory feedback includes: , applying a constant voltage for the heat generation operation to the thermoelectric element, applying a reverse voltage whose power application direction is opposite to the constant voltage for the heat absorption operation to the thermoelectric element, and applying the constant voltage and the reverse. A method of providing thermal feedback may be provided including the step of alternately repeating the step of applying a voltage.

Here, each of the application time of the constant voltage and the application time of the reverse voltage may be less than or equal to the perception time required for the user to feel a warm sensation according to the heat generating operation or a cold sensation according to the endothermic operation.

Also, here, in the step of outputting the thermal sensory feedback, the application time of the constant voltage may be adjusted to be smaller than the application time of the reverse voltage in order to minimize the user's feeling of warmth or cold due to the thermal sensory feedback.

Also, here, the ratio of the application time of the reverse voltage to the application time of the constant voltage may be 1.5 or more and 5.0 or less.

Also, here, in the step of outputting the thermal sensation feedback, the application time of the constant voltage and the application time of the reverse voltage are the same, and the amount of temperature increase of the contact surface due to the constant voltage is the amount of temperature decrease of the contact surface due to the reverse voltage. The voltage value or current value of the constant voltage can be adjusted to be smaller than the voltage value or current value of the reverse voltage.

Also, here, in the step of outputting the thermal sensation feedback, the voltage values of the constant voltage and the reverse voltage may be adjusted so that the ratio of the amount of temperature decrease to the amount of temperature increase is 1.5 or more and 5.0 or less.

Also, here, the product of the ratio of the application time of the reverse voltage to the application time of the constant voltage and the ratio of the amount of temperature decrease of the contact surface due to the reverse voltage to the amount of temperature increase of the contact surface due to the constant voltage may be 1.5 or less and 5.0 or less. there is.

According to another aspect of the present invention, a communication module for communicating with an external device; A thermoelectric element that receives power and performs a heat-generating or endothermic operation, a power terminal that supplies power to the thermoelectric element, and a contact surface provided on one side of the thermoelectric element and in contact with a part of the user's body, wherein the contact surface is a heat output module that outputs thermal feedback by transferring heat generated by the heat generating operation or the endothermic operation to the user; and receiving an initiation message of the thermal feedback including the type of the thermal feedback from the external device through the communication module, and when the type of the thermal feedback is thermal sensory feedback, the heat output module performs the heat generating operation and the endothermic operation. A controller that applies the power to perform a heat grill operation with a combined operation and outputs the heat sensation feedback, wherein the controller applies a constant voltage for the heat generation operation to the thermoelectric element and a direction in which the constant voltage and power are applied. A feedback device may be provided that controls the heat output module to perform the heat grill operation by alternately and repeatedly applying this opposite reverse voltage.

Here, each of the application time of the constant voltage and the application time of the reverse voltage may be less than or equal to the perception time required for the user to feel a warm sensation according to the heat generating operation or a cold sensation according to the endothermic operation.

Also, here, the controller may adjust the application time of the constant voltage to be smaller than the application time of the reverse voltage in order to minimize the user's feeling of warmth or coldness due to the thermal sensory feedback.

Also, here, the ratio of the application time of the reverse voltage to the application time of the constant voltage may be 1.5 or more and 5.0 or less.

In addition, here, the controller adjusts the constant voltage so that the application time of the constant voltage and the application time of the reverse voltage are the same, and the amount of temperature increase of the contact surface due to the constant voltage is smaller than the amount of temperature decrease of the contact surface due to the reverse voltage. The voltage value or current value can be adjusted to be smaller than the voltage value or current value of the reverse voltage.

Also, here, in the step of outputting the thermal sensation feedback, the voltage values of the constant voltage and the reverse voltage may be adjusted so that the ratio of the amount of temperature decrease to the amount of temperature increase is 1.5 or more and 5.0 or less.

Also, here, the product of the ratio of the application time of the reverse voltage to the application time of the constant voltage and the ratio of the amount of temperature decrease of the contact surface due to the reverse voltage to the amount of temperature increase of the contact surface due to the constant voltage may be 1.5 or less and 5.0 or less. there is.

According to yet another aspect of the present invention, heat generated from a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each operating individually is transferred to the user through a contact surface in contact with a body part of the user. A method of providing thermal feedback performed by a feedback device that outputs thermal feedback, comprising: alternately applying a constant voltage for a heat generating operation and a reverse voltage for an endothermic operation to a first group of the plurality of thermocouple groups; applying the reverse voltage to a second group of the plurality of thermocouple groups while the constant voltage is applied to the first group and applying the constant voltage to a second group of the plurality of thermocouple groups while the reverse voltage is applied to the first group; and outputting thermal sensory feedback by having the thermoelectric element perform the heat generating operation and the endothermic operation simultaneously.

Here, the alternating cycle of the constant voltage and the reverse voltage may be greater than the delay time required for the contact surface to reach a temperature felt by the user from the start of the heating operation or the endothermic operation, respectively.

Also, here, the application time of the constant voltage and the application time of the reverse voltage are the same, and the voltage value or current of the constant voltage is such that the temperature increase of the contact surface due to the constant voltage is smaller than the temperature decrease of the contact surface due to the reverse voltage. The value can be adjusted to be smaller than the voltage value or current value of the reverse voltage.

Also, here, the voltage values of the constant voltage and the reverse voltage can be adjusted so that the ratio of the temperature decrease to the temperature increase is 1.5 or more and 5.0 or less.

According to yet another aspect of the present invention, a communication module for communicating with an external device; A thermoelectric element provided as a thermocouple array including a first thermocouple group and a second thermocouple group that operates individually, a power terminal for supplying power to the thermoelectric element, and a power terminal provided on one side of the thermoelectric element and the user's body. a heat output module that includes a contact surface in contact with the area and outputs thermal feedback by transferring heat generated from the thermoelectric element to the user through the contact surface; And receiving an initiation message instructing output of the heat sensory feedback through the communication module, and controlling the thermoelectric element to simultaneously perform the heat generating operation and the endothermic operation to output the heat sensory feedback, wherein the first thermocouple pair A constant voltage for heat generation operation and a reverse voltage for heat absorption operation are alternately applied to the groups, and the reverse voltage is applied to the second thermocouple group while the constant voltage is applied to the first group, and to the first group. A feedback device including a controller that applies the constant voltage while the reverse voltage is applied may be provided.

Here, the alternating cycle of the constant voltage and the reverse voltage may be greater than the delay time required for the contact surface to reach a temperature felt by the user from the start of the heating operation or the endothermic operation, respectively.

Also, here, the application time of the constant voltage and the application time of the reverse voltage are the same, and the controller adjusts the constant voltage so that the temperature increase of the contact surface due to the constant voltage is smaller than the temperature decrease of the contact surface due to the reverse voltage. The voltage value or current value can be adjusted to be smaller than the voltage value or current value of the reverse voltage.

Also, here, the controller may adjust the voltage values of the constant voltage and the reverse voltage so that the ratio of the amount of temperature decrease to the amount of temperature increase is 1.5 or more and 5.0 or less.

According to another aspect of the present invention, heat generated from a thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each operating individually is transferred to the user through a contact surface in contact with the user's body part. A method of providing thermal feedback performed by a feedback device that outputs thermal feedback, comprising: applying a constant voltage for a heating operation to some of the plurality of thermocouple groups; applying a reverse voltage for an endothermic operation to another part of the plurality of thermocouple groups while the constant voltage is applied to some of the thermocouple groups; And outputting thermal sensory feedback by the thermoelectric element simultaneously performing the heat generating operation and the endothermic operation, wherein a temperature decrease of the contact surface due to the heat absorbing operation relative to the amount of temperature increase of the contact surface due to the heat generating operation. A method of providing thermal feedback may be provided in which the product of the ratio of the amount and the ratio of the area of the other thermocouple group that performs the heat-absorbing operation to the area of the portion of the thermocouple group that performs the heat-generating operation is 1.5 or more and 5.0 or less. .

According to another aspect of the present invention, a communication module for communicating with an external device; A thermoelectric element provided as a thermocouple array including a plurality of thermocouple groups each operating individually, a power terminal for supplying power from the thermoelectric element, and a contact surface provided on one side of the thermoelectric element and in contact with a part of the user's body. A heat output module comprising: a heat output module outputting thermal feedback by transferring heat generated from the thermoelectric element to the user through the contact surface; and receiving a message requesting output of thermal sensory feedback through the communication module, and allowing the thermoelectric element to simultaneously perform the heat generating operation and the endothermic operation so that the heat output module outputs thermal sensory feedback. A feedback controller that applies a constant voltage for a heat-generating operation to some of the pair groups and applies a reverse voltage for a heat-absorbing operation to another part of the plurality of thermocouple groups while the constant voltage is applied to some of the thermocouple groups. However, the ratio of the amount of temperature decrease of the contact surface due to the heat-absorbing operation to the amount of temperature increase of the contact surface due to the heat-generating operation and the heat-generating operation to the area of the part of the thermocouple group. A feedback device may be provided in which the product of the ratio of the areas of some thermocouple groups is 1.5 or more and 5.0 or less.

According to another aspect of the present invention, a thermoelectric element array consisting of unit thermoelectric elements, a power terminal for supplying power to the thermoelectric element array, and a power terminal provided on one side of the thermoelectric element, contact a part of the user's body to generate the thermoelectric element. A heat output module including a contact surface that transfers heat generated from to a user; and a controller for applying power to the power terminal so that the heat output module performs a heat generation operation or a heat absorption operation, wherein the controller causes the heat output module to perform a heat generation operation or a heat absorption operation to output thermal feedback. A first voltage is applied for a predetermined time, and when the first voltage is cut off to terminate the thermal feedback when the predetermined time elapses, a second voltage is applied for a predetermined time to reduce the rate of temperature change of the contact surface. A feedback device may be provided, characterized in that it prevents thermal reversal hallucination by applying a voltage - having a small magnitude in the same direction as the first voltage.

According to yet another aspect of the present invention, a thermoelectric element array consisting of unit thermoelectric elements, a power terminal for supplying power to the thermoelectric element array, and a power terminal provided on one side of the thermoelectric element, contact a part of the user's body to generate the thermoelectric element. A heat output module including a contact surface that transfers heat generated from the device to the user; and a controller for applying power to the power terminal so that the heat output module performs a heat generation operation or a heat absorption operation, wherein the controller causes the heat output module to perform a heat generation operation or a heat absorption operation to output thermal feedback. Applying a first voltage for a predetermined time, determining whether the first voltage is greater than a predetermined amount, and if the first voltage is less than a predetermined amount, turning off the power after the predetermined time expires, A feedback device characterized in that, when the first voltage is greater than a predetermined amount, a voltage lower than the first voltage is applied after the predetermined time has elapsed to reduce the rate of temperature change of the contact surface to prevent thermal reversal hallucinations. may be provided.

According to yet another aspect of the present invention, a thermoelectric element array consisting of unit thermoelectric elements, a power terminal for supplying power to the thermoelectric element array, and a power terminal provided on one side of the thermoelectric element, contact a part of the user's body to generate the thermoelectric element. A heat output module including a contact surface that transfers heat generated from the device to the user; and a controller for applying power to the power terminal so that the heat output module performs a heat generation operation or a heat absorption operation, wherein the controller causes the heat output module to perform a heat generation operation or a heat absorption operation to output thermal feedback. A first voltage is applied for a predetermined time, and when the first voltage is cut off to end the thermal feedback when the predetermined time elapses, it is determined whether the thermal feedback is a warm feedback or a cold feedback, and when the cutoff occurs, the first voltage is cut off to terminate the thermal feedback. In the case of warm feedback, which is thermal feedback, a voltage lower than the first voltage is applied for a first time, and when the blocking occurs, in the case of cold feedback, which is thermal feedback, a voltage lower than the first voltage is applied for a second time longer than the first time. A feedback device can be provided that performs a buffering operation to prevent thermal reversal hallucination by reducing the rate of temperature change of the contact surface by applying a low voltage.

According to yet another aspect of the present invention, a thermoelectric element array consisting of unit thermoelectric elements, a power terminal for supplying power to the thermoelectric element array, and a power terminal provided on one side of the thermoelectric element, contact a part of the user's body to generate the thermoelectric element. A heat output module including a contact surface that transfers heat generated from the device to the user; and a controller that applies power to the power terminal so that the heat output module performs a heat generating operation or a heat absorbing operation, wherein the controller applies power to the heat output module according to a feedback start command to output thermal feedback. Then, the thermal feedback is terminated by turning off the power according to a feedback termination command, but when the thermal feedback is terminated, a voltage lower than the voltage applied for the thermal feedback is applied during the buffer time to change the temperature of the contact surface according to the termination of the feedback. A feedback device may be provided that performs a buffering operation to reduce , but stops the buffering operation and applies power for the new feedback when a new feedback start command is obtained during the buffering time.

According to yet another aspect of the present invention, a thermoelectric element array consisting of unit thermoelectric elements, a power terminal for supplying power to the thermoelectric element array, and a power terminal provided on one side of the thermoelectric element, contact a part of the user's body to generate the thermoelectric element. A heat output module including a contact surface that transfers heat generated from the device to the user; and a controller that applies power to the power terminal so that the heat output module performs a heat generation operation and/or a heat absorption operation, wherein the controller determines a type of feedback to be performed, and the type of feedback is heat grill feedback. A feedback device characterized in that an electrical signal in the form of a duty cycle in which constant voltage and reverse voltage are alternately arranged is applied to the heat output module.

According to another aspect of the present invention, a thermoelectric element array comprising a plurality of thermoelectric element groups made of unit thermoelectric elements electrically connected and each individually controllable, a power terminal for supplying power to the thermoelectric element array, and the A heat output module provided on one side of the thermoelectric element and including a contact surface that contacts a part of the user's body and transfers heat generated from the thermoelectric element to the user; and a controller that applies power to the power terminal so that the heat output module performs a heat generation operation and/or a heat absorption operation, wherein the controller determines a type of feedback to be performed, and the type of feedback is heat grill feedback. In the case of the plurality of thermoelectric element groups, the first thermoelectric element group and the second thermoelectric element group are determined so that the ratio of the area occupied by the first thermoelectric element group and the area occupied by the second thermoelectric element group is a predetermined ratio, , A feedback device may be provided, characterized in that a positive voltage is applied to the first thermoelectric element group and a reverse voltage is applied to the second thermoelectric element group to output a neutral thermal sensation.

According to another aspect of the present invention, a thermoelectric element array comprising a first thermoelectric element group and a second thermoelectric element group consisting of electrically connected unit thermoelectric elements and having the same area but capable of individual control, the thermoelectric element A heat output module including a power terminal for supplying power to the array and a contact surface provided on one side of the thermoelectric element and contacting a part of the user's body to transfer heat generated from the thermoelectric element to the user; and a controller that applies power to the power terminal so that the heat output module performs a heat generation operation and/or a heat absorption operation, wherein the controller determines a type of feedback to be performed, and the type of feedback is heat grill feedback. In this case, a first electrical signal is applied to the first thermoelectric element group and a second electrical signal is applied to the second thermoelectric element group, wherein the first electrical signal and the second electrical signal have a constant voltage and a reverse voltage alternating with time. It is arranged in a form where the constant voltage section of the first electrical signal matches the reverse voltage section of the second electrical signal, and the constant voltage section of the second electrical signal matches the reverse voltage section of the first electrical signal. A feedback device may be provided.

According to another aspect of the present invention, a thermoelectric element array comprising a first thermoelectric element group and a second thermoelectric element group consisting of electrically connected unit thermoelectric elements and having the same area but capable of individual control, the thermoelectric element A heat output module including a power terminal for supplying power to the array and a contact surface provided on one side of the thermoelectric element and contacting a part of the user's body to transfer heat generated from the thermoelectric element to the user; and a controller that applies power to the power terminal so that the heat output module performs a heat generating operation and/or a heat absorbing operation, wherein the controller induces a plurality of levels of constant voltage and cooling feedback for inducing warm feedback. Apply a plurality of levels of reverse voltage to determine the type of feedback to be performed, and if the type of feedback is heat grill feedback, apply a constant voltage and a reverse voltage to the first thermoelectric element group and the second thermoelectric element group, respectively. However, a feedback device may be provided wherein the level of the constant voltage is lower than the level of the reverse voltage.

1. Feedback device

Hereinafter, the feedback device 100 according to an embodiment of the present invention will be described.

The feedback device 100 according to an embodiment of the present invention is a device that provides thermal feedback to a user. Specifically, the feedback device 100 may provide thermal feedback to the user by applying heat to the user or absorbing heat from the user by performing a heat-generating or endothermic operation.

1.1. thermal feedback

Thermal feedback is a type of thermal stimulus that causes the user to feel a thermal sensation by stimulating the thermal sensory organs distributed in the user's body. In this specification, thermal feedback encompasses all thermal stimuli that stimulate the user's thermal sensory organs. It should be interpreted as encompassing.

Representative examples of thermal feedback include warm feedback and cold feedback. Warm feedback refers to applying heat to hot spots distributed on the skin so that the user feels warm, and cold feedback refers to applying cold heat to cold spots distributed on the skin to make the user feel cold. it means.

Here, since heat is a physical quantity expressed in the form of a positive scalar, the expression 'applying cold heat' may not be a strict expression from a physical perspective. However, for convenience of explanation, in this specification, the phenomenon in which heat is applied is applied warm heat. It is expressed as being applied, and the opposite phenomenon, that is, the phenomenon of absorbing heat, is expressed as cold heat being applied.

Additionally, in this specification, thermal feedback may further include thermal grill feedback in addition to warm feedback and cold feedback. When hot and cold heat are given at the same time, the user perceives them as a sensation instead of individual sensations of warmth and cold. This sensation is called the so-called thermal grill illusion (TGI). In other words, thermal grill feedback refers to thermal feedback that applies hot and cold heat in combination, and can mainly be provided by simultaneously outputting warm feedback and cold feedback. Additionally, thermal grill feedback may also be referred to as thermal sensory feedback in that it provides a sensation close to real sensation. A more detailed explanation related to heat grill feedback will be described later.

1.2. Application example of feedback device

The feedback device 100 that provides the above-described thermal feedback may be implemented in various forms. Hereinafter, some representative implementation examples of the feedback device 100 will be mentioned.

1.2.1. gaming controller

One of the representative implementation examples of the feedback device 100 is the gaming controller 100a.

Here, the gaming controller 100a may refer to an input means that receives a user's manipulation in a gaming environment. The gaming controller 100a mainly works in conjunction with various devices that run games, such as game console devices, computers, tablets, and smart phones, and receives input of user operations used in the game. Of course, in the case of portable game consoles, the gaming controller 100a may be integrated into the device itself.

