KR101285416B1 - Traveling vibrotactile wave generation method for implementing traveling vibrotactile wave by sequentially driving multiple actuators changing actuators' driving frequency according to the velocity of virtual object - Google Patents

Traveling vibrotactile wave generation method for implementing traveling vibrotactile wave by sequentially driving multiple actuators changing actuators' driving frequency according to the velocity of virtual object Download PDF

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KR101285416B1
KR101285416B1 KR20110119897A KR20110119897A KR101285416B1 KR 101285416 B1 KR101285416 B1 KR 101285416B1 KR 20110119897 A KR20110119897 A KR 20110119897A KR 20110119897 A KR20110119897 A KR 20110119897A KR 101285416 B1 KR101285416 B1 KR 101285416B1
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virtual object
actuator
moving vibration
vibration wave
moving
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KR20110119897A
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KR20130054085A (en
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김상연
신재현
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한국기술교육대학교 산학협력단
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Priority to KR20110119897A priority Critical patent/KR101285416B1/en
Priority to PCT/KR2012/009766 priority patent/WO2013073910A1/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/013—Force feedback applied to a game

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  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)

Abstract

The present invention relates to a moving vibration wave generation method for realizing a moving vibration wave by sequentially driving a plurality of actuators according to the speed of a virtual object in accordance with an embodiment of the present invention, (1) Detecting a moving vibration wave event and determining position movement information of a virtual object according to the detected event; (2) dividing a movement trajectory of the virtual object into a first trajectory portion and a second trajectory portion from the determined position movement information; (3) outputting a moving vibration signal by driving a first actuator with respect to the divided first trajectories; And (4) outputting the moving vibration signal by driving a second actuator with respect to the second locus when the output of the moving vibration signal to the first locus is terminated. ) And in step (4), the first and second actuators are driven in varying frequencies according to the speed of the virtual object.
According to a moving vibration wave generation method of realizing a moving vibration wave by sequentially driving a plurality of actuators in accordance with the speed of a virtual object, which is proposed in the present invention, an electronic device having two or more actuators may be configured to provide a touch signal. Detects a moving vibration wave event resulting from the movement or movement of a graphic object, and determines the position movement information of the virtual object from there, and then divides the movement trajectory of the virtual object into two, respectively, for each trace part. By outputting a moving vibration signal by another actuator, it is possible to provide various haptic effects in which speed, acceleration, direction, etc. change in response to the movement of the moving vibration wave event.

Description

TRAVELING VIBROTACTILE WAVE GENERATION METHOD FOR IMPLEMENTING TRAVELING VIBROTACTILE WAVE BY SEQUENTIALLY DRIVING MULTIPLE ACTUATORS CHANGING ACTUATORS 'DRIVING ACCORDING TO THE VELOCITY OF VIRTUAL OBJECT}

The present invention relates to a method for generating a moving vibration wave, and more particularly, to a method for generating a moving vibration wave by sequentially driving a plurality of actuators according to the speed of a virtual object and implementing a moving vibration wave.

As information and communication terminals such as laptops, smartphones and tablet PCs, and electronic devices such as video game consoles and remote controls have developed, recently, these devices have been used to provide users with more diverse user experiences (User eXperience, UX). Research is being actively conducted. For example, if a conventional user terminal shows a two-dimensional flat screen and provides a simple level of audio-visual feedback that sounds according to what is displayed on the screen, the recent user terminal has a three-dimensional three-dimensional effect. It is possible to provide more complex visual feedback, haptic feedback, and the like, which provide a screen that is present and provide the user with the power, movement, texture, etc. together with the provided screen contents.

In an electronic device that provides a typical haptic feedback, a haptic effect is implemented by providing an actuator and driving an actuator together with an audiovisual event occurring in the electronic device to transmit vibration, heat, etc. to a user. Doing. Although providing a haptic effect using one actuator is meaningful in that it can provide tactile feedback along with visual and auditory feedback on an event occurring in the electronic device, various events that may occur in the electronic device are provided. According to the present invention, it is difficult to provide various haptic effects that can stimulate user's emotion.

