KR101379292B1 - Method using the same and recording medium thereof - Google Patents

Abstract

The present invention relates to a haptic generating device and a recording medium. An apparatus for generating tactile sensations according to an embodiment of the present invention may include a tactile sensor configured to sense a touch on a first substrate for receiving a touch of a user, a first region that is at least a part of an entire region of the first substrate, and the tactile sensor by the touch. In the case of sensing the control unit for detecting the conversion factor for the first area, and outputs an electrical signal for outputting the tactile feedback according to a control variable and a trigger for outputting the tactile feedback in response to the electrical signal ( and an actuator for outputting a trigger signal, wherein the controller controls the tactile feedback to be output only for the first region by using a change in electrostatic force according to the touch, and the conversion factor according to the touch. A position factor for the first region sensed using at least one of a change in capacitance and a change in resistance, and It may be (force) factor.

Description

METHOD USING THE SAME AND RECORDING MEDIUM THEREOF

The present invention relates to a haptic generating device and a recording medium, and more particularly, to a haptic generating device and a tactile generating method for delivering tactile feedback to a user by using a muscle sensation generating module that generates vibration or resistance.

In general, touch refers to a tactile sensation that can be felt by a person's finger or stylus pen when touching an object, including tactile feedback that the skin touches the object surface and muscular feedback that is felt when movement of the joints and muscles is disturbed Concept.

As human sensory receptors, receptors for mechanical stimulation include Pacinian corpuscle, which senses high-frequency vibrations, Meissner's corpuscle, which senses low-frequency vibrations, Merkel's disc, and Ruffini's ending, which detects the stretch that presses the skin.

Various tactile presenting devices for stimulating such sensory receptors include piezo actuators, solenoid actuators, DC / AC motors, server motors, ultrasonic actuators, shape memory alloy ceramic actuators, electroactive polymer actuators, and the like.

A representative example of the tactile presentation device is a device for stimulating a Pachinian / Minus body that detects high frequency / low frequency vibration by generating a vibration with a vibration motor according to an input of a touch screen in a mobile device.

On the other hand, the vibration motor (vibration generating module) is a device that is applied to a portable device to deliver a predetermined sense, the prior art was a method of outputting only the vibration sense in response to the user's finger touch the touch panel.

The conventional vibration generating module is a stimulation of only the skin sense, unlike the real object touches the reality is inferior.

A person rubs while pressing an object with a certain pressure using a joint of a hand / arm. At this time, a person feels the stiffness of the object and recognizes a different roughness depending on the degree of pressing even a substance having the same roughness.

As described above, it is important for a person to sense the stiffness of an object by using a sense of muscle, but in the sensory acceptance, the conventional vibration generating module has a limitation in satisfying user's various desires (tactile feedback) by outputting only a simple vibration. there was.

Therefore, in the technical field to which the present invention belongs, it is not limited to simply outputting the vibration sense to the skin even in a portable device, and simultaneously stimulates the touch sensed by the human skin and the muscle sense sensed by the muscle, thereby complexing the stiffness and texture of the object. There is a need for the development of a haptic generating device that can feel variously.

Also, in general, the tactile display device provides tactile feedback to the user by vibrating the entire area instead of vibrating only the local part contacted by the user.

However, since the vibration of the entire area is difficult to apply to large tablet computers, flexible display modules, etc., and it is difficult to provide a user with a tactile feel, a method of providing a user with only tactile feedback in a local area is required. .

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to transmit a variety of tactile feedback to a user by inputting an electrical signal to a device that simultaneously provides a sense of touch and a sense of touch.

It is also an object of the present invention to provide a user with tactile feedback for local areas using electrostatic forces.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. It can be understood.

According to an aspect of the present invention, there is provided a tactile sensor for sensing a touch on a first substrate for receiving a user's touch and a first region that is at least a portion of an entire region of the first substrate. When the tactile sensor senses the touch, the controller senses a conversion factor for the first area and outputs an electrical signal for outputting tactile feedback according to a control variable and the electrical signal in response to the electrical signal. And an actuator for outputting a trigger signal for outputting feedback, wherein the controller controls the tactile feedback to be output only for the first region by using a change in electrostatic force according to the touch. The conversion factor is detected using at least one of a change in capacitance and a change in resistance according to the touch. It may be a position factor and a force factor for one region.

On the other hand, the tactile generating device according to an embodiment of the present invention for realizing the above-described object is a plurality of the first substrate for receiving a plurality of touch input from the user, the plurality of the first area that is at least part of the entire area of the first substrate A tactile sensor for sensing a touch and, when the tactile sensor senses the plurality of touches, detects a conversion factor for the first area and outputs a plurality of electrical signals for outputting a plurality of tactile feedbacks according to a control variable And an actuator configured to output a trigger signal for outputting the plurality of tactile feedbacks in response to the plurality of electrical signals, wherein the controller is configured to change the electrostatic force according to the plurality of touches. The plurality of tactile feedbacks are output only for the first area, and the conversion factor is dependent on the plurality of touches. Position and the power factor for the first region is detected using at least one of a change in the change of the capacitance and resistance may be (force) factor.

On the other hand, the control method of the haptic generating device according to an embodiment of the present invention for realizing the above-mentioned problem is the step of sensing the touch to the first area that is at least a part of the entire area of the first substrate, the conversion to the first area Detecting an argument and outputting an electrical signal for outputting the tactile feedback according to a control variable and outputting a trigger signal for outputting the tactile feedback in response to the electrical signal, The tactile feedback is output only for the first region using a change in electrostatic force according to the touch, and the conversion factor is sensed using at least one of a change in capacitance and a change in resistance according to the touch. It may be a position factor and a force factor for.

