(19) United States
`(12) Patent Application Publication (10) Pub. No.: US 2007/0285216 A1
`Tierling et al.
`(43) Pub. Date:
`Dec. 13, 2007
`
`US 20070285216A1
`
`(54)
`
`(75)
`
`(73)
`(21)
`(22)
`
`(63)
`
`PROVIDING ENHANCED HAPTC
`FEEDBACK EFFECTS
`
`Inventors: Kollin M. Tierling, Campbell, CA
`(US); Adam C. Braun, Sunnyvale, CA
`(US); Alex S. Goldenberg, Mountain
`View, CA (US)
`Correspondence Address:
`MIMERSON-THELEN RED BROWN
`RAYSMAN & STEINER LLP
`P.O. BOX 640640
`SAN JOSE, CA 95164-0640 (US)
`Assignee: Immersion Corporation
`
`Appl. No.:
`
`11/787,495
`
`Filed:
`
`Apr. 16, 2007
`
`Related U.S. Application Data
`Continuation of application No. 09/908,184, filed on
`Jul. 17, 2001, now Pat. No. 7,218,310, which is a
`
`continuation-in-part of application No. 09/669,029,
`filed on Sep. 25, 2000, now abandoned.
`(60) Provisional application No. 60/156,354, filed on Sep.
`28, 1999.
`
`Publication Classification
`
`(51) Int. Cl.
`(2006.01)
`H04B 3/36
`(52) U.S. Cl. .......................................................... 340/4O7.1
`
`ABSTRACT
`(57)
`Method and apparatus for providing tactile sensations. For
`one embodiment a first frequency at which to output a tactile
`sensation is received. A second frequency higher than the
`first frequency is determined. The second frequency is based
`on a frequency at which an inertial actuator outputs a second
`tactile sensation. A waveform having the first frequency and
`a waveform having the second frequency is combined to
`produce a signal configured to cause a composite tactile
`sensation at the second frequency, the composite tactile
`sensation conveying the first frequency.
`
`HOST COMPUTER SYSTEM
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`AUDIO OUTPUT
`OEVICE
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`160
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`26
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`PROCESSOR
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`DEVICE
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`
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`HAPTC FEEDBACK
`INTERFACE DEVICE
`18O
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`LOCAL
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`SENSOR
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`Patent Application Publication Dec. 13, 2007 Sheet 1 of 15
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`HOST COMPUTER SYSTEM
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`Patent Application Publication Dec. 13, 2007 Sheet 5 of 15
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`US 2007/028521.6 A1
`
`Dec. 13, 2007
`
`PROVIDING ENHANCED HAPTC FEEDBACK
`EFFECTS
`
`CROSS REFERENCE TO RELATED
`APPLICATIONS
`0001. This application is a continuation of U.S. patent
`application Ser. No. 09/908,184, entitled, “Providing
`Enhanced Haptic Feedback Effects', filed Jul. 17, 2001, by
`Kollin M. Tierling, Adam C. Braun and Alex F. Goldenberg.
`which is a continuation-in-part of co-pending U.S. patent
`application Ser. No. 09/669,029, entitled “Controlling Hap
`tic Sensations for Vibrotactile Feedback Interface Devices.”
`filed Sep. 25, 2000 by Goldenberg et al., which claims the
`benefit of U.S. Provisional Application No. 60/156,354, filed
`Sep. 28, 1999, entitled, “Controlling Force Sensations for
`Vibrotactile Feedback Interface Devices,’ and which are
`incorporated herein by reference in their entirety.
`BACKGROUND OF THE INVENTION
`0002 Embodiments of the invention relate generally to
`interface devices for allowing humans to interface with
`computer systems, and more particularly to low-cost com
`puter interface devices that allow the user to provide input
`to computer systems and allow computer systems to provide
`tactile feedback to the user.
`0003. A user can interact with an environment displayed
`by a computer to perform functions and tasks on the com
`puter, such as playing a game, experiencing a simulation or
`virtual reality environment, using a computer aided design
`system, operating a graphical user interface (GUI), etc.
`Common human-computer interface devices used for Such
`interaction include a mouse, joystick, trackball, gamepad,
`steering wheel, Stylus, tablet, pressure-sensitive sphere,
`remote control, or the like. Typically, the computer updates
`the environment in response to the user's manipulation of a
`manipulandum or user object such as a joystick handle or
`mouse, and provides visual and audio feedback to the user.
`The computer senses the user's manipulation of the user
`object using sensors provided on the interface device.
