CN100468294C - Directional tactile feedback for haptic feedback interface devices - Google Patents
Directional tactile feedback for haptic feedback interface devices Download PDFInfo
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- CN100468294C CN100468294C CNB2006101639770A CN200610163977A CN100468294C CN 100468294 C CN100468294 C CN 100468294C CN B2006101639770 A CNB2006101639770 A CN B2006101639770A CN 200610163977 A CN200610163977 A CN 200610163977A CN 100468294 C CN100468294 C CN 100468294C
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Abstract
Directional haptic feedback provided in a haptic feedback interface device (200). An interface device (200) includes at least two actuator assemblies (202,204), which each includes a moving intertial mass (206/210). A single control signal provided to the actuator assemblies (202,204) at different magnitudes provides directional inertial sensations felt by the user. A greater magnitude waveform can be applied to one actuator (208/212) to provide a sensation having a direction approximately corresponding to a position of that actuator in the housing. In another embodiment, the actuator assemblies each includes a rotary inertial mass and the control signals have different duty cycles to provide directional sensations. For power consumption efficiency, the control signals can be interlaced or pulsed at a different frequency and duty cycle to reduce average power requirements.
Description
Patent of the present invention is that international application no is PCT/US01/30386, international filing date is September 27 calendar year 2001, the application number that enters the China national stage is 018043097, and name is called the dividing an application of application for a patent for invention of " be used for haptic feedback interface equipment have direction tactile feedback ".
Background of invention
The present invention relates generally to the interfacing equipment of people and computer interface, relate more specifically to make the user input to be provided and to make computing machine that the computer interface equipment of tactile feedback is provided to the user to computer system.
The user can with the environment interaction that shows by computing machine, finish function and task on computers.Be used for interactive like that common people-machine interfacing equipment and comprise mouse, joystick, tracking ball, cribbage-board, control wheel, stylus, tablet, pressure-sensitive ball etc., they are connected with computer system.Usually, computing machine response user upgrades environment to the manipulation of the concrete executor as joystick handle or mouse, and uses display screen and audio frequency loud-speaker that the feedback of video and audio frequency is provided to the user.Computing machine is by means of the sensor senses user of the interfacing equipment that sends position signalling to the computing machine manipulation to maneuvering device.Also provide kinaesthesia force feedback or tactile feedback at some interfacing equipment, often be called " tactile feedback---haptic feedback " here to the user.These interfacing equipments can provide the concrete sensation of user's perception of being handled the user's executor in the interfacing equipment.One or more motors or other cause gauge and are connected to shell or executor and are connected to the control computer system.Computer system is by transmitting control signal or ordering each actuator to control each power output and coordinate mutually with the incident and the interaction of demonstration.
The haptic apparatus of many low price provides the tactile feedback based on inertia (inertially-grounded), wherein power sends with respect to inertial mass and is felt by the user, rather than dynamic feedback is provided, wherein power with respect to physics (earth) directly output on the freedom of motion of executor of motion.For example, many present available cribbage-board controllers comprise the rotation motor of being with eccentric mass, and it is engaged in the shell of feeling controller of event power output in the recreation.In some sense of touch mouse device, the pin of mouse, button or shell can activate according to the interaction of control cursor and other Drawing Objects, and the user feels those by contacting that shell zone.
What a problem of such inexpensive haptic controller was them with dissimilar power feels to pass to the limited in one's ability of user.More wish to have such equipment, it sensuously provides greater flexibility for the developer coordination and adjusting tactilely-perceptible.In addition, present available inertia controller can only provide output pulse and vibration on the general direction of rotating mass.Their the not output and output to the shell of equipment simply on any specific direction of feeling as if to the such perception of user.Yet the many incidents in recreation and computer implemented environment are based on direction.And the directivity of the tactilely-perceptible that will can not provide from current inertial haptic equipment acquires benefit.
Summary of the invention
The objective of the invention is in haptic feedback interface equipment, to provide directive tactile feedback.Also narrated the creative power-efficiency characteristics of the haptic apparatus that is used for having like that the direction feedback.
More specifically get on very well, interfacing equipment of the present invention provides directive tactile feedback for the user, this interfacing equipment and principal computer communication.This equipment comprises that the shell that physically contacts with the user detects the sensor of user's input with at least one.Have two actuators at least, each comprises the inertial mass of motion and is placed on and causes directive inertia sensation on shell in the shell.A control signal is added in the actuator each with different amplitudes, provides by the direction inertia that has of user's perception to feel.Best, the big amplitude of waveform is added to specific in the actuator one to be had almost corresponding to the sensation of the direction of this particular actuators module position in the shell to provide, and for example bigger amplitude is applied to left actuator so that the sensation with left direction to be provided.
Can comprise a local processor, it receives high-level command and controls actuator from computing machine.High-level command can comprise balance parameters, and it points out how to distribute electric current so that the desirable position that direction inertia sensation is arranged along the axle between the actuator to be provided between the actuator.Actuator can linearly vibrate described inertial mass, or rotates eccentric rotating mass.Control signal can be divided into two control signals, one and another out-phase, and each delivers to an actuator.Method of the present invention can be exported directive inertia sensation similarly.
In another aspect of this invention, interfacing equipment provides directive tactile feedback and comprises the shell that physically contacts with the user and at least one is used to detect the sensor of user's input to the user.Have two actuators at least, each comprises the rotator inertia quality of unidirectional drive.Actuator is positioned at and causes in the shell that direction inertia sensation is arranged on shell, and wherein control signal is added to each actuator in the different operating circulation has direction inertia sensation to provide by user's perception.For example, the amplitude of control signal order can be added to one on the left side of actuator so that the sensation with left direction to be provided; Can provide control to the right direction similarly.Can use the high-level command that comprises the balance reference, point out between actuator, how to distribute the output vibration amplitude.A control signal and another out-phase.Control signal also can intermesh, and makes control signal open simultaneously never.In addition, when control signal simultaneously during open the same with another, one or two signal is to reduce the average power requirement of actuator with preset frequency and working cycle pulsation.Method of the present invention allows to export directive inertia sensation similarly.
The direction tactile feedback that has that the present invention uses the low price actuator to be provided for haptic feedback devices is valuably felt.These sensations allow that various sensations are arranged in this type of haptic apparatus, enable to experience play games or with the interaction of the computer utility of user's other types of finishing more.The feature of power efficiency also allows the embodiment of low-power equipment can provide here to disclose the direction tactile sensation.
These and other advantages of the present invention will become very clear in the industry skilled person after reading following explanation of the present invention and studying some accompanying drawings.
