CN100468294C - Directional Haptic Feedback for Haptic Feedback Interface Devices - Google Patents

Abstract

Directional haptic feedback provided in a haptic feedback interface device (200). The interface device (200) includes at least two actuator assemblies (202, 204), each including a moving inertial mass (206/210). A single control signal provided to the actuator assemblies (202, 204) at different magnitudes provides a directional inertial sensation perceived by the user. Larger magnitude waveforms can be applied to one actuator (208/212), providing a sense of having a direction within the housing that approximately corresponds to the location of that actuator. In further embodiments, each actuator assembly includes a rotational inertial mass, and the control signals have different duty cycles to provide a sense of direction. For power consumption efficiency, the control signal can be interleaved or pulsed in duty cycles of different frequencies to reduce the average power requirement.

Description

Directional Haptic Feedback for Haptic Feedback Interface Devices

The patent of this invention is the international application number PCT/US01/30386, the international application date is September 27, 2001, the application number entering the Chinese national phase is 018043097, and the name is "directed tactile feedback for tactile feedback interface equipment" The divisional application of the invention patent application.

Background of the invention

This invention relates generally to interface devices for interfacing a human with a computer, and more particularly to computer interface devices for enabling a user to provide input to a computer system and for a computer to provide tactile feedback to the user.

Users can interact with the environment displayed by the computer and perform functions and tasks on the computer. Common human-machine interface devices used for such interactions include mice, joysticks, trackballs, game pads, steering wheels, styli, tablets, pressure sensitive balls, etc., which interface with the computer system. Typically, the computer updates the environment in response to user manipulation of a specific manipulator, such as a joystick grip or mouse, and provides visual and audio feedback to the user using a display screen and audio speakers. The computer perceives the user's manipulation of the manipulation device by means of the sensor of the interface device which sends a position signal to the computer. Some interface devices also provide users with kinesthetic force feedback or tactile feedback, which is often referred to as "haptic feedback - haptic feedback". These interface devices may provide specific sensations perceived by a user manipulating a user manipulator in the interface device. One or more motors or other actuators are connected to the housing or manipulator and to the controlling computer system. The computer system coordinates the displayed events and interactions by sending control signals or commands to the actuators to control the various output forces.

Many low-cost haptic devices provide inertia-grounded haptic feedback, where force is sent relative to an inertial mass and felt by the user, rather than kinetic feedback, where force is directly output relative to the physical (earth) ground of motion. degrees of freedom of movement of the manipulator. For example, many currently available gamepad controllers include a rotary motor with an eccentric mass that outputs a sense of force to the controller's housing in response to events occurring in the game. In some tactile mouse devices, the needle, button or housing of the mouse can be actuated in accordance with the interaction of the control cursor with other graphical objects, and the user feels those by touching that housing area.

One problem with such inexpensive haptic controllers is their limited ability to convey the sensation of different types of force to the user. It would be more desirable to have a device that provides developers with greater flexibility in coordinating and adjusting the sensation of haptic perception. Furthermore, currently available inertial controllers can only provide output pulses and vibrations in the general direction of the rotating mass. The perception to the user is as if they are not output in any particular direction but simply output to the housing of the device. However, many events in games and computer-implemented environments are direction-based. And will benefit from the directionality of tactile perception that current inertial haptic devices cannot provide.

Contents of the invention

It is an object of the present invention to provide directional haptic feedback in a haptic feedback interface device. Inventive power-efficiency features for such directional feedback haptic devices are also described.

More specifically, the interface device of the present invention provides directional tactile feedback to a user, the interface device communicating with a host computer. The device includes a housing for physical contact with a user and at least one sensor for detecting user input. There are at least two actuator assemblies, each comprising a moving inertial mass and positioned within the housing to induce an inertial sensation oriented on the housing. A control signal is applied to each of the actuator assemblies at a different magnitude, providing a directional inertial sensation perceived by the user. Preferably, a larger magnitude of the waveform is applied to a particular one of the actuator assemblies to provide the perception of having a direction that nearly corresponds to the position of that particular actuator assembly in the housing, for example a larger magnitude is applied to the left actuator component to provide the feeling of having a left orientation.

A local processor may be included which receives high-level commands from the computer and controls the actuator assembly. High level commands may include a balance parameter that dictates how to distribute current between the actuator assemblies to provide a desired position with a directional inertial feel along the axis between the actuator assemblies. The actuator assembly can vibrate the inertial mass linearly, or rotate an eccentric rotating mass. The control signal can be split into two control signals, one out of phase with the other, and each sent to an actuator assembly. The method of the present invention is similarly capable of outputting a directional inertial sensation.

In another aspect of the invention, an interface device provides directional tactile feedback to a user and includes a housing that physically contacts the user, and at least one sensor for detecting user input. There are at least two actuator assemblies, each including a unidirectionally driven rotational inertial mass. Positioning of the actuator assemblies in the housing induces a directional inertial sensation on the housing, wherein control signals are applied to each actuator assembly at different duty cycles to provide the directional inertial sensation perceived by the user. For example, the magnitude commanded by the control signal can be applied to the left one of the actuator assembly to provide the perception of having a left direction; similarly can provide control for the right direction. Advanced commands including balance references can be used to indicate how the output vibration magnitude is distributed among the actuator components. One control signal is out of phase with the other. The control signals can also be interleaved so that the control signals are never on at the same time. Additionally, when one control signal is on at the same time as the other, one or both signals are pulsed at a predetermined frequency and duty cycle to reduce the average power demand of the actuator assembly. The method of the present invention similarly allows the output of a directional inertial sensation.

The present invention advantageously uses low-cost actuators to provide a directional haptic feedback feel for haptic feedback devices. These sensations allow for a wide variety of sensations in such haptic devices, enabling the experience of playing games or interacting with other types of computer applications that are more accomplished by the user. The power efficiency feature also allows low power device embodiments to provide the directional haptic sensations disclosed herein.

These and other advantages of the present invention will become apparent to those skilled in the art upon reading the following description of the invention and studying the several drawings.

Figure overview

Figure 1 is a perspective view of a game board tactile feedback system suitable for use in the present invention;

2a and 2b are top plan sectional and side elevational views, respectively, of one embodiment of a haptic interface device including two actuators providing directional inertial feedback;

Figure 3 is a functional schematic diagram illustrating the control method of the present invention for the two actuator embodiments of Figures 2a-2b;

Figure 4 is a schematic representation of the interface device and possible approximate positions of the resulting inertial forces felt by the user;

5a and 5b are top plan sectional and side elevational views, respectively, of another embodiment of a haptic interface device including two actuators and a rotational inertial mass;

Figure 6 is a graph showing the time versus amplitude of desired sinusoidal vibrations and control signals to provide such vibrations;

Figure 7 is a graph showing another example of the time versus amplitude relationship of desired sinusoidal vibrations and control signals to provide such vibrations;

Figures 8a and 8b are graphs showing control signals for rotating a mass with two different actuator assemblies and controlling amplitude and frequency independently;

Figures 9a, 9b and 9c are diagrams illustrating the power allocation method of the present invention for control signals having different frequencies and/or overlap;

10a, 10b, 10c, 10d are diagrams showing control signals for providing directional tactile feedback in the control method of the present invention, and

Figure 11 is a block diagram illustrating one embodiment of a haptic feedback system suitable for use with the present invention.

