U.S. patent application number 15/599911 was filed with the patent office on 2017-09-07 for systems and methods for perceptual normalization of haptic effects.
This patent application is currently assigned to Immersion Corporation. The applicant listed for this patent is Immersion Corporation. Invention is credited to David Birnbaum, Danny Grant, Vincent Levesque, Ali Modarres, Neil Olien, Erin Ramsay, Amaya Weddle.
Application Number | 20170257492 15/599911 |
Document ID | / |
Family ID | 51136324 |
Filed Date | 2017-09-07 |
United States Patent
Application |
20170257492 |
Kind Code |
A1 |
Levesque; Vincent ; et
al. |
September 7, 2017 |
Systems and Methods for Perceptual Normalization of Haptic
Effects
Abstract
Systems and methods for perceptual normalization of haptic
effects are disclosed. One system may include a first sensor
configured to detect a user interaction with a touch surface and
transmit a first sensor signal associated with the user
interaction; a second sensor configured to detect a feature
associated with the touch surface and transmit a second sensor
signal associated with the feature; a processor in communication
with the first sensor and the second sensor, the processor
configured to: determine a first haptic effect based on the user
interaction; determine a modified haptic effect based in part first
haptic effect and on the feature; output a haptic signal associated
with the modified haptic effect; and a haptic output device in
communication with the processor and coupled to the touch surface,
the haptic output device configured to receive the haptic signal
and output the modified haptic effect to the touch surface.
Inventors: |
Levesque; Vincent;
(Montreal, CA) ; Modarres; Ali; (Montreal, CA)
; Olien; Neil; (Montreal, CA) ; Grant; Danny;
(Laval, CA) ; Ramsay; Erin; (Dollards-Des-Ormeaux,
CA) ; Birnbaum; David; (Oakland, CA) ; Weddle;
Amaya; (San Jose, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Immersion Corporation |
San Jose |
CA |
US |
|
|
Assignee: |
Immersion Corporation
San Jose
CA
|
Family ID: |
51136324 |
Appl. No.: |
15/599911 |
Filed: |
May 19, 2017 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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13933915 |
Jul 2, 2013 |
|
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15599911 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F 3/044 20130101;
G06F 3/016 20130101; G06F 3/04883 20130101; H04M 19/04
20130101 |
International
Class: |
H04M 19/04 20060101
H04M019/04 |
Claims
1. A system for outputting haptic effects comprising: a first
sensor configured to detect a user interaction with a touch surface
and transmit a first sensor signal associated with the user
interaction; a second sensor configured to detect a feature
associated with the touch surface and transmit a second sensor
signal associated with the feature; a processor in communication
with the first sensor and the second sensor, the processor
configured to: determine a haptic effect based in part on the user
interaction and the feature; output a haptic signal associated with
the haptic effect; and a haptic output device configured to receive
the haptic signal and output the haptic effect to the touch
surface.
2. The system of claim 1, wherein the feature comprises one or more
of: a quality of a user's connection to electrical ground, a
pressure applied to the touch surface, an area of contact on the
touch surface, or an audible noise.
3. The system of claim 1, wherein the feature comprises a feature
associated with one or more of: a temperature of the touch surface,
a detection of moisture on the touch surface, a cover on the touch
surface, an acceleration of the touch surface, or a condition of a
user.
4. The system of claim 3, wherein the condition of the user
comprises one or more of: a temperature of a user's finger,
moisture on the user's finger, a substance on the user's finger, a
moisture of the user's skin, or a barrier to the user's finger.
5. The system of claim 1, wherein the feature comprises an
environmental condition.
6. The system of claim 5, wherein the environmental condition
comprises one or more of: a measured humidity, a measured
temperature, a measured atmospheric pressure, a measured magnetic
field, a measured electrical field, a measured vibration, or a
measured windspeed.
7. The system of claim 1, wherein the haptic output device
comprises one or more of: an actuator configured to output a
vibration at an ultrasonic frequency or an actuator configured to
generate an electrostatic field.
8. A method for outputting haptic effects comprising: detecting a
user interaction with a touch surface; detecting a feature
associated with the touch surface; determining a haptic effect
based on the user interaction and the feature; and outputting a
haptic signal associated with the haptic effect to a haptic output
device configured to output the haptic effect.
9. The method of claim 8, wherein the feature comprises one or more
of: a quality of a user's connection to electrical ground, a
pressure applied to the touch surface, an area of contact on the
touch surface, or an audible noise.
10. The method of claim 8, wherein the feature comprises a feature
associated with one or more of: a temperature of the touch surface,
a detection of moisture on the touch surface, a cover on the touch
surface, an acceleration of the touch surface, or a condition of a
user.
11. The method of claim 10, wherein the condition of the user
comprises one or more of: a temperature of a user's finger,
moisture on the user's finger, a substance on the user's finger, a
moisture of the user's skin, or a barrier to the user's finger.
12. The method of claim 8, wherein the feature comprises an
environmental condition.
13. The method of claim 12, wherein the environmental conditions
comprise one or more of: a measured humidity, a measured
temperature, a measured atmospheric pressure, a measured magnetic
field, a measured electrical field, a measured vibration, or a
measured windspeed.
14. The method of claim 8, wherein the haptic output device
comprises one or more of: an actuator configured to output a
vibration at an ultrasonic frequency or an actuator configured to
generate an electrostatic field.
15. A non-transitory computer readable medium comprising program
code, which when executed by a processor is configured to cause the
processor to: detecting a user interaction with a touch surface;
detecting a feature associated with the touch surface; determining
a haptic effect based on the user interaction and the feature; and
outputting a haptic signal associated with the haptic effect to a
haptic output device configured to output the haptic effect
16. The non-transitory computer readable medium of claim 15,
wherein the feature comprises one or more of: a quality of a user's
connection to electrical ground, a pressure applied to the touch
surface, an area of contact on the touch surface, or an audible
noise.
17. The non-transitory computer readable medium of claim 15,
wherein the feature comprises a feature associated with one or more
of: a temperature of the touch surface, a detection of moisture on
the touch surface, a cover on the touch surface, an acceleration of
the touch surface, or a condition of a user.
18. The non-transitory computer readable medium of claim 15,
wherein the condition of the user comprises one or more of: a
temperature of a user's finger, moisture on the user's finger, a
substance on the user's finger, a moisture of the user's skin, or a
barrier to the user's finger.
19. The non-transitory computer readable medium of claim 15,
wherein the feature comprises an environmental condition.
20. The non-transitory computer readable medium of claim 19,
wherein the environmental condition comprises one or more of: a
measured humidity, a measured temperature, a measured atmospheric
pressure, a measured magnetic field, a measured electrical field, a
measured vibration, or a measured windspeed.
Description
FIELD OF THE INVENTION
[0001] This application is a continuation of and claims priority to
U.S. patent application Ser. No. 13/933,915, entitled "Systems and
Methods For Perceptual Normalization of Haptic Effects," filed on
Jul. 2, 2013, the entirety of which is hereby incorporated herein
by reference.
FIELD OF THE INVENTION
[0002] The present invention generally relates to haptic feedback
and more particularly to systems and methods for perceptual
normalization of haptic effects.
BACKGROUND
[0003] Touch enabled devices have become increasingly popular. For
instance, mobile and other devices may be configured with
touch-sensitive displays so that a user can provide input by
touching portions of the touch-sensitive display. As another
example, a touch enabled surface separate from a display may be
used for input, such as a trackpad, mouse, or other device.
Furthermore, some touch-enabled devices make use of haptic effects,
for example, haptic effects configured to simulate a texture or a
friction on a touch-surface. This type of haptic effect can be used
to provide information to the user. However, at times other factors
can impact the user's perception of these effects, thus there is a
need to compensate for these factors.
SUMMARY
[0004] Embodiments of the present disclosure include devices
featuring surface-based haptic effects that simulate one or more
features in a touch area. These haptic effects may include, but are
not limited to, changes in texture, changes in coefficient of
friction, and/or simulation of boundaries, obstacles, or other
discontinuities in the touch surface that can be perceived through
use of an object in contact with the surface. Devices including
surface-based haptic effects may be more user friendly and may
provide a more compelling user experience.