Recently, the gaming environment has moved away from the traditional form of reflecting the user's operations on the game screen displayed through the existing TV or monitor, and is now using Oculus' RiftTM or Microsoft's Hololens. ) It is transforming into virtual reality or even augmented reality using head mounted teaching devices (HMD: Head Mounted Display) such as TM. In this new gaming environment, the gaming controller 100a is expanding its role from a simple input means to an output means that provides various types of feedback to the user to increase immersion in the game. As an example, Sony's Dual ShockTM for PlayStationTM is equipped with a vibration function that outputs tactile feedback to the user.

In this specification, the feedback device 100 implemented as the gaming controller 100a provides thermal feedback to the user, thereby adding a thermal sensation that the user previously could not feel to the game as an interactive element, thereby inducing a higher degree of immersion in the game. .

1 to 7 relate to a gaming controller 100a among the implementation examples of the feedback device 100 according to an embodiment of the present invention.

The gaming controller 100a has a traditional form (100a-1) held with both hands similar to that shown in FIG. 1, such as an input means linked to Sony's PlayStation or Microsoft's XboxTM. ), as well as an input means linked to Nintendo's WiiTM, may be implemented as a bar type 100a-2 that is held with one hand similar to that shown in FIG. 2.

In particular, the bar-type gaming controller 100a is a suitable form for receiving user manipulation in recent augmented reality or virtual reality environments, and is similar to the Move Motion used in Sony's PlayStation VRTM as shown in FIG. 3. )TM or HTC's ViveTM input means, it is also provided as a pair of bar types (100a-3) that are held one by one in each hand.

In addition, the gaming controller 100a includes a wheel type 100a-4 similar to that shown in FIG. 4 mainly used in racing games, a joystick type 100a-5 similar to that shown in FIG. 5 used in flight simulator games, and a first-person controller. Implemented as a gun type (100a-6) similar to the one shown in FIG. 6 used in a shooter (FPS: First Person Shooter) game or a mouse type (100a-7) similar to the one shown in FIG. 7 commonly used in a computer gaming environment. It could be.

The above-described gaming controller 100a may be designed to provide thermal feedback to the user through a portion in contact with the user's body (eg, the user's palm surface). Referring to FIGS. 1 to 7 , a portion that provides thermal feedback to the user's body, that is, a contact surface 1600, in each type of gaming controller 100a is indicated. Of course, the position of the contact surface 1600 is not limited by the drawing, and it is of course possible for the contact surface 1600 to be provided in a location different from the drawing in the gaming controller 100a.

1.2.2. wearable device

As another implementation example of the feedback device 100, the wearable device 100b may be considered.

Here, the wearable device 100b may refer to a device that is worn on the user's body and performs various functions. In accordance with the recent trend of pursuing more convenient technology, interest in human-machine interface (HMI: Human-Machine Interface) is gradually increasing, and various wearable devices (100b) are being developed. The wearable device (100b) has a thermal feedback function. By introducing , a newer user experience can become possible.

8 to 14 relate to a wearable device 100b among implementation examples of the feedback device 100 according to an embodiment of the present invention.

The wearable device 100b includes a glass type (100b-1) worn like glasses, similar to that shown in FIG. 8, and an HMD type (100b) that is worn on the head to implement VR or AR, similar to that shown in FIG. 9. -2), a watch type (100b-3) or band type (100b-4) worn on the wrist similar to those shown in FIGS. 10 and 11, and a suit type that can be worn like clothes similar to those shown in FIG. 12 (100b-5), a glove type (100b-6) that can be worn on the hand like a glove similar to that shown in FIG. 13, a shoe type (100b-7) that can be worn like a shoe similar to that shown in FIG. 14, etc. As the name suggests, it is being developed in various forms that are mounted on each part of the user's body.

Like the above-described gaming controller 100a, the wearable device 100b may be designed to provide thermal feedback to the user through a portion in contact with the user's body. Referring to FIGS. 8 to 14 , a portion that provides thermal feedback to the user's body, that is, a contact surface 1600, is displayed in each type of wearable device 100b. Of course, the location of the contact surface 1600 is not limited by the drawings, and it is of course possible for the contact surface 1600 to be provided in a location different from that shown in the drawings in the wearable device 100b.

1.2.3. etc

In the above, the gaming controller 100a and the wearable device 100b have been described among the implementation examples of the feedback device 100, but the implementation examples of the feedback device 100 are not limited thereto.

In practice, the feedback device 100 can be implemented as any device in which a thermal feedback function is useful. To introduce some examples to aid understanding, the feedback device 100 is applied to a medical device to test a patient's thermal sensation, or to a steering wheel of a car for the purpose of providing an appropriate thermal sensation to the driver's hands or providing a warning signal. It may also be applied to . In addition, the feedback device 100 may be used in educational equipment to increase educational effectiveness by providing a thermal sensation to students, or may be mounted on a chair in a movie theater and used to provide a thermal sensation in addition to an audio-visual sensation to the user to increase the immersion effect in a movie. It might be possible.

In summary, a feedback device is a device that outputs thermal feedback, and uses thermal feedback to provide a thermal experience accompanying the multimedia content when playing multimedia content such as games, videos, VR/AR applications, and other immersive applications. It can be used comprehensively in the field. To this end, the feedback device can be linked to a content playback device such as a game console or PC that runs multimedia content provided mainly in the form of games and tangible applications. Of course, as technology develops, the feedback device itself may also serve as a content playback device that drives multimedia content.

thermal feedback for

1.3. Configuration of feedback device

Hereinafter, the configuration of the feedback device 100 according to an embodiment of the present invention will be described.

Figure 15 is a block diagram of the configuration of the feedback device 100 according to an embodiment of the present invention.

Referring to FIG. 15, the feedback device 100 may include an application unit 2000 and a feedback unit 1000. Here, the application unit 2000 is a unit for performing a unique function depending on the implementation type of the feedback device 100, and the feedback unit 1000 is a unit for outputting thermal feedback.

Accordingly, the application unit 2000 can be appropriately designed depending on the implementation type of the feedback device 100. For example, in the case of a feedback device 100 that is a type of gaming controller 100a linked to a game console, the application unit 2000 includes a casing of the gaming controller 100a, a communication module for communication with the game console, and user operation. It may include an input module that receives input, an application controller for controlling the overall operation of the gaming controller (100a), etc. For another example, in the case of the suit-type wearable device 100b, the application unit 2000 may include suit members constituting the suit, a sensing module that detects the user's body signals, etc.

In contrast, in the case of the feedback unit 1000, the application form may vary depending on the implementation type of the feedback device 100, but basically, it has a configuration for generating or absorbing heat, a configuration for controlling heat generation/endotherm, and a user It has a structure that transfers heat to.

Hereinafter, the feedback unit 1000 will first be described, and then the configuration of the application unit 2000 and the method of linking with the feedback unit 1000 in some implementation forms of the feedback device 100 will be described.

1.3.1. feedback unit

Figure 16 is a block diagram of the configuration of the feedback unit 1000 according to an embodiment of the present invention.

Referring to FIG. 16 , the feedback unit 1000 may include a heat output module 1200, a feedback controller 1400, and a contact surface 1600. The feedback unit 1000 provides thermal feedback by allowing the feedback controller 1400 to control the heat output module 1200 to selectively or simultaneously perform heat generating or endothermic operations and transmit hot and cold heat to the user through the contact surface 1600. can be provided.

Below, we will look at the detailed configuration of the feedback unit 1000 in more detail.

1.3.1.1. heat output module

The heat output module 1200 may perform a heat generating operation or an endothermic operation. Here, the heat output module 1200 may use a thermoelectric element such as a Peltier element to perform a heat-generating or endothermic operation.

The Peltier effect is a thermoelectric phenomenon discovered by Jean Peltier in 1834. When dissimilar metals are joined and an electric current is passed, an exothermic reaction occurs on one side and a cooling reaction occurs on the other side depending on the direction of the current. It means a phenomenon that occurs. A Peltier device is a device that causes this Peltier effect. Peltier devices were initially made of dissimilar metal junctions such as bismuth and antimony, but have recently been manufactured by arranging N-P semiconductors between two metal plates to have higher thermoelectric efficiency. .

When a current is applied to a Peltier element, heat generation and endothermy are immediately induced in both metal plates. Switching between heat generation and endothermy is possible depending on the direction of the current, and the degree of heat generation or endothermy can be controlled relatively precisely depending on the amount of current, making it ideal for thermal feedback. It is suitable for use in heating or endothermic operations. In particular, with the recent development of flexible thermoelectric elements, it has become possible to manufacture them in a form that is easy to contact with the user's body, increasing their commercial availability as a feedback device 100.

Accordingly, the heat output module 1200 can perform a heat generating operation or an endothermic operation as electricity is applied to the thermoelectric element described above. Physically, in a thermoelectric element receiving electricity, exothermic reaction and endothermic reaction occur simultaneously, but in this specification, with respect to the heat output module 1200, the surface in contact with the user's body generates heat as a heating action, and absorbs heat. This is defined as an endothermic operation. For example, a thermoelectric element may be constructed by placing an N-P semiconductor on a substrate, and when current is applied to it, heat is generated on one side and heat absorption is achieved on the other side. Here, if the side facing the user's body is the front and the opposite side is the back, heat generation from the front and heat absorption from the back with respect to the heat output module 1200 are defined as performing a heat generating operation, and vice versa. Heat absorption, or heat generation occurring at the rear, can be defined as performing an endothermic operation.

In addition, since the thermoelectric effect is induced by the electric charge flowing in the thermoelectric element, it is possible to describe the electricity that induces the heating or endothermic operation of the heat output module 1200 in terms of current, but in this specification, for convenience of explanation, they are collectively described. Let's describe it from a voltage perspective. However, this is only for the convenience of explanation, and a person with ordinary knowledge in the technical field to which the present invention pertains (hereinafter referred to as 'person skilled in the art') may interpret the description in terms of voltage by replacing it in terms of current. It should be noted that the present invention should not be construed limitedly from a voltage perspective, as it does not require a priori thinking.

As described above, the heat output module 1200 may be implemented in various forms including thermoelectric elements, and a more detailed description of the configuration and form of the heat output module 1200 will be described separately later.

1.3.1.2. feedback controller

The feedback controller 1400 may control the overall operation of the feedback unit 1000. For example, the feedback controller 1400 may apply voltage to the thermoelectric element of the heat output module 1200 to control the heat output module 1200 to perform a heat generating operation or an endothermic operation. Additionally, the feedback controller 1400 may perform signal processing between the application unit 2000 and the feedback unit 1000.

To this end, the feedback controller 1400 can control the operation of the heat output module 1200 by performing calculations and processing of various types of information and outputting electrical signals to the heat output module 1200 according to the processing results. Accordingly, the feedback controller 1400 may be implemented as a computer or similar device according to hardware, software, or a combination thereof. In hardware, the feedback controller 1400 may be provided in the form of an electronic circuit that processes electrical signals to perform a control function, and in software, it may be provided in the form of a program or code that drives the hardware circuit. In the following description, unless otherwise specified, the operation of the feedback unit 1000 may be interpreted as being performed under the control of the feedback controller 1400.

1.3.1.3. contact surface

The contact surface 1600 directly contacts the user's body and transfers hot or cold heat generated from the heat output module 1200 to the user's skin. In other words, a portion of the outer surface of the feedback device 100 that directly contacts the user's body may be the contact surface 1600. For example, in the gaming controller 100a of the type shown in FIG. 1, the part that the user holds with both hands may be the contact surface 1600, and in the suit-type wearable device of the type shown in FIG. 12, the inner surface of the suit. All or part of may be the contact surface 1600.

For example, the contact surface 1600 may be provided as a layer that is directly or indirectly attached to the outer surface (direction of the user's body) of the heat output module 1200. This type of contact surface 1600 is disposed between the heat output module 1200 and the user's skin to transfer heat between the heat output module 1200 and the user. To this end, the contact surface 1600 may be made of a material with high thermal conductivity to facilitate heat transfer from the heat output module 1200 to the user's body. In addition, the layer-type contact surface 1600 also serves to protect the heat output module 1200 from external shock by preventing the heat output module 1200 from being directly exposed to the outside.

Here, the layer-type contact surface 1600 may have a larger area than the outer surface of the heat output module 1200 in order to secure a wider heat transfer surface in terms of area. For example, in the suit-type feedback device 100, even if the heat output module 1200 is disposed at a few specific points, the contact surface 1600 may be the entire inner surface of the suit.

Meanwhile, in the above description, the contact surface 1600 is a separate component disposed on the heat output module 1200, but otherwise, the outer surface of the heat output module 1200 itself can be the contact surface 1600. To be specific, part or all of the front surface of the heat output module 1200 may serve as the contact surface 1600. In addition, in the above description, the contact surface 1600 of the feedback unit 1000 is a component equivalent to the heat output module 1200. However, unlike this, the heat output module 1200 may also include the contact surface 1600.

1.3.1.4. Configuration and form of heat output module

In the above, it has been mentioned that the heat output module 1200 performs a heat generating operation or an endothermic operation using a thermoelectric element. Hereinafter, the configuration and form of the heat output module 1200 will be described in more detail.

First, the configuration of the heat output module 1200 will be described.

The heat output module 1200 may include a thermoelectric element consisting of a thermocouple array 1240 disposed between the substrate 1220 and the substrate 1220, and a power terminal 1260 for applying power to the thermoelectric element.

The substrate 1220 serves to support the unit thermocouple 1241 and is provided as an insulating material. For example, ceramic may be selected as the material for the substrate 1220. Additionally, the substrate 1220 may have a flat plate shape, but this is not necessarily the case.

In order for the heat output module 1200 to be universally used for various types of feedback devices 100 having contact surfaces 1600 of various shapes, the substrate 1220 may be made of a flexible material to have flexibility. For example, in the feedback device 100 of the gaming controller 100a type, the area where the user holds the gaming controller 100a with the palm is usually curved, and the heat output module 1200 is used for this curved area. In order to do this, it may be important for the heat output module 1200 to be flexible. For this purpose, examples of flexible materials used in the substrate 1220 may include glass fiber or flexible plastic.

The thermocouple array 1240 is composed of a plurality of unit thermocouple pairs 1241 disposed on a substrate 1220. As the unit thermocouple 1241, pairs of different metals (for example, bismuth and antimony, etc.) can be used, but mainly, pairs of N-type and P-type semiconductors can be used.

In the unit thermocouple 1241, the semiconductor pair is electrically connected at one end, and is electrically connected to the unit thermocouple 1241 at the other end. Electrical connection between a pair of semiconductors or with adjacent semiconductors is made by a conductor member 1242 disposed on the substrate 1220. The conductor member 1242 may be a conductor or electrode made of copper or silver.

The electrical connection of the unit thermocouple 1241 may be mainly made by serial connection, and the unit thermocouple pairs 1241 connected to each other in series form a thermocouple group 1244, and the thermocouple group 1244 is a thermocouple array ( 1240) can be achieved.

The power terminal 1260 may apply power to the heat output module 1200. Depending on the voltage value and direction of current applied to the power terminal 1260, the thermocouple array 1240 may generate heat or absorb heat. More specifically, two power terminals 1260 may be connected to each thermocouple group 1244. Accordingly, when there are multiple thermocouple groups 1244, two power terminals 1260 may be disposed for each thermocouple group 1244. According to this connection method, the voltage value or current direction can be individually controlled for each thermocouple group 1244, so whether heat generation or endothermy is performed and the degree of heat generation or endothermy can be adjusted.

As will be described later, the power terminal 1260 receives the electrical signal output by the feedback controller 1400, and as a result, the feedback controller 1400 adjusts the direction or size of the electrical signal to control the heat output module 1200. It will be possible to control the heating and endothermic operations of In addition, when there are a plurality of thermocouple groups 1244, it will be possible to individually control each thermocouple group 1244 by individually adjusting the electrical signal applied to each power terminal 1260.

Based on the description of the configuration of the heat output module 1200 described above, several representative forms of the heat output module 1200 will be described.

FIG. 17 is a diagram of one form of a heat output module 1200 according to an embodiment of the present invention.

Referring to FIG. 17, in one form of heat output module 1200, a pair of substrates 1220 are provided to face each other. A contact surface 1600 is located on the outside of one of the two substrates 1220 to transfer heat generated from the heat output module 1200 to the user's body. Additionally, if a flexible substrate 1220 is used as the substrate 1220, flexibility can be provided to the heat output module 1200.

A plurality of unit thermocouple pairs 1241 are positioned between the substrates 1220. Each unit thermocouple 1241 is composed of a semiconductor pair of an N-type semiconductor 1241a and a P-type semiconductor 1241b. In each unit thermocouple 1241, the N-type semiconductor and the P-type semiconductor are electrically connected to each other at one end by a conductor member 1242. In addition, the other ends of the N-type semiconductor and the P-type semiconductor of an arbitrary unit thermocouple 1241 are electrically connected to the other ends of the P-type semiconductor and the N-type semiconductor of an adjacent unit thermocouple 1241 by the conductor member 1242, respectively. Electrical connections between unit elements are made in this way. Accordingly, the unit thermocouple pairs 1241 are connected in series to form one thermocouple group 1244. In this form, the entire thermocouple array 1240 consists of one thermocouple group 1244, and since all unit thermocouples 1241 are connected in series between the power terminals 1260, the heat output module 1200 Perform the same movement across the entire front. That is, when power is applied to the power terminal 1260 in one direction, the heat output module 1200 can perform a heat generating operation, and when power is applied in the opposite direction, the heat output module 1200 can perform a heat absorption operation.

Figure 18 is a diagram of another form of the heat output module 1200 according to an embodiment of the present invention.

Referring to FIG. 18, another form of the heat output module 1200 is similar to the above-described form. However, in this form, the thermocouple array 1240 has a plurality of thermocouple groups 1244, and each thermocouple group 1244 is connected to each power terminal 1260, so that each thermocouple group 1244 is individually connected. Control is possible. For example, in FIG. 18, currents in different directions are applied to the first thermocouple group 1244-1 and the second thermocouple group 1244-2, so that the first thermocouple group 1244-1 operates to generate heat. (The current direction at this time is set to 'forward'), and the second thermocouple group 1244-2 can perform an endothermic operation (the current direction at this time is set to 'reverse'). For another example, different voltage values are applied to the power terminal 1260 of the first thermocouple group 1244-1 and the power terminal 1260 of the second thermocouple group 1244-2 to form the first thermocouple group 1244-2. The group 1244-1 and the second thermocouple group 1244-2 may be allowed to perform different degrees of heat generation or heat absorption.