Detailed description of the preferred embodiment

Figure 1 is a perspective view of a tactile feedback interface system 10 suitable for use in the present invention, capable of providing input to a host computer based on user manipulation of the device, and providing tactile feedback to a user of the system based on events occurring in a program implemented by the host computer . System 10 is shown as an exemplary form of gamepad system 10 , including gamepad interface device 12 and host computer 14 .

Gamepad device 12 is in the form of a handheld controller and is of a similar shape and size to many gamepads currently available for video game console systems. The housing 15 of the interface device 10 is shaped to allow two hands to grasp the device at the grip tabs 16a and 16b. In the depicted embodiment, the user selects various controls on device 12 with his or her fingers. In other embodiments, the interface device can take a wide variety of forms, including devices placed on a tabletop or other surface, stand-up arcade game machines, knee-top devices, other or body-worn, hand-held or used by the user with one hand equipment etc.

A directional pad 18 can be included on the device 12 to allow the user to provide directional input to the host computer 14 . In its most common implementation, the directional pad 18 is roughly shaped like a crosshead or has four extensions or directional positions projecting at 90% intervals from a central point, of which the user can depress one extension 20 to provide directional input. The signal is given to the host computer as the corresponding direction.

Included in device 12 is one or more joystick thumbs that protrude from the surface of housing 15 and are manipulated by a user in one or more degrees of freedom. For example, a user can grasp each handle portion 16a and 16b of the device and use a thumb or finger to manipulate the joystick 26 in two degrees of freedom (3 or more degrees of freedom in some embodiments). This action translates into an input signal provided to the host computer 14 and can take a different signal than the signal provided by the directional pad 18 . In some embodiments, additional linear or rotational degrees of freedom can be provided to the joystick. In other embodiments, instead of or in addition to a joystick, a ball is provided, wherein one or more portions of the ball extend beyond the left, right, top and/or bottom edges of the housing 15, allowing the user to rotate in two degrees of freedom. Turn this ball in place and operate like a joystick.

In addition to or instead of the keys 24 , joystick 26 and directional pad 18 , other control pads may be placed within easy reach of the grip housing 15 . For example, one or more trigger keys can be placed on the underside of the housing and can be pressed by a user's finger. Other controls can also be provided at various locations on the device 12, such as dials or sliders for valve control in games, four-way or eight-way coded switches, knobs, trackballs, rollers or balls, and the like. Either of these controls can also be provided with tactile feedback, such as tactile feedback.

In addition, as described in detail below, the housing itself, which is in contact with the user when the user operates the device, preferably provides tactile feedback. The movable part of the housing also provides tactile feedback. Thus, the housing can provide tactile feedback and the directional pad 18 (or other control) can provide separate tactile feedback. Every other key or other control that is provided with haptic feedback can also provide haptic feedback independently from the other controls.

Interface device 12 is coupled to host computer 14 via bus 32, which is any of several communication media. For example, a serial interface bus, a parallel interface bus or a wireless communication link (radio, infrared, etc.) can be used. Concrete implementations may include Universal Serial Bus (Universal Serial Bus—USB), IEEE1394 (Firewire—Firewire), RS-232, or other standards. In some embodiments, power to the actuators of the device can be supplied or supplemented by power sent on the bus 32 or other channel, or a power supply/storage facility is provided on the device 12 .

Interface device 12 includes the wiring necessary to report control signals to host computer 14 and to process command signals from host computer 14 . For example, sensors (and associated wiring) can be used to sense and report manipulation of device controls to a host computer. The device also preferably includes circuitry for receiving command signals from the host computer and outputting haptic sensations using the one or more device actuators in accordance with the command signals. Game board 12 preferably includes an actuator assembly that operates to generate a force on the housing of game board 12 . This operation is described in detail below with reference to FIG. 2 .

Host computer 14 is preferably a video game console, personal computer, workstation or other computing or electronic device that typically includes one or more host microprocessors, and can use one of various home video game systems such as those from Nintendo, Sega , or systems available from Sony, television "set-top boxes" or "network computers", etc. Alternatively, a personal computer such as an IBM compatible personal computer or a Macintosh, or a workstation such as a SUN or Silicon Graphics can be used. Alternatively, the host computer 14 and device 12 can be included in a single housing of an arcade game machine, portable or hand-held computer, vehicle-mounted computer, or other device, with the host computer 14 preferably executing the host application program, and the user via the peripheral and interface Device 12 interacts with the program. For example, the host application may be a video or computer game, medical simulation, scientific analysis program, operating system, graphical user interface, drawing/CAD program, or other application. Here. The computer 14 can be considered to provide a "graphical environment", which can be a graphical user interface, game, simulation or other visual environment. The computer displays "graphical objects" or "computer objects" which are not physical objects but rather collections of logical software units of data and/or processes which are displayed as images by the computer 14 on the display device 34 as known to those skilled in the art show. Suitable software drivers for interfacing with haptic feedback device software are available from Immersion Corporation of San Jose, California.

The display device 34 can be included in the host computer 14 and can be a standard display screen (LCD, CRT, flat panel, etc.), 3-D goggles, projected display devices (such as projectors or head covers (heads) in vehicles. -up) display), or any other visual output device. Typically, the host application provides images displayed on the display device 34 and/or other feedback such as audible signals. For example, display screen 34 can display graphical objects from a GUI and/or an application program.

In alternative embodiments, many other interface and control devices may be used with the invention described herein. For example, a mouse, trackball, joystick grip, steering wheel, knob, stylus, grip, touch pad, or other device could benefit from the inertial haptic sensation described herein. Additionally, other types of handheld devices are well suited for use with the invention described herein, such as handheld remote control devices or cellular telephones or handheld electronic devices or computers can be used with the haptic feedback features described herein. For example, the sensations described herein are output vertically from the surface of the device or on a joystick grip, trackball, stylus, gripper, wheel, or other manipulation object on the device, or in a desired direction or swipe.

In operation, the controls of the interface device 12 are manipulated by the user, which instructs the computer how to update the implemented application programs. An electrical interface included in housing 15 of device 12 enables connection of device 12 to computer 14 . Host computer 14 receives input from the interface device and updates the application program in response to the input. For example, a game provides a graphical environment in which the user controls one or more graphical objects or entities using the directional pad 18 , joystick 26 and/or buttons 24 . The host computer can provide force feedback commands and/or data to device 12, generating haptic feedback to be output by the device.

