Systems and methods for controlling a resonant device for generating vibrotactile haptic effects

• US 7,639,232 B2
• Filed: 11/30/2005
• Issued: 12/29/2009
• Est. Priority Date: 11/30/2004
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Lacroix, Robert A., Hernandez, Juan Manuel Cruz, Gregorio, Pedro, Grant, Danny A., Favreau, Patrice
• Primary Examiner(s): Hjerpe; Richard
• Assistant Examiner(s): Shapiro; Leonid
• Application Number:
  US11/291,207
• Publication Number:
  US 20060119573A1
• Time in Patent Office: 1,490 Days
• Field of Search: 345/156, 345/161, 345/163
• US Class Current: 345/156
• CPC Class Codes: B06B 1/0215 for generating pulses, e.g. bursts of oscillations, envelopes
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: H02P 25/032 Reciprocating, oscillating or vibrating motors

Abstract

Systems and methods for controlling a resonant device are described. One described method for braking an actuator includes generating a first actuator signal configured to drive the actuator, the first actuator signal having a first frequency approximately resonant to the actuator, and transmitting the first actuator signal to the actuator. The method also includes generating a second actuator signal, having a second frequency approximately 180 degrees out of phase to the first frequency, the second actuator signal configured to cause a braking force on the actuator, and transmitting the second actuator signal to the actuator.

Claims

1. A method for braking an actuator comprising:

generating a first actuator signal having a frequency approximately resonant to the actuator, the first actuator signal configured to drive the actuator;

transmitting the first actuator signal to the actuator;

generating a second actuator signal having approximately the frequency of the first actuator signal and a phase approximately 180 degrees out of phase to the first actuator signal, the second actuator signal configured to cause a braking force on the actuator; and

transmitting the second actuator signal to the actuator, wherein generating the first actuator signal comprises;

generating a first rectangular wave having a frequency approximately resonant to the actuator,

generating a second rectangular wave having approximately the same frequency by logically exclusive-ORing the first rectangular wave with a digital signal in a first logic state; and

generating the second actuator signal comprises;

changing the digital signal to a second logic state,

generating a third rectangular wave having approximately the frequency of the first actuator signal and a phase approximately 180 degrees out of phase to the first actuator signal by logically exclusive-ORing the first rectangular wave with the digital signal in a second logic state.

2. The method of claim 1, wherein generating the first actuator signal further comprises transmitting the second rectangular wave through a filter configured to generate a substantially sinusoidal wave at approximately the same frequency as the second rectangular wave;

and

generating the second actuator signal further comprises transmitting the third rectangular wave through the filter.

3. The method of claim 1, wherein the first actuator signal is configured to cause the actuator to generate a vibrotactile haptic effect.

4. The method of claim 1, further comprising generating a vibrotactile haptic effect envelope before generating the first actuator signal, wherein the first actuator signal comprises a modulated amplitude based at least in part on the vibrotactile haptic effect envelope, and the second actuator signal comprises an amplitude based at least in part on the vibrotactile haptic effect envelope.

5. The method of claim 4, wherein the vibrotactile haptic effect envelope comprises a substantially periodic signal having a frequency lower than the first and second actuator signals.

6. The method of claim 1, further comprising generating a vibrotactile haptic effect envelope before generating the first actuator signal, wherein the first actuator signal comprises a modulated amplitude based at least in part on the vibrotactile haptic effect envelope, and the second actuator signal comprises a duration based at least in part on the vibrotactile haptic effect envelope.

7. The method of claim 6, wherein the second actuator signal comprises a maximum magnitude.

8. The method of claim 1, further comprising:

generating a modulating signal configured to modulate the amplitude of the first and second actuator signals; and

combining the first and second actuator signals with the modulating signal such that the amplitude of the first and second actuator signals is changed based at least in part on the modulating signal.

