Directional inertial tactile feedback using rotating masses

• US 7,182,691 B1
• Filed: 09/28/2001
• Issued: 02/27/2007
• Est. Priority Date: 09/28/2000
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Schena, Bruce M.
• Primary Examiner(s): HOTALING, JOHN M
• Application Number:
  US09/968,725
• Time in Patent Office: 1,978 Days
• Field of Search: 463 36- 38, 463 46- 47, 345/156, 345/161, 345/163
• US Class Current: 463/38
• CPC Class Codes: A63F 13/211 using inertial sensors, e.g. accelerometers or gyroscopes
• CPC Class Codes: A63F 13/24 Constructional details thereof, e.g. game controllers with detachable joystick handles
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 2300/1006 having additional degrees of freedom
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: A63F 2300/1043 being characterized by constructional details
• CPC Class Codes: A63F 2300/105 using inertial sensors, e.g. accelerometers, gyroscopes
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Directional haptic feedback for a haptic feedback interface device. A haptic feedback interface device, in communication with a host computer, includes a housing physically contacted by a user operating the interface device, and a plurality of actuators producing inertial forces when the actuators are driven by control signals. Each of the actuators includes a rotatable eccentric mass positioned offset on a rotating shaft of the actuator, where the actuators are rotated simultaneously such that centrifugal forces from the rotation of masses combine to output the inertial forces substantially only along a single axis having a desired direction approximately in a plane of rotation of the masses.

Claims

1. An apparatus comprising:

a housing; and

a plurality of actuators coupled to the housing, the plurality of actuators configured to produce inertial forces in response to control signals, each actuator from the plurality of actuators having a shaft and an eccentric mass coupled to the shaft, each actuator from the plurality of actuators being configured to move its eccentric mass, the plurality of actuators including at least a first actuator and a second actuator, the first actuator and the second actuator being configured to output collectively a net inertial force in a selected direction, the selected direction being associated with a phase difference between a phase of the first actuator and a phase of the second actuator.

2. The apparatus of claim 1, wherein the selected direction is associated with an event within a graphical environment.

3. The apparatus of claim 1, wherein the selected direction is one of a plurality of directions along which the net inertial force can be substantially directed.

4. The apparatus of claim 1, wherein each actuator of the plurality of actuators includes a sensor configured to detect a rotational position of the eccentric mass of the actuator.

5. The apparatus of claim 1, wherein the eccentric mass of the first actuator is configured to rotate in a direction, and the eccentric mass of the second actuator is configured to rotate in a direction opposite the direction of the first actuator.

6. The apparatus of claim 1, wherein the plurality of actuators are positioned substantially side-by-side such that axes of rotation of said eccentric masses are approximately parallel.

7. The apparatus of claim 1, wherein the plurality of actuators are positioned such that the axes of rotation of said eccentric masses are approximately collinear.

8. The apparatus of claim 1, further comprising:

an interface device; and

a host computer coupled to the interface device, the host computer configured to provide high level commands to the interface device.

9. The apparatus of claim 8, wherein the host computer includes a video game console and is associated with a graphical environment, the inertial forces being associated with events in the graphical environment.

10. The apparatus of claim 8, wherein the selected direction is associated with a direction of a graphically represented collision occurring within the graphical environment.

11. The apparatus of claim 8, wherein the control signals are from a controller associated with the interface device, the controller includes a local microprocessor, the local microprocessor configured to receive a high level command including a direction parameter from the host computer, the host computer configured to provide a graphical environment.

12. A method comprising:

receiving a signal at a first actuator having an eccentric mass, the signal for the first actuator being associated with a phase;

receiving a signal at a second actuator having an eccentric mass, the signal for the second actuator being associated with a phase different from the phase for the first actuator; and

moving the eccentric mass of the first actuator and the eccentric mass of the second actuator simultaneously to output collectively a net force in substantially one direction, the direction being associated with a phase difference between the phase of the first actuator and the phase of the second actuator.

13. The method of claim 12, further comprising:

monitoring a position of the first eccentric mass and a position of the second eccentric mass during the moving; and

maintaining the phase difference between the first eccentric mass and the second eccentric mass based on the monitoring.

14. The method of claim 12, wherein the first eccentric mass and the second eccentric mass are rotated approximately within a single plane.

15. The method of claim 12, wherein the first eccentric mass and the second eccentric mass are rotated approximately along the same rotational axis.

16. An apparatus comprising:

a housing; and

a plurality of actuators coupled to the housing, the plurality of actuators configured to produce haptic feedback in response to control signals, each actuator from the plurality of actuators having an associated phase, a shaft, and an eccentric mass coupled to and offset from the rotating shaft, each actuator from the plurality of actuators being configured to rotate its eccentric mass simultaneously with the remaining actuators from the plurality of actuators such that the haptic feedback is produced in a selected direction associated with the phase difference between the associated phases of the plurality of actuators.

17. The apparatus of claim 16, wherein the selected direction of the haptic feedback is in a plane of rotation defined by the eccentric mass of each actuator from the plurality of actuators.

18. The apparatus of claim 16, wherein the haptic feedback is output in only a single selected direction.

19. The apparatus of claim 16, wherein each actuator from the plurality of actuators includes a sensor configured to detect a rotational position of the associated eccentric mass.

20. The apparatus of claim 16, wherein the plurality of actuators includes a first actuator and a second actuator, the eccentric mass of the first actuator configured to rotate in a direction, the eccentric mass of the second actuator configured to rotate in a direction opposite the direction of the first actuator.

21. The apparatus of claim 16, wherein the plurality of actuators are positioned substantially side-by-side such that axes of rotation of the associated eccentric masses are approximately parallel.

22. The apparatus of claim 16, wherein the plurality of actuators are positioned such that axes of rotation of the associated eccentric masses are approximately collinear.