[0005] In one embodiment, a system of the present disclosure may
comprise a first sensor configured to detect a user interaction
with a touch surface and transmit a first sensor signal associated
with the user interaction; a second sensor configured to detect a
feature associated with the touch surface and transmit a second
sensor signal associated with the feature; a processor in
communication with the first sensor and the second sensor, the
processor configured to: determine a first haptic effect based on
the user interaction; determine a modified haptic effect based in
part first haptic effect and on the feature; output a haptic signal
associated with the modified haptic effect; and a haptic output
device in communication with the processor and coupled to the touch
surface, the haptic output device configured to receive the haptic
signal and output the modified haptic effect to the touch
surface.
[0006] This illustrative embodiment is mentioned not to limit or
define the limits of the present subject matter, but to provide an
example to aid understanding thereof. Illustrative embodiments are
discussed in the Detailed Description, and further description is
provided there. Advantages offered by various embodiments may be
further understood by examining this specification and/or by
practicing one or more embodiments of the claimed subject
matter.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] A full and enabling disclosure is set forth more
particularly in the remainder of the specification. The
specification makes reference to the following appended
figures.
[0008] FIG. 1A shows an illustrative system for providing
perceptual normalization of haptic effects;
[0009] FIG. 1B shows an external view of one embodiment of the
system shown in FIG. 1A;
[0010] FIG. 1C illustrates an external view of another embodiment
of the system shown in FIG. 1A;
[0011] FIG. 2A illustrates an example embodiment for perceptual
normalization of haptic effects;
[0012] FIG. 2B illustrates an example embodiment for perceptual
normalization of haptic effects;
[0013] FIG. 3A illustrates another example embodiment for
perceptual normalization of haptic effects;
[0014] FIG. 3B illustrates another example embodiment for
perceptual normalization of haptic effects;
[0015] FIG. 4 illustrates another example embodiment for perceptual
normalization of haptic effects;
[0016] FIG. 5 illustrates another example embodiment for perceptual
normalization of haptic effects;
[0017] FIG. 6 is a flow chart for a method for performing
perceptual normalization of haptic effects according to one
embodiment;
[0018] FIG. 7 illustrates another example embodiment for perceptual
normalization of haptic effects; and
[0019] FIG. 8 illustrates another example embodiment for perceptual
normalization of haptic effects.
DETAILED DESCRIPTION
[0020] Reference will now be made in detail to various and
alternative illustrative embodiments and to the accompanying
drawings. Each example is provided by way of explanation, and not
as a limitation. It will be apparent to those skilled in the art
that modifications and variations can be made. For instance,
features illustrated or described as part of one embodiment may be
used on another embodiment to yield a still further embodiment.
Thus, it is intended that this disclosure include modifications and
variations as come within the scope of the appended claims and
their equivalents.
[0021] Illustrative Example of a Device for Providing Perceptual
Normalization of Haptic Effects
[0022] One illustrative embodiment of the present disclosure
comprises a computing system such as a smartphone, tablet, or
portable music device. The computing system can include and/or may
be in communication with one or more sensors, such as an
accelerometer, as well as sensors (e.g., optical, resistive, or
capacitive) for determining a location of a touch relative to a
display area corresponding in this example to the screen of the
device.
[0023] As the user interacts with the device, one or more haptic
output devices, for example, actuators are used to provide tactile
effects. For example, a haptic effect may be output to simulate the
presence of a texture on the surface of the device. In one such
embodiment, as the user's finger moves across the surface, a
vibration, electric field, or other effect may be output to
simulate the feeling of a texture on the surface of the device.
Similarly, in another embodiment, as the user moves a finger across
the device, the perceived coefficient of friction of the screen can
be varied (e.g., increased or decreased) based on the position,
velocity, and/or acceleration of the finger or the length of time
the finger has been in contact with the device. In still other
embodiments, the device may vary friction based on time. For
example, in some embodiments, haptic effects may be output for a
certain period of time (e.g., 50 ms) when a certain event occurs,
such as crossing a boundary on a touch surface. In other
embodiments, the haptic effect may vary with a fixed period, e.g.,
in an embodiment, a texture may be output that varies at a 100 Hz
rate, e.g., a 100 Hz sinusoid.
[0024] In some embodiments, the haptic effect may be associated
with factors such as the current state of the system (e.g., the
state of hardware such as the battery, signal strength, processor
load, or memory capacity) or the state of software executing on the
system (e.g., whether a process is complete, the amount of time
left to complete a process, whether a process is available, or some
other state associated with software executing on the device). In
some embodiments, the haptic effect may vary the coefficient of
friction, and depending on how the friction is varied, the user may
perceive a feature in the touch surface that would not otherwise be
perceived in the same manner (or at all) if the surface friction
were not varied. As a particular example, the friction may be
varied so that the user perceives a bump, border, or other obstacle
corresponding to an edge of an on-screen button.
[0025] As the user interacts with the device, certain features may
impact the user's perception of the haptic effect. For example,
some users may press their fingers on the display harder than other
users. Thus, these users may perceive the haptic effect differently
than other users. For example, a user may apply so much pressure
that the user "overpowers" the haptic effect, and thus is not able
to feel the intended effect. Similarly a user may have such a soft
touch that the user cannot perceive the intended haptic effect.
Further, in some embodiments, other features may impact the user's
perception of the haptic effects. For example, in some embodiments
environmental conditions may impact the user's perception of haptic
effects. For example, the current temperature, humidity, or
atmospheric pressure may impact the user's perception of haptic
effects. Further if the user is currently moving (e.g., in a car,
on a train, boat, or airplane) this may impact the user's
perception of haptic effects. Similarly, other vibrations, such as
audible noises may impact haptic effects.
[0026] In some embodiments, factors may be distracting to the user,
and therefore impact (e.g., reduce or increase) the user's
perception of the haptic effect. For example, in some embodiments,
audible noises, vibrations, environmental factors, accelerations,
or other factors may distract the user's attention from the device,
and therefore hinder the user's perception of the haptic effect.
Alternatively, in some embodiments factors may directly affect the
haptic effect, e.g., in some embodiments factors such as
environmental conditions may have a direct impact on the perception
of haptic effects.
[0027] Accordingly, the illustrative device may comprise a sensor
configured to detect one or more features that impact the user's
perception of haptic effects or distract the user from haptic
effects. For example, the illustrative device may comprise a
pressure sensor configured to detect how much force the user is
applying to the surface of a touch screen display (e.g., how hard
the user is pressing). Further, the illustrative device may
comprise one or more environmental sensors (e.g., thermometers,
humidistats, barometers, electric field sensors, magnetic field
sensors, vibration sensors, noise sensors, etc.) configured to
detect environmental conditions. Similarly, the illustrative device
may comprise a sensor configured to detect motion or acceleration
of the mobile device. In still other embodiments, the sensor may
comprise a network interface configured to receive data from a
database of data associated with various features. For example, in
one embodiment, the sensor may comprise a network interface
configured to access a database of environmental data or a database
of terrain data. In still other embodiments, the sensor may be
configured to detect the presence of a connection between the user
and an electrical ground (e.g., detect whether the user is
grounded).
[0028] Based on signals received from these sensors the
illustrative device may determine a modified haptic effect
configured to compensate for the feature. For example, if the
illustrative device detects that the user is pressing harder than a
certain threshold, the illustrative device may determine a stronger
haptic effect configured to compensate for this additional
pressure. Further, in one embodiment, a humidity sensor may
determine that the illustrative device is in a very humid
environment. In such an embodiment, the illustrative device may
modify the haptic signal to be of a higher intensity, in order to
overcome any effects of the additional humidity. Similarly, the
illustrative device may detect and compensate for many other
features, including, but not limited to: magnetic fields, electric
fields, acceleration, vibrations, environmental conditions (e.g.,
temperature, humidity, wind speed, or air pressure), altitude,
movement, or location.
[0029] Further, in some embodiments that implement electrostatic
based effects, the power required to fully perceive the effect may
be associated with the quality of the connection between the user
and electrical ground. For example, in some embodiments when the
user is fully grounded (e.g., by touching a metal case that is
connected to ground) the electrostatic haptic effect may need to be
at only half power for the user to fully perceive the effect.
