Patent Publication Number: US-2022223014-A1

Title: Device and Method for Providing Haptic Feedback to a User

Description:
TECHNICAL FIELD 
     The present disclosure relates to a device and a method for providing haptic feedback to a user. 
     BACKGROUND 
     Haptic technology (also called kinaesthetic technology) encompasses hardware and methods to enable a device to provide tactile stimulation to a user. Known devices for generating haptic feedback do so by generating vibrations which can be felt by the user. For example, a vibration actuator such as a linear resonant actuator (LRA), eccentric rotating mass (ERM), or piezo actuator may be provided to generate vibrations in response to a control signal. Such known devices suffer from one or more limitations. 
     SUMMARY 
     According to a first aspect disclosed herein, there is provided a device for providing haptic feedback to a user, the device comprising: a first magnetic object; a first solenoid constructed and arranged to move the first magnetic object to a first end of the first solenoid where the first magnetic object can be felt by the user when a current is supplied through the first solenoid; a second magnetic object; and a second solenoid constructed and arranged to move the second magnetic object to a first end of the second solenoid where the second magnetic object can be felt by the user when a current is supplied through the second solenoid; wherein the first and second magnetic objects have different shapes so as to provide different haptic feedback sensations to the user. 
     In an example, at least one of the solenoids comprises a sheet which covers the first end of the solenoid to contain the respective magnetic object within the solenoid as the object is moved to the first end of the solenoid. 
     The sheet is such that the user can feel the magnetic object through the sheet when the magnetic object is moved to the first end of the solenoid and strikes the sheet. 
     In an example, each of the solenoids comprises a sheet which covers the first end of the solenoid to contain the respective magnetic object within the solenoid. 
     There may be separate sheets for each solenoid, or a particular sheet may cover plural or even all solenoids. 
     In an example, the or each sheet is electrically conductive and is constructed and arranged to contact one or more of the solenoids when pressed by the user to complete a circuit through the one or more of the solenoids, thereby allowing a current to be supplied through said one or more of the solenoids. 
     In an example, the device comprises: a third magnetic object; and a third solenoid constructed and arranged to move the third magnetic object to a first end of the third solenoid where the third magnetic object can be felt by the user when a current is supplied through the third solenoid; wherein the third magnetic object has a different shape from each of the first and second magnetic objects and thereby provides a different haptic feedback sensation to the user. 
     In an example, the shape of at least one of the magnetic objects is spherical. 
     In an example, the shape of at least one of the magnetic objects is a convex polyhedron. 
     In an example, the shape of at least one of the magnetic objects is a concave polyhedron. 
     In an example, the shape of at least one of the magnetic objects is a stellated polyhedron. 
     In an example, the shape of at least one of the magnetic objects is a stellated dodecahedron. 
     In an example, one or more of the solenoids is constructed and arranged to move a plurality of magnetic objects of the same shape to the first end of the solenoid. 
     There is also provided an apparatus comprising a controller for controlling the apparatus, and a device as described above, the solenoids of the device being in communication with the controller, and the controller being arranged to issue control commands to control the apparatus in accordance with the solenoid or solenoids through which a current is being supplied in use. 
     According to a second aspect disclosed herein, there is provided a method of providing haptic feedback to a user, the method comprising: selectively supplying a current to one or more of a first solenoid and a second solenoid; wherein supplying the current to the first solenoid causes the first solenoid to move a first magnetic object to a first end of the first solenoid where the first magnetic object can be felt by the user, the first object having a first shape for providing a first haptic feedback sensation to the user; wherein supplying the current to the second solenoid causes the second solenoid to move a second magnetic object to a first end of the second solenoid where the second magnetic object can be felt by the user, the second object having a second shape different from the first shape for providing a second haptic feedback sensation to the user different from the first haptic sensation. 
     In an example, the method comprises selectively supplying a current to one or more of the solenoids by selectively pressing an electrically conductive sheet to contact the one or more of the solenoids to complete a circuit through the one or more of the solenoids, thereby allowing a current to be supplied through the one or more of the solenoids. 
     In an example, the shape of at least one of the magnetic objects is spherical. 
     In an example, the shape of at least one of the magnetic objects is a convex polyhedron. 
