WO2018233344A1

WO2018233344A1 - Haptic feedback apparatus and method, readable storage medium and electronic product

Info

Publication number: WO2018233344A1
Application number: PCT/CN2018/081724
Authority: WO
Inventors: 权雯琪; 闵航; 舒勇; 孙贺; 王雪峰
Original assignee: 京东方科技集团股份有限公司; 重庆京东方光电科技有限公司
Priority date: 2017-06-22
Filing date: 2018-04-03
Publication date: 2018-12-27
Also published as: CN107239145B; CN107239145A

Abstract

A haptic feedback apparatus (100) and haptic feedback method. The haptic feedback apparatus (100) comprises: at least one connection structure (160), a wearable device (101) and at least one signal generator (180). One end of the connection structure (160) is connected to the wearable device (101), and the other end of the connection structure (160) is connected to the signal generator (180). The wearable device (101) is configured to detect a target position. The signal generator (180) is configured to generate a perception signal according to a control signal, and to output the perception signal.

Description

Tactile feedback device and method, readable storage medium, electronic product

Technical field

Embodiments of the present disclosure are directed to a haptic feedback device and method.

Background technique

Virtual reality technology involves many aspects such as simulation environment, perception, natural skills, and sensing devices. For example, perception means that ideal virtual reality technology should have all the perceptions that people have. That is to say, in addition to the visual perception generated by computer graphics technology, virtual reality technology also has a perception of hearing, touch, motion, and even smell. In virtual reality technology, a user can touch a virtual object, and the user desires to obtain a similar feeling to the real object corresponding to touching the virtual object.

Summary of the invention

At least one embodiment of the present disclosure provides a haptic feedback device comprising: at least one connection structure, a wearable device, and at least one signal generator. One end of the connection structure is connected to the wearable device, and the other end of the connection structure is connected to the signal generator. The wearable device is configured to detect a target location. The signal generator is configured to generate a sensing signal in accordance with the control signal and output the sensing signal.

For example, the wearable device is further configured to: determine a virtual object at the target location; generate the control signal according to the virtual object; and transmit the control signal to the signal generator.

For example, the haptic feedback device further includes a processing device; the processing device configured to: determine a virtual object at the target location; generate the control signal according to the virtual object; and send the control signal to the The signal generator.

For example, the connection structure includes a housing and a signal line located inside the housing; the signal line is configured to transmit the control signal from the wearable device to the signal generator.

For example, the outer casing is a deformable material; and the deformable material comprises a metal.

For example, the connecting structure is a deformable long rod.

For example, the haptic feedback device includes a plurality of connection structures and a plurality of signal generators, the plurality of connection structures being connected in one-to-one correspondence with the plurality of signal generators; the plurality of connection structures are discretely disposed on the a wearable device; and the plurality of connection structures are unequal in length.

For example, the wearable device includes a first wireless transceiver, the signal generator includes a second wireless transceiver, the wearable device and the signal release device pass the first wireless transceiver and the second The wireless transceiver communicates.

For example, the wearable device includes a sensor configured to detect the target location.

For example, the wearable device further includes: a memory configured to store location information of the plurality of virtual objects; and a processor configured to identify the virtual location at the target location according to location information of the plurality of virtual objects object.

For example, the memory is further configured to store attribute information of the plurality of virtual objects; the processor is further configured to: acquire virtuality at the target location according to attribute information of the plurality of virtual objects Attribute information of the object; and generating the control signal according to attribute information of the virtual object at the target position.

For example, the signal generator has a spherical shape or a funnel shape.

For example, the signal generator includes one or more of an optical signal generator, an electrical signal generator, a wind signal generator, a vibrator, and a thermal signal generator.

At least one embodiment of the present disclosure also provides a haptic feedback method including: detecting a target position; determining a virtual object at the target position; generating a control signal according to the virtual object; and generating a sensing signal according to the control signal, And outputting the sensing signal.

For example, the determining the virtual object at the target location comprises: acquiring location information of the stored plurality of virtual objects; and identifying the virtual object at the target location according to the location information of the plurality of virtual objects.

