Patent Description:
Hand-held controllers have been developed for AR and VR scenarios to mimic real world interactions (e.g., to provide positional information for the user's hand and/or to provide haptic feedback). Hand-held controllers exist in a variety of shapes and can perform a range of functions. While most of them track three-dimensional (3D) motion, simple controllers are designed merely for movement and button-based input. More advanced controllers can include complex controls and provide output to the user. While most commercial devices provide only vibrotactile feedback, researchers have demonstrated a wide variety of hand-held controllers rendering texture, shape, grasp and squeeze feedback, shifting weight, and haptic behavior for two-handed use. While the capabilities of these controllers can vary, an unfortunate commonality is that the user has to basically hold them all the time or interrupt the AR/VR experience to put them down when not needed and pick them up when needed.

Thus, one problem with hand-held controllers is that the user must grasp them constantly, thereby impeding the natural use of other objects in the physical world. Particularly in VR, where a virtual environment substitutes one's view of the real world, users must often employ controllers for all virtual interactions. When the real world intrudes, it is slow and cumbersome to repeatedly pick up and put down controllers.

Another set of popular controllers includes glove-type controllers, but since these are worn, the user cannot easily disengage from the controller. Glove-type controllers typically render dexterous feedback, including pressure and vibration to the user's fingertips. However, glove-type controllers still constrain motion and hinder dexterity to use real-world tools or to quickly switch to traditional input devices, like a keyboard. The present concepts can address any of these and/or other issues. <CIT> describes an apparatus for performing data entry by a user, which includes a first electronic device configured to be attached to a person's head and including a display for viewing by the person; and a second electronic device configured to be attached to the person's forearm and used in combination with the first electronic device. The first and second electronic devices are configured for wirelessly communicating with each other, at least some of the wireless communications representing user input by the person for interfacing with a user interface displayed to the person on the display of the first electronic device, whereby data entry by the person is accomplished. The first electronic device is configured to wirelessly transmit data entered by the person to a computer system for electronic storage in a non-transitory computer readable medium.

The accompanying drawings illustrate implementations of the present concepts. Features of the illustrated implementations can be more readily understood by reference to the following descriptions in conjunction with the accompanying drawings. Like reference numbers in the various drawings are used where feasible to indicate like elements. In some cases, parentheticals are utilized after a reference number to distinguish like elements. Use of the reference number without the associated parenthetical is generic to the element. The accompanying drawings are not necessarily drawn to scale. In the figures, the left-most digit of a reference number identifies the figure in which the reference number first appears. The use of similar reference numbers in different instances in the description and the figures may indicate similar or identical items.

The present concepts relate to devices that include deployable controllers that can be employed by a user in various scenarios including AR and VR scenarios, among others. The deployable controller can allow the user to tactilely engage virtual objects with their hand(s). The device can be secured to a body part of the user beside the hand, such as a forearm. The deployable controller can be deployed from a storage or stowed orientation to an engagement orientation when engagement is desired and returned when engagement ceases. Securing the device to the forearm can allow the deployable controller to be grounded to impart forces that cannot be imparted with a strictly hand-held controller. Further, storing the deployable controller can allow the user to use his/her hands in a normal unencumbered manner when the deployable controller is not being used.

<FIG> illustrates a system <NUM>, consistent with some implementations of the present concepts. <FIG> collectively described aspects introduced in <FIG>. For purposes of explanation, the system <NUM> is explained relative to a virtual reality use case scenario, but can alternatively or additionally be implemented in other use case scenarios. The system <NUM> can include a base station <NUM>. In some configurations, the base station <NUM> can include hardware and/or software for generating and executing a virtual reality world, including receiving and processing inputs from a user <NUM>, and generating and outputting feedback to the user <NUM>. The base station <NUM> may be any computing device, including a personal computer (PC), server, gaming console, smartphone, tablet, notebook, automobile, simulator, etc..

In some implementations, the system <NUM> can include a headset <NUM>. The headset <NUM> may be, for example, a head-mounted display (HMD) that can receive information relating to the virtual reality, the real world (e.g., the scene), and/or the user. In some implementations, the headset <NUM> may include one or more sensors (not shown in <FIG>) for providing inputs to the base station <NUM> and/or the headset <NUM>. The sensors may include, for example, accelerometers, gyroscopes, cameras, microphones, etc. The headset <NUM>, therefore, may be capable of detecting objects in the user's surrounding, the position of the user's head, the direction the user's head is facing, whether the user's eyes are opened or closed, which direction the user's eyes are looking, a location of user body parts, such as hand <NUM>, etc. The headset can have capabilities to present data, such as audio and/or visual data to the user <NUM>.

The system <NUM> further includes a deployable controller device <NUM>. The device <NUM> can include a base assembly <NUM>, a deployment assembly <NUM>, and an engagement assembly <NUM>, which can function as a deployable controller <NUM>. Consistent with the present concepts, the device <NUM> is engaged by the user's hand <NUM> to provide inputs and/or outputs with the base station <NUM> and/or the headset <NUM>. Examples will be described in more detail below relative to <FIG>.

The example system configuration of <FIG> is only one of the contemplated system configurations. For instance, another system configuration can entail a device <NUM> that works in cooperation with an audio device, such as earphones. For a visually impaired user, the earphones can provide audio input to the user and the device <NUM> can provide corresponding haptic input. Systems employing other devices working alone or in combination are contemplated.

In the illustrated example of <FIG> and <FIG>, the base assembly <NUM> can be configured to ground the device to a non-hand body part <NUM> of user <NUM>. For instance, the base assembly <NUM> can be secured to a forearm <NUM> or upper arm <NUM> of the user. In some cases, the base assembly can be secured one joint above (e.g., toward the torso) the body part that engages the engagement assembly <NUM>. For instance, in the illustrated configuration, the engagement assembly is configured to be engaged by the user's hand and the base assembly <NUM> can be secured above the wrist to the forearm.

