Patent Application
20200125173
The present invention relates to friction based kinesthetic actuators for providing haptic feedback. In particular, embodiments hereof are directed to devices and methods having kinesthetic actuators that provide kinesthetic effects including movement, vibration, and resistance to movement.
Kinesthetic effects applied to user interface elements of user interface devices can enhance and enrich the user experience when interacting with such user interface devices. Such effects may be particularly advantageous in a video gaming or immersive reality (virtual reality, augmented reality, mixed/merged reality) setting for providing haptic feedback to a user. Such haptic feedback not only enhances the interaction but may be used to provide valuable information to a user. Due to the value of kinesthetic feedback in various interactive systems, new and efficient ways of providing such feedback are sought after.
The inventions described herein provide novel and different ways of generating kinesthetic effects via a user interface device in an interactive system.
In an embodiment, a user interface device is provided. The user interface device includes a housing; a user interface element having at least one actuation surface disposed within the housing; and a plurality of actuation beams disposed within the housing and configured to generate kinesthetic effect on the user interface element when activated via a control signal. The kinesthetic effect is provided by the plurality of actuation beams through a friction force generated between the plurality of actuation beams and the at least one actuation surface.
In another embodiment, a friction based kinesthetic actuator system configured for use with a user interface device is provided. The friction based kinesthetic actuator system includes a user interface element having at least one actuation surface disposed within a housing of the user interface device and a plurality of actuation beams disposed within the housing and configured to generate kinesthetic effect on the user interface element when activated via a control signal. The kinesthetic effect is provided by the plurality of actuation beams through a friction force generated between the plurality of actuation beams and the at least one actuation surface.
The foregoing and other features and advantages of the invention will be apparent from the following description of embodiments hereof as illustrated in the accompanying drawings. The accompanying drawings, which are incorporated herein and form a part of the specification, further serve to explain the principles of the invention and to enable a person skilled in the pertinent art to make and use the invention. The drawings are not to scale.
Specific embodiments of the present invention are now described with reference to the figures. The following detailed description is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description.
Embodiments hereof include kinesthetic actuation devices configured to provide lightweight and efficient actuation to user control elements. The kinesthetic actuation devices include multiple smart material actuation beams and may be arranged with user interface or control elements to form a friction based kinesthetic actuation system.
The friction based kinesthetic actuation devices described herein may be employed to provide kinesthetic effects such as resistance to movement of a user interface element, movement of a user interface element, and vibration of a user interface element. For example, resistance to movement of a user interface element may be employed to modulate the stiffness of a user interface element to generate kinesthetic effects consistent with user experiences such as grasping objects of varying stiffness or moving objects of varying resistance, such as a stiff lock. Movement of a user interface element may be employed to provide a user with kinesthetic effects consistent with rapid action, such as a car crash or a gun shot. Vibration effects may be employed to provide a user with kinesthetic effects representative of in-game actions such as rapid shaking or driving a car across rough terrain. The foregoing are merely examples of situations where appropriate kinesthetic effects may be provided and are not intended to limit potential uses of the kinesthetic actuation devices and systems described herein.
The processors 210 are programmed by one or more computer program instruction stored in the memory unit(s) 205. The functionality of the processor 210, as described herein, is implemented by software stored in the memory unit(s) 205 or another computer-readable or tangible medium and executed by the processor 210. As used herein, for convenience, the various instructions may be described as performing an operation, when, in fact, the various instructions program the processors 210 to perform the operation. In other embodiments, the functionality of the processor may be performed by hardware (e.g., through the use of an application specific integrated circuit (“ASIC”), a programmable gate array (“PGA”), a field programmable gate array (“FPGA”), etc.), or any combination of hardware and software.
The various instructions described herein may be stored in the memory unit(s) 205, which may comprise random access memory (RAM), read only memory (ROM), flash memory, and/or any other memory suitable for storing software instructions. The memory unit(s) 205 store the computer program instructions (e.g., the aforementioned instructions) to be executed by the processor 210 as well as data that may be manipulated by the processor 210.
