High definition haptic effects generation using primitives

• US 9,513,706 B2
• Filed: 02/14/2013
• Issued: 12/06/2016
• Est. Priority Date: 02/15/2012
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Cruz-Hernandez, Juan Manuel, Wu, Liwen, Ullrich, Christopher J.
• Primary Examiner(s): Bost, Dwayne
• Assistant Examiner(s): MICHAUD, ROBERT J
• Application Number:
  US13/767,129
• Publication Number:
  US 20130207917A1
• Time in Patent Office: 1,391 Days
• US Class Current: 1/1
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means

Abstract

A haptically enabled system receives a haptic effect primitive comprising a plurality of input parameters and receives an input from a sensor. The system generates a haptic effect signal from the haptic effect primitive, the haptic effect signal comprising a plurality of output parameters where at least one of the output parameters is varied based on the sensor input. The system then applies the haptic effect signal to an actuator.

Claims

1. A method of generating haptic effects, the method comprising:

receiving a haptic effect primitive comprising a plurality of predefined parameters that define a haptic effect, wherein the predefined parameters comprise at least a predefined frequency parameter, a predefined magnitude parameter, and a predefined duration parameter, and the haptic effect primitive is configured to generate a haptic effect when applied to an actuator;

receiving an input from a sensor, wherein the input varies over a time duration;

generating a haptic effect signal from the haptic effect primitive by using the predefined frequency parameter as at least one input parameter, wherein the haptic effect signal comprises a plurality of output parameters, and one of the output parameters comprises a frequency that is generated by varying, based on the varying sensor input, the predefined frequency parameter over the time duration; and

applying the haptic effect signal to the actuator.

2. The method of claim 1, wherein the predefined frequency parameter is varied using frequency modulation.

3. The method of claim 2, wherein the frequency modulation comprises

a_fm=a_c sin(2π

f_ct+a_m sin(2π

f_mt)t).

4. The method of claim 1, wherein the predefined frequency parameter is varied using phase modulation.

5. The method of claim 4, wherein the phase modulation comprises

6. The method of claim 1, wherein the predefined frequency parameter is varied using a scaling factor.

7. The method of claim 1, wherein one of the output parameters is the predefined magnitude parameter that has been varied using a Physically Inspired Stochastic Event Modeling algorithm.

8. The method of claim 1, wherein the input is an acceleration, and the sensor is an accelerometer.

9. The method of claim 1, wherein the actuator comprises a resonant actuator.

10. The method of claim 9, wherein the resonator actuator comprises one of a piezo actuator, an electroactive polymer actuator, or an electro-static actuator.

11. The method of claim 1, wherein the generating the haptic effect signal comprises:

a_fm=a_c sin(2π

f_ct+a_m sin(2π

f_mt)t)

wherein a_fv=a_c sin(2π

f_vart); and

wherein f_var=f_c+S_val and S_valε

[−

f_min,+f_max].

12. A non-transitory computer-readable medium having instructions stored thereon that, when executed by a processor, cause the processor to generate haptic effects, the generating comprising:

receiving a haptic effect primitive comprising a plurality of predefined parameters that define a haptic effect, wherein the predefined parameters comprise at least a predefined frequency parameter, a predefined magnitude parameter, and a predefined duration parameter, and the haptic effect primitive is configured to generate a haptic effect when applied to an actuator;

receiving an input from a sensor, wherein the input varies over a time duration;

generating a haptic effect signal from the haptic effect primitive by using the predefined frequency as at least one input parameter, wherein the haptic effect signal comprises a plurality of output parameters, and one of the output parameters comprises a frequency that is generated by varying, based on the sensor input, the predefined frequency parameter over the time duration; and

applying the haptic effect signal to the actuator.

13. The computer-readable medium of claim 12, wherein the predefined frequency parameter is varied using frequency modulation.

14. The computer-readable medium of claim 12, wherein the predefined frequency parameter is varied using phase modulation.

15. The computer-readable medium of claim 12, wherein the predefined frequency parameter is varied using a scaling factor.

16. The computer-readable medium of claim 12, wherein one of the output parameters is the predefined magnitude parameter that has been varied using a Physically Inspired Stochastic Event Modeling algorithm.

17. The computer-readable medium of claim 12, wherein the input is an acceleration, and the sensor is an accelerometer.

18. The computer-readable medium of claim 12, wherein the actuator comprises a resonant actuator.

19. The computer-readable medium of claim 18, wherein the resonator actuator comprises one of a piezo actuator, an electroactive polymer actuator, or an electro-static actuator.

20. A haptically enabled system comprising:

a processor;

a storage device coupled to the processor and storing instructions;

an actuator coupled to the processor; and

a sensor coupled to the processor;

wherein the processor, in response to receiving a haptic effect primitive comprising a plurality of predefined parameters that define a haptic effect, wherein the predefined parameters comprise at least a predefined frequency parameter, a predefined magnitude parameter, and a predefined duration parameter, the haptic effect primitive is configured to generate a haptic effect when applied to the actuator, and an input from the sensor;

generates a haptic effect signal from the haptic effect primitive by using the predefined frequency as at least one input parameter, wherein the haptic effect signal comprises a plurality of output parameters, and one of the output parameters comprises a frequency that is generated by varying, based on the varying sensor input, the predefined frequency parameter over the time duration; and

applies the haptic effect signal to the actuator.

21. The system of claim 20, wherein the frequency is varied using frequency modulation.

22. The system of claim 20, wherein the predefined frequency parameter is varied using phase modulation.

23. The system of claim 20, wherein the predefined frequency parameter is varied using a scaling factor.

24. The system of claim 20, wherein one of the output parameters is the predefined magnitude parameter that has been varied using a Physically Inspired Stochastic Event Modeling algorithm.

25. The system of claim 20, wherein the input is an acceleration, and the sensor is an accelerometer.

26. The system of claim 20, wherein the actuator comprises a resonant actuator.

27. The system of claim 26, wherein the resonator actuator comprises one of a piezo actuator, an electroactive polymer actuator, or an electro-static actuator.