PCT
`
`WORLD INTELLECTUAL PROPERTY ORGANIZATION
`International Bureau
`
`WO 92/00559
`
`
`
`
`INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT)
`
`
` (51) International Patent Classification 5 :
`(11) International Publication Number:
` (43) International Publication Date:
`G06F 3/033, GO6K 11/18
`9 January 1992 (09.01.92)
`
`
`
`
`(21) International Application Number:
`PCT/GB91/00889|(81) Designated States: AT (European patent), BE (European
`patent), CH (European patent), DE (European patent),
`
`(22) International Filing Date:
`4 June 1991 (04.06.91)
`DK (European patent), ES (European patent), FR (Eu-
`
`
`ropean patent), GB (European patent), GR (European
`
`
`patent), IT (European patent), JP, LU (European pa-
`
`
`
` (30) Priority data:
`tent), NL (European patent), SE (European patent), US.
`9014130.0
`25 June 1990 (25.06.90)
`GB
`
`
`
`Published
`
`(71) Applicant (for all designated States except US): HEWLETT-
`With international search report.
`
`
`PACKARD COMPANY[US/US]; 3000 HanoverStreet,
`
`
`Palio Alto, CA 94304 (US).
`
`
`(72) Inventors; and
`(75) Inventors/Applicants (for US only) : GEMMELL, Mark,
`
`
`Alexander, Wilson [GB/GB]; 28 Grange Drive, Down-
`
`end, Bristol BSi6 2QW (GB). ROBSON, Christopher,
`
`John [GB/GB]; 27 Long Close, Downend, Bristol BS16
`2UF (GB).
`
`
`
`(74) Agent: SMITH, Denise, Mary; Hewlett-Packard Limited,
`Intellectual Property Section, Building 2, Filton Road,
`Stoke Gifford, Bristol BS12 6QZ (GB).
`
`
`
`(54) Title: INPUT DEVICE WITH TACTILE FEEDBACK
`
`
`
`
`0 Lo
`
`14
`
`(57) Abstract
`
`
`
`
`
`A computer system comprising meansfor displaying output to the user and meansfor enabling a user to provide input by
`selecting positions on the input means characterised by meansfor providing tactile feedback to a user according to the selected
`
`Valve Exhibit 1044
`positions.
`Valve Exhibit 1044
`Valve v. Immersion
`Valve v. Immersion
`
`
`
`
`
`

`

`FOR THE PURPOSES OF INFORMATION ONLY
`
`Codesused to identify States party to the PCT on the front pages of pamphlets publishing international
`applications under the PCT.
`
`United States of America
`
`Spain
`Finland
`France
`Gabon
`United Kingdom
`Guinea
`Greece
`Hungary
`Italy
`Japan
`Democratic Peopic’s Republic
`of Korea
`Republic of Korea
`Liechtenstein
`Sri Lanka
`Luxembourg
`Monaco
`
`Austria
`Australia
`Barbados
`Belgium
`Burkina Faso
`Bulgaria
`Benin
`Brazil
`Canada
`Central African Republic
`Congo
`Switzerland
`Cote d'Ivoire
`Cameroon
`Czechoslovakia
`Germany
`Denmark
`
`Madagascar
`Mali
`Mongolia
`Mauritania
`Malawi
`Netherlands
`Norway
`Poland
`Romania
`Sudan
`Sweden
`Senegal
`Sovict Union
`Chad
`Togo
`
`