     In an example, the shape of at least one of the magnetic objects is a concave polyhedron. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       To assist understanding of the present disclosure and to show how embodiments may be put into effect, reference is made by way of example to the accompanying drawings in which: 
         FIG. 1  shows schematically an example of a device for providing haptic feedback to a user; 
         FIG. 2  shows schematically a portion of another example device comprising three solenoids; and 
         FIG. 3  shows schematically a portion of another example device comprising different numbers of magnetic objects. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  shows schematically an example of a device  100  for providing haptic feedback to a user. In use, the device  100  may be connected to a controller  200  for controlling an apparatus  300 , as described in more detail below. 
     The device  100  comprises a first solenoid  101   a  containing a first magnetic object  102   a.  The first solenoid  101   a  has a first end  103   a  and a second end  104   a.  The first magnetic object  102   a  is free to move within the first solenoid  101   a.  Similarly, the device  100  comprises a second solenoid  101   b  containing a second magnetic object  102   b.  The second solenoid  101   b  has a first end  103   b  and a second end  104   a.  The second magnetic object  102   b  is free to move within the second solenoid  101   b.    
     Each solenoid  101  is constructed and arranged to move the respective magnetic object  102  when the solenoid  101  is activated by supplying a current through the solenoid  101 . In the example shown in  FIG. 1 , the first solenoid  101   a  is activated and the second solenoid  101   b  is not activated. Hence, the first object  102   a  is located at the first end  103   a  of the first solenoid  101   a.  On the other hand, the second magnetic object  102   b  is located at the second end  104   a  of the second solenoid  101   b.    
     The controller  200  is configured to determine which one or more of the solenoids  101  has been activated and to provide a corresponding control command to the apparatus  300 . As an illustrative example, the apparatus  300  may be an oven. The controller  300  may for example send a “temperature decrease” command to the apparatus  300  in response to activation of the first solenoid  101   a,  and a “temperature increase” command to the apparatus  300  is response to activation of the second solenoid  101   b.    
     Activation of a solenoid  101  causes the respective magnetic object  102  to accelerate towards the first end  103  of the solenoid  101  where it can be felt by the user. The magnetic objects  102  moved and contained by each solenoid  101  are arranged to provide different haptic sensations to the user. For example, the magnetic objects  102  may be differently shaped. Hence, the user is able to determine which solenoid  101  has been activated and therefore which control command has been sent to the apparatus  300  using only his or her sense of touch. This is particularly advantageous for blind or partially sighted users. 
     The working principle is described below and is the same for both the first solenoid  101   a  and the second solenoid  101   b,  and any further solenoids as described later. 
     The magnetic objects  102  are, for example, ferromagnetic or formed at least partially of a ferromagnetic material. When a current is supplied through the solenoid  101 , the solenoid  101  generates a magnetic field through its interior, causing the magnetic object  102  to experience a force. As the magnetic object  102  is free to move within the solenoid  101 , the magnetic object  102  can move when acted upon by the force. 
     In the examples shown in the drawings, the solenoids  102  are arranged vertically (that is, with their longitudinal axes arranged vertically). The first ends  103  of the solenoids  101  are uppermost. Hence, when no current is supplied through a solenoid  101  (and therefore no electromagnetic force is applied to the magnetic object  101 ), the magnetic object  101  will rest at the second end  104  (the bottom) of the solenoid  101  due to gravity. By applying the appropriately-directed current, a force can be applied to the magnetic object  102  which overcomes the force of gravity and thereby moves the magnetic object  102  to the first end  103  (the top) of the solenoid  101 . 
     The first and second magnetic objects  102   a,    102   b  are not shown to scale in the figures and may in practice be somewhat smaller than suggested by the Figures. There may be plural first magnetic objects  102   a  contained within the first solenoid  101   a  and/or plural second magnetic objects  102   b  contained within the second solenoid  101   b.    
     The first solenoid  101   a  and second solenoid  101   b  are arranged parallel to each other.  FIG. 1  shows a finger  110  of a user located proximal to the first end  103   b  of the first solenoid  101   a.  The second ends  104  of the solenoids  101  may be obstructed to prevent the magnetic objects  102  from leaving the solenoids  101  via the second ends  104 . For example, each second end  104  may be blocked by a bung or cap or other stopper (not shown). 
     Each first end  103  may also be obstructed to prevent the magnetic objects  102  from leaving the solenoids  101 . However, any obstruction provided at the first ends  103  needs to allow the user to feel the magnetic objects  102  when they are located at the first end  103 . An example of a suitable obstruction is a sheet  105  as shown in  FIG. 1  and described below. 
