Virtual reality controller

Patent metadata

Field	Value
Publication number	US-10838486-B2
Application number	US-201916289327-A
Country	US
Kind code	B2
Filing date	Feb 28, 2019
Priority date	Feb 28, 2019
Publication date	Nov 17, 2020
Grant date	Nov 17, 2020

Abstract

The present concepts relate to a virtual reality controller that enables fine control of virtual objects using natural motions involving the dexterity of the user's fingers and provides realistic haptic sensations to the user's fingers. The controller may have a rigid structure design without moving parts. Force sensors under finger rests can detect forces exerted by user's fingers. Actuators can render haptic feedback from the virtual reality world to the user's fingers. The controller may include one or more trackpads on which the user may slide her fingers. The controller may be used for exploring and manipulating virtual objects, for example, by grasping, releasing, rotating, and feeling the surface of virtual objects.

First claim

The invention claimed is:

1. A system, comprising:
a controller; and
a base station including a base station processor configured to:
execute a virtual reality world including a virtual object and virtual fingers;
receive input signals from the controller;
in response to the input signals, manipulate the virtual fingers and/or the virtual object and generate output signals based at least on the manipulation; and
transmit the output signals to the controller;

the controller including:
a body;
a thumb rest and at least one finger rest rigidly attached to the body, the thumb rest and the at least one finger rest facing away from each other, the thumb rest and the at least one finger rest being substantially rigid and not substantially moving with respect to the body and with respect to each other when forces are applied on the thumb rest and/or the at least one finger rest to generate the input signals;
a thumb force sensor positioned under the thumb rest and configured to sense forces applied to the thumb rest;
at least one finger force sensor positioned under the at least one finger rest and configured to sense forces applied to the at least one finger rest;
a thumb actuator positioned under the thumb rest and configured to provide haptic sensations on the thumb rest;
at least one finger actuator positioned under the at least one finger rest and configured to provide haptic sensations on the at least one finger rest; and
a controller processor configured to:
generate the input signals based at least on the forces sensed by the thumb force sensor and/or the at least one finger force sensor, the input signals not being based on substantial movement of the thumb rest and the at least one finger rest with respect to the body and with respect to each other;
transmit the input signals to the base station;
receive the output signals from the base station; and
drive the thumb actuator and/or at least one finger actuator based at least on the output signals.

2. The system of claim 1 , wherein:
the controller further includes a trackpad positioned on the thumb rest; and
the controller processor is configured to generate the input signals further based at least on a position of a thumb on the trackpad.

3. A device, comprising:
finger rests that substantially face away from each other, the finger rests being substantially rigid and not substantially moving with respect to each other when forces are applied to the finger rests to generate input signals;
one or more force sensors that are positioned under the finger rests, the one or more force sensors being configured to sense forces applied against the finger rests by fingers;
a trackpad configured to sense a position of one of the fingers that touches the trackpad;
one or more actuators that are positioned and configured to provide haptic sensations on the finger rests and/or the trackpad;
a processor configured to:
generate the input signals based at least on forces applied by the fingers on the finger rests and/or the position of the one of the fingers on the trackpad, the input signal not being based on substantial movement of the finger rests with respect to each other; and
drive the actuators based at least on output signals; and

a transceiver configured to transmit the input signals and receive the output signals.

4. The device of claim 3 , further comprising:
restraints that are attached to the finger rests, the restraints and the finger rests being configured to form loops around the fingers,
wherein the one or more force sensors are mechanically biased, and
wherein the one or more force sensors are capable of sensing the fingers pulling on the restraints away from the finger rests.

5. The device of claim 3 , further comprising a handle for holding the device using at least a palm of a hand.

6. The device of claim 3 , wherein at least two of the force sensors are positioned under one of the finger rests.

7. The device of claim 3 , wherein one of the actuators provides haptic sensations to at least two fingers.

8. The device of claim 3 , wherein at least two of the actuators are positioned under one of the finger rests.

9. The device of claim 3 , wherein the trackpad is a capacitance sensor.

10. A method, comprising:
executing a virtual reality world including a virtual object and virtual fingers of a virtual hand;
receiving a closing input signal from a controller that includes finger rests facing away from each other, the closing input signal being based on forces applied by fingers against the finger rests and not based on substantial movement of the finger rests with respect to each other in response to forces applied by the fingers;
in response to the closing input signal, generating a grasp haptic output signal that simulates the virtual fingers grasping the virtual object; and
transmitting the grasp haptic output signal to the controller, the grasp haptic output signal causing the controller to drive one or more actuators in the controller that generate haptic sensations on the finger rests.

11. The method of claim 10 , further comprising:
determining a virtual contact point between one of the virtual fingers and the virtual object by originating a ray at the one of the virtual fingers in a direction that is orthogonal to the corresponding one of the finger rests and calculating an intersection point between the ray and the virtual object.

12. The method of claim 11 , further comprising:
declaring a grasp acquisition of the virtual object by the virtual fingers when two or more rays originating from the virtual fingers intersect the virtual object from opposite sides.

13. The method of claim 10 , further comprising:
estimating positions of virtual joints of the virtual hand.

14. The method of claim 10 , further comprising:
receiving an opening input signal from the controller while the virtual fingers are grasping the virtual object, the controller including restraints attached to the finger rests, the opening input signal indicating that the fingers are applying negative forces away from the finger rests;
in response to the opening input signal, generating a releasing visual output signal that simulates the virtual fingers releasing the virtual object; and
transmitting the releasing visual output signal to a display.

15. The method of claim 10 , further comprising:
receiving a rotating input signal from the controller while the virtual fingers are grasping the virtual object, the controller including a trackpad, the rotating input signal indicating that one of the fingers is sliding on the trackpad with a force above a threshold;
in response to the rotating input signal, generating a rotating haptic output signal that simulates the virtual fingers rotating the virtual object; and
transmitting the rotating haptic output signal to the controller to generate haptic sensations.

16. The method of claim 15 , further comprising:
in response to the rotating input signal, generating a rotating visual output signal that simulates the virtual fingers rotating the virtual object; and
transmitting the rotating visual output signal to a display.

17. The method of claim 16 , wherein the virtual object is rotated in a direction corresponding to a direction of the sliding of the one of the fingers on the trackpad.

18. The method of claim 15 , further comprising:
receiving a lift input signal from the controller while the virtual fingers are grasping the virtual object, the lift input signal indicating that the one of the fingers has lifted off

Assignees

• Microsoft Technology Licensing Llc

Inventors

• Gonzalez Franco Mar
• Ofek Eyal
• Sinclair Michael J
• Holz Christian
• Lee Jaeyeon

Classifications

• G06F3/03547

  Touch pads, in which fingers can move on a surface · CPC title

• G06F3/011 Primary

  Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00) · CPC title

• G06F3/0487

  using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser · CPC title

• G06F3/016 Primary

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title

• G06F3/04845

  for image manipulation, e.g. dragging, rotation, expansion or change of colour · CPC title