Haptic peripheral having a plurality of deformable membranes and a motor to move radial pins

A haptic peripheral includes a housing with a frame having a plurality of circumferentially-spaced apart windows, a plurality of deformable membranes positioned within the plurality of circumferentially-spaced apart windows, and a haptic output device disposed within the housing and coupled to the plurality of deformable membranes. The haptic output device includes a motor, a converter, and a plurality of radially-extending pins. Each radially-extending pin has a first end attached to the converter and a second opposing end attached to a deformable membrane. The motor is configured to receive a control signal from a processor and is configured to rotate relative to the housing in response to the control signal. The converter converts rotary motion of the motor to linear motion to move the plurality of radially-extending pins to thereby radially extend the deformable membranes relative to the housing and provide a haptic effect to a user of the haptic peripheral.

FIELD OF THE INVENTION

Embodiments hereof relate to haptic effects and more particularly relate to a haptic peripheral having a plurality of deformable membranes to provide haptic effects to a user.

BACKGROUND OF THE INVENTION

Video games and video game systems have become even more popular due to the marketing toward, and resulting participation from, casual gamers. Conventional video game devices or controllers use visual and auditory cues to provide feedback to a user. In some interface devices, kinesthetic feedback (such as active and resistive force feedback) and/or tactile feedback (such as vibration, texture, and heat) is also provided to the user, more generally known collectively as “haptic feedback” or “haptic effects”. Haptic feedback can provide cues that enhance and simplify the user interface. Specifically, vibration effects, or vibrotactile haptic effects, may be useful in providing cues to users of electronic devices to alert the user to specific events, or provide realistic feedback to create greater sensory immersion within a simulated or virtual environment.

Other devices, such as medical devices, automotive controls, remote controls, and other similar devices wherein a user interacts with a user input elements to cause an action also benefit from haptic feedback or haptic effects. For example, and not by way of limitation, user input elements on medical devices may be operated by a user outside the body of a patient at a proximal portion of a medical device to cause an action within the patient's body at a distal end of the medical device. Haptic feedback or haptic effects may be employed devices to alert the user to specific events, or provide realistic feedback to user regarding interaction of the medical device with the patient at the distal end of the medical device.

Conventional haptic feedback systems for gaming, virtual reality, and other devices generally include one or more actuators attached to or contained within the housing of the controller/peripheral for generating the haptic feedback. One problem occurring in commercially-available implementations of haptic feedback devices is that the devices are very bulky because such devices employ large motors and require large power supplies to operate. These features make it difficult to integrate compelling haptic feedback into a smaller interface device such as a handheld gamepad, joystick, remote control, or other device. Yet, these controllers are preferred input devices for many types of systems, especially home video game consoles, and are also preferred by many consumers.

Embodiments hereof relate to a haptic feedback system that provides a deformation haptic effect via a smaller interface device such as a handheld peripheral for a gaming or virtual reality system.

BRIEF SUMMARY OF THE INVENTION

Embodiments hereof are directed to a haptic peripheral that includes a housing, a plurality of deformable membranes, and a haptic output device disposed within the housing and coupled to the plurality of deformable membranes. The housing includes a frame having a plurality of spaced apart windows. Each deformable membrane is positioned within one of the plurality of spaced apart windows of the frame. The haptic output device includes a motor, a cam plate coupled to the motor and having a plurality of tracks defined therethrough, a plurality of rollers, and a plurality of radially-extending pins. Each roller is slidably positioned within one of the plurality of tracks of the cam plate. Each radially-extending pin has a first end attached to one of the plurality of rollers and a second opposing end attached to one of the deformable membranes. The motor is configured to receive a control signal from a processor and is configured to rotate the cam plate relative to the housing in response to the control signal from the processor. Rotation of the cam plate moves the plurality of rollers and the plurality of radially-extending pins to thereby radially extend the deformable membranes relative to the housing and provide a haptic effect to a user of the haptic peripheral.

According to another embodiment hereof, a haptic peripheral includes a housing, a plurality of deformable membranes, and a haptic output device disposed within the housing and coupled to the plurality of deformable membranes. The housing includes a frame having a plurality of spaced apart windows. Each deformable membrane is positioned within one of the plurality of spaced apart windows of the frame. The haptic output device includes a motor, a converter, and a plurality of radially-extending pins. The converter extends between the motor and the plurality of radially-extending pins. Each radially-extending pin has a first end attached to the converter and a second opposing end attached to one of the deformable membranes. The motor is configured to receive a control signal from a processor and is configured to rotate relative to the housing in response to the control signal from the processor. The converter converts rotary motion of the motor to linear motion to move the plurality of radially-extending pins to thereby radially extend the deformable membranes relative to the housing and provide a haptic effect to a user of the haptic peripheral.