On the other hand, the control method of the haptic generating device according to an embodiment of the present invention for realizing the above-mentioned problem is the step of sensing the plurality of touch on the first area that is at least a part of the entire area of the first substrate, Detecting a conversion factor and outputting a plurality of electrical signals for outputting a plurality of tactile feedbacks according to a control variable and triggering an output of the plurality of tactile feedbacks in response to the plurality of electrical signals. And outputting a signal, wherein the plurality of tactile feedbacks are output only for the first region using a change in electrostatic force according to the plurality of touches, and the conversion factor is a change in capacitance according to the plurality of touches. And a position factor and a force factor for the first area sensed using at least one of a change in resistance.

On the other hand, a program of instructions that can be executed by a digital processing apparatus is tangibly implemented to perform a method for generating a tactile sense related to an example of the present invention for realizing the above-described object, and to be read by the digital processing apparatus. The method of generating a haptic, the method comprising: sensing the touch on a first area that is at least a portion of an entire area of a first substrate, sensing a conversion factor for the first area, and tactile feedback And outputting a trigger signal for outputting the tactile feedback, in response to the electrical signal, wherein the tactile feedback corresponds to the touch. It is output only for the first region using a change in electrostatic force, and the conversion factor is dependent on the touch. Position and the power factor for the first region is detected using at least one of a change in the change of the capacitance and resistance may be (force) factor.

On the other hand, a program of instructions that can be executed by a digital processing apparatus is tangibly implemented to perform a method for generating a tactile sense related to an example of the present invention for realizing the above-described object, and to be read by the digital processing apparatus. The method of generating a haptic, comprising: sensing the plurality of touches on a first area that is at least a portion of an entire area of a first substrate, sensing a conversion factor for the first area, Outputting a plurality of electrical signals for outputting a plurality of tactile feedbacks according to control variables and outputting a trigger signal for outputting the plurality of tactile feedbacks in response to the plurality of electrical signals. However, the plurality of tactile feedbacks are applied to the first area by using a change in electrostatic force according to the plurality of touches. Only being output by the conversion factor may be a position parameter and the power (force) parameters for said first area is detected using at least one of a change in the resistance change and the capacitance of the touch of the plurality.

The present invention can deliver a variety of tactile feedback to a user by inputting an electrical signal to a device that simultaneously provides a sense of touch and a sense of touch.

In addition, the present invention can use the electrostatic force to provide the user with tactile feedback for local areas.

It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art to which the present invention belongs It will be possible.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description, serve to further the understanding of the technical idea of the invention, It should not be construed as limited.
1 is a block diagram showing the configuration of the haptic generating device according to the present invention.
2 is a view showing an example of the haptic generating means according to the present invention.
3 is a view showing another example of the haptic generating means according to the present invention.
4 is a block diagram showing another example of the haptic generating device according to the present invention.
5 is a view showing an example of the waveform type, amplitude magnitude and frequency of the electrical signal according to the present invention.
6 is a diagram illustrating an example in which a tactile feedback is formed according to a waveform type, amplitude size, and frequency according to the present invention.
7 is a view showing an example in which the resistance force according to the present invention is generated step by step.
8 is a configuration diagram showing the configuration of a portable device according to the present invention.
9 is a perspective view of a haptic generating device coupled to a portable device according to the present invention.
10A through 10C illustrate a method of providing tactile feedback to a user by using various techniques.
11 is a diagram illustrating an example in which tactile feedback is generated using an electrostatic force according to the present invention.
FIG. 12 is a view showing an example of a coupling structure of a tactile feedback device using a tactile sensor according to the present invention.
FIG. 13 is a view showing an example of a coupling structure of a tactile feedback device using a contact resistance type tactile sensor according to the present invention.
14 is a bottom view of an example of the haptic generating device of the present invention.
15 is a flowchart sequentially showing a method for generating tactile sensations according to the present invention.
16A to 16D illustrate an example of a tactile presentation system that may be developed using a haptic generating device.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, the embodiment described below does not unduly limit the content of the present invention described in the claims, and the entire structure described in this embodiment is not necessarily essential as the solution means of the present invention.

1 is a configuration diagram showing the configuration of the haptic generating device according to the present invention, Figures 2 and 3 is a configuration diagram showing in detail the tactile generating means according to the present invention.

As shown in Figures 1 to 3, the haptic generating device according to the present invention may be composed of a control means 200 and a near sense generating module 300. Here, the muscle sensation generating module 300 may be used in combination with the haptic generating means, and for the sake of convenience, hereinafter, the muscle sensation generating module 300 will be described in unified terms.

The near sense generation module 300 may be configured in more detail by the magnetic field generating means 301 or the electric field generating means 303 and the flanger 305.

Hereinafter, with reference to FIGS. 1-3, the structure of the tactile generating apparatus which concerns on this invention is demonstrated.

The muscle sensation generating module 300 according to the present invention generates the tactile feedback based on the control signal of the control means 200 to be described later, and provides the tactile feedback corresponding to the external force Fin of the user.

The tactile sensation described above may be muscular or tactile. In addition, the tactile feedback imparts resistance to the user, and the resistance may be a change in shear force or stiffness.

On the other hand, the configuration of the muscle-sensing generation module 300 may be composed of a magnetic field generating means 301 or the electric field generating means 303 and the flanger 305, as shown in Figs.

In this case, the near field generating module 300 using the magnetic field generating means 301 generates a resistive force by using the magnetorheological fluid and the magnetic field.

In detail, the magnetic field generating means 301 generates different magnetic field strengths according to the control signal of the control means 200, and applies the generated magnetic field to the magnetorheological fluid.

In this case, the applied magnetic field changes the resistance of the magnetorheological fluid, that is, the shear force or stiffness.

Thus, the user can receive various tactile feedbacks.

In addition, a solenoid core (not shown) and a solenoid coil (not shown) may be used to generate the magnetic field.

On the other hand, in order to change the strength of the magnetic field, an analog voltage is required.

Therefore, the DAC (Digital to Analog Converter) (not shown) is controlled by using a PWM (Pulse Width Modulation) signal from a microprocessor (not shown) included in the control means 200, and is output from the DAC. By applying an analog voltage to the haptic generating device, the strength of the magnetic field can be changed.

In addition, the near field generating module 300 using the electric field generating means 303 generates a resistance force by using the electric rheological fluid and the electric field.

Specifically, the electric field generating means 303 generates the electric field differently according to the control signal of the control means 200, and applies the electric field generated to the electric rheological fluid.

In this case, the applied electric field changes the resistance of the electrofluidic fluid, that is, the shear force or the stiffness.

Thus, the user can receive various tactile feedbacks. In this case, an electrode, that is, a positive electrode and a negative electrode, is used to generate an electric field.

On the other hand, in order to change the strength of the electric field, an analog voltage of several kV is required.

In order to obtain such an analog voltage, a PWM signal from a microprocessor (not shown) is used to control the DAC (not shown).

The electric field strength may be changed by inputting an analog voltage output from the DAC to a DC-DC converter (not shown), amplifying the analog voltage, and applying the same to a tactile generating device.

4 is a block diagram showing another example of the haptic generating device according to the present invention.

As shown in FIG. 4, the apparatus for generating tactile sensations according to the present invention may be composed of approximately sensor means 100, control means 200, and muscle sensation generation module 300.

As described above, the near-field generating module 300 may generate tactile feedback by having a magnetic field generating means (not shown) or an electric field generating means (not shown) and a controllable rheology fluid.

In this case, the sense of touch may mean muscle sense or touch, and the sense of muscle may be represented by resistance, and the sense of vibration may be represented by touch.

The muscle sensation generating module 300 according to the present invention generates a vibration sensation or a sense of resistance, but according to the present invention, in addition to such a vibration sensation or a sense of resistance, it may generate tactile feedback. Hereinafter, the configuration and function of the haptic generating device according to the present invention will be described with reference to FIGS. 4 to 7.

As shown in FIG. 4, the sensor means 100 according to the present invention is applied by a force Fin or an applied force Fin applied to a moving means (not shown) provided in the near sense generation module 300. Measure the conversion factor, which is the depth (position, displacement) at which the vehicle is pressed.

At this time, the moving means may be a flanger in the muscle sensory generation module.

Therefore, the sensor means 100 should be equipped with a sensor for measuring the force (Fin) or a sensor for measuring the position in the near sense generating module 300.

In addition to the above-described conversion factor, the speed may be included in the conversion factor, but the position (displacement) may be differentiated in this case.

The control means 200 according to the present invention outputs an electric signal for providing the tactile feedback based on the application information selected by the user or the output signal of the sensor means 100 to the near sense generating module 300 according to the control variable. .

In this case, the application information may be a type of an application executed in the portable device or a type of a program executed in the portable device, and the portable device may include a mobile phone, a notebook, a console game machine, and the like.

In addition, the control variable is any one of the waveform type, amplitude, or frequency as shown in FIG. 5 or a combination thereof as shown in FIG.

Therefore, the control means 200 outputs an electrical signal by combining various control variables described above according to the kind of application selected by the user or the force (Fin) or the position (displacement) measured by the sensor means 100. At this time, the output electrical signal is preferably a periodic electrical signal to generate a tactile feedback.

6 is a diagram illustrating an example in which a tactile feedback is formed according to a waveform type, amplitude size, and frequency according to the present invention.

According to the above-described control variable, the tactile feedback may be formed.

As shown in FIG. 6, a predetermined tactile feedback may be formed when a sinusoid having a amplitude of 2v is applied to the near field generating module while pressing the flanger at a constant speed.

In addition, the tactile feedback may be formed by applying an electrical signal to the muscle-sensing generation module 300 at different frequencies but having different amplitudes.

On the other hand, the control means 200 may be implemented using a MCU, MPU, DSP, etc., and may also be implemented in the same manner by a logic design such as FPGA or ASIC.

The control means 200 may be included in the muscle sensation generation module 300, or may be configured separately from the muscle sensation generation module 300 as necessary.

The muscle sensation generation module 300 according to the present invention generates tactile feedback in response to various types of electrical signals (waveform, amplitude size, frequency selected from one or a combination thereof) output from the control means 200. Pass it to the user.

In this case, the tactile feedback transmits the tactile sense or the sense of muscle to the user in the opposite direction in which the force Fin is applied to the flanger.

As described above, the near field generating module 300 transmits only the vibration or resistance to the user in the related art, but according to the present invention, it is possible to generate tactile feedback.

In addition, the tactile feedback transmits a resistance to the user, and the resistance may be a change in shear force or stiffness.

On the other hand, the near-field generating module 300 is roughly a magnetic field generating means (not shown) or an electric field generating means (not shown), a flanger (not shown), and a controllable rheological fluid (electric rheological fluid or magnetic rheology) Fluid).

In this case, the near field generating module 300 using the magnetic field generating means generates a resistance force by using the magnetic rheological fluid and the magnetic field. Specifically, the magnetic field generating means generates a different magnetic field intensity according to the electric signal of the control means 200 and applies the generated magnetic field to the magnetorheological fluid.

The applied magnetic field causes the resistive force (damping force), ie shear force or stiffness, of the magnetorheological fluid to change. Thus, the user can receive various tactile feedbacks. In this case, a solenoid core (not shown) and a solenoid coil (not shown) may be used to generate a magnetic field.

