System and method for mapping instructions associated with haptic feedback

• US 7,791,588 B2
• Filed: 12/02/2004
• Issued: 09/07/2010
• Est. Priority Date: 12/22/2003
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Cruz-Hernandez, Juan Manuel, Grant, Danny A., Goldenberg, Alex S., Tierling, Kollin M.
• Primary Examiner(s): NGUYEN, KIMNHUNG T
• Application Number:
  US11/001,190
• Publication Number:
  US 20050134561A1
• Time in Patent Office: 2,105 Days
• Field of Search: 345156-158, 345/173, 345/204, 345/419, 345/702, 340/407.1, 455/567
• US Class Current: 345/156
• 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

An embodiment of the invention provides a system and method for mapping instructions associated with haptic feedback. An apparatus having a controller including an effect mapper is disclosed. The controller is configured to receive effect instructions from at least one application. The effect mapper is in communication with the controller, and is configured to produce multiple haptic instructions in response to at least a portion of the received effect instructions. The haptic instructions are at least partially based on a physical characteristic of a haptic device.

Claims

1. A non-transitory processor-readable medium storing instructions for generating consistent haptic effects at a plurality of haptic devices, the instructions when executed by a processor cause the processor to:

receive an effect instruction, the effect instruction configured to cause a desired haptic effect;

map the received effect instruction to at least one haptic instruction based on an effect mapping schema and based at least partially on a pre-determined characteristic of a first haptic device, wherein the pre-determined characteristic causes the first haptic device to generate a haptic effect different from the desired haptic effect in response to the effect instruction, and wherein the at least one haptic instruction is different from the effect instruction to account for the pre-determined characteristic to thereby cause the desired haptic effect at the first haptic device in response to the at least one haptic instruction; and

transmit at least one haptic signal to the first haptic device, the at least one haptic signal being based on the at least one haptic instruction,

wherein the pre-determined characteristic of the first haptic device is a physical characteristic that includes one or more of;

a mass, a shape, an acceleration, a deceleration, a resonant frequency, a harmonic mode, a frequency response, an altitude-dependent performance, and an orientation-dependent performance.

2. The non-transitory processor-readable medium of claim 1, wherein the haptic device model corresponds to the first haptic device.

3. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

cause the first haptic device to move in response to the transmitted at least one haptic signal.

4. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

synthesize the at least one haptic instruction in real-time to create at least one synthesized haptic instruction, the at least one haptic signal being based on the at least one synthesized haptic instruction.

5. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

linearize the at least one haptic instruction in real-time to create at least one linearized haptic instruction, the at least one haptic signal being based on the at least one linearized haptic instruction.

6. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

superimpose multiple haptic instructions from the at least one haptic instruction to create at least one superimposed haptic instruction, the at least one haptic signal being based on the at least one superimposed haptic instruction.

7. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

receive a plurality of effect instructions;

select a set of effect instructions from the received plurality of effect instructions; and

map each effect instruction from the selected set of effect instructions to one or more haptic instructions according to an effect mapping schema.

8. The non-transitory processor-readable medium of claim 7, wherein the instructions when executed further cause the processor to map an amplitude of at least one waveform of an at least one effect instruction from the selected set of effect instructions.

9. The non-transitory processor-readable medium of claim 1, wherein the instructions when executed further cause the processor to map at least partially based on a frequency response of the first haptic device.

10. The non-transitory processor-readable medium of claim 1, wherein the instructions when executed further cause the processor to map at least partially based on a friction of the first haptic device.

11. The non-transitory processor-readable medium of claim 1, wherein the instructions when executed further cause the processor to map at least partially based on distortion of at least one waveform of the received effect instruction.

12. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

control the first haptic device using position feedback, wherein the at least one haptic signal is based at least partially on the position feedback.

13. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

control the first haptic device using a peak angular efficiency model, wherein the at least one haptic signal is based at least partially on the peak angular efficiency model.