`

`WO 92/00559
`
`PCT/GB91/00889
`
`INPUT DEVICE. WITH TACTILE FEEDBACK
`
`The present
`
`invention relates
`
`to computer user
`
`oi)
`
`interfaces.
`
`10
`
`15
`
`20
`
`Presently available computer user interfaces are many
`and varied. Several graphical user interfaces are available
`and most
`of
`these
`are windows—based,
`eg,
`XWindows,
`MSWindows. Generally, particular areas of the screen have
`special significance in enabling the user to make selections
`and perform tasks.
`For example,
`the user may be presented
`with soft function keys,
`icons representing applications or
`work items, windows having borders with sections for sizing,
`scrolling, etc. Often, selection of such screen areas is
`accompanied by visual
`feedback for the user,
`such as a
`colour change or
`flashing effect.
`It
`is also known to
`provide
`audible
`feedback in some
`systems,
`such
`as
`a
`selection of particular icons.
`
`It is also common to provide an accessory for enabling
`a user to provide input
`to a computer system,
`such as a
`touch screen overlay or a digital tablet.
`In the case of a
`digital tablet or other input accessory separate from the
`output display screen the user may make selections by
`touching the surface of the accessory.
`The surface of the
`
`accessory may correspond to the screen surface to allow a
`user to make selections from displayed output or may be
`independent of the displayed output, eg,
`in a CAD system.
`
`The present invention aims to provide an improvement
`relating to computer user interfaces.
`
`invention we .provide a
`According to the present
`computer system comprising means for displaying output to a
`user and means
`for enabling a user to provide input by
`selecting positions on the input means characterised by
`
`

`

`WO 92/00559
`
`2
`
`PCT/GB91/00889
`
`means for providing tactile feedback to a user according to
`the selected positions.
`
`tra
`
`tactile feedback enhances a user
`The provision of
`interface from the human perspective and can be used to
`provide additional information to the user.
`
`Preferably, the system comprises means for varying the
`tactile feedback according to the selected positions.
`For
`
`10
`
`example,
`
`the tactile feedback given when a user selects a
`
`soft function key may be different from that given when an
`icon is selected.
`
`the system
`to be described,
`In the embodiments
`comprises means for providing vibrational tactile feedback
`
`15
`
`for
`the system comprises means
`Preferably,
`to a user.
`varying the frequency and/or amplitude of the vibrational
`tactile feedback according to the selected positions.
`Humans are sensitive to low frequency vibration and a
`preferred system comprises means
`for giving vibrational
`tactile feedback at a frequency of less than 200 Hertz to a
`user.
`
`20
`
`The feedback may be continuous vibrational feedback or
`pulsed vibrational feedback.
`In the latter case, varying
`
`the pulse envelopes may alter the effect experienced by a
`user.
`
`Preferably, the system comprises means for varying one
`or more characteristics of
`the vibrational
`feedback in
`
`30
`
`dependence upon the speed of movement of the user across the
`
`surface of the input means.
`
`This feature is particularly
`
`relevant in providing textural feedback and/or edge effects
`
`to a user as the user moves across the surface of the input
`means.
`
`

`

`WO 92/00559
`
`3
`
`PCT/GB91/00889
`
`The system may be configured to enable the user to
`provide input using a movable input device, such as a stylus
`or a mouse.
`In a preferred embodiment,
`the movable input
`device comprises means for providing tactile feedback to a
`user.
`
`The input means may be integral with the screen so
`
`that a user can provide input by touching the screen.
`
`the system may comprise input means in
`Alternatively,
`the form of an accessory having a surface corresponding to
`all or part of the screen and configured to enable a user to
`provide input to the system by touching the surface of the
`input means.
`The input means may be adapted to respond to
`human touch or to the touch of an input device,
`such as a
`
`stylus.
`
`The term "touching" in this context shall be taken to
`cover close proximity as well as actual contact, eg, a light
`
`pen may not need actually to make contact with a screen to
`have effect.
`
`10
`
`iS
`
`20
`
`In a further embodiment
`
`to be described,
`
`the input
`
`means comprises means for providing tactile feedback to a
`user. Preferably,
`the system comprises means for vibrating
`the input means.
`
`The input means may comprise the screen of a touch-
`
`screen computer
`
`system or a touch-screen overlay for
`
`a
`
`input means may
`the
`Alternatively,
`screen.
`computer
`comprise an accessory, such as a digital tablet.
`
`Particular embodiments of the present
`
`invention will
`
`now be described, by way of example, with reference to the
`accompanying drawings in which :
`
`35
`
`

