WO2021109092A1

WO2021109092A1 - Method and apparatus for implementing tactile signals, terminal and storage medium

Info

Publication number: WO2021109092A1
Application number: PCT/CN2019/123414
Authority: WO
Inventors: 桑成艳; 王修越; 郑亚军
Original assignee: 瑞声声学科技(深圳)有限公司; 瑞声科技(新加坡)有限公司
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2021-06-10

Abstract

A method and apparatus for implementing tactile signals, a terminal and storage medium. The implementation method comprises: acquiring n input signals, wherein the n input signals are X₁(t), X₂(t), X₃(t),..., X_i(t) and X_n(t), respectively, n≥2 and 1≤i≤n, and the signal lengths, signal frequencies, and signal amplitudes of the n input signals are not completely the same (S10); and after performing envelope adjustments on the n input signals (S20), splicing and combining the n envelope-adjusted input signals to obtain an excitation signal Y₁(t), wherein the excitation signal Y₁(t) is used as an input signal for motor vibration (S30). By means of providing input signals of different lengths, different frequencies, and different amplitudes for multi-segment splicing, input signals of different durations and different intensities may be easily and quickly obtained, thereby obtaining expected vibration effects of different durations, different intensities and different tactile sensations.

Description

Method, device, terminal and storage medium for realizing tactile signal

【Technical Field】

The present invention relates to the technical field of signal control, and in particular to a method, a device, a terminal and a storage medium for realizing haptic signals.

【Background technique】

Haptics is an important way for people to perceive the world. It is different from vision and hearing. In some more abstract scenes without sound and picture conditions, tactility can bring users accurate judgments and rich information. Prompt, so it has great application value. With the continuous rise of the mobile phone industry, game industry, VR industry and other markets in the field of haptics, tactile feedback in the form of vibration has been widely used in electronic consumer products.

Specifically, the excitation signal is input to the motor, and the corresponding tactile results are generated by the vibration of the motor to realize the vibration feedback of different experiences. The vibration feedback of different experiences mainly benefits from the different excitation signals of the actuators. The excitation signal is relatively single and cannot achieve the desired tactile effect.

Therefore, it is necessary to provide a method for implementing rich haptic signals, so as to obtain rich excitation signals to achieve rich haptic effects.

[Summary of the invention]

The purpose of the present invention is to provide a method, device, terminal and storage medium for realizing haptic signals, so as to solve the problem that the existing excitation signal is relatively single and cannot achieve the expected haptic effect.

The technical scheme of the present invention is as follows:

In order to achieve the above objective, the present invention provides a method for realizing haptic signals, including:

A method for realizing haptic signals, the method for realizing haptic signals includes:

Acquire n input signals, the n input signals are X ₁ (t), X ₂ (t), X ₃ (t).. X _i (t)...X _n (t), where n≥2 , 1≤i≤n, at least one of the signal length, signal frequency, and signal amplitude of the n input signals is different;

Envelope adjustments are performed on the n input signals to obtain envelope-adjusted n input signals X ₁ (t)′, X ₂ (t)′, X ₃ (t)′...X _i (t )'...X _n (t)';

The n input signals after envelope adjustment are spliced and combined to obtain an excitation signal Y ₁ (t), and the excitation signal Y ₁ (t) is used as an input signal for motor vibration.

Further, the envelope adjustment includes performing weighted calculation on the amplitude of the signal.

Further, the step of adjusting the envelope includes: performing exponential weighting and/or linear weighting and/or trigonometric function weighting on _{the i-th input signal X i (t).}

Further, the step of splicing and combining the n input signals after envelope adjustment includes: sequentially extracting the signals X ₁ (t)′, X ₂ (t)′, X ₃ (t)′...X _i _{(t) '... X n (} t)', and the signal X ₁ (t) 'at the end of the phase φ ₁ is set to the signal X ₂ (t)' of the initial phase, the signal X ₂ (t) _{'The phase φ 2} at the end is taken as the initial phase of the signal X ₃ (t)', ... _{the phase φ i-1} _{at the end of the signal X i-1} (t)' is taken as the initial phase of the signal X _{i (t)',} the signals X _i (t) 'the phase φ _i at the end of a signal X _{i +} (t) _1' of the initial phase, ... a (t) the phase at the end of the signal X _n-1 'as the signal X _n (t) 'The initial phase.

