Haptic device with indirect haptic feedback

• US 20070236450A1
• Filed: 03/21/2007
• Published: 10/11/2007
• Est. Priority Date: 03/24/2006
• Status: Active Grant

• Current Assignee: Northwestern University
• Original Assignee: Northwestern University
• Inventors: Peshkin, Michael, Colgate, James, Winfield, Laura, Glassmire, John
• Granted Patent: US 8,405,618 B2
• Time in Patent Office: Days
• US Class Current: 345/156
• CPC Class Codes: G06F 2203/04104 Multi-touch detection in digitiser, i.e. details about the simultaneous detection of a plurality of touching locations, e.g. multiple fingers or pen and finger
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0362 with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• CPC Class Codes: G06F 3/0414 using force sensing means to determine a position
• CPC Class Codes: G06F 3/0421 by interrupting or reflecting a light beam, e.g. optical touch-screen
• CPC Class Codes: G06F 3/0428 by sensing at the edges of the touch surface the interruption of optical paths, e.g. an illumination plane, parallel to the touch surface which may be virtual sensing beam interruptions in a planar beam grid of an optical touch-screen G06F3/0421
• CPC Class Codes: G06F 3/045 using resistive elements, e.g. a single continuous surface or two parallel surfaces put in contact

Abstract

A haptic device provides indirect haptic feedback and virtual texture sensations to a user by modulation of friction of a touch surface of the device in response to one or more sensed parameters and/or time. The sensed parameters can include, but are not limited to, sensed position of the user'"'"'s finger, derivatives of sensed finger position such as velocity and/or acceleration, sensed finger pressure, and/or sensed direction of motion of the finger. The touch surface is adapted to be touched by a user'"'"'s bare finger, thumb or other appendage and/or by an instrument such as a stylus held by the user.

Claims

1. A haptic device, comprising a substrate having a touch surface, a vibrator for imparting ultrasonic vibrations to the substrate, a position sensor, and a control device to vary friction felt by a user'"'"'s appendage on the surface by modulating the amplitude of the ultrasonic vibrations in response to a sensed position of the user'"'"'s appendage relative to the touch surface and/or a derivative thereof.

2. The device of claim 1 wherein the derivative comprises a velocity and/or acceleration of the user'"'"'s appendage.

3. The device of claim 1 wherein the control device varies friction felt by the user'"'"'s appendage by modulating the amplitude of the ultrasonic vibrations in response to the sensed position and velocity.

4. The device of claim 1 wherein the control device varies friction felt by the user'"'"'s appendage by modulating the amplitude of the ultrasonic vibrations in response to the sensed position and finger pressure.

5. The device of claim 1 wherein the control device varies friction felt by the user'"'"'s appendage by modulating the amplitude of the ultrasonic vibrations in response to the sensed position and a sensed direction of motion of the user'"'"'s appendage on the touch surface.

6. The device of claim 1 wherein the touch surface is adapted to receive touch input from a user'"'"'s appendage that comprises a user'"'"'s finger, thumb, or a hand-held stylus.

7. The device of claim 1 wherein the vibrator comprises a piezoelectric bending element.

8. The device of claim 7 wherein the piezoelectric bending element comprises a piezoelectric plate member that is connected to a substrate plate member to provide a laminate structure.

9. The device of claim 8 wherein the piezoelectric plate member and the substrate plate member are transparent.

10. The device of claim 9 wherein each plate member includes a respective transparent electrode.

11. The device of claim 9 wherein the piezoelectric plate member has a thickness of about 0.01 to about 0.125 inch.

12. The device of claim 10 wherein the substrate plate member has a thickness of about 0.01 to about 0.125 inch.

13. The device of claim 7 wherein the amplitude of the excitation voltage at the piezoelectric bending element is modulated in response to a sensed planar or a sensed rotary position of the user'"'"'s appendage.

14. The device of claim 1 comprising a first position sensor to sense a position of the user'"'"'s appendage along a first axis and a second position sensor to sense a position of the user'"'"'s appendage along a second axis.

15. The device of claim 14 wherein the control device includes a computer control unit that receives position information from the first and second position sensors and modulates the amplitude of vibration in response to a sensed planar position of the user'"'"'s appendage.

16. The device of claim 1 comprising a rotary position sensor to sense a rotary position of the user'"'"'s appendage.

17. The device of claim 16 wherein the control device includes a computer control that receives position information from the rotary position sensor and modulates the amplitude of vibration in response to a sensed rotary position of the user'"'"'s appendage.

