Haptic interface for laptop computers and other portable devices

• US 20050052430A1
• Filed: 08/17/2004
• Published: 03/10/2005
• Est. Priority Date: 01/19/2000
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Schena, Bruce M., Rosenberg, Louis B., Shahoian, Erik J.
• Granted Patent: US 7,548,232 B2
• Time in Patent Office: Days
• US Class Current: 345/173
• CPC Class Codes: G06F 1/1616 with folding flat displays, e.g. laptop computers or notebooks having a clamshell configuration, with body parts pivoting to an open position around an axis parallel to the plane they define in closed position
• CPC Class Codes: G06F 1/1626 with a single-body enclosure integrating a flat display, e.g. Personal Digital Assistants [PDAs]
• CPC Class Codes: G06F 1/169 the I/O peripheral being an integrated pointing device, e.g. trackball in the palm rest area, mini-joystick integrated between keyboard keys, touch pads or touch stripes G06F1/1643 takes precedence; constructional details of pointing devices G06F3/033
• 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: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/03547 Touch pads, in which fingers can move on a surface
• CPC Class Codes: G06F 3/0362 with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• CPC Class Codes: H01H 2003/008 with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction
• CPC Class Codes: H01H 2215/052 piezoelectric

Abstract

A haptic feedback touch control used to provide input to a computer. A touch input device includes a planar touch surface that provides position information to a computer based on a location of user contact. The computer can position a cursor in a displayed graphical environment based at least in part on the position information, or perform a different function. At least one actuator is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user. The actuator can move the touchpad laterally, or a separate surface member can be actuated. A flat E-core actuator, piezoelectric actuator, or other types of actuators can be used to provide forces. The touch input device can include multiple different regions to control different computer functions.

Claims

1. A haptic feedback touch control for inputting signals to a, computer and for outputting forces to a user of the touch control, the touch control comprising:

a touch input device including an approximately planar touch surface operative to provide a position signal based on a location on said touch surface which said user contacts, said position signal representing said location in two dimensions;

wherein said computer receives position information derived from said position signal; and

at least one actuator coupled to said touch input device, said actuator outputting a force on said touch input device to laterally move said touch input device approximately parallel to a surface of said touch input device to provide a haptic sensation to said user contacting said touch surface, wherein said actuator outputs said force based on force information output by said computer.

2. A haptic feedback touch control as recited in claim 1 wherein said computer positions a cursor in a graphical environment displayed on a display device based at least in part on said position signal.

3. A haptic feedback touch control as recited in claim 1 wherein said touch input device is a touchpad, said touchpad being separate from a display screen of said computer.

4. A haptic feedback touch control as recited in claim 1 wherein said touch input device is integrated in a housing of said computer.

5. A haptic feedback touch control as recited in claim 1 wherein said touch input device is provided in a housing that is separate from said computer.

6. A haptic feedback touch control as recited in claim 1 wherein said user contacts said touch surface with a finger of said user.

7. A haptic feedback touch control as recited in claim 1 wherein said user contacts said touch surface with a physical object held by said user.

8. A haptic feedback touch control as recited in claim 7 wherein said physical object is a stylus.

9. A haptic feedback touch control as recited in claim 1 wherein said touch input device is integrated in a housing of a handheld device operated by at least one hand of a user.

10. A haptic feedback touch control as recited in claim 9 wherein said handheld device is a remote control device for controlling functions of an electronic device or appliance.

11. A haptic feedback touch control as recited in claim 1 wherein said at least one actuator is a first actuator that outputs a first force in a first lateral direction approximately parallel to said surface of said touch input device, and further comprising a second actuator coupled to said touch input device and operative to output a second force on said touch input device in a second lateral direction approximately parallel to said surface and approximately perpendicular to said first lateral direction.

12. A haptic feedback touch control as recited in claim 1 wherein said actuator is a linear actuator that provides an output force in a linear degree of freedom, and wherein said actuator is coupled between said touchpad and a grounded housing.

13. A haptic feedback touch control as recited in claim 12 wherein said actuator is a rotary actuator that provides an output force in a rotary degree of freedom, said output force being converted to said linear force.

