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1. 发明授权

US07821493B2 Providing enhanced haptic feedback effects 有权
标题翻译：提供增强的触觉反馈效果
公开(公告)号：US07821493B2
公开(公告)日：2010-10-26
申请号：US11787495
申请日：2007-04-16
申请人： Kollin M. Tierling , Adam C. Braun , Alex S. Goldenberg
发明人： Kollin M. Tierling , Adam C. Braun , Alex S. Goldenberg
IPC分类号： G09G5/00 , G06F3/00
CPC分类号： B06B1/0276 , A63F9/24 , A63F13/06 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G06F3/016 , G06F2203/013 , G06F2203/014
摘要： Method and apparatus for providing tactile sensations. For one embodiment a first frequency at which to output a tactile sensation is received. A second frequency higher than the first frequency is determined. The second frequency is based on a frequency at which an inertial actuator outputs a second tactile sensation. A waveform having the first frequency and a waveform having the second frequency is combined to produce a signal configured to cause a composite tactile sensation at the second frequency, the composite tactile sensation conveying the first frequency.
摘要翻译：提供触感的方法和装置。对于一个实施例，接收输出触觉的第一频率。确定高于第一频率的第二频率。第二频率基于惯性致动器输出第二触觉的频率。具有第一频率的波形和具有第二频率的波形被组合以产生被配置为在第二频率引起复合触觉的信号，传送第一频率的复合触觉。

2. 发明授权

US08773356B2 Method and apparatus for providing tactile sensations 有权
标题翻译：提供触感的方法和装置
公开(公告)号：US08773356B2
公开(公告)日：2014-07-08
申请号：US13362113
申请日：2012-01-31
申请人： Kenneth M. Martin , Steven P. Vassallo , Alex S. Goldenberg , Alexander Jasso , Kollin M. Tierling
发明人： Kenneth M. Martin , Steven P. Vassallo , Alex S. Goldenberg , Alexander Jasso , Kollin M. Tierling
IPC分类号： G06F3/033 , G09G5/00
CPC分类号： G06F3/016 , G06F1/1662 , G06F1/169 , G06F3/0202 , G06F3/0233 , G06F3/0338 , G06F3/041 , G06F3/0488 , G06F2203/014 , G09B21/001 , G09B21/003 , H01H13/85 , H01H2215/004 , H01H2215/05 , H01H2215/052 , H04M1/23
摘要： Systems and methods for providing tactile sensations are disclosed. For example, one disclosed method includes the steps of outputting a display signal configured to display a graphical object on a touch-sensitive input device; receiving a sensor signal from the touch-sensitive input device, the sensor signal indicating an object contacting the touch-sensitive input device; determining an interaction between the object contacting the touch-sensitive input device and the graphical object; and generating an actuator signal based at least in part on the interaction.
摘要翻译：公开了提供触感的系统和方法。例如，一种公开的方法包括以下步骤：输出被配置为在触敏输入设备上显示图形对象的显示信号; 从所述触敏输入设备接收传感器信号，所述传感器信号指示接触所述触敏输入设备的对象; 确定接触所述触敏输入设备的对象与所述图形对象之间的相互作用; 以及至少部分地基于所述相互作用产生致动器信号。

3. 发明授权

US07791588B2 System and method for mapping instructions associated with haptic feedback 有权
标题翻译：用于映射与触觉反馈相关的指令的系统和方法
公开(公告)号：US07791588B2
公开(公告)日：2010-09-07
申请号：US11001190
申请日：2004-12-02
申请人： Kollin M. Tierling , Juan Manuel Cruz-Hernandez , Alex S. Goldenberg , Danny A. Grant
发明人： Kollin M. Tierling , Juan Manuel Cruz-Hernandez , Alex S. Goldenberg , Danny A. Grant
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F2203/015
摘要： An embodiment of the invention provides a system and method for mapping instructions associated with haptic feedback. An apparatus having a controller including an effect mapper is disclosed. The controller is configured to receive effect instructions from at least one application. The effect mapper is in communication with the controller, and is configured to produce multiple haptic instructions in response to at least a portion of the received effect instructions. The haptic instructions are at least partially based on a physical characteristic of a haptic device.
摘要翻译：本发明的实施例提供了一种用于映射与触觉反馈相关联的指令的系统和方法。公开了具有包括效果映射器的控制器的装置。控制器被配置为从至少一个应用接收效果指令。效果映射器与控制器通信，并且被配置为响应于所接收的效果指令的至少一部分来产生多个触觉指令。触觉指令至少部分地基于触觉装置的物理特性。