For example, generating the control signal according to the virtual object includes: acquiring attribute information of the stored plurality of virtual objects; acquiring attributes of the virtual object at the target position according to attribute information of the plurality of virtual objects Information; and generating the control signal based on attribute information of the virtual object at the target location.

For example, the generating the sensing signal according to the control signal comprises: generating one or more of an optical signal, an electrical signal, a wind signal, a vibration signal, a cold signal, and a thermal signal according to the control signal.

At least one embodiment of the present disclosure provides a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement one or more steps of the haptic feedback method.

At least one embodiment of the present disclosure provides an electronic product comprising one or more processors configured to execute computer instructions to perform one or more steps of the haptic feedback method.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It is obvious that the drawings in the following description relate only to some embodiments of the present disclosure, and are not to limit the disclosure. .

1 is a schematic structural diagram of a haptic feedback device according to an embodiment of the present disclosure;

2 is a schematic diagram of a physical object of a tactile feedback device according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of an application scenario of a haptic feedback device according to an embodiment of the present disclosure;

FIG. 4 is a flowchart of a haptic feedback method according to an embodiment of the present disclosure.

Detailed ways

The technical solutions in the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, by way of the accompanying drawings. Embodiments and their various features and advantageous details. It should be noted that the features shown in the figures are not necessarily drawn to scale. The examples are given only to facilitate an understanding of the implementation of the example embodiments of the present disclosure, and to enable those skilled in the art to practice the example embodiments. Therefore, the examples are not to be construed as limiting the scope of the embodiments of the present disclosure.

Unless otherwise specifically defined, technical terms or scientific terms used in the present disclosure shall be understood in the ordinary meaning as understood by those having ordinary skill in the art to which the disclosure pertains. The words "first," "second," and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are used to distinguish different components. In addition, in the various embodiments of the present disclosure, the same or similar reference numerals denote the same or similar components.

Virtual reality technology is a collection of various technologies such as simulation technology, computer graphics human-machine interface technology, multimedia technology, sensing technology and network technology. In a system corresponding to virtual reality technology, the user can see and touch a virtual object. In order to simulate the feeling that the hand actually touches the virtual object, the device commonly used in virtual reality technology is to simulate the tactile sensation by installing some vibrating contacts on the inner layer of the glove or by transmitting vibrations from the hand-held sensor handle. However, the disadvantages of the above methods are also obvious. For example, the shock contacts in the handle and glove can only simulate the touch of a small part of the object, and the glove also isolates the hand from the air, so the comfort is not good.

A specific implementation manner of a haptic feedback device and method provided by an embodiment of the present disclosure is described in detail below with reference to FIG.

As shown in FIG. 1, an embodiment of the present disclosure provides a haptic feedback device 100 that can be used in virtual reality technology. The haptic feedback device 100 includes at least one connection structure 160 (eg, 160a, 160b, 160c, etc. in FIG. 1), a wearable device 101, and at least one signal generator 180 (eg, 180a, 180b, 180c, etc. in FIG. 1). . One end of the connection structure 160 is connected to the wearable device 101, and the other end of the connection structure 160 is connected to the signal generator 180. The connection structure 160 characterized by the arrows in FIG. 1 is only used to illustrate that the wearable device 101 and the signal generator 180 can be connected through both ends of the connection structure 160, and for the structure of the connection structure 160, reference can be made to the following embodiments.

The wearable device 101 described above may be configured to perform an operation of: detecting a target position; determining a virtual object at the target position; generating a control signal according to the virtual object; and transmitting the control signal to the signal generator.

The signal generator 180 described above may be configured to generate a sensing signal in accordance with a control signal generated by the wearable device 101 and output a sensing signal. Further, the sensing signal will be perceived by the sender's hand by a perceived action (eg, a touch action).

In some embodiments, the above control signals can be transmitted in a wired manner. Correspondingly, the connecting structure 160 may include: a casing and a signal line located inside the casing. The signal line is configured to transmit the control signal from the wearable device 101 to the signal generator 180. For example, the signal line is a bundle or a plurality of transmission lines composed of a plurality of cable lines, and the carrier of the signal line may be a metal or other carrier such as an optical cable or the like.

