JP2022047419A - Haptic feedback system and method for adjusting operation of actuator - Google Patents

Abstract

To provide a haptic feedback system that brings about a stable haptic effect regardless of a change in environment, and a method for adjusting the operation of an actuator.SOLUTION: A haptic feedback system is to apply an impact to an electronic apparatus, and the haptic feedback system comprises: an actuator configured to generate an impact; a driving circuit that applies a driving voltage to the actuator to drive the actuator; a detection unit that detects kinematic characteristics related to the impact; and a controller configured to transmit, to the driving circuit, a first control signal for generating a first pulse voltage for driving the actuator, based on the kinematic characteristics related to the impact generated by the first pulse voltage, transmit, to the driving circuit, a second control signal for generating a second pulse voltage for driving the actuator, and control the kinematic characteristics related to the impact.SELECTED DRAWING: Figure 1

Description

The present invention relates to a tactile feedback system for applying an impact to an electronic device and a method of adjusting the operation of an actuator.

Electronic devices such as tablet terminals, smartphones, mobile phones and computers that the user touches the housing or touch screen during use should be equipped with an actuator (haptic actuator) that gives tactile feedback (haptic feedback) to the human body. There is. When a part of the user's body (eg, a finger) or an object operated by the user touches the input of an electronic device, or when the system generates a specific event, the haptic actuator is the housing or touch of the electronic device. Generate motion in components such as screens. The user can intuitively and easily operate the electronic device or receive information by perceiving the vibration at the part of the body in contact with the electronic device or perceiving it as a sound.

Haptic actuators generally use electric power as a drive source, and can be roughly classified into an impact drive type and a vibration drive type according to the nature of motion. Typical examples of the impact drive type include SIA (Shape Memory Metal Impact Actuator) using a shape memory alloy and a piezoelectric actuator using a piezo element. The impact-driven actuator includes a moving component capable of shocking movement, and gives a transient impact to the touch screen or housing of an electronic device by hitting or interlocking the moving component. Typical examples of the vibration drive type actuator are an ERM (Eccentric Rotating Mass) type actuator that uses an eccentric motor, and a linear resonance type actuator (LRA: Linear Resonant Actuator) that vibrates a mover by passing an alternating current through a coil in a magnetic field. Can be mentioned. The vibration-driven type gives a vibration of a constant amplitude to the vibrating body for the required time.

In Patent Document 1 (Re-Table 2012/023655), the horizontal (or planar direction) or vertical direction (front-back direction or thickness direction) is utilized by utilizing the expansion / contraction change in the length direction of the shape memory alloy having a wire-like morphology. A shock-driven actuator that enables a shocking motion (impact motion) and a rotational motion or a straight-ahead motion based on the repetition of the impact motion is disclosed. According to the impact-driven actuator, insulating heat conductors of various shapes are provided so as to be in contact with the wire-shaped shape memory alloy arranged in a predetermined wiring state as effectively as possible, and the insulating heat conduction is provided. Since the heat generated by the wire-shaped shape memory alloy during pulse energization is quickly dissipated and released by the body, the temperature of the wire-shaped shape memory alloy can be lowered quickly, and it can be repeated in a relatively short time. It is possible to realize a momentary operation that is possible, and it is possible to realize a highly practical impact-driven actuator.

Patent Document 2 (Japanese Unexamined Patent Publication No. 2010-287231) discloses an actuator control method, a system, and an apparatus for a multi-touch tactile touch panel. Depending on the damping characteristics of the system as well as the desired particular type of tactile effect, the controller produces a brake pulse and / or kick-in pulse that the main pulse follows to increase the acceleration response. And / or can generate a brake pulse to provide a damping effect for short mechanical type tactile effects. This makes it possible to solve the problem of the tactile delay effect associated with conventional actuators.