<FIG> shows the engagement assembly <NUM> split in half so the interior contents are visible. Looking at <FIG> and <FIG> in combination with <FIG>, the engagement assembly <NUM> can be configured to receive tactile input from a hand of the user and/or to deliver tactile output to the hand of the user. For instance, the engagement assembly <NUM> can include various input devices <NUM> to detect user inputs. Examples of input devices can include pressure sensors, force sensors, such as strain gauges <NUM>, capacitive touch sensor electrodes <NUM> and/or user activatable switches <NUM> (e.g., triggers), among others. In this implementation, there are four capacitive touch sensor electrodes <NUM> inside the engagement assembly <NUM> that can function to distinguish different grasps. This data can be utilized to allow the device to predict the user's intentions. In this case, there is one area of capacitive touch sensor electrodes facing the palm which comes in contact first, then around the middle finger to detect when it is grabbed, and two patches for the thumb to be able to use as a rough position input device.

The engagement assembly <NUM> can include various output devices <NUM>, such as microphones, buzzers, voice coil actuators (VCAs) <NUM>, surface simulators such as balloons, and/or heaters/coolers, among others.

The device <NUM> can also include various positional sensors <NUM>, such as six-axis (e.g., <NUM>-DOF) sensors, inertial measurement units (IMUs), etc. The positional sensors <NUM> can provide data relating to a location of the device in 3D space (e.g., x, y, and z coordinates), the orientation of the device, rotation, acceleration, etc. The positional sensors <NUM> can be positioned on multiple assemblies or a single assembly. For instance, six-axis sensors could be positioned on both the engagement assembly <NUM> and the base assembly <NUM>. Note that the terms 'input devices' <NUM> and `positional sensors' <NUM> are used herein for purposes of explanation, but these terms can be overlapping. For instance, the input devices listed tend to be sensors.

Various device implementations can include other sensors, input devices, and/or output devices. For instance, various sensors could be positioned on the deployment assembly <NUM>. In another case, various sensors <NUM> could be positioned on the base assembly. Some of these sensors <NUM> could be configured to sense underlying physiological aspects of the user. For instance, the sensors could sense tendons extending from the fingers into the forearm. Information from the sensors could indicate the position of individual fingers, movement of fingers, direction of that movement, forces, such as grasping forces, etc. Alternatively or additionally, the sensors <NUM> could include cameras, such as IR depth cameras to provide locational data about the hand/fingers. As used herein, the term 'fingers' can include the thumb.

Other sensing implementations are contemplated. For instance, the device <NUM> could sense more user input and utilize this input to inform its haptic behavior. For example, some implementations can integrate finger tracking around the engagement assembly (e.g., such as through a self-capacitive array or a wearable camera) and could approach the user's palm and fingers during interaction and provide haptic response for dexterous input. This could also allow sensing torque on the lever, which would aid in the device's ability to simulate gravity and its rendered resistance to heavy objects. These aspects are discussed below relative to <FIG>.

The device <NUM> can also include a controller <NUM> and a power unit <NUM>. In this case, the power unit <NUM> is manifest as a servo motor <NUM>, but other types of power units, such as other types of motors, pneumatic systems, and/or hydraulic systems can be employed. The servo motor <NUM> can create a powered hinge <NUM> that rotates around a first axis (FA). The controller <NUM> can receive information from the input devices <NUM> and positional sensors <NUM>. The controller can control the device, such as the power unit <NUM>, at least in part, based upon this information. One such example is described in more detail below relative to <FIG>.

In some cases, the controller <NUM> can receive other information, such as virtual data (e.g., data relating to virtual objects). The controller <NUM> can use this additional information in combination with the data from the input devices <NUM> and the touch sensor electrodes (e.g., positional sensors) <NUM> to control the device <NUM>. One such example is described in more detail below relative to <FIG>. Such a configuration could provide information about the position of the engagement assembly <NUM> relative to the base assembly <NUM>, rotation of the engagement assembly <NUM> around the base assembly <NUM>, and/or velocities and/or acceleration of the engagement assembly and/or the base assembly.

Note that various conductors (shown but not designated) can be employed to communicatively couple various elements and/or to power various elements. Alternatively, some elements of the device <NUM> could employ wireless technologies, such as Bluetooth™ to communicate within the device (e.g., controller <NUM> and input devices <NUM>) and/or with other devices (e.g., base station <NUM> and headset <NUM>). The device <NUM> can also include a battery (shown but not designated) and/or be tethered to another device to receive power. The tethering could also communicatively couple the device with other devices, rather than employing wireless technologies.

<FIG> collectively show a technique for controlling deployment of the engagement assembly <NUM> of device <NUM>. <FIG> show the engagement assembly <NUM> deploying to, and almost in, a deployed orientation and <FIG> shows engagement assembly <NUM> deploying to, and almost in, a stored orientation. In this case, the controller <NUM> can cause deployment upon detecting a specific user gesture representing a user command. In this example, the user gesture is manifest as an upward wrist-flip gesture <NUM> or a downward wrist flip <NUM>. In this example, the controller <NUM> can obtain data from positional sensors <NUM> on the base assembly <NUM> and/or the engagement assembly <NUM>. The controller can interpret the data to detect a gesture. The controller can then cause the deployment assembly <NUM> to deploy the engagement assembly <NUM> to accomplish the user command. In the example of <FIG>, the controller <NUM> interpreted the sensor data as a 'deploy' gesture <NUM> and caused the servo motor <NUM> to move the engagement assembly <NUM> to the engagement orientation. In the example of <FIG>, the controller <NUM> interpreted the sensor data as a 'store' gesture <NUM> and caused the servo motor <NUM> to move the engagement assembly <NUM> to the storage orientation. In other configurations, the controller may interpret a cessation of engagement as a 'store' gesture. Thus, if the user finishes interacting with the engagement structure and lets go, the sudden lack of pressure and/or other input to the engagement assembly can be interpreted as meaning the user is finished with the engagement assembly and the controller can cause it to be stowed.

