U.S. patent application number 11/338958 was filed with the patent office on 2006-06-22 for contact sensitive device.
This patent application is currently assigned to New Transducers Limited. Invention is credited to Darius Martin Sullivan.
Application Number | 20060132464 11/338958 |
Document ID | / |
Family ID | 9917888 |
Filed Date | 2006-06-22 |
United States Patent
Application |
20060132464 |
Kind Code |
A1 |
Sullivan; Darius Martin |
June 22, 2006 |
Contact sensitive device
Abstract
A contact sensitive device includes a member capable of
supporting bending waves, a first sensor mounted on the member for
measuring bending wave vibration in the member, the sensor
determining a first measured bending wave signal, a second sensor
to determine a second measured bending wave signal and a processor
that optimises a product of a set of corrected impulse response
measurements from each sensor to determine information related to a
contact.
Inventors: |
Sullivan; Darius Martin;
(Huntingdon, GB) |
Correspondence
Address: |
ZAGORIN O'BRIEN GRAHAM LLP
7600B N. CAPITAL OF TEXAS HWY.
SUITE 350
AUSTIN
TX
78731
US
|
Assignee: |
New Transducers Limited
|
Family ID: |
9917888 |
Appl. No.: |
11/338958 |
Filed: |
January 25, 2006 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10482865 |
Jan 5, 2004 |
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PCT/GB02/03073 |
Jul 3, 2002 |
|
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11338958 |
Jan 25, 2006 |
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Current U.S.
Class: |
345/173 |
Current CPC
Class: |
G06F 3/043 20130101;
G06F 3/0436 20130101 |
Class at
Publication: |
345/173 |
International
Class: |
G09G 5/00 20060101
G09G005/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 4, 2001 |
GB |
GB0116310.4 |
Claims
1. A method for determining information relating to a touch on a
touch member capable of supporting bending waves, the touch member
including a plurality of points with known locations, the method
comprising: touching the points to create bending waves in the
touch member; measuring the bending waves using sensors coupled to
the touch member; determining a phase correction associated with
each of the points from the bending waves created by touching the
points; and using the phase corrections in determining information
related to a subsequent touch on the touch member.
2. The method as recited in claim 1 further comprising defining the
points by a set of vectors r.sub.j where j is the number of
points.
3. The method as recited in claim 1 wherein the points are arranged
in a grid.
4. The method as recited in claim 1 further comprising measuring,
for each point touched, first and second bending wave signals
W.sub.1,j(t) and W.sub.2,j(t) using a first and second sensor of at
least two pairs of sensors.
5. The method as recited in claim 4 further comprising calculating
Fourier transforms of the bending wave signals.
6. The method as recited in claim 5 further comprising calculating
an empirical phase correction associated with each of the sensor
pairs using a known path length difference from the first and
second sensors of each pair to the point touched.
7. The method as recited in claim 6 wherein the empirical phase
correction is calculated according to: .PHI. 12 * .function. (
.omega. ) = j .times. W ^ 1 , j .function. ( .omega. ) .times. W ^
2 , j * .function. ( .omega. ) .times. exp .function. [ - I .times.
.times. k .function. ( .omega. ) .times. .DELTA. .times. .times. x
j ] , ##EQU11## where .DELTA.x.sub.j is the difference between the
path lengths, x.sub.1,j & x.sub.2,j from the first and second
sensors to the contact, .sub.1,j(.omega.) and *.sub.2,j(.omega.)
are the Fourier transformation and complex conjugate Fourier
transformation of the two measured bending wave signals W.sub.1(t)
and W.sub.2(t); t represents time .omega. is 2.pi.f where f is
frequency; and k is a predetermined panel dispersion relation.
8. A method for determining information relating to a contact on a
member capable of supporting bending waves comprising applying an
empirically determined phase correction to a dispersion corrected
correlation function used in processing measurements of bending
waves in the member caused by the contact and measured by sensors
coupled to the member.
9. A method for determining information relating to a contact on a
member capable of supporting bending waves comprising: empirically
determining phase corrections according to measured bending waves
resulting from contacts made on points arranged in known locations
on the member; and utilizing the phase corrections for dispersion
corrected correlation calculations used in processing measurements
of bending waves in the member caused by a subsequent contact of
the member to determine the information related to the contact.
10. A contact sensitive device comprising: a member capable of
supporting bending waves including a plurality of points with known
locations; at least a first and second sensor mounted on the member
for measuring bending wave vibration in the member; and a processor
configured to determine a phase correction associated with each of
the points from the bending waves created by touching the
points.
11. The contact sensitive device as recited in claim 10 wherein the
processor is further configured to utilize one or more of the phase
corrections in determining information related to location of a
user touch on the touch member.
12. The contact sensitive device as recited in claim 10 wherein the
points are arranged in a grid on the member.
13. The contact sensitive device as recited in claim 10 further
comprising a first and a second sensor responsive to measure first
and second bending wave signals W.sub.1,j(t) and W.sub.2,j(t) for
each point touched.
14. The contact sensitive device as recited 13 wherein the
empirical phase correction is calculated according to: .PHI. 12 *
.function. ( .omega. ) = j .times. W ^ 1 , j .function. ( .omega. )
.times. W ^ 2 , j * .function. ( .omega. ) .times. exp .function. [
- I .times. .times. k .function. ( .omega. ) .times. .DELTA.
.times. .times. x j ] , ##EQU12## where .DELTA.x.sub.j is the
difference between the path lengths, x.sub.1,j & x.sub.2,j from
the first and second sensors to the contact, .sub.1,j(.omega.) and
*.sub.2,j(.omega.) are the Fourier transformation and complex
conjugate Fourier transformation of the two measured bending wave
signals W.sub.1(t) and W.sub.2(t); t represents time .omega. is
2.pi.f where f is frequency; and k is a predetermined panel
dispersion relation.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application
10/482,865, filed Jan. 5, 2004 as a national stage entry of
International Application Number PCT/GB02/03073, filed Jul. 3,
2002, which application (10/482,865) claims benefit under 35 U.S.C.
119(e) of Provisional Application No. 60/303,781, filed Jul. 10,
2001, which applications are incorporated by reference herein.
BACKGROUND
[0002] 1. Field of the Invention
[0003] The invention relates to contact sensitive devices.
[0004] 2. Description of the Related Art
[0005] Visual displays often include some form of touch sensitive
screen. This is becoming more common with the emergence of the next
generation of portable multimedia devices such as palm top
computers. The most established technology using waves to detect
contact is Surface Acoustic Wave (SAW), which generates high
frequency waves on the surface of a glass screen, and their
attenuation by the contact of a finger is used to detect the touch
location. This technique is "time-of-flight", where the time for
the disturbance to reach one or more sensors is used to detect the
location. Such an approach is possible when the medium behaves in a
non-dispersive manner i.e. the velocity of the waves does not vary
significantly over the frequency range of interest.
[0006] In contrast in International Publication WO 01/48684 to the
present applicant, a contact sensitive device and method of using
the same are proposed. The device comprises a member capable of
supporting bending wave vibration and a sensor mounted on the
member for measuring bending wave vibration in the member and for
transmitting a signal to a processor whereby information relating
to a contact made on a surface on the member is calculated from the
change in bending wave vibration in the member created by the
contact.
[0007] By bending wave vibration it is meant an excitation, for
example by the contact, which imparts some out of plane
displacement to the member. Many materials bend, some with pure
bending with a perfect square root dispersion relation and some
with a mixture of pure and shear bending. The dispersion relation
describes the dependence of the in-plane velocity of the waves on
the frequency of the waves.
[0008] Two types of contact sensitive device are proposed, namely a
passive sensor in which bending wave vibration in the member is
only excited by the contact and an active sensor in which the
contact sensitive device further comprises an emitting transducer
for exciting bending wave vibration in the member to probe for
information relating to the contact. In the active sensor,
information relating to the contact is calculated by comparing the
response of waves generated by the emitting transducer in the
absence of a contact to the response caused by the mechanical
constraint of the presence of a contact.
[0009] Bending waves provide advantages, such as increased
robustness and reduced sensitivity to surface scratches, etc.
However, bending waves are dispersive i.e. the bending wave
velocity, and hence the "time of flight", is dependent on
frequency. In general, an impulse contains a broad range of
component frequencies and thus if the impulse travels a short
distance, high frequency components will arrive first. This effect
must be corrected.
[0010] In WO 01/48684, a correction to convert the measured bending
wave signal to a propagation signal from a non-dispersive wave
source may be applied so that techniques used in the fields of
radar and sonar may be applied to detect the location of the
contact. The application-of the correction is illustrated in FIGS.
1a to 1d.
[0011] FIG. 1a shows an impulse in an ideal medium with a square
root dispersion relation and demonstrates that a dispersive medium
does not preserve the waveshape of an impulse. The outgoing wave
(60) is evident at time t=0 and the echo signal (62) is spread out
over: time, which makes a determination of an exact contact
position problematic.
[0012] In a non-dispersive medium such as air, a periodic variation
of the frequency response is characteristic of a reflection, and is
often referred to as comb filtering. Physically, the periodic
variation in the frequency response derives from the number of
wavelengths that fit between the source and the reflector. As the
frequency is increased and the number of wavelengths fitting in
this space increases, the interference of the reflected wave with
the outgoing wave oscillates between constructive and
destructive.
[0013] Calculating the Fourier transform of the dispersive impulse
response of FIG. 1a produces the frequency response shown in FIG.
1b. The frequency response is non-periodic and the periodic
variation with wavelength translates to a variation in frequency
that gets slower with increasing frequency. This is a consequence
of the square root dispersion in which the wavelength is
proportional to the square root of the inverse of frequency. The
effect of the panel on the frequency response is therefore to
stretch the response as a function of frequency according to the
panel dispersion. Consequently, a correction for the panel
dispersion may be applied by applying the inverse stretch in the
frequency domain, thus restoring the periodicity present in the
non-dispersive case.
[0014] By warping the frequency axis with the inverse of the panel
dispersion, FIG. 1b may be transformed into the frequency response
for the non-dispersive case (FIG. 1c) in which the frequency of
excitation is proportional to the inverse of the wavelength. This
simple relationship translates the periodic variation with
decreasing wavelength to a periodic variation with increasing
frequency as shown in FIG. 1c.
[0015] Applying the inverse Fast Fourier Transform (fft) to the
trace of FIG. 1c produces an impulse response shown in Figure id
which is corrected for dispersion and where the clear reflection is
restored. As is shown in FIG. 1d any particular waveshape of an
impulse is preserved in time since the waves travelling in a
non-dispersive medium have a constant velocity of travel,
independent of their frequency. Accordingly, the task of echo
location is relatively straight forward. The outgoing wave (50) is
evident at time t=0, together with a clear reflection (52) at 4 ms.
The reflection (52) has a magnitude which is approximately
one-quarter of the magnitude of the outgoing wave (50).
[0016] The procedure described is not applicable if the impulse has
occurred at an unknown time to and the distance X from the response
to an initial impulse may only be calculated if the impulse occurs
at t.sub.0=0.
[0017] It is an object of the present invention to provide an
alternative contact sensitive device which uses bending wave
vibration for extracting information relating to the contact.
SUMMARY
[0018] According to one aspect of the invention, there is provided
a contact sensitive device comprising a member capable of
supporting bending waves, a first sensor mounted on the member for
measuring bending wave vibration in the member, the first sensor
determining a first measured bending wave signal and a processor
which calculates information relating to a contact on the member
from the measured bending wave signal, the processor applying a
correction based on the dispersion relation of the material of the
member supporting the bending waves, wherein the device comprises a
second sensor to determine a second measured bending wave signal
which is measured simultaneously with the first measured bending
wave signal and the processor calculates a dispersion corrected
function of the two measured bending wave signals which is selected
from the group consisting of a dispersion corrected correlation
function, a dispersion corrected convolution function, a dispersion
corrected coherence function and other phase equivalent functions
to determine information relating to the contact.
[0019] According to a second aspect of the invention, there is
provided a method of determining information relating to a contact
on a contact sensitive device comprising the steps of providing a
member capable of supporting bending waves and a first sensor
mounted on the member for measuring bending wave vibration in the
member, determining, using the sensor, a first measured bending
wave signal, providing a second sensor mounted on the member to
determine a second measured bending wave signal, measuring the
second measured bending wave signal simultaneously with the first
measured bending wave signal, calculating a dispersion corrected
function of the two measured bending wave signals which is selected
from the group consisting of a dispersion corrected correlation
function, a dispersion corrected convolution function, a dispersion
corrected coherence function and other phase equivalent functions
and processing the measured bending wave signals to calculate
information relating to the contact by applying the dispersion
corrected function.
[0020] The following features may be applied to both the device and
the method with the processor being adapted to provide many of the
calculations or processing steps of the method.
[0021] The dispersion corrected function may be calculated as
follows:
[0022] calculate .sub.1(.omega.) and .sub.2(.omega.)* which are the
Fourier transformation and complex conjugate Fourier transformation
of the two measured bending wave signals W.sub.1(t) and W.sub.2(t);
t represents time .omega. is 2.pi.f where f is frequency.
[0023] calculate a first intermediate function .sub.1(.omega.)
.sub.2*(.omega.);
[0024] calculate a second intermediate function M(.omega.) which is
a function of .sub.1(.omega.).sub.2*(.omega.);
[0025] apply a frequency stretching operation f(.omega.), as
described above in relation to WO01/48684, to M(.omega.) to give
the dispersion corrected correlation function: G .times. .times. (
t ) = 1 2 .times. .pi. .times. .intg. - .infin. + .infin. .times. M
.times. [ f .times. .times. ( .omega. ) ] .times. .times. exp
.times. .times. ( I.omega. .times. .times. t ) .times. .times. d
.omega. . ##EQU1##
[0026] The intermediate function M(.omega.) may simply be
.sub.1(.omega.) .sub.2*(.omega.) which gives a standard dispersion
corrected correlation function. Alternatively, M(.omega.) may be a
function which modifies the amplitude but not the phase of
.sub.1(.omega.) .sub.2*(.omega.) to give a phase equivalent
function to the standard dispersion corrected correlation function.