Further, the n input signals include a start segment signal X ₁ (t), a brake end segment signal X _n _{(t), and a stable segment signal X 2} located between the start segment signal and the brake end segment signal. (t)...X _n-1 (t), n≥3, the step of splicing and combining the n input signals includes: setting _{the duration of the initial segment signal X 1} (t) to t _1end , and the initial segment at the end of the phase (t) signal X ₁ is Φ _1, Φ ₁ is set to the initial segment of the adjacent signal segments stabilized signal X ₂ (t) of the initial phase, stabilization stage signal X ₂ (t) ... The total duration of X _n-1 (t) is t, the phase at the end of the stable section signal is φ _n-1 , and φ _{n-1 is} set as the initial phase of the brake end section signal X _{n (t).}

Further, use the function a(t)=e ^δt to adjust the envelope of the initial segment signal X ₁ (t), and use the function b(t)=e- ^δt to envelope the brake end signal X ₃ (t) Adjustment.

Further, the stable segment signal X ₂ (t)...X _n-1 (t) includes at least two, and when two adjacent stable segment signals are spliced, the end phase of the previous stable segment signal is set to be the same as that of the subsequent stable segment signal. One of the initial phases of the stable segment signals is the same.

Further, the n input signals may be obtained from a signal library, or the n input signals are signals input by a user, or the n input signals are output signals of an external signal generator.

In order to achieve the above objective, the present invention also provides a device for realizing haptic signals, including:

An acquisition module, used to acquire n input signals, at least one of the signal length, signal frequency, and signal amplitude of the n input signals is different; a processing module, used to process n input signals; splicing combination module , Used for splicing and combining the processed n input signals to obtain the excitation signal Y ₁ (t) used as the motor vibration.

In order to achieve the above objective, the present invention also provides a terminal, including: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores the memory that can be executed by the at least one processor. The instructions are executed by the at least one processor, so that the at least one processor can execute the above-mentioned method for implementing haptic signals.

In order to achieve the foregoing objective, the present invention also provides a computer-readable storage medium storing a computer program, which implements the excitation signal implementation method when the computer program is executed by a processor.

The beneficial effect of the present invention is that by setting input signals of different lengths, different frequencies, and different amplitudes for multi-segment splicing, the present invention can easily and quickly obtain input signals of different durations and different strengths, thereby obtaining different durations and different strengths. And the expected vibration effect of different tactile sensations. It has the value of strong practicability and convenient operation;

Further, by rapidly increasing the amplitudes of the input signal of the start segment and the signal of the brake end segment, the effects of rapid start-up and rapid stop of the motor can be conveniently and quickly realized.

【Explanation of the drawings】

FIG. 1 is a flowchart of a method for implementing a haptic signal according to an embodiment of the present invention;

2 is a schematic diagram of a method for implementing a tactile signal according to an embodiment of the present invention;

3 is a schematic diagram of the internal structure of a device for realizing haptic signals according to an embodiment of the present invention;

4 is a schematic diagram of modules of a haptic signal realization program in a haptic signal realization device provided by an embodiment of the present invention.

【Detailed ways】

The present invention will be further described below in conjunction with the drawings and embodiments.

Please refer to FIG. 1, which shows a schematic flowchart of a method for implementing a tactile signal according to the present invention, including:

Step S10: Obtain n input signals, and the n input signals are X ₁ (t), X ₂ (t), X ₃ (t).. X _i (t)...X _n (t), 1≤ i≤n, at least one of the signal length, signal frequency, and signal amplitude of the n input signals is different;

Here, the signal length, signal frequency, and signal amplitude of the n input signals are not completely the same. It can mean that the signal length, signal frequency, and signal amplitude of the n input signals are all different, or it can refer to the signal length, signal frequency. It is different from one or two of the three signal amplitudes. For example, it can be that the signal length of an input signal is the same as another input signal, but the signal frequency and signal amplitude are different from the other input signal.

The n input signals can be obtained from a signal library, or the n input signals are signals input by the user.

Step S20: Perform envelope adjustment processing on the n input signals to obtain processed n input signals X ₁ (t)′, X ₂ (t)′, X ₃ (t)′...X _i (t )'...X _n (t)'.

Specifically, envelope adjustments are performed on the n input signals to obtain n input signals after envelope adjustment. The manner of envelope adjustment is not specifically limited. As an example, the envelope adjustment steps described here may be Exponentially weighting the i-th input signal X _i (t) can also be linear weighting or trigonometric weighting, or exponential weighting, linear weighting and trigonometric weighting can be performed at the same time.

