KR101911625B1 - Device, method and tactile display for providing tactile sensation using ultrasonic wave - Google Patents

Abstract

Disclosed is a tactile feedback device and method, and a tactile display device, which adjust a frequency of an ultrasonic wave so that a standing wave is formed inside a tactile feedback film that a user touches. The disclosed tactile feedback device includes an ultrasonic transmitter for emitting ultrasonic waves; A tactile feedback film which vibrates by the ultrasonic waves to provide a tactile sensation to a user contacting one surface; And a control unit for adjusting a frequency of the ultrasonic wave so that a standing wave is formed inside the tactile feedback film.

Description

TECHNICAL FIELD [0001] The present invention relates to a device, a method and a tactile display device using ultrasonic waves.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile feedback device, a tactile feedback device, and a tactile display device, and more particularly, to a tactile feedback device and method using ultrasonic waves and a tactile display device.

Ultrasonic waves are sounds that have frequencies higher than those of human audible sounds, that is, audible frequencies (20 to 20,000 Hz).

Since ultrasound can transmit a signal that can not be heard by the human ear, it is used for the purpose of focusing the remote control or the camera. Ultrasonic wave is also used to grasp the shape through ultrasound reflected from the object because it has a short wavelength. In particular, ultrasonic waves are used to detect objects and terrains in the water using the fact that sound waves propagate well in the water, and they are also used to diagnose the body.

Recently, various devices for providing stimulation to users by using ultrasonic waves have been researched and developed. A touch display device for providing tactile sensation with ultrasonic waves, a brain stimulation device using ultrasonic waves, and an ultrasonic physical therapy device.

Generally, in the case of ultrasonic tactile display using ultrasound, high intensity input energy and a large number of ultrasonic transducers are required to induce high physical energy due to properties such as attenuation and offset of ultrasonic waves. Therefore, in the present tactile display using ultrasonic waves, dozens of ultrasonic transducers are arranged and the respective phases are adjusted to form one focus. This superimposes the physical energies from each transducer.

In such a conventional ultrasonic tactile display, dozens of ultrasonic transducers are disposed in order to form one focus for inducing physical stimulation, and high input energy is required. Therefore, it is possible to form a tactile stimulus only at a distance from the ultrasound tactile display, because it has a limitation in forming multiple focal points at the same time and requires a certain distance to form a single focus. In order to form a single focus through several transducers, the respective transducers must be simultaneously controlled to match the phases. To do so, a complicated internal control circuit is required, which limits the miniaturization.

A related prior art document is Korean Patent No. 10-1516923.

The present invention provides a tactile force providing device and method, and a tactile display device, which adjust a frequency of an ultrasonic wave so that a standing wave is formed inside a tactile feedback film that a user touches.

According to an aspect of the present invention, there is provided an ultrasonic diagnostic apparatus comprising: an ultrasonic transmitter for emitting ultrasound; A tactile feedback film which vibrates by the ultrasonic waves to provide a tactile sensation to a user contacting one surface; And a control unit for adjusting a frequency of the ultrasonic wave so that a standing wave is formed inside the tactile feedback film.

According to another aspect of the present invention, there is provided an ultrasound system including: an ultrasound cell array for emitting or receiving ultrasound; A tactile feedback film formed on the ultrasonic cell array and vibrating by the ultrasonic waves to provide a tactile sensation to a user contacting one surface; And a control unit for adjusting a frequency of the ultrasonic wave so that a standing wave is formed inside the tactile feedback film.

According to another aspect of the present invention, there is provided a method of manufacturing a touch screen, comprising the steps of: radiating ultrasonic waves into a tactile feedback film using an ultrasonic transmitter; Receiving ultrasound reflected by one surface of the tactile feedback film that the user touches; And adjusting a frequency of an ultrasonic wave radiated to form a standing wave within the tactile feedback film using the reflected ultrasonic waves.