Since the phase equivalent function and the standard dispersion
corrected correlation function have the same phase properties, they
have a maximum at the same position. The phase information in the
measured bending wave signals may be used to acquire information
about the contact in particular the location thereof. The location
may be calculated from the time at which the maximum in the
functions occurs.
[0027] M(.omega.) may be selected from the following functions
which all yield phase equivalent functions to the standard
dispersion corrected correlation function: M .times. .times. (
.omega. ) = W ^ 1 .function. ( .omega. ) .times. .times. W ^ 2 *
.function. ( .omega. ) W ^ 1 .function. ( .omega. ) .times. .times.
W ^ 2 * .function. ( .omega. ) a ) ##EQU2##
[0028] Thus M(.omega.) may normalise the amplitudes of
.sub.1(.omega.) .sub.2*(.omega.) to unity to yield a normalised
dispersion corrected correlation function otherwise known as a
dispersion corrected coherence function. M .times. .times. (
.omega. ) = W ^ 1 .function. ( .omega. ) .times. .times. W ^ 2 *
.function. ( .omega. ) W ^ 1 .function. ( .omega. ) .times. .times.
W ^ 2 * .function. ( .omega. ) b ) ##EQU3##
[0029] Thus M(.omega.) may act on the amplitudes of .sub.1(.omega.)
.sub.2*(.omega.) to yield a dispersion corrected correlation
function with a modified peak shape.
[0030] c) M(.omega.)= .sub.1(.omega.) .sub.2*(.omega.).phi..left
brkt-bot.| .sub.1(.omega.) .sub.2*(.omega.)|.right brkt-bot. where
.phi.(x) is a real valued function
[0031] Thus M(.omega.) may apply a general modification to yield a
phase equivalent function having a different amplitude to the
standard correlation function.
[0032] d) M(.omega.)= .sub.1(.omega.)
.sub.2*(.omega.).psi.(.omega.) where .psi.(.omega.) is a real
valued function
[0033] Thus M(.omega.) may apply a general frequency-dependent
scaling to yield a phase equivalent function having a different
amplitude to the standard correlation function. Such a scaling is
also known as emphasis.
[0034] Alternatively, M(.omega.) may be the function {circumflex
over (D)}(.omega.) which is the Fourier transformation of the
correlation function D(t):
D(t)=.intg..sub..infin..sup..infin.W.sub.1(t+t')W.sub.2(t')dt'
[0035] {circumflex over (D)}(.omega.) is mathematically equivalent
to .sub.1(.omega.) .sub.2*(.omega.) and may be arrived at without
calculating .sub.1(.omega.) and .sub.2(.omega.)*. This is an
alternative method to calculating the standard dispersion corrected
correlation function. The steps are calculate D(t); calculate
{circumflex over (D)}(.omega.) and apply a frequency stretching
operation to arrive at the dispersion corrected correlation
function: G .times. .times. ( t ) = 1 2 .times. .pi. .times. .intg.
- .infin. + .infin. .times. D ^ .times. [ f .times. .times. (
.omega. ) ] .times. .times. exp .times. .times. ( I.omega. .times.
.times. t ) .times. .times. d .omega. . ##EQU4##
[0036] One advantage of using the dispersion corrected correlation
function is that it is applicable in situations where the precise
time, t.sub.0, at which a contact occurred is not known. This is
because an offset t.sub.0 (i.e. t.sub.0.noteq.0) in the response
functions is represented as an additional factor
exp(i.omega.t.sub.0) in the Fourier transformations,
.sub.1(.omega.) and .sub.2(.omega.) which cancels in the
intermediate function .sub.1(.omega.) .sub.2*(.omega.).
[0037] A transducer may act as both the first and second sensor
whereby, the dispersion corrected correlation function is an
autocorrelation function. The autocorrelation function may be
calculated applying the same steps for the dispersion corrected
correlation function using W.sub.1(t)=W.sub.2(t).
[0038] The frequency stretching operation may be determined as
described in relation to FIGS. 1a to 1d by {circumflex over
(.OMEGA.)}(.omega.)= [f(.omega.)] in which f(.omega.) is chosen so
that {circumflex over (.OMEGA.)}(.omega.) represents an imaginary
response of a medium where bending waves of all frequencies travel
with identical phase velocity. For example, for bending mode
vibrations that follow a square-root relation of wavevector, k, to
angular frequency, k=C {square root over (.omega.)}, the frequency
stretching operation f(.omega.)=vC {square root over (.omega.)}
gives an imaginary response, .OMEGA.(t), of a medium with constant
arbitrary phase velocity V. C is a constant and is defined by
C=(.mu./B) 1/4 where .mu.=mass per unit area, and B=bending
stiffness.
[0039] The inverse Fourier transform, .OMEGA.(t) may be examined to
determine the distance to the site of the contact. .OMEGA.(t), is
centred at a value t.sub.1 that is proportional to the distance
between the site of the contact and each sensor. The dispersion
corrected correlation function may also be used to determine the
precise location of the contact. For example, for the function,
G(t), the centre of the correlation function is located at
t=(x.sub.1-x.sub.2)/v where x.sub.1 and X.sub.2 are the distances
from the contact point to the respective vibration sensors. The
dispersion corrected correlation function may therefore be used to
determine a difference in path-length (i.e. x.sub.1-x.sub.2)
between the contact site and the two sensors. This quantity,
x.sub.1-x.sub.2, defines a hyperbola of possible locations of the
contact on the panel surface. If a third sensor is provided, a
second dispersion corrected correlation function, from a different
combination of sensor positions, provides a second path-length
difference, eg. x.sub.1-x.sub.3. Alternatively, a second pair of
sensors may be mounted to the member to provide a second dispersion
corrected correlation function. In many cases (for example when the
sensors are positioned in the four corners of a rectangular panel),
the two hyperbolic curves defined by the two path-length
differences have a unique intersection point which determines
unambiguously the location of the contact.
[0040] Another advantage of using the dispersion corrected
correlation function is in the treatment of waves reflected from
boundaries of the member. The reflected waves create the effect of
virtual sources which are located outside the physical boundaries,
specifically, at the contact site reflected in the axes of the
boundaries. The impulse generated by a contact may show features
corresponding to `echoes` which arrive after the direct waves of
the impulse. By applying the dispersion correction to an impulse at
t=0, discrete reflections may be resolved as peaks in the corrected
impulse response. The location of these peaks may be used as
additional information for determining the location of the contact.
This may be particularly effective if the sensitivity, or
acceptance, of the sensors is not independent of the direction of
the incoming wave since the measured signal corresponding to the
direct path from the contact may be weaker than the signal due to
reflected waves.
[0041] The dispersion-corrected autocorrelation function may be
applied to locate the path-length difference between the sensor and
real and virtual sources of bending waves arising from reflections
at the boundaries. Such information may help the determination of
the contact location.
[0042] Reflected waves may be suppressed by placing an absorbing
material in contact with the edges of the member. Alternatively,
the processor may be adapted to remove the contribution of
reflected waves from the measured bending wave signal. This may be
achieved on the basis that in a dispersive medium, i.e. one with a
dispersion relation of the form k=C {square root over (.omega.)},
low-frequency components travelling along the direct path may
arrive after the first high-frequency reflected waves. This
processor may be adapted to provide a moving average low-pass
filtering operation on the original measured bending wave signal
where the width of the averaging window varies locally with the
time coordinate as .DELTA.t .varies. t.sup.2.
