System and method for controlling haptic devices having multiple operational modes

• US 20050134562A1
• Filed: 06/23/2004
• Published: 06/23/2005
• Est. Priority Date: 12/22/2003
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Cruz-Hernandez, Juan Manuel, Grant, Danny A., Goldenberg, Alex S., Tierling, Kollin M.
• Granted Patent: US 7,742,036 B2
• Time in Patent Office: Days
• US Class Current: 345/161
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G08B 6/00 Tactile signalling systems, e.g. personal calling systems
• CPC Class Codes: H04M 19/04 the ringing-current being generated at the substations

Abstract

A haptic device having a plurality of operational modes, including a first operational mode and a second operational mode is provided. The first operational mode is associated with a frequency range. The second operational mode is associated with a frequency range that is different from the frequency range of the first operational mode. A controller is coupled to the haptic device, and is configured to send the haptic device a plurality of control schemes. Each control scheme is uniquely associated with an operational mode from the plurality of operational modes. Another embodiment provides a method that includes providing power to a haptic device configured to cause the haptic device to provide a haptic sensation above a pre-determined sensation threshold. A voltage pulse that is configured to change the haptic sensation output by the haptic device by a pre-determined amount within a pre-determined time period is also applied to the haptic device.

Claims

1. An apparatus, comprising:

a haptic device having a plurality of operational modes including a first operational mode and a second operational mode, the first operational mode being associated with a frequency range, the second operational mode being associated with a frequency range being different from the frequency range of the first operational mode; and

a controller coupled to the haptic device, the controller configured to send the haptic device a plurality of control schemes each being uniquely associated with an operational mode from the plurality of operational modes.

2. The apparatus of claim 1, wherein the controller is configured to combine each control scheme from the plurality of control schemes prior to sending the plurality of control schemes to the haptic device.

3. The apparatus of claim 1, wherein the controller is configured to superimpose each control scheme from the plurality of control schemes prior to sending the plurality of control schemes to the haptic device, the plurality of control schemes being superimposed according to a predetermined proportion of operational modes from the plurality of operational modes.

4. The apparatus of claim 1, wherein the controller is configured to provide transitional control schemes associated with at least two operational modes from the plurality of operational modes, the transitional control schemes are configured to combine at least a portion of each control scheme from the plurality of control schemes uniquely associated with each of the at least two operational modes.

5. The apparatus of claim 1, wherein the controller is configured to provide transitional control schemes associated with at least two operational modes from the plurality of operational modes, the transitional control schemes are configured to superimpose at least a portion of each control scheme from the plurality of control schemes uniquely associated with each of the at least two operational modes.

6. The apparatus of claim 1, wherein the haptic device includes a rotating mass.

7. The apparatus of claim 1, wherein the haptic device includes a rotating mass, the rotating mass having at least one harmonic response frequency, each at least one harmonic response frequency uniquely corresponding to an operational mode from the plurality of operational modes.

8. The apparatus of claim 1, wherein the controller is configured to control the haptic device using pulse width modulation (PWM).

9. The apparatus of claim 1, wherein the controller is further configured to cause the at least one haptic device to output a first haptic response associated with the first operational mode and a second haptic response associated with the second operational mode.

10. The apparatus of claim 1, wherein the controller is further configured to cause the at least one haptic device to output a first haptic response associated with the first operational mode, a second haptic response associated with the second operational mode, and a transitional haptic response associated with a combination of the first haptic response and the second haptic response.

11. The apparatus of claim 1, wherein the haptic device has at least one of a variable moment and a variable resonance frequency, the controller being configured to send a signal configured to vary the at least one moment and variable resonance frequency.

12. An apparatus, comprising:

a haptic device configured to provide a plurality of haptic feedback responses, each haptic feedback response being uniquely associated with an operational mode of the haptic device; and

means for combining the haptic feedback responses based on at least one pre-determined parameter to produce a multi-mode haptic feedback response.

13. The apparatus of claim 12, wherein the haptic device is configured to provide a low-frequency response and a high-frequency response.

14. The apparatus of claim 12, wherein the haptic device is configured to provide a low-frequency response and a high-frequency response, the means for combining being configured to provide a transitional response between the low-frequency response and the high-frequency response.

15. The apparatus of claim 12, further comprising:

means for controlling the haptic device, the means for controlling the haptic device being configured to control the response of the haptic device within a plurality of operational modes.

16. The apparatus of claim 12, further comprising:

means for controlling the haptic device, the haptic device having a variable moment, the means for controlling being configured to vary the moment of the haptic device.

17. The apparatus of claim 12, further comprising:

means for controlling the haptic device, the haptic device having a variable moment, the means for controlling being configured to vary the moment of the haptic device by varying a velocity of the haptic device.

