Systems and methods for using multiple actuators to realize textures

• US 10,564,721 B2
• Filed: 01/29/2010
• Issued: 02/18/2020
• Est. Priority Date: 03/12/2009
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Cruz-Hernandez, Juan Manuel, Grant, Danny A
• Primary Examiner(s): Yang, James J
• Application Number:
  US12/697,042
• Publication Number:
  US 20100231508A1
• Time in Patent Office: 3,672 Days
• 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 2200/1637 Sensing arrangement for detection of housing movement or orientation, e.g. for controlling scrolling or cursor movement on the display of an handheld computer
• CPC Class Codes: G06F 2203/014 Force feedback applied to GUI
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• 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
• CPC Class Codes: G06F 3/0488 using a touch-screen or digitiser, e.g. input of commands through traced gestures
• CPC Class Codes: G06T 15/04 Texture mapping
• CPC Class Codes: G08B 6/00 Tactile signalling systems, e.g. personal calling systems

Abstract

Systems and methods for using multiple actuators to realize textures are disclosed. For example, one disclosed system includes, a system including: a first actuator configured to receive a first haptic signal and output a first haptic effect based at least in part on the first haptic signal; a second actuator configured to receive a second haptic signal and output a second haptic effect based at least in part on the second haptic signal; and a processor configured to: determine the first haptic effect and the second haptic effect, the first and second haptic effects configured when combined to output a texture; and transmit the first haptic signal to the first actuator and transmit the second haptic signal to the second actuator.

Claims

1. A system comprising:

a first actuator configured to receive a first haptic signal and output a first haptic effect based at least in part on the first haptic signal;

a second actuator configured to receive a second haptic signal and output a second haptic effect based at least in part on the second haptic signal, wherein the first haptic signal is different from the second haptic signal; and

a processor configured to;

determine a composite haptic effect generated by combining two haptic effects, the composite haptic effect configured to simulate a texture;

after determining the composite haptic effect, determine a first frequency at which to operate the first actuator to output the first haptic effect and a second frequency at which to operate the second actuator to output the second haptic effect, the first and second haptic effects configured, when output at overlapping time periods to generate the composite haptic effect, wherein the first haptic effect and the second haptic effect comprise different haptic effects; and

transmit the first haptic signal to the first actuator and transmit the second haptic signal to the second actuator.

2. The system of claim 1, wherein the texture comprises a vibrotactile effect.

3. The system of claim 1, wherein the first actuator and the second actuator comprise different types of actuators.

4. The system of claim 1, wherein the first actuator comprises an eccentric rotating mass actuator.

5. The system of claim 4, wherein the eccentric rotating mass actuator is configured to output a low-frequency haptic effect.

6. The system of claim 1, wherein the second actuator comprises a linear resonant actuator.

7. The system of claim 6, wherein the linear resonant actuator is configured to output a high-frequency haptic effect.

8. The system of claim 1, wherein the first actuator comprises one of:

a lateral piezoelectric actuator, an electroactive polymer, or a shape memory alloy.

9. The system of claim 8, wherein the first actuator is configured to output both a low and a high-frequency haptic effect.

10. The system of claim 1, further comprising a housing.

11. The system of claim 10, wherein the housing comprises a mobile device housing.

12. The system of claim 10, wherein the housing comprises a computer monitor housing.

13. The system of claim 10, wherein at least one of the first actuator and the second actuator is coupled to the housing.

14. The system of claim 1, wherein the processor is further configured to:

receive a display signal comprising a plurality of pixels; and

determine the first haptic effect and the second haptic effect based at least in part on the display signal.

15. The system of claim 14, further comprising a display configured to receive the display signal and output an image based at least in part on the display signal.

16. The system of claim 15, wherein the texture is configured to be felt on a surface of the display.

17. The system of claim 15, wherein at least one of the first actuator or the second actuator is coupled to the display.

18. The system of claim 1, further comprising a touch-sensitive interface in communication with the processor, the touch-sensitive interface configured to detect a user interaction and transmit an interface signal associated with the user interaction to the processor.

19. The system of claim 18, wherein the haptic effect is based at least in part on the interface signal.

20. A method for outputting haptic textures comprising:

determining a composite haptic effect generated by combining two haptic effects, the composite haptic effect configured to simulate a texture;

after determining the composite haptic effect, determining a first frequency at which to operate a first actuator to output a first haptic effect and a second frequency at which to operate a second actuator to output a second haptic effect, the first haptic effect and the second haptic effect, when output at overlapping time periods, configured to generate the composite haptic effect;

transmitting a first haptic signal associated with the first haptic effect to the first actuator configured to receive the first haptic signal and output the first haptic effect; and

transmitting a second haptic signal associated with the second haptic effect to the second actuator configured to receive the second haptic signal and output the second haptic effect, wherein the first haptic signal is different from the second haptic signal.

21. The method of claim 20, wherein the texture is configured to be felt on the surface of a touch-sensitive interface.

22. The method of claim 20, further comprising receiving a display signal comprising a plurality of pixels, and wherein determining the first haptic effect and the second haptic effect is based at least in part on the display signal.

23. The method of claim 20, further comprising, receiving an interface signal from a touch-sensitive interface configured to detect user interaction, and wherein determining the first haptic effect and the second haptic effect is based at least in part on the interface signal.

24. A system comprising:

a first actuator configured to receive a first haptic signal and output a first haptic effect based at least in part on the first haptic signal;

a second actuator configured to receive a second haptic signal and output a second haptic effect based at least in part on the second haptic signal, wherein the first haptic signal is different from the second haptic signal;

a processor configured to;

receive a display signal comprising a plurality of pixels;

determine a composite haptic effect generated by combining two haptic effects, the composite haptic effect configured to simulate a texture;

after determining the composite haptic effect, determine a first frequency at which to operate the first actuator to output the first haptic effect and a second frequency at which to operate the second actuator to output the second haptic effect, the first and second haptic effects configured, when output at overlapping time periods, to generate the composite haptic effect; and

transmit the first haptic signal to the first actuator and transmit the second haptic signal to the second actuator

a display configured to receive the display signal and output an image based at least in part on the display signal, the texture configured to be felt on the surface of the display; and

a mobile device housing configured to contain the first actuator, the second actuator, the processor, and the display.

25. A system comprising:

a first actuator configured to receive a first haptic signal and output a first haptic effect based at least in part on the first haptic signal;

a second actuator configured to receive a second haptic signal and output a second haptic effect based at least in part on the second haptic signal, wherein the first haptic signal is different from the second haptic signal; and

a processor configured to;

determine a composite haptic effect generated by combining two haptic effects, the composite haptic effect configured to simulate a texture, wherein the texture comprises a vibrotactile effect;

after determining the composite haptic effect, determine a first frequency at which to operate the first actuator to output the first haptic effect and a second frequency at which to operate the second actuator to output the second haptic effect, the first and second haptic effects configured, when output at overlapping time periods to generate the composite haptic effect; and

transmit the first haptic signal to the first actuator and transmit the second haptic signal to the second actuator.

26. The system of claim 25, wherein the processor is further configured to:

receive a display signal comprising a plurality of pixels; and

determine the first haptic effect and the second haptic effect based at least in part on the display signal.

27. The system of claim 26, further comprising a display configured to receive the display signal and output an image based at least in part on the display signal.

28. The system of claim 27, wherein the texture is configured to be felt on a surface of the display.

29. The system of claim 27, wherein at least one of the first actuator or the second actuator is coupled to the display.