In some embodiments, the outer casing is of a deformable bendable material. For example, the deformable bendable material may comprise a metal such as iron, copper or aluminum. For example, a signal line using a metal carrier constitutes a plurality of transmission lines, which may be distributed inside the metal casing.

In some embodiments, the above control signals are transmitted wirelessly, for example, short-range wireless transmission techniques may be employed. The corresponding connection structure 160 can be a deformable long rod. The deformable long rod also adopts a material that can be deformed and bendable. For example, the deformable bendable material includes a metal such as iron, copper or aluminum. For example, an iron rod is used as the connection structure 160, one end of which is connected to the wearable device 101, and the other end is connected to a signal generator 180. For example, short-range wireless transmission technologies include Bluetooth, ultra-wideband, or wifi. For example, wearable device 101 can include a first wireless transceiver, signal generator 180 includes a second wireless transceiver, and wearable device 101 and signal processor 180 can communicate via a first wireless transceiver and a second wireless transceiver.

In some embodiments, haptic feedback device 100 can simultaneously transmit the generated control signals in one of a wired transmission or a wireless manner. At this time, the corresponding connection structure 160 is realized by arranging signal lines inside the casing and the casing. In order to achieve the purpose of simultaneously transmitting a control signal wirelessly, the wearable device 101 may include a first wireless transceiver, and the signal generator 180 includes a second wireless transceiver. When the haptic feedback device 100 operates in an environment covered by a wireless network, the generated control signals can be transmitted wirelessly. When the haptic feedback device 100 operates in an environment without network coverage, or when the network coverage signal is not good, the generated control signals may be transmitted in a wired manner, that is, using signal lines inside the connection structure 160.

In some embodiments, haptic feedback device 100 includes a plurality of connection structures 160 and a plurality of signal generators 180, one-to-one correspondence between connection structure 160 and signal generator 180. That is, a connection structure 160 is coupled to a signal generator 180, wherein the plurality of signal generators 180 can belong to different categories, respectively generating and outputting different sensing signals.

Each of the connection structures 160 is discretely disposed on the wearable device 101. For example, when the wearable device 101 is a wristband, the connection structure 160 is detachably coupled to the wristband.

In order for portions of the hand to sense the perception of touching the virtual object, respectively, the length of each of the connection structures 160 may not be equal in some embodiments. For example, a shorter connection structure 160 is provided corresponding to the palm position, and a relatively longer connection structure 160 is provided for the fingertip portion. In other embodiments, the purpose of sensing the tactile signals by different portions of the hand may also be achieved by bending the respective connecting structures 160. In this case, the lengths of the connecting structures 160 may be equal or similar.

In some embodiments, to achieve a simulated effect of simulating different virtual objects, a plurality of different types of multiple signal generators may be employed. That is, the perception of various different virtual objects is simulated by adjusting the number and type of signal generators 180. For example, when the touched virtual object is a low-heat virtual object, two heat signal generators may be used to generate heat; if the virtual object to be touched is a hot virtual object, five or even six heat signal generators may be used. At the same time fever.

In some embodiments, wearable device 101 can include sensor 108. The sensor 108 can be configured to detect the target location. The target location is the location of the virtual object that the user is trying to perceive (eg, touch). The target position may be characterized by position information, for example, using two-dimensional coordinates or three-dimensional coordinates as position information. For example, sensor 108 can employ a position sensor. In some examples, the sensor 108 can determine the target location based on the trajectory of the user's hand movement. For example, the location pointed by the user's hand is the target location.

In some embodiments, the wearable device 101 can further include: a memory 103, and a processor 102. The memory 103 may be configured to store location information of a plurality of virtual objects, and the processor 102 may be configured to identify virtual objects at the target location according to location information of the plurality of virtual objects stored by the memory 103. For example, the memory 103 stores corresponding virtual objects at various locations. After the processor 102 reads the target location, a matching strategy can be used to find the virtual object at the target location. For example, in the memory 103, the virtual object at the spatial position (1, 1, 1) is stored as an ice block. When the user touches the spatial position (1, 1, 1), the processor 103 determines that the user touches at this time. The virtual object is ice.