18. The apparatus of claim 12, further comprising:

means for controlling the haptic device, the haptic device having a variable moment, the means for controlling being configured to vary the moment of the haptic device by varying a direction of the haptic device.

19. A processor-readable medium comprising code representing instructions to cause a processor to:

send a first control signal to at least one haptic device collectively having a plurality of operational modes including a first operational mode and a second operational mode, the first control signal being associated with the first operational mode and a frequency range; and

send a second control signal to the at least one haptic device, the second control signal being associated with the second operational mode and a frequency range, the frequency range of the second control signal being different from the frequency range of the first operational mode, the second control signal being different from the first control signal.

20. The processor-readable medium of claim 19, further comprising code representing instructions to cause a processor to:

combine the first operational mode and the second operational mode by varying a duty cycle of at least one of the first control signal and the second control signal.

21. The processor-readable medium of claim 19, further comprising code representing instructions to cause a processor to:

combine the first operational mode and the second operational mode by augmenting at least a portion of one of the first control signal and the second control signal.

22. The processor-readable medium of claim 19, further comprising code representing instructions to cause a processor to:

combine the first operational mode and the second operational mode by a feedback algorithm based upon at least a portion of one of the first control signal and the second control signal.

23. The processor-readable medium of claim 19, further comprising code representing instructions to cause a processor to:

change the moment of the at least one haptic device.

24. The processor-readable medium of claim 19, further comprising code representing instructions to cause a processor to:

change the moment of the at least one haptic device by varying a velocity of the at least one haptic device.

25. The processor-readable medium of claim 19, further comprising code representing instructions to cause a processor to:

change the moment of the at least one haptic device by varying the direction of movement of the at least one haptic device.

26. A method, comprising:

producing a first frequency response using a haptic device, the first frequency response being associated with a first frequency range;

producing a second frequency response using the haptic device, the second frequency response being associated with a second frequency range that is separated from the first frequency range by a transition frequency range; and

adjusting a response of the haptic device based on at least one pre-determined parameter to produce a transitional response in the transition frequency range.

27. The method of claim 26, wherein the adjusting includes:

combining the first frequency response and the second frequency response of the haptic device.

28. The method of claim 26, wherein the adjusting includes:

summing the first frequency response and the second frequency response of the haptic device.

29. The method of claim 26, wherein the adjusting includes:

multiplying the first frequency response and the second frequency response of the haptic device.

30. The method of claim 26, wherein the adjusting includes:

performing a scalar adjustment of at least one of the first frequency response and the second frequency response.

31. The method of claim 26, wherein the adjusting includes:

performing a scalar adjustment of at least one of the first frequency response and the second frequency response, the scalar adjustment being based on characteristics of the haptic device.

32. The method of claim 26, wherein the adjusting includes:

superimposing the response of the first frequency response and the second frequency response.

33. The method of claim 26, wherein the adjusting includes:

controlling the first frequency response and the second frequency response using a feedback algorithm.

34. The method of claim 26, further comprising:

varying the moment of the haptic device.

35. A method, comprising:

sending a first control signal to at least one haptic device collectively having a plurality of operational modes including a first operational mode and a second operational mode, the first control signal being associated with the first operational mode and a frequency range; and

sending a second control signal to the at least one haptic device, the second control signal being associated with the second operational mode and a frequency range, the frequency range of the second control signal being different from the frequency range of the first operational mode, the second control signal being different from the first control signal.

36. The method of claim 35, further comprising:

combining the first operational mode and the second operational mode by directly summing at least a portion of one of the first control signal and the second control signal.

37. The method of claim 35, further comprising:

combining the first operational mode and the second operational mode by multiplying at least a portion of one of the first control signal and the second control signal.

38. The method of claim 35, further comprising:

combining the first operational mode and the second operational mode by summing products associated with at least a portion of one of the first control signal and the second control signal.

39. The method of claim 35, further comprising:

combining the first operational mode and the second operational mode by augmenting at least a portion of one of the first control signal and the second control signal.

40. The method of claim 35, further comprising:

combining the first operational mode and the second operational mode by a feedback algorithm based upon at least a portion of one of the first control signal and the second control signal.

41. The method of claim 35, wherein the first signal is further configured to vary the moment of the haptic device by varying one of a velocity of the haptic device and a direction of the haptic device.

42. A processor-readable medium comprising code representing instructions to cause a processor to:

send a first signal to cause power to be provided to a haptic device, the power being configured to cause the haptic device to output a haptic sensation above a pre-determined sensation threshold;

send a second signal to cause a voltage pulse to be applied to the haptic device, the voltage pulse being configured to change the haptic sensation output by the haptic device by reducing a response time of the haptic device by a pre-determined amount.