Step S30: splicing and combining the n input signals after envelope adjustment processing to obtain an excitation signal Y ₁ (t), the excitation signal Y ₁ (t) being used as a driving signal for motor vibration.

Specifically, the signals X ₁ (t)′, X ₂ (t)′, X ₃ (t)′...X _i (t)′...X _n (t)′ are _{sequentially extracted, and the signal X 1} (T) 'at the end of the phase φ ₁ is set to the signal X ₂ (t)' of the initial phase, the signal X ₂ (t) 'as the phase φ signal X ₃ (t) ₂ at the end' of the initial phase, initial phase ... the signals X _i-1 (t) 'phase [Phi] at the end of _i-1 as the signals X _i (t)' of the signal X _i (t) the phase φ _i at the end of 'a signal X _{i + The initial phase of 1} (t)',...the phase at the end of the _{signal X n-1} (t)' is taken as the initial phase of the _{signal X n (t)'.}

The present invention uses the obtained excitation signal Y ₁ (t) as a driving signal for motor vibration, which has the value of strong practicability and convenient operation; when it needs to be combined with an equalizer, the obtained n input signals can be used as displacement signals The equalizer is used to perform envelope adjustment processing and splicing combination on the displacement signal to obtain the excitation signal, which can be easily and quickly combined with the equalizer to achieve the ultimate vibration intensity and the ultimate displacement vibration effect. The ultimate strength of the vibration motor), limit protection of the exciter, and improve its service life.

At the same time, the tactile signal generation method of the present invention, by setting input signals of different lengths, different frequencies, and different amplitudes for multi-segment splicing, will be able to conveniently and quickly obtain input signals of different durations and different strengths, so that it can drive the motor to vibrate. Produce expected vibration effects of different durations, different intensities and different tactile sensations.

Embodiment 2: n≥3 in the present invention means obtaining n input signals, specifically, including the start segment signal X ₁ (t), the brake end segment signal X _n (t), and the start segment signal _{The stable segment signal X 2} (t)...X _n-1 (t) between the brake end segment signal and the value of n is not limited. Set the duration of the initial segment signal X ₁ (t) as t _1end , and the phase at the end of the initial segment signal X ₁ _{(t) as Φ 1} , and set Φ ₁ to be adjacent to the initial segment signal stabilizing segment signal X ₂ (t) of the initial phase, stabilization stage signal X ₂ (t) of total duration ... X _n-1 (t) is t, the phase at the end of the stabilization period signal φ _n-1, Set φ _{n-1 to} the initial phase of the brake end signal X _{n (t).}

As an embodiment, the stable segment signal X ₂ (t)...X _n-1 (t) includes at least two, and when two adjacent stable segment signals are spliced, the end phase of the aforementioned stable segment signal is set to It is the same as the initial phase of the stable segment signal described later.

As another embodiment, when n=3, three input signals are obtained as an example. Please refer to Fig. 2. The three input signals are defined as the initial segment signal X ₁ (t) and the stable segment signal X. ₂ (t) and the brake end signal X ₃ (t), the realization process is as follows:

Step S1000: First input the initial segment signal X ₁ (t) in the signal input, set its frequency to be fixed at f ₁ and duration t ₁ ; the stable segment signal X ₂ (t) has a fixed frequency of f ₂ and duration t ₂ ; The frequency of the brake end signal X ₃ (t) is fixed at f ₃ and the duration is t ₃ ;

Thus, the angular frequencies w ₁ , w ₂ and w _{3 of the} initial segment signal X ₁ (t), the stable segment signal X ₂ (t), and the braking end segment signal X ₃ (t) are:

ω ₁ ＝2πf ₁

ω ₂ ＝2πf ₂

ω ₃ ＝2πf ₃

Step S2000: Perform envelope adjustment for each segment of the signal. As an example, perform exponential weighting based on the amplitude of the signal.

Specifically, the function a(t)=e ^{δt is used} to adjust the envelope of the initial segment signal X ₁ (t); the function b(t)=e- ^{δt is used} to envelope the brake end signal X ₃ (t) Adjustment;

It should be noted that those skilled in the art can understand that in practical applications, other envelope adjustment functions can also be used to adjust the envelope of the start segment signal X ₁ (t) and the brake end segment signal X ₃ (t). This is only an example, and this embodiment does not limit the specific formula of the envelope adjustment function.