From one perspective, <FIG> illustrate an example of how user gestures can cause the engagement assembly <NUM> to be deployed or stored. In this example, device sensors detect a summon gesture in <FIG> and a dismiss or store gesture in <FIG>. In this case, the summoning gesture is similar to catching a yo-yo as shown in <FIG>. The device's sensors, such as accelerometers can detect this motion and actively drive the engagement assembly into the user's hand. In some configurations, the engagement assembly can offer similar ergonomics and functionality compared to a common VR controller, including touch sensing and a trigger button. In some cases, the device can include a modular design that separates the device's input space from its control and actuation, which can facilitate different engagement assemblies. In some configurations, the engagement assemblies can be readily swappable to better match a user's needs or preferences in a particular scenario. An example of such a configuration is described below relative to <FIG>.

<FIG> collectively show another technique for controlling deployment of the engagement assembly <NUM> of device <NUM>. In this case, <FIG>, and <FIG> show visualizations <NUM> that may be generated for the user, such as by headset <NUM> of <FIG>. <FIG> and <FIG> show the same scene, but from the perspective of an outside observer.

In this case, as shown in <FIG>, the visualization <NUM> includes virtual objects <NUM> in the form of a virtual apple <NUM> hanging from a virtual tree <NUM> at a 3D location. The visualization <NUM> also includes a representation <NUM> of the user's hand at a location corresponding to a 3D location of the user's actual hand <NUM>. In this example the user's hand <NUM> is approaching the virtual apple <NUM> as indicated by arrow <NUM> (e.g., the user is reaching for the virtual apple <NUM>.

<FIG> shows the user's hand <NUM> at the same time as <FIG>, but from the perspective of an outside observer. The user is wearing the device <NUM>. The controller <NUM> can utilize visualization data from the headset about the virtual object, e.g., size, shape, mass, 3D location, velocity, acceleration, etc. (e.g., virtual reality data) and data from the positional sensors <NUM> as input to determine how to control the device <NUM>. Here, the data indicates that the user is reaching for the virtual apple and will soon (e.g., in a calculable extrapolated time given the distance between the hand and the virtual apple and the velocity of the hand) likely attempt to grasp the virtual apple. The controller <NUM> can utilize movement trajectories to predict in advance when the user's hand will get in contact with the virtual object <NUM>. This time projection, combined with existing models of grasping, can further help with the multisensory integration to increase the illusion of real grasp.

Based upon this time prediction/calculation, the controller can cause the deployment assembly <NUM> to deploy the engagement assembly <NUM> at an appropriate time and rotational velocity or rate represented by <FIG> to cause the engagement assembly to contact the user's palm at the location of the virtual apple as shown in <FIG>.

<FIG> shows the same point in time as <FIG>, but from the perspective of the user. The user's hand contacts the engagement assembly <NUM> at the time and location the user expects to contact the virtual apple.

<FIG> shows the visualization <NUM> when the user subsequently sets the virtual apple on a surface and lets go of it. <FIG> shows the same view from the perspective of an outside observer. Note that as the user releases the virtual apple in <FIG>, the user is actually releasing the engagement assembly <NUM> that can automatically drop away and be stowed. Thus, the device <NUM> can render the visio-haptic sensation of grasping and releasing an object. This cannot be accomplished with existing haptic controllers.

Thus, this series of <FIG> show how the device <NUM> can automatically deploy the engagement assembly based at least in part on data from a virtual scenario to mimic real-world sensation to the user. The illustrated engagement assembly shape can render different object forces and the rendering of force provides a good sense of object weight and inertial force when held in the hand. Further scenarios are described below relating to allowing the user to 'throw' or 'set down' the apple.

As illustrated above, one novel aspect of device <NUM> is its ability to automatically deploy the engagement assembly <NUM> so that it appears visually and physically and with a believable force in the user's hand at the appropriate time when interacting with VR content. Similarly, the engagement assembly <NUM> can 'disappear' (e.g., be stowed) when the user sets the VR object down (e.g., lets go of the virtual object) or throws the object. The transition can either be invoked through a user gesture as illustrated in <FIG> and/or may be automatically triggered by the application as illustrated in <FIG>.

Recall that as mentioned above, device <NUM> can be secured to (e.g., grounded to) a different body part than the body part that engages it. In the illustrate configuration, the device <NUM> is secured to the forearm <NUM> and the engagement assembly <NUM> is engaged by the hand <NUM>. This aspect can enable at least two additional features of device <NUM> that are discussed below. First, when not in use, the engagement assembly <NUM> can be stored out of the way so the user can interact normally with the physical environment. This feature is discussed below relative to <FIG>. Second, grounding the device to a different part of the body than the engaging portion can allow the device to impart forces on the engaging body part to simulate real world forces, or at least scaled but believable forces, such as those experienced when lifting, throwing, catching, etc. This feature will be discussed below relative to <FIG>.

Assume at this point that relative to <FIG>, the user sets down the virtual apple <NUM> and is temporarily done with the visualization. At this point, the engagement assembly can be automatically stowed out of the way and the user can engage physical objects with his/her hand.

<FIG> show device <NUM> worn by the user. In this case, the base assembly <NUM> can include a mechanism for securing the device to the user's forearm <NUM>. In this example, the mechanism is manifest as one or more straps <NUM> that work cooperatively with a cuff <NUM>. The straps <NUM> can extend from one side of the cuff <NUM> and can be wrapped around the user's forearm to the other side of the cuff to secure the base assembly <NUM> to the forearm. Various strap materials can be used. Elastic materials tend to provide comfort while maintaining a secure relationship between the device and the forearm.

<FIG> show device <NUM> with the engagement assembly <NUM> in the stowed orientation. In such a case, the user is able to perform manual tasks with the hand associated with the device. For instance, <FIG> shows the user typing on keyboard <NUM> with the same hand <NUM> that would engage the engagement assembly <NUM> in the deployed orientation. Similarly, <FIG> shows the user opening a doorknob <NUM> with this hand. The user experiences normal dexterity with this hand as well as normal touch sensation. In contrast, with a traditional handheld controller, the user would have to set the controller down, put it in a pocket, or take some other action to free up his/her hand. Similarly, if the user was wearing a traditional glove-type controller, the user would have to deal with diminished or changed sensation that occurs when wearing a glove when trying to accomplish these tasks.

