U.S. patent application number 15/255866 was filed with the patent office on 2018-03-08 for 3d haptics for interactive computer systems.
The applicant listed for this patent is Microsoft Technology Licensing, LLC. Invention is credited to Hrvoje BENKO, Christian HOLZ, Eyal OFEK, Michael Jack SINCLAIR.
Application Number | 20180067543 15/255866 |
Document ID | / |
Family ID | 59791155 |
Filed Date | 2018-03-08 |
United States Patent
Application |
20180067543 |
Kind Code |
A1 |
SINCLAIR; Michael Jack ; et
al. |
March 8, 2018 |
3D Haptics For Interactive Computer Systems
Abstract
A controller device for a virtual environment includes a handle
and a contact device having a substantially planar surface. A
position of the contact device relative to the handle is
adjustable. An actuator module is arranged to adjust the position
of the contact device relative to the handle. A control module in
communication with the virtual environment selectively controls the
actuator module to adjust the position of the contact device in
response to data received from the virtual environment. The data
includes an indication of an interaction between a user and an
object represented within the virtual environment.
Inventors: |
SINCLAIR; Michael Jack;
(Kirkland, WA) ; OFEK; Eyal; (Redmond, WA)
; BENKO; Hrvoje; (Seattle, WA) ; HOLZ;
Christian; (Seattle, WA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Microsoft Technology Licensing, LLC |
Redmond |
WA |
US |
|
|
Family ID: |
59791155 |
Appl. No.: |
15/255866 |
Filed: |
September 2, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F 2203/04105
20130101; G06F 2203/013 20130101; G06F 2203/04101 20130101; G06F
3/041 20130101; G06F 3/011 20130101; G06F 2203/015 20130101; G06F
3/016 20130101 |
International
Class: |
G06F 3/01 20060101
G06F003/01; G06F 3/041 20060101 G06F003/041 |
Claims
1. A controller device for a virtual environment, the controller
device comprising: a handle; a contact device having a
substantially planar surface, wherein a position of the contact
device relative to the handle is adjustable; an actuator module,
arranged on a first end of the handle, including a plurality of
actuator arms configured to adjust the position of the contact
device relative to the handle, wherein the contact device is
mounted on the actuator module via the plurality of actuator arms;
and a control module in communication with the virtual environment,
wherein the control module selectively controls one or more
actuator arms of the plurality of actuator arms of the actuator
module to adjust the position of the contact device in response to
data received from the virtual environment, wherein the data
includes an indication of an interaction between a user and an
object represented within the virtual environment.
2. The controller device of claim 1, wherein the contact device
includes a platform, and wherein, to adjust the position of the
contact device, the actuator module at least one of (i) tilts the
platform and (ii) extends and retracts the platform.
3. The controller device of claim 1, wherein, to adjust the
position of the contact device, the actuator module adjusts the
position of the contact device based on a contact point between the
user and the object represented within the virtual environment.
4. The controller device of claim 3, wherein the actuator module
adjusts the position of the contact device based on a surface
normal to the object at the contact point.
5. The controller device of claim 3, wherein the actuator module
adjusts the position of the contact device based on a determination
of whether movement of the controller device causes the user to
penetrate the object represented within the virtual
environment.
6. The controller device of claim 5, wherein the actuator module
selectively extends the contact device based on the determination
of whether movement of the controller device causes the user to
penetrate the object represented within the virtual
environment.
7. The controller device of claim 1, wherein the contact device
includes at least one of a force sensor, a vibration mechanism, a
temperature output device, and a touchpad.
8. The controller device of claim 7, wherein the force sensor
comprises a force sensing resistor.
9. The controller device of claim 7, wherein the force sensor
generates a signal in response to user contact with the contact
device.
10-13 (canceled).
14. A method for operating a controller device for a virtual
environment, the method comprising: displaying an object within the
virtual environment; generating data including an indication of
interaction between a user and a surface of the object; providing
the data to an actuator of the controller device; and using the
actuator, adjusting a position of a contact device relative to a
handle of the controller device based on the data, wherein the
contact device has a substantially planar surface, wherein the
actuator is arranged on a first end of the handle and include a
plurality of actuator arms configured to adjust the position of the
contact device relative to the handle, and wherein the contact
device is mounted on the actuator module via the plurality of
actuator arms, wherein the position of the contact device is
adjusted in response to data received from the virtual environment
by selectively controlling one or more actuator arms of the
plurality of actuator arms of the actuator.
15. The method of claim 14, wherein adjusting the position of the
contact device includes at least one of (i) tilting the contact
device and (ii) extending and retracting the contact device.