[0043] The measured bending wave signal may be transformed to a
response in which the signals due to the direct and reflected wave
both oscillate with constant but different periods. For example, a
measured bending wave signal W(t), from a contact at time t=0 may
be transformed on the time axis by using U(.tau.)=W(1/.tau.). In
the function U(.tau.) the signal from a sharp impulse propagating
on a dispersive member oscillates with a constant period.
Furthermore, the oscillations from the direct wave have a longer
period than those of the reflected waves. The contribution of
reflected waves can therefore be removed by a low pass filter
operation on U(.tau.). The response may then be transformed back to
linear units of time, as W'(t)=U(1/t). The procedure may be
generalised to other forms of the dispersion relation.
[0044] For a perfect rejection of reflected waves, it is necessary
to know the dispersion relation in the member, the time t.sub.0 at
which the contact occurred, and the distance x between the contact
site and the sensor. However, generally, only the first is known.
Thus the processor may be adapted to provide estimates or
substitutes for t.sub.0 and x which may be substituted into a
calculation to remove the reflected waves. For example, an estimate
for t.sub.0 may be the time at which the contact was first detected
by any sensor on the member, i.e. the time at which the measured
signal first passes a predetermined threshold. The distance X may
be set as the distance between the relevant sensor and the furthest
point on the member or the maximum dimension (e.g. diameter) of the
member. Use of these substitutes should leave the direct-path
signal intact. Estimates of t.sub.0 and x obtained by other means
may also be used.
[0045] There may be multiple (i.e. n) sensors on the member and
thus the number of distinct correlation functions is n(n-1)/2. The
processor may be adapted to create a mapping function which maps
the surface of the member for each correlation function whereby the
dispersion corrected correlation function, G(t), is swept over the
surface such that all co-ordinates of a given path-length
difference, .DELTA.x, take the value G(.DELTA.x/v). The product of
the entire set of mapped correlation functions may then be
calculated and the location of the contact may be determined from
the maximum co-ordinate. This method has the desired property of
increasingly rejecting spurious contributions from reflections as
the number of sensors is increased.
[0046] Each sensor and its associated circuitry may have identical
or different phase properties. Differences in the phase properties
may be caused by mechanical inconsistencies in the manufacture and
mounting of the sensors, or by finite tolerances of component
values in the associated amplification and filtering circuits. If
the phase properties of each sensor differ, the dispersion
corrected correlation function may be convolved with some
asymmetric function. This asymmetric function may lead to incorrect
measurements of path-difference difference since the position of
peaks in the dispersion corrected correlation function is no longer
independent of the phase properties of the sensor.
[0047] The processor may thus be adapted to perform the following
steps: a) estimate a convolution correction coefficient
.phi..sub.12(.omega.) from .PHI. 12 * .function. ( .omega. ) = j
.times. .times. W ^ 1 , j .function. ( .omega. ) .times. .times. W
^ 2 , j * .function. ( .omega. ) .times. .times. exp .times. [ - ik
.times. .times. ( .omega. ) .times. .times. .DELTA. .times. .times.
x j ] ##EQU5## where { .sub.1,j(.omega.)} and { *.sub.2,j(.omega.)}
are the Fourier transformation and complex conjugate Fourier
transformation of two measured bending wave signals {W.sub.1,j(t)}
and {W.sub.2,j(t)} and {.DELTA.x.sub.j} is the path-length
difference; b) calculate the dispersion corrected correlation
function with phase correction from: G .times. .times. ( t ) = 1 2
.times. .pi. .times. .intg. - .infin. + .infin. .times. W ^ 1
.function. [ f .times. .times. ( .omega. ) ] .times. .times. W ^ 2
* .function. [ f .times. .times. ( .omega. ) ] .times. .times.
.PHI. 12 .times. [ f .times. .times. ( .omega. ) ] .times. .times.
exp .times. .times. ( I.omega. .times. .times. t ) .times. .times.
d .omega. ##EQU6##
[0048] The phase correction has the effect of deconvolving the
dispersion corrected correlation function such that the position of
the maximum is consistent with the position of the contact.
[0049] The processor may further be adapted to include in the
determination procedure any available information about where the
contact can be expected. This may be particularly useful in
situations where the position of a contact may not be unambiguously
determined by the dispersion corrected correlation functions, e.g.
when reflected waves interfere with the direct-wave signature or
less than three sensors are used. For example, if the member is an
input device for a graphical user interface where the user is
presented with a choice of `buttons` to press, it may be useful to
assume that any contact on the member occurs within the discrete
areas corresponding to the buttons.
[0050] Alternatively, a map of the probability at which a contact
is likely to occur and which is based on the expected behaviour of
the user may be used. The device may comprise a software
application with a graphical user interface (GUI) which interacts
with the operating system by means of an application program
interface (API) in which the API is adapted to generate the
probability map. The probability map may be based on the location,
size, and frequency of use of objects presented by the graphical
user interface. The probability map may also be based on
information about the relative likelihood of the various GUI
elements being activated.
[0051] The information in the mapped correlation functions may be
combined with the probability map to give higher reliability. The
expected probability may also be a further input to a neural-net
which accepts information derived from the sensors.
[0052] The member may comprise a raised pattern on its surface
whereby a contact drawn across the surface provides a variable
force to the member to generate bending waves in the member. The
pattern may be periodic, or quasi-periodic with a statistically
well-defined spatial distribution of undulations. The processor may
be adapted to determine the contact position by using knowledge of
the periodicity of the pattern and the fact that the interval
between impulses represents the time in which a contact, which may
be provided by a stylus, has travelled to an adjacent feature of
the pattern. The pattern may be random whereby a contact travelling
over the surface of the member generates a random bending wave
signal.
[0053] The use of random surface pattern may be used independently
of the dispersion correction correlation function. Thus according
to another aspect of the invention, there is provided a contact
sensitive device comprising a member capable of supporting bending
waves, a sensor mounted on the member for measuring bending wave
vibration in the member to determine a first measured bending wave
signal and a processor which calculates information relating to the
contact from the measured bending wave signal from the sensor,
wherein a surface of the member comprises a raised pattern whereby
a contact drawn across the surface provides a variable force to the
member to generate bending waves in the member.
[0054] The device may comprise sensing means to determine a second
measured bending wave signal which is measured simultaneously with
the first measured bending wave signal and the processor may
calculate information relating to the contact from a dispersion
corrected correlation function of the two measured bending wave
signals. The dispersion corrected correlation function is described
above and thus features of the first and second embodiments may be
applied to this embodiment. The dispersion corrected correlation
function is particularly useful if the measured bending wave
signals have a large bandwidth centred on a frequency which gives a
phase-velocity of bending waves in the member which is much greater
than the maximum lateral velocity of the contact.
[0055] According to another embodiment of the invention, there is
provided a contact sensitive device comprising a member capable of
supporting bending waves, a sensor mounted on the member for
measuring bending wave vibration in the member to determine a first
measured bending wave signal and a processor which calculates
information relating to a contact from the measured bending wave
signal from the sensor, wherein the device comprises at least a
second sensor to determine a second measured bending wave signal
which is measured simultaneously with the first measured bending
wave signal and the processor optimises a product of a set of
corrected impulse response measurements from each sensor to
determine information related to the contact.
