CN110347249B - Vibration mode superposition-based tactile feedback method - Google Patents
Vibration mode superposition-based tactile feedback method Download PDFInfo
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- CN110347249B CN110347249B CN201910555663.2A CN201910555663A CN110347249B CN 110347249 B CN110347249 B CN 110347249B CN 201910555663 A CN201910555663 A CN 201910555663A CN 110347249 B CN110347249 B CN 110347249B
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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Abstract
The invention discloses a vibration mode superposition-based tactile feedback method, which utilizes a dynamic method to perfect a vibration effect, utilizes superposition of a plurality of natural vibration modes of touch beams to synthesize a special vibration mode, then arranges and arranges the touch beams to form a touch plane, and combines the respective vibration modes of the touch beams into a specific tactile texture. The method solves the limitation that a single vibration mode cannot present special textures, can realize vibration reproduction of the special textures, and reduces the requirement on software control, thereby simplifying the complexity of the whole device and reducing the device cost.
Description
Technical Field
The invention belongs to the technical field of tactile feedback, and particularly relates to a vibration mode superposition-based tactile feedback method.
Background
The haptic feedback technique is a technique for reproducing a sense of touch by generating a special vibration through a series of motions such as force and vibration. Currently, haptic feedback technology is mainly used to customize unique haptic feedback effects to improve user experience, enhance the effects of games, video and music, solve the problem of distraction during driving or surgery to improve safety, and provide realistic haptic feedback when performing mechanical medical procedures and training simulations. However, the technical research for realizing the special information transmission based on the vibration is still beginning, the piezoelectric type touch technology mainly uses the high-frequency vibration of the single vibration mode of the piezoelectric ceramics to realize the reduction of the friction force or the vibration and the non-vibration of the touch surface, the realized touch is simpler and has not rich feeling, and the device for realizing the touch by using the piezoelectric ceramics is too complex and is mainly realized by programming control, the structure is relatively complex, and the cost is relatively high.
No research has been made on texture reconstruction using the mode-shape superposition method. Therefore, perfecting the information transmitted by vibration is an important development direction in the technical field of haptic feedback in the future.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a touch feedback method which is simple in equipment and rich in touch sense, can realize special textures, improves touch sense experience and solves the problem of single touch sense.
The invention provides a vibration mode superposition-based tactile feedback method, which comprises the following steps:
the material of the touch beam can be any material with elastic deformation;
the constraint forms of the two ends of the touch beam comprise two free ends, two fixed ends, two simply supported ends, one fixed end and one free end, one simply supported end and one free end or one fixed end and one simply supported end;
the number of the touch beams and the arrangement sequence on the bracket are determined according to the integral touch effect to be realized;
determining a touch beam bending vibration equation according to the arrangement sequence of the touch beams on a support and the material properties and the constraint conditions of the touch beams in sequence, determining a frequency equation and a mode shape function of the touch beam bending vibration according to the bending vibration equation, and optimizing the size of the touch beam on the premise of ensuring that the half wavelength of the highest mode shape to be used in the subsequent mode shape synthesis of the touch beam is smaller than the length of the piezoelectric ceramic piece to be used;
and step 3: according to the arrangement sequence of the touch beams on the support, modal analysis is sequentially carried out on the optimized touch beams by using simulation software, and the vibration state of each order of natural vibration mode of the touch beams under the natural frequency is obtained;
and 4, step 4: according to the result of the step 3 and the haptic result to be obtained, sequentially selecting a plurality of natural vibration modes of the touch beams by using simulation software according to the arrangement sequence of the touch beams on the support to be superposed, and synthesizing the vibration mode required by each touch beam;
and 5: according to the arrangement sequence of the touch beams on the support, sequentially determining the position of the wave crest or the wave trough of each natural vibration mode required by each touch beam by using simulation software, and taking the position as the pasting position of the piezoelectric ceramic piece on the touch beam;
step 6: splicing the vibration modes of the touch beams by using simulation software to form an integral texture;
and 7: sticking a piezoelectric ceramic piece on the touch beam;
and 8: arranging and connecting the touch beams on the bracket according to the arrangement sequence of the touch beams on the bracket to form a touch plane, wherein the touch beams are not in contact with each other, and then fixing the cover plate on the bracket;
and step 9: connecting the piezoelectric ceramic piece with a control device, and driving the piezoelectric ceramic piece to vibrate through a driving signal; the frequency of the driving signal connected with the piezoelectric ceramic sheet on each touch beam is the natural frequency of each natural vibration mode required by superposition of the touch beam determined in the step 4; and
step 10: and a finger touches the touch beams arranged in an array manner through the touch area of the cover plate, so that the vibration of the touch beams is sensed, and the texture reproduction is realized.
