U.S. patent application number 16/123535 was filed with the patent office on 2019-01-17 for systems and methods for impedance coupling for haptic devices.
This patent application is currently assigned to Immersion Corporation. The applicant listed for this patent is Immersion Corporation. Invention is credited to Juan Manuel Cruz-Hernandez, Danny Grant.
Application Number | 20190018491 16/123535 |
Document ID | / |
Family ID | 55655412 |
Filed Date | 2019-01-17 |
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United States Patent
Application |
20190018491 |
Kind Code |
A1 |
Cruz-Hernandez; Juan Manuel ;
et al. |
January 17, 2019 |
Systems and Methods for Impedance Coupling for Haptic Devices
Abstract
One illustrative system disclosed herein includes a haptic
output device associated with a surface. The illustrative system
also includes a sensor configured to detect a contact between a
user and the surface, the sensor configured to transmit a sensor
signal including data associated with the contact. The illustrative
system further includes a processor in communication with the
sensor and the haptic output device, the processor configured to:
receive the sensor signal; determine an impedance based at least in
part on the sensor signal; and determine a haptic effect based at
least in part on the impedance. The processor is further configured
to transmit a haptic signal associated with the haptic effect to
the haptic output device.
Inventors: |
Cruz-Hernandez; Juan Manuel;
(Montreal, CA) ; Grant; Danny; (Laval,
CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Immersion Corporation |
San Jose |
CA |
US |
|
|
Assignee: |
Immersion Corporation
San Jose
CA
|
Family ID: |
55655412 |
Appl. No.: |
16/123535 |
Filed: |
September 6, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
14513851 |
Oct 14, 2014 |
10146308 |
|
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16123535 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F 3/016 20130101;
G06F 1/163 20130101 |
International
Class: |
G06F 3/01 20060101
G06F003/01; G06F 1/16 20060101 G06F001/16 |
Claims
1. A system comprising: a touch screen in a vehicle; a capacitive
sensor coupled to a surface of the vehicle that is separate from
the touch screen; a processor in communication with the capacitive
sensor and the touch screen; and a memory comprising program code
that is executable by the processor to cause the processor to:
obtain capacitance information using the capacitive sensor, the
capacitance information being indicative of a capacitance between a
vehicle occupant and the surface; determine a position of the
vehicle occupant relative to the surface based on the capacitance
information; determine a characteristic of a haptic effect based on
the position of the vehicle occupant relative to the surface; and
generate, using a haptic output device coupled to the surface of
the vehicle, the haptic effect having the characteristic.
2. The system of claim 1, wherein the surface is part of a steering
wheel or a gear shifter, and the capacitive sensor is configured to
detect a contact with the surface and generate the capacitance
information based on the contact.
3. The system of claim 2, further comprising a pressure sensor
configured to generate pressure information indicating a pressure
of the contact, and wherein the memory further comprises program
code that is executable by the processor to cause the processor to:
receive a sensor signal from the pressure sensor indicating the
pressure information; and determine the haptic effect based on the
capacitance information and the pressure information.
4. The system of claim 1, wherein the touch screen is configured to
detect a touch and transmit touch information to the processor, and
wherein the memory further comprises program code that is
executable by the processor to cause the processor to: receive the
touch information from the touch screen; and determine the haptic
effect based on the capacitance information and the touch
information.
5. The system of claim 4, wherein the touch information indicates a
position of the touch on the touch screen, and wherein the haptic
effect is determined based on the capacitance information and the
position of the touch on the touch screen.
6. The system of claim 1, wherein the capacitive sensor is a first
capacitive sensor, the capacitance is a first capacitance, and the
capacitance information is first capacitive information, and
further comprising a second capacitive sensor coupled to the
surface, the second capacitive sensor being configured to detect a
second capacitance between the vehicle occupant and the surface and
transmit second capacitance information indicative of the second
capacitance to the processor.
7. The system of claim 1, wherein the memory further comprises
program code that is executable by the processor to cause the
processor to: determine the characteristic of the haptic effect
depending on a distance between the vehicle occupant and the
surface.
8. The system of claim 1, wherein the position of the vehicle
occupant relative to the surface comprises the position of the
vehicle occupant relative to the haptic output device coupled to
the surface.
9. The system of claim 8, wherein the characteristic of the haptic
effect is a magnitude of the haptic effect.
10. The system of claim 1, wherein the characteristic of the haptic
effect is an intensity of the haptic effect, and wherein the haptic
effect includes a vibration.
11. The system of claim 1, wherein the haptic output device is
positioned adjacent to the capacitive sensor in the surface.
12. The system of claim 1, wherein the haptic output device is
positioned to output the haptic effect to a first portion of the
surface, and wherein the capacitive sensor is positioned at a
second portion the surface, the second portion being different from
the first portion.
13. A steering wheel, comprising: a capacitive sensor configured to
detect a capacitance corresponding to a contact on the steering
wheel and generate capacitance information based on the
contact.
14. The steering wheel of claim 13, further comprising a haptic
output device configured to receive a haptic signal from a
processor and output a haptic effect to the steering wheel.
15. The steering wheel of claim 14, wherein the capacitive sensor
is coupled to the processor, and the processor is configured to:
receive a sensor signal from the capacitive sensor indicating the
capacitance information; generate the haptic signal based on the
capacitance information; and transmit the haptic signal to the
haptic output device.
16. The steering wheel of claim 15, further comprising a pressure
sensor coupled to the processor and configured to generate pressure
information indicating a pressure of the contact, wherein the
processor is configured to: receive another sensor signal from the
pressure sensor indicating the pressure information; generate the
haptic signal based on the capacitance information and the pressure
information; and transmit the haptic signal to the haptic output
device.
17. A gear shifter, comprising: a capacitive sensor configured to
detect a capacitance corresponding to a contact on the gear shifter
and generate capacitance information based on the contact.
18. The gear shifter of claim 17, further comprising a haptic
output device configured to receive a haptic signal from a
processor and output a haptic effect to the gear shifter.
19. The gear shifter of claim 18, wherein the capacitive sensor is
coupled to the processor, and the processor is configured to:
receive a sensor signal from the capacitive sensor indicating the
capacitance information; generate the haptic signal based on the
capacitance information; and transmit the haptic signal to the
haptic output device.
20. The gear shifter of claim 19, further comprising a pressure
sensor configured to generate pressure information indicating a
pressure of the contact, wherein the processor is configured to:
receive another sensor signal from the pressure sensor indicating
the pressure information; generate the haptic signal based on the
capacitance information and the pressure information; and transmit
the haptic signal to the haptic output device.
Description
REFERENCE TO RELATED APPLICATION
[0001] This application is a continuation of and claims priority to
co-pending U.S. patent application Ser. No. 14/513,851, filed Oct.
14, 2014, entitled "Systems and Methods for Impedance Coupling for
Haptic Devices," the entirety of which is hereby incorporated by
reference herein.
FIELD OF THE INVENTION
[0002] The present invention relates to the field of user interface
devices. More specifically, the present invention relates to
impedance coupling for haptic device.
BACKGROUND
[0003] As computer-based systems become more prevalent, the quality
of the interfaces through which humans interact with these systems
is becoming increasingly important. Designers often improve the
quality of user interfaces through visual, audio, and/or haptic
feedback (e.g., mechanical vibrations). The quality of haptic
feedback perceived by the user, however, can vary greatly based on
how the user interacts with the system and the physical properties
of the system itself (e.g., the material making up the housing of
the system with which a user may be interacting). Thus, it can be
challenging to generate quality haptic feedback.
SUMMARY
[0004] Embodiments of the present disclosure comprise computing
devices comprising impedance coupling for haptic devices. In one
embodiment, a system of the present disclosure may comprise a
haptic output device associated with a surface. The system may also
comprise a sensor configured to detect a contact between a user and
the surface, the sensor configured to transmit a sensor signal
comprising data associated with the contact. The system may also
comprise a processor in communication with the sensor and the
haptic output device, the processor configured to: receive the
sensor signal; determine an impedance based on the sensor signal;
and determine a haptic effect based at least in part on the
impedance. The processor may also be configured to transmit a
haptic signal associated with the haptic effect to the haptic
output device.