16. The method of claim 14, wherein adjusting the position of the
contact device includes adjusting the position of the contact
device based on a contact point between the user and the surface of
the object.
17. The method of claim 16, wherein adjusting the position of the
contact device includes adjusting the position of the contact
device based on a surface normal to the object at the contact
point.
18. The method of claim 14, further comprising, using the contact
device, generating a signal in response to user contact with the
contact device.
19. (canceled).
20. A controller device for a virtual environment, the controller
device comprising: a handle; a platform having a substantially
planar surface, wherein a position of the platform relative to the
handle is adjustable; an actuator module, arranged on a first end
of the handle, including a plurality of actuator arms configured to
adjust the position of the platform relative to the handle, wherein
the platform is mounted on the actuator module via the plurality of
actuator arms; and a control module in communication with the
virtual environment, wherein the control module: receives data
indicative of contact between a user and a surface represented
within the virtual environment, wherein the data includes an
indication of a surface normal of the surface at a contact point
between the user and the surface, and provides a command to adjust
the position of the platform based on the indication of the surface
normal, wherein the actuator module selectively controls one or
more actuator arms of the plurality of actuator arms to adjust the
position of the platform relative to the handle in response to the
command provided by the control module such that a surface normal
to the platform in the adjusted position corresponds to the surface
normal at the contact point between the user and the surface.
21. The controller device of claim 20, wherein, to adjust the
position of the platform, the actuator module at least one of (i)
tilts the platform and (ii) extends and retracts the platform.
22. The controller device of claim 20, wherein, to adjust the
position of the platform, the actuator module adjusts the position
of the platform based on a contact point between the user and the
object represented within the virtual environment.
23. The controller device of claim 22, wherein the actuator module
adjusts the position of the platform based on a determination of
whether movement of the controller device causes the user to
penetrate the object represented within the virtual
environment.
24. The controller device of claim 23, wherein the actuator module
selectively extends the contact device based on the determination
of whether movement of the controller device causes the user to
penetrate the object represented within the virtual
environment.
25. The controller device of claim 20, wherein the platform
includes at least one of a force sensor, a vibration mechanism, a
temperature output device, and a touchpad.
Description
FIELD
[0001] The present disclosure relates to providing haptic feedback
to a user of a controller device.
BACKGROUND
[0002] The background description provided herein is for the
purpose of generally presenting the context of the disclosure. Work
of the presently named inventors, to the extent the work is
described in this background section, as well as aspects of the
description that may not otherwise qualify as prior art at the time
of filing, are neither expressly nor impliedly admitted as prior
art against the present disclosure.
[0003] Interactive computer systems implementing a virtual
environment may include, but are not limited to, virtual reality
(VR) systems, augmented reality systems, gaming systems, etc. For
example only, VR systems provide a visual and audio representation
of a three dimensional (3D) VR environment to a user. In some
examples, the VR environment corresponds to a gaming environment. A
VR system may provide the visual representation of the VR
environment using a display, a headset incorporating a display,
etc.
[0004] The user may interact with the VR environment or other type
of interactive computer system using a one or more controller
devices. Controller devices include, but are not limited to,
handheld (i.e., remote) controllers, gloves or other wearable
devices, etc. configured to communicate with the VR system. For
example, the controller devices may provide indications of
respective positions (e.g., 6 degree-of-freedom, or 6-DOF,
positions) of the controller devices to the VR system. The position
indications may further indicate positions, orientations,
movements, etc. of the respective hands holding the controller
devices. In some examples, the VR system implements optical
tracking to determine positions and movements of the controller
devices. In this manner, the user is able to interact with (e.g.,
provide inputs to) the VR environment. The controller devices may
also include other input mechanisms, such as buttons, touchpads,
trackpads, etc. for receiving user inputs and causing further
interaction with the VR environment.
SUMMARY
[0005] A controller device for a virtual environment includes a
handle and a contact device having a substantially planar surface.
A position of the contact device relative to the handle is
adjustable. An actuator module is arranged to adjust the position
of the contact device relative to the handle. A control module in
communication with the virtual environment selectively controls the
actuator module to adjust the position of the contact device in
response to data received from the virtual environment. The data
includes an indication of an interaction between a user and an
object represented within the virtual environment.
[0006] A method for operating a controller device for a virtual
environment includes displaying an object within the virtual
environment, generating data including an indication of interaction
between a user and a surface of the object, providing the data to
an actuator of the controller device, and using the actuator
adjusting a position of a contact device relative to a handle of
the controller device based on the data.
[0007] Further areas of applicability of the present disclosure
will become apparent from the detailed description, the claims and
the drawings. The detailed description and specific examples are
intended for purposes of illustration only and are not intended to
limit the scope of the disclosure.