Summary of drawings
Fig. 1 is the stereographic map that is applicable to cribbage-board haptic feedback system of the present invention;
Fig. 2 a and 2b are respectively top view section plan and the side direction elevational view of an embodiment that comprises the haptic interface equipment of two actuators that provide direction inertia feedback;
Fig. 3 is the function skeleton diagram, and the control method of the present invention of two actuator embodiment that are used for Fig. 2 a-2b is shown;
Fig. 4 is the possible Position Approximate that the inertial force that synthesizes represented to feel with the user in the summary of interfacing equipment;
Fig. 5 a and 5b are respectively top view section plan and the side direction elevational view of another embodiment that comprises the haptic interface equipment of two actuators and rotator inertia quality;
Fig. 6 illustrates the sine wave oscillations of hope and the time of such control signal of vibrating and the figure of magnitude relation is provided;
Fig. 7 illustrates the sine wave oscillations of hope and the figure of another example of time that such control signal of vibrating is provided and magnitude relation;
Fig. 8 a is that the figure that is used for also controlling independently by two different actuator rotating mass the control signal of amplitude and frequency is shown with 8b;
Fig. 9 a, 9b and 9c are the figure that illustrates the power distribution method of the present invention with different frequency and/or overlapping control signal;
Figure 10 a, 10b, 10c, 10d be illustrated in the control method of the present invention for the figure of the control signal that provides the direction tactile feedback and
Figure 11 is a block scheme, and an embodiment who is applicable to haptic feedback system of the present invention is shown.
The detailed description of preferred embodiment
Fig. 1 is the stereographic map that is applicable to haptic feedback interface of the present invention system 10, and it can provide the manipulation of equipment according to the user and input to principal computer, and can provide the user of tactile feedback to system according to event in the program that realizes at principal computer.System 10 illustrates as the exemplary form of cribbage-board system 10, comprises cribbage-board interfacing equipment 12 and principal computer 14.
Cribbage-board equipment 12 is forms of hand held controller, and has similar shape of many cribbage-boards and the size that is currently available for video-game control stand system.The shape of the shell 15 of interfacing equipment 10 is suitable for two hands and catches equipment at the projection 16a and the 16b place of grasping.In described embodiment, the user is chosen at various controls on the equipment 12 with his or her finger.In further embodiments, interfacing equipment can be taked form widely, comprises desktop or other the surperficial equipment of being placed on, upright arcade shape game machine, knee top equipment other or be worn on the person, hand-held or the singlehanded equipment that uses of user etc.
On equipment 12, can comprise a direction plate 18, allow the user to give principal computer 14 providers to input.In its most of common enforcements, direction plate 18 is shape such as crosshead or have four extensions or serve as the direction position of stretching out at interval from central point with 90% roughly, and wherein the user can push an extension 20 and give the direction of principal computer as correspondence with the provider to input signal.
Comprise one or more finger-like joysticks in equipment 12, it protrudes and is handled on one or more degree of freedom by the user on the surface of shell 15.For example, the user can catch each handle portion 16a and 16b of equipment, and uses a thumb or finger at two degree of freedom (is 3 or a plurality of degree of freedom at some embodiment) direct game bar 26.This action converts the input signal that offers principal computer 14 to, and the different signal of signal that provides with direction plate 18 can be provided.In certain embodiments, can provide other linearity or rotary freedom to joystick.In other embodiments, an alternative games bar or ball is provided in addition, wherein one or more parts of the ball left side that can stretch out shell 15, right, top and/or base make the user to rotate this ball in the appropriate location in two rotational freedoms, and are similar to joystick and operate.
Except button 24, beyond joystick 26 and the direction plate 18 or substitute them and can in holding shell 15 easy to reach scopes, place other control panels.For example, one or more triggering bond energys be placed on shell the below and can be by user's finger presses.On all places of equipment 12, also can provide other control, as dial or the slider that in recreation, is used for Air Valve Control, four road or eight tunnel code switch, knob, tracking ball, roller or ball etc.Any also can provide with the such tactile feedback of feedback that if can stereognosis in these controls.
In addition, as be discussed in more detail below, the shell itself that contacts with the user when user's operating equipment preferably provides tactile feedback.The moving part of shell also can provide tactile feedback.Therefore, shell can provide tactile feedback and direction plate 18 (or other controls) that tactile feedback separately can be provided.Each also can provide tactile feedback from other control individually with other buttons or other control that tactile feedback provides.
Principal computer 14 is video game console preferably, personal computer, workstation or generally include other calculating or the electronic equipment of one or more master microprocessors, can use various one of the home video game system that resemble, as from Nintendo, Sega, or Sony available systems, TV " set-top box " or " network computer " etc.Can use in addition as IBM-compatible personal computer or Macintosh personal computer, or as the workstation of SUN or Silicon Graphics.Perhaps, principal computer 14 and equipment 12 can be included in arcade shape game machine, portable or handheld computer, the vehicular computing machine, or in the single shell of other equipment, principal computer 14 is preferably carried out primary application program, and the user is through peripheral and interfacing equipment 12 and this program interaction.For example, host application program can be video or computer game, medical science emulation, scientific analysis program, operating system, graphic user interface, drawing/CAD program, or other application programs.Here. computing machine 14 can be thought provides one " graphics environment ", can be graphic user interface, recreation, emulation or other visual environments.Computing machine shows " Drawing Object " or " computer object ", and they are not physical objecies, but the set of the logic software unit of data and/or process, and known to skilled person in the industry, they are shown on display device 34 by computing machine 14 as map.Can be with the suitable software driver of haptic feedback devices software interface from San Jose, the Immersion Corporation of California obtains.
Display device 34 can be included in the principal computer 14 and can be display screen (LCD, CRT, the surface plate of a standard, Deng), 3-D safety goggles, projection display apparatus (showing), or any other visual output device as the head-shield in projector or the vehicle (heads-up).Usually, host application is provided at map that display device 34 shows and/or as other feedbacks of audible signal.For example, display screen 34 can be from GUI and/or application program Displaying graphical objects.
In a further embodiment, the present invention with narration here can use many other interfaces and opertaing device.For example, mouse, tracking ball, the joystick handle, control wheel, knob, stylus, handle, contact plate, or other equipment can have benefited from inertial haptic sensation described herein.In addition, the handheld device of other types is very suitable for invention described herein, as handheld remote opertaing device or cell phone or hand-held electronic equipment or calculate function and use with tactile feedback features described herein.For example, sensation described herein slave unit surface output vertically or at the joystick handle, tracking ball, stylus, handgrip, wheel, or export on the manipulating objects on other equipment, or in the direction of hope or sweep middle output.
In operation, handle the control of interfacing equipment 12 by the user, how its instruct computer upgrades the application program of being implemented.The electrical interface that is included in the shell 15 of equipment 12 can be connected to computing machine 14 with equipment 12.Principal computer 14 receives input and responds this input from interfacing equipment and upgrades application program.For example, a recreation provides graphics environment, wherein user's service orientation plate 18, joystick 26 and/or button 24 one or more Drawing Objects of control or entities.The host computer function provides force feedback order and/or data to equipment 12, the tactile feedback that generation equipment will be exported.
Fig. 2 a and 2b comprise that two actuators that use one embodiment of the present of invention are in top view sectional view and the side direction elevational view of the embodiment 100 of the equipment 12 that direction inertia feedback is arranged.The embodiment that illustrates can reinstate with any inertia interfacing equipment one, but is applicable to the portable equipment of being caught the different piece of device housings by the user with two hands best.For illustrative purpose, this case description is a cribbage-board.Cribbage-board shell 101 has contained cribbage-board haptic interface equipment 12, and the user handles it and provides input to mainframe computer system.The user catches each handle 16 by a hand usually and uses the input equipment on finger control shell 101 centres and operate this equipment.
