TUNING HAPTIC FEEDBACK OF A DEVICE

A device configured to generate haptic feedback is disclosed. The device includes a housing, a connector, and a haptic motor. The connector includes a mount end coupled to the housing and a distal end spaced away from the mount end. The haptic motor is coupled to the distal end of the connector. Activation of the haptic motor causes the haptic motor to move relative to the housing to generate the haptic feedback.

SUMMARY

A haptic motor may be embedded into a hand-held device, worn device, or other device to provide an end user with instant motion feedback, also referred to as haptic feedback, while interacting with the device. Non-limiting examples of such devices include gaming controllers, mobile game consoles, smartphones, tablet computing devices, gaming steering wheels, virtual reality (VR) controllers, virtual reality headsets, and styluses. In examples where a device is used for a gaming experience, such instant haptic feedback can lead to a more immersive gaming experience. The haptic feedback typically takes the form of a vibration or an impulse. Driven by one or multiple superimposed electrical wave functions, the haptic motor will generate a sinusoidal or impulsive force that accelerates the controller to produce a rumble feel or a hi-definition (HD) crisp shock feedback depending on the frequency of the force.

A device configured to generate a haptic response is disclosed. The device includes a housing, a connector, and a haptic motor. The connector includes a mount end coupled to the housing and a distal end spaced away from the mount end. The haptic motor is coupled to the distal end of the connector. Activation of the haptic   motor causes the haptic motor to move relative to the housing to generate the haptic response.

DETAILED DESCRIPTION

In a conventional device that is capable of providing haptic feedback, a haptic motor is rigidly connected to a housing of the hand-held device, so that a vibration or impulse generated by the haptic motor is directly transferred through the housing to a user's hands as motion feedback. As used herein, a haptic motor includes any apparatus that imparts physical movement to a device.FIG.1shows a conventional hand-held device in the form of a game controller100including haptic motors102that are rigidly connected to a housing104of the game controller100. An internal frame106includes a pair of buckets108. Each bucket108contains a corresponding haptic motor102. The internal frame106further includes a central region110. The buckets are connected to the central region110of the internal frame106via connectors112of the internal frame106. The internal frame106is rigidly coupled to the housing104of the game controller100via a plurality of rigid connection points114that are spread across the internal frame106. Importantly, the buckets108each include a rigid connection point114at which the bucket is rigidly coupled to the housing104, thus preventing the buckets108, as well as the corresponding haptic motors held by the buckets, from moving relative to the housing.

FIG.2schematically shows the rigid connection points114rigidly coupling the internal frame106to the housing104of the game controller ofFIG.1. In particular, rigid connection points114are formed between the buckets108and the housing104, the connectors112and the housing, and the central portion110of the internal frame106and the housing104. These numerous rigid connection points114between the internal frame106and the housing104cause the haptic motors102to be rigidly connected to the housing104. In this way, a vibration generated by the haptic motors102is transferred to the housing104via the rigid connection points114. In other words, the rigid connection points114cause the haptic motors102and the housing104to move together when the haptic motors102generate a vibration.

The game controller100can be modeled as a single degree of freedom (DOF) first order mass-spring-damper system in which the mass of the housing104and the mass of the haptic motors102are treated as a single mass (m) and stiffness (K) and dampening factors (C) are externally influenced by a user's hands holding on to the housing104of the game controller100. In such a configuration, excitation of the haptic motors102is directly transferred to the housing104of the game controller100, which does not allow for much flexibility or optimization of control of the haptic motors102.

Accordingly, the present disclosure is directed to a device comprising a housing, a connector including a mount end coupled to the housing and a distal end spaced away from the mount end, and a haptic motor coupled to the distal end of the connector. Activation of the haptic motors causes the haptic motor to move relative to the housing. In some examples, the connector acts as a cantilevered beam that allows the haptic motor to move freely relative to the housing. Such a configuration effectively converts the device into a two DOF 2nd order mass-spring-damper system. In such a configuration, when the haptic motor generates a sinusoidal force excitation resulting   from one or more superimposed electrical wave input signals, the hand-held device undergoes a forced vibration whose frequency response function (FRF) includes two resonance peaks located at different frequencies. The location of the resonance peaks on the frequency axis is based on mass (m) and stiffness K) of the two DOF 2nd order mass-spring-damper system, and the amplitude of the resonance peaks is based on a damping factor (C). These parameters can be tuned internally within the hand-held device to provide various benefits.