BRIEF DESCRIPTION OF DRAWINGS
[0008] FIG. 1 is an example virtual reality system according to the
principles of the present disclosure.
[0009] FIG. 2 is a simplified virtual reality system including a
controller device shown in more detail according to the principles
of the present disclosure.
[0010] FIG. 3A is a side view of a first example controller device
according to the principles of the present disclosure.
[0011] FIG. 3B is a plan view of the first example controller
device according to the principles of the present disclosure.
[0012] FIGS. 4A and 4B are a first example contact device and
actuator module according to the principles of the present
disclosure.
[0013] FIGS. 5A and 5B illustrate example operation of the first
example controller device according to the principles of the
present disclosure.
[0014] FIG. 6A is a side view of a second example controller device
according to the principles of the present disclosure.
[0015] FIG. 6B is a plan view of the second example controller
device according to the principles of the present disclosure.
[0016] FIG. 7 is a second example contact device and actuator
module according to the principles of the present disclosure.
[0017] FIG. 8 illustrates example operation of the second example
controller device according to the principles of the present
disclosure.
[0018] FIG. 9 is an example method for providing feedback to a user
of a virtual reality system according to the principles of the
present disclosure.
[0019] In the drawings, reference numbers may be reused to identify
similar and/or identical elements.
DESCRIPTION
[0020] Some controller devices for virtual reality (VR) systems
implement one or more mechanisms for providing feedback to the
user. The feedback may be indicative of various features of a VR
environment (e.g. proximity to objects, such as walls or other
structures, the occurrence of an event within a certain range of
the user, etc.) and/or responsive to user behavior within the VR
environment (e.g., firing a virtual weapon, interacting with an
object, etc.).
[0021] Example feedback includes vibration, audio indicators (e.g.,
beeps), etc. The feedback provided to users via handheld or
wearable controller devices may not accurately represent the
interaction of the user with the VR environment. For example,
feedback such as vibration may not accurately convey haptic
interaction with objects in the VR environment to the user.
[0022] Systems and methods according to the principles of the
present disclosure provide haptic feedback to a user in response to
interaction with objects, surfaces, etc. in the VR environment. For
example, a controller device according to the principles of the
present disclosure includes a contact device (e.g., a platform,
pad, etc.) with a contact surface arranged to receive a fingertip
of the user. The controller device is configured to adjust the
contact surface of the contact device according to interaction
between the user and the VR environment to provide haptic feedback
(e.g., cutaneous and/or kinesthetic feedback). For example, in some
implementations, the controller device adjusts an orientation of
the contact surface in response to the user touching an object or
surface in the VR environment. In other implementations, the
controller device adjusts a texture of the contact surface.
Although described with respect to VR systems, the principles of
the present disclosure may also be included in other interactive
computer systems implementing a virtual environment, including, but
not limited to, augmented reality systems and gaming systems using
a display such as a pc or laptop monitor, a gaming console using a
television, etc. Accordingly, as used herein, the term "virtual
reality system" may be used to indicate any interactive computer
system implementing a virtual environment.
[0023] FIG. 1 shows an example VR system 100. The VR system 100
includes a host device (e.g., a computer, gaming console, etc.) 104
and one or more peripheral devices, such as a controller device 108
according to the principles of the present disclosure and a display
112. In some examples, the VR system 100 may include a tracking
system 116 (e.g., an optical tracking system) configured to track
movements of a user and/or the controller device 108. The VR system
100 may include other inputs 120 (e.g., a keyboard, mouse, wireless
inputs, voice input mechanism such as a microphone, etc.) and other
outputs 124 (e.g., speakers, secondary displays, wireless outputs,
etc.).
[0024] The host device 104 includes one or more interfaces 128 for
communicating with the peripheral devices. For example, the
interfaces 128 may include, but are not limited to, input/output
(I/O) interfaces and adapters (e.g., universal serial bus, or USB),
and wired or wireless communication interfaces (WiFi, Bluetooth,
cellular, wired Ethernet, etc.) for communicating with a network
136. The interfaces 128 allow data to be transmitted between the
peripheral devices and/or the network 132 and a control module
136.
[0025] The control module 136 controls processing of data related
to operation of the VR system 100. For example, the control module
136 may correspond to one or more processors configured to execute
an operating system of the host device 104 and one or more programs
stored in disk storage 140, memory 144, a cloud computing system
(e.g., via network 132), etc. to implement a VR environment. For
example only, the disk storage 140 may correspond to a hard disk
drive (HDD), solid state drive (SSD), a removable media drive such
as a CD or DVD ROM drive, flash memory, etc. The memory 144 may
correspond to system memory and may include, but it is not limited
to, volatile and/or non-volatile semiconductor memory.
