Device having selective directional tactile feedback capability

• US 7,979,797 B2
• Filed: 04/25/2006
• Issued: 07/12/2011
• Est. Priority Date: 09/28/2000
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Schena, Bruce M.
• Primary Examiner(s): Beck; Alexander S
• Assistant Examiner(s): WILLIS, RANDAL L
• Application Number:
  US11/411,739
• Publication Number:
  US 20060281550A1
• Time in Patent Office: 1,904 Days
• Field of Search: 345/156, 345/163, 715/701, 715/702
• US Class Current: 715/701
• CPC Class Codes: A63F 13/211 using inertial sensors, e.g. accelerometers or gyroscopes
• CPC Class Codes: A63F 13/24 Constructional details thereof, e.g. game controllers with detachable joystick handles
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 2300/1006 having additional degrees of freedom
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: A63F 2300/1043 being characterized by constructional details
• CPC Class Codes: A63F 2300/105 using inertial sensors, e.g. accelerometers, gyroscopes
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Directional haptic feedback for a haptic feedback interface device. A haptic feedback interface device, in communication with a host computer, includes a housing physically contacted by a user operating the interface device, and a plurality of actuators producing inertial forces when the actuators are driven by control signals. Each of the actuators includes a rotatable eccentric mass positioned offset on a rotating shaft of the actuator, where the actuators are rotated simultaneously such that centrifugal forces from the rotation of masses combine to output the inertial forces substantially only along a single axis having a desired direction approximately in a plane of rotation of the masses.

Claims

1. An apparatus comprising:

a controller configured to output control signals;

a first actuator configured to oscillate for a first period of time upon receiving a first control signal from the controller to produce a first inertial force in a first direction; and

a second actuator configured to oscillate for a second period of time upon receiving a second control signal from the controller to produce a second inertial force in a second direction, wherein actuation of the first and second actuators is coordinated by the controller such that the first and second actuators together output a total inertial force in a desired direction as a result of the first and second inertial forces,

wherein the first and second actuators are coordinated by maintaining a constant phase difference between the first actuator and the second actuator.

2. The apparatus of claim 1, wherein the first actuator comprises a first shaft along a first axis and a first eccentric mass coupled to the first shaft, wherein the first eccentric mass rotates about the first axis when actuated to produce the first inertial force, and wherein the second actuator comprises a second shaft along a second axis and a second eccentric mass coupled to the second shaft, wherein the second eccentric mass rotates about the second axis when actuated to produce the second inertial force.

3. The apparatus of claim 1, wherein the first actuator and the second actuator operate out of phase with respect to one another to produce the total inertial force.

4. The apparatus of claim 1, wherein an initial position of the first actuator is different than an initial position of the second actuator prior to actuation.

5. The apparatus of claim 1, wherein the first actuator is a first linear actuator and second actuator is a second linear actuator.

6. The apparatus of claim 1, wherein the oscillation of at least one of the first actuator or the second actuators is continuous for the respective period of time.

7. The apparatus of claim 1, wherein at least one of the first actuator or the second actuators produces a short burst of the inertial force when actuated.

8. An apparatus comprising:

a first actuator having a first shaft and a first eccentric mass coupled to the first shaft, wherein the first eccentric mass oscillates about a first axis for a first period of time to produce a first inertial force in a first direction;

a second actuator having a second shaft and a second eccentric mass coupled to the second shaft, wherein the second eccentric mass oscillates about a second axis for a second period of time to produce a second inertial force in a second direction, wherein the first and second actuator together output a total inertial force in a desired direction when rotating simultaneously, wherein rotations of the first actuator and the second actuator about their respective shafts are coordinated by a controller such that the first and second actuators together output the total inertial force in the desired direction,

wherein the first and second actuators are coordinated by maintaining a constant phase difference between the first actuator and the second actuator.

9. The apparatus of claim 8, wherein the first actuator and the second actuator rotate out of phase with respect to one another to produce the total inertial force.

10. The apparatus of claim 8, wherein an initial position of the first actuator is different than an initial position of the second actuator prior to being rotated.

11. The apparatus of claim 8, wherein at least one of the first actuator or the second actuators oscillates continuously for the respective period of time.

12. The apparatus of claim 8, wherein at least one of the first actuator or the second actuators produces a short burst of the inertial force when rotating.

13. A method comprising:

actuating a first actuator to oscillate for a first period of time to produce a first inertial force in a first direction upon receiving an activating signal; and

actuating a second actuator to oscillate for a second period of time to produce a second inertial force in a second direction upon receiving the activating signal, wherein the actuations of the first and second actuators are coordinated by a controller to together output a total inertial force in a desired direction when actuated simultaneously,

wherein the first and second actuators are coordinated by maintaining a constant phase difference between the first actuator and the second actuator.

14. The method of claim 13, wherein the first actuator comprises a first shaft along a first axis and a first eccentric mass coupled to the first shaft, wherein the first eccentric mass rotates about the first axis when actuated to produce the first inertial force, and wherein the second actuator comprises a second shaft along a second axis and a second eccentric mass coupled to the second shaft, wherein the second eccentric mass rotates about the second axis when actuated to produce the second inertial force.

15. The method of claim 13, wherein the first actuator and the second actuator operate out of phase with respect to one another to produce the total inertial force.

16. The method of claim 13, further comprising configuring an initial position of the first actuator to be different than an initial position of the second actuator prior to being actuated.

17. The method of claim 13, wherein the first actuator is a first linear actuator and second actuator is a second linear actuator.

18. The method of claim 13, wherein at least one of the first actuator or the second actuators oscillate continuously for respective period of times.

19. The method of claim 13, wherein at least one of the first actuator or the second actuators produces a short burst of the inertial force when actuated.

20. The method of claim 13, further comprising sensing operation of the first and second actuators and adjusting at least one of a frequency or magnitude of either or both of the first and second actuators to maintain the total inertial force in the desired direction.

21. An apparatus comprising:

a controller configured to output control signals;

a first actuator configured to oscillate for a first period of time upon receiving a first control signal from the controller to produce a first inertial force in a first direction; and

a second actuator configured to oscillate for a second period of time upon receiving a second control signal from the controller to produce a second inertial force in a second direction, wherein actuation of the first and second actuators is coordinated by the controller such that the first and second actuators together output a total inertial force in a desired direction as a result of the first and second inertial forces,

wherein the first and second actuators are positioned such that the first axis and the second axis are substantially parallel to one another.