On the other hand, in order to change the strength of the magnetic field, an analog voltage is required. Therefore, the DAC (Digital to Analog Converter) (not shown) is controlled by using a PWM (Pulse Width Modulation) signal from a CPU (not shown) implementing the control means 200, and the analog voltage output from the DAC. The strength of the magnetic field may be changed by applying the to the muscle sensation generating module 300.

In addition, the near-field generating module 300 using the electric field generating means generates a resistance force using the electric rheological fluid and the electric field. Specifically, the electric field generating means generates a different electric field intensity according to the electric signal of the control means 200 and applies the electric field generated to the electric rheological fluid.

The applied electric field changes the resistance of the electrofluidic fluid, ie the shear force or stiffness. Thus, the user can receive various tactile feedbacks. In this case, electrodes (+ and − poles) are used to generate an electric field.

On the other hand, in order to change the strength of the electric field, an analog voltage of several kV is required. In order to obtain such an analog voltage, the PWM signal from the CPU is used to control the DAC (not shown). An analog voltage output from the DAC may be input to a DC-DC converter (not shown) to amplify the analog voltage, and then apply the analog voltage to the muscle-sensing generation module 300 to change the strength of the electric field.

On the other hand, the tactile feedback may be provided by selecting or combining the control variables of the above-described electrical signal or may be provided in the following manner.

7 is a view showing an example in which the resistance force according to the present invention is generated step by step.

As illustrated in FIG. 7, tactile feedback is transmitted to the user by using a method of turning on or off a resistance, a method of continuously generating a resistance, or a method of generating a resistance step by step.

In detail, the method of turning on / off the resistance may be implemented by a method having or without the strength of the resistance. This method is preferably used when the status information of the portable device, the call charge information of the portable device, or information according to the importance of the operation of the portable device.

In addition, the state information of the portable device may be, for example, a missed call, an antenna reception strength, a battery remaining amount, or a state of available memory.

In addition, the call charge information may be when using a high cost function (eg, paid information, international calls).

In addition, when taking a picture with a camera or a general camera included in the portable device may be used depending on the degree of focus.

On the other hand, the method of generating a resistance step by step will provide a resistance step by step. This method is used, for example, when controlling the speed of a character, an airplane, or a car during a game, and is useful when controlling a specific button without looking at the screen of a portable device. It can also be used to inform the state of the portable device (e.g., locked state) described above.

On the other hand, the method of continuously generating the resistive force provides the resistive force continuously. This method can provide a variety of feelings of pressing a particular button. In particular, it is preferable to use when providing a variety of feeling of pressing the button according to the hill, downhill, or road conditions during the racing game.

When the resistance is continuously generated in more detail, the resistance may be increased, the resistance may increase and fall relative to the pressing force Fin, or the increase or decrease may be repeated. In addition, the resistance is constant and then suddenly drop, or the resistance is constant and may drop slowly. On the one hand, it can also convey the feeling that a certain resistance is initially acting and then gradually falls.

The above-described tactile generating device may be included in a portable device requiring various tactile feedbacks. Such a portable device can reduce the number of times a menu must be clicked for the same operation by using the above-described haptic generating device and can transmit various tactile sensations to a user.

8 is a block diagram showing the configuration of a portable device according to the present invention.

As shown in FIG. 8, the portable device 20 according to the present invention may be composed of a microprocessor 400 and a display 500, which are internal components of the haptic device 10 and the portable device 20. .

Since the haptic generating device 10 according to the present invention is the same as described above, it is replaced with the above, and the haptic generating device 10 is included in the portable device 20 to be described below to implement an embodiment of the present invention.

A memory (not shown) according to the present invention is means for storing applications, and application programs executed in various portable devices 20 are stored. In addition, a program used in the tactile generation apparatus 10 may be stored as needed.

On the other hand, the memory can be implemented using an EEPROM or a flash memory, or an internal memory incorporated in an MCU, MPU, or DSP. In this case, the memory may be implemented separately from the microprocessor 400 to be described later, or the microprocessor 400 may be implemented with its function included.

The microprocessor 400 according to the present invention executes an application stored in the above-described memory, and outputs application information to the control means 200 according to the executed application.

The application information is information about various types of execution programs, apps, or touch buttons that are executed on the portable device 20. Since the control means 200 generates tactile feedback in various ways according to the application information, the control means 200 may receive such information from the microprocessor 400 as necessary.

On the other hand, the microprocessor 400 may output a variety of electrical signals by directly receiving a signal from the sensor means 100 for recognizing the position of the flanger or the force (Fin) applied to the flanger and adjust the above-described control variable. have.

Thus, the control means 200 and the microprocessor 400 need not be implemented separately to practice the present invention, either the control means 200 or the microprocessor 400 may be integrated into one.

Therefore, the microprocessor 400 may be implemented using an MCU, an MPU, a DSP, or the like, and may be similarly implemented by a logic design such as an FPGA or an ASIC. The microprocessor 400 may be included in the muscle-sensing generation module 300, or may be included in the portable device 20 separately from the muscle-sensing generation module 300 as necessary.

The display 500 according to the present invention is a means for showing a state in which an application is executed. Such a display 500 may be implemented without the display 500 in the present invention. For example, when the portable device 20 according to the present invention is a smartphone or a tablet PC, the display 500 is required, but in the case of a joystick or a keyboard used in a game such as a console game machine, the display 500 is required as needed. It may be implemented.

On the other hand, the display 500 having the above-described function may be implemented using an LCD, OLED, or LED, but is not limited to this configuration, any means that can show the state in which the application is executed in one embodiment of the present invention An example will be performed.

