U.S. patent application number 14/517674 was filed with the patent office on 2015-09-03 for skin stretch feedback devices, systems, and methods.
The applicant listed for this patent is Nathan A. Caswell, Andrew J. Doxon, Landon T. Gwilliam, Markus N. Montandon, William R. Provancher. Invention is credited to Nathan A. Caswell, Andrew J. Doxon, Landon T. Gwilliam, Markus N. Montandon, William R. Provancher.
Application Number | 20150248160 14/517674 |
Document ID | / |
Family ID | 52427150 |
Filed Date | 2015-09-03 |
United States Patent
Application |
20150248160 |
Kind Code |
A2 |
Provancher; William R. ; et
al. |
September 3, 2015 |
SKIN STRETCH FEEDBACK DEVICES, SYSTEMS, AND METHODS
Abstract
Embodiments of the present disclosure relate devices, systems,
methods, and for displaying information about the direction and
magnitude of position, movement, and/or resistive force experienced
for an object. The present disclosure also provides a shear display
device that can generate skin shear with one or more tactors, each
moving in a two- or three-dimensional space. The movement of the
tactors can represent to a user various information about an
object.
Inventors: |
Provancher; William R.;
(Fremont, CA) ; Montandon; Markus N.; (Alpine,
UT) ; Doxon; Andrew J.; (Urbandale, IA) ;
Caswell; Nathan A.; (Salt Lake City, UT) ; Gwilliam;
Landon T.; (Taylorsville, UT) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Provancher; William R.
Montandon; Markus N.
Doxon; Andrew J.
Caswell; Nathan A.
Gwilliam; Landon T. |
Fremont
Alpine
Urbandale
Salt Lake City
Taylorsville |
CA
UT
IA
UT
UT |
US
US
US
US
US |
|
|
Prior
Publication: |
|
Document Identifier |
Publication Date |
|
US 20150035658 A1 |
February 5, 2015 |
|
|
Family ID: |
52427150 |
Appl. No.: |
14/517674 |
Filed: |
October 17, 2014 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
PCT/US13/32053 |
Mar 15, 2013 |
|
|
|
14517674 |
|
|
|
|
61659421 |
Jun 13, 2012 |
|
|
|
61659452 |
Jun 14, 2012 |
|
|
|
61660162 |
Jun 15, 2012 |
|
|
|
61961586 |
Oct 18, 2013 |
|
|
|
Current U.S.
Class: |
340/407.1 |
Current CPC
Class: |
G05G 9/047 20130101;
G05G 2009/04766 20130101; G08B 6/00 20130101; G05G 5/03 20130101;
G06F 3/016 20130101 |
International
Class: |
G06F 3/01 20060101
G06F003/01; G08B 6/00 20060101 G08B006/00 |
Claims
1. A method for displaying force and movement information related
to one or more objects, the method comprising: receiving
information about one or more of movement of an object, forces
experienced by the object, and torques experienced by the object;
displaying the information to a user by concurrently stretching a
plurality of portions of user's skin with a plurality of tactors of
one or more shear display devices; and wherein at least one tactor
of the plurality of tactors moves in a two-dimensional space or in
a three-dimensional space.
2. The method of claim 1, wherein displaying the information to a
user includes rotating at least one of the plurality of tactors
relative to a body of one of the one or more shear display
devices.
3. The method of claim 1, wherein at least two tactors of the
plurality of tactors move in a two-dimensional space or in a
three-dimensional space.
4. The method of claim 3, wherein the at least two tactors of the
plurality of tactors move in substantially opposite directions to
concurrently stretch a plurality of portions of user's skin.
5. The method of claim 1, wherein displaying the information to a
user includes moving at least one of the plurality of tactors along
a non-planar path that follows at least one non-planar surface of a
body of the one or more shear display devices.
6. The method of claim 1, wherein displaying the information to a
user includes moving at least one of the plurality of tactors using
a flexible spine connected to an actuator.
7. The method claim 1, wherein displaying the information to a user
includes stretching a plurality of portions of user's skin with a
plurality of tactors of one or more shear display devices based on
a simulated interaction with a remote virtual interaction point
outside a body of the one or more shear display devices.
8. The method of claim 1, wherein at least two of the plurality of
tactors are located in opposing directions from one another.
9. A method for displaying force and movement information related
to one or more objects, the method comprising: receiving
information about one or more of rotations of an object and torque
experienced by the object; isolating a first portion of a user's
skin relative to a body of a shear display device; moving a first
tactor of the shear display device in a first direction, the first
tactor being in contact with the isolated first portion of the
user's skin; isolating a second portion of a user's skin relative
to a body of the shear display device; and moving a second tactor
of the shear display device in a second direction, the second
tactor being in contact with the isolated second portion of the
user's skin, the second direction being opposite to the first
direction.
10. The method of claim 9, wherein moving the first tactor includes
moving the first tactor along a linear path and wherein moving the
second tactor includes moving the second tactor along a linear
path.
11. The method of claim 9, wherein moving the first tactor includes
moving the first tactor along an arcuate path and wherein moving
the second tactor includes moving the second tactor along an
arcuate path.
12. The method of claim 9, further comprising: isolating a third
portion of a user's skin relative to the body of the shear display
device; and moving a third tactor of the shear display device in
the second direction along a linear path, the third tactor being in
contact with the isolated third portion of the user's skin.
13. The method of claim 9, wherein the second direction is opposite
to the first direction and away from or towards the first
tactor.
14. The method of claim 9, wherein: the first tactor has a first
area, the first tactor being positioned and oriented relative to
the body to engage a portion of the user's skin having a first
density of mechanoreceptors; the second tactor has a second area,
the second tactor being positioned and oriented relative to the
body to engage a portion of the user's skin having a second density
of mechanoreceptors; and wherein: the first area has a first
proportion relative to the first density of mechanoreceptors; and
the second area has a second proportion relative to the second
density of mechanoreceptors.
15. The method of claim 14, wherein the first proportion and the
second proportion are approximately equal.
16. A shear display device for displaying tactile information and
cues to a user, the device comprising: a first body; a first tactor
positioned along a portion of the first body, the first tactor
being movable along a length of the portion of the first body in a
first path; and a second tactor positioned along the portion of the
first body, the second tactor being movable along the length of the
portion of the first body in a second path, the second tactor being
at least partly opposite to the first tactor.
17. The device of claim 16 further comprising a third tactor being
movable in a third path, the third path being parallel to the first
path or the second path.
18. The device of claim 17 further comprising a fourth tactor
movable in a fourth path, the fourth tactor being at least
partially opposite to the third tactor.
19. The device of claim 18, wherein the third tactor and fourth
tactor are positioned along a length of a second body, the second
body being fixed relative to the first body.
20. The device of claim 16, further comprising: One or more motors
configured to move the first tactor and second tactor; a
microprocessor in electrical communication with the one or more
motors; and a memory module in data communication with the
microprocessor, wherein the memory module is configured to provide
data to the microprocessor and the microprocessor is configured to
calculate a displacement amount of the first tactor and second
tactor based at least partially upon the data and actuate the one
or more motors to move the first tactor and second tactor the
displacement amount.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a continuation-in-part and claims
the benefit of and priority to: Patent Cooperation Treaty
Application No. PCT/US13/32053, filed Mar. 15, 2013, entitled "SKIN
STRETCH FEEDBACK DEVICES, SYSTEMS, AND METHODS"; U.S. Provisional
Patent Application No. 61/659,421, filed Jun. 13, 2012, entitled
"SKIN STRETCH FEEDBACK DEVICES, SYSTEMS, AND METHODS"; U.S.
Provisional Application No. 61/659,452, filed Jun. 14, 2012,
entitled "SKIN STRETCH FEEDBACK DEVICES, SYSTEMS, AND METHODS";
U.S. Provisional Application No. 61/660,162, filed Jun. 15, 2012,
entitled "SKIN STRETCH FEEDBACK DEVICES, SYSTEMS, AND METHODS"; and
U.S. Provisional Application No. 61/961,586 filed Oct. 18, 2013.
The entire content of each of the above-referenced applications is
incorporated herein by this reference.
BACKGROUND
[0002] The field of haptics is the science of interfacing with
users via the sense of touch by applying forces, vibrations, or
motions to a user. Haptic devices are increasingly used to provide
a user with sensory input that conveys information about the
surrounding environment. For instance, a haptic device can produce
vibratory motions to provide the user, through his or her sense of
touch, with various types of information. Haptic devices are
commonly used in the field of gaming to provide sensory cues
related to the user's environment.
[0003] Ordinarily, haptic devices are integrated into controllers
(e.g., joystick), so the user can receive haptic feedback that
relates to movements of the controller and/or an object being
controlled. Typical haptic devices provide vibratory or force
stimuli to display information to the user. In some instances,
however, such stimuli can interfere with the user's ability to
accurately and/or safely manipulate the controller that provides
such haptic feedback. For example, force feedback on a controller
that is used to operate a crane can result in unintended movements
of the user's hand, which may, in turn, move the controller to an
unintended position, thereby causing an accident. Similar results
occur in video games when utilizing a force feedback joystick to
control game play; however, this resulting loss of control has less
catastrophic consequences. Hence, in some instances, vibration
feedback and especially force feedback may reduce safety of
operation of a controller that integrates such haptic feedback
mechanisms. This is especially of concern in safety critical
applications, such as robotic surgery or catheterization. Such
concerns are the reason why force feedback of tool tip forces are
not currently permitted in robotically enabled surgical
applications.
[0004] Accordingly, there is a need for skin stretch feedback
devices, systems, and methods.
BRIEF SUMMARY
[0005] Embodiments of the present disclosure provide devices,
systems, and methods for displaying information about direction of
movement, speed, resistive force experienced, other aspects of
movement for an object, or combinations thereof. The device can
also be used to display or feedback a wide variety of information
that has magnitude and/or direction associated with it (e.g.,
temperature, motion, pressure, force, volume, proximity, other
information, or combinations thereof) or give guidance about where
a person should move (e.g., to push forward on an aircraft control
stick to prevent stall from occurring). More specifically, the
present disclosure provides a shear display device that can
generate skin shear with one or more tactors moving in a two- or
three-dimensional space. The movement of the tactors can represent
to a user various aspects of an object (e.g., object being
controlled by the user or a controlled object).
[0006] At least one embodiment of the present disclosure includes a
shear display device for displaying tactile information and cues to
a user. Such the device may include a body, a first motor and a
crank coupled to the first motor. The device also may include a
slider slidably positioned within the body, a first end of the
slider being coupled to the crank in a manner that rotation of the
first motor produces a linear movement of the slider. In addition,
the device may include a tactor coupled to the slider.
[0007] One or more embodiments may include another shear display
device for displaying tactile information and cues to a user. The
device may incorporate a body, a first actuator assembly at least
partially located within or secured to the body, the actuator
assembly. The actuator assembly may include a sliding housing, a
first motor secured to the sliding housing, a worm coupled to the
first motor, and one or more gears engaged with the worm, the one
or more gears being oriented substantially orthogonally relative to
the worm. Additionally, the actuator assembly may include a cam
coupled to the one or more gears, wherein the body includes a slot
configured to accept the cam in a manner that rotation of the cam
within the slot and produces movement of the sliding housing
relative to the body. Moreover, the device may include a first
tactor coupled to the sliding body in a manner that the first
tactor can move relative to the body.
[0008] In addition, embodiments of the present disclosure may
include yet another shear display device for displaying tactile
information and cues to a user. The device may have a body sized
and configured to be grasped by the user's hand and an actuator
assembly at least partially located within or secured to the body.
The actuator assembly may include a motor, a crank coupled to the
motor, and a flexible spine having a first end coupled to the crank
in a manner that rotation of the motor in a clockwise direction
moves the flexible spine in a first direction and rotation of the
crank in a counterclockwise direction moves the flexible spine in a
second direction that is opposite to the first direction. The
device also may include a first tactor coupled to a second end of
the flexible spine in a manner that the flexible spine moves the
first tactor in the first and second directions.
[0009] Yet another embodiment of the present disclosure may include
one other shear display device for displaying tactile information
and cues to a user. The device may have a body and a first tactor
having a first area, the first tactor being positioned and oriented
relative to the body to engage a portion of the user's skin having
a first density of mechanoreceptors. The device also may include a
second tactor having a second area, the second tactor being
positioned and oriented relative to the body to engage a portion of
the user's skin having a second density of mechanoreceptors.
Furthermore, the second area may be greater than the first area,
and the first density of mechanoreceptors may be greater than the
second density of mechanoreceptors.
[0010] Embodiment also may include still one other shear display
device for displaying tactile information and cues to a user. The
device may incorporate a body having an elongated portion and a
first tactor positioned along the elongated portion of the body,
the first tactor being movable along a length of the elongated
portion of the body. The device also may have a second tactor
positioned along the elongated body, the second tactor being
movable along the length of the elongated portion of the body, the
second tactor being opposite to the first tactor. In addition, the
device may include a third tactor positioned along the elongated
body, the third tactor being movable along the length of the
elongated portion of the body. In addition, the device may include
a fourth tactor positioned along the elongated body, the fourth
tactor being movable along the length of the elongated portion of
the body.
[0011] Additional or alternative embodiments may include one other
shear display device for displaying tactile information and cues to
a user. The device may have a body and a first tactor having a
first area, the first tactor being positioned and oriented relative
to the body to engage a portion of the user's skin having a first
density of mechanoreceptors. The device also may include a second
tactor having a second area, the second tactor being positioned and
oriented relative to the body to engage a portion of the user's
skin having a second density of mechanoreceptors. Furthermore, the
first area may have a first proportion relative to the first
density of mechanoreceptors, while the second area may have a
second proportion relative to the second density of
mechanoreceptors. In addition, the first proportion and the second
proportion may be approximately the same. One or more embodiments
may include a control system for controlling an object and
receiving tactile feedback about the movement of the object, forces
experienced by the object, torques experienced by the object, and
combinations thereof. The system may include a shear display device
including, which may have a body, an actuator assembly at least
partially located with or secured to the body, and a first tactor
coupled to the actuator assembly, the first tactor being movable in
a two-dimensional or a three-dimensional space by the actuator
assembly. The system also may include a controller operably
connected to the shear display device, the controller being
configured to receive instructions from the shear display device
and to communicate the instructions to a controlled object.
[0012] Embodiments of the present disclosure also may involve a
method for displaying movement information related to one or more
objects as well as information about torque or rotational motion
experienced thereby. The method may include receiving information
about one or more of rotation of an object and torque experienced
by the object, isolating a first portion of a user's skin relative
to a body of a shear display device, and moving a first tactor of
the shear display device in a first direction along a linear path,
the first tactor being in contact with the isolated first portion
of the user's skin. The method also may include isolating a second
portion of a user's skin relative to a body of the shear display
device and moving a second tactor of the shear display device in a
second direction along a linear path, the second tactor being in
contact with the isolated second portion of the user's skin, the
second direction being opposite to the first direction.
[0013] Also, embodiments may include a method for displaying
information about a change in size of an object. The method may
include receiving information about the change in size of the
object, isolating a first portion of a user's skin relative to a
body of a shear display device, and moving a first tactor of the
shear display device in a first direction along a linear path, the
first tactor being in contact with the isolated first portion of
the user's skin. The method also may include isolating a second
portion of a user's skin relative to a body of a shear display
device and moving a second tactor of the shear display device in a
second direction along a linear path, the second tactor being in
contact with the isolated second portion of the user's skin, the
second direction being opposite to the first direction and away
from or towards the first tactor.
[0014] The methods described herein may be performed by a
processor, such as a microprocessor. For example, at least one
method described herein may be encoded in instructions that are
executable by a processor and/or may be stored in a computer
readable medium and/or computer storage device.
[0015] Additional features and advantages of exemplary
implementations of the disclosure will be set forth in the
description which follows, and in part will be obvious from the
description, or may be learned by the practice of such exemplary
implementations. The features and advantages of such
implementations may be realized and obtained by means of the
instruments and combinations particularly pointed out in the
appended claims. These and other features will become more fully
apparent from the following description and appended claims, or may
be learned by the practice of such exemplary implementations as set
forth hereinafter.
BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to describe the manner in which the above-recited
and other advantages and features of the disclosure can be
obtained, a more particular description of the disclosure briefly
described above will be rendered by reference to specific
embodiments thereof which are illustrated in the appended drawings.
For better understanding, the like elements have been designated by
like reference numbers throughout the various accompanying figures.
Understanding that these drawings depict only typical embodiments
of the disclosure and are not therefore to be considered to be
limiting of its scope, the disclosure will be described and
explained with additional specificity and detail through the use of
the accompanying drawings in which:
[0017] FIG. 1A illustrates a perspective view of a shear display
device in accordance with one embodiment of the present
disclosure;
[0018] FIG. 1B illustrates an exploded perspective view of the
shear display device of FIG. 1A;
[0019] FIG. 2A illustrates a perspective view of a shear display
device in accordance with another embodiment of the present
disclosure;
[0020] FIG. 2B illustrates a perspective view of an actuation
mechanism in accordance with one embodiment of the present
disclosure;
[0021] FIG. 2C illustrates a bottom perspective view of an actuator
assembly that incorporates the actuation mechanism of FIG. 2B;
[0022] FIG. 2D illustrates a top perspective view of an actuator
assembly that incorporates the actuation mechanism of FIG. 2B;
[0023] FIG. 3A illustrates a perspective view of an actuator
assembly in accordance with one or more embodiments of the present
disclosure;
[0024] FIG. 3B illustrates a side view of the actuator assembly of
FIG. 3A;
[0025] FIG. 4 illustrates a perspective view of a shear display
device in accordance with yet another embodiment of the present
disclosure;
[0026] FIG. 5 illustrates a perspective view of a shear display
device in accordance with still one other embodiment of the present
disclosure;
[0027] FIG. 6 illustrates a perspective view of a shear display
device in accordance with one or more embodiments of the present
disclosure;
[0028] FIG. 7A illustrates a perspective view of a shear display
device in accordance with yet one other embodiment of the present
disclosure;
[0029] FIG. 7B illustrates a partial cutaway perspective view of
the shear display device of FIG. 7A;
[0030] FIG. 8 illustrates a perspective view of a shear display
device in accordance with still one other embodiment of the present
disclosure;
[0031] FIG. 9 illustrates a perspective view of a shear display
device in accordance with one or more embodiments of the present
disclosure;
[0032] FIG. 10A illustrates a perspective view of a shear display
device in accordance with an embodiment of the present
disclosure;
[0033] FIG. 10B illustrates a top cutaway view of a shear display
device in accordance with an embodiment of the present
disclosure;
[0034] FIG. 11 illustrates a perspective view of a shear display
device in accordance with at least one other embodiment of the
present disclosure;
[0035] FIG. 12 illustrates a perspective view of a control system
that incorporates a shear display device in accordance with one
embodiment of the present disclosure;
[0036] FIG. 13 illustrates a chart of acts of a method of
displaying information via tactile cues in accordance with one
embodiment of the present disclosure;
[0037] FIG. 14A is a perspective view of a shear display device
having four sliding tactors in accordance with at least one
embodiment of the present disclosure;
[0038] FIG. 14B is a perspective view of a shear display device
having three sliding tactors in accordance with at least one
embodiment of the present disclosure;
[0039] FIG. 14C is a perspective view of a shear display device
having three sliding tactors in accordance with at least one other
embodiment of the present disclosure;
[0040] FIG. 14C-2 is a front view of the shear display device of
FIG. 14C;
[0041] FIG. 14C-3 is a right side view of the shear display device
of FIG. 14C;
[0042] FIG. 14C-4 is a top view of the shear display device of FIG.