[0026] FIG. 2 shows a simplified VR system 200 including only a
host device 204, controller device 208, display 212, and tracking
system 216. The controller device 208 includes a control module
220, a contact device 224, input sensors 228, and output actuators
232 configured to implement the systems and methods according to
the principles of the present disclosure. The controller device 208
includes communication interfaces (e.g., wired and/or wireless
communication interfaces) 236 for communicating data between the
controller device 208 and the host device 204. The controller
device 208 may include other inputs 240 and other outputs 244. For
example, the other inputs 240 may include, but are not limited to,
a microphone for receive voice inputs, buttons, a touchpad or
touchscreen interface (e.g., for providing an indication of a
relative position of a fingertip on the contact device 224), etc.
The other outputs 244 may include, but are not limited to, audio
outputs, an integrated display, LEDs, other feedback mechanisms
(e.g., vibration), etc. The control module 220 controls the
operation of the controller device 208 based on data received from
the host device 204, contact device 224, and inputs 240, and
provides data indicative of user interaction with the controller
device 204 to the host device 204 as described below in more
detail.
[0027] The host device 204 provides interaction data indicative of
user interaction with the VR environment to the control module 22.
For example, the user interacts with the VR environment (e.g., as
presented to the user via the display 212) using the controller
device 208. In some examples, the tracking system 216 tracks user
movement by monitoring movement of the controller device 208 and
provides tracking data indicative of the user movement to the host
device 204. The host device 204 generates and outputs the
interaction data based on the tracking data received from the
tracking system and, in some examples, further based on user input
data received from the controller device 208 (e.g., user input data
generated in response to user interaction with contact device 224,
inputs 240, etc.).
[0028] The control module 220 controls the contact device 224 based
on the interaction data. For example, the interaction data may
include characteristics of the interaction between the user and the
VR environment. The characteristics may correspond to contact
characteristics associated with contact between the user (e.g., a
fingertip of the user in the VR environment) and an object in the
VR environment, including, but not limited to, surface contour,
shape, and texture of the object, as well as an amount of force
exerted on and/or by the object. Accordingly, the control module
220 controls the output actuators 232 to physically adjust the
contact device 224 so that contact between the contact device 224
and an actual fingertip of the user reflects the contact between
the fingertip of the user and the object in the VR environment. In
some examples, input sensors 228 (which may include force or finger
position sensors) provide additional feedback indicative of contact
between the user and the contact device 224.
[0029] Referring now to FIGS. 3A and 3B and with continued
reference to FIG. 2, a first example controller device 300
according to the principles of the present disclosure is shown in a
side view and a plan view, respectively. The controller device 300
includes a handle 304, an actuator module 308 arranged on a first
end of the handle 304, and a contact device 312 mounted on the
actuator module 308. The contact device 308 is arranged to receive
a fingertip 316 of a user. Although the contact device 308 as shown
corresponds to a substantially circular platform, the contact
device 308 may have any suitable shape in other examples (e.g.,
rectangular, elliptical, etc.). In some examples, the controller
device 300 may include one or more tracking elements 320 (e.g.,
retroreflective spheres) detectable by the tracking system 216
arranged to facilitate tracking of the movement of the controller
device 300 in 3D space. Other examples may implement other suitable
systems and methods for tracking movement of the controller device
300. For example only, components such as the control module 220,
the actuator module 308, etc. may be located within a housing of
the handle 304.
[0030] The actuator module 308 selectively physically adjusts the
contact device 312 based on interaction data received from the host
device 204 as described above with respect to FIG. 2. For example,
the actuator module 308 may include servos or other suitable
mechanisms in communication with respective actuator arms 324. The
actuator module 308 may be configured to independently actuate
(e.g., extend and retract) the actuator arms 324 to adjust the
position of (e.g., tilt to adjust yaw and pitch, raise, lower,
etc.) the contact device 312 relative to the handle 304 (and,
therefore, relative to the fingertip 316). As the user moves the
controller device 300 to cause contact between the fingertip of the
user (i.e., a virtual fingertip) with an object in the VR
environment, the actuator module 308 adjusts the position of the
contact device 312 accordingly. The visual representation of the
fingertip of the user within the VR environment may also be
adjusted to indicate the contact (e.g., by tilting or extruding the
finger).
[0031] Referring now to FIGS. 4A and 4B, an example contact device
400 and actuator module 404 are shown. The contact device 400
includes substantially planar upper and lower platforms 408 and
412. The upper platform 408 may have a concave upper surface 416.
In some examples, the platform 408 is formed from acetal or other
plastic material. In some examples, a force sensor (e.g., a force
transducer) 420 is arranged between the upper and lower platforms
408 and 412 to detect an amount of force applied to the contact
device 400 by a user.
