Haptic device with indirect haptic feedback

• US 8,405,618 B2
• Filed: 03/21/2007
• Issued: 03/26/2013
• Est. Priority Date: 03/24/2006
• Status: Active Grant

• Current Assignee: Northwestern University
• Original Assignee: Northwestern University
• Inventors: Colgate, James Edward, Peshkin, Michael, Glassmire, John, Winfield, Laura
• Primary Examiner(s): Shalwala, Bipin
• Assistant Examiner(s): Ketema, Benyam
• Application Number:
  US11/726,391
• Publication Number:
  US 20070236450A1
• Time in Patent Office: 2,197 Days
• Field of Search: 345/156, 345/173, 341/22
• US Class Current: 345/173
• CPC Class Codes: G06F 2203/04104 Multi-touch detection in digitiser, i.e. details about the simultaneous detection of a plurality of touching locations, e.g. multiple fingers or pen and finger
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0362 with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• CPC Class Codes: G06F 3/0414 using force sensing means to determine a position
• CPC Class Codes: G06F 3/0421 by interrupting or reflecting a light beam, e.g. optical touch-screen
• CPC Class Codes: G06F 3/0428 by sensing at the edges of the touch surface the interruption of optical paths, e.g. an illumination plane, parallel to the touch surface which may be virtual sensing beam interruptions in a planar beam grid of an optical touch-screen G06F3/0421
• CPC Class Codes: G06F 3/045 using resistive elements, e.g. a single continuous surface or two parallel surfaces put in contact

Abstract

A haptic device provides indirect haptic feedback and virtual texture sensations to a user by modulation of friction of a touch surface of the device in response to one or more sensed parameters and/or time. The sensed parameters can include, but are not limited to, sensed position of the user'"'"'s finger, derivatives of sensed finger position such as velocity and/or acceleration, sensed finger pressure, and/or sensed direction of motion of the finger. The touch surface is adapted to be touched by a user'"'"'s bare finger, thumb or other appendage and/or by an instrument such as a stylus held by the user.

Claims

1. An indirect haptic device, comprising a substrate having a touch surface, a piezoelectric bending element laminated to the substrate, a position sensor that senses a position of a user'"'"'s appendage relative to the touch surface, a control device connected to the position sensor and piezoelectric bending element, wherein the piezoelectric bending element imparts ultrasonic vibrations to the substrate and the control device modulates the amplitude of the ultrasonic vibrations to reduce friction felt by the user'"'"'s appendage on the touch surface in response to a sensed position of the user'"'"'s appendage relative to the touch surface and/or a derivative thereof, and wherein the piezoelectric bending element does not alter the contour of the touch surface in a manner that is perceptible to a user'"'"'s sight or touch.

2. The device of claim 1 wherein the derivative comprises a velocity and/or acceleration of the user'"'"'s appendage.

3. The device of claim 1 wherein the control device varies friction felt by the user'"'"'s appendage by modulating the amplitude of the ultrasonic vibrations in response to the sensed position and velocity of the user'"'"'s appendage.

4. The device of claim 1 wherein the control device varies friction felt by the user'"'"'s appendage by modulating the amplitude of the ultrasonic vibrations in response to the sensed position and a finger pressure of the user'"'"'s appendage.

5. The device of claim 1 wherein the control device varies friction felt by the user'"'"'s appendage by modulating the amplitude of the ultrasonic vibrations in response to the sensed position and a sensed direction of motion of the user'"'"'s appendage on the touch surface.

6. The device of claim 1 wherein the touch surface is adapted to receive touch input from a user'"'"'s appendage that comprises a user'"'"'s finger, thumb, or a hand-held stylus.

7. The device of claim 1 wherein the piezoelectric bending element and the substrate are substantially planar members laminated together to form a lamina.

8. The device of claim 1 wherein the piezoelectric bending element comprises a piezoelectric plate member that is connected to a substrate plate member to provide a laminate structure.

9. The device of claim 8 wherein the piezoelectric plate member and the substrate plate member are transparent.

10. The device of claim 9 wherein each plate member includes a respective transparent electrode.

11. The device of claim 9 wherein the piezoelectric plate member has a thickness of about 0.01 to about 0.125 inch.

12. The device of claim 10 wherein the substrate plate member has a thickness of about 0.01 to about 0.125 inch.

13. The device of claim 7 wherein an amplitude of an excitation voltage at the piezoelectric bending element is modulated in response to a sensed planar or a sensed rotary position of the user'"'"'s appendage.

14. The device of claim 1 comprising a first position sensor to sense a position of the user'"'"'s appendage along a first axis and a second position sensor to sense a position of the user'"'"'s appendage along a second axis.

15. The device of claim 14 wherein the control device includes a computer control unit that receives position information from the first and second position sensors and modulates the amplitude of ultrasonic vibration in response to a sensed planar position of the user'"'"'s appendage.

16. The device of claim 1 comprising a rotary position sensor to sense a rotary position of the user'"'"'s appendage.

17. The device of claim 16 wherein the control device includes a computer control that receives position information from the rotary position sensor and modulates the amplitude of ultrasonic vibration in response to a sensed rotary position of the user'"'"'s appendage.

18. The device of claim 1 wherein the control device modulates the touch surface friction in response to the sensed position of the user'"'"'s appendage on the touch surface in a manner to generate a virtual texture sensation felt by the user'"'"'s appendage.

19. The device of claim 18 wherein the control device modulates the amplitude of ultrasonic vibration in accordance with a mathematical expression to generate the virtual texture sensation felt by the user'"'"'s appendage.

