as) United States
`a2) Patent Application Publication co) Pub. No.: US 2005/0134562 Al
`(43) Pub. Date: Jun. 23, 2005
`
`Grantet al.
`
`US 20050134562A1
`
`(54) SYSTEM AND METHOD FOR
`CONTROLLING HAPTIC DEVICES HAVING
`MULTIPLE OPERATIONAL MODES
`
`(76)
`
`Inventors: Danny A. Grant, Montreal (CA);
`Kollin M.Tierling, Milpitas, CA (US);
`Juan Manuel Cruz-Hernandez,
`Montreal (CA); Alex S. Goldenberg,
`San Francisco, CA (US)
`
`Correspondence Address:
`COOLEY GODWARD LLP
`ATTN: PATENT GROUP
`11951 FREEDOM DRIVE, SUITE 1700
`ONE FREEDOM SQUARE- RESTON TOWN
`CENTER
`RESTON, VA 20190-5061 (US)
`
`(21) Appl. No.:
`
`10/873,643
`
`(22)
`
`Filed:
`
`Jun. 23, 2004
`
`Related U.S. Application Data
`
`(60) Provisional application No. 60/530,979,filed on Dec.
`22, 2003.
`
`Publication Classification
`
`(51) Ute C17 accccecscsssssssssssssesnssnssstsesnen G09G 5/08
`(52) US. Che
`cassssssssstsessssssstsntesnssnststsntnntete 345/161
`
`(57)
`
`ABSTRACT
`
`A haptic device having a plurality of operational modes,
`including a first operational mode and a second operational
`mode is provided. The first operational mode is associated
`with a frequency range. The second operational mode is
`associated with a frequency rangethat is different from the
`frequency rangeofthe first operational mode. A controlleris
`coupled to the haptic device, and is configured to send the
`haptic device a plurality of control schemes. Each control
`scheme is uniquely associated with an operational mode
`from the plurality of operational modes.
`
`Another embodiment provides a methodthat includes pro-
`viding power to a haptic device configured to cause the
`haptic device to provide a haptic sensation above a pre-
`determined sensation threshold. A voltage pulse that
`is
`configured to change the haptic sensation output by the
`haptic device by a pre-determined amount within a pre-
`determined time period is also applied to the haptic device.
`
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`Patent Application Publication Jun. 23,2005 Sheet 3 of 15
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`US 2005/0134562 Al
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`Patent Application Publication Jun. 23,2005 Sheet 4 of 15
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`US 2005/0134562 Al
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`Patent Application Publication Jun. 23,2005 Sheet 5 of 15
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`Patent Application Publication Jun. 23,2005 Sheet 6 of 15
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`Patent Application Publication Jun. 23,2005 Sheet 7 of 15
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`US 2005/0134562 Al
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`Low-frequency range
`
`Transitional
`frequency range
`
`High-frequency range
`
`Frequency Hz
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`pulse
`
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`
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`
`8
`
`

`

`Patent Application Publication Jun. 23,2005 Sheet 8 of 15
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`US 2005/0134562 Al
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`
`c) non-zero-mean
`bipolar pulse
`
`Fig. 12
`
`9
`
`

`

`Patent Application Publication Jun. 23,2005 Sheet 9 of 15
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`US 2005/0134562 Al
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`Patent Application Publication Jun. 23,2005 Sheet 10 of 15
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`US 2005/0134562 Al
`
`desired period
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`

`

`Patent Application Publication Jun. 23,2005 Sheet 11 of 15
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`US 2005/0134562 Al
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`1feesired
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`Max On time = Max Magnitude
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`Fig. 18
`
`12
`
`12
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`

`

`Patent Application Publication Jun. 23,2005 Sheet 12 of 15
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`US 2005/0134562 Al
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`2.5
`
`
`
`Regular-Step Drive Signal 702a ————
`Velocity 704a=_———-——
`
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`
`13
`
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`

`

`Velocity 300
`
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`
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`
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`
`800
`
`Patent Application Publication Jun. 23,2005 Sheet 13 of 15
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`US 2005/0134562 Al
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`Lead-In-Pulse Drive Signal 702b
`Improved Velocity 704b ——————
`
`400
`time in ms
`
`Fig. 19B
`
`14
`
`14
`
`

