WO2022000560A1 - Method and device for evaluating tactile experience, and storage medium - Google Patents

Abstract

Provided in the present invention are a method and a device for evaluating a tactile experience, and a storage medium. The method for evaluating a tactile experience comprises: acquiring the acceleration of a main vibration and that of an abnormal vibration of a motor; calculating the acceleration of the main vibration and the acceleration of the abnormal vibration to produce a first frequency-domain vibration magnitude and a second frequency-domain vibration magnitude; respectively performing HSL weighing with respect to the first frequency-domain vibration magnitude and the second frequency-domain vibration magnitude to produce an HSL weighted result; amplifying the HSL weighted result and then performing a power calculation to produce the main vibration power of the main vibration, the total power of the abnormal vibration, and the total power of a residual vibration; and calculating to produce an abnormal vibration indicator and a residual vibration indicator. The technical solution provided in the present invention implements an evaluation of a tactile experience of a vibration of a motor, is applicable in detecting the vibration performance of the motor, the quality of a signal excitation, and a tactile experience effect; moreover, the evaluation is objective, data used in the evaluation has strong consistency with the subjective perception of touch of a user.

Description

Evaluation method, device and storage medium for haptic experience 【Technical field】

The present invention relates to the technical field of tactile perception, and in particular, to a method, device and storage medium for evaluating tactile experience.

【Background technique】

With the rapid development of smart devices, various APPs provide a variety of applications, and motors, as vibrotactile devices, are getting more and more attention. The tactile experience provided by the motor is currently evaluated in a single way in the industry, and a large part of it relies on human subjective evaluation. And subjective evaluation is a matter of opinion, and different people often get different evaluations, or even opposite evaluations. In order to obtain a relatively objective subjective evaluation, a large number of test samples are often required, and detailed and objective analysis is carried out. Similar to the DXOMARK evaluation benchmark for photography, which is a reliable industry standard for image quality evaluation of cameras and lenses, the tactile experience requires a set of objective measurement methods to evaluate the quality of motor or signal excitation, instead of artificial scoring.

[Content of the invention]

The present invention provides an evaluation method, device and storage medium for tactile experience. Through evaluating the tactile experience of motor vibration, the performance of motor vibration, the quality of signal excitation and the effect of tactile experience are detected.

The evaluation method of tactile experience provided by the present invention includes:

Step S10: when the motor is vibrated by the excitation signal, obtain the acceleration of the positive vibration and abnormal vibration of the motor; the positive vibration is the vibration in the desired direction of the motor vibration to generate the tactile experience; the abnormal vibration is the expectation that the tactile experience is not generated by the motor vibration vibrations in other directions;

Step S20: Calculate and process the positive vibration acceleration and the abnormal vibration acceleration to obtain the first frequency domain vibration amount and the second frequency domain vibration amount; wherein, the first frequency domain vibration amount is the frequency of the positive vibration. Domain vibration quantity, the second frequency domain vibration quantity is the frequency domain vibration quantity of the abnormal vibration;

Step S30: HSL weighting is performed on the first frequency domain vibration amount and the second frequency domain vibration amount respectively to obtain an HSL weighting result;

Step S40: Amplify the HSL weighting result and perform power calculation to obtain the main vibration power of positive vibration, total abnormal vibration power and total residual vibration power; wherein, the total residual vibration power includes the residual vibration power of positive vibration and the residual vibration power. The residual vibration power of abnormal vibration;

Step S50: Calculate the abnormal vibration index and the residual vibration index according to the main vibration power, the total abnormal vibration power and the residual vibration total power of the main vibration.

Further, the step S10 includes:

Step S110: input the excitation signal of the motor to drive the motor to vibrate;

Step S120: when the motor vibrates, the position of the extraction voltage is acquired, and the triaxial acceleration is extracted simultaneously; the starting position of the extraction voltage is obtained according to the relationship between the extraction voltage and the excitation signal, and the end position of the extraction voltage is Obtained according to the length of the recovery voltage and the excitation signal; the three axes are the X axis, the Y axis and the Z axis;

Step S130: obtaining positive vibration acceleration and abnormal vibration acceleration in the triaxial vibration according to the position of the recovery voltage and the triaxial acceleration; wherein the positive vibration acceleration includes the main vibration acceleration of the positive vibration and the residual vibration acceleration of the positive vibration; The abnormal vibration acceleration includes the main vibration acceleration of the abnormal vibration and the residual vibration acceleration of the abnormal vibration.