[0005] In another embodiment, a method of the present disclosure
may comprise: receiving a sensor signal from a sensor, the sensor
signal comprising data associated with a contact between a user and
a surface associated with a haptic output device; determining an
impedance based on the sensor signal; and determining a haptic
effect based at least in part on the impedance. The method may
further comprise transmitting a haptic signal associated with the
haptic effect to the haptic output device. Yet another embodiment
comprises a computer-readable medium for implementing such a
method.
[0006] These illustrative embodiments are mentioned not to limit or
define the limits of the present subject matter, but to provide
examples 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. 1 is a block diagram showing a system for impedance
coupling for haptic devices according to one embodiment;
[0009] FIG. 1A is another block diagram of a system for impedance
coupling for haptic devices according to one embodiment;
[0010] FIG. 2 is still another block diagram showing a system for
impedance coupling for haptic devices according to one
embodiment;
[0011] FIG. 3 shows an embodiment of a system for impedance
coupling for haptic devices;
[0012] FIG. 4 shows another embodiment of a system for impedance
coupling for haptic devices;
[0013] FIG. 5 shows still another embodiment of a system for
impedance coupling for haptic devices;
[0014] FIG. 6 shows yet another embodiment of a system for
impedance coupling for haptic devices;
[0015] FIG. 7 shows another embodiment of a system for impedance
coupling for haptic devices;
[0016] FIG. 8 is a flow chart of steps for performing a method for
providing impedance coupling for haptic devices according to one
embodiment; and
[0017] FIG. 9 shows another embodiment of a system for impedance
coupling for haptic devices.
DETAILED DESCRIPTION
[0018] 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 in 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.
Illustrative Examples of Impedance Coupling for Haptic Devices
[0019] One illustrative embodiment of the present disclosure
comprises a gaming system. The gaming system may include a game
console, a tablet, a mobile device (e.g., a smart phone), a laptop
computer, a desktop computer, or other electronic device. The
gaming system is in communication with a user interface device. The
user interface device may comprise and/or may be in communication
with one or more user input elements (e.g., button, joystick,
gyroscope, accelerometer, or touch-sensitive surface) configured to
detect a user input.
[0020] In the illustrative embodiment, the user interface device
comprises an impedance sensor. The impedance sensor is configured
to detect an impedance between a user and a surface associated with
the user interface device. The impedance is associated with a
characteristic of a physical contact (e.g., the amount of surface
area, pressure, or electrical conductivity) between the user and
the surface. In the illustrative embodiment, low impedance
comprises a high quality of contact between the user and the
surface, and high impedance comprises a low quality of contact
between the user and the surface. For example, the impedance sensor
may detect a high impedance if the amount of pressure a user is
exerting on the surface (e.g., while holding the user interface
device) is low. The impedance sensor is further configured to
transmit a sensor signal associated with the detected impedance to
the gaming system.
[0021] In the illustrative embodiment, the user interface device
comprises a haptic output device. The haptic output device is
configured to receive a signal from the gaming system and provide
one or more haptic effects (e.g., a vibration, a change in a
perceivable coefficient of friction, a simulated texture, or a
surface deformation) perceivable by a user.
[0022] In the illustrative embodiment, the game system outputs a
haptic effect via the haptic output device in response to an event.
An event, as used herein, is any interaction, action, collision, or
other event which occurs during operation of the device which can
potentially comprise an associated haptic effect. In some
embodiments, an event may comprise user input (e.g., a button
press, manipulating a joystick, interacting with a touch-sensitive
surface, tilting or orienting the user interface device), a system
status (e.g., low battery, low memory, or a system notification,
such as a notification generated based on the system receiving an
incoming call), sending data, receiving data, or a program event
(e.g., if the program is a game, a program event may comprise
explosions, gunshots, collisions, interactions between game
characters, advancing to a new level, or driving over bumpy
terrain). For example, in the illustrative embodiment, the gaming
system outputs a haptic effect (e.g., a vibration) upon the
occurrence of a game event (e.g., when the user's virtual character
is shot).
[0023] In the illustrative embodiment, the game system is
configured to determine one or more characteristics of the haptic
effect (e.g., the type, magnitude, duration, frequency, waveform,
or haptic output device through which to output the haptic effect)
based at least in part on the impedance. In some embodiments, the
quality of a haptic effect perceived by a user may depend on the
impedance. Thus, in some embodiments, the user may perceive a more
consistent haptic experience if the game system modulates the
characteristics of haptic effects based on the impedance. For
example, if the game system detects a low impedance, the game
system may determine a haptic effect comprising a low-amplitude
vibration. If the game system detects a high impedance, the game
system may determine a haptic effect comprising a high-amplitude
vibration. Due to the different impedances, the user may perceive
the low-amplitude vibration and the high-amplitude vibration as
substantially the same haptic effect. In other embodiments, the
game system may vary the type, duration, frequency, or waveform of
the haptic effect, or the haptic output device through which to
output the haptic effect, based at least in part on the
impedance.
[0024] The description of the illustrative embodiment above is
provided merely as an example. Various other embodiments of the
present invention are described herein and variations of such
embodiments would be understood by one of skill in the art.
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.
Illustrative Systems for Impedance Coupling for Haptic Effects
[0025] FIG. 1 is a block diagram showing a system 100 for impedance
coupling for haptic effects according to one embodiment. As shown
in FIG. 1 the system 100 comprises a computing device 101.
Computing device 101 may comprise, for example, a mobile device,
tablet, e-reader, laptop computer, desktop computer, automobile
console computer system, medical device, game console, game
controller, or portable gaming device. Further, in some
embodiments, the computing device 101 may comprise a multifunction
controller, for example, a controller for use in a kiosk,
automobile, alarm system, thermostat, or other type of computing
device. While system 100 is shown as a single device in FIG. 1, in
other embodiments, the system 100 may comprise multiple devices,
such as a mobile device and one or more remote interface
devices.
[0026] The computing device comprises a processor 102 in
communication 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 101. In the embodiment shown, computing device 101
further includes one or more network interface devices 110,
input/output (I/O) interface components 112, and storage 114.
[0027] 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).
[0028] I/O components 112 may be used to facilitate wired or
wireless connection to devices such as one or more displays 134,
game controllers, keyboards, mice, joysticks, cameras, buttons,
speakers, microphones, 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 computing
device 101 or coupled to processor 102.
[0029] System 100 further includes a touch sensitive surface 116,
which, in this example, is integrated into computing device 101.
Touch sensitive surface 116 represents any surface that is
configured to sense tactile input of a user. One or more touch
sensors 108 are configured to detect a touch in a touch area when
an object contacts a touch sensitive surface 116 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 sensitive
surface 116 and used to determine the location of a touch and other
information, such as pressure, speed, and/or direction. As another
example, optical sensors with a view of the touch sensitive surface
116 may be used to determine the touch position.
[0030] In other embodiments, the touch sensor 108 may comprise a
LED detector. For example, in one embodiment, touch sensitive
surface 116 may comprise a LED finger detector mounted on the side
of a display 134. In some embodiments, the processor 102 is in
communication with a single touch sensor 108, in other embodiments,
the processor 102 is in communication with a plurality of touch
sensors 108, for example, a first touch-screen and a second touch
screen. The touch sensor 108 is configured to detect user
interaction, and based on the user interaction, transmit signals to
processor 102. In some embodiments, touch sensor 108 may be
configured to detect multiple aspects of the user interaction. For
example, touch sensor 108 may detect the speed and pressure of a
user interaction, and incorporate this information into the
interface signal.
