Gyroscope motion feedback device

• US 10,331,218 B2
• Filed: 08/09/2018
• Issued: 06/25/2019
• Est. Priority Date: 09/15/2016
• Status: Active Grant

• Current Assignee: Advanced Haptics LLC
• Original Assignee: Real Simple Ideas LLC
• Inventors: Deutsch, Daniel J.
• Primary Examiner(s): Kwok, Helen C
• Application Number:
  US16/059,145
• Publication Number:
  US 20180373338A1
• Time in Patent Office: 320 Days
• CPC Class Codes: A63F 13/211 using inertial sensors, e.g. accelerometers or gyroscopes
• CPC Class Codes: A63F 13/24 Constructional details thereof, e.g. game controllers with detachable joystick handles
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: G01C 19/04 Details
• CPC Class Codes: G01C 19/42 for indicating rate of turn; for integrating rate of turn
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

A gyroscopic motion feedback device utilizes one or more pairs of masses mounted on a common axis but independently rotatable to allow rapid variation of the gyroscopic force produced thereby. A sensor detects motion of the mount and a controller uses the detected motion to vary the relative rotational speed of the masses. The device provides haptic feedback where the mount is used to the control the interaction of an objection in a virtual environment, with the controller further varying the relatively rotational speed based on virtual interactions experienced by the object.

Claims

1. A gyroscopic motion feedback device, the device comprising:

a mount;

a first gyroscope module connected to the mount, the first gyroscope module including;

a first pair of masses aligned along a first axis and rotatable thereabout, each of the first pair of masses being circular and aligned coaxially about the first axis; and

a first pair of motors, each of the first pair of motors connected to a respective one of the first pair of masses and operable to independently rotate the respective one of the first pair of masses about the first axis at a variable rotational speed;

a sensor operable to detect motion of the mount;

a controller in signal communication with the first gyroscope module and the sensor and configured with program instructions to vary a relative rotational speed of the first pair of motors in response to the motion detected by the sensor; and

a power source supplying electrical power to the first gyroscope module, the sensor and the controller;

wherein the program instructions to vary the rotational speed of the first pair of motors include program instructions to vary a relative counter-rotational speed of the first pair of motors; and

wherein the program instructions to vary the relative counter-rotational speed of the first pair of motors include program instructions to vary the relative counter-rotational speed from a neutral state, in which gyroscopic forces generated by rotation of the first pair of masses are cancelled out, to a destabilized state, in which the gyroscopic forces generated by rotation of the first pair of masses are not cancelled out.

2. The gyroscopic motion feedback device of claim 1, further comprising a second gyroscope module connected to the mount, the second gyroscope module including:

a second pair of masses aligned along a second axis and rotatable thereabout, the second axis being offset from the first axis; and

a second pair of motors, each of the second pair of motors connected to a respective one of the second pair of masses and operable to independently rotate the respective one of the second pair of masses about the second axis at a variable rotational speed;

wherein the controller is further configured with program instructions to vary a relative rotational speed of the second pair of motors in response to the motion detected by the sensor, and the power source further supplies electrical power to the second gyroscope module.

3. The gyroscopic motion feedback device of claim 2, further comprising a third gyroscope module connected to the mount, the third gyroscope module including:

a third pair of masses aligned along a third axis and rotatable thereabout, the third axis being offset from the first and second axes; and

a third pair of motors, each of the third pair of motors connected to a respective one of the third pair of masses and operable to independently rotate the respective one of the third pair of masses about the third axis at a variable rotational speed;

wherein the controller is further configured with program instructions to vary a relative rotational speed of the third pair of motors in response to the motion detected by the sensor, and the power source further supplies electrical power to the third gyroscope module.

4. The gyroscopic motion feedback device of claim 3, wherein the mount is configured as a handle for grasping by a user.

5. The gyroscopic motion feedback device of claim 4, wherein the first, second and third gyroscope modules are located inside the handle.

6. The gyroscopic motion feedback device of claim 5, wherein the handle is tubular.

7. The gyroscopic motion feedback device of claim 1, wherein the sensor is connected to the mount.

8. The gyroscopic motion feedback device of claim 7, wherein the sensor includes an accelerometer.

9. The gyroscopic motion feedback device of claim 1, wherein the controller is further configured with program instructions to vary the relative rotational speed of the first pair of motors in response to a signal representative of an interaction of an object controlled by the mount in a virtual environment.

10. The gyroscopic motion feedback device of claim 9, wherein the mount is configured as a handle for grasping by a user.

11. The method of claim 1, wherein the controller is further configured with program instructions to vary a rotational direction of at least one of the first pair of motors.

12. A method for providing haptic feedback, the method comprising:

detecting motion of a mount to which a first gyroscope module connected, the first gyroscope module including a first pair of circular masses coaxially aligned along a first axis and rotatable thereabout, and a first pair of motors, each of the first pair of motors connected to a respective one of the first pair of circular masses and operable to independently rotate the respective one of the first pair of masses about the first axis at a variable rotational speed;

communicating the motion of the mount to a controller; and

varying, via the controller, a relative rotational speed of the first pair of motors to vary a gyroscopic force generated by the first gyroscope module, in response to the detected motion;

wherein varying the relative rotational speed of the first pair of motors to vary a gyroscopic force generated by the first gyroscope module includes varying a relative counter-rotational speed of the first pair of motors.

13. The method of claim 12, wherein the motion of the mount is used to control movement of an object in a virtual environment;

and

the method further comprises varying, via the controller, the relative rotational speed of the first pair of motors to vary the gyroscopic force generated by the first gyroscope module, in response to an interaction of the object within the virtual environment.

14. The method of claim 13, wherein a second gyroscope module is also connected to the mount, the second gyroscope module including a second pair of masses aligned along a second axis and rotatable thereabout, the second axis being offset from the first axis, and a second pair of motors, each of the second pair of motors connected to a respective one of the second pair of masses and operable to independently rotate the respective one of the second pair of masses about the second axis at a variable rotational speed;

and

the method further comprises varying, via the controller, a relative rotational speed of the second pair of motors to vary a gyroscopic force generated by the second gyroscope module, in response to the detected motion.

15. The method of claim 14, wherein a third gyroscope module is also connected to the mount, the third gyroscope module including a third pair of masses aligned along a third axis and rotatable thereabout, the third axis being offset from the first and second axes, and a third pair of motors, each of the third pair of motors connected to a respective one of the third pair of masses and operable to independently rotate the respective one of the third pair of masses about the third axis at a variable rotational speed;

and

the method further comprises varying, via the controller, a relative rotational speed of the third pair of motors to vary a gyroscopic force generated by the third gyroscope module, in response to the detected motion.

16. The method of claim 12, further comprising varying, via the controller, a rotational direction of at least one of the first pair of motors to vary a gyroscopic force generated by the first gyroscope module in response to the detected motion.