In some embodiments, the identification information may also be set on the virtual object, and then the processor 102 identifies the virtual object by determining the identification information. For example, all virtual objects are uniformly coded, and each virtual object corresponds to a unique coded identifier, and each virtual object is characterized by an identification information. Correspondingly, the memory 103 can store a mapping table that identifies the correspondence between the information and the virtual object. For example, when the user touches the virtual object at the target location, the identification information stored on the virtual object at the target location can be read, and then the processor 102 obtains the virtual object at the target location by analyzing the identification information. For example, the coded identification information may be stored using a two-dimensional code or the like.

The types of the above-described virtual objects may include objects of different temperatures, such as objects of different temperatures or electric conductors, which may be perceived by the user's touch. For example, an alarm signal can also be issued when a dangerous virtual object is touched.

In some embodiments, the memory 103 may be further configured to store attribute information of the plurality of virtual objects; the processor 102 is further configured to: acquire, at the target location, according to attribute information of the plurality of virtual objects The attribute information of the virtual object; and the processor 102 generates a corresponding control signal according to the attribute information of the virtual object at the target position.

For example, the attribute information described above is information capable of characterizing a perceptual feature of a virtual object, for example, information characterizing a tactile feature of the virtual object. For example, when the virtual object is an ice cube, the corresponding attribute information may be cool; when the virtual object is a jade bracelet, the corresponding attribute information may be smooth or the like.

Moreover, in some examples, haptic feedback device 100 can also include a processing device (not shown). The sensor 108 that senses the location may be provided only on the wearable device 101, and all or part of the functions of the memory 103 and the processor 102 described above may be implemented in the processing device. Correspondingly, the wearable device 101 needs to set a transmitter to transmit the target location to the processing device, and the processing device recognizes the virtual object at the target location, and further obtains the attribute information of the virtual object by the processing device and finally generates the control. The signal is generated and the control signal is generated to the signal generator 180. For example, a control signal can be sent by the processing device to the signal generator 180 via a wireless channel, or a control signal can be sent by the processing device to the wearable device 101, and then controlled by the wearable device 101 by wire or wirelessly. The signal is sent to signal generator 180.

In some embodiments, the shape of the signal generator 180 can be spherical or funnel shaped. When a spherical signal generator is used, the spherical generator outputs a sensing signal in all directions of the space, so that the palm or the finger is placed at a flexible position at this time. When using a funnel-shaped or other shaped signal generator, it is necessary to analyze the position of the finger or the palm relative to the signal generator so that the sensing signal output by the signal generator can be sensed by the palm or the finger. The sensing signal is generated by signal generator 180 in accordance with a control signal.

In some embodiments, signal generator 180 can include a variety of types, with each type of signal generator producing a single or composite sensing signal. For example, the type of signal generator may include, for example, one or more of an optical signal generator, an electrical signal generator, a wind signal generator, a vibrator, and a cold and heat signal generator.

For example, the electric signal generator generates a current that causes a slight vibration or tingling by a person through the two electrodes, and the wind signal generator generates a gas flow from the end through a heatable and cooled micro fan, and the like.

In some embodiments, the wearable device 101 described above can include a wristband, a wearable wristband, a wearable armband or a wearable ring, and the like.

2 and 3 below will further illustrate an embodiment of the present disclosure by taking a smart bracelet as an example.

The smart bracelet involved in the following technical solutions can be a complete bracelet or a notched wristband. For a notched wristband, it only needs to be worn on the wrist by the user.

As shown in FIG. 2, an embodiment of the present disclosure provides a tactile feedback device that uses a smart bracelet 201 as the wearable device 101 and a ball generator 280 as the signal generator 180. The connecting structure 260 may adopt a structure in which a signal line is disposed in the outer casing and the outer casing, or a long rod which is only used for supporting and fixing the respective signal generators. When a long pole is used as the connection structure, the smart bracelet 20 needs to transmit a control signal to the signal generator 280 using a wireless transceiver, or send or receive a signal related to the smart bracelet 201 using a wireless transceiver. For example, signals associated with smart bracelet 201 include, but are not limited to, target position signals. The length of each connection structure 260 is not equal.