14C;
[0043] FIG. 14C-5 is a bottom view of the shear display device of
FIG. 14C;
[0044] FIG. 14C-6 is a back view of the shear display device of
FIG. 14C;
[0045] FIG. 14C-7 is a left side view of the shear display device
of FIG. 14C;
[0046] FIG. 14D is a perspective view of a shear display device
having two sliding tactors in accordance with at least one other
embodiment of the present disclosure;
[0047] FIG. 14D-2 is a front view of the shear display device of
FIG. 14D;
[0048] FIG. 14D-3 is a right side view of the shear display device
of FIG. 14D;
[0049] FIG. 14D-4 is a top view of the shear display device of FIG.
14D;
[0050] FIG. 14D-5 is a bottom view of the shear display device of
FIG. 14D;
[0051] FIG. 14D-6 is a back view of the shear display device of
FIG. 14D;
[0052] FIG. 14D-7 is a left side view of the shear display device
of FIG. 14D;
[0053] FIG. 15A illustrates a system including a plurality of shear
display devices fixed relative to one another in accordance with at
least one embodiment of the present disclosure;
[0054] FIG. 15B is a perspective view of the system of FIG.
15A;
[0055] FIG. 16 illustrates a shear display device selectively
connectable to a control interface in accordance with at least one
embodiment of the present disclosure;
[0056] FIG. 17 illustrates a system including a plurality of
connected shear display devices having multiple degrees of freedom
relative to one another in accordance with at least one embodiment
of the present disclosure;
[0057] FIG. 18 illustrates a precision grip shear display device
with opposing shear feedback in accordance with at least one
embodiment of the present disclosure;
[0058] FIG. 19A illustrates a shear display device simulating a
virtual interaction point external to the device in accordance with
at least one embodiment of the present disclosure;
[0059] FIG. 19B is a front view of the shear display device of FIG.
19A;
[0060] FIG. 19C is a right side view of the shear display device of
FIG. 19A;
[0061] FIG. 19D is a top view of the shear display device of FIG.
19A;
[0062] FIG. 19E is a bottom view of the shear display device of
FIG. 19A;
[0063] FIG. 19F is a back view of the shear display device of FIG.
19A;
[0064] FIG. 19G is a left side view of the shear display device of
FIG. 19A;
[0065] FIG. 20 illustrates a shear display device having three
sliding tactors and configured to simulate a virtual interaction
point external to the device in accordance with at least one
embodiment of the present disclosure;
[0066] FIG. 21A illustrates a tactor having a covering including a
flexible material in accordance with at least one embodiment of the
present disclosure;
[0067] FIG. 21B illustrates the tactor of FIG. 21A moving or
deforming the covering including a flexible material in accordance
with at least one embodiment of the present disclosure;
[0068] FIG. 21C illustrates a sliding tactor having a curved tactor
and a covering including a flexible material in accordance with at
least one embodiment of the present disclosure;
[0069] FIG. 21D illustrates the tactor of FIG. 21C deforming the
covering including a flexible material in accordance with at least
one embodiment of the present disclosure; and
[0070] FIG. 22 schematically illustrates a cross-sectional view of
a shear display device having a micro-processor and memory
configured to perform at least one method in accordance with the
present disclosure.
[0071] FIG. 23A depicts an embodiment of a shear display device
having a restraining device attached to the body and configured to
hold a user's hand proximate the shear display device.
[0072] FIG. 23B depicts an embodiment of a shear display device
having a restraining device including a thumb strap attached to the
body and configured to hold a user's hand proximate the shear
display device.
[0073] FIG. 23C depicts another embodiment of a shear display
device having a restraining device including a thumb strap attached
to the body and configured to hold a user's hand proximate the
shear display device.
DETAILED DESCRIPTION
[0074] Embodiments of the present disclosure provide devices,
systems, and methods for displaying information about direction of
movement, speed, resistive force experienced, other aspects of
movement for an object, or combinations thereof. The device can
also be used to display or feedback a wide variety of information
that has magnitude and/or direction associated with it (e.g.,
temperature, pressure, volume, proximity, other information, or
combinations thereof) or give guidance about where a person should
move (e.g., to push forward on an aircraft control stick to prevent
stall from occurring). More specifically, the present disclosure
provides a shear display device that can generate skin shear or
skin stretch with one or more tactors moving in a two- or
three-dimensional space. The tactors (or contactors) are the moving
contacts between the shear display device and the user's skin, and
the terms shear display, shear feedback, skin stretch, and skin
stretch feedback are used interchangeably to refer to tactile cues
provided via stretching one or more portions of the user' skin. The
movement of the tactors can represent to a user various aspects of
the movement of the object (e.g., object being controlled by the
user or a controlled object). As used herein, the use of the term
"controlled object" also includes the user's own body, limbs, arms,
fingers, and hand.
[0075] For instance, the movement of the tactors can represent
linear (or translational) direction and/or speed of the object's
movement, or that a user should translate their hand or limb in
two- or three-dimensional space. Furthermore, the movement of the
tactors also can represent rotation of the object in two- or
three-dimensional space, or that a user should rotate their hand or
limb in two- or three-dimensional space. Similarly, movement of the
tactors can display information about force and/or torque
experienced by the object. With such information, the user may
direct movement of the object (or their limbs) more accurately. For
example, the user can control the amount of force applied by the
controlled object onto another body as well as location and/or
direction of the force. A controlled object can be any automated or
semi-automated vehicle, tool, or other implement, movement of which
can be directed by a controller. Examples of controlled objects
include controlled servo and stepper motors or other actuators,
computer controlled machines, vehicles, robots, etc. A controlled
object could also include the human user, e.g., for using shear
feedback to guide their limb motions during physical therapy.
[0076] Additionally, while providing information about various
aspects of movement (e.g., acceleration, velocity, etc.) and/or
location (e.g., orientation, position, etc.) of the controlled
object, at least some embodiments of the shear display device do
not generate gross motion of the user's hand (or other body part)
that is in contact with the shear display device. In particular,
the shear display device can be part of a controller (e.g., a
joystick) that directs movement of the controlled object. The
controller with shear feedback can allow the user to control or
direct the controlled object, while displaying information about
the controlled object's movement (i.e., through skin stretch rather
than gross movement of the joystick). Moreover, the controller with
shear feedback can display movement information (i.e., through skin
stretch) without affecting the movement and/or location of the
user's hand such as to interfere with the operation of the
controller. In other words, in one or more embodiments, while the
shear display device provides or (physically) displays information
to the user, the shear display device does not move the user's
limb, but rather only a small portion of the skin of the user's
body, which may include the user's head, arm, hand, finger, other
body part, or combinations thereof (for multiple tactors).
[0077] In some embodiments, the shear display device also can
provide a simulated force feel to the user's hand, finger, or
another body part. More specifically, the skin shear produced by
the shear display device can be similar to the sensation otherwise
felt by the user while using an actual tool, similar to the tool
that is being controlled and operated by an automated system (e.g.,
a robot). Hence, for example, a surgeon can receive shear feedback
while controlling an automated or robotically controlled scalpel,
and such shear feedback can approximate the shear that a manual
scalpel would produce on the skin of the surgeon's hand. Shear
feedback can also be used to provide force information or guidance
cues for procedures such as catheterization, rehabilitation,
laser/bone/vascular etc. surgery, or resection. For example, when
used for rehabilitation, shear feedback can guide a person's limb
motions as part of physical therapy, etc.
[0078] In some embodiments, a controller can detect when the user
is not in contact with the tactor of the shear display device. For
instance, the shear display device can include a touch sensor,
which can recognize contact with user's skin (or lack thereof).
This sensor could include, but is not limited to a capacitive
sensor, electrostatic sensor, contact switch, force sensor, etc.
Accordingly, the shear display device and/or the controller can
respond to loss of contact with the user's skin, in a manner that
would avoid displaying inaccurate information to the user. For
example, if loss of tactor's contact with the user's skin is
detected, the tactor can move to its default position (e.g., an
origin or zero position, such as a center of a finger well) and
cease all further operation, until contact is reestablished. Once
contact is reestablished, the tactor can once again commence
displaying information to the user. Additionally, the shear display
device can alert the user about the loss of contact with the tactor
as well as about reestablishment of contact (e.g., by providing an
audible alert).
[0079] The tactor of a shear display can also be coupled to or have
a force sensor embedded within it. This force sensor can be used
for the above purpose of knowing when the user's hand is in contact
with the shear tactor(s). The force sensor can also be used as a
user input for the controller, similar in spirit as a ThinkPad
laptop's TrackPoint cursor control sensor. Alternatively or in
addition, this embedded force sensor can also be used to more
generally measure user interaction forces with the shear display's
tactor(s). These force sensors may provide a means to control
translational and rotational input or motion to a device, object,
robot, vehicle, or other computer controlled system. As will be
described below, whereas like motion of multiple tactors can be
used to provide translational information such as direction cues or
display of object interaction force or motion, and the differential
motion of multiple shear tactors can be used to present rotational
information to the user, a user is also able to provide
translational and rotational input to the force sensors on the
multiple tactors in an analogous manner. That is, if the user
applies the same force in the same direction to multiple tactors,
this would cause a pure translational input to the control system,
and if the user applies the same force in opposite directions
(i.e., a force couple) to multiple tactors, this would cause a
rotational input to the control system.
[0080] If different forces are applied to the two (or more) afore
mentioned force sensors, the force direction and magnitude can be
taken into account in determining the meaning of this input. One
intuitive means to interpret having different inputs force vectors
applied to multiple tactors would be to solve for the resultant
forces and torques on the system of force sensors. Hence, one would
examine the applied force vectors and the relative location of the
force sensors in order to solve for the net translational force and
moment applied to the system of force sensors. This can provide a
means to provide multidimensional input control, including
rotations, of a system using multiple 2- or 3-degree-of-freedom
translational force sensors. This provides the ability to measure
user input through applied forces on the shear display tactors, as
opposed to just capturing the user's motion by tracking the
position of the held or strapped-on shear display (e.g., by putting
the shear display on a robot arm or by using some type of
non-contact motion tracker). Furthermore, this scheme of capturing
user input from one or more tactors with embedded force sensors is
the "input" equivalent of moving the tactors together to give
translational direction/motion/force cues or feedback and moving
the tactors differentially to give rotational
direction/motion/force etc., cues or feedback (which will be
discussed further below).
[0081] Note, that in addition to tracking the position of the shear
display by mounting it on the end of a robotic arm (with force
feedback) or kinematic arm (without force feedback), it is also
possible to utilize single or multiple shear displays within a
shear display device or device with embedded shear feedback in
combination with any type of motion tracking system to provide
tactile feedback. This tactile feedback can be used to provide
relevant situational or control information. For example, a device
with single or multiple shear displays within it could be paired
with a wireless camera system (e.g. XBOX KINECT) or other motion
system (e.g., NINTENDO WII WIIMOTE motion/position sensor, or SONY
MOVE motion sensor), other non-contact motion sensing (e.g.,
POLHEMUS, RAZER HYDRA, flock of birds inductive/electromagnetic
motion sensors or ultrasound motions sensors) and used to provide
feedback in a teleoperation, virtual reality, or gaming
interaction. Information displayed via shear display can coordinate
to the user's interaction within those environments, and/or the
user's current motion. Other motion sensors can also be used to
provide feedback via shear display based on user interaction in the
above environments, such as tilt sensors, inertial sensors, gyros,
accelerometers, magnetometers, or other position or motion sensors.
Note that inertial sensing and some forms of non-contact position
sensing also make it so that no explicit absolute position sensing
is necessary, yet this sensor information can provide information
that can be used by the control system and fed back to a user via
shear feedback. Interaction from force sensors such as a force
sensor in the user's chair or floor (e.g., WII FIT board) can also
be used to provide content to be portrayed via skin stretch
feedback using a shear display. Again use of multiple force sensors
on the tactors of a shear display device can be used to provide
translational or rotational inputs to a control system.
[0082] Examples of types of information that can be portrayed along
with how it can be displayed, includes: impact can be displayed by
rapidly moving the tactor in the direction of the impact force, the
velocity of an object or the person can be displayed via shear
feedback by moving the tactor with a relative position proportional
to the orientation and magnitude of the object's velocity vector.
Forces are also similarly mapped to tactor motions by displaying a
force vector as a scaled tactor displacement vector. The tilt of an
object can also be portrayed via shear feedback by mapping the tilt
angle or change in gravitational forces to a proportional amount of
skin stretch feedback whose orientation corresponds to the
direction an object is tilted (e.g., this could provide feedback as
a user tilts their smart phone while playing a game). Another
example would be to display skin stretch feedback in a driving game
whose tactor motion is proportional to the inertial forces felt by
the driver. As another example, if the orientation of the user's
hands or arms is tracked then the orientation of the shear feedback
could also be corrected to correspond to changes in the user's
orientation with respect to the frame of reference of the forces,
which may be useful while conducting upper extremity
rehabilitation.
[0083] Any other quantities that have a vector and/or magnitude
could also be displayed via shear feedback, e.g., life meter in a
shooter game, sonar map that shows the location of enemies, which
could be displayed by an outbound pulse-type motion in the
direction of the target on the heads up map. This application could
have performance advantages as the gamer won't need to refer to the
visual heads-up display window as much to monitor this information.
Likewise, skin stretch feedback could be used to point to an open
player in a sports game using a radial tactor motion in the
direction towards the open player and then return to center. The
tactor motion could move repeatedly in an AC coupled fashion, or
could simply move the tactor in the radial direction towards the
open player and persistently point in the direction of interest
until this information is no longer valid (before the tactor would
return to center). Giving AC coupled cues has the advantage in that
they are repeated and a user can sometimes (physically or
cognitively) miss an initial tactor motion. The tactors location
can also be used to provide feedback on the relative location or
motion of an object within a game or virtual reality scenario.
[0084] It should be noted that various modes of user interaction
are described herein. For example, the use of force feedback, shear
display via skin stretch (using tactors), force detection (using
tactors and force sensors), and other modes of user interaction are
described. These descriptions are not meant to be limiting in any
way. Force feedback, shear display via skin stretch, force
detection, other user interaction modes, or combinations thereof
may be used to interact with the user. Furthermore other modes of
user interaction including visual feedback, auditory feedback,
haptic feedback, olfactory feedback, even gustational (i.e. taste)
feedback, other sensory feedback, or combinations thereof may be
used to interact with the user. Haptic feedback, for example, may
include vibrotactile feedback. In addition or alternative to these
various types of feedback, other modes of receiving user feedback
may be used. In addition or alternative to force detection, other
user feedback detection may be used. For example, motion capture
(including video), sound detection (including but not limited to
voice recognition), other user feedback detection, or combinations
thereof. Furthermore, it should be clear that any of the user
feedback modes and the user feedback detection modes may be used
individually or in combination with each other.
[0085] In one embodiment, using shear (or skin stretch) feedback in
combination with force feedback may reduce the amount of force
feedback necessary to lower (or even safe) levels. This may, in the
event that there are sensing errors with force feedback alone,
reduce instabilities. Thus, using force feedback with skin stretch
feedback may enhance/increase the perceived force or stiffness (or
other force information such as friction, damping, etc.) reducing
the amount of force feedback required. Providing force feedback in
combination with skin stretch feedback may be more intuitive
because the forces and force directions, though weak in some cases,
can still be perceived and may help people more intuitively
interpret the skin stretch cues, especially when moving with more
spatial motions (i.e., not confined to a plane) or when judging
real physical mechanical properties such as stiffness, damping,
mass, friction, etc. Furthermore, when using torque feedback and
shear feedback to provide rotational (i.e., torque or other
rational indicators), less torque feedback may be necessary, due to
the complementary rotational shear feedback (from differentially
moving tactors) cues. Other advantages are also considered.
[0086] Furthermore, as described herein shear feedback may be used
with various procedures. For example, shear feedback may be used to
guide hand motions. This guidance may come through directional
shear feedback cues, force/torque feedback cues, other cues, or
combinations thereof. In the context of catheterization with a
shear feedback and/or force feedback device, these cues may be used
to help a user stay within a predetermined path.
[0087] For ease of description, the various modes of user
interaction that are described herein have been generally
presented. These modes of user interactions in addition to any
other modes of user interactions may be used for these
procedures.
[0088] Referring now to the figures, FIG. 1A illustrates one
embodiment of a shear display device 100a that has a tactor 110a,
which can provide tactile cues and display information to a user.
The tactor 110a can be at least partially located within a body
120a. In some instances, the body 120a can be cylindrical; however,
other shapes of the body 120a can be suitable, depending on the
particular use of the shear display device 100a. Generally, the
body 120a can have a suitable configuration for being grasped by
the user and/or to provide a reasonable means for the user to lay
their hand and/or fingers on the shear display device 100a. The
shear display device 100a also can include a well 130a, which can
isolate the user's skin with respect to the body 120 and/or near or
about the tactor 110a, such that the movement of the tactor 110a
can stretch the user's isolated skin. For instance, the well 130a
can isolate skin on the user's finger (or fingertip), such that the
tactor 110a can create skin stretch thereon without physically
moving the user's finger in any substantial manner. Among other
things, the well 130a may be configured as an aperture or an
orifice. In any event, the well 130a can have a suitable shape,
size, and configuration (e.g., position and orientation relative to
the tactor 110a) to restrain the user's skin relative to the tactor
110a and may also assist in grasping the shear display device
100a.
[0089] The tactor 110a can move in a two-dimensional space (or in
three-dimensional space in some embodiments, though the discussion
with respect to FIG. 1A will be mostly focused on two-dimensional
space) and, when in contact with the user's skin, can cause skin
stretch by such movements. In particular, the tactor 110a can move
along X- and/or Y-axes, indicated in FIG. 1A. Moreover, the tactor
110a can move simultaneously along both X- and Y-axes. As such, the
tactor 110a can have linear or nonlinear movement in any direction.
The skin stretch, experienced by the user can provide cues and
information (e.g., directional information) to the user. For
example, a linear movement of the tactor 110a can represent a
linear movement of the object being controlled by the user. Such
movement can be represented in any direction in a two-dimensional
space.
[0090] Hence, via movement of the tactor 110a, the shear display
device 100a can provide any number of directional cues or types of
directional information. In at least one embodiment, the shear
display device 100a can provide shear feedback that relates linear
movement of an object (e.g., a controlled object, the shear display
device 100a, or any other predetermined object or entity, whether
real or virtual) with the movement of the tactor 110a. For
instance, movement of the tactor 110a in a first direction can
indicate to the user that an object also has moved in the first
direction. Alternatively, movement of the tactor 110a in the first
direction can signal to the user that a destination is located
linearly in the first direction from the user or from a controlled
object. In other words, movement of the tactor 110a also can
indicate direction where it may be desirable for the user to move a
controlled object. Accordingly, the shear display device 100a can
guide the user (or user's hand) and can provide cues for
controlling the controlled object (e.g., directing the controlled
object to move in a certain desirable direction).