`0004. In some interface devices, haptic feedback is also
`provided to the user. These types of interface devices can
`provide physical sensations which are felt by the user
`manipulating the user object of the interface device. One or
`more motors or other actuators are coupled to the device
`housing or manipulandum and are connected to the control
`ling computer system. The computer system controls forces
`output by the actuators in conjunction and coordinated with
`displayed events. The computer system can thus convey
`physical force sensations to the user in conjunction with
`other Supplied feedback as the user is grasping or contacting
`the interface device or manipulatable object of the interface
`device.
`0005. In many haptic feedback devices, the haptic feed
`back takes the form of vibrations, jolts, or pulses output on
`the housing or manipulandum which are experienced by the
`user, referred to as “tactile' sensations herein. For example,
`many gamepad devices include a spinning eccentric mass
`that creates inertial vibrations on the housing or object.
`Other devices, such as the I-Feel Mouse from Logitech
`Corp., provide inertial vibrations using a linearly-moving
`mass. Still other devices may vibrate a housing or object by
`impacting or directly moving the housing or object with the
`actuatOr.
`
`0006. One problem with current haptic feedback devices
`is that tactile sensations output to the user tend to be more
`effective in particular frequency ranges and less effective in
`other frequency ranges. For example, vibrations output on
`the housing by an inertial haptic feedback device often feel
`strong to the user at higher frequencies of vibration, but
`often feel less strong to the user at lower frequencies. In
`linearly-moving mass embodiments, for example, this is due
`to the inertial mass moving slower for lower frequency
`vibrations, so that the mass does not accelerate as much and
`causes tactile sensations that feel less strong. In addition, the
`mass might be pressed against the limits of its range of
`motion during most of the cycle time of the vibration,
`providing less force to be felt by the user.
`0007 Another problem with moving mass haptic feed
`back devices is that combining commanded effects may
`cause the mass to oscillate about a point close to an end of
`travel of the mass. This may cause the mass to hit the end of
`travel before it has completed the desired oscillation, thus
`clipping the output sensation and reducing its fidelity. In
`addition, output forces may be reduced in strength when the
`mass operates near an end of travel due to a physical spring
`coupled to the mass, since Such spring resistance is strongest
`near the end of travel.
`
`SUMMARY OF THE INVENTION
`0008 Embodiments of the invention include methods for
`providing tactile sensations. For one embodiment a first
`frequency at which to output a tactile sensation is received.
`A second frequency higher than the first frequency is deter
`mined. The second frequency is based on a frequency at
`which an inertial actuator outputs a second tactile sensation.
`A waveform having the first frequency and a waveform
`having the second frequency is combined to produce a signal
`configured to cause a composite tactile sensation at the
`second frequency, the composite tactile sensation conveying
`the first frequency.
`0009. These and other advantages of the present inven
`tion will become apparent to those skilled in the art upon a
`reading of the following specification of the invention and a
`study of the several figures of the drawing.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`0010 FIG. 1 is a perspective view of system including a
`haptic interface connected to a host computer in accordance
`with one embodiment of the invention;
`0011 FIG. 2 is a side cross sectional view of the haptic
`interface device of FIG. 1;
`0012 FIG. 3 is a perspective view of one embodiment of
`an actuator assembly suitable for use with various embodi
`ments of the invention;
`0013 FIG. 4 is a block diagram illustrating an embodi
`ment of the haptic interface device and host computer for use
`with embodiments of the invention;
`0014 FIGS. 5a-5c are graphs illustrating a method for
`using resonance pulse bursts to provide stronger low fre
`quency tactile sensations in accordance with one embodi
`ment of the invention;
`0015 FIGS. 6 and 7 are graphs illustrating another
`method for providing a strong low frequency tactile sensa
`
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`
`tion by adding it with a higher frequency sensation in
`accordance with one embodiment of the invention;
`0016 FIG. 8 is a graph illustrating high and low pass
`filters used in another method for providing strong low
`frequency tactile sensations or combining tactile sensations
`in accordance with one embodiment of the invention;
`0017 FIG. 9 is a graph illustrating a low frequency
`commanded waveform and a higher frequency waveform to
`be combined with the low frequency waveform in accor
`dance with one embodiment of the invention;
`0018 FIG. 10 is a graph illustrating a modulation enve
`lope resulting from filtering the low frequency waveform of
`FIG. 9;
`FIG. 11 is a graph illustrating a waveform resulting
`0.019
`from the sum of products method of one embodiment of the
`invention;
`0020 FIG. 12 is a graph illustrating the waveform of
`FIG. 11 when using normalized terms:
`0021
`FIG. 13 is a graph illustrating the waveform of
`FIG. 12 after having been combined again with the higher
`frequency waveform of FIG. 9;
`0022 FIG. 14 is a graph illustrating another example of
`a low frequency commanded waveform and a higher fre
`quency waveform to be combined with the low frequency
`waveform;
`0023 FIG. 15 is a graph illustrating the combined nor
`malized result of the Sum of products method using the
`waveforms of FIG. 14; and
`0024 FIG. 16 is a block diagram illustrating the sum of
`products method for combining waveforms in accordance
`with one embodiment of the invention.