As shown in FIG. 3, an embodiment of the present disclosure provides a schematic diagram of touching a spatial virtual object by using the haptic sensing device 200 of FIG. 2. The user wears a tactile sensing device 310 (corresponding to the tactile feedback device 200 of Fig. 2) and touches a certain position A of the space at which a pentagon firing unit 320 is placed.

The working process of the haptic feedback device 310 is as follows: when the user wears the haptic feedback device 310 and touches the point A of the heating element 320 in the space, the smart bracelet of the haptic feedback device 310 reads the coordinate information of the target position A, and then according to the coordinate information. The coordinate information determines that the virtual object at the target position is a pentagonal heat generating body 320. The smart bracelet regenerates the control information according to the attribute information of the heating element, and then controls the corresponding spherical signal generator to generate the thermal radiation signal. Therefore, the user can perceive the heating signal radiated by the thermal signal generator.

The haptic feedback device 310 integrates a position sensing function, a virtual object recognition function, and a control signal generating function. In order to achieve these functions, a processor, a memory, and a sensor need to be disposed on the smart bracelet of the haptic feedback device 310. The processor reads the instruction code from the memory, reads the position sensing data from the sensor, and reads related data pre-stored by the memory (for example, the related data may include a correspondence relationship between the position information and the virtual object or a correspondence between the virtual object and the attribute information Table), and perform the corresponding function based on the read data and finally output the control signal. The haptic feedback device 310 can output the generated control signal to the signal generator by wire or wirelessly. Each of the signal generators generates a sensing signal in response to a corresponding control signal and outputs to each of the signal generators.

In some embodiments, the smart bracelet included in the haptic feedback device 310 may be used only to implement the location aware function, while the recognition function and the attribute information acquisition function for the virtual object are all implemented by the processing device. The smart bracelet transmits the perceived location information (ie, the target location) to the processing device, and the processing device performs some or all of the functions of virtual object recognition or attribute information acquisition. The control signals can then be sent to the individual signal generators by wired and wireless means by the smart bracelet. Each of the signal generators generates a sensing signal in response to a corresponding control signal and outputs to each of the signal generators.

In some embodiments, the smart bracelet also provides a detection unit (not shown) that is capable of detecting the target position in real time or periodically. If the detecting unit finds that the target position changes, the processor 102 can be notified to acquire the virtual object according to the new target position and finally generate a control signal. Accordingly, after the target location changes, the processor 102 can generate an instruction to turn off the currently turned on signal generator.

As shown in FIG. 4, an embodiment of the present disclosure further provides a haptic feedback method 400. The haptic feedback method 400 may include: step 401, detecting a target position; step 411, determining a virtual object at the target position; step 421, generating a control signal according to the virtual object; and step 431, generating according to the control signal The signal is sensed and the sensed signal is output.

In some embodiments, the detection target location may be derived from the touch location of the hand as perceived by the sensor. For example, the center position of the palm or the fingertip position of the hand may be used as the target position, or the feature of the virtual object may be further determined whether the center position of the palm or the fingertip position is the target position. For example, for a virtual object that requires a palm to grasp, a palm center position can be used as a target position (a virtual object such as an egg), and a virtual object that requires a fingertip touch can have a fingertip position as a target position (some button keys, etc.) ). In addition, the pointing position of the hand can also be used as the target position, and the corresponding sensor needs to read the pointing information of the corresponding finger.

In some embodiments, determining the virtual object at the target location may, for example, obtain a virtual object at the target location using the target location and virtual object correspondence table. For example, a correspondence table between each position and a virtual object is stored in advance, a target position of the current finger is acquired, and a virtual object located at the target position is obtained by finding a correspondence table. The target position can be characterized in two or three dimensions. It can also be characterized by a string such as a label. In this case, the position points of each of the placed virtual positions need to be uniformly coded, and a virtual object corresponds to a code, and the target position of the touch is represented by the code. The corresponding relation table needs to store the correspondence between the code and the virtual object.