[0091] Likewise, the shear display device 100a can display force
information. For example, movement of the tactor 110a in the first
direction can indicate a force applied to the controlled object,
which is acting on the first object in the first direction. Hence,
the user can quickly determine the direction of the force being
applied to the controlled object. Additionally or alternatively,
the shear display device 100a can indicate a relative amount of
force experienced by the controlled object. For instance,
relatively slow movement and/or relatively small displacement of
the tactor 110a in the first direction can indicate a relatively
small or insignificant force acting on the controlled object. By
contrast, a relatively fast movement and/or relatively large
displacement of the tactor 110a can indicate a relatively large
force acting on the controlled object.
[0092] Similar to linear movements and forces, the shear display
device 100a also can display rotational and/or torque information
related to an object or entity (e.g., related to the controlled
object). Rotational information can relate to in-plane rotation of
an object (e.g., a controlled object, the shear display device
100a, or any other predetermined object or entity, whether real or
virtual). For example, the tactor 110a can move in a substantially
or approximately circular or semicircular manner about a
predetermined point (e.g., about an original or default position of
the tactor 110a or another point). In other words, the tactor 110a
can move simultaneously along X- and Y-axes in a manner that
produces a spiral, circular or semicircular movement. In any event,
movement of the tactor 110a can appear to the user as a circular or
semicircular movement.
[0093] Circular and/or semicircular movement of the tactor 110a can
represent rotation of the controlled object and/or torque
experienced thereby. More specifically, the rotational movement of
the tactor 110a can represent, for instance, the rotation of the
object or the magnitude of the torque applied thereto. In one
example, the tactor 110a generally moves about and within the
diameter of the well. In other embodiments, the diameter of the
circular or semi-circular path may be used to communicate the
orientation or rotation of the object or the magnitude of the
torque applied thereto. In further embodiments, other shapes or
paths of the tactor 110a may be used to describe the motion (i.e.,
force or velocity) of the controlled object.
[0094] Additionally or alliteratively, the tactor 110a can rotate
about a point. In other words, rather than moving in a circular or
semicircular path as described herein, the tactor 110a may rotate
about a point. Such rotation (in place) also can represent rotation
of an object and/or can convey information about the object's
rotation and/or the torque experienced thereby. Similarly, to
display the orientation of the object's rotation and/or the torque
experienced thereby, the tactor 110a can have a related rotation or
motion that can produce corresponding skin stretch in the user's
hand, finger, or other body part. In other embodiments, a
combination of the circular or semicircular movement as well as
rotation of the tactor 110a may be used. For instance, the tactor
110a may rotate about its own axis as it also moves in a circular
or semi-circular manner about a point.
[0095] In additional or alternative embodiments, the shear display
device 100a also can provide information through a pattern or
sequence of movements. For instance, the tactor 110a can have
repeated movement or a series of repeated movements in a direction
within the plane of the shear display. Such interrupted movement
provides "AC coupled" or pulsing directional information (force,
direction, displacement, motion, etc.). That is, movement of the
tactor 110a can be pulsed with the direction and/or magnitude of
the directional information to be provided. This directional
information can also be done through sustained movements of the
tactor, through "DC coupled" feedback. In this mode, the tactor
110a is moved to a position that represents the direction and/or
magnitude of the directional information (force, direction,
displacement, motion, etc.) and is held in this position until the
tactor is moved back to its center position to indicate that that
the user should stop moving, that force now zero, etc.).
[0096] In at least one embodiment, the information displayed by the
shear display device 100a via movements of the tactor 110a that
produce skin stretch can reflect the movement of the shear display
device 100a as well as the movement of the controlled object or any
other predetermined object or entity. In some instances, direction
and/or speed of movement or acceleration of the tactor 110a can
represent movement of the controlled object. For example, if the
controlled object moves slowly, the tactor 110a also can move
correspondingly slowly (i.e., at the same or proportional rate of
speed as the controlled object) and in the same direction as the
controlled object, thereby signaling to the user the speed and
direction of movement of the controlled object. The tactor 110a
could also signal the speed and direction of motion by moving the
tactor 110a a first distance and in a first direction (e.g., from a
center or default position of the tactor 110a). The first distance
and the first direction can be proportional to and may correspond
with the object's velocity.
[0097] In some embodiments, the shear display device 100a also can
be a controller that directs movements of a controlled object
(i.e., sends information necessary to move or operate such
controlled object). For instance, the shear display device 100a can
include a mounting shaft 140a, which can couple to a corresponding
control mechanism (e.g., a gimbaled sensor, a force feedback device
such as a Phantom Robot Arm, etc.). As further described herein,
the control mechanism can detect movements of the shear display
device 100a and can send instruction to a controller for directing
the controlled object.
[0098] In additional or alternative embodiments, the shear display
device 100a also can send control signals or instructions to a
controller without being physically connected to the control
mechanism. For instance, the shear display device 100a can
incorporate wired or wireless tracking mechanisms that can
interface with or can be incorporated into the control mechanism
and can detect movements and/or position (or change thereof) of the
shear display device 100a, which can be provided by the control
mechanism as instructions for the controlled object. Furthermore,
the tactor 110a can also include a force sensor in communication
therewith. Consequently, the force sensor can send directional
information to the control mechanism or to the controller, which
can provide corresponding instruction to the controlled object.
[0099] In addition, as further described herein, the shear display
device 100a can display information along a Z-axis. In other words,
the shear display device 100a can provide information about
three-dimensional movements, forces, torques, positions, etc. For
instance, the tactor 110a can move outward or inward (i.e., toward
or into the user's skin and away from the user's skin) to display
information related to movement and/or force along the Z-axis of an
object. Hence, movement of the tactor 110a along the Z-axis can
provide information about the object, which is similar to the
information described herein in connection with two-dimensional
movement of the tactor 110a.
[0100] Moreover, movement of the tactor 110a along the Z-axis can
be independent of the movements along the X- and/or Y-axes. Hence,
the tactor 110a can move in any number of patterns or directions in
three-dimensional space. For example, the tactor 110a can move in
any one or more of the X-Y, X-Z, and Y-Z planes. Also, such
movement can be along any desired path (e.g., circular path in the
X-Z plane), which can indicate movement or position of as well as
forces or torques experienced by the object.
[0101] The tactor 110a can be actuated in a number of ways. For
example, as illustrated in FIG. 1B, the actuator assembly of the
shear display device 100a can include a crank-slider mechanism 150a
connected to a first motor 160a. The crank-slider mechanism 150a
can include a crank 170a connected to the first motor 160a and a
slider 180a coupled to the tactor 110a. As the first motor 160a
rotates, the crank 170a moves the slider 180a, thereby producing
linear motion of the tactor 110a (e.g., along Y-axis). Accordingly,
the crank mechanism 150a can produce linear motion of the tactor
110a in response to the rotation of the first motor 160a.
[0102] The actuator assembly of the shear display device 100a also
can include a second motor 190a. The second motor 190a can be
located within or secured to the slider 180a. In any event, the
second motor 190a can move (e.g., along the Y-axis) with the slider
180a. The second motor 190a also can be coupled to the tactor 110a
and can generate rotation of the tactor 110a, for example, with
respect to a center axis of the slider 180a. Moreover, operation of
the motor 160a and of the second motor 190a can be independent of
each other. As such, tactor 110a can move independently in
two-dimensions.
[0103] It should be noted, that the range of motion of the tactor
110a can be relatively small (e.g., 0-1 mm, 0-2 mm, 0-5 mm).
Accordingly, radial motion of the tactor 110a produced by the
second motor 190a can appear as substantially linear motion to the
user (e.g., as a linear motion along the X-axis). In other words,
the first motor 160a may generate linear motion in the y-direction
or along the Y-axis and the second motor can generate substantially
linear motion in the x-direction or along the X-axis. The movement
produced by the second motor 190a and by the first motor 160a
(together with the crank mechanism 150a), when combined together,
can produce any number of movements or movement patterns of the
tactor 110a, such as the movements and movement patterns described
herein. Particularly, the tactor 110a can be moved in a linear
manner in any direction. Similarly, the tactor 110a also can be
moved in a nonlinear manner in any direction. For example, the
tactor 110a can be moved in a circular semicircular or other
nonlinear manner.
[0104] The movement produced by the second motor 190a and by the
first motor 160a (together with the crank mechanism 150a), when
combined together, can produce any number of movements or movement
patterns of the tactor 110a. Particularly, the tactor 110a can be
moved in a linear manner in any direction. Similarly, the tactor
110a also can be moved in a nonlinear manner in any direction. For
example, the tactor 110a can be moved in a circular semicircular or
other nonlinear manner.
[0105] Although the description herein relates to a shear display
device that has an approximately cylindrical form factor, it should
be appreciated that this disclosure is not so limited. Moreover, in
light of this disclosure it should be appreciated that the form
factor of the shear display device can vary from one embodiment to
another. For instance, as illustrated in FIG. 2A, at least one
embodiment includes a shear display device 100b that has a flat or
box-like (e.g., rectangular) body 120b. Except as described herein,
the shear display device 100b and its components and elements can
be similar to or the same as the shear display device 100a (FIGS.
1A-1B) and its respective components and elements.
[0106] For example, as illustrated in FIG. 2A, the shear display
device 100a can include the tactor 110b located within a well 130b,
which can at least partially constrain user's skin in contact
therewith. The tactor 110b can display the same or similar
information as can be displayed by the tactor 110a of the shear
display device 100a (FIGS. 1A-1B). Moreover, the tactor 110b can
represent such information by the same or similar movements and
movement sequences as described herein in connection with the shear
display device 100a (FIGS. 1A-1B). In certain applications,
however, the rectangular body 120b of the shear display device 100b
may present a user with a more convenient or ergonomic interface
than, for instance, the shear display device that has a cylindrical
configuration.
[0107] Moreover, the well 130b and the tactor 110b can be located
essentially anywhere on the body 120b. For instance, the well 130b
and the tactor 110b can be located near one or more edges of the
body 120b (e.g., near a corner of the body 120). It should be
appreciated, however, that the well 130b and the tactor 110b also
can be located away from one or more edges of the body 120 (e.g.,
near a center point of the body 120), as may be desirable for a
particular application.
[0108] Also, flat or rectangular form factor of the shear display
device 100b can allow for additional or alternative actuation
mechanisms or actuator assemblies (e.g., as compared with the shear
display device 100a (FIGS. 1A-1B)), which can move the tactor 110b
relative to the well 130b. In one example, as illustrated in FIG.
2B, an actuator assembly of the shear display device 100b can
include one or more actuator assemblies, which can comprise a cam
actuation mechanism 150b. More specifically, the cam actuation
mechanism 150b can include first and second motors 160b, 190b which
can move or rotate respective first and second cams 170b, 180b. As
described herein in more detail, rotation of the first and second
cams 170b, 180b can result in movement of the tactor 110b relative
to the body 120b. As shown in FIGS. 2B-2D, the first and second
cams 170b, 180b are shown as eccentric circular pins that move
within a slot to provide relative motion.
[0109] In one embodiment, the first motor 160b can be coupled to
the first cam 170b through a series of gears. For example, the
first motor 160b can have a worm 162b coupled to a shaft thereof,
which engages a worm gear. The worm 162b can be engaged with a
worm/spur gear 172b of a first diameter. In some embodiments, the
connection between the worm 162b and the worm/spur gear 172b can be
a reducer and can provide mechanical advantage (i.e., can produce
higher torque at the rotation of the first gear 172b than produced
by the first motor 160b). As such, one rotation of the worm gear
162b can produce less than one rotation of the spur gear 172b. The
significant mechanical advantage that may be provided by a worm
gear can reduce the required space and also may reduce the meshing
velocity of spur gears at the next stage of the transmission. The
reduced meshing velocity of the spur gears can greatly reduce the
noise produced by a geared transmission, and the meshing of worm
gears in the first stage of the transmission is inherently quieter
than the meshing of spur gears. Use of helical gears rather than
standard spur gears can further reduce the transmission noise.
[0110] Additionally or alternatively, the spur gear 172b can be
coupled to or operatively connected with the first cam 170b, as
described further below. For example, the spur gear 172b can be
coupled to a spur gear 174b of a second diameter (e.g., the spur
gears 172b, 174b can be coupled together and may rotate together
about a shaft). Moreover, the spur gear 174b can be engaged with a
spur gear 176b, which can be coupled with the first cam 170b. The
spur gears 172b and 176b can have substantially the same diameter,
while the spur gear 174b can have a smaller diameter. Accordingly,
connection between the spur gears 172b, 174b, 176b also can be a
reducer and can provide mechanical advantage.
[0111] Mechanical advantage provided by the connection between the
worm 162b and the worm/spur gear 172b and/or by the connection
between the spur gears 172b, 174b, 176b can transfer more force to
the movement of the tactor. Additionally, such connection can
reduce the angle of rotation of the first cam 170b relative to the
rotation of the first motor 160b. Consequently, such connection
also can provide additional control and may enhance precision or
accuracy of positioning and/or moving the tactor.
[0112] The second motor 190b can be coupled to the second cam 180b
in a similar manner, as the first motor 160b may be coupled to the
first cam 170b, as described herein. Additionally, it should be
appreciated that the first and second motors 160b, 190b can have
any number of suitable connections or coupling configurations with
the respective first and second cams 170b, 180b. Such connections
can include direct or direct drive connections, crank-slider
connections, belt-pulley connection, chain-sprocket connections,
etc. In any event, the first and second motors 160b, 190b can
rotate respective first and second cams 170b, 180b, which can
produce motion of the tactor relative to the body of the shear
display device.
[0113] For example, as illustrated in FIG. 2C, the cam actuation
mechanism 150b (FIG. 2B) can be housed in a sliding housing 200b.
More specifically, the cam actuation mechanism can be secured to
and/or within the sliding housing 200b. In addition, the first cam
170b can be slidably and/or rotatably secured to or within the body
of the shear display device (e.g., the first cam 170b can be
secured within a slot in the body). Accordingly, in response to
clockwise rotation of the first cam 170b, the sliding housing 200b
can be pushed in a first direction along an X-axis, while in
response to counterclockwise rotation of the first cam 170b, the
sliding housing 200b can be pushed in a second, opposite direction
along the X-axis.
[0114] In some embodiments, the sliding housing 200b can have
grooves 210b, which can guide the sliding housing 200b along the
X-axis. Thus, the sliding housing 200b can move along the X-axis in
response to rotation of the first motor. Furthermore, the tactor
can be secured or coupled to the sliding housing 200b.
Consequently, movement of the sliding housing 200b can result in
the corresponding movement of the tactor relative to the body of
the shear display device.
[0115] It should be appreciated that the first cam 170b (and the
second cam 180b (FIG. 2B) can provide mechanical advantage.
Moreover, the first cam 170b (and the second cam 180b (FIG. 2B) can
be configured such as to provide the greatest mechanical advantage
at the farthest point of travel of the sliding housing 200b (and of
the upper slide 220b (FIG. 2C), respectively). Accordingly, as the
tactor moves and the user's skin stretches, the tactor can
experience resistance due to the stretch of the user's skin, which
can increase as the tactor moves away from a default position and
can peak at the farthest position of travel. Such increase in
resistance can be at least in part accommodated by correspondingly
increasing mechanical advantage provided by the first cam 170b (and
the second cam 180b (FIG. 2B)).
[0116] Also, as the first cam 170b (or the second cam 180b (FIG.
2B)) rotates (e.g., within a slot in the body of the shear display
device), the sliding housing (and/or the upper slide 220b (FIG.
2C)) can move in a first direction and/or in an opposite direction.
In some embodiments, the first cam 170b (and/or the second cam 180b
(FIG. 2B)) as well as corresponding slot or receiving channel in
the body of the shear device can be configured such that the first
cam 170b (and/or the second cam 180b (FIG. 2B)) can fully rotate
therein. As such, if a motor or controller fails in a manner that
provides continuous rotation to the first cam 170b (and/or the
second cam 180b (FIG. 2B)), the sliding housing 200b (or the upper
slide 220b (FIG. 2C), as applicable) can continuously oscillate,
without exceeding travel limits of the shear display device and/or
damaging components or elements thereof.
[0117] In additional or alternative embodiments, an upper slide
220b can be slidably coupled to the sliding housing 200b. Thus, the
second cam can move the upper slide 220b relative to the sliding
housing 200b as well as relative to the body of the shear display
device. More specifically, as illustrated in FIG. 2D, the second
cam 180b can be rotatably secured within a slot 230b and the upper
slide 220b. Hence, as the second cam 180b rotates about an axis
thereof, the second cam 180b can push or pull the upper slide 220b
along the Y-axis.
[0118] In some embodiments, the sliding housing 200b can include
guiding channels 240b (e.g., the guiding channels 240b can have a
gib-like configuration). The upper slide 220b can include guiding
protrusions 250b that can fit into the guiding channel 240b.
Accordingly, the upper slide 220b can move linearly along the
Y-axis relative to the sliding housing 200b as well as relative to
the body of the shear display device. Additionally, when the
sliding housing 200b moves along the X-axis, relative to the body
of the shear display device, the upper slide 220b can move together
with the sliding housing 200b.
[0119] In one or more embodiments, the tactor 110b can be secured
to the upper slide 220b. Consequently, when the upper slide 220b
moves along the Y-axis, in response to rotation of the second
motor, the tactor 110b also can move along the Y-axis. Likewise,
when the sliding housing 200b moves along the X-axis, in response
to rotation of the first motor, the tactor 110b can move along the
X-axis.
[0120] Hence, rotation of the first and second motors can actuate
movement of the tactor 110b along the X- and Y-axes. Furthermore,
the first and second motors can move the tactor 110b in any number
of paths and/or sequences or patterns. For instance, the first
and/or second motors can be a servo motors connected to and
controlled by a controller, which can provide instructions to the
first and second motors to move the tactor 110b in a manner that
displays information to the user, as described herein.
[0121] The above description relates to providing one-, two- and
three-dimensional information by producing skin shear or skin
stretch through movement of one or more tactors in a single plane,
which is substantially parallel with the user's skin. This
disclosure, however, is not so limited. For example, as illustrated
in FIGS. 3A-3B, one embodiment of an actuation mechanism or an
actuator assembly 260, which can actuate a tactor 110 in a manner
that can provide one-, two-, or three-dimensional information to
the user through movement of the tactor 110 in a plane
substantially orthogonal with respect to the user's skin described
herein. It should be appreciated that the actuator assembly 260 can
be incorporated into any one of the shear display devices described
herein, including the shear display devices 100a, 100b, 100c, 100d,
100e, 100f, 100g, 100h, 100k, 100n (FIGS. 1A-2B, 4-11) irrespective
of the particular shape of their respective bodies. Moreover,
although the illustrated embodiment of the actuator assembly 260
incorporates a cylindrical or a point tactor 110, it should be
noted that the actuator assembly 260 can move any one of the
tactors described herein, irrespective of the size and/or shape
thereof. Although the focus of the foregoing description of
embodiments of shear display devices focuses generally on the
movement of tactors in the x- and y-directions, any embodiment
herein may be combined to provide combinations of
circular/semi-circular movement, rotation, planar movement, other
tactor movement or combinations thereof with movement or cues
provided in the z direction as well as gross movement when used
with a device such as a force feedback device.