     In the example illustrated in  FIG. 1 , the device  100  comprises a first sheet  105   a  and a second sheet  105   b.  The first sheet  105   a  covers the first end  103   a  of the first solenoid  101   a  and the second sheet  105   b  covers the second end  103   b  of the second solenoid  101   b.  The sheets  105  are arranged to contain the respective magnetic object  102  within each solenoid  101  as the magnetic object  102  is moved to the first end  103  of the solenoid  101 . 
     Each sheet  105  is such that the user, e.g. via finger  110 , can feel the magnetic object  102  through the sheet  105  when the magnetic object  102  moves to the first end  103  of the solenoid  101 . Each sheet  105  is sufficiently thin and/or deformable that it conforms, at least partially, to the shape of the magnetic object  102  when the magnetic object  102  is located at the first end  103  of the solenoid  101 . For example, the sheets  105  may be made of an elastic material. Here “at least partially” means that the sheet  105  conforms enough allows the user to discern differences in shape of the magnetic objects  102  through the sheet  105 . 
     examples, there may be separate sheets  105  for each solenoid or a single sheet may cover plural or even all the solenoids  10   
     Suitable materials for the basic sheet  05  include for example plastics. 
     In some examples, the sheets  105  may perform the additional function of activating the respective solenoid  101  (additional to the function of preventing the magnetic objects  102  from escaping), as described below in relation to  FIG. 1 . 
     In the example shown in  FIG. 1 , each sheet  105  is constructed and arranged to contact the first end  103  of the respective solenoid  101  when pressed by the user. Each sheet  105  is electrically connected to the second end  104  of the solenoid  101  via a DC power supply  106 . The sheets  105  are electrically conductive on at least the side facing the solenoids  101 . The electrically conductive side allows the user to complete a circuit through the respective solenoid  101  by pressing the sheet  105  with their finger  110 . In an example, the sheets  105  are electrically insulating on the side that is touched by the user. The electrically insulating side prevents the user from receiving an electric shock when pressing the sheet  105  to complete the circuit. Nevertheless, the required voltage to operate the solenoids  101  may be low so it may not be necessary to have an electrically insulating side to the sheets  105  in some cases. 
     Each solenoid  101  may have its own DC power supply  106 , as shown in  FIG. 1 , or the solenoids  101  may share a DC power supply. In any case, pressing down on a sheet  105  causes the sheet  105  to contact the solenoid  101  which completes a circuit through the respective solenoid  101 , thereby allowing a current to be supplied through that solenoid  101 . Each circuit comprises one of the solenoids  101  as electrically coupled to its power supply  106  (or single power supply in the case that the solenoids  101  share a power supply). As described above, this causes the magnetic object  102  of that solenoid  101  to accelerate towards the first end  103  where it can be felt by the user through the sheet  105 . 
     In some examples, the user may press multiple sheets  105  and thereby complete multiple circuits through multiple solenoids  101 . In examples comprising a single sheet  105 , the user may still press the sheet  105  in multiple locations to complete multiple circuits through multiple solenoids  101 . 
     The construction of the solenoids  101 , magnetic objects  102  and sheets  105  is such that when a magnetic object  102  is located at the first end  103  of the solenoid  101 , it can be felt by a user. With reference to  FIG. 1 , the user has used their finger  110  to press the first sheet  105   a.  This has caused a current to flow through the first solenoid  101   a.  The resulting magnetic field within the first solenoid  101   a  has caused the first magnetic object  102   a  to accelerate upwards to the first end  101   a.  The user will therefore feel, via their finger  110 , the impact of the first object  102   a  on the first sheet  105   a  as the first object  102   a  strikes the first sheet  105   a.  The user may optionally continue to hold down the first sheet  105   a  in contact with the first solenoid  101   a.  This causes a continuing current to flow through the first solenoid  101   a,  holding the first magnetic object  102   a  at the first end  103   a  of the first solenoid  101   a  where the user can continually feel the first magnetic object  102   a.  This is advantageous as it allows the user more time to discern the shape (the haptic sensation) of the magnetic object  102   a . The user may rub or swipe their finger  110  across the surface of the first sheet  105   a  to assist in feeling the shape of the magnetic object  102 . 
     In other words, the user may use their finger  110  as shown in the figures to feel any magnetic object  102  which is located at the first end  103  of the solenoid  101 . When a magnetic object  102  is not located at the first end  103  of the solenoid  101  (e.g. when located at the second end  104  of the solenoid), it cannot be felt by the user because it is out of reach. 