Further in such an embodiment, when the user is not fully grounded
(e.g., the user is not touching the metal case) the haptic effect
may need to be at double the power). In some embodiments, the
electrical ground may not comprise earth ground. Rather, in some
embodiments, the user may be in electrical contact with the ground
of the handheld device. In some embodiments, this ground may be
"floating." For example, in some embodiments, the electrical ground
of the mobile device may not be connected to earth ground.
[0030] As will be discussed in further detail below, any number of
features may impact the user's perception of haptic effects.
Embodiments of the present disclosure provide systems and methods
for compensating for these features to provide more compelling
haptic effects.
[0031] Illustrative Systems for Providing Perceptual Normalization
of Haptic Effects
[0032] FIG. 1A shows an illustrative system 100 for providing
perceptual normalization of haptic effects. Particularly, in this
example, system 100 comprises a computing device 101 having a
processor 102 interfaced with other hardware via bus 106. A memory
104, which can comprise any suitable tangible (and non-transitory)
computer-readable medium such as RAM, ROM, EEPROM, or the like,
embodies program components that configure operation of the
computing device. In this example, computing device 101 further
includes one or more network interface devices 110, input/output
(I/O) interface components 112, and additional storage 114.
[0033] Network device 110 can represent one or more of any
components that facilitate a network connection. Examples include,
but are not limited to, wired interfaces such as Ethernet, USB,
IEEE 1394, and/or wireless interfaces such as IEEE 802.11,
Bluetooth, or radio interfaces for accessing cellular telephone
networks (e.g., transceiver/antenna for accessing a CDMA, GSM,
UMTS, or other mobile communications network(s)).
[0034] I/O components 112 may be used to facilitate connection to
devices such as one or more displays, keyboards, mice, speakers,
microphones, cameras, and/or other hardware used to input data or
output data. Storage 114 represents nonvolatile storage such as
magnetic, optical, or other storage media included in device
101.
[0035] System 100 further includes a touch surface 116, which, in
this example, is integrated into device 101. Touch surface 116
represents any surface that is configured to sense touch input of a
user. One or more sensors 108 are configured to detect a touch in a
touch area when an object contacts a touch surface and provide
appropriate data for use by processor 102. Any suitable number,
type, or arrangement of sensors can be used. For example, resistive
and/or capacitive sensors may be embedded in touch surface 116 and
used to determine the location of a touch and other information,
such as pressure. As another example, optical sensors with a view
of the touch surface may be used to determine the touch position.
In some embodiments, sensor 108 and touch surface 116 may comprise
a touch screen or a touch-pad. For example, in some embodiments,
touch surface 116 and sensor 108 may comprise a touch screen
mounted overtop of a display configured to receive a display signal
and output an image to the user. In other embodiments, the sensor
108 may comprise an LED detector. For example, in one embodiment,
touch surface 116 may comprise an LED finger detector mounted on
the side of a display. In some embodiments, the processor is in
communication with a single sensor 108, in other embodiments, the
processor is in communication with a plurality of sensors 108, for
example, a first touch screen and a second touch screen. The sensor
108 is configured to detect user interaction, and based on the user
interaction, transmit signals to processor 102. In some
embodiments, sensor 108 may be configured to detect multiple
aspects of the user interaction. For example, sensor 108 may detect
the speed and pressure of a user interaction, and incorporate this
information into the interface signal.
[0036] System 100 further comprises sensor 130 configured to detect
a feature. In some embodiments the feature may comprise a feature
associated with touch surface 116. For example, in one embodiment,
the feature may comprise the pressure the user applies to the touch
surface 116. In such an embodiment, sensor 130 may detect the
downward pressure the user applies to the touch surface 116. In
another embodiment, sensor 130 may detect the area of the user's
contact with touch surface 116 (e.g., how many square cm of the
user's finger makes contact with the touch surface 116). In some
embodiments, the sensor 130 may comprise a sensor configured to
detect specific conditions associated with the touch surface 116.
For example, in some embodiments, the sensor may comprise a sensor
configured to detect the current temperature of the touch surface
116. In another embodiment, the sensor may comprise a sensor
configured to detect the presence of moisture on the surface of
touch surface 116. In other embodiments, the sensor 130 may
comprise a sensor configured to detect the presence of other
substances on the surface of touch surface 116 (e.g., a screen
protector, oil, glue, finger smears, or other substances that may
be found on the surface of a touch surface). In some embodiments,
sensor 130 may comprise a sensor configured to detect other details
associated with the touch surface (e.g., its age, the substance it
is made from, the manufacturer, its programming, its weight, its
thickness, its size, or other characteristics associated with a
touch surface). In another embodiment, the sensor 130 may comprise
a sensor configured to detect the condition of the user, e.g., the
temperature of the user's finger, the presence of moisture on the
user's finger, a substance on the user's finger (e.g., glue, syrup,
oil, or a cosmetic or pharmaceutical product), or a barrier to the
user's finger (e.g., a glove). In another embodiment, sensor 130
may comprise a sensor configured to detect the dryness or hydration
of the user's skin. For example, in some embodiments, the sensor
130 may comprise a sensor configured to measure the hydration of
the outer layer of the epidermis (e.g., the stratum corneum). In
some embodiments, the sensor 130 may comprise a sensor, such as a
corneometer, configured to detect changes in the capacitance of the
user's skin. In some embodiments, these changes in capacitance may
be used to determine the level of hydration of the user's skin. In
still another embodiment, the sensor 130 may comprise a sensor
configured to detect the conductance of the user's skin, or of any
substance on the surface of the user's skin (e.g., a fluid, a
chemical, an oil, a cosmetic or pharmaceutical product, or a
glove).
[0037] In some embodiments, sensor 130 may comprise a sensor
configured to detect other factors associated with touch surface
116, such as the environment around touch surface 116. For example,
in one embodiment, sensor 130 may comprise a motion sensor (e.g., a
GPS sensor, accelerometer, or sensor to detect speed). In still
another embodiment, sensor 130 may comprise an environmental
sensor, e.g., a temperature sensor, a humidity sensor, an
atmospheric pressure sensor, an electric field sensor, a magnetic
field sensor, a wind speed sensor, or some other sensor configured
to detect the current environmental conditions around the device
101. In still other embodiments, sensor 130 may be configured to
detect interference between the touch surface 116 and the user's
finger (e.g., a glove, protective barrier (such as a screen
protector), oil, moisture, or some residue on the user's finger).
In still another embodiment, sensor 130 may comprise a force
sensor, for example, a sensor configured to detect the frictional
force between the user's finger and the surface of a touch
sensitive interface. In still other embodiments, rather than an
independent component, sensor 130 may comprise another sensor used
by device 101, e.g., sensor 130 may comprise one of I/O components
112, touch surface 116, sensor(s) 108, or haptic output device(s)
118.
[0038] In one embodiment, sensor 130 may comprise a sensor
configured to detect the quality of the connection between the user
and electrical ground. In some embodiments, sensor 130 may detect
the quality of the connection to electrical ground by measuring
electrical conductivity or capacitance. In other embodiments,
sensor 130 may detect specific grounding equipment associated with
the user, e.g., a case, bracelet, chair, floor, wire, or some other
type of electrical ground. Further, in one embodiment, sensor 130
may comprise a measurement received from haptic output device 118,
associated with the current output or voltage of an electrostatic
friction display. In still other embodiments, the sensor 130 may
comprise a mechanical sensor configured to detect the quality of
the connection between the user and electrical ground, e.g., a
switch in a bracelet or case configured to detect contact from the
user.
[0039] In another embodiment, sensor 130 may comprise a network
interface configured to receive data from a remote database. For
example, in one embodiment, sensor 130 may comprise a network
interface configured to receive environmental data from an
environmental database, such as a weather service. In another
embodiment, sensor 130 may comprise a network interface configured
to access a database of data associated with one or more of a
plurality of the factors.
