Enhanced dynamic haptic effects

• US 9,898,084 B2
• Filed: 12/10/2012
• Issued: 02/20/2018
• Est. Priority Date: 12/10/2012
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Da Costa, Henry, Gervais, Eric, Bhatia, Satvir Singh
• Primary Examiner(s): Rayan, Mihir K
• Application Number:
  US13/709,157
• Publication Number:
  US 20140160034A1
• Time in Patent Office: 1,898 Days
• Field of Search: 345173
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: Y02T 10/82 Elements for improving aerodynamics

Abstract

A system is provided that generates a dynamic haptic effect that includes one or more key frames, where each key frame includes a first interpolant value and a first haptic effect. The system further receives an interpolant value, where the interpolant value is between at least two interpolant values of at least two key frames. The system further determines the dynamic haptic effect from the interpolant value. The system further distributes the dynamic haptic effect among a plurality of actuators.

Claims

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

receiving a first key frame comprising a first interpolant value and a first haptic effect;

receiving a second key frame comprising a second interpolant value and a second haptic effect;

receiving an interpolant value, wherein the interpolant value is between the first interpolant value and the second interpolant value;

determining the dynamic haptic effect based on the interpolant value and a grouping of key frames that includes the first key frame or the second key frame, wherein each key frame that is grouped targets an actuator and generates the dynamic haptic effect by independently interpolating the haptic effects stored within the grouping of key frames for the actuator;

distributing the dynamic haptic effect to the actuator; and

causing the actuator to output one or more haptic effects based on the dynamic haptic effect.

2. The non-transitory computer-readable medium of claim 1, wherein the determining the dynamic haptic effect from the interpolant value further comprises interpolating the dynamic haptic effect from the first haptic effect and the second haptic effect;

wherein the distributing the dynamic haptic effect further comprises;

receiving a first actuator value, wherein the first actuator value corresponds to a first actuator of a plurality of actuators, and wherein the first actuator value is stored within the first key frame;

receiving a second actuator value, wherein the second actuator value corresponds to a second actuator of the plurality of actuators, and wherein the second actuator value is stored within the second key frame;

interpolating an interpolated actuator value from the first actuator value and the second actuator value; and

distributing the dynamic haptic effect between the first actuator and the second actuator based on the interpolated actuator value.

3. The non-transitory computer-readable medium of claim 2, the generating the dynamic haptic effect further comprising:

receiving one or more additional key frames, where each additional key frame comprises an additional interpolant value and an additional haptic effect;

receiving one or more additional actuator values, wherein each additional actuator value corresponds to an additional actuator of the plurality of actuators, and wherein each additional actuator value is stored within an additional key frame of the one or more additional key frames;

wherein the determining the dynamic haptic effect from the interpolant value further comprises interpolating the dynamic haptic effect from the first haptic effect, the second haptic effect, and the one or more additional haptic effects;

wherein the distributing the dynamic haptic effect further comprises;

interpolating the interpolated actuator value from the first actuator value, the second actuator value, and the one or more additional actuator values; and

distributing the dynamic haptic effect among the first actuator, the second actuator, and the one or more additional actuators based on the interpolated actuator value.

4. The non-transitory computer-readable medium of claim 1, the generating the dynamic haptic effect further comprising:

receiving a third key frame comprising a third interpolant value and a third haptic effect;

receiving a fourth key frame comprising a fourth interpolant value and a fourth haptic effect;

wherein the distributing the dynamic haptic effect further comprises;

receiving a first actuator value, wherein the first actuator value corresponds to a first actuator of a plurality of actuators, and wherein the first actuator value is stored within the first key frame and the third key frame;

receiving a second actuator value, wherein the second actuator value corresponds to a second actuator of the plurality of actuators, and wherein the second actuator value is stored within the second key frame and the fourth key frame;

grouping together the first key frame and the third key frame that comprise the first actuator value;

grouping together the second key frame and the fourth key frame that comprise the second actuator value;

wherein the determining the dynamic haptic effect from the interpolant value further comprises;

interpolating a first dynamic haptic effect for the first actuator from the first haptic effect and the third haptic effect; and

interpolating a second dynamic haptic effect for the second actuator from the second haptic effect and the fourth haptic effect.