The processor 210 is configured to transmit or send an activation control signal to the one or more friction based kinesthetic actuation beams 310 of the friction based kinesthetic actuation device 300. The activation control signal is configured to cause activation of the actuation beams 310, as described in greater detail below. The activation control signal is generated by the processor 210 to achieve specific effects on the user interface element 120, as described further below. The activation control signal may include multiple signals sent individually to each friction based kinesthetic actuation beam 310 or a single signal that is routed collectively to all of the friction based kinesthetic actuation beams 310. In further embodiments, the processor 210 may send different activation control signals to each friction based kinesthetic actuation beam 310.
The activation control signal is generated by the processor 210 according to parameters of a software application with which a user of the user interface device 100 is interacting. Friction based kinesthetic actuation devices consistent with embodiments hereof are configured to provide kinesthetic effects, e.g., resistance to movement, vibration, and/or movement of the user interface elements 120 of the user interface device 100. The kinesthetic effects are provided to enhance the experience of a user employing the user interface device 100 to interact with a software application, such as a game or productivity application. The processor 210 interacts with one or more central processing units 250 of a computer system running software applications with which a user is interacting. The central processing unit(s) 250 provide the processor 210 with instructions including software application parameters for producing kinesthetic effects. The processor 210 generates activation control signals based on the received instructions.
In embodiments, the processor 210 may be configured to receive user input signals from the user interface elements 120 of the user interface device 100. Such user input signals may be used, in specific embodiments, in addition to or instead of software application parameters for generating activation control signals to provide kinesthetic effects via the friction based kinesthetic actuation device 300. In embodiments, the processor 210 is further configured to generate the activation control signal at least partially in response to data or information provided by the one or more sensors 340. Sensors 340 may optionally be included in any embodiment of a friction based kinesthetic device discussed herein. Sensor(s) 340 include sensors configured to measure, determine, and/or sense a location, position, and or movement of one or more system components. The output of the sensor(s) 340 may be transmitted to and used by the processor 210 as feedback in a control system, such as a closed loop control system for controlling the friction based kinesthetic device 300. In embodiments, the sensor(s) 340 may be an aspect of the friction based kinesthetic actuator device 300. In further embodiments, the sensor(s) 340 may be disposed or provided separately from the friction based kinesthetic actuator device 300 while still being configured to transmit information to the processor 210. Further aspects of the sensor(s) 340 are discussed in greater detail below with respect to the friction based kinesthetic actuator system as illustrated in
In embodiments, the processor 210 is located within the housing 110 of the user interface device 100 with other components of the friction based kinesthetic actuation device 300. The processor 210 communicates with and otherwise interacts with other systems and components in use with the user interface device 100 and supplies activation control signals to the actuation beams 310 of the friction based kinesthetic actuation device 300. In embodiments, the processor 210 is located remotely from the user interface device 100 containing the actuation beams 310 of the friction based kinesthetic actuation device 300. In such embodiments, the processor 210 supplies activation control signals to the actuation beams 310 of the friction based kinesthetic actuation device 300 while communicating with and otherwise interacting with any other components or systems in use with the user interface device 100. In embodiments, the friction based kinesthetic actuation device 300 does not include the processor 210. The processor 210 or another processor of similar capabilities may be associated with or part of another system which provides activation control signals to the friction based kinesthetic actuation device 300.
