Haptic feedback device using standing waves

Haptic output devices and related systems and methods are described in the present disclosure. In various implementations, a haptic output device includes a reservoir filled with a liquid. At least one side of the reservoir includes a flexible membrane. The haptic output device also includes a first actuator in physical contact with the reservoir and configured to impart pressure waves to the liquid. The pressure waves interact with the flexible membrane to supply a haptic effect to a user.

TECHNICAL FIELD

The present disclosure generally relates to providing haptic feedback and, more particularly, to haptic output devices that create standing waves in a liquid medium.

BACKGROUND

Electronic device manufacturers strive to produce a rich interface for users. Conventional electronic devices often provide visual and/or auditory feedback to communicate information to users. In some cases, kinesthetic feedback (such as active and resistive force feedback) and/or tactile feedback (such as vibration, texture, and heat) may also be provided to the user to enhance the user experience. Generally speaking, kinesthetic feedback and tactile feedback are collectively known as “haptic feedback” or “haptic effects.” Haptic feedback may be useful for providing cues to alert the user of specific events or to provide realistic feedback sensations to create a greater sensory experience. Haptic feedback can be used with common electronic devices and even devices used for creating a simulated or virtual environment.

In order to generate haptic effects, different types of haptic actuators can be utilized. Examples of known haptic actuators include electromagnetic actuators, such as an Eccentric Rotating Mass (ERM) in which an eccentric mass is moved by a motor, a Linear Resonant Actuator (LRA) in which a mass attached to a spring is driven back and forth, “smart materials” such as piezoelectric materials, electro-active polymers, or shape memory alloys, etc. Many of these actuators and the devices with which they interact typically have resonant frequencies, which can be built in or dynamically determined. Drive signals can be applied to the actuators to generate the haptic effects effectively and efficiently.

SUMMARY

The present disclosure describes systems, electronic devices, and input/output devices for providing haptic feedback to a user. In some implementations, a haptic output device includes a reservoir filled with a liquid, where at least one side of the reservoir includes a flexible membrane. The haptic output device may also include a first actuator and/or a second actuator, each in physical contact with the reservoir. Regarding embodiments comprising two actuators, the first actuator and second actuator are positioned a fixed distance apart from each other on opposite ends of the reservoir. Furthermore, the first actuator and/or second actuator are configured to be driven so as to impart pressure waves on the liquid.

Various implementations described in the present disclosure may include additional features and advantages, which may not necessarily be expressly disclosed herein but will be apparent to one of ordinary skill in the art upon examination of the following detailed description and accompanying drawings. It is intended that these features and advantages be included within the present disclosure.

DETAILED DESCRIPTION

The present disclosure describes embodiments of haptic output devices, which provide haptic effects on a user. In particular, various implementations of the haptic output devices described herein may be incorporated into an article of clothing, garment, wrap, pad, patch, or other material that may be worn by the user or attached in some manner to or in contact with the user's body. In this respect, the haptic output device can be configured to provide haptic effects to the user at specific locations on the user's body where the wearable material touches the user's skin. For example, various implementations of the haptic output devices described herein may be incorporated within a shirt to provide haptic effects on the user's arms, back, and/or shoulders. Thus, when used in clothing or other wearable material, the haptic output devices may be used to provide socio-affective sensations for the user.

Also, various implementations of the haptic output devices may be used in environments where visual and/or auditory feedback may not be a viable means for communication. For example, the haptic output devices may be useful in harsh environments, such as during a rescue mission by a group of firefighters. In a rescue situation within a burning building, for instance, the firefighters might not be able to communicate using visual or auditory signals. Thus, haptic effects may prove to be a more advantageous means of communication between firefighters in this situation. For example, if a radio alert is given to a team of firefighters to pull out, haptic effects in the form of a tap on the shoulder or squeeze of the arm can be administered in order to communicate commands effectively.

Various implementations of haptic output devices may also be used in stealth or secretive environments, where only the recipient of the haptic effect is intended to receive a specific communication. The application in this type of environment may include use by policemen or soldiers in the field, for enabling communication without visual and/or auditory feedback, which may otherwise compromise the recipient's position. Also, this type of haptic effect could be used in athletics for communicating signals between players and/or coaches without the visual or audible interception of the signal by members of another team.

In various implementations, the haptic output devices may be incorporated within user devices, such as electronic handheld devices, for providing a rich sensory experience for the user. Although various implementations of the invention are described as haptic output devices incorporated into certain devices or in certain environments, the haptic output devices may be used in other devices and/or environments. Other features and advantages may become apparent to one of ordinary skill in the art upon reading and understanding the general principles of the present disclosure.