Further, the aftershock acceleration is determined according to a fixed duration of a given aftershock.

Further, the after-vibration acceleration is determined according to the after-vibration start time and the time when the vibration reaches the tactile sense threshold as the after-vibration duration; the tactile sense threshold is the vibration threshold of human tactile sense perception.

Further, the step S20 includes:

Step S210: Fourier transform is performed on the positive vibration acceleration and the abnormal vibration acceleration to obtain the positive vibration acceleration and the abnormal vibration acceleration after the Fourier transformation;

Step S220: using a band-pass filter to process the positive vibration acceleration after the Fourier transformation to obtain the first frequency domain vibration amount;

Step S230: Use a band-pass filter to process the Fourier-transformed abnormal vibration acceleration to obtain the second frequency-domain vibration quantity.

Further, the step S40 includes:

Step S410: Distinguish the first frequency domain vibration amount into the main vibration energy of positive vibration and the residual vibration energy of positive vibration; divide the second frequency domain vibration amount into the main vibration energy of abnormal vibration and the residual vibration energy of positive vibration ;

Step S420: dividing the main vibration energy of the positive vibration and the main vibration energy of the abnormal vibration by the length of the excitation signal to obtain the main vibration power of the positive vibration and the main vibration power of the abnormal vibration;

Step S430: Divide the after-shock energy of the positive vibration and the after-shock energy of the abnormal vibration by the duration of the after-shock respectively to obtain the after-shock power of the forward vibration and the after-shock power of the abnormal vibration;

Step S440 : adding the main vibration power of all the abnormal vibrations to obtain the total abnormal vibration power; adding all the residual vibration powers to obtain the total residual vibration power.

Further, the calculation formula of the abnormal vibration index is:

Wherein, the unit of the abnormal vibration index is dB.

Further, the calculation formula of the residual vibration index is:

Wherein, the unit of the abnormal vibration index is dB.

Further, the HSL weighting is based on the weighting performed by the human body's minimum perceptual sensitivity curve.

In addition, the present invention provides a haptic experience evaluation device, the haptic experience evaluation device includes a memory and a processor, the memory stores a haptic experience evaluation program that can be run on the processor, the haptic experience The evaluation program is executed by the processor to implement the steps of the method for evaluating the haptic experience as described above.

Meanwhile, the present invention provides a storage medium, the storage medium is a computer-readable storage medium, and an evaluation program of haptic experience is stored on the storage medium, and the evaluation program of haptic experience can be executed by one or more processors , so as to realize the steps of the method for evaluating the haptic experience as described above.

In the evaluation method, device and storage medium for haptic experience provided by the present invention, the abnormal vibration index and the residual vibration index for evaluating the haptic experience are obtained through the main vibration power, the total abnormal vibration power and the residual vibration total power of the positive vibration of the motor vibration. , and then realize the evaluation of the tactile experience of the motor vibration, and use it to detect the performance of the motor vibration, the quality of the signal excitation and the tactile experience effect, and the evaluation is objective, and the data used for evaluation has a strong subjective perception of the user's touch. consistency.

【Description of drawings】

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, under the premise of no creative work, other drawings can also be obtained from these drawings, wherein:

1 is a schematic flowchart of an evaluation method for providing a haptic experience according to an embodiment of the present invention;

FIG. 2 is a schematic flowchart of step S10 in FIG. 1;

FIG. 3 is a schematic diagram of main vibration and residual vibration of motor vibration provided by an embodiment of the present invention;

4 is a schematic flowchart of step S20 in FIG. 1;

FIG. 5 is a schematic diagram of a minimum sensing sensitivity curve of a human body provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of an iso-vibration displacement weighting curve provided by an embodiment of the present invention;

7 is a schematic diagram of an iso-acceleration curve provided by an embodiment of the present invention;

FIG. 8 is a schematic flowchart of step S40 in FIG. 1;

FIG. 9 is a schematic diagram of the internal structure of a device for evaluating a haptic experience provided by an embodiment of the present invention;

FIG. 10 is a schematic diagram of a program module of an evaluation program of a haptic experience in an embodiment of an apparatus for evaluating a haptic experience of the present invention.