According to another embodiment hereof, a gaming system includes a host computer, a processor, and a haptic peripheral. The haptic peripheral includes a housing, a plurality of deformable membranes, and a haptic output device disposed within the housing and coupled to the plurality of deformable membranes. The housing includes a frame having a plurality of spaced apart windows. Each deformable membrane is positioned within one of the plurality of spaced apart windows of the frame. The haptic output device includes a motor, a converter, and a plurality of radially-extending pins. The converter extends between the motor and the plurality of radially-extending pins. Each radially-extending pin has a first end attached to the converter and a second opposing end attached to one of the deformable membranes. The motor is configured to receive a control signal from a processor and is configured to rotate relative to the housing in response to the control signal from the processor. The converter converts rotary motion of the motor to linear motion to move the plurality of radially-extending pins to thereby radially extend the deformable membranes relative to the housing and provide a haptic effect to a user of the haptic peripheral.

DETAILED DESCRIPTION OF THE INVENTION

Specific embodiments of the present invention are now described with reference to the figures, wherein like reference numbers indicate identical or functionally similar elements.

The following detailed description is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description. Furthermore, although the following description is directed to gaming devices and controllers for gaming devices, those skilled in the art would recognize that the description applies equally to other haptic feedback devices.

Embodiments hereof relate to a haptic peripheral of a haptic feedback system, the haptic peripheral including a housing, a plurality of deformable membranes, and a haptic output device disposed within the housing and coupled to the plurality of deformable membranes. The haptic output device is configured to receive a control signal from a processor and is configured to radially extend the deformable membranes relative to the housing and provide a haptic effect to a user of the haptic peripheral. The haptic peripheral is a graspable device with multiple deformable membranes or regions that can provide unique and highly dynamic non-vibration haptic feedback to the user that significantly improve the quality of user experience in virtual reality and video gaming interactions. In this device, due to a custom designed haptic output device, the rotary motion of a motor can be converted to multiple linear motions in perpendicular axes with very low friction. Advantages of haptic peripherals described herein include that the haptic peripheral has multiple deformable regions or membranes and can generate deformation-based haptics with 200 N of force, 10 mm of deformation, and 10 Hz of deformation bandwidth.

More particularly, with reference to the figures,FIG. 1is a schematic illustration of a haptic feedback system100including a haptic peripheral102, a host computer104, and a display106.FIG. 2is a block diagram of the system ofFIG. 1. Haptic peripheral102is in communication with host computer or computer system104that is configured to generate a virtual environment to a user on video or visual display106. Host computer104may include a video game console, mobile device, or any other type of computer system that contains a processor configured to generate a virtual environment to a user on a display. As shown in the block diagram ofFIG. 2, host computer104includes a host processor108, a memory110, and visual display106. Host computer104executes a software application that is stored in memory110and is executed by host processor108. Host processor108may be any type of general purpose processor, or could be a processor specifically designed to provide haptic effect signals. Host processor108may be the same processor that operates the entire host computer104, or may be a separate processor. Host processor108can decide what haptic effects to send to haptic peripheral102and in what order to send the haptic effects. Memory110may be any type of storage device or computer-readable medium, such as but not limited to random access memory (RAM) or read-only memory (ROM). Memory110may also be located internal to the host processor, or any combination of internal and external memory.

Host computer104is coupled to visual display106via wired or wireless means. Visual display106may be any type of medium that provides graphical information to a user; this includes but is not limited to monitors, television screens, plasmas, LCDs, projectors, or any other display devices. In an embodiment, host computer104is a gaming device console and visual display106is a monitor which is coupled to the gaming device console, as known in the art. In another embodiment, as known to those skilled in the art, host computer104and visual display106may be combined into a single device.

In the embodiment shown inFIGS. 1-2, host computer104is in communication with haptic peripheral102through a wired or USB connection103. However, in other embodiments, haptic peripheral102may communicate with host computer104using other wired communication or wireless communication means known to those of skill in the art. This can include but is not limited to a serial or Bluetooth connection. Further, host computer104may be in the cloud and thus is not required to be wired or connected wirelessly in a local fashion.

As shown in the block diagram ofFIG. 2, haptic peripheral102includes a local processor112which communicates with host computer104via connection103, a local memory114, and a haptic output device120. In operation, local processor112is coupled to haptic output device120to provide control signals thereto based on high level supervisory or streaming commands from host computer104. For example, when in operation, voltage magnitudes and durations are streamed from host computer104to haptic peripheral102where information is provided to haptic output device120via local processor112. Host computer104may provide high level commands to local processor112such as the type of haptic effect to be output (e.g. vibration, jolt, detent, pop, etc.) by haptic output device120, whereby the local processor112instructs haptic output device120as to particular characteristics of the haptic effect which is to be output (e.g. magnitude, frequency, duration, etc.). Local processor112may retrieve the type, magnitude, frequency, duration, or other characteristics of the haptic effect from a local memory114coupled thereto (shown in the block diagram ofFIG. 2). In addition, similar to memory110of host computer104, local memory114that can be any type of storage device or computer-readable medium, such as but not limited to random access memory (RAM) or read-only memory (ROM). Local memory114may also be located internal to the local processor, or any combination of internal and external memory. Similar to host processor108, local processor112also can decide what haptic effects to send and what order to send the haptic effects. In another embodiment hereof, haptic peripheral102is configured to not include local processor112, whereby all input/output signals from haptic peripheral102are handled and processed directly by host computer104.