[0040] Device 101 further comprises a haptic output device 118. In
the example shown in FIG. 1A haptic output device 118 is in
communication with processor 102 and is coupled to touch surface
116. In some embodiments, haptic output device 118 is configured to
output a haptic effect simulating a texture on the touch surface in
response to a haptic signal. Additionally or alternatively, haptic
output device 118 may provide vibrotactile haptic effects that move
the touch surface in a controlled manner. Some haptic effects may
utilize an actuator coupled to a housing of the device, and some
haptic effects may use multiple actuators in sequence and/or in
concert. For example, in some embodiments, a surface texture may be
simulated by vibrating the surface at different frequencies. In
such an embodiment, haptic output device 118 may comprise one or
more of, for example, a piezoelectric actuator, an electric motor,
an electro-magnetic actuator, a voice coil, a shape memory alloy,
an electro-active polymer, a solenoid, an eccentric rotating mass
motor (ERM), or a linear resonant actuator (LRA). In some
embodiments, haptic output device 118 may comprise a plurality of
actuators, for example an ERM and an LRA.
[0041] Although a single haptic output device 118 is shown here,
embodiments may use multiple haptic output devices of the same or
different type to output haptic effects, for example, to simulate
surface textures or vary the perceived coefficient of friction on
the touch surface. For example, in one embodiment, a piezoelectric
actuator may be used to displace some or all of touch surface 116
vertically and/or horizontally at ultrasonic frequencies, such as
by using an actuator moving at frequencies greater than 20-25 kHz
in some embodiments. In some embodiments, multiple actuators such
as eccentric rotating mass motors and linear resonant actuators can
be used alone or in concert to provide different textures,
variations in the coefficient of friction, or other haptic
effects.
[0042] In still other embodiments, haptic output device 118 may
apply electrostatic friction or attraction, for example by use of
an electrostatic surface actuator, to simulate a texture on the
surface of touch surface 116. Similarly, in some embodiments,
haptic output device 118 may use electrostatic attraction to vary
the friction the user feels on the surface of touch surface 116.
For example, in one embodiment, haptic output device 118 may
comprise an electrostatic display or any other device that applies
voltages and currents instead of mechanical motion to generate a
haptic effect. In such an embodiment, an electrostatic actuator may
comprise a conducting layer and an insulating layer. In such an
embodiment, the conducting layer may be any semiconductor or other
conductive material, such as copper, aluminum, gold, or silver. And
the insulating layer may be glass, plastic, polymer, or any other
insulating material. Furthermore, the processor 102 may operate the
electrostatic actuator by applying an electric signal to the
conducting layer. The electric signal may be an AC signal that, in
some embodiments, capacitively couples the conducting layer with an
object near or touching touch surface 116. In some embodiments, the
AC signal may be generated by a high-voltage amplifier. In other
embodiments the capacitive coupling may simulate a friction
coefficient or texture on the surface of the touch surface 116. For
example, in one embodiment, the surface of touch surface 116 may be
smooth, but the capacitive coupling may produce an attractive force
between an object near the surface of touch surface 116. In some
embodiments, varying the levels of attraction between the object
and the conducting layer can vary the simulated texture on an
object moving across the surface of touch surface 116 or vary the
coefficient of friction felt as the object moves across the surface
of touch surface 116. Furthermore, in some embodiments, an
electrostatic actuator may be used in conjunction with traditional
actuators to vary the simulated texture on the surface of touch
surface 116. For example, the actuators may vibrate to simulate a
change in the texture of the surface of touch surface 116, while at
the same time; an electrostatic actuator may simulate a different
texture, or other effects, on the surface of touch surface 116.
[0043] One of ordinary skill in the art will recognize that, in
addition to varying the coefficient of friction, other techniques
or methods can be used to, for example, simulate a texture on a
surface. In some embodiments, a texture may be simulated or output
using a flexible surface layer configured to vary its texture based
upon contact from a surface reconfigurable haptic substrate
(including, but not limited to, e.g., fibers, nanotubes,
electroactive polymers, piezoelectric elements, or shape memory
allows) or a magnetorheological fluid. In another embodiment,
surface texture may be varied by raising or lowering one or more
surface features, for example, with a deforming mechanism, air or
fluid pockets, local deformation of materials, resonant mechanical
elements, piezoelectric materials, micro-electromechanical systems
("MEMS") elements, thermal fluid pockets, MEMS pumps, variable
porosity membranes, or laminar flow modulation.
[0044] In some embodiments an electrostatic actuator may be used to
generate a haptic effect by stimulating parts of the body near or
in contact with the touch surface 116. For example, in some
embodiments an electrostatic actuator may stimulate the nerve
endings in the skin of a user's finger or components in a stylus
that can respond to the electrostatic actuator. The nerve endings
in the skin, for example, may be stimulated and sense the
electrostatic actuator (e.g., the capacitive coupling) as a
vibration or some more specific sensation. For example, in one
embodiment, a conducting layer of an electrostatic actuator may
receive an AC voltage signal that couples with conductive parts of
a user's finger. As the user touches the touch surface 116 and
moves his or her finger on the touch surface, the user may sense a
texture of prickliness, graininess, bumpiness, roughness,
stickiness, or some other texture.
[0045] In some embodiments, multiple haptic output devices 118 may
be used to improve power efficiency during actuation. For example,
in some embodiments, haptic output device 118 may comprise both an
electrostatic actuator and an ultrasonic frequency actuator. In
such an embodiment, processor 102 may be configured to determine
whether an ultrasonic frequency actuator or an electrostatic
actuator will be more efficient for outputting a certain type of
haptic effect. For example, in one embodiment, due to environmental
conditions, such as ambient electric fields or high humidity; an
ultrasonic frequency actuator may be more efficient at outputting a
specific haptic effect. In such an embodiment, the processor 102
may make this determination, for example, based on a sensor signal
received from sensor(s) 130.
[0046] Further, in some embodiments haptic output devices
configured to vary the coefficient of friction of a surface consume
power only when in operation. However, an electrostatic actuator
may be configured only to increase the perceived coefficient of
friction. Similarly, an ultrasonic frequency actuator may be
configured only to reduce the coefficient of friction. In such an
embodiment, using an electrostatic friction actuator may reduce
power consumption in embodiments where the friction coefficient is
normally low and only occasionally increased. For example, in such
an embodiment, a surface with a simulated button may comprise a low
friction coefficient in every location other than the location of
the button. Thus, the processor 102 may apply power to an
electrostatic actuator only when the user is interacting with the
button. In other embodiments, the coefficient of friction may
normally be high and only occasionally reduced. In such an
embodiment, ultrasonic vibrations may be more efficient. For
example, in one embodiment, a rough surface with a patch of ice may
comprise a high coefficient of friction at every location other
than the patch of ice. In such an embodiment, the processor 102 may
apply power to an ultrasonic frequency actuator only when the user
is interacting with the icy patch. In some embodiments these two
types of actuators may be combined to support both types of effects
without compromising power consumption.
[0047] Further, in some embodiments, multiple actuators may be used
to both reduce and increase the coefficient of friction on touch
surface 116. This may serve to increase the range of friction
coefficients that haptic output devices 118 can output to touch
surface 116. For example, in one embodiment, touch surface 116 may
comprise an image of a virtual button that has a high coefficient
of friction and a virtual slider with a low coefficient of
friction. In another embodiment, touch surface 116 may comprise an
edge that is augmented with a haptic effect that abruptly increases
the coefficient of friction from the minimum (e.g., the amount of
friction when an ultrasonic actuator is operating at 100%) to the
maximum (e.g., the amount of friction when the electrostatic
actuator is operating at 100%). In some embodiments, because the
range of the coefficient of friction is greater (e.g., a greater
difference from the minimum friction to the maximum) the user may
perceive a stronger haptic effect.
[0048] In some embodiments, processor 102 may utilize both an
ultrasonic frequency actuator and an electrostatic actuator in
order to minimize total power consumption while still maintaining a
broad range of effects. For example, in one embodiment, touch
surface 116 may comprise a plurality of virtual buttons set against
a neutral background. In such an embodiment, some of the virtual
buttons may be sensitive (e.g., available for user input) and
therefore comprise a high friction so that they can be found easily
against the neutral backdrop. Similarly, in such an embodiment,
buttons that are insensitive (e.g., those that are not available
for user input) may comprise a low friction so that they can be
skipped easily. In some embodiments, the processor 102 may conserve
energy by outputting effects using electrostatic friction when the
user interacts with the high friction buttons, outputting effects
using ultrasonic vibrations when the user interacts with the low
friction buttons, and outputting no effect when the user interacts
with the background. Utilizing such an implementation may enable
the processor 102 to conserve energy by only outputting haptic
effects when the user interacts with certain components.