Re-table 2012/023605 Japanese Unexamined Patent Publication No. 2010-287231

Electronic devices equipped with a tactile feedback system that includes parts such as actuators are rarely used in fixed environmental conditions, and due to location fluctuations such as outdoors and indoors, and time fluctuations such as seasons, temperature and humidity, etc. Environmental conditions may fluctuate. Due to fluctuations in temperature and humidity, the hardness and volume of the actuator itself or components such as the housing of electronic devices and touch screens may change slightly.

The above changes are usually not so difficult to use in electronic devices, but there is a problem that even if the same drive voltage is applied to the actuator, the tactile effect caused by the impact is not constant. For example, when an impact is applied to the touch screen from an actuator operating component to feed back a tactile effect such as a click, the kinematic characteristics (for example, acceleration or displacement) of the operating component are not constant due to the above environmental changes, and the click sensation is felt. Sometimes it feels relatively "sharp" and sometimes it feels relatively "dull". Such fluctuations in the click sensation are not preferable from the viewpoint of improving the user experience, even if they do not interfere with the functions of the electronic device.

The present invention has been completed in view of the above problems, and it is an object of the present invention to provide a tactile feedback system that provides a stable tactile effect regardless of changes in the environment, and a method for adjusting the operation of an actuator. ..

As a result of diligent studies, the present inventor has set the kinematic characteristics within a predetermined range (or) based on the first pulse voltage for detecting the kinematic characteristics related to the impact and the detected kinematic characteristics for the actuator. It has been found that the above-mentioned problems can be solved by separately applying a second pulse voltage for controlling to a predetermined value). That is, the kinematic characteristics deviating from the specified value or the theoretical value due to the fluctuation of the environmental conditions are detected by applying the first pulse voltage, and the pulse voltage required to achieve the predetermined kinematic characteristics based on the detection result. Is calculated and generated as the second pulse voltage.

Therefore, the present invention is specified as follows.
(1)
A tactile feedback system for giving impact to electronic devices.
Actuators configured to generate impact, and
A drive circuit that drives the actuator by applying a drive voltage to the actuator,
A detector that detects the kinematic properties related to the impact,
A first control signal for generating a first pulse voltage for driving the actuator is transmitted to the drive circuit, and the kinematic characteristics related to the impact generated by the first pulse voltage are used. Tactile sensation with a controller configured to send a second control signal to the drive circuit to generate a second pulse voltage to drive the actuator to control the kinematic properties associated with the impact. Feedback system.
(2)
The tactile feedback system according to (1), wherein the control causes the kinematic properties related to the impact to be within a predetermined range or to a target value.
(3)
The tactile feedback system according to (1) or (2), wherein the actuator includes a moving component capable of impact movement, and the kinematic property related to the impact is a peak acceleration value of the moving component. ..
(4)
The tactile feedback system according to (3), wherein the time difference between the peak acceleration value of the operating component generated by the first pulse voltage and the peak acceleration value of the operating component generated by the second pulse voltage is 27 ms or less. ..
(5)
The tactile feedback system according to (3) or (4), wherein the peak acceleration value of the operating component generated by the first pulse voltage is smaller than the peak acceleration value of the operating component generated by the second pulse voltage.
(6)
The tactile feedback system according to (1) or (2), wherein the actuator includes a moving component capable of impact movement, and the impact-related kinematic property is the maximum displacement value of the moving component. ..
(7)
The tactile feedback system according to (6), wherein the time difference between the maximum displacement value of the operating component generated by the first pulse voltage and the maximum displacement value of the operating component generated by the second pulse voltage is 27 ms or less. ..
(8)
The tactile feedback system according to (6) or (7), wherein the maximum displacement value of the operating component generated by the first pulse voltage is smaller than the maximum displacement value of the operating component generated by the second pulse voltage.
(9)
The tactile feedback system according to any one of (1) to (8), wherein the drive of the actuator by the first pulse voltage and the second pulse voltage together constitutes one tactile feedback.
(10)
A method of adjusting the behavior of an actuator configured to give an impact to an electronic device.
The step of generating the first pulse voltage for driving the actuator, and
A step of generating a second pulse voltage for driving the actuator and controlling the impact-related kinematic characteristics based on the impact-related kinematic characteristics of the actuator driven by the first pulse voltage. And how to include.
(11)
The method according to (10), wherein the control causes the kinematic properties related to the impact to be within a predetermined range or to a target value.
(12)
The method according to (10) or (11), wherein the actuator includes a moving component capable of impact movement, and the kinematic property related to the impact is a peak acceleration value of the moving component.
(13)
The method according to (12), wherein the time difference between the peak acceleration value of the operating component generated by the first pulse voltage and the peak acceleration value of the operating component generated by the second pulse voltage is 27 ms or less.
(14)
The method according to (12) or (13), wherein the peak acceleration value of the operating component generated by the first pulse voltage is smaller than the peak acceleration value of the operating component generated by the second pulse voltage.
(15)
The method according to (10) or (11), wherein the actuator includes a moving component capable of impact movement, and the kinematic property related to the impact is a maximum displacement value of the moving component.
(16)
The method according to (15), wherein the time difference between the maximum displacement value of the operating component generated by the first pulse voltage and the maximum displacement value of the operating component generated by the second pulse voltage is 27 ms or less.
(17)
The method according to (15) or (16), wherein the maximum displacement value of the operating component generated by the first pulse voltage is smaller than the maximum displacement value of the operating component generated by the second pulse voltage.
(18)
The method according to any one of (10) to (17), wherein the drive of the actuator by the first pulse voltage and the second pulse voltage together constitutes one tactile feedback.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a tactile feedback system that produces a stable tactile effect regardless of changes in the environment, and a method for adjusting the operation of an actuator.