Meanwhile, in FIG. 18, the thermocouple group 1244 in the thermocouple array 1240 is shown as being arranged in a one-dimensional array. However, unlike this, it is also possible to arrange the thermocouple group 1244 in a two-dimensional array. Figure 19 is a diagram of another form of the heat output module 1200 according to an embodiment of the present invention. Referring to FIG. 19, more detailed regional operation control may be possible by using the thermocouple group 1244 arranged in a two-dimensional array.

Meanwhile, in the above-described forms of the heat output module 1200, it has been described that a pair of facing substrates 1220 are used, but alternatively, it is also possible to use a single substrate 1220.

Figure 20 is a diagram of another form of the heat output module 1200 according to an embodiment of the present invention. Referring to FIG. 20, the unit thermocouple 1241 and the conductor member 1242 may be arranged on a single substrate 1220 in such a way that they are fixed to the single substrate 1220. For this purpose, it is possible to use glass fiber or the like as the substrate 1220. By using a single substrate 1220 of this type, higher flexibility can be provided to the heat output module 1200. Alternatively, it is also possible to use a porous substrate as a single substrate 1220 so that the unit thermocouple 1241 or the conductor member 1242 is embedded and supported in the pores within the substrate.

The various forms of the heat output module 1200 described above can be combined or modified within the range apparent to those skilled in the art. For example, in each form of the heat output module 1200, the contact surface 1600 on the front of the heat output module 1200 has been described as being formed as a separate layer from the heat output module 1200, but the heat output module 1200 ) The front surface itself may be the contact surface 1600. For example, in one form of the heat output module 1200 described above, the outer surface of the substrate 1220 may serve as the contact surface 1600.

1.3.2. application unit

Hereinafter, the application unit 2000 of the feedback device 100 will be described. As described above, the application unit 2000 is a unit for performing its own function depending on the implementation pattern of the feedback device 100 and can be appropriately designed as needed. The feedback device 100 of the present invention can be used in any form as long as thermal feedback can be effectively utilized, and therefore, it is difficult to describe the application unit 2000 for all implementation examples of the feedback device 100. Since there is a point, the application unit 2000 will be described based on the type of gaming controller 100a.

FIG. 21 is a block diagram of the configuration of the application unit 2000 according to an embodiment of the present invention, and FIG. 22 is a schematic diagram of the configuration of the application unit 2000 according to an embodiment of the present invention.

21 and 22, the application unit 2000 includes a casing 2100, an input module 2200, a sensing module 2300, a vibration module 2400, a communication module 2500, a memory 2600, and an application. It may include a controller 2700.

The casing 2100 forms the exterior of the feedback device 100 of the gaming controller 100a type, and stores components such as a communication module 2500 and an application controller 2700 therein. Accordingly, the stored components can be protected from external shock, etc. by the casing 2100.

The overall shape of the casing 2100 may be mainly a pad type for two hands and a bar type for one hand, but is not limited thereto. For reference, the two-handed pad type is mainly used in traditional 2D display-oriented games, and the bar type is used in virtual reality, augmented reality, and mixed reality (MR).

The casing 2100 may be provided with a gripper 2120 for the user to grip the feedback device 100. To facilitate easy gripping by the user, the gripping part 2120 may be made of a material with high friction (e.g., rubber or urethane, etc.) or may have an anti-slip shape (e.g., uneven shape, etc.). Additionally, the grip portion 2120 may be made of a material that absorbs sweat easily from the user's skin.

Here, the contact surface 1600 of the feedback unit 1000 may be formed on the gripper 2120, or the gripper 2120 may correspond to the contact surface 1600. In the case of the pad-type gaming controller 100a, the gripping portion 2120 may be located in two locations, and in the case of the bar-type gaming controller 100a, the gripping portion 2120 may be located in one location. Instead, there may be a case where two bar-type gaming controllers 100a are used as a pair, and in this case, a grip portion 2120 may be present in each of the two gaming controllers 100a.

The input module 2200 may obtain user input from the user. In the gaming controller 100a, user input is mainly a user command for a game, and examples include character manipulation or menu selection within the game. The input module 2200 may mainly be a button or a stick, and the user can input user input by pressing a button or manipulating the stick in a specific direction. Of course, the input module 2200 is not limited to the above-described example.

The sensing module 2300 can sense various information related to the gaming controller 100a. Representative examples of the sensing module 2300 include a posture sensor that detects the posture of the gaming controller (100a) and a motion sensor that detects the movement of the gaming controller (100a). In addition, a bio sensor that detects the user's body signals is included. You can. Gyro sensors and acceleration sensors can be used as posture sensors or motion sensors. Biosensors may include a temperature sensor that detects the user's body temperature or an electrocardiogram sensor that detects the electrocardiogram.

The vibration module 2400 may output vibration feedback. Vibration feedback, along with thermal feedback, can play a role in further improving the user's immersion in the game. For example, vibration feedback may occur when a character in a game is involved in an explosion scene or is shocked by falling from a high position. Meanwhile, as will be described later, vibration feedback and thermal feedback can also be linked to each other.

The communication module 2500 performs communication with external devices. In some cases, the gaming controller 100a is a stand-alone type that functions as a game console, but it is also used in electronic devices that run game programs such as game consoles or PCs (including game consoles professionally manufactured to run games, as well as portable devices). Portable game consoles, PCs, smartphones, tablets, etc. can be electronic devices that run games, but hereinafter, they are collectively referred to as 'game consoles') and operate in conjunction with them. Accordingly, the gaming controller 100a can transmit and receive various information with the game console through the communication module 2500.

The communication module 2500 is largely divided into wired type and wireless type. Since the wired type and wireless type have their own advantages and disadvantages, in some cases, both the wired type and the wireless type may be provided in one gaming controller 100a.

In the case of the wired type, USB (Universal Serial Bus) communication is a representative example, but other methods are also possible. In the case of the wireless type, WPAN (Wireless Personal Area Network) communication methods such as Bluetooth or Zigbee are mainly used. However, since the wireless communication protocol is not limited to this, the wireless type communication module 2500 can also use a WLAN (Wireless Local Area Network) type communication method such as Wi-Fi or other known communication methods. do. Meanwhile, it is also possible to use proprietary protocols developed by game manufacturers as wired/wireless communication protocols.

The memory 2600 can store various types of information. The memory 2600 can store data temporarily or semi-permanently. Examples of memory 2600 include hard disk drive (HDD), solid state drive (SSD), flash memory, read-only memory (ROM), random access memory (RAM), etc. This can be. The memory 2600 may be provided as built into the feedback device 100 or in a form attachable to or detachable from the feedback device 100.

The memory 2600 may store an operating program (OS: Operating System) for driving the feedback device 100 or various data necessary or used for the operation of the feedback device 100.

The application controller 2700 may control the application unit 2000 and overall control the feedback device 100. For example, the application controller 2700 transmits user input input to the input module 2200 or posture information of the gaming controller 100a detected by the sensing module 2300 to the game console using the communication module 2500. Conversely, a vibration signal can be received from the game console through the communication module 2500 to cause the vibration sensor to generate vibration feedback. In addition, the application controller 2700 receives a thermal feedback request signal from the game console through the communication module 2500 and transmits it to the feedback controller 1400, so that the feedback controller 1400 controls the thermal output module 1200 to generate thermal feedback. Feedback can also be generated.

The above-described control operations can be performed as the application controller 2700 performs calculations and processing of various types of information. To this end, the application controller 2700 may be implemented as a computer or similar device depending on hardware, software, or a combination thereof. In hardware, the application controller 2700 may be provided in the form of an electronic circuit that processes electrical signals to perform control functions, and in software, it may be provided in the form of a program or code that drives the hardware circuit.

The application controller 2700 of the application unit 2000 and the feedback controller 1400 of the feedback unit 1000 may be physically separated, but may also be provided as a single physical configuration. In other words, the application controller 2700 and the feedback controller 1400 are manufactured as separate chips and may cooperate through a communication interface between the two, but functionally, the functions of the application controller 2700 and the feedback controller 1400 are not used. It is also possible to design a single chip that does it all. However, hereinafter, for convenience of explanation, the application controller 2700 and the feedback controller 1400 will be described as functionally separated, but it should be noted that the present invention is not limited thereto.

Meanwhile, as already mentioned, the feedback device 100 may be implemented in various forms in addition to the gaming controller 100a described above, and some or all of the contents described in the gaming controller 100a may be implemented in other forms of the feedback device 100. ), of course, can be applied. In addition, the gaming controller 100a is not necessarily used only for games, and of course can also be used in various fields, including experiential applications using virtual reality technology or augmented reality technology, educational applications, and medical applications.

2. Operation of feedback device

Hereinafter, the operation of the feedback device 100 will be described.

Feedback device 100 can basically provide thermal feedback. Thermal feedback may include warm feedback, cold feedback, and heat grill feedback. The feedback device 100 may provide the above-described thermal feedback by allowing the feedback unit 1000 to selectively or simultaneously perform a heat-generating operation or an endothermic operation.

Additionally, the feedback device 100 can provide thermal feedback at various strengths. The intensity of thermal feedback may be adjusted by adjusting the magnitude of the voltage applied to the heat output module 1200 by the feedback controller 1400 of the feedback unit 1000.

In addition, the feedback device 100 may perform an operation to prevent damage to the user's skin, etc., which receives heat through the contact surface 1600 when providing thermal feedback. This can be achieved by controlling the electrical signal applied to the heat output module 1200 by the feedback controller 1400 of the feedback unit 1000 to adjust the intensity or time of providing thermal feedback.

Additionally, the feedback device 100 may perform an operation to eliminate thermal reversal hallucination. Thermal reversal hallucination is a phenomenon in which the user feels a thermal sensation opposite to the thermal feedback that has ended when the thermal feedback ends. The feedback device 100 can eliminate the thermal reversal hallucination by providing a buffer section when the thermal feedback ends.

Additionally, the feedback device 100 may perform a thermal movement operation in which thermal feedback moves. Heat movement may mean providing the user with the sensation of heat moving on the contact surface 1600 using thermoelectric elements provided as a thermocouple array 1240 consisting of a plurality of individually controllable thermocouple groups 1244. there is.

Hereinafter, various operations of the above-described feedback device 100 will be described in more detail.

2.1. Thermal Feedback Providing Behavior

Hereinafter, the operation of providing thermal feedback by the feedback unit 1000 described above will be described. The thermal feedback provided by the feedback unit 1000 is based on a heating operation that provides a warm sensation to the user and an endothermic operation that provides a cooling sensation. In addition, the feedback unit 1000 may perform a heat grill operation that combines a heat-generating operation and an endothermic operation as a type of thermal feedback to provide a thermal sensation to the user.

Hereinafter, heat generation operation, endothermic operation, heat grill operation, and heat transfer operation will be described in more detail.

2.1.1. Exothermic/endothermic operation

The feedback unit 1000 may perform a heat generation operation with the heat output module 1200 to provide thermal feedback to the user. Similarly, cooling feedback can be provided to the user by performing an endothermic operation with the heat output module 1200.

FIG. 23 is a diagram of a heat generation operation for providing thermal feedback according to an embodiment of the present invention, and FIG. 24 is a graph of the intensity of thermal feedback according to an embodiment of the present invention.

Referring to FIG. 23, the heating operation may be performed by inducing a heating reaction in the direction of the contact surface 1600 as the feedback controller 1400 applies a forward current to the thermocouple array 1240. Here, when the feedback controller 1400 applies a constant voltage (hereinafter, the voltage that causes an exothermic reaction is referred to as 'constant voltage') to the thermocouple array 1240, the thermocouple array 1240 starts a heating operation, and the contact surface ( The temperature of 1600) increases to the saturation temperature over time, as shown in FIG. 24. Therefore, the user does not feel a sense of warmth at the beginning of the heating operation or feels a slight sense of warmth, and after feeling the temperature increase until it reaches the saturation temperature, after a certain period of time has elapsed, the user is provided with a sense of warmth feedback corresponding to the saturation temperature. do.

FIG. 25 is a diagram showing a heat absorption operation for providing cooling feedback according to an embodiment of the present invention, and FIG. 26 is a graph showing the intensity of cooling feedback according to an embodiment of the present invention.

Referring to FIG. 25, the endothermic operation may be performed by inducing an endothermic reaction in the direction of the contact surface 1600 as the feedback controller 1400 applies a reverse current to the thermocouple array 1240. Here, when the feedback controller 1400 applies a certain voltage (hereinafter, the voltage that causes an endothermic reaction is referred to as 'reverse voltage') to the thermocouple array 1240, the thermocouple array 1240 starts an endothermic operation, and the contact surface The temperature of (1600) increases to the saturation temperature over time, as shown in FIG. 26. Therefore, the user does not feel the cold sensation or feels it only slightly at the beginning of the heat absorbing operation, and after feeling the cold sensation increasing until it reaches the saturation temperature, after a certain period of time has passed, the user is provided with the cooling sensation feedback corresponding to the saturation temperature. do.

When power is applied to a thermoelectric element, heat is generated as electrical energy is converted into thermal energy in addition to the exothermic and endothermic reactions that occur on both sides of the thermoelectric element. Therefore, when a voltage of the same magnitude is applied to the heat output module 1200 by changing only the direction of the current, the amount of temperature change due to the heating operation may be greater than the amount of temperature change due to the endothermic operation. Here, the temperature change amount refers to the temperature difference between the initial temperature and the saturation temperature when the heat output module 1200 is not operating.

Meanwhile, hereinafter, the heating operation and endothermic operation performed by the thermoelectric element using electrical energy will be collectively referred to as ‘thermoelectric operation’. In addition, the heat grill operation, which will be described later, is also a combined operation of heat-generating and endothermic operations, so the heat grill operation can also be interpreted as a type of ‘thermoelectric operation’.

2.1.1.1. Intensity control of exothermic/endothermic movements

As described above, when the heat output module 1200 performs a heat generation operation or a heat absorption operation, the feedback controller 1400 controls the degree of heat generation or heat absorption of the heat output module 1200 by adjusting the magnitude of the applied voltage. You can. Accordingly, the feedback controller 1400 can adjust the direction of the current to select the type of thermal feedback to be provided among warm feedback and cold feedback, and also adjust the intensity of the warm feedback or cold feedback by adjusting the magnitude of the voltage.

Figure 27 is a graph regarding the strength of warm/cold feedback using voltage control according to an embodiment of the present invention.

For example, looking at FIG. 27, the feedback controller 1400 applies voltage values of 5 levels in the forward or reverse direction, so that the feedback unit 1000 provides a total of 10 types of heat to the user, including 5 levels of warm feedback and 5 levels of cold feedback. Feedback can be provided.

Here, in FIG. 27, the warm feedback and the cold feedback are shown as having the same number of intensity ratings, but the number of intensity ratings for the warm feedback and the cold feedback does not necessarily have to be the same and may be different from each other.

Also, here, it is shown that warm feedback and cold feedback are implemented by changing the current direction using the same voltage value. However, the size of the voltage value applied for warm feedback and the size of the voltage value applied for cold feedback are shown. There is no need for them to be identical to each other.

In particular, when performing a heating operation and an endothermic operation by applying the same voltage, the temperature change amount of the warm feedback due to the heat generating operation is generally larger than the temperature change due to the endothermic operation, so similar to that shown in FIG. 28, during the cold feedback It is also possible to show the same amount of temperature change in corresponding intensity grades by applying a voltage greater than the voltage applied to the thermal feedback of the same grade. Figure 28 is a graph regarding hot/cold feedback with the same amount of temperature change according to an embodiment of the present invention.

In the above, it has been explained that the voltage value applied to the heat output module 1200 is adjusted to control the strength of the thermal feedback, but the strength of the thermal feedback can be controlled in other ways as well.

For example, when the thermocouple array 1240 of the heat output module 1200 has a plurality of individually controllable thermocouple groups 1244, the feedback controller 1400 controls the operation of each thermocouple group 1244 to provide thermal feedback. The intensity can be adjusted.

Figure 29 is a graph showing the control of the intensity of the heating/cooling feedback through operation control for each thermocouple group 1244 according to an embodiment of the present invention. Referring to FIG. 29, when the thermocouple array 1240 consists of five thermocouple groups (1244-1, 1244-2, 1244-3, 1244-4, 1244-5), the feedback controller 1400 is a thermocouple group. The strength of thermal feedback can be adjusted by applying voltage to all or part of the pair group 1244. For example, the feedback controller 1400 applies voltage to the entire thermocouple group 1244 to provide thermal feedback of maximum intensity to the user, or applies voltage to only four thermocouple groups 1244 to provide the user with medium-high intensity thermal feedback. provide thermal feedback, or apply voltage to only the three thermocouple groups 1244 to provide the user with medium intensity thermal feedback, or apply voltage to only the two thermocouple groups 1244 to provide the user with medium to low intensity thermal feedback. Feedback may be provided, or a voltage may be applied to only one thermocouple group 1244 to provide thermal feedback of the minimum intensity to the user.

In this way, when adjusting the strength of thermal feedback through whether to apply or not apply voltage to each thermocouple group 1244, the feedback controller 1400 controls the thermocouple group to receive voltage so that the heat distribution is as uniform as possible within the allowable range. (1244) can be selected. To this end, the feedback controller 1400 applies voltage to the thermocouple group 1244 in such a way that the number of consecutive thermocouple groups 1244 to which voltage is applied or the thermocouple group 1244 to which no voltage is applied is minimized. You can decide whether or not. Since the table shown in FIG. 29 takes into account the uniformity of heat distribution, it will be understood more clearly by referring to it.

As another example, the feedback controller 1400 may control the strength of thermal feedback by controlling the power application timing. Specifically, the feedback controller 1400 may control the intensity of thermal feedback by applying power to the thermocouple array 1240 with an electrical signal in the form of a duty signal with a duty cycle.

Figure 30 is a graph relating to the adjustment of the intensity of warming/cooling feedback through power application timing control according to an embodiment of the present invention. Referring to FIG. 30, it can be seen that the strength of thermal feedback is controlled by adjusting the duty rate of the electrical signal.

As described above, by adjusting the intensity of thermal feedback, it is possible to go beyond simply providing warm and cold sensations to the user and provide granular thermal feedback such as strong warm sensation, weak warm sensation, strong cold sensation, and weak cold sensation. This diverse, granular thermal feedback can provide a higher sense of immersion to users in gaming environments or virtual/augmented reality environments, and when applied to medical devices, it has the advantage of being able to more precisely examine the patient's senses.