[0031] Touch sensitive surface 116 may or may not comprise (or
otherwise correspond to) the display 134, depending on the
particular configuration of the system 100. Some embodiments
include a touch enabled display that combines a touch sensitive
surface 116 and a display 134 of the device. The touch sensitive
surface 116 may correspond to the display 134 exterior or one or
more layers of material above components shown on the display
134.
[0032] In some embodiments, the computing device 101 comprises a
touch sensitive surface 116 that may be mapped to a graphical user
interface provided in a display 134 included in system 100 and
interfaced to computing device 101. For example, as shown in FIG.
2, computing device 201 comprises a touch sensitive surface 216,
which may be mapped to a graphical user interface provided in a
display 222 included in computing system 220. Computing system 220
is communicatively coupled to computing device 201. The computing
device 201 may comprise, for example, a mouse, trackpad, or other
device. The computing system 220 may comprise, for example, a
laptop computer, desktop computer, set-top box (e.g., DVD player,
DVR, cable television box), or another computing system. Whether
integrated with a display 222 or otherwise, the depiction of planar
touch sensitive surfaces 216 in the examples herein is not meant to
be limiting. Other embodiments may comprise curved or irregular
touch sensitive surfaces 216.
[0033] Returning to FIG. 1, the system 100 comprises an impedance
sensor 132. The impedance sensor 132 is configured to detect an
impedance between a user and a surface associated with a haptic
output device 118 (described in further detail below). The
impedance sensor 132 is further configured to transmit a sensor
signal associated with the impedance to processor 102. In some
embodiments, the impedance sensor 132 may comprise, for example, a
pressure sensor, force sensor, capacitive sensor, voltage or
current sensor, skin conductance or resistance sensor, optical or
infrared sensor, range or depth sensor, or an accelerometer.
[0034] In some embodiments, the impedance sensor 132 may comprise a
plurality of electrodes. The electrodes may be positioned to
contact the user's skin. In some embodiments, the computing device
101 may transmit electricity (e.g., short pulses) to an electrode
and measure the conductivity of the user's skin. In other
embodiments, the computing device 101 may transmit electricity to
the electrodes and measure the voltage across two points on a
user's skin. Based on the conductivity or the voltage, the
computing device 101 may determine a characteristic of the contact
(e.g., the conductivity or the surface area of the contact) between
the user and a surface associated with the haptic output device
118.
[0035] In some embodiments, the processor 102 may be in
communication with a single impedance sensor 132 and, in other
embodiments, the processor 102 may be in communication with a
plurality of impedance sensors 132. The plurality of impedance
sensors 132 may comprise impedance sensors 132 of the same type
(e.g., two pressure sensors) or impedance sensors 132 of different
types (e.g., a pressure sensor and a capacitive sensor). Although
depicted in FIG. 1 as internal to the computing device 101, in some
embodiments, the impedance sensor 132 may be external to and in
communication with the computing device 101, for example, as shown
in FIG. 1A. In some embodiments, the one or more impedance sensors
132 may be associated with a wearable device (e.g., shoes, a
sleeve, a jacket, glasses, a glove, a ring, a watch, a wristband, a
bracelet, collar, shirt, an article of clothing, a hat, a headband,
and/or jewelry). The wearable device may be associated with a part
of a user's body, for example, a user's finger, arm, hand, foot,
leg, head, or other body part.
[0036] The system 100 comprises one or more additional sensors 130.
In some embodiments, the sensor 130 may comprise, for example, a
camera, gyroscope, accelerometer, humidity sensor, skin conductance
or resistance sensor, ambient light sensor, global positioning
system (GPS) unit, temperature sensor, strain gauge, force sensor,
or a range sensor or depth sensor. In some embodiments, the
gyroscope, accelerometer, and GPS unit may detect an orientation,
acceleration, and location of computing device 101, respectively.
In some embodiments, the camera, range sensor, and/or depth sensor
may detect a distance between computing device 101 and an external
object (e.g., a user's hand, head, arm, foot, or leg; another
person; an automobile; a tree; a building; or a piece of
furniture). Although the embodiment shown in FIG. 1 depicts the
sensor 130 internal to computing device 101, in some embodiments,
sensor 130 may be external to computing device 101. For example, in
some embodiments, the one or more sensors 130 may be associated
with a wearable device and/or coupled to a user's body. In some
embodiments, the processor 102 may be in communication with a
single sensor 130 and, in other embodiments, the processor 102 may
be in communication with a plurality of sensors 130, for example, a
gyroscope and a humidity sensor. The sensor 130 is configured to
transmit a sensor 130 signal to processor 102.
[0037] System 100 further includes haptic output device 118 in
communication with processor 102. The haptic output device 118 is
configured to output an effect in response to a haptic signal. In
some embodiments, the haptic output device 118 is configured to
output a haptic effect comprising, for example, a vibration, a
change in a perceived coefficient of friction, a simulated texture,
a change in temperature, a stroking sensation, an electro-tactile
effect, or a surface deformation.
[0038] In the embodiment shown in FIG. 1, the haptic output device
118 is in communication with processor 102 and internal to
computing device 101. In other embodiments, the haptic output
device 118 may be remote from computing device 101, but
communicatively coupled to processor 102, for example, as shown in
FIG. 1A. For instance, haptic output device 118 may be external to
and in communication with computing device 101 via wired interfaces
such as Ethernet, USB, IEEE 1394, and/or wireless interfaces such
as IEEE 802.11, Bluetooth, or radio interfaces. In some
embodiments, the haptic output device 118 may be coupled to a
wearable device that may be remote from the computing device
101.
[0039] In some embodiments, the haptic output device 118 may be
configured to output a haptic effect comprising a vibration. The
haptic output device 118 may comprise, for example, one or more of
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).
[0040] In some embodiments, haptic output device 118 may be
configured to output a haptic effect modulating the perceived
coefficient of friction on the touch sensitive surface 116 in
response to a haptic signal. In one embodiment, the haptic output
device 118 comprises an ultrasonic actuator. An ultrasonic actuator
may vibrate at an ultrasonic frequency, for example 20 kHz,
increasing or reducing the perceived coefficient at the surface of
touch sensitive surface 116. In some embodiments, the ultrasonic
actuator may comprise a piezo-electric material.
[0041] In some embodiments, haptic output device 118 may use
electrostatic attraction, for example by use of an electrostatic
actuator, to output a haptic effect. In such an embodiment, the
haptic effect may comprise a simulated texture, a simulated
vibration, a stroking sensation, or a perceived change in a
coefficient of friction on a surface associated with computing
device 101 (e.g., touch sensitive surface 116). In some
embodiments, the electrostatic actuator may comprise a conducting
layer and an insulating layer. The conducting layer may be any
semiconductor or other conductive material, such as copper,
aluminum, gold, or silver. 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, for example an AC signal, to the
conducting layer. In some embodiments, a high-voltage amplifier may
generate the AC signal. The electric signal may generate a
capacitive coupling between the conducting layer and an object
(e.g., a user's finger, head, foot, arm, shoulder, leg, or other
body part, or a stylus) near or touching the haptic output device
118. In some embodiments, varying the levels of attraction between
the object and the conducting layer can vary the haptic effect
perceived by a user interacting with the computing device 101.
[0042] In some embodiments, the user does not have to move a body
part across a surface associated with the electrostatic actuator to
perceive the haptic effect. Nor does the user have to tap to the
surface associated with the electrostatic actuator to perceive the
haptic effect. Rather, the user may maintain continuous contact
(e.g., by gripping or holding) with a surface associated with the
electrostatic actuator and perceive the haptic effect. An
electrostatic haptic effect that is perceptible to a user without
user movement in the directions tangential or perpendicular to a
surface will be referred to hereinafter as a "static ESF
effect."