Here, the amplitude envelope adjustment of the start segment signal X ₁ (t) and the brake end segment signal X ₃ (t) is mainly to facilitate and quickly realize the effects of rapid motor start-up and rapid stop.

In this embodiment, by exponentially adjusting the amplitudes of the start segment signal X ₁ (t) and the brake end segment signal X ₃ (t), the start segment signal X ₁ (t) and the brake end segment signal X _{3 can be quickly increased.} The amplitude of (t), when _{the amplitude change rate of the start segment signal X 1} (t) and the brake end segment signal X ₃ (t) is large, after the splicing combination is used as the input signal of motor vibration, the motor can be Fast start-up and fast stop _{. The input of the start signal X 1} (t) makes the motor start up quickly, and the input of the brake end signal X ₃ (t) makes the motor stop quickly.

Step S3000: The adjusted signals of each segment are sequentially spliced and combined into a continuous and complete new signal. If the phase at the end of the initial segment signal X ₁ _{(t) is Φ 1} , Φ ₁ =ω ₁ t _1end , where t _1end is the duration of the initial segment signal X ₁ (t), and the phase Φ _{1 is} set Is the initial phase of the stable signal X ₂ (t); then extract _{the phase Φ 2} at the end of the _{stable signal X 2} (t), Φ ₂ =ω ₂ t _2end +ω ₁ t _1end , where t _2end is the stable signal The duration of X ₂ (t), and the phase Φ _{2 is} set to correspond to _{the initial phase of the brake end signal X 3} (t), so that X ₁ (t)', X ₂ (t)' and X ₃ (t) )'can be spliced into a continuous signal Y ₁ (t);

In this way, the adjusted signal of each segment satisfies:

X ₂ (t)′=sin(ω ₂ t ₂ +Φ ₁ ),

Each segment is spliced into a continuous signal from end to end, and the excitation signal Y ₁ (t) is obtained, which is expressed as:

Y1(t)=[X ₁ (t),X ₂ (t),X ₃ (t)];

Among them, the stable segment signal X ₂ (t) can maintain the vibration state of the motor without adjusting the amplitude to achieve a stable tactile effect. When the tactile effect needs to be richer, the stable segment signal X ₂ (t) can also be adjusted. Make adjustments.

Compared with the prior art, in the prior art, a linear motor is usually used. By inputting different excitation signals into the linear motor, a corresponding tactile result is produced. When the data of the tactile result matches the data of the button effect , The excitation signal that produces the tactile result is the excitation signal corresponding to the key effect. The input signal of the motor is usually a linear input signal, and the tactile effect is relatively single; and the tactile signal generation method of the present invention sets different lengths, Multi-segment splicing of input signals of different frequencies and different amplitudes can easily and quickly obtain input signals of different durations and different strengths, making the tactile signals richer, so that it can drive the motor to vibrate to produce different durations, different intensities and different tactile sensations. Anticipating the vibration effect, avoiding the singleness of the tactile effect.

It should be noted that the above are only examples and do not limit the technical solutions of the present invention. For example, after step S20, the excitation signal can be filtered and used as the input signal of motor vibration.

The division of the steps of the various methods above is just for clarity of description. When implemented, it can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. ; Adding insignificant modifications to the algorithm or process or introducing insignificant design, but not changing the core design of the algorithm and process are within the scope of protection of the patent.

The invention also provides a device for realizing tactile signals. Referring to FIG. 3, it is a schematic diagram of the internal structure of a device for realizing haptic signals according to an embodiment of the present invention.

In this embodiment, the device for realizing the tactile signal may be a PC (Personal Computer, personal computer), or a terminal device such as a smart phone, a tablet computer, and a portable computer. The device for realizing the haptic signal at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.

The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. In some embodiments, the memory 11 may be an internal storage unit of the device for realizing haptic signals, for example, a hard disk of the device for realizing haptic signals. In other embodiments, the memory 11 may also be an external storage device of the device for realizing haptic signals, such as a plug-in hard disk equipped on the device for realizing haptic signals, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital). Digital, SD) card, flash card, etc. Further, the memory 11 may also include both an internal storage unit of the device for realizing a tactile signal and an external storage device. The memory 11 can be used not only to store application software and various data installed in the device for realizing haptic signals, such as codes of the device for realizing haptic signals, but also to temporarily store data that has been output or will be output.