From one perspective, in the stowed orientation, the deployment assembly <NUM> can position the engagement assembly <NUM> at a location relative to the user's forearm so that it minimally interferes with the user's free-hand activities. This stored orientation can afford users not just free-hand interaction, but also the possibility to use tangible real-world objects such as keyboards and mice or door handles, among others. This may be especially useful in augmented reality (AR) scenarios where the user often engages both virtual objects and physical objects. The present implementations can allow the user to easily and quickly deploy the engagement assembly, use it as a controller relative to the virtual content, and then easily and quickly restow it.

Recall that one feature of the present concepts is the ability to render haptic sensations relating to touching, grasping, lifting, throwing, catching and/or releasing virtual objects. A first example is shown in <FIG>.

<FIG> collectively relate to a scenario of a user picking up a virtual object with a device 110A. In this case, <FIG> shows a visualization <NUM> that may be generated for the user, such as by head set <NUM> of <FIG>. <FIG> shows the same scene, but from the perspective of an outside observer.

In this case, the visualization <NUM> includes a virtual object <NUM> in the form of a virtual coffee cup <NUM> and a representation <NUM> of the user's hand. <FIG> shows that when the user is reaching for the virtual coffee cup <NUM>, the device 110A is deploying the engagement assembly <NUM> as indicated by arc or line <NUM>, so that the engagement assembly <NUM> approaches the user's hand <NUM> in synchrony with the virtual object and, the moment the virtual hand collides with the coffee cup, the engagement assembly touches the user's palm, ready to accept grasp input. At this moment, the controller <NUM> switches off the servo motor <NUM>, giving the user the possibility to move the engagement assembly passively on their own, increasing the sense that the object is "really" in their hand. This analog coupling between virtual objects and physical feedback can create a compelling sensation of acquiring and holding the virtual object. This type of interaction is also more natural than currently available techniques for acquiring virtual objects which are largely based on pressing buttons to automatically acquire and drop virtual objects.

In some implementations, the device <NUM> can also mimic the weight of the virtual coffee cup <NUM> by creating a downward force (represented by line <NUM>) on the engagement assembly <NUM> as the user attempts to `lift' the virtual coffee cup <NUM>. For instance, the deployment assembly <NUM> can be rotatably driven counter-clockwise relative to the base assembly <NUM> to create a downward force on the user's hand that mimics the weight of the virtual coffee cup. Thus, this implementation could provide two axes of movement between the base assembly and the engagement assembly. First, as discussed relative to <FIG> and <FIG>, the deployment assembly can include the powered hinge <NUM> (that can rotate the engagement assembly relative to a first axis (FA) that in this case is illustrated extending generally vertically. Second, the deployment assembly <NUM> can also include a rotation mechanism <NUM> (mostly occluded in this view) to rotate the deployment assembly relative to the base assembly along a second axis (SA) that is <NUM> degrees from the first axis and in <FIG> is generally horizontal and extending into and out of the drawing page. Thus, in this implementation, the powered hinge is a multi-axis powered hinge.

The rotation mechanism <NUM> can be controlled by the controller <NUM> to generate the downward force corresponding to events in the visualization <NUM>. The rotation mechanism <NUM> can also include a breakaway clutch to prevent too strong of forces of from being generated that may otherwise harm the user or the device <NUM>. Note that the powered hinge <NUM> can also include a similar breakaway clutch for similar reasons.

As introduced above, when the user reaches out to pick up the virtual coffee cup <NUM>, the engagement assembly <NUM> can be gradually pivoted into the user's hand, matching the virtual coffee cup's position. This can create an analog sensation of making contact and grasping the virtual object.

<FIG> shows additional features introduced relative to <FIG>. In this case, the rotation mechanism <NUM> can allow the engagement assembly <NUM> to deploy along a path that does not lie in a plane (e.g., a complex path). For instance, assume that the engagement assembly is desired to engage the user's hand along a long axis (LA) of the user's forearm. However, assume that in a storage orientation, an angle away from the long axis, such as <NUM> degrees away from the long axis as indicated by line <NUM> is determined to be comfortable for the user. In this case, the controller <NUM> can cause the rotation mechanism <NUM> to rotate while the deployment assembly <NUM> is deploying or storing the engagement assembly to achieve the desired angle in each orientation. Another example configuration is described relative to <FIG>.

<FIG> provide an example of grounding the base assembly <NUM> of the device <NUM> to a different part of the body than the part that engages the engagement assembly <NUM> and how this can allow the device to impart forces on the engaging body part to simulate real world forces, such as those experienced when lifting, throwing, catching, etc. In this case, the base assembly <NUM> is grounded to the forearm and the engagement assembly <NUM> is engaged by the user's hand.

<FIG> collectively show additional aspects of device <NUM>. This implementation can employ a single-servo pivoting design. The moving parts can include the deployment assembly <NUM> which can actively pivot the engagement assembly <NUM> around a generally vertical axis (e.g., first axis (FA)) as indicated at <NUM>. Thus, the powered hinge <NUM> of the deployment assembly is a single axis powered hinge. In this case, the deployment assembly <NUM> can rotate through a range of about <NUM> degrees, though other ranges are contemplated. The deployment assembly <NUM> can actively pivot the engagement assembly <NUM> around the first axis, while the engagement assembly <NUM> can provide passive up-down movement to accommodate tilting the hand as indicated at <NUM>. In this case, the up-down movement is approximately <NUM> degrees, though other ranges are contemplated.

The base assembly <NUM> and the deployment assembly <NUM> can be adjustably secured to accommodate differing user physiologies (e.g., different sizes of users having differing long bone lengths) and/or preferences. In this case, the adjustability is accomplished via a slider <NUM> that allows the user to control the relative position of the deployment assembly <NUM>. The position of the deployment assembly can control the position of the engagement assembly <NUM> in the deployed orientation for an individual user. Thus, users having larger/longer arms and hands and users having shorter arms and hands can both be accommodated. Further adjustability mechanisms are contemplated. For instance, a length of a shaft <NUM> extending between the deployment assembly <NUM> and the engagement assembly <NUM> can be adjustable.