【detailed description】

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1, the present invention provides a method for evaluating tactile experience, and the method for evaluating tactile experience includes:

Step S10: when the motor is vibrated by the excitation signal, obtain the acceleration of the positive vibration and abnormal vibration of the motor; the positive vibration is the vibration in the desired direction of the motor vibration to generate the tactile experience; the abnormal vibration is the expectation that the tactile experience is not generated by the motor vibration vibrations in other directions;

Step S20: Calculate and process the positive vibration acceleration and the abnormal vibration acceleration to obtain the first frequency domain vibration amount and the second frequency domain vibration amount; wherein, the first frequency domain vibration amount is the frequency of the positive vibration. Domain vibration quantity, the second frequency domain vibration quantity is the frequency domain vibration quantity of the abnormal vibration;

Step S30: HSL weighting is performed on the first frequency domain vibration amount and the second frequency domain vibration amount respectively to obtain an HSL weighting result;

Step S40: Amplify the HSL weighting result and perform power calculation to obtain the main vibration power of positive vibration, total abnormal vibration power and total residual vibration power; wherein, the total residual vibration power includes the residual vibration power of positive vibration and the residual vibration power. The residual vibration power of abnormal vibration;

Step S50: Calculate the abnormal vibration index and the residual vibration index according to the main vibration power, the total abnormal vibration power and the residual vibration total power of the main vibration.

Please refer to FIG. 2 and FIG. 3 in conjunction. Specifically, the step S10 includes:

Step S110: Input the excitation signal of the motor to drive the motor to vibrate. The excitation signal is an electrical signal input to the motor to drive the motor to work. The motor vibration is divided into main vibration and residual vibration in the time domain. The main vibration is consistent with the duration of the excitation signal, and the residual vibration is the excitation signal input to the motor. After the stop, the vibration caused by the inertia of the device is shown in Figure 3; at the same time, the motor vibration is spatially represented as vibration in three directions, which is represented by three axes, namely the X axis, the Y axis and the Z axis. The vibration in the direction is also divided into main vibration and after vibration. However, there is only one vibration direction that produces a tactile experience. Let the vibration in the X-axis direction be the vibration in the desired direction of the motor vibration to generate the tactile experience, that is, positive vibration; then the vibrations in other directions, including the Y-axis direction and the Z-axis direction, are not The motor vibration produces vibrations in other directions of the desired direction of the haptic experience, ie, dissonance. The abnormal vibration is a form of motor vibration leakage; according to energy conservation, if the main vibration in the Y-axis and Z-axis directions is larger, it will affect the positive vibration, that is, the vibration intensity in the X-axis direction. Excessive vibration (especially in the Z-axis direction) will cause structural resonance and cause noise interference.

Step S120: when the motor vibrates, the position of the extraction voltage is acquired, and the triaxial acceleration is extracted simultaneously; the starting position of the extraction voltage is obtained according to the relationship between the extraction voltage and the excitation signal, and the end position of the extraction voltage is Obtained according to the length of the recovery voltage and the excitation signal;

Step S130: obtaining positive vibration acceleration and abnormal vibration acceleration in the triaxial vibration according to the position of the recovery voltage and the triaxial acceleration; wherein the positive vibration acceleration includes the main vibration acceleration of the positive vibration and the residual vibration acceleration of the positive vibration; The abnormal vibration acceleration includes the main vibration acceleration of the abnormal vibration and the residual vibration acceleration of the abnormal vibration.

The main vibration acceleration is obtained by the position of the recovered voltage and the excitation signal, and the after vibration acceleration is specifically determined according to a fixed duration of a given after vibration in an embodiment, for example, the fixed duration of a given after vibration is 20ms; In another embodiment, the after-vibration acceleration is determined according to the after-vibration start time and the time when the vibration reaches a tactile sensation threshold as the after-vibration duration; the tactile sensation threshold is a vibration threshold of human tactile sensation perception.