Meanwhile, in addition to the above-described method of controlling the intensity of thermal feedback, the intensity of thermal feedback can also be adjusted by mixing a voltage control method, a control method for each thermocouple group 1244 (i.e., control for each area), and a control method using a duty cycle. It is possible, and combining them is only self-evident to those skilled in the art, so description thereof will be omitted.

2.1.2. heat grill operation

The feedback unit 1000 may provide thermal grill feedback in addition to thermal feedback and cooling feedback. Heat sensation means that when hot and cold points on a person's body are stimulated at the same time, they are not recognized as warm and cold sensations, but rather as painful sensations. Accordingly, the feedback unit 1000 may provide heat grill feedback to the user through a heat grill operation that performs a combination of a heat generating operation and an endothermic operation.

Meanwhile, the feedback unit 1000 can perform various types of heat grill operations to provide heat grill feedback, which will be described later after explaining the types of heat grill feedback.

2.1.2.1. Types of heat grill feedback

Thermal grill feedback may include neutral thermal grill feedback, warm grill feedback, and cold grill feedback.

Here, the neutral heat grill feedback, warm grill feedback, and cold heat grill feedback induce neutral heat sensation, warm sensation, and cold heat sensation in the user, respectively. Neutral heat pain sensation means feeling pain only without warmth or cold sensation, heat pain sensation means feeling pain in addition to warmth, and cold pain pain sensation can mean feeling pain in addition to cold sensation.

Neutral heat sensation is induced when the intensity of the warm and cold sensations felt by the user falls within a predetermined ratio range. The rate of feeling neutral heat sensation (hereinafter referred to as 'neutrality ratio') may differ depending on the body part that receives thermal feedback, and may differ slightly from person to person even for the same body part, but in most cases, the intensity of cold sensation is greater than that of warm sensation. In situations where the intensity is greater than the intensity, a neutral heat sensation tends to be felt.

Here, the intensity of thermal feedback may be the amount of heat applied by the feedback device 100 to a body part in contact with the contact surface 1600 or the amount of heat absorbed from the body part. Therefore, when thermal feedback is applied to a certain area for a certain time, the intensity of the thermal feedback can be expressed as a difference value of the temperature of the warm or cold sensation with respect to the temperature of the target area to which the thermal feedback is applied.

Meanwhile, a person's body temperature is usually between 36.5 and 36.9°C, and the skin temperature varies from person to person and area to area, but is known to be about 30 to 32°C on average. The temperature of the palm is approximately 33℃, slightly higher than the average skin temperature. Of course, the above-mentioned temperature values may vary somewhat depending on the individual, and may fluctuate to some extent even for the same person.

According to one experimental example, it was confirmed that a neutral thermal sensation was felt when a warm sensation of about 40℃ and a cold sensation of about 20℃ were given to the palm of the hand at 33℃. Based on the palm temperature, this gives a warm sensation of +7℃ and a cold sensation of -13℃, so the neutral ratio in terms of temperature can correspond to 1.86.

As can be seen from this, in the case of most people, when warm and cold sensations are continuously applied to a body area of the same size, it is expressed as the ratio of the temperature difference caused by the cold sensation to the temperature difference caused by the warm sensation on the skin that is the subject of contact. The neutral ratio achieved is in the range of about 1.5 to 5. Additionally, heat sensation can be felt when the magnitude of the warmth sensation is greater than the neutral ratio, and cold sensation sensation can be felt when the magnitude of the cold sensation is greater than the neutral ratio.

2.1.2.2. Heat grill operation according to voltage regulation

The feedback unit 1000 may perform a heat grill operation using a voltage control method. The voltage control type thermal grill operation may be applied to the feedback unit 1000 in which the thermocouple array 1240 consists of a plurality of thermocouple groups 1244.

Specifically, in the voltage control heat grill operation, the feedback controller 1400 applies a forward voltage to a part of the thermocouple group 1244 to perform a heat generation operation and applies a reverse voltage to the other part to perform a heat absorption operation, This can be achieved by the heat output module 1200 simultaneously providing warm feedback and cold feedback.

Figure 31 is a diagram showing the operation of a voltage control heat grill according to an embodiment of the present invention.

Referring to FIG. 31, the thermocouple array 1240 includes a plurality of thermocouple groups 1244 arranged to form a plurality of lines. Here, the feedback controller 1400 causes the first thermocouple groups 1244-1 (e.g., odd-line thermocouple groups) to perform a heating operation and the second thermocouple groups 1244-2 (e.g., thermocouple groups 1244-2). Even-numbered lines of thermocouple groups) can be powered to perform endothermic operations. In this way, when the thermocouple groups 1244 alternately perform heat-generating and endothermic operations according to the line arrangement, the user receives a sense of warmth and a sense of cold at the same time, and as a result, the user can receive heat grill feedback. Here, the distinction between odd and even lines is arbitrary, so the reverse may be possible.

Here, the feedback unit 1000 determines the saturation temperature according to the heat-generating operation of the first thermocouple groups 1244-1 and the saturation temperature according to the endothermic operation of the second thermocouple groups 1244-2 according to the neutral ratio. By controlling the temperature, neutral thermal grill feedback can be provided.

Figure 32 is a table regarding voltages for providing neutral heat grill feedback in the voltage control method according to an embodiment of the present invention.

For example, referring to FIG. 32, the feedback controller 1400 can apply five constant voltages and five reverse voltages to the heat output module 1200, and the heat output module 1200 can perform five levels of heat generation operation accordingly. Assuming a feedback device 100 that performs an overheating operation, the size of the temperature change due to the heating operation and endothermic operation of the same grade is the same, and the size of the temperature change between each grade is constant, the neutral ratio is set to 3. In this case, the feedback controller 1400 applies a constant voltage of the first grade, which is the smallest grade, to the first thermocouple group (1244-1) and a constant voltage of the third grade to the second thermocouple group (1244-2). By applying a voltage, the heat output module 1200 can provide neutral heat nociceptive feedback. Similarly, when the neutral ratio is 2.5, the feedback controller 1400 applies a second-grade constant voltage to the first thermocouple group 1244-1 to provide neutral heat grill feedback and the second thermocouple group 1244-1. For -2), a 5th grade reverse voltage can be applied. Alternatively, when the neutral ratio is 4, the feedback controller 1400 applies a first-grade constant voltage to the first thermocouple group 1244-1 and a fourth-grade inverse voltage to the second thermocouple group 1244-2. Neutral thermal grill feedback can be generated by applying a voltage. Alternatively, when the neutral ratio is 2, the feedback controller 1400 provides neutral thermal sensation by applying a first-grade constant voltage and a second-grade reverse voltage, or by applying a second-grade constant voltage and a fourth-grade reverse voltage. can do. At this time, the strength of the former neutral heat sensation (when using a first-grade constant voltage and a second-grade reverse voltage) is stronger than the latter's neutral heat sensation (when using a second-grade constant voltage and a fourth-grade reverse voltage). You can become strong. In other words, even in the case of heat grill feedback, the intensity can be adjusted. Meanwhile, the above-described method of providing neutral thermal sensation is illustrative, and the present invention is not limited thereto. For example, the number of thermal feedback grades does not need to be 5 levels, and the number of cold and warm grades can be different. Also, the temperature change interval for each grade does not have to be constant; for example, the voltage interval for each grade may be constant.

Additionally, the feedback controller 1400 can provide hot grill feedback by adjusting the constant voltage and reverse voltage to be below the neutral ratio, or provide cold grill feedback by adjusting the constant voltage and reverse voltage to be above the neutral ratio.

For example, referring again to FIG. 32, when the neutral ratio is set to 3, the feedback controller 1400 applies the first grade constant voltage to the first thermocouple group 1244-1 and the second thermocouple group 1244 When a first or second grade reverse voltage is applied to -2), the heat output module 1200 generates a sensation of heat and sensation of sensation at a rate lower than the neutral ratio, thereby providing the user with feedback from the heated grill that allows the user to feel both warmth and sensation at the same time. can do. Meanwhile, the constant voltage at this time does not necessarily have to be the constant voltage used for neutral heat grill feedback. In other words, the feedback controller 1400 may enable the heat output module 1200 to provide heated grill feedback using a 4-grade constant voltage and a 4-grade reverse voltage.

In the case of cold/heat grill feedback, when the feedback controller 1400 is set to a neutral ratio of 3, (grade 1, 4) or (grade 1, 5) (constant voltage, reverse voltage) is applied to the heat output module 1200. can be approved.

However, when providing hot grill feedback or cold grill feedback, there may be a problem that the user may not feel if the constant voltage and reverse voltage are applied at a ratio that deviates significantly from the neutral ratio. Therefore, the constant voltage should be adjusted to a ratio close to the neutral ratio. /It may be desirable to adjust the rating of the reverse voltage.

2.1.2.3. Heat grill operation according to area control

In the above, the feedback device 100 is configured to adjust the voltage applied to the thermocouple group 1244 while the regions performing heat generating operations and regions performing heat absorbing operations in the thermocouple array 1240 are alternately arranged with the same size. Although it has been described as providing heat grill feedback, it is also possible to generate heat grill feedback by adjusting the sizes of the heat-emitting area and heat-absorbing area.

Specifically, the area-controlled thermal grill operation can be performed by the feedback controller 1400 adjusting the area of the thermocouple group 1244 to which the forward voltage is applied and the area of the thermocouple group 1244 to which the reverse voltage is applied. there is.

Figure 33 is a diagram showing the operation of a heat grill using an area control method according to an embodiment of the present invention.

Referring to FIG. 33, the thermocouple array 1240 includes a plurality of thermocouple groups 1244 arranged to form a plurality of lines. Here, assuming that the area size of each line is the same and that the constant voltage and reverse voltage are set to voltage values that equalize the amount of temperature change in hot feedback and cold feedback, when the neutral ratio is 3, the feedback controller 1400 A constant voltage and a reverse voltage are applied to the heat output module 1200 so that each thermocouple group 1244-1 performing a heat-generating operation performs a heat-absorbing operation, thereby providing cooling feedback. By ensuring that the area of the contact surface 1600 that provides thermal feedback is three times the area of the contact surface 1600 that provides thermal feedback, the feedback device 100 can provide a neutral thermal sensation.

However, here, the neutral ratio may mean the ratio of the area where cold feedback is provided to the area where warm feedback is provided, instead of the ratio of the amount of temperature change during warm feedback and cold feedback. The neutral ratio in terms of area may be the same as the neutral ratio in terms of temperature, but may be a somewhat different value.

In addition, the feedback controller 1400 reduces or increases the number of thermocouple groups 1244-2 performing heat absorption for each thermocouple group 1244-1 performing heat generation, so that the feedback device 100 It is also possible to perform hot grill feedback or cold grill feedback.

Meanwhile, in FIG. 33, it is explained that each thermocouple group 1244 has the same area, but differently from this, it is also possible to design the thermocouple group 1244 taking the neutral ratio into consideration.

FIG. 34 is a diagram illustrating a thermocouple array 1240 composed of thermocouple groups 1244 having different areas for a thermal control method according to an embodiment of the present invention.

Referring to FIG. 34, the first thermocouple group 1244-1 and the second thermocouple group 1244-2 are designed to have different areas, and the ratio may be a neutral ratio. Using this thermocouple array 1240, the feedback controller 1400 applies a positive voltage and a reverse voltage to the first thermocouple group 1244-1 and the second thermocouple group 1244-2, respectively, to the feedback device ( 100) to provide neutral thermal grill feedback.

In the above, providing heat grill feedback by adjusting the heat generation area and heat absorption area was explained assuming that the constant and reverse voltages were used so that the temperature changes in the warm feedback and the cold feedback were the same. If the amount of temperature change is different, the area ratio must be adjusted by taking the resulting effect into further consideration.

In other words, in order to provide a neutral thermal sensation, the value calculated from two variables, the ratio of the heat absorption area to the heat generation area and the ratio of the amount of change in cooling temperature to the amount of change in temperature feeling warm, can be set to a neutral ratio. For example, the feedback device 100 may provide heat grill feedback by ensuring that the product of the rate of temperature change and the rate of area change becomes a neutral rate.

The heat grill operation according to the above-described area control method has the advantage of easier feedback intensity control compared to the heat grill operation using voltage.

When the same voltage is applied to a thermoelectric element to perform a heating operation and an endothermic operation, the temperature change in the heating operation is generally larger than the temperature change in the endothermic operation. Combining this with the fact that in the case of a heat grill operation using voltage control, the temperature change of the cold feedback must be larger than the temperature change of the warm feedback by the neutral ratio, the ratio of the magnitude of the reverse voltage to the constant voltage is greater than the neutral ratio in terms of temperature. It becomes a fairly large number. Therefore, in order to provide neutral heat grill feedback using a voltage control method, the feedback controller 1400 must output an electrical signal in a wide voltage range. Therefore, when the voltage range of the applied power is limited, it may be difficult to actually adjust the strength of the heat grill feedback.

On the other hand, in the area control method, neutral heat grill feedback is processed by adjusting the area of the warm feedback area and the area of the cold feedback area, so the amount of temperature change according to the heat generation operation in the warm feedback area and the endothermic operation in the cold feedback area are processed. The strength of the neutral heat grill feedback can be adjusted simply by increasing or decreasing the temperature gradient.

In the description referring specifically to FIG. 32, the feedback controller 1400 increases the magnitude of the constant voltage and the reverse voltage together so that the heat output module 1200 provides strong neutral heat grill feedback, or decreases them together to provide weak heat grill feedback. It can be provided. As already mentioned in the description of FIG. 32, since the neutral ratio for the neutral heat grill feedback is already satisfied by the heat generating area and the heat absorbing area, the feedback controller 1400 relatively freely adjusts the magnitude of the positive and reverse voltages to control the heat grill. You can control the strength of feedback.

2.1.2.4. Heat grill operation according to time division

The heat grill operation may also be implemented according to a time division method. Specifically, the heat grill operation according to the time division method can be implemented by performing heat generating operations and endothermic operations alternately in time. This is because if warm feedback and cold feedback are delivered alternately within a relatively short time interval, a person's sense organs may mistake this for a sense of pain.

The feedback controller 1400 may alternately apply a positive voltage and a reverse voltage to the heat output module 1200 to alternately perform heat generation and heat absorption operations. Here, the neutral heat grill feedback may be performed by adjusting at least one of the magnitude of the voltage or the time interval.

Figure 35 is a diagram of an example of a heat grill operation using a time division method according to an embodiment of the present invention.

Assuming that the constant voltage and reverse voltage are set to be the same as the temperature change amounts of the warm feedback and the cold feedback, the feedback controller 1400 controls the electrical signal so that the ratio of the time when the reverse voltage is applied to the time when the constant voltage is applied is a neutral ratio. The output timing of can be controlled. For example, referring to FIG. 35, when the neutral ratio is 3, the feedback controller 1400 can provide neutral heat grill feedback by applying a constant voltage for 20 ms and a reverse voltage for 60 ms. Here, hot grill feedback or cold grill feedback can be achieved by adjusting the ratio of signal output timing. Meanwhile, when the time interval is set to a neutral ratio, the feedback controller 1400 can adjust the intensity of the heat grill operation by simultaneously increasing or decreasing the magnitude of the positive and reverse voltages.

Figure 36 is a diagram of another example of a heat grill operation using the time division method according to an embodiment of the present invention. Assuming that the application times of the warm feedback and cold feedback are set to the same size, the feedback controller 1400 is the same. The voltage value of the electrical signal can be adjusted so that the temperature changes of the warm feedback and cold feedback that occur over time are at a neutral ratio. For example, referring to FIG. 36, when the neutral ratio is 3, the feedback controller 1400 applies constant voltage and reverse voltage alternately at intervals of 20 ms, but the amount of temperature change in the cooling operation section is the amount of temperature change in the heating operation section. Neutral heat grill feedback can be provided by adjusting the magnitude of the constant and reverse voltages to be three times that of . Here, hot grill feedback or cold grill feedback can be achieved by adjusting the magnitude of the constant voltage and reverse voltage.

Of course, it is also possible for the feedback controller 1400 to adjust the time interval and voltage magnitude together.

Meanwhile, the heat grill operation of the voltage control or area control method causes a sensation of pain sensuously, but physically applies hot and cold heat to the user's body at the same time. However, if the user's sense organs are continuously stimulated by this heat sensation, the user's body feels the afterimage for a certain period of time even after the heat grill feedback is removed. Heat grill feedback is often a sensation similar to pain, so users may feel uncomfortable due to the afterimage. The reason for this afterimage is that the hot and cold points of the skin are exposed to hot and cold sensations of rather high intensity for a long period of time in order to provide effective heat grill feedback. In contrast, the heat grill operation according to the time division method has the advantage of somewhat eliminating the afterimage effect because it does not continuously stimulate the hot and cold points of the skin.

2.1.2.5. Heat grill operation combined with area control and time division

In addition, the heat grill operation can be performed by combining the concept of the area control method with the heat grill operation according to the time division method described above.

Here, the heat grill operation is performed by alternating heating and endothermic operations in one region and another region of the thermocouple array 1240 according to time, and having one region and another region perform different operations. You can.

Figure 37 is a diagram of an example of a heat grill operation using a combined method of area control and time division according to an embodiment of the present invention.

Referring to FIG. 37, the thermocouple array 1240 may include a first thermocouple group 1244-1 performing a first operation and a second thermocouple group 1244-2 performing a second operation. there is. Here, the first operation and the second operation are the same in that they are operations in which heating and endothermic operations are performed alternately according to time, but the timing of heating and endothermic operations is alternated. The feedback controller 1400 sequentially applies a positive voltage and a reverse voltage to the first thermocouple group 1244-1 to control the first thermocouple group 1244-1 to perform the first operation, and the second thermocouple group 1244-1 A reverse voltage and a positive voltage can be sequentially applied to 1244-2 to control the second thermocouple group 1244-2 to perform the second operation. Accordingly, the heat output module 1200 simultaneously outputs heat feedback and cold feedback in the area of the first thermocouple group 1244-1 and the area of the second thermocouple group 1244-2, so that the feedback device 100 It is possible to provide thermal grill feedback. When the first thermocouple group 1244-1 and the second thermocouple group 1244-2 have the same area, and the time length of the heat generation operation and the endothermic operation time length in the first operation and the second operation are the same, Depending on the ratio of the voltage values of the constant voltage and the reverse voltage, the feedback device 100 may provide neutral heat grill feedback, warm grill feedback, or cold heat grill feedback.