In one example, the device can be designed to tune the mass (m), the stiffness K), and dampening factor (C), such that when the haptic motor vibrates at a resonance peak of a frequency response function of the haptic motor, the device vibrates at a resonance peak of the frequency response function of the hand-held device. Such tuning to align the component-level resonance peak of the haptic motor with the system-level resonance peak of the hand-held device is believed to boost the maximum vibrational output of the hand-held device relative to a conventional configuration where a haptic motor is rigidly coupled to a housing of a hand-held device, such as the game controller100ofFIGS.1-2. Such boosted maximum vibrational output at the resonance peaks allows for a smaller haptic motor to be used relative to a conventional configuration while providing at least the same level of maximum vibrational output. Employing a smaller haptic motor provides the technical benefit of reducing size, weight, cost, and energy consumption of the hand-held device relative to a conventional configuration. Alternatively, a same-sized haptic motor can be used to generate a relatively larger haptic response.

In another example, the device can be designed to tune the mass (m), the stiffness K), and dampening factor (C), such that the two resonance peaks located at different frequencies provide different forms of haptic feedback that are perceived   differently. Such different forms of haptic feedback provide the technical benefit of providing a variety of haptic feedback to the user under different operating conditions.

In one example, the device can be tuned such that one resonance peak simulates haptic feedback of a legacy haptic motor of a legacy device (e.g., an Eccentric Rotary Mass (ERM) motor that vibrates at 20 Hz in a legacy game controller). For example, such a configuration may be used for backwards compatibility with legacy video games. Further, the device can be tuned such that the other resonance peak is aligned with a higher frequency that provides high definition (HD) haptic feedback (e.g., at 80 Hz). For example, such haptic feedback could be used for new video games. In some examples, both forms of haptic feedback could be used under different conditions in the same video game (or another interactive experience).

For efficiency of explanation, the following description focusses on hand-held game controllers, but the principles apply to virtually any type of device that includes one or more haptic motors.

FIG.3shows an example game controller300having a configuration that enables haptic feedback to be tuned. The game controller300includes a housing302. The housing302includes a central region304and a grip306spaced apart from the central region304. The game controller300further includes a connector308that is positioned within the housing302. In some implementations, the connector308may take the form of an internal frame. The connector308includes a mount end310and a distal end312spaced way from the mount end310. A haptic motor314is coupled to the distal end312of the connector308. More particularly, in the illustrated implementation, the game controller300includes two haptic motors314coupled to opposing distal ends312of the connector308. In some examples, the haptic motors314may take the form of Linear Resonant Actuators (LRAs) or Voice Coil Actuators   (VCAs). In other examples, the haptic motors may include other types of apparatuses that impart physical movement to the game controller. Further, the mount end310of the connector308is rigidly coupled to the central region304of the housing302, and each of the haptic motors314reside within opposing grips306of the housing302. According to this configuration, since the connector308is rigidly coupled to the housing at the mount end310and not at the distal ends312, the connector308acts as a cantilevered beam that allows for the haptic motors314to move relative to the housing302when the haptic motors314are activated based on receiving an electrical input signal.

The amount of movement between the housing302and the haptic motors314is at least partially dependent on the distance between the haptic motors314and the nearest rigid connection points316. Increasing the distance increases the amount of relative movement that is possible. In some examples, the distance between a haptic motor and a nearest connection point may be 1 centimeter, although distances of 2, 3, or even more centimeters may be used to achieve a desired frequency response.

