WO2021128018A1

WO2021128018A1 - Profiling tactile feedback device and tactile feedback generating method therefor

Info

Publication number: WO2021128018A1
Application number: PCT/CN2019/128031
Authority: WO
Inventors: 马杰
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: 2019-12-24
Filing date: 2019-12-24
Publication date: 2021-07-01

Abstract

A profiling tactile feedback device, comprising a profiling contact module, a driver electrically connected to the profiling contact module, and a controller electrically connected to the driver. The profiling contact module comprises a first profiling module, and a second profiling module arranged opposite to the first profiling module and electrically connected to the driver. The driver drives the second profiling module to move relative to the first profiling module. The surface of the second profiling module opposite to the first profiling module is provided with at least one second contact surface that makes contacts with the first profiling module so as to generate a reaction force. The surface of the first profiling module opposite to the second profiling module is provided with at least one first contact surface correspondingly making contact with the second contact surface. In the present invention, the driver drives the second profiling module to move relative to the first profiling module, and the second contact surface makes contacts with the first contact surface to generate a reaction force, so that the feedback of force is achieved, and the tactile feedback is more realistic.

Description

[Corrected according to Rule 26 29.07.2020] 　A profiling tactile feedback device and its tactile feedback generation method

The present invention relates to the technical field of tactile feedback, in particular to a profiling tactile feedback device.

Background technique

As we all know, tactile feedback technology reproduces the sense of touch for users through a series of actions such as force and vibration. It has become the general trend of modern technological innovation and development. It is used in consumer electronic products (such as mobile phones, tablets, etc.), automobiles, and music equipment. , Medical and other equipment are widely used.

At present, there are various types of tactile feedback devices used to feedback contact force, including solenoid valves, vibrations, impact generators and other feedback contact force generators, but this type of device has a single force feedback effect and lacks force. The realism of the feedback effect.

Therefore, it is necessary to provide a new profiling tactile feedback device and a method for generating tactile feedback to make the force feedback signal more realistic.

technical problem

The purpose of the present invention is to provide a profiling tactile feedback device and a method for generating tactile feedback so as to make the force feedback signal more realistic.

The solution to the problem

Technical solutions

The technical scheme of the present invention is as follows: a profiling tactile feedback device, comprising a profiling contact module, a driver electrically connected to the profiling contact module, and a controller electrically connected to the driver; the profiling The contact module includes a second profiling module which is disposed opposite to the first profiling module and electrically connected to the driver, and the driver drives the second profiling module relative to the first profiling module Movement; the second profiling module and the first profiling module are provided with at least one on the opposite surface of the profiling module when the second profiling module is driven by a driver to move to the first profiling module so as to move with the first profiling module A second contact surface for contacting the profiling module to generate a reaction force, and a surface of the first profiling module opposite to the second profiling module is provided with at least one first contact corresponding to the second contact surface surface.

Preferably, the surface of the second profiling module opposite to the first profiling module is provided with a second bump protruding toward the first profiling module, and the first profiling module is connected to the first profiling module. The opposite surfaces of the two profiling modules are provided with a first accommodating groove that cooperates with the second protrusion, a second contact surface is formed on the side surface of the second protrusion opposite to the first accommodating groove, and the first contact surface is formed On the side wall of the first receiving groove opposite to the second bump.

Preferably, the opposite surface of the first profiling module and the second profiling module is provided with a first bump protruding toward the second profiling module, and the second profiling module is connected to the first protruding module. The opposite surface of a profiling module is provided with a second receiving groove that cooperates with the first protrusion, and the second contact surface is formed on the side wall of the second receiving groove opposite to the first protrusion, and the first contact surface It is formed on the side surface of the first convex block opposite to the second receiving groove.

Preferably, the second contact surface is parallel to the first contact surface.

Preferably, the direction of the reaction force is perpendicular to the first contact surface.

Preferably, the driver is an electromagnetic driver.

Wherein, the method for generating tactile feedback of the profiling tactile feedback device includes:

The controller receives the pressure or friction signal from the second profiling module;

The controller controls the driver to work;

The driver drives the second profiling module to move relative to the first profiling module, so that the second contact surface contacts the first contact surface, so that the first contact surface generates a reaction force against the second contact surface to generate tactile feedback.