In particular, in recent years, as a user terminal having a touch screen together with a haptic actuator is widely used, technologies for providing a haptic effect only in a specific part of the touch screen have been disclosed. In the case of running various applications, the research focuses on providing a haptic effect only to a corresponding area in response to an event area on a touch screen generated by the application.

However, according to the related art, since only one actuator provided in the electronic device is used, there is a problem in that an appropriate haptic effect is not provided for dynamic change of an event provided by the terminal. In addition, there is a limitation that the haptic effect can not be moved and provided according to the speed, acceleration, and direction corresponding to the movement of the event appearing on the terminal.

SUMMARY OF THE INVENTION The present invention has been proposed to solve the above problems of the conventionally proposed methods, wherein an electronic device having two or more actuators detects a moving vibration wave event resulting from movement of a touch signal or movement of a graphic object. After determining the position movement information of the virtual object therefrom, the movement trajectory of the virtual object is divided into two, and the movement vibration signals by the different actuators are output to each trajectory portion, thereby generating the movement vibration wave event. Generation of moving vibration waves to realize a moving vibration wave by sequentially driving a plurality of actuators that change frequency according to the speed of a virtual object, which can provide various haptic effects in which speed, acceleration, direction, etc. change according to movement. Its purpose is to provide a method.

In order to achieve the above object, a plurality of actuators in accordance with a feature of the present invention varying the frequency according to the speed of a virtual object to drive the moving vibration wave generation method to implement a moving vibration wave, the first actuator and the second An electronic device comprising an actuator,

(1) detecting a moving vibration wave event and determining position movement information of a virtual object according to the detected event;

(2) dividing a movement trajectory of the virtual object into a first trajectory portion and a second trajectory portion from the determined position movement information;

(3) outputting a moving vibration signal by driving a first actuator with respect to the divided first trajectories; And

(4) outputting the moving vibration signal by driving a second actuator with respect to the second tracking unit when the output of the moving vibration signal to the first tracking unit is completed;

In step (3) and step (4),

It is characterized in that the configuration of driving the first actuator and the second actuator while changing the frequency in accordance with the speed of the virtual object.

Preferably, the electronic device,

It further includes a touch screen,

In the step (1), the moving vibration wave event may be a movement of a touch signal input through the touch screen or a movement of a graphic object provided through the touch screen.

Preferably, in the step (3)

Each time the virtual object moves on a predetermined distance on the first trajectory, the first actuator may output a vibration signal.

Preferably, in the step (4)

When the vibration signal output from the first actuator reaches the end point of the first trajectory portion, the output of the moving vibration signal of the first actuator may be terminated.

Preferably, in the step (4)

Each time the virtual object moves on a predetermined distance on the second locus, the second actuator may output a vibration signal.

More preferably,

The preset distance may be a distance obtained by dividing the first trajectory portion or the second trajectory portion.

Preferably,

The period in which the moving vibration signal of the first actuator is output in step (3) and the period in which the moving vibration signal of the second actuator is output in step (4) may be different.

Preferably,

The amplitude of the moving vibration signal output by the first actuator in step (3) and the amplitude of the moving vibration signal output by the second actuator in step (4) may be different.

According to the moving vibration wave generating method of realizing a moving vibration wave by sequentially driving a plurality of actuators according to the speed of a virtual object according to the speed of a virtual object, an electronic device having two or more actuators may include a touch signal. Detects a moving vibration wave event resulting from the movement of a graphic object or the movement of a graphic object, and determines the movement information of the position of the virtual object therefrom, and then divides the movement trajectory of the virtual object into two, and provides a different actuator for each trace part. By outputting a moving vibration signal, various haptic effects in which speed, acceleration, direction, and the like change in response to the movement of the moving vibration wave event may be provided.