2a and 2b are top sectional and side elevational views, respectively, of an embodiment 100 of a device 12 with directional inertial feedback comprising two actuators using an embodiment of the present invention. The illustrated embodiment can be used with any inertial interface device, but is best suited for handheld devices where the user grasps different parts of the device housing with both hands. For exemplary purposes, this example is described as a game board. Gamepad housing 101 houses gamepad tactile interface device 12, which is manipulated by a user to provide input to the host computer system. The user typically operates the device by grasping each handle 16 with one hand and manipulating the input device on the central portion of the housing 101 with fingers.

Housing 101 preferably includes two harmonically driven actuator assemblies 102 and 104 . These actuator assemblies can be implemented in any of a variety of ways. Most suitable actuator assemblies provide an inertial mass capable of harmonic vibration, and also include a central spring force on the inertial mass, enabling an efficient and highly controllable inertial sensation. In one embodiment, the actuator assembly described herein with reference to FIGS. 2-8 can be used. In other embodiments, the actuator assemblies 102 and 104 can be harmonically driven actuator assemblies that provide a rotary motor (or other actuator) connected to a flexure that enables the inertial mass to be close to to oscillate linearly, providing tactile feedback. The inertial mass may be the motor itself. Like the actuators described herein, the actuators can be harmoniously controlled with a periodic control signal such as a sine wave. The inertial mass can oscillate in any direction; for example, up and down in one direction, as indicated by arrow 106 . In further embodiments, other types of actuators can be used, such as voice coil (moving coil) actuators. In yet another embodiment, a rotational inertial mass can be used, an eccentric mass provided on the shaft of a rotational motor as described below.

Harmonic drive actuator assemblies 102 and 104 are preferably placed at the maximum spatial separation allowed by the equipment. For example, in a game board embodiment, components 102 and 104 can be placed in different handles 16 of the game board. This makes the feel of directional force more user-friendly. Actuator assemblies 102 and 104 are also preferably identical with regard to related characteristics such as actuator size, spring rate, inertial mass, and damping (if provided). This makes the inertial forces approximately the same at each end of the device and makes the balance of directions more efficient. Other embodiments can include different spacing and/or dimensions of the actuator assemblies.

FIG. 3 is a functional schematic diagram showing the control method of the present invention using the embodiment 100 of the two actuators described with reference to FIGS. Positional spatial positioning between components. The time versus current graph 130 of FIG. 3a depicts an initial control waveform which provides the basic vibration output by the actuator of the device, and which has a desired frequency, duration and amplitude. The waveform is a force function that drives the mass harmoniously along the positive and negative directions of the axis. This waveform can be freely adjusted with various parameters. For example, as shown in curve 134 of FIG. 3b, an envelope 136 may be applied to provide a waveform 138 having an adjusted amplitude in a desired range of motion at various points during vibration. In other applications, no envelope need be applied.

When the control waveform 138 is output to the actuator assembly (or the signal implementing the control waveform 138 is output), the same basic waveform shape is provided to each actuator assembly, but the amplitude is scaled so that the commanded current is between the two Actuator assemblies 102 and 104 are distributed. In order to provide the user with a sense of vibration or other inertial force without a sense of direction, both actuator assemblies are supplied with the same amount of current so that vibrations of the same magnitude are output from each actuator. But if one wants to have a directional inertial feel, one actuator is supplied with more current than the other, i.e. one actuator outputs a larger magnitude of inertial force than the other. Graphs 140 and 142 illustrate control waveforms derived from the waveforms of graph 134 sent to actuator assemblies 102 and 105 . These graphs indicate situations where the user feels "to the left". Waveform 144 of graph 340 is 70% amplitude of the commanded 100% amplitude and is sent to the left actuator 104 on the left side of the device. Waveform 146 of graph 142 has 30% of the commanded amplitude (the remaining amount of current) and is sent to the actuator 102 on the right side of the device. If the right direction is output, the actuator 102 on the right side of the device gets a larger amount of current (larger magnitude). As a directional vibration, for vibrations that are felt more strongly on one side of the device.

The directionality of haptic sensations is useful in many applications such as gaming. For example, if the user's vehicle crashes into a fence on the left side in a game, the actuator on the left side could output a stronger vibration, indicating the direction of the collision. If a player's word house is printed on his left side, the left vibration can be output.

Depending on the distribution of magnitudes between the two actuators, the user perceives an output inertial sensation somewhere between the two actuator assemblies; the stronger a force is, the closer the user feels the resultant force output to that actuation device components. For example, FIG. 4 shows a representation of game board 100 in which actuator assemblies 102 and 104 are shown. Axis 152 indicates possible locations where a user may feel the resultant inertial force. Commanded from the waveform of FIG. 3, the left actuator assembly 104 outputs a greater force (70%) than the right actuator assembly 102 (30%), causing the user to feel the inertial force being output near the location 150 of the housing 101, which The position is closer to the left actuator, proportional to its larger amplitude. Because the inertial sensation is governed by the same basic waveform, the effect is output synchronously with the same frequency. The distribution of magnitudes can be varied in any desired manner to output a perceived direction at any point along axis 152 .

One way to govern the method in this way is to specify a "balance" parameter. For example, a host computer can provide high-level commands to a local processor on device 12 . Advanced commands can include parameters such as frequency, amplitude parameters, envelope attack and fade parameters, and balance parameters. For example, a balance parameter can be specified as a number within a range. For example, a range of 0 to 90 can be used to simulate vector force direction, with a value of 45 indicating an exact balance between actuator component outputs, so inertial forces feel equal on both sides of the device. Values below 45 indicate greater force on the left, values of 0 indicate 100% dominant current controlling the left actuator, and no output from the right actuator. A value of 90 controls the right actuator to have full output and the left actuator to have no output. Additionally, a percentage can be specified which is applied to a default actuator such as the left actuator; for example, a value of 65 indicates that 65% of the commanded current magnitude should flow to the left actuator, leaving 35% of the commanded current Amplitude flows to the right actuator. The local processor can perform the scaling of the two output control signals according to the commanded balance and provide the appropriate scaled signal to each actuator assembly 102 and 104 .

Alternatively, the host computer can directly command the balancing characteristics by sending scaled signals directly to each actuator, or by directly commanding the local processor to send control signals sent by the host to each actuator.

An important feature of embodiment 100 is that the two actuator assemblies are preferably synchronized, including phase synchronized. Using a single waveform to control both actuators, but changing the amplitude of the waveform indicates the direction of inertial forces or the sense of being out of balance. Thus, the masses of each actuator assembly oscillate synchronously, but one mass accelerates faster and moves a greater distance from the mass's origin, causing a greater force to emanate from that actuator assembly. This is what allows the user to better perceive directionality, as the layout of the space creates a sense of individuality. In further embodiments, the actuators can be asynchronous, but this tends to provide less directionality to the feel of force.

Additional actuators may be included in other embodiments. For example, two actuators could be on the left and two on the right to increase the magnitude of the vibration. Alternatively, additional actuators can be placed in front, rear, top or bottom positions to provide additional orientation for tactile feedback. Preferably, each actuator receives the same waveform at the desired ratio of available power to achieve directionality. For example, if three actuator assemblies are provided in a triangular configuration, the perceived location of the resultant inertial force sensation can be placed somewhere between all three actuator assemblies, effectively adding a second dimension to the location of the force . This position can be adjusted by appropriately adjusting the magnitude of the current to each actuator assembly.