     The first magnetic object  102   a  and second magnetic object  102   b  have different shapes so as to provide different haptic feedback sensations to the user. That is, the first magnetic object  102   a  and second magnetic object  102   b  feel different when felt by e.g. a user&#39;s finger  110 . In the example illustrated in the figures, the first magnetic object  102   a  is a sphere and the second magnetic object  102   b  is a stellated dodecahedron. The first magnetic object  102  (the sphere) creates a smoother haptic sensation on the user&#39;s finger  110  than the second magnetic object  102   b  (the stellated dodecahedron). 
     The magnetic objects  102  having different shapes means that the user is able to determine by touch alone which one or more of the solenoids  101  is activated, by which one (or more) of the magnetic objects  102  can be felt. This means that the user does not need to see the solenoids  101  in order to know which is/are active. The magnetic objects  102  may be provided in a variety of different shapes. For example, one magnetic object  102  may be “spiky” and/or “angular” and another magnetic object  102  may be “smooth” to provide discernibly different haptic sensations to a user&#39;s finger  110 . 
     As mentioned above, the activation of each solenoid  101  may cause a different respective control command to be sent to an apparatus  300  (described below) for altering the operation of the apparatus  300 . In this sense, therefore, the solenoids  101  act as control buttons for the apparatus  300 . Hence, the user is able to ensure they activate the correct solenoid  101  for enacting a desired control command without requiring a view of the device  100 . This is particularly advantageous for blind or partially-sighted users. To do so, the solenoids  101  of the device  100  are operatively coupled to a controller  200 . The controller  200  is operatively coupled to the apparatus  300 . The controller  200  is arranged to issue control commands to control the apparatus  300  in accordance with the solenoid or solenoids  101  through which a current is being supplied in use. The controller  200  may comprise a processor for performing the functionality described herein. 
     The controller  200  is able to determine a currently active one or more of the solenoids  101 , i.e. the one or more of the solenoids  101  through which a current is passing, e.g. due to the user pressing the sheet  105  of those one or more solenoids  101  with their finger  110 . In the example of  FIG. 5 , the controller  200  is connected to each of the circuits by a respective sense line allowing the controller  200  to determine when each solenoid  101  is active. For example, the controller  200  may be configured to measure a voltage on each sense line, a change (e.g. rise) in voltage indicating activation of the respective solenoid  101 . 
     The controller  200  may be external from the apparatus  300 , as shown in  FIG. 5 , or may be an internal controller  200  of the apparatus  300 . Examples of apparatus  300  which may be controlled using the controller  200  include household and commercial appliances (also known as “white goods”), media devices, computing devices, etc. Examples of white goods include cookers (ranges, stoves, ovens, etc.), microwave ovens, refrigerators, freezers, water coolers, washing machines, clothes dryers, dishwashers, etc. Other examples of apparatus  300  include consumer electronic devices or “black goods”, e.g. a computers, televisions, etc. 
     The apparatus  300  functions in accordance with one or more settings. 
     In some examples, the settings may be a value which can be changed in order to alter operation of the apparatus  300 . An example of such a setting is a temperature setting of an oven, a temperature setting of a wash cycle of a washing machine, etc. 
     In other examples, one of the settings may be a program consisting of a set of steps to be performed by the apparatus  300 . The user is able to select a desired program to be executed by the apparatus  300 . Examples of such a setting include a wash cycle of a washing machine, a defrost cycle of a freezer, etc. 
     The one or more settings may comprise both values and programs. 
     The controller  200  may be configured to issue control commands to control the apparatus  300  in accordance with the solenoid or solenoids  101  through which a current is being supplied in use. That is, each solenoid  101  is associated with a control command for altering the operation of the apparatus  300 . The user can then cause a desired change to the operation of the apparatus  300  by activating the relevant one or more of the solenoids  101  by pressing the sheet  105  of those one or more solenoids  101 . 
     As a specific example, the first solenoid  101   a  may be associated with a decrease temperature control command and the second solenoid  101   b  may be associated with an increase temperature control command. In this way, the user does not require a view of the solenoids  101  in order to increase or decrease the temperature setting of the apparatus  300 , because the user is able to feel which solenoid  101  has been activated using their finger  110 . 
     The shape, and therefore feel, of each magnetic object  102  may be associated with the respective control command. For example, the magnetic object  102  located in the solenoid  101  that causes an increase to a temperature setting may be sharper than the magnetic object  102  located in the solenoid  101  that causes a decrease to the temperature setting. That is, a “decrease temperature control command” may for example be indicated by a smooth shape object  102   a  and an “increase temperature control command” may for example be indicated by a spiky or angular shape object  102   b.    
