Systems and methods for providing a haptic device

• US 8,002,089 B2
• Filed: 09/10/2004
• Issued: 08/23/2011
• Est. Priority Date: 09/10/2004
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Bailey, David W., Jasso, Alexander
• Primary Examiner(s): Rodriguez; Pam
• Application Number:
  US10/937,931
• Publication Number:
  US 20060054427A1
• Time in Patent Office: 2,538 Days
• Field of Search: 188/83, 188/267, 188/267.1, 188/267.2, 188/156, 188158-160, 188/161, 188/163, 188/164, 188/166, 188/171, 345/156, 345/161, 345/163, 345/167, 345/184, 715/701, 715/702
• US Class Current: 188/83
• CPC Class Codes: B60K 2360/126 Rotatable input devices for instruments
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/25 using haptic output
• CPC Class Codes: F16D 2121/20 using electromagnets
• CPC Class Codes: G05G 1/10 Details, e.g. of discs, knobs, wheels or handles G05G1/085 takes precedence
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015

Abstract

Systems and methods for providing a haptic device are described. In one described system, a first brake surface of a first element contacts a second brake surface of a second element. At least one actuator is configured to exert a force on at least one of the first and second elements. A flexure is coupled to at least one of the first element, the second element, a housing, a manipulandum, and a shaft coupled to the manipulandum. The flexure provides a degree of rotational flexibility to the manipulandum when the at least one actuator exerts the force. The described system may include a processor in communication with the at least one actuator for providing the haptic effects.

Claims

1. An apparatus comprising:

a first element having a first brake surface;

a second element having a second brake surface configured to contact the first brake surface;

at least one actuator configured to exert a force on the first element or the second element; and

a flexure coupled to the apparatus to provide a degree of rotational flexibility to a manipulandum when the at least one actuator exerts the force.

2. The apparatus of claim 1, further comprising a processor in communication with the at least one actuator, the processor configured to generate a control signal operable to cause the at least one actuator to provide a haptic effect to the manipulandum.

3. The apparatus of claim 1, wherein the at least one actuator is configured to exert the force to provide a haptic effect.

4. The apparatus of claim 1, wherein the at least one actuator comprises a resistive actuator.

5. The apparatus of claim 4, wherein the first element comprises a magnetic target, and the second element comprises a magnetic core.

6. The apparatus of claim 4, wherein the first element comprises a magnetic core, and the second element comprises a magnetic target.

7. The apparatus of claim 1, wherein the flexure is further configured to provide a restoring force to the first element or the second element.

8. The apparatus of claim 7, wherein the restoring force comprises a centering force with respect to a rotational axis common to the first and second elements.

9. The apparatus of claim 1, wherein the flexure is further configured to maintain contact between the first and second brake surfaces.

10. The apparatus of claim 1, wherein the flexure is further configured to provide the manipulandum with a degree of axial flexibility.

11. The apparatus of claim 1, wherein the flexure is further configured to provide the manipulandum with a degree of radial flexibility.

12. The apparatus of claim 1, wherein the flexure is further configured to provide the manipulandum with a degree of lateral flexibility.

13. The apparatus of claim 1, wherein the flexure is further configured to provide the manipulandum with a degree of angular flexibility.

14. The apparatus of claim 1, wherein the flexure comprises at least one beam.

15. The apparatus of claim 14, wherein the at least one beam comprises a plurality of beams.

16. The apparatus of claim 14, wherein the at least one beam comprises a fixed end coupled to the flexure, and a deflectable end.

17. The apparatus of claim 16, wherein the deflectable end is coupled to the first element, the second element, a housing, the manipulandum, or a shaft coupled to the manipulandum.

18. The apparatus of claim 16, wherein the flexure is rigidly coupled to a shaft coupled to the manipulandum and the deflectable end is flexibly coupled to the first element.

19. The apparatus of claim 16, wherein the flexure is rigidly coupled to a housing, and the deflectable end is flexibly coupled to the second element.

20. The apparatus of claim 16, wherein the flexure is rigidly coupled to the second element, and the deflectable end is flexibly coupled to a housing.