Another important directional effect achievable with embodiment 100 is the "sweep" of inertial forces. That swing causes the balance current between the actuator assemblies to change continuously so that the perceived position of the inertial force is smoothly from right to left or from left to right in the two actuator embodiments (or in the implemented other direction) to move. For example, the local processor can be controlled with an advanced wiggle command to continuously change the balance parameter and evenly from 0 to 90 (using the convention above) at specified time intervals. Faster or slower oscillations can be commanded by changing the time interval. Then, as the local processor varies the percentage of the dominant (command) current that each actuator assembly receives during swing, the user feels an inertial force starting from the left of the device and moving approximately to the right along axis 152, and Terminates in right actuator. Therefore, if the user's car in the game collides on the right side, the inertial vibration can quickly (eg, 1-2 seconds) swing from the right side to the left side to convey the direction of the collision. In an embodiment comprising three or more actuators, the position can be swung in two dimensions by distributing electrical force such that the sensed position moves in a desired path between all the actuators.

In addition to (or instead of) balance control between the left and right actuator assemblies, additional control features include using a phase shift between the left and right actuator assemblies. For example, a 90 degree phase shift between the control waveforms sent to each actuator (and thus between the oscillations of the inertial masses), gives the user the impression of a dual frequency with an alternating striking effect (left-right) . This enables higher amplitude force sensations at higher frequencies of perception, since large displacements of inertial mass associated with lower frequencies still occur, but the resultant force felt by the user is higher frequency. And its resonant frequency is useful. For example, if the resonant frequency of the actuator assembly is about 40 Hz, a strong peak amplitude occurs at 40 Hz, and another strong peak occurs at 80 Hz by operating the two actuator assemblies 90 degrees apart.

Also, small phase shifts such as 5 to 10 degrees appear to the user as the master frequency, but each pulse feels slightly stronger because the user has the impression that each force pulse lasts longer. In addition, larger phase shifts, such as 10 to 30 degrees, give the user an interesting feeling of "step-by-step", ie, rapid pop-pops of force at each vibration cycle. The phase is sent to the device as a parameter in the high-level command.

Finally, the large phase shift of 180 degrees can make the haptic sensation very interesting to the user, because when the inertial mass of one actuator moves up and reaches the limit, the other inertial mass of the other actuator moves down and reaches the limit. This can apply a moment around the center of the game board or other interface device, as if the entire game board is rotating about the axis 152 around the center point. In one cycle the torque is in one direction of rotation and in the next cycle the direction of the torque is reversed. An alternating moment is thus obtained. This sensation is stronger for the user than when the inertial masses move in phase. In another embodiment, a normalized square wave is controlled, eg, to provide a wave in one direction, such as a positive direction, such that the inertial mass moves from its origin position in one direction only. The wave energy emitted between the two actuator assemblies is 180 phase difference. This can result in a clockwise jumping torque, where the torque never switches direction. Also, if the waveform is normalized to the negative direction, an anticlockwise beating torque results.

In another embodiment, the left-right inertial sensation from the actuator assemblies 102 and 104 can be matched with stereo (left-right) sound as output by the host computer. For example, in a game or audio-video display on a host computer, television, or other device, an airplane flies over the user, where the sound of the airplane starts outputting from the left speaker and moves through the right speaker to output an audio effect indicating position. Consistent therewith, the force sensation output by the left and right actuator assemblies can start output on the left side of the interface device and move toward output on the right side in concert with the sound. The sense of force can also be synchronized with the visual image displayed as a panoramic camera view. In some embodiments, the magnitude of the force sensation can be correlated with, for example, the volume of a sound. The host computer can command the sensation of force to be synchronized with audio or video which is also controlled by the host computer.

All of the above haptic effects and variations therein can be combined in various ways to achieve the desired effect, thus a wide variety of haptic effects are possible using the control scheme of the actuator assembly of the present invention.

5a and 5b are top sectional and side elevational views, respectively, of another embodiment 200 including two actuators for another embodiment of the device 12 with directional inertial feedback of the present invention. Game board housing 201 includes two actuator assemblies 202 and 204 . In another embodiment, the actuator assembly includes an inertial mass capable of linear harmonic oscillation; in the embodiment depicted in FIGS. Mass (ERM) 206 is coupled to the axis of rotation of actuator 208 within assembly 202 in right handle 16b, while eccentric rotating mass (ERM) 210 is coupled to the axis of rotation of actuator 213 within assembly 204 in left handle 16a. Actuator 208 is fixedly (or compliantly) attached to housing 201 in handle 16a, while actuator 212 is fixedly (or compliantly) attached to housing 201 in handle 16b. Eccentric masses 206 and 210 can be wedge-shaped, cylindrical, or other shapes. During rotation, the mass of the eccentric inertial mass causes the housing 201 to vibrate as it moves through its range of motion.

Preferably, the harmonic drive actuator assemblies 202 and 204 are positioned at the maximum spatial distance between them allowed by the equipment. For example, in a game board embodiment, components 202 and 204 can be placed in different handles 16a and 16b of the game board. This enables a sense of directional force to be easily perceived by the user. In another embodiment, components 202 and 204 could be located in other areas of the housing, although preferably still separated by a large spatial distance, such as on opposite sides of the housing. Actuator assemblies 202 and 204 have the same characteristics with respect to: actuator size, inertial mass, and damping (if provided), to allow inertial forces to be perceived nearly identically at each end of the device, and to allow directional perception to be effective. In another embodiment, actuator assemblies having different dimensions or other characteristics can be used.

Controlling tactile sensation with a unidirectional ERM motor

The inertial rotation actuator assembly described for Figures 5a-5b can output vibrations and shakes to a user of the interface device 12 as the inertial mass rotates. In these approaches, the frequency and magnitude of periodic haptic effects can be varied independently and manifested on single-degree-of-freedom unidirectional drive actuators such as (but not limited to) ERM actuators.

Many standard game board vibro-haptic devices rotate the ERM at a fixed amplitude and frequency, which are tightly coupled. For example, high frequency vibrations must be high in amplitude, while low frequency vibrations must be low in frequency. The method used in the embodiment of Figures 5a-5b and described in the application referenced above can independently vary the amplitude and frequency of a one-degree-of-freedom (DOF) unidirectionally driven rotary actuator, i.e. without using expensive bidirectional current drive, since the ERM only needs to be driven in one direction of rotation. This technique is important because it enables the ERM to generate complex vibrations such as damped sinusoids or superimposed waveforms. The preceding ERM devices have amplitudes that are roughly linearly related to their speed. The present invention using no additional connectors, wiring, or mechanical parts but only these control methods (as implemented in the firmware of a local microprocessor or other controller of device 12) can use ERM motors at any amplitude at a realized in the frequency range. Note that the control method described here can be applied not only to rotary motors, but also to other types of single-degree-of-freedom rotary and linear actuators, including moving magnet motors, solenoids, voice coil actuators, etc.

