DIFFERENTIAL HAPTIC GUIDANCE FOR PERSONAL NAVIGATION

• US 20160258758A1
• Filed: 08/12/2014
• Published: 09/08/2016
• Est. Priority Date: 06/27/2005
• Status: Active Grant

• Current Assignee: General Vibration Corporation
• Original Assignee: General Vibration Corporation
• Inventors: Murphy, Joel A., Houston, John, Morris, Rob, Simpkins, Charles Alexander Jr., Graham, Gabe
• Granted Patent: US 9,802,225 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B06B 1/16 operating with systems involving rotary unbalanced masses
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/3652 Guidance using non-audiovisual output, e.g. tactile, haptic or electric stimuli
• CPC Class Codes: G01D 5/12 using electric or magnetic means G01D5/06 takes precedence
• CPC Class Codes: G01D 5/145 influenced by the relative movement between the Hall device and magnetic fields see G01R33/06
• CPC Class Codes: G01D 5/40 specially adapted for use with infrared light mechanical adjustment G01D5/264

Abstract

One aspect of the technology involves a system for measuring the rotational position of a rotating shaft, including a field source configured to generate a measurable field, a sensor configured to measure the generated field, and a target that is configured to modify the generated field as measured by the sensor to have a shape with (a) at least one measurable feature for a zero reference point, and (b) a shape that varies throughout one or more angles such that a rotational position of the shaft is determined with a selected angular accuracy. There is also a device that receives a query for the rotational position of the shaft a device that responds to the query. Another aspect involves generating multi-frequency vibrations with a single linear resonant actuator (LRA). This LRA can exhibit a beat pattern in response to being driven by the sum of two different sinusoidal functions.

Claims

1. A system for measuring the rotational position of a rotating shaft, the system comprising:

a field source configured to generate a measurable field;

a sensor configured to measure the generated field;

a target that is configured to modify the generated field as measured by the sensor to have a shape with (a) at least one measurable feature for a zero reference point, and (b) a shape that varies throughout one or more angles such that a rotational position of the shaft is determined with a selected angular accuracy;

means for receiving a query for the rotational position of the shaft; and

means for responding to the query for the rotational position of the shaft.

2. The system according to claim 1, wherein the target is attached to an eccentric mass that rotates about the shaft.

3. The system according to claim 1, wherein the measurable field is either:

a light field generated by an optoelectronic emitter, and the sensor is an optoelectronic detector configured to measure an intensity of the light field;

or

a magnetic field generated by a magnet and where the sensor is configured to measure an intensity of said magnetic field.

4. The system according to claim 3, wherein the light field is either:

in the infrared region of the electromagnetic spectrum;

or

is modulated to improve a signal to noise ratio.

7. The system according to claim 3, wherein the sensor is a Hall Effect sensor.

8. The system according to claim 1, further comprising means for calibrating the system such that vibrational forces of the system are beneath a human perceptual threshold.

5. (canceled)

6. (canceled)

9. An angular position measurement system, comprising:

a field emitter;

a field detector; and

a rotating target operatively coupled to the field emitter and the field detector, the target configured to affect transmission of a field from the field emitter to the field detector, such that as the target rotates, variations in one or more aspects of shape, size and material composition of the rotating target produce correspondingly measurable changes in the field as detected by the field detector.

10. The system according to claim 9, wherein the target:

has a shape including a continuous variation throughout an angular shape thereof except for a single discontinuity that provides a zero angular reference;

or

is used to measure an angular position of an eccentric rotating mass.

11. (canceled)

12. A differential haptic guidance system, comprising:

one or more haptic actuators configured to display haptic stimuli to an individual in contact with the one or more haptic actuators;

means for displaying bursts of haptic stimuli via the one or more haptic actuators, such that one or more perceptual qualities of the bursts is variable;

means for selectively determining at least one of a spatial position or an orientation of at least one of the individual, a body part of the individual, or a tool in contact with the individual; and

a differential haptic guidance processor programmed to directionally guide the individual by displaying multiple bursts of haptic stimuli that are employed to discern a corresponding movement.

13. The differential haptic guidance system of claim 12, wherein at least one of the haptic actuators is a member of the set consisting of:

an LRA, an ERM, a Gemini Drive, a mini Gemini Drive, a full-bandwidth haptic actuator, a mini-solenoid with a spring return, and a SAVANT device}.

14. The differential haptic guidance system of claim 12, wherein at least one of the perceptual qualities is a member of the set consisting of:

a click amplitude, a click duration, a burst magnitude, a burst duration, a frequency of clicks within a burst, a frequency of bursts, and a click rhythm.

15. The differential haptic guidance system of claim 12, wherein the differential haptic guidance processor is:

programmed to guide movement of the individual by generating perceptual differences between two simultaneous bursts displayed on two distal haptic displays associated with the individual;

or

is programmed to guide movement of the individual by generating perceptual differences between sequential bursts displayed on a single haptic display associated with the individual;

or

is programmed to guide the individual to move a handheld tool.

17. The differential haptic guidance system of claim 12, wherein the means for displaying is:

part of an item of wearable apparel, the item of wearable apparel being a member of the set consisting of;

a glove, a shoe, an armband, a legband, a hat, a vest, a halter, a belt and a visor;

is part of a vehicle, the part of the vehicle being a member of the set consisting of;

a handlebar grip of a bicycle, a handlebar grip of a motorcycle, and a steering wheel grip;

is a tool used by the individual, the tool being a member of the set consisting of;

a smartphone, a game controller, a remote control, a tablet computer, a pair of glasses, a cane, a walking stick, a stylus, a ski used for skiing, a snowboard, and a skateboard;

or

is arranged for implantation in the individual.

22. The differential haptic guidance system of claim 12, wherein the differential haptic guidance processor is:

programmed to guide the individual in wayfinding to a waypoint or between multiple waypoints;

programmed to guide the individual to a moving target;

programmed to guide the individual to maintain a constant relative position;

or

programmed to guide a person with a vision deficit.

26. The differential haptic guidance system of claim 22, wherein the vision deficit is blindness.

27. The differential haptic guidance system of claim 12, wherein the differential haptic guidance processor is programmed to manage a power budget.

28. The differential haptic guidance system of claim 12, wherein said differential haptic guidance processor is programmed to manage an attention budget for the individual.

29. The differential haptic guidance system of claim 12, wherein said differential haptic guidance processor is programmed to generate a click gradient computed between the individual and a selected target, waypoint or location.

30. The differential haptic guidance system of claim 12, wherein said differential haptic guidance processor is programmed to determine a path of least energy between a series of waypoints.

31. The differential haptic guidance system of claim 12, wherein said differential haptic guidance processor is programmed to generate simultaneous displays of both haptic stimuli and at least one of auditory or visual stimuli.

16. (canceled)

18. (canceled)

19. (canceled)

20. (canceled)

21. (canceled)

23. (canceled)

24. (canceled)

25. (canceled)