[특허]Providing enhanced haptic feedback effects

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G09G-005/00 G06F-003/00
출원번호	UP-0787495 (2007-04-16)
등록번호	US-7821493 (2010-11-15)
발명자 / 주소	Tierling, Kollin M. Braun, Adam C. Goldenberg, Alex S.
출원인 / 주소	Immersion Corporation
대리인 / 주소	Squire, Sanders & Dempsey, LLP
인용정보	피인용 횟수 : 9 인용 특허 : 53

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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 secon

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.

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The invention claimed is: 1. A method, comprising: receiving a first frequency at which to output a tactile sensation; determining a second frequency higher than the first frequency, the second frequency based on a frequency at which an inertial actuator outputs a second tactile sensation; and comb

The invention claimed is: 1. A method, comprising: receiving a first frequency at which to output a tactile sensation; determining a second frequency higher than the first frequency, the second frequency based on a frequency at which an inertial actuator outputs a second tactile sensation; and combining a waveform having the first frequency and a waveform having the second frequency to produce a signal configured to cause a composite tactile sensation at the second frequency, the composite tactile sensation conveying the first frequency. 2. The method of claim 1 wherein combining includes providing multiple bursts of a signal at the second frequency at approximately the first frequency to control the inertial actuator to output the composite tactile sensation. 3. The method of claim 2 wherein the inertial actuator includes an inertial mass that is oscillated bi-directionally, and wherein the bursts each control at least three changes of direction of the inertial mass at the second frequency. 4. The method of claim 2 wherein the second frequency is approximately equal to a resonance frequency of the inertial actuator. 5. The apparatus of claim 2 wherein the second frequency is approximately equal to a resonance frequency of the inertial actuator. 6. The method of claim 1 wherein the second frequency is high enough so as to cause a user to feel each of said bursts as a single pulse. 7. The apparatus of claim 1 wherein the second frequency is high enough so as to cause a user to feel each of said bursts as a single pulse. 8. A method for providing haptic sensations using an actuator in an interface device, the method comprising: receiving a first frequency at which to output a tactile sensation to said interface device; determining a second frequency higher than the first frequency, the second frequency approximately equal to a resonance frequency of an actuator system of said interface device; and combining a waveform having the first frequency and a waveform having the second frequency to produce a signal configured to cause a composite tactile sensation at the second frequency, the composite tactile sensation conveying the first frequency. 9. The method of claim 8 wherein said combining includes outputting bursts having said second frequency at a rate corresponding to said first frequency. 10. The method of claim 9 wherein said burst includes at least three changes of direction of an inertial mass of said actuator. 11. The method of claim 8 wherein said combining includes creating a waveform having said second frequency, said waveform having an amplitude that varies according to said first frequency. 12. The method of claim 8 wherein said mechanical actuator is coupled to a flexure, wherein said actuator system provides an inertial mass that moves bi-directionally to output said first frequency tactile sensations. 13. The method of claim 8 wherein said determining said second frequency includes retrieving a second frequency value from a memory. 14. The method of claim 8 wherein said first frequency is combined with said second frequency to produce the signal only when said first frequency is lower than a predetermined threshold frequency. 15. A non-transitory processor-readable medium comprising code representing instructions to cause a processor to perform a method, the method comprising: receiving a first frequency at which to output a tactile sensation to said interface device; determining a second frequency higher than the first frequency, the second frequency approximately equal to a resonance frequency of a mechanical actuator system of said interface device; and combining a waveform having the first frequency and a waveform having the second frequency to produce a signal configured to cause a composite tactile sensation at the second frequency, the composite tactile sensation conveying the first frequency. 16. The non-transitory processor-readable medium of claim 15 wherein said combining includes outputting bursts having said second frequency at a rate corresponding to said first frequency. 17. The non-transitory processor-readable medium of claim 16 wherein said burst includes at least three changes of direction of an inertial mass of said inertial actuator. 18. The non-transitory processor-readable medium of claim 15 wherein said combining includes creating a waveform having said second frequency, said waveform having an amplitude that varies according to said first frequency. 19. The non-transitory processor-readable medium of claim 15 wherein said mechanical actuator is coupled to a flexure, wherein said mechanical actuator provides an inertial mass that moves bi-directionally to output said first frequency tactile sensations. 20. The non-transitory processor-readable medium of claim 15 wherein said determining said second frequency includes retrieving a second frequency value from a memory. 21. The non-transitory processor-readable medium of claim 15 wherein said first frequency is combined with said second frequency to produce the signal only when said first frequency is lower than a predetermined threshold frequency. 22. A haptic feedback interface device for providing a tactile sensation, the interface device comprising: a sensor operative to detect motion of a user manipulandum, said sensor providing sensor data representative of said motion; an actuator device operative to output tactile sensations on said user manipulandum or a housing of said interface device, wherein said actuator device includes an inertial mass that is oscillated to provide said tactile sensation; and a controller providing a signal to said actuator device to cause said actuator device to output said tactile sensation to said user, at least a portion of said signal having a first frequency approximately equal to a resonance frequency of the actuator device and wherein said tactile sensation conveys a second frequency lower than the first frequency, the second frequency commanded to said tactile device. 23. The haptic feedback interface device of claim 22 wherein said signal provided by said controller includes first frequency bursts that are output at said second frequency. 24. The haptic feedback interface device of claim 22 wherein said entire signal provided by said controller has said first frequency, and wherein said first frequency signal varies in amplitude according to said second frequency. 25. The haptic feedback interface device of claim 24 wherein said signal provided by said controller is based on using a resonant filter by providing an envelope based on a signal having said second frequency and modulating a signal having said first frequency using said envelope. 26. An apparatus for providing tactile sensations using an actuator, the apparatus comprising: means for receiving a first frequency at which to output a tactile sensation; means for determining a second frequency higher than the first frequency, the second frequency based on a frequency at which an inertial actuator outputs a second tactile sensation; and means for combining a waveform having the first frequency and a waveform having the second frequency to produce a signal configured to cause a composite tactile sensation at the second frequency, the composite tactile sensation conveying the first frequency. 27. The apparatus of claim 26 wherein combining includes providing multiple bursts of a signal at the second frequency at approximately the first frequency to control the inertial actuator to output the composite tactile sensation. 28. The apparatus of claim 27 wherein the inertial actuator includes an inertial mass that is oscillated bi-directionally, and wherein the bursts each control at least three changes of direction of the inertial mass at the second frequency.