[0122] Accordingly, such movement of the tactor can apply pressure
onto the user's skin. More specifically, the actuator assembly 260
can incorporate a cam 270 and a motor 280 that can rotate the cam
270, thereby causing the tactor 110 to move outward (i.e., toward
the user's skin along the Z-axis). For example, a counter clockwise
rotation of the cam 270 can cause the tactor 110 to move outward.
The tactor 110 can be returned to its original position by rotating
the cam 270 in the opposite direction (e.g., counterclockwise),
such as to lower the tactor 110.
[0123] In some embodiments, the tactor 110 may be coupled with a
sliding shim and a spring (e.g., a conical spring) 290. The spring
290 may keep the tactor 110 generally in contact with the cam 270
when the cam 270 moves from its largest diameter toward its
smallest diameter. In other embodiments, the cam 270 and the tactor
110 can be connected (e.g., via a T-slot connection). Accordingly,
as the cam 270 rotates (e.g., clockwise) to lower the tactor 110,
the cam 270 can pull the tactor 110 downward. Alternatively, the
tactor 110 can be spring-loaded, such that rotation of the cam 270,
which is uncoupled from the tactor 110, may allow the spring to
lower the tactor 110.
[0124] The tactor 110 may be operatively associated with actuator
assemblies that can move the tactor 110 in a plane substantially
parallel with the user's skin (e.g., in the X-Y plane).
Accordingly, the tactor 110 can move in three-dimensional
space--i.e., in a plane parallel to the user's skin as well as in a
plane perpendicular to the user's skin. For example, the actuator
assembly 260 can include first and second motors 160k, 190k, which
can move the tactor 110 along respective X- and Y-axes.
Particularly, the tactor 110 can be coupled to the first motor 160k
via a first crank-slider mechanism 170k and to the second motor
190k via a second crank slider mechanism 190k. As the first motor
160k rotates the crank of the first crank-slider mechanism 170k,
the first slider can move the tactor 110 along the X-axis.
Likewise, as the second motor 180k rotates the crank of the second
crank-slider mechanism 190k, the second slider can move the tactor
110 along the Y-axis. It should be appreciated that the tactor 110
may be operatively associated with any one of the above-described
mechanisms, which can move the tactor 110 along the X- and/or
Y-axes.
[0125] In other embodiments, the shear display device can include a
set of wedges. As the wedges are moved toward one another, the
first wedge slides onto the second, thereby raising the tactor.
Conversely, as the wedges move away from each other, the tactor can
be lowered. Similar to the cam 270 (FIGS. 3A-3B), the first wedge
can be coupled to the tactor, thereby pulling the tactor as the
first wedge slides down along the second wedge. Alternatively, the
tactor can be spring-loaded; hence, the spring can force the tactor
downward as the first wedge slides down the second wedge.
[0126] In addition to or in lieu of moving the tactor along the
Z-axis, relational information can be displayed to the user by
providing changes in pressure on the user's skin. For instance, the
change (increase/decrease) in pressure can correspond to a
correlating change in upward/downward direction of movement of the
controlled object. Additionally or alternatively, the
increase/decrease in pressure can correspond with increase/decrease
in force experienced by the controlled object from its
environment.
[0127] In one embodiment, the shear display device can convey a
sensation of increased upward pressure by reducing the area of the
tactor that contacts the user's skin. For example, the shape of the
tactor can be changed, thereby reducing the area of the tactor that
contacts the user's skin. In one instance, the tactor can have a
substantially curved or spherical outer surface. By reducing the
radius (or contact area) of the curved or spherical surface (i.e.,
outer surface) that defines the tactor, the user can experience
greater pressure applied to the portion of the skin that contacts
the tactor. Conversely, by increasing the radius of the sphere
defining the tactor, a greater area will contact the user's skin,
thereby decreasing the pressure felt by the user.
[0128] To increase and decrease the radius of the curved or
spherical surface defining the tactor, in one or more embodiments,
the tactor includes a flexible outer shell that is connected to at
least two connectors (e.g., two tendons). The tendons may be
connected to a shortening device. For example, the shortening
device can be a pulley coupled to an actuator. As the pulley
reduces the length of the tendons, the flexible outer shell is
reduced in radius by the tactor reducing the contact area of the
outer surface.
[0129] In other embodiments, the tactor may include an inflatable
balloon or membrane, which can be inflated and deflated, thereby
changing the area of the tactor and varying the pressure sensed by
the user. Alternatively, the tactor can comprise a domed shell
actuated by piezo-electrical elements. In any event, the shape of
the shell or membrane of the tactor can change in a manner that may
provide the user with a sensation of increased or decreased
pressure on the user's skin.
[0130] In another embodiment, the shear display device can
incorporate a tactor comprising multiple concentric rings. Such
concentric rings can move up or down, thereby increasing and
decreasing the area that is in contact with user's skin.
Accordingly, whether by moving the tactor outward/inward (toward
and away from the user's skin) and/or by decreasing/increasing the
area of the tactor, the user can sense a change in pressure on the
skin that is in contact with the tactor. For example, the tactor
may be in a base configuration where the tactor is z-axis neutral.
In some embodiments, the concentric rings move outward in the
z-direction.
[0131] Moreover, the concentric rings can cooperate to form a
contoured surface. A contoured surface may create a sense of
surface curvature or changing contact area, which may be used to
portray differing forces, direction cues, pressure, etc. The
concentric rings also can cooperate to provide the same outward
movement in the z-direction, but only the centermost concentric
ring remains in the outward position (the other rings move away
from the finger pad). This provides a smaller surface area of the
tactor which can be used to create a sense of surface curvature or
changing contact area which may also be used to create a sense of
surface curvature or changing contact area, which may be used to
portray differing forces, direction cues, pressure, etc.
[0132] In other embodiments, the shear display device can include
multiple tactors, which can be located in the same or in one or
more different planes. For example, as illustrated in FIG. 4, a
shear display device 100c can incorporate the first tactor 110c' as
well as a second tactor 110c''. Except as otherwise described
herein, the shear display device 100c and its components and
elements can be similar to or the same as any one of the shear
display devices 100a, 100b (FIGS. 1A-2D) and their respective
components and elements (e.g., actuator assemblies). More
specifically, the second tactor 110c''can be positioned
substantially orthogonally relative to the first tactor 110c'.
Similarly, the control system can incorporate the shear display
devices that have multiple tactors. As described herein in further
detail, a control system can include the force feedback device and
the shear display device 100c connected to the force feedback
device.
[0133] Additionally or alternatively, in some embodiments, as
illustrated in FIG. 5, a shear display device 100d can include
multiple opposing tactors, such as a first tactor 110d' and a
second tactor 110d''. Except as otherwise described herein, the
shear display device 100d and its components and elements can be
similar to or the same as any one of the shear display devices
100a, 100b, 100c (FIGS. 1A-2A and 4) and their respective
components and elements (e.g., actuator assemblies). More
specifically, the first and second tactors 110d', 110d'' can be
directly opposite each other. As shown in FIG. 5, the tactors
110d', 110d'' are opposite to each other and centered approximately
about the same axis (e.g., about Z axis). Such a configuration of
the shear display device 100d can allow the shear display device
100d to display various types of movement information to the user,
which can be presented in a more intuitive manner.
[0134] For instance, the user can perceive relative movement of the
first and second tactors 110d', 110d'', which can provide various
information to the user. Particularly, moving the first tactor
110d' and the second tactor 110d'' in opposite directions within
their respective X-Y planes (i.e., in two-dimensional motion) can
inform the user about rotational motion of the object (e.g.,
controlled object, shear display device 100d, etc.). For example,
movement of the first tactor 110d' and the second tactor 110d'' in
opposite directions along the Y-axis can display rotational motion
about the X-axis. It should be appreciated that, because the first
and second tactors 110d', 110d'' are spaced apart along the X-axis,
the user can experience a torque-like sensation, produced by the
relative movement of the first and second tactors 110d', 110d'' in
opposite directions.
[0135] In other embodiments, the first and second tactors 110d',
110d'' may move in opposite directions in three-dimensional motion.
For example, the first tactor 110d' may move in a first direction
along the Y-axis and the second tactor 110d'' may move in a second,
opposite direction along the Y-axis, while the first tactor 110d'
and the second tactor 110d'' both move inward (i.e., while the
first tactor 110d' moves along the Z-axis, away from the user's
skin and the second tactor 110d'' moves along the Z-axis away from
the user's skin) in an arc-like motion.
[0136] Additionally or alternatively, the first and second tactors
110d', 110d'' of the shear display device 100d can move in opposite
directions to display rotation about another axis (e.g., about an
axis that is concentric with the shear display device 100d). Hence,
for example, when the user rotates the cylindrical shear display
device 100d about the Y-axis, the first tactor 110d' and the second
tactor 110d'' can move in opposite directions the X-axis, thereby
displaying rotational motion of the shear display device 100d
and/or of the object, such as the control object. Furthermore,
other rotational motions can be display to the user by moving the
first and second tactors 110d', 110d'' in a similar manner (i.e.,
by relative motion of the first and second tactors 110d,
110d'').
[0137] Accordingly, the shear display device 100d can provide the
user with information about rotation of an object about X- and/or
Y-axes. For example, counterclockwise rotation of the shear display
device 100d about the Y-axis can be displayed to the user by moving
the first tactor 100d' in a first direction along the X-axis, while
moving the second tactor 110d'' in a second, opposite direction
along the X-axis. Such movement of the first and second tactors
110d', 110d'' can create a sensation of torque and can convey
relevant rotational information to the user.
[0138] It should be appreciated that in addition to or in lieu of
movements described herein, which can display rotational
information to the user, the first and second tactors 110d', 110d''
of the shear display device 100d can move in the same or similar
manner as the tactors of the shear display devices 100a, 100b, 100c
(FIGS. 1A-3). Accordingly, the shear display device 100d also can
convey the same information as a single tactor shear display
device. For instance, to display rotation about the Z-axis, the
first and/or second tactors 110d', 110d'' can move in a spiral or
circular path and/or can rotate about various axes, as described
herein. More specifically, for instance, to indicate a clockwise
motion of the shear display device 100d and/or of the controlled
object, first tactor 110d' can be moved in a clockwise spiral or
circular motion about the center or another point in the well.
Similarly, the opposing, second tactor 110d'' can move in an
opposite direction, namely counterclockwise relative to a view
looking at that tactor (to indicate the same motion) about the same
or another point. Furthermore, circular and/or rotational movements
of the first and second tactors 110d', 110d'' can be synchronized,
such as to display the same rotation on both sides of the shear
display device 100d. In other words, the first tactor 110d' and the
second tactor 110d'' may both rotate and/or move clockwise,
counterclockwise, or otherwise simultaneously.
[0139] Likewise, as described herein in connection with the shear
display device that has a single tactor, the shear display device
100d also can display translational or linear motion of the shear
display device 100d and/or of the controlled object or user's hand.
For instance, both the first tactor 110d' and the second tactor
110d'' can move in the same direction and at the same speed or
acceleration to indicate translational motion. In at least one
example, both the first tactor 110d' and the second tactor 110d''
can move toward the user (i.e., upward on the page) indicating
corresponding linear movement of the controlled object.
Alternatively, both the first tactor 110d' and the second tactor
110d'' can move to toward the user (i.e., toward the left of the
page) indicating corresponding linear movement of the controlled
object. Similarly, both the first tactor 110d' and the second
tactor 110d'' can move to the user's left, thereby displaying
corresponding movement of the controlled object. Also, both the
first tactor 110d' and the second tactor 110d'' can move to the
user's right, thereby displaying corresponding movement of the
controlled object.
[0140] Similarly, as described below in further detail, the first
and second tactors 110d', 110d'' can move out of plane (i.e., in a
first or second, opposite direction along the Z-axis). Moreover,
any one of the actuation mechanisms or actuator assemblies
described herein can be incorporated into or used in the shear
display device 100d. In some embodiments, the first and second
tactors 110d', 110d'' may be coupled (hard- or soft-coupled, i.e.,
physically or via a controller) such that the first and second
tactors 110d', 110d'' move together. For example, the first and
second tactors 110d', 110d'' may both move in the same direction
(i.e., to the right, but with the first tactor 110d' moving outward
in the z-direction and the second tactor 110d'' moving inward in
the z-direction).
[0141] In addition to or in lieu of the actuator assembly 260
(FIGS. 3A-3B), as mentioned above, the shear display device 100d
can include any number of suitable actuator assemblies and/or
actuator mechanisms. In one embodiment, the first and second
tactors 110d', 110d'' can move in opposite directions along the
Z-axis in a synchronized and/or in an independent manner. Such
movement, for example, can convey force or pressure experienced by
the controlled object. As noted above, location and movement of the
first and second tactors 110d', 110d'' can indicate to the user the
magnitude of force or pressure experienced by and/or the location
or movement or size of an object.
[0142] In an embodiment, the actuator assembly of the shear display
device 100d can include a sliding wedge (or multiple sliding
wedges). For instance, the shear display device 100d may include a
wedge actuator that moves the wedges with respect to each other. In
one example, the wedge actuator may move a left wedge away from the
wedge actuator. As such, a right wedge may stay in its relative
longitudinal location. In other embodiments, the right wedge also
may be actuated by the wedge actuator or another actuator in the
opposite direction than the left wedge. Furthermore, as the larger
portion of the left wedge approaches the larger portion of the
right wedge, both first and second tactors 110d', 110d'' can move
outward (e.g., the first tactor 110d' moves in a first direction
and the second tactor 110d'' moves in a second, opposite
direction).
[0143] Additionally or alternatively, shims or other mechanisms may
be used to interface with the sliding wedges. The first and second
tactors 110d', 110d'' may be operatively associated with actuator
mechanisms and/or actuator assemblies that can move the first and
second tactors 110d', 110d'' in a plane substantially parallel with
the user's skin (e.g., actuation mechanism 150b (FIGS. 2B-2D)).
Accordingly, the first and second tactors 110d', 110d'' can move in
three-dimensional space--i.e., in a plane parallel to the user's
skin as well as in a plane perpendicular to the user's skin.
[0144] In a further embodiment, the first and second tactors 110d',
110d'' may be coupled together, but may be able to move both in the
same direction and in opposite directions along the Z-Axis. Any
number of mechanisms may be used that can provide coupled motion in
both the opposite and the same directions. For instance, the shear
display device 100d may use a tapered eccentric cam that is both
eccentric about and tapered along its longitudinal axis. The shear
display device 100d may include an actuation mechanism (not shown)
that may both rotate and longitudinally move the tapered eccentric
cam.
[0145] For example, as the tapered eccentric cam is moved toward
the first and second tactors 110d', 110d'', both the first and
second tactors 110d', 110d'' can move outward along the Z-axis.
Likewise, as the tapered eccentric cam is moved away from the first
and second tactors 110d', 110d'', both the first and second tactors
110d', 110d'' can move inward along the Z-axis. Also, as the
tapered eccentric cam is rotated, the first and second tactors
110d', 110d'' can both move in the same direction. In other words,
the first tactor 110d' can move outward and the second tactor
110d'' can move inward.
[0146] Where the tapered eccentric cam both longitudinally moves
and rotates, the first and second tactors 110d', 110d'' may move in
the same direction (i.e., outward or inward) but at a different
rate and/or a different amount. For example, when the tapered
eccentric cam is rotated to a neutral position (e.g., where each of
the first and second tactors 110d', 110d'' may be the same distance
from the center of the tapered eccentric cam) the tactor to which
the larger diameter portion of the tapered eccentric cam is
approaching will move farther outward as the tapered eccentric cam
is longitudinally advanced and rotated such that the larger
diameter portion of the tapered eccentric cam approaches that
tactor. Likewise, from an advanced position (i.e., where one of the
first and second tactors 110d', 110d'' abut the larger diameter
portion of the tapered eccentric cam and where the largest portion
of the taper is abutting both first and second tactors 110d',
110d''), as the tapered eccentric cam moves toward the neutral
position and longitudinally away from the first and second tactors
110d', 110d'', the tactor that was closest the largest portion of
the tapered eccentric cam may move faster and further inward as the
tapered eccentric cam is longitudinally advanced and rotated such
that the larger diameter portion of the tapered eccentric cam moves
away from that tactor.
[0147] In addition, shims or other mechanisms may be used to
interface with the tapered eccentric cam. As noted above, the first
and second tactors 110d', 110d'' may be operatively associated with
actuator assemblies that can move the tactors in a plane
substantially parallel with the user's skin. Accordingly, the
tactors can move in three-dimensional space--i.e., in a plane
parallel to the user's skin as well as in a plane perpendicular to
the user's skin.
[0148] Consequently, the shear display device 100d also can display
information about force experienced by an object about the Z-axis.
Specifically, in one embodiment, the first and second tactors
110d', 110d'' can move outward, thereby displaying to the user
increased pressure along the Z-axis. Conversely, the first and
second tactors 110d', 110d'' can move inward, which may signal to
the user a decrease in force experienced by an object. Moreover,
outward movement of the first and second tactors 110d', 110d'' may
signal to the user growing, zooming, or size increase of an object.
Similarly, inward movement of the first and second tactors 110d',
110d'' can signal to the user shrinking, zooming out, or size
decrease of an object.
[0149] As noted herein, the shape of the body of the shear display
device can vary from one embodiment to another. For instance, as
illustrated in FIG. 6, a flat or rectangular shear display device
100e also can have opposing first and second tactors 110e', 110e''.
Except as otherwise described herein, the shear display device 100e
and its components or elements can be similar to or the same as any
one of the shear display devices 100a, 100b, 100c, 100d (FIGS.
1A-5) and their respective components and elements. Furthermore,
the first and second tactors 110e', 110e'' can exhibit relative
motion (e.g., similar to the tactor movements described in
connection with the shear display device 100d (FIG. 5)) to display
rotation of an object about X- and/or Y-axes.
[0150] Moreover, the shear display device also can provide the same
or similar information as any one of the shear display devices
100a, 100b, 100c, 100d (FIGS. 1A-4). For example, the first and/or
second tactors 110e', 110e'' can move in a linear manner to
indicate linear directional or force cues. Additionally or
alternatively, the first and/or second tactors 110e', 110e can move
along spiral, circular or semicircular paths to provide rotational
information about the Z axis. In any event, the shear display
device 100e can provide the same information as can be provided by
a single tactor shear display device as well as additional
information that can be presented by differential relative movement
of the first and second tactors 110e', 110e.