`
`DETAILED DESCRIPTION
`0025. In the following description, numerous specific
`details are set forth. However, it is understood that embodi
`ments of the invention may be practiced without these
`specific details. In other instances, well-known circuits,
`structures and techniques have not been shown in detail in
`order not to obscure the understanding of this description.
`0026 Reference throughout the specification to “one
`embodiment' or “an embodiment’ means that a particular
`feature, structure, or characteristic described in connection
`with the embodiment is included in at least one embodiment
`of the present invention. Thus, the appearance of the phrases
`“in one embodiment’ or “in an embodiment” in various
`places throughout the specification are not necessarily all
`referring to the same embodiment. Furthermore, the particu
`lar features, structures, or characteristics may be combined
`in any suitable manner in one or more embodiments.
`0027 Moreover, inventive aspects lie in less than all
`features of a single disclosed embodiment. Thus, the claims
`following the Detailed Description are hereby expressly
`incorporated into this Detailed Description, with each claim
`standing on its own as a separate embodiment of this
`invention.
`0028 FIG. 1 is a perspective view of a tactile feedback
`interface system 10, in accordance with one embodiment of
`the invention, capable of providing input to a host computer
`
`based on the user's manipulation of the interface device and
`capable of providing tactile feedback to the user of the
`system based on events occurring in a program implemented
`by the host computer. System 10 includes a device 12 and a
`host computer 14. In the described embodiment of FIG. 1,
`device 12 is a mouse, but can be other types of devices as
`discussed below.
`0029 Device 12 is an object that is preferably grasped,
`gripped, or otherwise physically contacted and manipulated
`by a user. For example, a user can move mouse 12 to provide
`planar two-dimensional input to a computer system to
`correspondingly move a computer generated graphical
`object, such as a cursor or other image, in a graphical
`environment provided by computer 14 or to control a virtual
`character, vehicle, or other entity in a game or simulation. In
`other embodiments, a joystick, knob, wheel, button, or other
`user manipulandum may be moved. In addition, device 12
`preferably includes one or more buttons 16a and 16b to
`allow the user to provide additional commands to the
`computer system. A scroll wheel, analog buttons or other
`inputs, or other controls can also be included.
`0030 Device 12 preferably includes an actuator assem
`bly which is operative to produce forces on the device 12
`and tactile sensations to the user. One example of an actuator
`assembly is described below with reference to FIG. 3.
`0031. In some embodiments, such as a mouse, device 12
`rests on a ground Surface 22 Such as a tabletop or mousepad.
`A user grasps the mouse 12 and moves the mouse in a planar
`workspace on the Surface 22 as indicated by arrows 24.
`Device 12 can be a relative sensing device or an absolute
`sensing device. In other embodiments, such as a gamepad,
`the device 12 may be held by the user.
`0032 Computer 14 is coupled to the device 12 by a bus
`20, which communicates signals between device 12 and
`computer 14 and may also, in some preferred embodiments,
`provide power to the device 12. Components such as the
`actuator assembly require power that can be Supplied from
`a conventional serial port or through an interface Such as a
`USB or Firewire bus. In other embodiments, signals can be
`sent between device 12 and computer 14 by wireless trans
`mission/reception. In some embodiments, the power for the
`actuator can be supplemented or solely Supplied by a power
`storage device provided on the device. Such as a capacitor or
`one or more batteries. Some Such embodiments are dis
`closed in U.S. Pat. No. 5,691,898, incorporated herein by
`reference.
`0033 Host computer 14 can be a personal computer or
`workstation, such as a PC compatible computer or Macin
`tosh personal computer, or a Sun or Silicon Graphics work
`station. For example, the computer 14 can operate under the
`WindowsTM, MacOS, Unix, or MS-DOS operating system.