Preferably, the driver drives the second profiling module to move repeatedly, thereby generating periodic tactile feedback.

Preferably, the controller controls the driver to drive the second contact surface to move so that the time for contacting the first contact surface is T1, and the time value of T1 is controlled by the controller.

The beneficial effects of the invention

Beneficial effect

Compared with the prior art, the present invention has the beneficial effect that: the present invention uses a driver to drive the second profiling module to move relative to the first profiling module, and the second contact surface contacts the first contact surface to generate an instantaneous reaction force, thereby Realize force feedback and make tactile feedback more realistic.

Brief description of the drawings

Description of the drawings

Figure 1 is a schematic diagram of an embodiment of the present invention;

2 is a schematic diagram of the first structure of the profiling contact module in the embodiment of the present invention;

3 is a schematic diagram of the second structure of the profiling contact module in the embodiment of the present invention;

4 is a perspective view of the third structure of the profiling contact module in the embodiment of the present invention;

5 is a schematic diagram of the first profiling module moving to the right relative to the second profiling module in the embodiment of the present invention;

6 is a schematic diagram of the first profiling module moving to the left relative to the second profiling module in the embodiment of the present invention;

FIG. 7 is a schematic structural diagram of multiple first contact surfaces and multiple second contact surfaces used in cooperation in an embodiment of the present invention;

FIG. 8 is a coordinate diagram of force and time generated by the rightward movement of the first profiling module relative to the second profiling module in FIG. 5;

9 is a coordinate diagram of the periodic force and time generated by the first profiling module in FIG. 7 moving to the right relative to the second profiling module;

10 is a coordinate diagram of the force and time generated by the reciprocating movement of the first profiling module relative to the second profiling module in FIGS. 5 and 6;

The best embodiment for implementing the invention

The best mode of the present invention

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

The present invention provides a profiling tactile feedback device. Please refer to FIG. 1. The profiling tactile feedback device includes a profiling contact module, a driver 2 and a controller 1, and the controller 1 and the driver 2 are electrically connected. The profiling contact module includes a first profiling module 4 and a second profiling module 3, the first profiling module 4 is fixed, the second profiling module 3 is arranged opposite to the first profiling module 4, and the second profiling module 4 The profiling module 3 is electrically connected to the driver 2, and further, the second profiling module 3 can be driven to move in any direction relative to the first profiling module 4 through the driver 2. Wherein, the first profiling module 4 and the second profiling module 3 are provided with at least one first contact surface 40 on the opposite surface, and the second profiling module 3 and the first profiling module 4 are provided with at least one first contact surface on the opposite surface. Two contact surface 30.

Specifically, in Embodiment 1, referring to FIG. 2, the second profiling module 3 is provided with a second protrusion 31b on the surface opposite to the first profiling module 4, and the second protrusion 31b faces the first profiling module 4 The shaped module 4 is raised. The first profiling module 4 is recessed inwardly on the surface opposite to the second profiling module 3 to form a first receiving groove 41b, wherein, optimally, the second protrusion 31b is at least partially placed in the first receiving groove 41b, The first receiving groove 41b has enough space for the second protrusion 31b to move, that is, a clearance fit is formed between the second protrusion 31b and the first receiving groove 41b, and the second contact surface 30 is formed on the second protrusion 31b and the first protrusion 31b. A side surface opposite to the receiving groove 41b, and the first contact surface 40 is formed on the side wall of the first receiving groove 41b opposite to the second bump 31b. Thus, when the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, the second protrusion 31b moves in the first accommodating groove 41b in the direction driven by the driver 2 and interacts with the first accommodating groove. 41b is contact pressing, that is, the second contact surface 30 contacts the first contact surface 40 to press, thereby generating a reaction force of the second contact surface 30 pushing away the first contact surface 40, thereby realizing force feedback. However, it should be noted that the way of fitting between the second protrusion 31b and the first receiving groove 41b, in some embodiments, may be an interference fit or other ways, as long as the second profiling module 3 is driven by the driver 2. When moving downward relative to the first profiling module 4, the second protrusion 31b and the first receiving groove 41b can contact each other to form a force to realize force feedback, which is not limited here.