14. A haptic feedback touch control as recited in claim 12 wherein said actuator is an E-core actuator.

15. A haptic feedback touch control as recited in claim 14 wherein said actuator includes at least one roller allowing a backing plate of said actuator to slide relative to a magnet of said actuator.

16. A haptic feedback touch control as recited in claim 15 wherein said actuator includes a flexure providing a spring return force between said backing plate and said magnet.

17. A haptic feedback touch control as recited in claim 1 wherein said actuator oscillates said touch input device laterally.

18. A haptic feedback touch control as recited in claim 1 wherein said touch input device includes a plurality of different regions, wherein at least one of said regions provides said position signal and at least one other region provides a signal that is used by said computer to control a different function.

19. A haptic feedback touch control as recited in claim 18 wherein at least one of said regions is associated with a different haptic sensation output on said touch input device than another one of said regions.

20. A haptic feedback touch control as recited in claim 18 wherein a haptic sensation is output when said user moves a contacting object from one of said regions to another one of said regions.

21. A haptic feedback touch control as recited in claim 1 wherein said actuator is a first actuator, and further comprising at least one additional actuator coupled to said touch input device, wherein said actuators are E-core actuators that have been surface mounted to a printed circuit board.

22. A haptic feedback touch control as recited in claim 1 wherein a graphical object is displayed in said graphical environment, wherein when said cursor is moved over said graphical object, a pulse is output on said touch input device by laterally oscillating said touch input device.

23. A haptic feedback touch control for inputting signals to a computer and for outputting forces to a user of the touch control, the touch control comprising:

a touch input device including an approximately planar touch surface operative to provide a position signal based on a location on said touch surface which said user presses, said position signal representing said location in two dimensions, wherein said computer receives position information derived from said position signal;

a surface member located adjacent to said touch input device, wherein said user can contact said surface when pressing said touch input device; and

at least one actuator coupled to said surface member, said actuator outputting a force on said surface member to provide a haptic sensation to said user contacting said surface member, wherein said actuator outputs said force based on force information output by said computer.

24. A haptic feedback touch control as recited in claim 23 wherein said surface member is translated laterally, approximately in a plane parallel to said surface of said touch input device.

25. A haptic feedback touch control as recited in claim 24 wherein said surface member is positioned over said touch input device and at least approximately coextensive with said surface of said touch input device, such that said user presses said surface member to press said touch input device.

26. A haptic feedback touch control as recited in claim 25 wherein said actuator is a linear actuator.

27. A haptic feedback touch control as recited in claim 25 wherein said actuator is a rotary actuator, wherein a linkage converts a rotary output force to an approximately linear output force on said translated surface member.

28. A haptic feedback touch control as recited in claim 23 wherein said actuator is a voice coil actuator, wherein a wire coil is physically coupled to said surface member.

29. A haptic feedback touch control as recited in claim 23 wherein said surface member is positioned to a side of said touch input device such that said user touches said touch input device with one finger and touches said surface member with a different finger or palm.

30. A haptic feedback touch control as recited in claim 26 wherein said surface member is positioned over a physical button that is located adjacent to said touch input device.

31. A haptic feedback touch control as recited in claim 23 wherein said force on said surface member is a linear force output approximately perpendicularly to a surface of said surface member.

32. A haptic feedback touch control as recited in claim 31 wherein said linear force is an inertial force output by an actuator assembly that includes said actuator and moves an inertial mass, wherein said inertial force is transmitted through said surface member to said user contacting said surface member.

33. A haptic feedback touch control as recited in claim 32 wherein said actuator assembly moves said actuator as said inertial mass.

34. A haptic feedback touch control as recited in claim 23 wherein said surface member is a palm surface coupled to a housing of said computer and located to the side of said touch input device.

35. A haptic feedback touch control as recited in claim 23 wherein sound electronics of said computer are used to drive said at least one actuator.

36. A method for providing haptic feedback to a touch input device that provides input to a computer device, said computer device implementing a graphical environment, the method comprising:

providing said touch input device that is contacted by a user, said touch input device including at least one sensor for determining a location of said contact on a planar surface of said touch input device by said user and providing said computer device with a position signal indicating said location; and

providing an actuator coupled to said touch input device, said actuator receiving control signals derived from force information output by said computer device, wherein said force information causes said actuator to output a force on said touch input device, said force being correlated with an interaction occurring in said graphical environment between said cursor and a different graphical object, wherein said force causes said touch input device to translate laterally and approximately parallel to said planar surface of said touch input device.