The configuration schematic diagram of the tactile feedback system which concerns on one Embodiment of this invention is shown. It is a flow chart of the method of adjusting the operation of an actuator by using the tactile feedback system which concerns on one Embodiment of this invention. It is a graph showing the time variation (horizontal axis) of acceleration or displacement by the adjustment method using the tactile feedback system according to the present invention, when the acceleration or displacement (vertical axis) of the moving component of the actuator is the object to be controlled. ..

Next, an embodiment of the present invention will be described in detail with reference to the drawings. It is understood that the present invention is not limited to the following embodiments, and design changes, improvements, etc. may be appropriately made based on ordinary knowledge of those skilled in the art without departing from the spirit of the present invention. Should be.

(1. Actuator)
The present invention may include any actuator that produces a variety of tactile feedback effects. Both a shock-driven actuator and a vibration-driven actuator can be used for the present invention, but a shock-driven actuator that is relatively simple in operation and whose kinematic characteristics can be easily specified is preferable. The tactile feedback system described later will be described by taking an impact-driven actuator as an example, but it goes without saying that the tactile feedback system can also be applied to a vibration-driven actuator.

For example, the actuator in one embodiment of the invention is made of a coil, a moving component (eg, a metal core) and a spring. The coil is wound around the metal (where both the coil and the metal component may be referred to as "solenoids") and when the coil creates a magnetic field (eg, when a current flows between the coil terminals). ) The metal moves. The movement of the metal can have an impact on the electronic device. The spring may then be used to return the moving metal or other core material to a stationary position when the current is removed from the coil.

Alternatively, the impact-driven actuator in another embodiment has a wire-shaped shape memory alloy that contracts when energized and heated, and an insulating heat conduction that contacts the wire-shaped shape memory alloy and releases heat generated by the wire-shaped shape memory alloy. It is configured to include a body (moving component). When the wire-shaped shape memory alloy is momentarily energized by the drive circuit and the wire-shaped shape memory alloy is momentarily contracted, the insulating thermal conductor in contact with the wire-shaped shape memory alloy is momentarily pressed and displaced. .. Displacement of the insulating thermal conductor can cause a shock to the electronic device. Then, the heat generated in the wire-shaped shape memory alloy is rapidly dissipated by the heat conduction action of the insulating heat conductor, and as a result, the wire-shaped shape memory alloy immediately returns to the original length state (extended state). In this way, the wire-shaped shape memory alloy can be momentarily shrunk at relatively short time intervals. Details of such actuators are disclosed in Retable 2012/023605.