5. The non-transitory computer-readable medium of claim 4, the generating the dynamic haptic effect further comprising:

receiving one or more additional key frames, where each additional key frame comprises an additional interpolant value and an additional haptic effect;

grouping the one or more additional key frames within either the first group of key frames or the second group of key frames;

wherein the determining the dynamic haptic effect from the interpolant value further comprises;

interpolating the first dynamic haptic effect for the first actuator from the first haptic effect, the third haptic effect, and any additional haptic effects within the first group; and

interpolating the second dynamic haptic effect for the second actuator from the second haptic effect, the fourth haptic effect, and any additional haptic effects within the second group.

6. The non-transitory computer-readable medium of claim 5, wherein the distributing the dynamic haptic effect further comprises:

receiving one or more additional actuator values, wherein the one or more additional actuator values correspond to one or more additional actuators of the plurality of actuators, and wherein each additional actuator value is stored within at least one additional key frame of the one or more additional key frames;

for each additional actuator value, grouping together at least one additional key frame of the one or more additional key frames that comprise the additional actuator value;

for each additional group, interpolating an additional dynamic haptic effect for the additional actuator from one or more additional haptic effects within the additional group.

7. The non-transitory computer-readable medium of claim 1, wherein the determining the dynamic haptic effect from the interpolant value further comprises interpolating the dynamic haptic effect from the first haptic effect and the second haptic effect;

wherein the distributing the dynamic haptic effect further comprises;

receiving actuator distribution information indicating how to distribute the dynamic haptic effect among a plurality of actuators; and

distributing the dynamic haptic effect among the plurality of actuators based on the actuator distribution information.

8. The non-transitory computer readable medium of claim 1, wherein the dynamic haptic effect is a vibratory haptic effect and comprises a plurality of parameters.

9. The non-transitory computer readable medium of claim 8, wherein the plurality of parameters comprise a duration parameter, a magnitude parameter, a period parameter, and a frequency parameter.

10. A computer-implemented method for generating a dynamic haptic effect, the computer-implemented method comprising:

receiving a first key frame comprising a first interpolant value and a first haptic effect;

receiving a second key frame comprising a second interpolant value and a second haptic effect;

receiving an interpolant value, wherein the interpolant value is between the first interpolant value and the second interpolant value;

determining the dynamic haptic effect based on the interpolant value and a grouping of key frames that includes the first key frame or the second key frame, wherein each key frame that is grouped targets an actuator and generates the dynamic haptic effect by independently interpolating the haptic effects stored within the grouping of key frames for the actuator;

distributing the dynamic haptic effect at an actuator; and

causing the actuator to output one or more haptic effects based on the dynamic haptic effect.

11. The computer-implemented method of claim 10, wherein the determining the dynamic haptic effect from the interpolant value further comprises interpolating the dynamic haptic effect from the first haptic effect and the second haptic effect;

wherein the distributing the dynamic haptic effect further comprises;

receiving a first actuator value, wherein the first actuator value corresponds to a first actuator of a plurality of actuators, and wherein the first actuator value is stored within the first key frame;

receiving a second actuator value, wherein the second actuator value corresponds to a second actuator of the plurality of actuators, and wherein the second actuator value is stored within the second key frame;

interpolating an interpolated actuator value from the first actuator value and the second actuator value; and

distributing the dynamic haptic effect among the first actuator and the second actuator based on the interpolated actuator value.

12. The computer-implemented method of claim 10, further comprising:

receiving a third key frame comprising a third interpolant value and a third haptic effect;

receiving a fourth key frame comprising a fourth interpolant value and a fourth haptic effect;

wherein the distributing the dynamic haptic effect further comprises;

receiving a first actuator value, wherein the first actuator value corresponds to a first actuator of a plurality of actuators, and wherein the first actuator value is stored within the first key frame and the third key frame;

receiving a second actuator value, wherein the second actuator value corresponds to a second actuator of the plurality of actuators, and wherein the second actuator value is stored within the second key frame and the fourth key frame;

grouping together the first key frame and the third key frame that comprise the first actuator value;

grouping together the second key frame and the fourth key frame that comprise the second actuator value;

wherein the determining the dynamic haptic effect from the interpolant value further comprises;

interpolating a first dynamic haptic effect for the first actuator from the first haptic effect and the third haptic effect; and

interpolating a second dynamic haptic effect for the second actuator from the second haptic effect and the fourth haptic effect.