Please refer to FIG. 4, further, the step S20 includes:

Step S210: Fourier transform is performed on the positive vibration acceleration and the abnormal vibration acceleration to obtain the positive vibration acceleration and the abnormal vibration acceleration after the Fourier transformation;

Step S220: using a band-pass filter to process the positive vibration acceleration after the Fourier transformation to obtain the first frequency domain vibration amount;

Step S230: Use a band-pass filter to process the Fourier-transformed abnormal vibration acceleration to obtain the second frequency-domain vibration quantity.

Please refer to FIG. 5, FIG. 6 and FIG. 7 together, step S30: HSL weighting is performed on the first frequency domain vibration amount and the second frequency domain vibration amount respectively to obtain an HSL weighting result; the HSL weighting result They are the HSL weighting result of the first frequency domain vibration quantity and the HSL weighting result of the second frequency domain vibration quantity, respectively.

Since people perceive vibrations at different frequencies differently, and if the vibration signal is a broadband signal, the impact on frequency perception needs to be aligned, so HSL weighting is required. HSL is the Human Sensation Level (HSL), which indicates the strength of the vibration acceleration of the motor relative to the acceleration perceived by the human body. The specific calculation method is: according to the collected acceleration data, calculate the acceleration value of each frequency point after the motor is balanced, and then calculate the The acceleration value is weighted with the human body's minimum perceived sensitive acceleration. There are various ways of HSL weighting, such as: extracting the frequency domain component of the vibration and dividing it by the normalized HSL acceleration curve in a certain bandpass signal. As shown in Figure 5, it is the minimum perception sensitivity curve of the human body. For example, taking 80Hz in Figure 5 as an example, the displacement reference is 1um; for below 80Hz, a larger displacement is required to obtain the same feel; for above 80Hz, it is necessary to Smaller displacement can get the same feel. In this way, by inverting the minimum sensing sensitivity curve of the human body, the weighted curve of iso-vibration displacement as shown in Figure 6 is obtained; the iso-acceleration curve as shown in Figure 7 can also be obtained through the relationship between displacement and acceleration of a single frequency.

Please refer to FIG. 8 , the step S40 includes:

Step S410: Distinguish the first frequency domain vibration amount into the main vibration energy of positive vibration and the residual vibration energy of positive vibration; divide the second frequency domain vibration amount into the main vibration energy of abnormal vibration and the residual vibration energy of positive vibration ;

Step S420: dividing the main vibration energy of the positive vibration and the main vibration energy of the abnormal vibration by the length of the excitation signal to obtain the main vibration power of the positive vibration and the main vibration power of the abnormal vibration;

Step S430: Divide the after-shock energy of the positive vibration and the after-shock energy of the abnormal vibration by the duration of the after-shock respectively to obtain the after-shock power of the forward vibration and the after-shock power of the abnormal vibration;

Step S440 : adding the main vibration power of all the abnormal vibrations to obtain the total abnormal vibration power; adding all the residual vibration powers to obtain the total residual vibration power.

Specifically, in an embodiment of the present invention, suppose that the X-axis vibration direction is positive vibration, the Y-axis vibration direction and the Z-axis vibration direction are abnormal vibrations, then the main vibration power in the X-axis direction is P _x1 , and the residual _{vibration power is P x2} ; The main vibration power in the Y-axis direction is P _y1 , and the residual _{vibration power is P y2} ; the main vibration power in the Z-axis direction is P _z1 , and the residual _{vibration power is P z2} ; then:

The total power P _a different vibration of:

P _a =P _y1 +P _z1 ;

The total residual power P _b is:

P _b =P _x2 +P _y2 +P _z2 .

Step S50: Calculate the abnormal vibration index and the residual vibration index according to the main vibration power, the total abnormal vibration power and the residual vibration total power of the main vibration.

Specifically, the calculation formula of the abnormal vibration index is:

Wherein, the unit of the abnormal vibration index is dB.

The calculation formula of the residual vibration index is:

Wherein, the unit of the abnormal vibration index is dB.