The user interface element 120 includes at least an internal portion 121 and an external portion 122, along with any associated structures required to support the internal portion 121 and the external portion 122. The external portion 122 of the user interface element 120 is configured to be disposed at least partially on the exterior of the housing 110 (not shown in
The external portion 122 is configured for operation by a user. The external portion 122 is configured to cause movement of the actuation rod 306 when operated by a user. Such movement may include translation or rotation of the actuation rod 306. For example, in an embodiment where movement of the actuation rod 306 is constrained to long axis of the actuation rod 306, movement in the form of translation would occur. Constraint of the actuation rod 306 may be provided by suitable structures, such as bearings or bushings, and/or by the actuation beams 310. For example, where the actuation rod 306 is constrained, the external portion 122, when operated by a user, rotates around pivot 302 as shown by arrow 321 and, via the linkage 301, pushes the actuation rod 306 in the direction of arrow 320 to cause linear translation.
The friction based kinesthetic actuation device 300 has an inactive state and an active state. In the inactive state, i.e., when not activated by an activation control signal, the friction based kinesthetic actuation device 300 provides minimal or zero force on the external portion 122 and minimal resistance to movement of the external portion 122. In embodiments, the individual actuation beams 310 contact the actuation surface when in an inactive state but provide minimal resistance to movement of the actuation rod 306. In alternative embodiments, the individual actuation beams 310 of the friction based kinesthetic actuation device 300 do not contact the actuation surface 305. In these embodiments, when the friction based kinesthetic actuation device 300 is not activated, the user interface element 120 operates with minimal or no resistance provided by the friction based kinesthetic actuation device 300. Embodiments including contact between the inactive actuation beams 310 and the actuation surface 305 are further discussed with respect to
In further embodiments, additional components providing force and or resistance to movement of the actuation rod 306 and/or user interface element 125 may be included. Additional components may include active and/or passive components.
Passive components include structures such as springs and dampers that do not require a power input to provide force or resistance to movement of the user interface element 120. For example, one or both of the actuation rod 306 and/or the user interface element 120 may be coupled to an elastic structure such as a spring, rubber band, or other suitable structure configured to provide resistance to movement and to return the user interface element 125 to its original position after activation by a user. In another example, the user interface element 125 may be coupled to a damping structure configured to provide resistance to movement during user activation of the user interface element 120.
Active components include structures and devices that generate force or resistance to movement of the user interface element 120 in response to a powered input, such as an activation control signal. Active components may include kinesthetic and/or haptic actuators, including, but not limited to, linear resonant actuators, shape memory actuators, piezoelectric actuators, eccentric rotating mass actuators, smart polymer actuators, and any other powered actuator suitable for use in a gaming controller.
In still further embodiments, the friction based kinesthetic actuation device 300 may be configured such that the actuation beams 310 in an inactive state contact the actuation surface 305 and provide a predetermined friction force to generate resistance to movement of the user interface element 120.
The friction based kinesthetic device 300 has an active state that is entered when an activation control signal is provided. The activation control signal causes the actuation beams 310 to provide a friction force on the actuation surface 305, and thus a resistance to movement of the actuation rod 306. The activation control signal may be increased in magnitude to cause an increase in the friction force and an increase in the resistance to movement of the actuation rod 306. The activation control signal, as discussed in greater detail below, may be varied in other ways to alter the kinesthetic effect provided by the friction based kinesthetic actuation device 300.
The one or more actuation beams 310 of the friction based kinesthetic actuation device 300 each include a smart material element 311 and a friction head 312. The friction head 312 may comprise rubber, silicone, or other material selected to generate a significant coefficient of friction between the friction head 312 and the actuation surface 305. As used herein, “significant” coefficient of friction refers to a coefficient of friction significant enough to provide an amount of friction force between the friction head 312 and the actuation surface 305 such that an appropriate kinesthetic force can be transferred to the user interface element 120 via the actuation surface 305. In alternative embodiments, the actuation beams 310 do not include friction heads 312, and the smart material element 311 itself is configured to contact the actuation surface 305.