`

`WO 92/00559
`
`4
`
`PCT/GB91/00889
`
`Fig 1
`
`shows a computer system according to a first
`embodiment of the present invention;
`
`Fig 2
`
`a computer
`second embodiment of
`a
`shows
`system according to the present invention;
`Figs 3A/B show two embodiments of a stylus for use in
`a computer system of the present invention;
`shows a mobile workstation according to the
`present invention;
`
`Fig 4
`
`.
`
`10
`
`15
`
`20
`
`Fig 5
`
`is another embodiment of a computer system
`according to the present invention;
`
`Fig 6
`
`is a vibration graph.
`
`Figure 1 shows a computer system indicated generally
`at 10 comprising a work station 12 and touch sensitive input
`means 14.
`The workstation has a serial input/output (i/o)
`
`card 16 and a digital to analogue converter (D/A) board 18.
`
`A touchscreen driver 20 is connected between the input means
`
`14 and the serial i/o card 16 of the work station 12.
`
`The input means 14 is a touch sensitive transparent
`plate which is flexibly mounted at three corners and which
`has a vibrating mechanism 22 attached to the other corner.
`The vibrating mechanism is a speaker coil which receives
`signals from the D/A board 18. The input means is designed
`to overlay a video or LCD display (not shown) which receives
`
`from the workstation so that a user can touch the
`output
`input means 14 to select items on the underlying display.
`
`The input means may be sensitive to the touch of a user's
`
`finger or a stylus.
`
`30
`
`In use,
`tactile feedback is provided to a user
`accordingly to choices made by the user by selectively
`vibrating the input means 14. Signals from the touchscreen
`
`driver
`
`20 are processed by the workstation 12
`
`in the
`
`35
`
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`
`

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`
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`
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`

`

`WO 92/00559
`
`6
`
`;
`
`PCT/GB91/00889
`
`The system is configured to provide tactile feedback
`which varies according to which part of the displayed output
`is selected by the user and also according to how the user
`
`touches the input means 14, eg, whether the user's finger or
`stylus is still or moving across the surface of the input
`means 14.
`The vibrational feedback generated when an icon
`is selected may well be different from that generated when
`a document or button is selected. The variation in feedback
`is achieved by varying the frequency and/or amplitude of the
`vibration and/or the frequency and/or envelope of pulses if
`pulsed feedback is being given.
`
`Humans
`
`are
`
`touch
`
`sensitive
`
`to
`
`relatively
`
`low
`
`frequencies and frequencies in the range 20Hz - 200 Hz are
`appropriate.
`A continuous wave will feel different to a
`
`user depending on the frequency because different standing
`waves are generated in the user's finger or stylus.
`The
`amplitude of the vibration can be varied from that which is
`
`For certain
`barely discernible to that which is audible.
`items, eg, buttons, the feedback may be such that a physical
`click is both heard and felt by the user.
`
`Pulsed waveforms can be used to give subtlety to the
`
`feedback.
`
`Pulses of more than 2ms duration sound and feel
`
`more complex to a user.
`
`10
`
`ig
`
`20
`
`It is possible to convey a sense of texture to a user
`using different noise spectra. Texture can only be felt if
`the user's finger or stylus is moving across the surface of
`the input means 14 and the speed of movement is a parameter
`which is used to generate feedback.
`Textural vibration is
`
`35
`
`zero when the user's finger or stylus is stationary and
`increases with the speed of movement of the finger or stylus
`across the surface of the input means.
`In this way it is
`possible to provide edge effects to a user as well as
`different surface texture effects.
`
`

`

`WO 92/00559
`
`7
`
`PCT/GB91/00889
`
`Referring to Figure 1, the touch sensitive input means
`
`14 may alternatively be a transparent overlay for the screen
`of the workstation 12 with means
`for attaching the input
`
`the workstation 12.
`to the visual display unit of
`means
`Another alternative is for the touch sensitive input means
`14 to be the actual display screen of the workstation in
`which case input and output means are combined and the
`vibration mechanism is built into the workstation casing.
`
`10
`
`A further alternative is for the touch sensitive input
`
`tablet. Digital
`incorporated in a digital
`to be
`means
`tablets are commonly used in computer aided design systems.
`
`To facilitate the selection between very many alternative
`
`15
`
`design components, it is possible to use overlays for the
`
`digital
`tablet for certain classes of component, eg, one
`overlay for resistors and another for capacitors in a CAD
`
`system for designing circuit boards, and to switch the input
`
`20
`
`the
`In such a case,
`mode according to the chosen overlay.
`digital
`tablet
`could be configured to provide tactile
`feedback to simulate the depression of buttons for each
`choice.
`In this example, selection of a position on the
`
`input means (digital tablet) does not necessarily correspond
`to a particular position on the output display of
`the
`
`system.
`
`Referring to Figure 2,
`
`in another embodiment the touch
`
`sensitive input means is responsive to input from an active
`
`stylus 24.
`
`In this embodiment,.
`
`the stylus comprises a
`
`vibrating mechanism and the input means
`
`14
`
`does not.
`
`Otherwise,
`
`the reference numbers for the components are the
`
`same as in Figure 1.
`
`The stylus 24 receives signals from the D/A board 18
`
`35
`
`and vibrates in accordance with these signals to provide
`
`tactile feedback to the user.
`
`In the previous discussion on
`
`different aspects of tactile feedback, the same points apply
`
`