Shell 101 preferably includes the actuator 102 and 104 that two harmonic waves drive.These actuators can be realized with any of the whole bag of tricks.Most of suitable actuators provide the inertial mass of energy harmonic vibration, also comprise central spring power on inertial mass, enable effectively and highly controllable inertia sensation.In one embodiment, can use the actuator of describing with reference to figure 2-8 here.In other embodiments, actuator 102 and 104 can be a harmonic wave driving actuator assembly, and it provides and is connected to the rotation motor (or other actuators) of analysing seam (flexure), and the latter makes inertial mass can be bordering on vibration linearly, thereby tactile feedback is provided.Inertial mass can be a motor itself.Similar actuator described herein, actuator can be controlled harmoniously with the cycle control signal as sinusoidal wave.Inertial mass can be with any direction vibration; For example, vibration down in one direction is shown in arrow 106.In other embodiment, can use the other types actuator as voice coil loudspeaker voice coil (moving coil) actuator.In yet another embodiment, can use the rotator inertia quality, as described below the eccentric mass that on the axle of rotation motor, provides.
Harmonic wave driving actuator assembly 102 and 104 preferably is placed on the maximum space interval that equipment allows.For example, in the embodiment of cribbage-board, assembly 102 and 104 can be placed in the different handle 16 of cribbage-board.This makes the user experience of being more convenient for of feeling of direction power.Actuator 102 and 104 is preferably in as actuator sizes, spring rate, inertial mass and damping related characteristics aspects such as (if providing) also identical.This makes roughly the same and make that the balance of direction is more effective at each end inertial force of equipment.Other embodiment can comprise interval and/or the size that actuator is different.
Fig. 3 is functional skeleton diagram, and the control method of the present invention of the embodiment 100 that uses two actuators describing with reference to figure 2a-2b is shown, and the direction tactile feedback that has that it provides can be by user location, space on the position between two actuators.The time of Fig. 3 a, it provided the fundamental vibration by the actuator output of equipment, and desirable frequency, duration and amplitude are arranged to electric current Figure 130 initial control waveform that draws.Waveform is along the harmonious force function that drives quality of the positive negative direction of axle.This waveform can be with various parameter regulated at will.For example, shown in the curve 134 of Fig. 3 b, can apply envelope 136 waveform 138 is provided, it has the adjusting amplitude in required active scope at the difference place during vibrating.In other application, do not need to apply envelope.
When control waveform 138 outputs to actuator (or the signal of realizing control waveform 138 is output), same basic waveform shape offers each actuator, but amplitude is changed ratio, makes the electric current of order distribute between two actuators 102 and 104.For vibration or other inertial force sensation that does not have sense of direction is provided to the user, offer two actuators with the same magnitude of current, feasible vibration of exporting same amplitude from each actuator.But if having the inertia sensation of sense of direction, then provide an actuator than another more electric current, promptly actuator is exported the inertial force than another bigger amplitude.Curve Figure 140 and 142 illustrates the control waveform of deriving from the waveform of the curve Figure 134 that sends to actuator 102 and 105.These figure point out that the user feels the situation of " left ".The waveform 144 of Figure 34 0 is 70% amplitudes of 100% amplitude of order, and delivers to the left actuator 104 in the equipment left side.The waveform 146 of Figure 142 has 30% (the remaining magnitude of current) of the amplitude of order, and delivers to the actuator 102 on equipment right side.If the output right, then the actuator 102 on the equipment right side obtains the bigger magnitude of current (bigger amplitude).As the direction vibration is arranged, be used for feeling stronger vibration in equipment one side.
The directivity of tactile sensation is useful in the many application as recreation.For example, if user's vehicle on the left side bangs into fence in recreation, the actuator on the left side can be exported stronger vibration, points out the direction of this collision.If the left side at him is developed and printed at a player's word mansion, can export left side vibration.
Distribute user's certain topognosia output inertia sensation between two actuators according to the amplitude between two actuators; A power is strong, and the user feels that the composite force of exporting is the closer to this actuator.For example, Fig. 4 illustrates the expression of cribbage-board 100, actuator shown in it 102 and 104.Axle 152 has indicated the user may feel the possible position of synthetic inertial force.Waveform order from Fig. 3, the power (70%) that left side actuator 104 output is bigger than right actuator 102 (30%), make the user feel that inertial force exports near the position 150 of shell 101, the more close left actuator in its position is proportional to its bigger amplitude.Because inertia is felt to be by same basic waveform domination, effect is with identical Frequency Synchronization ground output.The distribution of amplitude can change in the mode of any needs, so that in the direction along output energy perception on any point on the axle 152.
Administration method method is to specify " balance " parameter in this way.For example, the host computer function provides high-level command to the local processor on the equipment 12.High-level command can comprise that as frequency, amplitude parameter envelope rises (attack) and parameters such as decline (fade) parameter and balance parameters.For example, balance parameters can be appointed as the number in a scope.For example, 0 to 90 scope can be used for simulating the vector force direction, and value 45 explanations accurate balance between actuator output is so equate in the both sides of equipment inertial force sensation.Be lower than 45 the bigger power on the left side of value explanation, the command current control left side actuator of 0 value explanation 100%, and right actuator no-output.The right actuator of value 90 controls has full output and left actuator no-output.In addition, can stipulate a percentage, this number can be applied to the acquiescence actuator as left actuator; For example, value 65 points out that 65% command current amplitude should flow to left actuator, and remaining 35% command current amplitude flows to right actuator.Local processor can be finished the conversion of two output control signals according to the balance of order, and the signal after the suitable conversion is offered each actuator 102 and 104.
In addition, to each actuator, or the control signal of sending the main frame transmission by the local processor of direct command is to each actuator and the direct instruction balance characteristics by the signal that directly send to convert for the host computer function.
The key character of embodiment 100 is that two actuators preferably keep comprising phase-locking synchronously.Use two actuators of single Waveform Control, but the amplitude that changes waveform is pointed out to the direction of inertial force or is departed from the sensation of balance.Therefore, the quality of each actuator is synchronously vibrated, and just quality is quickened sooner and moved bigger distance from the initial point of quality, causes from that actuator and sends bigger power.Here it is allows user's perceived direction better, because set up single sensation with the layout in space.In other embodiment, actuator can be asynchronous, but this is tending towards the directivity that provides less felt to power.
Can comprise additional actuator in other embodiments.For example, two actuators can on the left side, two actuators on the right, to increase the amplitude vibration.Perhaps, additional actuator can be placed on the front, the back, and top or bottom position are to provide the additional direction to tactile feedback.Best, each actuator receives same waveform to obtain directivity with the required ratio that can obtain power.For example, if provide three actuators with triangular arrangement, the perceived position of synthetic inertial force sensation can be placed between all three actuators somewhere, and the position to power has increased by second dimension so effectively.Can regulate this position by the current amplitude that suitably is adjusted to each actuator.