FIG. 1is a block diagram showing an electronic device10in accordance with various implementations of the invention. More particularly, electronic device10includes a processing device12, a memory device14, and/or various input/output devices16, which are interconnected via a bus18. Furthermore, input/output devices16may include a haptic output device20.

Haptic output device20is configured to communicate haptic effects to the user that can be tactilely sensed by the user. In some implementations of the invention, haptic output device20may be incorporated with another output device that can communicate signals directed to the user's sense of touch. In some implementations of the invention, haptic output device20may be part of or associated with any suitable human-computer interface, such as a touch screen, touch pad, touch sensitive structure, slide control device, buttons, knobs, or other touchable input/output devices16. Haptic output device20may be configured for physical interaction with a user-controlled device, such as a stylus, finger, etc. In some implementations of the invention, haptic output device20may include at least one output device and at least one input device, such as a touch screen. In those implementations, haptic output device20might include a visual display and a touch sensitive screen superimposed thereon to receive inputs from a user's finger.

In various implementations of the invention, haptic output device20provides haptic feedback to at least a portion of electronic device10, which can be conveyed to a user in contact with electronic device10. Particularly, haptic output device20can provide haptic effects directly to a user when the user is in contact with the device. In some implementations of the invention, haptic output device20may provide indirect haptic effects to the user via a housing of electronic device10, via any other suitable portion of electronic device10, or via a wearable material or other object in which haptic output device20may be incorporated.

Electronic device10may be configured as a computer, electronic handheld device (such as a mobile phone, personal digital assistant (PDA), portable e-mail device, portable Internet access device, calculator, etc.), game controller, or other electronic device. In some implementations of the invention, electronic device10may be a portable processing component incorporated into another device or component. For example, electronic device10may be incorporated in clothing or other wearable material for providing haptic effects while the user is in contact with the clothing or material.

Processing device12may be a general-purpose or specific-purpose processor or microcontroller for managing or controlling the operations and functions of electronic device10. For example, processing device12may be specifically designed as an application-specific integrated circuit (“ASIC”) to control output signals to one or more drivers of input/output devices16to provide haptic effects. Processing device12may be configured to decide, based on predefined factors, what haptic effects are to be played, the order in which the haptic effects are played, and the magnitude, frequency, duration, and/or other parameters of the haptic effects. Processing device12can also be configured to provide streaming motor commands that can be used to drive the haptic actuators for creating a particular haptic effect. In some embodiments, processing device12may actually include a plurality of processors, each configured to perform certain functions within electronic device10.

Memory device14may include one or more internally fixed storage units, removable storage units, and/or remotely accessible storage units, and may include a tangible storage medium. The various storage units may include any combination of volatile memory and non-volatile memory. The storage units may be configured to store any combination of information, data, instructions, software code, etc. More particularly, the storage devices may include haptic effect profiles, instructions for how the haptic actuation devices of input/output devices16, e.g., haptic output device20, are to be driven, or other information for generating haptic effects.

Memory device14may be configured to store a program for enabling actuation of haptic output device20. In some embodiments, the program may be configured to synchronize the actuation of two pressure waves at opposing ends of an actuating device to create standing waves in a liquid medium within the actuating device, as described in more detail below. In some implementations of the invention, the liquid medium is under pressure thereby limiting movement with the actuating device. The actuators may then be used to impose pressure waves on the liquid medium and cause movement of the medium along one axis without causing substantial, if any, movement along another axis. For example, the pressure waves may cause lateral movement and cause little if any longitudinal movement. In addition, the program stored in memory device14may also take into account the dimensions of a reservoir designed to contain the medium. This may allow certain wave patterns to be formed in the medium. Actuation algorithms may involve Fourier transforms, calculations of harmonic expansions, or other time and frequency calculations for creating specific wave patterns.

In some implementations of the invention, haptic output device20may be the only input/output device16of electronic device10, such as, for example, when using the haptic output device20in clothing. In some implementations of the invention, in addition to haptic output device20, input/output devices16may also include specific input mechanisms and output mechanisms. For example, the input mechanisms may include such devices as keyboards, keypads, cursor control devices (e.g., computer mice), or other data entry devices. Output mechanisms may include a computer monitor, virtual reality display device, audio output device, printer, or other peripheral devices. Input/output devices16may include mechanisms that are designed not only to receive input from a user, but also provide feedback to the user, such as a touch screen devices. Haptic output device20and other input/output devices16may include any suitable combination and configuration of buttons, keypads, cursor control devices, touch screen components, stylus-receptive components, or other data entry components. Input/output devices16and haptic output device20may also include any suitable combination of computer monitors, display screens, touch screen displays, haptic or tactile actuators, haptic effect devices, or other notification devices for providing output to the user.