21. The apparatus of claim 1, wherein at least a portion of the flexure is mechanically grounded.

22. The apparatus of claim 21, wherein at least the portion of the flexure is mechanically grounded to a housing.

23. The apparatus of claim 1, wherein the flexure comprises an integral part of a housing.

24. The apparatus of claim 1, further comprising a sensing device in communication with the first element, the second element, or the manipulandum.

25. The apparatus of claim 1, wherein the flexure is coupled to at least one portion of the apparatus selected from the group consisting of the first element, the second element, a housing, a manipulandum, a coil, and a shaft coupled to the manipulandum.

26. The apparatus of claim 1, wherein the at least one actuator comprises a first actuator configured to exert a first force on the first element or the second element, and a second actuator configured to exert a second force on the first element or the second element.

27. The apparatus of claim 26, wherein the first actuator comprises an active actuator, and the second actuator comprises a resistive actuator coupled to the manipulandum, wherein both the first and the second actuators are configured to provide a haptic effect to the manipulandum.

28. A method comprising:

providing a first element having a first brake surface;

providing a second element having a second brake surface configured to contact the first brake surface;

providing at least one actuator configured to exert a force on the first element or the second element; and

providing a flexure coupled to the apparatus to provide a degree of rotational flexibility to a manipulandum when the at least one actuator exerts the force.

29. The method of claim 28, further comprising providing a processor in communication with the at least one actuator, the processor configured to generate a control signal operable to cause the at least one actuator to provide a haptic effect to the manipulandum.

30. The method of claim 28, wherein the at least one actuator is configured to exert the force to provide a haptic effect.

31. The method of claim 28, wherein the at least one actuator comprises a resistive actuator.

32. The method of claim 31, wherein the first element comprises a magnetic target, and the second element comprises a magnetic core.

33. The method of claim 31, wherein the first element comprises a magnetic core, and the second element comprises a magnetic target.

34. The method of claim 28, wherein the flexure is further configured to provide a restoring force to the first element or the second element.

35. The method of claim 34, wherein the restoring force comprises a centering force with respect to a rotational axis common to the first and second elements.

36. The method of claim 28, wherein the flexure is further configured to maintain contact between the first and second brake surfaces.

37. The method of claim 28, wherein the flexure is further configured to provide the manipulandum with a degree of axial flexibility.

38. The method of claim 28, wherein the flexure is further configured to provide the manipulandum with a degree of radial flexibility.

39. The method of claim 28, wherein the flexure is further configured to provide the manipulandum with a degree of lateral flexibility.

40. The method of claim 28, wherein the flexure is further configured to provide the manipulandum with a degree of angular flexibility.

41. The method of claim 28, wherein the flexure comprises at least one beam.

42. The method of claim 41, wherein the at least one beam comprises a plurality of beams.

43. The method of claim 41, wherein the at least one beam comprises a fixed end coupled to the flexure, and a deflectable end.

44. The method of claim 43, wherein the deflectable end is coupled to the first element, the second element, the housing, the manipulandum, or a shaft coupled to the manipulandum.

45. The method of claim 43, wherein the flexure is rigidly coupled to a shaft coupled to the manipulandum and the deflectable end is flexibly coupled to the first element.

46. The method of claim 43, wherein the flexure is rigidly coupled to a housing, and the deflectable end is flexibly coupled to the second element.

47. The method of claim 43, wherein the flexure is rigidly coupled to the second element, and the deflectable end is flexibly coupled to a housing.

48. The method of claim 28, wherein at least a portion of the flexure is mechanically grounded.

49. The method of claim 48, wherein at least the portion of the flexure is mechanically grounded to a housing.

50. The method of claim 28, wherein the flexure comprises an integral part of a housing.

51. The method of claim 28, further comprising providing a sensing device in communication with the first element, the second element, or the manipulandum.

52. The method of claim 28, wherein the flexure is coupled to at least one portion of the apparatus selected from the group consisting of the first element, the second element, a housing, a manipulandum, a coil, and a shaft coupled to the manipulandum.

53. The method of claim 28, wherein the at least one actuator comprises a first actuator configured to exert a first force on the first element or the second element, and a second actuator configured to exert a second force on the first element or the second element.

54. The method of claim 53, wherein the first actuator comprises an active actuator, and the second actuator comprises a resistive actuator coupled to the manipulandum, wherein both the first and the second actuators are configured to provide a haptic effect to the manipulandum.