14. The non-transitory processor-readable medium of claim 1, the processor further configured to:

control the first haptic device using one of force transducer feedback and accelerometer feedback, wherein the at least one haptic signal is based at least partially on the one of the force transducer feedback and accelerometer feedback.

15. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

control the haptic device using torque transducer feedback, wherein the at least one haptic signal is based at least partially on the torque transducer feedback.

16. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

control the haptic device using a ripple torque compensation, wherein the at least one haptic signal is based at least partially on the ripple torque compensation.

17. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

control the haptic device using force vectoring, wherein the at least one haptic signal is based at least partially on the force vectoring.

18. The non-transitory processor-readable medium of claim 1, the instructions when executed further cause the processor to:

control the haptic device using velocity feedback, wherein the at least one haptic signal is based at least partially on the velocity feedback.

19. A non-transitory processor-readable medium storing instructions for generating consistent haptic effects at a plurality of haptic devices each having a pre-determined characteristic that causes the haptic devices to render haptic effects differently from one another, the instructions when executed by a processor cause the processor to:

receive an effect instruction, the effect instruction configured to cause a desired haptic effect;

map the received effect instruction to at least one haptic instruction based on an effect mapping schema and based at least partially on a pre-determined characteristic of a first haptic device, wherein the pre-determined characteristic causes the first haptic device to generate a haptic effect different from the desired haptic effect in response to the effect instruction, wherein the at least one haptic instruction is different from the effect instruction to account for the pre-determined characteristic to cause the desired haptic effect at the first haptic device; and

transmit at least one haptic signal to the first haptic device, the at least one haptic signal being based on the at least one haptic instruction.

20. A non-transitory processor-readable medium storing instructions for generating consistent haptic effects at a plurality of haptic devices, the instructions when executed by a processor cause the processor to:

receive an effect instruction, the effect instruction configured to cause a desired haptic effect;

map the received effect instruction to at least one haptic instruction based on an effect mapping schema and based at least partially on a pre-determined characteristic of a haptic device, wherein the at least one haptic instruction is different from the effect instruction to account for the pre-determined characteristic to cause the desired haptic effect at the haptic device; and

transmit at least one haptic signal to the haptic device, the at least one haptic signal being based on the at least one haptic instruction,

wherein the processor is further configured to modify a shape of a waveform of the at least one haptic instruction to produce at least one modified haptic instruction, an output of the haptic device being associated with the at least one modified haptic instruction.

21. An apparatus, comprising:

a controller configured to receive effect instructions from at least one application, the effect instructions configured to cause desired haptic effects, the controller including an effect mapper, the effect mapper being configured to produce a plurality of haptic instructions in response to at least a portion of the received effect instructions, the haptic instructions being at least partially based on a physical characteristic of a haptic device, wherein the plurality of haptic instructions are different from corresponding effect instructions to account for the physical characteristic to cause the desired haptic effects at the apparatus,

wherein the physical characteristic includes one or more of;

a mass, a shape, an acceleration, a deceleration, a resonant frequency, a harmonic mode, a frequency response, an altitude-dependent performance, and an orientation-dependent performance.

22. The apparatus of claim 21, further comprising:

a synthesizer in communication with the effect mapper, the synthesizer being configured to synthesize the plurality of haptic instructions to produce a plurality of synthesized haptic signals.

23. The apparatus of claim 21, further comprising:

a synthesizer in communication with the effect mapper, the synthesizer being configured to synthesize the plurality of haptic instructions to produce a plurality of synthesized haptic signals, the synthesized haptic signals being configured to cause a haptic device to generate haptic sensations.

24. The apparatus of claim 21, further comprising:

a synthesizer in communication with the effect mapper, the synthesizer being configured to synthesize the plurality of haptic instructions in real-time to produce a plurality of synthesized haptic signals, the synthesized haptic signals being configured to cause a haptic device to generate haptic sensations.