9. A system for braking an actuator comprising:

an actuator; and

a signal generator in communication with the actuator, the signal generator configured to;

generate a first actuator signal having a frequency approximately resonant to the actuator, the first actuator signal configured to drive the actuator,

transmit the first actuator signal to the actuator,

generate a second actuator signal having approximately the frequency of the first actuator signal and a phase approximately 180 degrees out of phase to the first actuator signal, the second actuator signal configured to cause a braking force on the actuator, and

transmit the second actuator signal to the actuator,

wherein the signal generator comprises;

a rectangular wave generator configured to generate a first rectangular wave having a frequency approximately equal to the resonant frequency of the actuator;

a signal inverter configured to;

generate a second rectangular wave having approximately the same frequency as the first rectangular wave and a phase approximately 180 degrees out of phase with the first rectangular wave, and

be either enabled or disabled;

an amplifier configured to generate an amplified signal configured to drive the actuator

a filter in communication with the signal generator, the filter configured to convert a rectangular wave to a substantially-sinusoidal wave of approximately the same frequency and phase as the first rectangular wave; and

the amplifier is further configured to generate an amplified signal configured to drive the actuator based at least in part on the output of the filter.

10. The system of claim 9, wherein the first actuator signal is configured to generate a vibrotactile haptic effect.

11. The system of claim 9, wherein the signal generator is further configured to:

receive a vibrotactile haptic effect envelope;

generate the first actuator signal, wherein the first actuator signal comprises a modulated amplitude based at least in part on the vibrotactile haptic effect envelope;

generate the second actuator signal, wherein the second actuator signal comprises an amplitude based at least in part on the vibrotactile haptic effect envelope.

12. The system of claim 9, wherein the signal generator is further configured to:

receive a vibrotactile haptic effect envelope;

generate the first actuator signal, wherein the first actuator signal comprises an amplitude based at least in part on the vibrotactile haptic effect envelope;

generate the second actuator signal, wherein the second actuator signal comprises a duration based at least in part on the vibrotactile haptic effect envelope.

13. The system of claim 12, wherein the vibrotactile haptic effect envelope comprises a substantially periodic signal having an envelope frequency lower than the frequency associated with the first and second actuator signals.

14. A system for braking an actuator comprising:

an actuator; and

a signal generator in communication with the actuator, the signal generator configured to;

generate a first actuator signal having a frequency approximately resonant to the actuator, the first actuator signal configured to drive the actuator,

transmit the first actuator signal to the actuator,

generate a second actuator signal having approximately the frequency of the first actuator signal and a phase approximately 180 degrees out of phase to the first actuator signal, the second actuator signal configured to cause a braking force on the actuator, and

transmit the second actuator signal to the actuator, wherein the signal generator comprises;

a rectangular wave generator configured to generate a first rectangular wave having a frequency approximately equal to the resonant frequency of the actuator;

a signal inverter configured to;

generate a second rectangular wave having approximately the same frequency as the first rectangular wave and a phase approximately 180 degrees out of phase with the first rectangular wave, and

be either enabled or disabled;

an amplifier configured to generate an amplified signal configured to drive the actuator, and

wherein the first signal generator comprises a ripple counter.

15. The system of claim 14, wherein the first actuator signal is configured to generate a vibrotactile haptic effect.

16. The system of claim 14, wherein the signal generator is further configured to:

receive a vibrotactile haptic effect envelope;

generate the first actuator signal, wherein the first actuator signal comprises a modulated amplitude based at least in part on the vibrotactile haptic effect envelope;

generate the second actuator signal, wherein the second actuator signal comprises an amplitude based at least in part on the vibrotactile haptic effect envelope.

17. The system of claim 14, wherein the signal generator is further configured to:

receive a vibrotactile haptic effect envelope;

generate the first actuator signal, wherein the first actuator signal comprises an amplitude based at least in part on the vibrotactile haptic effect envelope;

generate the second actuator signal, wherein the second actuator signal comprises a duration based at least in part on the vibrotactile haptic effect envelope.

18. The system of claim 17, wherein the vibrotactile haptic effect envelope comprises a substantially periodic signal having an envelope frequency lower than the frequency associated with the first and second actuator signals.