Preferably, in step 4, a plurality of piezoelectric ceramic pieces may be attached to the peaks or the troughs of the different natural vibration modes of the touch beam.
Preferably, in step 4, the piezoelectric ceramic plate may be attached to only one surface of the touch beam, or may be attached to both the upper surface and the lower surface of the touch beam.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a vibration mode superposition-based tactile feedback method, which is characterized in that a dynamic method is utilized to perfect a vibration effect, a plurality of natural vibration modes of touch beams are superposed to synthesize an ideal vibration mode so as to synthesize a special vibration mode, then the touch beams are arranged to form a touch plane, and the respective vibration modes of the touch beams are combined into a specific tactile texture; the method solves the limitation that a single vibration mode cannot present special textures, can realize vibration reproduction of the special textures, and reduces the requirement on software control, thereby simplifying the complexity of the whole device and reducing the device cost.
Drawings
FIG. 1 is a schematic illustration of an apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of a stent according to an embodiment of the present invention;
FIG. 3 is a schematic view of a cover plate of an embodiment of the present invention;
FIG. 4 is a schematic view of a touch beam of an embodiment of the present invention;
FIG. 5 is a schematic diagram of a touch beam arrangement according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the wiring of the piezoelectric ceramic plate according to the embodiment of the present invention;
fig. 7 is a schematic diagram illustrating the determination of the bonding position of the piezoelectric ceramic plate according to the vibration mode according to the embodiment of the present invention;
FIG. 8 shows the 1 st and 3 rd order natural modes and natural frequencies of a brass touch beam with a length, width and height of 145mm × 5mm × 4mm, and the superposed mode states of the natural modes;
FIG. 9 is a graph showing the 5 th and 7 th order natural modes and natural frequencies of a brass touch beam having a length, width and height of 145mm × 5mm × 4mm, and the superposed mode states of the natural modes; and
FIG. 10 is an overall touch texture implemented by the present embodiment;
in the figure: the touch screen comprises a support 1, bolts 2, a cover plate 3, a touch beam 4, a cover plate 5, a control device 6, a drive battery 7, a cover plate touch area 8, a piezoelectric ceramic plate 9, a touch beam 10, a touch beam 11, a touch beam 12, a touch beam 13 and a touch beam 14.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of an apparatus according to an embodiment of the present invention. In the embodiment, 6 touch beams are selected, including the touch beam 4 and the touch beams 10-14, the touch beams may be made of any material with elastic deformation, and brass is adopted in the embodiment; the constraint form of the two ends of the touch beam comprises two free ends, two fixed ends, two simple supports, one fixed end and one free end, one simple support and one fixed end and one simple support, the embodiment adopts a mode of two free ends,
table 1 shows the frequency equation and mode shape function of a common uniform cross section beam under several simple boundary conditions.