In the embodiment ofFIGS. 1-2, haptic peripheral102is a graspable device (i.e., a device that is configured to be grasped by a hand or palm of a user). Further, haptic peripheral102is configured to output haptic effects as will be described in more detail herein but in this embodiment does not include a user input element or manipulandum used to input actions or otherwise interact with the video game and update the virtual environment as known in the art. However, those skilled in the art would recognize that haptic peripheral102may be modified to include one or more user input elements or manipulandums. Movements of user input elements or manipulandums represent inputs from the user which allows the user to interact with the software applications running on host computer104, including but not limited to video games relating to first person shooter, third person character interaction, vehicle related games, or computer simulations. Movements of user input elements or manipulandums may provide host computer104with input corresponding to the movement of a computer generated graphical object, such as a cursor or other image, or some other graphical object displayed by the host computer104via visual display106, or to control a virtual character or gaming avatar, such as a person, vehicle, or some other entity that may be found in a game or computer simulation. Further, those skilled in the art would recognize that haptic peripheral102is merely an exemplary embodiment of a haptic peripheral and that haptic peripherals with other configurations, shapes, and sizes may be used. For example, as will be described in more detail herein, the haptic peripheral may be a handheld gaming controller that may be used with a tablet computer as shown inFIGS. 13-14or other controllers such as, but not limited to, mobile phones, personal digital assistants (PDA), tablets, computers, gaming peripherals, and other controllers for virtual reality systems known to those skilled in the art.

Haptic peripheral102includes a housing116, a plurality of deformable membranes or coverings122, and haptic output device120which is disposed within housing116and coupled to the plurality of deformable membranes122. Haptic output device120will be described in more detail with reference toFIGS. 4, 5, and 6herein, while housing116and the plurality of deformable membranes122will first be described with reference toFIGS. 3 and 6.FIG. 3is a perspective view of haptic peripheral102, whileFIG. 6is an exploded perspective view of haptic peripheral102.

More particularly, in this embodiment, housing116includes a frame138and a motor casing139. Frame138and motor casing139are disposed adjacent to or in series with each other and are coupled together such that housing116of haptic peripheral102is a single device. Motor casing139houses a motor124of haptic output device120. Frame138has a plurality of circumferentially-spaced apart windows144, and each deformable membrane122is positioned within one of the plurality of circumferentially-spaced apart windows144of frame138. In this embodiment, haptic peripheral102includes six deformable membranes122and thus also includes six corresponding circumferentially-spaced apart windows144within frame138. However, as will be understood by one of ordinary skill in the art, the haptic peripheral may be modified to have a fewer or greater number of deformable membranes. Each deformable membrane122is configured to contact a user and is formed from a flexible material such as but not limited to synthetic rubber such as neoprene or another suitable polymer. Although the deformable membranes and corresponding spaced apart windows are illustrated in a cylindrical layout, i.e., extending around and/or forming a circumference of a cylindrical handle, it will be understood by one of ordinary skill in the art that the deformable membranes and corresponding windows may cover or extend around a handle having any shape or profile and thus the deformable membranes and corresponding windows may include or form arbitrarily curved surfaces. Stated another way, frame138is not required to be cylindrical and deformable membranes122and corresponding spaced apart windows144are not required to be positioned in a cylindrical layout.

Frame138includes a first annular base140A, a second opposing annular base140B, and a plurality of dividers or slats142longitudinally extending between first and second annular bases140A,140B in order to form circumferentially-spaced apart windows144. Although described separately herein, first and second annular bases140A,140B and slats142may be integrally formed as a single component or structure. As best shown on the exploded view ofFIG. 6, frame138further includes a central plate or disc146having a plurality of radially-extending openings or passageways148formed therein. In this embodiment, central disc146includes six radially-extending openings or passageways148that correspond with the six deformable membranes122. Central disc146is longitudinally centered within frame138and is coupled or attached to slats142. Central disc146is circumferentially oriented such that each passageway148is circumferentially centered within its corresponding window144of frame138. Central disc146also includes a central opening or passageway149for receiving a camshaft150of haptic output device120as will be described in more detail herein. Housing116further includes a first or top cover plate128A and a second or bottom cover plate128B that are disposed adjacent to and coupled to first and second annular bases140A,140B, respectively, of frame138. Top and bottom cover plates128A,128B function to enclose and protect the internal components housed within frame138.

