Providing enhanced haptic feedback effects

• US 20020030663A1
• Filed: 07/17/2001
• Published: 03/14/2002
• Est. Priority Date: 09/28/1999
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Braun, Adam C., Goldenberg, Alex S., Tierling, Kollin M.
• Granted Patent: US 7,218,310 B2
• Time in Patent Office: Days
• US Class Current: 345/156
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 2300/1025 details of the interface with the game device, e.g. USB version detection
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: A63F 9/24 Electric games; Games using electronic circuits not otherwise provided for video games A63F13/00; computerized gaming systems G07F17/32
• CPC Class Codes: B06B 1/0276 with simultaneous generation, e.g. with modulation, harmonics
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• 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

Abstract

Method and apparatus for providing high strength, low frequency tactile sensations using an inertial actuator in a haptic feedback interface device, such as an actuator driving an oscillating inertial mass. A commanded low frequency is modulated or combined with a higher frequency at which the tactile sensations feel stronger, where the resulting signal is used to output a tactile sensation at the higher frequency and convey the commanded low frequency to the user. One embodiment provides higher frequency pulse bursts at the desired low frequency; other embodiments modulate or otherwise vary the amplitude of the higher frequency signal according to the desired low frequency.

Claims

1. A method for providing a tactile sensation using an inertial actuator in an interface device, the method comprising:

receiving a commanded low frequency at which to output said tactile sensation to a user of said interface device; and

providing a plurality of bursts of a higher frequency signal, said bursts being provided approximately at said low frequency to control said inertial actuator to output said tactile sensation, wherein said tactile sensation conveys said commanded low frequency to said user.

2. A method as recited in claim 1 wherein said inertial actuator includes an inertial mass that is oscillated bi-directionally, and wherein said bursts each control at least three changes of direction of said inertial mass at said higher frequency.

3. A method as recited in claim 1 wherein said higher frequency is high enough so as to cause said user to feel each of said bursts as a single pulse.

4. A method for providing haptic sensations using an inertial actuator in an interface device, the method comprising:

receiving a commanded low frequency at which to output a tactile sensation to a user of said interface device;

determining a higher frequency; and

combining said low frequency with said higher frequency to provide a resulting signal used to output a tactile sensation at said higher frequency, said tactile sensation conveying said commanded low frequency to said user.

5. A method as recited in claim 4 wherein said combining includes outputting bursts having said higher frequency at a rate corresponding to said commanded low frequency.

6. A method as recited in claim 5 wherein said burst includes at least three changes of direction of an inertial mass of said inertial actuator.

7. A method as recited in claim 4 wherein said combining includes creating a waveform having said higher frequency, said waveform having an amplitude that varies according to said commanded low frequency.

8. A method as recited in claim 7 wherein said combining includes adding a waveform having said commanded low frequency to a waveform having said determined higher frequency.

9. A method as recited in claim 7 wherein said combining includes using a waveform having said low frequency to modulate the magnitude of a waveform having said higher frequency.

10. A method as recited in claim 9 wherein said combining includes filtering said low frequency waveform and said higher frequency waveform using a low pass filter and a high pass filter.

11. A method as recited in claim 10 wherein said combining includes normalizing said low frequency waveform and said higher frequency waveform.

12. A method as recited in claim 11 wherein said combining includes adding said higher frequency waveform to the normalized, modulated high frequency waveform.

13. A method as recited in claim 7 wherein said higher frequency is approximately at a resonance frequency of a mechanical actuator system of said interface device.

14. A method as recited in claim 4 wherein said inertial actuator in said interface device is coupled to a flexure, wherein said inertial actuator provides an inertial mass that moves bi-directionally to output said low frequency tactile sensations.

15. A method as recited in claim 14 wherein said actuator moves as said inertial mass.

16. A method as recited in claim 4 wherein said determining said higher frequency includes retrieving a higher frequency value from a memory.

17. A method as recited in claim 16 wherein said higher frequency was specified by a user of said interface device.

18. A method as recited in claim 4 wherein said low frequency is combined with said higher frequency to provide said resulting signal only when said commanded low frequency is under a predetermined threshold frequency.

20. A haptic feedback interface device as recited in claim 19 wherein said signal provided by said controller includes higher frequency bursts that are output at said commanded low frequency.

21. A haptic feedback interface device as recited in claim 19 wherein said entire signal provided by said controller has said higher frequency, and wherein said higher frequency signal varies in amplitude according to said commanded low frequency.

22. A haptic feedback interface device as recited in claim 21 wherein said signal provided by said controller is based on filtering a signal having said commanded low frequency and filtering a signal having said higher frequency.

23. A haptic feedback interface device as recited in claim 22 wherein said filtering uses a low pass filter and a high pass filter.

24. A haptic feedback interface device as recited in claim 21 wherein said signal provided by said controller is based on using a resonant filter by providing an envelope based on a signal having said low frequency and modulating a signal having said higher frequency using said envelope, said higher frequency being approximately a resonant frequency of a mechanical actuator system of said interface device.

25. A haptic feedback interface device as recited in claim 19 wherein said actuator device includes a flexure and an actuator, wherein said actuator is oscillated as said inertial mass.

26. A haptic feedback interface device as recited in claim 19 wherein said controller includes a local microprocessor separate from a host computer in communication with said interface device.

28. An apparatus as recited in claim 27 wherein said signal provided by said controller includes higher frequency bursts that are output at said commanded low frequency.

29. An apparatus as recited in claim 27 wherein said combining includes creating a waveform having said higher frequency, said waveform having an amplitude that varies according to said commanded low frequency.

19. A haptic feedback interface device for providing a tactile sensation, the interface device comprising:

a sensor operative to detect motion of a user manipulandum, said sensor providing sensor data representative of said motion;

an actuator device operative to output tactile sensations on said user manipulandum or a housing of said interface device, wherein said actuator device includes a inertial mass that is oscillated to provide said tactile sensation; and

a controller providing a signal to said actuator device to cause said actuator device to output said tactile sensation to said user, at least a portion of said signal having a higher frequency, and wherein said tactile sensation conveys a low frequency that was commanded to said tactile device.

27. An apparatus for providing tactile sensations using an inertial actuator, the apparatus comprising:

means for receiving a commanded low frequency at which to output a tactile sensation to a user of said interface device;

means for determining a higher frequency; and

means for combining said low frequency with said higher frequency to provide a resulting signal used to output a tactile sensation at said higher frequency, said tactile sensation conveying said commanded low frequency to said user.

30. A method for combining two or more tactile sensations to be output by a tactile feedback interface device, the method comprising:

receiving a plurality of commanded effect waveforms to be output simultaneously by said tactile feedback interface device to a user of said interface device;

filtering each of said effect waveforms using a low pass filter and a higher pass filter to produce a low passed waveform and a high passed waveform, respectively, for each of said effect waveforms;

for each of said effect waveforms, multiplying said high passed waveform from a particular effect waveform with an envelope comprised of a summation of said low passed waveforms from each of said effect waveforms other than said particular effect waveform, thereby producing a plurality of product waveforms;

summing said plurality of product waveforms to produce an output waveform; and

providing said output waveform for output by an actuator device to a user of said tactile feedback interface device.

31. A method as recited in claim 30 further comprising normalizing said low passed waveform and said high passed waveform.

32. A method as recited in claim 31 further comprising adding, for each of said effect waveforms, said high passed waveform to said associated product waveform.

33. A method as recited in claim 30 wherein a program running on a host computer in communication with said interface device receives said plurality of commanded effect waveforms.

34. A method as recited in claim 30 wherein a local microprocessor of said interface device receives said plurality of commanded effect waveforms.