According to the present invention, ultrasonic energy can be efficiently converted into kinetic energy and the power consumed for providing tactile feedback can be reduced by providing tactile sensation using standing waves.

According to the present invention, a standing wave can be continuously formed in the tactile feedback film by adjusting the frequency of the ultrasonic waves adaptively to the displacement occurring on one surface of the tactile providing film according to the user's touch.

Further, according to the present invention, it is possible to increase the kinetic energy conversion efficiency of the ultrasonic energy per ultrasonic cell by providing the tactile display device using the standing wave, and even if the phase control of the ultrasonic cell is not performed so that the focus of the ultrasonic wave radiated by the ultrasonic cell is formed into one , It is possible to efficiently provide the user with tactile feedback.

1 is a block diagram showing a tactile feedback apparatus using ultrasonic waves according to an embodiment of the present invention.
FIG. 2 is a view showing a coupling relationship between an ultrasonic transmitter and a tactile sensation providing film according to an embodiment of the present invention.
3 is a view for explaining a frequency adjusting method of a controller according to an embodiment of the present invention.
4 is a view for explaining a tactile display device using ultrasonic waves according to an embodiment of the present invention.
5 is a diagram showing a state in which a user touches the tactile display device.
6 is a view for explaining a method of providing tactile feedback using ultrasonic waves according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing a tactile feedback apparatus using ultrasonic waves according to an embodiment of the present invention. FIG. 2 is a diagram showing a coupling relationship between an ultrasonic transmitter and a tactile feedback film according to an embodiment of the present invention.

1 and 2, the tactile providing device according to the present invention includes an ultrasonic transmitter 110, a tactile feedback film 120, and a controller 130.

The ultrasonic wave transmitting unit 110 emits the ultrasonic waves 140 and the touch providing film 120 vibrates by the ultrasonic waves 140.

When the user touches one surface of the tactile feedback film 120 by touching the tactile feedback film 120 by ultrasonic waves, the user can feel the touch. The touch-imparting film 120 is preferably an elastic body capable of vibrating by ultrasonic energy. The touch-providing film 120 may be made of polydimethylsiloxane (PDMS) as an example, and may be manufactured to a thickness of about 2 mm. The material and the thickness of the tactile feedback film 120 can be variously changed according to the embodiment.

The control unit 130 adjusts the frequency of the ultrasonic waves so that a standing wave is formed within the tactile feedback film 120. The ultrasonic transmission unit 110 generates ultrasonic waves according to the frequency controlled by the control unit 130 It can radiate.

The touch-providing film 120 is combined with the ultrasonic transmitter 110 and is located in the radial direction 220 of the ultrasonic wave 140. The ultrasonic waves radiated to the tactile providing film 120 travel in the radial direction 220 of the ultrasonic wave 140 inside the tactile providing film 120 and are reflected by one surface 210 of the tactile providing film 120. The ultrasonic wave is reflected and the tactile feedback film 120 can vibrate.

The control unit 130 adjusts the frequency of the ultrasonic waves so that a standing wave can be formed inside the tactile feedback film 120 by the reflected waves. When the user touches the tactile feedback film 120, the thickness of the tactile feedback film 120 is changed and the standing wave is formed inside the tactile feedback film 120

Since the frequency of the ultrasonic waves needs to be varied according to the thickness of the tactile feedback film 120, the controller 120 adjusts the frequency of the ultrasonic waves so that a standing wave can be continuously formed inside the tactile feedback film 120.

According to the present invention, since the ultrasonic energy can be efficiently converted into the kinetic energy that vibrates the tactile feedback film 120 when the standing wave is formed inside the tactile feedback film 120, Can be reduced.

Further, according to the present invention, since the ultrasonic energy can be efficiently converted into kinetic energy that vibrates the tactile feedback film 120, when the tactile feedback device according to the present invention is applied to the tactile display device described below, It is possible to provide the user with a tactile effect efficiently even if the ultrasonic waves emitted by the user do not control to form one focus.