The actuation beams 310 of the friction based kinesthetic actuation device 300 include at least a smart material element 311. The smart material elements 311 are configured to change shape when activated. In embodiments, changes in shape may include flexing or bending when activated. The flexing or bending of the smart material element 311 includes bending from a straight configuration to a bent configuration as well as bending from a bent configuration to a different bent configuration (i.e., changing the angle or arc of bending or changing the direction of bending) and/or from a bent configuration to a straight configuration. In embodiments, the actuation beam 310 may be constrained from flexing or bending when the smart material element 311 is activated. In such embodiments, activation of the smart material element 311 causes the actuation beam 310 to generate a force against the constraint preventing the flexing or bending. In further embodiments, the change in shape of the smart material elements 311 may include an elongation or contraction of the smart material element in addition to or instead of any changes in flexing or bending. For example, the smart material elements 311 may expand to provide additional normal force and/or may contract to reduce or eliminate the normal force.
The smart material element 311 is or may include an active element of a smart material, such as of a piezoelectric material, a piezoceramic material, an electroactive polymer, a shape memory material, and/or any other smart material able to flex or bend when activated by an activation signal. In embodiments, the smart material element 311 further includes an additional inactive element 351 bonded to the active element 352 to provide additional structure. The smart material element 311 may have a unimorph structure having a single active element or a bimorph structure having two active elements. In further embodiments, the smart material element 311 may have a multi-layered structure, comprising more than two layers of active elements. Multi-layered smart material elements 311 may provide increased force and/or displacement as well as reduced or decreased activation voltage.
In an embodiment, the smart material element 311 includes an active element 352 and an inactive element 351 bonded to it. The active element 352 is configured to expand or contract when entering an active state, depending upon the activation control signal applied to it. The inactive element 351 is selected such that it is resistant to expansion or contraction but able to bend laterally. When the active element 352 expands, the inactive element 351 does not, and this asymmetrical expansion causes the smart material element 311 to bend in a direction such that the smart material element 311 away from the side of the actuation beam on which the smart material element 311 is disposed. When the active element 352 contracts, the inactive element 351 does not, and this asymmetrical contraction causes the smart material element 311 to bend in the opposite direction, the direction towards the side of the actuation beam 310 on which the smart material element 311 is disposed. In further embodiments, the smart material element 311 includes two active elements 352, configured to alternately expand and contract to cause bending in the smart material element 311.
The actuation beams 310 are disposed such that the friction heads 312 contact the actuation surface or surfaces 305 when the actuation beams 310 are in an inactive state. In the inactive state, the friction heads 312 contact the actuation surface 305 but do not apply a significant amount of force to the actuation surface 305. That is, the normal force, or force applied perpendicular to the actuation surface(s) 305, is low. Because the normal force between the friction heads 312 and the actuation surface(s) 305 is low, any friction force generated by the normal force between the friction heads 312 and the actuation surface(s) 305 is also low. The friction force is a function of the normal force and the coefficient of friction between the actuation surface(s) 305 and the friction heads 312.
When the actuation beams 310 are activated via an activation control signal, they provide force on the actuation surface(s) 305 and thus on the actuation rod 306. The force provided may have two vector components, a normal force perpendicular to the actuation surface(s) 305 and a friction force parallel to the actuation surface(s) 305. The friction force is generated by the normal force in opposition or resistance to attempted relative movement between the actuation surface(s) 305 and the friction heads 312. The friction force may be static friction for situations where the actuation surface(s) 305 and the friction heads 312 exert force on one another but do not move relative to one another. The friction force may be dynamic friction for situations where the actuation surface(s) 305 and the friction heads 312 move relative to one another. The friction force may also be a combination of dynamic friction and static friction where movement between the actuation surface(s) 305 and the friction heads 312 is not smooth. The friction force may generate movement of the user interface element 120 and/or may resist movement of the user interface element 120.
Application of the normal force permits the generation of the friction force. The friction force is not generated, however, without an attempt at relative movement between the actuation surface(s) 305 and the friction heads 312. The attempt at relative movement may be provided by a user moving the user interface element, by activation of the actuation beams to move the user interface element, and/or by a combination of both.