[0043] In some embodiments, the haptic output device 118 may
comprise a deformation device. The deformation device may be
configured to output a haptic effect by deforming a surface
associated with the haptic output device 118 (e.g., a housing of
the computing device 101 or the touch sensitive surface 116). In
some embodiments, haptic output device 118 may comprise a smart gel
that responds to stimulus or stimuli by changing in stiffness,
volume, transparency, and/or color. In some embodiments, stiffness
may comprise the resistance of a surface associated with the haptic
output device 118 against deformation. In one embodiment, one or
more wires are embedded in or coupled to the smart gel. As current
runs through the wires, heat is emitted, causing the smart gel to
expand or contract, deforming the surface associated with the
haptic output device 118. In some embodiments, the haptic output
device 118 may comprise a rheological (e.g., a magneto-rheological
or electro-rheological) fluid. A rheological fluid may comprise
metal particles (e.g., iron particles) suspended in a fluid (e.g.,
oil or water). In response to an electric or magnetic field, the
order of the molecules in the fluid may realign themselves, which
may change the overall damping and/or viscosity of the fluid,
deforming the haptic output device 118.
[0044] In other embodiments, the haptic output device 118 may
comprise an actuator coupled to an arm that rotates a deformation
component. The actuator may comprise a piezo-electric actuator,
rotating/linear actuator, solenoid, an electroactive polymer
actuator, macro fiber composite (MFC) actuator, shape memory alloy
(SMA) actuator, and/or other actuator. As the actuator rotates the
deformation component, the deformation component may move a surface
associated with the haptic output device 118, causing it to deform.
In some embodiments, the haptic output device 118 may comprise a
portion of the housing of the computing device 101 or a component
of the computing device 101. In other embodiments, the haptic
output device 118 may be housed inside a flexible housing
overlaying the computing device 101 or a component of the computing
device 101.
[0045] In some embodiments, the haptic output device 118 may be
configured to output a thermal or electro-tactile haptic effect.
For example, the haptic output device 118 may be configured to
output a haptic effect comprising a change in a temperature of a
surface associated with the haptic output device 118. In some
embodiments, the haptic output device 118 may comprise a conductor
(e.g., a wire or electrode) for outputting a thermal or
electro-tactile effect. For example, in some embodiments, the
haptic output device 118 may comprise a conductor embedded in a
surface associated with the haptic output device 118. The computing
device 101 may output a haptic effect by transmitting current to
the conductor. The conductor may receive the current and, for
example, generate heat, thereby outputting the haptic effect.
[0046] Although a single haptic output device 118 is shown here,
some embodiments may use multiple haptic output devices of the same
or different type to provide haptic feedback. 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, multiple vibrating
actuators and electrostatic actuators can be used alone or in
concert to provide different haptic effects. In some embodiments,
the haptic output device 118 may comprise a solenoid or other force
or displacement actuator, which may be coupled to the touch
sensitive surface 116. Further, the haptic output device 118 may be
either rigid or flexible.
[0047] Turning to memory 104, program components 124, 126, and 128
are depicted to show how a device can be configured in some
embodiments to provide impedance coupling for haptic devices. In
this example, a detection module 124 configures the processor 102
to monitor touch sensitive surface 116 via touch sensor 108 to
determine a position of a touch. For example, module 124 may sample
touch sensor 108 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.
[0048] Haptic effect determination module 126 represents a program
component that analyzes data to determine a haptic effect to
generate. In some embodiments, haptic effect determination module
126 may determine a haptic effect based at least in part on an
event. For example, the haptic effect determination module 126 may
comprise code that determines, based an interaction with the touch
sensitive surface 116, a haptic effect to output and code that
selects one or more haptic effects to provide in order to output
the effect. For example, in some embodiments, some or all of the
area of touch sensitive surface 116 may be mapped to a graphical
user interface. Haptic effect determination module 126 may select a
haptic effect based on the location of a touch to simulate the
presence of a virtual object (e.g., a virtual avatar, automobile,
animal, cartoon character, button, lever, logo, or person) on the
surface of the touch sensitive surface 116. In some embodiments,
these features may correspond to a visible representation of the
feature on the interface. However, haptic effects may be output
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).
[0049] In some embodiments, the haptic effect determination module
126 may select a haptic effect based at least in part a
characteristic (e.g., a virtual size, width, length, color,
texture, material, trajectory, type, movement, pattern, or
location) associated with a virtual object. For example, in one
embodiment, the haptic effect determination module 126 may
determine a haptic effect comprising a vibration if a color
associated with the virtual object is blue. In such an embodiment,
the haptic effect determination module 126 may determine a haptic
effect comprising a change in temperature if a color associated
with the virtual object is red. As another example, the haptic
effect determination module 126 may determine a haptic effect
configured to simulate the texture of sand if the virtual object
comprises an associated virtual texture that is sandy or
coarse.
[0050] In some embodiments, the haptic effect determination module
126 may select a haptic effect based at least in part on a sensor
signal from the impedance sensor 132. For example, the haptic
effect determination module 126 may select a haptic effect based on
the amount of pressure a user exerts against a surface associated
with the haptic output device 118. For instance, the haptic effect
determination module 126 may determine a haptic effect comprising a
vibration if the amount of pressure exerted by the user against the
surface is low. The haptic effect determination module 126 may
determine a haptic effect comprising a change in the temperature of
a surface associated with the computing device 101 if the amount of
pressure exerted by the user against the surface is high.
[0051] As another example, in some embodiments, the haptic effect
determination module 126 may determine a haptic effect based on an
area of contact between the user (e.g., the user's finger) and a
surface associated with the haptic output device 118. For example,
in some embodiments, as the contact surface area increases, the
user may perceive a stronger haptic effect. In response to an
increased surface contact area, the haptic effect determination
module 126 may determine a haptic effect comprising a decreased
magnitude. The decreased magnitude may offset the effect of the
increased contact surface area, so that the user perceives the
overall haptic effect as having a relatively constant strength.
[0052] As still another example, in some embodiments, the haptic
effect determination module 126 may select a haptic effect based on
electrical conductivity between a user and a surface associated
with the haptic output device 118. For instance, if the
conductivity is high the haptic effect determination module 126 may
determine an electro-tactile haptic effect. In such an embodiment,
if the conductivity is low the haptic effect determination module
126 may determine a haptic effect comprising a vibration.
[0053] In some embodiments, the haptic effect determination module
126 may modify a characteristic of the haptic effect based on
environmental characteristics or the characteristics of the user,
e.g., the ambient humidity or temperature, or the thickness,
moisture level, amount of hair, or other characteristic of the
user's skin. For example, in some embodiments, fluid or another
substance on the user's skin may affect the conductivity determined
by the computing device 101. The haptic effect determination module
126 may therefore calibrate the haptic effect based on this fluid
or other substance. In still other embodiments, the haptic effect
determination module 126 may calibrate the haptic effect based on
whether the user's skin is dry.
[0054] In some embodiments, the haptic effect determination module
126 may comprise a finite state machine. A finite state machine
comprises a machine that changes state based on the current state
and an input. Upon applying an input to the finite state machine,
the finite state machine may transition from a current state to a
new state. In such an embodiment, the finite state machine may
select haptic effects based on the transition between states. In
some embodiments, these state transitions may be driven based in
part on a sensor signal from the impedance sensor 132.
[0055] In some embodiments, haptic effect determination module 126
may comprise code that determines, based on signals from sensor 130
(e.g., a temperature, an amount of ambient light, an accelerometer
measurement, or a gyroscope measurement), a haptic effect to
output. For example, in some embodiments, the haptic effect
determination module 126 may determine a haptic effect based on the
temperature. For instance, in one such embodiment, the haptic
effect determination module 126 is configured to output a thermal
haptic effect in response to an event. However, because the ambient
temperature may be high, the user may be unable to perceive a
quality thermal haptic effect. Thus, the haptic effect
determination module 126 may detect the ambient temperature and
determine a different type of haptic effect, for example, a
vibration. As another example, in some embodiments, the haptic
effect determination module 126 may determine a haptic effect based
on accelerometer measurements. For instance, in one such
embodiment, the haptic effect determination module 126 is
configured to output a haptic effect comprising a vibration in
response to an event. However, because the user may be riding in a
car or biking over bump terrain, the user may be unable to perceive
a quality vibratory haptic effect. In such an embodiment, the
haptic effect determination module 126 may detect the vibrations
from the accelerometer and determine a different type of haptic
effect, for example, a thermal haptic effect.