FIG. 1 illustrates a configuration of a system for implementing a moving vibration wave generating method for implementing a moving vibration wave by sequentially driving a plurality of actuators in accordance with the speed of a virtual object according to an embodiment of the present invention. drawing.
2 is a diagram illustrating a flow of a method for generating a moving vibration wave by sequentially driving a plurality of actuators according to the speed of a virtual object and implementing a moving vibration wave according to an embodiment of the present invention.
3 is a view showing the implementation of the step S300 and step S400 of the mobile vibration wave generation method for implementing a moving vibration wave by sequentially driving a plurality of actuators in accordance with the speed of the virtual object in accordance with an embodiment of the present invention Figure.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order that those skilled in the art can easily carry out the present invention. In the following detailed description of the preferred embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In the drawings, like reference numerals are used throughout the drawings.

In addition, in the entire specification, when a part is referred to as being 'connected' to another part, it may be referred to as 'indirectly connected' not only with 'directly connected' . In addition, the term 'comprising' of an element means that the element may further include other elements, not to exclude other elements unless specifically stated otherwise.

1 is a view showing the configuration of a system for implementing a moving vibration wave generating method for implementing a moving vibration wave by sequentially driving a plurality of actuators in accordance with the speed of the virtual object in accordance with an embodiment of the present invention to be. As shown in FIG. 1, a system for implementing a moving vibration wave generating method for realizing a moving vibration wave by sequentially driving a plurality of actuators according to a speed of a virtual object according to the speed of a virtual object according to an embodiment of the present invention. 2 may include two or more actuators 110 and 111 and a controller (not shown), and may further include a touch screen 120.

Actuator (110, 111) is an operating device for generating mechanical energy by using the electrical energy, the pressure of the fluid, etc. Typically, the actuator for providing a haptic effect, the vibration is caused by the vertical movement of the weight suspended on the spring Linear Resonant Actuator (LRA) generated, Eccentric Rotating Mass (ERM), crystal or rossel salt Piezo actuators using a piezoelectric adverse effect that deforms crystals when a voltage is applied are used.In addition, a vibration motor, a solenoid actuator, a voice coil actuator, an ultrasonic actuator, a ceramic actuator, and an electric power may generate vibrations. Active polymer actuators, shape memory alloys, etc. And there. However, the actuators included in the system for implementing the present invention are not limited to the above-listed actuators, and any operation device capable of providing a haptic effect such as vibration may correspond thereto.

The touch screen 120 is an input / output unit including a display panel such as an LCD and a PDP, and a touch panel provided with transparent electrodes. The touch screen 120 receives a user's touch signal through the touch panel and displays coordinates on the screen displayed on the display panel. And may output the processed result through the display panel.

The control unit may be configured to include a processor such as a CPU (Central Processing Unit) as a part for receiving input from the user and performing arithmetic processing to control the driving of the actuators 110 and 111. [ The controller detects a moving vibration wave event generated by a user's touch input or movement of a graphic object on the screen, and calculates or determines the position movement information of the virtual object for generating the moving vibration wave according to the detected event. Can be. In addition, as in steps S200 to S400 to be described later, the movement trajectories of the virtual objects may be divided into two to control the different actuators 110 and 111 to drive the respective trajectories.

FIG. 2 is a diagram illustrating a flow of a method for generating a moving vibration wave by sequentially driving a plurality of actuators according to the speed of a virtual object and implementing a moving vibration wave according to an embodiment of the present invention. As shown in FIG. 2, a method of generating a moving vibration wave by sequentially driving a plurality of actuators according to the speed of a virtual object according to the speed of a virtual object to realize a moving vibration wave includes a moving vibration wave. Detecting an event, and determining the position movement information of the virtual object according to the detected event (S100), dividing the movement trajectory of the virtual object into a first trajectory unit and a second trajectory unit from the determined position movement information (S200). Driving the first actuator with respect to the first locus and outputting the moving vibration signal (S300); and when the output of the moving vibration signal with respect to the first locus is finished, the second actuator with respect to the second locus. It may be configured to include a step (S400) for driving to output a moving vibration signal.