Meanwhile, here, the time length of the heat generation operation and the heat absorption operation may be a relatively long time interval, unlike the case where the heat grill operation is performed in a simple time division method. In the case of a simple time division method, the illusion must be created in a person's sense organs by relying on the time division interval, whereas in the case of a complex method, a sense of pain can be felt by providing hot and cold feedback simultaneously even if the time interval is long. Because. In other words, in the case of a simple time division method, the application time of the constant voltage and the application time of the reverse voltage need to be adjusted below the perception time required for the user to feel warmth according to the heat-generating action or feel cold according to the endothermic action. On the other hand, the complex method of alternating by area has the advantage of no or weak time restrictions.

Furthermore, the combined heat grill operation does not continuously provide hot or cold heat to the human skin, but alternately provides hot/cold heat periodically, thereby minimizing damage to the skin. For this purpose, it may not be good for the time interval to be too long.

With reference to FIG. 37 , the thermocouple array 1240 has been described as having two thermocouple groups 1244 that operate alternately with each other. However, it is possible to apply the complex method to various types of thermocouple arrays 1240.

Figure 38 is a diagram of another example of a heat grill operation using a combined method of area control and time division according to an embodiment of the present invention.

Referring to FIG. 38, the thermocouple array 1240 may include four thermocouple groups 1244-1, 1244-2, 1244-3, and 1244-4. Here, the feedback controller 1400 may apply the following electrical signal to each thermocouple group 1244. First, during the first time period, a constant voltage is applied to the first thermocouple group (1244-1) to perform a heat generation operation, and a reverse voltage is applied to the second thermocouple group (1244-2) to perform a heat absorption operation. , no voltage is applied to the remaining groups (1244-3, 1244-4). Next, during the second time period, a constant voltage is applied to the third thermocouple group 1244-3 to perform a heat generation operation, and a reverse voltage is applied to the second thermocouple group 1244-4 to perform a heat absorption operation. However, no voltage is applied to the remaining groups (1244-1, 1244-2). During the third time period, a reverse voltage is applied to the first thermocouple group (1244-1) to perform a heat absorption operation, and a positive voltage is applied to the second thermocouple group (1244-2) to perform a heat generation operation. , no voltage is applied to the remaining groups (1244-3, 1244-4). During the next fourth time period, a reverse voltage is applied to the third thermocouple group 1244-3 to perform a heat absorption operation, and a constant voltage is applied to the fourth thermocouple group 1244-4 to perform a heat generation operation. You can. Afterwards, the process from the first time interval to the fourth time interval can be repeated. Alternatively, it is also possible to perform the modification by repeating only the first and second time sections. According to this operation, the feedback device 100 provides thermal grill feedback through collaboration of the first thermocouple group 1244-1 and the second thermocouple group 1244-2, and the third thermocouple group 1244 By alternating the provision of heat grill feedback to the collaboration of -3) and the fourth thermocouple group (1244-4), the user can achieve the same effect as continuous heat grill feedback being provided. here,

Meanwhile, in the above, the period in which the heat grill operation is performed by the first and second thermocouple groups 1244-1 and 1244-2 related to FIG. 38 and the third and fourth thermocouple groups 1244-3 and 1244- Although it has been explained in 4) that the period during which the heat grill operation is performed does not overlap in time, it is also possible to have a section in which the two heat grill operations overlap in time.

Figure 39 is a diagram of another example of a heat grill operation using a combined method of area control and time division according to an embodiment of the present invention.

Referring to FIG. 39, the time sections described in relation to FIG. 38 are spaced apart from each other, and overlapping sections may be inserted between them. In the overlapping section, the operation of the previous time section and the ten grill operations to be performed in the action of the subsequent time section are performed together. The heat grill operation in the form of an overlapping section can alleviate the fact that heat grill feedback is not delivered to the user during the time it takes for the actual thermoelectric element to rise to the saturation temperature from the time the voltage is applied for the heat generation/endotherm operation.

In addition, the heat grill feedback operation can be implemented in various ways by combining time division and area control, and the present invention should be interpreted as including modifications that combine examples mentioned in the present specification.

2.2. Damage prevention action based on thermal feedback

Since the thermal feedback operation described above stimulates the hot and cold points of the skin, if a certain amount of heat is delivered to the user, it may cause damage to the skin or sense organs. For example, if thermal feedback is provided to the user at an excessively high intensity, skin tissue may be denatured by heat, or if thermal feedback is continuously provided over a long period of time, it may cause confusion in the sense organs. Below, operations to prevent damage to the user's skin or sense organs will be described.

First, in a simple way, the voltage value applied by the feedback controller 1400 can be limited so that the temperature difference caused by the heat output module 1200 to the contact surface does not exceed a certain level. For example, the feedback controller 1400 may limit the constant voltage to a voltage value below which the saturation temperature of thermal feedback is 40°C.

Alternatively, the time for which thermal feedback is provided can be limited. For example, the feedback controller 1400 may block the power applied to the heat output module 1200 when thermal feedback is continuously applied for more than a predetermined time.

Alternatively, the intensity of thermal feedback can be considered when controlling the time for which thermal feedback is provided. This is because physical damage does not occur even if low-intensity thermal feedback is given to the user for a long period of time, whereas high-intensity thermal feedback can cause physical damage even for a short period of time. For example, in the case of the feedback device 100 capable of applying multiple grades of thermal feedback, the feedback controller 1400 determines the intensity grade of the thermal feedback currently being performed and sets a time limit according to the determined intensity grade. It is determined, and if the time for performing thermal feedback exceeds the time limit, the power applied to the heat output module 1200 may be cut off.

For example, in order to improve the user's perception of thermal feedback, thermal feedback of various levels of intensity can be provided. The feedback device 100 can set a time limit for each grade. For example, there is no time limit in the feedback device 100 for low-intensity thermal feedback, a time limit is set to a certain time for high-intensity thermal feedback, and for medium-intensity thermal feedback, there is no time limit for high-intensity thermal feedback. A time limit longer than the time limit can be set. If thermal feedback needs to be provided for more than the set time limit, the feedback device 100 provides thermal feedback for the limited time, then stops outputting the thermal feedback for a predetermined rest period, and then resumes after the rest period has elapsed. Thermal feedback can be output.

2.3. Heat reversal anti-hallucination action

Hereinafter, the heat reversal hallucination prevention operation will be described. A user who receives thermal feedback using the feedback device 100 experiences thermal reversal hallucinations when the thermal feedback is stopped. Here, thermal reversal hallucination refers to the illusion of sensory organs in which thermal sensation opposite to the given thermal feedback is felt. Specifically, when the warm sensation feedback is stopped, the user momentarily feels a cold sensation, and when the cold sensation feedback is stopped, the user momentarily feels a warm sensation. In this way, after receiving a specific hot sensation, in the process of removing the heat sensation, the opposite heat sensation is felt. I would say it is a type of reversal hallucination.

Thermal inversion hallucinations can compromise the user experience they are intended to provide users with thermal feedback. For example, when a user holds a hot kettle within virtual reality, feedback device 100 may provide thermal feedback to the user to improve the user's experience of virtual reality as part of a virtual reality experience system. However, if the user momentarily feels cold during the process of stopping thermal feedback, immersion in virtual reality may be impaired.

Below, we will look at heat reversal hallucinations in more detail and then explain specific methods for preventing heat reversal hallucinations.

2.3.1. Causes of Heat Inversion Hallucinations

The process by which thermal feedback is provided to the user is simply as follows. First, the feedback controller 1400 applies power to the heat output module 1200. Power applied to the heat output module 1200 is transmitted to the thermoelectric element through the power terminal 1260, and an exothermic reaction or endothermic operation occurs in the thermoelectric element due to the Peltier effect. This can be interpreted as the thermocouple array 1240 performing a heat-generating or endothermic operation, and the hot/cold heat generated by the heat-generating or endothermic operation is transmitted to the user's skin through the contact surface 1600. Heat transferred to the skin stimulates hot or cold points distributed on the skin, and the user can feel a warm sensation when the hot spot is stimulated, a cold sensation when the cold spot is stimulated, and a thermal sensation when both are stimulated simultaneously.

Figure 40 is a diagram illustrating temperature changes of the contact surface 1600 during heat generating and endothermic operations according to an embodiment of the present invention.

Here, referring to FIG. 40, since the thermocouple array 1240 or the contact surface 1600 has a predetermined heat capacity, when heat generation or endothermic operation is initiated as power is applied, the temperature of the contact surface 1600 is It does not reach the saturation temperature immediately upon application, but gradually changes from the initial temperature to reach the saturation temperature. Likewise, when the power is cut off and the heating or endothermic operation is stopped, the temperature of the contact surface 1600 does not immediately return from the saturation temperature to the initial temperature, but gradually changes and returns to the initial temperature.

Thermal reversal hallucination may be felt in the process where the temperature of the contact surface 1600 returns to the initial temperature following the cessation of exothermic or endothermic operation. For example, when the heating operation is stopped in a thermal feedback situation, the temperature decreases from the saturation temperature to the initial temperature, and in this process, the number of hot spots stimulated by the thermal feedback decreases, resulting in a decrease in the actual temperature of the contact surface 1600. Even though the temperature does not fall below the initial temperature, the user instantly feels a cold sensation. As a counter example, when the heat absorption operation is stopped in a cold feedback situation, the temperature increases from the saturation temperature to the initial temperature, and in this process, the number of cold spots stimulated by the cold feedback decreases, resulting in the actual temperature of the contact surface 1600. Even though the temperature does not rise above the initial temperature, the user instantly feels a sense of warmth.

In summary, thermal reversal hallucination can be interpreted to mean thermal feedback in the opposite direction that is felt by the user even though it is not physically given when the temperature changes in the direction of eliminating thermal feedback in a state where thermal feedback is provided. .

Figure 41 is a diagram relating to heat reversal hallucination according to an embodiment of the present invention.

According to experimental observations, it was observed that heat reversal hallucinations appear more strongly the larger the difference between the saturation temperature and the initial temperature and the faster the temperature change rate. Specifically, as shown in Figure 41, when high-intensity thermal feedback with a large temperature change compared to skin temperature is stopped, the size of the temperature change that occurs during the process of returning to the initial temperature is large and the speed of temperature change is fast. Heat reversal hallucinations are strongly felt, and conversely, when low-intensity thermal feedback with a small temperature change compared to skin temperature is stopped, heat reversal hallucinations are felt weakly because the size of the temperature change that occurs during the process is small and the speed of temperature change is slow. Or it doesn't really feel like it.

2.3.2. Heat reversal anti-hallucination action

The feedback device 100 can eliminate thermal reversal hallucinations by alleviating the speed of temperature change that occurs in the process of returning to the initial temperature when thermal feedback is interrupted.

Figure 42 is a graph showing the temperature change trend of the contact surface 1600 due to the buffer voltage according to an embodiment of the present invention.

Referring to FIG. 42 , the feedback controller 1400 may apply a buffer voltage to the heat output module 1200 instead of immediately turning off the power at the time of interruption of thermal feedback. The buffer voltage may be a voltage in the same direction as the voltage for thermal feedback but with a smaller magnitude. As the feedback controller 1400 applies a buffer voltage for a predetermined period of time instead of immediately turning off the power, the rate of temperature change returning from the saturation temperature to the initial temperature after the interruption of thermal feedback can be alleviated. Accordingly, the thermal reversal hallucination can be eliminated because the temperature does not change suddenly when thermal feedback is interrupted.

Meanwhile, if necessary, the feedback device 100 can also use multi-level buffer voltages for the thermal reversal hallucination prevention operation.

Figure 43 is a graph showing the temperature change trend of the contact surface 1600 according to the thermal reversal hallucination prevention operation with a plurality of buffering stages according to an embodiment of the present invention.

Referring to FIG. 43, the feedback device 100 may perform a thermal reversal hallucination prevention operation using the first, second, and third buffer voltages. Specifically, when thermal feedback is interrupted, the feedback controller 1400 may sequentially apply a voltage for thermal feedback, a first buffer voltage, a second buffer voltage, and a third buffer voltage, and then finally turn off the power.

In the case of high-intensity thermal feedback, the temperature change section can be rapid even when only a single buffer voltage is used. However, using a multi-stage buffer voltage can eliminate thermal reversal hallucinations even for high-intensity thermal feedback.

In particular, if the feedback device 100 is capable of outputting thermal feedback at various levels of intensity, the voltage for the lower level thermal feedback may be used as a buffer voltage when the higher level thermal feedback is interrupted.

In addition, in the above description, in the thermal reversal hallucination prevention operation, the buffer voltage is in the form of a single voltage or step voltage with a constant voltage value. However, in contrast, the buffer voltage can also take the form of an electrical signal that gradually decreases over time.

2.3.3. Other buffering actions

In the above, when the output of thermal feedback ends, the power applied to start the output of thermal feedback (hereinafter referred to as 'operating power', and the voltage and current of the operating power are referred to as 'operating voltage' and 'operating current', respectively) is stopped. It was explained that applying buffer power to prevents heat reversal hallucinations from occurring.

However, it is also possible to use the duty signal as a buffer power source for this thermal reversal hallucination prevention operation, that is, a buffer operation. For example, in the feedback device 100, the feedback controller 1400 may use a duty signal having the same or lower voltage as the operating power as a buffer voltage when the application of the operating power is stopped. Here, the operating power may be a duty signal, and in this case, the buffer power may be a duty signal with a lower duty rate than the operating power.

Alternatively, when the thermoelectric element is provided as a thermocouple array 1240 having a plurality of individually controllable thermocouple groups 1244, the number is smaller than the thermocouple group 1244 to which operating power is applied to output thermal feedback. It is also possible to perform a buffering operation by maintaining operating power in the thermocouple group 1244 during the buffering period. For example, in a state where thermal feedback is output using a thermocouple array 1240 having five thermocouple groups 1244, the buffering operation maintains operating power for two of the thermocouple groups 1244. By cutting off the operating power for the remaining three thermocouple groups 1244, it is possible to perform a buffering operation in the form of gradually reducing the degree of thermoelectric operation in the thermocouple array 1240 as a whole.

Meanwhile, in the above description, it has been explained that the buffering operation is performed by continuously applying the buffering power at the time when the application of the operating power is stopped. However, unlike this, the buffering operation is performed by applying the buffering power at a predetermined time elapsed from the time when the application of the operating power is stopped. It can also be done through:

2.3.4. Thermal reversal anti-hallucination behavior considering the strength of thermal feedback

On the other hand, thermal reversal hallucinations are caused only by the interruption of relatively strong thermal feedback, and may not be substantially caused by the interruption of relatively weak thermal feedback.

Therefore, when the feedback device 100 provides thermal feedback of various strengths, it can be determined whether to perform the thermal reversal hallucination prevention operation according to the strength of the thermal feedback. That is, the feedback device 100 does not perform the thermal reversal hallucination prevention operation because it is unnecessary for thermal feedback of low intensity in which the thermal reversal hallucination phenomenon does not occur.

Figure 44 is a graph showing a temperature change trend due to cessation of thermal feedback of various intensities according to an embodiment of the present invention.

Referring to FIG. 44, the feedback device 100 provides 5 levels of warm feedback and 5 levels of cold feedback, however, in this case, thermal feedback can only occur for the top 3 levels. In this case, the feedback device 100 may perform the heat reversal hallucination prevention operation for the upper 3 grades and may not perform the heat reversal hallucination prevention operation for the remaining lower 2 grades. Specifically, the feedback controller 1400 obtains information about the intensity of thermal feedback, determines whether the thermal feedback intensity is above or below a predetermined grade, and if it is below the predetermined grade, heats for a predetermined time after the point of stopping the thermal feedback. After applying a buffer voltage to the output module 1200, the power is completely cut off after a predetermined period of time. If the rating is below a predetermined level, the voltage being applied to the thermal output module 1200 can be immediately cut off when thermal feedback is interrupted.

In this way, the feedback device 100 provides thermal feedback of various intensities, and if heat reversal hallucinations occur in thermal feedback of a higher intensity and heat reversal hallucinations do not occur in thermal feedback of lower intensity, heat reversal hallucinations may occur. The voltage used for thermal feedback of a lower intensity that is not generated can also be used as a buffer voltage.

Meanwhile, the size of the buffer voltage or the time length of the buffer section (the length of time the buffer voltage is applied) may also be set differently depending on the strength of thermal feedback. Accordingly, the feedback device 100 may set the buffer voltage for high-intensity thermal feedback to be larger than the buffer voltage for low-intensity thermal feedback. Additionally, the feedback device 100 may set the buffering section for high-intensity thermal feedback to be longer than the buffering section for low-intensity thermal feedback.

2.3.5. Heat reversal hallucination prevention action based on warm/cold feedback

The heat reversal hallucination phenomenon described above may be felt differently under warm and cold feedback under the same conditions. This is because the rate of temperature change due to interruption of warm feedback is different from the rate of temperature change due to interruption of cold feedback.

Figure 45 is a graph showing the difference in temperature change speed between warm feedback and cold feedback of the same intensity according to an embodiment of the present invention.

Referring to FIG. 45, it can be seen that the rate of temperature decrease that occurs when warm feedback is stopped is smaller than the rate of temperature increase that occurs when cold feedback is stopped.

When electrical energy is applied to a thermoelectric element, part of the electrical energy induces exothermic and endothermic reactions, while the remaining part is converted into thermal energy. Here, the portion directly converted to thermal energy is emitted through a heat sink connected to the back of the thermoelectric element, but a portion of it remains in the thermoelectric element in the form of residual heat. When the supply of electrical energy to the thermoelectric element is stopped, the heating side and the endothermic side try to achieve thermal equilibrium through conduction. In addition, residual heat may act in addition to the temperature of the back of the thermocouple array 1240 to change the temperature of the contact surface 1600 or the front of the thermocouple array 1240 due to the interruption of thermal feedback. At this time, the residual heat acts as a factor that inhibits the temperature reduction of the contact surface 1600 or the front surface of the thermocouple array 1240 when the warm sensation feedback ends, and conversely, when the cold sensation feedback ends, the contact surface 1600 or the thermocouple array 1240 It acts as a factor that strengthens the temperature increase at the front. Therefore, generally, the temperature change rate when warm feedback is stopped is lower than the temperature change rate when cold feedback is stopped. As a result, among warm and cold feedbacks under the same conditions, heat reversal hallucinations may be felt more strongly when cold feedback is interrupted.

Considering this, the feedback device 100 may process the heat reversal hallucination prevention operation differently when the warm sensation feedback is terminated and when the cold sensation feedback is terminated.

Figure 46 is a diagram showing the time difference between the buffering section at the end of the warm feedback and the cold feedback according to an embodiment of the present invention.