Haptic output device120will now be described in more detail.FIG. 4is an enlarged perspective view of a portion of haptic peripheral102, andFIG. 5is the same view asFIG. 4except that frame138of housing116and bottom cover plate128B of housing116are shown in phantom to illustrate the internal components housed within frame138. Haptic output device120includes motor124(see exploded view ofFIG. 6), camshaft150, a cam plate130coupled to motor124via camshaft150, a plurality of rollers134, and a plurality of radially-extending shafts or pins136. A drive end151of camshaft150is operably connected to a drive shaft of motor124. Motor124can be connected directly to camshaft150, such as with a shaft coupler126. Motor124may be back-drivable or bidirectional. In an embodiment, motor124is a DC motor such as a Maxon Motor model Maxon-DCX22L 18V-10W available from Maxon Motor, Ag of Switzerland, and shaft coupler126is a planetary gearbox (model GPX22) of a gear ratio of 44. In another embodiment, motor124is EC-max 16 brushless, 5W, and shaft coupler126is a planetary gearbox (GP16A) of a gear ratio of 19.

Cam plate130defines a plurality of tracks132there-through. As best shown inFIG. 5, each track132is a curved opening or otherwise stated is an opening that forms a curved or kidney-shaped path or passageway. In this embodiment, cam plate130includes six tracks132that correspond with the six deformable membranes122of haptic peripheral102. Cam plate130is a rotating component or element that converts or transforms rotary motion into linear motion as will be described in more detail herein. Each roller134is slidably positioned within one of the plurality of tracks132of cam plate130. Each roller134is sized to be positioned within a track132of cam plate130and configured to move back and forth along or within its respective track132as cam plate130rotates. Each radially-extending pin136has a first end137A attached to one of the plurality of rollers134and a second opposing end137B attached to one of the deformable membranes122. Thus, radially-extending pins136extend between rollers134and deformable membranes122. Each radially-extending pin136is slidably positioned within one of the plurality of radially-extending passageways148of central disc146of frame138.

In operation, motor124is configured to receive a control signal from host processor108and/or local processor112and is configured to rotate in response to the control signal. Rotation of motor124causes rotation of cam plate130due to camshaft150which extends between and is coupled to both motor124and cam plate130. Cam plate130is pivoted at this center. When cam plate130rotates, the plurality of rollers134slide back and forth within tracks132of cam plate130. The plurality of pins136, which are attached to rollers134, move in a radial direction in conjunction with the movement of rollers134and thus the plurality of deformable membranes122, which are attached to pins136, are also moved in a radial direction in conjunction with the movement of rollers134. Rotation of cam plate130thus moves the plurality of rollers134and the plurality of radially-extending pins136to thereby radially extend deformable membranes122relative to housing116. Cam plate130thus converts or transforms the rotary motion of motor124to linear motion of radially-extending pins130, as well as deformable membranes122attached thereto. The shape or configuration of tracks132of cam plate130thus controls or determines the movement of rollers134, and thus is designed to result in radial movement of radially-extending pins130and deformable membranes122attached thereto. As the plurality of rollers134move back and forth within their respective track132, radially-extending pins130and deformable membranes122attached thereto are radially extended or expanded and radially contracted or retracted relative to housing116.

Rollers134are cylindrical components preferably formed from a low-friction material such as but not limited to stainless steel. In addition, a plurality of bearings152are positioned at various locations of haptic output device120in order to reduce the load on camshaft150during rotation of motor124and cam plate130. Bearings152are annular or tubular elements that constrain relative motion to only the desired motion and reduce or minimize friction between moving parts. Depending upon the position of bearing152within haptic output device120, the bearing may provide for free linear movement of the moving part or for free rotation around a fixed axis.

Operation of haptic output device120to produce deformation haptic effects to a user of haptic peripheral102will now be discussed in more detail with respect toFIGS. 7-8.FIG. 7is a perspective view of haptic peripheral102, wherein motor casing139of housing116and bottom cover plate128B of housing116are shown in phantom to illustrate the internal components thereof and haptic peripheral102is shown in its nominal or non-deformed state.FIG. 7Ais an end view ofFIG. 7, wherein frame138of housing116is not shown for sake of clarity. Similarly,FIG. 8is a perspective view of haptic peripheral102, wherein motor casing139of housing116and bottom cover plate128B of housing116are shown in phantom to illustrate the internal components thereof. However, inFIG. 8, haptic peripheral102is shown in its expanded or deformed state with deformable membranes122radially expanded or extended via haptic output device120.FIG. 8Ais an end view ofFIG. 8, wherein frame138of housing116is not shown for sake of clarity.