FIG.4shows a second order mass-spring-damper theoretical model400corresponding to the game controller300ofFIG.3. In the model400, m1=the mass of the game controller without the haptic motors; m2=the mass of the haptic motors; K1=the stiffness of the game controller interface; K2=the stiffness of the connector (e.g., cantilevered beam); C1=the damping factor of the game controller interface; C2=the damping factor of the connector (e.g., cantilevered beam); f(t)=the sinusoidal input force (generated by haptic motor); x1, {dot over (x)}1, {umlaut over (x)}1=the amplitude, velocity, and acceleration of the game controller; x2, {dot over (x)}2, {umlaut over (x)}2=the amplitude, velocity, and acceleration of the haptic motor. K2and C2can be tuned based on the connector cross-section geometry and/or material use. In particular, the cross-section geometry governs   connector bending rigidity which is proportional to K2. Further, the connector material also determines K2and C2. In other words, parameters K2and C2are combined results from the connector beam length, the connector cross-section geometry, and the connector material.

FIG.5shows equations that indicate how the parameters of the model400ofFIG.4relate to each other.

In such a configuration, because the haptic motors314move relative to the housing302, separate forces act on the housing302and the haptic motors314that allows for the mass of the housing (m1) and the mass of the haptic motors (m2) to be treated separately, thus allowing the stiffness (K2) and the damping factor (C2) to be tunable. Additionally, the stiffness (K1) and the damping factor (C1) from a user's hands holding onto the game controller300provide external influence on the second order mass-spring-damper theoretical model400.

The masses (m1) and (m2), the stiffness (K2) and the dampening factor (C2) can be collectively tuned such that the game controller300can provide a wide range of desirable haptic feedback. Various approaches for tuning these parameters of the game controller300will be discussed in further detail below.

As discussed above, a conventional hand-held device including a haptic motor that is fixed to a housing, generates a frequency response function including a single resonance peak when the haptic motor is vibrated.FIG.6shows a graph600representing an example frequency response function of the conventional game controller100ofFIGS.1-2. The frequency response function includes a single resonance peak602.

FIG.7shows a graph700representing an example frequency response function of the game controller300ofFIG.3. The frequency response function includes   a first resonance peak702and a second resonance peak704. The masses (m1) and (m2), the stiffness (K2) and the dampening factor (C2) of the game controller300can be collectively tuned to vary the location and/or amplitude of the first and second resonance peaks702,704. Assume arbitrary values for K1, K2, C1, and C2for the game controller to produce haptic feedback corresponding to the frequency response function in the graph700. In one example, increasing the value of K1relative to the arbitrary value would shift the first resonance peak702to the right in the graph700, and decreasing the value of K1would shift the first resonance peak to the left. In another example, increasing the value of K2relative to the arbitrary value would shift the second resonance peak704to the right in the graph700, and decreasing the value of K2would shift the second resonance peak to the left. In yet another example, increasing the value of C1relative to the arbitrary value would reduce the amplitude of the first resonance peak704, and decreasing C1would increase the amplitude. In still yet another example, decreasing the value of C2relative to the arbitrary value would reduce the amplitude of the second resonance peak704, and increasing the value of C2would increase the amplitude. The values of these parameters may be set (or dynamically adjusted) to produce any suitable type of haptic feedback.

The game controller can be designed to produce different types of haptic feedback for different purposes. In one example, the game controller300can be designed to tune the masses (m1) and (m2), the stiffness (K2), and dampening factor (C2), such that when the haptic motors314vibrate at a resonance peak of a component-level frequency response function, the game controller300vibrates at a resonance peak of a system-level frequency response function. Such tuning to align the component-level resonance peak of the haptic motor with the system-level resonance peak of the hand-held device is believed to boost the maximum vibrational output of the game   controller300relative to a conventional configuration where a haptic motor is rigidly coupled to a housing of a hand-held device.

In another example, the game controller300can be designed to tune the masses (m1) and (m2), the stiffness (K2), and dampening factor (C2), such that the two resonance peaks located at different frequencies provide different forms of haptic feedback that are perceived differently by the user holding the hand-held device.