[0056] The information calculated may be the time to at which
contact occurs and thus the form of the dispersion relation,
k(.omega.), and the distance, x, separating each sensor from the
contact site must be known. The corrected impulse response
measurement may be calculated by using the following steps: [0057]
1) Calculate the Fourier transform {square root over (W)}(.omega.)
of a measured bending wave signal W(t); [0058] 2) Calculate an
equivalent response, W'(t), from a notional sensor positioned at
the contact site by '(.omega.)= (.omega.)exp[ik(.omega.)x]. [0059]
3) Calculate the inverse Fourier transform of '(.omega.) to provide
function W'(t).
[0060] The product is thus II.sub.jW'.sub.j(t) in which the
function W'(t) shows an initial impulse from the contact which is
without dispersion and which is centred at t.sub.0, the time of the
impulse. Features in W(t) due to edge reflections will appear later
in W'(t) but will not be corrected for dispersion in the same way
as for the direct impulse which is thus more easy to identify.
[0061] The product shows a strong peak due to the direct impulse,
and a weak background noise. By taking the product we reinforce the
signal coincident at t.sub.0 in all W'.sub.j(t), whereas the
information due to reflections is uncorrelated and suppressed. This
procedure is therefore a reliable way of determining t.sub.0.
[0062] Conversely, the information relating to the contact may be
the location of the contact, i.e. the co-ordinate r and thus the
sensor-contact distances, x.sub.j and the time t.sub.0 for which
the maximum value of II.sub.jW'.sub.j(t.sub.0) is obtained must be
known.
[0063] This optimisation process may involve iterative refinement
of estimates for r and t.sub.0. The initial estimate may be derived
from impulse response functions whose high temporal frequency
components have been suppressed, with the result that the estimate
is easy to obtain (fewer local maxima), but of low spatial
precision. Further iterations may introduce progressively higher
frequency components as the estimate is refined.
[0064] The various embodiments of the invention therefore provides
two complementary methods of determining the contact position: the
method of dispersion-corrected correlation functions, and the
method of maximizing II.sub.jW'.sub.j(t.sub.0).
[0065] The following characteristics may apply to all embodiments
of the invention. The device may comprise means for recording
measured bending wave signals from the or each sensor over time as
the contact moves across the member. The measured bending wave
signals may be recorded as time-series data, i.e. a sequence of
values measured at different times.
[0066] The time-series data may be analysed as a sequence of short
sections or `frames` of data, which may have widths or durations of
10 ms. The processor may apply a window function to the frames of
data. Window functions are well known in the art--see for example
Press W. H. et al., Numerical Recipes in C, 2 Ed., Cambridge
University Press 1992, Ch. 13.4. The processor may be adapted to
extract information on the contact which has been averaged over the
duration of the frame, e.g. the mean positional co-ordinate of the
moving contact. The processor may apply the dispersion corrected
correlation technique to calculate the mean path length difference
for each frame of data to give a sequence of path-length
differences over time.
[0067] Alternatively, the time-series data may be analysed using
adaptive filters such as those described in Grant PM et al
"Analogue and Digital Signal Processing and Coding", Ch 10 (1989).
The adaptive filter may correct for a convolution function which
relates the time-series data from the first and second measured
bending wave signals. The convolution function changes slowly over
time as the contact moves and is dependent on the position of the
contact.
[0068] The adaptive filter may calculate a convolution correction
which when applied to the measured bending wave signals produces a
signal as close as possible to the measurement input. The first
measured bending wave signals form a first time-series data which
may be sent to the reference signal of the adaptive filter and the
second measured bending wave signals form a second time-series data
which may be delayed, preferably by the maximum expected width of
the correlation function, before being sent to the primary input of
the adaptive filter whereby the convolution correction may be
calculated. The processor may apply the dispersion correction to
the convolution function to give a function whose maximum is
determined by the difference between the path-length from contact
to the sensor and the path-length from the contact to the sensing
means.
[0069] The information calculated may be the location of the
contact or may be other information, e.g. pressure or size of the
contact. The information relating to the contact may be calculated
in a central processor. The sensors may be mounted at or spaced
from an edge of the member. The sensors may be in the form of
sensing transducers which may convert bending wave vibration into
an analogue input signal.
[0070] The member may be in the form of a plate or panel. The
member may be transparent or alternatively non-transparent, for
example having a printed pattern. The member may have uniform
thickness. Alternatively, the member may have a more complex shape,
for example a curved surface and/or variable thickness. The
processor may be adapted for complex shaped members by providing an
adaptive algorithm such as a neural net to decipher the contact
location from the bending wave signal received by the sensor.
[0071] The device may be a purely passive sensor with the bending
wave vibration and hence the measured bending wave signals being
generated by an initial impact or by frictional movement of the
contact. Alternatively, the device may be an active sensor and thus
the device may comprise an emitting transducer. The transducer may
have dual functionality, namely acting as an emitting transducer
and a sensor. The member may also be an acoustic radiator and
bending wave vibration in the member may be used to generate an
acoustic output.
[0072] Measurements of the bending wave signal due to a contact may
be contaminated by the bending waves due to the audio signal,
particularly when the audio signal is similar to the bending wave
signal generated by the contact. The effect may be minimised by
ensuring the frequency band of the audio signal differs from and
does not overlap the frequency band of the measurements from the
sensors and sensing means. The audio and measured signals may thus
be filtered, for example, the audio band may be limited to
frequencies below 20 kHz, and the vibration measurements may be
limited to frequencies above 20 kHz.
[0073] The device may be a dual active and passive sensor and may
be adapted to switch between active and passive sensing modes
depending on whether contact is applied to the device. The device
may cycle between resting in passive sensing mode when no contact
is detected, switching to active mode sensing when a contact is
applied and returning to passive sensing mode once the contact is
removed to wait for further contacts. This may be advantageous to
avoid the power drain when the device is in active mode.
[0074] The contact may be in the form of a touch from a stylus
which may be in the form of a hand-held pen. The movement of a
stylus on the member may generate a continuous signal which is
affected by the location, pressure and speed of the stylus on the
member. The stylus may have a flexible tip, e.g. of rubber, which
generates bending waves in the member by applying a variable force
thereto. The variable force may be provided by tip which
alternatively adheres to or slips across a surface of the member.
As the tip moves across of the member a tensile force may be
created which at a certain threshold, causes any adhesion between
the tip and the member to break, thus allowing the tip to slip
across the surface.
[0075] Alternatively, the contact may be in the form of a touch
from a finger which may generate bending waves in the member which
may be detected by passive and/or active sensing. The bending waves
may have frequency components in the ultrasonic region (>20 kHz)
. Passive sensing is therefore sensitive to contacts with both
fingers and styli.
[0076] When the device is acting as an active sensor, i.e. with an
emitting transducer generating an excitation signal, the contact
may exert a non-linear force on the member so as to generate
harmonics of the excitation signal. The processor may comprise
signal processing devices to isolate the excitation signal from the
harmonics so that the harmonics may used to determine the contact
position in a similar manner to passive sensing. The harmonics
effectively constitute a source of bending waves from the contact
site.