By adopting the above configuration, the present invention can provide various haptic effects in which speed, acceleration, direction, and the like change in response to the movement of the moving vibration wave event. Hereinafter, each step of the mobile vibration wave generation method for driving the plurality of actuators in accordance with the embodiment of the present invention by changing the frequency in accordance with the speed of the virtual object to implement the moving vibration wave will be described in detail. .

In operation S100, a moving vibration wave event may be detected, and the position movement information of the virtual object may be determined according to the detected event. In this case, the moving vibration wave event is an event that causes the moving vibration wave, and all visual and audio events that may occur in the electronic device may correspond thereto. In particular, when the electronic device includes a touch screen, the movement of a touch signal input through the touch screen or the movement of a graphic object provided through the touch screen may be set as a moving vibration wave event. On the other hand, when the movement vibration wave event is detected, the position movement information of the virtual object can be determined therefrom. A virtual object is a point where a haptic effect such as vibration or heat is felt by the user's touch on the electronic device. As (or a region), for example, minute vibrations that cannot be sensed by the user are superimposed so that a point detected by the user's sensation as a large vibration or a large vibration that the user can feel is along a predetermined path on the electronic device. The point transmitted may correspond to the virtual object. That is, the virtual object is a point for providing a partial haptic effect to the user through the electronic device, and indicates a target point at which the haptic effect generated by driving of the actuator is sensed by the user.

In operation S200, the movement trajectory of the virtual object may be divided into the first and second trajectories 130 and 131 from the position movement information determined in the operation S100. The movement of the virtual object can draw various types of movement trajectories, such as a straight line and a curve. For example, when the movement of the virtual object is a linear trajectory, the movement trajectory of the virtual object is centered around a center point or another point on the line. The first trajectory including the viewpoint and the second trajectory including the endpoint may be divided. Hereinafter, in the movement trajectory of the virtual object, the actuator located close to the start point of the entire trajectory is divided into the first actuator 110 and the actuator located near the end point is described as the second actuator 111.

In operation S300, the first actuator 110 may be driven with respect to the first trajectory 130 to output a moving vibration signal. The moving vibration signal is an output signal in which the vibration effect generated by driving the actuator is transmitted on the electronic device, and the vibration effect is felt to move. In step S300 and step S400, the driving start time t a of the actuator and the driving duration Temporal control elements such as time t m , drive end time t b , delay time interval t delay between k-1 th drive and k th drive, frequency of vibration occurring during each drive time, and the like, and By individually controlling the spatial control elements such as the amplitude of vibration generated by the drive of the actuator, the direction of propagation of the vibration, and the like, a moving vibration signal can be output. According to an embodiment, whenever the virtual object moves a predetermined distance, for example, a distance equal to the first trajectory 130 or a distance of 1 cm, the first actuator 110 is driven to output a vibration signal. can do. In operation S300, in order to implement a haptic effect that moves according to the speed of the virtual object, the driving frequency may be changed and the first actuator may be driven. For example, in order to realize a haptic effect in which the virtual object moves in the direction of the second actuator from the first actuator, the driving frequency of the first actuator may be gradually increased with time.

In operation S400, when the output of the moving vibration signal to the first locus 130 is terminated, the second actuator 111 may be driven with respect to the second locus 131 to output the moving vibration signal. In this case, the time at which the output of the first actuator 110 is terminated may be set to a time when the vibration signal output from the first actuator 110 reaches the end point of the first trajectory 130. That is, in the state where the movement trajectory of the virtual object is divided into two, the actuator located closer to the virtual object is set to represent the moving state of the virtual object, so that the moving vibration signal is appropriately output in accordance with the movement of the moving vibration wave event. can do. In the meantime, when the virtual object moves on the second trajectory unit 131, the vibration signal may be output from the second actuator 111 whenever the predetermined distance moves. For example, by dividing the distance of the second trajectory 131 so that the virtual object passes through the equalized point or the virtual object moves a distance of 1 cm, in the second actuator 111 It can be set to output a vibration signal. On the other hand, in step S400, as in step S300, in order to implement a haptic effect that moves according to the speed of the virtual object, the second actuator may be driven while changing the driving frequency. For example, in order to realize a haptic effect in which the virtual object moves in the direction of the second actuator from the first actuator, the driving frequency of the second actuator may be gradually increased with time. Also, by setting the first driving frequency at which the second actuator is driven higher than the last driving frequency at which the first actuator is driven, so that the movement of the virtual object can be smoothly realized, the movement of the virtual object moving gradually becomes touched. It can be configured to be effectively implemented on the screen.

