Abstract: Systems and methods for enhanced haptic effects are described. One described method includes receiving an input signal having haptic information and multimedia data, the input signal formatted in a first format, decoding the haptic information from the input signal, and determining a parameter associated with an actuator in a haptic device. The method further includes generating an actuator signal based at least in part on the parameter and the haptic information, and generating an output signal comprising the multimedia data and the actuator signal, the output signal formatted in a second format.

Abstract: A touch panel provides an indication of a reference key and non-reference keys to a user. The touch panel senses a touch and determines the location of the touch. The touch panel then generates a haptic effect if the location is the reference key, and generates a different haptic effect if the location is a non-reference key.

Abstract: Embodiments of the invention relate to a hierarchical method for generating force feedback effects. In one embodiment, a method comprises receiving a first force contribution associated with a first (e.g., previous) position of a manipulandum; determining a second force contribution associated with a second (e.g., current) position of the manipulandum; and outputting a force signal to an actuator coupled to the manipulandum, such that the actuator renders a feedback force having a sum of the first and second force contributions. The method may further include classifying force effects according to a predetermined “hierarchy” (or “priority”) scheme, whereby the second force contribution is related to “high” priority force effects associated with the second position, and the first force contribution is related to “low” priority force effects associated with the first position.

Abstract: A haptic feedback planar touch control used to provide input to a computer. A touch input device includes a planar touch surface that inputs a position signal to a processor of the computer based on a location of user contact on the touch surface. The computer can position a cursor in a displayed graphical environment based at least in part on the position signal, or perform a different function. At least one actuator is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user contacting the touch surface. The touch input device can be a touchpad separate from the computer's display screen, or can be a touch screen. Output haptic sensations on the touch input device can include pulses, vibrations, and spatial textures. The touch input device can include multiple different regions to control different computer functions.

Abstract: A haptic feedback planar touch control used to provide input to a computer. A touch input device includes a planar touch surface that inputs a position signal to a processor of the computer based on a location of user contact on the touch surface. The computer can position a cursor in a displayed graphical environment based at least in part on the position signal, or perform a different function. At least one actuator is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user contacting the touch surface. The touch input device can be a touchpad separate from the computer's display screen, or can be a touch screen. Output haptic sensations on the touch input device can include pulses, vibrations, and spatial textures. The touch input device can include multiple different regions to control different computer functions.

Abstract: Methods and Apparatus for providing haptic feedback to non-input locations are described. One described apparatus comprises a first surface, an input element distinct from the first surface, the input element operable to generate an input signal, and an actuator configured to provide haptic feedback to the first surface based at least in part on the input signal.

Abstract: Products and processes for providing tactile sensations to input devices or electronic devices are provided. Input devices include mechanical input devices (such as, for example, mechanical switches) and non-mechanical input devices (such as, for example, touchpads). Tactile feedback is provided by using an actuator or other means in communication with the input device or electronic device. A controller may be employed to receive signals from the input devices and control the actuator. Tactile feedback to an input device or electronic device may be provided in response to one or more events or situations. Such an event or situation may be any one designated. Examples of such events and situations include the level of pressure placed on an input device; the availability or lack of availability of a function associated with an input device; and the function, menu, or mode of operation associated with an input device's activation. A variety of feedback types and combinations may be selected.

Abstract: A force feedback interface and method including an actuator in a non-primary axis or degree of freedom. The force feedback interface device is connected to a host computer that implements a host application program or graphical environment. The interface device includes a user manipulatable object, a sensor for detecting movement of the user object, and an actuator to apply output forces to the user object. The actuator outputs a linear force on the user object in non-primary linear axis or degree of freedom that is not used to control a graphical object or entity implemented by the host computer, and movement in the non-primary degree of freedom is preferably not sensed by sensors. The axis extends through the user object, and there are preferably no other actuators in the device, thus allowing the force feedback device to be very cost effective. Force sensations such as a jolt, vibration, a constant force, and a texture force can be output on the user object with the actuator.

Abstract: A system generates a consistent haptic effect in a handset that includes an actuator. The system determines performance data for the actuator, and generates haptic effect controller parameters from the performance data by comparing the performance data with reference performance data derived from a reference actuator. The system then stores the haptic effect controller parameters on the handset.