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`Patent Application Publication Jun. 23,2005 Sheet 14 of 15
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`US 2005/0134562 Al
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`

`Patent Application Publication Jun. 23,2005 Sheet 15 of 15
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`US 2005/0134562 Al
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`

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`US 2005/0134562 Al
`
`Jun. 23, 2005
`
`SYSTEM AND METHOD FOR CONTROLLING
`HAPTIC DEVICES HAVING MULTIPLE
`OPERATIONAL MODES
`
`PRIORITY
`
`[0001] This Application claims priority to U.S. Provi-
`sional Patent Application No. 60/530,979, file on Dec. 22,
`2003, entitled, “System and Method for Controlling Haptic
`Devices Having Multiple Operational Modes,” the entire
`disclosure of which is incorporated herein by reference.
`
`BACKGROUND
`
`[0002] The invention relates generally to haptic feedback
`devices. More specifically, the invention relates to control-
`ling haptic devices each having multiple operational modes.
`
`[0003] Computer users often use interface devices to pro-
`vide information to computers or other electronic devices.
`For example, with such interface devices, a user can interact
`with an environment displayed by a computer to perform
`functions and tasks on the computer, such as playing a game,
`experiencing a simulation or virtual reality environment,
`using a computer aided design system, operating a graphical
`user interface (GUI), or otherwise affecting processes or
`images depicted on an output device of the computer.
`Common human interface devices for computers or elec-
`tronic devices include, for example, a joystick, button,
`mouse, trackball, knob, steering wheel, stylus, tablet, pres-
`sure-sensitive ball, remote control, wireless phone, and
`stereo controls.
`
`In someinterface devices, feedback, such as force
`[0004]
`feedback, can also be provided to a user. Each of these
`interface devices, for example, includes one or more haptic
`devices, which are connected to a controlling processor
`and/or computer. Consequently, by a controlling processor,
`controller, and/or computer, haptic forces produced by the
`haptic device can be controlled in coordination with actions
`of the user and/or events associated with an audible envi-
`ronmentor a graphical or displayed environmentby sending
`control signals or commands to haptic feedback device.
`
`[0005] Multi-mode haptic devices that provide desirable
`performance have been developed. For example, U.S. appli-
`cation Ser. No. 10/301,809, entitled, “Haptic Feedback
`Using Rotary Harmonic Moving Mass,” the entire disclo-
`sure of which is incorporated herein by reference, discloses
`haptic feedback using a device having a rotary harmonic
`moving mass. Accordingly, additional systems and methods
`for controlling multi-mode haptic devices are desirable.
`
`SUMMARY
`
`[0006] An embodimentof the invention provides a system
`and method for controlling multi-mode haptic devices. A
`haptic device having multiple operational modes, including
`a first operational mode and a second operational mode is
`provided. The first operational mode is associated with a
`frequency range. The second operational modeis associated