[0077] The or each emitting transducer or sensor may be a bender
transducer which is bonded directly to the member, for example a
piezoelectric transducer. Alternatively, the or each emitting
transducer or sensor may be an inertial transducer which is coupled
to the member at a single point. The inertial transducer may be
either electrodynamic or piezoelectric. It may be possible to use
audio transducers which are already in place as sensing and/or
emitting transducers.
[0078] A contact sensitive device according to the invention may be
included in a mobile phone, a laptop or a personal data assistant.
For example, the keypad conventionally fitted to a mobile phone may
be replaced by a continuous moulding which is touch sensitive
according to the present invention. In a laptop, the touchpad which
functions as a mouse controller may be replaced by a continuous
moulding which is a contact sensitive device according to the
invention. The moulding may be implemented as a mouse controller or
other alternatives, e.g. a keyboard. Alternatively, the contact
sensitive device may be a display screen, e.g. a liquid crystal
display screen comprising liquid crystals which may be used to
excite or sense bending waves. The display screen may present
information relating to the contact.
BRIEF DESCRIPTION OF THE DRAWINGS
[0079] The invention is diagrammatically illustrated, by way of
example, in the accompanying drawings, in which:--
[0080] FIGS. 1a to 1d are a graphic illustration of a method of
dispersion correction according to the prior art, in which FIG. 1a
is a graph of a dispersive impulse response showing response in
arbitrary units against time. FIG. 1b is a graph of a dispersive
frequency response showing response in arbitrary units against
frequency. FIG. 1c is a graph of a non-dispersive frequency
response showing response in arbitrary units against frequency.
FIG. 1d is a graph of a non-dispersive impulse response showing
response in arbitrary units against time;
[0081] FIG. 2 is a plan view of a contact sensitive device
according to the present invention;
[0082] FIG. 3 is a perspective view of a first device incorporating
passive touch sensing;
[0083] FIG. 4 is a perspective view of a second device
incorporating passive touch sensing;
[0084] FIG. 5 is a block diagram of a processing algorithm for the
passive sensing of FIGS. 3 and 4;
[0085] FIG. 6 is a perspective view of first device incorporating
active touch sensing;
[0086] FIG. 7 is a perspective view of a second device
incorporating active touch sensing;
[0087] FIG. 8 is a flow chart showing a method of calculating the
path-length difference between the contact and two measurement
points using the dispersion corrected correlation function;
[0088] FIG. 8a is a schematic plan view of a device to which the
method of FIG. 8 is applied;
[0089] FIG. 8b is a graph of dispersion corrected correlation
function against time;
[0090] FIG. 9 is a flow chart showing a first method of removing
reflections from a measured bending wave signal,
[0091] FIG. 10 is a flow chart showing a second method of removing
reflections from a measured bending wave signal.
[0092] FIG. 11a and 11b are schematic perspective and plan views of
a touch sensitive device according to another aspect of the
invention;
[0093] FIG. 12 is a schematic block diagram of a processing
algorithm which may be used for the device of FIG. 11.
[0094] FIG. 12a is a graph showing the combined transfer function
H(f) against frequency (f) for the filter and amplifier of FIG.
12;
[0095] FIG. 12b is a graph of a measured bending wave signal
against time;
[0096] FIG. 13 is a flow chart of the steps for obtaining an
empirical phase correction;
[0097] FIG. 13a is a plan view of a grid defined on a member for
use in the method of FIG. 13;
[0098] FIG. 14 is a touch sensitive device according to another
aspect of the invention;
[0099] FIG. 15 is a circuit diagram of an adaptive noise canceller
which may be used in the various devices;
[0100] FIG. 16a is a schematic block diagram of a contact sensitive
device which also operates as a loudspeaker;
[0101] FIG. 16b is a method of separating audio signal and measured
bending wave signal in the device of FIG. 16a;
[0102] FIG. 17 is a flow chart showing a method of calculating the
contact location using the dispersion corrected auto-correlation
function;
[0103] FIG. 17a is a schematic plan view of a device to which the
method of FIG. 17 is applied;
[0104] FIG. 17b is a graph of dispersion corrected auto-correlation
function against time, and
[0105] FIG. 18 is a block diagram showing how an adaptive filter
may be used to calculate information relating to the contact.
DETAILED DESCRIPTION
[0106] FIG. 2 shows a contact sensitive device (10) comprising a
transparent touch sensitive plate (12) mounted in front of a
display device (14). The display device (14) may be in the form of
a television, a computer screen or other visual display device. A
stylus (18) in the form of a pen is used for writing text (20) or
other matter on the touch sensitive plate (12).
[0107] The transparent touch sensitive plate (12) is a member, e.g.
an acoustic device, capable of supporting bending wave vibration.
Three transducers (16) are mounted on the plate (12). At least two
of the transducers (16) act as sensors or sensing means and are
thus sensitive to and monitor bending wave vibration in the plate.
The third transducer (16) may also be a sensing transducer so that
the system corresponds to the passive contact sensitive device of
FIG. 3 or FIG. 4.
[0108] Alternatively, the third transducer may be an emitting
transducer for exciting bending wave vibration in the plate so that
the system corresponds to the active sensor of FIG. 5. In the FIG.
6 or FIG. 7 embodiment, the active sensor may act as a combined
loudspeaker and contact sensitive device.
[0109] FIGS. 3 and 4 are more detailed illustration of two contact
sensitive devices (32,33). The contact sensitive devices (32,33)
comprises a member in the form of a panel (24) capable of
supporting bending wave vibration and three sensors in the form of
sensing transducers (26) for sensing bending wave vibration at
their respective mounting points. The vibration pattern (28) is
created when pressure is applied at a contact point (30). The
devices may be considered to be passive contact sensitive devices
since the devices do not comprise an emitting transducer. Thus the
bending wave panel vibration in the panel is generated solely by
the contact.
[0110] In a passive sensor an impulse in the body of the panel (24)
starts a bending wave travelling towards the edge of the panel
(24). The bending wave is detected by the three sensing transducers
(26) mounted equidistantly around the edges as in FIG. 3 or by the
three sensing transducer mounted on a surface of the panel (24) but
spaced from the edges of the panel (24) as in FIG. 4. The measured
bending wave signals are processed to determine the spatial origin
and force profile of the applied impulse.
[0111] FIG. 5 shows a possible implementation for the processing of
the bending wave information sensed at each sensing transducer (26)
of FIG. 3 or FIG. 4. In FIG. 5, the bending waves in the panel are
sensed by three sensing transducers (26). The sensing transducers
(26) measure analogue bending wave signals W.sub.1(t), W.sub.2(t)
and W.sub.3(t) which are transmitted to a multiplexing analogue to
digital converter (ADC) (54). The resultant digital input signal is
transmitted to the central processor (34) from which information
(58) relating to the location and profile of the contact impulse is
determined.