[0151] In one embodiment, the shear display device 100e can be
coupled to or integrated with a tool or an instrument. For
instance, the shear display device 100e can be coupled to a stylus,
which can be used to send instructions to a controller.
Furthermore, as described herein in more detail, the shear display
device 100e can be coupled to a controller and/or force feedback
device. Hence, for example, the shear display device 100e, together
with the controller and/or force feedback device, can be used in
robotic procedures (e.g., surgery, catheter insertion, etc.).
[0152] As mentioned herein, the body of the shear display device
can have any number of suitable configurations, shapes, and sizes.
Furthermore, among other things, locations of the tactors and wells
on the body of the shear display device can vary from one
embodiment to another. In addition, the shape and size of the
tactors can vary from one embodiment to the next and may depend on
location of the tactor on the shear display device, portion of the
skin intended to be contacted by the tactors, etc. For instance, as
illustrated in FIG. 7A, a shear display device 100f can have a
first and second tactors 110f', 110f'' located on a joystick-like
body 120f. Except as otherwise described herein, the shear display
device 100f and its components or elements can be similar to or the
same as any one of the shear display devices 100a, 100b, 100c,
100d, 100e (FIGS. 1A-6) and their respective components and
elements.
[0153] More specifically, the shear display device 100f can have
the first tactor 110f' located on an upper end thereof, such that
the first tactor 110f' can engage the user's thumb. The first
tactor 110f' can be surrounded by a first well 130f, which can
restrain the skin on the user's thumb, in a manner that isolates
skin movement and produces skin stretch in response to the movement
of the first tactor 110f'. Moreover, the first tactor 110f' can be
offset from a center axis of the body 120f. For example, a
right-handed shear display device 100f can have the first tactor
110f' offset to the left of the center axis of the body 120f.
[0154] As such, the location of the first tactor 110f' can allow
the user's thumb to remain in a more natural position. In other
words, in some embodiments, the user's thumb can remain in a
relaxed or un-flexed state when in contact with the first tactor
110f'. Such a configuration can provide better isolation of the
user's skin relative to the first tactor 110f', which can lead to
more accurate and/or sensitive feedback for the user. Moreover,
such configuration also can provide improved angular accuracy of
user's interpretation of the skin stretch cues from the first
tactor 110f' (as compared with the configuration where the tactor
is aligned with the center axis of the body).
[0155] Likewise, for a left-handed shear display device 100f, the
first tactor 110f' can be offset to the right of the center axis of
the body 120f, such that the user's left thumb can remain in a
relaxed state while in contact with the first tactor 110f'. It
should be appreciated that other embodiments can include the first
tactor 110f' located at other suitable locations on the upper end
of the shear display device 100f (e.g., aligned with the center
axis of the body 120f). In any event, the first tactor 110f' can be
located on the body 120f such that the user is capable of placing a
left or a right thumb on the first tactor 110f (and in the well
130f) while holding the body 120f of the shear display device 100f
with the corresponding hand.
[0156] The first tactor 110f' can be capable of movements similar
to or the same as the movements of any one of the tactors described
herein. Hence, the first tactor 110f' can display the same or
similar information as any one of the tactors mentioned herein. In
addition to the first tactor 110f', as noted herein, the shear
display device 100f can include the second tactor 110f''. In one
embodiment, the second tactor 110f'' can move substantially along
the length of the body 120f. Particularly, the tactor 110f'' can be
in contact with the user's palm and can provide any number of
tactile cues, represented by a substantially vertical movement of
the second tactor 110f''.
[0157] In one or more embodiments, the second tactor 110f'' can
have a plate- or bar-like shape. As such, the second tactor 110f''
can engage a larger portion of the user's skin. Such a
configuration can be particularly advantageous on portions of the
user's skin that have a relatively low density of mechanoreceptors.
For example, skin on the user's palm may have a lower density of
mechanoreceptors or nerve endings than the skin on the user's
fingertips. Accordingly, in one embodiment, the second tactor
110f'' can recruit or engage substantially the same or similar
number of mechanoreceptors on the user's palm as recruited or
engaged by the first tactor 110f' on the user's fingertip. Such a
balanced engagement can allow the shear display device 100f to
provide tactile cues to the user's fingertip(s), fingerpads, and
palm, which appear with similar or substantially the same intensity
to the user.
[0158] Hence, the second tactor 110f'' can be sufficiently larger
than the first tactor 110f', to allow the second tactor 110f'' to
contact sufficiently larger portion of the user's palm. For
instance, the second tactor 110f'' can be approximately a
0.75''.times.1.5'' rectangle (i.e., can have an approximate area of
1.125 in.sup.2), while the first tactor 110f' can have an
approximately 0.25'' diameter (i.e., can have an approximate area
of 0.05 in.sup.2). In other examples, the second tactor 110f'' may
have a substantially rectangular shape with sides greater than
1.5'' and/or smaller than 0.75''. It should be also appreciated
that the second tactor 110f'' can have any number of other shapes,
which may vary from one embodiment to the next (e.g., square,
triangular, trapezoid, irregular, etc.). The greater area of the
second tactor 110f'', as compared with the area of the first tactor
110f', can allow the second tactor 110f'' to recruit sufficient
number of mechanoreceptors to compensate for lower density of the
mechanoreceptors on the portion of the skin in contact with the
second tactor 110f''.
[0159] In additional or alternative embodiments the second tactor
110f'' can include ridges or texture, which can create sufficient
friction between the user's palm and the second tactor 110f'' while
also increasing the experienced sensations. Alternatively, the
second tactor 110f'' can comprise a material that has sufficient
coefficient of friction to prevent or reduce slippage between the
tactor 110f'' and the user's palm. For instance, the second tactor
110f'' can comprise rubber, neoprene, silicone, and the like. In
any event, the second tactor 110f'' can stretch the user's skin,
thereby activating mechanoreceptors thereon.
[0160] Furthermore, as the user grasps the body 120f, portions of
the body 120f surrounding or adjacent to the second tactor 110f''
can at least partially restrain the user's skin surrounding the
skin that is in contact with the second tactor 110f''. In at least
one implementation, the portions of the body 120f that surround the
second tactor 110f'' can comprise material that exhibits a
relatively high coefficient of friction (e.g., roughened surface)
or may be tacky, such as to prevent or limit movement of the skin
adjacent to the portion of the user's skin that is in contact with
the second tactor 110f''. In any case, when the user's hand grasps
the body 120f, the skin in contact with the second tactor 110f''
can be at least partially isolated in a manner that allow the
second tactor 110f'' to stretch the skin.
[0161] Accordingly, in some embodiments, the shear display device
100f can produce skin stretch without incorporating a well into the
body 120f thereof. In other words, the act of grasping the body
120f can sufficiently isolate the user's skin to allow the tactor
110f'' to stretch an isolated portion of the user's skin.
Alternatively, however, the body 120f can incorporate a well about
the tactor 110f'', and such well also can isolate the user's
skin.
[0162] The first and/or second tactors 110f', 110f'' can be
actuated in any number of ways, which can include any one or more
of the actuation mechanisms and actuator assemblies described
herein. Additionally, for example, the second tactor 110f'' can be
coupled to a motor 160f, as illustrated in FIG. 6B. Particularly,
in one embodiment, a resilient flexible spine 170f can be coupled
to a crank 180f secured to the shaft of the motor 160f. As the
shaft of the motor 160f rotates the crank 180f in a first
direction, the crank 180f can push the spine 170f upward, thereby
moving the second tactor 110f'' upward. Conversely, as the shaft of
the motor 160f rotates the crank 180f in a second, opposite
direction, the crank 180f can pull the spine 170f downward, thereby
moving the second tactor 110f'' downward.
[0163] In some embodiments, the body 120f can have a channel 190f,
which can restrain and/or guide the spine 170f therein.
Furthermore, in at least one embodiment, the body 120f can have a
curvilinear configuration, which may provide an ergonomic fit with
the user's hand. Thus, the channel 190f also can have a curvilinear
configuration, as the path of the channel 190f may generally follow
the outside geometry of the body 120f. In any event, however, the
spine 170f can have sufficient flexibility to move up and down
within the channel 190f, thereby moving the second tactor 110f'' in
corresponding directions. It should be appreciated that, in at
least one embodiment, the tactor 110f'' can move in any number of
directions and patterns, linear and nonlinear, as described herein
in connection with other tactors.
[0164] It should be appreciated that the shear display device 100f
can allow the user to "power grip" the body 120f, while the second
tactor 110f'' may continue moving and transmitting tactile
information to the user (i.e., stretching user's skin). In other
words, the user's hand can apply a relatively large amount of
compressive force onto the body as well as onto the second tactor
110f'' without impeding or interfering with the operation of the
second tactor 110f'' and of the shear display device 100f.
Accordingly, the shear display device 100f can continue providing
tactile cues to the user when the user applies relatively large
force onto the body 120f.
[0165] As noted herein, the shear display device 100f can be
incorporated into a control system, as described herein in further
detail. For example, the shear display device 100f can include a
connecting portion 200f, which can couple the shear display device
100f to a controller and/or force feedback device. Accordingly, the
user can receive tactile cues from the first and second tactors
110f', 110f'' and also can receive force feedback.
[0166] In additional or alternative embodiments, the shear display
device can include multiple large tactors. For example, as noted
herein, large tactors can provide enhanced sensation to the user
when in contact with the user's skin that has a relatively low
density of mechanoreceptors. For example, as illustrated in FIG. 8,
a shear display device 100g can incorporate two plate-like tactors
110g', 110g''. Except as otherwise described herein, the shear
display device 100f and its components or elements can be similar
to or the same as any one of the shear display devices 100a, 100b,
100c, 100d, 100e, 100f (FIGS. 1A-7B) and their respective
components and elements.
[0167] As noted herein, a body 120g of the shear display device
100g can have any number of suitable configurations. In one
example, the body 120g can be substantially rectangular or
bar-like. Other embodiments can include a cylindrical, spherical,
or any other number of configurations for the body 120g.
Additionally, the tactors 110g', 110g'' can be located essentially
anywhere on the body 120g, as may be more suitable or desirable for
a particular application. In one embodiment, the tactors 110g',
110g'' are located near one edge of the body 120g.
[0168] The tactors 110g', 110g'' can be similar to or the same as
the second tactor 110f'' (FIGS. 7A-7B). However, the tactors 110g',
110g''can exhibit that same or similar movements as any one of the
tactors described herein and may be actuated in the same or similar
manner as any one of such tactors (i.e., the shear display device
100g can incorporate any one of the actuator assemblies described
herein). Accordingly, the tactors 110g', 110g'' can move up and
down along one edge of the body 120g (along Y-axis). Furthermore,
the tactors 110g', 110g'' can move toward and away from the edge of
the body 120g (along X-Axis). Hence, the tactors 110g', 110g'' can
exhibit any number of movement path, patterns, and sequences
described herein.
[0169] Furthermore, the tactors 110g', 110g'' can display the same
or similar information as described above in connection with
multiple opposing tactors. To mention a few: relative movement of
the tactors 110g', 110g'' can display rotational information such
as rotary motions and torques; likewise, the tactors 110g', 110g''
can display linear motion and/or force information.
[0170] Moreover, as noted above in connection with the shear
display device 100f (FIGS. 7A-7B), the shear display device 100g
can allow the user to apply sufficiently large grasping force onto
the body 120g. At the same time, the tactors 110g', 110g'' can
continue moving relative to the body 120g and displaying tactile
information to the user. Consequently, such configuration can be
employed in applications where the body 120g of the shear display
device 100g may be subjected to relatively large grasping forces
from the user. For example, the shear display device 100g can be
incorporated into controller used in virtual games of tennis,
baseball, golf, sword fighting, etc. It should be appreciated,
however, that the shear display device 100g can be incorporate into
any number of controller or devices, which require or allow the
user to apply relatively large grasping force onto the body 120g of
the shear display device 100g. In addition, as noted above, the
tactors 110g', 110g'' can provide sufficient stimulation of user's
mechanoreceptors at locations of low or lower sensitivity (e.g.,
lower than fingertips). Accordingly, the shear display device 100f
can also be used in applications where user's gripping force may
not be relatively large and may provide skin stretch cues to
portion of the skin with lower sensitivity (e.g., user's palm).
[0171] As previously noted, the body of the shear display device
can have any number of configurations. Moreover, a shear display
device may incorporate any number of tactors (one, two, three,
four, etc.), which may be positioned and/or oriented on the body of
the shear display device in any number of suitable configurations.
In one example, as illustrated in FIG. 9, a shear display device
100h can have a joystick-like body 120f and may include first,
second, and third tactors 110h', 110h'', 110j. Except as otherwise
described herein, the shear display device 100h and its components
or elements can be similar to or the same as any of the shear
display devices 100a, 100b, 100c, 100d, 100e, 100f, 100g (FIGS.
1A-8). For instance, the joystick-like body 120h may be similar to
or the same as the joystick-like body 120f (FIGS. 7A-7B).
[0172] In one embodiment, the first and second tactors 110h',
110h'' may move upward and downward along a length of the body
120h. Such movement may approximately follow the lengthwise
curvature or surface of the body 120h. In additional or alternative
embodiments, the first and second tactors 110h', 110h'' may move
approximately perpendicular to the length of the body 120h. In
still further embodiments, the first and second tactors 110h',
110h'' may move about the body 120h in a manner that the path of
the first and second tactors 110h', 110h'' approximately follows
the curvature of the perimeter or surface of the body 120f.
[0173] It should be appreciated that the third tactor 110j can move
in a similar or the same manner and can provide similar or the same
tactile cues as the first tactor 110f' (FIGS. 7A-7B). Similarly,
the first and second tactors 110h', 110h'' can move in a similar or
the same manner and can provide similar or the same tactile cues as
the first and second tactors 110g', 110g''. Accordingly, the shear
display device 100h can incorporate cues provided by the shear
display device 100f, 100g (FIGS. 7A-8) in a single device. For
example, the shear display device 100h can display torque or
rotation experienced by an object by moving the first and second
tactors 110h', 110h'' in opposite directions (e.g., along the
length of the body 120, about the perimeter of the body 120, etc.).
Alternatively, linear movement or force experienced by an object
can be displayed by the shear display device 100h as movement of
the first and second tactors 110h', 110h'' in the same
direction.
[0174] The shear display device 100h can be used in any number of
applications. For instance, the shear display device 100h may be
used as an element or component of a control stick of an airplane
(e.g., the body 120h of the shear display device can operate as the
control stick). In one embodiment, the first and second tactors
110h', 110h'' may provide instruction to a pilot (e.g., to a
student pilot) regarding how to move the control stick and/or
navigate the airplane. In one example, to signal to the pilot to
pull back on the control stick, the first tactor 110h' can move
downward along the body 120h, while the second tactor 110h'' moves
upward. Conversely, to signal to the pilot to push forward on the
control stick, the first tactor 110h' can move upward along the
body 120h, while the second tactor 110h'' moves downward.
[0175] In yet another embodiment, the shear display device can
include four tactors. For example, as illustrated in FIGS. 10A-10B,
a shear display device 100k can include a partially cylindrical
body 120k and four tactors positioned about the body 120k. Except
as otherwise described herein, the shear display device 100k and
its components or elements can be similar to or the same as any one
of the shear display devices 100a, 100b, 100c, 100d, 100e, 100f,
100g, 100h (FIGS. 1A-9). Particularly, the shear display device can
include first and second tactors 110k', 110k'' located along the
X-axis of the shear display device 100k and opposite to one
another. In addition, the shear display device can include third
and fourth tactors 110m', 110m'' positioned along the Y-axis of the
shear display device and opposite to each other. Moreover, in some
embodiments, the first and second tactors 110k', 110k'' may have an
approximately orthogonal orientation relative to the third and
fourth tactors 110m', 110m''.
[0176] In an embodiment, the first and second tactors 110k', 110k''
can move along the length of the body 120k (i.e., in a direction
along or parallel the Z-axis of the shear display device 100k).
Likewise, the third and fourth tactors 110m', 110m'' can move along
the length of the body 120k. In at least one embodiment, such
movement of the first, second, third, and fourth tactors 110k',
110k'', 110m', 110m'' can approximately follow the contour or the
surface of the body 120k.
[0177] Furthermore, embodiments of the present disclosure can
include the first and second tactors 110k', 110k'' that may move
about the body 120k. For instance, the first and second tactors
110k', 110k'' can rotate about the body 120k (e.g., about the
Z-axis of the shear display device 100k). Such rotation of the
first and second tactors 110k', 110k'' can approximately follow the
contour or the surface of the body 120k. Moreover, such rotation
may be synchronized in a manner that the first and second tactors
110k', 110k'' rotate together, as a single unit. Similarly, the
third and fourth tactors 110m', 110m'' can rotate about the body
120k in the same or similar manner as the first and second tactors
110k', 110k''. In addition, the first and second tactors 110k',
110k'' and the third and fourth tactors 110m', 110m'' can rotate
about the body 120k together.
[0178] In one embodiment, the body 120k may be sized and configured
to allow the user to grasp the body 120k together with the first,
second, third, and fourth tactors 110k', 110k'', 110m', 110m''. In
other words, the user can grasp the body 120k in a manner that the
user's hand contacts the first, second, third, and/or fourth
tactors 110k', 110k'', 110m', 110m'', which may transmit tactile
information to the user. Also, the body 120k may isolate portions
of the user's skin that are in contact with the respective first,
second, third, and/or fourth tactors 110k', 110k'', 110m', 110m'',
such that the first, second, third, and fourth tactors 110k',
110k'', 110m', 110m'' may produce skin stretch on the skin portions
in contact therewith.
[0179] Accordingly, various linear and/or nonlinear movements of
the first, second, third, and/or fourth tactors 110k', 110k'',
110m', 110m'' may provide tactile cues or information to the user.
In one example, the first and second tactors 110k', 110k'' can move
in opposite directions along or parallel to the Z-axis to signal
rotation of an object about the Y-axis. Alternatively, such
movement can signal to the user to rotate the shear display device
100h (e.g., in order to move an object), as described below in
further detail. Linear movements of the first and second tactors
110k', 110k'' can represent linear movements and/or forces
experienced by an object or cues to move an object, as described
herein.
[0180] Similar to the first and second tactors 110k', 110k'', the
third and fourth tactors 110m', 110m'' can move in opposite
directions along the Z-axis to signal to the user rotation or
torque about the X-axis. Likewise, such movement also can signal to
the user to rotate the shear display device about the Y-axis. In
additional or alternative embodiments, as noted above, the first,
second, third, and/or fourth tactors 110k', 110k'', 110m', 110m''
may rotate about the body 120k (e.g., about the Z-axis). Among
other things, such rotation can signal to the user rotation and/or
torque about the Z-axis experienced by an object. Also, such
rotation may signal to the user to rotate the shear display device
100k about the Z-axis. It should be appreciated that one can create
torque sensations about axes that lie between the X- and Y-axes by
moving multiple tactors together. For example, referring to FIG.
10B, the first and third tactors 110k', 110m' can be moved upwards,
while the second and fourth tactors 110k'', 110m'' are moved
downwards to provide a sensation of torque for the user, which
would rotate the top of the body 120k about an axis that is
approximately 45 degrees between the X- and Y-axes.