4. 发明授权

US08159461B2 Method and apparatus for providing tactile sensations 有权
标题翻译：提供触感的方法和装置
公开(公告)号：US08159461B2
公开(公告)日：2012-04-17
申请号：US12894489
申请日：2010-09-30
申请人： Kenneth M. Martin , Steven P. Vassallo , Alex S. Goldenberg , Alexander Jasso , Kollin M. Tierling
发明人： Kenneth M. Martin , Steven P. Vassallo , Alex S. Goldenberg , Alexander Jasso , Kollin M. Tierling
IPC分类号： G06F3/02 , G09G5/00
CPC分类号： G06F3/016 , G06F1/1662 , G06F1/169 , G06F3/0202 , G06F3/0233 , G06F3/0338 , G06F3/041 , G06F3/0488 , G06F2203/014 , G09B21/001 , G09B21/003 , H01H13/85 , H01H2215/004 , H01H2215/05 , H01H2215/052 , H04M1/23
摘要： 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.
摘要翻译：提供了为输入设备或电子设备提供触觉的产品和过程。输入设备包括机械输入设备（例如机械开关）和非机械输入设备（例如触摸板）。通过使用与输入装置或电子设备通信的致动器或其他装置来提供触觉反馈。可以使用控制器来从输入设备接收信号并控制致动器。响应于一个或多个事件或情况，可以提供对输入设备或电子设备的触觉反馈。这种事件或情况可以是指定的任何一个。这种事件和情况的示例包括放置在输入设备上的压力水平; 与输入设备相关联的功能的可用性的可用性; 以及与输入设备的激活相关联的功能，菜单或操作模式。可以选择各种反馈类型和组合。

5. 发明授权

US08427286B2 System and method for controlling haptic devices having multiple operational modes 有权
标题翻译：用于控制具有多种操作模式的触觉装置的系统和方法
公开(公告)号：US08427286B2
公开(公告)日：2013-04-23
申请号：US12818618
申请日：2010-06-18
申请人： Danny A. Grant , Kollin M. Tierling , Juan Manuel Cruz-Hernandez , Alex S. Goldenberg
发明人： Danny A. Grant , Kollin M. Tierling , Juan Manuel Cruz-Hernandez , Alex S. Goldenberg
IPC分类号： G08B6/00
CPC分类号： G08B6/00 , G06F3/016 , G06F2203/015 , H04M19/04
摘要： A haptic device having a plurality of operational modes, including a first operational mode and a second operational mode is provided. The first operational mode is associated with a frequency range. The second operational mode is associated with a frequency range that is different from the frequency range of the first operational mode. A controller is coupled to the haptic device, and is configured to send the haptic device a plurality of control schemes. Each control scheme is uniquely associated with an operational mode from the plurality of operational modes. Another embodiment provides a method that includes providing power to a haptic device configured to cause the haptic device to provide a haptic sensation above a pre-determined sensation threshold. A voltage pulse that is configured to change the haptic sensation output by the haptic device by a pre-determined amount within a pre-determined time period is also applied to the haptic device.
摘要翻译：提供具有多个操作模式的触觉装置，包括第一操作模式和第二操作模式。第一个操作模式与频率范围相关联。第二操作模式与不同于第一操作模式的频率范围的频率范围相关联。控制器耦合到触觉设备，并且被配置为向触觉设备发送多个控制方案。每个控制方案与来自多个操作模式的操作模式唯一地相关联。另一个实施例提供了一种方法，其包括向触觉装置提供功率，该触觉装置被配置成使触觉装置提供高于预定感觉阈值的触觉感觉。被配置为在预定时间段内将由触觉装置输出的触觉感觉改变预定量的电压脉冲也被应用于触觉装置。

6. 发明授权

US07742036B2 System and method for controlling haptic devices having multiple operational modes 有权
标题翻译：用于控制具有多种操作模式的触觉装置的系统和方法
公开(公告)号：US07742036B2
公开(公告)日：2010-06-22
申请号：US10873643
申请日：2004-06-23
申请人： Danny A. Grant , Kollin M. Tierling , Juan Manuel Cruz-Hernandez , Alex S. Goldenberg
发明人： Danny A. Grant , Kollin M. Tierling , Juan Manuel Cruz-Hernandez , Alex S. Goldenberg
IPC分类号： G09G5/08
CPC分类号： G08B6/00 , G06F3/016 , G06F2203/015 , H04M19/04
摘要： A haptic device having a plurality of operational modes, including a first operational mode and a second operational mode is provided. The first operational mode is associated with a frequency range. The second operational mode is associated with a frequency range that is different from the frequency range of the first operational mode. A controller is coupled to the haptic device, and is configured to send the haptic device a plurality of control schemes. Each control scheme is uniquely associated with an operational mode from the plurality of operational modes.
摘要翻译：提供具有多个操作模式的触觉装置，包括第一操作模式和第二操作模式。第一个操作模式与频率范围相关联。第二操作模式与不同于第一操作模式的频率范围的频率范围相关联。控制器耦合到触觉设备，并且被配置为向触觉设备发送多个控制方案。每个控制方案与来自多个操作模式的操作模式唯一地相关联。

7. 发明授权

US06903721B2 Method and apparatus for compensating for position slip in interface devices 有权
公开(公告)号：US06903721B2
公开(公告)日：2005-06-07
申请号：US09570157
申请日：2000-05-11
申请人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
发明人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
IPC分类号： G06F3/00 , G06F3/01 , G09G5/08
CPC分类号： G06F3/016 , A63F2300/1018 , A63F2300/1037
摘要： Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.