`

`WO 92/00559
`
`8
`
`PCT/GB91/00889
`
`tn
`
`10
`
`whether
`
`the user
`
`is
`
`sensing the feedback by touching
`
`vibrating input means directly or with an ordinary stylus or
`whether
`the user
`is holding an input device,
`such as a
`
`stylus, which vibrates.
`
`‘Figures 3A and 3B show alternative stylus vibrating
`mechanisms.
`In Figure 3A a stylus 24a comprises a solenoid
`26 which is attached to a spring-mounted weight 28 housed
`within the body of the stylus.
`On receipt of signals from
`the D/A board 18,
`the solenoid 26 causes the weight 28 to
`vibrate as indicated by the arrows which vibration is felt
`
`In Figure 3B, a stylus 24 b
`by a user holding the stylus.
`comprises a solenoid 30 which is attached to a spring-
`
`mounted tip 32 of the stylus.
`
`On receipt of signais from
`
`the D/A board 18
`
`the solenoid 30 causes the tip 32
`
`to
`
`vibrate to provide tactile feedback to a user. Stylus tip
`vibrations are suitable for conveying precise edge detail to
`a user.
`
`Figure 4 shows a mobile workstation 35 comprising a
`stylus 36 and a touchscreen 38.
`The workstation 35
`is
`
`designed to accept stylus input and to provide tactile
`feedback to a user via a vibrating mechanism in the stylus
`36.
`
`Another embodiment of the present invention is shown
`in Figure 5 in which a computer system indicated generally
`at 40 comprises a workstation 42 provided with a serial i/o
`
`card 44
`
`and a D/A board 46.
`
`The workstation 42
`
`is
`
`configured to receive input from a mouse 48 and to provide
`
`tactile feedback to a user by means of signals from the D/A
`
`board 46 to a vibrating mechanism (not shown) comprising a
`solenoid attached to a spring-mounted weight within the
`
`casing of the mouse 48.
`
`indicating certain
`two graphs
`combines
`6
`Figure
`measurements which it is useful
`to make when designing a
`
`

`

`WO 92/00559
`
`9
`
`PCT/GB91/00889
`
`tn
`
`10
`
`15
`
`20
`
`One is a graph
`invention.
`system according to the present
`of frequency of vibration against the voltage used to drive
`a speaker coil needed for the vibration to just be able to
`be felt
`(both axes are non-linear scales).
`This is the
`"threshold of
`feeling" curve.
`The
`second graph is of
`frequéncy against a (subjective) strength of feeling scale
`
`The full black
`to produce the "strength of feeling" curve.
`lines are simplified approximations of these two curves.
`
`The
`
`graph
`
`shows
`
`that
`
`the
`
`threshold of
`
`feeling
`
`In terms of
`generally decreases as frequency increases.
`volts used to generate vibration,
`the strength of feeling
`increases with
`increasing
`frequency
`to
`around
`40Hz,
`stabilises and then begins
`to decrease markedly beyond
`120Hz.
`
`It will be appreciated that the present invention is
`applicable to various types of computer system whether the
`user works at a terminal connected to a host computer or an
`intelligent workstation such as a PC which stands alone or
`is part of a computer network.
`
`The vibrating mechanism which is employed to provide
`tactile feedback may be chosen according to requirements.
`Embodiments utilising a solenoid and a speaker coil have
`been described but it is also possible to use a piezo-~
`electric device or other vibrating mechanism.
`
`