FIG. 2is a block diagram illustrating an embodiment of haptic output device20shown inFIG. 1, according to various implementations of the invention. Haptic output device20includes a first driver22, a second driver24, and an actuating device26. Actuating device26includes a reservoir28, a first pressure actuator30and a second pressure actuator32. In some implementations of the invention, the first pressure actuator30is disposed at one end of reservoir28and the second pressure actuator30is disposed at the other end of reservoir28.

Reservoir28comprises liquid-tight materials and is configured to be filled with a liquid, such as water, oil, a magneto-rheological liquid, an electro-rheological liquid, or other suitable liquid medium. In some implementations of the invention, reservoir28is to be filled completely or almost completely with the liquid. In some implementations, the liquid inside reservoir28is pressurized in order that the pressure waves can be transmitted through the liquid. In order for pressure waves to be transmitted adequately through the liquid, the liquid should be substantially incompressible and should have a substantially linear stress-to-strain response within the actuation pressure range. Furthermore, reservoir28includes at least one side having a flexible membrane that can deform to the shapes or patterns of pressure waves that are transmitted through the liquid within reservoir28via at least one pressure actuator.

In some implementations of the invention where the fluid in reservoir28includes suspensions of electrical and/or magnetic particles, for example, as with various electro-rheological and magneto-rheological fluids, the reservoir28may be augmented with passive and/or active electromagnetic field generators such as magnets, electromagnets, current carrying wires, or other electromagnetic field generators. These electromagnetic field generators may be used to act upon the electrical and/or magnetic particles in such a way as to create controllable sub-regions within the reservoir28. The particles can be controlled by the electromagnetic field generators for the purpose of further localizing the pressure waves, normalizing the geometry of the reservoir28, dynamically adjusting the fluid properties, and other purposes. This may result in enhanced performance by the haptic output device20.

In some implementations of the invention, first pressure actuator30and second pressure actuator32may be configured on opposite ends of reservoir28and may be supported at a fixed distance away from each other. The pressure actuators30,32are placed in contact with the ends of reservoir28in order to be able to transmit vibrations to the liquid within reservoir28. First pressure actuator30and second pressure actuator32may include piezoelectric actuators, voice coils, or any other types of actuators. In some implementations of the invention, first pressure actuator30and second pressure actuator32are configured to operate within a frequency range from about 0 Hz (DC) to about 2 kHz, though other frequency ranges may be used.

First pressure actuator30and second pressure actuator32can impart pressure waves to the liquid medium of reservoir28to create cumulative interference effects along the length of the deformable membrane of reservoir28. Driver22and driver24can be controlled by synchronized signals to create various wave patterns. For example, pressure actuators30and32can be driven to create standing waves, peaks, troughs, rippling waves, or other waveforms, by regulating the pressure wave frequencies and harmonics. Also, the length, width, and height of reservoir28may be considered to produce various pressure wave patterns. In some embodiments, the reservoir may also include sensing elements that can be used to estimate the configuration of the reservoir itself, which could then be used to refine the control signals sent to the actuators.

AlthoughFIG. 2defines haptic output device20having two actuators on opposite ends of reservoir28, haptic output device20may be configured in other implementations with a single driver and a single actuator. In these implementations, the driver may be configured to drive the actuator with a specific wave pattern. Because the waves reflect off the opposite end of the reservoir in this case, the reflections may be used with pressure waves driven by a single actuator to generate various wave patterns along the length of reservoir28.

In implementations with a single pressure actuator, a rigid surface may replace the second pressure actuator32to enable reflections of the pressure waves. In some implementations, a flexible membrane may replace the second pressure actuator32. In various implementations of the invention, a sensor configured to sense the pressure within reservoir28may be used. Pressure data sensed by the sensor can be fed back to driver22to form a feedback loop in order to properly control the output waves. Based on the sensed waves, the driver22can adjust the output signal to compensate for various environmental conditions.