The other important direction effect that can reach with embodiment 100 is inertial force " swing-sweep ".Such swing makes the balanced balanced current between actuator change continuously, make in the embodiment of two actuators inertial force perceived position gently from right to left or from left to right (or the other direction that is realizing) move.For example, local processor is controlled in available senior swing order, change balance parameters continuously and in designated time intervals by even from 0 to 90 (using above-mentioned custom).Can order very fast swing or swing more slowly by changing the time interval.Then, when local processor changed the percentage of domination (order) electric current that each actuator receives in swing process, the left side of user's sensory habituation power slave unit began and shifts to the right along axle 152 approx, and ends at right actuator.Therefore, if the user's automobile in the recreation collides on the right side, inertial oscillation (as 1-2 seconds) is soon put the left side to transmit the direction of collision from the right side.In comprising an embodiment of three or more actuators, can be by the position of distributing electric current power two dimensions swings, make and move in the path of the hope of position between all actuators of perception.
Except (or substituting) Balance Control between a left side and right actuator, controlling features comprises the phase shift of use between a left side and right actuator in addition.For example,, give the double-frequency impression of user, and have and alternately impact effect (L-R) in the phase shifts that send between the control waveform of each actuator (therefore between the vibration in inertial mass) 90 degree.This enables to obtain under the higher frequency with perception the force feeling of higher amplitude because the big displacement of the inertial mass relevant with low frequency still takes place, but by user's sensation to make a concerted effort be upper frequency.And its resonant frequency is useful.For example, if the resonance of actuator is about 40HZ frequently, strong peak amplitude taking place at the 40Hz place, differs 90 degree actuators at another strong peak value of 80Hz place generation by moving two.
In addition, feel as if master oscillator frequenc as the little phase shift of 5 to 10 degree concerning the user, but each pulse sensation is slightly stronger, because the user has such impression, the pulse of each power continuity is longer.In addition, the user is given in bigger phase shift the interesting sensation of " a burst of step " as 10 to 30 degree, promptly breaks out (pop-pop) power fast in each vibration period.Phase place sends to equipment as a parameter in high-level command.
At last, the big phase shift of 180 degree can make tactile sensation very interesting to the user, moves up and reaches capacity because work as the inertial mass of an actuator, and another inertial mass of another actuator moves down and reaches capacity.This can add a moment around the center of cribbage-board or other interfacing equipments, seems the sensation that has whole cribbage-board to rotate around axle 152 around central point.In one-period moment is a rotation direction, in the direction counter-rotating of next cycle moment.Thereby obtain alternately moment.This sensation is stronger to user's perception during with phase shift than inertial mass.In a further embodiment, the square wave of a nominalization of control for example provides a direction, as the ripple of positive dirction, makes inertial mass only move to a direction from its origin position.The waveform energy that sends between two actuators is 180 to differ.This can cause the clockwise moment of beating, wherein moment switching direction never.In addition, if the waveform nominalization, causes the inverse clock moment of beating to negative direction.
In other embodiment, can cooperate as solid (left side-right side) sound by principal computer output from a left side-right inertia sensation of actuator 102 and 104.For example, aircraft leapt the user during recreation on principal computer, TV or other equipment or audio frequency-video showed, wherein the sound of aircraft begins from left loud-speaker output and move through right loud-speaker to export locative audio frequency effect.Consistent with it, the force feeling of being exported by a left side and right actuator can begin synergistically to export and shift to right side output in the left side of interfacing equipment with sound.The sensation of power also can be synchronous with the vision reflection that shows as the video camera what comes into a driver's that pans.In certain embodiments, the amplitude of force feeling can be associated with the volume as sound.Principal computer can be ordered the sensation of power and audio frequency or the audio video synchronization also controlled by principal computer.
All above-mentioned haptic effects and the variation here can combine with the whole bag of tricks that reaches desirable effect, therefore use the controlling schemes of actuator of the present invention to have various haptic effects.
Fig. 5 a and 5b comprise that two actuators are used for top view sectional view and the side elevational view of another embodiment 200 that another embodiment of the present invention has the equipment 12 of direction inertia feedback.Cribbage-board shell 201 comprises two actuators 202 and 204.In another embodiment, actuator comprises the inertial mass of the linear harmonic oscillation of an energy; In the present embodiment of in Fig. 5 a and 5b, describing, actuator 202 and 204 comprises the rotator inertia quality, wherein eccentric rotary quality (ERM) 206 is attached to the rotation axis of the actuator 208 in the assembly 202 among the right handle 16b, and eccentric rotary quality (ERM) 210 is attached to the rotation axis of the actuator 213 in the assembly 204 among the left handle 16a.Actuator 208 is attached to shell 201 among the handle 16a by (or compliably) regularly, and actuator 212 is attached to shell 201 among the handle 16b by (or compliably) regularly. Eccentric mass 206 and 210 can be a wedge shape, cylindricality, or other shapes.When rotating, because eccentric inertial mass is moved in its range of movement, its quality causes shell 201 vibrations.
Preferably harmonic wave driving actuator assembly 202 and 204 equipment that are positioned at allow they between the maximum space distance.For example, in the embodiment of cribbage-board, assembly 202 and 204 can be placed among the different handle 16a and 16b of cribbage-board.This makes to have the sensation of direction power can be easily by user's perception.In another embodiment, assembly 202 and 204 can be placed on other zones of shell, though preferably still separate big space length, as two opposite sides at shell.Actuator 202 has with 204 its relevant identical characteristics: the actuator size, inertial mass, and damping (if the words that provide) with permission each end inertial force perception much at one at equipment, and allow sense of orientation effective.In another embodiment, can use actuator with different size or other characteristics.
With unidirectional ERM motor control tactile sensation
To the inertia rotational actuator assembly that Fig. 5 a-5b describes, the user of energy docking port equipment 12 exports vibration and shakes when inertial mass is rotated.In these methods, the frequency of cycle haptic effect and amplitude can change independently, and are presented on the single-degree-of-freedom unidirectional drive actuator as (but being not limited to) ERM actuator.
The cribbage-board vibrating tactile equipment of many standards rotates ERM with fixing amplitude and frequency, and both closely link.For example, dither must be high amplitude, and low-frequency vibration must be low frequency.The amplitude and the frequency that are used for the unidirectional drive rotational actuator that the method described in the application of the embodiment of Fig. 5 a-5b and reference in the above can independent variation one degree of freedom (DOF), ERM promptly do not use valuable bidirectional current driver, because only need drive a rotation direction.Because it makes ERM can produce complex vibration as decay sine or overlaid waveforms, this technology is important.The ERM equipment of front has roughly the amplitude with its speed linear dependence.Do not use extra connector, circuit, or mechanical component and only use the present invention of these control methods (as what in the firmware of the local microprocessor of equipment 12 or other controllers, carry out) can use the ERM motor in a frequency range, to realize with any amplitude.Notice that control method described herein can not only be applied to rotation motor, the single-degree-of-freedom that can also be applied to other types is rotated and linear actuators, comprises the motion magnet motor, spiral pipe, voice coil actuator etc.
In this control method, may provide frequency order as parameter or to the input of firmware, an amplitude order and a function (promptly sinusoidal wave, square wave, triangular wave).This is the existing Immersion/Direct X agreement of using according in the individual as PC calculates, and wherein vibrates by amplitude frequency and type function parameter (and other parameters of wishing) control.The equivalent of these parameters can provide in other embodiments).
