Abstract: A moving magnet actuator for providing haptic feedback. The actuator includes a grounded core member, a coil is wrapped around a central projection of the core member, and a magnet head positioned so as to provide a gap between the core member and the magnet head. The magnet head is moved in a degree of freedom based on an electromagnetic force caused by a current flowed through the coil. An elastic material, such as foam, is positioned in the gap between the magnet head and the core member, where the elastic material is compressed and sheared when the magnet head moves and substantially prevents movement of the magnet head past a range limit that is based on the compressibility and shear factor of the material. Flexible members can also be provided between the magnet head and the ground member, where the flexible members flex to allow the magnet head to move, provide a centering spring force to the magnet head, and limit the motion of the magnet head.

Abstract: Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.

Abstract: A haptic feedback touch control used to provide input to a computer. A touch input device includes a planar touch surface that provides position information to a computer based on a location of user contact. The computer can position a cursor in a displayed graphical environment based at least in part on the position information, 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. The actuator can move the touchpad laterally, or a separate surface member can be actuated. A flat E-core actuator, piezoelectric actuator, or other types of actuators can be used to provide forces. The touch input device can include multiple different regions to control different computer functions.

Abstract: An interface device and method providing haptic sensations to a user. A user physically contacts a housing of the interface device, and a sensor device detects the manipulation of the interface device by the user. An actuator assembly includes an actuator that provides output forces to the user as haptic sensations. In one embodiment, the actuator outputs a rotary force, and a flexure coupled to the actuator moves an inertial mass and/or a contact member. The flexure can be a unitary member that includes flex joints allowing a portion of the flexure to be linearly moved. The flexure can converts rotary force output by the actuator to linear motion, where the linear motion causes a force that is transmitted to the user. In another embodiment, the actuator outputs a force, and a mechanism coupling the actuator to the device housing uses the force to move the actuator with respect to the device housing.

Abstract: Systems and methods for providing haptic cues to a touch-sensitive input device having a rotary degree of freedom are described. One system described comprises a touch sensitive input device is configured to move in a rotary degree of freedom. The system further comprises an actuator configured to produce a rotational force on the touch-sensitive input device. In one such system, the actuator comprises an electromagnetic core configured to produce force on a magnet affixed to the touch-sensitive input device. In another such system, a motor provides the rotational force.

Abstract: A low-cost haptic feedback trackball device for providing haptic feedback to a user for enhancing interactions in a graphical environment provided by a computer. The trackball device includes a sensor device that detects the movement of a sphere in two rotary degrees of freedom. An actuator applies a force preferably along a z-axis perpendicular to the plane of the surface supporting the device, where the force is transmitted through the housing to the user. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in the displayed graphical environment. Preferably, at least one compliant element is provided between a portion of the housing contacted by the user and the support surface, where the compliant element amplifies the force output from the actuator by allowing the contacted portion of the housing to move with respect to the support surface.

Abstract: Method and apparatus for increasing the transmissibility of inertial forces produced by an inertial actuator on the housing of a tactile feedback interface device. A tactile interface device, coupled to a host computer, outputs tactile sensations to a user based on interactions and events occurring in a displayed graphical environment. An actuator produces periodic inertial forces, such as vibrations, and a compliant suspension couples the actuator to the device housing. A compliance of the suspension is selected such that the suspension magnifies the periodic inertial forces for a particular frequency range of the inertial forces. The magnified inertial forces are transmitted to the housing to be felt by the user.

Abstract: Low-cost haptic interface device implementations for interfacing a user with a host computer. A haptic feedback device, such as a mouse or other device, includes a housing physically contacted by a user, and an actuator for providing motion that causes haptic sensations on the device housing and/or on a movable portion of the housing. The device may include a sensor for detecting x-y planar motion of the housing. Embodiments include actuators with eccentric rotating masses, buttons having motion influenced by various actuator forces, and housing portions moved by actuators to generate haptic sensations to a user contacting the driven surfaces.

Abstract: A low-cost haptic feedback trackball device for providing haptic feedback to a user for enhancing interactions in a graphical environment provided by a computer. The trackball device includes a sensor device that detects the movement of a sphere in two rotary degrees of freedom. An actuator applies a force preferably along a z-axis perpendicular to the plane of the surface supporting the device, where the force is transmitted through the housing to the user. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in the displayed graphical environment. Preferably, at least one compliant element is provided between a portion of the housing contacted by the user and the support surface, where the compliant element amplifies the force output from the actuator by allowing the contacted portion of the housing to move with respect to the support surface.

Abstract: Systems and methods for providing passive haptic feedback are described. Embodiments of the present invention comprise an actuator for bringing a manipulandum and braking surface into contact and thereby providing a resistance. The manipulandum includes scroll wheels, scroll drums, linear sliders and similar user input devices. The actuator may be, for example, electromagnetic or piezo-electric. An embodiment of the present invention may include a processor in communication with the actuator for providing the haptic effects.

