Floor-based haptic communication system

• US 9,041,521 B2
• Filed: 06/04/2010
• Issued: 05/26/2015
• Est. Priority Date: 06/04/2009
• Status: Active Grant

• Current Assignee: McGill University
• Original Assignee: McGill University
• Inventors: Law, Alvin, Cooperstock, Jeremy, Visell, Yon, Franinovic, Karmen
• Primary Examiner(s): Mehmood, Jennifer
• Assistant Examiner(s): Mahase, Pameshanand
• Application Number:
  US12/794,045
• Publication Number:
  US 20100308982A1
• Time in Patent Office: 1,817 Days
• Field of Search: 340/4.1, 340/4.11, 340/4.12, 340/407.1, 340/407.2
• US Class Current: 340/407.1
• 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
• CPC Class Codes: G08B 6/00 Tactile signalling systems, e.g. personal calling systems

Abstract

The present relates to a system for providing vibration feedback to at least one foot. The system comprises at least one rigid surface for receiving the at least one foot, one vibrotactile actuator for each of the at least one rigid surface, and a suspension mechanism. The vibrotactile actuator is installed underneath the corresponding rigid surface and provides vibration feedback there through. The suspension mechanism supports the at least one rigid surface.

Claims

1. A device comprising:

a surface to form part of a flooring structure for use by a user formed from a first material having a first stiffness;

a sensor coupled to the surface and a controller, the sensor providing a sensor output signal in dependence upon pressure being applied to the surface by the user by moving at least one of onto, across, and off the surface;

at least one vibrotactile actuator coupled to the surface, the at least one vibrotactile actuator for receiving a control signal from the controller and generating a vibratory motion of the surface during the user'"'"'s movement; and

the controller for generating the control signal to the at least one vibrotactile actuator, the control signal controlling the vibratory motion of the surface generated by the at least vibrotactile actuator and established in dependence upon at least the sensor output signal and a second material;

wherein

the vibratory motion applied to the surface by the at least one vibrotactile actuator in combination with the user'"'"'s pressure upon the surface modify a first compliance the user associates with the surface as being lower than a second compliance the user associates with the surface when no vibratory motion is applied.

2. The device according to claim 1, wherein

the reduction in compliance that the user associates is linear with increasing amplitude of the vibratory motion.

3. The device according to claim 1, wherein

the surface, at least one vibrotactile actuator, and controller operate in conjunction with one another to present the user associated reduction in compliance of the surface without a haptic force feedback device being coupled to the surface.

4. The device according to claim 1, wherein

the surface is one of a plurality of surfaces, each having an initial defined stiffness of at least 70N/mm;

each surface of the plurality of surfaces comprises a sensor coupled to the surface providing a sensor output signal in dependence upon pressure being applied to that surface of the plurality of surfaces to the controller; and

as the user applies pressure to a subset of the plurality of surfaces the controller applies to each vibrotactile actuator coupled to a surface of the subset of the plurality of surfaces the control signals required to generate the vibratory motion commensurate with the user'"'"'s motion that generates the pressure applied to the subset of the plurality of surfaces such that the user associates the surfaces as having a compliance lower than the second compliance.

5. The device according to claim 1, further comprising the surface is one of a plurality of surfaces, each having a defined relationship to the remainder of the plurality of surfaces;

each surface of the plurality of surfaces comprises a sensor coupled to the surface providing a sensor output signal in dependence upon pressure being applied to that surface of the plurality of surfaces to the controller; and

as the user applies pressure to a subset of the plurality of surfaces the controller applies to each vibrotactile actuator coupled to a surface of the subset of the plurality of surfaces the control signals required to generate with that surface of the subset of the plurality of surfaces the vibratory motion that is both commensurate with the user'"'"'s motion that generates the pressure applied to the subset of the plurality of surfaces such that the user associates the surfaces as having a compliance lower than the second compliance and the location of the surface within the subset of the plurality of surfaces.

6. The device according to claim 1, wherein the surface forms part of a pedestrian area and provides the user with information communicated to them via their foot or feet, the information relating to at least one of navigation within the pedestrian area, a warning relating to an event within the immediate vicinity of the pedestrian area, and location within the pedestrian area.

7. The device according to claim 1, wherein the control signal comprises a first signal relating to an adjustment in the user associated compliance established in dependence upon the controller receiving an indication relating to the selection of a ground material and a second signal relating to at least one of auditory feedback and visual feedback, wherein when the second signal relates to auditory feedback it is provided via at least one of the vibrotactile actuator and a loudspeaker and when the second signal relates to visual feedback it is provided by at least one of a display and a projector.