`with a frequency range that is different from the frequency
`range of the first operational mode. A controller is coupled
`to the haptic device, and is configured to send the haptic
`device multiple control schemes. Each control scheme is
`uniquely associated with an operational mode from the
`multiple operational modes. According to an embodimentof
`
`the invention, the controller is configured to combine each
`control scheme from the multiple control schemesprior to
`sending the multiple control schemesto the haptic device.
`
`[0007] Another embodiment of the invention provides a
`method that uses a voltage pulse to reduce the response time
`of a device. According to this method, steady-state poweris
`provided to a haptic device that is configured to cause the
`haptic device to output a haptic sensation above a pre-
`determined sensation threshold. A voltage pulse, which is
`configured to change the haptic sensation output by the
`haptic device by a pre-determined amount within a pre-
`determined, reduced response time, is applied to the haptic
`device. According to an embodimentof the invention, the
`voltage pulse is applied to the haptic device prior to pro-
`viding the steady-state power to the haptic device. Accord-
`ing to another embodiment, the voltage pulse is applied to
`the haptic device after terminating the steady-state power
`provided to the haptic device. The voltage pulse can be
`applied to a single-mode haptic device or a multi-mode
`haptic device. According to one or more embodiments of the
`invention, use of such a voltage pulse can improve response
`time of a haptic device to which the pulse is applied (e.g., for
`stopping or starting haptic effects, etc.).
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`[0008] FIG.1 is a block diagram of a system including a
`processor system and aninterface device, according to an
`embodimentof the invention.
`
`[0009] FIG. 2Ais a diagram illustrating a haptic device,
`a controller, and a sensor, according to an embodimentof the
`invention.
`
`[0010] FIG. 2B is a block diagram of a haptic device,
`according to an embodimentof the invention.
`
`[0011] FIG. 3A is a perspective view of a haptic device,
`according to an embodimentof the invention.
`
`[0012] FIG. 3B is a cross-sectional view of the haptic
`device shown in FIG. 3A.
`
`[0013] FIG.4A is a perspective view of a haptic device,
`according to an embodimentof the invention.
`
`[0014] FIG. 4B is a cross-sectional view of the haptic
`device shown in FIG. 4A.
`
`[0015] FIG. 5 shows a top view of a portion of a haptic
`device, according to an embodimentof the invention.
`
`[0016] FIG. 6 showsa top view of a portion of a haptic
`device, according to an embodiment of the invention.
`
`[0017] FIG. 7 shows a top view of a portion of a haptic
`device, according to an embodimentof the invention.
`
`[0018] FIG. 8 is a plot showing an acceleration-versus-
`time response of a haptic device, according to an embodi-
`ment of the invention.
`
`[0019] FIG. 9 is a plot showing an acceleration-versus-
`time response of a haptic device, according to an embodi-
`ment of the invention.
`
`[0020] FIG. 10 is a plot showing drive-signal frequency
`ranges of a multi-mode haptic device, according to an
`embodimentof the invention.
`
`17
`
`17
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`