Note that in the illustrated configuration, the first axis is slightly tilted from vertical. The choice of angle and axes of rotation for the engagement assembly <NUM> is deliberate in this implementation. As shown in <FIG>, the deployment assembly <NUM> rotates the engagement assembly <NUM> not around the axis perpendicular to the hand, but around the tilted first axis. This is potentially important, because it can allow the engagement assembly <NUM> to not interfere with the thumb when pivoting into the palm. Further, this tilted axis can cause the engagement assembly <NUM> to be stowed at a location next to the user's arm where it least interferes with the hand during interaction with real-world objects or while resting on a table.

From one perspective, slider <NUM> can provide adjustability of the engagement assembly's position to accommodate different hand sizes. The three degrees of freedom of the device <NUM> can accommodate different hand sizes and motions of the user's hand.

Portions of the base assembly <NUM>, deployment assembly <NUM>, and the engagement assembly <NUM> can be formed from various materials, such as polymers. Individual polymers can be selected for the portions based upon their function. For instance, a somewhat flexible polymer can be selected for the cuff <NUM> to allow the cuff to accommodate different arm diameters and shapes. Upon putting on the device, the springlike behavior of the cuff can hug the user's arm and can give it a comfortable but firm hold when used in combination with the strap (<NUM>, <FIG>). Other portions may be made from more rigid polymers. For instance, the shaft <NUM> can be intended to be relatively rigid and so a polymer can be selected which provides this property. Polymers are desirable in that they are easily formed into various shapes, such as by injection molding or 3D printing. However, other materials, such as metals or composites can alternatively or additionally be employed.

Several examples are described above of device <NUM> simulating feedback from interacting with a non-grounded object. The discussion below relates to simulating interaction with grounded objects, like furniture or walls.

<FIG> collectively relate to device <NUM> simulating feedback sensations relating to grounded objects. <FIG> is a visualization <NUM> of the user touching a large virtual object <NUM> in the form of a virtual desk <NUM> having a flat virtual surface <NUM>. Also, a representation <NUM> represents the user's hand. <FIG> show the device <NUM> and the user's hand from an observer's standpoint.

When a user touches flat virtual surface <NUM> with their palm, the contact may only be perceived in the middle of the palm when using some implementations of device <NUM>, but this sensation is strong enough to perceive the virtual surface as being there. <FIG> and <FIG> show that by continuing to force the engagement assembly farther toward the user's hand, the device <NUM> can create the sensation of a 'resisting' to mimic virtual surface <NUM>. Stated another way, as the user moves his/her hand toward the virtual surface the continued movement of the engagement assembly toward the user's hand can be proportional to the level at which the virtual hand penetrates the virtual surface as indicated by arrow <NUM>. Stated another way continuing to actuate the deployment assembly <NUM> to move the engagement assembly <NUM> against the user's hand while it penetrates the virtual object, can create the sensation of 'resisting' the virtual object, such as pushing a heavy object on a surface.

<FIG> collectively show how similar principles can be applied to rendering haptic feedback in response to larger and heavier virtual objects. <FIG> shows a visualization <NUM> of the user lifting a heavy virtual object <NUM> (e.g. a virtual box). The user's hands are represented by representations <NUM>(<NUM>) and <NUM>(<NUM>). <FIG> shows a user wearing devices <NUM>(<NUM>) and <NUM>(<NUM>) on both hands. The devices <NUM>(<NUM>) and <NUM>(<NUM>) can render the corresponding forces on the user's hands, creating the perception of lifting the object against gravity. In this case, wearing devices on both hands can create haptic feedback for bimanual interaction, like lifting heavy objects.

Further, devices <NUM>(<NUM>) and <NUM>(<NUM>) can simulate the weight and bulk of lifting a virtual object despite their compact form factor and their being grounded close to the user's hands (e.g., to the user's forearms). Thus, the compact form factor can allow the devices <NUM> to be readily stored out of the way on the user's forearm when not in use and almost instantly deployed when needed/desired. Note also, that in some implementations, the shape of the engagement assembly can be adjusted to mimic the shape of the object being picked up. For instance, the engagement assembly can include multiple independently controllable chambers that can be filled to simulate a shape, such as a flattened shape of the virtual box. In other implementations, the engagement assembly may be interchangeable so that a version of the engagement assembly can be selected that is configured (e.g., shaped) to mimic a particular functionality and/or accomplish a particular task. This aspect is described in more detail below relative to <FIG>.

Further still, an individual device <NUM> can adjust the force that it exerts on the user's hand to simulate compliant objects, such as a squishy ball. In the illustrated configuration where the user employs devices <NUM>(<NUM>) and <NUM>(<NUM>) on both hands, the controllers can cooperatively simulate the compliance of an object held between them. For instance, the devices <NUM> could mimic a user squeezing a large balloon between their hands and could mimic air being added to the balloon so it pushed their hands apart. Similarly, the devices could mimic a pulling scenario, such as the user grasping a rubber band with both hands and stretching it.

The discussion below relating to <FIG> relates to utilizing device <NUM> to simulate catching and throwing. <FIG> shows a virtualization <NUM> of a virtual ball <NUM> falling toward a representation <NUM> of the user's hand and the user positioning his/her hand to catch the virtual ball. The velocity and distance between the virtual ball and the hand (representation) is represented by arrow <NUM>.

<FIG> shows the device <NUM> deploying the engagement assembly <NUM> at a time and velocity corresponding to a distance and velocity of the virtual ball from the hand. <FIG> shows a subsequent visualization <NUM> of the user catching the virtual ball <NUM>. <FIG> shows the engagement assembly contacting the user's palm at the time and velocity expected by the user as represented by arrow <NUM>. Thus, by quickly rotating the device's engagement assembly into the hand and imparting an impulse function upon predicted impact, it creates the sensation of catching an object.