9 is a perspective view of a haptic generating device coupled to a portable device according to the present invention.

As illustrated in FIG. 9, the portable device 20 including the tactile generating device 10 having the above-described function may be applied to a smartphone, a PDA, a notebook, a tablet PC, or the like. In addition, it can be applied to a console game console, a keyboard, a joystick, a remote controller, or a stylus pen to transmit tactile feedback to a user.

In this case, as shown in FIG. 9, the mobile phone may be implemented in the form of a track ball 30, and the track ball 30 may be attached to a keyboard or a mouse. In addition, it can be implemented in the joystick button of the console game machine or the button of the remote control.

However, the position in which the tactile generating device 10 shown in FIG. 9 is mounted on the portable device 20 may be changed to various positions according to the portable device 20.

10A and 10C are diagrams for describing a method of providing tactile feedback to a user by using various techniques.

Referring to FIG. 10A, an example 1010 of a Vibrotactile-based display is shown. That is, a method of providing a user with tactile feedback using vibration is presented.

In the case of a vibrotactile-based display, it is possible to efficiently provide tactile feedback to a user, but there are problems of being too heavy, requiring a high price, and consuming high power.

Furthermore, when generating the vibration feedback, the vibration feedback is generated by vibrating the entire area instead of vibrating a local part touched by the user, and thus, it is difficult to be applied to a large area large tablet or a flexible display.

Meanwhile, referring to FIG. 10B, an example 1020 of an electrocutaneous-based display is shown. This is a method of providing tactile feedback to the user based on the electronic tactile sense.

In the case of electrocutaneous-based display, it can be realized with a small weight and the price is cheaper than Vibrotactile-based display.

In addition, when generating the tactile feedback, there is an advantage that it can be applied to a part of the area, not the entire area, but there is a problem that it is difficult to generate the tactile feedback at the exact part of the area.

Furthermore, there is a problem that electrical stimulation caused by unexpected microcurrents may cause pain or redness of the user.

Accordingly, the present invention provides a method of providing tactile feedback to a user only through a partial region instead of the entire region by using a transparent tactile feedback structure using electrostatic force.

FIG. 10C illustrates an example 1030 of an electrostatic-based display to be proposed in the present invention.

Referring to FIG. 10C, the transparent tactile feedback structure 1030 using the electrostatic force according to the present invention may basically include a dielectric 1031, an electrode 1032, and a substrate 1033.

The electrode 1032 may include ITO, carbon nanotubes (CNT), graphene, metal nanowires, polymer conductors (PEDOT), transparent conductive oxides (TCO), and the like.

Specific implementation method of the present invention using the electrostatic force will be described with reference to FIG.

Means that can be touched by the user include a finger, a pen, and the like, hereinafter, the means are referred to as pointers for convenience of description. It is also assumed that the pointer is a user's finger.

11 is a diagram illustrating an example in which tactile feedback is generated using an electrostatic force according to the present invention.

Referring to FIG. 11, a user inputs a touch using a finger 1036.

At this time, the frictional force according to the electrostatic force generated by the movement of the finger 1036 may be changed more sensitively than the pressing force of the upper and lower fingers 1036.

라고 하고, 사용자의 손가락(1036)의 이동에 의해 발생되는 정전기력을

라고 가정한다.The pressing force by the user's finger 1036

The electrostatic force generated by the movement of the user's finger 1036 is referred to as

.

는 하기의 수학식 1과 같이 구해질 수 있다.At this time, the electrostatic force generated by the movement of the user's finger 1036

May be obtained as in Equation 1 below.

는 정전기력이고,

는 진공상태의 유전율이며,

는 유전상수이고,

는 상기 전극이 배치된 영역이며,

는 상기 전극에 인가된 전압이고,

는 상기 전극과 입력된 터치 간의 간격을 나타낸다.here,

Is the electrostatic force,

Is the dielectric constant in vacuum,

Is the dielectric constant,

Is an area where the electrode is disposed,

Is the voltage applied to the electrode,

Represents a distance between the electrode and the input touch.

와 사용자의 손가락(1036)의 이동에 의해 발생되는 정전기력

에 의해 발생되는 마찰력은 하기의 수학식 2와 같이 구해질 수 있다.In addition, the pressing force by the user's finger 1036

And electrostatic force generated by the movement of the user's finger 1036

The friction force generated by may be obtained as in Equation 2 below.

는 발생된 전체 마찰력을 의미하고,

는 누르는 힘에 의해 발생된 마찰력을 의미하며,

는 정전기력에 의해 발생된 마찰력을 의미한다.In Equation 2,

Means the total frictional force generated,

Is the frictional force generated by the pressing force,

Means friction force generated by electrostatic force.

의 값은

에 비해 현저히 작으므로, 무시될 수 있고, 결국 전체 마찰력은

에 의해 결정된다.At this time,

The value of

Significantly smaller than, can be ignored, and ultimately the overall frictional force

.

Therefore, when generating tactile feedback in response to the electrostatic force generated by the movement of the user's finger 1036, it is possible to provide accurate feedback in the local area instead of the entire area.

Referring to FIG. 11, the user's finger 1034 may be moved in contact with the dielectric 1031, and an electrostatic force 1035 is generated at the electrode 1032 in response to the movement.

In this case, an AC voltage 1037 may be applied to the electrode 1032 to generate the electrostatic force 1035.

Here, the AC voltage 1037 may have a range of 50V to 5kV, a frequency may have a range of 10Hz to 1kHz, and the waveform may be a square wave or a sinusoidal wave. In general, an alternating voltage of 500V can be applied.

In addition, a substrate 1033 may be connected to a lower end of the dielectric 1031 and the electrode 1032.