3 is a view for explaining a frequency adjusting method of a controller according to an embodiment of the present invention.

3 (a) is a diagram showing a standing wave formed inside the tactile feedback film 120 in a state in which the user is not in contact. Figs. 3 (b) and 3 (c) 120 provided on the tactile feedback film 120 in contact with one surface of the tactile feedback film 120. 3, arrows on the left side of the tactile feedback film 120 indicate the direction of radiation of the ultrasonic waves. A user touches one surface 310 of the tactile feedback film 120 and the ultrasonic transmission unit 110 is coupled to the other surface 320. [

In FIG. 3, for the sake of understanding, the actual thickness of the tactile feedback film, the actual frequency and wavelength of the ultrasonic wave, and the like are not considered, but will be conceptually explained.

When the thickness of the tactile feedback film is L, the wavelength? Of the standing wave formed inside the tactile feedback film can be calculated as shown in Equation (1). In Equation (1), n can be determined as a natural number according to the embodiment.

The speed of the ultrasonic wave can be calculated by multiplying the frequency and the wavelength of the ultrasonic wave.

3 (a), the control unit 130 uses the velocity of the ultrasonic wave propagating in the tactile feedback film 120 and the thickness of the tactile feedback film 120 to generate a standing wave within the tactile feedback film 120 The frequency of the ultrasonic waves can be determined so that the ultrasonic waves can be formed.

According to Equation (1), when L is variable, the wavelength of the standing wave can be changed, and the velocity of the ultrasonic wave is constant. Therefore, it is necessary to adjust the frequency of the ultrasonic wave according to the change of L. Accordingly, the controller 130 adjusts the frequency of the ultrasonic waves so that a standing wave can be formed inside the tactile feedback film, in accordance with the displacement of one surface of the tactile feedback film that occurs when the user touches the tactile feedback film. As described above, the tactile feedback film 120 is an elastic body, and therefore, when an external force is applied to one surface of the tactile feedback film 120 by the user's touch, one side is compressed and L is varied.

3 (b) and 3 (c), when the skin of the user touches one surface of the tactile feedback film 120, one surface of the tactile feedback film on which one surface is compressed and thus the ultrasonic waves are reflected, The distance L between the transmitting parts decreases. The control unit 130 adjusts the frequency so that a standing wave can be formed according to the distance between the ultrasonic transmitter 110 and one side of the tactile feedback film 120.

According to Equation (1), when L is decreased, the wavelength of the standing wave must also be reduced, and the velocity of the ultrasonic wave is constant, so that the controller 130 increases the frequency of the ultrasonic wave as the wavelength of the standing wave decreases.

According to Equation (1), if n decreases together with L decrease, the wavelength of the standing wave can be increased as shown in FIG. 3 (b). At this time, the control unit 130 can reduce the frequency of the ultrasonic waves as the wavelength of the standing wave increases, so that a standing wave can be formed inside the tactile feedback film 120.

The tactile feedback device according to the present invention may further include an ultrasonic receiver for receiving ultrasonic waves reflected from one surface of the tactile feedback film 120. The ultrasonic receiver may be formed as a module together with the ultrasonic transmitter 110 .

The displacement of one surface of the tactile feedback film 120 can be estimated using ultrasonic waves reflected by one surface. In one embodiment, the controller 130 may estimate the distance between the ultrasonic transmitter and the ultrasonic transmitter using a ToA (Time of Arrival) algorithm that uses the time taken for the transmitted ultrasonic waves to be reflected and received.

In yet another embodiment, the controller 130 may adjust the frequency of the ultrasonic waves according to the power of the reflected ultrasonic waves. That is, the controller 130 can determine that the displacement of one surface of the tactile feedback film is different depending on the power of the reflected ultrasonic waves.