[0032] The actuator module 404 includes servo motors 424 configured
to adjust the contact device 400 via respective control arms 428
and actuator arms 432 (e.g., responsive to commands from the
control module 220). As shown, the actuator module 404 includes
three servo motors 424, control arms 428, and actuator arms 432 to
provide three degrees of freedom movement of the contact device
400. For example only, the control arms 428 are connected to the
actuator arms 432 via respective revolute joints 436 and the
actuator arms 432 are connected to the contact device 400 via
ball-and-socket spherical joints 440.
[0033] For example only, the force sensor 420 comprises a force
sensing resistor (FSR) material and two internal electrodes for
detecting compression between the upper and lower platforms 408 and
412 in response to force applied to the upper platform 408 by the
user. In some examples, the upper platform 408 is connected to the
lower platform 412 via adjustable screws or other fasteners 444 at
respective ends of radial arms 448 around an outer perimeter of the
upper platform 408. For example, the arms 444 may be formed in the
material of the upper platform 408 to allow downward movement of an
inner portion of the upper platform 408 in response to force
applied by the user.
[0034] When no force is applied to the upper platform 408,
electrodes of the force sensor 420 do not contact each other and no
voltage is generated. Conversely, a minimal amount of force applied
to the upper platform 408 causes contact between the electrodes of
the force sensor 420, and a voltage is generated accordingly to
indicate an amount of force applied to the contact device 400 by
the user. In some examples, the arms 444 may be configured to bias
the upper platform 408 downward against the force sensor 420 even
without contact from a user. Accordingly, a nominal voltage may be
generated by the force sensor 420 with no user contact, while the
voltage may increase proportionately to an amount of force applied
to the upper platform 408 by the user. The voltage is provided as
feedback indicative of the amount of force applied by the user
(e.g., to the control module 220).
[0035] Operation of an example contact device 500 is described
below with respect to FIGS. 5A and 5B. In FIG. 5A, the contact
device 500 is shown in a plurality of example positions relative to
a fingertip 504 of a user. As shown, the positions of the contact
device 500 correspond to a contact point between a virtual
fingertip of the user and a surface of an example object 508 in a
VR environment. For example, the virtual fingertip of the user
(e.g., as rendered and provided to the user via the display 212)
moves within the VR environment based on movement of the controller
device 300. Accordingly, as the user moves the controller device
300, the virtual fingertip moves relative to the object 508 and
contacts different points along the surface of the object 508. The
contact device 500 is adjusted (e.g., tilted) as movement of the
controller device 300 causes the virtual fingertip to make initial
contact with the object 508, contact different portions of the
object 508, discontinue contact with the object 508, etc. For
example, as the virtual fingertip "slides" along the surface of the
object 508, the contact device 500 is tilted accordingly (e.g.
relative to the controller device 300, a mounting portion such as
actuator module 512, etc.). For example only, the contact device
500 is adjusted such that the contact device 500 is substantially
perpendicular to a surface normal 516 of the object 508 at a
contact point between the virtual fingertip and the object 508.
[0036] In FIG. 5B, the contact device 500 is shown in a plurality
of positions (e.g., height positions) as a virtual fingertip of a
user contacts a surface 520 in the VR environment. At 524, the
virtual fingertip is not in contact with the surface 520 and
therefore the contact device 500 is shown in a fully retracted
position. At 528, the virtual fingertip is in contact with the
surface 520.
[0037] Continued downward movement of the controller device 300 may
cause the virtual fingertip to penetrate the surface 520. The
contact device 500 according to the principles of the present
disclosure may be extended in response to movement that would
otherwise cause the virtual fingertip to penetrate the surface 520
within the VR environment. For example, at 532, the contact device
500 is extended to apply upward force against the fingertip 504 of
the user. In other words, as the controller device 300 is moved
downward, the fingertip 504 is nonetheless maintained in a same
position due to the opposing, upward movement of the contact device
500. In this manner, the contact device 500 indicates to the user
that the movement of the controller device 300 is causing the
virtual fingertip to attempt to penetrate the surface 520.
