HAPTIC DEVICE
First Claim
1. A method of generating a desired haptic sensation in a device comprising a member and a plurality of transducers mounted to the member, the method comprising:
- a) determining an initial estimate of a filter to be applied to a respective signal input to each transducer whereby application of the filtered input signals to the transducers generates vibration of the member which provides a haptic sensation;
b) defining a model of the system whereby the vibration of the member can be calculated as a function of the input signal, the model having a plurality of parameters;
c) calculating the vibration of the member as an output of the model of the system;
d) calculating a reference error value for the output of the model by comparing the output of the model with a measured value of vibration of the member;
e) determining changed parameter values of the parameters of the model;
f) recalculating the error value for the output of the model with the changed parameter values by comparing the output of the model with the changed parameter values to the measured value of vibration of the member;
g) comparing the recalculated error value with the reference error value;
h) if the compared recalculated error value is less than the reference error value, setting the recalculated error value as the reference error value, setting the changed parameter values as the model parameters, and repeating the steps c) to h), orif the compared recalculated error value is greater than the reference error value, outputting the model parameters;
generating a new filter using the output model parameters; and
applying the new filters to respective input signals applied to each transducer to generate vibration within the member to provide the desired haptic sensation.
3 Assignments
0 Petitions
Accused Products
Abstract
A method of generating a haptic sensation comprising: determining an initial estimate of a filter to be applied to a respective signal input to each transducer; defining a model of the system; calculating the vibration of the member as an output of the model of the system; calculating a reference error value for the output of the model; determining changed parameter values of the parameters of the model; recalculating the error value for the output of the model; comparing the recalculated error value with the reference error value; setting the recalculated error value as the reference error value, setting the changed parameter values as the model parameters, and repeating the above steps, or outputting the model parameters; generating a new filter using the output model parameters; and applying the new filters to respective input signals applied to each transducer to generate vibration within the member to provide the haptic sensation.
18 Citations
40 Claims
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1. A method of generating a desired haptic sensation in a device comprising a member and a plurality of transducers mounted to the member, the method comprising:
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a) determining an initial estimate of a filter to be applied to a respective signal input to each transducer whereby application of the filtered input signals to the transducers generates vibration of the member which provides a haptic sensation; b) defining a model of the system whereby the vibration of the member can be calculated as a function of the input signal, the model having a plurality of parameters; c) calculating the vibration of the member as an output of the model of the system; d) calculating a reference error value for the output of the model by comparing the output of the model with a measured value of vibration of the member; e) determining changed parameter values of the parameters of the model; f) recalculating the error value for the output of the model with the changed parameter values by comparing the output of the model with the changed parameter values to the measured value of vibration of the member; g) comparing the recalculated error value with the reference error value; h) if the compared recalculated error value is less than the reference error value, setting the recalculated error value as the reference error value, setting the changed parameter values as the model parameters, and repeating the steps c) to h), or if the compared recalculated error value is greater than the reference error value, outputting the model parameters; generating a new filter using the output model parameters; and applying the new filters to respective input signals applied to each transducer to generate vibration within the member to provide the desired haptic sensation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 40)
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20. A method of generating a desired haptic sensation in a device comprising a member and a plurality of transducers mounted to the member, the method comprising:
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choosing a set of frequencies for generating said desired haptic sensation; determining an impulse response of a filter for each respective transducer to be applied to a signal input to each transducer, whereby application of the filtered input signals generates vibration of the member which provides the desired haptic sensation; calculating the transfer function of each filter, wherein each filter has a transfer function with at least one pole and at least one zero, and calculating the transfer function of each said filter comprises, determining at least one pole coefficient which determines at least one pole; determining, using said at least one pole coefficient, a pole representation of the transfer function which filters said input signal using said at least one pole; using said respective impulse response, calculating at least one zero coefficient which determines at least one zero; and combining said pole representation of the transfer function with said at least one zero coefficient to calculate said transfer function of said filter; and applying the calculated filters to input signals applied to the respective transducers to generate vibration within the member to provide the desired haptic sensation. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method of generating a desired haptic sensation in a device comprising a member and a plurality of transducers mounted to the member, the method comprising:
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choosing a set of frequencies for generating said desired haptic sensation; calculating a set of transfer functions of respective filters for each transducer to be applied to a signal input to each transducer, whereby application of the filtered input signals generates vibration of the member which provides the desired haptic sensation; wherein each filter has a transfer function with at least one pole and at least one zero and calculating the transfer function of each said filter comprises, determining at least one pole coefficient which determines said at least one pole; determining, using said at least one pole coefficient, a pole representation of the transfer function which filters said input signal using said at least one pole; using an eigenvector method to determine at least one zero coefficient which determines said at least one zero; and combining said pole representation of the transfer function with said at least one zero coefficient to determine said transfer function for said filter; and applying the determined filters to input signals applied to the respective transducers to generate vibration within the member to provide the desired haptic sensation. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39)
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Specification