Since the standing wave and the reflected wave having the same frequency and amplitude are formed by overlapping each other, the reflected ultrasonic wave shows the maximum power when it is received by the ultrasonic receiving unit in a superimposed state with the traveling wave. If the reflected ultrasonic wave does not overlap with the traveling wave, the power of the reflected wave received by the mutual interference can be weakened. That is, the frequency of the ultrasonic wave when the power of the ultrasonic waves reflected from one surface of the tactile-providing film reaches a maximum can be seen as an ultrasonic wave that can form a standing wave inside the tactile feedback film 120.

The ultrasonic transmission unit 110 sequentially emits ultrasonic waves whose frequencies are adjusted at predetermined intervals. The power of the signal received by the ultrasonic wave receiving unit changes according to the frequency according to the displacement of one surface of the tactile providing film 120. The controller 130 sets the frequency of the ultrasonic wave representing the maximum power among the received ultrasonic waves as a frequency for forming a standing wave You can decide.

The ultrasonic transmission unit 110 may periodically emit ultrasonic waves for providing touch and ultrasonic waves for determining a standing wave frequency.

As a result, according to the present invention, a standing wave can be continuously formed in the tactile feedback film by adjusting the frequency of the ultrasonic waves adaptively to the displacement occurring on one surface of the tactile providing film in accordance with the user's touch.

FIG. 4 is a view for explaining a tactile display device using ultrasonic waves according to an embodiment of the present invention, and FIG. 5 is a view showing a state where a user touches the tactile display device.

4, the tactile display device according to the present invention includes an ultrasound cell array 410, a tactile feedback film 420, and a controller 430. In FIG. 4, an ultrasonic wave cell array of 8 horizontal and 8 vertical ultrasonic wave cells is shown as an embodiment, but the number of ultrasonic cells can be changed according to the size of the tactile display device.

The ultrasonic cell array 410 emits or receives ultrasonic waves. At least one of the ultrasonic cells includes an ultrasonic wave radiating part for emitting ultrasound waves and an ultrasonic wave receiving part for receiving reflected ultrasonic waves. That is, the ultrasonic cell may include an ultrasonic transmission unit, an ultrasonic reception unit, or both an ultrasonic transmission unit and a reception unit.

The touch-imparting film 420 is formed on the ultrasonic cell array 410 and vibrates by ultrasonic waves to provide touch to the user in contact with one surface.

The control unit 430 adjusts the frequency of the ultrasonic waves so that a standing wave is formed inside the tactile feedback film 420. The control unit 430 may be formed on the substrate and coupled to the ultrasound cell array 410 or may be assigned to the ultrasound cell array according to the embodiment.

The tactile display device according to the present invention has a configuration in which the above-mentioned tactile feedback device is arranged, and the tactile feedback film is integrally provided. Accordingly, the controller 430 adjusts the frequency by the same method as that of the tactile feedback device described above, and controls the frequency of each ultrasonic cell.

FIG. 5 shows a configuration in which more ultrasonic cells are arranged than in FIG. 4. As shown in FIG. 5, since the area of the tactile feedback film 520 is wide, The thickness of the tactile feedback film 520 can be reduced in the area where the user's touch occurs. Therefore, the control unit adjusts the frequency of the ultrasonic waves radiated by the ultrasonic cells 531 to 536 located under the region where the user's touch occurs, according to the displacement of one surface of the tactile feedback film 520.

The control unit determines the distance between one surface of the tactile feedback film 520 and the ultrasonic cells 531 to 536 using the reflected ultrasonic waves as described above, 531 to 536) can be adjusted.

In this case, if the ultrasonic cell is formed to be very small, there is no large difference in distance between one surface of most of the ultrasonic cells located in the area where the user touches and the one surface of the tactile sensation providing film. Therefore, all the ultrasonic cells receive reflected ultrasonic waves, Determining the distance or power may be inefficient. Therefore, according to the embodiment, the ultrasound receiving unit is not included in all of the ultrasound cells, but may be included in only a part of the ultrasound cells within a predetermined area. Only a part of the ultrasonic cells within the predetermined zone can sequentially emit ultrasound whose frequency is adjusted at predetermined intervals in order to determine the standing wave frequency.

