Haptic device with controlled traction forces
First Claim
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1. A haptic device comprising a substrate having a surface and one or more actuators that subject the substrate to lateral oscillation, wherein a net shear force acts on a user'"'"'s finger or an object in contact with the surface of the substrate, and the net shear force is an average of a higher shear force over a portion of a lateral oscillation cycle and a lower shear force over a remainder of the lateral oscillation cycle.
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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.
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Citations
20 Claims
- 1. A haptic device comprising a substrate having a surface and one or more actuators that subject the substrate to lateral oscillation, wherein a net shear force acts on a user'"'"'s finger or an object in contact with the surface of the substrate, and the net shear force is an average of a higher shear force over a portion of a lateral oscillation cycle and a lower shear force over a remainder of the lateral oscillation cycle.
- 10. 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 oscillation, modulating a friction force that acts on the user'"'"'s finger or object in contact with the surface of the substrate such that a higher friction force acts over a portion of the lateral oscillation cycle and a lower friction force acts over the remainder of the lateral oscillation cycle, and controlling synchronization of the lateral oscillation and modulation of the friction force to generate the force on the user'"'"'s finger or object in contact with the surface of the substrate as a net shear force.
Specification