In the second embodiment, referring to FIG. 3, the second profiling module 3 is recessed inwardly to form a second receiving groove 31c on the surface opposite to the first profiling module 4, and the first profiling module 4 is in contact with the second profiling module 4 The opposite surface of the profiling module 3 is provided with a first bump 41c, and the first protruding block 41c protrudes toward the second profiling module 3. Among them, optimally, the first protrusion 41c is at least partially placed in the second receiving groove 31c, and the second receiving groove 31c has enough space for the first protrusion 41c to move, that is, between the second protrusion and the first receiving groove 31c. A clearance fit is formed between them. The second contact surface 30 is formed on the side wall of the second receiving groove 31c opposite to the first protrusion 41c, and the first contact surface 40 is formed on the side surface of the first protrusion 41c opposite to the second receiving groove 31c. Thus, the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, and the second receiving slot 31c moves in the direction driven by the driver 2 and contacts and squeezes the first protrusion 41c, that is, the second The contact surface 30 contacts and presses with the first contact surface 40, thereby generating a reaction force of the second contact surface 30 pressing the first contact surface 40, thereby realizing force feedback. However, it should be noted that the matching method between the first protrusion 41c and the second receiving groove 31c, in some embodiments, may be interference fit or other matching methods, as long as the second profiling module 3 is driven by the driver 2. When moving downward relative to the first profiling module 4, the second protrusion 41c and the first receiving groove 31c can contact each other to form a force to realize force feedback, which is not limited here.

In Embodiment 3, referring to FIGS. 1 and 4, the second profiling module 3 is provided with a plurality of continuously arranged third protrusions 31a on the surface opposite to the first profiling module 4, and the third protrusions 31a The block 31a protrudes toward the second profiling module 3, and a third receiving groove 32a is formed between the two third protrusions 31a. The first profiling module 4 is provided with a plurality of fourth protrusions 41a arranged in a row on the surface opposite to the second profiling module 3, and the fourth protrusions 41a protrude toward the second profiling module 3, and the two fourth protrusions A fourth receiving groove 42a is formed between the blocks 41a. Among them, optimally, the third protrusion 31a is at least partially placed in the fourth receiving groove 42a, the fourth receiving groove 42a has enough space for the third protrusion 31a to move, and the fourth protrusion 41a is at least partially placed in the third Inside the receiving groove 32a, and the fourth receiving groove 42a has enough space for the fourth protrusion 41a to move, between the third protrusion 31a and the fourth receiving groove 42a, and between the fourth protrusion 41a and the third receiving groove 32a All constitute a clearance fit. The second contact surface 30 is formed on the opposite side of the third bump 31a and the fourth bump 41a (ie, the fourth receiving groove 42a), and the first contact surface 40 is formed on the fourth bump 41a and the third bump 31a (ie The third receiving groove 32a) is on the opposite side surface. Thus, the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, and the plurality of third protrusions 31a move in the fourth receiving groove 42a along the driving direction of the driver 2 and interact with the fourth protrusion. The block 41a contacts and squeezes, that is, the multiple second contact surfaces 30 and the multiple first contact surfaces 40 contact and squeeze at the same time, thereby generating a larger reaction force of the second contact surface 30 pushing away the first contact surface 40, thereby Achieve greater force feedback. However, it should be noted that the mating manner between the third protrusion 31a and the fourth receiving groove 42a, and between the fourth protrusion 41a and the third receiving groove 32a, in some embodiments, may be interference fit or other As long as the second profiling module 3 is driven by the driver 2 to move relative to the first profiling module 4, the second protrusion 41c and the first receiving groove 31c can contact each other to form a force to realize force feedback. There is no limitation here. In addition, it should be noted that, in combination with Embodiment 1 and Embodiment 2, it can be seen that the structure of Embodiment 3 is that the multiple second bumps 31b (that is, the third bumps 31a) in Embodiment 1 are continuously arranged and multiple One first receiving groove 41b (that is, the fourth receiving groove 42a) is arranged continuously (that is, every two first receiving grooves 41b are arranged continuously to form a fourth protrusion 41a), or it is composed of a plurality of first protrusions in the second embodiment. The blocks 41c (that is, the fourth protrusion 41a) are continuously arranged and the plurality of second receiving grooves 31c (that is, the third receiving groove 32a) are continuously arranged (that is, the fourth protrusion is formed between every two second receiving grooves 31c in continuous arrangement. 31a) Composition.

