Method and apparatus for generating haptic effects using actuators

Patent metadata

Field	Value
Publication number	US-9891708-B2
Application number	US-48102409-A
Country	US
Kind code	B2
Filing date	Jun 9, 2009
Priority date	Jun 9, 2009
Publication date	Feb 13, 2018
Grant date	Feb 13, 2018

Abstract

A method and apparatus of actuator control mechanisms for haptic effects are disclosed. The apparatus can include an actuator and a controller for controlling a haptic cell. Depending on the type of haptic effect desired, as well as the damping characteristics of the system, the controller can generate a kick-in pulse followed by a main pulse to create an increased acceleration response, and/or a braking pulse to provide a damping effect for a short mechanical type of haptic effect.

First claim

What is claimed is:

1. A haptic interface apparatus, comprising:
an actuator coupled to a haptic cell and comprising the actuation component, a moveable mass, and a biasing component, wherein the actuation component is configured to actuate a moveable mass in a first direction away from a resting position when power is applied to the actuation component, and wherein the biasing component is configured to exert a force in a second and opposite direction on the moveable mass so as to actuate the moveable mass back toward the resting position when power is not applied to the actuation component; and
a controller configured to apply a control signal for a haptic effect by:
applying a first pulse of the control signal for moving the moveable mass of the actuator away from a resting position; and
after applying the first pulse, applying a second pulse of the control signal for moving the moveable mass of the actuator before the moveable mass of the actuator returns to the resting position, wherein the first pulse and the second pulse are the only two pulses of the control signal used to generate a haptic effect responsive to a detected input indicative of a contact at a touch sensitive surface of the haptic interface apparatus, wherein each pulse of the first pulse and the second pulse has a first signal period with an amplitude greater than 0 V followed by a second signal period with an amplitude of 0 V, such that no power is applied to the actuation component in the second signal period, wherein the first pulse and the second pulse each has at least a rising edge, and wherein the first pulse and the second pulse have the same polarity, and wherein the first pulse has a first amplitude, and the second pulse has a first portion with a second amplitude that is higher than the first amplitude, and has a second portion that follows the first portion and that has the first amplitude.

2. The apparatus of claim 1 , wherein each of the first and second pulses has a duty cycle in a range from 40% to 60% of a sum of the duration of the first signal period and the second signal period.

3. The apparatus of claim 2 , wherein each of the first and second pulses has a period of between 5 and 20 ms, the period being a sum of the first signal period of the respective pulse and the second signal period of the respective pulse.

4. The apparatus of claim 1 , wherein the actuator improves output acceleration, which facilitates generation of haptic feedback in response to the first pulse and the second pulse.

5. The apparatus of claim 1 , wherein the haptic effect generates haptic sensation imitating a single mechanical click, wherein the haptic effect is generated by applying an acceleration on the moveable mass with the kick-in pulse and the main pulse, wherein the acceleration that is applied with the kick-in pulse and the main pulse has a duration of less than 20 ms, after which a peak-to-peak amplitude of the acceleration becomes zero.

6. The apparatus of claim 1 , wherein the controller is further configured to generate a braking pulse portion that is a portion of the second pulse.

7. The apparatus of claim 1 , wherein the first pulse and the second pulse have the same polarity.

8. The apparatus of claim 7 , the haptic effect having a duration of less than 100 ms.

9. A method for generating haptic feedback, comprising:
detecting an input indicative of a contact at a touch sensitive surface;
applying a kick-in pulse to an actuation component of an actuator in response to the input, wherein the actuator comprises the actuation component, a moveable mass, and a biasing component, wherein the actuation component is configured to actuate the moveable mass in a first direction away from a resting position when power is applied to the actuation component, and wherein the biasing component is configured to exert a force in a second and opposite direction on the moveable mass so as to actuate the moveable mass back toward the resting position when power is not applied to the actuation component;
applying a main pulse to the actuation component after applying the kick-in pulse and before the moveable mass returns to the resting position, wherein the kick-in pulse and the main pulse are the only two pulses used to generate a haptic effect responsive to the contact at the touch sensitive surface,
wherein the kick-in pulse is capable of increasing peak to peak acceleration value of the moveable mass, wherein each pulse of the kick-in pulse and the main pulse has a first signal period with an amplitude greater than 0 V followed by a second signal period with an amplitude of 0 V, such that no power is applied to the actuation component in the second signal period, wherein the main pulse and the kick-in pulse each has at least a rising edge, and wherein the kick-in pulse and the main pulse have the same polarity, and wherein the kick-in pulse has a first amplitude, and the main pulse has a first portion with a second amplitude that is higher than the first amplitude, and has a second portion that follows the first portion and that has the first amplitude.

10. The method of claim 9 , wherein detecting the input comprises detecting a depression on the touch sensitive surface.

11. The method of claim 9 , wherein the contact represents a single click of a button, wherein the haptic effect is generated by applying an acceleration on the moveable mass with the kick-in pulse and the main pulse to emulate the single click of the button, and wherein the acceleration that is applied with the kick-in pulse and the main pulse has a duration of less than 20 ms, after which a peak-to-peak amplitude of the acceleration becomes zero.

12. The method of claim 9 , further comprising ascertaining whether a pulse frequency generated by the actuator is similar to a predetermined pulse frequency.

13. The method of claim 9 , wherein the actuation component comprises a solenoid.

Assignees

• Cruz Hernandez Juan Manuel
• Grant Danny A
• Heubel Robert W
• Immersion Corp

Inventors

• Cruz Hernandez Juan Manuel
• Grant Danny A
• Heubel Robert W

Classifications

• A63F2300/1037

  being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback · CPC title

• G06F3/016 Primary

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