In this control method, a frequency command, an amplitude command and a function (ie sine wave, square wave, triangle wave) may be provided as parameters or input to firmware. This is in accordance with the existing Immersion/Direct X protocol used in personal computing like PCs, where vibration is controlled by amplitude, frequency and function type parameters (and others as desired). Equivalents for these parameters can be provided in other examples).

An example is shown in graph 250 of FIG. 6, showing time versus amplitude. A sine wave 252 with a frequency of 5 Hz and 50% amplitude is shown as the desired vibration output by the device (this and all subsequent similar figures capture 1 second of input and output signals). The present control method determines where each waveform cycle starts (or should start) and then the control signal 254 rises to a high or "on" energy level for a specific period once per cycle; at other times the control signal 254 is "off" or low. The "on" energy level energizes the motor and causes the ERM 206 or 210 to rotate in its single direction of rotation. Thus, the periodic control signal has a frequency according to the desired (commanded) frequency. By pulsing the actuator once per cycle using the control signal 254, the sensation of having a specified frequency is delivered to the user. The control signal was raised to a high level at the beginning of the cycle as shown, or at various times during the cycle.

The magnitude of the periodic effect is depicted by adjusting the duty cycle of the control signal, such as the duration of each cycle of the control signal 254 ("on time per cycle"). The control signal 254 is either on or off, but the amount of time per cycle that the control remains on is determined by the magnitude command or parameter. In Figure 6, a sine wave with a possible amplitude of 50% is desired. In accordance with the present invention, the desired amplitude produces control signal 254 which is on for 15 ms out of every 250 ms. A waveform with 100% amplitude at the same frequency is provided for comparison in FIG. 7 , which shows a graph 260 similar to graph 254 . Control signal 264 goes on for the same time interval as control signal 254 described above because the frequency command is unchanged. However, the control signal 264 is left in the "on" state a second time, long enough to produce the sensation of twice the vibration amplitude in the user. The longer the control signal is "on", the longer the actuator undergoes acceleration. In our case, the ERM achieves a greater angular velocity, and since the force is proportional to the square of the angular velocity, a greater force is perceived on the user's hand. Preferably, the mass is never allowed to stop turning so that stiction is only overcome once at the start of rotation. If the control signal is held too long, the rotating mass will make multiple rotations and eventually reach its natural (resonant) frequency. At this point, the user perceives the natural frequency of the system rather than the commanded frequency.

Thus, according to the present invention, 1) how often the control signal is "on" is directly dependent on the frequency command, and 2) how long the control signal remains "on" (the time the control signal is "on") is related to the amplitude command. Determining the on-time of the control signal can be achieved in different ways. Two different approaches are proposed here. First, the ON time can be adjusted as a "percent of cycle". If the control signal is "on" for a fixed percentage of time per cycle, the time "on" per cycle decreases as the frequency increases. However, the control signal is more often "on". The end result is that every second the control signal takes the same amount of time to be on, regardless of the frequency. This technique offers the advantage that as the frequency increases, the same power is applied to the actuator and the perceived amplitude remains the same over the frequency range.

One problem with this "percentage of period" technique is that it does not work well in many embodiments at lower frequencies in order to control the desired vibration. At low frequencies (eg, less than 2 Hz in some embodiments), too much power can quickly be delivered to the actuator. For example, all power from a 1 second cycle is delivered for a continuous 125ms at the start of the cycle, during this ON time the rotary actuator makes multiple turns while the control signal remains high, so the vibration (pulsation) during this 125ms The output is perceived by the user as the frequency of the actuator's rotational velocity, rather than the commanded frequency. Therefore, the vibration output of the device may not correspond to the commanded (low) frequency.

The second method of the present invention avoids this problem at low frequencies and thus provides a more suitable output vibration method for many ERM vibration devices. This second method sets the control signal high for a fixed maximum amount of time per cycle rather than a percentage of the cycle. Therefore, the on-time for 100% amplitude is the same at any frequency. The on-time for commanded amplitudes less than 100% is proportionally lower than the amount by which the commanded amplitude is below 100%. This effectively establishes a maximum ON time per cycle, prohibiting the actuator from being ON for extended periods of time, avoiding multiple rotations within a continuous ON time. If the actuator is allowed to make multiple rotations (eg, greater than 2 or 3 revolutions in some embodiments), the user will perceive a higher frequency, so this method prevents that result. In some embodiments, a particular motor's request for 100% amplitude at low frequency is equivalent to causing the mass to rotate for an on-time lower than the number of revolutions that would cause the user to perceive more than one pulsation in a single cycle (as in 2-3 turns); this opening time can be empirically determined. The disadvantage of the second technique is that as the frequency increases, the separate on times get closer and the actuator eventually actually requests to stay on for longer than one period. Here, the control signal is always required to maintain, the mass rotates continuously, and the frequency and amplitude no longer vary independently.

Since the two techniques for mapping amplitude to on-time of the control signal are good for different parts of the frequency range, a preferred embodiment combines or mixes the two techniques, avoiding the disadvantages of each approach. In a preferred combination of methods, the second method is used only for commanded frequencies below a certain mixing threshold frequency, while the first method can be used for commanded frequencies above the threshold frequency. Mixing is possible even when the amplitude of the control signal also varies. First, the mixing threshold is chosen based on the dynamics of the system; the mixing frequency is the frequency at which the on-time is longest, so the mixing frequency should be chosen such that at that frequency for the on-time corresponding to 100% amplitude, each cycle provides One vibration pulse (eg less than two mass rotations). For example, when using a large motor/mass combination as described above, 10 Hz may be used as the mixing threshold frequency. For command frequencies above 10 Hz, the first method ("percentage of period") is used to calculate the ON time of the control signal, while for command frequencies below 10 Hz, the second method ("per cycle" fixed time) can be used . Other thresholds may be used in other embodiments. To mix the two methods, a scalar is chosen such that the maximum magnitude for both methods coincides at the mixing threshold frequency, ie the transition between the two methods is smooth. For example, a 25ms control signal on time at 10Hz produces a 10Hz, 100% amplitude vibration. If the commanded frequency approaches the mixing frequency from below 10Hz, the "percent of period" method is scaled to produce an on-time of 25ms at 10Hz, and those scalars used remain unchanged, and for frequencies above 10Hz are applied to this method. Depending on the desired effect more advanced mixing techniques can be used, such as emulating a bandpass filter in the mixing region, or a combination of low-pass/high-pass filters on either side of the mixing threshold frequency.