[0038] If user behavior continues to cause the virtual fingertip to
move downward toward the surface 520, the contact device 500 is
extended still further as shown at 536. The position of the contact
device 500 as shown at 536 may correspond to a fully extended
position. Accordingly, further downward movement of the controller
device 300 allows corresponding movement of the fingertip 504,
resulting in penetration of the surface 520 as shown at 540. In
some examples, a position of the virtual fingertip (and a virtual
hand, which corresponds to a position of the controller device 300)
as rendered in the VR environment may be decoupled from further
movement of the controller device 300 to compensate for penetration
of the surface 520. For example, rather than allowing the virtual
fingertip to penetrate the surface 520 in response to continued
movement of the controller device 300, the contact device 500 may
be maintained in a partially extended position (e.g., 50% or 75% of
a fully extended position) while maintaining presentation of the
virtual fingertip on the surface 520. Accordingly, if penetration
of the surface 520 by the user is inadvertent, the user is
nonetheless able to interact with the surface 520.
[0039] Referring now to FIGS. 6A and 6B, a second example
controller device 600 according to the principles of the present
disclosure is shown in a side view and a plan view, respectively.
The controller device 600 includes a handle 604, an actuator module
608 arranged on a first end of the handle 604, and a contact device
612 mounted on the actuator module 308. The contact device 608 is
arranged to receive a fingertip 616 of a user. Although the contact
device 608 as shown corresponds to a substantially circular
platform, the contact device 608 may have any suitable shape in
other examples (e.g., rectangular, elliptical, etc.). In some
examples, the controller device 600 may include one or more
tracking elements 620 (e.g., retroreflective spheres) detectable by
the tracking system 216 arranged to facilitate tracking of the
movement of the controller device 600. For example only, components
such as the control module 220, the actuator module 608, etc. may
be located within a housing of the handle 604.
[0040] The actuator module 608 selectively adjusts the contact
device 612 based on interaction data received from the host device
204 as described above with respect to FIG. 2. In this example, the
contact device 612 includes a tactile array 624 (e.g., as shown, a
4.times.4 array) of adjustable pins 628. The actuator module 608
includes servos and/or other suitable mechanisms configured to
independently actuate respective ones of the pins 628. For example,
the actuator module 608 independently actuates (e.g., extends and
retracts) the pins 628 to adjust the position of (e.g., tilt,
raise, lower, etc.) the tactile array 624 relative to the handle
604 (and, therefore, relative to the fingertip 616). As the user
moves the controller device 600 to cause contact between the
fingertip of the user (i.e., a virtual fingertip) with an object in
the VR environment, the actuator module 608 adjusts respective
positions of the pins 628 of the tactile array 624 accordingly.
[0041] Referring now to FIG. 7, an example contact device 700 and
actuator module 704 are shown. The contact device 700 includes a
substantially planar upper platform 708 including a 4 x 4 tactile
array 712 of sixteen pins 716. Although the tactile array 712 has a
4.times.4 configuration, other examples may use a different
configuration (e.g., 3.times.4, 5.times.5, 4.times.6, etc.). The
actuator module 704 is configured to independently actuate (e.g.,
extend and retract) each of the pins 716 based on interaction with
an object in the VR environment.
[0042] For example, the actuator module 704 includes a plurality of
linear actuator systems 720 in communication with respective ones
of the pins 716, although only a single linear actuator system 720
is shown for simplicity. For example only, the linear actuator
system 720 has a rack and pinion configuration. Each of the linear
actuator systems 720 includes a servo motor 724 configured to
rotate a first spur or pinion gear 728. Rotation of the first spur
gear 728 causes linear actuation of rack gear 732, which in turn
causes rotation of second spur gear 736. The second spur gear 736
is mechanically coupled to a lower gear portion 740 of the pin 716.
Accordingly, horizontal linear actuation of the rack gear 732 is
translated to vertical linear actuation of the pin 716. In this
manner, the actuator module 704 adjusts the tactile array 712 to
represent contact between a user and a surface in the VR
environment (e.g., responsive to commands from the control module
220).
[0043] Operation of an example contact device 800 is shown below in
FIG. 8. The contact device 800 is shown in a plurality of example
configurations relative to a fingertip 804 of a user. As shown, the
positions of the contact device 800 correspond to a contact point
between a virtual fingertip of the user and a surface of an example
object 808 in a VR environment. For example, the virtual fingertip
of the user (e.g., as rendered and provided to the user via the
display 212) moves within the VR environment based on movement of
the controller device 600. Accordingly, as the user moves the
controller device 600, the virtual fingertip moves relative to the
object 808 and contacts different points along the surface of the
object 808. The contact device 800 is adjusted as movement of the
controller device 600 causes the virtual fingertip to make initial
contact with the object 808, contact different portions of the
object 808, discontinue contact with the object 808, etc.