In example shown in the figure 250 of Fig. 6, the relation of express time and amplitude.Frequency is that the desirable vibration that the sine wave 252 of 5Hz and 50% amplitude is used as by equipment output illustrates (this and all later similar input and output signals of 1 second of schematic capture).This control method determines that each wave period begins (maybe should begin) wherein, and control signal 254 rises to the energy level of height or " opening " with weekly between phase given period once then; In control signal 254 At All Other Times are " passes " or low." drive " energy level excitation motor and cause ERM206 or 210 rotate in its single rotation direction.Therefore, the frequency that has of cycle control signal is according to required (order) frequency.By using control signal 254 phase earth pulsation actuator weekly, what have assigned frequency feels to pass to the user.Control neck signal begins the place in the cycle as showing, or different time is raised to high level in the cycle.
The amplitude of periodic effects is by regulating the working cycle of control signal, describes as the duration (" working time phase weekly ") in each cycle of control signal 254.Control signal 254 is to open or close, but the time quantum of the phase weekly that the control maintenance is opened is determined by amplitude order or parameter.In Fig. 6, need the sine wave of possibility amplitude 50%.According to the present invention, desired amplitude produces control signal 254, and it has 15ms to become out in every 250ms.The waveform of 100% amplitude with same frequency is provided in Fig. 7 as a comparison, and its shows the figure 260 similar to figure 254.Control signal 264 is becoming out in the same time interval with above-mentioned control signal 254, because frequency order does not become.Yet control signal 264 secondaries rest on "open" state, and the time is long to the sensation that produces the twice vibration amplitude in the user.The time that control signal " is opened " is long more, and the acceleration of actuator process is long more.In our situation, ERM reaches bigger angular velocity, and because power be proportional to angular velocity square, in user's bigger power of perception on hand.Best, quality never allows to stop operating, and makes static friction only begin the place in rotation and overcomes once.If it is oversize that control signal keeps, rotating mass will be made repeatedly and being rotated, and finally reach its nature (resonance) frequency.At this moment, the frequency of the free-running frequency of user's sensory perceptual system rather than order.
Therefore,, 1) according to the present invention control signal how often " opening " directly depend on frequency order, with 2) how long control signal keep " opening " (time that control signal " is opened ") relevant with the amplitude order.Can realize determining the time of opening of control signal by different way.Two kinds of diverse ways are proposed here.The time of at first, opening can be regulated as " percentage in cycle ".If the fixing percentage time control signal in phase weekly becomes " opening ", when frequency increases, the time decreased " opened " of phase weekly.Yet control signal is more frequent to be become " opening ".Though net result be frequency how, control signal spending same time p.s. opens.This technology provides an advantage, and when frequency increased, same power was added to actuator, and the amplitude of perception in this frequency range keeps identical.
In order to control required vibration, a problem of the technology of this " cycle percentage " be under lower frequency many embodiment it can not fine work.Under low frequency (as in certain embodiments less than 2Hz), very soon submit to too many power to give actuator.For example, submit among the continuous 125ms that begins to locate in the cycle from all power in 1 second cycle, in the time that this opens, rotational actuator is made repeatedly and being rotated and control signal maintenance height, so the vibration during this 125ms (pulsation) output is with the frequency of actuator velocity of rotation, but not the frequency of order, by the perception of user institute.Therefore, the vibration of equipment output may not correspond to (low) frequency of order.
Second method of the present invention can be avoided this problem under low frequency, and thereby many ERM vibratory equipments are provided more suitably exports method for oscillating.This second method is provided with control signal for high in the fixedly maximum time of phase weekly amount rather than in the percentage in cycle.Therefore, the ETAD expected time of arrival and departure of 100% amplitude is the same under any frequency.To less than the ETAD expected time of arrival and departure of 100% order amplitude in the amount that is being lower than order amplitude under 100% on the ratio.This has just set up the maximum ETAD expected time of arrival and departure of phase weekly effectively, has forbidden that actuator becomes out in long-time, so as not to do repeatedly rotation in a continuous ETAD expected time of arrival and departure.If actuator allows to do repeatedly rotation (as changeing greater than 2 or 3 in certain embodiments), according to the velocity of rotation of actuator rather than order frequency (promptly, this frequency may be lower than 10Hz) frequency that the user is higher with perception, so the method has prevented such result.In certain embodiments, the request of specific motor 100% amplitude under low frequency is equal to the rotation that causes quality and is lower than the ETAD expected time of arrival and departure that rotates number, and this rotation number makes the user feel in the single cycle more than a pulsation (changeing as 2-3); This ETAD expected time of arrival and departure can be determined to experience.The shortcoming of second kind of technology is when frequency increases, and it is close that the ETAD expected time of arrival and departure that separates becomes, and in fact actuator finally asks to keep opening in being longer than one-period.Here, control signal always is required to keep, and quality is rotated continuously, and frequency and amplitude independent variation no longer.
Because being used for two kinds of technology that amplitude is mapped to the ETAD expected time of arrival and departure of control signal are used for frequency range is that different piece is, preferred embodiment in conjunction with or mix this two kinds of technology, avoided the shortcoming in every kind of method.In preferable associated methods, the frequency that second method only is used for order is lower than the situation of specific blend threshold frequency, and first method can be used to be higher than the order frequency of threshold frequency.Even it also is possible mixing when the amplitude of control signal also changes.At first, mixing threshold value is to select according to the dynamic perfromance of system; Hybrid frequency is the frequency of ETAD expected time of arrival and departure when being the longest, so hybrid frequency should be selected like that, makes that in that frequency to the ETAD expected time of arrival and departure corresponding to 100% amplitude, each cycle provides a vibration pulsation (as less than two quality rotations).For example, when using aforesaid big motor/mass combination, can use 10Hz as mixing threshold frequency.For the order frequency that is higher than 10Hz, use the ETAD expected time of arrival and departure of first method (" percentage in cycle ") calculation control signal, and, can use second method (" phase weekly " set time) for the order frequency that is lower than 10Hz.Can use other threshold values in other embodiments.In order to mix two kinds of methods, select a scalar, make to the amplitude peak of two kinds of methods that in that to mix the threshold frequency place consistent promptly the transition between two kinds of methods is stably.For example, produce 10Hz, the vibration of 100% amplitude at the 25ms of 10Hz place control signal ETAD expected time of arrival and departure.If the frequency of order approaches hybrid frequency from 10Hz below, then the method for " percentage in cycle " is converted to the ETAD expected time of arrival and departure at 10Hz place generation 25ms, and the scalar of those uses remains unchanged, and is applied to the method for being higher than the 10Hz frequency.Can use more advanced hybrid technology according to desirable effect, as imitation in the bandpass filter of Mixed Zone, or in the combination of arbitrary limit imitation low-pass/high-pass filter of mixing threshold frequency.
A kind of distinct methods that makes the amplitude order be independent of frequency is the amplitude that is proportional to the amplitude change control signal 254 of request, rather than this control signal is had only two energy levels.This can finish separately, or finishes in conjunction with above-mentioned first and second methods both or any.For example, have the other types waveform that changes amplitude and can be used as control signal (sine wave, triangular wave etc.) use.A kind of effective ways of the amplitude of setting or change control signal are to provide width modulation (PWM) during the ETAD expected time of arrival and departure selected to the control signal that provides above, or change the control signal working cycle during the ETAD expected time of arrival and departure that uses additive method.Yet PWM needs independent PWM module, and it increases the expense of equipment.For fear of the PWM scheme, above-mentioned first and second methods can realize that wherein local microprocessor directly outputs a control signal to actuator and do not use the PWM module by position-impact (bit-banging).Position-impact does not allow directly to control the control signal amplitude, but has removed the demand to the PWM module, and reduces the expense of processor or interfacing equipment potentially.
