Method and apparatus for providing haptic feedback having a position-based component and a predetermined time-based component

• US 7,283,120 B2
• Filed: 01/16/2004
• Issued: 10/16/2007
• Est. Priority Date: 01/16/2004
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Grant, Danny
• Primary Examiner(s): LAO, LUN YI
• Application Number:
  US10/758,599
• Publication Number:
  US 20050156892A1
• Time in Patent Office: 1,369 Days
• Field of Search: 345156-169, 345/184, 273/148.B, 463 37- 38, 341/34, 200/5.R
• US Class Current: 345/156
• CPC Class Codes: A63F 13/218 using pressure sensors, e.g. generating a signal proportional to the pressure applied by the player
• 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

Abstract

A manipulandum includes a sensor and an actuator. The sensor is configured to output a position signal when the manipulandum is moved from the first position to the second position. Additionally, the actuator is configured to output haptic feedback having a position-based component and a predetermined time-based component.

Claims

1. An apparatus, comprising:

a manipulandum;

a sensor configured to sense movement of the manipulandum between a first position and a second position of a detent, wherein the sensor is configured to output a positional signal when the manipulandum is sensed moving from the first position to the second position; and

an actuator configured to output a first haptic feedback force to the manipulandum in response to the positional signal indicating the manipulandum moving between the first position and the second position, wherein the first haptic feedback force corresponds to a position based force signal, the actuator configured to output a second haptic feedback force to the manipulandum only once in response to the positional signal indicating the manipulandum at a threshold position between the first and second positions, the second haptic feedback force including the position based force signal and a predetermined time-based force signal.

2. The apparatus of claim 1, wherein the manipulandum is a rotatable knob.

3. The apparatus of claim 1, wherein the predetermined time-based force signal comprises a single time-based waveform.

4. The apparatus of claim 1, wherein the predetermined time-based force signal comprises a plurality of time-based waveforms.

5. The apparatus of claim 1, wherein the predetermined time-based force signal is represented by at least one of:

a saw tooth wave, a square wave, a pulse, a full sine wave, a half sine wave, or a triangle wave.

6. The apparatus of claim 1, wherein the manipulandum is a depressible button of a communication device.

7. The apparatus of claim 1, wherein the manipulandum is a depressible button of a video game controller.

8. The apparatus of claim 1, wherein the manipulandum is a depressible button of a computer mouse.

9. A method for outputting haptic sensation, comprising:

sensing movement of a manipulandum between a first position and a second position of a detent;

outputting a position-based force signal to an actuator coupled to the manipulandum, the position-based force signal associated with the manipulandum being sensed from the first position to the second position;

outputting a first haptic feedback force via the actuator upon receiving the position-based force signal when the manipulandum is moving between the first and second positions; and

outputting a second haptic feedback force via the actuator only once upon sensing the manipulandum at a threshold position between the first and second positions, the second haptic feedback including a predetermined time-based force signal.

10. The method of claim 9, wherein the second haptic feedback force includes the position-based force signal.

11. The method of claim 9, wherein the predetermined time-based force signal is associated with a predetermined time-based waveform.

12. The method of claim 9, further comprising:

outputting a biasing force configured to oppose movement of the manipulandum from the first position to the second position.

13. The method of claim 9, further comprising:

accessing the predetermined time-based force signal stored within a processor-readable medium in response to sensing the manipulandum at the threshold position.

14. The method of claim 9, further comprising:

outputting a biasing force configured to oppose the manipulandum being moved from the first position to the second position using a virtual spring.

15. The method of claim 9, further comprising:

outputting a biasing force configured to oppose the manipulandum being moved from the first position to the second position using a physical spring.

16. The method of claim 9, further comprising:

outputting a biasing force configured to oppose the manipulandum being moved from the first position to the second position; and

outputting a third haptic feedback force in response to sensing the manipulandum being moved from the second position to the first position.

17. The method of claim 9, further comprising:

determining a velocity at which the manipulandum is moved between the first and second positions; and

modifying a characteristic of the first haptic feedback force in response to the velocity of the manipulandum.

18. The method of claim 9, wherein the predetermined time-based force signal includes a plurality of predetermined time-based waveforms.

19. The method of claim 9, wherein the predetermined time-based force signal includes a single predetermined time-based waveform.

20. The method of claim 9, wherein the predetermined time-based force signal has a period in a range of about 1 ms to about 300 ms.

21. The method of claim 9, further comprising:

selecting a predetermined time-based waveform associated with the predetermined time-based force signal; and

inputting a signal associated with the selected predetermined time-based waveform into a controller, the controller configured to control the actuator based on the signal associated with the selected predetermined time-based waveform when the manipulandum is disposed at the threshold position.

22. The method of claim 9, further comprising:

outputting a hysteresis effect when the manipulandum is disposed at the threshold position.

23. A method for outputting haptic sensation, comprising:

sensing movement of a rotatable knob between a first position and a second position of a detent;

outputting a position-based force signal to an actuator coupled to the knob, the position-based force signal associated with the manipulandum being sensed from the first position to the second position;

outputting a first haptic feedback force via the actuator upon receiving the position-based force signal when the knob is rotating between the first and second positions; and

outputting a second haptic feedback force via the actuator only once upon sensing the knob at a threshold position between the first and second positions, the second haptic feedback including a predetermined time-based force signal.