Hybrid control of haptic feedback for host computer and interface device
First Claim
1. A host computer, comprising:
- a memory storing an emulation layer, the emulation layer configured to;
receive a haptic command from an application program;
determine whether to transmit the haptic command to a force feedback interface device or to process the haptic command;
if the emulation layer transmits the haptic command to the force feedback interface device, the emulation layer is further configured to;
determine a high level command based at least in part on the haptic command; and
transmit the high level command to the force feedback interface device; and
if the emulation layer processes the haptic command, the emulation layer is further configured to;
determine force values based at least in part on the haptic command, andstream the force values to the force feedback interface device in real time; and
a processor in communication with the memory and with the force feedback interface device comprising an actuator for outputting forces to the force feedback interface device, the processor configured to execute the emulation layer and the application.
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Accused Products
Abstract
A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.
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Citations
9 Claims
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1. A host computer, comprising:
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a memory storing an emulation layer, the emulation layer configured to; receive a haptic command from an application program; determine whether to transmit the haptic command to a force feedback interface device or to process the haptic command; if the emulation layer transmits the haptic command to the force feedback interface device, the emulation layer is further configured to; determine a high level command based at least in part on the haptic command; and transmit the high level command to the force feedback interface device; and if the emulation layer processes the haptic command, the emulation layer is further configured to; determine force values based at least in part on the haptic command, and stream the force values to the force feedback interface device in real time; and a processor in communication with the memory and with the force feedback interface device comprising an actuator for outputting forces to the force feedback interface device, the processor configured to execute the emulation layer and the application. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification