System and method for controlling haptic devices having multiple operational modes

• US 7,742,036 B2
• Filed: 06/23/2004
• Issued: 06/22/2010
• Est. Priority Date: 12/22/2003
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Cruz-Hernandez, Juan Manuel, Grant, Danny A., Tierling, Kollin M., Goldenberg, Alex S.
• Primary Examiner(s): Shalwala; Bipin
• Assistant Examiner(s): Kovalick; Vincent E.
• Application Number:
  US10/873,643
• Publication Number:
  US 20050134562A1
• Time in Patent Office: 2,190 Days
• Field of Search: 345/156, 345/157, 345/158, 345/161, 414/5, 600/587
• US Class Current: 345/156
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G08B 6/00 Tactile signalling systems, e.g. personal calling systems
• CPC Class Codes: H04M 19/04 the ringing-current being generated at the substations

Abstract

A haptic device having a plurality of operational modes, including a first operational mode and a second operational mode is provided. The first operational mode is associated with a frequency range. The second operational mode is associated with a frequency range that is different from the frequency range of the first operational mode. A controller is coupled to the haptic device, and is configured to send the haptic device a plurality of control schemes. Each control scheme is uniquely associated with an operational mode from the plurality of operational modes.

Claims

1. An apparatus, comprising:

a haptic device having a plurality of operational modes including a first operational mode and a second operational mode, the first operational mode being associated with a frequency range, the second operational mode being associated with a frequency range being different from the frequency range of the first operational mode, and a third, transitional operational mode associated with a frequency range that lies between the frequency ranges of the first and second operational modes; and

a controller coupled to the haptic device, the controller configured to send the haptic device a plurality of control schemes each being uniquely associated with an operational mode from the plurality of operational modes.

2. The apparatus of claim 1, wherein the controller is configured to combine each control scheme from the plurality of control schemes prior to sending the plurality of control schemes to the haptic device.

3. The apparatus of claim 1, wherein the controller is configured to superimpose each control scheme from the plurality of control schemes prior to sending the plurality of control schemes to the haptic device, the plurality of control schemes being superimposed according to a pre-determined proportion of operational modes from the plurality of operational modes.

4. The apparatus of claim 1, wherein the controller is configured to provide transitional control schemes associated with at least two operational modes from the plurality of operational modes, the transitional control schemes are configured to combine at least a portion of each control scheme from the plurality of control schemes uniquely associated with each of the at least two operational modes.

5. The apparatus of claim 1, wherein the controller is configured to provide transitional control schemes associated with at least two operational modes from the plurality of operational modes, the transitional control schemes are configured to superimpose at least a portion of each control scheme from the plurality of control schemes uniquely associated with each of the at least two operational modes.

6. The apparatus of claim 1, wherein the haptic device includes a rotating mass.

7. The apparatus of claim 1, wherein the haptic device includes a rotating mass, the rotating mass having at least one harmonic response frequency, each at least one harmonic response frequency uniquely corresponding to an operational mode from the plurality of operational modes.

8. The apparatus of claim 1, wherein the controller is configured to control the haptic device using pulse width modulation (PWM).

9. The apparatus of claim 1, wherein the controller is further configured to cause the at least one haptic device to output a first haptic response associated with the first operational mode and a second haptic response associated with the second operational mode.

10. The apparatus of claim 1, wherein the controller is further configured to cause the at least one haptic device to output a first haptic response associated with the first operational mode, a second haptic response associated with the second operational mode, and a transitional haptic response associated with a combination of the first haptic response and the second haptic response.

11. The apparatus of claim 1, wherein the haptic device has at least one of a variable moment and a variable resonance frequency, the controller being configured to send a signal configured to vary the at least one moment and variable resonance frequency.

12. An apparatus, comprising:

a haptic device configured to provide at least three haptic feedback responses, each haptic feedback response being uniquely associated with an operational mode of the haptic device and with a particular one of first, second and third frequencies, wherein the second frequency is a transitional frequency that lies between the first and third frequencies; and

means for combining the haptic feedback responses based on at least one pre-determined parameter to produce a multi-mode haptic feedback response.

13. The apparatus of claim 12, wherein the haptic device is configured to provide a low-frequency response and a high-frequency response.

14. The apparatus of claim 12, further comprising:

means for controlling the haptic device, the means for controlling the haptic device being configured to control the response of the haptic device within a plurality of operational modes.

15. The apparatus of claim 12, further comprising:

means for controlling the haptic device, the haptic device having a variable moment, the means for controlling being configured to vary the moment of the haptic device.

16. The apparatus of claim 12, further comprising:

means for controlling the haptic device, the haptic device having a variable moment, the means for controlling being configured to vary the moment of the haptic device by varying a velocity of the haptic device.

