Envelope modulator for haptic feedback devices

• US 7,154,470 B2
• Filed: 07/29/2002
• Issued: 12/26/2006
• Est. Priority Date: 07/17/2001
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Tierling, Kollin M.
• Primary Examiner(s): Hjerpe, Richard
• Assistant Examiner(s): LESPERANCE, JEAN E
• Application Number:
  US10/208,575
• Publication Number:
  US 20030057934A1
• Time in Patent Office: 1,611 Days
• Field of Search: 345156-161, 345/163
• US Class Current: 345/156
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: H03C 1/36 by means of semiconductor device having at least three electrodes H03C1/34, H03C1/50, H03C1/52, H03C1/62 take precedence

Abstract

An amplitude modulator circuit includes a reference oscillator and an envelope modulator coupled to the reference oscillator for receiving a reference signal. A microcontroller is coupled to the envelope modulator for providing an envelope signal to the envelope modulator and a low pass filter is coupled to the envelope modulator for receiving a modulated command from the envelope modulator. An inverter is coupled to the low pass filter for receiving a low passed envelope modulated signal from the low pass filter and a transducer or amplifier is coupled to the inverter and the low pass filter for receiving an inverted low passed signal and the low passed envelope modulated signal.

Claims

1. An apparatus, comprising:

a reference oscillator configured to provide a reference signal having a frequency substantially similar to a resonant frequency of an actuator;

a controller configured to provide an envelope signal, wherein the envelope signal includes tactile information; and

an envelope modulator coupled to the reference oscillator and the controller, the envelope modulator configured to modulate the reference signal with the envelope signal to produce a modulated command signal, the envelope modulator being configured to provide an output signal, the output signal configured to drive the actuator to output a haptic effect based on the modulated command signal.

2. The apparatus of claim 1, further comprising:

a filter coupled to the envelope modulator, the filter configured to produce a filtered modulated command signal based on the modulated command signal, the output signal being based on the filtered modulated command signal.

3. The apparatus of claim 1, further comprising:

a low-pass filter coupled to the envelope modulator, the low-pass filter configured to produce a low-pass filtered modulated command signal based on the modulated command signal, the output signal being based on the low-pass filtered modulated command signal.

4. The apparatus of claim 1, further comprising:

a second-order low-pass filter coupled to the envelope modulator, the second-order low-pass filter configured to produce a second-order low-pass filtered modulated command signal based on the modulated command signal, the output signal being based on the second-order low-pass filtered modulated command signal.

5. The apparatus of claim 1, further comprising:

a filter coupled to the envelope modulator, the filter configured to produce a filtered modulated command signal based on the modulated command signal; and

an inverter coupled to the filter, the inverter configured to produce an inverted filtered modulated command signal based on the filtered modulated command signal, the output signal being based on the inverted filtered modulated command signal.

6. The apparatus of claim 1, further comprising:

a filter coupled to the envelope modulator, the filter configured to produce a filtered modulated command signal based on the modulated command signal; and

an inverter coupled to the filter, the inverter configured to produce an inverted filtered modulated command signal and a differential output signal based on the filtered modulated command signal, the output signal being based on the differential output signal.

7. The apparatus of claim 1, further comprising:

a filter coupled to the envelope modulator, the filter configured to produce a filtered modulated command signal based on the modulated command signal; and

an amplifier coupled to the filter, the amplifier configured to produce an amplified filtered modulated command signal based on the filtered modulated command signal, the output signal being based on the amplified filtered modulated command signal.

8. The apparatus of claim 1, further comprising:

a filter coupled to the envelope modulator, the filter configured to produce a filtered modulated command signal based on the modulated command signal,

the actuator being a transducer, the transducer being coupled to the filter and configured to provide a physical response based on the filtered modulated command signal.

9. The apparatus of claim 1, wherein the reference oscillator includes a sine wave generator.

10. The apparatus of claim 1, wherein the envelope modulator includes a ramp generator.

11. A method, comprising:

generating a reference signal having a frequency substantially similar to a resonant frequency of an actuator;

generating an envelope signal from a microcontroller, wherein generating an envelope signal further includes providing tactile information;

modulating the reference signal with the envelope signal to produce a modulated command signal; and

providing an output signal based on the modulated command signal; and

driving the actuator with the output signal to output a haptic effect.

12. The method of claim 11, further comprising:

filtering the modulated command signal to produce a filtered modulated command signal, the output signal being based on the filtered modulated command signal.

13. The method of claim 11, further comprising:

low-pass filtering the modulated command signal to produce a low-pass filtered modulated command signal, the output signal being based on the low-pass filtered modulated command signal.

14. The method of claim 11, further comprising:

inverting the modulated command signal to produce an inverted modulated command signal, the output signal being based on the inverted modulated command signal.

15. The method of claim 11, further comprising:

filtering the modulated command signal to produce a filtered modulated command signal; and

inverting the filtered command signal to produce an inverted filtered modulated command signal, the output signal being based on the inverted filtered modulated command signal.

16. The method of claim 11, further comprising:

filtering the modulated command signal to produce a filtered modulated command signal; and

inverting the filtered modulated command signal to produce a differential output signal, the output signal being based on the differential output signal.

17. The method of claim 11, further comprising:

filtering the modulated command signal to produce a filtered modulated command signal; and

amplifying the filtered modulated command signal to produce an amplified filtered modulated command signal, the output signal being based on the amplified filtered modulated command signal.

18. An apparatus, comprising:

a reference oscillator capable of generating a reference signal having a frequency substantially similar to a resonant frequency of an haptic actuator;

a microcontroller configured to generate an envelope signal, which includes tactile information;

an envelope modulator coupled to the reference oscillator and the microcontroller, wherein the envelope modulator is configured to generate a modulated command signal in response to the reference signal and the envelope signal;

a low-pass filter coupled to the envelope modulator; and

an inverter coupled to the low-pass filter and configured to drive the haptic actuator in response to the modulated command signal.

19. The apparatus of claim 18, further comprising:

an amplifier coupled to the inverter and the haptic actuator.

20. The apparatus of claim 18, wherein the haptic actuator is a transducer.