37. A method as recited in claim 36 wherein said computer device positions a cursor in said graphical environment based at least in part on said position signal.

38. A method as recited in claim 36 wherein said force output on said touch input device causes said touch input device to oscillate in two directions.

39. A method as recited in claim 37 wherein a touch device microprocessor, separate from a host processor of said computer device, receives said force information from said host processor and causes said control signals to be sent to said actuator.

40. A method as recited in claim 37 wherein said interaction occurring in said graphical environment includes a collision between said cursor and said different graphical object.

41. A method as recited in claim 39 wherein said interaction occurring in said graphical environment includes a selection of said different graphical object by said cursor, wherein said different graphical object is one of an icon, a window, and a menu item.

42. A method as recited in claim 41 wherein said computer device is portable and said touch input device is integrated in a housing of said computer device.

43. An actuator providing a linear force output, the actuator comprising:

a grounded ferromagnetic piece including a center pole located between two side poles;

a coil wrapped around said center pole;

a magnet positioned adjacent to said center pole and said side poles, wherein an air gap is provided between said magnet and said ferromagnetic piece; and

a backing plate coupled to said magnet, wherein said backing plate and said magnet move with respect to said grounded ferromagnetic piece when current is flowed in said coil.

44. An actuator as recited in claim 43 further comprising rollers positioned between said ferromagnetic piece and said backing plate to allow said relative motion between said backing plate and said ferromagnetic piece.

45. An actuator as recited in claim 44 wherein said rollers are constrained by a cage member.

46. An actuator as recited in claim 43 further comprising a flexure coupled between said backing plate and said ferromagnetic piece, said flexure reducing relative motion between said backing plate and said ferromagnetic piece in undesired directions and providing a spring centering force between said backing plate and said ferromagnetic piece.

47. An actuator as recited in claim 43 wherein said backing plate is made of steel.

48. An actuator as recited in claim 43 wherein an entire thickness of said actuator is approximately 4 millimeters or less.

49. A haptic touch device comprising:

a piezoelectric transducer coupled to a ground, said piezoelectric transducer including a metal diaphragm coupled to a ceramic element;

a planar sensing element operative to sense a location of a contact from a user on a surface of said planar sensing element;

a spacer provided between said piezoelectric transducer and said planar sensing element, wherein said metal diaphragm contacts said spacer; and

a spring element coupled between said planar sensing element and said ground;

said spring element providing a spring restoring force to said planar sensing element.

50. A haptic touch device as recited in claim 49 wherein said piezoelectric transducer is driven with a signal approximately at a natural frequency of said haptic touch device.

51. A haptic touch device as recited in claim 49 wherein said natural frequency can be adjusted by adjusting a spring constant of said spring element or adjusting a mass of said spacer or said planar sensing element.

52. A method for providing haptic feedback to a touch input device that provides input to a computer device, said computer device implementing a graphical environment, the method comprising:

receiving a position signal from said touch input device, said position signal indicating a contact location on a surface of said touch input device where said user is pressing said surface;

determining in which of a plurality of regions said contact location is positioned, wherein said surface of said touch input device is divided into said plurality of regions; and

providing force information to cause at least one actuator to output a force to said user operating said touch input device, said force associated with said user moving an object on or over said surface of said touch input device.

53. A method as recited in claim 52 further comprising implementing a function associated with said region in which said contact location is positioned.

54. A method as recited in claim 53 wherein said function associated with said region includes a rate control function of a value.

55. A method as recited in claim 53 wherein said function associated with said region includes moving a displayed cursor to a screen position based on said position signal.

56. A method as recited in claim 53 wherein said function associated with said region includes a function that can also be initiated by selecting a graphical button displayed by an application program running on said computer device.

57. A method as recited in claim 52 wherein said force is output when said user moves said object over a boundary to said region in which said contact location is positioned from a different region of said touch input device.

58. A method as recited in claim 52 wherein said object moved on or over said surface of said touch input device includes a finger of said user or an object held by said user.