This invention relates generally to haptic-feedback systems. More specifically, embodiments of the present invention relate to haptic devices for use with a variety of computer/video interface devices.
Haptic feedback provides for a new modality of sensing and enhances human experiences in many applications.
Known haptic-enabled interface devices are typically constructed as integrated devices, where haptic-enabling components (e.g., actuators and associated control circuits) are integrated with other functional components to form a single structure for a given device. In a haptic computer mouse (e.g., the iFeel mouse manufactured by Logitech) for example, actuator and associated electronics (which may include a local processor) are disposed within and coupled to the same housing that also encloses an otherwise conventional mouse, thereby imparting tactile sensations to a user in contact with the housing. While such an “all-in-one” construction renders a simpler appearance to the overall structure, it affords more complexity and cost to the manufacturing of such haptic devices and in some instances, limits or compromises haptic effects that can be delivered. Moreover, the integration of haptic capabilities varies not only with the device type, but also with the device manufacturer. As such, consumers are left with fewer choices, if haptic feedback is desired. In some situations, for instance, a consumer may have to abandon his/her favorite mouse, in order to adapt a haptic one.
A need thus exists for a new type of haptic-rendering devices that overcome the above shortcomings.
A haptic device comprises a contact surface and an actuator coupled to the contact surface. The actuator is configured to receive a control signal responsive to an input from a user-interface device physically distinct from and removably coupled to the contact surface, and output a haptic effect to the contact surface.
Embodiments of the invention relate to a haptic pad (or plate) for use with a variety of user-interface devices, and for complementing user's experiences in interacting with a computer (or video) system.
In one embodiment of the invention, a haptic device comprises: a pad having a contact surface; and an actuator coupled to the pad. The actuator is configured to receive a control signal responsive to an input from a user-interface device physically distinct from and removably coupled to the contact surface, and output a haptic effect to the contact surface.
The user-interface device (e.g., a computer mouse) can be disposed on and manipulated therefrom the contact surface. A processor (e.g., included in a computer) is operable to generate the control signal in response to the input from the user-interface device, and transmits the control signal to the actuator. The corresponding haptic effect output by the actuator imparts haptic (e.g., tactile) sensations to a user manipulating the user-interface device.
The haptic device thus described can be used as a “generic” haptic-output device, e.g., working in conjunction with and provide “haptic augmentations” to conventional (or “non-haptic”) user-interface devices, such as a wide variety of computer mice known in the art, irrespective of their types and manufactures. It can also be used to convey information to a user by way of haptic sensations.
The ensuing description provide further examples of the invention.
In one embodiment, the control signal from the circuitry 130 may be responsive to an input from a user-interface device.
In the above, a user (not explicitly shown in
In one scenario, the haptic effect thus generated can be coordinated with the cursor position at a particular location on the display screen 272, such as an icon, a menu item or a button, as a result of the user's manipulation of the user-interface device 260. In another scenario, the haptic effect can be correlated with a feature in a virtual reality environment (e.g., a video game, a medical or flight simulation) displayed on the display screen 272, with which the user is interacting by way of the user-interface device 260. In yet another scenario, the haptic effect can also be used to assist the user's online shopping, navigating web pages, and the like. As such, the haptic device 100 enables the user to interact with a computer/video system by way of a conventional (or “non-haptic”) user-interface device, such as one of a variety of mice readily available in the art, yet still being able to feel haptic sensations that complement and enhance his/her experiences.
It will be appreciated that the user-interface device 260 need not be situated on the contact surface 112 of the pad 110, as illustrated by the embodiment of
In another scenario, the control signal from the circuitry 130 can be related to an “internal event,” e.g., generated by the computer 275 shown in
The actuator 120, in turn, outputs a corresponding haptic effect to the pad 110, thereby alerting the user the incoming email. Haptic effects can also be output to the pad 110 in accordance with a pre-determined scheme, e.g., to remind the user of a pre-scheduled activity (such as an appointment). Furthermore, haptic effects with different characteristics (e.g., vibrations with different frequencies and/or amplitudes) can also be assigned to different types of internal events.
The internal event in the above can also include a sound effect, thereby allowing a user to “feel” the sound effect by way of haptic sensations, for instance. In this scenario, a user may be in direct contact with the pad 110, e.g., by placing a hand (or another body part) on the contact surface 112. The processor 270 operates to generate and transmit an appropriate control signal to the circuitry 130, as a sound effect (e.g., a music file) is played. The actuator 120, in turn, receives the control signal from the circuitry 130 and outputs a corresponding haptic effect to the pad 110, thus allowing the user to “feel” the sound effect he/she is listening to. For example, a sequence of haptic effects can be output that are coordinated with various music notes (and/or melodies) in a music file. Likewise, haptic effects can also be used to complement sound effects in a video game, or other virtual reality environments.