`Alternatively, host computer system 14 can be one of a
`variety of home video game console systems commonly
`connected to a television set or other display, Such as
`systems available from Nintendo, Sega, or Sony. In other
`embodiments, host computer system 14 can be a “set top
`box' or a “network-” or “internet-computer which allows
`users to interact with a local or global network Such as the
`Internet. Host computer preferably includes a host micro
`processor, random access memory (RAM), read only
`memory (ROM), input/output (I/O) circuitry, and other
`components of computers well-known to those skilled in the
`art.
`
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`
`0034) Host computer 14 preferably implements a host
`application program with which a user is interacting via
`device 12 and other peripherals, if appropriate, and which
`may include force feedback functionality. For example, the
`host application program can be a video game, word pro
`cessor or spreadsheet, Web page or browser that implements
`HTML or VRML instructions, scientific analysis program,
`virtual reality training program or application, or other
`application program that utilizes input of device 12 and
`outputs force feedback commands to the device 12. Herein,
`for simplicity, operating systems such as WindowsTM, MS
`DOS, MacOS, Linux, Be, etc. are also referred to as “appli
`cation programs. In one preferred embodiment, an appli
`cation program utilizes a graphical user interface (GUI) to
`present options to a user and receive input from the user.
`Herein, computer 14 may be referred as providing a "graphi
`cal environment,”, which can be a graphical user interface,
`game, simulation, or other visual environment. The com
`puter displays “graphical objects' or “computer objects.”
`which are not physical objects, but are logical software unit
`collections of data and/or procedures that may be displayed
`as images by computer 14 on display Screen 26, as is well
`known to those skilled in the art. A displayed cursor or a
`simulated cockpit of an aircraft might be considered a
`graphical object. The host application program checks for
`input signals received from the electronics and sensors of
`device 12, and outputs force values and/or commands to be
`converted into forces output for device 12. Suitable software
`drivers which interface such simulation software with com
`puter input/output (I/O) devices are available from Immer
`sion Corporation of San Jose, Calif.
`0035 Display device 26 can be included in host computer
`14 and can be a standard display screen (LCD, CRT, flat
`panel, etc.), 3-D goggles, or any other visual output device.
`Typically, the host application provides images to be dis
`played on display device 26 and/or other feedback, such as
`auditory signals. For example, display Screen 26 can display
`images from a GUI.
`0036). In alternative embodiments, the device 12 can
`instead be a different interface device or control device. For
`example, handheld devices are very suitable for the actuator
`assemblies described herein. A hand-held remote control
`device used to select functions of a television, video cassette
`recorder, Sound stereo, internet or network computer (e.g.,
`Web-TVTM). Furthermore, a gamepad controller for video
`games or computer games can be used with the tactile
`feedback components and methods described herein, where
`the user grips the gamepad housing while operating buttons,
`joysticks, dials, spheres, or other controls on the gamepad.
`Other interface devices may also make use of the actuator
`assemblies described herein. For example, a joystick handle
`can include an actuator assembly, where tactile sensations
`are output on the joystick handle as the sole tactile feedback
`or to supplement kinesthetic force feedback in the degrees of
`freedom of the joystick. Trackballs, steering wheels, sty
`luses, rotary knobs, linear sliders, gun-shaped targeting
`devices, medical devices, spheres, grips, etc. can also make
`use of the actuator assemblies described herein to provide
`haptic sensations.
`0037 FIG. 2 is a side cross-sectional view of one
`embodiment of device 12 of FIG.1. Device 12 includes one
`or more actuator assemblies for imparting haptic feedback
`
`such as tactile sensations to the user of the device. The
`actuator assembly outputs forces on the device which the
`user is able to feel.
`0038. Device 12 includes a housing 50, a sensing, system
`52, and an actuator assembly 54. Housing 50 is shaped to fit
`the user's hand, in the example shown, like a standard mouse
`while the user moves the mouse in the planar degrees of
`freedom and manipulates the buttons 16. Other housing
`shapes can be provided in many different embodiments.
`0039. Sensor 52 detects the position of the mouse in its
`planar degrees of freedom, e.g. along the X and Y axes. In
`the example shown, sensor 52 includes a standard mouse
`ball 64 for providing directional input to the computer
`system. Ball 64 is a sphere that extends partially out the
`bottom surface of the mouse and rolls in a direction corre
`sponding to the motion of the mouse on a planar Surface 22.
