Directional tactile feedback for haptic feedback interface devices

• US 9,134,795 B2
• Filed: 09/17/2004
• Issued: 09/15/2015
• Est. Priority Date: 09/28/2000
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Braun, Adam C., Rosenberg, Louis B., Moore, David F., Martin, Kenneth M., Goldenberg, Alex S.
• Primary Examiner(s): Nguyen, Jimmy H
• Application Number:
  US10/944,628
• Publication Number:
  US 20050030284A1
• Time in Patent Office: 4,015 Days
• Field of Search: 345/156, 715/701, 715/702, 463/37, 463/38
• US Class Current: 1/1
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Directional haptic feedback provided in a haptic feedback interface device. An interface device includes at least two actuator assemblies, which each include a moving inertial mass. A single control signal provided to the actuator assemblies at different magnitudes provides directional inertial sensations felt by the user. A greater magnitude waveform can be applied to one actuator to provide a sensation having a direction approximately corresponding to a position of that actuator in the housing. In another embodiment, the actuator assemblies each include a rotary inertial mass and the control signals have different duty cycles to provide directional sensations. For power-consumption efficiency, the control signals can be interlaced or pulsed at a different frequency and duty cycle to reduce average power requirements.

Claims

1. An interface device for providing directional haptic feedback, the interface device comprising:

a housing;

at least one sensor configured to detect input on the interface device;

a signal generator configured to divide a current of a control signal between a first harmonic actuator signal and a second harmonic actuator signal based on a predetermined ratio of a first magnitude of the first harmonic actuator signal to a second magnitude of the second harmonic actuator signal;

a first actuator assembly coupled to the housing, the first actuator assembly including a first mass and configured to receive the first harmonic actuator signal; and

a second actuator assembly coupled to the housing, the second actuator assembly including a second mass and configured to receive the second harmonic actuator signal,

first actuator assembly and the second actuator assembly are positioned in the housing, and the first harmonic actuator signal and the second harmonic actuator signal are configured to cause a haptic effect at a location between the first actuator assembly and the second actuator assembly, the location based on the predetermined ratio.

2. An interface device as recited in claim 1, wherein a third harmonic actuator signal having a greater magnitude than each of the first and second harmonic actuator signals is applied to a particular one of the first actuator assembly or the second actuator assembly to provide a sensation having perceivable location approximately corresponding to a position of the particular one of the first actuator assembly or the second actuator assembly in the housing.

3. An interface device as recited in claim 2, wherein the predetermined ratio is configured to provide a sensation having perceivable location corresponding to the left one of the first and second actuator assemblies, or wherein the predetermined ratio is configured to provide a sensation having perceivable location corresponding to the right one of the first and second actuator assemblies.

4. An interface device as recited in claim 1, further comprising a local processor configured to receive a high level command from a host computer and further configured to generate the control signal in accordance with the high level command.

5. An interface device as recited in claim 4, wherein the high level command includes a balance parameter, the balance parameter comprising the predetermined ratio and indicating a desired location for the haptic effect along a linear path between the at least two actuator assemblies.

6. An interface device as recited in claim 4, wherein the high level command includes frequency and magnitude parameters for specifying a frequency and magnitude of the haptic effect, the frequency and magnitude being independent of each other.

7. An interface device as recited in claim 4, wherein the high level command includes at least one envelope parameter for specifying an envelope on the haptic effect, the envelope modifying the magnitude of the haptic effect.

8. An interface device as recited in claim 1, wherein the first actuator assembly oscillates the first mass linearly and the second actuator assembly oscillates the second mass linearly.

9. An interface device as recited in claim 8, wherein the first harmonic actuator signal is configured to drive the first mass in two directions and the second-harmonic actuator signal is configured to drive the second mass in two directions.

10. An interface device as recited in claim 1, wherein the first harmonic actuator-signal is out of phase with the second harmonic actuator signal.

11. An interface device as recited in claim 1, wherein the first actuator assembly rotates the first mass and the second actuator assembly rotates the second mass.

12. An interface device as recited in claim 11, wherein the first mass is rotated in the same direction as the second mass.

13. An interface device as recited in claim 1, wherein a magnitude and frequency of a first haptic effect and a second haptic effect produced by each of the first and second actuator assemblies are independent of each other.