The structure and materials of the actuation beams 310, as well as the geometry of the actuation beams 310 with respect to the actuation surface(s) 305 influences the magnitude of each of these forces. In the embodiment of
When the actuation beams 310 are activated via the activation control signal, they provide a kinesthetic effect via a friction force causing resistance to movement of the user interface element 120. When each actuation beam 310 enters an active state, the smart material element 311 generates a force tending to straighten the actuation beam 310. In the kinesthetic actuator system 370, the actuation beams 310 are disposed such that, when in an active state, normal force is applied by the friction heads 312 to the actuation surface(s) 305 but no friction force is applied until and unless a user operates the user interface element 120. The actuation beams 310 of the friction based kinesthetic actuator system 370 are generally constrained from significant bending and thus the actuation beams 310 and friction heads 312 experience little movement during activation. Instead, the activation of the smart material element 311 acts to press the friction head 312 into the actuation surface 305 of the actuation rod 306. Pressing the friction head 312 into the actuation surface 305 increases the normal force applied to the actuation surface 305 by the friction head 312. The increased normal force, in turn, increases the friction force between the friction head 312 and the actuation surface(s) 305 that can be applied when a user operates the user interface element 120. When the user interface element 120 is operated, the increased friction force permitted by the increased normal force serves to provide resistance to movement of the actuation rod 306 and therefore resistance to movement of the external portion 122 of the user interface element 120.
Resistance may be provided based on the actuation surface 305 sliding against the friction heads 312. The normal force generated by the activated smart material elements 311 creates a dynamic friction force that resists movement of the actuation rod 306. Resistance may also be provided by the stiffness of the actuation beams 310. Where the static friction force generated by the friction heads 312 is great enough, movement of the actuation surface 305 will cause the friction heads 312 to move in concert with the actuation surface 305 motion to thereby impede or impinge upon movement of the actuation rod. Such movement, in turn, causes movement of the smart material elements 311. In this case, the stiffness of the smart material elements 311, as generated by their activation, serves to resist movement of the user interface element 120. In embodiments, both the sliding resistance provided by the friction heads 312 and the bending resistance provided by the smart material elements 311 resist movement of the actuation rod 306.
In embodiments, the activation control signal activating the actuation beam 310 may be adjusted to increase or decrease the normal force on the actuation surface 305 by inducing greater or lesser force in the smart material element 311, which permits the processor 210 to control the resistance to movement of the user interface element 120. For example, increasing the magnitude of the activation control signal serves to increase the normal force, while decreasing the magnitude of the activation control signal serves to decrease the normal force. The activation control signal may include multiple activation control signals sent by the processor 210 and received individually by each actuation beam 310 of the friction based kinesthetic actuation device 300 and/or may be a single activation control signal sent by the processor 210 and routed to the individual actuation beams 310.
If an actuation beam 310 were disposed such that the friction head 312 is free to move without constraint, the actuation beam 310 may be activated to cause the actuation beam 310 to straighten or to bend in either direction, depending on the activation control signal received. In the friction based kinesthetic actuator system 370, however, the actuation beam 310 is disposed such that the friction head 312 contacts the actuation surface 305. In embodiments, depending on the arrangement of the actuation beams 310 with respect to the actuation surface 305, activation of the actuation beam 310 may result in full straightening, incomplete straightening, or minimal movement of the smart material element 311. In embodiments, both the friction head 312 and the actuation surface 305 are substantially rigid. In such an embodiment, activation of the smart material element 311 generates force in the smart material element 311 that presses the friction head 312 into the actuation surface, creating an increase in normal force perpendicular to the actuation surface 305. Because both the smart material element 311 and the friction head 312 are substantially rigid, there is minimal straightening of the smart material element 311 while the normal force is increased due to activation of the smart material element 311. In further embodiments, one or both of the friction head 312 and the actuation surface 305 are substantially flexible. In such embodiments, activation of the actuation beam 310 may result in full or incomplete straightening of the smart material element 311 while increasing the normal force. That is, as the smart material element 311 is activated, the force provided by the smart material element 311 causes strain in the flexible friction head 312 and/or the actuation surface 305, which permits the smart material element 311 to straighten.