The device <NUM> can naturally render haptic feedback in response to throwing and catching virtual objects. One novel aspect is that the device's process loop can detect when a virtual object is moving towards the hand, and ahead of time, predict the user's intention to catch it, so as to start deploying the engagement assembly <NUM> from the stowed orientation to account for the latency of the system and placing it in the user's hand at the time the user expects the object to make contact. The device can create realistic haptic feedback for catching objects because the device is grounded to the forearm. The device can further enhance the haptic impressions by generating a 'thud' impulse upon impact with the caught object and/or by creating an audible sound via the output devices (<NUM>, <FIG>).

<FIG> show how the device can render weight when the palm is facing upwards by pushing the engagement assembly <NUM> into the hand. The device can match the scale of intensity of the push force to the sine of the angle on the vertical axes to produce a reasonable effect. <FIG> collectively show how the device <NUM> can impart similar forces pulling the object out of the hand when the palm is facing downward.

<FIG> shows a visualization <NUM> of the user holding the virtual ball <NUM> in his hand (e.g., representation <NUM>). <FIG> shows the device creating a downward force represented by arrow <NUM> being generated by the device's deployment assembly <NUM> acting on the engagement assembly <NUM>. The arrow <NUM> can represent the expected gravitational force on the virtual ball <NUM>. In this implementation, because deployment assembly <NUM> has one degree of freedom, it can render gravity forces when the palm is facing downward by pulling the engagement assembly <NUM> away from the hand.

In addition to touch feedback, device <NUM> can simulate dynamic forces of grasped objects. For instance, the device can continuously actuate its deployment assembly <NUM> when the user is grasping the engagement assembly <NUM> in their palm to produce a sensation of acceleration or friction forces exerted by the grabbed object. This force feedback can be scaled to various forces, such as gravity, inertia and friction drag.

The device <NUM> can be manifest as a wrist/forearm grounded VR/AR controller with a deployable haptic controller that pivots into and out of the user's hand on-demand. In contrast to existing VR controllers, the device can enable free-hand interaction in VR, as well as in the real-world, while acting as a handheld controller when needed. The device can position the engagement assembly proximate to the user's hand when approaching virtual objects. This can allow the user to grasp and/or release the virtual object consistent with the visual scenario. This can create the haptic sensation of touching, holding and releasing, as well as catching and throwing virtual objects. The device's active pivoting mechanism can also enable rendering static and dynamic forces acting on virtual objects such as inertia, gravity, and/or sliding friction.

<FIG> collectively show another device 110B. In this case, the engagement assembly <NUM> is readily removed and replaced with a variant that may be suited for a particular use case scenario. In this example, the deployment assembly <NUM> and the engagement assembly <NUM> collectively define a coupler or interface <NUM>. The engagement assembly <NUM> can be positioned against the deployment assembly <NUM> to complete the coupler <NUM>. The coupler <NUM> can physically and electronically couple the engagement assembly with the deployment assembly. The user can interchange deployment assemblies <NUM> (e.g., remove the engagement assembly <NUM>(<NUM>) or <NUM>(<NUM>) and replace it with a different engagement assembly <NUM>(<NUM>) or <NUM>(<NUM>)). In this implementation, the device 110B also includes a storage mechanism or holder <NUM> for one or more engagement assemblies that are not currently being used. This implementation can allow the user to select an individual engagement assembly that the user prefers, either generally, or in specific scenarios and store other engagement assemblies out of the way and without risk of loss.

<FIG> shows further details of system <NUM>, consistent with some implementations of the present concepts. The system <NUM> may include one or more devices <NUM>, headset <NUM>, base station <NUM>, and/or other devices, such as personal computers, desktop computers, notebook computers, cell phones, smart phones, personal digital assistants, pad type computers, mobile computers, wearable devices, cameras, appliances, smart devices, IoT devices, vehicles, etc., and/or any of a myriad of ever-evolving or yet-to-be-developed types of computing devices. As mentioned above, any of these devices can operate in a free-standing manner to achieve a given functionality or can operate cooperatively with other devices to achieve the functionality.

<FIG> shows two example device configurations <NUM> that can be employed by device <NUM>, headset <NUM>, base station <NUM>, and/or other devices. Individual devices, such as device <NUM> can employ either of configurations <NUM>(<NUM>) or <NUM>(<NUM>), or an alternate configuration. (Due to space constraints on the drawing page, one instance of each device configuration is illustrated rather than illustrating the device configurations relative to each device). Briefly, device configuration <NUM>(<NUM>) represents an operating system (OS) centric configuration. Device configuration <NUM>(<NUM>) represents a system on a chip (SOC) configuration. Device configuration <NUM>(<NUM>) is organized into one or more applications <NUM>, operating system <NUM>, and hardware <NUM>. The hardware <NUM> can include storage/memory <NUM> and a processor <NUM>. Other hardware <NUM>, such as the base assembly <NUM>, deployment assembly <NUM>, and engagement assembly <NUM>, are described in detail above and are not reintroduced here. Device configuration <NUM>(<NUM>) is organized into shared resources <NUM>, dedicated resources <NUM>, and an interface <NUM> therebetween.

The controller <NUM> can be manifest as software that is stored on storage/memory <NUM> and executed by the processor <NUM>. In other cases, the controller <NUM> may be a dedicated hardware or firmware controller, such as a microcontroller. The controller can receive information relating to a scenario, such as a virtual reality scenario, an augmented reality scenario, a mixed reality scenario, etc. The information can include information about the properties of virtual objects, such as the object's <NUM>-degree of freedom (<NUM>-DOF) (e.g., x, y, z coordinates plus roll, pitch, and yaw) and/or other information such as various location, velocity, acceleration, mass, weight, dimensions and/or texture, among other information. The controller can also receive information about a user's body part, such as a finger, arm, or leg, among others. For instance, the controller could receive information about the user's hand from an outward facing camera on the headset <NUM>. This information can include <NUM>-DOF information (e.g., x, y, z coordinates plus roll, pitch, and yaw) and/or other information, such as, posture, velocity, acceleration, etc. The controller can also receive some of this information from the device <NUM> positioned on the user's forearm and hand. The controller can make predictions about interactions between the hand and the virtual objects based at least in part upon this information. The controller can then, based upon the predictions, control the engagement assembly directly, e.g., output devices on the engagement assembly, and/or indirectly by controlling the deployment assembly. In this way, the controller can cause the device <NUM> to cause user interaction with the virtual object to simulate interaction with an equivalent physical object.