13. The computer-implemented method of claim 10, wherein the determining the dynamic haptic effect from the interpolant value further comprises interpolating the dynamic haptic effect from the first haptic effect and the second haptic effect;

wherein the distributing the dynamic haptic effect further comprises;

receiving actuator distribution information indicating how to distribute the dynamic haptic effect among a plurality of actuators; and

distributing the dynamic haptic effect among the plurality of actuators based on the actuator distribution information.

14. A system for generating a dynamic haptic effect, the system comprising:

a memory comprising a non-transitory computer-readable medium and configured to store a haptic effect generation module;

a processor configured to execute the haptic effect generation module stored on the memory; and

an actuator configured to output one or more dynamic haptic effects;

wherein the haptic effect generation module is configured to receive a first key frame comprising a first interpolant value and a first haptic effect;

wherein the haptic effect generation module is further configured to receive a second key frame comprising a second interpolant value and a second haptic effect;

wherein the haptic effect generation module is further configured to receive an interpolant value, wherein the interpolant value is between the first interpolant value and the second interpolant value;

wherein the haptic effect generation module is further configured to determine the dynamic haptic effect based on the interpolant value and a grouping of key frames that includes the first key frame or the second key frame, wherein the grouping of key frames targets the actuator and generates the dynamic haptic effect by independently interpolating the haptic effects stored within the grouping of key frames for the actuator;

wherein the haptic effect generation module is further configured to distribute the dynamic haptic effect to the actuator; and

wherein the haptic effect generation module is further configured to cause the actuator to output one or more haptic effects based on the dynamic haptic effect.

15. The system of claim 14,

wherein the haptic effect generation module is further configured to interpolate the dynamic haptic effect from the first haptic effect and the second haptic effect;

wherein the haptic effect generation module is further configured to receive a first actuator value, wherein the first actuator value corresponds to a first actuator of a plurality of actuators, and wherein the first actuator value is stored within the first key frame;

wherein the haptic effect generation module is further configured to receive a second actuator value, wherein the second actuator value corresponds to a second actuator of the plurality of actuators, and wherein the second actuator value is stored within the second key frame;

wherein the haptic effect generation module is further configured to interpolate an interpolated actuator value from the first actuator value and the second actuator value; and

wherein the haptic effect generation module is further configured to distribute the dynamic haptic effect among the first actuator and the second actuator based on the interpolated actuator value.

16. The system of claim 14,

wherein the haptic effect generation module is further configured to receive a third key frame comprising a third interpolant value and a third haptic effect;

wherein the haptic effect generation module is further configured to receive a fourth key frame comprising a fourth interpolant value and a fourth haptic effect;

wherein the haptic effect generation module is further configured to receive a first actuator value, wherein the first actuator value corresponds to a first actuator of a plurality of actuators, and wherein the first actuator value is stored within the first key frame and the third key frame;

wherein the haptic effect generation module is further configured to receive a second actuator value, wherein the second actuator value corresponds to a second actuator of the plurality of actuators, and wherein the second actuator value is stored within the second key frame and the fourth key frame;

wherein the haptic effect generation module is further configured to group together the first key frame and the third key frame that comprise the first actuator value;

wherein the haptic effect generation module is further configured to group together the second key frame and the fourth key frame that comprise the second actuator value;

wherein the haptic effect generation module is further configured to interpolate a first dynamic haptic effect for the first actuator from the first haptic effect and the third haptic effect; and

wherein the haptic effect generation module is further configured to interpolate a second dynamic haptic effect for the second actuator from the second haptic effect and the fourth haptic effect.

17. The system of claim 14,

wherein the haptic effect generation module is further configured to interpolate the dynamic haptic effect from the first haptic effect and the second haptic effect;

wherein the haptic effect generation module is further configured to receive actuator distribution information indicating how to distribute the dynamic haptic effect among a plurality of actuators; and

wherein the haptic effect generation module is further configured to distribute the dynamic haptic effect among the plurality of actuators based on the actuator distribution information.

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

receiving a plurality of key frames, where each key frame comprises a key frame interpolant value, a haptic effect, and a direction value;

receiving an interpolant value, wherein the interpolant value is between at least two key frame interpolant values;

determining a direction for the dynamic haptic effect ;

selecting one or more key frames from the plurality of key frames, wherein each selected key frame comprises a direction value that is equal to the direction;

determining the dynamic haptic effect based on the interpolant value, the direction, and a grouping of key frames, wherein the grouping of key frames targets an actuator and generates the dynamic haptic effect by independently interpolating the haptic effects stored within the grouping of key frames for the actuator, and wherein the determining comprises interpolating the dynamic haptic effect from at least two haptic effects of at least two selected key frames; and

causing an actuator to output one or more haptic effects based on the dynamic haptic effect.