[0112] FIGS. 6 and 7 are more detailed illustrations of alternative
combined touch sensitive and audio devices (35,37). The devices
each comprise a panel (24) capable of supporting bending wave
vibration and an emitting transducer (31) for exciting bending wave
vibration in the panel (24). The device (35) in FIG. 6 further
comprises two sensing transducers (26) for sensing bending wave
vibration at their respective mounting points whereas the device
(37) in FIG. 7 comprises only one sensing transducer (26). The
vibration pattern (28) is interrupted when pressure is applied at a
contact point (30). The devices may be considered to be active
contact sensitive devices since the devices comprise an emitting
transducer (31).
[0113] In FIG. 6, the sensing and emitting transducers (26,31) are
spaced equidistantly around the edges of the panel (24) whereas in
FIG. 7, the sensing and emitting transducers (26,31) are distanced
from the edges of the panel (24) and are mounted to a surface
thereof.
[0114] FIG. 8a shows an embodiment having two sensors (102) mounted
on a member (100) to which a contact is applied at a contact
location (104). FIG. 8 shows a method of calculating the dispersion
corrected correlation function to reveal the difference in path
length between the contact location (104) and the sensors (102).
The method comprises the following steps: [0115] (a) Measure two
bending wave signals W.sub.1(t) and W.sub.2(t); [0116] (b) Remove
reflections from the measured signals and calculate W'.sub.1(t) and
W'.sub.2(t), e.g. by using the method set out in FIG. 9; [0117] (c)
Calculate the Fourier transform of W'.sub.1(t) and W'.sub.2(t) to
arrive at .sub.1(.omega.) and .sub.2(.omega.) and hence the
intermediate function (.omega.) *.sub.2(.OMEGA.) where
*.sub.2(.omega.) is the complex conjugate Fourier transform. [0118]
(d) and (e) at the same time as performing steps (a) to (c), the
frequency stretching operation f(.omega.)=vC {square root over
(.omega.)} is calculated using the predetermined panel dispersion
relation k=C {square root over (.omega.)}. [0119] (f)
.sub.1(.omega.) and .sub.2(.omega.) and f(.omega.)=vC {square root
over (.omega.)} are combined to arrive at the dispersion corrected
correlation function: G .times. .times. ( t ) = 1 2 .times. .pi.
.times. .intg. - .infin. + .infin. .times. W ^ 1 .function. [ f
.times. .times. ( .omega. ) ] .times. .times. W ^ 2 * .function. [
f .times. .times. ( .omega. ) ] .times. .times. exp .times. .times.
( I.omega. .times. .times. t ) .times. .times. d .omega. ; and
##EQU7## [0120] (g) the dispersion corrected correlation function
is plotted against time with a peak occurring at time t.sub.12 as
shown in FIG. 8b; [0121] (h) .DELTA.x.sub.12 is calculated from
t.sub.12; .DELTA.x.sub.12 is the path-length difference between the
path lengths x.sub.1 and x.sub.2 from the first and second sensors
to the contact. [0122] (i) .DELTA.x.sub.12 is used to calculate the
location of the contact.
[0123] Alternatively at step (e), the dispersion corrected
correlation function with phase correction .phi..sub.12 set out
below may be used. The calculation of .phi..sub.12 is explained in
FIG. 13. G .times. .times. ( t ) = 1 2 .times. .pi. .times. .intg.
- .infin. + .infin. .times. W ^ 1 .function. [ f .times. .times. (
.omega. ) ] .times. .times. W ^ 2 * .function. [ f .times. .times.
( .omega. ) ] .times. .times. .PHI. 12 .times. [ f .times. .times.
( .omega. ) ] .times. .times. exp .times. .times. ( I.omega.
.times. .times. t ) .times. .times. d .omega. ##EQU8##
[0124] FIG. 9 shows a method of removing reflections from an
impulse measurement where the impulse occurs at t=0. The method
comprises the following steps: [0125] i) Measure a bending wave
signal W.sub.1(t); [0126] ii) Transform the signal on the time axis
by using U(.tau.)=W(1/.tau.); [0127] iii) A low pass filter is
applied, for example, U'(.tau.) as shown to remove all reflected
signals. The constant C from the predetermined panel dispersion
relation k=C {square root over (.omega.)} is used to define the
width of the convolution function .DELTA..tau.; [0128] iv) The
response may then be transformed back to linear units of time, as
W'(t)=U(1/t).
[0129] FIG. 10 shows an alternative method for removing reflections
from an impulse measurement where the impulse occurs at t=0. The
method comprises the following steps: [0130] i) Measure a bending
wave signal W.sub.1(t); [0131] ii) Estimate the distance x between
each sensor and the location of the contact; [0132] iii) Use the
estimate x and a predetermined dispersion relation k=C {square root
over (.omega.)} to define an averaging window N(t, t') [0133] iv)
Apply the averaging window N(t, t') to the bending wave signal
W.sub.1(t) to remove the effect of reflections.
[0134] N(t,t') is an example of an averaging window with a Gaussian
shape. A rectangular window can be implemented to give
computational efficiency. Multiple applications of a rectangular
window may be desirable; a large number of repeated applications of
a rectangular window will produce a similar result to N(t,t').
[0135] FIGS. 11a and 11b show a contact sensitive device (80)
comprising a rectangular member (82) capable of supporting bending
waves and four sensors (84) for measuring bending wave vibration in
the member. The sensors (84) are in the form of piezoelectric
vibration sensors and are mounted on the underside of the member
(82), one at each corner. A foam mounting (86) is attached to the
underside of the member and extends substantially around the
periphery of the member. The foam mounting (86) has adhesive
surfaces whereby the member may be securely attached to any
surface. The foam mounting may reduce the reflections from the edge
of the member.
[0136] Two sets of path length differences,
.DELTA.x.sub.12=x.sub.1-x.sub.2 and .DELTA.x.sub.34=x.sub.3-x.sub.4
are calculated as described in FIG. 8; x.sub.i is the distance from
each sensor to the contact. As shown in FIG. 11b the hyperbolae
(85) defined by the two path-length differences are plotted and the
location of the contact is the intersection (87) of two
hyperbolae.
[0137] FIG. 12 is a schematic diagram illustrating the
implementation of a processing algorithm in the device of FIG. 11.
The sensors (84) measure analogue bending wave signals W.sub.1(t),
W.sub.2(t) and W.sub.3 (t) which are passed through an amplifier
and anti-aliasing (low-pass) filter (88). The amplitude of the
combined transfer function H(t) of the amplifier and anti-aliasing
filter is shown in FIG. 12a. The filtered signals are converted
into digital signals by a digitiser (90) and stored in a
first-in-first-out buffer having finite length. The buffer
comprises two stores, a pre-trigger and a post-trigger store
(92,93) for signals measured before and after the detection process
is triggered respectively.
[0138] The central processor (94) determines information relating
to the location and profile of a contact of the member by the
following steps: [0139] a) The central processor performs a
threshold test which is illustrated in FIG. 12b. The measured
bending wave signal (96) is compared to a predetermined threshold
value (98). When the measured signal passes the threshold value,
the detection process is triggered. [0140] b) An array of
time-series digital input signals is transferred from the buffer to
the processor. The signals include measurements taken before and
after the detection process is triggered so that a digital measure
of the entire waveform of the impulse from the contact is
reconstructed. [0141] c) The processor shifts the waveform
according to the estimate of t.sub.0 so that t.sub.0 is set to
zero. [0142] d) The processor removes the effect of reflections
from the digitised signal as described above with the estimate of
to as zero and the estimate of x taken as the diagonal length of
the member. [0143] e) The processor applies further processing, in
particular calculating the dispersion corrected correlation
function for each diagonally opposed pair of sensors and
calculating information relating to the contact.