`The ball motion can be tracked by cylindrical rollers 60
`which are coupled to sensors, such as sensor 62, for detect
`ing the motion of the cylinders corresponding to X and y
`motion of the mouse. Other types of mechanisms and/or
`electronics for detecting planar motion of the device 12 can
`be used in other embodiments. For example, an optical
`sensor can be used to detect motion of the device relative to
`the planar Support Surface by optically taking and storing a
`number of images of the Surface and comparing those
`images over time to determine if the mouse has moved, as
`is well known in the art.
`0040. Buttons 16 can be selected by the user as a "com
`mand gesture' when the user wishes to input a command
`signal to the host computer 14. A scroll wheel can also be
`include to provide additional input to the host computer.
`0041) Device 12 includes an actuator assembly 54, and
`the actuator assembly includes an actuator 66 and a flexure
`mechanism (“flexure') 68 coupled to the actuator 66 by the
`flexure 68. In the described embodiment, the actuator 66 acts
`as an inertial mass, so that a separate inertial mass is not
`required; this is described in greater detail with respect to
`FIG. 3. The actuator acting as inertial mass is oscillated in
`a linear direction by the actuator 66, Such as approximately
`along the Z-axis 51 which is approximately perpendicular to
`the planar workspace of the mouse in the X- and y-axes. The
`actuator is coupled to the housing 50 of the mouse such that
`inertial forces caused by the motion of the inertial mass are
`applied to the housing of the mouse, thereby conveying
`haptic feedback Such as tactile sensations to the user of the
`mouse who is contacting the housing. These type of tactile
`sensations are different from kinesthetic haptic sensations,
`which are caused by the user directly contacting a moved
`(forced) object without a compliant flexure between the user
`and object. The mouse device can apply inertial forces
`Substantially along the Z axis, orthogonal to the planar X and
`y axes of the mouse controller.
`0042. Many types of actuators can be used, such as DC
`motors, a moving magnet actuator, a stepper motor, a
`pneumatic/hydraulic actuator, a torquer (motor with limited
`angular range), shape memory alloy material (wire, plate,
`etc.), a piezo-electric actuator, etc. In other embodiments, a
`linear force can be output using a linearly moving element,
`as in a voice coil actuator or a linear moving-magnet
`actuator, which are suitable for high bandwidth actuation.
`These embodiments are described in greater detail in U.S.
`Pat. No. 6,211,861, which is incorporated herein by refer
`
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`Dec. 13, 2007
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`ence. A variety of tactile sensations can be output to the user,
`many of which are described in greater detail in copending
`application Ser. No. 09/585,741, incorporated herein by
`reference.
`0043. A flexible or semi-flexible surface can be provided
`between the mouse and the ground Surface. Such as a
`standard mouse pad, a layer of rubber provided on the
`underside of the mouse or between portions of the mouse
`housing, etc. This type of flexible surface increases the
`transmissibility of the inertial forces from the actuator to the
`housing. In handheld device embodiments such as game
`pads, no such flexible surface or layer is required.
`0044 FIG. 3 is a perspective view of one embodiment
`100 of the actuator assembly 50 for use in the remote control
`12. Actuator assembly 100 includes a grounded flexure 120
`and an actuator 110 coupled to the flexure 120. The flexure
`120 can be a single, unitary piece made of a material Such
`as polypropylene plastic ("living hinge' material) or other
`flexible material. Flexure 120 can be grounded to the hous
`ing of the device 12, for example, at portion 121.
`0045 Actuator 110 is shown coupled to the flexure 120.
`The housing of the actuator is coupled to a receptacle portion
`122 of the flexure 120 which houses the actuator 110 as
`shown. A rotating shaft 124 of the actuator is coupled to the
`flexure 120 in a bore 125 of the flexure 120 and is rigidly
`coupled to a central rotating member 130. The rotating shaft
`124 of the actuator is rotated about an axis B which also
`rotates member 130 about axis B. Rotating member 130 is
`coupled to a first portion 132a of an angled member 131 by
`a flex joint 134. The flex joint 134 preferably is made very
`thin in the dimension it is to flex so that the flex joint 134
`will bend when the rotating portion 130 moves the first
`portion 132a approximately linearly. The first portion 132a
`is coupled to the grounded portion 140 of the flexure by a
`flex joint 138 and the first portion 132a is coupled to a
`second portion 132b of the angled member by flex joint 142.
`The second portion 132b, in turn, is coupled at its other end
`to the receptacle portion 122 of the flexure by a flex joint
`144.