A different approach to making the amplitude command independent of frequency is to vary the amplitude of the control signal 254 in proportion to the requested amplitude, rather than having only two levels for the control signal. This can be done alone, or in combination with both or either of the first and second methods described above. For example, other types of waveforms with varying amplitudes can be used as control signals (sine waves, triangle waves, etc.). An efficient method of setting or varying the amplitude of the control signal is to provide pulse width modulation (PWM) during the selected on-time for the control signal provided above, or to vary the control signal duty cycle during the on-time using other methods. However, PWM requires a separate PWM module, which increases the cost of the device. To avoid PWM schemes, the above first and second methods can be implemented by means of bit-banging, where the local microprocessor directly outputs control signals to the actuators without using a PWM module. Bit-bumping does not allow direct control of the control signal amplitude, but removes the need for a PWM module and potentially reduces processor or interface equipment cost.

The technique described above for varying the amplitude and frequency of vibrations independently can be used for multiple actuators simultaneously as in the embodiment of Figures 5a-5b. Additional inventive features of this control technique will be described below.

interleaving control signals for power efficiency

The above control signals are used to control the amplitude and frequency of the output vibration independently of each other. This control method can be used for multiple actuators such as actuator assemblies 202 and 204 . For example, actuator assemblies 202 and 204 can be activated simultaneously, each using a dedicated control signal.

One problem with operating multiple actuator assemblies simultaneously is the large amount of power required to drive the actuators. In some embodiments, the amount of power available is small, limiting the use of multiple actuator assemblies. For example, if the interface device 12 is powered from the host computer 14 via a communication channel such as USB, which provides a limited amount of power, and does not have its own dedicated power supply, the amount of power available to operate the actuator assembly is very limited. Alternatively, where there is only an interface device 12 with a wireless link to the host computer, a limited power battery (or other portable energy storage device) is used in the interface device to drive the actuator. In many situations where power is limited like that, there is a lesser added haptic sensation output when two or more sets of actuators are used simultaneously.

One method of the present invention allows simultaneous operation of two actuator assemblies with a limited available power budget. Figures 8a and 8b are graphs 270 and 272 showing control signals for independently controlling amplitude and frequency for rotating the ERM as described above. Graph 270 shows a control signal 274 applied to one actuator assembly (such as assembly 202 ), while graph 272 shows a control signal 276 applied to another actuator assembly (such as assembly 204 ). Control signals 274 and 276 have the same frequency and period T1 and T2. The control signal 274 has an on time when the signal is high and an on time when the signal is low, where the duty cycle is shown to be approximately 40%. When control signal 274 is on, all or most of the available power is used to turn the motor to provide high amplitude vibrations. But when control signal 274 is on, control signal 276 remains off. Control signal 276 goes on when control signal 274 is off and goes off before control signal 274 turns back on. Therefore, control signal 276 is sufficiently phase shifted from control signal 274 that these control signals are never on at the same time. This allows all available power to be used for a single actuator at any one time without the available power being divided between the two actuator assemblies 202 and 204 .

Additionally, the control signal 276 can be such that there is only a small delay after the control signal 274 . This is useful in situations where the ERM needs more power to start turning from a standstill (or other operating condition), but less power to keep turning. For example, if the starting current for both ERMs is greater than the available power budget, the starting current required for one ERM plus the running current required for the other ERM is within the available power budget, allowing the second ERM to be within the available power budget. The ERM kicks in shortly after it starts and spins. In some embodiments, the less interleaved the control signals, the more pronounced the vibrations will be perceived by the user, since the vibrations generated from each actuator assembly are more synchronized and less mutually exclusive.

The control signals 274 and 276 can be varied in frequency and duty cycle (duty cycle) (they are phase shifted by the time width) to produce varying vibration amplitudes as described above with reference to FIGS. 6 and 7 . During such changes, the control signal is preferably maintained at the same frequency and duty cycle. This produces a non-directional vibration to the user, such as an output that seems to be the same over the entire housing side.

Preferably, the control signal used in the method described above with reference to FIGS. 6 and 7 does not have a duty cycle greater than 50%, since in many embodiments this will cause the actuator assembly to operate at its natural frequency rather than at the commanded frequency. Under operation, for example, the user feels the frequency of the ERM's continuous rotation, rather than the commanded frequency. Therefore, this method distributes power efficiently, providing the strongest possible vibration within a limited power budget, since interleaving is possible. Thus, this interleaving approach allows independent control of the amplitude and frequency of the vibrations output by the two actuators in a power efficient scheme.

Figures 9a and 9b are graphs 280 and 282 illustrating the power allocation method of the present invention for control signals having different frequency and/or overlapping pairs. Graph 280 shows a control signal 284 having a particular frequency and period T1, while graph 282 shows a control signal 286 having a particular frequency and period T2. The on-time of the signal overlaps the time interval A, which is usually different for each cycle. Overlap is unavoidable in certain circumstances, including where greater than 50% duty cycle is required, or where control signals have different frequencies and/or duty cycles. For example, one actuator assembly 202 can be commanded to output vibration at one frequency, while another actuator assembly 204 can be commanded to output vibration at a different frequency to achieve a particular tactile sensation perceived by the user.

In order to allow the limited power budget to be used in that situation according to the invention, it is preferred that the control signal be switched off and on at predetermined duty cycles and frequencies within an overlapping time A. This allows reducing the average power consumption per actuator during operation of both actuators, thus allowing efficient use of the available power budget. For example, as shown in Figure 9c, the control signal 284 is pulsed at a specific duty cycle and higher frequency during the overlap time period A, which allows the power requirement of the control signal 284 to be reduced during the overlap period. This is effectively PWM type control. This results in a reduced actuator vibration output amplitude (which is only slightly noticeable to the user). Simultaneously, the control signal 286 is also pulsed at a specific duty cycle and frequency during the overlapping period (shown by dashed line 288 in FIG. 6b). Therefore, the available power is shared between the two actuator assemblies, causing each actuator output to decrease within the available power budget. The frequencies of the control signals shown during the overlap are exaggerated in the figure and are lower than the actual frequencies that could be used.

The duty cycle and/or frequency at which the control signal pulses during overlap can be determined based on the operating characteristics of the interface device 12, such as characteristics of the actuator, ERM, amplifier, etc. A duty cycle can be selected that reduces the power requirement of the control signal to a desired magnitude, allowing the two actuators to operate within the power budget during overlap, for example, the effective overlap amplitude can be 75% of full amplitude while the control signal is continuously on. %. It is generally not necessary to arrange the control signals so that the pulses during the overlap are not on at the same time. This is because the relatively high frequency of the control signals, even when both control signals are high, allows components such as capacitors in the drive line to be sufficiently charged to maintain the desired power level. In other embodiments, the control signals during overlap could be scheduled to be on at alternate times, if possible, so that the control signals are not on at the same time. The frequency of the control signal during overlapping periods is selected based on the ability of the drive circuitry with capacitors and other energy storage components to maintain the desired power level.

In some embodiments, the duty cycle of the control signals during overlapping periods can be adjusted according to the frequency or period T of the two control signals. For example, generally the smaller the period T1 and T2 of the control signal (the higher the frequency), the more power is required to operate the actuator. If one or both of the two control signals has a small period, the duty cycle of the control signal can be shortened to consume less power during the overlap period, ie resulting in a smaller effective amplitude during the overlap period. In some embodiments, if the period T1 or T2 is very long, the ERM can get torque and need less power to rotate in the second half of the on-time. This factor should be taken into account when determining the duty cycle of the control signal during the overlapping period. In some embodiments, the duty cycle can be lengthened for high frequency control signals so that high frequency vibrations are not "repelled" by the low frequency vibration output of another actuator.