[0181] An exemplary application of the shear display device 100k
may include controlling an object and receiving cues regarding
desired or necessary movements for such object and/or for the shear
display device 100k. For example, the shear display device 100k may
incorporate or may be integrated with a wireless remote or
controller, such a Wii remote. In other words, moving the shear
display device 100k may send instructions (e.g., movement
instructions) to a controlled object. Accordingly, in one
embodiment, the user may receive cues or suggestions about where to
move the shear display device 100k (and, thus, the controlled
object), as described above.
[0182] Additionally or alternatively, the shear display device 100k
can provide correctional or training cues regarding an optimal or
improved movement in a particular application. For instance, the
shear display device 100k can provide correctional or training cues
for a tennis swing (e.g., the shear display device 100k can
represent or can be incorporated into a handle of a tennis racket
and may provide tactile cue regarding where and/or how to move the
tennis racket). Similarly, the shear display device 100k can
provide any number of corrective or training cues, which may
improve user's movements in connection with any number of
activities (e.g., golf, baseball, fishing, etc.).
[0183] The rotational and translational degrees of freedom
communicated by the shear display device 100k could also include
assisting in orienting or pointing an object such as a satellite
dish or camera. That is, the shear display device 100k can supply
the degrees of freedom for pointing the camera with rotations about
the X- and Y-axes, it could suggest how to zoom the lens with
translational cues along the Z-axis, and could suggest changes in
focus with cues to rotate the camera lens, with rotational cues
about the Z-axis. Such cues could be especially advantageous for
individuals with vision impairments.
[0184] As mentioned above, the shear display device can have any
number of tactors located on any portion thereof. FIG. 11
illustrates another embodiment of a shear display device, which
incorporates multiple tactors on the same side thereof.
Particularly, FIG. 11 illustrates a shear display device 100n that
incorporates first and second tactors 110n', 110n'' on the top of a
body 120n. Except as otherwise described herein, the shear display
device 100n and its components or elements can be similar to or the
same as any one of the shear display devices 100a, 100b, 100c,
100d, 100e, 100f, 100g, 100h, 100k (FIGS. 1A-10) and their
respective components and elements.
[0185] To display in-plane rotation of the shear display device
100n, the first and second tactors 110n', 110n'' can move in
opposing directions. More specifically, the first and second
tactors 110n', 110n'' can move in opposing directions along their
respective Y'- and Y''-axes. This movement can generate torque
about a center point between the first and second tactors 110n',
110n''. Such torque can indicate to the user that the shear display
device 100n and/or the controlled object is rotating or that they
should rotate their hand about a Z-axis (not shown), which can be
perpendicular to the X'-Y' plane.
[0186] As noted above, the displacement or movement of the first
and second tactors 110n', 110n'' also can indicate the location,
distance, displacement, or motion of the controlled object.
Moreover, moving the first and second tactors 110n', 110n'' with
opposing motions (e.g. on their respective Y'- and Y''-axes) also
can indicate torque being applied to the controlled object or that
the user should rotate their hand about that respective axis.
Hence, location or movement of the first and second tactors 110n',
110n'' can indicate the amount of torque being applied to the
controlled object. In contrast to moving of the first and second
tactors 110n', 110n'' in opposing directions, which can indicate
rotation or torque, movement of the first and second tactors 110n',
110n'' in the same direction (e.g., along Y'- and Y''-axes, X'- and
X''-axes, or any parallel directions), can indicate
translational/linear movement of the shear display device 100n
and/or of an object, such as the controlled object.
[0187] Additionally or alternatively, the first and second tactors
110n', 110n'' can move in opposite directions on an axis that lies
along the direction between the center point of each of the tactors
to display various tactile cues to the user. For example, the first
and second tactors 110n', 110n'' can move radially away from each
other to display zooming out or an increase in distance (virtual or
otherwise) between two objects (e.g., between an object and the
controlled object; between the user and an object, etc.) or
increase in the size of an object. Such movement also can display
to the user tensile forces experienced by an object or provide
similar force/pressure cues.
[0188] Conversely, the first and second tactors 110n', 110n'' can
move radially toward each other, thereby signaling to the user
zooming in or a reduction in distance (virtual or otherwise)
between two objects or the decreasing size of an object. Likewise,
such movement of the first and second tactors 110n', 110n'' can
indicate compressive forces experienced by an object or provide
similar force/pressure cues. For instance, as a tool passes through
a narrowing and is compressed, the first and second tactors 110n',
110n'' can move toward each other, thereby indicating compression
of the tool.
[0189] In one embodiment, the first and second tactors 110n',
110n'' are offset from each other in both the x- and y-direction.
Such a configuration can provide tactile feedback to the user's
index and middle fingertips, which are commonly offset in a similar
manner as the first and second tactors 110n', 110n''. This offset
configuration can be advantageous if the shear display device 100n
was a computer mouse or a similar device.
[0190] In other embodiments, the first and second tactors 110n',
110n'' can be substantially aligned with each other. In other
words, the shear display device 100n can have a continuous edge,
and the first and second tactors 110n', 110n'' can be positioned at
approximately the same distance from the edge. In any case, the
user can position or orient the shear display device 100n in any
manner relative to the user's hand and/or fingertips, such as to
accommodate a particular placement of the user's fingertips on the
first and second tactors 110n', 110n''.
[0191] Additional or alternative embodiments include the shear
display device 100n that comprises multiple unconnected bodies,
each of which can incorporate one of the first and second tactors
110n', 110n''. In other words, the shear display device 100n can
comprise multiple unconnected shear display devices, which can be
place near each other, such that the user can place fingertips on
the desired tactors. Such otherwise unconnected shear display
devices can function together (e.g., by receiving commands from the
same controller) and can produce the same movement of the first and
second tactors 110n', 110n'' as a single body shear display device
100n.
[0192] Furthermore, it should be appreciated that the shear display
device 100n can include first and second tactors 110n', 110n'' that
have any number suitable shapes and sizes, which may vary from one
implementation to another. For example, the shear display device
100n can include bar- or plate-like first and second tactors (e.g.,
similar to the first and second tactors 110g', 110g'' (FIG. 8). The
plate-like first and second tactors can move in any number of ways
described herein and can provide the same or similar information as
described herein. Additionally, the plate-like first and second
tactors can allow the user to apply a relatively large compressive
force to the shear display device 100n, while continuing to display
information to the user. Furthermore, as noted above, the
plate-like tactors can recruit more mechanoreceptors and, thus, can
provide additional sensation in the areas of relatively low density
of mechanoreceptors (e.g., palm, wrist, etc.), which can facilitate
greater accuracy of the user's perception of the displayed
information.
[0193] Hence, movements of the tactor can display one-, two-,
three-dimensional, and generally multi-dimensional information
about movement of the controlled object. As described herein, the
shear display device can be connected to or form a part of a
controller, which can control the controlled object. Moreover, the
controller also can provide force feedback to the user, as further
described herein. For ease of description of the controller,
reference is made to a "force feedback device," which can
incorporate both the control functionality and can provide force
feedback. Furthermore, the force feedback device can provide force
feedback on any one or more of three axes in a three-dimensional
space as well as torque feedback about any one of the three axes.
For example, the feedback can be such as to provide a certain
amount of resistance to movement of a shear display device. It
should be appreciated, however, that shear display device can be
coupled to or integrated with a controller that can provide either
of the control functionality or force feedback. FIG. 12 illustrates
a control system 300 that includes the shear display device 100a
connected to a force feedback device 310. The force feedback device
310 may include a commercially available force feedback device,
such as the Phantom Robot Arm.
[0194] The force feedback device 310 can provide resistive force in
response to the movement of the shear display device 100a. Such
resistive force, for example, can signal a resistance (as well as
magnitude thereof) encountered by the controlled object (where this
object could be a physical object or a simulated/virtual object).
For example, when used with a remote scalpel that is cutting
through subcutaneous tissue and then encounters bone, the force
feedback device 310 may provide greater (or in this example
infinite) resistance to further advancement in the direction of the
bone. Additionally, the force feedback device 310 can sense
movements of the shear display device 100a in one-, two-, three-,
and up to six-dimensional space (i.e., linear movements in along
any one or more axes in a three-dimensional space plus rotational
movements about such axes in the three-dimensional space). In other
words, as the user moves the shear display device 100a, the force
feedback device 310 can provide instructions to a controller (or to
the controlled object), and the instructions can correspond to the
user's movements of the shear display device 100a. Thus, the force
feedback device 310 can provide information to the user about
position and/or movement of the controlled object as well as
provide instruction to the controlled object related to the
movement thereof (e.g., as sensed by the force feedback device 310
from the movement of the shear display device 100a).
[0195] Moreover, in addition to or in lieu of force feedback, the
control system 300 also can provide the user with information about
the movement of an object, such as the controlled object. More
specifically, the control system 300 can display position of the
controlled object, forces experienced by of the controlled object,
etc., via the shear display device 100a. For example, the force
feedback device 310 can detect rotation of the shear display device
100a about the Z-axis.
[0196] Similarly, the force feedback device 310 can detect rotation
of the shear display device 100a about the X-axis. As noted above,
as the force feedback device 310 detects rotation of the shear
display device 100a about and/or linear movement of the shear
display device 100a in the X-, Y-, and/or Z-axes (or any other
axes), the force feedback device 310 can translate such linear
movements and/or rotations, and direct the controlled object in a
corresponding manner.
[0197] Similarly, the tactor 110a and its motion can display a
representative force experienced by the controlled object. Hence,
in lieu of providing force feedback in response to force
experienced by the controlled object (via the force feedback device
310), resistance to linear movement and/or rotation of a
multi-tactor shear display device (e.g., shear display device 100k,
FIGS. 10A-10B) can be presented as skin shear (i.e., stretching the
skin) by the tactor 110a. For instance, as noted above, force may
be displayed by displacing the tactor 110a from a center or default
position to a second position. Also, the shear display device 100a
can display torque by rotating the tactor 110a about its axis
and/or moving the tactor 110a along a circular path. In one
example, direction and distance of movement (or speed or
acceleration) of the tactor 110a from its center position can
indicate the forces experienced by the controlled object. In other
words, relatively larger movements of the tactor 110a can represent
a relatively greater amount of force experienced by the controlled
object. Conversely, a relatively smaller movement of the tactor
110a can represent a relatively lower amount of force experienced
by the controlled object.
[0198] As described herein, a shear display device provides
localized sensations, which do not affect or move the user's hand.
Hence, providing haptic feedback via skin shear instead of force
feedback can reduce the risk associated with unintentional hand
movement, which can occur in response to receiving force feedback
from the force feedback device 310. For example, in various medical
applications, unintentional hand movements during a procedure where
a physician controls a medical device with the help of the control
system (e.g., during a surgery) can present huge safety concerns
and can lead to devastating consequences. Accordingly, the shear
display device 100a can reduce potential accidents that may occur
during various procedures, which can be especially relevant to high
risk procedures.
[0199] Additionally, the control system 300 can provide a combined
force feedback and shear feedback. For example, the force feedback
device 310 can prevent movement of the shear display device 100a in
a certain direction (e.g., along X-axis beyond a predetermined
point or a limit), and the shear display device 100a can provide
shear feedback (e.g., by moving in the tactor 110a in a direction
away from the predetermined limit). As such, the control system 300
can reduce the amount of force applied in the force feedback, while
the user can experience sufficient tactile feedback to for accurate
responses to such feedback. Combined force feedback and skin
stretch can enhance user's sensation and can lead to more accurate
interpretation of the cues as compared with providing only the
force feedback or skin stretch cues.
[0200] As noted above, reduction of force feedback can lead to
improved accuracy of user's movements during user controlled tasks.
For instance, the user can guide the controlled object along a path
that is in part dictated by the tactile feedback from the control
system 300. Thus, increased accuracy of user's movements can result
in increased accuracy of the control object's adherence to the
path. In one example, the control system 300 can be used in
surgical procedures, where the tactile feedback can represent the
controlled object's interaction with the surrounding environment
(e.g., resistance or forces experienced by the controlled object).
Accordingly, increased accuracy of movement of the controlled
device as well as reduced or eliminated unintentional movements
(e.g., movements that can result from excessive force feedback) of
the shear display device 100a, which can control the controlled
object, can lead to safer surgical procedures.
[0201] As noted above, the control system 300 can include any of
the shear display devices described herein. In one example, the
control system 300 may incorporate a multi-tactor shear display
device (e.g., the shear display device 100d (FIG. 5)). Hence, in
some instances, the user can receive cues from the multi-tactor
shear display device (as described herein) and can move the shear
display device in a direction and/or to a position indicated by
such cues. For example, the user may rotate the shear display
device about the Z-axis (e.g., which would result from the shear
feedback provided to a user). It should be noted that, in some
situations, the shear display device can move only about the
Z-axis, while remaining substantially stationary otherwise (e.g.,
via force feedback that prevents linear movement and rotation about
the X- and Y-axes.
[0202] As described herein, rotation of the shear display device
100a about the Z-axis can direct the controlled object to perform
certain function. For example the controlled object can be directed
to rotate. In response to such rotation the controlled object can
experience torque applied by its environment. Hence, providing
shear feedback can inform the user about the amount of torque
experienced by or the orientation or relative movement of the
controlled object. Moreover, the information about the torque
experienced by the controlled object also can be displayed by a
combined skin shear and force feedback.
[0203] In some embodiments, the control system 300 can be
configured to partially restrict the user's ability to move the
shear display device in three- or six-dimensional space. In other
words, the force feedback device 310 can apply force to prevent the
user's movements of the shear display device in one or more
directions and/or prevent rotations about one or more axes. For
example, the control system 200a may restrict all linear movement
of the shear display device and can restrict rotation about X-, Y-
or Z-axes. Hence, for instance, the shear display device can be
allowed to rotate only about the Z-axis. In other words, the
force/torque feedback device 310 can provide resistance to movement
of the shear display device in a manner that would effectively
constrain the movements of the shear display device to a
predetermined plane, surface, or three-dimensional surface or area
(e.g., allowing movements only on the surface or on one side of the
plane or surface).
[0204] Such restrictions also can confine movement of the shear
display device to a particular confinement plane or surface. Thus,
the user may be able to move the shear display device only in a
two-dimensional plane. Similarly, the control system 300 can
restrict the user's movements of the shear display device to a
surface, which can have a three-dimensional profile.
[0205] In other embodiments, the control system 300 can prevent the
user from moving the shear display device past a predetermined
safety plane or surface in the three-dimensional space. More
specifically, the control system 300 can allow the user to move the
shear display device to any location on the one side of the safety
plane or surface and prohibit movement of the shear display device
beyond that side of the safety plane or surface. A surface of an
object can be obtained (e.g., using three-dimensional scanning
techniques) and can be used as a safety surface for the control
system 300. Such safety surface can protect the object from
inadvertent contact or impact by the controlled object.
[0206] Guiding the motion and orientation of the user while the
user holds the shear display device such that the user can only
move within a plane or surface can also be very advantageous
cognitively and for task performance. This reduces the task space
such that a user is no longer required to reason and control for
six degrees of freedom of motion, but can simply focus on two
degrees of freedom. This also allows the axis of the shear display
to always be controlled to be in the most advantageous orientation
to present useful feedback to the user.
[0207] In one aspect of the control system, the center of the shear
display device (i.e., location of the tactor and/or where the user
grips the shear display) would be placed at the center of rotation
of the force/torque feedback robot's gimbal. By placing the shear
display device at the center of the gimbal, if torques are applied
to the shear display device to guide its motions, these torques
will be less likely to result in potentially large translational
forces being generated when the robot arm pushes on the user's
hand. Hence this centered configuration has potential safety
advantages.
[0208] Furthermore, providing torque feedback at the force feedback
device 310 can provide a means of controlling the orientation of
the shear display device 100a such that it always lies in the
predetermined or desired orientation. All three axes of rotation
can be similarly controlled such that the orientation of the shear
display device can be suggested to or controlled for the user.
Specifically, rotation of the shear display device can be
controlled about any one or more of the X-, Y-, and Z-axes.
[0209] Providing rotational guidance for the orientation of the
shear display device and, thus, for the user's hand provides a
compromise in system complexity and safety. As noted above, in
safety critical applications force feedback is often not used due
to concerns of feedback instabilities. Hence, torque feedback can
provide an effective means to guide the orientation of the shear
display device to be placed in a desired or preferred orientation
within a three-dimensional space with three translations and three
rotations, for conveying task specific information to the shear
display device. Unlike force feedback, where transitional motion
can result from feedback instabilities, torque feedback has a lower
potential to cause safety issues.
[0210] Accordingly, FIGS. 1-12 and the corresponding text, provide
a number of different components and mechanisms for displaying
movement, direction, force, and torque information to a user via
tactile cues provided by the shear display device and/or by the
control system. In addition to the foregoing, some embodiments of
the present disclosure also can be described in terms of flowcharts
comprising acts and steps in a method for accomplishing a
particular result. For example, FIG. 13 illustrates a flowchart of
one exemplary method of providing above-described information with
tactile cues using principles of the present disclosure. The acts
of FIG. 13 are described herein with reference to the components
and diagrams of FIGS. 1 through 12.
[0211] For example, as illustrated in FIG. 13, the method can
involve an act 400 of receiving information about an object. As
mentioned above, such object can be a real (or physical) object or
can be a virtual (i.e., computer-generated) object. Furthermore,
such an object can be an object being controlled by the user, such
as the controlled object, an object used to control one or more
other objects (e.g., shear display device in combination with a
controller), or any other object being observed by the user.
[0212] In addition, the particular information received can vary
from one embodiment to another. For instance, such information can
include information about the object's movements. Particularly,
such information can include information about the object's
direction, velocity, and acceleration. Additionally or
alternatively, such information can include information about the
forces, torques, or pressure experienced by or applied to the
object.
[0213] The method can further involve an act 410 of displaying the
information to the user via one or more tactile cues. More
specifically, the above-described information about the object can
be displayed to the user via predetermined one or more skin stretch
cues, which can be provided by the shear display device (e.g. shear
display device 100a, 100b, 100c, 100d, 100e, 100f, 100g, 100h,
100k, 100n). In other words, the shear display device can stretch
one or more portions of the user's skin to provide tactile
sensations that can correspond with the information about the
object and can be interpreted by the user as such. For example, the
shear display device can move one or more tactors (e.g. tactors
110a, 110b, 110c', 110c'', 110d', 110d'', 110e', 110e'', 110f',
110f'', 110g', 110g'', 110h', 110h'', etc.) in a first direction
and at a first speed in along a linear path to indicate linear in a
first direction and at a first speed in along a linear path to
indicate linear movement of the object and particular speed
thereof. Alternatively or additionally, the shear display device
can move one or more tactors in a first direction and at a first
speed and/or by a first displacement along a linear path to
indicate a force experienced by the object (i.e., magnitude of the
force and/or direction thereof).
[0214] Additionally or alternatively, the shear display device can
move one or more tactors along a curved, circular, or semicircular
path to indicate rotation of or a torque experienced by the object.