[0144] The further processing applied by the processor may also
comprise applying a pre-determined phase correction to the
dispersion corrected correlation function. This may be calculated
as shown in FIG. 13. [0145] a) Define a grid as shown in FIG.
13a--for example, for the embodiment shown in FIGS. 11a and 11b
which has a member (82) which four sensors (84), this may be done
by defining points (71) by the vector {r.sub.j}. In the example in
FIG. 13a the grid has 8 rows and 7 columns so the grid is defined
by a set of 56 vectors [r.sub.1, r.sub.2 . . . r.sub.56]. [0146] b)
A user taps on the first point (71) in the grid defined by r.sub.1
and the first and second bending wave signals {W.sub.1,j(t)} and
{W.sub.2,j(t)} are measured by the first and second sensor of each
pair of sensors; [0147] c) Step (b) is repeated until the user has
tapped on each point in the grid; [0148] d) Calculate the Fourier
transforms of the bending wave signals; [0149] e) Calculate the
empirical phase correction: .PHI. 12 * .function. ( .omega. ) = j
.times. .times. W ^ 1 , j .function. ( .omega. ) .times. .times. W
^ 2 , j * .function. ( .omega. ) .times. .times. exp .times. [ - ik
.times. .times. ( .omega. ) .times. .times. .DELTA. .times. .times.
x j ] ##EQU9## where .DELTA.x.sub.j is the difference between the
path lengths, x.sub.1,j & x.sub.2,j from the first and second
sensors to the contact. The path lengths are known from the grid
coordinates.
[0150] FIG. 14 shows a contact sensitive device (70) comprising a
member (72) capable of supporting bending waves and three sensors
(64) mounted on the member for measuring bending wave vibration in
the member. A surface of the member (72) comprises a raised pattern
(66) which is a periodic pattern of raised crossed lines. A stylus
(78) is drawn across the surface along a path (74) and as it
crosses a line of the pattern it generates bending waves (76) in
the member.
[0151] FIG. 15 shows an adaptive noise canceller for example as
described in "Widrow et al Adaptive Noise Cancelling: Principles
and Applications, Proceedings of the IEEE, Vol 63 No 12 pp 1692
(1975)". The adaptive noise canceller comprises an adaptive filter
(40) which takes the initial audio signal as the reference input.
The canceller may be used to remove the contribution of the audio
signal from the output of a vibration sensor before any further
processing occurs. The adaptive filter shown is one example of an
adaptive filter that can be applied to this task.
[0152] FIG. 16a shows a contact sensitive device which also
operates as a loudspeaker. FIG. 16b shows a method for partitioning
the audio signal and measured signal into two distinct frequency
bands so that the contribution of the audio signal to the processed
measured signal is suppressed. The device comprises a member (106)
in which bending waves are generated by an emitting transducer or
actuator (108) and the contact. The emitting transducer applies an
audio signal to the member (106) to generate an acoustic output.
Before being applied to the member, the audio signal is filtered by
a low pass filter (112) which, as shown in FIG. 16b, removes the
audio signal above a threshold frequency f.sub.0.
[0153] As shown in FIG. 16b, the contact generates a signal which
has a power output which is substantially constant over a large
frequency band. The signal from the contact and the audio signal
sum to give a combined signal which is passed through a high pass
filter (114) to remove the signal above the threshold frequency
f.sub.0. The filtered signal is then passed to a digitiser (116)
and onto a processor (118).
[0154] FIG. 17a shows an embodiment having a single sensor (120)
mounted on a member (100) to which a contact is applied at a
contact location (104). Bending waves are reflected from the edge
of the member and create an image of a virtual source which is at
location (122). FIG. 17 shows a method of calculating the
dispersion corrected auto-correlation function to reveal the
contact location (104). The method comprises the following steps:
[0155] (a) Measure one bending wave signal W.sub.1(t); [0156] (b)
Calculate the Fourier transform of W.sub.1'(t) to arrive at
.sub.1(.omega.); [0157] (c) at the same time as performing steps
(a) and (b) the frequency stretching operation f(.omega.)=vC
{square root over (.omega.)} is calculated using the predetermined
panel dispersion relation k=C {square root over (.omega.)}. [0158]
(d) .sub.1(.omega.) and f(.omega.)=vC {square root over (.omega.)}
are combined to arrive at the dispersion corrected auto-correlation
function: G .times. .times. ( t ) = 1 2 .times. .pi. .times. .intg.
- .infin. + .infin. .times. W ^ 1 .function. [ f .times. .times. (
.omega. ) ] .times. .times. W ^ 2 * .function. [ f .times. .times.
( .omega. ) ] .times. .times. exp .times. .times. ( I.omega.
.times. .times. t ) .times. .times. d .omega. ; and ##EQU10##
[0159] (g) the dispersion corrected correlation function is plotted
against time with peaks occurring at time t.sub.11 and -t.sub.11 as
shown in FIG. 17b; [0160] (h) .DELTA.x.sub.11 is calculated from
t.sub.11; .DELTA.x.sub.12 is the path-length difference between the
path lengths x.sub.1 and x.sub.1' from the first and second sensors
to the contact. [0161] (i) .DELTA.x.sub.12 is used to calculate the
location of the contact.
[0162] FIG. 18 shows the adaptive filter of FIG. 15 may also be
used to calculate the location of the contact from a device
comprising two sensors. In general, adaptive filters contain a
finite-impulse-response (FIR) filter. A FIR filter is equivalent to
a convolution operation, with some convolution function
.phi.(t).
[0163] The signals W.sub.1(t) measured by the first sensor are sent
to the adaptive filter (40) and the signals W.sub.2(t) measured by
the second sensor are sent to a delay unit (41). The delay unit
delays the signals from the second sensor, preferably by the
maximum expected width of the convolution function. The delayed
signals are then sent to the primary input of the adaptive filter.
The adaptive filter continually updates the convolution function so
that an estimate, {tilde over (W)}.sub.2(t), of the primary signal
input, W.sub.2(t), may be obtained from the reference input,
W.sub.1(t). The convolution operation is defined as follows: {tilde
over
(W)}.sub.2(t)=.intg..sub..infin..sup..infin.W.sub.1(t').PHI.(t-t')dt'.
[0164] The location of the contact is calculated in the processor
by the following steps: [0165] a) Extract the FIR convolution
function from the internal memory of the adaptive filter. [0166] b)
Calculate the Fourier transform of the FIR convolution function.
[0167] c) Apply the frequency stretching operation f(.omega.)=vC
{square root over (.omega.)}; [0168] d) Calculate the inverse
Fourier transform to arrive at F(t).
[0169] F(t) is a phase equivalent of the dispersion correction
correlation function G(t) and thus the Fourier transforms of G(t)
and F(t) have equal phase but not necessarily the same amplitude.
Accordingly, the location of any peaks in the time domain for F(t)
and G(t) are the same and thus the location of the contact may be
calculated from the peak of F(t) as described above for G(t).
* * * * *