On the other hand, according to the embodiment, the driving cycle of the first actuator 110 for outputting the moving vibration signal to the first trajectory 130, and the second outputting the moving vibration signal to the second trajectory 131 The driving periods of the two actuators 111 may be different. In this case, while the virtual object travels in a straight path, the driving period of the first actuator 110 is set long while the second actuator 130 only transmits the feeling of moving the vibration on the first trajectory 130. On the tracker 131, in order to provide a haptic effect with a speed, the driving period of the second actuator 111 may be set short.

Further, according to another embodiment, the amplitude of the moving vibration signal output from the first actuator 110 with respect to the first trajectory 130, and the second actuator 111 with respect to the second trajectory 131. The amplitude of the output moving vibration signal may be different. In this case, while the virtual object travels in a straight path, the driving amplitude of the first actuator 110 is set small so as to transmit a feeling of weak vibration on the first trajectory 130, while the second trajectory ( On 131, the driving amplitude of the second actuator 111 may be set large to transmit a feeling of strong vibration.

3 is a view showing the implementation of the step S300 and step S400 of the mobile vibration wave generation method for implementing a moving vibration wave by sequentially driving a plurality of actuators in accordance with the speed of the virtual object in accordance with an embodiment of the present invention Figure is a diagram. As shown in FIG. 3, step S300 and step of a method for generating a moving vibration wave by sequentially driving a plurality of actuators according to the speed of a virtual object according to an embodiment of the present invention to realize a moving vibration wave. In S400, the movement trajectory of the virtual object is divided into two, and the actuators 110 and 111 are different from each other with respect to the first trajectory 130 where the viewpoint of the virtual object moves and the second trajectory 131 where the endpoint is located. Can be set to output a moving vibration signal. At this time, the position of the virtual object can be estimated by integrating the acceleration of the virtual object received initially twice. In response to the movement trajectory of the virtual object, the first actuator 110 and the second actuator 111 may be driven as in Equation 1 and Equation 2 in steps S300 and S400.

Figure 112011090772674-pat00001

Figure 112011090772674-pat00002

In this case, x k is the position of the virtual object in the k-th step, L is the total distance of the movement trajectory of the virtual object, V 1 (t) is the driving voltage applied to the first actuator 110, V 2 (t ) Denotes a drive voltage applied to the second actuator 111, u (t) denotes a unit step function, t ak denotes a start time of the k-th drive, and t bk denotes an end time of the k-th drive, respectively.

In FIG. 3, in order to provide a haptic effect that moves along the linear movement trajectory 122 of the virtual object, the first actuator 110 is driven twice and the second trajectory is driven on the first trajectory 130. On the part 131, the state which drives the 2nd actuator 111 over four times is shown. As shown in FIG. 3, according to an embodiment of the present invention, as the speed of the virtual object increases, the driving frequency of the first actuator on the first trajectory 130 may also be increased. In order to realize the virtual object moving faster on the tracker 131, the driving frequency of the second actuator may be configured to be higher than the driving frequency of the first actuator.

The present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics of the invention.