Moreover, as described herein, the shear display device can include
multiple tactors (e.g. 110c', 110c'', 110d', 110d'', 110e', 110e'',
110f', 110f'', 110g', 110g'', 110h', 110h'', etc.). Hence, the
shear display device can move the tactors in a coordinated manner
to display linear movement, force, rotation, torque, and
combinations thereof. In one example, opposing tactors can move in
opposite directions (e.g., along X- or Y-axis), as described
herein, to indicate rotation of and/or torque experienced by the
object. For instance, directions of the movement of the tactors and
the direction of a perceivable torque created about a center point
therebetween can provide information about the object's rotation.
Furthermore, speed and/or acceleration as well as displacement of
the tactors (i.e., the manner in which the user's skin is
stretched) can provide information about the torque experienced by
the object.
[0215] Likewise, tactors facing in the same or similar direction
(e.g., adjacent tactors) also can provide rotational information.
As noted above, in one example, one or more of the tactors can
rotate about the respective axes thereof or may move in a circular
or semicircular paths to display information about the object's
rotation and/or torque experienced thereby. Additionally or
alternatively, the tactors can move in opposite directions along a
linear or substantially linear paths (e.g., along X- or Y-axis),
thereby producing a perception of torque about a point
therebetween. Accordingly, such movements can provide information
about the object's rotational movement and/or torque experienced
thereby.
[0216] In some embodiments, as described herein, the tactors also
can move toward and away from the user's skin. Hence, the tactors
can provide three-dimensional information about linear movement or
forces experienced by the object. Additionally or alternatively,
the tactors can provide information about rotational movement
and/or torques experienced by the object about any one or more of
the three-dimensional axes (i.e., the shear display device 100a,
100b, 100c, 100d, 100e, 100f, 100g, 100h, etc., can provide four-,
five, and six-dimensional information to the user).
[0217] Embodiments of the present disclosure also can include
and/or can be implemented in performing medical procedures, such as
upper extremity rehabilitation, surgery, catheter insertion, etc.
More specifically, in one example, a shear display device (e.g.
shear display devices 100a, 100b, 100c, 100d, 100e, 100f, 100g,
100h, etc.) can signal to the user the direction of movement (i.e.,
where to move) for a desired advancement of the tool or catheter in
the body. Also, the shear display device can inform the user about
the forces and/or torques experienced by the catheter or other
controlled tool or object. Accordingly, the shear display device
can improve the safety of medical procedures, such as catheter
insertion and guidance.
[0218] In some embodiments, the shear display device can display
impact between two objects (e.g., between a controlled object and
another object) in a different manner than a force applied onto the
controlled object. Specifically, upon impact, the shear display
device can produce a relatively large initial stretch of the user's
skin (i.e., a large displacement of the tactors (e.g. tactors
110c', 110c'', 110d', 110d'', 110e', 110e'', 110f', 110f'', 110g',
110g'', 110h', 110h'', etc.)), which can be proportional to the
impact (e.g., to the speed of the controlled object at the time of
impact and/or mass thereof), followed by displaying further tactor
motion in proportion to the penetration of the virtual object that
is contacted. In other words, a larger initial stretch of the
user's skin can produce an enhanced or more accurate perception of
impact. It should be noted that a single or multiple tactors (as
applicable) can move in unison to produce skin stretch of multiple
portions of the user's skin.
[0219] In some embodiments, the displacement of the tactor and the
corresponding amount of skin stretch can be proportional to the
force or torque experienced by the object. For instance, a force of
2 N can be displayed by displacing the tactor by 1 mm, while a
force of 4 N can be displayed by displacing the tactor by 2 mm.
Alternatively, relationships between the force experienced by the
object and the displacement of the tactor can be non-linear (e.g.,
logarithmic, quadratic, etc.). Thus, small amounts of force can be
displayed to the user by sufficiently large displacement of the
tactor, such that the user can perceive such forces. At the same
time, larger forces also can be displayed by proportionately less
displacement by the tactor without running out of travel. Hence a
non-linear mapping of forces (or other quantities mentioned above)
to tactor displacements has the advantage of being responsive for
displaying lower force levels where the skin is not substantially
stretched, while not prematurely saturating at higher force levels.
This extends the range of forces that can be displayed to a user
and has the advantage of meeting a user's expectations of increased
skin stretch when experiencing increasing forces or large forces.
This can better maintain the causality of the user experience than
using a high force-to-tactor-displacement gain and experiencing
early tactor saturation at high forces.
[0220] One or more sliding tactors may be used incorporated into
grips or handles on various devices to provide tactile feedback
without significantly interfering with the usage of the devices. As
shown in FIG. 14A, a shear display device 100m may include four
tactors 110o, similarly mounted on a body 120m as described in
relation to FIGS. 10A and B. Particularly, the shear display device
can include tactors 110o located along an X-axis of the shear
display device 100m and opposite to one another. The shear display
device 100m may include tactors 110o positioned along a Y-axis of
the shear display device 100m and opposite to each other. Moreover,
in some embodiments, at least one of the tactors 110o may have an
approximately orthogonal orientation relative to at least one other
tactor 100o. In an embodiment, the tactors 110o can move along the
length of the body 120m (i.e., in a direction along or parallel the
Z-axis of the shear display device 100m). In at least one
embodiment, the movement of at least one of the plurality of
tactors 110o may substantially follow a contour or a surface of the
body 120m.
[0221] The shear display device 100m may include one or more input
mechanisms 102a that allow a user to interface with another device,
system, or simulated environment while receiving tactile feedback
through the shear display device 100m. The input mechanism 102a may
include one or more buttons, directional inputs (e.g., a thumb
stick, directional pad, scroll wheel, etc.), switches, bumpers,
triggers, or combinations thereof. The input mechanism 102a may
include digital inputs and/or analog inputs. The buttons,
directional inputs, switches, bumpers, and triggers may include
various forms of tactile communication. For example, the input
mechanism 102a may include a trigger mechanism that includes
vibration feedback capabilities. As shown in FIG. 14A, the input
mechanism 102a may include a central analog thumb joystick and a
plurality of buttons distributed about the central thumb joystick.
The buttons may be configured to replicate a button layout of
popular entertainment system controllers (e.g., XBOX, PLAYSTATION,
WII, etc. controllers). The thumb joystick and plurality of buttons
may be operable by a user's thumb while gripping the body 120m with
the remainder of the user's hand. In other embodiments, the input
mechanism 102a may be located elsewhere on the shear display device
100m without substantially interfering with the communication of
tactile information to a user through the tactors 110o.
[0222] The tactors 110o may move individually, in groups, or in
simultaneous coordination to communicate information to a user. For
example, a tactor 110o may move individually to communicate
direction information to a user. In another example, a plurality of
tactors 110o or groups of tactors 110o may move in simultaneous
coordination to simulate a torque applied to a controlled object.
Simultaneous coordination of tactors 110o may include moving
tactors 110o located on opposing sides of the shear display device
100m in opposite or opposing directions at the same time. The
tactile sensation of opposing tactors 110o providing skin shear in
opposing directions may create a perception of the shear display
device 100m rotating in the user's hand without interfering with
the user's ability to operate the one or more input mechanisms
102a. Motion of the all the tactors 110o in the same direction may
also be used to create the perception of force in the direction of
tactor motion. The calculated motions of tactors 110o that cause
torques and forces to be perceived can also be scaled separately
and superimposed to represent nearly any force and/or torque
combination.
[0223] The tactors 110o may be recessed in the body 120m or may
have a portion of at least one tactor 110o outside the body 120m.
Outside the body 120m should be understood to mean a location that
is outside a perimeter around the body 120m that is defined by the
outermost points of the body 120m. For example, a tactor 110o may
recessed inside the body 120m if two points on an outer surface of
the body 120m may be connected by a line without the line
intersecting the tactor 110o. In another example, For example, a
tactor 110o may recessed inside an elliptical perimeter of the body
120m if three points on an outer surface of the body 120m may be
connected by a curve without the curve intersecting the tactor
110o. In at least one embodiment, a shear display device 100m
having one or more recessed tactors 110o may allow a higher
proportion of the body 120m to be in contact with a user's hand
during use of the shear display device 100m when compared to a
shear display device 100m having tactors 100m than are not recessed
in the body 120m.
[0224] FIG. 14B depicts another embodiment of a shear display
device 100n. The shear display device 100n may include one or more
input mechanisms 102b, similar to those described in relation to
FIG. 14A, and a plurality of tactors 110p located on a body 120n.
In contrast to the shear display device 100m of FIG. 14A, the shear
display device 100n of FIG. 14B may include three tactors 110p. The
three tactors 110p may each be configured to move along a length of
the elongated body 120n that forms the grip of the shear display
device 100n. For example, each tactor 110p may be configured to
move in a path that is parallel to the paths of the other two
tactors in the body 120n. In another example, each tactor 110p may
move in a non-parallel path to the other tactors, but generally
along the length of the elongated body 120n. A user may grip the
body 120n to hold onto the feedback device and engage each of the
tactors 110p. Similar to the four tactor design described in
relation to the shear display device 100m of FIG. 14A, the three
tactor design of the shear display device 100n may communicate
directional information to a user or simulate a torque applied to a
controlled object.
[0225] The three tactors 110p of the shear display device 100n may
move in simultaneous coordination to produce tactile sensations
that a user may perceive as torque applied about various axes of
the shear display device 100n. While the four tactors 110o of the
shear display device 100m of FIG. 14A are distributed at 90-degree
angles from one another with two pairs directly oppose one another,
the tactors 110p of the shear display device 100n of FIG. 14B may
not directly oppose one another. The tactors 110p may at least
partly oppose one another. It should be understood that "at least
partly oppose" may mean that a component of a vector may oppose a
component of another vector. When a user grips the body 120n and
tactors 110p of the shear display device 100n, a force applied to
each of the tactors 110p may have a component of the force that
opposes a component of the force applied to another tactor 110p.
For example, the tactors 110p may be located at 120-degree angles
from one another about the body 120n. The forces applied by the
tactors in reaction to a user gripping the shear display device
100n may be oriented at 120-degree angles from one another. Each of
the force vectors lying in a common plane may decompose into at
least two components (e.g., X- and Y-direction components) of which
at least a pair oppose one another. In some embodiments, therefore,
tactors having an angular relation of at least 90-degrees from one
another may at least partly oppose one another.
[0226] The components of the applied forces may allow the
respective tactors to move in coordination and produce a single
percept to a user that is a result of the motion of multiple
tactors (110k', 110k'', 110m', 110m'') as discussed in connection
with FIG. 10B. For further example, the 120-degree offset tactors
110p depicted in FIG. 14B may all move at the same time to create a
perception of torque. A first tactor 110p may move up (relative to
the body 120n) and second and third tactors 110p' and 110p'' (not
shown) may move down. The user may experience the movement of the
second and third tactors 110p' and 110p'' as a single tactor moving
downward in the opposite direction of the movement of the first
tactor 110p upward, which results in a single percept of a torque
about the X-axis. That is, the resulting perception is that the
shear display device 100n simulates a torque whose rotation is
defined about the X-axis and that lies between the first tactor
110p and the centroid (as described in relation to FIGS. 10A and
10B) between the second and third tactors 110p' and 110p''. Motion
of all of the tactors 110p, 110p' and 110p'' in the same direction
may also be used to create the perception of force in the direction
of tactor motion. Force and torque cues, using the motion of the
tactors 110p, 110p', and 110p'' can also be superimposed and
portrayed to a user to represent combined loading cases, as would
be understood by one with ordinary skill in the art. That is, if
the tactor motions that correspond to multiple applied load cases
are calculated separately, the resulting tactor motions can be
added together to represent a single percept of the combined load
condition to the user. For example, if one were holding a virtual
rod horizontally from one end (as one would hold a sword) while
pushing it into a virtual wall (normal to the wall), there are two
main load components: 1) the moment from gravity being applied to
the mass of the rod and 2) the force along the rod from piercing
the wall. The gravity load would result in the tactors on opposite
sides of the device (e.g., +Y and -Y sides of the device) to move
in opposite directions, in proportion to the mass of the rod. The
tactor motion that represents the piercing force would be for all
of the tactor to move in the -Z-direction. To represent this
combined load case, the resulting tactor motions are added together
to create a single percept of this combined loading condition.
[0227] FIG. 14C depicts another shear display device 100o. The
shear display device 100o may be similar to that described in
relation to FIG. 14B. The shear display device 100o may include a
body 120o that includes three tactors 110q configured to move in
parallel paths relative to the body 120o. The tactors 110q may move
relative to one another to communicate torque information to a
user. At least one of the tactors 110q may move substantially
parallel to an axis of the body 120o. For example, the tactor 110q
may move in a first path toward the top of the shear display device
100o (i.e., toward the input mechanism 102c in the depicted
embodiment). In another example, the tactor 110q may move in a
second path orthogonal to the first path (i.e. laterally and toward
another tactor 110q). The tactors 110q may move in paths that are
arcuate, convergent, divergent, or some combination thereof and may
be properly considered "parallel" according to the present
disclosure when the movement of the tactors 110q may be perceived
by a user as parallel.
[0228] The shear display device 100o may be a wireless shear
display device that a user may rotate and/or move freely in space.
In addition to, the shear display device 100o may include physical
input mechanisms 102c such as the described buttons, bumpers,
triggers, directional inputs (e.g., thumb joystick), and other
input mechanisms and/or may use one or more accelerometers and/or
gyroscopes as input mechanisms 102c. The accelerometers and/or
gyroscopes may measure and/or detect the movement and/or
orientation of the shear display device 100o relative to a
reference position. A reference position may be substantially
aligned with one or more axes of the shear display device 100o or
may be user-defined. As in FIG. 14B, the shear display device 100o
in FIG. 14C may simulate the application of torque about an axis to
a user by moving tactors 110q on opposing sides in opposite
directions. Motion of the tactors 110q in the same direction may
also be used to create the perception of force in the direction of
tactor motion. The resulting tactor motions from different load
cases (from forces and/or torques) may also be combined to create a
single percept of the combined loading condition. FIGS. 14C-2
through 14C-7 illustrate the shear display device of FIG. 14C from
a variety of perspectives.
[0229] FIG. 14D depicts another shear display device 100p in
accordance with the present disclosure. The shear display device
100p may include two tactors 110r. The two tactors 110r may move
along paths that are parallel to the body 120p to induce skin shear
at a target area of a user's hand. For example, the tactors may
move in directions and/or relative to one another similar to the
tactors 110k described in relation to FIGS. 10A and B and/or
tactors 110o in relation to FIG. 14A. The tactors 110r may move in
an opposite direction to one another to create a perception of a
torque applied to the user's hand by the shear display device 100p.
The shear display device 100p may, therefore, simulate the
application of torque about an axis to a user. Motion of the
tactors 110o in the same direction may also be used to create the
perception of force in the direction of tactor motion. The use of a
plurality of shear display devices 100p may simulate the
application of torque about additional axes, as described herein.
The resulting tactor motions from different load cases may also be
combined to create a single percept of the combined loading
condition. FIGS. 14D-2 through 14D-7 illustrate the shear display
device of FIG. 14D from a variety of perspectives.
[0230] A shear display device may also be used in conjunction with
other shear display devices to provide a system by which a user may
perceive force or torque applied to larger and/or more complex
virtual objects than the scale of the shear display device, itself.
For example, a plurality of shear display devices may be connected
to simulate a side-by-side grip structure, such as a steering yoke;
an angled grip structure, such as a shotgun grip and stock; or an
in-line grip structure, such as a handle of a sword, baseball bat,
or axe. FIG. 15A illustrates an embodiment of a shear display
system 500 including a plurality of shear display devices 100o
associated with frame 106a. The frame 106a may house a visual
display 104a. The visual display 104a and plurality of shear
display devices 100o may be fixed relative to one another by the
frame 106a. In some embodiments, the visual display 104a may be a
tablet computer, a computer monitor, a smartphone, a television, a
video game console, another electronic visual display, or
combinations thereof.
[0231] The shear display devices 100o of the system 500 are
depicted having three tactors 110q located at 120-degree
relationships to one another of the shear display devices 100o.
However, it should be understood that the shear display devices
100n may have more or less than three tactors 110q and produce the
appropriate torque perception, as described herein. As depicted in
FIGS. 15A and 15B the shear display devices 100o of the system 500
may include three tactors at 120-degree relationships to one
another and simulate torque information as described in relation to
FIG. 14B. Although both shear display devices are shown as the same
type, different shear display devices may be used. For example, a
shear display device 100p with two tactors 110r may be used with a
shear display device 100m having four tactors 110o. Other
combinations are also contemplated.
[0232] The shear display devices 100o may provide tactile
information using perceived centroids between tactors 110q as
described in relation to FIG. 14B. The shear display devices 100o
of the system 500 are depicted having three tactors 110q located at
120-degree relationships to one another on the shear display
devices 100o.
[0233] The system 500 may simulate a torque vector normal to the
frame 106a and/or visual display 104a by moving a tactor 110q' of
one of the shear display devices 100o up and a tactor 110q'' (not
shown) of the other shear display device 100o in an opposite
direction. The resulting skin shear on each of the user's hands may
produce the perception of a torque applied by the system 500. In
FIG. 15B, the system 500 is illustrated in a perspective view to
show tactors 110q' and 110q'' that each oppose the tactors 110q.
The tactors 110q' and 110q'' may move in an opposite direction to
the tactors 110q to create a perception of a torque applied about a
rotation axis 108 parallel to a longitudinal axis of the system
500. The frame 106a of the system 500 may align the shear display
devices 100o with another component of the system 500. The
alignment of the rotational axis 108 with another component of the
system 500 may create the perception to a user that the applied
torque is aligned with a rotational axis 108 of the component. For
example, the frame 106a may align the shear display devices 100o
with the visual display 104a. As described, the relative movement
of the tactors 110q' and 110q'' relative to tactors 110q may
produce the perception of a rotation axis 108. The alignment of the
shear display devices 100o with the visual display 104a (or other
component of the system 500) by the frame 106a may allow the
perceived rotational axis 108 to extend through the visual display
104a (or other component of the system 500).
[0234] FIG. 16 illustrates an embodiment of a shear display device
100q that is selectively connectable to a control interface 112a.
In such an embodiment, the user may use the one or more input
mechanisms 102d on the shear display device 100q and move the shear
display device 100q relative to the control interface 112a to issue
instructions to and/or interact with a controlled object. The
tactors 110s may communicate tactile information to the user via
skin shear without substantially moving the user's hand relative to
a body 120p. The user may, therefore, move the shear display device
100q relative to the control interface 112a precisely and
accurately irrespective of the tactile information conveyed to the
user simultaneously. The shear display device 100q may act as a
joystick control when connected to a control interface 112a. When
connected to the control interface 112a, the movement of the shear
display device 100q relative to the control interface 112a may be
yet another input mechanism 102d in addition to the input
mechanisms described herein. For example, the shear display device
100q may include one or more accelerometers and/or gyroscopes to
measure the movement of the shear display device 100q relative to a
reference position shown in FIG. 16.