For example, when the ultrasonic cells included in the first zone are the first to third ultrasonic cells 531 to 533, and the ultrasonic cells included in the second zone are the fourth to sixth ultrasonic cells 534 to 536 Only the second ultrasonic wave cell 532 and the fifth ultrasonic wave cell 535 may include an ultrasonic wave receiving unit or only the second ultrasonic wave cell 532 and the fifth ultrasonic wave cell 535 may include a predetermined interval It is possible to sequentially radiate the ultrasonic waves whose frequency is controlled by the ultrasonic waves.

The controller may adjust the frequency of the ultrasonic waves emitted by the first through third ultrasonic waves 531 through 533 according to the ultrasonic signals received from the second ultrasonic cell 532, The frequency of the ultrasonic waves radiated by the fourth through sixth ultrasonic waves 534 through 536 can be adjusted.

4, the control unit 430 can determine the displacement of one surface of the tactile feedback film using the reflected ultrasonic waves, and can detect the region where the displacement occurs in the region of the tactile feedback provided by the skin of the user .

The controller 430 can determine an ultrasonic cell to emit ultrasonic waves among the ultrasonic cells positioned below the area of the tactile feedback film 420 that the user's skin touches. The degree of the touch sensed by the user may be changed according to the number of the ultrasonic waves to emit the ultrasonic waves and the control unit 430 may adjust the degree of the touch by adjusting the number of the ultrasonic cells to emit the ultrasonic waves.

Referring to FIG. 5, for example, the control unit 430 may control the degree of the touch felt by the user by controlling all or some of the ultrasonic cells 531 to 536 to emit ultrasonic waves.

As a result, according to the present invention, it is possible to increase the kinetic energy conversion efficiency of the ultrasonic energy per ultrasonic cell by providing the tactile sensation by using the standing waves. Therefore, even if the phase control of the ultrasonic cell is not performed so that the focus of the ultrasonic wave radiated by the ultrasonic cell is formed into one , It is possible to efficiently provide the user with tactile feedback.

In FIG. 4, a tactile display device including a plurality of ultrasonic cells has been described as an embodiment. However, the tactile display device may be used in a form including one ultrasonic cell. In this case, The device can be utilized as a tactile display device.

6 is a view for explaining a method of providing tactile feedback using ultrasonic waves according to an embodiment of the present invention.

The method of providing a tactile sensation according to the present invention can be performed in the tactile providing device and the tactile display device described in Figs. 1 to 5. Hereinafter, a method of providing tactile feedback of the tactile providing device will be described as an embodiment.

The tactile feedback apparatus according to the present invention uses an ultrasonic transmission unit to emit an ultrasonic wave (S610) using a tactile feedback film, and receives ultrasonic waves reflected by one side of a tactile feedback film that the user touches (S620).

The tactile feedback device uses the reflected ultrasonic waves to adjust the frequency of the emitted ultrasonic waves. At this time, the tactile feedback device adjusts the frequency of the ultrasonic wave radiated to form a standing wave inside the tactile feedback film (S630).

In one embodiment, the tactile providing device according to the present invention can adjust the frequency of ultrasonic waves according to the distance between the ultrasonic transmitter and one surface. That is, the tactile providing device can determine the distance between the ultrasonic transmitter and the one surface using the received ultrasonic wave, and adjust the frequency of the ultrasonic wave according to the determined distance.

Alternatively, the tactile providing device according to the present invention may adjust the frequency of the ultrasonic wave by using the power of the received ultrasonic wave as another embodiment. In step S610, the tactile feedback device may sequentially radiate the ultrasound waves whose frequencies are adjusted at predetermined intervals for determination of the standing wave frequency. In step S630, the tactile feedback device determines the frequency of the ultrasound waves, It can be determined as a frequency for standing wave formation.