In one example, the hand-held device can be tuned such that one resonance peak simulates haptic feedback of a legacy haptic motor of a legacy hand-held device (e.g., an Eccentric Rotary Mass (ERM) motor that vibrates at 20 Hz in a legacy game controller). Such a configuration may be used for backwards compatibility with legacy video games. Further, the hand-held device can be tuned such that the other resonance peak is aligned with a higher frequency that provides HD haptic feedback (e.g., at 80 Hz). For example, such haptic feedback could be used for new video games. In some examples, both forms of haptic feedback could be used under different conditions in the same video game (or another interactive experience).

The game controller300may be designed to tune the first and second resonance peaks to a wide range of desirable frequencies and/or amplitudes. The connector308may be designed with any suitable material and/or geometric features to achieve desired values for the stiffness (K2) and dampening factor (C2). As a nonlimiting example, a thicker beam geometry may be used to increase the stiffness and the dampening factor. As another example, aluminum may be used to increase a stiffness vs. plastic. This disclosure is not limited to any particular material or geometry, but rather recognizes that once the motor is physically spaced away from where it rigidly connects to the housing, the material(s) and geometry(s) of the structure(s)   providing that spacing may be selected to achieve a desired stiffness and dampening factor.

FIGS.8-10schematically show example geometric features that can be incorporated into a connector that is coupled to a haptic motor in order to tune a frequency response function of a game controller that is vibrated by the haptic motor.

FIG.8schematically shows an example connector800including cutouts802. The cutouts802can be incorporated into the connector800to reduce stiffness of the connector800and/or shift a position of a bending moment on the connector800.

FIG.9schematically shows an example connector900including L-brackets902. The L-brackets902can be incorporated into the connector900to increase stiffness (K2) of the connector900and/or shift a position of a bending moment on the connector900.

FIG.10schematically shows an example connector1000including supplemental dampeners1002and springs1004. The supplemental dampeners1002can be incorporated into the connector1000to increase the stiffness (K2) and the dampening factor (C2). The springs1004can be incorporated into the connector1000to further increase the dampening factor (C2) of the connector1000. While this example provides additional rigid connection points1006that are distal to rigid connection points1008located in a central portion1010of the connector1000, these rigid connection points are spaced apart from the haptic motors and thus allow the haptic motors to move relative to the housing. Further, the springs1004allow the haptic motors to move relative to the housing.

These and other features and/or materials may be incorporated into the connector to statically tune the haptic feedback of the game controller300in a design phase of the game controller300. In some examples, such tuning is performed at the   time of manufacturing based on the expected use of the device. However, dynamic tuning is also within the scope of this disclosure.

In some implementations, the game controller300may be configured to dynamically tune any or all of the masses (m1) and (m2), the stiffness (K2), and dampening factor (C2) during an operation phase of the game controller300.

FIGS.11-12show example mechanisms that may be incorporated into a game controller to dynamically tune the haptic feedback of the game controller.

FIG.11shows an example connector1100including a mechanical tuner1102. The mechanical tuner1102is mechanically adjustable to dynamically adjust one or more of a stiffness and a dampening factor of the connector1100. In some examples, the mechanical tuner1102includes a mechanical pivot that is configured to adjust an effective length of the connector1100. In other examples, the mechanical tuner1102includes a slidable weight. In yet other examples, the mechanical tuner1102includes a magnet, and the mechanical tuner1102is mechanically adjustable via magnetic actuation of the magnet. The mechanical tuner may take any suitable form to mechanically adjust the connector1100to dynamically adjust one or more of a stiffness and a dampening factor of the connector1100.

In some implementations, the game controller may include features that allows for dynamic tuning of either of the masses (m1) or (m2) to dynamically tune the haptic feedback of the game controller300. As shown inFIG.11, the haptic motors1106may be configured to receive removable haptic tuning accessories1104that are configured to adjust a mass of the haptic motors1106and thereby adjust a resonance peak of a frequency response function of the game controller when the game controller is vibrated by the haptic motors1106. In other examples, removable haptic tuning   accessories may be attached to other regions of the game controller to adjust the mass of the game controller for dynamic tuning of the haptic feedback of the game controller.