In addition, it is possible to provide localized tactile feedback by using the friction force 1036 according to the generated electrostatic force 1035.

1st Example

12 is a view showing an example of the coupling structure of the haptic feedback device using a tactile sensor in accordance with the present invention.

Referring to FIG. 12, an upper substrate 1210 may be disposed at the top of the haptic generating device.

Here, the upper substrate 1210 is a dielectric material, it is preferable that the thickness is less than 1mm, and may include at least one of glass (glass), reinforced polymer substrate, polyimide (PI) film.

A tactile feedback electrode 1230 is disposed at a lower end thereof, and is connected with an adhesive 1220 between the upper substrate 1210 and the tactile feedback electrode 1230. The adhesive 1220 may be a polymer adhesive, OCA, or the like.

In addition, the electrode 1032 may include ITO, carbon nanotubes (CNT), graphene, metal nanowires, polymer conductors (PEDOT), transparent conductive oxides (TCO), and the like.

In addition, the tactile feedback electrode 1230 and the adhesive 1220 are connected with the film 1270.

The film 1270 is connected to the lower substrate 1250 using an adhesive 1220.

The lower substrate 1250 may be an LCD, an OLED, an OLED-based flexible display, an electronic paper, or the like.

In addition, the lower substrate 1250 is connected to the film 1270 using an adhesive 1220, and the film 1270 is connected to the first positioning electrode 1240.

In addition, the first position measuring electrode 1240 is connected to the dielectric 1280.

The dielectric 1280 is connected to the second positioning electrode 1260, and the dielectric 1280 and the second positioning electrode 1260 are connected to the film 1270 again.

The film 1270, the first position measuring electrode 1240, the dielectric 1280, the second position measuring electrode 1260, and the film 1270 may form a tactile sensor 1290.

Accordingly, the tactile sensor 1290 may be used to accurately measure the position and force of the user's finger and provide the user with tactile feedback corresponding to the measured position and force information.

In addition, the multi-touch can be recognized at one time and the tactile feedback can be provided using the recognized result.

That is, it is possible to provide a plurality of tactile feedback information by using the position information recognized by the plurality of fingers.

Second Example

FIG. 13 is a view showing an example of a coupling structure for a tactile feedback device using a contact resistance type tactile sensor according to the present invention.

Referring to FIG. 13, an upper substrate 1210 may be disposed at the top of the haptic generating device.

A tactile feedback electrode 1230 is disposed at a lower end thereof, and is connected with an adhesive 1220 between the upper substrate 1210 and the tactile feedback electrode 1230. In addition, the tactile feedback electrode 1230 and the adhesive 1220 are connected with the film 1270.

The film 1270 is connected to the display unit 1310 using an adhesive 1220.

In addition, the display unit 1310 is connected to the film 1270 using an adhesive 1220, and the film 1270 is connected to the first position measuring electrode 1240.

In addition, the first position measuring electrode 1240 is connected to the resistor 1320.

Unlike the FIG. 12, since the resistor 1320 is included instead of the dielectric 1280, the tactile sensor-based tactile feedback of the contact resistance method can be provided.

The resistor 1320 is connected to the second position measuring electrode 1260, and the resistor 1320 and the second position measuring electrode 1260 are connected to the film 1270 again.

Here, the film 1270, the first position measuring electrode 1240, the resistor 1320, the second position measuring electrode 1260, and the film 1270 may constitute a tactile sensor 1290.

Accordingly, the tactile sensor 1290 may be used to accurately measure the position and force of the user's finger and provide the user with tactile feedback corresponding to the measured position and force information. As described above, since the resistor 1320 is included in the structure of FIG. 13 instead of the dielectric 1280, the tactile sensor-based tactile feedback of the contact resistance type can be provided.

Meanwhile, the lower substrate 1270 described with reference to FIGS. 12 and 13 may include an LCD, an OLED, an OLED-based flexible display, an electronic paper, and the like.

In addition, the dielectric based upper substrate 1210 may be more preferably manufactured within a thickness of 1 mm in consideration of the user's touch, and may include glass, a reinforced polymer substrate, a PI film, and the like.

In addition, the transparent electrode may include ITO, carbon nanotubes (CNT), graphene, metal nanowires, polymer conductors (PEDOT), transparent conductive oxides (TCO), and the like.

In addition, as described above in FIG. 13, the resistor 1320 may be implemented in the form of a composite made of conductive nanoparticles and a transparent polymer.

In addition, in order to recognize a stable change in capacitance, it is preferable that a sine wave or a square wave of 10 Hz to 1 k Hz is applied to the tactile feedback transparent electrode with a peak voltage of 50 V to 5 kV.

In addition, the distance between the tactile feedback transparent electrodes 1230 is preferably 1 mm to 10 mm, and the area of the single transparent electrodes 1230 for tactile feedback is preferably 1 mm ^ 2 to 10 mm ^ 2. Do.

14 is a bottom view of an example of the haptic generating device of the present invention.

Referring to FIG. 14, the tactile sensor 1290 may be used to accurately measure the position and force of a user's finger, and may provide the user with tactile feedback corresponding to the measured position and force information. In addition, the plurality of tactile feedback electrodes 1230 are disposed with a predetermined separation distance.

15 is a flowchart sequentially showing a method for generating tactile sensations according to the present invention.

That is, FIG. 15 illustrates an example of a tactile generating method that may be performed by the tactile generating device 20 having the above-described configuration.

First, in operation S1510, the sensor means 100 detects a change in capacitance associated with a touch input with respect to the first region, which is a conversion factor.

In operation S1520, the position and force of the pointer related to the touch input may be measured using the sensed change in capacitance.