Host processor108and/or local processor112generates a control signal or output that directs motor124to rotate camshaft150at a predetermined speed and/or to a predetermined position, thereby causing haptic output device120to induce desired motion of deformable membranes122to produce haptic feedback or effects to a user. More particularly, haptic feedback system100includes a power source for supplying an electrical charge to motor124and haptic feedback system100also includes host processor108and/or local processor112which controls the power source and thus determines the magnitude and frequency of the applied electrical charge. Accordingly, the power source is configured to receive a control signal from host processor108and/or local processor112and is configured to apply an electrical charge to motor124in accordance with the control signal received from host processor108and/or local processor112. The power source may be located within haptic peripheral102or host computer104.

Motor124is configured to receive the output or control signal from host processor108and/or local processor112and rotate in response thereto. As explained above, rotation of motor124and cam plate130moves the plurality of rollers134and the plurality of radially-extending pins136to thereby radially extend deformable membranes122relative to housing116. Tracks132of cam130control or drive motion of rollers134, which in turn push or radially move pins136from the nominal or non-deformed configuration ofFIGS. 7 and 7Ain which radially-extending pins136are completely or entirely housed within radially-extending passageways148of central disc146of frame138to the expanded or deformed configuration ofFIGS. 8 and 8Ain which radially-extending pins136are at least partially pushed or extended outside of frame138. Deformable membranes122, attached to radially-extending pins136, are similarly moved from the nominal or non-deformed configuration ofFIGS. 7 and 7Ain which the deformable membranes are positioned within circumferentially-spaced apart windows144of frame138and substantially flush with an outer surface of frame138to the expanded or deformed configuration ofFIGS. 8 and 8Ain which deformation membranes122are radially spaced apart or away from the outer surface of frame138. When radially-extending pins136push deformable membranes122radially outward to the expanded or deformed configuration, deformation haptic effects are thereby applied to a user's hand that is grasping haptic peripheral102. When radially-extending pins136pull deformable membranes122radially inward to return to the nominal or non-deformed configuration, deformation haptic effects are removed or not applied.

Thus, haptic output device120produces a force that moves deformable membranes122relative to frame138in response to the control signal from host processor108and/or local processor112to thereby provide a haptic effect to a user of haptic peripheral102. The haptic effect, i.e., deformation of deformable membranes122, may be considered a deformation haptic effect. As used herein, “deformation” haptic effects include effects in which the deformable membranes bend, deform, or otherwise move, thereby resulting in deformation haptic effects that are felt by the user. Deformation haptic effects as produced by embodiments hereof are felt by the user because the deformable membranes are in direct contact with user. Examples of deformation haptic effects include a jolt via a single relatively large deformation in conjunction with a virtual button press or collisions between virtual elements, or vibrations via multiple relatively small deformations in conjunction with movement of virtual elements across the screen, or other types of screen movements. For example of a deformation haptic effect, a user may be wearing virtual reality glasses and playing a video gaming, e.g. baseball, while holding a baseball bat equipped with a haptic output device as described herein with multiple deformable membranes for providing deformable feedback. Every time the user “hits” the ball, the deformable membranes are expanded radially and apply a force to the user's hand such that the user feels which part of the baseball bat “hits” the ball. In another example, a user is playing a video game such as Call of Duty with a Razer Hydra equipped with a haptic output device as described herein with multiple deformable membranes for providing deformable feedback. Every time the user pulls the trigger, the deformable membranes are expanded radially and fast to apply a force to the user's hand. Additional examples of deformation haptic effects include a heartbeat haptic effect in which the deformation of the deformable membranes follows the pattern of a heartbeat signal, in both magnitude and frequency, and/or a breathing haptic effect in which deformation of the deformable membranes follows the pattern of a small living animal which is breathing in your hand in a virtual reality environment. Such haptic feedback or effects allows for a more intuitive, engaging, and natural experience for the user of haptic feedback system100and thus interaction between the user and haptic feedback system100is considerably enhanced through the tactile feedback provided by the haptic effects.

Although haptic peripheral102is illustrated with motor124disposed adjacent to or in series with haptic output device120, embodiments hereof are not limited to this configuration. In another embodiment hereof, the motor of the haptic peripheral is disposed within the haptic output device in order to reduce the size of the haptic peripheral and make the haptic peripheral as compact as possible. For example, as shown inFIG. 9, a schematic illustration of a haptic peripheral902having a housing916is shown. Housing916includes frame938which is similar to frame138described above. Haptic peripheral902also includes a plurality of deformable membranes or coverings922which are similar to deformable membranes122and haptic output device920which is disposed within frame938and coupled to the plurality of deformable membranes922. Haptic output device920operates similar to haptic output device120and includes motor924, a camshaft950, a cam plate930coupled to motor924via camshaft950, a plurality of rollers934, and a plurality of radially-extending shafts or pins936. As opposed to be disposed adjacent to or in series with the haptic output device, motor924is disposed within frame938so that a separate motor casing is not required. Haptic peripheral902includes a fixture954for holding or securing motor924concentrically within frame938and the plurality of radially-extending shafts or pins936. Fixture954has a structure similar to frame138in that fixture954encapsulates a plurality of radially-extending shafts or pins similar to how frame138encapsulates the plurality of radially-extending pins136.