14. An interface device as recited in claim 1, wherein the housing comprises a first grip and a second grip, and wherein the first actuator assembly is in the first grip and the second actuator assembly is in the second grip.

15. An interface device as recited in claim 1, wherein the haptic effect comprises a directional inertial sensation.

16. An interface device as recited in claim 15, wherein the directional inertial sensation comprises a sweeping directional inertial sensation, and wherein the sweeping directional inertial sensation is configured to change dynamically so as to cause a perceived location of the haptic effect to smoothly move from one side of the housing to another side of the housing.

17. An interface device for providing directional haptic feedback, the interface device comprising:

a housing;

at least one sensor coupled to the housing, the at least one sensor configured to detect user input;

a signal generator configured to generate a first actuator signal and a second actuator signal from a control signal, wherein a first duty cycle of the first actuator signal is related to a second duty cycle of the second actuator signal based on a predetermined ratio of the first duty cycle to the second duty cycle,

a first actuator assembly coupled to the housing, the first actuator assembly including a first mass and configured to receive the first actuator signal; and

a second actuator assembly coupled to the housing, the second actuator assembly including a second mass and configured to receive the second actuator signal;

wherein the first actuator assembly and the second actuator assembly are positioned in the housing, and the first actuator signal and the second actuator signal are configured to cause a haptic effect at a location between the first actuator assembly and the second actuator assembly, the location based on the predetermined ratio.

18. An interface device as recited in claim 17, wherein the predetermined ratio is configured to provide a sensation having perceivable location corresponding to the left one of the first and second actuator assemblies, or wherein the predetermined ratio is configured to provide a sensation having perceivable location corresponding to the right one of the first and second actuator assemblies.

19. An interface device as recited in claim 17, further comprising a local processor configured to receive a high level command from a host computer, the local processor further configured to generate the control signal in accordance with the high level command.

20. An interface device as recited in claim 19, wherein the high level command includes a balance parameter, the balance parameter comprising the predetermined ratio and indicating a desired location for the haptic effect along a linear path between the at least two actuator assemblies.

21. An interface device as recited in claim 19, wherein the high level command includes frequency and magnitude parameters for specifying a frequency and magnitude of the haptic effect, the frequency and magnitude being independent of each other.

22. An interface device as recited in claim 19, wherein the high level command includes at least one envelope parameter for specifying an envelope on the haptic effect, the envelope modifying the magnitude of the haptic effect.

23. An interface device as recited in claim 17, wherein the first actuator signal is out of phase with the second actuator signal.

24. An interface device as recited in claim 23, wherein the first actuator signal is interlaced with the second actuator signal such that the first actuator signal is never on at the same time as the second actuator signal.

25. An interface device as recited in claim 17, wherein when the first actuator-signal is on at the same time as the second actuator signal, at least one of the actuator-signals is pulsed at a predetermined frequency and duty cycle to reduce average power requirements of at least one of the first and second actuator assemblies.

26. An interface device as recited in claim 17, wherein the haptic effect comprises a directional inertial sensation.

27. An interface device as recited in claim 26, wherein the directional inertial sensation comprises a sweeping directional inertial sensation, and wherein the sweeping directional inertial sensation is configured to change dynamically so as to cause a perceived location of the haptic effect to smoothly move from one side of the housing to another side of the housing.

28. A method for providing directional haptic feedback to an interface device, the method comprising:

detecting an input from the interface device;

dividing a current of a control signal between a first harmonic actuator signal and a second harmonic actuator signal based on a predetermined ratio of a first magnitude of the first harmonic actuator signal to a second magnitude of the second harmonic actuator signal; and

outputting a haptic effect, wherein the haptic effect is caused by a first actuator assembly configured to receive the first harmonic control signal and a second actuator assembly configured to receive the second harmonic control signal, and

wherein the haptic effect is at a location between the first actuator assembly and the second actuator assembly, the location based on the predetermined ratio.

29. A method as recited in claim 28, further comprising applying a third harmonic actuator signal with a greater magnitude than each of the first and second harmonic actuator to a particular one the first actuator assembly or the second actuator assembly to provide a sensation having a direction approximately corresponding to location of the particular one of the first actuator assembly or the second actuator assembly in a housing.

30. A method as recited in claim 29, wherein the predetermined ratio is configured-to provide a sensation having perceivable location corresponding to the left one of the first and second actuator assemblies, or wherein the predetermined ratio is configured to provide a sensation having perceivable location corresponding to the right one of the first and second actuator assemblies.