For example, as shown in FIG. 46, the feedback device 100 may set the length of the buffering section of the cold feedback to be longer than the length of the buffering section of the warm feedback. When thermal feedback ends, the feedback controller 1400 determines the type of thermal feedback, determines the length of the buffer section considering the type of thermal feedback, and buffers the heat output module 1200 for a time corresponding to the determined buffer section. Voltage can be applied. That is, the feedback controller 1400 determines whether the thermal feedback is warm feedback or hot feedback, and sets the buffer section to a first time length if it is a warm feedback, and sets the buffer section to a second time length longer than the first time length if it is a cold feedback. can be set.

Additionally, the feedback device 100 may consider the type of thermal feedback when determining whether to perform a thermal reversal prevention operation depending on the strength of the thermal feedback. For example, in the description with reference to FIG. 44, in the 5th stage of warm feedback and the 5th stage of cold feedback, the heat reversal hallucination prevention operation is performed for the upper 3 stages, and the heat reversal hallucination prevention operation is not performed for the remaining 2 lower stages. Assuming that the warm and cold feedbacks have the same intensity in the same stage, it would be possible to perform the heat reversal hallucination prevention operation only at the end of the upper two stages for the warm feedback.

2.3.6. Thermal reversal hallucination prevention behavior following termination of thermal grill feedback

In the above, the heat reversal hallucination prevention operation was explained with a focus on warm feedback and cold feedback, but a similar phenomenon may occur in the case of heat grill feedback.

Figure 47 is a graph showing the temperature change of the contact surface 1600 upon termination of heat grill feedback according to an embodiment of the present invention.

When the heat grill feedback provided by simultaneously performing the heat generating and endothermic operations of the same intensity is terminated, looking at the temperature change in the area that provided the warm and cold feedback with reference to Figure 47, the temperature of the area that provided the cold feedback is It can be seen that first reaches the initial temperature, and then the temperature of the area that provides thermal feedback reaches the initial temperature. This is believed to be caused by residual heat as described above. Accordingly, even if the heating operation and the heat absorption operation are stopped simultaneously from the feedback device 100's perspective, the user may feel a warm sensation upon termination of the neutral heat grill feedback, which is an unintended warm sensation by the feedback device 100.

Figure 48 is a graph illustrating an operation for removing a sense of warmth upon termination of heat grill feedback according to an embodiment of the present invention.

Therefore, when the feedback device 100 stops the heat generation operation and the heat absorption operation to terminate the heat grill feedback, the end time of the heat absorption operation is delayed from the end time of the heat generation operation to remove the warm feeling felt at the end of the heat grill feedback. You can. Specifically, when the heat grill feedback is completed, the feedback controller 1400 applies a constant voltage to the heat output module 1200 up to a first time point, and applies a reverse voltage to a second time point later than the first time point to complete the heat grill feedback. It can remove the feeling of warmth.

However, when turning off the neutral heat grill feedback, you may sometimes feel a cold sensation instead of a warm sensation. Neutral heat grill feedback can be output when the temperature ratio according to the exothermic operation and the endothermic operation is a neutral ratio, and according to the neutral ratio, the temperature difference compared to the initial temperature is larger in the endothermic operation than in the exothermic operation.

Specifically, when the neutral ratio is about 2.5, when the neutral heat grill feedback ends, the temperature of the contact surface 1600 may reach the initial temperature of the heat-generating portion first, and then the heat-absorbing portion may reach the initial temperature. In this case, when the feedback device 100 stops the heat generation operation and the heat absorption operation to end the heat grill feedback, the end time of the heat absorption operation is advanced before the end time of the heat generation operation to remove the cold feeling felt at the end of the heat grill feedback. You can.

Specifically, when the heat grill feedback is completed, the feedback controller 1400 applies a reverse voltage to the heat output module 1200 up to a first time point, and applies a constant voltage to a second time point later than the first time point to complete the heat grill feedback. It can remove the feeling of cold.

However, here, it was explained that among the temperatures of the heat-generating part and the endothermic part, the temperature of the heating part reaches the initial temperature first, and then the user can feel a feeling of cold during the period until the temperature of the endothermic part reaches the initial temperature. However, depending on the individual, Since the rate of temperature change in the endothermic area is faster than the temperature change rate in the heat-generating area, you may feel a sense of warmth as a heat reversal hallucination instead of a feeling of cold. In this case, when the feedback device 100 stops the heat generation operation and the endothermic operation to end the heat grill feedback, the end point of the heat generation operation is delayed from the end point of the endotherm operation to remove the warmth felt at the end of the heat grill feedback. there is.

Alternatively, it is also possible to perform a buffering operation at the end of each operation to prevent heat reversal hallucinations from being felt due to temperature changes at the end of each operation when ending the exothermic and endothermic movements for heat sensation. , Since this has already been explained in detail in the section on preventing heat reversal hallucinations, detailed explanation will be omitted.

2.3. Column movement behavior

Hereinafter, the heat transfer operation will be described. Here, the heat transfer operation is an operation of moving heat in the area of the heat output module, and this can be performed using the heat output module 1200 consisting of a plurality of individually controllable thermocouple groups 1244.

FIG. 49 is a schematic diagram of an example of an electrical signal for a heat transfer operation according to an embodiment of the present invention, and FIG. 50 is a diagram illustrating a heat transfer operation according to FIG. 49.

49 and 50DMF, the heat output module 1200 includes a first thermocouple group 1244-1, a second thermocouple group 1244-2, a third thermocouple group 1244-3, and a fourth thermocouple group 1244-1. It may include a thermocouple group (1244-4).

At this time, the feedback controller 1400 may apply power to the thermoelectric element groups in order. Accordingly, the first thermocouple group 1244-1 may first perform a thermoelectric operation (here, the thermoelectric operation includes a heat generation operation, an endothermic operation, and a heat grill operation). Thereafter, thermoelectric operations can be performed in the order of the second, third, and fourth thermocouple pair groups (1244-2, 1244-3, and 1244-4).

Additionally, the feedback controller 1400 may cut off the power to the previous thermocouple group 1244 at the time of applying power to a specific thermocouple group 1244. Accordingly, the first thermocouple group 1244-1 stops the thermoelectric operation when the second thermocouple group 1244-2 starts the thermoelectric operation, and the second thermocouple group 1244-3 stops the thermoelectric operation when the second thermocouple group 1244-2 starts the thermoelectric operation. When the pair group 1244-3 starts the thermoelectric operation, the thermoelectric operation is stopped, and the third thermocouple pair group 1244-3 starts the thermoelectric operation when the fourth thermocouple pair group 1244-4 starts the thermoelectric operation. can be stopped.

Accordingly, the user can feel heat moving from the area where the first thermocouple group 1244-1 is placed to the area where the fourth thermocouple group 1244-4 is placed on the contact surface.

This example described above can be used as follows.

For example, if a feedback device has a plurality of groups of thermoelectric elements arranged horizontally while being held by a user, cold heat may be moved from one side to the other, providing the user with the feeling of a cool breeze passing by. Also, moving the heat can provide the feeling of a heat source passing by.

FIG. 51 is a schematic diagram of another example of an electrical signal for a heat transfer operation according to an embodiment of the present invention, and FIG. 52 is a diagram illustrating a heat transfer operation according to FIG. 51.

51 and 52, the heat output module 1200 includes a first thermocouple group 1244-1, a second thermocouple group 1244-2, a third thermocouple group 1244-3, and a third thermocouple group 1244-3. It may include 4 thermocouple groups (1244-4).

At this time, the feedback controller 1400 may apply power to the thermocouple groups 1244 in order. Accordingly, the first thermocouple group 1244-1 can perform the thermoelectric operation first. Thereafter, thermoelectric operations can be performed in the second, third, and fourth thermocouple group groups (1244-2, 1244-3, and 1244-4) in that order.

In addition, the feedback controller 1400 may cut off the power to the previous thermocouple group 1244 after a predetermined time from the time of applying power to the specific thermocouple group 1244. Accordingly, when the thermal sensation caused by the first thermocouple group 1244-1 ends, the user can experience the thermal sensation caused by the second thermocouple group 1244-2, and the second thermocouple group 1244-2 When the thermal sensation by 2) ends, the thermal sensation by the third thermocouple group (1244-3) can be experienced, and when the thermal sensation by the third thermocouple group (1244-2) ends, the thermal sensation by the third thermocouple group (1244-2) can be experienced. You can experience the heat sensation caused by the 4 thermocouple group (1244-4).

This takes into account the fact that a certain amount of time is required from the time power is applied to the thermocouple group until the contact surface reaches a temperature where the user feels a sense of heat. That is, the predetermined time may correspond to the delay time from when power is applied to the thermoelectric element until the temperature of the contact surface reaches a temperature suitable for transmitting heat.

Accordingly, the user can naturally feel heat moving from the area where the first thermocouple group 1244-1 is placed to the area where the fourth thermocouple group 1244-4 is placed on the contact surface.

FIG. 53 is a schematic diagram of another example of an electrical signal for a heat transfer operation according to an embodiment of the present invention, and FIG. 54 is a diagram illustrating a heat transfer operation according to 53.

53 and 54, the heat output module 1200 includes a first thermocouple group 1244-1, a second thermocouple group 1244-2, a third thermocouple group 1244-3, and a third thermocouple group 1244-3. It may include 4 thermocouple groups (1244-4).

At this time, the feedback controller 1400 may apply power to the thermocouple groups 1244 in order. Accordingly, the first thermocouple group 1244-1 can perform the thermoelectric operation first. Thereafter, thermoelectric operations can be performed in the order of the second, third, and fourth thermocouple pair groups (1244-2, 1244-3, and 1244-4).

Additionally, the feedback controller 1400 may not cut off the power to the thermoelectric element to which the existing power is applied. Accordingly, the user can feel heat rising from the area where the first thermocouple group 1244-1 is placed to the area where the fourth thermocouple group 1244-4 is placed on the contact surface.

This example described above can be used as follows.

For example, if the plurality of thermocouple groups 1244 in the feedback device are arranged vertically while being held by the user, cold heat is moved from the bottom to the top, allowing the user to submerge the body in cold water from the bottom of the body. It can provide a feeling of soaking.

FIG. 55 is a schematic diagram of another example of an electrical signal for a heat transfer operation according to an embodiment of the present invention, and FIG. 56 is a diagram illustrating a heat transfer operation according to FIG. 55.

55 and 56, the heat output module 1200 includes a first thermocouple group 1244-1, a second thermocouple group 1244-2, a third thermocouple group 1244-3, and a third thermocouple group 1244-3. It may include 4 thermocouple groups (1244-4).

At this time, each thermocouple group 1244 is receiving power and performing a thermoelectric operation.

In this state, the feedback controller 1400 may cut off power to the thermocouple groups 1244 in order. Accordingly, the first thermocouple group (1244-1) stops the thermoelectric operation first, and then the second, third, and fourth thermocouple groups (1244-2, 1244-3, and 1244-4) stop the thermoelectric operation in that order. can do.

Accordingly, the user can feel heat being released from the area where the first thermocouple group 1244-1 is placed to the area where the fourth thermocouple group 1244-4 is placed on the contact surface.

This example described above can be used as follows.

For example, if the plurality of thermocouple groups 1244 in the feedback device are arranged vertically while being held by the user, cold heat is moved from the bottom to the top so that the user's body is submerged in cold water from the bottom of the body. It can provide a feeling of escape.

In the above-described example of the heat transfer operation, it has been described that the four thermocouple groups 1244 are arranged in a one-dimensional array. However, in the heat transfer operation according to the embodiment of the present invention, the number or arrangement form of the thermocouple groups 1244 is different. It is not limited to the above example.

3. How to provide thermal feedback

Hereinafter, a method for providing thermal feedback according to an embodiment of the present invention will be described. The method of providing thermal feedback will be explained using the above-described feedback device 100 and the operation of the feedback device 100. However, since this is only for convenience of explanation, it should be noted that the method of providing thermal feedback is not limited by the feedback device 100 or the operation of the feedback device 100.

In addition, the following description will be based on the fact that the feedback device 100 is in the form of a gaming controller 100a. Since this is merely to aid understanding of the present invention, the type of feedback device 100 that performs the method of providing thermal feedback is not limited to the gaming controller (100a) type, and is also general-purpose for other types of feedback device 100. Please make it clear that it is applicable.

3.1. How to initiate and terminate thermal feedback

Figure 57 is a flowchart of a first example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 57 is a method of starting and ending thermal feedback, including obtaining a feedback request message (S1100), obtaining feedback information (S1200), and outputting an electrical signal based on the feedback information. It may include a step of providing thermal feedback according to an electrical signal (S1300), a step of providing thermal feedback according to an electrical signal (S1400), and a step of terminating thermal feedback according to a feedback end message (S1500).

Below, each step described above will be described in more detail.

First, a feedback request message can be obtained (S1100). For example, the game console may generate a feedback request message according to the results of information processing within the game and transmit it to the feedback device 100. In the feedback device 100, the application controller 2700 may receive a feedback request message through the communication module 2500.

Meanwhile, when the feedback device 100 operates as a stand-alone, the feedback device 100 can obtain a feedback request message on its own. For example, the application controller 2700 may obtain a feedback request message in the form of a user input through the input module 2200. For another example, the application controller 2700 may obtain a specific condition detected by the sensor module as a feedback request message.

When the feedback request message is obtained, feedback information can be obtained (S1200). Here, the feedback information may include information about the type of thermal feedback, the intensity of the thermal feedback, and the time at which the thermal feedback is applied. This information may directly include data on the type, intensity, time, etc. of thermal feedback, but may also indirectly include data on the type, intensity, time, etc. of thermal feedback.

As an example, a feedback request message may include feedback information. For example, a feedback request message received from a game console includes feedback information, so the application controller 2700 can obtain the feedback information from the feedback request message.

As another example, feedback information is stored in the memory 2600, and the feedback request message may include an identifier for obtaining the feedback information stored in the memory 2600 instead of directly including the feedback information. For example, the game controller may extract an identifier from the received feedback request message and obtain feedback information corresponding to the received feedback request message from the feedback information table stored in the memory 2600 from the extracted identifier.

As another example, the feedback request message may simply request the initiation of thermal feedback, and the application controller 2700 may obtain feedback information by loading it from the memory 2600 according to the feedback request message.

Next, an electrical signal can be output based on the feedback information (S1300). The application controller 2700 transmits feedback information to the feedback controller 1400, and the feedback controller 1400 may generate an electrical signal to be applied to the heat output module 1200 based on the feedback information.

The feedback controller 1400 may determine the direction of the voltage of the electrical signal to be applied based on the type of thermal feedback. For example, if the thermal feedback is warm feedback, the feedback controller 1400 determines that the voltage to be applied is a constant voltage, if the thermal feedback is cold feedback, it determines that it is a reverse voltage, and if it is heat grill feedback, the feedback controller 1400 determines that the voltage to be applied is a constant voltage. It can be decided to apply the overvoltage and reverse voltage simultaneously or in time divisions.

Additionally, the feedback controller 1400 may determine the magnitude of the voltage to be applied based on the strength of the thermal feedback. The memory 2600 may store a voltage table regarding voltage magnitudes for each intensity of thermal feedback. The feedback controller 1400 may determine the level of voltage to be applied by referring to the voltage table based on the strength of the thermal feedback. Meanwhile, since the intensity of the voltage to be applied may differ depending on the type of thermal feedback, the feedback controller 1400 may also consider the type of thermal feedback when referring to the voltage table.

Additionally, the feedback controller 1400 may determine the period for applying the voltage based on information about the time when thermal feedback will be applied.

Once the direction, magnitude, and application time of the voltage are determined, the feedback controller 1400 can apply an electrical signal corresponding to the determined result to the heat output module 1200.

The heat output module 1200 receives an electric signal through the power terminal 1260, and accordingly, the thermocouple array 1240 can perform a heat generation operation, an endothermic operation, or a heat grill operation (S1400). Accordingly, the feedback device 100 may output thermal feedback and provide it to the user.

Finally, a feedback termination message can be obtained and thermal feedback can be terminated (S1500). The feedback end message indicates the end of feedback, and the feedback device 100 can obtain the feedback end message in a similar way to the method of obtaining the feedback request message. When a feedback end message is received, the feedback device 100 may stop performing an operation related to thermal feedback. However, a feedback termination message is not necessarily required to terminate an operation related to thermal feedback. For example, if the feedback information includes information about the time at which thermal feedback will be applied, the feedback device 100 applies thermal feedback for the corresponding time and then stops the operation related to thermal feedback to end thermal feedback. You can also do it.

3.2. How to Provide Heat Grill Feedback

3.2.1. How to Provide Heat Grill Feedback Through Voltage Control

Figure 58 is a flowchart of a second example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 58 is a method of providing thermal grill feedback through voltage control, and includes the steps of obtaining a feedback request message (S2100), obtaining feedback information (S2200), and performing based on the feedback information. This is the step of determining the type of thermal feedback to be performed, especially the step of determining whether it is thermal grill feedback (S2300). When the type of thermal feedback is heat grill feedback, the step may include determining a voltage to be applied for a heat grill operation (S2400) and simultaneously outputting high intensity warm sensation feedback and low intensity cold sensation feedback (S2500). there is.

A second example of this method of providing thermal feedback can be performed by the feedback device 100 having the following features.

First, the feedback device 100 may simultaneously perform a heat-generating operation and a heat-absorbing operation on part of the contact surface 1600 and another part. To this end, the thermocouple array 1240 includes a plurality of thermocouple groups 1244, and the feedback controller 1400 can individually control the plurality of thermocouple groups 1244.

Second, the feedback device 100 can implement warm feedback and cold feedback in multiple stages. To this end, the feedback controller 1400 can output electrical signals with multi-level constant voltages and multi-level reverse voltages.

Below, each step described above will be described in more detail.

First, a feedback request message can be obtained (S2100). This step may be similar to step S1100 in the first example of the method for providing thermal feedback.

Next, feedback information can be obtained (S2200). This step may be similar to step S1200 in the first example of the method for providing thermal feedback.

However, the feedback information includes at least information about the type of thermal feedback, and the types of thermal feedback include warm feedback, cold feedback, and heat grill feedback. Of course, the feedback information may additionally include information about the intensity of thermal feedback and the time at which the thermal feedback is applied.

Next, the type of thermal feedback to be performed can be determined based on the feedback information (S2300).

When the type of thermal feedback is thermal feedback, the feedback controller 1400 applies a constant voltage to the thermal output module 1200, and the thermal output module 1200 performs a heat generation operation. When the type of thermal feedback is cooling feedback, the feedback controller 1400 applies a reverse voltage to the heat output module 1200, and the heat output module 1200 performs an endothermic operation. At this time, the feedback controller 1400 may adjust the voltage level of the constant voltage or reverse voltage using information about the intensity of thermal feedback among the feedback information.