According to the material properties and the constraint conditions, determining the bending vibration equation of the uniform-section touch beam as follows:
when the vibration is free, f (x, t) is 0, and the equation separation variable is written as:
y(x,t)＝Y(x)q(t) (2)
wherein the general solution for the mode shape function Y (x) is:
A1cosβx+A2sinβx+A3chβx+A4shβx (3)
according to the boundary conditions of free beam
The frequency equation obtained by substituting the general solution (3) is as follows:
cos(βL)ch(βL)-1＝0 (4)
the mode shape function is:
Y(x)＝cosβix+chβix+ηi(sinβix+shβix) (5)
wherein the content of the first and second substances,
and the intrinsic vibration modes of all orders of the touch beams obtained by the method are combined with actual requirements to optimize the size of each touch beam, so that the size of the touch beam is determined. The size optimization method comprises the following steps: the size of the touch beam is generally determined according to the size of the whole device, and considering that the higher the natural frequency is, the shorter the generated wavelength is, if the too short wavelength is not favorable for the sticking of the piezoelectric ceramic sheet 9 in the following step, the length of the piezoelectric ceramic sheet 9 should be less than half wavelength, so that it is necessary to use the half wavelength of the highest vibration mode that can be used as much as possible less than the length of the piezoelectric ceramic sheet 9 to be used. The size of the beam is finally determined to be 145mm multiplied by 5mm multiplied by 4mm through design;
the vibration state of the touch beam under each order of natural frequency can be obtained by using simulation software; FIGS. 8(a) and 8(b) are natural modes at 1 st and 3 rd order natural frequencies of a two-end free touch beam of brass 145mm 5mm 4mm in length, width and height; fig. 9(a) and 9(b) are natural modes at the 5 th order and 7 th order natural frequencies of a brass two-end free touch beam having a length, width, and height of 145mm × 5mm × 4 mm.
The superposition of the natural vibration modes of the touch beam is not fixed and can be combined by superposition of two, three and a plurality of natural vibration modes; the vibration frequency of each natural vibration mode is the corresponding natural frequency; the result after superposition can be standing waves, traveling standing waves and the like, or the standing waves and the traveling standing waves exist simultaneously; other vibration patterns may also be generated; as shown in fig. 8(c), after the 1 st order and 3 rd order natural vibration modes of the brass touch beam with the length, width and height of 145mm × 5mm × 4mm are superposed by the natural frequency vibration, the vibration amplitude at the middle position is higher than the vibration amplitudes at two sides nearby, and the middle position is in the form of standing wave, and only the vertical vibration exists, and the two side parts have both vertical vibration and left-right vibration; and fig. 9(c) shows that 5 amplitude high points appear after the 5 th order natural mode and the 7 th order natural mode are superposed;
sticking the piezoelectric ceramic piece 9 on the wave crest or the wave trough corresponding to the inherent vibration mode; the touch beam has different natural frequencies and natural vibration modes in different frequency sections, and a plurality of piezoelectric ceramic pieces can be pasted at wave crests or wave troughs of different natural vibration modes; as shown in FIG. 7, in the natural vibration mode A, the piezoelectric ceramic plate a1And a piezoelectric ceramic sheet a2The left side wave trough is pasted, and the excitation frequency is the natural frequency of the natural vibration mode A; in the case of natural vibration mode B, the piezoelectric ceramic sheet B1And piezoelectric ceramic sheet b2The excitation frequency is the natural frequency of the natural vibration mode B; in the case of natural vibration mode C, the piezoelectric ceramic sheet C1And piezoelectric ceramic piece c2The excitation frequency is the natural frequency of the natural vibration mode C; the piezoelectric ceramic piece can be only pasted on one surface of the touch beam, and can also be pasted on the upper surface and the lower surface, and the scheme of pasting on the upper surface and the lower surface is adopted in the embodiment.
Each touch beam has one or several high-amplitude bumps, as shown in fig. 8(c) and 9(c), 1 and 5 high-amplitude bumps are respectively provided, and after 4 superposed vibration modes shown in fig. 8 and 2 superposed vibration modes shown in fig. 9 are arranged according to fig. 10, a Chinese character 'zhong' appears in a touch area, wherein a black area is the position of the bump.