In embodiments, the friction based kinesthetic actuation system 370 uses the output of the one or more sensor(s) 340 as an input in control of the friction based kinesthetic actuation device 300. The sensor(s) 340 may be configured to detect position, location, and/or movement (i.e., displacement, vibration, acceleration, etc.) of any moving component of the friction based kinesthetic actuation system 370, including, for example, the user interface element 120, the external portion 122 of the user interface element 120, the actuation rod 306 or any of its actuation surfaces 305, the actuation beams 310, and/or any other component of the system, as well as any components associated with the system that are not explicitly described herein. The sensor(s) 340 may include contact sensors such as piezoelectric sensor and other contact based sensors as well as non-contact sensors such as hall effect sensors, optical sensors, eddy current sensors, and others. The sensor(s) 340 may further include motion based sensors such as accelerometers. In some embodiments, the actuation beams 310 themselves may act as the sensor(s) 340 based on the voltage response of the smart material elements 311 when subject to various forces. The sensor(s) 340 are configured to transmit or otherwise send information about the location, position, and/or movement of system components so as to provide feedback to the processor 210. The sensor(s) 340 are configured to be disposed in any suitable location with respect to the components of the friction based kinesthetic actuation system 370 that are being measured.
The processor 210 is configured to implement closed loop control of the friction based kinesthetic actuator device 300 based on the information received from the sensor(s) 340. In an example, the processor 210 may implement closed loop control to cause the user interface element 120 to output a specific kinesthetic effect to the user via the external portion 122. Sensor data about the location and/or acceleration of the actuation rod 306 and/or any other system component is used by the processor 210 to implement the closed loop control. In another embodiment, the processor 210 is configured to implement closed loop control of the friction based kinesthetic actuator device 300 to maintain the user interface element 120 in a specific position. As the user applies force to the user interface element 120 causing it to move, the closed loop control of the processor 210 causes the actuation beams 310 to apply increased friction force to the actuation surfaces 305 to counteract the user's pressure on the user interface element 120. As the user continues to increase the pressure, the processor 210, in response, increases the friction force opposing the user's pressure.
In further embodiments, activation of the actuation beams 310 via the activation control signal provides a kinesthetic movement effect to the user interface element. Such embodiments are described in greater detail below, with respect to
In embodiments, activation of the actuation beams 310 via the activation control signal causes a vibration-based kinesthetic effect at the user interface element 120. The actuation beams 310 act on the user interface element 120 through the actuation surface 305 of the actuation rod 306. The activation control signal may be provided as an oscillating signal, causing the actuation beams 310 to oscillate or vibrate. Such oscillation induces a vibration effect on the user interface element 120. The magnitude and frequency of the induced vibrations may be varied by variation of the magnitude and frequency of the activation control signal. In embodiments, an activation control signal having multiple frequencies may be provided by the processor 210 to the actuation beams 310, thus producing a high definition vibrotactile effect.
In embodiments, the actuation beams 310 may be activated by an activation control signal to provide any combination of the above described kinesthetic effects simultaneously. For example, the user interface element 120 may be subject to a friction force causing it to move while simultaneously vibrating. In another example, activation of the actuation beams 310 may provide resistance to movement of the user interface element 120 while simultaneously vibrating the user interface element 120.
The actuation beams 310 are configured in at least one actuator row 330 disposed along the actuation surface 305. Although
Although illustrated in
Described above are methods and devices for providing resistance to user activation of a user interface element 120. In further embodiments, alternative or enhanced actuation effects may be provided. Such effects may include, for example, vibration effects and movement effects.
