Providing directional force feedback in free space

• US 8,878,656 B2
• Filed: 06/22/2010
• Issued: 11/04/2014
• Est. Priority Date: 06/22/2010
• Status: Active Grant

• Current Assignee: Microsoft Technology Licensing LLC (Microsoft Corporation)
• Original Assignee: Microsoft Corporation
• Inventors: Tidemand, Erik, Chang, Clayton, Karim, Muneeb Iqbal, Huntsman, Kent, Garden, Alex
• Primary Examiner(s): MULLEN, THOMAS J
• Application Number:
  US12/821,099
• Publication Number:
  US 20110309919A1
• Time in Patent Office: 1,596 Days
• Field of Search: 345/156, 345/161, 715/701, 463 36- 39, 340/407.1
• US Class Current: 340/407.1
• CPC Class Codes: A63F 13/211 using inertial sensors, e.g. accelerometers or gyroscopes
• CPC Class Codes: A63F 13/213 comprising photodetecting means, e.g. cameras, photodiodes or infrared cells A63F13/219, A63F13/655 take precedence
• CPC Class Codes: A63F 13/218 using pressure sensors, e.g. generating a signal proportional to the pressure applied by the player
• CPC Class Codes: A63F 13/245 specially adapted to a particular type of game, e.g. steering wheels
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 13/428 involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes
• CPC Class Codes: A63F 13/833 Hand-to-hand fighting, e.g. martial arts competition A63F13/837 takes precedence
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: A63F 2300/1093 using visible light
• CPC Class Codes: A63F 2300/5553 user representation in the game field, e.g. avatar
• CPC Class Codes: A63F 2300/6607 for animating game characters, e.g. skeleton kinematics
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Technology is presented for generating directional force feedback in free space to a user using a mass rotatable about a movable axis. The mass and movable axis are responsive to a control signal to generate a force vector having a direction and a magnitude in three-dimensional space to provide feedback to the user. The force vector is created in response to an event in application executing in a processing device. The force vector represents feedback regarding an event in the application.

Claims

1. A method for providing directional force feedback in free space to a user, comprising:

providing a mass rotatable about a movable first axis, the mass and movable axis being responsive to a control signal to generate a force vector having a direction and a magnitude in three dimensional space; and

rotating the mass about at least the first axis to generate the force vector responsive to an application executing in a processing device, the application under control of the user and displaying events to the user, the force vector representing feedback regarding an event in the application.

2. The method of claim 1 wherein the rotating comprises rotating the mass about the movable first axis while simultaneously moving the movable first axis to generate the force vector.

3. The method of claim 1 wherein the providing includes providing the mass centered about an axial structure and which generates a torque magnitude representative of the magnitude for the force vector by controlling a speed of the mass spinning about the axial structure.

4. The method of claim 3 wherein the rotating comprises generating the direction for the force vector by moving the axial structure to generate a torque in the direction of the force vector, the torque having the torque magnitude.

5. The method of claim 4 wherein moving the axial structure about which the mass spins includes tilting the axial structure.

6. The method of claim 3 comprising the additional step of rotating the axial structure to a desired position.

7. The method of claim 3 wherein the mass has a home position from which an angle of a tilting of the axial structure is referenced.

8. The method of claim 7 wherein the home position comprises the axial structure being in alignment with a home position reference point.

9. In a system including a computer executing an application communicatively coupled to a directional force feedback device, a method for providing directional force feedback to a device held by a user in free space and connected to the directional force feedback device, comprising:

determining when a force producing event has occurred in the application;

responsive to an occurrence of a force producing event which creates a force having a force vector, determining a duration for the force vector based on the force producing event;

determining a direction for the force vector in three dimensions with respect to an orientation reference position on the device connected to the force feedback device; and

generating the force vector for the force duration by rotating a mass in the force feedback device, the mass being rotatable about a first axis and a second axis orthogonal to the first axis, the mass rotating to generate the force vector in the determined direction and for the determined duration.

10. The method of claim 9 wherein determining a force vector with respect to an orientation reference position comprises determining a force direction with respect to the orientation reference position and a force magnitude of the force vector.

11. The method of claim 10 wherein the force producing event represents an action in the application which is displayed to the user contemporaneously with generating the force vector.

12. The method of claim 11 wherein determining a force producing event comprises determining the force producing event with respect to a virtual object based on motion characteristics for a physical object to which the directional force feedback device is attached.

13. The method of claim 12 further comprising:

receiving the motion characteristics including orientation data from the free space directional feedback device; and

using the motion characteristics for determining the force direction, force magnitude, and duration of the force vector.

14. The method of claim 13 further comprising determining motion characteristics of the virtual object based on image data of the physical object and using the motion characteristics of the virtual object for determining the force direction, force magnitude, and duration of the force vector which is to be generated by the feedback device.

15. The method of claim 14 wherein the force vector has a magnitude, the magnitude is set proportional to the virtual object'"'"'s force in a context of the executing application.

16. A computer storage device having instructions to direct one or more processors to perform a method for providing directional force feedback to a feedback device held by a user, comprising:

determining when a force producing event has occurred in execution of an application, the application being under control of the user and displaying one or more events to the user, a force vector representing feedback regarding the force producing event in the application;

responsive to an occurrence of a force producing event which creates a force having a force vector, determining a duration of the force based on the force producing event;

determining the direction of the force vector with respect to an orientation reference position, the orientation reference position being a position in the feedback device; and

communicating the force vector and force duration to the device to rotate a mass, the mass rotatable about a first axis and a second axis perpendicular to the first axis, the rotation of the mass generating the force vector having the direction and a magnitude in three dimensional space.

17. The computer storage device of claim 16 wherein the mass is the mass centered about an axial structure, the computer storage medium having instructions to direct at least one or more of the processors to control a force generation module to generate a torque magnitude representative of the magnitude for the force vector by controlling a speed of the mass spinning about the axial structure, the method further comprising:

determining whether the mass is in a home position;

responsive to the mass not being in the home position, returning the mass to home position by aligning the axial structure with a home position reference point;

from the home position, moving the axial structure to a position where an end of the axial structure points in the direction for the force vector; and

rotating the mass about the axial structure to generate a torque representative of the magnitude of the force vector and which torque is directed out of the end of the axial structure pointing in a direction orthogonal to the physical force vector.

18. The computer storage device of claim 17 wherein the method further comprises receiving orientation data from the feedback device;

and determining the orientation of a physical object attached to the feedback device based on the orientation data.

19. The computer storage device of claim 18 wherein the method further comprises determining when a force-producing event with respect to a virtual object has occurred based on motion characteristics for the physical object to which the mass is attached.

20. The computer storage device of claim 19 wherein the motion characteristics are determined from orientation data from the feedback device coupled to the one or more of processors providing image data of the physical object.