Controlling vibrotactile sensations for haptic feedback devices

• US 7,656,388 B2
• Filed: 09/27/2004
• Issued: 02/02/2010
• Est. Priority Date: 07/01/1999
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Shahoian, Erik, Schena, Bruce M.
• Primary Examiner(s): Nguyen; Kevin M
• Application Number:
  US10/949,467
• Publication Number:
  US 20050219206A1
• Time in Patent Office: 1,954 Days
• Field of Search: 345/156, 345/158, 715/701, 715/702, 463 36- 38
• US Class Current: 345/158
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Method and apparatus for controlling vibrotactile sensations for haptic feedback devices. An actuator in a haptic feedback device includes a rotatable eccentric mass, and information is received at the haptic feedback device causing a drive signal. The drive signal controls the actuator to oscillate the mass in two directions about an axis of rotation of the actuator such that the oscillation of the mass induces a vibration in the haptic feedback device. The magnitude and frequency of the vibration can be independently controlled by adjusting a magnitude and a frequency, respectively, of the drive signal. The vibrations can also be provided in a bi-directional mode or uni-directional mode to provide the most efficient magnitude of the vibrotactile sensations. The haptic feedback device can be, for example, a gamepad controller receiving commands from a host computer providing a graphical environment.

Claims

1. A method, comprising:

receiving a signal at a haptic feedback device, the haptic feedback device including an actuator, the actuator having a rotatable eccentric mass and defining an axis of rotation; and

generating a bi-directional drive signal based on the received signal, the drive signal operative to control the actuator to oscillate the mass in two directions about the axis of rotation such that oscillation of the eccentric mass induces haptic feedback, wherein the mass is oscillated in the two directions for only a portion of a full rotation about the axis.

2. The method of claim 1, further comprising:

controlling a magnitude and a frequency of the haptic feedback, the magnitude and frequency being decoupled from each other, by adjusting the bi-directional drive signal.

3. The method of claim 1, further comprising:

outputting a high magnitude, low frequency vibration.

4. The method of claim 1, further comprising:

outputting a high frequency vibration.

5. The method of claim 1, wherein receiving a signal includes receiving the signal from a computer, the signal is based on values associated with a graphical image on the computer.

6. The method of claim 1, further comprising:

transmitting an input signal to the computer, the input signal being based on an indicator associated with manipulation of the haptic feedback device, the haptic feedback device being manipulable in at least two degrees of freedom.

7. The method of claim 1, wherein the drive signal is provided to the actuator via an H-bridge circuit.

8. The method of claim 1, wherein the eccentric mass is wedge-shaped.

9. A method, comprising:

receiving an indication of at least one of an event and an interaction associated with a graphic environment;

sending a bi-directional control signal to a haptic feedback device in response to the indication, the bi-directional control signal including a magnitude indication and a frequency indication, the bi-directional control signal being configured to cause the haptic feedback device to oscillate a mass in two directions with a magnitude associated with the magnitude indication and a frequency associated with the frequency indication, the mass being coupled to a rotary actuator, the mass being an eccentric mass that is configured to rotate about an axis of rotation of the actuator, wherein the mass is oscillated in the two directions for only a portion of a full rotation about the axis to output a haptic effect.

10. The method of claim 9, wherein the magnitude indication and the frequency indication are independently applicable.

11. The method of claim 9, wherein the control signal is configured to cause the haptic feedback device to control the magnitude of the mass oscillation independent of the frequency of the mass oscillation.

12. The method of claim 9, further comprising:

outputting a high magnitude, low frequency vibrotactile effect in response to the sending the control signal.

13. A device, comprising:

a rotary actuator defining an axis of rotation and having an eccentric mass coupled to the rotary actuator, said rotary actuator configured to rotate the eccentric mass about the axis of rotation; and

a circuit coupled to said rotary actuator, said circuit configured to send a bi-directional drive signal to said rotary actuator, said rotary actuator configured to oscillate said mass about the axis of rotation in two directions in response to the bi-directional drive signal, wherein the mass is oscillated in the two directions for only a portion of a full rotation about the axis to output a haptic effect.

14. The device of claim 13, wherein said eccentric mass is offset from the axis of rotation.

15. The device of claim 13, wherein said circuit includes an H-bridge circuit configured to provide current in two directions to said rotary actuator.

16. The device of claim 13, wherein said circuit includes two linear amplifiers, each of said linear amplifiers is configured to amplify a signal to said rotary actuator in a different direction to cause said rotary actuator to be drivable in said two directions.

17. The device of claim 13, wherein said device is a gamepad controller, said gamepad controller is configured to receive a signal from a computer, the signal is operative to cause the output of the vibration based on data associated with a graphical environment implemented and displayed by the computer.

18. The device of claim 17, wherein said gamepad controller includes a joystick having two degrees of freedom, said joystick configured to provide input to the computer.

19. A method, comprising:

receiving a first indication at a haptic feedback device having a mass and an actuator defining an axis of rotation;

producing a first drive signal based on the first indication, the first drive signal operative to rotate a mass in one direction about the axis of rotation of the actuator, the first drive signal associated with a first vibration of the haptic feedback device;

receiving a second indication at the haptic feedback device; and

producing a second drive signal based on the second indication, the second drive signal operative to oscillate the mass in two directions about the axis of rotation of the actuator, the second drive signal associated with a second vibration of the haptic feedback device, wherein the mass is oscillated in the two directions for only a portion of a full rotation about the axis to produce the second vibration.

20. The method of claim 19, wherein a magnitude and a frequency of the second vibration are controlled independently from each other by adjusting a magnitude indicator and a frequency indicator associated with the second drive signal.

21. The method of claim 19, wherein the first vibration is output for high magnitude, low frequency vibrotactile effects, and the second vibration is output for high frequency vibrotactile effects.