HAPTIC DEVICES THAT SIMULATE RIGIDITY OF VIRTUAL OBJECTS

• US 20170168576A1
• Filed: 12/13/2016
• Published: 06/15/2017
• Est. Priority Date: 12/14/2015
• Status: Active Grant

• Current Assignee: META Platforms Technologies LLC (Meta Platforms, Inc. (f/k/a Facebook, Inc.))
• Original Assignee: Oculus VR, LLC (Meta Platforms, Inc. (f/k/a Facebook, Inc.))
• Inventors: Ochs, Garett Andrew, Gatti, Elia, King, Raymond, Keller, Sean Jason, Trutna, Tristan Thomas, Corson, Nicholas Roy
• Granted Patent: US 10,324,530 B2
• Time in Patent Office: Days
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Embodiments relate to a system and a method for providing haptic feedback to a user by controlling an area of a surface of a haptic assembly in touch (directly or indirectly) with a user. The haptic assembly can be actuated such that a surface area of the haptic assembly in contact with a user can be adjusted. An area of the haptic assembly in contact with a user can be changed by modifying a shape of the haptic assembly. Hence, by changing the shape of the haptic assembly, a user touching a virtual object in a virtual space with a particular rigidity can be emulated.

Claims

1. A haptic assembly comprising:

a glove body configured to cover a hand;

a haptic apparatus coupled to the glove body, the haptic apparatus comprising one or more plates and a malleable sheet, the malleable sheet coupled to the one or more plates and the glove body, a portion of the one or more plates to contact the hand according to a shape of the malleable sheet; and

an actuator coupled to the malleable sheet, the actuator configured to actuate the malleable sheet to transform the shape of the malleable sheet according to a rigidity of a virtual object.

2. The haptic assembly of claim 1, wherein the actuator is configured to actuate the malleable sheet, responsive to a determination that a portion of the glove body corresponding to the haptic apparatus is in contact with the virtual object.

3. The haptic assembly of claim 2, wherein the actuator is further configured to actuate the malleable sheet in a configuration in which a larger portion of the one or more plates contacts the hand, responsive to a determination that the portion of the glove body is in contact with the virtual object associated with a soft material that has a rigidity level below a threshold value.

4. The haptic assembly of claim 3, wherein the malleable sheet is formed along a contour of a fingertip of the hand, an edge of the malleable sheet is bent closer to the contour of the fingertip, responsive to the determination that the portion of the glove body is in contact with the virtual object associated with the soft material.

5. The haptic assembly of claim 2, wherein the actuator is further configured to actuate the malleable sheet in a configuration in which a smaller portion of the one or more plates contacts the hand, responsive to a determination that the portion of the glove body is in contact with the virtual object associated with a hard material that has a rigidity level above a threshold value.

6. The haptic assembly of claim 5, wherein the malleable sheet is formed along a contour of a fingertip of the hand, an edge of the malleable sheet is bent farther away from the contour of the fingertip, responsive to the determination that the portion of the glove body is in contact with the virtual object associated with the hard material.

7. The haptic assembly of claim 2, further comprising:

an inertial measurement unit coupled to the glove body, the inertial measurement unit configured to determine a physical position of the malleable sheet, wherein whether the portion of the glove body is in contact with the virtual object is determined based on a first coordinate of the virtual object in a virtual space and a second coordinate in the virtual space, the second coordinate corresponding to the physical position of the malleable sheet.

8. The haptic assembly of claim 1, wherein the one or more plates include a first plate and a second plate that are disposed in an array.

9. The haptic assembly of claim 1, wherein the one or more plates include a first plate and a second plate that are disposed in parallel along a direction.

10. The haptic assembly of claim 1, wherein the haptic apparatus is coupled to a portion of the glove body corresponding to a fingertip of the hand.

11. A haptic assembly comprising:

a haptic apparatus comprising one or more plates coupled to a malleable sheet, a portion of the one or more plates configured to contact a part of a user according to a shape of the malleable sheet;

an actuator configured to generate an actuation signal to actuate the malleable sheet to transform the shape of the malleable sheet according to a rigidity of a virtual object in contact with the haptic apparatus; and

a tendon coupled between the malleable sheet and the actuator, the tendon to transfer the actuation signal to the malleable sheet to actuate the malleable sheet.

12. The haptic assembly of claim 11, wherein the actuation signal is selected from a group consisting of:

an electrical signal, a pneumatic pressure, and a mechanical actuation.

13. The haptic assembly of claim 11, wherein the actuator is configured to actuate the malleable sheet, responsive to a determination that the haptic apparatus is in contact with the virtual object.

14. The haptic assembly of claim 13, wherein the actuator is further configured to actuate the malleable sheet in a configuration in which a larger portion of the one or more plates contacts the part of the user, responsive to a determination that the haptic apparatus is in contact with the virtual object associated with a soft material that has a rigidity level below a threshold value.

15. The haptic assembly of claim 14, wherein the malleable sheet is formed along a contour of the part of the user, an edge of the malleable sheet is bent closer to the contour of the part of the user, responsive to the determination that the haptic apparatus is in contact with the virtual object associated with the soft material.

16. The haptic assembly of claim 13, wherein the actuator is further configured to actuate the malleable sheet in a configuration in which a smaller portion of the one or more plates contacts the part of the user, responsive to a determination that the haptic apparatus is in contact with the virtual object associated with a hard material that has a rigidity level above a threshold value.

17. The haptic assembly of claim 16, wherein the malleable sheet is formed along a contour of the part of the user, an edge of the malleable sheet is bent farther away from the contour of the part of the user, responsive to the determination that the haptic apparatus is in contact with the virtual object associated with the hard material.

18. The haptic assembly of claim 13, further comprising:

an inertial measurement unit coupled to the haptic apparatus, the inertial measurement unit configured to determine a physical position of the malleable sheet, wherein whether the haptic apparatus is in contact with the virtual object is determined based on a first coordinate of the virtual object in a virtual space and a second coordinate in the virtual space, the second coordinate corresponding to the physical position of the malleable sheet.

19. The haptic assembly of claim 11, wherein the one or more plates include a first plate and a second plate that are disposed in an array.

20. The haptic assembly of claim 11, wherein the one or more plates include a first plate and a second plate that are disposed in parallel along a direction.