Digital envelope modulator for haptic feedback devices

• US 8,325,144 B1
• Filed: 10/17/2007
• Issued: 12/04/2012
• Est. Priority Date: 10/17/2007
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Tierling, Kollin M., Grant, Danny A., Gomez, Daniel H., Bakircioglu, Munibe M.
• Primary Examiner(s): Eisen, Alexander
• Assistant Examiner(s): MISHLER, ROBIN J
• Application Number:
  US11/975,225
• Time in Patent Office: 1,875 Days
• Field of Search: 345/156, 345173-179
• US Class Current: 345/173
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A haptic feedback device includes a signal generation module configured to output a composite signal representable by a carrier signal and an envelope signal. The signal generation module includes a microcontroller capable of being programmed such that the carrier signal falls within a resonance frequency band of the haptic feedback device. The haptic feedback device also includes a user interface device, and a transducer configured to impart haptic force to the user interface device in response to the composite signal. A tactile mapping submodule, a duration mapping submodule, and an attack/decay mapping submodule may also be included. The tactile mapping submodule enables compensation for haptic output at different positions on the haptic feedback device, whereas the duration and attack/decay submodules enable prevention of unwanted audio output.

Claims

1. A haptic feedback device comprising:

a user interface device;

a transducer coupled to the user interface device and configured to impart a haptic force to the user interface device at a resonance frequency of the haptic feedback device based on an output signal;

a sensor configured to output a sensor signal; and

a signal generation module comprising a programmable microcontroller, the signal generation module configured to determine the resonance frequency based on the sensor signal and to provide the output signal, wherein the output signal is a composite signal comprising a carrier component and an envelope component, and wherein the microcontroller is programmable to control at least one of the carrier component or the envelope component to change the haptic force based on the sensor signal and a change to the resonance frequency caused by an external force.

2. The haptic feedback device of claim 1, wherein the signal generation module further comprises a wave table submodule configured to store a set of component waves.

3. The haptic feedback device of claim 1, wherein the signal generation module further comprises an envelope component submodule configured to be used by the microcontroller to construct the envelope component.

4. The haptic feedback device of claim 1, wherein the signal generation module further comprises an effect library submodule configured to store haptic effect descriptors from which the output signal is constructed.

5. The haptic feedback device of claim 1, wherein the signal generation module further comprises a tactile mapping submodule configured to adjust at least one of the carrier component or the envelope component based at least in part on a location on the haptic feedback device at which haptic force is output.

6. The haptic feedback device of claim 1, wherein the signal generation module further comprises a duration mapping submodule configured to modify the output signal such that haptic force is output for a duration beginning and/or ending substantially at a zero crossing point of the output signal.

7. The haptic feedback device of claim 1, wherein the signal generation module further comprises an attack/decay submodule configured to modify the output signal to thereby substantially eliminate discontinuities at at least one zero crossing point thereof, the haptic force beginning and/or ending at the at least one zero crossing point.

8. A method for generating haptic feedback using a haptic feedback device, the method comprising:

generating an output signal;

generating haptic force based on the output signal at a resonance frequency of the haptic feedback device;

receiving a sensor signal;

determining the resonance frequency based on the sensor signal; and

modifying the output signal in response to the sensor signal and a change in the resonance frequency caused by an external force.

9. The method of claim 8, wherein said change comprises a switch from a first resonance frequency to a second resonance frequency.

10. The method of claim 9, wherein the output signal is a composite signal comprising a carrier component and an envelope component, and modifying the output signal comprises controlling at least one of the carrier component or the envelope component to change the haptic force based on changes to the resonance frequency.

11. The method of claim 10, wherein generating an output signal comprises retrieving one or more component waves from a wave table submodule configured to store a set of component waves.

12. The method of claim 10, wherein generating an output signal comprises retrieving one or more envelope components from an envelope component submodule configured to store a set of component envelope waves.

13. The method of claim 10, wherein generating an output signal comprises retrieving one or more haptic effect descriptors.

14. A haptic feedback device comprising:

a user interface device;

a transducer coupled to the user interface device and configured to impart a haptic force to the user interface device, based on an output signal, such that the user interface device outputs haptic feedback at a targeted location;

a sensor configured to output a sensor signal; and

a signal generation module comprising a programmable microcontroller and a tactile mapping submodule, the signal generation module configured to determine the resonance frequency based on the sensor signal and to generate the output signal with reference to the tactile mapping submodule such that the output signal is based in part on the targeted location, and wherein the output signal is a composite signal comprising a carrier component and an envelope component, and wherein the microcontroller is programmable to control at least one of the carrier component or the envelope component to change the haptic force based on the sensor signal and a change to a resonance frequency of the haptic feedback device caused by an external force.