FIGS. 3A and 3Bare diagrams illustrating a side view and top view, respectively, of various implementations of actuating device26illustrated inFIG. 2. Actuating device26includes a reservoir36, a first pressure actuator38, and a second pressure actuator40. As illustrated in the side view ofFIG. 3A, reservoir36includes a top42, bottom44, and ends46and48. As illustrated in the top view ofFIG. 3B, reservoir36also includes a first side52and a second side54. Reservoir36is liquid-tight and is configured to contain a liquid50, such as water, oil, a magneto-rheological liquid, an electro-rheological liquid, or other liquid medium.

In some implementations, bottom44, ends46and48, and sides52and54may comprise a rigid material for supporting liquid50and for maintaining a fixed distance between first pressure actuator38and second pressure actuator40. In these implementations, top42may be made of a flexible membrane, which is designed to deform according to the pressure wave patterns formed in or flowing through liquid50. In some implementations, one or more of the top42, bottom44, and sides52and54may be formed from a flexible membrane or other flexible material, such as polyurethane, latex or similar material, in order to allow actuating device26to conform to any shape on which it is placed.

Actuating device26ofFIG. 3can be used in a number of different applications. For example, when used for providing socio-affective stimulus to a user, the flexible membrane, such as top42, may be positioned against the user's skin or within clothing such that movement of flexible membrane42can be sensed by the user. In this way, actuating device26can provide low frequency waves to simulate the sensation of someone stroking the user's arm or tapping the user on the shoulder. In order to increase the size of the actuation area, actuation device26can be configured with a number of long reservoirs, each actuated by one or more pressure actuators. Also, reservoirs can also be arranged end to end, side by side, in an array, or in other configurations to fit certain sizes as needed.

As illustrated inFIG. 3, the channel in which liquid50is contained is substantially one dimensional, which allows for easy control of the waves. However, in other implementations, reservoir36can be given any shape, such as rectangular, triangular, circular, elliptical, etc. Processing device12can be programmed in a way that allows control over every portion of flexible membrane42to create a two-dimensional wave pattern. Also, one or more actuators may be arranged in fixed positions around the periphery of reservoir36to create various patterns of standing waves.

In some implementations, one or more pressure sensors can be arranged within or adjacent to the top42, bottom44, first side52, and/or second side54. These pressure sensors can be used to perform a closed loop control for the first pressure actuator38and/or second pressure actuator40by sensing the local pressure along the length of the reservoir36and providing an estimate of the actual standing wave pattern being displayed. This information can be fed back to control circuitry, such as drivers22and24(FIG. 2), which drives the pressure actuators38and40. The feedback control circuitry can be used to accommodate for environmental perturbations such as acceleration of the device, pressures related to the parts of the user's body in contact with the flexible surfaces42,44,52, and/or54, etc.

In addition to standing waves, the pressure actuators38and40may be configured to create other types of static and/or dynamic pressure outputs. For example, other pressure output configurations, such as traveling waves and arbitrary static or moving patterns, can be created on the flexible surfaces.

FIG. 4is a flow diagram illustrating a method of creating a haptic pressure wave output, according to one embodiment. As indicated in block58, an actuating device is provided. The actuating device may include, for example, a liquid-filled reservoir having at least one side that includes a flexible membrane. The actuating device may also include one or more pressure actuators positioned, for example, at the ends of the reservoir. Also, the actuating device may include one or more drive circuits to drive the respective pressure actuators.

As indicated in block60ofFIG. 4, the pressure actuators of the actuating device are driven. For instance, the pressure actuators can be driven in such a way as to create interference effects, such as peaks, troughs, rippling effects, or other interference effects, along the length of the reservoir. The interference effects in turn cause the flexible membrane to deform in response to the waves. Thus, a user directly or indirectly in contact with the flexible membrane can tactilely sense the wave patterns. Particularly, the pressure actuators can be driven in a controlled manner to create various wave patterns, including but not limited to standing waves. The pressure actuators can also be driven by the drive circuits to create harmonics that can be used to better define the shapes of the waves at various points along the length of the reservoir.

It should be understood that the steps, processes, or operations described herein may represent any module or code sequence that can be implemented in software or firmware. In this regard, these modules and code sequences can include commands or instructions for executing specific logical steps, processes, or operations within physical components. It should further be understood that one or more of the steps, processes, and/or operations described herein may be executed substantially simultaneously or in a different order than explicitly described, as would be understood by one of ordinary skill in the art.

The embodiments described herein represent a number of possible implementations and examples and are not intended to necessarily limit the present disclosure to any specific embodiments. Instead, various modifications can be made to these embodiments as would be understood by one of ordinary skill in the art. Any such modifications are intended to be included within the spirit and scope of the present disclosure and protected by the following claims.