In another embodiment hereof, the haptic output device may be modified such that the deformable membranes are individually actuatable, i.e., each deformable membrane is configured to be independently or separately deformed or extended. For example, as shown inFIG. 10, a schematic illustration of a haptic peripheral1002having a haptic output device1020is shown. Haptic peripheral1002also includes a plurality of deformable membranes or coverings1022which are similar to deformable membranes122and haptic output device1020which is coupled to the plurality of deformable membranes1022. Similar to haptic output device120, haptic output device1020includes motor1024, a camshaft1050, a cam plate1030coupled to motor1024via camshaft1050, a plurality of rollers1034, and a plurality of radially-extending shafts or pins1036. Motor1024can be connected directly to camshaft1050, such as with a shaft coupler1026. Although the frame of haptic peripheral1002is not shown for sake of clarity, a central plate or disc1046of plate having a plurality of radially-extending openings or passageways formed therein for receiving the plurality of radially-extending shafts or pins1036is shown onFIG. 10. Similar to cam plate130, cam plate1030defines a plurality of tracks1032there-through. As best shown inFIG. 10A, each track1032is a curved opening or otherwise stated is an opening that forms a curved or kidney-shaped path or passageway. Each roller1034is coupled to a relay or solenoid1035, each relay1035being configured to selectively engage or disengage its respective roller1034such that the roller is selectively positioned within one of the plurality of tracks1032of cam plate1030. When a roller1034is engaged via its relay1035, the roller is positioned into its track1032and its respective deformable membrane1022may be deformed or radially extended. Conversely, when a roller1034is disengaged via its relay1035, the roller is not positioned into its track1032and its respective deformable membrane1022may not be deformed or radially extended. Thus, the plurality of relays1035to engage and disengage the plurality of rollers1034inside cam plate1030result in haptic output device1020having multiple independently-actuatable deformation regions. In an embodiment, relays1035are linear solenoids commercially available under the Ledex brand, other relays1035may alternatively be custom designed.

In the above embodiments, the cam plate and rollers may be considered a converter that extends between a motor and a plurality of radially-extending pins and is used to convert rotary motion of the motor into linear motion that is applied to the radially-extending pins. More particularly, the converter converts rotary motion of the motor to linear motion to move the plurality of radially-extending pins to thereby radially extend the deformable membranes relative to the housing and provide a haptic effect to a user of the haptic peripheral.FIG. 11andFIG. 12each illustrate an embodiment having a converter according to another embodiment hereof for converting rotary motion of the motor into linear motion that is applied to the radially-extending pins.

More particularly, in the embodiment ofFIG. 11, a ball screw1172and a plurality of flexures1170are utilized to convert rotary motion of a motor into linear motion of a plurality of radially-extending pins1136. Haptic output device1120includes a motor1124, ball screw1172, the plurality of flexures1170, and the plurality of radially-extending shafts or pins1136. Motor1124can be connected directly to ball screw1172, such as with a shaft coupler1126. Ball screw1172is commercially available and is a mechanical linear actuator that translates rotational motion to linear motion with little friction via a threaded shaft that provides a helical raceway for ball bearings which act as a precision screw. Each flexure1170is a rod or shaft component having a first end1186coupled or attached to ball screw1172to move therewith and a second or opposing end1188fixed and attached to a frame1138that is configured to be held by the user in their hand. Fixation of end(s)1188is represented by reference number1184onFIG. 11, and second end(s)1188do not move during operation of haptic output device1120. Radially-extending pins1136are attached to each flexure1170at an intermediate point1182along the length of the flexure in order to radially extend deformable membranes1122relative to the housing (not shown inFIG. 11). In an embodiment, intermediate point1182is approximately in the middle or center of the length of flexure1170.

During operation of motor1124, ball screw1172moves back and forth as indicated by directional arrows1174and1178. When ball screw1172moves away from motor1124as indicated by directional arrow1174, the distance between opposing ends1186,1188of each flexure is reduced or decreased and flexure1170bends or bows radially outward such that intermediate point1182extends radially outward, thereby radially extending the plurality of radially-extending pins and the deformable membranes attached thereto. When ball screw1172moves towards motor1124as indicated by directional arrow1178, the distance between opposing ends1186,1188is increased and flexure1170straightens or bends radially inward such that intermediate point1182extends radially inward, thereby radially retracting the plurality of radially-extending pins and the deformable membranes attached thereto. As such, in this embodiment, the converter that converts rotary motion of the motor to linear motion is ball screw1172and the plurality of flexures1170. Motor1124is configured to rotate ball screw1172relative to the housing in response to the control signal from the host processor and/or the local processor and rotation of ball screw1172moves the plurality of flexures1170and plurality of radially-extending pins1136in order to radially extend the deformable membranes relative to the housing as described above.