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`Jun. 23, 2005
`
`[0021] FIGS. 11A-11G are plots showing examples of
`signals used to drive a haptic device, according to an
`embodimentof the invention.
`
`[0022] FIGS. 12A-12C are plots showing examples of
`signals used to drive a haptic device, according to an
`embodimentof the invention.
`
`[0023] FIGS. 13A-13E are plots showing examples of
`signals used to drive a haptic device, according to an
`embodimentof the invention.
`
`[0024] FIG. 14 is a plot showing an example of a signal
`used to drive a haptic device, according to an embodiment
`of the invention.
`
`[0025] FIG. 15 is a diagram illustrating elements of an
`embodiment of the invention.
`
`[0026] FIG. 16 is a plot showing an example of a signal
`used to drive a haptic device, according to an embodiment
`of the invention.
`
`[0027] FIG. 17 is a plot showing an example of a signal
`used to drive a haptic device, according to an embodiment
`of the invention.
`
`tent), and can be felt by a user using a controller or
`manipulating a physical object of the interface device.
`
`[0035] According to an embodiment of the invention, a
`haptic device has multiple operational modes.A first opera-
`tional mode is associated, for example, with a high-fre-
`quency range, and a second operational modeis associated,
`for example, with a low-frequency range control scheme
`associated with each of the operational modescan besentto
`the haptic device; each of the control schemes can cause the
`haptic device to provide a particular haptic feedback. The
`control scheme associated with each frequency range can be
`combined (e.g., superimposed, added, multiplied, con-
`volved, combined by a non-vectored operation, etc.) with
`one or more remaining control schemes, or otherwise oper-
`ated on, according to pre-determined rules to provide a
`transitional response between the frequency ranges. In this
`manner, an embodiment of the invention provides for a
`“blending” or “transitioning” of haptic feedback from a
`low-frequency range to a high-frequency range such that the
`performance over and between the low- and high-frequency
`ranges is relatively seamless.
`
`[0036] According to another embodiment ofthe invention,
`a haptic device having multiple operational modes is pro-
`[0028] FIGS. 18A-18C are plots showing examples of
`vided. The multiple operational modes of the haptic device
`signals used to drive a haptic device, according to an
`include, for example, a low-frequency operational mode, a
`embodimentof the invention.
`high-frequency operational mode, andatransitional opera-
`tional mode, which is associated with frequencies between
`[0029] FIG. 19A is a plot showing an example of a step
`low frequencies associated with the low-frequency mode
`signal used to drive a haptic device and the corresponding
`and high frequencies associated with the high-frequency
`response of the haptic device, according to an embodiment
`of the invention.
`mode. The low-frequency operational mode is sometimes
`referred to herein as “unidirectional” (e.g., unidirectional
`spinning of a rotational device), and the high-frequency
`operational mode is sometimes referred to herein as “har-
`monic”or “oscillating.” The transitional operational modeis
`associated with a transitional frequency range that combines
`a superposed response of the unidirectional mode and the
`harmonic mode. The low-frequency operational mode is
`associated with, for example, frequencies up to approxi-
`mately 10 Hz, and the high-frequency operational modeis
`associated with frequencies, for example, above approxi-
`mately 10 Hz. A transitional frequency range associated with
`the transitional operational mode includes, for example,
`frequencies from about 5 Hz to about 25 Hz, where the
`low-frequency and high-frequency operational modes are
`associated with frequencies below and abovethe transitional
`frequency range, respectively.
`
`[0030] FIG. 19B is a plot showing an exampleofa signal
`used to drive a haptic device and the corresponding response
`of the haptic device, according to an embodiment of the
`invention.
`
`[0031] FIG. 20A is a plot showing an example of a step
`signal used to drive a haptic device and the corresponding
`response of the haptic device, according to an embodiment
`of the invention
`
`FIG.20Bis a plot showing an exampleofa signal
`[0032]
`used to drive a haptic device and the corresponding response
`of the haptic device, according to an embodiment of the
`invention.
`
`DETAILED DESCRIPTION
`
`[0033] Systems and methods for controlling multi-mode
`haptic devices are described. More specifically, an embodi-
`ment of the invention is described in the context of a haptic
`device that has a multiple operational modes, each of which
`is associated with a frequency range. A controller is coupled
`to the haptic device and is configured to send the haptic
`device multiple control schemesassociated with the multiple
`operational modes.
`
`[0034] Feedback provided via a haptic device is some-
`times referred to as vibrotactile feedback or kinesthetic
`
`feedback, and is referred to more generally herein as “haptic
`feedback.” Such haptic feedback can be provided,
`for
`example, by way of a haptic device or an interface device
`including a haptic device. Interface devices that provide
`haptic feedback can provide physical sensations that can be
`measured by some metric (e.g., perceivable frequency con-
`
`[0037] FIG. 1 is a block diagram of a system having a
`processor system 10 and an interface device, according to an
`embodimentof the invention. The system illustrated in FIG.
`1 includes a processor system 10 in communication with an
`interface device 20. The processor system 10 can be, for
`example, a commercially available personal computer or a
`less complex computing or processing device that is dedi-
`cated to performing one or more specific tasks. For example,
`the processor system 10 can be a terminal dedicated to
`providing an interactive virtual reality environment, such as
`a gaming system,or the like.
`
`[0038] The processor system 10 includes a processor 12,
`which according to one or more embodiments of the inven-
`tion, can be a commercially available microprocessor. Alter-
`natively,
`the processor 12 can be an application-specific
`integrated circuit (ASIC) or a combination of ASICs, which
`
`18
`
`18
`
`