In an operation 902, the kinesthetic actuation process 900 includes transmitting an activation control signal to the friction based kinesthetic actuation device. A processor or processors associated with the friction based kinesthetic actuation device generates and transmits, via appropriate circuitry, one or more activation control signals to the friction based kinesthetic actuation device. The activation control signal may include multiple activation control signals sent by the processor and received by each actuation beam of the friction based kinesthetic actuation devices individually and/or may be a single activation control signal sent by the processor and routed to the individual kinesthetic actuators. The activation control signal or signals generated by the processor are generated to cause a specific effect, e.g., movement, resistance to movement, and/or vibration, at a specific intensity level. Activation control signals may also be configured to provide a combination of multiple kinesthetic effects.
In an operation 904, the kinesthetic actuation process 900 includes applying or increasing a normal force to an actuation surface of a user interface element in response to the activation control signal. Force between friction heads of the actuators of the friction based kinesthetic actuation device and an actuation surface of the user interface element is required to cause kinesthetic effects on the user interface element. At the outset of the kinesthetic effect, whether it be movement, resistance to movement, and/or vibration, normal force between the friction heads and the actuation surface is generated.
In an operation 906, the kinesthetic actuation process 900 includes resisting movement of the actuation surface of the user interface element through a friction force generated in response to the activation control signal. A kinesthetic effect may include resisting movement of the user interface element. Normal force between the friction heads of the actuators and the actuation surface of the user interface element generates friction between the two. A user's attempt to activate the user interface element is thus resisted by either or both of friction as the actuation surface slides against the friction heads and bending resistance of the smart material element. The friction may be increased or decreased according to a magnitude of the activation control signal activating the actuation beam to increase or decrease the normal force between the friction heads and the actuation surface. The bending resistance may likewise be increased or decreased according to a magnitude of the activation control signal activating the smart material element of the actuation beams to generate greater or lesser force. Varying the intensity of the actuation control signal varies the magnitude of resistance to movement.
In an operation 908, the kinesthetic actuation process 900 includes providing movement of the actuation surface, and thus, the user interface element, by applying friction force to the actuation surface in response to the activation control signal. Activation of the actuators causes an increase in the normal force between the friction heads and the actuation surface, which increases the friction between the two. The friction force is applied to the actuation surface by activating the actuators to continue bending, thus moving the friction heads in the direction that friction force is desired. Due to the friction between the friction heads and the actuation surface, the actuation surface moves in concert with the friction heads. Varying the frequency or magnitude of the activation control signal varies the rate of movement of the actuation surface.
In an operation 910, the kinesthetic actuation process 900 includes applying a vibration effect to the user interface element through a friction force generated in response to an oscillating activation control signal. The oscillating activation control signal causes the actuators to vibrate, which imparts a vibratory effect on the user interface element via the actuation control surface. Alterations in the magnitude and frequency of the activation control signal serve to alter the magnitude and frequency of vibrations.
The above describes an illustrative flow of an example process 900 of providing a friction based kinesthetic effect. The process as illustrated in
Embodiment 1 is a user interface device comprising:
Embodiment 2 is the user interface device of embodiment 1, wherein each actuation beam of the plurality of actuation beams comprises a smart material element and a friction head configured to contact the at least one actuation surface.
Embodiment 3 is the user interface device of embodiments 1 or 2, wherein when the plurality of actuation beams are in an inactive state they are configured to not contact the at least one actuation surface, and wherein when the plurality of actuation beams are activated they are configured to provide a normal force against the at least one actuation surface, wherein the normal force generates the friction force.
Embodiment 4 is the user interface device of embodiments 1 or 2, wherein when the plurality of actuation beams are in an inactive state they are configured to contact the at least one actuation surface, and wherein when the plurality of actuation beams are activated they are configured to provide an increased normal force against the at least one actuation surface relative to the normal force provide when the plurality of actuation beams are in an inactive state, wherein the increased normal force generates the friction force.