20. The device of claim 18 wherein the virtual sensation comprises a change in virtual height and/or shape of the surface as the user'"'"'s appendage moves on the surface.

21. The device of claim 1 wherein the touch surface has a circular or polygonal shape.

22. An apparatus comprising a plurality of indirect haptic devices of claim 1 arranged in a pattern that the user'"'"'s appendage can explore.

23. The apparatus of claim 22 wherein the indirect haptic devices are arranged in a grid pattern.

24. The apparatus of claim 22 wherein each of the indirect haptic devices is adapted to sense a position of the user'"'"'s appendage relative to the indirect haptic devices.

25. The apparatus of claim 22 wherein the indirect haptic devices are energized at different times.

31. The combination of a touch screen and an indirect haptic device of claim 1 wherein the indirect haptic device provides an interface with the touchscreen.

32. The combination of claim 31 wherein the indirect haptic device is disposed on the touch screen.

33. The combination of claim 31 wherein the indirect haptic device is disposed on a surface not part of the touch screen.

34. The combination of a visual display and an indirect haptic device of claim 1 wherein the indirect haptic device provides an interface with the visual display.

35. The combination of claim 34 where the indirect haptic device is disposed on the visual display.

36. The combination of claim 34 where the indirect haptic device is disposed on a surface not part of the visual display.

37. The combination of an interior surface and/or exterior surface of a motor vehicle and the indirect haptic device of claim 1 being disposed on the interior surface and/or exterior surface of the motor vehicle.

38. The combination of claim 37 wherein the indirect haptic display is disguised to blend with the exterior surface of the motor vehicle.

39. The combination of claim 37 including a touch screen.

40. The combination of claim 37 including a visual display.

41. The combination of an electronic component and the indirect haptic device of claim 1 disposed on the electronic component to interface therewith.

48. The device of claim 1 wherein the piezoelectric bending element is bonded directly to the substrate to provide a laminate structure that is thinner than it is wide or long.

26. An indirect haptic device, comprising a substrate having a touch surface, a piezoelectric bending element laminated to the substrate for imparting ultrasonic vibrations to the substrate, and a control device to modulate an amplitude of the ultrasonic vibrations over time to modulate a reduction in friction of the touch surface felt by a user'"'"'s appendage on the touch surface over time, wherein the ultrasonic vibrations do not alter the contour of the touch surface in a manner that is perceptible to a user'"'"'s sight or touch.

27. An indirect haptic device, comprising a substrate having a touch surface, a piezoelectric bending element laminated to the substrate for imparting ultrasonic vibrations to the substrate, and a control device to modulate a reduction in friction of the touch surface felt by a user'"'"'s appendage on the touch surface by modulating an amplitude of the ultrasonic vibrations in response to a sensed direction of motion of the user'"'"'s appendage relative to the touch surface, wherein the ultrasonic vibrations do not alter the contour of the touch surface in a manner that is perceptible to a user'"'"'s sight or touch.

28. An apparatus, comprising a plurality of indirect haptic devices arranged in a pattern that a user'"'"'s appendage can explore, each of the indirect haptic devices including a substrate having a touch surface that is adapted to be engaged by a user'"'"'s appendage and a piezoelectric bending element laminated to the substrate for imparting ultrasonic vibrations to the substrate;

and one or more control devices to provide different modulated amplitudes of ultrasonic vibration at different indirect haptic devices to modulate a reduction in friction of respective touch surfaces felt by the user'"'"'s appendage exploring different indirect haptic devices of the pattern, wherein the ultrasonic vibrations do not alter the contour of the touch surface in a manner that is perceptible to a user'"'"'s sight or touch.

29. The apparatus of claim 28 wherein the indirect haptic devices are arranged in a grid pattern.

30. The apparatus of claim 28 wherein each of the indirect haptic devices is adapted to sense a position of the user'"'"'s appendage relative to the indirect haptic devices.

42. An indirect haptic device, comprising a substrate having a touch surface that is adapted to be engaged by a user'"'"'s appendage, a piezoelectric bending element laminated to the substrate for imparting ultrasonic vibrations to the substrate, a pressure sensor, and a control device to vary friction felt by the user'"'"'s appendage by varying an amplitude of the ultrasonic vibrations to vary a reduction in friction of the touch surface felt by the user'"'"'s appendage in response to a sensed pressure of the user'"'"'s appendage on the touch surface, wherein the ultrasonic vibrations do not alter the contour of the touch surface in a manner that is perceptible to a user'"'"'s sight or touch.

43. The device of claim 42 wherein friction is varied in response to pressure from a pushing motion of the user'"'"'s appendage against the surface.

44. The combination of a touch screen and an indirect haptic device of claim 42 disposed on the touch screen to provide a simulated pushbutton.

45. The combination of a visual display and an indirect haptic device of claim 42 on the visual display to provide a simulated pushbutton.

46. The combination of an indirect haptic display of claim 42 disposed on an interior surface and/or exterior surface of a motor vehicle.

47. A method of controlling an indirect haptic device, comprising ultrasonically vibrating a substrate having a touch surface using a piezoelectric bending element laminated to the substrate, sensing a parameter of operation or determining time, and modulating an amplitude of the ultrasonic vibrations to in turn modulate a reduction in friction of the touch surface felt by the user'"'"'s appendage in response to the sensed parameter or determined time so as to vary friction felt by a user of the touch surface, wherein the ultrasonic vibrations do not alter the contour of the touch surface in a manner that is perceptible to a user'"'"'s sight or touch.

49. The device of claim 47 wherein the aggregate thickness of the piezoelectric bending element laminated to the substrate does not exceed 0.25 inch.