17. The apparatus of claim 12, further comprising:

means for controlling the haptic device, the haptic device having a variable moment, the means for controlling being configured to vary the moment of the haptic device by varying a direction of the haptic device.

18. A processor-readable medium comprising code representing instructions to cause a processor to:

send a first control signal to at least one haptic device collectively having a plurality of operational modes including a first operational mode and a second operational mode, the first control signal being associated with the first operational mode and a frequency range; and

send a second control signal to the at least one haptic device, the second control signal being associated with the second operational mode and a frequency range, the frequency range of the second control signal being different from the frequency range of the first operational mode, the second control signal being different from the first control signal; and

send a third control signal to the at least one haptic device, the third control signal being associated with a third transitional operational mode and a frequency range that lies between the first and second frequency ranges.

19. The processor-readable medium of claim 18, further comprising code representing instructions to cause a processor to:

combine the first operational mode and the second operational mode by varying a duty cycle of at least one of the first control signal and the second control signal.

20. The processor-readable medium of claim 18, further comprising code representing instructions to cause a processor to:

combine the first operational mode and the second operational mode by augmenting at least a portion of one of the first control signal and the second control signal.

21. The processor-readable medium of claim 18, further comprising code representing instructions to cause a processor to:

combine the first operational mode and the second operational mode by a feedback algorithm based upon at least a portion of one of the first control signal and the second control signal.

22. The processor-readable medium of claim 18, further comprising code representing instructions to cause a processor to:

change a moment of the at least one haptic device.

23. The processor-readable medium of claim 18, further comprising code representing instructions to cause a processor to:

change a moment of the at least one haptic device by varying a velocity of the at least one haptic device.

24. The processor-readable medium of claim 18, further comprising code representing instructions to cause a processor to:

change a moment of the at least one haptic device by varying the direction of movement of the at least one haptic device.

25. A method, comprising:

producing a first frequency response using a haptic device, the first frequency response being associated with a first frequency range;

producing a second frequency response using the haptic device, the second frequency response being associated with a second frequency range that is separated from the first frequency range by a transition frequency range that lies between the first and second frequency ranges; and

adjusting a response of the haptic device based on at least one pre-determined parameter to produce a transitional response in the transition frequency range.

26. The method of claim 25, wherein the adjusting includes:

combining the first frequency response and the second frequency response of the haptic device.

27. The method of claim 25, wherein the adjusting includes:

summing the first frequency response and the second frequency response of the haptic device.

28. The method of claim 25, wherein the adjusting includes:

multiplying the first frequency response and the second frequency response of the haptic device.

29. The method of claim 25, wherein the adjusting includes:

performing a scalar adjustment of at least one of the first frequency response and the second frequency response.

30. The method of claim 25, wherein the adjusting includes:

performing a scalar adjustment of at least one of the first frequency response and the second frequency response, the scalar adjustment being based on characteristics of the haptic device.

31. The method of claim 25, wherein the adjusting includes:

superimposing the response of the first frequency response and the second frequency response.

32. The method of claim 25, wherein the adjusting includes:

controlling the first frequency response and the second frequency response using a feedback algorithm.

33. The method of claim 25, further comprising:

varying a moment of the haptic device.

34. A method, comprising:

sending a first control signal to at least one haptic device collectively having a plurality of operational modes including a first operational mode and a second operational mode, the first control signal being associated with the first operational mode and a frequency range;

sending a second control signal to the at least one haptic device, the second control signal being associated with the second operational mode and a frequency range, the frequency range of the second control signal being different from the frequency range of the first operational mode, the second control signal being different from the first control signal; and

sending a third control signal to the at least one haptic device, the third control signal being associated with a third transitional operational mode and a frequency range that lies between the first and second frequency ranges.

35. The method of claim 34, further comprising:

combining the first operational mode and the second operational mode by directly summing at least a portion of one of the first control signal and the second control signal.

36. The method of claim 34, further comprising:

combining the first operational mode and the second operational mode by multiplying at least a portion of one of the first control signal and the second control signal.

37. The method of claim 34, further comprising:

combining the first operational mode and the second operational mode by summing products associated with at least a portion of one of the first control signal and the second control signal.

38. The method of claim 34, further comprising:

combining the first operational mode and the second operational mode by augmenting at least a portion of one of the first control signal and the second control signal.

39. The method of claim 34, further comprising:

combining the first operational mode and the second operational mode by a feedback algorithm based upon at least a portion of one of the first control signal and the second control signal.

40. The method of claim 34, wherein the first signal is further configured to vary a moment of the haptic device by varying one of a velocity of the haptic device and a direction of the haptic device.