[0056] Haptic effect generation module 128 represents programming
that causes processor 102 to transmit a haptic signal to haptic
output device 118 to generate the selected haptic effect. For
example, haptic effect 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 comprise
algorithms to determine the haptic signal. Haptic effect generation
module 128 may comprise algorithms to determine target coordinates
for the haptic effect. These target coordinates may comprise, for
example, a location on the touch sensitive surface 116.
[0057] FIG. 3 shows an embodiment of a system for impedance
coupling for haptic devices. The system 300 comprises a computing
device 302. As noted above, the computing device 302 may be, or may
be associated with, a wearable device, such as a hat, sleeve,
jacket, collar, glasses, glove, ring, article of clothing,
wristband, headband, and/or jewelry. In the embodiment shown in
FIG. 3, the computing device 302 comprises a watch, such as a smart
watch. A smart watch comprises a computerized wristwatch that may
include functionality beyond timekeeping. A strap 304 is coupled to
the computing device 302 and for positioning the computing device
302, for example, to secure the computing device 302 on the user's
wrist.
[0058] The system 300 comprises an impedance sensor 306. The
impedance sensor 306 is configured to determine the impedance
between the user (e.g., the user's wrist) and a haptic output
device 308 and transmit a sensor signal to a processor. In some
embodiments, the entire strap 304 may comprise the impedance sensor
306. For example, in one embodiment, the entire strap 304 comprises
an impedance sensor 306 comprising a capacitive sensor. Thus, user
interaction with any portion of the band may be detected by the
capacitive sensor. In other embodiments, the system 300 may
comprise a plurality of impedance sensors 306.
[0059] Further, the computing device 302 comprises a haptic output
device 308 for outputting a haptic effect to the user (e.g., the
user's wrist). The computing device 302 may output a haptic effect
(e.g., a vibration) upon the occurrence of an event, for example, a
change in the hour. In such an embodiment, the haptic effect may
notify the user that the hour has changed.
[0060] In some embodiments, the computing device 302 may determine
a haptic effect based at least in part on the sensor signal from
the impedance sensor 306. For example, in some embodiments, the
strap 304 may be loose. The looseness of the strap may generate
inconsistent or minimal contact between the user and the computing
device 302 (i.e., a high impedance). The impedance sensor 306 may
detect the high impedance and transmit a sensor signal to the
processor. Based on the sensor signal, the computing device 302 may
determine a haptic effect comprising a high magnitude (e.g., an
intense vibration). The high magnitude of the haptic effect may
allow the user to perceive the haptic effect, even though the
impedance between the user and the computing device 302 is low. As
another example, in some embodiments, the strap 304 may be tight.
The tightness of the strap may generate a consistent, solid contact
between the user and the computing device 302 (i.e., a low
impedance). The impedance sensor 306 may detect the low impedance
and transmit a sensor signal to the processor. Based on the sensor
signal, the computing device 302 may determine a haptic effect
comprising a low magnitude (e.g., a weak vibration). The low
magnitude of the haptic effect may be sufficient to allow the user
to perceive the haptic effect due to the low impedance between the
user and the computing device 302. Thus, in some embodiments, the
computing device 302 may provide a consistent haptic effect to the
user while conserving energy, for example, by operating the haptic
output device 308 with only an amount of power necessary to allow
the user to sufficiently perceive the haptic effect.
[0061] In some embodiments, the computing device 302 may modify the
type of haptic effect to output based at least in part on the
sensor signal from the impedance sensor 306. In some embodiments,
the quality of a type of haptic effect perceived by the user may
depend on the impedance. For example, if the user's wrist is moving
across a surface associated with the haptic output device, the
impedance sensor 306 may determine a high impedance because of the
inconsistent amount or position of the contact between the user and
the computing device 302. However, in such an embodiment, the user
may perceive higher quality deformation haptic effects due to the
motion, because a user may be able to better perceive deformations
by moving the user's wrist across it. Further, the quality of, for
instance, a thermal or vibratory haptic effect may remain
unchanged. As another example, if the user's wrist is moist, the
impedance sensor 302 may determine a low impedance due to the
improved electrical conductivity between the user and the computing
device 302. However, in such an embodiment, the user may perceive
lower quality electro-tactile haptic effects while, for example,
the quality of a vibratory haptic effect perceived by a user may
remain unchanged.
[0062] As a particular example, in some embodiments, the computing
device 302 may be configured to output an electrostatic haptic
effect upon the occurrence of an event. The computing device 302
may determine, however, that the impedance between the user and the
computing device 302 is insufficient to generate a quality
electrostatic haptic effect. For instance, if there is high
impedance, the computing device 302 may be unable to generate a
sufficient capacitive coupling with the user to output a quality
electrostatic haptic effect. In such an embodiment, the computing
device 302 may determine a different type of haptic effect based on
the impedance measurement. For example, in such an embodiment the
haptic device may determine a vibration rather than an ESF-based
effect. Because the quality of a vibration perceived by the user
does not depend on the capacitive coupling between the user and the
computing device 302, the user may perceive a quality vibration
even if the quality of an ESF-based haptic effect may be low. Thus,
the computing device 302 may vary the type of haptic effect output
based on the impedance to, for example, provide consistently high
quality haptic effects to the user.
[0063] In some embodiments, the computing device 302 may comprise a
device configured to be held or grasped. For example, the computing
device 302 may comprise a laptop computer, a gear shifter, a
steering wheel, a mouse, a keyboard, a joystick, a stylus, a
tablet, an e-reader, a remote control, a gamepad, or a mobile
device. The impedance sensor 306 may be configured to determine the
impedance between the user (e.g., the user's hand or palm) and a
haptic output device 308 and transmit a sensor signal to a
processor. In some embodiments, the impedance may be associated
with how the user is gripping or holding the computing device 302
(e.g., the specific configuration of the user's hand or fingers, or
how tightly the user is holding the computing device 302). For
example, if the user is holding the computing device 302 tightly,
the impedance sensor 306 may detect a low impedance. In some
embodiments, the computing device 302 may determine a
characteristic of a haptic effect to output to a user based on the
sensor signal (e.g., using any of the methods described above). For
example, based on the sensor signal, the computing device 302 may
determine a haptic effect comprising a low magnitude (e.g., a weak
vibration).
[0064] FIG. 4 shows another embodiment of a system for impedance
coupling for haptic devices. The system 400 comprises a computing
device 404 in communication with a haptic output device 408 and an
impedance sensor 406. In this example, the system 400 comprises a
wearable device 402 (e.g., a hat). However, as noted above, in
other embodiments, the system 400 may comprise a graspable device
or other device instead of or in addition to a wearable device
402.
[0065] Further, the system 400 comprises a compliant material 410.
The compliant material 410 may be rigid or flexible. In this
example, the compliant material 410 surrounds the haptic output
device 408. In other embodiments, such as the embodiment shown in
FIG. 5, the compliant material 410 may not surround the haptic
output device 408. Further, in some embodiments, the system 400 may
comprise a plurality of compliant materials 410, for example, with
different physical properties.