`

`WO 92/00559
`
`10
`
`CLATMS
`
`PCT/GB91/00889
`
`A computer system comprising means for displaying output
`
`to the user and means for enabling a user to provide input
`
`by selecting positions on the input means characterised by
`
`means for providing tactile feedback to a user according to
`
`the selected positions.
`
`A system according to claim 1 comprising means for varying
`
`the tactile feedback according to the selected positions.
`
`A system according to claim 1 or claim 2 comprising means
`
`for providing vibrational tactile feedback to a user.
`
`A system according to claim 3 comprising means for varying
`
`the frequency and/ or amplitude of the vibrational tactile
`
`feedback according to the selected positions.
`
`A system according to claim 3 or claim 4 comprising means
`
`for providing vibrational tactile feedback at a frequency
`
`of less than 200 Hertz.
`
`A system according to any one of claims 3 to 5 comprising
`
`means for providing continuous vibrational
`
`feedback to a
`
`user.
`
`

`

`WO 92/00559
`
`11
`
`PCT/GB91/00889
`
`A system according to any one of claims 3
`
`to 5 comprising
`
`means for providing pulsed vibrational feedback to a user.
`
`A system according to any one of claims 3
`to 7 comprising
`means
`for varying one or more characteristics of
`the
`
`vibrational
`
`feedback in dependence upon the speed of
`
`movement of the user across the surface of the input means.
`
`A system according to any preceding claim configured to
`
`enable the user to provide input using a movable input
`
`device.
`
`10.
`
`A system according to claim 9
`
`in which’ the movable input
`
`device comprises means for providing tactile feedback to a
`
`user.
`
`11.
`
`A system according to claim 10 wherein the input device is
`
`a stylus.
`
`12.
`
`A system according to claim 10 wherein the input device is
`
`a mouse.
`
`13.
`
`A system according to any preceding claim wherein the input
`
`means is integral with the screen so that a user can provide
`
`input by touching the screen.
`
`

`

`WO 92/00559
`
`12
`
`PCT/GB91/00889
`
`14.
`
`A system according to any one of claims 1 to 12 comprising
`
`input means in the form of an accessory which is configured
`
`to enable a user to provide input to the system by touching
`
`a surface of the input means.
`
`15.
`
`A system according to claim 14 wherein the input means
`
`comprises an overlay for the screen.
`
`16.
`
`A system according to claim 14 wherein the input means
`
`comprises an accessory separate from the screen.
`
`17.
`
`A computer
`
`system according to claim 16 wherein the
`
`accessory is a digital tablet.
`
`18.
`
`A system according to any preceding claim wherein the input
`
`means comprises means for providing tactile feedback to a
`
`user.
`
`19.
`
`A
`
`system according to claim 18
`
`comprising means
`
`for
`
`vibrating the input means.
`
`20.
`
`A system according to any one of claims 13 to 19 wherein the
`
`input means is adapted to respond to human touch.
`
`21.
`
`A system according to any one of claims 13 to 19 wherein
`
`the input means is adapted to respond to the touch of an
`
`input device.
`
`

`

`WO 92/00559
`
`PCT/GB91/00889
`
`1/5
`
`FIG1
`
`
`
`SUBSTITUTE SHEET
`
`

`

`WO 92/00559
`
`PCT/GB91/00889
`
`0
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`SUBSTITUTE SHEET
`
`

`

`WO 92/00559
`
`PCT/GB91/00889
`
`3/5
`
`35
`
`FIG4
`
`38
`
`36
`
`SUBSTITUTE SHEET
`
`

`

`WO 92/00559
`
`PCT/GB91/00889
`
`4/5
`
`FIG5
`
`42
`
`SUBSTITUTE SHEET
`
`

`

`WO92/00559
`
`PCT/GB91/00889
`
`9/5
`
`00S
`
`
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`SUBSTITUTE SHEET
`
`
`

