Systems and methods for providing a haptic device

• US 8,018,434 B2
• Filed: 07/26/2010
• Issued: 09/13/2011
• Est. Priority Date: 09/24/2004
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: DaCosta, Henry, Gomez, Daniel H.
• Primary Examiner(s): Wang; Quan-Zhen
• Assistant Examiner(s): NGUYEN, JENNIFER T
• Application Number:
  US12/843,186
• Publication Number:
  US 20100283588A1
• Time in Patent Office: 414 Days
• Field of Search: 345/157, 345/161, 345/184, 345/156
• US Class Current: 345/157
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Systems and methods for providing haptic feedback in a user interface are disclosed. In one embodiment, an apparatus comprises a manipulandum, a rotor in communication with the manipulandum, an actuator in communication with the rotor, and a biasing element disposed between the manipulandum and the rotor. The actuator may be configured to vary a force on the rotor. The biasing element may be configured to store at least a portion of energy input to the apparatus when the actuator increases the force on the rotor, and to provide at least a portion of the stored energy to the manipulandum when the actuator decreases the force on the rotor, or when the manipulandum is released.

Claims

1. An apparatus comprising:

a manipulandum;

a rotor in communication with the manipulandum;

an actuator in communication with the rotor, the actuator configured to vary a force on the rotor; and

a biasing element disposed between the manipulandum and the rotor, the biasing element configured to store at least a portion of energy input to the apparatus when the actuator increases the force on the rotor and to provide at least a portion of the energy to the manipulandum when at least one of the following events occurs;

the actuator decreases the force on the rotor; and

the manipulandum is released.

2. The apparatus of claim 1, wherein the actuator comprises a resistive actuator.

3. The apparatus of claim 1, wherein the biasing element is configured to store the energy input to the apparatus by providing a rotational degree of flexibility to the manipulandum when the actuator increases the force on the rotor.

4. The apparatus of claim 1, wherein the manipulandum is operable to be displaced in a rotational degree of freedom.

5. The apparatus of claim 1, wherein the biasing element is configured to provide at least a portion of the energy to the manipulandum by providing a torque.

6. The apparatus of claim 1, wherein the rotor comprises an inertial element configured to provide a torque to the manipulandum, and wherein the biasing element is configured to provide at least a portion of the energy to the manipulandum by providing at least a portion of the energy to the inertial element.

7. The apparatus of claim 1, wherein the biasing element comprises a first end and a second end, and wherein the first end of the biasing element is coupled to the rotor.

8. The apparatus of claim 7, wherein the second end of the biasing element is coupled to at least one of the manipulandum and a shaft coupled to the manipulandum.

9. The apparatus of claim 1, wherein the biasing element comprises a spring.

10. The apparatus of claim 1, wherein the biasing element comprises a compliant shaft.

11. The apparatus of claim 1, wherein the rotor comprises a brake surface disposed adjacent to the actuator.

12. The apparatus of claim 1, wherein the actuator comprises an electromagnet, and the rotor is configured to be acted upon by the electromagnet.

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

14. The apparatus of claim 1, further comprising a sensing device in communication with at least one of the manipulandum, the biasing element, and the rotor.

15. A method comprising:

energizing an actuator to provide a resistance to movement of a rotor in communication therewith, wherein the rotor is coupled to a first end of a biasing element;

storing at least a portion of energy input to the biasing element by a rotational movement of a manipulandum coupled to a second end of the biasing element; and

providing at least a portion of the energy to the manipulandum by decreasing the resistance to movement of the rotor.

16. The method of claim 15, wherein the actuator comprises a resistive actuator.

17. The method of claim 15, wherein providing at least a portion of the energy to the manipulandum comprises providing a torque to the manipulandum.

18. The method of claim 15, wherein the rotor comprises an inertial element configured to provide a torque to the manipulandum, and wherein providing at least a portion of the energy to the manipulandum comprises providing at least a portion of the energy to the inertial element.

19. The method of claim 15, wherein the biasing element comprises a spring.

20. The method of claim 19, wherein the spring comprises at least one of a torsional spring and a helical spring.

21. The method of claim 15, wherein the biasing element comprises a compliant shaft.

22. The method of claim 15, wherein the rotor comprises a brake surface disposed adjacent to the actuator.

23. The method of claim 15, wherein the actuator comprises an electromagnet, and the rotor is configured to be acted upon by the electromagnet.

24. A computer readable medium comprising program code, the program code comprising:

program code for energizing an actuator to provide a resistance to movement of a rotor in communication therewith, wherein the rotor is coupled to a first end of a biasing element;

program code for storing at least a portion of energy input to the biasing element by a rotational movement of a manipulandum coupled to a second end of the biasing element; and

program code for providing at least a portion of the energy to the manipulandum by decreasing the resistance to movement of the rotor.

25. The computer-readable medium of claim 24, wherein the actuator comprises a resistive actuator.