8. The device according to claim 1, wherein the control signal comprises a first signal relating to an adjustment in the user associated compliance established in dependence upon the controller receiving an indication relating to the selection of a ground material and a second signal relating to at least one of an auditory signal and a visual signal, wherein

the second signal is established in dependence upon the indication relating to the selection of the ground material;

and

when the second signal relates to an auditory signal it is provided via at least one of the vibrotactile actuator and a loudspeaker and when the second signal relates to a visual signal it is provided by at least one of a display and a projector.

9. The method according to claim 1, wherein the vibratory motion generated by the at least one vibrotactile actuator coupled to the surface is only generated in response to a variation in the pressure applied to the surface.

10. The method according to claim 9, wherein the device further comprises a suspension mechanism for supporting and isolating the surface from an area upon which the device is mounted.

11. A device comprising:

a surface to form part of a flooring structure for use by a user formed from a first material having a first stiffness;

a sensor coupled to the surface and a controller, the sensor providing a sensor output signal in dependence upon pressure being applied to the surface by the user by moving at least one of onto, across, and off the surface;

at least one vibrotactile actuator coupled to the surface, the at least one vibrotactile actuator for receiving a control signal from the controller and generating vibratory motion of the surface during the user'"'"'s movement; and

the controller for generating the control signal to the at least one vibrotactile actuator, the control signal controlling the vibratory motion of the surface generated by the at least vibrotactile actuator and established in dependence upon at least the sensor output signal, a second material, and a virtual impact transient model relating to human locomotion on the second material.

12. The device according to claim 11, wherein

the virtual impact transient model relating to human locomotion on the second material is derived from physical measurements of individuals walking upon the surface and the second material.

13. The device according to claim 12, wherein the plurality of second materials include at least one second material that is particulate in nature.

14. The device according to claim 11, further comprising

the virtual impact transient model relating to human locomotion on the second material is a model relating to human locomotion on a plurality of materials of which the second material is one, wherein the model is derived from physical measurements of individuals walking upon the surface and the plurality of second materials.

15. The device according to claim 11, wherein the control signal comprises a first signal relating to the vibratory motion of the surface established in dependence upon the controller receiving an indication relating to the selection of a second material and a second signal relating to at least one of auditory feedback and visual feedback, wherein the second signal is established in dependence upon the second material.

16. The device according to claim 11, wherein

the surface is one of a plurality of surfaces, each having a defined relationship to the remainder of the plurality of surfaces;

each surface of the plurality of surfaces comprises a sensor coupled to the surface providing a sensor output signal in dependence upon pressure being applied to that surface of the plurality of surfaces to the controller; and

the controller as the user applies pressure to a subset of the plurality of surfaces applies to each vibrotactile actuator coupled to a surface of the subset of the plurality of surfaces the control signals required to generate with that surface of the subset of the plurality of surfaces the vibratory motion that is both commensurate with the user'"'"'s motion that generates the pressure applied to the subset of the plurality of surfaces such that the user associates the surfaces as having a compliance lower than the second compliance and the location of the surface within the subset of the plurality of surfaces.

18. The method according to claim 16, wherein

the virtual impact transient model relates to a plurality of natural ground surfaces.

19. The method according to claim 16, wherein

the tile is one of a plurality of tiles, each having an initial defined stiffness of at least 70N/mm;

each tile of the plurality of tile comprises a sensor coupled to the surface providing a sensor output signal in dependence upon pressure being applied to that tile of the plurality of tile to the controller; and

as the user applies pressure to a subset of the plurality of tile the controller applies to each vibrotactile actuator coupled to a tile of the subset of the plurality of tile the control signals required to generate the vibratory motion commensurate with the user'"'"'s motion that generates the pressure applied to the subset of the plurality of tile such that the user associates the surfaces as having a compliance associated with the material to which the second data relates.

20. The method according to claim 16 wherein,

the controller generates both the control signal and a second signal, the second signal generated in dependence upon at least the second data and relating to providing at least one of auditory feedback and visual feedback to increase the user'"'"'s perception that they are moving upon a region comprising the second material.

17. A method comprising:

storing first data relating to a virtual impact transient model within a memory of a controller, the virtual impact transient model defining frequency and amplitude data relating to the vibratory motion of a surface formed from a first material, the virtual impact transient model generated based upon surveying a plurality of individuals for their views of the compliance of the surface under a range of vibratory excitations and the compliance of other floor surfaces comprised of other materials;

receiving at the controller second data relating to a material;

receiving at the controller third data relating to pressure being applied to a tile that forms part of a flooring structure being used by a user in moving at least one of onto, across, and off the surface;

generating with the controller a control signal for controlling a mechanical actuator coupled to the tile, the control signal generated in dependence upon at least first data, the second data and the third data.