In some embodiments, the processor 12 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip, for running program codes or processing stored in the memory 11 Data, such as the implementation device for implementing haptic signals, etc.

The communication bus 13 is used to realize the connection and communication between these components.

The network interface 14 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), and is usually used to establish a communication connection between the device for realizing the tactile signal and other electronic devices.

Optionally, the device for realizing the tactile signal may further include a user interface. The user interface may include a display (Display) and an input unit such as a keyboard (Keyboard). The optional user interface may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode, organic light-emitting diode) touch device, etc. Among them, the display can also be appropriately called a display screen or a display unit, which is used to display the information processed in the device for realizing tactile signals and to display a visualized user interface.

FIG. 3 only shows the device for realizing haptic signals with components 11-14 and an algorithm-based device identification construction program. Those skilled in the art can understand that the structure shown in FIG. 1 does not constitute a device for realizing haptic signals The definition of may include fewer or more components than shown, or a combination of certain components, or a different component arrangement.

In the embodiment of the device for realizing haptic signals shown in FIG. 4, the device identification construction program of the device for realizing haptic signals is stored in the memory 11; when the processor 12 executes the device identification construction program of the algorithm stored in the memory 11, the following steps are implemented :

Step S10: Obtain n input signals, n≥2, and the n input signals are X ₁ (t), X ₂ (t), X ₃ (t)...X _i (t)...X _n (t ), 1≤i≤n, at least one of the signal length, signal frequency, and signal amplitude of the n input signals is different;

Step S20: Perform envelope adjustment on the n input signals; the n input signals X ₁ (t)′, X ₂ (t)′, X ₃ (t)′...X _{i are obtained after the adjustment process} (t)'...X _n (t)';

Optionally, in other embodiments, the device for realizing the haptic signal can also be divided into one or more modules, and the one or more modules are stored in the memory 11 and run by one or more processors (this embodiment It is executed by the processor 12) to complete the present invention. The module referred to in the present invention refers to a series of computer program instruction segments that can complete specific functions, and is used to describe the algorithm-based device identification construction program in the implementation of tactile signals. Implementation process.

For example, referring to FIG. 4, it is a schematic diagram of program modules of the device for realizing haptic signals in an embodiment of the device for realizing haptic signals of the present invention. In this embodiment, the construction program of the device for realizing haptic signals can be divided into acquisition modules. 10. The processing module 20, the splicing and combining module 30, exemplarily:

The obtaining module 10 is configured to obtain n input signals, and at least one of the signal length, signal frequency, and signal amplitude of the n input signals is different;

The processing module 20 is used to perform envelope adjustment processing on n input signals;

The splicing and combination module 30 is used for splicing and combining the n input signals after envelope adjustment to obtain the excitation signal Y ₁ (t) used as the motor vibration.

It is not difficult to find that this embodiment is a system embodiment corresponding to the implementation method of the haptic signal, and this embodiment can be implemented in cooperation with the implementation method of the haptic signal. The relevant technical details mentioned in the implementation method of the haptic signal are still valid in this embodiment, and in order to reduce repetition, it will not be repeated here. Correspondingly, the related technical details mentioned in this embodiment can also be applied to the implementation method of the haptic signal.

It is worth mentioning that the modules involved in this embodiment are all logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or multiple physical units. The combination of units is realized. In addition, in order to highlight the innovative part of the present invention, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by the present invention, but this does not indicate that there are no other units in this embodiment.

In addition, the embodiment of the present invention also provides a storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores a construction program of the device for realizing haptic signals, and the device for realizing haptic signals is stored on the computer-readable storage medium. The construction program can be executed by one or more processors to achieve the following operations:

Step S20: Envelope the n input signals; after adjustment, n input signals X ₁ (t)′, X ₂ (t)′, X ₃ (t)′...X _i (t)'...X _n (t)';

Step S30: The n input signals after envelope adjustment spliced composition, to obtain an excitation signal Y ₁ (t), the drive excitation signal Y ₁ (t) is used as a vibration motor.

The specific implementation of the computer-readable storage medium of the present invention is basically the same as the foregoing embodiments of the method and device for realizing haptic signals, and will not be repeated here.

