Systems and methods for capturing and recreating the feel of surfaces

• US 8,988,445 B2
• Filed: 07/29/2011
• Issued: 03/24/2015
• Est. Priority Date: 07/30/2010
• Status: Active Grant

• Current Assignee: Trustees Of The University Of Pennsylvania (University of Pennsylvania)
• Original Assignee: Trustees Of The University Of Pennsylvania (University of Pennsylvania)
• Inventors: Kuchenbecker, Katherine J., Romano, Joseph, McMahan, William, Landin, Nils
• Primary Examiner(s): Nguyen, Kimbinh T
• Assistant Examiner(s): Isanians, Raffi
• Application Number:
  US13/193,731
• Publication Number:
  US 20120026180A1
• Time in Patent Office: 1,334 Days
• Field of Search: None
• US Class Current: 345/582
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/0354 with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
• CPC Class Codes: G06F 3/03545 Pens or stylus

Abstract

Systems and methods for capturing and recreating the feel of a surface are disclosed. A method for capturing a feel of a surface comprises contacting the surface with a handheld tool, recording data measured by the tool, and generating a texture model of the surface based on the recorded data. A method for recreating a feel of a surface comprises contacting a virtual surface with a handheld tool, determining an estimated contact force based on the data measured by the tool, generating a vibration waveform from a texture model based on the data measured by the tool; and actuating at least one actuator of the tool according to the vibration waveform. A system for capturing and recreating a feel of a surface comprises a handheld tool, a storage device, and a processor.

Claims

1. A method for capturing a feel of a surface, the method comprising the steps of:

contacting the surface with a handheld tool, the handheld tool including at least one accelerometer configured to measure an acceleration experienced by the tool, at least one force sensor configured to measure a force experienced by the tool, and at least one speed sensor configured to measure a speed of the tool;

recording the acceleration experienced by the tool, the force experienced by the tool, and the speed of the tool while the tool contacts the surface; and

generating a texture model of the surface by using the recorded acceleration to calculate a filter by linear predictive coding, the filter applicable to a predetermined input signal in order to output the vibration corresponding to the feel of the surface at the recorded force and speed, the filter configured to create a first vibration corresponding to the feel of the surface at a first combination of force and speed, and configured to create a second vibration corresponding to the feel of the surface at a second combination of force and speed.

2. The method of claim 1, wherein the recording step comprises:

recording the acceleration experienced by the tool when the acceleration has a frequency in a range from approximately 20 Hz to approximately 1000 Hz.

3. The method of claim 1, wherein the contacting step comprises:

touching the surface with the tool in a stroking motion.

4. The method of claim 3, further comprising the steps of:

contacting the surface with the tool a plurality of times, the plurality of times having different combinations of force experienced by the tool and speed of the tool.

5. The method of claim 1, further comprising the step of:

determining an average force experienced by the tool and an average speed of the tool for a respective touch of the surface with the tool.

6. A method for recreating a feel of a surface, the method comprising the steps of:

storing a texture model of a surface, the texture model generated using acceleration recorded during contact with the surface to calculate a filter by linear predictive coding, the filter applicable to a predetermined input signal in order to output the vibration corresponding to the feel of the surface at the recorded force and speed, the filter configured to create a first vibration corresponding to the feel of the surface at a first combination of force and speed, and configured to create a second vibration corresponding to the feel of the surface at a second combination of force and speed;

enabling contact with a virtual surface with a handheld tool, the handheld tool including at least one actuator configured to provide an acceleration to the tool, at least one force sensor configured to measure a force experienced by the tool, and at least one speed sensor configured to measure a speed of the tool;

determining an estimated contact force based on the measured force experienced by the tool and an estimated contact speed based on the measured speed of the tool;

using the texture model to generate a vibration waveform at the estimated contact force and the estimated contact speed of the tool; and

actuating the at least one actuator of the tool according to the vibration waveform.

7. The method of claim 6, wherein the actuating step comprises:

actuating the at least one actuator of the tool according to vibration waveform such that the actuator provides an acceleration to the tool having a frequency in a range from approximately 20 Hz to approximately 1000 Hz.

8. A system for capturing and recreating a feel of a surface comprising:

a handheld tool including at least one accelerometer configured to measure an acceleration experienced by the tool, at least one force sensor configured to measure a force experienced by the tool, and at least one speed sensor configured to measure a speed of the tool;

a storage device in communication with the tool, the storage device operable to store the acceleration experienced by the tool, the force experienced by the tool, and the speed of the tool over a period of time; and

a processor in communication with the storage device, the processor programmed to generate a texture model of the surface by using the stored acceleration to calculate a filter by linear predictive coding, the filter applicable to a predetermined input signal in order to output the vibration corresponding to the feel of the surface at the recorded force and speed, the filter configured to create a first vibration corresponding to the feel of the surface at a first combination of force and speed, and configured to create a second vibration corresponding to the feel of the surface at a second combination of force and speed.

9. The system of claim 8, further comprising:

another handheld tool including at least one actuator configured to provide an acceleration to the tool, at least one force sensor configured to measure a force experienced by the tool, and at least one speed sensor configured to measure a speed of the tool, wherein

the processor is programmed to determine an estimated contact force and an estimated contact speed based of the other tool based on the measured force experienced by the tool and the measured speed of the tool, generate at least one vibration waveform from the texture model based on the estimated contact force and the estimated contact speed, and actuate the at least one actuator of the other tool according to the selected at least one vibration waveform.

10. The system of claim 8, wherein the handheld tool further includes at least one actuator configured to provide an acceleration to the tool, wherein

the processor is programmed to determine an estimated contact force and an estimated contact speed based of the other tool based on the measured force experienced by the tool and the measured speed of the tool, generate at least one vibration waveform from the texture model of the surface based on the estimated contact force and the estimated contact speed, and actuate the at least one actuator of the other tool according to the selected at least one vibration waveform.