Specifically, a test was carried out in an embodiment of the present invention. The test results are shown in Table 1 below. The test selects six signals with different vibration degrees, and the central vibration frequency is 210 Hz. Let different users experience the vibrotactile effect and score them. The score ranges from 1 to 6. The higher the score, the worse the subjective experience. and the proportion of abnormal vibration is larger. Overall, there is a strong consistency between objective data and subjective perception.

Table 1:

Glast refers to the maximum vibration acceleration of after vibration in positive vibration, and its unit is expressed in g.

GPP refers to the difference between the maximum acceleration and the minimum acceleration of the main vibration in the positive vibration, and its unit is expressed in g.

In order to achieve the above object, the present invention also provides an evaluation device for haptic experience, the evaluation device for haptic experience includes a memory and a processor, and the memory stores an evaluation program for haptic experience that can be run on the processor. , when the haptic experience evaluation program is executed by the processor, the steps of the above-mentioned haptic experience evaluation method are implemented.

The evaluation device for tactile experience further includes a sensor, and the input condition is a change in the external environment of the evaluation device for inputting the tactile experience, including changes in pressure values applied to the evaluation device for tactile experience and changes in acceleration, so The sensor can sense changes in the external environment of the device and convert the input conditions into vibration conditions that drive the motor to vibrate.

In addition, the present invention provides a storage medium, the storage medium is a computer-readable storage medium, and an evaluation program for haptic experience is stored on the storage medium, and the evaluation program for haptic experience can be executed by one or more processors , so as to realize the steps of the above-mentioned haptic experience evaluation method.

Please refer to FIG. 9 , which is a schematic diagram of the internal structure of a haptic experience evaluation device provided by an embodiment of the present invention. The haptic experience evaluation device includes at least 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, including flash memory, hard disk, multimedia card, card-type memory (eg, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. The memory 11 may, in some embodiments, be an internal storage unit of the device for evaluating the haptic experience, such as a hard disk of the device for evaluating the haptic experience. In other embodiments, the memory 11 may also be an external storage device of the haptic experience evaluation device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure) Digital, SD) card, flash memory card (Flash Card), etc. Further, the memory 11 may also include both an internal storage unit of the haptic experience evaluation apparatus and an external storage device. The memory 11 can not only be used to store application software and various data installed in the haptic experience evaluation device, such as the code of the haptic experience evaluation program, etc., but also can be used to temporarily store data that has been output or will be output.

The processor 12 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip in some embodiments, for running the program code or processing stored in the memory 11 Data, such as performing evaluation procedures for haptic experiences, etc.

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

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

Optionally, the device for evaluating tactile experience may further include a user interface, the user interface may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface may further 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, and the like. The display, which may also be appropriately referred to as a display screen or a display unit, is used for displaying information processed in the device for evaluating the haptic experience and for displaying a visual user interface.

FIG. 9 only shows an evaluation device for haptic experience with components 11-14 and an evaluation program for haptic experience. Those skilled in the art can understand that the structure shown in FIG. 9 does not constitute a limitation on the evaluation device for haptic experience. , may include fewer or more components than shown, or some components may be combined, or a different arrangement of components.

In the embodiment of the evaluation device for haptic experience shown in FIG. 9 , an evaluation program for haptic experience is stored in the memory 11; when the processor 12 executes the evaluation program for haptic experience stored in the memory 11, the following steps are implemented:

Step S10: when the motor is vibrated by the excitation signal, obtain the acceleration of the positive vibration and abnormal vibration of the motor;

Step S20: calculating and processing the positive vibration acceleration and the abnormal vibration acceleration to obtain the first frequency domain vibration amount and the second frequency domain vibration amount;

Step S30: carry out HSL weighting to described first frequency domain vibration amount and described second frequency domain vibration amount respectively, to obtain HSL weighting result;

Step S40: performing power calculation after amplifying the HSL weighting result to obtain the main vibration power, the total abnormal vibration power and the residual vibration total power of the positive vibration;

Step S50: Calculate the abnormal vibration index and the residual vibration index according to the main vibration power, the total abnormal vibration power and the residual vibration total power of the main vibration.

