Sensor fusion algorithms for a handheld controller that includes a force sensing resistor (FSR)

Patent metadata

Field	Value
Publication number	US-11294485-B2
Application number	US-202016826800-A
Country	US
Kind code	B2
Filing date	Mar 23, 2020
Priority date	Oct 11, 2016
Publication date	Apr 5, 2022
Grant date	Apr 5, 2022

Abstract

Logic of a handheld controller can implement sensor fusion algorithms based on force data provided by a force sensing resistor (FSR) in combination with touch data or proximity data provided by a touch sensor or an array of proximity sensors, respectively. An example sensor fusion algorithm can be used to re-calibrate the FSR when an object contacts an associated control, as detected by the touch sensor. Another example sensor fusion algorithm can be used to ignore spurious inputs detected by the FSR when an object is in contact with an adjacent control. Another example sensor fusion algorithm can be used to detect a hand size of a hand grasping a handle of the controller, as detected by the array of proximity sensors, and to adjust the threshold force to register a FSR input event at the FSR according to the hand size.

First claim

What is claimed is:

1. A system comprising:
one or more processors;
a handheld controller comprising a controller body, the controller body including:
a handle;
a force sensing resistor (FSR) associated with the handle and configured to provide, to the one or more processors, force data indicative of an amount of force of a squeeze of the handle; and
an array of proximity sensors that are spatially distributed on the handle, the array of proximity sensors configured to provide, to the one or more processors, proximity data indicative of a hand grasping the handle; and

memory storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to:
determine, based at least in part on the proximity data provided by the array of proximity sensors, a size of the hand; and
adjust a threshold value based at least in part on the size of the hand to generate an adjusted threshold value, the adjusted threshold value corresponding to a particular amount of force of the squeeze of the handle to result in a FSR input event for the handle.

2. The system of claim 1 , wherein determining the size of the hand comprises:
determining a number of proximity sensors of the array of proximity sensors that provided the proximity data; and
determining the size of the hand based at least in part on the number of proximity sensors that provided the proximity data.

3. The system of claim 1 , wherein:
the size is determined from among a plurality of predefined sizes including a first size and a second size that is larger than the first size;
the threshold value corresponds to a default threshold value that is associated with the first size or the second size; and
adjusting the threshold value comprises at least one of:
increasing the default threshold value to the adjusted threshold value associated with the second size, the adjusted threshold value being greater than the default threshold value; or
decreasing the default threshold value to the adjusted threshold value associated with the first size, the adjusted threshold value being less than the default threshold value.

4. The system of claim 1 , wherein:
the controller body further includes:
at least one control that is configured to be pressed by a finger or a thumb; and
a second FSR associated with the at least one control and configured to provide, to the one or more processors, second force data indicative of an amount of force of a press of the at least one control; and

the computer-executable instructions, when executed by the one or more processors, further cause the one or more processors to adjust a second threshold value based at least in part on the size of the hand to generate a second adjusted threshold value, the second adjusted threshold value corresponding to a particular amount of force of the press of the at least one control to result in a second FSR input event for the at least one control.

5. The system of claim 4 , wherein:
the at least one control is a thumb-operated control that is included on a head of the controller body and is configured to be pressed by the thumb;
the head is coupled to the handle at a neck region;
the FSR is mounted within the handle; and
the second FSR is mounted within the head and positioned underneath the at least one control.

6. The system of claim 1 , wherein the computer-executable instructions, when executed by the one or more processors, further cause the one or more processors to:
determine, based at least in part on the force data provided by the FSR at a first time after adjusting the threshold value to generate the adjusted threshold value, a resistance value measured by the FSR;
convert the resistance value to a digitized FSR input value;
determine that the digitized FSR input value meets or exceeds the adjusted threshold value; and
register the FSR input event based at least in part on the digitized FSR input value meeting or exceeding the adjusted threshold value.

7. The system of claim 6 , wherein registering the FSR input event activates a binding associated with the handle, and wherein the computer-executable instructions, when executed by the one or more processors, further cause the one or more processors to:
determine, based at least in part on the force data provided by the FSR at a second time after the first time, a second resistance value measured by the FSR;
convert the second resistance value to a second digitized FSR input value;
determine that the second digitized FSR input value is less than the digitized FSR input value; and
deactivate the binding based at least in part on the second digitized FSR input value being less than the digitized FSR input value.

8. The system of claim 1 , wherein the computer-executable instructions, when executed by the one or more processors, further cause the one or more processors to:
determine, based at least in part on the force data provided by the FSR at a first time after adjusting the threshold value to generate the adjusted threshold value, a resistance value measured by the FSR;
convert the resistance value to a first digitized FSR input value;
determine that the first digitized FSR input value meets or exceeds the adjusted threshold value associated with the FSR input event;
determine, based at least in part on the force data provided by the FSR at a second time after the first time, a second resistance value measured by the FSR;
convert the second resistance value to a second digitized FSR input value;
determine that the second digitized FSR input value meets or exceeds a second threshold value associated with a second FSR input event, the second threshold value being greater than the adjusted threshold value;
determine that a difference between the second time and the first time is less than a predefined time period;
refrain from registering the FSR input event; and
register the second FSR input event.

9. The system of claim 1 , wherein the system comprises a virtual reality (VR) gaming system.

10. A method comprising:
receiving proximity data from an array of proximity sensors spatially distributed on a handle of a handheld controller;
determining, based at least in part on the proximity data, a size of a hand grasping the handle; and
based at least in part on the size of the hand, adjusting a threshold value to an adjusted threshold value that corresponds to a threshold amount of force of a squeeze of the handle to register an input event for the handle.

11. The method of claim 10 , wherein the determining of the size of the hand comprises:
determining a number of proximity sensors of the array of proximity sensors that provided the proximity data; and
determining the size of the hand based at least in part on the number of proximity sensors that provided the proximity data.

12. The method of claim 10 , wherein:
the size is determined from among a plurality of predefined sizes including a first size and a second size that is larger than the first size;
the threshold value corresponds to a default threshold value that is associated with the first size or the second size; and
the adjusting of the threshold value comprises at least one of:
increasing the default threshold value to the adjusted threshold value associated with the second size, the adjusted threshold value being greater than the default threshold value; or
decreasing the default threshold value to the adjusted threshold value associated with the first size, the adjusted threshold value being less than the default threshold value.

13. The method of claim 10 , wherein the adjusted threshold value is associated with

Assignees

• Valve Corp

Inventors

• Dalton Scott
• Bellinghausen Jeffrey Peter
• Nietfeld Scott Douglas
• Leinbaugh Jeffrey George
• Campbell Ian
• Yoo Cheang Tad
• Yang Lawrence
• Mucha Jeffrey Walter

Classifications

• A63F13/214

  for locating contacts on a surface, e.g. floor mats or touch pads · CPC title

• G06F2203/04105

  Pressure sensors for measuring the pressure or force exerted on the touch surface without providing the touch position · CPC title

• A63F13/218

  using pressure sensors, e.g. generating a signal proportional to the pressure applied by the player · CPC title

• A63F13/44

  involving timing of operations, e.g. performing an action within a time slot · CPC title

• G06F3/041 Primary

  Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means · CPC title