A computer-readable storage medium of the present invention stores a computer program. If the method of the present invention is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in the computer storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment methods, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer storage medium, and the computer program can be stored in a computer storage medium. When executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate form. The computer storage medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunications signal, and software distribution media, etc. It should be noted that the content contained in the computer storage medium can be appropriately added or deleted according to the requirements of the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to the legislation and patent practice, the computer storage medium does not include Electric carrier signal and telecommunications signal.

The above are only the embodiments of the present invention. It should be pointed out here that for those of ordinary skill in the art, improvements can be made without departing from the inventive concept of the present invention, but these all belong to the present invention. The scope of protection.

Claims

A method for realizing haptic signals, characterized in that, the method for realizing haptic signals includes:

Acquire n input signals, the n input signals are X 1 (t), X 2 (t), X 3 (t).. X i (t)...X n (t), where n≥2 , 1≤i≤n, at least one of the signal length, signal frequency, and signal amplitude of the n input signals is different;

Envelope adjustments are performed on the n input signals to obtain envelope-adjusted n input signals X 1 (t)′, X 2 (t)′, X 3 (t)′...X i (t )'...X n (t)';

The n input signals after envelope adjustment are spliced and combined to obtain an excitation signal Y 1 (t), and the excitation signal Y 1 (t) is used as an input signal for motor vibration.
The method for realizing a tactile signal according to claim 1, wherein the envelope adjustment comprises weighted calculation of the amplitude of the signal.
The method for realizing a tactile signal according to claim 2, wherein the step of adjusting the envelope comprises: exponentially weighting the i-th input signal X i (t) and/or linearly weighting and/or trigonometric function Weighted.
The method for realizing haptic signals according to claim 1, wherein the step of splicing and combining the n input signals after envelope adjustment comprises: sequentially extracting the signals X 1 (t)′, X 2 (t )', X 3 (t)'...X i (t)'...X n (t)', and set the phase φ 1 at the end of the signal X 1 (t)' as the signal X 2 ( The initial phase of t)', the phase φ 2 at the end of the signal X 2 (t)' is taken as the initial phase of the signal X 3 (t)', ... the phase φ i at the end of the signal X i-1 (t)' -1 as the signals X i (t) 'of the initial phase, the signals X i (t)' at the end of the phase φ i as the initial phase signal X i + (t) '1, ... the signals X n-1 ( The phase at the end of t)' is used as the initial phase of the signal X n (t)'.
The method for realizing haptic signals according to claim 1, wherein the n input signals include a start segment signal X 1 (t), a brake end segment signal X n (t), and a signal located in the start segment. The stable segment signal X 2 (t)...X n-1 (t) between the signal and the brake end segment signal, n≥3, the step of splicing and combining the n input signals includes: setting the starting segment signal X The duration of 1 (t) is t 1end , the phase at the end of the initial segment signal X 1 (t) is Φ 1 , and Φ 1 is set as the stable segment signal X 2 (t ), the total duration of the stable segment signal X 2 (t)...X n-1 (t) is t, the phase at the end of the stable segment signal is φ n-1 , set φ n-1 The initial phase of the brake end signal X n (t).
The method for realizing a tactile signal according to claim 5, characterized in that a function a(t)=e δt is used to adjust the envelope of the initial segment signal X 1 (t), and a function b(t)=e − δt adjusts the envelope of the brake end signal X 3 (t).
The method for realizing a tactile signal according to claim 5, wherein the stable segment signal X 2 (t)...X n-1 (t) includes at least two, and when two adjacent stable segment signals are spliced , The end phase of the former stable segment signal is set to be the same as the initial phase of the latter stable segment signal.
The method for realizing haptic signals according to any one of claims 1-7, wherein the n input signals can be obtained from a signal library, or the n input signals are signals input by a user, or The n input signals are output signals of an external signal generator.
A device for realizing haptic signals, which is characterized in that it comprises:

An acquisition module, used to acquire n input signals, at least one of the signal length, signal frequency, and signal amplitude of the n input signals is different; a processing module, used to process the n input signals; splicing combination module , Used for splicing and combining the processed n input signals to obtain the excitation signal Y 1 (t) used as the motor vibration.
A terminal includes: at least one processor; and a memory communicatively connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor. One processor executes, so that the at least one processor can execute the method for realizing a haptic signal according to any one of claims 1 to 8.
A computer-readable storage medium storing a computer program, wherein the computer program implements the excitation signal implementation method of any one of claims 1 to 8 when the computer program is executed by a processor.