As described above, the pointer applied to the present invention may be a user's finger.

Herein, the control means 200 generates various electric signals according to the change in capacitance sensed by the sensor means 100.

That is, in response to the position of the pointer measured by the sensor means 100, an operation (S1530) of generating an electrical signal for providing tactile feedback is performed.

In FIG. 15, the electric signal is generated using only the measured position of the pointer. However, this is only a simple example of the present invention, and the electric signal is used together with the position and force as in the second embodiment. May be generated.

In detail, the control means 200 analyzes the type of the conversion factor, and the type of the conversion factor is the force Fin applied to the flanger or the pressed depth of the flanger according to the change in capacitance. Position, displacement).

At this time, the control means 200 analyzes the type of the conversion factor and determines whether to select one or a combination of these. That is, it is determined whether to select and combine both the force (Fin) and the position (position) or only one of them.

The control means 200 selects or combines at least one of a waveform type of the electric signal, an amplitude magnitude of the electric signal, and a frequency of the electric signal according to the type of the conversion factor analyzed to output the periodic electric signal. The periodic electrical signal is input to the muscle sensation generating module 300 to deliver various tactile feedback to the user.

However, the control means 200 may transmit the tactile feedback by generating an electric signal based on the signal from the sensor means 100 described above or in response to the type of application information or the touch button executed in the portable device 20. .

For example, the electrical signal corresponding to the application information or the type of the touch button may be any one of a method of turning on / off a resistance delivered to a user, a method of continuously generating a resistance, or a method of generating a resistance step by step. Is created by using

In order to determine the tactile feedback method, since the application running on the portable device 20 depends on which program, the control means 200 receives the application information that is being executed, and thus the haptic feedback method may vary.

Finally, in response to the generated electrical signal, step S1540 of outputting the tactile feedback only to the local region may be performed.

As described above, even if the change in capacitance generated by the movement of the user's finger is minute, it can be detected, and correspondingly, the tactile feedback can be output only in the local area.

Here, the transmission of the tactile feedback changes the resistance according to the change of the physical properties of the magnetorheological fluid or the electrorheological fluid provided in the muscle-sensing generation module, and the resistance is transmitted to the flanger. The flanger may transmit a change in the resistance force to the user as a portion corresponding to the user's force Fin.

In the above-described tactile providing method, the control means 200 performs all functions, but the microprocessor 400 may share the functions as necessary, or these functions may be performed by the microprocessor 400. It may be.

16A to 16D illustrate an example of a tactile presentation system that can be developed using a haptic generating device.

16a and 16b specifically illustrate the structure of the tactile presentation system to which the present invention is applied.

Also, referring to FIG. 16C, a plurality of partial regions 1610, 1620, and 1630 capable of providing tactile feedback among all regions may be included in the system.

In addition, as shown in FIG. 16D, when the user's finger 1034 touches the first area 1610, the user is limited to the first area 1610 to provide tactile feedback based on a change in capacitance to the user. Could be.

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may be implemented in the form of a carrier wave (for example, transmission over the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers of the technical field to which the present invention belongs.

The above-described apparatus and method may not be limitedly applied to the configuration and method of the embodiments described above, but the embodiments may be configured by selectively combining all or some of the embodiments so that various modifications may be made. May be

Claims (21)

A first substrate for receiving a touch of a user;
A tactile sensor that senses the touch with respect to a first area that is at least a portion of an entire area of the first substrate;
A control unit configured to detect a conversion factor for the first area when the tactile sensor senses the touch and output an electric signal for outputting tactile feedback according to a control variable; And
An actuator configured to output a trigger signal for outputting the tactile feedback in response to the electrical signal,
The controller controls the tactile feedback to be output only for the first region by using the change in the electrostatic force according to the touch.
And the conversion factor is a position factor and a force factor for the first area sensed using at least one of a change in capacitance and a change in resistance according to the touch. The method according to claim 1,
Further comprising an electrode for generating the electrostatic force,
The electrostatic force is characterized in that determined using the following equation, haptic generating device.
Equation

here,

Is the electrostatic force,

Is the dielectric constant in vacuum,

Is the dielectric constant,

Is an area where the electrode is disposed,

Is the voltage applied to the electrode,

Represents a distance between the electrode and the input touch. 3. The method of claim 2,
The electrode includes at least one of indium tin oxide (ITO), carbon nanotubes, graphene, metal nanowires, polymer conductors (PEDOT), and transparent conductive oxides (TCO). 3. The method of claim 2,
Further comprising a second substrate,
The electrode and the actuator are disposed in a predetermined shape on the upper surface of the second substrate, the tactile sensor is disposed in a predetermined shape on the lower surface of the second substrate,
The second substrate includes a liquid crystal display (LCD), an organic light-emitting diode (OLED), an OLED-based flexible display, and electronic paper. 3. The method of claim 2,
The voltage applied to the electrode is an alternating voltage that is a sine wave or a square wave, the peak voltage of the alternating voltage is 100V or more and 5KV or less, and the frequency of the AC voltage is 50Hz or more and 500Hz or less. The method according to claim 1,
The thickness of the first substrate is within 1mm, the first substrate comprises at least one of glass (glass), reinforced polymer substrate, polyimide (PI) film. The method according to claim 1,
And the control variable is at least one of a waveform type of the electric signal, an amplitude magnitude of the electric signal, and a frequency of the electric signal. 8. The method of claim 7,
And the control unit outputs the electrical signal by combining at least two or more of the control variables. The method according to claim 1,
The tactile feedback includes at least one of a tactile feedback and a haptic feedback, wherein the tactile feedback is generated by a change in the damping force of the rheological fluid provided in the haptic generating module, and the haptic feedback is a resistive force. Tactile generating device. A first substrate for receiving a plurality of touches from a user;
A tactile sensor that senses the plurality of touches with respect to a first area that is at least a portion of an entire area of the first substrate;
A control unit for detecting a conversion factor for the first area and outputting a plurality of electrical signals for outputting a plurality of tactile feedbacks according to a control variable when the tactile sensor senses the plurality of touches; And
An actuator for outputting a trigger signal for outputting the plurality of tactile feedbacks in response to the plurality of electrical signals,
The controller controls the plurality of tactile feedbacks to be output only for the first region by using the change of the electrostatic force according to the plurality of touches.
And the conversion factor is a position factor and a force factor for the first area sensed using at least one of a change in capacitance and a change in resistance according to the plurality of touches. 11. The method of claim 10,
Further comprising an electrode for generating the electrostatic force,
The electrostatic force is characterized in that determined using the following equation, haptic generating device.
Equation