8. 发明申请

US20080303789A1 Method and Apparatus for Compensating for Position Slip in Interface Devices 有权
标题翻译：用于补偿接口设备中位置滑移的方法和装置
公开(公告)号：US20080303789A1
公开(公告)日：2008-12-11
申请号：US12191983
申请日：2008-08-14
申请人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
发明人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
IPC分类号： G06F3/00
CPC分类号： G06F3/016 , A63F2300/1018 , A63F2300/1037
摘要： Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.
摘要翻译：用于补偿由于机械传动而可能发生在装置的操纵和传感器之间的界面装置中的位置滑移的方法和装置。从接口设备的操作的感测位置确定设备位置增量。通过由传感器和操纵之间的机械传动引起的接口装置的传感器没有感测到的操作位置的变化，确定是否发生位置滑移。如果发生位置滑移，则通过调整感测位置来考虑位置滑移来校正由位置滑移引起的感测位置的误差。调整后的位置增量被用作操纵的位置，相应地补偿由接口装置控制的物体的显示。

9. 发明授权

US07447604B2 Method and apparatus for compensating for position slip in interface devices 有权
标题翻译：用于补偿接口装置中位置滑移的方法和装置
公开(公告)号：US07447604B2
公开(公告)日：2008-11-04
申请号：US10995586
申请日：2004-11-23
申请人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
发明人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
IPC分类号： G06F19/00
CPC分类号： G06F3/016 , A63F2300/1018 , A63F2300/1037
摘要： Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.
摘要翻译：用于补偿由于机械传动而可能发生在装置的操纵和传感器之间的界面装置中的位置滑移的方法和装置。从接口设备的操作的感测位置确定设备位置增量。通过由传感器和操纵之间的机械传动引起的接口装置的传感器没有感测到的操作位置的变化，确定是否发生位置滑移。如果发生位置滑移，则通过调整感测位置来考虑位置滑移来校正由位置滑移引起的感测位置的误差。调整后的位置增量被用作操纵的位置，相应地补偿由接口装置控制的物体的显示。

10. 发明授权

US06762745B1 Actuator control providing linear and continuous force output 有权
标题翻译：执行器控制提供线性和连续的力输出
公开(公告)号：US06762745B1
公开(公告)日：2004-07-13
申请号：US09565788
申请日：2000-05-05
申请人： Adam C. Braun , Kollin M. Tierling , Bruce M. Schena
发明人： Adam C. Braun , Kollin M. Tierling , Bruce M. Schena
IPC分类号： G09G500
CPC分类号： G06F3/016 , G06F3/038 , G06F3/0383
摘要： Methods and apparatus for controlling an actuator to provide linear and continuous force output to a user of a force feedback device. To provide continuous and smooth force output in a zero crossover region of operation, two drive signals are used, each causing current to flow in a different direction in the actuator. When a desired output force is in the crossover region, the two drive signals are alternated to cause the output force to quickly switch directions. When the desired force is outside the crossover region, only one drive signal is used to cause output force in one direction. To compensate for a nonlinear output of the actuator, a desired command current is correlated with an approximated point of a characterization curve of the actuator, where the curve includes points determined in a previously performed actuator characterization. The approximated point is determined between two successive points using a linear approximation, and a drive signal duty cycle is determined from the approximated point. Other features can be implemented to compensate for power supply voltage variation, back EMF effect, and temperature.
摘要翻译：用于控制致动器以向力反馈装置的使用者提供线性和连续的力输出的方法和装置。为了在零交叉操作区域中提供连续且平稳的力输出，使用两个驱动信号，每个驱动信号使得电流在致动器中以不同的方向流动。当期望的输出力在交叉区域中时，两个驱动信号交替以使输出力快速切换方向。当所需的力在交叉区域之外时，仅使用一个驱动信号来在一个方向上产生输出力。为了补偿致动器的非线性输出，期望的指令电流与致动器的表征曲线的近似点相关，其中曲线包括在先前执行的致动器特性中确定的点。使用线性近似在两个连续点之间确定近似点，并且从近似点确定驱动信号占空比。可以实现其他功能来补偿电源电压变化，反电动势效应和温度。

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