In addition, in some other embodiments, in order to increase the tactile feedback effect of the profiling tactile feedback device of the present invention, the second contact surface 30 is parallel to the first contact surface 40, and the direction of the reaction force is perpendicular to the first contact surface 40. , In turn, the largest area of the second contact surface 30 and the first contact surface 40 can be contacted and squeezed to generate a larger reaction force and increase the force feedback. In addition, the driver 2 can be an electromagnetic driver 2, and the second profiling module 3 is a conductor. The conductor is energized. Under the action of the electromagnetic driver 2, the direction of movement of the second profiling module 3 can be controlled by controlling the direction of the current. The realization of the second profiling module 3 can perform back-and-forth movement to increase force feedback.

According to the profiling tactile feedback device of the foregoing embodiment, the present invention also proposes a method for generating tactile feedback of the profiling tactile feedback device. The method includes: the controller 1 receives a pressure or friction signal from the second profiling module 3 , The controller 1 controls the driver 2 to work and drives the second profiling module 3 to move relative to the first profiling module 4, so that the second contact surface 30 contacts the first contact surface 40, so that the first contact surface 40 faces the second The contact surface 30 generates a reaction force, thereby generating tactile feedback. The relationship between the reaction force and time generated by the movement of the second profiling module 3 relative to the first profiling module 4 in the profiling tactile feedback device is described in detail with the structure of the foregoing embodiment 3, as follows:

5 and 7, when the controller 1 controls the driver 2 to work and drives the second profiling module 3 to move to the right relative to the first profiling module 4, that is, the first contact surface 40 moves to the right. Initially, the first contact surface 40 is in an empty state without contacting the second contact surface 30 within t1, and contacts and squeezes with the second contact surface 30 from t1 to t2, and then contacts the second contact surface 30 after t2. Separate and continue to move to the right. Among them, in the time from t1 to t2, that is, during the contact and pressing process of the first contact surface 40 and the second contact surface 30, that is, at time t1, the first contact surface 40 starts to generate a reaction force against the second contact surface 30, and Under the condition that the upper and lower relative positions of the second profiling module 3 and the first profiling module 4 remain unchanged, as the end of the first contact surface 40 and the end of the second contact surface 30 gradually come closer to contact and squeeze, the first The reaction force generated by the contact surface 40 against the second contact surface 30 gradually increases, until the end of the first contact surface 40 and the end of the second contact surface 30 contact and squeeze, the first contact surface 40 opposes the second contact surface 30. The reaction force generated by the two contact surfaces 30 is at the maximum value F, and then, as the end of the first contact surface 40 gradually moves away from the end of the second contact surface 30 until the first contact surface 40 and the second contact surface 30 are completely separated, The reaction force generated by the first contact surface 40 against the second contact surface 30 ranges from the maximum value F to 0, as shown in FIG. 8. And, at this time, the controller 1 controls the driver 2 to work and drives the second profiling module 3 to move in the opposite direction relative to the first profiling module 4, that is, to move to the left. Similarly, at first, the second contact surface 30 is not in contact with the first profiling module 4. A contact surface 40 is in an empty state when contacting and squeezing, that is, it is in a hollow state without contact with the second contact surface 30 within t3, and it contacts and squeezes with the second contact surface 30 from t3 to t4, and after t3 time It separates from the second contact surface 30 and continues to move relative to the left. Among them, in the time t3 to t4, the second contact surface 30 starts to contact the first contact surface 40, that is, at time t3, the first contact surface 40 and the second contact surface 30 begin to generate a contact with the second profiling module 3 to the right. The movement produces a reaction force opposite to the reaction force; and when the relative position of the second profile module 3 and the first profile module 4 remains unchanged, as the end of the first contact surface 40 and the end of the second contact surface 30 The end gradually approaches the contact extrusion, and the reaction force generated by the first contact surface 40 on the second contact surface 30 gradually increases until the end of the first contact surface 40 and the end of the second contact surface 30 are in contact and squeezed. , The reaction force generated by the first contact surface 40 against the second contact surface 30 is the maximum value -F, and then, as the end of the first contact surface 40 gradually moves away from the end of the second contact surface 30 to the first contact surface 40 and the second contact surface 30 are completely separated, and the reaction force ranges from the maximum value -F to 0, as shown in FIG. 6 and FIG. 10. In this way, the driver 2 drives the second profiling module 3 to move repeatedly, so that periodic tactile feedback can be generated.