[0235] In the depicted embodiment, the control interface 112a is a
ball stud and may interface with a control interface receiver 114a
on the shear display device 100q. In other embodiments, the shear
display device 100q may include a ball stud to interface with the
control interface 112a and the control interface 112a may include a
complimentary receiver. In yet other embodiments, a shear display
device 100q may connect to a control interface 112a through any
other appropriate connection mechanism, including but not limited
to a threaded, snap fit, interference fit, twist lock (i.e., BNC
connection), or other connection to a tiltable interface on the
shear display device 100q and/or the control interface 112a. The
control interface 112a and/or receiver 114a may include one or more
mechanisms, such as a potentiometer, that may measure the position
of the shear display device 100q relative to the control interface
112a. The control interface 112a may, therefore, operate as an
input mechanism 102d in addition to or in alternative to input
mechanisms described herein.
[0236] FIG. 17 illustrates another embodiment of a shear display
system 600, which may include a plurality of shear display devices
100q and at least one control interface 112b. In some embodiments,
the shear display system 600 may include a plurality of shear
display devices 100q connected to a single control interface 112b.
In other embodiments, a plurality of shear display devices 100q may
be connected to a plurality of control interfaces 112b. In the
depicted embodiment, the system 600 includes two shear display
devices 100q configured to connect with a control interface 112b.
The control interface 112b may receive inputs from the position and
movement of one or more of the shear display devices 100q relative
to the control interface 112b (e.g., tilting the shear display
device 100q like a joystick) and/or from the position and movement
of the control interface 112b itself due to the position and
movement of the shear display devices 100q relative to one another
(e.g., movement of the two shear display devices like a steering
yoke).
[0237] Similar to FIG. 16, the control interface 112a and/or shear
display device 100q may connect through any other appropriate
connection mechanism, including but not limited to a ball stud,
threaded, snap fit, interference fit, twist lock (i.e., BNC
connection), or other connection to a tiltable interface on the
shear display device 100q and/or the control interface 112a. The
movement of one or more of the shear display devices 100q relative
to the control interface 112b may be yet another input mechanism
102d in addition to the input mechanisms described herein. For
example, at least one of the shear display devices 100q may include
one or more accelerometers and/or gyroscopes to measure the
movement of the shear display devices 100q relative to a reference
position shown in FIG. 17. The control interface 112b may include
one or more mechanisms, such as a potentiometer, that may measure
the position of one or more the shear display device 100q relative
to the control interface 112b. The control interface 112b may,
therefore, operate as an input mechanism 102d in addition to or in
alternative to input mechanisms described herein.
[0238] FIG. 18 depicts a shear display device 100r that may include
opposing tactors 110t (second tactor 110t not shown) located on
movable arms 114. The movable arms 114 may have an opposing
"gripper" degree of freedom that can be incorporated into a shear
display device 100r that uses back-to-back shear displays, shown in
FIG. 18. The gripper degree of freedom may allow the movable arms
114 (shown open in FIG. 18) to move relative to one another in a
direction normal to the surface of the tactors 110t to simulate the
physical act of gripping an object between the tactors 110t. The
movable arms 114 may move simultaneously and in equal amounts away
from one another to simulate the expansion of a simulated or remote
object. The movable arms 114 may move independently of one another
to simulate the movement of a simulated or remote object. A user
may grip the body 120q with a thumb and forefinger on a tactor 110t
on each of the movable arms 114. The movable arms 114 may move
relative to the body 120q to simulate lateral movement of the
simulated or remote object. For example, the shear display device
100r may simulate the use and/or control or a scalpel. The tactors
110t may move in opposing directions to communicate torque on the
scalpel during a procedure while the movable arms may communicate
gross movement of the scalpel in a lateral direction. The tactors
110t may move in the same direction to communicate a force on the
scalpel. The movable arms 114 may allow the shear displays
including tactors 110t to move normal to a plane of the user's skin
while the tactors 110t themselves may move with two degrees of
freedom within the plane. The opposing tactors 110t shown in FIG.
18 work on the same principle as described in relation to the
sliding tactors 110o-q of FIGS. 14A-D. For example, the tactors
110t can be actuated in the same direction to provide translational
force and motion cues in the associated direction. Tactors 110t on
opposite sides of the controller can be moved in opposite direction
to create torque or rotary tactile cues to a user.
[0239] FIG. 19A depicts a shear display device 100s that may be
used to simulate interactions with a virtual interaction point 116.
The shear display device 100s may include one or more tactors 110u,
110u', and 110u'' (not shown) located on a body 120r that may be
held by a user. The one or more tactors 110u may convey tactile
information to a user while the user holds the body 120r. The shear
display device 100s may simulate a pen, stylus, scalpel, or other
elongated tool held in the hand between the forefinger and thumb.
The one or more tactors 110u may contact one or more fingerpads.
The shear display device 100s may include one or more tactors 110u
configured to engage with another part of the user's hand, such as
the palm of the hand. The shear display device 100s may include one
or more input mechanisms 102e to facilitate communication with
and/or commands to a controlled and/or simulate object. In some
embodiments, the shear display device 100s may include one or more
input mechanisms 102e located on the body 120r of the shear display
device 100s. In other embodiments, the shear display device 100s
may include one or more input mechanisms 102e incorporated into the
tactors 110u. For example, at least one of the tactors 110u may be
configured to move within a two-dimensional plane substantially
co-planar with a surface of the body 120e and the tactor 110u may
be depressed by a user normal to the two-dimensional plane to
effect communication with a controlled and/or simulated object
(e.g., pressing on the tactor may depress a switch).
[0240] The shear display device 100s may use the one or more
tactors 110u to simulate interactions with a virtual interaction
point remote and/or external to the body 120r of the shear display
device 100s. For example, movement of one or more tactors 110u may
simulate torque on the shear display device 100s based on a virtual
interaction point 116. A plurality of tactors 110u located on the
body 120r may move simultaneously, for example in opposing
directions, to simulate torque on the body 120r. Forces through
this same virtual interaction point 116 along the length of the
device 100s (along the Z-axis) may also be portrayed by moving all
of the tactors 110u in the same direction, as discussed in relation
to FIG. 10B. A special case may include a virtual interaction point
116 in line with the elongated body 120r of the shear display
device 100s used to replicate a pen, stylus, scalpel, or other
elongated tool. By placing the virtual interaction point 116
external to and in line with the body 120r, it is possible for the
two degrees of freedom of virtual torque to be interpreted as the
lateral forces experienced at the remote virtual interaction point
116. The torque experienced through the body 120r would be the
natural way one would experience the lateral force interactions
with the environment at this remote point. For example, a user may
use a stick to push laterally on a surface, resulting in lateral
forces on the stick perceived by the forces on the user's hand by
the stick. A longer stick may result in a rotational moment that is
perceived by the user as significantly larger than the lateral
reaction force. In the limit, a user may only perceive the torque
resultant from the interaction, allowing sufficient simulation of
the interaction through only the torque simulation of the plurality
of tactors 110u. Hence 3-dimensional force feedback can be emulated
by portraying the force along the Z-axis by moving the tactors 110u
all in the same direction, and lateral forces (in the X-Y plane)
can emulated by portraying torques about the X and Y axes, by
moving the corresponding tactors 110u in opposite directions, as
discussed in connection with FIGS. 10B and 14B. Also, as discussed
in connection with FIG. 14B, the tactor motions that result from
multiple load cases can also be combined to create a single percept
of the combined load cases. FIGS. 19B through 19G illustrate the
shear display device of FIG. 19A from a variety of
perspectives.
[0241] FIG. 20 depicts another embodiment of a shear display device
100t that may be used with a virtual interaction point external to
a body. The shear display device 100t may be similar in
configuration to the shear display device 100o of FIG. 14C. In
contrast to the shear display device 100s of FIG. 19A, the shear
display device 100t shown in FIG. 20 is preferably not held between
a user's forefinger and thumb similar to a pen, stylus, or scalpel,
but rather held by wrapping a user's palm and fingers around a body
120s of the shear display device 100t. The virtual interaction
point 116 may be external to and in line with the body 120s such
that the movement of a plurality of tactors 110v may simulate a
reaction force and/or torque with the virtual interaction point
116. The tactors 110v may include a plurality of tactors 110v in
the body 120s of the shear display device 100t.
[0242] At least two of the plurality of tactors 110v may at least
partly oppose one another. For example, the tactors 110v may be
located at 120-degree angles from one another about the body 120s.
The forces applied by the tactors in reaction to a user gripping
the shear display device 100t may be oriented at 120-degree angles
from one another. Each of the force vectors lying in a common plane
may decompose into at least two components (e.g., X- and
Y-direction components) of which at least a pair oppose one
another. In some embodiments, therefore, tactors having an angular
relation of at least 90-degrees from one another may at least
partly oppose one another. In other embodiments, tactors having an
angular relation of less than 270 degrees from one another may at
least partly oppose one another. In another example, three tactors
arranged at 120-degree angles from one another about a common axis
may all partly oppose one another (i.e., each tactor partly opposes
the other two tactors). As discussed in connection with FIG. 19A,
it is also possible to emulate or portray 3-dimensional force
feedback with the use of a virtual interaction point 116. That is,
following the same logic as expressed for above in relation to FIG.
19A, 3-dimensional force feedback can be emulated by portraying the
force along the Z-axis by moving the tactors 110v all in the same
direction, and lateral forces (in the X-Y plane) can emulated by
portraying torques about the X and Y axes, by moving the
corresponding tactors 110v in opposite directions, as discussed in
connection with FIGS. 10B and 14B. Also, as discussed in connection
with FIG. 14B, the tactor motions that result from multiple load
cases can also be combined to create a single percept of the
combined load cases.
[0243] FIGS. 21A, 21B, 21C, and 21D are cross-sectional side views
of a schematic representation of tactors 110w, 110x in shear
display devices 100u, 100v having a flexible materials 118a, 118b
covering the tactors 110w, 110x. FIG. 21A illustrates the tactor
110w in a "home" position while FIG. 21B illustrates the
interaction between the flexible material 118a and the tactor 110w
away from the "home" position for a device 100u where the outboard
surface of the tactor 110w is approximately flush with the outer
surface of the device's body 120t. FIG. 21C illustrates the tactor
110x in a "home" position while FIG. 21D illustrates the
interaction between the flexible material 118b and the tactor 110x
away from the "home" position for a device 100v where the tactor
110x protrudes from the outer surface of the device's body
120u.
[0244] When implementing haptic feedback into a device, the tactor
110w, 110x may be covered by a sheet of flexible material 118a,
118b (e.g., a rubber membrane) with the appropriate friction
properties or connection between the flexible material 118a, 118b
and tactor 110w, 110x so as to transmit friction from the motion of
the tactor 110w, 110x to the skin of the user's hand through the
flexible material 118a, 118b. Covering the moving tactor 110w, 110x
with such a flexible material 118a, 118b may reduce the sense that
there are multiple discrete tactors and make the friction forces
applied to the user's hand appear more continuous, contributing to
the creation of a single percept. A covering of flexible material
118a, 118b may decrease the chance that that a portion of the
user's skin could become caught or pinched between the moving
tactors and the body 120t, 120u of the shear display device 100u,
100v. A covering of flexible material 118a, 118b may act as a
protective cover to prevent particulates or moisture from getting
into the body 120t, 120u of the shear display device 100u,
120v.
[0245] FIG. 22 schematically depicts a cross-section of a shear
display device 100v that may include a microprocessor 122 and
memory 124 in communication with one or more motors 160g or other
actuators (e.g., geared motor, motor and linkage, motor and cam,
motor and leadscrew, etc.) to move one or more tactors 110x
relative to a body 120u. The memory 124 may include a memory
module. When the shear display device 100v is used to interact with
a virtual and/or remote controlled object or device, the memory 124
may contain and/or receive movement and/or force information. The
memory 124 may communicate with the microprocessor 122 to allow the
microprocessor access to the information. The microprocessor 122
may actuate one or more motors 160g or other actuators connected to
one or more tactors 110x to simulate interactions with virtual
and/or remote objects. For example, the shear display device 100v
may be used to communicate with a virtual arm in a simulated
environment. The virtual arm may replicate the shear display device
100v or may have different dimensions. If the virtual arm shares
dimensions with the shear display device 100v, the microprocessor
122 may use movement and/or force information from the simulation
in memory 124 to actuate one or more motors 160g to simulate the
shear display device interacting with objects in the simulated
environment. If the virtual arm does not share one or more
dimensions with the shear display device 100v, the microprocessor
122 may use movement and/or force information from the simulation
in memory 124 to calculate interactions between the simulated
environment and a virtual interaction point (such as virtual
interaction point 116 described in relation to FIGS. 19 and 20).
The microprocessor 122 may then actuate one or more motors 160g to
simulate interaction of the simulated environment and the virtual
interaction point.
[0246] The described shear display device 100v may not require the
software or computer system controlling the remote and/or virtual
object or device to provide to the shear display device 100v force
or torque information or information regarding displacement,
position, and/or movement of tactors 110x. The described shear
display device 100v may calculate an appropriate displacement,
position, and/or movement of tactors 110x provided information
regarding the position, movement, force, torque, or combinations
thereof of the virtual and/or remote controlled object or device
and the simulated environment.
[0247] Further, the methods may be practiced by a computer system
including one or more processors and computer readable media such
as computer memory. In particular, the computer memory may store
computer executable instructions that when executed by one or more
processors cause various functions to be performed, such as the
acts recited in the embodiments, and may include pre-recorded
tactor motions that represent haptic effects such as the kick-back
impulse of a virtual gun shot or impact of a virtual sword.
[0248] Embodiments of the present disclosure may comprise or
utilize a special purpose or general-purpose computer including
computer hardware. Embodiments within the scope of the present
disclosure also include physical and other computer-readable media
for carrying or storing computer-executable instructions and/or
data structures. Such computer-readable media can be any available
media that can be accessed by a general purpose or special purpose
computer system. Computer-readable media that store
computer-executable instructions are physical storage media.
Computer-readable media that carry computer-executable instructions
are transmission media. Thus, by way of example, and not
limitation, embodiments of the invention can comprise at least two
distinctly different kinds of computer-readable media: physical
computer readable storage media and transmission computer readable
media.
[0249] Physical computer readable storage media includes RAM, ROM,
EEPROM, CD-ROM or other optical disk storage (such as CDs, DVDs,
etc.), magnetic disk storage or other magnetic storage devices, or
any other medium which can be used to store desired program code
means in the form of computer-executable instructions or data
structures and which can be accessed by a general purpose or
special purpose computer.
[0250] FIGS. 23A through 23C depict various embodiments of a shear
display device having a restraining device attached to the body and
configured to hold a user's hand proximate the shear display
device. FIG. 23A shows a shear display device 100w with a strap
126a connecting to a first end and a second end of a body 120v. The
strap 126a may include one or more adjustments to accommodate hands
of various sizes. The strap 126a may limit the movement of a user's
hand relative to the body 120v. The strap 126a may limit the
movement of a user's hand longitudinally, rotationally, laterally,
or combinations thereof. For example, FIG. 23B depicts an
embodiment of a shear display device 100w having a strap 126b with
a thumb band 128 extending around a side of a user's hand. The
thumb band 128 may further limit the rotational and longitudinal
movement of a user's hand when compared to the strap 126a of FIG.
23A. In another example, FIG. 23C depicts an embodiment of a shear
display device 100w having a strap 126c with a thumb band 128
extending around a side of a user's hand and connecting at the
second end of the body 120v and laterally opposing the connection
point of the strap 126c at the second end of the body 120v. The
strap 126c and thumb band 128 depicted in FIG. 23C may further
limit the rotational movement of a user's hand when compared to the
strap 126b described in relation to FIG. 23B.
[0251] The addition of a strap 126a-c and grasp sensing to a shear
display device 100w may provide a hybrid product solution between a
virtual glove (e.g., CYBERGLOVE) and a motion controller (e.g., a
NINTENDO WII-MOTE). A strap 126a-c allows the user of the shear
display device 100w to open their hand without dropping the shear
display device 100w and also helps to prevent accidentally throwing
the shear display device 100w as the user moves their hands (as
commonly occurred when the NINTENDO WII-MOTE was first introduced).
Grasp sensing that tracks the user's finger locations relative to
the device handle (e.g., using optical or capacitive sensing) can
be used to tune or adjust the control of haptic feedback on the
device or as an input for virtual or teleoperated interaction
(e.g., to control the positions of fingers of a virtual hand or
teleoperated robot hand).
[0252] The articles "a," "an," and "the" are intended to mean that
there are one or more of the elements in the preceding
descriptions. The terms "comprising," "including," and "having" are
intended to be inclusive and mean that there may be additional
elements other than the listed elements. Additionally, it should be
understood that references to "one embodiment" or "an embodiment"
of the present disclosure are not intended to be interpreted as
excluding the existence of additional embodiments that also
incorporate the recited features. Numbers, percentages, ratios, or
other values stated herein are intended to include that value, and
also other values that are "about" or "approximately" the stated
value, as would be appreciated by one of ordinary skill in the art
encompassed by embodiments of the present disclosure. A stated
value should therefore be interpreted broadly enough to encompass
values that are at least close enough to the stated value to
perform a desired function or achieve a desired result. The stated
values include at least the variation to be expected in a suitable
manufacturing or production process, and may include values that
are within 5%, within 1%, within 0.1%, or within 0.01% of a stated
value.
[0253] A person having ordinary skill in the art should realize in
view of the present disclosure that equivalent constructions do not
depart from the spirit and scope of the present disclosure, and
that various changes, substitutions, and alterations may be made to
embodiments disclosed herein without departing from the spirit and
scope of the present disclosure. Any element and/or embodiment
described in relation to any Figure may be combined with any other
element and/or embodiment described herein.
[0254] Equivalent constructions, including functional
"means-plus-function" clauses are intended to cover the structures
described herein as performing the recited function, including both
structural equivalents that operate in the same manner, and
equivalent structures that provide the same function. It is the
express intention of the applicant not to invoke
means-plus-function or other functional claiming for any claim
except for those in which the words `means for` appear together
with an associated function. Each addition, deletion, and
modification to the embodiments that falls within the meaning and
scope of the claims is to be embraced by the claims.
[0255] The terms "approximately," "about," and "substantially" as
used herein represent an amount close to the stated amount that
still performs a desired function or achieves a desired result. For
example, the terms "approximately," "about," and "substantially"
may refer to an amount that is within less than 5% of, within less
than 1% of, within less than 0.1% of, and within less than 0.01% of
a stated amount. Further, it should be understood that any
directions or reference frames in the preceding description are
merely relative directions or movements. For example, any
references to "up" and "down" or "above" or "below" are merely
descriptive of the relative position or movement of the related
elements.
[0256] The present disclosure may be embodied in other specific
forms without departing from its spirit or characteristics. The
described embodiments are to be considered as illustrative and not
restrictive. The scope of the disclosure is, therefore, indicated
by the appended claims rather than by the foregoing description.
Changes that come within the meaning and range of equivalency of
the claims are to be embraced within their scope.
* * * * *