Alternatively, the impact-driven actuator in another embodiment has a wire-shaped shape memory alloy that contracts when energized and heated, and an insulating heat conduction that contacts the wire-shaped shape memory alloy and releases heat generated by the wire-shaped shape memory alloy. It is configured to include a body stator (fixing component) and a mover (moving component). When the wire-shaped shape memory alloy is momentarily energized by the drive circuit and the wire-shaped shape memory alloy is momentarily contracted, the mover of the insulating thermal conductor in contact with the wire-shaped shape memory alloy is momentarily pressed. And displace. Displacement of the mover of the insulating thermal conductor can cause a shock to the electronic device. Then, the heat generated in the wire-shaped shape memory alloy is rapidly dissipated by the heat conduction action of the insulating heat conductor, and as a result, the wire-shaped shape memory alloy immediately returns to the original length state (extended state). In this way, the wire-shaped shape memory alloy can be momentarily shrunk at relatively short time intervals.

To prevent the position of the stator from being changed, it is fixed to the parts of the electronic device with, for example, double-sided tape or adhesive, and the moving parts (housing, touch screen, etc.) that operate the electronic device are brought into close contact with the mover to drive the impact. It is possible to bring an impact to an electronic device by sandwiching a mold actuator and holding down a part that operates with an elastic part such as a spring that returns them. The shapes of the stator and the mover are not particularly limited as long as the above functions can be realized, and can be appropriately selected from a disk shape, a wavy shape, a columnar shape, and the like.

(2. Drive circuit)
The structure of the drive circuit is not particularly limited as long as it is possible to drive the actuator by applying a drive voltage to the actuator. Typically, the drive circuit includes a DC / DC converter, a power supply such as a battery, a charging resistor, a discharge capacitor, a switch element such as a FET, a detector such as a sensor, an arithmetic unit such as a microcomputer, and a drive pulse controller. Is included.

(3. Detection unit)
The detector may be configured to be able to measure or detect any impact-related kinematic properties output by the actuator, such as displacement, velocity, acceleration, or any impact-related kinematic properties. In one example, the detector may be a position sensor (eg, a potentiometer) configured to sense the displacement output by the moving component of the actuator. In one example, the detector may be an accelerometer (also referred to as an accelerometer) configured to sense the acceleration output by the moving component of the actuator. For example, the detector may be, or may include, a spring mass-based accelerometer, a piezoelectric-based accelerometer, a micromachined microelectromechanical (MEMS) accelerometer, or any other type of accelerometer. .. In one embodiment, if the detector is an accelerometer, the electronic device may include a second sensor that replaces or augments the accelerometer. For example, the second sensor can be a position sensor (eg, a sensing coil), a current sensor, a zero crossover sensor, or any other sensor.

(4. Controller)
The controller sends a first control signal to the drive circuit to generate a first pulse voltage to drive the actuator, and further drives it based on the kinematic characteristics associated with the impact generated by the first pulse voltage. It is configured to send a second control signal to the circuit to generate a second pulse voltage to drive the actuator to control impact-related kinematic properties.

In one embodiment, the controller may include an amplifier configured to generate a drive signal, or more generally a drive circuit. In one embodiment, the controller is one or more processors or processor cores, programmable logic array (PLA) or programmable logic circuit (PLC), field programmable gate array (FPGA), application specific integrated circuit (ASIC), micro. It may include a controller, or any other control circuit. If the controller includes a processor, the processor may be a general purpose processor such as a general purpose processor on a mobile phone or other end user device, or it may be a processor dedicated to producing haptic effects. In one embodiment, the controller may be configured to control the actuator via a drive circuit based on data from the detector.