100: Electronic device having a plurality of actuators
110: first actuator 111: second actuator
120: touch screen 121: moving vibration wave event
122: movement trajectory of the virtual object
130: first tracker 131: second tracker
S100: detecting a moving vibration wave event and determining position movement information of the virtual object according to the detected event
S200: dividing the movement trajectory of the virtual object into a first trajectory unit and a second trajectory unit from the determined position movement information
S300: outputting a moving vibration signal by driving the first actuator with respect to the first locus
S400: when the output of the moving vibration signal to the first locus is finished, driving the second actuator with respect to the second locus to output the moving vibration signal;

Claims (8)

An electronic device comprising a first actuator and a second actuator,
(1) detecting a moving vibration wave event and determining position movement information of a virtual object according to the detected event;
(2) dividing a movement trajectory of the virtual object into a first trajectory portion and a second trajectory portion from the determined position movement information;
(3) outputting a moving vibration signal by driving a first actuator with respect to the divided first trajectories; And
(4) outputting the moving vibration signal by driving a second actuator with respect to the second tracking unit when the output of the moving vibration signal to the first tracking unit is completed;
In step (3) and step (4),
The driving frequency of the first actuator and the second actuator is increased or decreased with time according to the moving speed of the virtual object, and the plurality of actuators are sequentially driven while changing the frequency according to the speed of the virtual object. Moving vibration wave generating method to implement the moving vibration wave.
The electronic device of claim 1, wherein the electronic device comprises:
It further includes a touch screen,
In the step (1), the moving vibration wave event is a movement of a touch signal input through the touch screen or a movement of a graphic object provided through the touch screen. Moving vibration wave generation method that changes frequency according to speed and drives sequentially to realize moving vibration wave.
2. The method according to claim 1, wherein in the step (3)
Each time the virtual object moves on a predetermined distance on the first trajectory, the first actuator outputs a vibration signal, and drives the plurality of actuators sequentially by changing a frequency according to the speed of the virtual object. Moving vibration wave generating method to implement the moving vibration wave.
The method according to claim 1, wherein in the step (4)
When the vibration signal output from the first actuator reaches the end point of the first track portion, it is set to end the output of the moving vibration signal of the first actuator, a plurality of actuators to the speed of the virtual object Moving vibration wave generation method which drives frequency by changing frequency according to driving sequentially.
The method according to claim 1, wherein in the step (4)
Each time the virtual object moves on a predetermined distance on the second locus, the second actuator outputs a vibration signal, and drives the plurality of actuators sequentially by changing a frequency according to the speed of the virtual object. Moving vibration wave generating method to implement the moving vibration wave.
The method according to claim 3 or 5,
The preset distance may be a distance obtained by dividing the first trajectory portion or the second trajectory portion, and the plurality of actuators may sequentially drive the plurality of actuators according to the speed of the virtual object to implement a moving vibration wave. How to generate a vibration wave.
The method of claim 1,
The period in which the moving vibration signal of the first actuator is output in step (3) and the period in which the moving vibration signal of the second actuator is output in step (4) are different from each other. A moving vibration wave generating method for realizing a moving vibration wave by sequentially driving a frequency according to the speed of an object.
The method of claim 1,
A plurality of actuators, characterized in that the amplitude of the moving vibration signal output by the first actuator in the step (3), and the amplitude of the moving vibration signal output by the second actuator in the step (4) is different. A method of generating a moving vibration wave by sequentially changing the frequency according to the speed of a virtual object to implement a moving vibration wave.
KR20110119897A 2011-11-16 2011-11-16 Traveling vibrotactile wave generation method for implementing traveling vibrotactile wave by sequentially driving multiple actuators changing actuators' driving frequency according to the velocity of virtual object KR101285416B1 (en)

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KR20110119897A KR101285416B1 (en) 2011-11-16 2011-11-16 Traveling vibrotactile wave generation method for implementing traveling vibrotactile wave by sequentially driving multiple actuators changing actuators' driving frequency according to the velocity of virtual object
PCT/KR2012/009766 WO2013073910A1 (en) 2011-11-16 2012-11-16 Method for generating vibrotactile traveling wave for enabling vibrotactile traveling wave by sequentially actuating plurality of actuators while changing frequencies according to velocity of virtual object

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