[0044] For example, as the virtual fingertip "slides" along the
surface of the object 808, actuator module 812 selectively extends
and/or retracts pins 816 of tactile array 820. For example only,
the pins 816 are adjusted to a configuration such that a plane
defined by the tactile array 820 is substantially perpendicular to
a surface normal 816 of the object 808 at a contact point between
the virtual fingertip and the object 808. In some examples, the
pins 816 may be further adjusted based on a texture of the surface
of the object 808. For example, for an object 808 having a
substantially flat and smooth surface, each of the pins 816 can be
adjusted to a same height to provide a smooth surface. Conversely,
for an object 808 having a rough surface, the pins 816 can be
adjusted to different heights to provide a rough surface. In some
examples, the tactile array 820 may include a flexible or
stretchable membrane arranged over the pins 816.
[0045] The controller devices 300 and 600 may implement additional
features. For example, the controller devices 300 and 600 may
include a vibration mechanism (e.g., corresponding to the other
outputs 244 of FIG. 2) configured to vibrate in response to user
contact and/or lateral movement with a surface of an object in the
VR environment. For example, the vibration mechanism may be
configured to vibrate as a function of movement speed of the
controller device 300 or 600 relative to the surface of the object.
In this manner, vibration may be indicative of the texture (e.g.,
roughness) of the surface. Other features may include, but are not
limited to, a heater or other temperature output device to provide
temperature feedback, inputs such as touchpads or force sensors
incorporated within the respective contact devices 312 and 612,
etc. Some example VR systems may include two or more of the
controller devices 300 or 600, and/or include both the controller
device 300 and the controller device 600.
[0046] An example method 900 for providing feedback to a user of a
VR system according to the principles of the present disclosure
begins at 904. At 908, the method 900 adjusts a contact device of a
controller (e.g., a handheld controller such as the controller
device 300 or 600) to a default position. For example, the default
position may correspond to a fully lowered or retracted position
with a neutral orientation relative to the controller. For example
only, in the default position, a planar surface of the contact
device may be substantially parallel to a horizontal axis of the
controller.
[0047] At 912, the method 900 determines whether an appendage of a
user (e.g., a fingertip) contacts a surface of an object in the VR
environment. If true, the method 900 continues to 916. If false,
the method 900 continues to 908. At 916, the method 900 adjusts the
contact device based on the contact with the object. For example,
the method 900 may adjust a position of the contact device based on
a surface normal of the object at a contact point between the user
and the object in the VR environment. At 920, the method 900
determines whether the contact point between the user and the
object changed due to movement of the user. If true, the method 900
continues to 916. If false, the method 900 continues to 924. At
924, the method 900 maintains the position of the contact
device.
[0048] At 928, the method 900 determines whether the user has
discontinued contact with the object in the VR environment. If
true, the method 900 continues to 908 and returns the contact
device to the default position. If false, the method 900 continues
to 920.
[0049] The foregoing description is merely illustrative in nature
and is in no way intended to limit the disclosure, its application,
or uses. The broad teachings of the disclosure can be implemented
in a variety of forms. Therefore, while this disclosure includes
particular examples, the true scope of the disclosure should not be
so limited since other modifications will become apparent upon a
study of the drawings, the specification, and the following claims.
It should be understood that one or more steps within a method may
be executed in different order (or concurrently) without altering
the principles of the present disclosure. Further, although each of
the embodiments is described above as having certain features, any
one or more of those features described with respect to any
embodiment of the disclosure can be implemented in and/or combined
with features of any of the other embodiments, even if that
combination is not explicitly described. In other words, the
described embodiments are not mutually exclusive, and permutations
of one or more embodiments with one another remain within the scope
of this disclosure.
[0050] Spatial and functional relationships between elements (for
example, between modules, circuit elements, semiconductor layers,
etc.) are described using various terms, including "connected,"
"engaged," "coupled," "adjacent," "next to," "on top of," "above,"
"below," and "disposed." Unless explicitly described as being
"direct," when a relationship between first and second elements is
described in the above disclosure, that relationship can be a
direct relationship where no other intervening elements are present
between the first and second elements, but can also be an indirect
relationship where one or more intervening elements are present
(either spatially or functionally) between the first and second
elements. As used herein, the phrase at least one of A, B, and C
should be construed to mean a logical (A OR B OR C), using a
non-exclusive logical OR, and should not be construed to mean "at
least one of A, at least one of B, and at least one of C."
[0051] In the figures, the direction of an arrow, as indicated by
the arrowhead, generally demonstrates the flow of information (such
as data or instructions) that is of interest to the illustration.
For example, when element A and element B exchange a variety of
information but information transmitted from element A to element B
is relevant to the illustration, the arrow may point from element A
to element B. This unidirectional arrow does not imply that no
other information is transmitted from element B to element A.
Further, for information sent from element A to element B, element
B may send requests for, or receipt acknowledgements of, the
information to element A.