`

`«NTERNATIONAL SEARCH REPORT
`International Applitation No
`
`PCT/GB 91/00889
`
`I, CLASSIFICATION OF SUBJECT MATTER (if several classification symbols apply, indicate all)®
`According to International Patent Classification (PC) or to both National Classification and IPC
`Int.Cl.
`5
`GO6F3/033 ; G06K11/18
`
`Il. FIELDS SEARCHED
`
`Classification System
`
`Int.Cl. 5
`
`GO6F ;
`
`Minimum Documentation Searched?
`
`Classification Symbols
`
`Documentation Searched other than Minimum Documentation
`to the Extent that such Documents are Included in the Fields Searched®
`
`Ill. DOCUMENTS CONSIDERED TO BE RELEVANT?
`
`Category °
`
`Citation of Document, !! with indication, where appropriate, of the relevant passages 12
`
`Relevant to Claim No.!3
`
`IBM TECHNICAL DISCLOSURE BULLETIN.
`vol. 32, no. 9B, February 1990, NEW YORK US
`pages 230 - 235;
`'Mouse ball-actuating device
`with force and tactile feedback '
`see page 234,
`line 1 - line 21
`see page 235, paragraph 5
`
`US,A,4 885 565 (J.T. EMBACH) December 5, 1989
`see abstract
`see column 1,
`see column 2,
`
`line 34 - line 39
`line 3 - line 9
`
`1-4,9,
`10,12
`
`1,13,20
`
`14,15
`
`Patricia Smith)
`
`° Special categories of cited documents : '©
`“A” document defining the general state of the art which is not
`considered to be of particular relevance
`“E” earlier document but published on or after the international
`filing date
`“L” document which may throw doubts on priority claim(s) or
`whichIs cited to establish the publication date of another
`eltation or other special reason (as specified)
`“O* document referring to an oral disclosure, use, exhibition or
`other means
`Pp” document published prior to the internationalfiling date but
`later than the priority date claimed
`
`later document published after the international filing date
`or priority date and not in conflict with the application but
`cited to understand the principle or theory underlying the
`invention
`documentofparticular relevance; the claimed invention
`cannot be considered novel or cannot be considered to
`involve an inventive step
`documentofparticular relevance; the claimed Invention
`cannot be considered to involve an inventive step when the
`document is combined with one or more other such docu-
`ments, such combination being obvious to a person skilled
`in the art.
`document member of the samepatent family
`
`Date of the Actual Completion of the International Search
`
`29 AUGUST 1991
`
`Date of Mailing of this International Search Report
`9 10. Sf
`
`International Searching Authority
`
`Signature of Authorized Officer.
`
`EUROPEAN PATENT OFFICE
`
`Form PCT/ISA/210 (second sheet) (January 1985)
`
`

`

`International Application No
`(CONTINUED FROM THE SECOND SHEET)
`fil. DOCUMENTS CONSIDERED TO BE RELEVANT
`Citation of Document, with indication, where appropriate, of the relevant passages
`
`PCT/GB 91/00889
`
`Relevant to Claim No.
`
`BIOENGINEERING CONF.
`March 11, 1988, DURHAM, NH, US
`pages 146 - 149;
`J.A- TERRY ET AL.:
`_ computer mouse '
`line 1 - line 8
`see page 146,
`left column,
`see page 146, right column, paragraph 3
`see page 146, right column,
`line 1 - line 9
`
` PROC. OF THE 14TH ANNUAL NORTHEAST
`
`'Tactile feedback in a
`
`EP,A,O0 116 730 (IBM CORP.) August 29, 1984
`see abstract
`see page 6,
`
`last paragraph - page 7, paragraph 1
`
`Form PCT/ISA/210 (extra sheet) (January 1985)
`
`

`

`1
`
`EP-A-0116730
`
`29-08-84
`
`JP-A-
`US-A-
`
`59142640
`4667182
`
`15-08-84
`19-05-87
`
`ANNEX TO THE INTERNATIONAL SEARCH REPORT
`ON INTERNATIONAL PATENT APPLICATION NO.
`
`GB
`SA
`
`9100889
`47984
`
`23/09/91
`
`This annexlists the patent family members relating to the patent documentscited in the above-mentioned international search report.
`The members are as contained in the European Patent Office EDPfile on
`The Eurepean Patent Office is in no wayliable for these particulars which are merely given for the purpose of information.-
`
`«
`
`For more details about this annex : sce Official Journal of the European Patent Office, No. 12/82
`
`