FIG.12shows an example connector1200including electromechanical tuners1202. The electromechanical tuners1202have electrical properties that are dynamically adjustable based at least on receiving an electrical signal1204from a microcontroller1206of the game controller to adjust one or more of the stiffness (K2) and the dampening factor (C2) of the connector1202.

In one example, the electromechanical tuners1202include electromechanical actuators that are configured to change an effective length of the connector1200based on receiving the electrical signal1204. In another example, the electromechanical tuners1202may include material that changes stiffness or springiness based on application of the electrical signal1204to the material of the electromechanical tuners1202. The electromechanical tuners1202may take any suitable form that allows for dynamic adjustment of the stiffness (K2) and/or the dampening factor (C2) during operation of the game controller.

In some implementations, the microcontroller1206may be configured to dynamically adjust the electromechanical tuners1202to dynamically tune the haptic feedback of the game controller based on various operating conditions.

In some implementations, the game controller is communicatively coupled to a computing device1208, such as a game console executing a video game. The microcontroller1206may be configured to receive a control signal from the computing device1208indicating an operating condition of the computing device1208, such as a game state of the video game. The microcontroller1206may be configured to send an electrical signal to the electromechanical tuners1204based at least on the operating condition of the computing device1208. The electromechanical   tuners1204may be configured to adjust the stiffness (K2) and/or the dampening factor (C2) of the connector1200based on receiving the electrical signal to dynamically tune the haptic feedback of the game controller based on the operation condition of the computing device1208.

In some implementations, the game controller may include a motion sensor1210, such as an inertial measurement unit (IMU). The microcontroller1206may be configured to receive an electrical signal encoding motion data from the motion sensor1210. The microcontroller1206may be configured to send an electrical signal to the electromechanical tuners1204based at least on the motion data. The electromechanical tuners1204may be configured to adjust the stiffness (K2) and/or the dampening factor (C2) of the connector1200based on receiving the electrical signal to dynamically tune the haptic feedback of the game controller based on the motion data.

The game controller may include one or more user input controls1212. In some implementations, the microcontroller1206is configured to receive user input via the one or more user input controls1212. The user input indicates user adjustment of haptic feedback of the game controller. The microcontroller1206may be configured to send an electrical signal to the electromechanical tuners1202based at least on the user input received via the one or more user input controls1212. The electromechanical tuners1204may be configured to adjust the stiffness (K2) and/or the dampening factor (C2) of the connector1200based on receiving the electrical signal to dynamically tune the haptic feedback of the game controller based on the user input.

The concepts described herein enhance a haptic response of a device by incorporating haptic subcomponents into a moving or flexible mechanical architecture of the device that allows for the haptic motor to move relative to a housing of the device. This allows for a lower cost, weight, size, and energy consuming haptic component to   perform similar to a larger haptic component, or to enhance the haptic response of the larger haptic component.

Although the concepts related to tuning haptic feedback are discussed mostly in the context of a game controller, it will be appreciated that these concepts are broadly applicable to any suitable type of device that includes haptic motors that provide haptic feedback.

