Directional tactile feedback for haptic feedback interface devices

• US 20020080112A1
• Filed: 09/27/2001
• Published: 06/27/2002
• Est. Priority Date: 09/28/2000
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Martin, Kenneth M., Rosenberg, Louis B., Braun, Adam C., Goldenberg, Alex S., Moore, David F.
• Granted Patent: US 6,864,877 B2
• Time in Patent Office: Days
• US Class Current: 345/156
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Directional haptic feedback provided in a haptic feedback interface device. An interface device includes at least two actuator assemblies, which each include a moving inertial mass. A single control signal provided to the actuator assemblies at different magnitudes provides directional inertial sensations felt by the user. A greater magnitude waveform can be applied to one actuator to provide a sensation having a direction approximately corresponding to a position of that actuator in the housing. In another embodiment, the actuator assemblies each include a rotary inertial mass and the control signals have different duty cycles to provide directional sensations. For power-consumption efficiency, the control signals can be interlaced or pulsed at a different frequency and duty cycle to reduce average power requirements.

Claims

1. An interface device providing directional haptic feedback to a user, said interface device in communication with a host computer, the device comprising:

a housing physically contacted by said user;

at least one sensor for detecting user input from said user; and

at least two actuator assemblies coupled to said housing, each of said actuator assemblies including a moving inertial mass, wherein said actuator assemblies are positioned in said housing to cause directional inertial sensations on said housing, wherein a single control signal is provided to each of said actuator assemblies at different magnitudes to provide said directional inertial sensations felt by said user.

2. An interface device as recited in claim 1 wherein a greater magnitude of said waveform is applied to a particular one of said actuator assemblies to provide a sensation having a direction approximately corresponding to a position of said particular actuator assembly in said housing.

3. An interface device as recited in claim 2 wherein a greater magnitude of said waveform is applied to a left one of said actuator assemblies to provide a sensation having a left direction, and wherein a greater magnitude of said waveform is applied to a right one of said actuator assemblies to provide a sensation having a right direction.

4. An interface device as recited in claim 1 further comprising a local processor that receives a high level command from said computer and controls said actuator assemblies in accordance with said high level command.

5. An interface device as recited in claim 4 wherein said high level command includes a balance parameter, said balance parameter indicating how to divide an output current between said actuator assemblies to provide a desired location for said directional inertial sensation along an axis between said actuator assemblies.

6. An interface device as recited in claim 5 wherein said high level command includes frequency and magnitude parameters for specifying a frequency and magnitude of said inertial sensations, said frequency and magnitude being independent of each other.

7. An interface device as recited in claim 5 wherein said high level command includes at least one envelope parameter for specifying an envelope on said inertial sensations, said envelope modifying said magnitude of said inertial sensations.

8. An interface device as recited in claim 1 wherein each of said actuator assemblies oscillates said inertial mass linearly.

9. An interface device as recited in claim 8 wherein said control signal is harmonic and drives said inertial mass in two directions.

10. An interface device as recited in claim 1 wherein said control signal is divided into two control signals, one of said control signals being out of phase with the other control signal, each control signal sent to one of said actuator assemblies.

11. An interface device as recited in claim 1 wherein each of said actuator assemblies rotates said inertial mass.

12. An interface device as recited in claim 11 wherein said inertial masses are rotated only in one rotational direction.

13. An interface device as recited in claim 12 wherein a magnitude and frequency of each of individual inertial sensations produced by each of said actuator assemblies are adjustable independently of each other.

14. An interface device as recited in claim 1 wherein said housing includes two grips, and wherein each of said actuator assemblies is in one of said grips.

16. An interface device as recited in claim 14 wherein a commanded magnitude of said control signal is applied to a left one of said actuator assemblies to provide a sensation having a left direction, and wherein a commanded magnitude of said control signal is applied to a right one of said actuator assemblies to provide a sensation having a right direction.

17. A interface device as recited in claim 15 further comprising a local processor that receives a high level command from said computer and controls said actuator assemblies in accordance with said high level command.

18. A interface device as recited in claim 17 wherein said high level command includes a balance parameter, said balance parameter indicating how to divide output vibration magnitudes between said actuator assemblies to provide a desired location for said directional inertial sensation along an axis between said actuator assemblies.

19. A interface device as recited in claim 18 wherein said high level command includes frequency and magnitude parameters for specifying a frequency and magnitude of said inertial sensations, said frequency and magnitude being independent of each other.

20. A interface device as recited in claim 18 wherein said high level command includes at least one envelope parameter for specifying an envelope on said inertial sensations, said envelope modifying said magnitude of said inertial sensations.

21. An interface device as recited in claim 15 wherein one of said control signals is out of phase with the other control signal, each control signal sent to one of said actuator assemblies.