25. The apparatus of claim 21, further comprising:

a synthesizer in communication with the effect mapper, the synthesizer being configured to synthesize the plurality of haptic instructions to produce a plurality of synthesized haptic signals, the synthesized haptic signals being configured to cause a haptic device to generate haptic sensations; and

a haptic device in communication with the synthesizer, the haptic device being configured to receive the plurality of synthesized haptic signals.

26. The apparatus of claim 21, wherein the controller includes the effect mapper.

27. The apparatus of claim 21, wherein the effect mapper is configured to modify the effect instructions received by the controller to produce the haptic instructions.

28. The apparatus of claim 27, wherein the controller is configured to pre-filter the received effect instructions.

29. The apparatus of claim 21, wherein the effect mapper is configured to select a set of the effect instructions received by the controller.

30. The apparatus of claim 21, wherein the controller is further configured to modify the plurality of haptic instructions produced by the effect mapper.

31. The apparatus of claim 21, further comprising:

an effect combiner in communication with the effect mapper, the effect combiner configured to superimpose the plurality of haptic instructions produced by the effect mapper to form superimposed haptic instructions.

32. The apparatus of claim 21, further comprising:

an effect combiner in communication with the effect mapper, the effect combiner configured to superimpose the received effect instructions to form superimposed effect instructions, the effect combiner being further configured to communicate the superimposed effect instructions to the effect mapper.

33. The apparatus of claim 21, further comprising:

an effect combiner in communication with the effect mapper, the effect combiner configured to normalize the received effect instructions to form normalized effect instructions, the effect combiner being further configured to communicate the normalized effect instructions to the effect mapper.

34. The apparatus of claim 21, further comprising:

a linearizer in communication with the controller, the linearizer being configured to linearize the haptic instructions to produce linearized haptic instructions.

35. The apparatus of claim 21, wherein the controller includes a switching controller.

36. An apparatus, comprising:

a controller configured to receive effect instructions from at least one application, the controller including an effect mapper, the effect instructions configured to cause desired haptic effects, the effect mapper being configured to produce a plurality of haptic instructions in response to at least a portion of the received effect instructions, the haptic instructions being at least partially based on a physical characteristic of a haptic device, wherein the plurality of haptic instructions are different from corresponding effect instructions to cause the desired haptic effects at the apparatus to account for the physical characteristics,

wherein the effect mapper uses values stored in a matrix to map each of the received effect instructions to at least one of the plurality of haptic instructions.

37. An apparatus, comprising:

a controller configured to receive effect instructions from at least one application, the controller including an effect mapper, the effect instructions configured to cause desired haptic effects, the effect mapper being configured to produce a plurality of haptic instructions in response to at least a portion of the received effect instructions, the haptic instructions being at least partially based on a physical characteristic of a haptic device, wherein the plurality of haptic instructions are different from corresponding ones of the effect instructions to account for the physical characteristic to cause the desired haptic effect at the apparatus,

wherein the effect mapper uses values stored in a plurality of matrices to map each of the received effect instructions to at least one of the plurality of haptic instructions.

38. An apparatus, comprising:

a controller configured to receive a plurality of effect instructions, the controller including an effect mapper, the plurality of effect instructions configured to cause desired haptic effects, the effect mapper configured to receive the plurality of effect instructions and to produce a plurality of haptic instructions based on at least one pre-determined parameter, the at least one pre-determined parameter being associated with at least one physical characteristic of a haptic device configured to execute the plurality of haptic instructions, wherein the plurality of haptic instructions are different from corresponding effect instructions to account for the at least one pre-determined parameter to cause the desired haptic effects at the apparatus; and

a linearizer in communication with the effect mapper, the linearizer configured to modify at least one haptic instruction from the plurality of haptic instructions,

wherein the physical characteristic includes one or more of;

a mass, a shape, an acceleration, a deceleration, a resonant frequency, a harmonic mode, a frequency response, an altitude-dependent performance, and an orientation-dependent performance.