In an example, a device comprises a housing, a connector including a mount end coupled to the housing and a distal end spaced away from the mount end, and a haptic motor coupled to the distal end of the connector, wherein activation of the haptic motor causes the haptic motor to move relative to the housing. In this example and/or other examples, activation of the haptic motor may generate a sinusoidal excitation force that is transferred through the connector to the device to vibrate the device according to a frequency response function that includes two resonance peaks. In this example and/or other examples, the connector may have a stiffness and a dampening factor that are tuned such that when the haptic motor vibrates at a resonance peak of a frequency response function of the haptic motor, the device vibrates at a resonance peak of the frequency response function of the device. In this example and/or other examples, the housing may include a central region and a grip spaced apart from the central region, the mount end of the connector may be coupled to the central region of the housing, and the haptic motor may reside within the grip of the housing. In this example and/or other examples, the connector may include a mechanical tuner that is mechanically adjustable to dynamically adjust one or more of a stiffness and a dampening factor of the connector. In this example and/or other examples, the mechanical tuner may include a mechanical pivot. In this example and/or other examples, the mechanical tuner may include a slidable weight. In this example and/or   other examples, the mechanical tuner may include a magnet, and the mechanical tuner may be mechanically adjustable via magnetic actuation of the magnet. In this example and/or other examples, the device may be configured to receive a removable haptic tuning accessory configured to adjust a mass of the device and thereby adjust a resonance peak of a frequency response function of the device when the device is vibrated by the haptic motor. In this example and/or other examples, the connector may include an electromechanical tuner having electrical properties that are dynamically adjustable based at least on an electrical signal to adjust one or more of a stiffness and a dampening factor of the connector. In this example and/or other examples, the device may further comprise a controller configured to send the electrical signal to the electromechanical tuner to dynamically adjust one or more of the stiffness and the dampening factor of the connector. In this example and/or other examples, the device may be communicatively coupled to a computing device, and the controller may be configured to receive a control signal indicating an operating condition of the computing device and send the electrical signal to the electromechanical tuner based at least on the operating condition of the computing device. In this example and/or other examples, the device may further comprise a motion sensor, and the controller may be configured to receive a sensor signal encoding motion data from the motion sensor and send the electrical signal to the electromechanical tuner based at least on the motion data received from the motion sensor. In this example and/or other examples, the device may further comprise one or more user input controls, and the controller may be configured to receive a user input signal via the one or more user input controls, the user input signal controlling adjustment of vibration of the device, and the controller may be configured to send the electrical signal to the electromechanical tuner based at least on the user input signal received via the one or more user input controls.

In another example, a device comprises a housing, a connector having a mount end coupled to the housing and a distal end spaced away from the mount end, wherein the connector includes an electromechanical tuner having electrical properties that are dynamically adjustable based at least on an electrical signal to adjust one or more of a stiffness and a dampening factor of the connector, a haptic motor coupled to the distal end of the connector, and a controller configured to send the electrical signal to the electromechanical tuner to dynamically adjust one or more of the stiffness and the dampening factor of the connector. In this example and/or other examples, the device may be communicatively coupled to a computing device, and the controller may be configured to receive a control signal indicating an operating condition of the computing device and send the electrical signal to the electromechanical tuner based at least on the operating condition of the computing device. In this example and/or other examples, the device may further comprise a motion sensor, and the controller may be configured to receive a sensor signal encoding motion data from the motion sensor and send the electrical signal to the electromechanical tuner based at least on the motion data received from the motion sensor. In this example and/or other examples, the device may further comprise one or more user input controls, and the controller may be configured to receive user input via the one or more user input controls indicating user adjustment of vibration of the device and send the electrical signal to the electromechanical tuner based at least on the user input received via the one or more user input controls. In this example and/or other examples, activation of the haptic motor may generate a sinusoidal excitation force that is transferred through the connector to the device to vibrate the device according to a frequency response function that includes two resonance peaks.

In yet another example, a device comprises a housing, a connector including a mount end coupled to the housing and a distal end spaced away from the mount end, and a haptic motor coupled to the distal end of the connector, wherein activation of the haptic motor causes the haptic motor to move relative to the housing and generate a sinusoidal excitation force that is transferred through the connector to the device to vibrate the device according to a frequency response function that includes two resonance peaks.

It will be understood that the configurations and/or approaches described herein are exemplary in nature, and that these specific embodiments or examples are not to be considered in a limiting sense, because numerous variations are possible. The subject matter of the present disclosure includes all novel and non-obvious combinations and sub-combinations of the various processes, systems and configurations, and other features, functions, acts, and/or properties disclosed herein, as well as any and all equivalents thereof.