The control signals can each have a different duty cycle and/or frequency during the overlapping periods depending on the individual characteristics of the actuator assembly. In some embodiments, only one control signal is pulsed during the overlapping period.

The local processor (see Figure 11) can control how to phase shift the control signal and/or pulse the control signal during overlap. For example, in the alternate on-time embodiment of Figures 5a and 5b, the microprocessor can detect when a control signal is sent and can only send one control signal when the other is off.

The power efficient control method described above can also be used in other embodiments with other types of actuators, which can be controlled with similar control signals or other signals with on-times.

Directional feel using rotational inertial actuator components

The control method described above can be used in power-limited installations to control the amplitude and frequency of the vibration output independently of each other. This control method can also be used in combination with the above method of outputting directional inertial tactile sensation.

Figures 10a, 10b, 10c and 10d are graphs 310, 312, 314 and 316, respectively, showing control signals in the control method of the present invention using the two actuator embodiments described with reference to Figures 5a-5b, for Provides directional tactile feedback, in this case a tactile feedback that the user places in space at a position between the two actuators. Graphs 310 and 312 show control signals 318 and 320 similar to the signals of FIGS. 8a and 8b , resulting in the desired amplitude and frequency of vibration as determined by the methods of FIGS. 6 and 7 . If desired, the control signal can be adjusted with other parameters such as duration, envelope, etc.

After the desired parameters are determined, the control signal can further be modified to provide the directionality or "balance" described below. In graph 314 of FIG. 10c, control signal 322 decreases on time, providing a smaller average current to the first actuator assembly, while in graph 316 of FIG. 10d, control signal 324 increases on time by the same amount such that the control signal 322 is reduced to provide a larger average current to the second actuator assembly. Thus, the first actuator assembly gets an extra amount of power and the second actuator gets a smaller amount of power, the lesser amount being the amount of extra power supplied to the first actuator. For example, the control signal 324 has a larger duty cycle, such as a 25% increase, thus providing more power to the actuator and causing a stronger vibration output. The control signal 322 has a duty cycle with a low corresponding amount (25%), causing a lower amplitude vibration output from that actuator, so the amplitude of the full 100% command has a different magnitude between the two actuator assemblies. distribute.

Accordingly, the magnitude of each vibration is scaled by the magnitude divided between the two actuator assemblies 202 and 204 . In order to provide a sense of vibration or other inertial force to the user without a sense of direction, the two actuator assemblies are given equal power values (average current) so that vibrations of the same magnitude are output from each actuator, as shown in Figures 10a-10b Show. However, if the sense of inertia is to have a sense of direction, then adjust the on-time of the control signal, i.e. give more average current to one actuator than the other, and have a larger amplitude output by one actuator than the other value of inertial force. If the control signal 324 is applied to the actuator assembly 204 on the left side of the game board device 200, the user perceives a left direction because vibrations to the left have a greater amplitude. If the right direction is output, the actuator 202 on the right side of the device has a larger average current. The user perceives vibrations that are stronger on one side of the device as directional vibrations. For example, if the user's in-game vehicle crashes into a fence on the left, the left actuator could output a stronger vibration, indicating the direction of the collision.

According to the distribution of the magnitudes commanded between the two actuators, the user perceives an inertial sensation output somewhere between the two actuator components, where the stronger one of the forces is, the closer the user perceives the resultant force output to that actuator. actuator. This is similar to the position shown in Figure 4 above. As mentioned above, one way to command direction in this manner is to specify a "balance" parameter, or to have the host computer command the actuator assembly directly. Additional actuators can be employed in embodiment 200 similar to embodiment 100 described above, and the effect of swinging can be commanded and output using embodiment 200 .

Figure 11 is a block diagram illustrating one embodiment of a haptic feedback system suitable for use with the present invention.

Preferably host computer system 14 includes a host microprocessor 400, a clock 402, a display screen 206 and an audio output device 404. The host computer also includes other well known components such as random access memory (RAM), read only memory (ROM), and input/output (I/O) electronics (not shown). The display screen 26 displays images of the game environment, operating system applications, simulations, etc., and the audio output device 404 such as a speaker provides sound output for the user. Other types of peripheral devices can also be coupled to main processor 400 such as storage devices (hard drives, CD-ROM drives, floppy drives, etc.), printers, and other input and output devices.

An interface device 12 , such as a mouse, game pad, etc., is coupled to the host computer system 14 via a bidirectional bus 20 . A bidirectional bus sends signals in either direction between the host computer system 14 and the interface devices. Bus 20 can be a serial interface bus such as RS232 serial interface, RS-422, Universal Serial Bus (USB), MIDI, or other protocols known in the art; or a parallel bus, or a wireless link. Certain interfaces are also capable of providing power (power) to actuators of device 12 .

Device 12 can include a local microprocessor 410 . A local microprocessor 410 is optionally included in the housing of the device 12, enabling efficient communication with the other components of the mouse. Processor 410 is considered local to device 12 , where “local” means that processor 410 is a microprocessor separate from any processors in host computer system 14 . "Local" is also best seen as processor 410 being dedicated to device 12 haptic feedback and sensor I/O. Microprocessor 410 can have software instructions to wait for commands or requests from host computer 14, decode the commands or requests, and process/control input and output signals in accordance with the commands and requests. In addition, the processor 410 can operate independently of the host computer 14 by reading sensor signals and calculating the appropriate force based on those sensor signals, time signals, and instructions stored or relayed as selected by host commands, the microprocessor 410 can Includes a microprocessor chip, multiple processor and/or coprocessor chips, and/or digital signal processing (DSP) capabilities.

Microprocessor 410 is capable of receiving signals from sensor 412 and providing signals to actuator assembly 54 in accordance with instructions provided by host computer 14 via bus 20 . For example, in a local control embodiment, host computer 14 provides high-level supervisory commands via bus 20 to microprocessor 410, which decodes the commands and manages traffic to sensors and actuators independently of host computer 14 in accordance with the high-level commands. Low level force control loop. This operation is described in more detail in US Patent 5,734,373. In the main control loop, force commands are output from the host computer to the microprocessor 410, and the microprocessor is commanded to output the force or the sensation of force with specific characteristics. The local microprocessor 410 reports data such as positioning data describing the position of the mouse in one or more prescribed degrees of freedom to the host computer. The data can also describe the state of the buttons 24, the direction pad 20, etc. The host computer uses these data to update the programs it executes. In a local control loop, actuator signals are provided from microprocessor 410 to actuator assembly 434 , while sensor signals are provided to microprocessor 410 from sensors 412 and other input devices 418 . Herein, the term "haptic sensation" or "tactile sensation" is considered to be a single force or a series of forces output by an actuator assembly that provides a sensation to a user. Microprocessor 410 is capable of processing incoming sensor signals to determine appropriate output actuator signals based on stored instructions. The microprocessor can use the sensor signals to locally determine the force output to the user object and report positioning data derived from the sensor signals to the host computer.