[0052] In this application, including the definitions below, the
term "module" or the term "controller" may be replaced with the
term "circuit." The term "module" may refer to, be part of, or
include: an Application Specific Integrated Circuit (ASIC); a
digital, analog, or mixed analog/digital discrete circuit; a
digital, analog, or mixed analog/digital integrated circuit; a
combinational logic circuit; a field programmable gate array
(FPGA); a processor circuit (shared, dedicated, or group) that
executes code; a memory circuit (shared, dedicated, or group) that
stores code executed by the processor circuit; other suitable
hardware components that provide the described functionality; or a
combination of some or all of the above, such as in a
system-on-chip.
[0053] The module may include one or more interface circuits. In
some examples, the interface circuits may include wired or wireless
interfaces that are connected to a local area network (LAN), the
Internet, a wide area network (WAN), or combinations thereof. The
functionality of any given module of the present disclosure may be
distributed among multiple modules that are connected via interface
circuits. For example, multiple modules may allow load balancing.
In a further example, a server (also known as remote, or cloud)
module may accomplish some functionality on behalf of a client
module.
[0054] The term code, as used above, may include software,
firmware, and/or microcode, and may refer to programs, routines,
functions, classes, data structures, and/or objects. The term
shared processor circuit encompasses a single processor circuit
that executes some or all code from multiple modules. The term
group processor circuit encompasses a processor circuit that, in
combination with additional processor circuits, executes some or
all code from one or more modules. References to multiple processor
circuits encompass multiple processor circuits on discrete dies,
multiple processor circuits on a single die, multiple cores of a
single processor circuit, multiple threads of a single processor
circuit, or a combination of the above. The term shared memory
circuit encompasses a single memory circuit that stores some or all
code from multiple modules. The term group memory circuit
encompasses a memory circuit that, in combination with additional
memories, stores some or all code from one or more modules.
[0055] The term memory circuit is a subset of the term
computer-readable medium. The term computer-readable medium, as
used herein, does not encompass transitory electrical or
electromagnetic signals propagating through a medium (such as on a
carrier wave); the term computer-readable medium may therefore be
considered tangible and non-transitory. Non-limiting examples of a
non-transitory, tangible computer-readable medium are nonvolatile
memory circuits (such as a flash memory circuit, an erasable
programmable read-only memory circuit, or a mask read-only memory
circuit), volatile memory circuits (such as a static random access
memory circuit or a dynamic random access memory circuit), magnetic
storage media (such as an analog or digital magnetic tape or a hard
disk drive), and optical storage media (such as a CD, a DVD, or a
Blu-ray Disc).
[0056] In this application, apparatus elements described as having
particular attributes or performing particular operations are
specifically configured to have those particular attributes and
perform those particular operations. Specifically, a description of
an element to perform an action means that the element is
configured to perform the action. The configuration of an element
may include programming of the element, such as by encoding
instructions on a non-transitory, tangible computer-readable medium
associated with the element.
[0057] The apparatuses and methods described in this application
may be partially or fully implemented by a special purpose computer
created by configuring a general purpose computer to execute one or
more particular functions embodied in computer programs. The
functional blocks, flowchart components, and other elements
described above serve as software specifications, which can be
translated into the computer programs by the routine work of a
skilled technician or programmer.
[0058] The computer programs include processor-executable
instructions that are stored on at least one non-transitory,
tangible computer-readable medium. The computer programs may also
include or rely on stored data. The computer programs may encompass
a basic input/output system (BIOS) that interacts with hardware of
the special purpose computer, device drivers that interact with
particular devices of the special purpose computer, one or more
operating systems, user applications, background services,
background applications, etc.
[0059] The computer programs may include: (i) descriptive text to
be parsed, such as HTML (hypertext markup language) or XML
(extensible markup language), (ii) assembly code, (iii) object code
generated from source code by a compiler, (iv) source code for
execution by an interpreter, (v) source code for compilation and
execution by a just-in-time compiler, etc. As examples only, source
code may be written using syntax from languages including C, C++,
C#, Objective C, Haskell, Go, SQL, R, Lisp, Java.RTM., Fortran,
Perl, Pascal, Curl, OCaml, Javascript.RTM., HTML5, Ada, ASP (active
server pages), PHP, Scala, Eiffel, Smalltalk, Erlang, Ruby,
Flash.RTM., Visual Basic.RTM., Lua, and Python.RTM..
[0060] None of the elements recited in the claims are intended to
be a means-plus-function element within the meaning of 35 U.S.C.
.sctn.112(f) unless an element is expressly recited using the
phrase "means for," or in the case of a method claim using the
phrases "operation for" or "step for."
* * * * *