In addition, referring to FIG. 7, when the plurality of second contact surfaces 30 have been moving in the same direction relative to the plurality of first contact surfaces 40, with the change of time t, the second contact surface 30 can periodically move to the first contact surface 40. Generate a reaction force and generate periodic tactile feedback, as shown in Figure 9.

Among them, in the embodiment, the time value of t1 can be controlled by the controller 1. By cooperating with the electromagnetic driver 2 and the second profiling module 3 which is a conductor, the conductor is energized. Under the action of the electromagnetic driver 2, the current can be controlled by The speed of the movement of the second profiling module 3 can be controlled, and the length of the t1 time can be controlled, so that the feedback force cycle time is shorter and more frequent, thereby increasing the force feedback effect and making the tactile feedback more realistic.

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 profiling tactile feedback device, characterized in that it comprises a profiling contact module, a driver electrically connected to the profiling contact module, and a controller electrically connected to the driver; the profiling contact module Comprising a second profiling module which is arranged opposite to the first profiling module and electrically connected to the driver, the driver drives the second profiling module to move relative to the first profiling module; At least one surface of the second profiling module opposite to the first profiling module is provided with at least one surface when the second profiling module is driven by a driver to move toward the first profiling module so as to be aligned with the first profiling module At least one first contact surface corresponding to the second contact surface is provided on the surface of the first profiling module opposite to the second profiling module to contact the second contact surface to generate the reaction force.
The profiling tactile feedback device according to claim 1, wherein the surface of the second profiling module opposite to the first profiling module is provided with a protrusion facing the first profiling module. A second protrusion, the opposite surface of the first profiling module and the second profiling module is provided with a first accommodating groove matching the second protruding block, and a second contact surface is formed on the second protruding block On a side surface opposite to the first receiving groove, a first contact surface is formed on a side wall of the first receiving groove opposite to the second bump.
The profiling tactile feedback device according to claim 1, wherein the opposite surface of the first profiling module and the second profiling module is provided with a protrusion facing the second profiling module A first protrusion, the surface of the second profiling module opposite to the first profiling module is provided with a second receiving groove matching the first protrusion, and a second contact surface is formed in the second receiving groove On the side wall opposite to the first convex block, a first contact surface is formed on the side surface of the first convex block opposite to the second receiving groove.
The profiling tactile feedback device according to any one of claims 1 to 3, wherein the second contact surface is parallel to the first contact surface.
The profiling tactile feedback device according to any one of claims 1, wherein the direction of the reaction force is perpendicular to the first contact surface.
The profiling tactile feedback device according to claim 1, wherein the driver is an electromagnetic driver.
A method for generating tactile feedback of a profiling tactile feedback device according to claim 1, wherein the method comprises:

The controller receives the pressure or friction signal from the second profiling module;

The controller controls the drive to work;

The driver drives the second profiling module to move relative to the first profiling module, so that the second contact surface contacts the first contact surface, so that the first contact surface generates a reaction force against the second contact surface to generate tactile feedback.
8. The method for generating tactile feedback according to claim 7, wherein the driver drives the second profiling module to move repeatedly, thereby generating periodic tactile feedback.
The method for generating tactile feedback according to claim 7, wherein the controller controls the driver to drive the second contact surface to move so that the time of contacting the first contact surface is T1, and the time value of T1 is determined by The controller controls.