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이 특허에 인용된 특허 (53) 인용/피인용 타임라인 분석

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Martin Kenneth M. ; Levin Michael D. ; Braun Adam C., Force feedback transmission mechanisms.
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McAffee Douglas A. (San Pedro CA) Snow Edward R. (Sandy Hook CT) Townsend William T. (Somerville MA), Force reflecting hand controller.
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Massie Thomas H. (Vanceburg KY) Salisbury ; Jr. J. Kenneth (Cambridge MA), Force reflecting haptic interface.
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Martin, Kenneth M.; Rosenberg, Louis B., Haptic feedback for directional control pads.
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Gordon, Gary L., Haptic feedback gaming device with integral power supply.
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Rosenberg Louis B. ; Schena Bruce M., High bandwidth force feedback interface using voice coils and flexures.
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Olson Lynn T. (Portland OR), Inertial mouse system.
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Muramatsu Shigeru,JPX, Inner force sense controller for providing variable force to multidirectional moving object, method of controlling inner.
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Marcus Beth A. (Lexington MA) Chen Elaine (Boston MA) An Bin (Arlington MA) Osborne Timothy (Arlington MA), Input device including digital force feedback apparatus.
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Culver Craig F. (201 Ware Rd. Woodside CA 94062), Interface control.
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Brimhall Owen D. (South Jordan UT), Kinesthetic feedback apparatus and method.
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Rosenberg Louis B., Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems.
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Rosenberg Louis B., Method and apparatus for providing passive force feedback to human-computer interface systems.
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