18. The device of claim 1 wherein the control device modulates surface friction in response to the sensed position of the user'"'"'s appendage on the surface in a manner to generate a virtual texture sensation felt by the user'"'"'s appendage.

19. The device of claim 18 wherein the control device modulates the amplitude of vibration in accordance with a mathematical expression to generate the virtual texture sensation felt by the user'"'"'s appendage.

20. The device of claim 18 wherein the virtual sensation comprises a change in virtual height and/or shape of the surface as the user'"'"'s appendage moves on the surface.

21. The device of claim 1 wherein the touch input surface has a circular or polygonal shape.

22. Apparatus comprising a plurality of haptic devices of claim 1 arranged in a pattern that the user'"'"'s appendage can explore.

23. The apparatus of claim 22 wherein the haptic devices are arranged in a grid pattern.

24. The apparatus of claim 22 wherein each of the haptic devices is adapted to sense a position of the user'"'"'s appendage relative to the haptic devices.

25. The apparatus of claim 22 wherein the haptic devices are energized at different times.

31. The combination of a touch screen and a haptic device of claim 1 wherein the haptic device provides an interface with the touchscreen.

32. The combination of claim 31 wherein the haptic device is disposed on the touch screen.

33. The combination of claim 31 wherein the haptic device is disposed on a surface not part of the touch screen.

34. The combination of a visual display and a haptic device of claim 1 wherein the haptic device provides an interface with the visual display.

35. The combination of claim 34 where the haptic device is disposed on the visual display.

36. The combination of claim 34 where the haptic device is disposed on a surface not part of the visual display.

37. The combination of an interior surface and/or exterior surface of a motor vehicle and the haptic device of claim 1 disposed on the surface of the motor vehicle.

38. The combination of claim 37 wherein the haptic display is disguised to blend with the exterior surface of the motor vehicle.

39. The combination of claim 37 including a touch screen.

40. The combination of claim 37 including a visual display.

41. The combination of an electronic component and the haptic device of claim 1 disposed on the electronic component to interface therewith.

26. A haptic device, comprising a substrate having a touch surface, a vibrator for imparting ultrasonic vibrations to the substrate, and a control device to modulate the amplitude of the ultrasonic vibrations over time to vary friction felt by a user'"'"'s appendage on the touch surface over time.

27. A haptic device, comprising a substrate having a touch surface, a vibrator for imparting ultrasonic vibrations to the substrate, and a control device to vary friction felt by a user'"'"'s appendage on the surface by modulating the amplitude of the ultrasonic vibrations in response to a sensed direction of motion of the user'"'"'s appendage relative to the touch surface.

28. Apparatus, comprising a plurality of the haptic devices arranged in a pattern that the user'"'"'s appendage can explore, each of the haptic devices including a substrate having a touch surface that is adapted to be engaged by a user'"'"'s appendage and a vibrator for imparting ultrasonic vibrations to the substrate;

and one or more control devices to provide different modulated amplitudes of ultrasonic vibration at different haptic devices to vary friction felt by the user'"'"'s appendage exploring different haptic devices of the pattern.

29. The apparatus of claim 28 wherein the haptic devices are arranged in a grid pattern.

30. The apparatus of claim 28 wherein each of the haptic devices is adapted to sense a position of the user'"'"'s appendage relative to the haptic devices.

42. A haptic device, comprising a substrate having a touch surface that is adapted to be engaged by a user'"'"'s appendage, a vibrator for imparting ultrasonic vibrations to the substrate, a pressure sensor, and a control device to vary friction felt by the user'"'"'s appendage by varying the amplitude of the ultrasonic vibrations in response to the sensed pressure of the user'"'"'s appendage on the touch surface.

43. The device of claim 42 wherein friction is varied in response to pressure from a pushing motion of the user'"'"'s appendage against the surface.

44. The combination of a touch screen and a haptic device of claim 42 disposed on the touch screen to provide a simulated pushbutton.

45. The combination of a visual display and a haptic device of claim 42 on the visual display to provide a simulated pushbutton.

46. The combination of a haptic display of claim 42 disposed on an interior surface and/or exterior surface of a motor vehicle.

47. A method of controlling a haptic device, comprising ultrasonically vibrating a substrate having a touch surface, sensing a parameter of operation or determining time, and modulating the amplitude of the ultrasonic vibrations in response to the sensed parameter or determined time to vary friction felt of the touch surface.