43. The processor-readable medium of claim 42, the code representing instructions to cause a processor to send the second signal to cause a voltage pulse to be applied at the beginning of the first signal.

44. The processor-readable medium of claim 42, further comprising code representing instructions to cause a processor to:

send a third signal to cause the power provided to the haptic device to be terminated, the code representing instructions to cause a processor to send the second signal being configured to cause the voltage pulse to be applied to the haptic device at the end of the third signal.

45. The processor-readable medium of claim 42, further comprising code representing instructions to cause a processor to:

send a third signal to cause the power provided to the haptic device to be terminated, the code representing instructions to cause a processor to send the second signal being configured to cause the voltage pulse to be applied to the haptic device with a polarity opposite the polarity of the power provided to the haptic device in response to the first signal.

46. A processor-readable medium comprising code representing instructions to cause a processor to:

send a signal to cause a lead-in voltage pulse to be applied to a haptic device, the lead-in voltage pulse configured to cause the haptic device to provide a haptic sensation above a pre-determined sensation threshold within a first pre-determined period of time;

send a signal to cause power to be provided to the haptic device to maintain the haptic sensation above the pre-determined sensation threshold during a second pre-determined period of time after the first predetermined period of time.

47. The processor-readable medium of claim 46, further comprising code representing instructions to cause a processor to:

send a signal to cause a stopping voltage pulse to be provided to the haptic device, the stopping voltage pulse configured to cause the haptic device to stop providing the haptic sensation within a third predetermined period of time after the second pre-determined period of time.

48. A processor-readable medium comprising code representing instructions to cause a processor to:

send a signal to cause power to be provided to a haptic device to maintain a haptic sensation provided by the haptic device above a pre-determined sensation threshold during a first predetermined period of time;

send a signal to cause a stopping voltage pulse to be applied to the haptic device, the stopping voltage pulse configured to cause the haptic device to stop providing the haptic sensation within a second pre-determined period of time after the first pre-determined period of time

49. A method, comprising:

providing steady-state power to a haptic device, the power being configured to cause the haptic device to output a haptic sensation above a pre-determined sensation threshold;

applying a voltage pulse to the haptic device, the voltage pulse being configured to change the haptic sensation output by the haptic device by a pre-determined amount within a pre-determined reduced response time.

50. The method of claim 49, wherein the voltage pulse is applied to the haptic device prior to providing the steady-state power to the haptic device.

51. The method of claim 49, further comprising:

terminating the steady-state power provided to the haptic device, the voltage pulse being applied to the haptic device after terminating the steady-state power.

52. The method of claim 49, further comprising:

terminating the steady-state power provided to the haptic device, the voltage pulse being applied to the haptic device after terminating the power with a polarity opposite the polarity of the steady-state power provided to the haptic device.

53. A method, comprising:

applying a lead-in voltage pulse to a haptic device, the lead-in voltage pulse configured to cause the haptic device to provide a haptic sensation above a pre-determined sensation threshold within a first pre-determined period of time;

providing power to the haptic device to maintain the haptic sensation above the pre-determined sensation threshold during a second pre-determined period of time after the first pre-determined period of time.

54. The method of claim 53, further comprising:

providing a stopping voltage pulse to the haptic device, the stopping voltage pulse configured to cause the haptic device to stop providing the haptic sensation within a third pre-determined period of time after the second pre-determined period of time.

55. A method comprising:

providing power to a haptic device to maintain a haptic sensation provided by the haptic device above a pre-determined sensation threshold during a first predetermined period of time; and

applying a stopping voltage pulse to the haptic device, the stopping voltage pulse configured to cause the haptic device to stop providing the haptic sensation within a second pre-determined period of time after the first predetermined period of time.

56. An apparatus, comprising:

a controller configured to send control signals;

a variable-moment haptic device configured to provide a haptic sensation based at least partially on the control signals, the variable-moment haptic device having a moment that changes based on at least a direction of movement of the mass being varied by the control signals.

57. The apparatus of claim 56, wherein the mass is an eccentric rotating mass.

58. The apparatus of claim 56, wherein the mass is an eccentric rotating mass having at least one weighted distal portion, a relative position of the at least one weighted distal portion being configured to vary based on at least the direction of movement of the mass, the moment changing by the varying of the relative position of the at least one weighted distal portion.

59. The apparatus of claim 56, wherein the mass is an eccentric rotating mass having at least one weighted distal portion, a position of the at least one weighted distal portion being configured to vary relative to a center of rotation based on at least the direction of movement of the mass, the moment changing by the varying of the relative position of the at least one weighted distal portion.