[0049] Turning to memory 104, exemplary program components 124,
126, and 128 are depicted to illustrate how a device may be
configured to provide perceptual normalization of haptic effects.
In this example, a detection module 124 configures processor 102 to
monitor touch surface 116 via sensor 108 to determine a position of
a touch. For example, module 124 may sample sensor 108 in order to
track the presence or absence of a touch and, if a touch is
present, to track one or more of the location, path, velocity,
acceleration, pressure, and/or other characteristics of the touch
over time.
[0050] Haptic effect determination module 126 represents a program
component that analyzes data regarding touch characteristics to
select a haptic effect to generate. Particularly, module 126
comprises code that determines, based on the location of the touch,
a simulated feature to generate on the touch surface. Module 126
may further comprise code that selects one or more haptic effects
to provide in order to simulate the feature. For example, some or
all of the area of touch surface 116 may be mapped to a graphical
user interface. Different haptic effects may be selected based on
the location of a touch in order to simulate the presence of the
feature by simulating a texture on a surface of touch surface 116
so that the feature is felt when a corresponding representation of
the feature is seen in the interface. However, haptic effects may
be provided via touch surface 116 even if a corresponding element
is not displayed in the interface (e.g., a haptic effect may be
provided if a boundary in the interface is crossed, even if the
boundary is not displayed).
[0051] Haptic effect generation module 128 represents programming
that causes processor 102 to generate and transmit a haptic signal
to haptic output device 118, which causes haptic output device 118
to generate the selected haptic effect. For example, generation
module 128 may access stored waveforms or commands to send to
haptic output device 118. As another example, haptic effect
generation module 128 may receive a desired type of texture and
utilize signal processing algorithms to generate an appropriate
signal to send to haptic output device 118. As a further example, a
desired texture may be indicated along with target coordinates for
the texture and an appropriate waveform sent to one or more
actuators to generate appropriate displacement of the surface
(and/or other device components) to provide the texture. Some
embodiments may utilize multiple haptic output devices in concert
to simulate a feature. For instance, a variation in texture may be
used to simulate crossing a boundary between buttons on an
interface while a vibrotactile effect simulates the response when
the button is pressed.
[0052] A touch surface may or may not overlay (or otherwise
correspond to) a display, depending on the particular configuration
of a computing system. In FIG. 1B, an external view of a computing
system 100B is shown. Computing device 101 includes a touch enabled
display 116 that combines a touch surface and a display of the
device. The touch surface may correspond to the display exterior or
one or more layers of material above the actual display
components.
[0053] FIG. 1C illustrates another example of a touch enabled
computing system 100C in which the touch surface does not overlay a
display. In this example, a computing device 101 features a touch
surface 116 which may be mapped to a graphical user interface
provided in a display 122 that is included in computing system 120
interfaced to device 101. For example, computing device 101 may
comprise a mouse, trackpad, or other device, while computing system
120 may comprise a desktop or laptop computer, set-top box (e.g.,
DVD player, DVR, cable television box), or another computing
system. As another example, touch surface 116 and display 122 may
be disposed in the same device, such as a touch enabled trackpad in
a laptop computer comprising display 122. Whether integrated with a
display or otherwise, the depiction of planar touch surfaces in the
examples herein is not meant to be limiting. Other embodiments
include curved or irregular touch enabled surfaces that are further
configured to provide surface-based haptic effects.
[0054] FIGS. 2A-2B illustrate an example of devices that may
provide perceptual normalization of haptic effects. FIG. 2A is a
diagram illustrating an external view of a system 200 comprising a
computing device 201 that comprises a touch enabled display 202.
FIG. 2B shows a cross-sectional view of device 201. Device 201 may
be configured similarly to device 101 of FIG. 1A, though components
such as the processor, memory, sensors, and the like are not shown
in this view for purposes of clarity.
[0055] As can be seen in FIG. 2B, device 201 features a plurality
of haptic output devices 218 and an additional haptic output device
222. Haptic output device 218-1 may comprise an actuator configured
to impart vertical force to display 202, while 218-2 may move
display 202 laterally. In this example, the haptic output devices
218 and 222 are coupled directly to the display, but it should be
understood that the haptic output devices 218 and 222 could be
coupled to another touch surface, such as a layer of material on
top of display 202. Furthermore, it should be understood that one
or more of haptic output devices 218 or 222 may comprise an
electrostatic actuator, as discussed above. Furthermore, haptic
output device 222 may be coupled to a housing containing the
components of device 201. In the examples of FIGS. 2A-2B, the area
of display 202 corresponds to the touch area, though the principles
could be applied to a touch surface completely separate from the
display.
[0056] In one embodiment, haptic output devices 218 each comprise a
piezoelectric actuator, while additional haptic output device 222
comprises an eccentric rotating mass motor, a linear resonant
actuator, or another piezoelectric actuator. Haptic output device
222 can be configured to provide a vibrotactile haptic effect in
response to a haptic signal from the processor. The vibrotactile
haptic effect can be utilized in conjunction with surface-based
haptic effects and/or for other purposes. For example, each
actuator may be used in conjunction to simulate a texture or vary
the coefficient of friction on the surface of display 202.
[0057] In some embodiments, either or both haptic output devices
218-1 and 218-2 can comprise an actuator other than a piezoelectric
actuator. Any of the actuators can comprise a piezoelectric
actuator, an electromagnetic actuator, an electroactive polymer, a
shape memory alloy, a flexible composite piezo actuator (e.g., an
actuator comprising a flexible material), electrostatic, and/or
magnetostrictive actuators, for example. Additionally, haptic
output device 222 is shown, although multiple other haptic output
devices can be coupled to the housing of device 201 and/or haptic
output devices 222 may be coupled elsewhere. Device 201 may
comprise multiple haptic output devices 218-1/218-2 coupled to the
touch surface at different locations, as well.
[0058] Turning to FIG. 3A, system 300 is an illustrative example of
a system for perceptual normalization of haptic effects. FIG. 3A is
a diagram illustrating an external view of a system 300 comprising
a computing device 301 that features a touch sensitive interface
such as a touch screen or touch pad. In one embodiment, computing
device 301 may comprise a multifunction controller. For example, a
controller for use in a kiosk, ATM, or other computing device.
Further, in one embodiment, computing device 301 may comprise a
controller for use in a vehicle.
[0059] As shown in FIG. 3A, a user 305 is shown applying high
pressure to computing device 301. In such an embodiment, a touch
sensitive interface may detect this high pressure by detecting the
area of the user's finger that is in contact with the touch
sensitive interface. For example, applying more than a certain
threshold of pressure to a touch screen may cause the skin on a
user's finger to flatten out and cover a large portion of the touch
screen. Alternatively, in some embodiments computing device 301 may
comprise another type of sensor configured to detect the pressure
applied by user 305.
[0060] In some embodiments, computing device 301 may then determine
whether the pressure applied by the user is above a certain
threshold. In some embodiments, this threshold may comprise a
pressure above the level that allows the user to fully perceive the
relevant haptic effect. In such an embodiment, the computing device
301 may output an alarm to alert the user to reduce the applied
pressure. For example, in some embodiments computing device 301 may
output an audible alarm to alert the user to press more softly on
the touch sensitive interface. In another embodiment, computing
device 301 may output a different haptic effect to alert the user
to apply a lower level of pressure. In still other embodiments,
computing device 301 may output a visual warning to alert the user
305 to press more softly. For example, in one embodiment the
display may output an image configured to simulate the appearance
of cracks forming or an image configured to simulate that the
display is bending under the pressure.
[0061] In another embodiment, computing device 301 may modify
haptic effects to compensate for the pressure the user 305 applies
to the display. For example, in some embodiments computing device
301 may output haptic effects with a higher or lower frequency or
intensity in order to compensate for the pressure applied by user
305. For example, in one embodiment, computing device 301 may
output a higher power electrostatic friction based effect to
compensate for the high pressure applied by the user 305.
