High definition haptic effects generation using primitives

• US 10,318,006 B2
• Filed: 11/14/2018
• Issued: 06/11/2019
• Est. Priority Date: 02/15/2012
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Cruz-Hernandez, Juan Manuel, Wu, Liwen, Ullrich, Christopher J.
• Primary Examiner(s): Michaud, Robert J
• Application Number:
  US16/190,542
• Publication Number:
  US 20190079587A1
• Time in Patent Office: 209 Days
• 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 haptically enabled system is provided. The system receives a haptic effect primitive including a plurality of input parameters that define a haptic effect. The system also receives an input from a sensor that varies over a time duration. The system generates a dynamic haptic effect signal based on the haptic effect primitive and the input, which includes generating a plurality of output parameters including an amplitude of the dynamic haptic effect signal, and varying the amplitude of the dynamic haptic effect signal continuously over the time duration using frequency modulation. The system then applies the dynamic haptic effect signal to an actuator to generate the haptic effect.

Claims

1. A method of generating haptic effects on a device, the method comprising:

receiving a haptic effect primitive including a plurality of input haptic parameters that define a haptic effect;

receiving an input, from a sensor, that varies over a time duration;

generating a dynamic haptic effect signal based on the haptic effect primitive and the input, including;

generating a plurality of output haptic parameters including an amplitude of the dynamic haptic effect signal, and

varying the amplitude of the dynamic haptic effect signal continuously over the time duration using frequency modulation, the amplitude of the dynamic haptic effect signal being a function of at least a carrier signal amplitude (a_r), a modulation signal amplitude (a_m), a carrier signal frequency (f_c) and a modulation signal frequency (f_m); and

applying the dynamic haptic effect signal to an actuator to generate the haptic effect.

2. The method of claim 1, wherein the plurality of input haptic parameters include the carrier signal amplitude (a_r), the modulation signal amplitude (a_m), the carrier signal frequency (f_c) and the modulation signal frequency (f_m).

3. The method of claim 1, wherein the sensor is an accelerometer and the input corresponds to an acceleration value.

4. The method of claim 1, wherein the input corresponds to a position, a pressure, an orientation, a proximity, a magnetic field or a finger velocity.

5. The method of claim 1, wherein the device includes a touchscreen and the input is based on a position of an object on the touchscreen or a pressure of the object on the touchscreen.

6. The method of claim 1, wherein the amplitude of the dynamic haptic effect signal (a_fm) comprises:

a_fm=a_c sin(2π

f_ct+a_m sin(2π

f_mt)t).

7. The method of claim 1, wherein the amplitude (a_fm) of the dynamic haptic effect signal is a function of the input (S_val) and comprises one of:

a_fm=a_c sin(2π

(f_c*S_val)t+a_m sin(2π

f_mt)t),

a_fm=a_c sin(2π

f_ct+a_m*S_val sin(2π

f_mt)t),

a_fm=a_c sin(2π

f_ct+a_m sin(2π

f_m*S_valt)t), or

a_fm=a_c*S_val sin(2π

f_ct+a_m sin(2π

f_mt)t).

8. A haptically enabled system comprising:

an actuator;

a sensor; and

a processor, coupled to the actuator and the sensor, configured to;

receive a haptic effect primitive comprising a plurality of input haptic parameters that define a haptic effect,

receive an input, from the sensor, that varies over a time duration;

generate a dynamic haptic effect signal based on the haptic effect primitive and the input, including;

generate a plurality of output haptic parameters including an amplitude of the dynamic haptic effect signal, and

vary the amplitude of the dynamic haptic effect signal continuously over the time duration using frequency modulation, the amplitude of the dynamic haptic effect signal being a function of at least a carrier signal amplitude (a_r), a modulation signal amplitude (a_m), a carrier signal frequency (f_c) and a modulation signal frequency (f_m), and

apply the dynamic haptic effect signal to the actuator to generate the haptic effect.

9. The system of claim 8, wherein the plurality of input haptic parameters include the carrier signal amplitude (a_r), the modulation signal amplitude (a_m), the carrier signal frequency (f_c) and the modulation signal frequency (f_m).

10. The system of claim 8, wherein the sensor is an accelerometer and the input corresponds to an acceleration value.

11. The system of claim 8, wherein the input corresponds to a position, a pressure, an orientation, a proximity, a magnetic field or a finger velocity.

12. The system of claim 8, further comprising:

a touchscreen coupled to the processor,

wherein the input is based on a position of an object on the touchscreen or a pressure of the object on the touchscreen.

13. The system of claim 8, wherein the amplitude of the dynamic haptic effect signal (a_fm) comprises:

a_fm=a_c sin(2π

f_ct+a_m sin(2π

f_mt)t).

14. The system of claim 8, wherein the amplitude (a_fm) of the dynamic haptic effect signal is a function of the input (S_val) and comprises one of:

a_fm=a_c sin(2π

(f_c*S_val)t+a_m sin(2π

f_mt)t),

a_fm=a_c sin(2π

f_ct+a_m*S_val sin(2π

f_mt)t),

a_fm=a_c sin(2π

f_ct+a_m sin(2π

f_m*S_valt)t), or

a_fm=a_c*S_val sin(2π

f_ct+a_m sin(2π

f_mt)t).

15. A non-transitory computer-readable medium having instructions stored thereon that, when executed by a processor, cause the processor to generate haptic effects on a device, the instructions comprising:

receiving a haptic effect primitive comprising a plurality of input haptic parameters that define a haptic effect;

receiving an input, from a sensor, that varies over a time duration;

generating a dynamic haptic effect signal, based on the haptic effect primitive and the input, including;

generating a plurality of output haptic parameters including an amplitude of the dynamic haptic effect signal, and

varying the amplitude of the dynamic haptic effect signal continuously over the time duration using frequency modulation, the amplitude of the dynamic haptic effect signal being a function of at least a carrier signal amplitude (a_r), a modulation signal amplitude (a_m), a carrier signal frequency (f_c) and a modulation signal frequency (f_m); and

applying the dynamic haptic effect signal to an actuator to generate the haptic effect.

16. The non-transitory computer-readable medium of claim 15, wherein the plurality of input haptic parameters include the carrier signal amplitude (a_r), the modulation signal amplitude (a_m), the carrier signal frequency (f_c) and the modulation signal frequency (f_m).

17. The non-transitory computer-readable medium of claim 15, wherein the sensor is an accelerometer and the input corresponds to an acceleration value or wherein the input corresponds to a position, a pressure, an orientation, a proximity, a magnetic field or a finger velocity.

18. The non-transitory computer-readable medium of claim 15, wherein the device includes a touchscreen and the input is based on a position of an object on the touchscreen or a pressure of the object on the touchscreen.

19. The non-transitory computer-readable medium of claim 15, wherein the amplitude of the dynamic haptic effect signal (a_fm) comprises:

a_fm=a_c sin(2π

f_ct+a_m sin(2π

f_mt)t).

20. The non-transitory computer-readable medium of claim 15, wherein the amplitude (a_fm) of the dynamic haptic effect signal is a function of the input (S_val) and comprises one of:

a_fm=a_c sin(2π

(f_c*S_val)t+a_m sin(2π

f_mt)t),

a_fm=a_c sin(2π

f_ct+a_m*S_val sin(2π

f_mt)t),

a_fm=a_c sin(2π

f_ct+a_m sin(2π

f_m*S_valt)t), or

a_fm=a_c*S_val sin(2π

f_ct+a_m sin(2π

f_mt)t).