WO2021128018A1 - Dispositif de rétroaction tactile de profilage et son procédé de génération de rétroaction tactile - Google Patents

Dispositif de rétroaction tactile de profilage et son procédé de génération de rétroaction tactile Download PDF

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Publication number
WO2021128018A1
WO2021128018A1 PCT/CN2019/128031 CN2019128031W WO2021128018A1 WO 2021128018 A1 WO2021128018 A1 WO 2021128018A1 CN 2019128031 W CN2019128031 W CN 2019128031W WO 2021128018 A1 WO2021128018 A1 WO 2021128018A1
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WO
WIPO (PCT)
Prior art keywords
profiling
contact surface
profiling module
module
tactile feedback
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/128031
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English (en)
Chinese (zh)
Inventor
马杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
AAC Technologies Holdings Shenzhen Co Ltd
AAC Technologies Pte Ltd
Original Assignee
AAC Acoustic Technologies Shenzhen Co Ltd
AAC Technologies Pte Ltd
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Application filed by AAC Acoustic Technologies Shenzhen Co Ltd, AAC Technologies Pte Ltd filed Critical AAC Acoustic Technologies Shenzhen Co Ltd
Priority to PCT/CN2019/128031 priority Critical patent/WO2021128018A1/fr
Publication of WO2021128018A1 publication Critical patent/WO2021128018A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer

Definitions

  • the present invention relates to the technical field of tactile feedback, in particular to a profiling tactile feedback device.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second contact surface is parallel to the first contact surface.
  • the direction of the reaction force is perpendicular to the first contact surface.
  • the driver is an electromagnetic driver.
  • 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.
  • the driver drives the second profiling module to move repeatedly, thereby generating periodic tactile feedback.
  • 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 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.
  • Figure 1 is a schematic diagram of an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the first structure of the profiling contact module in the embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the second structure of the profiling contact module in the embodiment of the present invention.
  • FIG. 4 is a perspective view of the third structure of the profiling contact module in the embodiment of the present invention.
  • FIG. 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
  • FIG. 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;
  • FIG. 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;
  • FIGS. 5 and 6 are coordinate diagrams 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 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.
  • first profiling module 4 and the second profiling module 3 are provided with at least one first contact surface 40 on the opposite surface
  • 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 Two contact surface 30.
  • 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.
  • 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.
  • the way of fitting between the second protrusion 31b and the first receiving groove 41b may be an interference fit or other ways, as long as the second profiling module 3 is driven by the driver 2.
  • 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.
  • 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.
  • 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.
  • 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.
  • the matching method between the first protrusion 41c and the second receiving groove 31c may be interference fit or other matching methods, as long as the second profiling module 3 is driven by the driver 2.
  • 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.
  • 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.
  • 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
  • the fourth protrusion 41a is at least partially placed in the third Inside the receiving groove 32a
  • 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.
  • 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.
  • 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 may be interference fit or other
  • 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.
  • Embodiment 3 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.
  • 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.
  • 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.
  • the driver 2 can be an electromagnetic driver 2
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the driver 2 drives the second profiling module 3 to move repeatedly, so that periodic tactile feedback can be generated.
  • the time value of t1 can be controlled by the controller 1.
  • the electromagnetic driver 2 and the second profiling module 3 which is a conductor, the conductor is energized.
  • 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.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un dispositif de rétroaction tactile de profilage qui comprend un module de contact de profilage, un dispositif d'entraînement connecté électriquement au module de contact de profilage et un dispositif de commande connecté électriquement au dispositif d'entraînement. Le module de contact de profilage comprend un premier module de profilage, et un second module de profilage disposé à l'opposé du premier module de profilage et connecté électriquement au dispositif d'entraînement. Le dispositif d'entraînement entraîne le second module de profilage à se déplacer par rapport au premier module de profilage. La surface du second module de profilage opposée au premier module de profilage est pourvue d'au moins une seconde surface de contact qui entre en contact avec le premier module de profilage de façon à générer une force de réaction. La surface du premier module de profilage opposée au second module de profilage est pourvue d'au moins une première surface de contact en contact de manière correspondante avec la seconde surface de contact. Dans la présente invention, le dispositif d'entraînement entraîne le second module de profilage à se déplacer par rapport au premier module de profilage, et la seconde surface de contact entre en contact avec la première surface de contact pour générer une force de réaction, de telle sorte que la rétroaction de force est obtenue, et la rétroaction tactile est plus réaliste.
PCT/CN2019/128031 2019-12-24 2019-12-24 Dispositif de rétroaction tactile de profilage et son procédé de génération de rétroaction tactile Ceased WO2021128018A1 (fr)

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PCT/CN2019/128031 WO2021128018A1 (fr) 2019-12-24 2019-12-24 Dispositif de rétroaction tactile de profilage et son procédé de génération de rétroaction tactile

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PCT/CN2019/128031 WO2021128018A1 (fr) 2019-12-24 2019-12-24 Dispositif de rétroaction tactile de profilage et son procédé de génération de rétroaction tactile

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100238053A1 (en) * 2009-03-23 2010-09-23 Robert Schmidt Touch panel assembly with haptic effects and method of manufacturing thereof
CN102750030A (zh) * 2011-04-19 2012-10-24 夏普株式会社 触摸屏装置
CN203054722U (zh) * 2012-12-13 2013-07-10 中航华东光电有限公司 一种三维振动反馈装置及显示器
CN105677037A (zh) * 2011-03-04 2016-06-15 苹果公司 提供局部触觉反馈的线性振动器
CN109857250A (zh) * 2019-01-10 2019-06-07 安徽师范大学 一种虚拟现实环境下力反馈装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100238053A1 (en) * 2009-03-23 2010-09-23 Robert Schmidt Touch panel assembly with haptic effects and method of manufacturing thereof
CN105677037A (zh) * 2011-03-04 2016-06-15 苹果公司 提供局部触觉反馈的线性振动器
CN102750030A (zh) * 2011-04-19 2012-10-24 夏普株式会社 触摸屏装置
CN203054722U (zh) * 2012-12-13 2013-07-10 中航华东光电有限公司 一种三维振动反馈装置及显示器
CN109857250A (zh) * 2019-01-10 2019-06-07 安徽师范大学 一种虚拟现实环境下力反馈装置

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