Haptic device with controlled traction forces
First Claim
1. A haptic device comprising a substrate having a surface, one or more actuators that subject the substrate to lateral motion, and one or more other actuators that subject the substrate to friction reducing ultrasonic oscillation in a direction normal to the substrate surface, wherein a phase relationship between the lateral motion and the friction reducing ultrasonic oscillation generates a net shear force on a user'"'"'s finger or an object in contact with the substrate surface, and wherein the lateral motion further comprises lateral oscillation and the net shear force is an average of a higher force generated when the substrate moves in a first lateral direction and a lower force generated when the substrate moves in a second lateral direction.
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Accused Products
Abstract
A haptic device includes a substrate that is subjected to lateral motion such as lateral oscillation with one or more degrees of freedom together with modulation of a friction reducing oscillation in a manner that can create a shear force on the user'"'"'s finger or on an object on the device.
50 Citations
27 Claims
- 1. A haptic device comprising a substrate having a surface, one or more actuators that subject the substrate to lateral motion, and one or more other actuators that subject the substrate to friction reducing ultrasonic oscillation in a direction normal to the substrate surface, wherein a phase relationship between the lateral motion and the friction reducing ultrasonic oscillation generates a net shear force on a user'"'"'s finger or an object in contact with the substrate surface, and wherein the lateral motion further comprises lateral oscillation and the net shear force is an average of a higher force generated when the substrate moves in a first lateral direction and a lower force generated when the substrate moves in a second lateral direction.
- 11. A method of generating a force on a user'"'"'s finger or an object in contact with a surface of a substrate of a haptic device, comprising subjecting the substrate to lateral motion, subjecting the substrate to friction reducing ultrasonic oscillation in a direction normal to the substrate surface, and controlling the lateral motion and modulation of the friction reducing oscillation to generate the force as a shear force on the user'"'"'s finger or object in contact with the substrate surface, and wherein the shear force is an average of a higher force generated when the substrate moves in a first lateral direction and a lower force generated when the substrate moves in a second lateral direction.
Specification