15. A haptic feedback device comprising:

a user interface device;

a sensor configured to output a sensor signal;

a signal generation module configured to determine the resonance frequency based on the sensor signal and to provide an output signal, wherein the output signal is a composite signal comprising a carrier component and an envelope component, and wherein the microcontroller is programmable to control at least one of the carrier component or the envelope component to change the haptic force based on the sensor signal and a change to the resonance frequency caused by an external force;

a tactile mapping submodule configured to adjust the output signal based in part on a location on the user interface device at which a haptic force is to be output; and

a transducer configured to receive an adjusted output signal and impart the haptic force to the user interface device in response to the adjusted output signal.

16. The haptic feedback device of claim 15, wherein the signal generation module further comprises a wave table submodule configured to store a set of component waves.

17. The haptic feedback device of claim 15, wherein the signal generation module further comprises an envelope signal submodule controlled by the microcontroller and configured to construct the envelope signal.

18. The haptic feedback device of claim 15, wherein the signal generation module further comprises an effect library submodule configured to store haptic effect descriptors.

19. A method for generating haptic feedback using a haptic feedback device, the method comprising:

generating an output signal, wherein the output signal is a composite signal comprising a carrier component and an envelope component;

adjusting at least one of the carrier component or the envelope component of the output signal based in part on a location on the haptic feedback device to output haptic force;

receiving a sensor signal;

determining the resonance frequency based on the sensor signal; and

adjusting at least one of the carrier component or the envelope component to change the haptic force based on the sensor signal and a change to a resonance frequency of the haptic feedback device caused by an external force.

20. A haptic feedback device comprising:

a user interface device;

a transducer configured to impart haptic force to the user interface device based in part on an output signal, the transducer configured to output the haptic force for a duration beginning and/or ending substantially at a zero crossing point of the output signal;

a sensor configured to output a sensor signal; and

a signal generation module comprising a duration mapping submodule and a microcontroller, the signal generation module configured to determine the resonance frequency based on the sensor signal and to generate the output signal based in part on the duration mapping submodule, wherein the output signal is a composite signal comprising a carrier component and an envelope component, and wherein the microcontroller is programmable to control at least one of the carrier component or the envelope component to change the haptic force based on the sensor signal and a change to a resonance frequency of the haptic feedback device caused by an external force.

21. The haptic feedback device of claim 20, wherein the duration mapping submodule controls the duration of the output signal.

22. The haptic feedback device of claim 20, wherein the duration mapping submodule controls the frequency of the output signal.

23. The haptic feedback device of claim 20, wherein the signal generation module further comprises a wave table submodule configured to store a set of component waves.

24. The haptic feedback device of claim 20, wherein the signal generation module further comprises an envelope signal submodule controlled by the microcontroller and configured to generate the envelope signal.

25. The haptic feedback device of claim 20, wherein the signal generation module further comprises an effect library submodule configured to store haptic effect descriptors.

26. A method for generating haptic feedback using a haptic feedback device, the method comprising:

generating an output signal wherein the output signal is a composite signal comprising a carrier component and an envelope component;

imparting a haptic force on the haptic feedback device for a duration beginning and/or ending substantially at a zero crossing point of the output signal;

receiving a sensor signal;

determining the resonance frequency based on the sensor signal; and

modifying at least one of the carrier component or the envelope component to change the haptic force based on the sensor signal and a change to the resonance frequency of the haptic feedback device caused by an external force.

27. The method of claim 26, wherein the modifying includes changing a frequency of the output signal.

28. A haptic feedback device comprising:

a user interface device;

a sensor configured to output a sensor;

a signal generation module comprising a microcontroller, the signal generation module configured to determine the resonance frequency based on the sensor signal and to generate an output signal wherein the output signal is a composite signal comprising a carrier component and an envelope component and wherein the microcontroller is programmable to control at least one of the carrier component or the envelope component to change the haptic force based on the sensor signal and a change to a resonance frequency caused by an external force;

an attack/decay mapping submodule configured to modify at least one of the carrier component or the envelope component to substantially eliminate discontinuities at at least one zero crossing point of the output signal;

a transducer configured to impart haptic force to the user interface device in response to the-output signal, the haptic force beginning and/or ending at the at least one zero crossing point.

29. The haptic feedback device of claim 28, wherein the signal generation module further comprises a wave table submodule configured to store a set of component waves.

30. The haptic feedback device of claim 28, wherein the signal generation module further comprises an envelope signal submodule controlled by the microcontroller and configured to construct the envelope signal.

31. The haptic feedback device of claim 28, wherein the signal generation module further comprises an effect library submodule configured to store haptic effect descriptors.

32. A method for generating haptic feedback using a haptic feedback device, the method comprising:

generating an output signal, wherein the output signal is a composite signal comprising a carrier component and an envelope component;

imparting a haptic force on the haptic feedback device in response to the output signal, the haptic force beginning and/or ending at at least one zero crossing point of the output signal;

modifying at least one of the carrier component or the envelope component to substantially eliminate discontinuities at at least one zero crossing point of the output signal;

receiving a sensor signal;

determining the resonance frequency based on the sensor signal; and

modifying at least one of the carrier component or the envelope component to change the haptic force based on the sensor signal and a change to the resonance frequency caused by an external force.