The term "device," "computer," or "computing device" as used herein can mean any type of device that has some amount of processing capability and/or storage capability. Processing capability can be provided by one or more processors that can execute data in the form of computer-readable instructions to provide a functionality. Data, such as computer-readable instructions and/or user-related data, can be stored on storage, such as storage that can be internal or external to the device. The storage can include any one or more of volatile or non-volatile memory, hard drives, flash storage devices, and/or optical storage devices (e.g., CDs, DVDs etc.), remote storage (e.g., cloud-based storage), among others. As used herein, the term "computer-readable media" can include signals. In contrast, the term "computer-readable storage media" excludes signals. Computer-readable storage media includes "computer-readable storage devices. " Examples of computer-readable storage devices include volatile storage media, such as RAM, and non-volatile storage media, such as hard drives, optical discs, and flash memory, among others.

As mentioned above, device configuration <NUM>(<NUM>) can be thought of as a system on a chip (SOC) type design. In such a case, functionality provided by the device can be integrated on a single SOC or multiple coupled SOCs. One or more processors <NUM> can be configured to coordinate with shared resources <NUM>, such as storage/memory <NUM>, etc., and/or one or more dedicated resources <NUM>, such as hardware blocks configured to perform certain specific functionality. Thus, the term "processor" as used herein can also refer to central processing units (CPUs), graphical processing units (GPUs), field programable gate arrays (FPGAs), controllers, microcontrollers, processor cores, and/or other types of processing devices.

Generally, any of the functions described herein can be implemented using software, firmware, hardware (e.g., fixed-logic circuitry), or a combination of these implementations. The term "component" as used herein generally represents software, firmware, hardware, whole devices or networks, or a combination thereof. In the case of a software implementation, for instance, these may represent program code that performs specified tasks when executed on a processor (e.g., CPU or CPUs). The program code can be stored in one or more computer-readable memory devices, such as computer-readable storage media. The features and techniques of the component are platform-independent, meaning that they may be implemented on a variety of commercial computing platforms having a variety of processing configurations.

<FIG> shows a schematic diagram <NUM> that relates to the description above. The schematic diagram <NUM> shows how the controller <NUM>, which is manifested as a Teensy microcontroller <NUM> can be communicatively coupled to other components. In this configuration, the microcontroller <NUM> communicates with BLE transceiver <NUM> and IMU <NUM>. The microcontroller <NUM> communicates with switch <NUM> and touch sensor electrode <NUM>, as well as receiving force data from strain gauge <NUM>. The microcontroller <NUM> can drive the VCA <NUM> and the servo motor <NUM> via pulse width modulation (PWM) drivers and can receive information about the servo motor position as indicated at <NUM>. The microcontroller <NUM> can also interact with a unity game engine <NUM> operating cooperatively with an operating system, such as Windows Brand operating system from Microsoft Corp. as indicated at <NUM>.

In this case the servo motor <NUM> is a modified version of a commercially available servo motor (Hitech HS-7115TH). The modification can provide control over: (<NUM>) torque and speed, (<NUM>) back-drivability, and (<NUM>) real-time position feedback. To achieve this functionality, the original control circuit can be removed and replaced with custom driver electronics and software running on the Teensy controller. The implemented PID loop can have time-based protection mechanisms to prevent overpowering the servo motor <NUM>. Reading the absolute position of the potentiometer <NUM>, the frontend software is always up to date about the current position of the engagement assembly- even when the motor is turned off. This helps in making the right actions, for example to detect if the user is holding the engagement assembly or not. While a specific servo motor implementation is described here, other servo motor implementations are contemplated. For instance, stronger servo motors and/or servo motors having a quicker response time may be employed.

With this functionality, the device's engagement assembly can be controlled in a way that it gets to the user's hand with the right speed, exerts the right (scaled) force, and can be switched off anytime to enable passive rotation of the handle and prevent breakage.

The device's control board can be built around the Teensy <NUM> microcontroller <NUM> that interfaces to a custom I/O daughterboard <NUM>. This daughterboard <NUM> contains the servo motor driver and VCA PWM circuits, the inertial sensor (e.g., IMU <NUM>) to detect hand motions, the BLE chip (Nordic nrf52832) <NUM> for wireless communication, and operational amplifiers to process the analog strain gauge full bridge output and the position from the servo's potentiometer encoder. The device can utilize the microcontroller's inbuilt capacitive sensing functionality to sense the conductive coating capacitance (e.g., touch sensor electrode <NUM>) of the engagement assembly's inside electrodes in active loading mode to detect touch events. (See <FIG>). The engagement assembly <NUM> also contains VCA <NUM> to render vibrotactile feedback as well as trigger button (e.g., switch <NUM>).

Some software implementations can employ a <NUM> version of unity game engine <NUM> as the software platform. The software can run on a tethered device, such as an Alienware <NUM> R3 laptop, equipped with a Vive Pro VR system. Unity game engine <NUM> can maintain a representation of all the virtual objects in the interaction space every frame (<NUM> frames per second), as well as the location and orientation of the user's head and the location tracker attached to user's palm. A spherical `trigger volume' can be defined around the device <NUM>. Every virtual object that penetrates this volume is an object that might be touched, so the engagement assembly can be rotated to an angle closer to the palm. Once an object reaches the hand, commands can be transmitted to the microcontroller <NUM> to rotate the engagement assembly accordingly, to simulate the haptic sensation of touch.

Other implementations of device <NUM> can be standalone units (e.g., fully untethered). Such implementations can employ either <NUM>-DOF inside-out tracking or fully integrate a tracker that integrates a VIVE lighthouse system or the like.