`

`US 2005/0134562 Al
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`Jun. 23, 2005
`
`is designed to achieve one or more specific functions, or
`enable one or more specific devices or applications. In yet
`another alternative, the processor 112 can be an analog or
`digital circuit, or a combination of multiple circuits.
`
`the processor 12 can optionally
`[0039] Alternatively,
`include one or more individual sub-processors or coproces-
`sors. For example,
`the processor can include a graphics
`coprocessorthat is capable of rendering graphics, a control-
`ler that is capable of controlling one or more devices, a
`sensorthat is capable of receiving sensory input from one or
`more sensing devices, and so forth.
`
`[0040] The processor system 10 also includes a memory
`component 14. As shownin FIG.1, the memory component
`14 can include one or more types of memory. For example,
`the memory component 14 can include a read only memory
`(ROM) component 14A and a random access memory
`(RAM) component 14B. The memory component 14 can
`also include other types of memory not illustrated in FIG. 1
`that are suitable for storing data in a form retrievable by the
`processor 12. For example, electronically programmable
`read only memory (EPROM),erasableelectrically program-
`mable read only memory (EEPROM),flash memory,as well
`as other suitable forms of memory can be included within
`the memory component 14. The processor system 10 can
`also include a variety of other components, depending upon
`the desired functionality of the processor system 10.
`
`[0041] The processor 12 is in communication with the
`memory component 14, and can store data in the memory
`component 14 or retrieve data previously stored in the
`memory component 14. The components of the processor
`system 10 can communicate with devices external to the
`processor system 10 by way of an input/output (I/O) com-
`ponent 16. According one or more embodiments of the
`invention, the I/O component 16 can include a variety of
`suitable communication interfaces. For example,
`the I/O
`component 16 can include, for example, wired connections,
`such as standard serial ports, parallel ports, universal serial
`bus (USB) ports, S-video ports, large area network (LAN)
`ports, small computer system interface (SCSI) ports, audio
`ports, and so forth. Additionally, the I/O component 16 can
`include, for example, wireless connections, such as infrared
`ports, optical ports, Bluetooth wireless ports, wireless LAN
`ports, or the like.
`
`[0042] By way of the I/O component 16, the processor
`system 10 can communicate with other devices, such as
`interface devices 20. These interface devices 20 can be
`configured to provide haptic feedback. Eachinterface device
`20 can communicate with the processor system 10 by way
`of an I/O component 16a, which is similar to the I/O
`component 16 of the processor system 10 and can include
`any of the wired or wireless communicationsports described
`above in connection with that I/O component 16. Thus, the
`communications link between the I/O component 16 of the
`processor system 10 and the I/O component 16a of the
`interface device 20 can take a variety of forms,including,for
`example, wired communications links, wireless communi-
`cations links (e.g., RF links), optical communicationslinks,
`or other suitable links.
`
`[0043] The interface device 20 includes a number of
`components, such as a processor 22, a haptic device 24, and
`a sensor 26. As with the components of the processor system
`10, the interface device 20 can include additional compo-
`
`nents. For example, the interface device can include addi-
`tional duplicates of the components shown in FIG.1 (e.g.,
`the interface device 20 can include multiple processors 22,
`haptic devices 24, sensors 26 and/or controllers 30, etc.).
`Additionally,
`the interface device 20 can include other
`components not shownin the figure. For example, whereit
`is desirable to store data received by the interface device 20
`via I/O component 16a, a suitable memory component or
`buffer memory component can be used. The interface can
`also include power-sourcing circuitry, an example of which
`can be seen in USS. Pat. No. 5,929,607, entitled, “Low Cost
`Force Feedback Interface with Efficient Power Sourcing,”
`the disclosure of which is incorporated by reference herein
`in its entirety.
`
`[0044] The processor 22 of the interface device 20, can be
`similar to the processor 12 of the processor system 10,
`described above, or can be specifically designed (e.g., an
`ASIC) and/or programmed for the functionality of the
`interface device 20. As with the processor 12 of the proces-
`sor system 10, the processor 22 of the interface device 20,
`can include a variety of sub-processors, which can, for
`example, be used in parallel.
`
`the interface device 20
`[0045] As discussed above,
`includes a haptic device 24, which is used to providetactile
`or haptic feedback to a user of the interface device 20.
`According to an embodimentof the invention, haptic feed-