19. The non-transitory computer-readable medium of claim 18, wherein each key frame comprises a category value;

the generating the dynamic haptic effect further comprising;

determining a category for the dynamic haptic effect;

further selecting one or more key frames from the selected one or more key frames, wherein each further selected key frame comprises a category value equal to the category; and

determining the dynamic haptic effect from the interpolant value, the direction, and the category, wherein the determining comprises interpolating the dynamic haptic effect from at least two haptic effects of at least two further selected key frames.

20. The non-transitory computer readable medium of claim 18, wherein the dynamic haptic effect is a vibratory haptic effect and comprises a plurality of parameters.

21. The non-transitory computer readable medium of claim 20, wherein the plurality of parameters comprise a duration parameter, a magnitude parameter, a period parameter, and a frequency parameter.

22. A computer-implemented method for generating a dynamic haptic effect, the computer-implemented method comprising:

receiving a plurality of key frames, where each key frame comprises a key frame interpolant value, a haptic effect, and a direction value;

receiving an interpolant value, wherein the interpolant value is between at least two key frame interpolant values;

determining a direction for the dynamic haptic effect;

selecting one or more key frames from the plurality of key frames, wherein each selected key frame comprises a direction value that is equal to the direction;

determining the dynamic haptic effect based on the interpolant value, the direction, and a grouping of key frames, wherein the grouping of key frames targets an actuator and generates the dynamic haptic effect by independently interpolating the grouped haptic effects stored within the grouping of key frames for the actuator, and wherein the determining comprises interpolating the dynamic haptic effect from at least two haptic effects of at least two selected key frames; and

causing an actuator to output one or more haptic effects based on the dynamic haptic effect.

23. The computer-implemented method of claim 22, wherein each key frame comprises a category value;

the computer-implemented method further comprising;

determining a category for the dynamic haptic effect;

further selecting one or more key frames from the selected one or more key frames, wherein each further selected key frame comprises a category value equal to the category; and

determining the dynamic haptic effect from the interpolant value, the direction, and the category, wherein the determining comprises interpolating the dynamic haptic effect from at least two haptic effects of at least two further selected key frames.

24. A system for generating a dynamic haptic effect, the system comprising:

a memory comprising a non-transitory computer-readable medium and configured to store a haptic effect generation module; and

a processor configured to execute the haptic effect generation module stored on the memory; and

an actuator configured to output one or more haptic effects;

wherein the haptic effect generation module is configured to receive a plurality of key frames, where each key frame comprises a key frame interpolant value, a haptic effect, and a direction value;

wherein the haptic effect generation module is further configured to receive an interpolant value, wherein the interpolant value is between at least two key frame interpolant values;

wherein the haptic effect generation module is further configured to determine a direction for the dynamic haptic effect;

wherein the haptic effect generation module is further configured to select one or more key frames from the plurality of key frames, wherein each selected key frame comprises a direction value that is equal to the direction;

wherein the haptic effect generation module is further configured to determine the dynamic haptic effect based on the interpolant value, the direction, and a grouping of key frames, wherein the grouping of key frames targets the actuator and generates the dynamic haptic effect by independently interpolating the haptic effects stored within the grouping of key frames for the actuator, and wherein the determining comprises interpolating the dynamic haptic effect from at least two haptic effects of at least two selected key frames; and

wherein the haptic effect generation module is further configured to cause the actuator to output the one or more haptic effects based on render the dynamic haptic effect.

25. The system of claim 24,

wherein each key frame comprises a category value;

wherein the haptic effect generation module is further configured to determine a category for the dynamic haptic effect;

wherein the haptic effect generation module is further configured to further select one or more key frames from the selected one or more key frames, wherein each further selected key frame comprises a category value equal to the category; and

wherein the haptic effect generation module is further configured to determine the dynamic haptic effect from the interpolant value, the direction, and the category, wherein the determining comprises interpolating the dynamic haptic effect from at least two haptic effects of at least two further selected key frames.