If the type of thermal feedback is thermal grill feedback, the thermal grill operation is performed as follows.

Determine the voltage to be applied for the heat grill operation (S2400).

The memory 2600 may store a voltage level table and a thermocouple group 1244 table.

The voltage level table relates to the voltage levels for each multi-level warm feedback and cold feedback. For example, the memory 2600 of the feedback device 100 that provides four levels of warm and cold feedback may store the voltage values required for four levels of warm feedback and the voltage values required for four levels of cold feedback. there is. If hot feedback and cold feedback use the same voltage, it is possible for only four voltage values to be stored for four levels.

Additionally, the thermocouple group 1244 table may be information about the first thermocouple group 1244 and the second thermocouple group 1244.

The feedback controller 1400 may refer to the voltage level table of the memory 2600 to obtain the constant voltage level and reverse voltage level required for the heat grill operation. In the case of neutral heat grill feedback, since the intensity of the heat absorption operation must be stronger than the intensity of the heat generation operation, the feedback controller 1400 may determine the level of the constant voltage required for the heat grill operation to be lower than the level of the reverse voltage required for the heat grill operation. there is. For example, the feedback device 100 may select a 1-stage constant voltage and a 4-stage reverse voltage, or select a 1-stage constant voltage and a 3-stage reverse voltage. Each value may change somewhat depending on the voltage design value of the feedback device 100, but it is essential that the level of the reverse voltage be greater than the level of the constant voltage.

Meanwhile, in order to perform neutral heat grill feedback, the intensity of the cold feedback with respect to the warm feedback to be output must be at a neutral ratio, so the feedback controller 1400 adjusts the voltage magnitude of the constant voltage and the reverse voltage to the reverse voltage for the warm feedback according to the constant voltage. The strength of the cooling feedback according to can be selected as a value that can approximate the neutral ratio.

Finally, high-intensity warm feedback and low-intensity cold feedback are output simultaneously (S2500).

Once the voltage level is determined, the feedback controller 1400 refers to the thermocouple group 1244 table and applies a positive voltage to the first thermocouple group 1244 and a reverse voltage to the second thermocouple group 1244, Here, the reverse voltage has a magnitude greater than the constant voltage. This means that, in terms of the strength of thermal feedback, the intensity of the heat absorption operation used in the heat grill operation is greater than the intensity of the heat generation operation.

Through the above steps, the feedback device 100 can perform heat grill feedback.

3.2.2. How to provide heat grill feedback through area control

Figure 59 is a flowchart of a third example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 59 is a method of providing thermal grill feedback through area control, and includes the steps of obtaining a feedback request message (S3100), obtaining feedback information (S3200), and performing the steps based on the feedback information. Determining the type of thermal feedback to be performed, particularly determining whether it is thermal grill feedback (S3300), determining an area to apply a voltage for a thermal grill operation (S3400), and a first thermocouple group 1244 It may include a step (S3500) of simultaneously outputting warm feedback and cold feedback through the second thermocouple group 1244.

A third example of this method of providing thermal feedback can simultaneously perform heat generating and endothermic operations on part of the contact surface 1600 and other parts, and includes a plurality of thermocouple groups 1244 in the thermocouple array 1240, This can be performed by the feedback device 100, where the feedback controller 1400 can individually control a plurality of thermocouple groups 1244.

Below, each step described above will be described in more detail.

First, a feedback request message is obtained (S3100), feedback information is obtained (S3200), and the type of thermal feedback to be performed is determined based on the feedback information, and in particular, whether it is thermal grill feedback can be determined (S3300). These steps may be similar to steps S2100, S2200, and S2300 in the second example of the method for providing thermal feedback, respectively.

If the type of thermal feedback is thermal grill feedback, the thermal grill operation is performed as follows.

Determine the area to apply voltage for heat grill operation (S3400).

The feedback controller 1400 includes a first thermocouple group 1244 to perform a heat generation operation for a heat grill operation among a plurality of thermocouple groups 1244 included in the thermocouple array 1240, and a second thermocouple group to perform an endothermic operation. Determine the thermocouple group 1244. At this time, the feedback controller 1400 determines the ratio of the temperature change amount of the first thermocouple group 1244 according to the heat generating operation and the temperature change amount of the second thermocouple group 1244 according to the endothermic operation, and the first thermocouple group 1244 Considering the ratio of the area occupied by this area and the area occupied by the second thermocouple group 1244, the first thermocouple group 1244 and the second thermocouple group 1244 can be selected so that a neutral ratio is established.

For example, when the ratio of the temperature change amount due to the heating operation and the temperature change amount due to the endothermic operation are the same, the feedback controller 1400 connects the first thermocouple group 1244 and the second thermocouple group so that a neutral ratio from the area perspective is established. A pair group 1244 can be determined.

Finally, warm feedback and cold feedback are simultaneously output through the first thermocouple group 1244 and the second thermocouple group 1244 (S3500).

The feedback controller 1400 applies a positive voltage to the first thermocouple group 1244 and a reverse voltage to the second thermocouple group 1244. Accordingly, a heat generating operation is performed in the first thermocouple group 1244, and an endothermic operation is performed in the second thermocouple group 1244. As a result, warm feedback and cold feedback can be performed in each area, so that heat grill feedback can be provided to the user.

Through the above steps, the feedback device 100 can perform heat grill feedback.

3.2.3. How to provide thermal grill feedback via time slices

Figure 60 is a flowchart of a fourth example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 60 is a method of providing thermal grill feedback through time division, comprising the steps of obtaining a feedback request message (S4100), obtaining feedback information (S4200), and performing the steps based on the feedback information. Determining the type of thermal feedback to be performed, in particular, determining whether it is thermal grill feedback (S4300), determining the duty cycle of the voltage for the thermal grill operation (S4400), and alternatingly applying the constant voltage and reverse voltage. It may include a step (S4500) of outputting warm feedback and cold feedback alternately over time using an electrical signal.

Below, each step described above will be described in more detail.

First, a feedback request message is obtained (S4100), feedback information is obtained (S4200), and the type of thermal feedback to be performed is determined based on the feedback information, and in particular, whether it is thermal grill feedback can be determined (S3400). These steps may be similar to steps S3100, S3200, and S3300 in the second example of the method for providing thermal feedback, respectively.

If the type of thermal feedback is thermal grill feedback, the thermal grill operation is performed as follows.

Determine the voltage duty cycle for heat grill operation (S4400).

The feedback controller 1400 applies the constant voltage and reverse voltage alternately according to time, and determines the time for applying the constant voltage and the time for applying the reverse voltage. At this time, the feedback controller 1400 is neutral in consideration of the ratio of the temperature change amount due to the heat-generating operation by applying a constant voltage and the amount of temperature change due to the endothermic operation by applying the reverse voltage, and the ratio of the time when the heat-generating operation is performed and the time when the heat-absorbing operation is performed. The constant voltage timing and reverse voltage timing can be selected so that the ratio is established. In addition, in order to provide heat grill feedback by repeating the heating/absorbing operation in time, the time interval combined with the constant voltage timing and the reverse voltage timing is ensured to be less than a predetermined time.

For example, when the ratio of the amount of temperature change due to a heating operation and the amount of temperature change due to an endothermic operation are the same, the feedback controller 1400 may determine the constant voltage timing and the reverse voltage timing so that a neutral ratio from a time perspective is established. A first thermocouple group 1244 and a second thermocouple group 1244 may be determined.

Finally, using an electrical signal in which constant voltage and reverse voltage are alternately applied, warm feedback and cold feedback are output alternately according to time (S4500).

The feedback controller 1400 applies a constant voltage during the first timing and a reverse voltage during the second timing. Accordingly, a heat generating operation is performed during the first timing, and an endothermic operation is performed during the second timing. As a result, warm sensation feedback and cold sensation feedback may be performed alternately over time, thereby providing heat grill feedback to the user.

Through the above steps, the feedback device 100 can perform heat grill feedback.

3.2.4. How to provide heat grill feedback through area control and time division

Figure 61 is a flowchart of a fifth example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 61 is a method of providing thermal grill feedback through area control and time division, including obtaining a feedback request message (S5100), obtaining feedback information (S5200), and Based on this, determining the type of thermal feedback to be performed, and in particular, determining whether it is thermal grill feedback (S5300), a first thermocouple group 1244 to perform a first operation for a thermal grill operation and a second operation A step of determining the second thermocouple group 1244 to be performed (S5400), a step of determining a duty cycle regarding voltage for a heat grill operation (S5500), and the first thermocouple group 1244 and the second thermocouple group Electric signals are applied to 1244 so that the constant voltage and reverse voltage are alternately applied, so that the first thermocouple group 1244 and the second thermocouple group 1244 provide thermal feedback alternately and simultaneously according to area and time. It may include outputting overcooling feedback (S5600).

A fifth example of a method of providing thermal feedback includes a heat generating operation and an endothermic operation being performed simultaneously on part of the contact surface 1600 and another part, and the thermocouple array 1240 includes a plurality of thermocouple groups 1244, This may be performed by the feedback device 100 in which the feedback controller 1400 can individually control a plurality of thermocouple groups 1244.

Below, each step described above will be described in more detail.

First, a feedback request message is obtained (S5100), feedback information is obtained (S5200), and the type of thermal feedback to be performed is determined based on the feedback information, especially whether it is thermal grill feedback (S5300). These steps may be similar to steps S4100, S4200, and S4300 in the second example of the method for providing thermal feedback, respectively.

If the type of thermal feedback is thermal grill feedback, the thermal grill operation is performed as follows.

First, for the heat grill operation, the first thermocouple group 1244 to perform the first operation and the second thermocouple group 1244 to perform the second operation are determined (S5400).

Here, the first operation and the second operation are operations in which heating operations and endothermic operations are performed alternately according to time using a duty cycle, but the order is alternated, so when the first operation is a heating operation, the second operation is performed. The operation performs an endothermic operation, and when the second operation is a heat-generating operation, the first operation performs an endothermic operation. For example, the feedback controller 1400 may determine the first thermocouple group 1244 and the second thermocouple group 1244 to have the same area.

Next, the duty cycle regarding the voltage for the heat grill operation is determined (S5500).

The feedback controller 1400 applies the constant voltage and reverse voltage alternately according to time, and determines the time for applying the constant voltage and the time for applying the reverse voltage. At this time, the feedback controller 1400 is neutral in consideration of the ratio of the temperature change amount due to the heat-generating operation by applying a constant voltage and the amount of temperature change due to the endothermic operation by applying the reverse voltage, and the ratio of the time when the heat-generating operation is performed and the time when the heat-absorbing operation is performed. The constant voltage timing and reverse voltage timing can be selected so that the ratio is established.

For example, when the ratio of the amount of temperature change due to a heating operation and the amount of temperature change due to an endothermic operation are the same, the feedback controller 1400 may determine the constant voltage timing and the reverse voltage timing so that a neutral ratio from a time perspective is established.

Finally, electric signals are applied to the first thermocouple group 1244 and the second thermocouple group 1244 so that the positive and reverse voltages are alternately applied to the first thermocouple group 1244 and the second thermocouple group 1244. The pair group 1244 outputs warm feedback and cold feedback alternately and simultaneously according to area and time (S5500).

The feedback controller 1400 applies a positive voltage to the first thermocouple group 1244 and a reverse voltage to the second thermocouple group 1244 during the first timing, and applies a reverse voltage to the first thermocouple group 1244 during the second timing. A constant voltage is applied to the second thermocouple group 1244. Accordingly, during the first timing, the first thermoelectric element performs a heat-generating operation and the second thermocouple group 1244 performs an endothermic operation, and during the second timing, the first thermocouple group 1244 performs an endothermic operation and the second thermocouple group 1244 performs an endothermic operation. The pair group 1244 performs a heating operation. As a result, thermal feedback and thermal feedback are provided simultaneously from an area perspective, and thermal feedback and thermal feedback are provided alternately from a time perspective, so thermal grill feedback can be provided to the user.

Through the above steps, the feedback device 100 can perform heat grill feedback.

3.2.5. How to Provide Neutral Heat Grill Feedback, Warm Grill Feedback, and Cold Heat Grill Feedback

Meanwhile, in the description of the second to fifth examples of the method for providing thermal feedback according to the embodiment of the present invention described above, the description mainly focuses on the fact that the thermal grill feedback is neutral thermal grill feedback. However, alternatively, it is also possible to provide hot grill feedback or cold grill feedback as heat grill feedback.

For example, in the case of heat grill feedback through voltage control, in order to provide heat grill feedback, the feedback controller 1400 is configured so that the ratio of the reverse voltage to the constant voltage is smaller than the ratio of the reverse voltage to the constant voltage used for neutral heat grill feedback. You can do it. Conversely, in order to provide cold/heat grill feedback, the feedback controller 1400 may ensure that the ratio of the reverse voltage to the constant voltage is greater than the ratio of the reverse voltage to the constant voltage used for the neutral heat grill feedback.

As another example, in the case of heat grill feedback through area control, in order to provide heat grill feedback, the feedback controller 1400 sets the ratio of the area performing a heat absorption operation to the area performing a heat generation operation to be used for neutral heat grill feedback. It can be made smaller than the ratio. Conversely, in order to provide cold grill feedback, the feedback controller 1400 may ensure that the ratio of the area performing a heat absorbing operation to the area performing a heat generating operation is greater than the ratio used for neutral heat grill feedback.

As another example, in the case of heat grill feedback through time control, in order to provide heat grill feedback, the feedback controller 1400 uses a ratio of the timing of performing an endothermic operation to the timing of performing a heat generating operation for neutral heat grill feedback. It can be made smaller than the ratio. Conversely, in order to provide cold grill feedback, the feedback controller 1400 may ensure that the ratio of the timing for performing a heat-absorbing operation to the timing for performing a heat-generating operation is greater than the ratio used for neutral heat grill feedback.

To explain this again, in order to provide heated grill feedback, the heated grill feedback can be provided by reducing at least one of the ratio of the reverse voltage to the constant voltage, the ratio of the heat absorption area to the heat generation area, and the ratio of the heat absorption timing to the heat generation timing. There is, and at least one can be increased to provide cold and hot grill feedback.

3.3. How to provide thermal feedback to prevent skin damage

Meanwhile, in the first to fifth examples of the method for providing thermal feedback according to an embodiment of the present invention described above, it is possible to prevent excessively high amounts of heat from being delivered to the user.

To this end, the feedback controller 1400 may prevent the magnitude of the voltage applied to the thermocouple array 1240 from exceeding a predetermined threshold voltage value or prevent the time for which the voltage is applied from exceeding a predetermined threshold time.

3.4. How to Prevent Heat Reversal Hallucinations

3.4.1. How to prevent thermal reversal hallucinations based on buffering action

Figure 62 is a flowchart of a sixth example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 62 is a method of preventing thermal reversal hallucinations that occur when providing thermal feedback, including the steps of obtaining a feedback request message (S6100), obtaining feedback information (S6200), and providing feedback based on the feedback information. It may include performing a heat generating operation or an endothermic operation (S6300), terminating thermal feedback (S6400), and performing a buffering operation at the end of thermal feedback (S6500).

Below, each step described above will be described in more detail.

First, a feedback request message is obtained (S6100), feedback information is obtained (S6200), and a heat-generating or endothermic operation is performed based on the feedback information (S6300). These steps may be understood from other examples of the method for providing thermal feedback according to the embodiment of the present invention described above. Here, the voltage applied by the feedback controller 1400 to the thermocouple array 1240 for heat generation or heat absorption operation will be referred to as the first voltage.

Thermal feedback ends (S6400).

The feedback controller 1400 may end thermal feedback when a predetermined time elapses from the start of thermal feedback. That is, when a predetermined time elapses after the heating operation or endothermic operation is initiated, the feedback controller 1400 may cut off power to the thermocouple array 1240.

Alternatively, the feedback controller 1400 counts the time after starting the thermal feedback based on the information about the time at which the thermal feedback is applied from the feedback information, and when the time indicated by the information about the time at which the thermal feedback is applied has elapsed, the thermal feedback controller 1400 can be terminated.

Alternatively, the feedback controller 1400 may end thermal feedback upon receiving a feedback end message.

Termination of thermal feedback may mean blocking the voltage applied to the thermocouple array 1240 to provide thermal feedback.

A buffering operation is performed at the end of thermal feedback (S6500).

Here, the buffering operation is an operation to prevent the temperature of the contact surface 1600 from rapidly changing from the saturation temperature to the initial temperature at the end of the heating operation or the endothermic operation, and is intended to prevent the heat reversal hallucination phenomenon.

To this end, the feedback controller 1400 may apply buffer power to the thermocouple array 1240 for a predetermined period of time when thermal feedback ends.

Here, the buffer power source may basically be the same as the operating power source, that is, the first voltage and the direction of application of the power source. To this end, the feedback controller 1400 may determine the power application direction of the buffer power based on the power application direction of the operating power that was applied to output the thermal feedback or the type of thermal feedback.

Additionally, the buffer power source may be a power source that induces a thermoelectric operation with an intensity less than that of the buffer power source on the thermoelectric element side. To this end, the buffer power source may have the following characteristics.

For example, the voltage value of the buffered power source may be lower than the voltage value of the operating power source, that is, the operating voltage. Or similarly, the current value of the buffered power source may be smaller than the current value of the operating power source, that is, the operating current. Meanwhile, at this time, the buffer voltage or buffer current may take the form of decreasing during the buffer section during which the buffer operation is performed.

As another example, buffer power may be provided in the form of a duty signal. If the operating power is a smoothing signal, the speed of temperature change may be reduced in the process of returning the temperature of the contact surface to the initial temperature as the buffer power is provided as a duty signal. In addition, if the operating power is in the form of a duty signal, the buffer power can be provided as a duty signal whose duty rate is smaller than the operating power, and thus the temperature change rate can be reduced in the process of returning the contact surface to the initial temperature. . Meanwhile, at this time, the duty rate of the buffer power may take the form of decreasing during the buffer period.

When the buffer voltage is applied in this way, the temperature change rate of the contact surface 1600 is reduced, so the thermal reversal hallucination phenomenon can be alleviated or eliminated.

Alternatively, when the thermoelectric element in the feedback device 1000 is provided as a thermocouple array 1240 having a plurality of thermocouple groups 1244, it is also possible to perform a buffering operation through control for each region.