`back can be provided by way of a physical object, such as
`a housing, a manipulandum, or thelike. The haptic device 24
`can take a variety of forms, including one or more haptic
`devices that each have multiple operational modes associ-
`ated with multiple corresponding frequency ranges. Some
`examplesof haptic device 24 configurations that can be used
`in accordance with one or more embodiments of the inven-
`
`tion will be described in greater detail below. The examples
`of haptic devices 24 given below, however, are not intended
`to form an exhaustive list of all types of haptic devices 24
`that can be included in the interface device 20 but are
`intended instead as examples only.
`
`[0046] The sensor 26 of the interface device 20 is config-
`ured to sense input from a user of the interface device 20.
`For example, the sensor 26 can be used to sense manipula-
`tion or movement of a physical object, such as a manipu-
`landum, of the interface device 20. The sensor 26 can also
`be used to sense other formsof user input, such as pressure,
`speed, acceleration, torque, light, or other measurable quan-
`tities. For example, the sensor 26 can incorporate a piezo-
`electric sensor to sense pressure, an inertial measurement
`unit (IMU), such as an accelerometer, to sense various forms
`of motion, a photovoltaic sensor to sense changes in light
`levels, and/or other sensors. The sensor 26 can also sense
`other input, such as feedback(e.g., state information includ-
`ing position and/or velocity) from the haptic device 24, for
`example.
`
`[0047] As shownin FIG.1, the various componentsofthe
`interface device 20 are in communication with one another
`and with the componentsof the processor system 10 (via the
`1/O components 16, 16A). The processor 22 of the interface
`device 20, for example, can be used to control the haptic
`device 24 based on information received from the sensor 26.
`
`Similarly, the processor 12 of the processor system 10 can
`be used to control the haptic device 24 of the interface
`device 20 based on information received from the sensor 26
`
`19
`
`19
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`US 2005/0134562 Al
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`Jun. 23, 2005
`
`the
`in such an embodiment,
`of the interface device 20;
`processor 22 need not be present. Alternatively, the proces-
`sor 12 of the processor system 10(also referred to as a “host
`processor”) can be used in concert with the processor 22 of
`the interface device 20 (also referred to as a “local proces-
`sor”) both to interpret data received from the sensor 26 and
`to control the haptic device 24.
`
`[0048] The processor system 10 and the interface device
`20 can optionally make use of one or more controllers 30a,
`306, 30c, 30d (which can be referred to hereinafter as a
`controller 30, collectively, individually, or as a subset). As
`shown in FIG. 1, a controller 30 can exist within the
`processor 12 (e.g., in the form ofa control algorithm) of the
`processor system 10 and/or the processor 22 of the interface
`device 20. Additionally, a controller 30 can be a separate
`component connected to the other components of the pro-
`cessor system 10 and/or the interface device 20 via a bus or
`other suitable connection.
`It should be recognized that,
`according to one or more embodiments,the interface device
`20 can function independently of the processor system 10, as
`it has its own processor and/or controller 30c, 30d, and may
`not require a processor system 10 at all. For example, the
`interface device 20 can be a stand-alone device such as a
`personal digital assistant (PDA) or a cellular telephone,
`which may or may not be configured to connect
`to a
`processor system 10.
`
`[0049] FIG. 2Ais a diagram illustrating a haptic device,
`a controller, and a sensor, according to an embodimentof the
`invention. FIG. 2A also shows different data values pro-
`vided to the system. The elements shown in FIG.2A can be
`used with the processor system 10 and the interface device
`20, or with the interface device 20 alone.
`
`[0050] As shownin FIG.2A,user input 28 can optionally
`be provided (e.g., via the user interface device 20 shown in
`FIG. 1), and received by an optional sensor 26. The user
`input 28 can also optionally be provided directly to a
`controller 30 (e.g., by way of the sensor 26, or some other
`devices configured to accept and convey user input). The
`sensor 26 can also optionally receive information from the
`haptic device 24. For example, the sensor 26 can sense the
`actual movements of the haptic device 24, thereby sensing
`the tactile or haptic feedback output by the haptic device 24.
`
`[0051] According to an arrangement of the system shown
`in FIG. 2A, the controller 30 can optionally receive data
`from the sensor 26, and can optionally receive user input 28
`and control parameters 32. Based on the any data received
`from the sensor 26, any received user input 28, and/or any
`received control parameters 32, the controller 30 controls the
`tactile output or haptic feedback of the haptic device 24. For