[0062] Turning to FIG. 3B, system 325 is an example system for
perceptual normalization of haptic effects. FIG. 3B is a diagram
illustrating another external view of the computing device 301
described above with regard to FIG. 3A. As shown in FIG. 3B, a user
310 is shown applying very light pressure to computing device 301.
In such an embodiment, a touch sensitive interface may detect this
light pressure, for example, by detecting that only a small area
(or none) of the user's finger is in contact with the touch
sensitive interface. Alternatively, in some embodiments, computing
device 301 may comprise another type of sensor configured to detect
the pressure applied by user 310.
[0063] In some embodiments, computing device 301 may then determine
whether the pressure applied by the user is below a certain
threshold. In some embodiments, this threshold may comprise a
pressure below the level that allows the user to fully perceive the
relevant haptic effect. In such an embodiment, the computing device
301 may output an alarm to alert the user to increase the applied
pressure. For example, in some embodiments computing device 301 may
output an audible alarm to alert the user to apply more pressure on
the touch sensitive interface. In another embodiment, computing
device 301 may output a different haptic effect to alert the user
to apply more pressure. In still other embodiments, computing
device 301 may output a visual warning that the user should apply
more pressure. For example, in one embodiment the display may
output an image configured to simulate the appearance of the
display expanding toward the user (e.g., like the outside of an
inflating balloon).
[0064] In another embodiment, computing device 301 may modify
haptic effects to compensate for the pressure the user applies to
the touch sensitive interface. For example, in some embodiments
computing device 301 may output haptic effects with a higher or
lower frequency or intensity in order to compensate for the
pressure applied by user 310. For example, in one embodiment,
computing device 301 may output a high-power electrostatic friction
based effect to compensate for the low level pressure applied by
the user 310.
[0065] In the embodiments discussed in FIGS. 3A and 3B the
threshold level of pressure may be determined based on a plurality
of factors. For example, in some embodiments, different types of
actuators may comprise different threshold levels of pressure to
perceive haptic effects. Further, in some embodiments different
types of haptic effects may be associated with different
thresholds. In still other embodiments, different materials may
comprise different threshold levels of pressure at which haptic
effects are output. In still other embodiments, environmental
factors such as temperature, humidity, magnetic fields, electric
fields, other vibrations, or noises may impact the threshold.
[0066] Further, in the embodiments discussed above, the intensity
of the haptic effect may also be modulated as the pressure applied
by the user varies. For example, in one embodiment, as the user
applies less pressure, the computing device may output a lower
powered haptic effect. Similarly, in one embodiment, as the user
applies additional pressure the computing device may output a
higher power haptic effect. In still another embodiment, the
computing device may stop varying the haptic effect once the
pressure applied by the user is in a range for full perception of
the intended haptic effect. Similarly, in some embodiments,
computing device may output an alarm or haptic effect to alert the
user that he or she is applying the appropriate amount of
pressure.
[0067] Turning now to FIG. 4, FIG. 4 shows system 400 which
comprises a computing device 401 with a touch enabled display 402.
In some embodiments computing device 401 may comprise a handheld
computing device, e.g., a mobile phone, a tablet, a music player,
or a laptop computer. In another embodiment, computing device 401
may comprise a multifunction controller. For example, a controller
for use in a kiosk, ATM, or other computing device. Further, in one
embodiment, computing device 401 may comprise a controller for use
in a vehicle.
[0068] As shown in FIG. 4, touch enabled display 402 comprises
moisture 404. In some embodiments, moisture 404 may comprise
condensation on the surface of touch enabled display 402. In other
embodiments, moisture 404 may not by physically present on the
surface of touch enabled display 402, but may instead comprise
ambient moisture in the environment. In some embodiments, the
humidity may be detected by sensor(s) 130 of the type describe
above with regard to FIG. 1.
[0069] Based on the detected humidity, computing device 401 may
determine modified haptic effects in order to compensate for the
humidity. In some embodiments, these modified haptic effects may
allow the user to perceive the intended haptic effect. For example,
in some embodiments, higher intensity vibrotactile effects may be
output to compensate for variations in the detected humidity. For
example, in one embodiment, computing device 401 may detect a very
high ambient humidity and accordingly may output higher intensity
vibrotactile effects. In other embodiments, users may perceive
haptic effects differently based on the ambient humidity. Further,
in some embodiments, factors such as environmental conditions may
distract the user from haptic effects. Thus, in some embodiments,
computing device 401 may be configured to select different
actuators based on environmental conditions, such as the ambient
humidity.
[0070] Turning now to FIG. 5, FIG. 5 shows a system 500 comprising
a computing device 501 with a touch enabled display 502. Computing
device 501 may comprise a similar computing device to that
described above with regard to FIG. 4.
[0071] As shown in FIG. 5, system 500 further comprises a
disruption 504. In some embodiments, disruption 504 may comprise a
source of ambient noise, such as a siren, speakers, music, the
noise made by a crowd, background noise (e.g., a HVAC system, a
car, train, airplane, TV, neighbors, or a pet), or some other
source of noise. In another embodiment, disruption 504 may comprise
a source of ambient vibrations. For example, in some embodiments,
disruption 504 may comprise vibrations experienced on a train,
airplane, car, bus, boat, treadmill or other exercise equipment, or
while walking. Further, in some embodiments, rather than directly
impacting the haptic effect, disruption 504 may instead distract
the user from fully perceiving the haptic effect.
[0072] In some embodiments, computing device 501 may comprise a
sensor configured to detect disruption 504. And based on a sensor
signal received from this sensor, computing device 501 may
determine a modified haptic effect. In some embodiments, this
modified haptic effect may be configured to cause the user to
continue perceiving a certain haptic effect. For example, in one
embodiment, computing device 501 may comprise a mobile device in a
moving car. In such an embodiment, computing device 501 may output
an electrostatic friction based effect. However, as the car moves
past a loud siren (e.g., the siren of a fire truck) the noise may
impact the user's perception of the haptic effect. For example, in
one embodiment, the user may perceive a weaker haptic effect due to
the ambient noise of the fire truck. Thus, in such an embodiment,
computing device 501 may determine a modified haptic effect
configured to compensate for the siren. For example, computing
device 501 may output a higher voltage electrostatic effect so the
user continues to perceive the original haptic effect despite the
interference caused by the noise. Similarly, in other embodiments
computing device 501 may determine modified haptic effects
configured to compensate for ambient vibrations, such as if the car
goes over a rough patch of road.
[0073] Illustrative Methods for Providing Perceptual Normalization
of Haptic Effects
[0074] FIG. 6 is a flowchart showing an illustrative method 600 for
providing perceptual normalization of haptic effects. In some
embodiments, the steps in FIG. 6 may be implemented in program code
executed by a processor, for example, the processor in a general
purpose computer, mobile device, or server. In some embodiments,
these steps may be implemented by a group of processors. In some
embodiments the steps shown in FIG. 6 may be performed in a
different order. Alternatively, in some embodiments, one or more of
the steps shown in FIG. 6 may be skipped, or additional steps not
shown in FIG. 6 may be performed. The steps below are described
with reference to components described above with regard to system
100 shown in FIG. 1.
[0075] The method 400 begins when sensor 108 detects an interaction
with a touch surface 602. Sensor 108 may comprise one or more of a
plurality of sensors known in the art, for example, resistive
and/or capacitive sensors may be embedded in touch surface 116 and
used to determine the location of a touch and other information,
such as pressure. As another example, optical sensors with a view
of the touch surface may be used to determine the touch position.
In still other embodiments, sensors 108 and touch surface 116 may
comprise a touch screen display.