Abstract: A method of testing a haptic device that includes an actuator and has a first weight includes placing the haptic device on a test fixture that has a second weight that is greater than the first weight. The haptic device is placed on the test fixture so that the actuator within the haptic device is substantially close to the center of gravity of the test fixture. The method further includes causing the haptic device to generate haptic effects via the actuator, and measuring the acceleration of the test fixture during the haptic effects.

Abstract: A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage and including two members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets.

Abstract: A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members.

Abstract: Systems and methods for haptic devices are described. One described method comprises receiving a first input signal from a first control node and generating an output signal configured to administer a haptic effect on a second control node that is based at least in part on the first input signal.

Abstract: Haptic feedback interface devices using electroactive polymer (EAP) actuators to provide haptic sensations and/or sensing capabilities. A haptic feedback interface device is in communication with a host computer and includes a sensor device that detects the manipulation of the interface device by the user and an electroactive polymer actuator responsive to input signals and operative to output a force to the user caused by motion of the actuator. The output force provides a haptic sensation to the user. Various embodiments of interface devices employing EAP actuators are described, including embodiments providing direct forces, inertial forces, and braking forces.

Abstract: A method and apparatus for providing low-cost, realistic force feedback including an improved actuator. The invention provides force sensations to a user and includes an interface device coupled to a host computer and allowing a user to interact with a host application program. A user object, such as a joystick, is moveable by a user in at least one rotary degree of freedom. A sensor reports a locative signal to the host computer to indicate a position of the user object. An actuator outputs forces on the user object in response to signals from the host computer and program. The actuator includes a housing, a set of grounded magnets provided on opposing surfaces of the housing and creating a magnetic field, and a rotor coupled to the user object positioned between the magnets. The rotor rotates about an axis of rotation and includes a shaft and teeth spaced around the shaft. An electric current flows through one or more coils on the teeth to cause the rotor to rotate.

Abstract: A method and apparatus for providing force feedback to a user operating a human/computer interface device in conjunction with a graphical user interface (GUI) displayed by a host computer system. A physical object, such as a joystick or a mouse, controls a graphical object, such as a cursor, within the GUI. The GUI allows the user to interface with operating system functions implemented by the computer system. A signal is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators. This desired force sensation is associated with at least one of the graphical objects and operating system functions of the graphical user interface and is determined by a location of the cursor in the GUI with respect to targets that are associated with the graphical objects. The graphical objects include icons, windows, pull-down menus and menu items, scroll bars (“sliders”), and buttons.

Abstract: An apparatus comprises an input device and an actuator. The input device has an interface portion. The interface portion defines a selectively adjustable orifice having a range of sizes. The interface portion defines a plane and a longitudinal axis. An actuator is coupled to the interface portion of the input device. The actuator is configured to apply a haptic feedback force inwardly with respect to the longitudinal axis within the plane to at least three locations of the interface portion when a change in a size of an object disposed within the interface portion is sufficient to adjust the size of the orifice.

Abstract: Method and apparatus for providing thermal protection for actuators used in haptic feedback interface devices. An average energy in the actuator over a predetermined period of time is determined, and the maximum allowable current level in the actuator is reduced if the average energy is determined to exceed a predetermined warning energy level. The maximum allowable current level can be reduced to a sustainable current level if the average energy reaches a maximum energy level allowed, and the maximum allowable current level in the actuator can be raised if the average energy is determined to be below the predetermined warning energy level. Preferably, the maximum allowable current level is reduced smoothly as a ramp function.

Abstract: The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob.

Abstract: Method and apparatus for providing high strength, low frequency tactile sensations using an inertial actuator in a haptic feedback interface device, such as an actuator driving an oscillating inertial mass. A commanded low frequency is modulated or combined with a higher frequency at which the tactile sensations feel stronger, where the resulting signal is used to output a tactile sensation at the higher frequency and convey the commanded low frequency to the user. One embodiment provides higher frequency pulse bursts at the desired low frequency wherein the higher frequency pulse bursts are at or near a resonant frequency of the actuator; other embodiments modulate or otherwise vary the amplitude of the higher frequency signal according to the desired low frequency.