In the embodiment ofFIG. 12, a ball screw1272and a plurality of flexures1290are utilized to convert rotary motion of a motor into linear motion of a plurality of deformable membranes1222. Haptic output device1220includes a motor1224, ball screw1272, the plurality of flexures1290, and plurality of radially-extending shafts or pins1236. Motor1224can be connected directly to ball screw1272, such as with a shaft coupler1226. Similar to ball screw1172, ball screw1272is commercially available and is a mechanical linear actuator that translates rotational motion to linear motion with little friction via a threaded shaft that provides a helical raceway for ball bearings which act as a precision screw. In this embodiment, a horizontal or first linear guide1296extends from ball screw1172and a vertical or second linear guide1298extends perpendicular to first linear guide1296. Each flexure1290includes two linkages, a first linkage1294and a second linkage1296joined together at an apex or hinge1295. First and second linkages1294,1296are slidingly disposed over first and second linear guides1296,1298with a first end1293of first linkage1294being slidingly disposed over first guide1296, a first end1297of second linkage1292being slidingly disposed over first guide1296and spaced apart from first end1293of first linkage1294, and apex or hinge1295being slidingly disposed over second linkage1298.

During operation of motor1224, ball screw1272moves back and forth as indicated by directional arrows1274and1278. First end(s)1293of first linkage1294is coupled to ball screw1272to move therewith. When ball screw1272moves away from motor1224as indicated by directional arrow1274, hinge(s)1295of linkage(s)1290move radially outward as indicated by directional arrow1276, thereby radially extending plurality of radially-extending pins1236and deformable membranes1222attached thereto. Stated another way, as shown in phantom onFIG. 12, when ball screw1272moves away from motor1224as indicated by directional arrow127, first and second ends1293,1297of first and second linkages1294,1292, respectively move toward each other or closer together due to symmetry of flexure1290. When ball screw1272moves towards from motor1224as indicated by directional arrow1278, hinge(s)1295of linkage(s)1290move radially inward as indicated by directional arrow1280, thereby radially retracting the plurality of radially-extending pins1236and deformable membranes1222attached thereto. Flexures1290convert the horizontal movement of ball screw1272along horizontal or first linear guide1296into vertical movement along vertical or second linear guide1298in order to radially expand and retract the plurality of radially-extending pins1236and deformable membranes1222attached thereto. As such, in this embodiment, the converter that converts rotary motion of the motor to linear motion is ball screw1272and the plurality of flexures1290. Motor1224is configured to rotate ball screw1272relative to the housing in response to the control signal from the host processor and/or the local processor and rotation of ball screw1272moves or slides the plurality of flexures1290and the plurality of radially-extending pins1236in order to radially extend deformable membranes1222relative to the housing as described above.

As previously stated, haptic peripheral102is merely an exemplary embodiment of a haptic peripheral and that haptic peripherals with other configurations, shapes, and sizes may be used. Those skilled in the art would recognize that haptic peripheral102may be incorporated into various types of controllers, including but not limited to graspable controllers shaped as real life objects (such as tennis rackets, golf clubs, baseball bats, and the like) and other shapes. In addition,FIGS. 13-14illustrate another embodiment hereof in which the haptic peripheral is a gaming tablet controller1302that may be used with a tablet computer1304. Tablet computer1304may be designed specifically for gaming activities, such as is available from Razer Inc., or may be a tablet computer well known and available in the market, such as an Apple® Ipad®, Kindle® Fire®, and Samsung® Galaxy Tab®. Gaming tablet controller1302includes a docking portion1360configured to receive tablet computer1304and handles1362,1364with user input elements disposed thereon for a user to control a game on tablet computer1304. Docking portion1360connects gaming tablet controller1302to tablet computer1304such that actions by the user on handles1362,1364such as pressing buttons, moving joysticks, pressing triggers, etc., result in actions on the game being played on tablet computer1304. Handles1362,1364of haptic peripheral1302are shaped to easily accommodate two hands gripping the device, either by a left-handed user or a right-handed user, and haptic output device1320and deformable membranes1322are incorporated onto handles1362,1364in a location where a hand or palm of the user is generally located to provide deformation haptic effects to the user. Haptic output device1320is similar to haptic output device120described above, and deformable membranes1322are similar to deformable membranes122described above.

Handles1362,1364include typical user input elements found on controllers. The user input elements will be described with respect to handle1364. However, those skilled in the art would recognize that the same or similar user input elements may be used on handle1362. In particular, handle1364includes a joystick1340, a button1342, and a trigger1346. As can be seen inFIG. 13and known to those skilled in the art, more than one of each of these user input elements may be included on each handle1362,1364. Further, handle1364includes a general or rumble haptic output device1318attached thereto for providing general or rumble haptic effects to gaming tablet controller1302as described above with respect to general or rumble haptic output device1318.