Specifically, when applying operating power for thermal feedback output, the feedback controller 1400 is a thermocouple group 1244 to which buffer power is applied (hereinafter referred to as 'operating group') rather than a thermocouple group 1244 to which operating power is applied (hereinafter referred to as 'operating group'). Buffering operation can be implemented by controlling the number of groups (hereinafter referred to as 'buffering groups') to be small. For example, after thermoelectric operation for thermal feedback output is performed by 10 operation groups, buffer power is applied to 8 buffer groups at the end of thermal feedback output to weaken the strength of thermoelectric operation in terms of the entire thermoelectric element, thereby reducing the contact surface. (1600) can reduce the temperature change rate returning to the initial temperature. Here, the operating group does not need to be all the thermocouple groups 1244 of the thermoelectric element, and the number of buffering groups may be smaller than the operating group, so the buffering group does not necessarily have to be part of the operating group. Additionally, the feedback controller 1400 can also reduce the number of buffer groups during the buffer section.

In this way, when performing a buffering operation through area-specific control, a power source whose voltage value, current value, duty rate, etc. are smaller than the operating power can be used as the buffering power source. However, since the number of buffer groups is smaller than the number of operating groups, it is of course possible to prevent thermal reversal hallucination from occurring even if the operating power is used as a buffer power.

In this way, in the case where the operating power is used as a buffering power, the buffering operation may be interpreted as being implemented through the application of the buffering power when the application of the operating power is stopped. However, depending on the viewpoint, the buffering operation may be implemented at the end of the output of the thermal feedback. There is room for interpretation that the buffer operation is implemented by reducing the number of operation groups to which operating power is applied. Specifically, instead of applying power to an operation group for thermal feedback output and stopping power application to the entire operation group at the same time when the output of thermal feedback is terminated, power application is stopped for some of the operation groups first and then for the remaining parts. It can be seen that a buffering operation is implemented by stopping power application.

In the above, it has been explained that the buffering operation is performed during the buffering period according to the interruption of the application of operating power to terminate the output of thermal feedback. However, here, the buffering operation does not necessarily have to be performed immediately when the application of operating power is stopped, and the buffering operation may be performed after a predetermined waiting time has elapsed from the time when the application of operating power is stopped.

3.4.2. How to prevent thermal reversal hallucinations through voltage control

Meanwhile, in the above-described buffering operation, a plurality of voltages can be used as the buffering voltage. Accordingly, the feedback device 100 can perform a plurality of buffering operations. A plurality of buffering sections are performed sequentially according to time, and each buffering section can use a larger voltage as it progresses.

For example, the feedback controller 1400 may set a first buffer voltage, a second buffer voltage, and a third buffer voltage. Accordingly, when thermal feedback ends, the feedback controller 1400 applies the first buffer voltage during the first buffer period, the second buffer voltage during the second buffer period, and the third buffer voltage during the third buffer period. It can be approved.

Here, the first buffer voltage is smaller than the first buffer voltage and is in the same direction, the second buffer voltage is smaller than the first buffer voltage and is in the same direction, and the third buffer voltage is smaller than the second buffer voltage and is in the same direction. Additionally, the first buffer section follows the exothermic/endothermic operation, the second buffer section follows the first buffer section, and the third buffer section follows the second buffer section.

3.4.3. Method to prevent thermal reversal hallucinations considering thermal feedback strength

Figure 63 is a flowchart of a seventh example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 63 is a method of preventing thermal reversal hallucinations that occur when providing thermal feedback by considering the intensity of thermal feedback. The method includes obtaining a feedback request message (S7100) and obtaining feedback information (S7100). S7200), performing a heating operation or endothermic operation based on the feedback information (S7300), terminating the thermal feedback (S7400), determining the intensity of the thermal feedback (S7500), and based on the intensity of the thermal feedback It may include performing a buffering operation (S7600).

Below, each step described above will be described in more detail.

First, a feedback request message may be obtained (S7100), feedback information may be obtained (S7200), a heat generating operation or an endothermic operation may be performed based on the feedback information (S7300), and thermal feedback may be terminated (S7400). These steps may be similar to steps S6100, S6200, S6300, and S6400 described above.

Determine the strength of thermal feedback (S7500).

When the buffering operation is terminated, the feedback controller 1400 may determine the intensity of the terminated thermal feedback. The feedback controller 1400 may determine the strength of thermal feedback based on feedback information or the magnitude and direction of the applied voltage.

A buffering operation is performed based on the strength of thermal feedback (S7600).

It is possible to determine whether the intensity of thermal feedback is above or below a predetermined intensity. Accordingly, the feedback controller 1400 may perform a buffering operation when the intensity of thermal feedback is greater than or equal to a predetermined intensity, and may not perform the buffering operation when the intensity of thermal feedback is less than or equal to a predetermined intensity.

When performing a buffering operation, the feedback controller 1400 applies a buffering voltage to the thermocouple array 1240 during the buffering period, and does not apply power when not performing the buffering operation.

If the thermal feedback strength is below a certain level, thermal reversal hallucination does not occur, so there is no reason to perform unnecessary buffering operation.

Meanwhile, even for thermal feedback of the same intensity, the predetermined intensity for the cold feedback is set lower than the predetermined intensity for the warm feedback, so a buffering operation is performed for the cold feedback, but a buffering operation is not performed for the thermal feedback of the same size. It may not be done.

3.4.4. How to prevent heat reversal hallucinations during warm and cold feedback

Figure 64 is a flowchart of an eighth example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 64 is a method of preventing thermal reversal hallucinations that occur when providing thermal feedback depending on the type of thermal feedback, and includes the steps of obtaining a feedback request message (S8100) and obtaining feedback information (S8200) ), performing a heating operation or endothermic operation based on the feedback information (S8300), terminating thermal feedback (S8400), determining the type of thermal feedback (S8500), and performing different operations based on the type of thermal feedback. It may include performing a buffering operation (S8600).

Below, each step described above will be described in more detail.

First, a feedback request message may be obtained (S8100), feedback information may be obtained (S8200), a heat generating operation or an endothermic operation may be performed based on the feedback information (S8300), and thermal feedback may be terminated. These steps may be similar to steps S7100, S7200, S7300, and S7400 described above.

Determine the type of thermal feedback (S8500).

When the buffering operation ends, the feedback controller 1400 can determine the type of thermal feedback that has ended. Types of thermal feedback include warm feedback and cold feedback, and the feedback controller 1400 can determine this based on feedback information or the direction of the first voltage being applied.

Different buffering operations are performed based on the type of thermal feedback (S8600).

As described above, since the temperature change rate at the end of the cold feedback is more rapid than the temperature change rate at the end of the warm feedback, it is necessary to vary the buffering operation between the two.

For example, the feedback controller 1400 performs a buffering operation using a first buffering voltage during a first buffering time for warm feedback, and performs a buffering operation using a second buffering voltage during a second buffering time for cold feedback. can be performed. For example, the second buffer time may be greater than the first buffer time. This is because, when the amount of temperature change from the initial temperature to the saturation temperature is the same in the warm feedback and the cold feedback, the temperature change rate returning to the initial temperature at the end of the cold feedback is faster. For another example, the first buffering time may be greater than the second buffering time, which means that when the warm feedback and the cold feedback are output using the same operating voltage, the temperature change from the initial temperature to the saturation temperature is the warm feedback. This is because it is greater than the cooling sensation feedback.

For another example, the feedback controller 1400 may generate different buffering power according to a buffering operation in response to the termination of output of warm feedback and buffering power in a buffering operation in response to termination of output of cold feedback. For example, the first buffer voltage for the warm feedback may be smaller than the second buffer voltage for the cold feedback because, when the amount of temperature change is the same, the temperature return speed of the cold feedback is faster. For another example, the first buffering voltage for warm feedback may be greater than the second buffering voltage for cold feedback, because the amount of temperature change is greater in the case of warm feedback when using the same operating voltage. Here, the buffer power for the warm feedback and the cold feedback may be set to have different current values or duty rates instead of different voltage values.

In addition, the buffer power for warm feedback and cold feedback may have a ratio of voltage/current/duty rate to operating power that is less than “1” and may be different from each other.

At this time, the ratio value of the cold sensation feedback may be larger than the ratio value of the warm sensation feedback. This is because the temperature return speed from cooling feedback may be faster. Specifically, when the operating power for warm feedback has a first voltage/current/duty rate, and the operating power for cold feedback has a second voltage/current/duty rate, the buffer power for warm feedback has a third voltage/current/duty rate. When the buffer power supply for cooling feedback has a fourth voltage/current/duty rate, the ratio of the third voltage/current/duty rate to the first voltage/current/duty rate is the second voltage/current/duty rate. It may be smaller than the ratio of the fourth voltage/current/duty rate to the voltage/current/duty rate. This is because, when the amount of temperature change from the initial temperature to the saturation temperature is the same in warm feedback and cold feedback, the temperature change rate returning to the initial temperature at the end of cold feedback is faster.

Alternatively, the ratio value of the cold sensation feedback may be smaller than the ratio value of the warm sensation feedback. This is because the amount of temperature change in the case of warm feedback is larger than that of cold feedback under the same power supply.

For another example, the feedback controller 1400 may set the number of buffering groups that perform the buffering power according to the buffering operation for the termination of output of the warm feedback and the buffering operation for the termination of the output of the cold feedback to be different. Specifically, the number of buffer groups for warm feedback or the ratio of the number of buffer groups to operating groups may be smaller than the number or ratio for cold feedback. This is because the speed of temperature change during cooling feedback is fast. Or, conversely, the number of buffering groups for warm feedback or the ratio of the number of buffering groups to operating groups may be greater than the number or ratio for cold feedback. This is because the temperature change in thermal feedback is larger at the same power source. Here, the operating power can be used as a buffering power, and in this case, the buffering operation may be interpreted as first turning off the operating power for part of the operating group and then turning off the operating power for the rest.

3.4.5. How to prevent thermal reversal hallucinations when providing continuous thermal feedback

Figure 65 is a flowchart of a ninth example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 65 is a method of preventing thermal reversal hallucination that occurs when providing thermal feedback when continuous thermal feedback is provided,

Obtaining a feedback request message (S9100), obtaining feedback information (S9200), performing a heat generation or endothermic operation based on the feedback information (S9300), terminating thermal feedback (S9400), buffering It may include obtaining a feedback request message while performing the operation (S9500) and stopping the buffer operation when obtaining the feedback request message and starting the requested feedback operation (S9600).

Below, each step described above will be described in more detail.

First, a feedback request message is obtained (S9100), feedback information is obtained (S9200), a heat generation or endotherm operation is performed based on the feedback information (S9300), thermal feedback is terminated, and a buffering operation is performed (S9400). ). These steps may be similar to steps S6100, S6200, S6300, and S6400 described above.

A feedback request message is obtained while performing the buffering operation (S9500). The feedback controller 1400 may check whether a feedback request message has been obtained similar to step S9100 while performing the buffering operation.

When the feedback request message is obtained, the buffering operation is stopped and the requested feedback operation is started (S9600). If a feedback request message is obtained during the buffering operation, the feedback controller 1400 may end the buffering operation and immediately enter a mode for performing the requested thermal feedback operation.

3.4.5. How to eliminate the heat sensation felt when heat grill feedback is interrupted

Figure 67 is a flowchart of a tenth example of a method for providing thermal feedback according to an embodiment of the present invention.

The method of providing thermal feedback according to FIG. 67 is a method of preventing thermal reversal hallucination that occurs when providing thermal feedback when continuous thermal feedback is provided,

Obtaining a feedback request message (S10100), obtaining feedback information (S10200), determining the type of thermal feedback to be performed based on the feedback information (S10300), when the type of thermal feedback is thermal grill feedback It may include performing a thermal grill feedback (S10400), terminating the thermal grill feedback (S10500), and performing a buffering operation for the thermal grill feedback (S10600).

Below, each step described above will be described in more detail.

First, a feedback request message is obtained (S10100), feedback information is obtained (S10200), and the type of thermal feedback to be performed is determined based on the feedback information (S10300). These steps may be similar to steps S2100, S2200, S2300, and S2400 described above.

If the type of thermal feedback is thermal grill feedback, thermal grill feedback can be performed (S10400). This step may be similar to the step of performing a thermal grill operation according to the second to fifth examples of the method for providing thermal feedback.

Terminates thermal grill feedback (S10500). This step may be similar to S6400.

When the heat grill feedback ends, a buffering operation for the heat grill feedback is performed (S10600).

Here, the purpose of the buffering operation is to prevent heat reversal hallucinations, but since the strengths of the warm feedback and cold feedback for the heat grill feedback are different from each other, if the heat generating operation and the endothermic operation are stopped at the same time, the temperature balance is broken, causing a feeling of warmth or loss. It also has the purpose of preventing temporary feelings of cold.

In general, in heat grill feedback, cold feedback is performed with a stronger intensity than warm feedback, and accordingly, the temperature change rate of the heat absorption area is faster at the end of the heat grill operation. Accordingly, the feedback controller 1400 can prevent the heat reversal phenomenon occurring in the heat absorption area (or the entire area) by applying a reverse voltage for a predetermined time when the heat grill feedback ends (first operation).

On the other hand, because the strength of the cold feedback was greater than the strength of the warm feedback, the time to reach the initial temperature was slower in the endothermic area. Accordingly, the feedback controller 1400 may adjust heat balance by applying a constant voltage to the heating area (or the entire area) for a predetermined period of time after the end of the heat grill feedback (second operation).

The power applied when the heat grill feedback ends in these first and second operations may be defined as buffer power, but may also be referred to as auxiliary power. This is because the purpose of the power supply is to ensure that thermal balance is achieved at the initial temperature when the thermal feedback output is terminated.

Here, the auxiliary power may be applied to at least one of the heat generating area and the heat absorbing area.

Considering that the strength of the cold feedback for the heat grill feedback is greater than the strength of the warm feedback when the thermal feedback output is terminated, the direction of voltage application of the auxiliary power source can be determined to be forward so that the heat generation/endotherm part achieves thermal balance at the initial temperature. Alternatively, reverse power and forward power can be used together as auxiliary power, but the current/voltage/application time of the forward power can be adjusted to be greater. Here, when forward power and reverse power are applied together as auxiliary power, it may be advantageous for the forward power to be applied to the heat-generating part and the reverse power to be applied to the heat-absorbing part.

Or, conversely, the direction of voltage application of the auxiliary power supply may be determined to be reversed in order to prevent thermal equilibrium from being achieved at a temperature higher than the initial temperature by considering residual heat caused by the thermoelectric operation when the thermal feedback output is terminated. Alternatively, the forward power and reverse power can be used together as auxiliary power, but the current/voltage/application time of the reverse power can be adjusted to be greater. Here, when reverse power and forward power are applied together as auxiliary power, it may be advantageous for the reverse power to be applied to the heat-absorbing part and the forward power to be applied to the heat-generating part.

Meanwhile, instead of using the auxiliary power source as described above, it is also possible to set the end points of the warm sensation feedback and the cold sensation feedback that constitute the heat grill feedback differently.

In the process of reaching thermal equilibrium, cold feedback is performed with a stronger intensity than warm feedback, so the heat-generating part reaches thermal equilibrium first, and then the endothermic part reaches thermal equilibrium, so a cold sensation can be felt during that time. To prevent this, among the heating and endothermic operations that constitute the heat grill operation, the heating operation may be stopped first so that the time at which the heat generating part and the endothermic part reach thermal equilibrium are the same.

Alternatively, because the temperature change in the heat absorbing area is greater than the temperature change in the heat generating area, thermal balance may be achieved at a temperature lower than the initial temperature when the heat grill feedback output is terminated. To prevent this, it is possible to stop the endothermic operation first and then stop the exothermic operation to finally achieve thermal equilibrium at the initial temperature.

Alternatively, when a thermoelectric element performs a thermoelectric operation using electrical energy, residual heat may be generated, and due to this residual heat, thermal equilibrium may be achieved at a temperature higher than the initial temperature when the heat grill feedback output is terminated. To prevent this, it is possible to stop the endothermic operation later and stop the exothermic operation first so that thermal equilibrium is finally achieved at the initial temperature.

In this embodiment, the method of controlling the end and stop timing of the first operation, the second operation, and the heat generation operation/endotherm absorption operation can all be performed individually or in combination.

The methods for providing thermal feedback according to embodiments of the present invention described above can be used alone or in combination with each other. In addition, since each step described in each method of providing thermal feedback is not all essential, the method of providing thermal feedback can be performed including only some of the steps as well as all of them. Additionally, since the order in which each step is described is only for convenience of explanation, each step in the method of providing thermal feedback does not necessarily have to proceed in the order described.

In addition, in the method for providing thermal feedback according to an embodiment of the present invention described above, steps for which there is no separate mention of the performer are performed by at least one of the application controller 2700 and the feedback controller 1400 of the feedback device 100. It can be. Additionally, in the above-described content, the matters described as being performed by the application controller 2700 may be performed by the feedback controller 1400 as needed, or conversely, the matters described as being performed by the feedback controller 1400 may be performed by the application controller as needed. It is also possible to do this by: In addition, the matters described above as being performed by the application controller 2700 or the feedback controller 1400 may also be performed through collaboration between the application controller 2700 and the feedback controller 1400. In addition, as already mentioned, it should be noted again that the application controller 2700 and the feedback controller 1400 may be implemented as one controller.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention. Accordingly, the embodiments of the present invention described above can be implemented separately or in combination with each other.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but rather to explain it, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

100: Feedback device 100a: Gaming controller
100b: Wearable device 1000: Feedback unit
1200: heat output module 1220: substrate
1240: thermocouple array 1241: unit thermocouple pair
1242: Conductor member 1244: Thermocouple group
1260: Power terminal 1400: Feedback controller
1600: contact surface 2000: application unit
2100: Casing 2120: Gripping portion
2200: input module 2300: sensing module
2400: Vibration module 2500: Communication module
2600: Memory 2700: Application Controller

Claims (1)

A method of providing thermal feedback performed by a feedback device that outputs thermal feedback by transferring heat generated from a thermoelectric element to which power is applied to the user through a contact surface in contact with a body part of the user, comprising:
Obtaining an initiation message of the thermal feedback including the type of thermal feedback; and
When the type of thermal feedback is thermal feedback, performing a thermal grill operation combining a heat generating operation and an endothermic operation to output the thermal sensory feedback;
The step of outputting the thermal sensation feedback includes applying a constant voltage for the heat generation operation to the thermoelectric element, applying a reverse voltage whose power application direction is opposite to the constant voltage for the heat absorption operation to the thermoelectric element, and It includes alternately repeating the step of applying the constant voltage and the step of applying the reverse voltage,
In the step of outputting the heat sensory feedback,
The ratio of the application time of the reverse voltage to the application time of the constant voltage is 1.5 or more and 5.0 or less,
How to provide thermal feedback.


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