       FIG. 2  shows schematically an example comprising three solenoids  101   a ,  101   b,    101   c.  Each solenoid  101  has a first end  103  and a second end  104  and contains a movable magnetic object  102 . The operation of each solenoid arrangement is as described above and so not repeated here. 
     The first magnetic object  102   a,  second magnetic object  102   b  and third magnetic object  102   c  all have different shapes. In this example, the first magnetic object  102   a  is a sphere (an example of a “smooth” shape), the second magnetic object  102   b  is a cube (an example of an “angular” shape), and the third magnetic object  102   c  is a stellated dodecahedron (an example of a “spiky” shape). Each shape feels different to the user and thereby creates a different haptic sensation on the user&#39;s finger  110 . 
     Each of the solenoids  101   a,    101   b,    101   c  may be associated with a different respective control command, as described above. For example, each solenoid  101  may be associated with a control command to enact a different respective program. In a specific example, the apparatus  300  may be a washing machine and each solenoid  101  is associated with a different respective wash cycle. The user can then select the desired wash cycle using touch alone. 
       FIG. 3  shows schematically an example in which different numbers of magnetic objects  102  are provided in each solenoid  101 . In this example, the first solenoid  101   a  contains a single magnetic object  102   a  which is a sphere and the second solenoid  101   b  contains six magnetic objects  102   b  which are all spheres. The spheres of the second solenoid  101   b  are each the same size and smaller than the sphere of the first solenoid  101   a.    
     Even though the magnetic objects  102  in both solenoids  101  are all the same shape, they provide different haptic sensations to the user because the single sphere in the first solenoid  101   a  will feel different on the user&#39;s finger  110  than the multiple smaller spheres in the second solenoid  101   b.  A similar principle holds for shapes other than spheres. Six spheres in the second solenoid  101   b  are shown as an example only. Different numbers of magnetic objects  102  may be provided. For example, two magnetic objects will feel different from a single magnetic object, and different still from for example ten magnetic objects, even if they are all the same shape. 
     In the examples described above, the solenoids  101  are vertical such that the magnetic objects  102  rest at the bottom (second end  104 ) of the solenoids  101  due to gravity when no current is passing through the solenoid  101 , i.e. a current needs to be supplied to the solenoids  101  to move the magnetic objects  102  to the top (first end  103 ). However, the direction of the force generated depends on the direction of the current through the solenoid  101 . Therefore, in other examples, the device  100  is constructed and arranged to actively hold the magnetic objects  102  at the second ends  104  of the solenoids  101  by applying the reverse current. This means that the solenoids  101  do not need to be installed in the vertical position. 
     It will be understood that the processor or processing system or circuitry referred to herein may in practice be provided by a single chip or integrated circuit or plural chips or integrated circuits, optionally provided as a chipset, an application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), digital signal processor (DSP), graphics processing units (GPUs), etc. The chip or chips may comprise circuitry (as well as possibly firmware) for embodying at least one or more of a data processor or processors, a digital signal processor or processors, baseband circuitry and radio frequency circuitry, which are configurable so as to operate in accordance with the exemplary embodiments. In this regard, the exemplary embodiments may be implemented at least in part by computer software stored in (non-transitory) memory and executable by the processor, or by hardware, or by a combination of tangibly stored software and hardware (and tangibly stored firmware). 
     Although at least some aspects of the embodiments described herein with reference to the drawings comprise computer processes performed in processing systems or processors, the invention also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice. The program may be in the form of non-transitory source code, object code, a code intermediate source and object code such as in partially compiled form, or in any other non-transitory form suitable for use in the implementation of processes according to the invention. The carrier may be any entity or device capable of carrying the program. For example, the carrier may comprise a storage medium, such as a solid-state drive (SSD) or other semiconductor-based RAM; a ROM, for example a CD ROM or a semiconductor ROM; a magnetic recording medium, for example a floppy disk or hard disk; optical memory devices in general; etc. 
     The examples described herein are to be understood as illustrative examples of embodiments of the invention. Further embodiments and examples are envisaged. Any feature described in relation to any one example or embodiment may be used alone or in combination with other features. In addition, any feature described in relation to any one example or embodiment may also be used in combination with one or more features of any other of the examples or embodiments, or any combination of any other of the examples or embodiments. Furthermore, equivalents and modifications not described herein may also be employed within the scope of the invention, which is defined in the claims.