[0066] In some embodiments, the compliant material 410 may enhance
the haptic effect output by the haptic output device 408. For
example, in some embodiments, the compliant material 410 may
comprise rubber or an elastomer. The elasticity of the compliant
material 410 may improve the haptic effect perceived by a user, for
example, by allowing the haptic output device 408 to freely move
within the compliant material 410 when actuated. For instance, in
an embodiment in which the haptic output device 408 (e.g., an ERM)
is configured to output a vibration, the haptic output device 408
may be able to vibrate freely within the compliant material. This
may allow the haptic output device 408 to transfer energy to the
user with minimal damping from the wearable device 402 (e.g., the
material in the wearable device 402). Conversely, traditional
haptic output devices 408 may be rigidly mounted, for example, to
the wearable device 402. The rigid mounting may cause energy from
the haptic output device 408 to transfer to the wearable device
402, rather than to the user, which can dampen the haptic effect
perceived by the user.
[0067] In some embodiments, one or more characteristics (e.g.,
shape, length, width, height, or elasticity) of the compliant
material 410 may be changeable in response to a signal from the
computing device 404. For example, in some embodiments, the
compliant material 410 may comprise a smart gel, shape-memory
alloy, or rheological fluid. The computing device 404 may cause a
characteristic of the compliant material 410 to change by applying,
e.g., electricity, heat, a magnetic field, or an electric field to
the compliant material 410. For example, in some embodiments, the
computing device 404 may determine a haptic effect comprising a low
magnitude. The computing device 404 may apply a magnetic field to a
magneto-rheological fluid in the compliant material 410, causing
the fluid to change viscosity. This may make the compliant material
410 more rigid, thereby decreasing the strength of a haptic effect
perceived by the user.
[0068] In some embodiments, the computing device 404 may cause a
characteristic of the compliant material 410 to change based at
least in part on the sensor signal from the impedance sensor 406.
For example, in some embodiments, the wearable device 402 may be
loose on the user's head. Based on the high impedance, the
computing device 302 may determine a haptic effect with a high
magnitude. However, outputting haptic effect with a high magnitude
may require a substantial amount of power. Thus, in some
embodiments, the computing device 404 may instead cause the
compliant material 410 to become more elastic. The elasticity of
the compliant material 410 may allow more haptic forces to be
transmitted to the user, which the user may perceive as a haptic
effect with a greater magnitude. Further, modifying the elasticity
may allow gravitational forces to pull the haptic output device 408
physically closer to the user, for example to the user's head. This
may increase the strength of the haptic effect perceived by the
user without requiring substantial power.
[0069] FIG. 5 shows still another embodiment of a system for
impedance coupling for haptic devices. The system 500 comprises a
computing device 502, strap 504, haptic output device 508, and
impedance sensor 506 configured substantially the same as the
embodiment shown in FIG. 3.
[0070] In this example, a compliant material 510 is positioned
between the user (e.g., the user's wrist) and the haptic output
device 508. However, in other embodiments, the compliant material
510 may be positioned elsewhere within the system 500 (e.g.,
coupled to the sides or top of the haptic output device 508, or
coupled to the strap 504).
[0071] In some embodiments, the compliant material 510 may be
configured to provide space between the haptic output device 508
and the user. The spacing may improve the quality of a haptic
effect perceived by a user. For example, in some embodiments, the
quality of a haptic effect perceived by a user may be based on the
distance between the user and the haptic output device 508 (e.g.,
an electrostatic actuator). In such an embodiment, if the user is
too close or applies too much pressure to the haptic output device
508, the user may dampen the haptic effect and therefore perceive a
weak haptic effect. Thus, positioning the compliant material 510
between the user and the haptic output device 508 may ensure that
the user is a distance from the haptic output device 508 necessary
to generate a quality haptic effect.
[0072] In some embodiments, the computing device 502 may cause the
compliant material 510 to physically move the haptic output device
508. For example, in some embodiments, the computing device 502 may
determine that the haptic output device 508 may be too close to the
user to generate a quality electrostatic haptic effect. In such an
embodiment, the computing device 502 may cause the compliant
material 510 to change shape, for example, to become thicker. For
example, if the compliant material 510 comprises a smart gel, the
computing device 502 may apply an electric signal to wires embedded
within the smart gel. The electric signal may cause the wires to
generate heat, which may cause the compliant material 510 to
expand. This may mechanically move the haptic output device 508
farther from the user (e.g., the user's wrist), allowing for the
computing device 502 to output a quality haptic effect.
[0073] FIG. 6 shows yet another embodiment of a system for
impedance coupling for haptic devices. The system 600 comprises a
computing device 602. In this example, the computing device 602
comprises a tablet, e-reader, or mobile device. A haptic output
device 606 is positioned within the housing 610 of the computing
device 602.
[0074] In some embodiments, the haptic output device 606 may be
coupled to an actuation system 608. The actuation system 608 may be
configured to change the physical location of the haptic output
device 606 (e.g., within the housing 610) in response to a signal
from the computing device 602. The actuation system 608 may
comprise, for example, a motor, a smart gel, a rheological fluid,
or other device.
[0075] In some embodiments, the actuation system 608 may be
configured to change the physical location of the haptic output
device 606 based at least in part on a sensor signal from an
impedance sensor (not shown). For example, in some embodiments, an
impedance sensor may be coupled to the touch-screen display 604.
The computing device 602 may be configured to output a haptic
effect to the touch-screen display 604 if the impedance sensor
detects low impedance between the user and the touch-screen display
604. In such an embodiment, the actuation system 608 may move the
haptic output device 606 physically closer to the touch-screen
display 604. This may cause the user to perceive a high-magnitude
haptic effect via the touch-screen display 604, rather than the
lower-magnitude haptic effect the user may feel if the haptic
output device 606 was physically farther from the touch-screen
display 604. Further, in some embodiments, the computing device 602
may be configured to output a haptic effect to the back of the
computing device 602 if the impedance sensor detects a high
impedance. In such an embodiment, the actuation system 608 may move
the haptic output device 606 physically closer to the back of the
computing device 602. This may cause the user to perceive a haptic
effect via the back of the computing device 602, for example, in
the user's palm as the user holds the computing device 602.
[0076] In some embodiments, the actuation system 608 may be able to
move the haptic output device 606 in multiple dimensions. For
example, the actuation system 608 may be able to move the haptic
output device 606 horizontally, vertically, or both. Thus, the
actuation system 608 may allow the haptic output device 606 to
output haptic effects from multiple locations within the computing
device 602 and/or with varying characteristics. This may, for
example, provide a greater range of haptic effects and a more
immersive user experience while minimizing the need for multiple
haptic output devices.
[0077] FIG. 7 shows another embodiment of a system for impedance
coupling for haptic devices. The system 700 comprises a computing
device 702 and a strap 704. In this example, the strap 704 may
comprise the compliant material. For example, the strap 704 may
comprise a rubber, elastomer, smart gel, or rheological fluid. In
some embodiments, the entire strap 704 may comprise the compliant
material.
[0078] In the embodiment shown in FIG. 7, the computing device 702
is configured to change the impedance between the user and the
haptic output device 708 based at least in part on a sensor signal
from an impedance sensor 706. For example, in some embodiments, the
computing device 702 may determine (e.g., based on the impedance)
that the strap 704 may be too loose for the haptic output device
708 to output a quality haptic effect to the user. Thus, in some
embodiments, the computing device 702 may modify a physical
property of the strap 704. For example, the computing device 702
may apply, e.g., heat, electricity, a magnetic field, or an
electric field to a smart gel associated with the strap 704. This
may cause the physical shape of the strap 704 to change, for
example to become thicker, tightening the strap 704 around the
user's wrist and thereby improving the impedance between the user
and the haptic output device 708.
[0079] As another example, in some embodiments, the computing
device 702 may determine that haptic output device 708 may be too
close to the user to output a quality haptic effect, for example,
an electrostatic haptic effect such as simulated texture. In
response, in some embodiments, the computing device 702 may apply a
magnetic field to a smart gel associated with the strap 704 between
the user and the haptic output device 708. The electromagnetic
field may cause the smart gel to become rigid or deform, thereby
moving the haptic output device 708 farther from the user. This may
improve the quality of the haptic effect perceived by the user.