The above-mentioned technology that is used for independent amplitude that changes vibration and frequency can be used for simultaneously as a plurality of actuators at the embodiment of Fig. 5 a-5b.The feature of the additional invention of this control technology will be described below.
Staggered control signal to power efficiency
Above-mentioned control signal is used for controlling independently of each other the amplitude and the frequency of output vibration.This control method can be used for a plurality of actuators as actuator 202 and 204.For example, actuator 202 and 204 can activate simultaneously, and each uses special-purpose control signal.
A problem of operating a plurality of actuators simultaneously is to need these actuators of a large amount of power drive.In certain embodiments, the amount of available horsepower is less, has placed restrictions on and has used a plurality of actuators.For example, if interfacing equipment 12 is powered through the communication channel as USB from principal computer 14, it provides limited amount power, and does not have own power source special, and the amount of power that can be used for the operate actuator assembly is very limited.Perhaps, only have to the situation of the interfacing equipment 12 of principal computer radio link, in interfacing equipment, using battery (or other the portable store energy equipment) driving actuator of limited power.In the limited many situations of such power, output is less when using two or more actuator group simultaneously adds tactile sensation.
A method of the present invention allows to operate two actuators simultaneously with limited available horsepower budget.Fig. 8 a and 8b illustrate as mentioned above for rotating ERM, the figure 270 and 272 of the control signal of independent span of control limit of control and frequency.Figure 270 illustrates the control signal 274 that is added to an actuator (as assembly 202), and Figure 27 2 illustrates the control signal 276 that is added to another actuator (as assembly 204).Control signal 274 and 276 has identical frequency and period T 1 and T2.Control signal 274 has ETAD expected time of arrival and departure when signal is high, and the relevant time when signal is low, wherein the work period illustrates and is about 40%.When control signal 274 when opening, all or most of available power are used to rotation motor and the vibration of high amplitude are provided.But when control signal 274 when opening, control signal 276 keeps closing.Control signal 276 becomes out when control signal 274 is closed and became the pass before control signal 274 is got back to out.Therefore, control signal 276 has enough phase shifts with control signal 274, makes these control signals open simultaneously never.This just makes all available power be used for single actuator at any time, and available power does not distribute between two actuators 202 and 204.
In addition, control signal 276 can make and have only small delay after control signal 274.Need more power to begin to rotate from stopping (or other operating modes) at ERM, this is useful but need less power to keep the situation of rotating.For example, to the starting current of two ERM greater than available power budget, the starting current that an ERM is needed adds the rotation electric current that another ERM is needed among the budget of available horsepower, then allows second ERM to start in very short time in first ERM starting and after rotating.In certain embodiments, few more staggered control signal, the user feels that vibration is obvious more, because repel mutually more synchronously and still less from the vibration of each actuator generation.
The control signal of using in the methods with reference to figure 6 and 7 descriptions does not preferably have the work period greater than 50% in the above, because in many examples, this will cause that actuator is operating under its free-running frequency rather than under the frequency of order, for example, the user feels the frequency that ERM rotates continuously, rather than the frequency of order.Therefore, the method can be distributed power effectively, and the strongest possible vibration is provided under limited power budget, is possible because interlock.Therefore, this interleave method allows to control independently with the effective scheme of power the amplitude and the frequency of the vibration of being exported by two actuators.
Fig. 9 a and 9b illustrate having different frequency and/or overlapping figure 280 and 282 to control signal power distribution method of the present invention.Figure 280 illustrates the control signal 284 with characteristic frequency and period T 1, and Figure 28 2 illustrates the control signal 286 with characteristic frequency and period T 2.The ETAD expected time of arrival and departure interval overlapping time A of signal, it is different to each cycle usually.Overlapping at some environment is inevitable, and comprising wherein need be greater than 50% work period, or has different frequencies and/or the situation of work period in control signal.For example, can order the vibration of a frequency of an actuator 202 outputs, and order the vibration of other actuator 204 output different frequencies, to reach the specific tactile sensation of user's perception.
In order to allow to use limited power budget under the situation like that by the present invention, preferably control signal was closed and is opened at predetermined duty cycle and frequency place in the A in overlapping time.This just allows to reduce the average power consumption to each actuator during two actuator operated, thereby allows to use effectively available power budget.For example, shown in Fig. 9 c, control signal 284 is pulsed under specific duty cycle and upper frequency during cycle overlapping time A, and this allows to need to reduce at the power of overlapping period control signal 284.This is the control of effective PWM type.This makes the actuator vibration output amplitude reduce (this is only noticeable a little to the user).Simultaneously, control signal 286 during the overlapping cycle also under specific work period and the frequency pulsation (shown in dotted line 288 among Fig. 6 b).Therefore, available power is shared between two actuators, causes that each actuator output reduces in available power budget.Frequency in control signal shown in the overlapping period is exaggerated in the drawings, and the actual frequency that specific energy is used is lower.
Control signal can determine according to the operating characteristic of interface arrangement 12 in the work period and/or the frequency of overlapping period pulsation, as the feature of actuator, ERM, amplifier etc.Can select a work period, it is reduced to the size of hope with the power demand of control signal, allows two actuator overlapping periods to be operated in the power budget, and for example, effective overlap margin can be 75% of a whole range when control signal kept opening continuously.Usually not needing arrangement control signal to make can not hold simultaneously in the pulse of overlapping period.This is because the relative high frequency of control signal, even two control signals all be height, also allows to be enough to be charged at the parts as electric capacity in the driver circuit to keep desirable power levels.In other embodiments, if possible can be arranged in time alternately and open, make control signal not open simultaneously in the control signal of overlapping period.The ability of keeping desirable power levels according to the driver circuit that has electric capacity and other energy storage member is chosen in the frequency of overlapping cycle control signal.
In certain embodiments, can regulate according to the frequency or the period T of two control signals in the work period of overlapping cycle control signal.For example, the period T 1 and the T2 more little (frequency is high more) of common control signal, the power that operate actuator needs is big more.If one of two control signals or both have the little cycle, then can shorten to consume less power in the work period of overlapping period control signal, promptly cause littler effective amplitude in the overlapping cycle.In certain embodiments,, can obtain moment and need smaller power to rotate, when the work period of determining at overlapping cycle control signal, will consider this factor at the latter half ERM of ETAD expected time of arrival and departure if period T 1 or T2 are very long.In certain embodiments, can add long-time cycle, make that dither can be by the low-frequency vibration of other actuator output " repulsion " high-frequency controling signal.
Control signal can respectively have different duty cycles and/or frequency in the overlapping cycle according to each characteristic of actuator.In certain embodiments, in the overlapping cycle, has only a control signal in pulsation.