39. The apparatus of claim 38, wherein the linearizer is configured to modify in real-time at least one haptic instruction from the plurality of haptic instructions.

40. The apparatus of claim 38, further comprising:

a synthesizer in communication with the effect mapper, the synthesizer being configured to synthesize the plurality of haptic instructions to produce a plurality of synthesized haptic signals.

41. The apparatus of claim 38, further comprising:

a synthesizer in communication with the effect mapper, the synthesizer being configured to synthesize the plurality of haptic instructions in real-time to produce a plurality of synthesized haptic signals.

42. The apparatus of claim 38, further comprising:

a synthesizer in communication with the effect mapper, the synthesizer being configured to synthesize the plurality of haptic instructions to produce a plurality of synthesized haptic signals; and

a haptic device in communication with the synthesizer, the haptic device being configured to receive the plurality of synthesized haptic signals.

43. The apparatus of claim 38, wherein the controller includes the effect mapper.

44. The apparatus of claim 38, wherein the effect mapper is configured to modify the plurality of effect instructions received by the controller to produce the haptic instructions.

45. The apparatus of claim 44, wherein the controller is configured to pre-filter the plurality of received effect instructions.

46. The apparatus of claim 38, wherein the effect mapper is further configured to select a set from the plurality of effect instructions.

47. The apparatus of claim 38, wherein the controller is further configured to modify the plurality of haptic instructions produced by the effect mapper.

48. The apparatus of claim 38, further comprising:

an effect combiner in communication with the effect mapper, the effect combiner being configured to superimpose the received plurality of effect instructions.

49. The apparatus of claim 38, further comprising:

an effect combiner in communication with the effect mapper, the effect combiner configured to superimpose the plurality of haptic instructions produced by the effect mapper to form superimposed haptic instructions.

50. The apparatus of claim 38, further comprising:

an effect combiner in communication with the effect mapper, the effect combiner configured to superimpose the plurality of received effect instructions to form superimposed effect instructions, the effect combiner being further configured to communicate the superimposed effect instructions to the effect mapper.

51. The apparatus of claim 38, further comprising an effect combiner in communication with the effect mapper, the effect combiner configured to normalize the received plurality of effect instructions to form normalized effect instructions, the effect combiner being further configured to communicate the normalized effect instructions to the effect mapper.

52. The apparatus of claim 38, wherein the controller includes a switching controller.

53. An apparatus, comprising:

a controller configured to receive a plurality of effect instructions, the plurality of effect instructions configured to cause desired haptic effects, the controller including an effect mapper, the effect mapper configured to receive the plurality of effect instructions and to produce a plurality of haptic instructions based on at least one pre-determined parameter, the at least one pre-determined parameter being associated with at least one physical characteristic of a haptic device configured to execute the plurality of haptic instructions, wherein the plurality of haptic instructions are different from corresponding effect instructions to account for the at least one pre-determined parameter to cause the desired haptic effects at the apparatus; and

a linearizer in communication with the effect mapper, the linearizer configured to modify at least one haptic instruction from the plurality of haptic instructions,

wherein the effect mapper uses values stored in a matrix to map each of the received plurality of effect instructions to at least one of the plurality of haptic instructions.

54. An apparatus, comprising:

a controller configured to receive a plurality of effect instructions, the plurality of effect instructions configured to cause desired haptic effects, the controller including an effect mapper, the effect mapper configured to receive the plurality of effect instructions and to produce a plurality of haptic instructions based on at least one pre-determined parameter, the at least one pre-determined parameter being associated with at least one physical characteristic of a haptic device configured to execute the plurality of haptic instructions, wherein the plurality of haptic instructions are different from corresponding effect instructions to account for the at least one pre-determined parameter to cause the desired haptic effects at the apparatus; and

a linearizer in communication with the effect mapper, the linearizer configured to modify at least one haptic instruction from the plurality of haptic instructions,

wherein the effect mapper uses values stored in a plurality of matrices to map each of the received effect instructions to at least one of the plurality of haptic instructions.