The internal event in the above can further include a visual effect, such as showing a video or DVD. For example, a user can be in direct contact with the pad 110, e.g., by placing a hand (or another body part) on the contact surface 110. The processor 270 operates to generate and transmit an appropriate control signal to the circuitry 130, as a visual effect (e.g., a video or DVD file) is played. The actuator 120, in turn, receives the control signal from the circuitry 130 and outputs a corresponding haptic effect to the pad 110, thus complementing the visual effect the user is watching. For example, various haptic effects can be output that are coordinated with different events/features in a video file. Likewise, haptic effects can also be used to complement visual effects in other virtual reality environments, such medical, driving, or flying simulations.
In the above, the term “haptic effect” is construed broadly to encompass any type of force feedback that is capable of effecting haptic sensations, such as tactile or kinesthetic sensations, to a user in contact with a haptic device. The tactile sensations may further include vibrations, pulses, jolts, textures, and the like.
The compliant elements 140, 142 serve to mechanically isolate the pad 110 (along with the actuator 120) from the ground surface 150 (or the desktop 250) on which it is disposed, whereby the haptic effect output to the pad 110 is “contained” (or “localized”) within the pad 110, with as little transmission to the outside as possible. This renders a broader dynamic range (e.g., greater magnitude and/or wider frequency range) to the haptic sensations experienced by the user. In this manner, the compliant elements 140, 142 can include any means that mechanically decouples the pad 110 from a ground surface (such as the desktop 250) on which it is disposed. For instance, the compliant elements 140, 142 can include suitable flexible and/or elastic materials, such as rubber or foam, that damp out (or absorb) the force-feedback effect such as vibrations imparted to the pad 110. In one embodiment, the compliant elements 140, 142 can be made like “elastic feet” in support of the pad 110. In another embodiment, the compliant elements 140, 142 can also be configured as a contiguous piece, e.g., in the shape of a ring that is attached to the outer perimeter of the underside 114 of the pad 110. In yet another embodiment, the actuator 120 can be equipped with an “elastic foot” (such as the second compliant element 142), which as a whole provides support to the pad 110 (along with the first compliant element 140). It will be also appreciated that the compliant elements may be devised to be effective only in a specific frequency range, for instance.
In the above, the pad 110 is construed broadly to include one or more rigid, semi-rigid, or other suitable materials that are effective in supporting and transmitting force feedback, and shaped in any geometry deemed suitable for a given application. As a way of example in the embodiment of
Further, the circuitry 130 serves to send control signals to the actuator 120 that render haptic effects. In one embodiment, the circuitry 130 can include a data communication interface, such as a USB port, a wireless receiver/transmitter, or other types of wired or wireless data communication means known in the art for interfacing between a processor (such as a computer) and an actuator. In another embodiment, the circuitry 130 can also include a “local” processor, configured to generate control signals based on the instructions from a “host” processor (such as the processor 270 of
By way of example, the processor 270 of
The user-interface device 260 includes, but is not limited to, for example: a mouse, a joystick, a trackball, a touch panel, a direction pad, a stylus, a keyboard, a gamepad, a steering wheel, a knob, a remote control, a graphic tablet, a medical instrument (such as a laparoscope or a catheter), or other types of known user-interface devices. As described above, a user can manipulate (e.g., translate and/or rotate) the user-interface device 260 on the contact surface 112 of the pad 110, and experience the haptic effect thus imparted to the pad 110 via the user-interface device 260. In other embodiments, a user can manipulate a user-interface device by one hand at one location, and be in contact with the pad 110 by the other hand at a separate location. A user can also experience the haptic sensations by way of other body parts in contact with the pad 110 (e.g., the contact surface 112). As a way of example, a user can use two hands to play a gamepad, while placing one (or both) of the elbows on the pad 110, so as to experience the corresponding haptic effects. Moreover, the haptic device 110 can also be used as an extension of a user-interface device (e.g., a keyboard), or a laptop computer, serving as a “haptic wrist rest,” for instance.