here,

Is the electrostatic force,

Is the dielectric constant in vacuum,

Is the dielectric constant,

Is an area where the electrode is disposed,

Is the voltage applied to the electrode,

Represents a distance between the electrode and the input touch. 12. The method of claim 11,
The electrode includes at least one of indium tin oxide (ITO), carbon nanotubes, graphene, metal nanowires, polymer conductors (PEDOT), and transparent conductive oxides (TCO). 12. The method of claim 11,
Further comprising a second substrate,
The electrode and the actuator are disposed in a predetermined shape on the upper surface of the second substrate, the tactile sensor is disposed in a predetermined shape on the lower surface of the second substrate,
The second substrate includes a liquid crystal display (LCD), an organic light-emitting diode (OLED), an OLED-based flexible display, and electronic paper. Sensing a touch on a first area that is at least a portion of an entire area of the first substrate;
Sensing a conversion factor for the first region and outputting an electrical signal for outputting tactile feedback according to a control variable; And
In response to the electric signal, outputting a trigger signal for outputting the tactile feedback,
The tactile feedback is output only for the first area by using a change in electrostatic force according to the touch,
Wherein the conversion factor is a position factor and a force factor for the first area sensed using at least one of a change in capacitance and a change in resistance according to the touch. . 15. The method of claim 14,
The electrostatic force is generated using an electrode,
The electrostatic force is determined using the following equation, the control method of the haptic generating device.
Equation

here,

Is electrostatic force,

Is the dielectric constant in vacuum,

Is the dielectric constant,

Is an area where the electrode is disposed,

Is the voltage applied to the electrode,

Represents a distance between the electrode and the input touch. Sensing a plurality of touches on a first area that is at least a portion of an entire area of the first substrate;
Sensing a conversion factor for the first area and outputting a plurality of electrical signals according to a control variable to output a plurality of tactile feedbacks; And
In response to the plurality of electrical signals, outputting a trigger signal for outputting the plurality of tactile feedbacks,
The plurality of tactile feedbacks are output only for the first region by using a change in electrostatic force according to the plurality of touches,
The transducer may be a position factor and a force factor for the first area sensed using at least one of a change in capacitance and a change in resistance according to the plurality of touches. Control method. 17. The method of claim 16,
The electrostatic force is generated using an electrode,
The electrostatic force is determined using the following equation, the control method of the haptic generating device.
Equation

here,

Is electrostatic force,

Is the dielectric constant in vacuum,

Is the dielectric constant,

Is an area where the electrode is disposed,

Is the voltage applied to the electrode,

Represents a distance between the electrode and the input touch. In the recording medium which is tangibly embodied a program of instructions that can be executed by a digital processing apparatus for carrying out a method for generating a tactile sense, and which can be read by the digital processing apparatus,
The method for generating the tactile sense,
Sensing a touch on a first area that is at least a portion of an entire area of the first substrate;
Sensing a conversion factor for the first region and outputting an electrical signal for outputting tactile feedback according to a control variable; And
In response to the electric signal, outputting a trigger signal for outputting the tactile feedback,
The tactile feedback is output only for the first area by using a change in electrostatic force according to the touch,
And the conversion factor is a position factor and a force factor for the first area sensed using at least one of a change in capacitance and a change in resistance according to the touch. 19. The method of claim 18,
The electrostatic force is generated using an electrode,
The electrostatic force is characterized by using the following equation, recording medium.
Equation

here,

Is electrostatic force,

Is the dielectric constant in vacuum,

Is the dielectric constant,

Is an area where the electrode is disposed,

Is the voltage applied to the electrode,

Represents a distance between the electrode and the input touch. In the recording medium which is tangibly embodied a program of instructions that can be executed by a digital processing apparatus for carrying out a method for generating a tactile sense, and which can be read by the digital processing apparatus,
The method for generating the tactile sense,
Sensing a plurality of touches on a first area that is at least a portion of an entire area of the first substrate;
Sensing a conversion factor for the first area and outputting a plurality of electrical signals according to a control variable to output a plurality of tactile feedbacks; And
In response to the plurality of electrical signals, outputting a trigger signal for outputting the plurality of tactile feedbacks,
The plurality of tactile feedbacks are output only for the first region by using a change in electrostatic force according to the plurality of touches,
And the conversion factor is a position factor and a force factor for the first area sensed using at least one of a change in capacitance and a change in resistance according to the plurality of touches. 21. The method of claim 20,
The electrostatic force is generated using an electrode,
The electrostatic force is characterized by using the following equation, recording medium.
Equation

here,

Is electrostatic force,

Is the dielectric constant in vacuum,

Is the dielectric constant,

Is an area where the electrode is disposed,

Is the voltage applied to the electrode,

Represents a distance between the electrode and the input touch.

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