Touch interface device and method for applying lateral forces on a human appendage

• US 10,007,341 B2
• Filed: 06/20/2012
• Issued: 06/26/2018
• Est. Priority Date: 06/21/2011
• Status: Active Grant

• Current Assignee: Northwestern University
• Original Assignee: Northwestern University
• Inventors: Colgate, J. Edward, Peshkin, Michael A., Dai, Xiaowei, Ware, John, Marchuk, Nicholas
• Primary Examiner(s): Jansen, II, Michael J
• Application Number:
  US13/528,024
• Publication Number:
  US 20120326999A1
• Time in Patent Office: 2,197 Days
• Field of Search: 345173
• CPC Class Codes: G06F 1/1643 the display being associated to a digitizer, e.g. laptops that can be used as penpads details related to the relative motion of the display enclosure with respect to the body enclosure, e.g. to move between laptop and tablet PC configuration G06F1/1615
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means

Abstract

A touch interface device includes a touch surface configured to be engaged by an object, first and second actuator assemblies operably connected to the touch surface, and a controller operably connected with the first and second actuator assemblies. The first actuator assembly displaces the touch surface in one or more lateral directions along the touch surface at a first frequency. The second actuator assembly displaces the touch surface in an angled direction that is one of at least obliquely or perpendicularly angled to the touch surface at a second frequency. The controller operates the first and second actuator assemblies so that the touch surface varies in engagement with the object to impart a force on the object that is along the touch surface.

Claims

1. A method for applying a continuous pushing force from a touch surface to a body part, the method comprising:

a controller operating a first and second plurality of actuators to move the touch surface to impart the continuous pushing force on the body part at a point of maximum engagement;

wherein the first plurality of actuators moves the touch surface in one or more lateral directions;

wherein the second plurality of actuators moves the touch surface at an angled direction that is obliquely or perpendicularly angled to the touch surface;

wherein the moving in one or more lateral directions is performed periodically such that movement of the touch surface in the one or more lateral directions is less perceptible to detection from the body part away from the point of maximum engagement;

periodically moving the touch surface in the angled direction into and out of contact at the point of maximum engagement with the body part or varies in a degree of engagement with the body part such that movement of the touch surface in the angled direction is less perceptible to detection from the body part away from the point of maximum engagement;

controlling and synchronizing movement of the touch surface in the one or more lateral directions and movement of the touch surface in the angled direction also includes modulating at least one of amplitude, phase and frequency of the lateral and angular movements; and

wherein said modulation is less perceptible to detection from the body part away from the point of maximum engagement and produces the tactilely perceptible continuous pushing force on the body part at the point of maximum engagement, the pushing force being oriented in a lateral direction along the touch surface.

2. The method of claim 1 wherein the movement in the one or more lateral directions and in the angled direction are performed at substantially the same frequency.

3. The method of claim 2 wherein a direction of the imparted force is varied by varying a phase relationship between the moving in one or more lateral directions and moving in the at least one angled direction.

4. The method of claim 1 wherein one of the movement in the one or more lateral directions and angled direction is performed at a harmonic frequency of the other.

5. The method of claim 1 wherein the movement in the one or more lateral directions is performed periodically at a frequency of at least about 1 kilo Hertz.

6. The method of claim 1 wherein the movement in the one or more lateral directions is performed periodically at a frequency of at least 20 kilo Hertz.

7. The method of claim 1 wherein the movement in the one or more lateral directions is performed periodically at a frequency of at least 30 kilo Hertz.

8. The method of claim 1 further comprising modulating a frictional force experienced by the object concurrently with the movement in the at least one angled direction.

9. The method of claim 8 wherein the frictional force is modulated by varying an electrostatic attraction between the object and the surface.

10. The method of claim 9 wherein the electrostatic attraction has a different amplitude or phase at a plurality of points distributed about the surf ace, whereby a plurality of objects contacting the surface experience different imparted forces.

11. The method of claim 1 wherein the surface is generally planar and the one or more lateral directions of the surface are substantially co-planar with the surface.