In yet another embodiment, another, simpler piece of hardware can be provided locally to device 12, giving functionality similar to microprocessor 410. For example, a hardware state machine including fixed logic can be used to provide signals to actuator assembly 434 and receive sensor signals from sensor 412 and output haptic signals in a predetermined sequence, algorithm, or process. Techniques for implementing logic with the desired functionality in hardware are well known to those skilled in the art.

In a different host control embodiment, the host computer 14 can provide low-level force commands via the bus 20, directly to the actuator assembly 434 via the microprocessor 410 or other (eg, simpler) lines. Thus, host computer 14 directly controls and processes all signals to and from device 12 .

In a simple master control embodiment, the signal from the host to the device can be a single bit indicating whether the actuator is to be pulsed at a predetermined frequency and amplitude. In more complex embodiments, the signal from the host computer can include magnitude, giving the strength of the desired pulse, and/or direction, giving the magnitude and feel of the pulse. Using a local processor, a simple command is received from the host computer indicating the desired force to apply and time, and the microprocessor then outputs it according to that one command. In yet another sophisticated embodiment, high-level commands with haptic sensation parameters are sent to a local processor in the device, which then applies the full sensation independent of host intervention. Combinations of these methods can be used on a single device 12 .

Local memory 422, such as RAM and/or ROM, is preferably coupled to microprocessor 410 in mouse 12, stores instructions for microprocessor 410 and stores temporary and other data. For example, a force profile can be stored in memory 422 as a series of stored force values that can be output by the microprocessor or a look-up table of force values output based on the current position of the user object. Additionally, a local clock 424 can be coupled to the microprocessor 410, like the system clock of the host computer 12, to provide timing data; timing data such as is needed to calculate the force output of the actuator assembly 434 (e.g. force depends on calculated velocity or other factors related to time). In embodiments using a USB communication interface, timing data for the microprocessor 410 can alternately be fetched from the USB signal.

Sensors 412 sense the position or motion of the device and/or one or more manipulators or controllers and provide information to microprocessor 410 (or host computer 14 ) including information indicative of the position or motion. Sensors that can be adapted to detect manipulation, including digital optical encoders, optical sensing systems, linear optical encoders, potentiometers, optical sensors, speed sensors, acceleration sensors, strain gauges, and other types of sensors that can be used, relative or absolute sensor. The light sensor interface 414 can be used to convert the sensor signal into a signal that can be interpreted by the microprocessor 410 and or host computer system 14, as is well known to those skilled in the art.

As noted above, the actuator assembly 434 sends force to the housing of the device 12 in response to signals received from the microprocessor 410 and/or the host computer 14 . For example, the actuator assembly 434 can generate an inertial force via a moving inertial mass. Other types of actuators can also be used, such as actuators that drive a member against the housing to produce a tactile sensation.

An actuator interface 416 can optionally be coupled between the actuator assembly 434 and the microprocessor 410 to convert signals from the microprocessor 410 into signals suitable for driving the actuator assembly 434 . Interface 416 can include power amplifiers, converters, digital-to-analog controllers (DACs), analog-to-digital controllers (ADCs), and other components. Other input devices 418 are also included in the device 12 and provide input signals to the microprocessor 410 or the host computer 14 when manipulated by the user. Such input devices include buttons 24, directional pad 20, etc. and can include additional buttons, dials, switches, scroll wheels, or other controls or mechanisms.

The power supply 420 can optionally be included in the device 12, connected to the actuator interface 416 and/or the actuator assembly 434 to provide power to the actuators, or provided as a separate component. Alternatively, power can be drawn from a power source separate from device 12 or received over bus 20 . Furthermore, the received power may be stored and conditioned by the device 12 and thus used when required to drive the actuator assembly 434, or in an auxiliary manner. Some embodiments use power storage in the device to ensure peak force can be applied (as described in US Patent No. 5,929,607). Additionally, this technology can be used in wireless devices where battery power is used to drive haptic actuators. A safety switch 432 can optionally be included to allow the user to shut down the actuator assembly for safety reasons.

While the invention has been described in terms of several preferred embodiments, it can be seen that variations, rearrangements and equivalents will become apparent to those skilled in the art upon reading this patent specification and studying the accompanying drawings. For example, many different embodiments of haptic feedback devices can be used to output the haptic sensations described herein, including joysticks, steering wheels, game pads, and remote controllers. In addition, certain terms are used for the purpose of clarity of description, which is not to limit the present invention.

Claims (15)

1. A method comprising: generating a first control signal and a second control signal, the duty cycle of the first control signal and the duty cycle of the second control signal are different; outputting the first control signal to a first actuator configured to output a first haptic sensation in response to the first control signal; and outputting the second control signal to a second actuator configured to output a second haptic sensation in response to the second control signal, wherein the first and second haptic sensations provide Directional tactile feedback. 2. The method of claim 1, wherein the duty cycle of the first control signal is in a predetermined ratio to the duty cycle of the second control signal. 3. The method of claim 2, wherein said predetermined ratio is related to a spatial relationship between said first actuator and said second actuator. 4. The method of claim 2, further comprising receiving a high-level command including a balance parameter, the predetermined ratio being related to the balance parameter. 5. The method of claim 4, wherein the balance parameter is configured to change dynamically such that the first haptic and the second haptic provide a swinging haptic effect. 6. The method of claim 5, wherein the wiggling haptic effect is corrected with at least one of an audio effect and a video effect. 7. The method of claim 1, further comprising interleaving said first control signal and said second control signal such that only one control signal is on at a given time. 8. A device comprising: processor; a first actuator for receiving a first control signal output from the processor and outputting a first haptic sensation; and a second actuator for receiving a second control signal output from the processor and outputting a second haptic sensation; A duty cycle of the first control signal and a duty cycle of the second control signal are different, wherein the first and second haptics provide directional tactile feedback. 9. The apparatus of claim 8, wherein the duty cycle of the first control signal and the duty cycle of the second control signal are in a predetermined ratio. 10. The apparatus of claim 9, wherein said predetermined ratio is related to a spatial relationship between said first actuator and said second actuator. 11. The device of claim 9, wherein the processor is configured to receive a high-level command including a balance parameter, the predetermined ratio being related to the balance parameter. 12. The device of claim 11, wherein the balance parameter is configured to change dynamically such that the first haptic and the second haptic provide a wiggling haptic effect. 13. The device of claim 12, wherein the wiggle haptic effect is corrected with at least one of an audio effect and a video effect. 14. The apparatus of claim 8, wherein said first control signal and said second control signal are interleaved such that only one control signal is on at a given time. 15. The apparatus of claim 8, wherein said first actuator and said second actuator are connected to a housing.

Images