`0046) The angled member 131 that includes first portion
`132a and second portion 132b moves linearly along the
`x-axis as shown by arrow 136. In actuality, the portions 132a
`and 132b move only approximately linearly. When the
`flexure is in its origin position (rest position), the portions
`132a and 132b are preferably angled as shown with respect
`to their lengthwise axes. This allows the rotating member
`130 to push or pull the angled member 131 along either
`direction as shown by arrow 136.
`0047 The actuator 110 is operated in only a fraction of its
`rotational range when driving the rotating member 130 in
`two directions, allowing high bandwidth operation and high
`frequencies of pulses or vibrations to be output. To channel
`the compression or stretching of the flexure into the desired
`Z-axis motion, a flex joint 152 is provided in the flexure
`portion between the receptacle portion 122 and the grounded
`portion 140. The flex joint 152 allows the receptacle portion
`122 (as well as the actuator 110, rotating member 130, and
`second portion 132b) to move (approximately) linearly in
`the Z-axis in response to motion of the portions 132a and
`132b. A flex joint 150 is provided in the first portion 132a
`of the angled member 131 to allow the flexing about flex
`joint 152 in the z-direction to more easily occur.
`
`0048. By quickly changing the rotation direction of the
`actuator shaft 124, the actuator/receptacle can be made to
`oscillate along the Z-axis and create a vibration on the
`housing with the actuator 110 acting as an inertial mass. In
`addition, the flex joints included in flexure 120, such as flex
`joint 152, act as spring members to provide a restoring force
`toward the origin position (rest position) of the actuator 110
`and receptacle portion 132. In some embodiments, the stops
`can be included in the flexure 120 to limit the motion of the
`receptacle portion 122 and actuator 110 along the Z-axis.
`0049 Other embodiments can provide other types of
`actuator assemblies, such as an eccentric mass coupled to a
`rotating shaft of an actuator to provide rotational inertial
`tactile sensations to the housing. The eccentric mass can be
`unidirectionally driven orbidirectionally driven. Other types
`of actuator assemblies may also be used, as disclosed in U.S.
`Pat. No. 6,184,868, such as a linear voice coil actuator,
`Solenoid, moving magnet actuator, etc.
`0050 FIG. 4 is a block diagram illustrating one embodi
`ment of a haptic feedback system suitable for use with
`embodiments of the invention including a local micropro
`cessor and a host computer system.
`0051
`Host computer system 14 may include a host
`microprocessor 160, a clock 162, a display Screen 26, and an
`audio output device 164. The host computer also includes
`other well known components, such as random access
`memory (RAM), read-only memory (ROM), and input/
`output (I/O) electronics (not shown). Display screen 26
`displays images of a game environment, operating system
`application, simulation, etc. Audio output device 164. Such
`as speakers, is preferably coupled to host microprocessor
`160 provides sound output to user when an “audio event
`occurs during the implementation of the host application
`program. Other types of peripherals can also be coupled to
`host processor 160, Such as storage devices (hard disk drive,
`CD ROM drive, floppy disk drive, etc.), printers, and other
`input and output devices.
`0052 The interface device, such as mouse 12, is coupled
`to host computer system 14 by a bi-directional bus 20 The
`bi-directional bus sends signals in either direction between
`host computer system 14 and the interface device. Bus 20
`can be a serial interface bus, such as an RS232 serial
`interface, RS-422, Universal Serial Bus (USB), Firewire
`(1394), MIDI, or other protocols well known to those skilled
`in the art; or a parallel bus or wireless link. For example, the
`USB standard provides a relatively high speed interface that
`can also provide power to the actuator of actuator assembly.
`0053 Device 12 can include a local microprocessor 170.
`Processor 170 is considered local to device 12, where
`“local herein refers to processor 170 being a separate
`microprocessor from any processors in host computer sys
`tem 14. Microprocessor 170 can be provided with software
`instructions to wait for commands or requests from com
`puter host 14, decode the command or request, and handle/
`control input and output signals according to the command
`or request. In addition, processor 170 can operate indepen
`dently of host computer 14 by reading sensor signals and/or
`calculating appropriate forces from sensor signals, time
`signals, and stored or relayed instructions selected in accor
`dance with a host command. Microprocessor 170 can
`include one microprocessor chip, multiple processors and/or
`
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`co-processor chips, and/or digital signal processor (DSP)
`capability, or can be implemented as digital logic, state
`machines, ASIC, etc.
`00