12. A touch interface device comprising:

a touch surface configured to be engaged by an object by applying a continuous pushing force at a point of maximum engagement;

a first actuator assembly operably connected to the touch surface,

the first actuator assembly configured to oscillate the touch surface in one or more lateral directions along the touch surface,

wherein the first actuator assembly oscillates the touch surface at a first frequency wherein the movement of the touch surface is less perceptible to detection by the object away from the point of maximum engagement;

a second actuator assembly operably connected to the touch surface,

wherein the second actuator assembly oscillates the touch surface in an angled direction that is obliquely or perpendicularly angled to the touch surface,

wherein the second actuator assembly oscillates the touch surface at a second frequency wherein the movement of the touch surface by the second actuator assembly is less perceptible to detection by the object away from the point of maximum engagement; and

a controller operably connected with the first and second actuator assemblies,

the controller configured to synchronize oscillatory movement of the first and second actuator assemblies so that the touch surface moves in the one or more lateral directions and in the one or more angled directions that are obliquely or perpendicularly to the touch surface and modulate at least one of amplitude, phase and frequency of the lateral and angular movements; and

wherein the modulation of the lateral and angular movements are less perceptible to detection by the object away from a point of maximum engagement but wherein said modulation is in a tactilely perceptible range at the point of maximum engagement such that the touch surface varies in engagement with the object and imparts a tactilely perceptible continuous pushing force on the object that is in a lateral direction along the touch surface.

13. The touch interface device of claim 12 wherein the first actuator assembly oscillates the touch surface at a first frequency that is at least 20 kilo Hertz.

14. The touch interface device of claim 12 wherein the first actuator assembly oscillates the touch surface at a first frequency that is at least 30 kilo Hertz.

15. The touch interface device of claim 12 wherein the first frequency and the second frequency are substantially the same.

16. The touch interface device of claim 12 wherein the controller varies a direction of the imparted force by varying a phase relationship between a first oscillation in the one or more lateral directions and a second oscillation in the angled direction.

17. The touch interface device of claim 12 further comprising:

a first massive system associated with the first actuator assembly, the first massive system comprising at least one of a first mounting or a first reactive mass; and

a second massive system associated with the second actuator assembly, the second massive system comprising at least one of a second mounting or a second reactive mass; and

wherein the resonances of the first massive system and the second massive system are substantially the same.

18. The touch interface device of claim 12 wherein the surface is generally planar and the one or more lateral directions of the surface are substantially co-planar with the surface.

19. A tangible and non-transitory computer readable storage medium for a system that includes a processor, the non-transitory computer readable storage medium including one or more sets of instructions configured to direct the processor to:

control a first actuator assembly to move a touch surface in one or more lateral directions along the touch surface so as to engage an object at a point of maximum engagement,

wherein the first actuator assembly moves the generally planar surface in the one or more lateral directions periodically at a frequency wherein the movement of the touch screen by the first actuator is less perceptible to detection by the object away from the point of maximum engagement;

control a second actuator assembly to move at least a portion of the touch surface in one or more angled directions that are obliquely or perpendicularly angled to the touch surface to also engage the object at the point of maximum engagement,

wherein the second actuator assembly moves the generally planar surface periodically and wherein the movement of the touch screen by the second actuator is less perceptible to detection by the object away from the point of maximum engagement;

control and synchronize motion of the touch surface in the one or more lateral directions and in the one or more angled directions that are obliquely or perpendicularly to the touch surface including modulating at least one of amplitude, phase, and frequency of the angular and lateral movements; and

wherein the modulation of the angular and lateral movements are less perceptible to detection by the object away from the point of maximum engagement but wherein said modulation produces the tactilely perceptible continuous pushing force on the object in a lateral direction along the touch surface at the point of maximum engagement, wherein the force provides haptic output to an operator of a device that includes the touch surface.

20. The non-transitory computer readable storage medium of claim 19 wherein the motion in one or more lateral directions and motion in the one or more angled directions are performed at substantially the same frequency.

21. The non-transitory computer readable storage medium of claim 20 wherein a direction of the imparted force is varied by varying a phase relationship between the motion in one or more lateral directions and motion in the one or more angled directions.

22. The non-transitory computer readable storage medium of claim 19 wherein the processor is further configured to modulate a frictional force experienced by the object concurrently with the motion in the one or more angled directions.

23. The non-transitory computer readable storage medium of claim 22 wherein the frictional force is modulated by varying an electrostatic attraction between the object and the touch surface.

24. The non-transitory computer readable storage medium of claim 23 wherein the electrostatic attraction has a different amplitude at a plurality of points distributed about the touch surface, whereby a plurality of objects contacting the touch surface experience different imparted forces.