22. An interface device as recited in claim 15 wherein one of said control signals is out of phase from said other control signal.

23. An interface device as recited in claim 22 wherein one of said control signals is interlaced with said other control signal such that said control signals are never on at the same time.

24. An interface device as recited in claim 15 wherein when one of said control signals is on at the same time as the other control signal, at least one of said control signals is pulsed at a predetermined frequency and duty cycle to reduce average power requirements of at least one of said actuator assemblies.

26. A method as recited in claim 25 wherein a greater magnitude of said waveform is applied to a particular one of said actuator assemblies to provide a sensation having a direction approximately corresponding to a position of said particular actuator assembly in said housing.

27. A method as recited in claim 26 wherein a greater magnitude of said waveform is applied to a left one of said actuator assemblies to provide a sensation having a left direction, and wherein a greater magnitude of said waveform is applied to a right one of said actuator assemblies to provide a sensation having a right direction.

28. A method as recited in claim 26 further comprising a local processor that receives a high level command from said computer and controls said actuator assemblies in accordance with said high level command, wherein said high level command includes a balance parameter, said balance parameter indicating how to divide an output current between said actuator assemblies to provide a desired location for said directional inertial sensation along an axis between said actuator assemblies.

29. A method as recited in claim 28 wherein said high level command include s frequency and magnitude parameters for specifying a frequency and magnitude of said inertial sensations, said frequency and magnitude being independent of each other.

30. An interface device as recited in claim 25 wherein each of said actuator assemblies oscillates said inertial mass linearly, wherein said control signal is harmonic and drives said inertial mass in two directions.

31. An interface device as recited in claim 25 wherein said control signal is divided into two control signals, one of said control signals being out of phase with the other control signal, each control signal sent to one of said actuator assemblies.

32. An interface device as recited in claim 25 wherein each of said actuator assemblies rotates said inertial mass.

15. An interface device providing directional haptic feedback to a user, said interface device providing said haptic feedback in accordance with a display of a computer, the device comprising:

a housing physically contacted by said user;

at least one sensor for detecting user input from said user; and

at least two actuator assemblies coupled to said housing, each of said actuator assemblies including a rotary inertial mass that is driven uni-directionally, wherein said actuator assemblies are positioned in said housing to cause directional inertial sensations on said housing, wherein a control signal is provided to each of said actuator assemblies at a different duty cycle to provide said directional inertial sensations felt by said user.

25. A method for providing directional haptic feedback to a user manipulating an interface device, said interface device in communication with a host computer, the method comprising:

detecting input from said user based on said manipulation of said interface device; and

outputting a directional inertial sensation on a housing of said interface device physically contacted by said user, wherein said directional inertial sensation is caused by at least two actuator assemblies, each of said actuator assemblies moving an inertial mass, wherein said actuator assemblies are positioned in said housing to cause said directional inertial sensations and wherein a single control signal is provided to each of said actuator assemblies at different magnitudes to provide said directional inertial sensations felt by said user.

33. A method for providing directional haptic feedback to a user manipulating an interface device, said interface device in communication with a host computer, the method comprising:

detecting input from said user based on said manipulation of said interface device; and

outputting a directional inertial sensation on a housing of said interface device physically contacted by said user, wherein said directional inertial sensation is caused by at least two actuator assemblies, each of said actuator assemblies rotating an inertial mass uni-directionally, wherein said actuator assemblies are positioned in said housing to cause said directional inertial sensation and wherein a control signal is provided to each of said actuator assemblies at a different duty cycle to provide said directional inertial sensation felt by said user.

34. A method as recited in claim 33 wherein a commanded magnitude of said control signal is applied to a left one of said actuator assemblies to provide a sensation having a left direction, and wherein a commanded magnitude of said control signal is applied to a right one of said actuator assemblies to provide a sensation having a right direction.

35. A method as recited in claim 33 wherein a received high level command from said host computer controls said actuator assemblies and includes a balance parameter, said balance parameter indicating how to divide output vibration magnitudes between said actuator assemblies to provide a desired location for said directional inertial sensation along an axis between said actuator assemblies.

36. A method as recited in claim 35 wherein said high level command includes frequency and magnitude parameters for specifying a frequency and magnitude of said inertial sensations, said frequency and magnitude being independent of each other.

37. A method as recited in claim 33 wherein one of said control signals is out of phase from said other control signal.

38. A method as recited in claim 37 wherein one of said control signals is interlaced with said other control signal such that said control signals are never on at the same time.

39. A method as recited in claim 33 wherein when one of said control signals is on at the same time as the other control signal, at least one of said control signals is pulsed at a predetermined frequency and duty cycle to reduce average power requirements of at least one of said actuator assemblies.