[0080] In some embodiments, the computing device 702 may comprise
an actuation system (not shown) configured to tighten or loosen the
strap 704 based on the impedance. The actuation system may
comprise, for example, a motor with a rotor shaft coupled to the
strap 704. The computing device 702 may cause the motor to rotate
in either direction, thereby mechanically tightening or loosening
the strap 704 around, for example, the user's wrist. For instance,
if the computing device 702 determines the strap 704 is too tight
for the haptic output device 708 to generate a quality haptic
effect, the computing device 702 may rotate the motor to loosen the
strap. If the computing device 702 determines the strap 704 is too
loose, the computing device 702 may rotate the motor in the
opposite direction to tighten the strap. Thus, the computing device
702 may be able to modulate the impedance, without altering the
physical properties (e.g., elasticity, rigidity, or thickness) of
the strap 704.
[0081] In some embodiments, the computing device 702 may be able to
physically rotate the strap 704 around the user's body (e.g., the
user's wrist). For example, the computing device 702 may comprise
an actuation system, such as a motor coupled to the strap 704,
configured to cause the physical position of the strap 704 to
rotate clockwise or counterclockwise around the user's wrist.
Rotating the strap 704 around the user's body may improve the
impedance between the user and a haptic output device 708
positioned in the strap 704. In other embodiments, for example
where the computing device 702 comprises the haptic output device
708 (e.g., rather than the strap 704), the computing device 702 may
rotate itself around the user's wrist via an actuation system
coupled to the strap 704.
[0082] Further, the computing device 702 may be able to rotate the
strap 704 to output haptic effects to different portions of the
user's body (e.g., the user's wrist). For example, the computing
device 702 may rotate the strap 704 counterclockwise to output a
haptic effect to the left side of the user's wrist when the
computing device 702 determines the time is 9:00 PM. The computing
device 702 may rotate the strap 704 clockwise to output a haptic
effect on the right side of the user's wrist, for example, in
response to a game event (e.g., the user's virtual game character
getting shot on the right side).
[0083] In some embodiments, the computing device 702 may determine
the position of the haptic output device 708 with respect to the
user and/or the computing device 702 (e.g., via a gyroscope or
accelerometer). For example, the computing device 702 may determine
the position of the haptic output device 708 around the user's
wrist. The computing device 702 may change the impedance and/or the
haptic effect based at least in part on the determined position of
the haptic output device 708. For example, in some embodiments, the
computing device 702 may determine that the haptic output device
708 is positioned on the right or left sides of the user's wrist,
which may be adjacent to a bone. In such an embodiment, the user
may perceive a strong haptic effect against the user's bone as
unpleasant. Thus, in some embodiments, the computing device 702 may
determine no haptic effect or a haptic effect with a lower
magnitude. In other embodiments, the computing device 702 may cause
a compliant material between the user and the haptic output device
708 to thicken and/or become more rigid. This may prevent the user
from experiencing an uncomfortable haptic effect.
Illustrative Methods for Impedance Coupling for Haptic Devices
[0084] FIG. 8 is a flow chart of steps for performing a method for
providing impedance coupling for haptic devices according to one
embodiment. In some embodiments, the steps in FIG. 8 may be
implemented in program code that is executed by a processor, for
example, the processor in a general purpose computer, a mobile
device, or a server. In some embodiments, these steps may be
implemented by a group of processors. In some embodiments one or
more steps shown in FIG. 8 may be omitted or performed in a
different order. Similarly, in some embodiments, additional steps
not shown in FIG. 8 may also be performed. The steps below are
described with reference to components described above with regard
to system 100 shown in FIG. 1.
[0085] The method 800 begins at step 802 when the processor 102
receives a sensor signal from the impedance sensor 132. The sensor
signal may be digital or analog. In some embodiments, the sensor
signal may be associated with the amount of pressure with which a
user is interacting a surface associated with the haptic output
device 118. For example, the impedance sensor 132 may detect the
amount of pressure with which the user is holding the mobile
device. In other embodiments, the sensor signal may be associated
with the surface area of a contact between the user and a surface
associated with the haptic output device 118. For example, the
impedance sensor 132 may detect the surface area of the contact
between the user's hand and the mobile device as the user holds the
mobile device. In some embodiments, the sensor signal may be
associated with an electrical characteristic of a contact between
the user and a surface associated with the haptic output device
118. For example, the impedance sensor 132 may detect a voltage,
current, or resistance between the user's hand and the mobile
device.
[0086] In some embodiments, the sensor signal may be associated
with a response to an impulse (e.g., an electrical impulse, or a
mechanical impulse such as a vibration) output by the computing
device 101. For example, the computing device 101 may output an
impulse (e.g., via electrodes or the haptic output device 118) to
the user's hand as the user holds the mobile device. The impedance
sensor 132 may detect a characteristic of how the user's skin
responded to the impulse and transmit a sensor signal associated
with the response. For instance, the impedance sensor 132 may
detect a voltage across electrodes contacting the user's skin
(e.g., via a voltage sensor) or the amount of vibration of the
user's skin (e.g., via an accelerometer).
[0087] The method 800 continues at step 804 when the processor 102
determines an impedance based at least in part on the sensor
signal. In some embodiments, the processor 102 may determine the
impedance based on algorithms. For example, in some embodiments,
processor 102 may access an algorithm stored in memory 104 and
input parameters associated with the sensor signal to determine the
impedance. For example, the processor 102 may determine the
impedance based in part on the pressure or contact surface area
detected by the impedance sensor 132.
[0088] In some embodiments, the processor 102 may determine the
impedance based on a lookup table, e.g., stored in memory 104. The
processor 102 may use the lookup table to determine an impedance
associated with sensor signal data. For example, in some
embodiments, the processor 102 may use the lookup table to
determine an impedance associated with a contact surface area.
[0089] In some embodiments, the processor 102 may determine the
impedance based on a characteristic associated with the user, e.g.,
the user's sex, or the thickness, amount of hair, moisture level
(e.g., dry skin), ambient moisture level (e.g., the amount of
liquid on the user's skin), or quality (e.g., pimples, bumps, or
other deformations) of the user's skin. For example, in some
embodiments, the user may be holding the mobile device while in the
rain. The rain may generate ambient moisture on the user's skin,
which may affect data captured by the impedance sensor 132. For
example, as the user's skin becomes moist from the rain, the
conductivity of the user's skin may increase. The processor 102 may
detect the ambient moisture and determine the impedance, for
example, by calibrating the sensor signal data to adjust for the
ambient moisture on the user's skin.
[0090] The method 800 continues at step 806 when the processor 102
determines a haptic effect based at least in part on the impedance.
In some embodiments, the processor 102 may rely on programming
contained in haptic effect determination module 126 to determine
the haptic effect. In some embodiments, haptic effect determination
module 126 may comprise a lookup table. In some embodiments,
processor 102 may use the lookup table to associate impedances with
particular haptic effects (e.g., textures).
[0091] In some embodiments, the processor 102 may determine a
haptic effect based on algorithms. For example, in some
embodiments, processor 102 may access an algorithm stored in memory
104 and input parameters associated with the impedance to determine
a haptic effect. For example, the processor 102 may apply an
impedance to an algorithm to determine the magnitude of the haptic
effect.
[0092] In some embodiments, the processor 102 may further determine
the haptic effect based at least in part on one or more of: an
event, a haptic profile, or a virtual object. For example, in some
embodiments, the processor 102 may consult a lookup table to
associate events with particular haptic effects. For example, in
some embodiments, the user may be playing a game on the mobile
device. The processor 102 may consult a lookup table and associate
a game event, such as explosions, level completions, or gun shots,
with a haptic effect comprising a vibration.