In some embodiments, generating a control signal according to the virtual object may be, for example, generating a corresponding control signal by attribute information of the virtual object. Or directly generate a corresponding control signal according to the virtual object, that is, by analyzing the sensing effect of the virtual object in advance to generate a corresponding control signal, and directly determining the corresponding control signal after determining the virtual object.

The above control signal may be an on signal or a shutdown signal for causing the corresponding signal generator to start operation, and may be a signal or the like that causes the corresponding signal generator to change the signal strength. For example, the information carried by the control signal can be adjusted in real time depending on the actual characteristics of the touched virtual object.

For example, the determining, by the step 411, the virtual object at the target location may include: acquiring location information of the stored plurality of virtual objects; and identifying the virtual location at the target location according to the location information of the plurality of virtual objects. object. In some embodiments, the position corresponding to the virtual object may be a coordinate range or a coordinate at the center of the virtual object. When a coordinate range is used to correspond to a virtual object, if the target position falls within the coordinate range of a certain virtual object B, it can be known that the virtual object touched at this time is B; or if the target position falls on the outer edge of a virtual object C When a certain range is similar (the size of the range is adjusted by setting the threshold), it can be seen that the virtual object touched at this time is C. When a coordinate value is used to represent the position information of each virtual object, if the target position is the same as the coordinate value of a certain virtual object D, the virtual object at the target position is D; if the target position and the coordinate value of a certain virtual object E The absolute value of the difference is small enough (for example, the difference is less than a predetermined threshold), and the virtual object at the target position is E.

For example, the step 421 of generating the control signal according to the virtual object may include: acquiring the stored attribute information of the plurality of virtual objects; acquiring the virtual object at the target location according to the attribute information of the plurality of virtual objects Attribute information; and generating the control signal according to attribute information of the virtual object at the target location. For example, the attribute information types may include, cool, hot, smooth, rough, vibration, and the like. For example, generating the control signal according to the attribute information may be determining a signal generator that needs to be turned on according to the attribute information, and determining characteristic information such as the intensity or frequency of the sensing signal generated by the signal generator according to the attribute information, and then the opening signal and the characteristic information are based on the information. The communication protocol is encapsulated to generate the final control signal.

For example, the generating, by the step 431, the sensing signal according to the control signal may include: generating one or more of an optical signal, an electrical signal, a wind signal, a vibration signal, a cold signal, and a thermal signal according to the control signal. In some embodiments, the control signal may carry intensity information of the optical signal, or vibration frequency and vibration amplitude information of the vibration signal, or intensity information of the cold and hot signal, and the like.

In some embodiments, the control signal may also include a signal command to turn off the respective signal generator when the user touch ends.

In some embodiments, the method further includes the step of monitoring whether the target location changes in real time, by which the target location can be updated, and the operations of the foregoing steps 411 to 431 are repeatedly performed according to the updated target location.

In some embodiments, one or more of the optical signal, the electrical signal, the wind signal, the shock signal, the cold signal, and the thermal signal are generated by the respective signal generators in response to the control signals.

At least one embodiment of the present disclosure provides a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement one or more steps of the haptic feedback method 400.

At least one embodiment of the present disclosure provides an electronic product comprising one or more processors configured to execute computer instructions to perform one or more steps of the haptic feedback method 400.

The embodiment of the present disclosure installs a sensing bracelet at the wrist of the user, and has a current, and the wind generator is suspended around the palm of the hand through the wristband. When the user's hand moves to the coordinates of the virtual object, the spherical generator according to the object The texture (ie, attribute information) emits weak current, wind, hot and cold stimuli around the palm to simulate the touch of the object, which makes the sensory experience richer, and the user experience is more realistic because the skin is exposed to the simulated touch in the air.

The above is only the specific embodiment of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the disclosure. It should be covered within the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be determined by the scope of the claims.