FIG. 14illustrates a block diagram of the gaming tablet controller ofFIG. 13in accordance with an embodiment. As shown inFIG. 14, gaming tablet controller1302includes a local processor1312which communicates with tablet computer1304via docking portion1360. Other connections, such as wired or wireless connections, may be used instead of docking portion1360. Tablet computer1304in this embodiment includes a display screen. Gaming tablet controller1302may be alternatively configured to not include local processor1312, whereby all input/output signals from gaming tablet controller1302are handled and processed directly by tablet computer1304.

Local processor1312is coupled to joystick1340, button1342, and trigger1346, and to position sensors1341,1343, and1347that may be coupled to joystick1340, buttons1342, and trigger1346, respectively. The block diagram ofFIG. 17shows only one (1) of each of joystick1340, button1342, and trigger1346. However, those skilled in the art would understand that multiple joysticks, buttons, and triggers, as well as other user input elements, may be used, as described above. Targeted actuators or haptic output devices1350,1352,1356are coupled to joystick1340, button1342, and trigger1346, respectively. Targeted haptic output devices1350,1352,1356and general haptic output device1330are also coupled to local processor1312, which provides control signals to the haptic output devices1350,1352,1356,1330based on high level supervisory or streaming commands from tablet computer1304. In the streaming embodiment, the voltage magnitudes and durations are streamed to gaming tablet controller1302where information is provided by the tablet computer1304to the actuators. In operation, tablet computer1304may provide high level commands to the local processor1312such as the type of haptic effect to be output (e.g. vibration, jolt, detent, pop, etc.) by one or more selected actuators, whereby local processor1312instructs the actuator as to particular characteristics of the haptic effect which is to be output (e.g. magnitude, frequency, duration, etc.). Local processor1312may retrieve the type, magnitude, frequency, duration, or other characteristics of the haptic effect from a memory1314coupled to local processor1312. The haptic effects provide the user with a greater sense of immersion to the game as multiple modalities are being simultaneously engaged, e.g., video, audio, and haptics.

In addition to the tablet configuration ofFIGS. 13-14, deformable membranes and haptic output devices coupled thereto as described herein may be incorporated into any type of haptic peripheral in a location where a hand or finger of the user is generally located to provide deformation haptic effects to the user. In addition, deformable membranes and haptic output devices coupled thereto as described herein may be incorporated onto wearable peripherals to provide deformation haptic effects to the body of the user. The scale and relative dimensions of the deformable membranes will vary depending upon application, i.e., depending upon whether the deformable membranes are configured to contact a user's finger, a user's palm, or a different portion of a user's body.

While various embodiments according to the present invention have been described above, it should be understood that they have been presented by way of illustration and example only, and not limitation. It will be apparent to persons skilled in the relevant art that various changes in form and detail can be made therein without departing from the spirit and scope of the invention. For example, haptic peripheral102may be modified to include a general haptic output device in addition to haptic output device120, the general haptic output device being positioned within housing116and configured to provide vibrational haptic effects to the user in addition to the deformation haptic effects provided by haptic output device120. As understood by one of ordinary skill in the art, a general haptic output device serves to provide the entire housing of a haptic peripheral with general or rumble haptic feedback. A general haptic output device is configured to receive a second control signal from host processor108and/or local processor112and output a second haptic effect to housing116in response to the second control signal. The general haptic output device receives control signals from host processor108and/or local processor112based on high level supervisory or streaming commands from host computer104. For example, when in operation, voltage magnitudes and durations are streamed from host computer104to haptic peripheral102where information is provided to the general haptic output device via local processor112. Host computer104may provide high level commands to local processor112such as the type of haptic effect to be output (e.g. vibration, jolt, detent, pop, etc.) by the general haptic output device, whereby the local processor112instructs the general haptic output device as to particular characteristics of the haptic effect which is to be output (e.g. magnitude, frequency, duration, etc.). The general haptic output device may include electromagnetic motors, eccentric rotating mass (“ERM”) actuators in which an eccentric mass is moved by a motor, linear resonant actuators (“LRAs”) in which a mass attached to a spring is driven back and forth, vibrotactile actuators, other suitable types of actuating devices. The general haptic output device is implemented as an inertial actuator to provide vibrotactile feedback to the user. Thus, haptic output device120provides a variety of deformation haptic effects or sensations to the user that are independent of and complementary to general or rumble haptic feedback produced by the general haptic output device.

Thus, the breadth and scope of the present invention should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the appended claims and their equivalents. It will also be understood that each feature of each embodiment discussed herein, and of each reference cited herein, can be used in combination with the features of any other embodiment. All patents and publications discussed herein are incorporated by reference herein in their entirety.