[0076] The method 600 continues when sensor 116 detects a feature
604. In some embodiments the feature may comprise a feature
associated with touch surface 116. In some embodiments the feature
may comprise a feature that impacts a user's perception of a haptic
effect output onto touch surface 116 by haptic output device(s)
118. For example, in one embodiment, the feature may comprise the
pressure the user applies to the touch surface 116. In such an
embodiment, sensor 130 may detect the downward pressure the user
applies to the touch surface 116. In another embodiment, sensor 130
may detect the area of the user's contact with touch surface 116
(e.g., how many square cm of contact the user's finger makes with
the touch surface 116.). In another embodiment, sensor 130 may
comprise a motion sensor (e.g., a GPS sensor, accelerometer, or
sensor to detect speed). In still another embodiment, sensor 130
may comprise an environmental sensor, e.g., a temperature sensor, a
humidity sensor, an atmospheric pressure sensor, an electric field
sensor, a magnetic field sensor, a wind speed sensor, or some other
sensor configured to detect the current environmental conditions
around the device 101. In another embodiment, sensor 130 may
comprise a network interface configured to receive data from a
remote database. For example, in one embodiment, sensor 130 may
comprise a network interface configured to receive environmental
data from an environmental database, such as a weather service. In
another embodiment, sensor 130 may comprise a network interface
configured to access a database of data associated with one or more
of a plurality of the factors discussed above. In still another
embodiment sensor 130 may comprise a force sensor, for example, a
sensor configured to detect the frictional force the user applies
to the surface of a touch sensitive interface. In still other
embodiments, rather than an independent component, sensor 130 may
comprise another sensor used by device 101, e.g., sensor 130 may
comprise one of I/O components 112, touch surface 116, sensor(s)
108, or haptic output device(s) 118.
[0077] In some embodiments, factors may be distracting to the user,
and therefore impact (e.g., reduce or increase) the user's
perception of the haptic effect. For example, in some embodiments,
audible noises, vibrations, environmental factors, accelerations,
or other factors may be distracting to the user, and therefore
impact (e.g., reduce or increase) the user's perception of the
haptic effect. In other embodiments, the factor may directly impact
that haptic effect (e.g., moisture on the surface of touch surface
116 may impact friction based haptic effects).
[0078] The method 600 continues when processor 102 determines a
first haptic effect 606. In some embodiments, the first haptic
effect may comprise a variation in the coefficient of friction on
touch surface 116. In other embodiments, the haptic effect may
comprise a simulated texture on the surface of touch surface 116
(e.g., the texture of one or more of: water, grass, ice, metal,
sand, gravel, brick, fur, leather, skin, fabric, rubber, leaves, or
any other available texture). In some embodiments, processor 102
may rely on programming contained in haptic effect determination
module 126 to determine the haptic effect. For example, the
processor 102 may access drive signals stored in memory 104 and
associated with particular haptic effects. As another example, a
signal may be generated by accessing a stored algorithm and
inputting parameters associated with an effect. For example, an
algorithm may output data for use in generating a drive signal
based on amplitude and frequency parameters. As another example, a
haptic signal may comprise data sent to an actuator to be decoded
by the actuator. For instance, the actuator may itself respond to
commands specifying parameters such as amplitude and frequency.
[0079] Further, in some embodiments, users may be able to select a
texture or other haptic effect in order to customize computing
device 101. For example, in some embodiments, a user may select a
haptic effect such as a surface texture to allow for
personalization of the feel of a touch interface. In some
embodiments, the user may select these personalized haptic effects
or surface textures through modifying settings or downloading
software associated with particular effects. In other embodiments,
the user may designate effects through detected interaction with
the device. In some embodiments, this personalization of haptic
effects may increase the user's sense of ownership and the
connection between the user and his or her device.
[0080] In still other embodiments, device manufacturers or software
developers may select distinctive haptic effects, such as surface
textures, to brand their devices or user interfaces. In some
embodiments, these haptic effects may be unique to branded devices
and similar to other distinctive elements that may increase brand
awareness. For example, many mobile devices and tablets may
comprise a custom or branded home screen environment. For example,
in some embodiments, devices produced by different manufacturers
may still comprise the same operating system; however,
manufacturers may distinguish their devices by modifying this home
screen environment. Thus, in some embodiments, some device
manufacturers or software developers may use haptic effects such as
textures or friction based effects either in home screens or in
other user interfaces to create a unique and differentiated user
experience.
[0081] The method 600 continues when processor 102 outputs a haptic
signal associated with the first haptic effect 608. The processor
102 outputs the haptic signal to a haptic output device 118
configured to output the haptic effect. In some embodiments, haptic
output device 118 may output the haptic effect onto touch surface
116. In some embodiments haptic output device 118 may comprise
traditional actuators such as piezoelectric actuators or electric
motors coupled to touch surface 116 or other components within
computing device 101. In other embodiments haptic output device 118
may comprise electrostatic actuators configured to simulate
textures or vary coefficients of friction using electrostatic
fields. In some embodiments, processor 102 may control a plurality
of haptic output devices to simulate multiple haptic effects. For
example, in one embodiment, processor 102 may control an
electrostatic actuator to simulate a texture on the surface of
touch surface 116 and processor 102 may further control other
haptic output devices 118 to simulate other features. For example,
haptic output devices 118 may comprise actuators configured to
output other effects, such as vibrations configured to simulate
barriers, detents, movement, or impacts on touch surface 116. In
some embodiments, processor 102 may coordinate the effects so the
user can feel a plurality of effects together when interacting with
touch surface 116.
[0082] The method 600 continues when processor 102 determines a
modified haptic effect 610. In some embodiments, the modified
haptic effect may comprise a haptic effect configured to compensate
for the feature discussed above with regard to stage 604. For
example, in some embodiments the modified haptic effect may
comprise a haptic effect of a different intensity or frequency than
the first haptic effect. In some embodiments, this different
intensity or frequency may be configured to cause the user to
perceive substantially the same haptic effect despite the impact of
the feature. For example, if the feature comprises the user
accelerating rapidly, the modified haptic effect may comprise a
varied intensity haptic effect to compensate for this
acceleration.
[0083] Further, in some embodiments that implement electrostatic
based effects, the power required to fully perceive the effect may
be associated with the quality of the connection between the user
and electrical ground. For example, in some embodiments when the
user does not have a good connection to electrical ground, e.g.,
when the user's connection to electrical ground is through a rubber
pad, plastic chair, or some other poor electrical conductor, the
haptic effect may need to be output at a very high power. In other
embodiments, when the user has a good connection to ground, e.g.,
because the user's connection to ground is through a strong
conductor, e.g., a metal chair, the haptic effect may need to be at
a much lower power e.g., half the power of when the user did not
have a good connection to electrical ground.
[0084] Further, in some embodiments, the modified haptic effect may
comprise a determination by the processor to use one or more
different types of actuators. For example, in some embodiments,
haptic output device 118 may comprise both an electrostatic
actuator and an ultrasonic frequency actuator. In such an
embodiment, processor 102 may be configured to determine whether an
ultrasonic frequency actuator or an electrostatic actuator will be
more efficient for outputting a certain type of haptic effect. For
example, in one embodiment, due to environmental conditions such as
ambient electric fields or high humidity; an ultrasonic frequency
actuator may be more efficient at outputting a specific haptic
effect. In such an embodiment, the processor 102 may make this
determination, for example, based on a sensor signal received from
sensor(s) 130.
[0085] The method 600 continues when processor 102 outputs a haptic
signal associated with the modified haptic effect 612. The
processor 102 outputs the haptic signal to a haptic output device
118 configured to output the haptic effect. In some embodiments,
the haptic output device comprises the same type of haptic output
device that output the first haptic effect. In other embodiments,
the haptic output device comprises a different haptic output
device. For example, in one embodiment, the first haptic effect may
be output by an actuator configured to output an electrostatic
friction based effect. In such an embodiment, the modified haptic
effect may comprise an effect output by an ultrasonic frequency
actuator. In other embodiments, both the first haptic effect and
the modified haptic effect may be output by the same haptic output
device (e.g., both the first haptic effect and the modified haptic
effect may be output by an ultrasonic frequency actuator).