The present disclosure claims priority to Chinese Patent Application No. 201710481030.2, filed on Jun. 22, 2009, the entire disclosure of which is hereby incorporated by reference.

Claims

A haptic feedback device comprising: at least one connection structure, a wearable device and at least one signal generator; wherein

One end of the connecting structure is connected to the wearable device, and the other end of the connecting structure is connected to the signal generator;

The wearable device is configured to detect a target location;

The signal generator is configured to generate a sensing signal in accordance with the control signal and output the sensing signal.
The haptic feedback device of claim 1, wherein the wearable device is further configured to:

Determining a virtual object at the target location;

Generating the control signal according to the virtual object;

Sending the control signal to the signal generator.
The haptic feedback device of claim 1 further comprising a processing device;

The processing device is configured to:

Determining a virtual object at the target location;

Generating the control signal according to the virtual object;

Sending the control signal to the signal generator.
A haptic feedback device according to any one of claims 2-3, wherein

The connection structure includes: a housing and a signal line located inside the housing;

The signal line is configured to transmit the control signal from the wearable device to the signal generator.
The haptic feedback device according to claim 4, wherein

The outer casing is a deformable material;

The deformable material comprises a metal.
The haptic feedback device according to any one of claims 1 to 5, wherein the connecting structure is a deformable long rod.
The haptic feedback device according to any one of claims 1 to 6, wherein

The haptic feedback device includes a plurality of connection structures and a plurality of signal generators, and the plurality of connection structures are connected to the plurality of signal generators in one-to-one correspondence;

The plurality of connection structures are discretely disposed on the wearable device;

The lengths of the plurality of connection structures are not equal.
The haptic feedback device of any of claims 1-7, wherein the wearable device comprises a first wireless transceiver, the signal generator comprises a second wireless transceiver, the wearable device and the A signal producer communicates through the first wireless transceiver and the second wireless transceiver.
A haptic feedback device according to any of claims 1-8, wherein the wearable device comprises a sensor configured to detect the target location.
The haptic feedback device of any of claims 1-2 and 4-9, wherein the wearable device further comprises:

a memory configured to store location information of a plurality of virtual objects;

And a processor configured to identify the virtual object at the target location according to the location information of the plurality of virtual objects.
The haptic feedback device according to claim 10, wherein

The memory is further configured to store attribute information of the plurality of virtual objects;

The processor is further configured to:

Obtaining attribute information of the virtual object at the target location according to the attribute information of the plurality of virtual objects;

The control signal is generated according to attribute information of the virtual object at the target location.
The haptic feedback device according to any one of claims 1 to 11, wherein

The signal generator has a spherical shape or a funnel shape.
The haptic feedback device according to any one of claims 1 to 11, wherein

The signal generator includes one or more of an optical signal generator, an electrical signal generator, a wind signal generator, a vibrator, and a thermal signal generator.
A method of haptic feedback, comprising:

Detecting the target position;

Determining a virtual object at the target location;

Generating a control signal based on the virtual object;

A sensing signal is generated according to the control signal, and the sensing signal is output.
The haptic feedback method of claim 14, wherein the determining the virtual object at the target location comprises:

Obtaining location information of the stored plurality of virtual objects;

Identifying the virtual object at the target location according to the location information of the plurality of virtual objects.
The haptic feedback method according to any one of claims 14-15, wherein generating the control signal according to the virtual object comprises:

Obtaining attribute information of the stored plurality of virtual objects;

Obtaining attribute information of the virtual object at the target location according to the attribute information of the plurality of virtual objects;

The control signal is generated according to attribute information of the virtual object at the target location.
The haptic feedback method according to any one of claims 14 to 16, wherein the generating the sensing signal according to the control signal comprises:

One or more of an optical signal, an electrical signal, a wind signal, a vibration signal, a cold signal, and a thermal signal are generated according to the control signal.
A computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement one or more steps of the method of any of claims 14-17.
An electronic product comprising one or more processors, the processor being configured to execute computer instructions to perform one or more steps of the method of any of claims 14-17.