(5. Tactile feedback system)
A tactile feedback system with each of the above components can provide a stable tactile effect adapted to changes in the environment. FIG. 1 shows a schematic configuration diagram of a tactile feedback system according to an embodiment of the present invention. FIG. 2 is a flow chart of a method of adjusting the operation of the actuator using the tactile feedback system. If certain starting conditions are met (eg, when a part of the user's body touches a part of the touch screen of an electronic device), the tactile feedback system is activated. When the actuator is driven by the drive pulse, the controller outputs a control signal (hereinafter, referred to as “pre-control signal”) (S101). A first pulse voltage is generated from the drive circuit that receives the pre-control signal to drive the actuator (S102). As will be described later, the drive here is for detecting the kinematic characteristics related to the impact, and does not achieve a complete tactile effect by itself. Therefore, the drive of the actuator by the first pulse voltage is pre-driven. Called.

When the actuator is pre-driven, the detector detects the kinematic properties associated with the impact generated by the actuator (S103). As mentioned above, a kinetic property can be any kinetic property related to displacement, velocity, acceleration, or impact sensitivity. Preferably, the kinematic property is acceleration or displacement. The kinematic properties may be detected for the housing or touch screen of the electronic device, and if the actuator includes a moving component capable of impact movement, the kinematic properties may be detected directly for the moving component. May be good. Considering design convenience and integrity when produced as a tactile feedback system module, kinematic properties are preferably detected for moving components. In that case, the acceleration or displacement in the design operating direction of the operating component may be the detection target.

Hereinafter, an example of the kinematic characteristics in which the acceleration and displacement of the moving parts of the actuator should be controlled will be described. In one embodiment of the present invention, the peak acceleration value of the moving component is detected as the acceleration. In another embodiment of the present invention, the maximum displacement value of the moving component is detected as the displacement. When the detector detects the acceleration or displacement of the moving component of the actuator, the controller determines if the acceleration or displacement is the desired acceleration or displacement to be generated (S104). The desired acceleration or displacement to be generated can be a preset target range of acceleration or displacement, or a target value. The target range is appropriately set according to the demand for accuracy, for example, a range of ± 1%, a range of ± 2%, a range of ± 5%, or a range of ± 10% with respect to a certain median value. obtain. The median value may be a numerical value predetermined as a default setting in advance, a numerical value set by the user, or a numerical value determined by the processor to be optimal based on a specific calculation method. The target value may be a numerical value specified as a default setting in advance, a numerical value set by the user, or a numerical value determined by the processor to be optimal based on a specific calculation method.

Then, if it is determined that the desired acceleration or displacement cannot be obtained, the controller generates a control signal that compensates for the difference (S105). Here, the "control signal supplemented with the difference" does not mean a control signal reflecting only the difference, but means that a desired acceleration or displacement can be obtained by the control signal itself. The controller outputs a control signal that can be driven by the desired acceleration or displacement (S106), generates a second pulse voltage from the drive circuit that receives the control signal, and actually drives the actuator (S107). Since the impact generated from the drive of the actuator by the second pulse voltage achieves the desired tactile effect, the drive here is referred to as the main drive. Since the acceleration or displacement corresponding to the target range or the target value is obtained by the main drive, the desired tactile effect can be obtained correspondingly. In this way, a tactile feedback system is provided in which the kinematic characteristics related to the impact can be controlled to a predetermined target range or a target value even if the environment changes, and a stable tactile effect can be obtained.

The actuator generates two impacts by the pre-drive by the first pulse voltage and the subsequent main drive by the second pulse voltage, but the user is more likely to perceive a stronger impact, so the acceleration is not pre-driven. Alternatively, it is preferable to provide the user with the tactile effect caused by the impact of this drive in which the displacement is the target range or the target value. Therefore, when the kinematic characteristic to be controlled is the acceleration of the operating component of the actuator, the peak acceleration value of the operating component generated by the first pulse voltage is smaller than the peak acceleration value of the operating component generated by the second pulse voltage. Is preferable. Similarly, when the kinematic characteristic to be controlled is the displacement of the operating component of the actuator, the maximum displacement value of the operating component generated by the first pulse voltage is larger than the maximum displacement value of the operating component generated by the second pulse voltage. Small is preferable.