Referring to FIG. 10 , it is a schematic diagram of program modules of an evaluation program for haptic experience in an embodiment of an apparatus for evaluating haptic experience of the present invention. In this embodiment, the evaluation program for haptic experience can be divided into an excitation module 10 and a collection module 20 , calculation module 30 and output module 40, exemplarily:

The excitation module 10 is used for outputting an excitation signal to the motor to drive the motor to vibrate;

an acquisition module 20 for acquiring positive vibration acceleration and abnormal vibration acceleration;

The calculation module 30 is used to calculate and obtain the abnormal vibration index and the residual vibration index;

The output module 40 is configured to output the obtained abnormal vibration index and residual vibration index.

The functions or operation steps implemented by the program modules such as the excitation module 10 , the acquisition module 20 , the calculation module 30 , and the output module 40 when executed are substantially the same as those in the above-mentioned embodiment, and are not repeated here.

In addition, an embodiment of the present invention also provides a storage medium, where the storage medium is a computer-readable storage medium, and an evaluation program for haptic experience is stored on the storage medium, and the evaluation program for haptic experience can be stored by one or more The processor performs the following operations:

Step S10: when the motor is vibrated by the excitation signal, obtain the acceleration of the positive vibration and abnormal vibration of the motor;

Step S20: calculating and processing the positive vibration acceleration and the abnormal vibration acceleration to obtain the first frequency domain vibration amount and the second frequency domain vibration amount;

Step S30: HSL weighting is performed on the first frequency domain vibration amount and the second frequency domain vibration amount respectively to obtain an HSL weighting result;

Step S40: performing power calculation after amplifying the HSL weighting result to obtain the main vibration power, the total abnormal vibration power and the residual vibration total power of the positive vibration;

Step S50: Calculate the abnormal vibration index and the residual vibration index according to the main vibration power, the total abnormal vibration power and the residual vibration total power of the main vibration.

The specific implementation of the storage medium of the present invention is basically the same as the above-mentioned embodiments of the haptic experience evaluation method and apparatus, and will not be described in detail here.

Compared with the prior art, the evaluation method, device and storage medium for haptic experience provided by the present invention obtain the haptic experience evaluation method through the main vibration power, abnormal vibration total power and residual vibration total power of the positive vibration of the motor vibration. Abnormal vibration index and residual vibration index, and then realize the evaluation of the tactile experience of motor vibration, and use it to detect the performance of motor vibration, the quality of signal excitation and the effect of tactile experience, and the evaluation is objective, and the data used for evaluation is consistent with the user. The subjective perception of touch has strong consistency.

It should be noted that the above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments. And the terms "comprising", "comprising" or any other variation thereof herein are intended to encompass a non-exclusive inclusion such that a process, device, article or method comprising a list of elements includes not only those elements, but also includes no explicit Other elements listed, or those inherent to such a process, apparatus, article, or method are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, apparatus, article, or method that includes the element.

From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation. Based on such understanding, the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products are stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to make a terminal device (which may be a drone, a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope is determined by the scope of the appended claims.

Claims (11)

1. A method for evaluating tactile experience, comprising:

   Step S10: when the motor is vibrated by the excitation signal, obtain the acceleration of the positive vibration and abnormal vibration of the motor; the positive vibration is the vibration in the desired direction of the motor vibration to generate the tactile experience; the abnormal vibration is the expectation that the tactile experience is not generated by the motor vibration vibrations in other directions;

   Step S20: Calculate and process the positive vibration acceleration and the abnormal vibration acceleration to obtain the first frequency domain vibration amount and the second frequency domain vibration amount; wherein, the first frequency domain vibration amount is the frequency of the positive vibration. Domain vibration quantity, the second frequency domain vibration quantity is the frequency domain vibration quantity of the abnormal vibration;

   Step S30: HSL weighting is performed on the first frequency domain vibration amount and the second frequency domain vibration amount respectively to obtain an HSL weighting result;

   Step S40: Amplify the HSL weighting result and perform power calculation to obtain the main vibration power of positive vibration, total abnormal vibration power and total residual vibration power; wherein, the total residual vibration power includes the residual vibration power of positive vibration and the residual vibration power. The residual vibration power of abnormal vibration;