31. A method as recited in claim 29, further comprising a local processor configured to receive a high level command from a host computer and generate the control signal in accordance with the high level command, wherein the high level command includes a balance parameter, the balance parameter comprising the predetermined ratio and indicating a desired location for the haptic effect along a linear path between the at least two actuator assemblies.

32. A method as recited in claim 31, wherein the high level command includes frequency and magnitude parameters for specifying a frequency and magnitude of the haptic effect, the frequency and magnitude being independent of each other.

33. A method as recited in claim 28, wherein the first actuator assembly oscillates a first mass linearly and the second actuator assembly oscillates a second mass linearly, wherein the first harmonic actuator signal is configured to drive the first mass in two directions and the second harmonic actuator signal is configured to drive the second mass in two directions.

34. A method as recited in claim 28, wherein the first harmonic actuator signal is out of phase with the second harmonic actuator signal.

35. A method as recited in claim 28, wherein the first actuator assembly rotates a first mass and the second actuator assembly rotates a second mass.

36. A method for providing directional haptic feedback to an interface device, the method comprising:

detecting an input from the interface device;

generating a first actuator signal and a second actuator signal from a control signal, wherein a first duty cycle of the first actuator signal is related to a second duty cycle of the second actuator signal based on a predetermined ratio of the first duty cycle to the second duty cycle; and

outputting a haptic effect on a housing of the interface device,

wherein the haptic effect is caused by a first actuator assembly configured to receive the first actuator signal and a second actuator assembly configured to receive the second actuator signal, and

wherein the haptic effect is at a location between the first actuator assembly and the second actuator assembly, the location based on the predetermined ratio.

37. A method as recited in claim 36, wherein the predetermined ratio is configured to provide a sensation having perceivable location corresponding to the left one of the first and second actuator assemblies, or wherein the predetermined ratio is configured to provide a sensation having perceivable location corresponding to the right one of the first and second actuator assemblies.

38. A method as recited in claim 36, wherein a local processor is configured to receive a high level command and control the first actuator assembly and the second actuator assembly, wherein the high level command includes a balance parameter, the balance parameter comprising the predetermined ratio and indicating a desired location for the haptic effect along a linear path between the at least two actuator assemblies.

39. A method as recited in claim 38, wherein the high level command includes frequency and magnitude parameters for specifying a frequency and magnitude of the haptic effect, the frequency and magnitude being independent of each other.

40. A method as recited in claim 36, wherein the first actuator signal is out of phase from the second actuator signal.

41. A method as recited in claim 40, wherein the first actuator signal is interlaced with the second actuator signal such that the first actuator signal is never on at the same time as the second actuator signal.

42. A method as recited in claim 36, wherein when the first actuator signal is on at the same time as the second actuator signal, and the first actuator signal is pulsed at a predetermined frequency and duty cycle to reduce average power requirements of at least one of the first actuator assembly and the second actuator.

43. A non-transitory computer-readable medium on which is encoded a program, which when executed by a processor is configured to cause the processor to:

detect an input from an interface device;

divide a current of a control signal between a first harmonic actuator signal and a second harmonic actuator signal based on a predetermined ratio of a first magnitude of the first harmonic actuator signal to a second magnitude of the second harmonic actuator signal; and

output a haptic effect on a housing of the interface device,

wherein the haptic effect is caused by a first actuator assembly configured to receive the first harmonic actuator signal and a second actuator assembly configured to receive the second harmonic actuator signal, and

wherein the haptic effect is at a location between the first actuator assembly and the second actuator assembly, the location based on the predetermined ratio.

44. A non-transitory computer-readable medium on which is encoded a program, which when executed by a processor is configured to cause the processor to:

detect input from a user based on a manipulation of an interface device;

generate a first actuator signal and a second actuator signal from a control signal, wherein a first duty cycle of the first actuator signal is related to a second duty cycle of the second actuator signal based on a predetermined ratio of the first duty cycle to the second duty cycle; and

output a haptic effect on a housing of the interface device,

wherein the haptic effect is caused by a first actuator assembly configured to receive the first actuator signal and a second actuator assembly configured to receive the second actuator signal, and

wherein the haptic effect is at a location between the first actuator assembly and the second actuator assembly, the location based on the predetermined ratio.