The above-described technical features may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and specific embodiments and drawings. However, it should be understood that the present invention is not limited to the above- And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

Claims (15)

An ultrasonic transmitter for emitting ultrasonic waves;
A tactile feedback film of an elastic body that vibrates by the ultrasonic waves to provide a touch to a user contacting one surface;
An ultrasonic receiver for receiving ultrasonic waves reflected from the one surface; And
And a controller for adjusting a frequency of the ultrasonic wave so that a standing wave is formed inside the tactile feedback film,
Wherein the control unit determines the distance between the ultrasonic wave transmitting unit and the one surface by the displacement of the one surface generated when the user touches the tactile feedback film using the received ultrasonic wave, Regulate
A tactile feedback device using ultrasonic waves.
delete delete delete delete An ultrasonic transmitter for emitting ultrasonic waves;
A tactile feedback film of an elastic body that vibrates by the ultrasonic waves to provide a touch to a user contacting one surface;
An ultrasonic receiver for receiving ultrasonic waves reflected from the one surface; And
And a controller for adjusting a frequency of the ultrasonic wave so that a standing wave is formed inside the tactile feedback film,
The ultrasonic transmission unit sequentially emits ultrasonic waves whose frequency is adjusted at predetermined intervals,
The control unit determines the frequency of the ultrasonic wave representing the maximum power among the received ultrasonic waves as the frequency for forming the standing wave
A tactile feedback device using ultrasonic waves.
The method according to claim 6,
The touch-
The ultrasonic wave transmitting unit being coupled to the ultrasonic wave transmitting unit,
A tactile feedback device using ultrasonic waves.
An ultrasound cell array for emitting or receiving ultrasonic waves;
A tactile feedback film formed on the ultrasonic cell array and vibrating by the ultrasonic waves to provide a touch to a user contacting one surface; And
And a controller for adjusting a frequency of the ultrasonic wave so that a standing wave is formed inside the tactile feedback film,
At least one of the ultrasonic cells
An ultrasonic transmitter for emitting the ultrasonic wave; And
And an ultrasonic receiver for receiving the reflected ultrasonic waves,
The control unit
An ultrasound cell to emit the ultrasonic wave is determined from the ultrasound cells positioned below the region of the tactile feedback film that the user's skin contacts
A tactile display device using ultrasonic waves.
delete delete 9. The method of claim 8,
The control unit
The region of the tactile feedback film on which the skin of the user is touched is detected using the reflected ultrasonic waves
A tactile display device using ultrasonic waves.
An ultrasound cell array for emitting or receiving ultrasonic waves;
A tactile feedback film formed on the ultrasonic cell array and vibrating by the ultrasonic waves to provide a touch to a user contacting one surface; And
And a controller for adjusting a frequency of the ultrasonic wave so that a standing wave is formed inside the tactile feedback film,
At least one of the ultrasonic cells
An ultrasonic transmitter for emitting the ultrasonic wave; And
And an ultrasonic receiver for receiving the reflected ultrasonic waves,
At least one of the ultrasonic cells
And sequentially emits ultrasound whose frequency is adjusted at a predetermined interval
A tactile display device using ultrasonic waves.
Radiating an ultrasonic wave into a tactile feeling providing film of an elastic body by using an ultrasonic transmission unit;
Receiving ultrasound reflected by one surface of the tactile feedback film that the user touches; And
And adjusting the frequency of the ultrasonic wave radiated so as to form a standing wave inside the tactile feedback film using the reflected ultrasonic wave,
The step of radiating the ultrasonic waves
Sequentially emits ultrasound whose frequency is adjusted at a predetermined interval,
The step of adjusting the frequency of the ultrasonic wave
The frequency of the ultrasonic wave representing the maximum power among the received ultrasonic waves is determined as the frequency for forming the standing wave
A method of providing a touch using ultrasonic waves.
delete delete

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