Local processor (seeing Figure 11) can be controlled at how phase shift control signal of overlapping period and/or pulsation control signal.For example, in the embodiment that replaces ETAD expected time of arrival and departure of Fig. 5 a and 5b, microprocessor can reflect only send a control signal when when control is sent control signal and can be worked as another control signal for the pass.
The effective control method of above-mentioned power also can be used to have other embodiment of other types actuator, can have the signal controlling of ETAD expected time of arrival and departure with similar control signal or other.
Use the sense of orientation that has of rotator inertia actuator
Above-mentioned control method can be used for controlling independently of each other the amplitude and the frequency of vibration output in the limited equipment of power.This control method also can have the method for direction inertial haptic sensation to use in conjunction with above-mentioned output.
Figure 10 a, 10b, 10c and 10d are respectively figures 310,312,314 and 316, be illustrated in the control signal in the control method of the present invention of using two actuator embodiment that describe with reference to figure 5a-5b, being used to provide directive tactile feedback, is the tactile feedback that certain position user between two actuators is arranged on the space here.Figure 310 and 312 illustrates the control signal 318 and 320 of the signal that is similar to Fig. 8 a and 8b, causes as amplitude and frequency by the determined desirable vibration of method of Fig. 6 and 7.If wish, control signal can be used as the duration, other parameter regulation such as envelope.
After having determined the parameter of wishing, further can revise control signal so that directivity described below or " balance " to be provided.In the figure 314 of Figure 10 c, control signal 322 reduces on ETAD expected time of arrival and departure, provide less average current to first actuator, and in the figure 316 of Figure 10 d, control signal 324 increases identical amount on ETAD expected time of arrival and departure, make control signal 322 reduce to provide bigger average current to second actuator.Therefore, first actuator obtains extra quantity of power and second actuator obtains less power, and few amount is exactly to supply with the amount of the first actuator excess power.For example, control signal 324 has the bigger work period, as increases by 25%, thereby the actuator more power is provided and causes the vibration that output is stronger.Control signal 322 has the work period of low corresponding amount (25%), causes from the vibration of that actuator output than low amplitude value, so the amplitude of complete 100% order has different distribution between two actuators.
Therefore, amplitude that converts and respectively vibrate by the amplitude of between two actuators 202 and 204, dividing.For vibration or other inertial force sensation to the directionless sensation of user is provided, two performance numbers (average current) that actuator obtains equating make from the vibration of each actuator output same magnitude, shown in Figure 10 a-10b.Yet, if the direction of feeling to have perception of inertia is regulated the ETAD expected time of arrival and departure of control signal, promptly give an actuator than another more average current, and by the inertial force of an actuator output than the bigger amplitude of another actuator.If control signal 324 is added to the actuator 204 on cribbage-board equipment 200 left sides because the vibration on the left side has bigger amplitude, the user feel left to.If the output right, then the actuator 202 on equipment the right has bigger average current.User's perception in the stronger vibration of equipment one side as directive vibration.For example, if the vehicle on the left side of user in recreation bangs into fence, left side actuator can be exported stronger vibration, points out the direction of current collision.
According to the distribution of the amplitude of between two actuators, ordering, the somewhere output inertia sensation of user's perception between two actuators, one of them power is strong more, and output place of user's perception composite force is the closer to that actuator.This is similar to the position shown in Fig. 4 in the above.As mentioned above, command direction method is to specify " balance " parameter in this way, or makes principal computer direct command actuator.Be similar to the foregoing description 100 and in embodiment 200, can adopt additional actuator, and can use the effect of embodiment 200 orders and output swing.
Figure 11 is a calcspar, and an embodiment who is suitable for use in haptic feedback system of the present invention is shown.
Preferably mainframe computer system 14 comprises 402, one display screens 206 of 400, one clocks of a master microprocessor and an audio output device 404.Principal computer also comprises the parts that other crowds know, as random-access memory (ram), and ROM (read-only memory) (ROM), and I/O (I/O) electronic circuit (not shown).Display screen 26 shows the reflection of game environment, and operating system is used, simulation etc., and the audio output device 404 as loud-speaker provides voice output for the user.The peripherals of the other types as memory device (hard disk drive, CD-ROM drive, floppy disk etc.), printer and other input-output device also can be attached to primary processor 400.
Microprocessor 410 can provide signal to actuator 54 from sensor 412 received signals and according to the instruction that is provided by bus 20 by host computer 14.For example, in locality control embodiment, principal computer 14 provides senior supervision to order to microprocessor 410 through buses 20, and microprocessor 410 decodes commands also are independent of the rudimentary power control loop that sensor and actuator are managed in principal computer 14 ground according to this high-level command.In US patent 5,734,373, this operation is described in more detail.In the main control loop, give microprocessor 410 from the order of principal computer power output, and command processor power output or have the sensation of the power of special characteristic.Local microprocessor 410 will be given principal computer as the data report the locator data of describing the position of mouse on one or more regulation degree of freedom.Data also can be described button 24, direction plate 20 states such as grade.The program that principal computer uses these Data Update to carry out.In local control loop, actuator signal offers actuator 434 from microprocessor 410, and sensor signal offers microprocessor 410 from sensor 412 and other input equipments 418.Here, term " sense of touch (haptic) sensation " or " touching (tactile) sensation " are thought by single power or a series of power of sensation to user's actuator output are provided.Microprocessor 410 can be handled the sensor signal of input, determines suitable output actuator signal according to the instruction of storage.Microprocessor can use sensor signal to determine to output to the power of user object in the locality, and will report to principal computer from the locator data that sensor signal derives.
In yet another embodiment, another simpler hardware can offer equipment 12 in the locality, provide similar in appearance to the function of microprocessor 410.For example, can use the hardware state machine that comprises fixed logic, provide signal to actuator 434 and from sensor 412 sensor-lodgings, and by predetermined order, algorithm, or process output haptic signal.Realizing having the technology of the logic of required function in hardware is known by this professional skilled person.
In different main control embodiment, principal computer 14 can provide rudimentary power order through bus 20, directly sends to actuator 434 by microprocessor 410 or other (as simpler) circuits.Therefore, all signals that commute equipment 12 are directly controlled and handled to principal computer 14.
In a simple main control embodiment, the signal from the main frame to equipment can be single position, and it indicates whether will be with predetermined frequency and amplitude pulsation actuator.In than complex embodiments, the signal that comes from main frame can comprise amplitude, provide the intensity of required pulse, and/or direction, provide the amplitude and the sensation of paired pulses, in complex embodiments more, can use local processor, receive simple order from main frame, indicate desirable power and be added on the time, microprocessor is exported it according to this order then.Execute in the example in another complexity, the high-level command that has a tactile sensation parameter is sent to the local processor in the equipment, and its intervention of being independent of main frame applies panesthesi then.The combination of these methods can be used in individual equipment 12.
The position or the motion of sensor 412 awareness apparatus and/or one or more executor or controller, and will comprise that the information of expression position or motion offers microprocessor 410 (or main frame 14).Can be applicable to and detect the sensor of handling, comprise the digital light scrambler, optical sensor system, linear light scrambler, pot, optical sensor, speed pickup, acceleration transducer, strainmeter, and the other types sensor that can use, relative or absolute sensor.Can use optical sensor interface 414 with sensor signal convert to can by microprocessor 410 and or the signal explained of mainframe computer system 14, known as this professional skilled person.