Arrangement of touch beams in the present embodimentAre not touching and the number of touch beams can be varied; and splicing the special vibration modes on each touch beam to form an integral touch plane, thereby realizing the reproduction of integral textures. The connection mode of the piezoelectric ceramic sheet is shown in FIG. 6, the piezoelectric ceramic sheet a1The upper surface of the piezoelectric ceramic sheet is a positive electrode2The lower surface of (a) is a negative electrode, so that the wiring enables the piezoelectric ceramic sheet a to be connected1Piezoelectric ceramic plate a under the condition of elongation2In a contracted state, thereby being capable of enhancing the bending effect of the touch beam; the multi-channel arbitrary waveform signal generator provides driving signals for the piezoelectric ceramic pieces, the driving frequency of the piezoelectric ceramic pieces pasted on each natural vibration mode is different, the multi-channel signal generator is required to provide signals for the piezoelectric pieces pasted under each natural vibration mode independently, the driving signals can be harmonic signals or triangular signals, square waves and other signals, and can also be brand new signals formed by changing the frequency, amplitude, phase and the like of the signals, the piezoelectric ceramic pieces are connected with piezoelectric ceramic drivers, the driving signals are amplified by the piezoelectric ceramic drivers to drive the piezoelectric ceramic pieces to vibrate, and the piezoelectric ceramic drivers are powered by driving power supplies.
TABLE 1 frequency equation and mode shape function under several common boundary conditions
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A haptic feedback method based on mode shape superposition is characterized by comprising the following steps:
step 1, determining the number and the material of the touch beams, the constraint forms of two ends and the arrangement sequence on a support;
the material of the touch beam can be any material with elastic deformation;
the constraint forms of the two ends of the touch beam comprise two free ends, two fixed ends, two simply supported ends, one fixed end and one free end, one simply supported end and one free end or one fixed end and one simply supported end;
the number of the touch beams and the arrangement sequence on the bracket are determined according to the integral touch effect to be realized;
determining a touch beam bending vibration equation according to the arrangement sequence of the touch beams on a support and the material properties and the constraint forms of the touch beams in sequence, determining a frequency equation and a mode function of the touch beam bending vibration according to the bending vibration equation, and optimizing the size of the touch beam on the premise of ensuring that the half wavelength of the highest mode to be used in the subsequent mode synthesis of the touch beam is smaller than the length of the piezoelectric ceramic piece to be used;
and step 3: according to the arrangement sequence of the touch beams on the support, modal analysis is sequentially carried out on the optimized touch beams by using simulation software, and the vibration states of the natural vibration modes of all orders of the touch beams under the natural frequency are obtained;
and 4, step 4: according to the result of the step 3 and the haptic result to be obtained, sequentially selecting a plurality of natural vibration modes of the touch beams by using simulation software according to the arrangement sequence of the touch beams on the support to be superposed, and synthesizing the vibration mode required by each touch beam;
and 5: according to the arrangement sequence of the touch beams on the support, sequentially determining the position of the wave crest or the wave trough of each natural vibration mode required by each touch beam by using simulation software, and taking the position as the pasting position of the piezoelectric ceramic piece on the touch beam;
step 6: splicing the vibration modes of the touch beams by using simulation software to form an integral texture;
and 7: sticking a piezoelectric ceramic piece on the touch beam;
and 8: arranging and connecting the touch beams on the bracket according to the arrangement sequence of the touch beams on the bracket to form a touch plane, wherein the touch beams are not in contact with each other, and then fixing the cover plate on the bracket;
and step 9: connecting the piezoelectric ceramic piece with a control device, and driving the piezoelectric ceramic piece to vibrate through a driving signal; the frequency of the driving signal connected with the piezoelectric ceramic sheet on each touch beam is the natural frequency of each natural vibration mode required by superposition of the touch beam determined in the step 4; and
step 10: and a finger touches the touch beams arranged in an array manner through the touch area of the cover plate, so that the vibration of the touch beams is sensed, and the texture reproduction is realized.
2. The method of claim 1, wherein in step 4, the touch beam has different natural vibration modes, and a plurality of piezoceramic sheets can be attached to the peaks or valleys of the different natural vibration modes.
3. The method according to claim 1, wherein in step 4, the piezoceramic sheet is attached to only one side of the touch beam, or to both the upper and lower sides of the touch beam.
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| CN114415822B (en) * | 2020-10-28 | 2024-03-15 | 京东方科技集团股份有限公司 | Haptic feedback method, haptic feedback device, and computer storage medium |
| CN113179094B (en) * | 2021-04-14 | 2024-05-17 | 燕山大学 | Capacitive piezoelectric touch virtual key and design method thereof |
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