Other Illustrative Embodiments of Perceptual Normalization of
Haptic Effects
[0086] FIG. 7 illustrates an example embodiment of perceptual
normalization of haptic effects. As shown in FIG. 7, the system 700
shows a touch enabled display 702 and two force sensors 704. In
some embodiments, touch enabled display 702 may comprise a
component of a computing device of the type described above. In the
embodiment shown in FIG. 7, as the user interacts with touch
enabled display 702, force sensors 704 detect the force applied by
the user. For example, in some embodiments, force sensors 704 are
configured to detect the force the user applies onto the surface of
touch enabled display 702. In other embodiments, force sensors 704
are configured to detect the force the user applies in the plane
normal to the surface of touch enabled display 702. In some
embodiments, the lateral force and the normal force may be used
together to determine the frictional force between the user 705 and
the surface of touch enabled display 702. In some embodiments, a
computing device associated with touch enabled display may use this
force determination to vary friction or texture based haptic
effects to compensate for features of the type discussed above
(e.g., environmental features).
[0087] Turning now to FIG. 8, FIG. 8 is a diagram illustrating an
external view of a system 800 comprising a computing device 801
that comprises a touch enabled display 802. In some embodiments,
computing device 801 comprises a computing device of the type
discussed in the preceding paragraphs.
[0088] As shown in FIG. 8, touch enabled display 802 shows two
different controls 804 and 806, which may comprise, for example,
Radio Controls. In such an embodiment, computing device 802 may be
configured to control the radio of a vehicle. For example,
controller 804 may comprise an image of a knob configured to
control settings on a radio, i.e., a knob to tune the radio
station, select a new song, or adjust the volume of the radio.
Similarly, controller 806 may comprise an image of a slider
configured to adjust another feature of the radio.
[0089] In some embodiments, computing device 801 may be configured
to output haptic effects when the user touches or moves each of
controls 804 and 806. For example, in one embodiment, when the user
touches knob 804 computing device 801 may output a certain haptic
effect configured to let the user know that he or she is touching
knob 804. Similarly, in such an embodiment, when the user touches
slider 806 computing device 801 may output a certain haptic effect
configured to let the user know that he or she is touching slider
806.
[0090] In some embodiments, the computing device 801 may comprise
two or more types of haptic output devices. In some embodiments,
the processor may determine which haptic output device to use based
on the type of effect. For example, in one embodiment, knob 804 may
be associated with a high coefficient of friction and slider 806
may be associated with a low coefficient of friction. In such an
embodiment, computing device 801 may switch between an ultrasonic
frequency actuator and an electrostatic actuator in order to
minimize total power consumption while still maintaining a broad
range of effects. For example, computing device 801 may output
power to the electrostatic actuator only when the user is
interacting with knob 804. Similarly, computing device 801 may
output power to the ultrasonic frequency actuator only when the
user is interacting with slider 806.
Advantages of Perceptual Normalization of Haptic Effects
[0091] There are numerous advantages of perceptual normalization of
haptic effects. For example, in some embodiments perceptual
normalization may lead to more compelling haptic effects. Users may
grow accustomed to the feel of certain effects. For example, a user
may expect that a certain icon will have a known feel. This may
enable the user to interact with that icon while not focusing
visually on a touch enabled display (e.g., while driving). However,
depending on environmental and other factors the user may not
always perceive the same haptic effect. Accordingly, embodiments of
the present disclosure solve this problem by compensating for these
factors to provide the user with a haptic effect that the user may
perceive as non-changing despite the changing conditions.
[0092] Further, embodiments of perceptual normalization of haptic
effects may lead to power conservation, because multiple different
haptic output device may be selected based on the present
conditions. This may enable a device to both have a broader range
of available haptic effects, and also enable the device to select
the most energy efficient actuator for a specific effect and
condition. This may impact the overall battery life of mobile
devices, and increase users' pleasure when using devices that
incorporate one or more embodiments of the present disclosure.
General Considerations
[0093] The methods, systems, and devices discussed above are
examples. Various configurations may omit, substitute, or add
various procedures or components as appropriate. For instance, in
alternative configurations, the methods may be performed in an
order different from that described, and/or various stages may be
added, omitted, and/or combined. Also, features described with
respect to certain configurations may be combined in various other
configurations. Different aspects and elements of the
configurations may be combined in a similar manner. Also,
technology evolves and, thus, many of the elements are examples and
do not limit the scope of the disclosure or claims.
[0094] Specific details are given in the description to provide a
thorough understanding of example configurations (including
implementations). However, configurations may be practiced without
these specific details. For example, well-known circuits,
processes, algorithms, structures, and techniques have been shown
without unnecessary detail in order to avoid obscuring the
configurations. This description provides example configurations
only, and does not limit the scope, applicability, or
configurations of the claims. Rather, the preceding description of
the configurations will provide those skilled in the art with an
enabling description for implementing described techniques. Various
changes may be made in the function and arrangement of elements
without departing from the spirit or scope of the disclosure.
[0095] Also, configurations may be described as a process that is
depicted as a flow diagram or block diagram. Although each may
describe the operations as a sequential process, many of the
operations can be performed in parallel or concurrently. In
addition, the order of the operations may be rearranged. A process
may have additional steps not included in the figure. Furthermore,
examples of the methods may be implemented by hardware, software,
firmware, middleware, microcode, hardware description languages, or
any combination thereof. When implemented in software, firmware,
middleware, or microcode, the program code or code segments to
perform the necessary tasks may be stored in a non-transitory
computer-readable medium such as a storage medium. Processors may
perform the described tasks.
[0096] Having described several example configurations, various
modifications, alternative constructions, and equivalents may be
used without departing from the spirit of the disclosure. For
example, the above elements may be components of a larger system,
wherein other rules may take precedence over or otherwise modify
the application of the invention. Also, a number of steps may be
undertaken before, during, or after the above elements are
considered. Accordingly, the above description does not bound the
scope of the claims.
[0097] The use of "adapted to" or "configured to" herein is meant
as open and inclusive language that does not foreclose devices
adapted to or configured to perform additional tasks or steps.
Additionally, the use of "based on" is meant to be open and
inclusive, in that a process, step, calculation, or other action
"based on" one or more recited conditions or values may, in
practice, be based on additional conditions or values beyond those
recited. Headings, lists, and numbering included herein are for
ease of explanation only and are not meant to be limiting.
[0098] Embodiments in accordance with aspects of the present
subject matter can be implemented in digital electronic circuitry,
in computer hardware, firmware, software, or in combinations of the
preceding. In one embodiment, a computer may comprise a processor
or processors. The processor comprises or has access to a
computer-readable medium, such as a random access memory (RAM)
coupled to the processor. The processor executes
computer-executable program instructions stored in memory, such as
executing one or more computer programs including a sensor sampling
routine, selection routines, and other routines to perform the
methods described above.
[0099] Such processors may comprise a microprocessor, a digital
signal processor (DSP), an application-specific integrated circuit
(ASIC), field programmable gate arrays (FPGAs), and state machines.
Such processors may further comprise programmable electronic
devices such as PLCs, programmable interrupt controllers (PICs),
programmable logic devices (PLDs), programmable read-only memories
(PROMs), electronically programmable read-only memories (EPROMs or
EEPROMs), or other similar devices.
[0100] Such processors may comprise, or may be in communication
with, media, for example tangible computer-readable media, that may
store instructions that, when executed by the processor, can cause
the processor to perform the steps described herein as carried out,
or assisted, by a processor. Embodiments of computer-readable media
may comprise, but are not limited to, all electronic, optical,
magnetic, or other storage devices capable of providing a
processor, such as the processor in a web server, with
computer-readable instructions. Other examples of media comprise,
but are not limited to, a floppy disk, CD-ROM, magnetic disk,
memory chip, ROM, RAM, ASIC, configured processor, all optical
media, all magnetic tape or other magnetic media, or any other
medium from which a computer processor can read. Also, various
other devices may include computer-readable media, such as a
router, private or public network, or other transmission device.
The processor, and the processing, described may be in one or more
structures, and may be dispersed through one or more structures.
The processor may comprise code for carrying out one or more of the
methods (or parts of methods) described herein.
[0101] While the present subject matter has been described in
detail with respect to specific embodiments thereof, it will be
appreciated that those skilled in the art, upon attaining an
understanding of the foregoing may readily produce alterations to,
variations of, and equivalents to such embodiments. Accordingly, it
should be understood that the present disclosure has been presented
for purposes of example rather than limitation, and does not
preclude inclusion of such modifications, variations and/or
additions to the present subject matter as would be readily
apparent to one of ordinary skill in the art.
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