   Step S50: Calculate the abnormal vibration index and the residual vibration index according to the main vibration power, the total abnormal vibration power and the residual vibration total power of the main vibration.
2. The method for evaluating tactile experience according to claim 1, wherein the step S10 comprises:

   Step S110: input the excitation signal of the motor to drive the motor to vibrate;

   Step S120: when the motor vibrates, the position of the extraction voltage is acquired, and the triaxial acceleration is extracted simultaneously; the starting position of the extraction voltage is obtained according to the relationship between the extraction voltage and the excitation signal, and the end position of the extraction voltage is Obtained according to the length of the recovery voltage and the excitation signal; the three axes are the X axis, the Y axis and the Z axis;

   Step S130: obtaining positive vibration acceleration and abnormal vibration acceleration in the triaxial vibration according to the position of the recovery voltage and the triaxial acceleration; wherein the positive vibration acceleration includes the main vibration acceleration of the positive vibration and the residual vibration acceleration of the positive vibration; The abnormal vibration acceleration includes the main vibration acceleration of the abnormal vibration and the residual vibration acceleration of the abnormal vibration.
3. The method for evaluating haptic experience according to claim 2, wherein the after-shock acceleration is determined according to a fixed duration of a given after-shock.
4. The evaluation method of tactile experience according to claim 2, wherein the after-vibration acceleration is determined according to the after-vibration start time and the time when the vibration reaches the tactile threshold as the after-vibration duration; the tactile threshold is the vibration threshold of human tactile perception .
5. The method for evaluating tactile experience according to claim 1, wherein the step S20 comprises:

   Step S210: Fourier transform is performed on the positive vibration acceleration and the abnormal vibration acceleration to obtain the positive vibration acceleration and the abnormal vibration acceleration after the Fourier transformation;

   Step S220: using a band-pass filter to process the positive vibration acceleration after the Fourier transformation to obtain the first frequency domain vibration amount;

   Step S230: Use a band-pass filter to process the Fourier-transformed abnormal vibration acceleration to obtain the second frequency-domain vibration quantity.
6. The method for evaluating tactile experience according to claim 1, wherein the step S40 comprises:

   Step S410: Distinguish the first frequency domain vibration amount into the main vibration energy of positive vibration and the residual vibration energy of positive vibration; divide the second frequency domain vibration amount into the main vibration energy of abnormal vibration and the residual vibration energy of positive vibration ;

   Step S420: dividing the main vibration energy of the positive vibration and the main vibration energy of the abnormal vibration by the length of the excitation signal to obtain the main vibration power of the positive vibration and the main vibration power of the abnormal vibration;

   Step S430: Divide the after-vibration energy of the positive vibration and the after-vibration energy of the abnormal vibration by the duration of the after-vibration respectively to obtain the after-vibration power of the positive vibration and the after-vibration power of the abnormal vibration;

   Step S440 : adding the main vibration power of all the abnormal vibrations to obtain the total abnormal vibration power; adding all the residual vibration powers to obtain the total residual vibration power.
7. The evaluation method of tactile experience according to claim 1, is characterized in that, the calculation formula of described abnormal vibration index is:

   

   Wherein, the unit of the abnormal vibration index is dB.
8. The evaluation method of tactile experience according to claim 1, is characterized in that, the calculation formula of described residual vibration index is:

   

   Wherein, the unit of the abnormal vibration index is dB.
9. The method for evaluating tactile experience according to claim 1, wherein the HSL weighting is based on a weighting performed by a minimum human perception sensitivity curve.
10. An evaluation device for tactile experience, characterized in that the device for evaluating tactile experience includes a memory and a processor, and the memory stores an evaluation program for tactile experience that can be run on the processor, and the tactile experience The evaluation program, when executed by the processor, implements the steps of the method for evaluating a haptic experience as claimed in any one of claims 1 to 9.
11. A storage medium, wherein the storage medium is a computer-readable storage medium, and an evaluation program for haptic experience is stored on the storage medium, and the evaluation program for haptic experience can be executed by one or more processors, to implement the steps of a method for evaluating a haptic experience as claimed in any one of claims 1 to 9.

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