As mentioned above, response is from the signal of microprocessor 410 and/or principal computer 14 receptions, and actuator 434 sends to power on the shell of equipment 12.For example, actuator 434 can produce inertial force by the motional inertia quality.Also can use the actuator of other types, paste the actuator of the member generation tactile sensation of shell as driving.
Actuator interface 416 can be attached between actuator 434 and the microprocessor 410 alternatively, will become to be suitable for the signal of driving actuator assembly 434 from the conversion of signals of microprocessor 410.Interface 416 can comprise power amplifier, converter, digital-to-analogue controller (DAC), modulus controller (ADC) and miscellaneous part.Other input equipments 418 are also included within the equipment 12, and input signal are delivered to microprocessor 410 or main frame 14 when the user handles.Such input equipment comprises button 24, and direction plate 20 grades also can comprise other button, dial, switch, roller, or other controllers or mechanism.
Power supply 420 can be included among the equipment 12 alternatively, is connected to actuator interface 416 and/or actuator 434 providing power supply to actuator, or provides as the parts that separate.In addition, power can take out from the power supply that separates with equipment 12, or receives by bus 20.And the power of reception can and be regulated by equipment 12 storages, thereby uses when needs driving actuator assembly 434, or uses with supplementary mode.Some embodiment uses the power supply storage facilities to guarantee to apply peak force (as in U.S. Patent No. 5,929, described in 607) in equipment.In addition, this technology can be used in wireless device, wherein uses battery supply to drive tactile actuator.Can comprise safety switch 432 alternatively, make the user close actuator for the reason of safety.
Though the present invention is described by some preferred embodiments, can see that concerning this professional skilled person, mutation reconfigures and content of equal value is undoubted after reading present specification and studying accompanying drawing.For example, can use the many different embodiment of haptic feedback devices to export tactile sensation described herein, comprise joystick, drive wheel, cribbage-board, and remote controllers.In addition, use some term in order to describe clearly purpose, this is not to limit the present invention.
Claims (15)
1. method comprises:
Produce first control signal and second control signal, the work period of the work period of described first control signal and described second control signal is different;
Described first control signal is outputed to first actuator, and described first actuator is configured to export first sense of touch in response to described first control signal; And
Described second control signal is outputed to second actuator, and described second actuator is configured to export second sense of touch in response to described second control signal, and wherein, described first sense of touch and second sense of touch provide directive tactile feedback.
2. the method for claim 1 is characterized in that the work period of described first control signal and the work period of described second control signal become a predetermined ratio.
3. method as claimed in claim 2 is characterized in that described predetermined ratio is relevant with the spatial relationship between described first actuator and described second actuator.
4. method as claimed in claim 2 is characterized in that further comprising receiving the high-level command that comprises balance parameters that described predetermined ratio is relevant with described balance parameters.
5. method as claimed in claim 4 is characterized in that described balance parameters is configured to dynamic change, so that described first sense of touch and described second sense of touch provide the swing haptic effect.
6. method as claimed in claim 5 is characterized in that with audio frequency effect and video effect at least one proofread and correct described swing haptic effect.
7. the method for claim 1 is characterized in that further comprising described first control signal and described second control signal are interlocked, and makes and has only a control signal to open in a preset time.
8. equipment comprises:
Processor;
First actuator is used for receiving the output of first control signal and exporting first sense of touch from described processor; And
Second actuator is used for receiving the output of second control signal and exporting second sense of touch from described processor;
The work period of the work period of described first control signal and described second control signal is different, and wherein, described first sense of touch and second sense of touch provide directive tactile feedback.
9. equipment as claimed in claim 8 is characterized in that the work period of described first control signal and the work period of described second control signal become a predetermined ratio.
10. equipment as claimed in claim 9 is characterized in that described predetermined ratio is relevant with the spatial relationship between described first actuator and described second actuator.
11. equipment as claimed in claim 9 is characterized in that described processor is configured to receive the high-level command that comprises balance parameters, described predetermined ratio is relevant with described balance parameters.
12. equipment as claimed in claim 11 is characterized in that described balance parameters is configured to dynamic change, so that described first sense of touch and described second sense of touch provide the swing haptic effect.
13. equipment as claimed in claim 12 is characterized in that with audio frequency effect and video effect at least one proofread and correct described swing haptic effect.
14. equipment as claimed in claim 8 is characterized in that making described first control signal and described second control signal staggered, makes and has only a control signal to open in a preset time.
15. equipment as claimed in claim 8 is characterized in that described first actuator and described second actuator are connected in a shell.
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| US23641700P | 2000-09-28 | 2000-09-28 | |
| US60/236,417 | 2000-09-28 | ||
| US60/242,918 | 2000-10-23 |
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| CNB018043097A Division CN100375993C (en) | 2000-09-28 | 2001-09-27 | Directional haptic feedback for haptic feedback interface devices |
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| CN1983125A CN1983125A (en) | 2007-06-20 |
| CN100468294C true CN100468294C (en) | 2009-03-11 |
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| US9746923B2 (en) | 2009-03-12 | 2017-08-29 | Immersion Corporation | Systems and methods for providing features in a friction display wherein a haptic effect is configured to vary the coefficient of friction |
| US20110115709A1 (en) * | 2009-11-17 | 2011-05-19 | Immersion Corporation | Systems And Methods For Increasing Haptic Bandwidth In An Electronic Device |
| US9436280B2 (en) | 2010-01-07 | 2016-09-06 | Qualcomm Incorporated | Simulation of three-dimensional touch sensation using haptics |
| TW201205910A (en) * | 2010-02-03 | 2012-02-01 | Bayer Materialscience Ag | An electroactive polymer actuator haptic grip assembly |
| US8614663B2 (en) * | 2010-03-15 | 2013-12-24 | Empire Technology Development, Llc | Selective motor control classification |
| US9717997B2 (en) * | 2012-04-13 | 2017-08-01 | Thomson Licensing | Method to render global 5 DoF motion effect with multiple local force-feedback |
| US9207764B2 (en) * | 2013-09-18 | 2015-12-08 | Immersion Corporation | Orientation adjustable multi-channel haptic device |
| US9164587B2 (en) | 2013-11-14 | 2015-10-20 | Immersion Corporation | Haptic spatialization system |
| US9619029B2 (en) | 2013-11-14 | 2017-04-11 | Immersion Corporation | Haptic trigger control system |
| JP6504157B2 (en) * | 2014-03-26 | 2019-04-24 | ソニー株式会社 | Experience induction device, experience introduction system, and experience introduction method |
| KR20160056834A (en) * | 2014-11-12 | 2016-05-20 | 임머숀 코퍼레이션 | Haptic controller |
| US10185396B2 (en) | 2014-11-12 | 2019-01-22 | Immersion Corporation | Haptic trigger modification system |
| US9174134B1 (en) | 2014-11-12 | 2015-11-03 | Immersion Corporation | Peripheral device with haptic diminishment prevention component |
| US10310610B2 (en) * | 2017-10-19 | 2019-06-04 | Facebook Technologies, Llc | Haptic device for artificial reality systems |
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