The actuator 120 may be a pager motor, an inertial actuator, an eccentric rotating motor (e.g., a motor with an eccentric mass coupled to its shaft), a harmonic eccentric rotating motor (a motor with an eccentric mass flexibly coupled to its shaft), a voice coil actuator, a solenoid actuator, a piezoelectric actuator, an electroactive polymer actuator, a hydraulic actuator, a pneumatic actuator or other types of actuators suitable for generating haptic (e.g., vibrotactile) effects. U.S. Pat. Nos. 6,429,846 and 6,424,333 disclose further details relating to some of these actuators, both of which are incorporated in full herein by reference. For purposes of illustration in the above, the actuator 120 is shown to be attached to the underside 114 of the pad 110. This should not be construed as limiting in any manner, however. In other embodiments, the actuator 260 can also be attached to the contact surface 112 of the pad 110 (see
In a haptic device, a pad (such as the pad 110 above) may be further configured to exhibit a “haptic sweet spot.” By judiciously selecting the underlying composition and geometry of the pad, along with the locations of one or more actuators, the haptic effect (e.g., vibrations) imparted to the pad can be most pronounced at a particular location on the pad, termed a “haptic sweet spot” herein. In one embodiment, this may be accomplished by maintaining the contact surface 112 substantially planar, while shaping the underside 114 according to a pre-determined profile (e.g., by thinning some regions while thickening other regions underneath the contact surface 112) devised in accordance with the placement of the actuator 120 (and other external factors).
In
The embodiment of
Electroactive polymers are known as a class of polymers that can be formulated and/or fabricated to exhibit a wide range of mechanical, electrical, and electro-optical behaviors. When activated (e.g., under application of an appropriate electric voltage), an electroactive polymer can undergo significant physical movement or deformation, typically referred to as electrostriction. Such deformation can take place along the length, width, thickness, and radius of the material. A further discussion on various types of electroactive polymers can be found in, for example: “High-field electrostriction of elastomeric polymer dielectrics for actuator,” by Kornbluh et al.; “Electro-mechanics of ion-elastic beams as electrically-controllable artificial muscles,” by M. Shahinpoor, “Polymer Electrolyte Actuator with Gold Members,” by K. Oguro et al.; and “Microgripper design using electro-active polymers,” by R. Lumia et al., SPIE Conference on Electroactive Polymer Actuators and Devices, SPIE Vol. 3669, 1999; all disclosures of which are incorporated by reference.
Electrostrictive polymers can be classified in two classes: dielectric and phase transition. Dielectric electrostrictive polymers are typically in a sandwich construction of two electrically conductive and compliant members. When subject to a sufficiently high electric field (e.g., a few hundred volts), the attractive force between the conductive members “squeezes” the intervening dielectric, thereby giving rise to a significant deformation. In some cases, the deformation can be as much as, or greater than fifty percent. U.S. Pat. No. 6,376,971 discloses methods for deforming dielectric electrostrictive polymers and constructing actuators thereof, the disclosure of which is incorporated herein by reference.
Referring back to the embodiment of
The first and second members 622, 626 can each include a conductive material, e.g., coated on two opposing sides of the electroactive polymer 624. They may further include one or more additional layers that provide compliance, protection, and/or support. Such layers can be made of rubber, fabric, or other elastic materials, for instance. Alternatively, the first and second members 622, 626 can include two conductive and flexible layers (or sheets), being attached to and thereby sandwiching the electroactive polymer 624 therein between. In some cases, either of the first and second members 622, 626 (or the underlying conductive material) can also be of a spatial pattern according to a predetermined scheme, configured to cause non-uniform deformations in different regions of the electroactive polymer 624. Further, the contact surface 621 provided by the first member 622 can be made substantially planar, e.g., configured to look and/or feel like a conventional “mouse pad,” if so inclined in a given application.
The electroactive polymer 624 may be of a thickness (e.g., in the vertical direction 651) effective for achieving desired deformations. For example, the electroactive polymer 624 can include one or more sheets of dielectric electrostrictive polymer material (such as those available commercially) stacked between the first and second members 622, 626, so as to achieve substantial deformations. In this case, the electroactive polymer sheets may each have its own electrode members, e.g., stacked like parallel capacitors.
The circuitry 630 of
The haptic pad 620 of
An electroactive polymer material can undergo physical deformation under application of an electric signal; it can also output an electrical signal under action of a strain (or pressure). This “duality” enables the haptic pad 620 of
As such, the embodiments of the invention can be used as “generic” haptic-output devices to enhance users' interactions with computer/video systems. For instance, such haptic devices can work in conjunction with and thereby provide “haptic augmentations” to conventional (or “non-haptic”) user-interface devices, irrespective of their types and manufactures. Such haptic devices can also act as stand-alone devices to convey information to a user by way of haptic sensations.
Those skilled in the art will recognize that the embodiments described above are provided by way of example, to elucidate the general principles of the invention. Various means and methods can be devised to perform the designated functions in an equivalent manner. Moreover, various changes, substitutions, and alternations can be made herein without departing from the principles and the scope of the invention.
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