55. A method comprising;

receiving an effect instruction, the effect instruction configured to cause a desired haptic effect;

mapping the received effect instruction to at least one haptic instruction based on an effect mapping schema, the mapping being based at least partially on a pre-determined characteristic of a haptic device, wherein the at least one haptic instruction is different from the effect instruction to account for the pre-determined characteristic to cause the desired haptic effect at the haptic device; and

transmitting at least one haptic signal to the haptic device, the at least one haptic signal being based on the at least one haptic instruction,

wherein the pre-determined characteristic of the haptic device is a physical characteristic that includes one or more of;

a mass, a shape, an acceleration, a deceleration, a resonant frequency, a harmonic mode, a frequency response, an altitude-dependent performance, and an orientation-dependent performance.

56. The method of claim 55, wherein the haptic device model corresponds to the first haptic device.

57. The method of claim 55, further comprising:

causing the haptic device to move in response to the transmitted at least one haptic signal.

58. The method of claim 55, further comprising:

synthesizing the at least one haptic instruction in substantially real-time to create at least one synthesized haptic instruction, the at least one haptic signal being based on the at least one synthesized haptic instruction.

59. The method of claim 55, further comprising:

linearizing the at least one haptic instruction in substantially real-time to create at least one linearized haptic instruction, the at least one haptic signal being based on the at least one linearized haptic instruction.

60. The method of claim 55, further comprising:

superimposing multiple haptic instructions from the at least one haptic instruction to produce at least one superimposed haptic instruction, the at least one haptic signal being based on the at least one superimposed haptic instruction.

61. The method of claim 55, further comprising:

receiving a plurality of effect instructions;

selecting a set of effect instructions from the received plurality of effect instructions; and

mapping each effect instruction from the selected set of effect instructions to at least one haptic instruction according to an effect mapping schema.

62. The method of claim 61, wherein the mapping includes:

associating each effect instruction from the selected set of effect instructions to at least one haptic instruction via a pre-defined matrix relationship.

63. The method of claim 61, wherein the mapping includes:

mapping an amplitude of at least one waveform of an effect instruction from the selected set of effect instructions.

64. The method of claim 55, wherein the mapping is at least partially based on a frequency response of the haptic device.

65. The method of claim 55, wherein the mapping is at least partially based on a friction of the haptic device.

66. The method of claim 55, wherein the mapping is at least partially based on distortion of at least one waveform of the received effect instruction.

67. The method of claim 55, wherein the mapping includes:

modifying a shape of a waveform of the at least one haptic instruction to produce at least one modified haptic instruction, an output of the haptic device being associated with the at least one modified haptic instruction.

68. The method of claim 55, further comprising:

controlling the haptic device using position feedback, the transmitting at least one force instruction being based partially on the position feedback.

69. The method of claim 55, further comprising:

controlling the haptic device using a peak angular efficiency model, the transmitting at least one force instruction being based partially on the peak angular efficiency model.

70. The method of claim 55, further comprising:

controlling the haptic device using one of force feedback and accelerometer feedback, the transmitting at least one force instruction being based partially on the one of the force feedback and the accelerometer feedback.

71. The method of claim 55, further comprising:

controlling the haptic device using torque feedback, the transmitting at least one force instruction being based partially on the torque feedback.

72. The method of claim 55, further comprising:

controlling the haptic device using a ripple torque compensation, the transmitting at least one force instruction being based partially on the ripple torque compensation.

73. The method of claim 55, further comprising:

controlling the haptic device using force vectoring, the transmitting at least one force instruction being based partially on the force vectoring.

74. The method of claim 55, further comprising:

controlling the haptic device using velocity feedback, the transmitting at least one force instruction being based partially on the velocity feedback.