Haptic devices using electroactive polymers

• US 7,196,688 B2
• Filed: 05/24/2001
• Issued: 03/27/2007
• Est. Priority Date: 05/24/2000
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Schena, Bruce M.
• Primary Examiner(s): Osorio; Ricardo
• Application Number:
  US09/866,385
• Publication Number:
  US 20020054060A1
• Time in Patent Office: 2,133 Days
• Field of Search: 345/156, 345/151, 345/163, 345/167, 345/168, 345/173, 345/157, 310/309, 310/319
• US Class Current: 345/156
• CPC Class Codes: G01D 7/007 Indication of measured value by tactile means
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/03547 Touch pads, in which fingers can move on a surface
• CPC Class Codes: G06F 3/0362 with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts

Abstract

Haptic feedback interface devices using electroactive polymer (EAP) actuators to provide haptic sensations and/or sensing capabilities. A haptic feedback interface device is in communication with a host computer and includes a sensor device that detects the manipulation of the interface device by the user and an electroactive polymer actuator responsive to input signals and operative to output a force to the user caused by motion of the actuator. The output force provides a haptic sensation to the user. Various embodiments of interface devices employing EAP actuators are described, including embodiments providing direct forces, inertial forces, and braking forces.

Claims

1. A manipulandum device adapted to allow interaction between a user and a computer, the device, comprising:

a housing;

a sensor configured to detect a movement of at least a portion of the housing, the sensor configured to output sensor signals associated with the movement; and

an electroactive polymer actuator coupled to the housing and configured to output a haptic-feedback force associated with the output sensor signals.

2. The device of claim 1, wherein the haptic-feedhack force is associated with an event implemented by a host computer.

3. The device of claim 1, wherein the haptic-feedback force output by the electroactive polymer actuator is an inertial force caused by moving a mass.

4. The device of claim 1, further comprising a button, the haptic-feedback force being output through the button.

5. The device of claim 4, wherein the button is configured to respond to the haptic-feedback force in a degree of freedom of motion of the button.

6. The device of claim 4, wherein the button is configured to respond to the haptic-feedback force with a lateral movement, approximately perpendicular to a degree of freedom of motion of the button.

7. The device of claim 1, wherein the haptic-feedback force output by the electroactive polymer actuator is a rotary force.

8. The device of claim 1, wherein the haptic-feedback force output by the electroactive polymer actuator is a linear force.

9. The device of claim 8, wherein the electroactive polymer actuator is configured to move a portion of a member from inside of the housing to outside of the housing.

10. The device of claim 9, wherein the electroactive polymer actuator is one of a plurality of electroactive polymer actuators, the plurality of electroactive polymer actuators being arranged in a tactile array.

11. The device of claim 1, wherein the electroactive polymer actuator is configured to move portions of the housing.

12. The device of claim 1, wherein the electroactive polymer actuator is configured to modify the frictional resistance of a moving part.

13. The device of claim 1, wherein the electroactive polymer actuator is configured to output the haptic-feedback force to a rotating wheel coupled to the housing.

14. The device of claim 1, wherein the housing is configured as a stylus.

15. The device of claim 1, wherein the housing is configured as a trackpoint joystick controller.

16. A manipulandum device adapted to allow interaction between a user and a computer, the device, comprising:

a sensor configured to detect a movement of at least a portion of the device, the sensor configured to output sensor signals associated with the movement; and

an electroactive polymer actuator coupled to the device and configured to output a haptic-feedback force associated with the output sensor signals, the electroactive polymer actuator being controlled by associated input signals.

17. The device of claim 16, wherein the haptic-feedback force output by the electroactive polymer actuator is an inertial force caused by moving a mass.

18. The device of claim 16, further comprising a button, the haptic-feedback force being output through the button.

19. The device of claim 16, wherein the haptic-feedback force output by the electroactive polymer actuator is a rotary force.

20. The device of claim 16, wherein the haptic-feedback force output by the electroactive polymer actuator is a linear force.

21. The device of claim 16, wherein the electroactive polymer actuator includes at least two layers of electroactive polymer material, the electroactive polymer actuator being configured to bend based on a characteristic of each layer of electroactive polymer material.

22. The device of claim 16, wherein the electroactive polymer actuator includes a dielectric surrounded by two electrodes, the dielectric being configured to expand in area when activated by the input signals.

23. The device of claim 16, wherein the electroactive polymer actuator is configured to move portions of the apparatus.

24. The device of claim 16, wherein the electroactive polymer actuator is configured to modify the frictional resistance of a moving part.

25. The device of claim 16, wherein the electroactive polymer actuator is configured to move a portion of a member from inside of the apparatus to outside of the apparatus.

26. A manipulandum device adapted to allow interaction between a user and a computer, the device, comprising:

a housing; and

an electroactive polymer (EAP) element coupled to the housing and configured to output a haptic-feedback force associated with output sensor signals, the EAP element being controlled by associated input signals, the haptic-feedback force being generated by deformation of the EAP element.

27. The device of claim 26, wherein the EAP element is configured to detect a contact of the housing.

28. The device of claim 26, wherein the EAP element is configured to detect the magnitude of an applied pressure on the EAP element.

29. The device of claim 26, wherein the haptic-feedback force output by the EAP element is a linear force.

30. The device of claim 26, wherein the housing is configured as a joystick or a trackpoint controller.

31. A method of providing haptic feedback to a user interacting with a computer using a manipulandum device, comprising:

detecting movement of a housing of a manipulandum and outputting sensor signals associated with the detected movement; and

outputting a haptic-feedback force, the haptic-feedback force being generated by a deformation of an electroactive polymer actuator, the haptic-feedback force being based on input signals to the electroactive polymer actuator.

32. The method of claim 31, wherein the electroactive polymer actuator is configured to output a rotary force.

33. The method of claim 31, wherein the electroactive polymer actuator is configured to output a linear force.

34. The method of claim 31, wherein the electroactive polymer actuator is configured to modify the frictional resistance of a moving part.

35. The method of claim 31, wherein the electroactive polymer actuator is configured to move portions of the housing.

36. A manipulandum apparatus adapted to allow interaction between a user and a computer, the device, comprising:

means for detecting movement of a housing and outputting sensor signals associated with the detected movement; and

means for outputting a haptic-feedback force, the haptic-feedback force being generated by a deformation of an electroactive polymer actuator means, the haptic-feedback force being based on input signals to the electroactive polymer actuator means.

37. The apparatus of claim 36, wherein the electroactive polymer actuator means is configured to output a rotary force.

38. The apparatus of claim 36, wherein the electroactive polymer actuator means is configured to output a linear force.

39. The apparatus of claim 36, wherein the electroactive polymer actuator means is configured to modify the frictional resistance of a moving part.

40. The apparatus of claim 36, wherein the electroactive polymer actuator means is configured to move portions of the housing.