[0093] In some embodiments, users may have "haptic profiles" in
which a user can determine and save in memory 104 a "profile" of
the haptic effects the user would like associated with particular
events. For example, in one embodiment, a user can select from a
list of available haptic effects and associate one of these haptic
effects with a virtual object output by the display 134. In some
embodiments, the list may comprise, for example, haptic effects
such as an intense vibration, a light vibration, or textures such
as bumpy, rubbery, or smooth. In some embodiments, the processor
102 may consult with the user's haptic profile to determine which
haptic effect to generate. For example, if the user's haptic
profile associates interaction with a virtual object with an
intense vibration, in response to the user placing a finger on the
touch-screen display associated with the mobile device, the
processor 102 may determine a haptic effect comprising an intense
vibration.
[0094] The method 800 continues at step 808 when the processor 102
causes a characteristic of a compliant material to change. In some
embodiments, the compliant material may comprise a smart gel,
shape-memory alloy, or rheological fluid. The processor 102 may
apply electricity, heat, a magnetic field, or an electric field to
the compliant material to cause a characteristic of the compliant
material to change. For example, in some embodiments, the user may
be holding the mobile device in the user's hand. The mobile device
may comprise a compliant material surrounding a haptic output
device 118. In such an embodiment, to output a damped haptic
effect, the processor 102 may apply electricity or an electric
field to the compliant material, causing it to become more rigid.
The rigid compliant material may tightly couple the haptic output
118 device to the computing device 101. This may dampen haptic
effects output by the haptic output device. As another example, in
some embodiments, the processor 102 may cause the compliant
material to expand or compress. This may physically move the haptic
output device 118 closer to or farther from the user, for example,
increasing or decreasing the strength of haptic effects perceived
by the user, respectively.
[0095] The method 800 continues at step 810 when the processor 102
moves the haptic output device 118 from a first position to a
second position. In some embodiments, instead of changing a
characteristic of a compliant material, the processor 102 may cause
the haptic output device 118 to move from a first position to a
second position. For example, in some embodiments, the user may be
holding the mobile device in the user's hand. In such an
embodiment, to output a vibration that the user perceives as
high-magnitude, the processor 102 may transmit a signal to an
actuation system (e.g., a motor) coupled to the haptic output
device 118. The actuation system may receive the signal and
physically move the haptic output device 118 from its current
position to a new position closer to the back of the mobile device.
In some embodiments, the user may perceive haptic effects as
higher-magnitude if the haptic output device 118 is closer to the
user's body (e.g., the user's hand or palm).
[0096] In other embodiments, in addition to changing a
characteristic of a compliant material, the processor 102 may cause
the haptic output device 118 to move from a first position to a
second position. For example, in some embodiments, the user may be
holding a mobile device comprising a compliant material. The
compliant material may be positioned between the user's hand and
the haptic output device 118 and may comprise a smart gel. In such
an embodiment, to output a vibration that the user perceives as
low-magnitude, the processor 102 may transmit a signal to the smart
gel. This may cause the smart gel to change its shape, for example
to become thicker, physically moving the haptic output device 118
from its current position to a new position farther from the user.
In some embodiments, the user may perceive haptic effects as
lower-magnitude if the haptic output device 118 is farther from the
user's body (e.g., the user's hand or palm).
[0097] The method 800 continues at step 812 when the processor 102
transmits a haptic signal associated with the haptic effect to a
haptic output device 118. The haptic output device 118 is
configured to receive the haptic signal and output the haptic
effect. For example, the haptic output device 118 may receive a
haptic signal and output a haptic effect comprising, for example, a
decrease in a perceivable coefficient of friction on the touch
sensitive surface 116 and/or a vibration. Haptic effects may, for
example, make interactions with the mobile device more immersive
for the user.
Additional Embodiments of Systems for Impedance Coupling for Haptic
Devices
[0098] FIG. 9 shows another embodiment of a system for impedance
coupling for haptic devices. The system 900 comprises one or more
computing devices 902a-c. The computing devices 902a-c may be
connected to a network 904. The network 904 may be any suitable
number or type of networks or links, including, but not limited to,
a dial-in network, a local area network (LAN), wide area network
(WAN), public switched telephone network (PSTN), a cellular
network, a WiFi network, the Internet, an intranet or any
combination of hard-wired and/or wireless communication links. In
some embodiments, the network 904 is a single network. In other
embodiments, the network 904 may comprise two or more networks.
[0099] In some embodiments, the computing devices 902a-c may be
configured to determine an impedance and/or haptic effect based on
data received via the network 904. For example, a computing device
902a may be able to receive data about one or more components
associated with the computing device 902a from a cloud computing
application. In some embodiments, the computing device 902a may
receive data about a haptic output device (e.g., the type of the
haptic output device, such as an ERM, LRA, or smart gel), a housing
material (e.g., rubber, plastic, metal, or glass), and/or a
compliant material (e.g., rubber, foam, or plastic) associated with
the computing device 902a. The computing device 902a may determine
an impedance based on, for example, the housing material. For
instance, the computing device 902a may determine a higher
impedance if the housing material comprises a rubber material than
if the housing material comprises a glass material. This may be
because the user may achieve a better quality of contact when
gripping a computing device 902a made of rubber than when gripping
a computing device 902a made of glass (e.g., with the same amount
of pressure).
[0100] In some embodiments, a computing device 902b may be
configured to receive data, directly or via the network 904, from
one or more other computing devices 902a, 902c. The computing
device 902b may determine an impedance and/or haptic effect based
on the data. For example, in some embodiments, a plurality of users
may be playing a video-game via the network 904 while using the
same type of computing device (e.g., a tablet with specific
characteristics). A video game event (e.g., an explosion) may occur
in which it may be desirable for all of the users to perceive a
similar haptic effect (e.g., a rumble vibration output via the back
of the computing device 902a-c). One of the computing devices 902a
may determine an impedance (e.g., via an impedance sensor) and
transmit the impedance to the other computing devices 902b-c. The
other computing devices 902b-c may receive the impedance and output
haptic effects with characteristics based on the impedance. This
may allow the users to perceive similar haptic effects without each
of the computing devices 902a-c making individual impedance
determinations.
Advantages of Impedance Coupling for Haptic Devices
[0101] There are numerous advantages to impedance coupling for
haptic devices. Such systems may provide an enhanced haptic
experience while requiring less power. For example, rather than
outputting a high-magnitude haptic effect, which may require
significant power, the computing device may move the haptic output
device closer to the user and output a lower-magnitude haptic
effect. This may provide the user with a sufficiently intense
haptic effect while requiring less power. As another example, in
some embodiments, a computing device may cause a compliant material
within which the haptic output device is suspended to become more
elastic, thus allowing more haptic forces to be transmitted to the
user. This may increase the strength of the haptic effect perceived
by the user, without requiring high-power haptic signals.
[0102] In some embodiments, impedance coupling for haptic devices
may improve the quality of the haptic effects perceived by the
user. For example, in embodiments, a compliant material may be
positioned between the user and the haptic output device. By
positioning a compliant material between the user and the haptic
output device, the haptic output device may remain sufficiently
distant from the user to generate a quality haptic effect. As
another example, rather than rigidly coupling a haptic output
device to the computing device, which may dampen haptic forces,
haptic output devices can be coupled to the computing device via
elastic structures or structures that can change elasticity. This
may allow for haptic forces to more efficiently be transmitted to
the user.
[0103] In some embodiments, impedance coupling for haptic devices
may provide a more immersive experience for users or increase the
number of different haptic effects perceivable by a user. For
example, in some embodiments, the computing device may be able to
physically move the position of the haptic output device to a
plurality of different locations with respect to the user. Thus, a
user may be able to receive a variety of haptic effects from a
broad range of positions with a single haptic output device. This
may also reduce costs because a single haptic output device coupled
an actuation system may replace a plurality of separate haptic
output devices and associated hardware.
General Considerations
[0104] 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.
[0105] 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 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.
[0106] 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.
[0107] 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,
in which 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.
[0108] 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.
[0109] 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.
[0110] 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.
[0111] 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 comprise 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.
[0112] 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.
* * * * *