`example, the controller 30 (or control algorithm when so
`implemented) can be used to implement a feedback algo-
`rithm, controlling the haptic device 24 based on feedback
`received from the haptic device 24. The controller controls
`the output of the haptic device 24 by a control signalthat the
`controller 30 outputs to the haptic device 24.
`
`[0052] The control signal output by the controller 30 can
`be based on a numberof parameters, including, for example,
`control parameters 32. For example, control parameters 32
`and other parameters that are used by the controller 30 to
`control the haptic device 24 can be stored in the memory
`component 14 of the processor system 10, or by another
`suitable memory component(e.g., a memory component of
`
`the interface device 20). According to one or more embodi-
`ments of the invention,
`the control parameters 32 can
`include input from a portable electronic device and/or a
`gaming system. For example, the control parameters 32 can
`include input from a gaming system, a portable gaming
`device, a cellular telephone, or the like. According to one or
`more embodiments of the invention,
`the controller 30
`receives control parameters 32 (e.g., gaming device input,
`cellular telephone input, etc.), and does not include a sensor
`26. According to such embodiments, user input 28 can
`optionally be received directly by the controller 30, or can
`be omitted entirely, depending upon the desired function of
`the system in which the controller 30 is used.
`
`[0053] According to one or more embodiments of the
`invention, the system shown in FIG. 2A can be used in a
`stand-alone device, such as a cellular telephone, portable
`electronic device (e.g., a PDA,etc.), or other device. In a
`cellular telephone embodiment, for example, feedback can
`be provided in the form of haptic sensations via the haptic
`device 24 in response to status events (e.g., a message
`received signal, a network indicator signal, etc.), user input
`(e.g., mode changes, keypaddialing, option selections,etc.),
`incoming calls, or other events. Alternatively, the system
`shownin FIG.2A can be used in a configuration, such as the
`configuration shown in FIG. 1, where an interface device 20
`can be connected to a processor system 10.
`
`[0054] FIG. 2B is a block diagram of a haptic device 24
`shown in FIGS. 1 and 2A.As shownin FIG.2B,the haptic
`device 24 includes an actuator 51, an elastic member 52 and
`a mass 53. The haptic device 24 is configured to provide
`haptic feedback. The actuator 51 is operably connected to
`the elastic member52, and the elastic member 52 is operably
`connected to the mass 53. In operation, the actuator provides
`force to the elastic member 52. Someof the force applied to
`the elastic member 52 is translated to the mass 53, and
`causes the mass 53 to move. By causing the mass 53 to
`move, haptic forces are provided to a user. Note that the
`configuration shown in FIG. 2B is only one example of a
`configuration of a haptic device 24. Other configurations
`that vary from the configuration shown in FIG. 2B can be
`used as the haptic device 24. For example,
`the elastic
`member 52 can be coupled to the mass 53 by a flexible
`coupling;
`the elastic member 52 can be coupled to the
`actuator 51 by a flexible coupling. In alternative embodi-
`ment, the elastic member can be coupled between actuator
`and a mechanical ground, and the actuator can be directed
`coupled to the actuator.
`
`[0055] FIG.3Ais a perspective view of a haptic device,
`according to an embodimentof the invention, and FIG. 3B
`is a cross-sectional view of the haptic device shownin FIG.
`3A.As shown in FIGS. 3A and 3B,the haptic device 100
`includes an actuator 110, an elastic member 120 and a mass
`130. The haptic device 100 is configured to provide haptic
`feedback. As with the haptic devices described below,the
`haptic device 100 shown in FIGS. 3A and 3B can be used
`as the haptic device 24 shown in FIGS. 1 and 2 within an
`interface device 20.
`
`[0056] The actuator 110 of the haptic device 100 is a rotary
`actuator and includes a shaft 115. The elastic member 120
`
`includes a proximate portion 121, a compliant portion 122
`and a distal portion 125. The proximate portion 121 of the
`elastic member 120 is coupled to the shaft 115 of the
`
`20
`
`20
`
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`US 2005/0134562 Al
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`Jun. 23, 2005
`
`components can be combined (e.g., superimposed, com-
`bined by a vectored or non-vectored operation, etc.) on each
`other while the haptic device 100 operates in the harmonic
`mode. The controller 30 described above in connection with
`
`FIG.2A provides these complex AC drive signals.
`
`[0061] The inventors have recognized that it is advanta-
`geousfor the damping factor of the mechanical system to be
`low. This may result in a more efficient harmonic vibration.
`Consequently,
`the compliant portion 122 of the elastic
`member 120 can be made of polypropylene, which exhibits
`a low damping. Alternativ