Embodiment 5 is the user interface device of any of embodiments 1 through 4, wherein the plurality of actuation beams are configured to contact a plurality of actuation surfaces of an internal portion of the user interface element.
Embodiment 6 is the user interface device of any of embodiments 1 through 5, wherein the kinesthetic effect includes the friction force resisting movement of the user interface element.
Embodiment 7 is the user interface device of any of embodiments 1 through 6, wherein the kinesthetic effect includes a vibration effect.
Embodiment 8 is the user interface device of any of embodiments 1 through 7, wherein the kinesthetic effect includes the friction force generating movement of the user interface element.
Embodiment 9 is the user interface device of any of embodiments 1 through 8, wherein the user interface element includes an internal portion located interior to the housing and an external portion located exterior to the housing with the internal portion and the external portion being connected via a coupling.
Embodiment 10 is the user interface device of any of embodiments 1 through 9, wherein the external portion of the user interface element includes at least one of a joystick, a trigger, and a button.
Embodiment 11 is a friction based kinesthetic actuator system configured for use with a user interface device, comprising:
Embodiment 12 is the friction based kinesthetic actuator system of embodiment 11, wherein each actuation beam of the plurality of actuation beams comprises a smart material element and a friction head configured to contact the at least one actuation surface.
Embodiment 13 is the friction based kinesthetic actuator system of embodiments 11 or 12, wherein when the plurality of actuation beams are in an inactive state they are configured to not make contact with the at least one actuation surface, and wherein when the plurality of actuation beams are activated they are configured to provide a normal force against the at least one actuation surface, wherein the normal force generates the friction force.
Embodiment 14 is the friction based kinesthetic actuator system of embodiments 11 or 12, wherein when the plurality of actuation beams are in an inactive state they are configured to contact the at least one actuation surface, and wherein when the plurality of actuation beams are activated they are configured to provide an increased normal force against the at least one actuation surface relative to the normal force provide when the plurality of actuation beams are in an inactive state, wherein the increased normal force generates the friction force.
Embodiment 15 is the friction based kinesthetic actuator system of any of embodiments 11 through 14, wherein the plurality of actuation beams are configured to contact a plurality of actuation surfaces of an internal portion of the user interface element.
Embodiment 16 is the friction based kinesthetic actuator system of any of embodiments 11 through 15, wherein the kinesthetic effect includes the friction force resisting movement of the user interface element.
Embodiment 17 is the friction based kinesthetic actuator system of any of embodiments 11 through 16, wherein the kinesthetic effect includes a vibration effect.
Embodiment 18 is the friction based kinesthetic actuator system of any of embodiments 11 through 17, wherein the kinesthetic effect includes the friction force generating movement of the user interface element.
Embodiment 19 is the friction based kinesthetic actuator system of any of embodiments 11 through 18, wherein the user interface element includes an internal portion, having the at least one activation surface, that is configured for location interior to the housing of the user interface device, and includes an external portion configured for location exterior to the housing of the user interface device, wherein the internal portion and the external portion are connected via a linkage.
Embodiment 20 is the friction based kinesthetic actuator system of embodiment 19, wherein the external portion of the user interface element includes at least one of a joystick, a trigger, and a button.
Thus, there are provided systems, devices, and methods for providing friction based kinesthetic effects. While various embodiments according to the present invention have been described above, it should be understood that they have been presented by way of illustration and example only, and not limitation. It will be apparent to persons skilled in the relevant art that various changes in form and detail can be made therein without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention should not be limited by any of the above-described exemplary embodiments but should be defined only in accordance with the appended claims and their equivalents. It will also be understood that each feature of each embodiment discussed herein, and of each reference cited herein, can be used in combination with the features of any other embodiment. Aspects of the above methods of generating kinesthetic effects may be used in any combination with other methods described herein or the methods can be used separately. All patents and publications discussed herein are incorporated by reference herein in their entirety.