Abstract: A haptic feedback control device, such as a handheld remote control or handheld game controller, for controlling a graphical object within a graphical display and for outputting forces to a user. A housing includes a button, wherein the user engages the button with a finger. The button is depressible along a degree of freedom by the user. An actuator applies forces to the user through the button along the degree of freedom. A sensor detects displacement of the button along the degree of freedom when the button is depressed by the user. A processor, local to the device, controls the actuator to generate the forces upon the button in the degree of freedom to provide a tactile sensation to the user contacting the button.

Abstract: An interface device and method providing haptic sensations to a user. A user physically contacts a housing of the interface device, and a sensor device detects the manipulation of the interface device by the user. An actuator assembly includes an actuator that provides output forces to the user as haptic sensations. In one embodiment, the actuator outputs a rotary force, and a flexure coupled to the actuator moves an inertial mass and/or a contact member. The flexure can be a unitary member that includes flex joints allowing a portion of the flexure to be linearly moved. The flexure can converts rotary force output by the actuator to linear motion, where the linear motion causes a force that is transmitted to the user. In another embodiment, the actuator outputs a force, and a mechanism coupling the actuator to the device housing uses the force to move the actuator with respect to the device housing.

Abstract: Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing grasped by the user, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a compliance that can be varied. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output to the user grasping the housing. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating.

Abstract: Method and apparatus for increasing the transmissibility of inertial forces produced by an inertial actuator on the housing of a tactile feedback interface device. A tactile interface device, coupled to a host computer, outputs tactile sensations to a user based on interactions and events occurring in a displayed graphical environment. An actuator produces periodic inertial forces, such as vibrations, and a compliant suspension couples the actuator to the device housing. A compliance of the suspension is selected such that the suspension magnifies the periodic inertial forces for a particular frequency range of the inertial forces. The magnified inertial forces are transmitted to the housing to be felt by the user.

Abstract: A low-cost haptic feedback trackball device for providing haptic feedback to a user for enhancing interactions in a graphical environment provided by a computer. The trackball device includes a sensor device that detects the movement of a sphere in two rotary degrees of freedom. An actuator applies a force preferably along a z-axis perpendicular to the plane of the surface supporting the device, where the force is transmitted through the housing to the user. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in the displayed graphical environment. Preferably, at least one compliant element is provided between a portion of the housing contacted by the user and the support surface, where the compliant element amplifies the force output from the actuator by allowing the contacted portion of the housing to move with respect to the support surface.

Abstract: A haptic feedback touch control used to provide input to a computer. A touch input device includes a planar touch surface that provides position information to a computer based on a location of user contact. The computer can position a cursor in a displayed graphical environment based at least in part on the position information, 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. The actuator can move the touchpad laterally, or a separate surface member can be actuated. A flat E-core actuator, piezoelectric actuator, or other types of actuators can be used to provide forces. The touch input device can include multiple different regions to control different computer functions.

Abstract: A low-cost, high-resolution capacitive position sensor is provided using a variable capacitor. A vane moves parallel to a stator, where a dielectric is interposed between vane and stator, such that the vane overlaps at least a portion of the stator, creating a capacitance that varies as the vane moves relative to the fixed stator. The capacitor circuit outputs a signal having a phase shift relative to an input driver signal based on the relative positions of the vane and stator. The phase-shifted signal is used to derive the absolute position of the vane with respect to the stator. Two or more stator can be provided to provide two phase-shifted signals and a difference signal free of common mode effects. Enhanced embodiments include interdigitated stator portions for greater sensing resolution, and/or a two or three-pole filter to double or triple the dynamic range of the sensor.

Abstract: Improvements in haptic feedback control devices include several embodiments. A haptic feedback control device includes a housing and a pair of moveable pincher members coupled to the housing. Each pincher member is contacted by a finger of the user when the device is operated and moveable in a degree of freedom approximately within a single plane. An actuator outputs force feedback on the pincher members in the degrees of freedom, and a sensor detects a position of the pincher members in the degrees of freedom. The device housing includes a fixed portion and a moveable portion, where the user grips both fixed and moveable portions. A coupling, such as a flexure, allows the moveable portion to move relative to the fixed portion in a direction parallel to an outer surface of the moveable portion contacted by the user. An actuator outputs a force on the flexure to cause the moveable portion to move, such as an oscillating force to cause vibration.

Abstract: Haptic feedback control devices of the present invention include several embodiments. One embodiment includes a housing and a pair of moveable pincher members coupled to the housing. Each pincher member is contacted by a finger of the user when the device is operated and moveable in a degree of freedom approximately within a single plane. An actuator outputs force feedback on the pincher members and a sensor detects a position of the pincher members in the degrees of freedom. The device housing can include a fixed portion and a moveable portion, where the user contacts both fixed and moveable portions. A coupling, such as a flexure, allows the moveable portion to move relative to the fixed portion in a direction parallel to an outer surface of the moveable portion contacted by the user. An actuator outputs a force on the flexure to cause the moveable portion to move, such as an oscillating force to cause vibration.