Further, the peak acceleration value or the maximum displacement value of the operating component generated by the pre-drive is not particularly limited, but is preferably above the detection limit by the detector and below the target range or the target value. For example, the peak acceleration value or maximum displacement value of the moving parts generated by the pre-drive can be 0.1 to 0.9 times the median value or the target value of the target range, and 0.2 to 0.8 times. It can be 0.3 to 0.7 times, 0.4 to 0.6 times, and 0.5 times.

Further, it is preferable to shorten the time interval between the pre-drive and the main drive in order to minimize the influence of the tactile effect caused by the impact of the pre-drive. More specifically, it is preferable to output the control signal of this drive at a timing equal to or less than the human tactile resolution (minimum time interval between two stimuli). Generally, the human tactile resolution is 27 ms. Therefore, when the kinematic characteristic to be controlled is the acceleration of the operating component of the actuator, the peak acceleration value of the operating component generated by the first pulse voltage and the peak acceleration value of the operating component generated by the second pulse voltage. The time difference from the above is preferably 27 ms or less, more preferably 26 ms or less, further preferably 25 ms or less, further preferably 24 ms or less, still more preferably 23 ms or less. , 22 ms or less, even more preferably 21 ms or less, even more preferably 20 ms or less, even more preferably 19 ms or less, and even more preferably 18 ms or less. , 17 ms or less is even more preferable, 16 ms or less is even more preferable, and 15 ms or less is even more preferable. Similarly, when the kinematic characteristic to be controlled is the displacement of the operating component of the actuator, the maximum displacement value of the operating component generated by the first pulse voltage and the maximum displacement value of the operating component generated by the second pulse voltage. The time difference from the above is preferably 27 ms or less, more preferably 26 ms or less, further preferably 25 ms or less, further preferably 24 ms or less, still more preferably 23 ms or less. , 22 ms or less, even more preferably 21 ms or less, even more preferably 20 ms or less, even more preferably 19 ms or less, and even more preferably 18 ms or less. , 17 ms or less is even more preferable, 16 ms or less is even more preferable, and 15 ms or less is even more preferable.

As described above, since the desired tactile effect can be obtained by both the pre-drive by the first pulse voltage and the main drive by the second pulse voltage, both the pre-drive and the main drive together constitute one tactile feedback. .. Here, one tactile feedback means a reaction of an electronic device corresponding to one user input or one event. That is, with one tactile feedback, the user recognizes that the electronic device has reacted once or that a particular event has occurred once.

(6. Actuator operation adjustment method)
The present invention, in another aspect, is a method of adjusting the operation of an actuator configured to give an impact to an electronic device.
The step of generating the first pulse voltage for driving the actuator, and
A step of generating a second pulse voltage for driving the actuator and controlling the impact-related kinematic characteristics based on the impact-related kinematic characteristics of the actuator driven by the first pulse voltage. And how to include.

In order to realize the above method, the above-mentioned tactile feedback system according to the present invention can be used. Further, in carrying out the above method, the operation mode of the tactile feedback system is the same as described above, and is omitted individually.

FIG. 3 shows the time variation (horizontal axis) of acceleration or displacement by the adjustment method using the tactile feedback system according to the present invention, when the acceleration or displacement (vertical axis) of the moving component of the actuator is to be controlled. It is a graph which shows.

When pre-driving by the first pulse voltage is performed, fluctuations in the kinematic characteristics of the moving parts of the actuator (acceleration or displacement in the graph) a occur, which are detected and compared with the target value a0, and the difference δ If there is, this is used to calculate the control amount b0 for obtaining the target value a0, generate the second pulse voltage, and perform the main drive to reach the target value a0. The time difference Δt between the pre-drive and the main drive is set to a human tactile resolution of 27 ms or less. As a result, the user senses only the tactile feedback due to this drive. In the tactile feedback by this drive, since the acceleration or the displacement is controlled to the target value a0, it is possible to always provide a constant tactile feedback to the user regardless of the change in the environment.