<FIG> shows a flowchart illustrating an example method <NUM> relating to simulating an object. In act <NUM>, the method can receive information relating to a virtual object. The information can include a location, velocity, mass, texture, and/or dimensions, among other information of the virtual object.

In act <NUM>, the method can receive information about a hand of a user. The information can include a location, posture, and/or velocity, among other information of the user's hand.

In act <NUM>, the method can predict whether the user's hand will engage the virtual object. For instance, the prediction can involve predicting an engagement location where the hand and the virtual object will come together at a particular time.

In act <NUM>, the method can begin to move a deployable controller from a stowed orientation toward the user's hand before the predicted engagement.

In act <NUM>, the method can cause the deployable controller to contact the user's hand to simulate both a feel of the virtual object and a force imparted by the virtual object on the user's hand.

In act <NUM>, the method can move the deployable controller away from the user's hand when the user disengages (e.g., stops engaging) from the virtual object.

Thus, the method can provide a deployable controller that dynamically appears and vanishes in the user's palm, enabling fast switching between haptic feedback-supplemented interaction with virtual content and free-hand interactions with physical objects in the real world. This capability of fast switching makes the deployable controller especially suitable in AR scenarios, where users may frequently switch between virtual and physical tool use.

Various examples are described above. Additional examples are described below. One example includes a device comprising a base assembly configured to ground the device to a non-hand body part of a user, an engagement assembly <NUM> configured to receive tactile input from a hand of the user or to deliver tactile output to the hand of the user, and a deployment assembly <NUM> extending from the base assembly to the engagement assembly and configured to deploy the engagement assembly from a storage orientation proximate to the base assembly to a deployed orientation proximate to the hand of the user.

Another example can include any of the above and/or below examples where the base assembly is configured to be secured to the non-hand body part comprising a forearm of the user or an upper arm of the user.

Another example can include any of the above and/or below examples where the engagement assembly is configured to receive tactile input from the hand of the user and to deliver tactile output to the hand of the user.

Another example can include any of the above and/or below examples where the tactile output comprises imparting a force on the hand of the user.

Another example can include any of the above and/or below examples where the deployment assembly is configured to create the force from the non-hand body part to the hand.

Another example can include any of the above and/or below examples where the deployment assembly comprises a single axis powered hinge.

Another example can include any of the above and/or below examples where the deployment assembly comprises a multi-axis powered hinge.

Another example can include any of the above and/or below examples where the device further comprises sensors configured to detect a user deployment gesture.

Another example can include any of the above and/or below examples where the sensors are positioned in both the engagement assembly and the base assembly.

Another example can include any of the above and/or below examples where the user deployment gesture comprises a wrist-flip motion.

Another example can include any of the above and/or below examples where the device further comprises a controller <NUM>, and wherein the controller is configured to utilize virtual reality data as input data for controlling the deployment assembly to deploy or store the engagement assembly.

Another example can include any of the above and/or below examples where the controller is configured to automatically cause the deployment assembly to deploy the engagement assembly at a rotational rate and time to engage the hand of the user to mimic the user catching a virtual object.

Another example can include any of the above and/or below examples where the controller is configured to automatically cause the deployment assembly to force the engagement assembly toward a palm of the hand of the user to mimic a velocity and force of the virtual object.

Another example can include any of the above and/or below examples where the controller is further configured to automatically cause the deployment assembly to move away from the user's hand when the user's hand stops engaging the virtual object.

Another example can include any of the above and/or below examples where the engagement assembly is removably secured to the deployment assembly and wherein the user can interchange between the engagement assembly and another engagement assembly.

Another example can include any of the above and/or below examples where the device further comprises a storage mechanism for either of the engagement assembly and the another engagement assembly that is not secured to the deployment assembly.

Another example includes a device comprising a base assembly configured to ground the device to a non-hand body part of a user, an engagement assembly configured to receive tactile input from a hand of the user or to deliver tactile output to the hand of the user, a deployment assembly extending from the base assembly to the engagement assembly and configured to deploy the engagement assembly from a storage orientation proximate to the base assembly to a deployed orientation proximate to the hand of the user, positional sensors configured to sense 3D location data of the device, and a controller configured to receive virtual 3D location data relating to a virtual object and to control the deployment assembly to cause deployment of the engagement assembly based at least in part upon the 3D location data of the device and the virtual 3D location data of the virtual object.

Another example can include any of the above and/or below examples where the positional sensors are <NUM>-degree of freedom sensors configured to sense x, y, and z coordinates as well as roll, pitch, and yaw of the device.

Another example includes a device comprising a base assembly configured to ground the device to a forearm of a user, an engagement assembly configured to deliver tactile output as a force to a hand of the user, and a deployment assembly extending from the base assembly to the engagement assembly and configured to pivotally deploy the engagement assembly from a storage orientation proximate to the base assembly to a deployed orientation proximate to the hand of the user and to generate the force against the hand of the user.

Another example can include any of the above and/or below examples where the deployment assembly comprises a powered single axis hinge or a powered multi-axis hinge.

Another example can include any of the above and/or below examples where the deployment assembly is configured to deploy the engagement assembly along a path that approximates an arc or wherein the deployment assembly is configured to deploy the engagement assembly along a complex path.

Claim 1:
A device (<NUM>), comprising:
an engagement assembly (<NUM>) configured to receive tactile input from a hand of a user or to deliver tactile output to the hand of the user;
a base assembly (<NUM>) configured to secure the device to a forearm of the user,
a deployment assembly (<NUM>) extending from the base assembly to the engagement assembly and configured to deploy the engagement assembly from a storage orientation proximate to the base assembly to a deployed orientation proximate to the hand of the user;
characterised in that
the device further comprises:
a controller configured to utilize virtual reality data as input data for controlling the deployment assembly to deploy or store the engagement assembly, and to automatically cause the deployment assembly to use a servo motor to deploy the engagement assembly at a rotational rate and time to engage the hand of the user to mimic the user catching a virtual object.