Although the preferred embodiments of the present invention have been described above, the specific features of the respective embodiments disclosed in the present specification are not independent of each other and are usually used by those skilled in the art to the extent that they do not deviate from the gist of the present invention. It should be understood that it can be combined appropriately based on the knowledge of.

Claims (18)

A tactile feedback system for giving impact to electronic devices.
Actuators configured to generate impact, and
A drive circuit that drives the actuator by applying a drive voltage to the actuator,
A detector that detects the kinematic properties related to the impact,
A first control signal for generating a first pulse voltage for driving the actuator is transmitted to the drive circuit, and the kinematic characteristics related to the impact generated by the first pulse voltage are used. Tactile sensation with a controller configured to send a second control signal to the drive circuit to generate a second pulse voltage to drive the actuator to control the kinematic properties associated with the impact. Feedback system. The tactile feedback system according to claim 1, wherein the control causes the kinematic properties related to the impact to be within a predetermined range or to a target value. The tactile feedback system according to claim 1 or 2, wherein the actuator includes a moving component capable of impact movement, and the kinematic property related to the impact is a peak acceleration value of the moving component. The tactile feedback system according to claim 3, wherein the time difference between the peak acceleration value of the operating component generated by the first pulse voltage and the peak acceleration value of the operating component generated by the second pulse voltage is 27 ms or less. .. The tactile feedback system according to claim 3 or 4, wherein the peak acceleration value of the operating component generated by the first pulse voltage is smaller than the peak acceleration value of the operating component generated by the second pulse voltage. The tactile feedback system according to claim 1 or 2, wherein the actuator includes a moving component capable of impact movement, and the kinematic property related to the impact is a maximum displacement value of the moving component. The tactile feedback system according to claim 6, wherein the time difference between the maximum displacement value of the operating component generated by the first pulse voltage and the maximum displacement value of the operating component generated by the second pulse voltage is 27 ms or less. .. The tactile feedback system according to claim 6 or 7, wherein the maximum displacement value of the operating component generated by the first pulse voltage is smaller than the maximum displacement value of the operating component generated by the second pulse voltage. The tactile feedback system according to any one of claims 1 to 8, wherein the driving of the actuator by the first pulse voltage and the second pulse voltage together constitutes one tactile feedback. A method of adjusting the behavior of an actuator configured to give an impact to an electronic device.
The step of generating the first pulse voltage for driving the actuator, and
A step of generating a second pulse voltage for driving the actuator and controlling the impact-related kinematic characteristics based on the impact-related kinematic characteristics of the actuator driven by the first pulse voltage. And how to include. The method of claim 10, wherein the control causes the kinematic properties associated with the impact to be within a predetermined range or to a target value. The method according to claim 10 or 11, wherein the actuator includes a moving component capable of impact movement, and the kinematic property related to the impact is a peak acceleration value of the moving component. The method according to claim 12, wherein the time difference between the peak acceleration value of the operating component generated by the first pulse voltage and the peak acceleration value of the operating component generated by the second pulse voltage is 27 ms or less. The method according to claim 12 or 13, wherein the peak acceleration value of the operating component generated by the first pulse voltage is smaller than the peak acceleration value of the operating component generated by the second pulse voltage. The method according to claim 10 or 11, wherein the actuator includes a moving component capable of impact movement, and the impact-related kinematic property is the maximum displacement value of the moving component. The method according to claim 15, wherein the time difference between the maximum displacement value of the operating component generated by the first pulse voltage and the maximum displacement value of the operating component generated by the second pulse voltage is 27 ms or less. The method according to claim 15 or 16, wherein the maximum displacement value of the operating component generated by the first pulse voltage is smaller than the maximum displacement value of the operating component generated by the second pulse voltage. The method according to any one of claims 10 to 17, wherein the driving of the actuator by the first pulse voltage and the second pulse voltage together constitutes one tactile feedback.

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