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1. 发明申请

WO2022162359A1 ULTRASOUND ACOUSTIC FIELD MANIPULATION TECHNIQUES 审中-公开
公开(公告)号：WO2022162359A1
公开(公告)日：2022-08-04
申请号：PCT/GB2022/050204
申请日：2022-01-26
申请人： ULTRALEAP LIMITED
发明人： CATSIS, Salvador , DZIEWIERZ, Jurek , LONG, Benjamin John Oliver , KAPPUS, Brian
IPC分类号： G06F3/01 , G10K11/34 , G10K15/02
摘要： Two methods for rendering haptic surfaces through spatial modulation of ultrasound are described: Singular Value Decomposition (SVD) with Tikhonov Regularization and Mini-Batch, Stochastic Gradient Descent with Momentum (MSGDM). Further, adjustment in the placement of transducers, arrays can be generated which allow for variable focus points using a limited set of driving signals. This is accomplished by generating a set of mutually- exclusive transducer placement layouts which when driven together produce a set of sufficiently orthogonal fields at various points of interest. Further, using basic transformations on sampling locations a field can be translated or rotated in 3 -dimensional space. This enables the creation of spatiotemporal modulated haptics with reduced computation. Further, mid-air haptics using ultrasound can be generated via amplitude modulation or via spatial modulation of control points defined at spatial locations in an acoustic field above a phased array device.

2. 发明申请

WO2021198648A1 ACCELERATED HARDWARE USING DUAL QUATERNIONS 审中-公开
公开(公告)号：WO2021198648A1
公开(公告)日：2021-10-07
申请号：PCT/GB2021/050740
申请日：2021-03-26
申请人： ULTRALEAP LIMITED
发明人： LONG, Benjamin John Oliver
IPC分类号： G06F17/16 , G06T13/40 , G06F30/20 , G06F9/30036 , G06F9/3869 , G06F9/3885
摘要： Techniques for concatenating, interpolating and upsampling pose transforms represented as dual quaternions are described, including: (1) derivation of a complex-valued matrix form of dual quaternions and dual quaternion operations; (2) derivation of a transformation operator on position vectors which obviates an explicit conversion to a classical 4×4 spatial transformation matrix and keeps results in complex-valued matrix space; (3) design for a generic lookup table system for functions to supply logarithm and exponentiations of the dual quaternion in its native format with trigonometry lookup tables to avoid precision issues when denominators tend to zero; and (4) a mechanism for wrapping the complex-exponentiation together with a simple complex arithmetic unit for computing dual quaternion macro-operations in both native dual quaternion space and through simplifications of the equivalent complex-valued matrix to compute dual quaternion operations such as inverses, multiplications, logarithms and exponentials in order to chain the pose transformations encoded within.

3. 发明申请

WO2021074602A1 HARDWARE ALGORITHM FOR COMPLEX-VALUED EXPONENTIATION AND LOGARITHM USING SIMPLIFIED SUB-STEPS 审中-公开
公开(公告)号：WO2021074602A1
公开(公告)日：2021-04-22
申请号：PCT/GB2020/052544
申请日：2020-10-13
申请人： ULTRALEAP LIMITED
发明人： LONG, Benjamin John Oliver
IPC分类号： G06F7/48 , G06F7/544
摘要： A method of generating complex exponentiation and logarithms in hardware is described that uses half the number of bits of lookup tables as the state-of-the-art. By splitting up each of the iterations into more simplified stages or using more iterations, the amount of precomputed information that must be held by the circuitry is reduced. This allows synthesis tools to take this more succinct logical description of the algorithm and make it into efficient gate level logic for fabrication into more compact integrated circuitry.

4. 发明申请

WO2021130505A8 ACOUSTIC TRANSDUCER STRUCTURES 审中-公开
公开(公告)号：WO2021130505A8
公开(公告)日：2021-07-01
申请号：PCT/GB2020/053373
申请日：2020-12-29
申请人： ULTRALEAP LIMITED
发明人： LONG, Benjamin John Oliver , KAPPUS, Brian , PRICE, Adam
IPC分类号： B06B1/06 , G10K11/34 , G10K11/04 , G10K11/02 , G10K11/22 , G10K11/025 , G10K11/346 , G10K15/02 , G10K15/04 , H04R2217/03
摘要： Defining critical spacing is necessary for steering of parametric audio. Comparing steering measurements both with and without a waveguide leads to a conclusion that the diffuse phyllotactic grating lobe contributes audio and is to blame for poor steering. In addition, the waveguide needs to function with correct phase offsets to achieve the steering required for performance. Arranging tubes so that the array configuration changes from rectilinear to another distribution is useful when the waveguide is short of critical spacing or constrained for space. Array designs may also capitalize on rectilinear transducer design while having the benefits of a transducer tiling that has irrational spacing to promote the spread of grating lobe energy.

5. 发明申请

WO2021074603A1 REDUCING HARMONIC DISTORTION BY DITHERING 审中-公开
公开(公告)号：WO2021074603A1
公开(公告)日：2021-04-22
申请号：PCT/GB2020/052545
申请日：2020-10-13
申请人： ULTRALEAP LIMITED
发明人： LONG, Benjamin John Oliver , KAPPUS, Brian
IPC分类号： G10K11/34 , H03K5/00 , G06F17/17
摘要： A digital signal generation assumes that a base frequency (the frequency with which the primitive phase angles are specified relative to) is equal to the carrier frequency for all relevant times. But this causes errors in the digital signals output to each array element transducer. Thus, it is necessary for the development of a signal generation system that is capable of producing a digital signal using the free selection of amplitude and phase. This is used to produce a substantially error-free signal that preserves the amplitude and phase relative to a constant base frequency while allowing the carrier frequency to vary.

6. 发明申请

WO2023031585A1 STIMULATING THE HAIRY SKIN THROUGH ULTRASONIC MID-AIR HAPTIC STIMULATION 审中-公开
公开(公告)号：WO2023031585A1
公开(公告)日：2023-03-09
申请号：PCT/GB2022/052193
申请日：2022-08-26
申请人： ULTRALEAP LIMITED
发明人： PITTERA, Dario , FRIER, William , GEORGIOU, Orestis , SEAH, Sue Ann , LONG, Benjamin John Oliver
IPC分类号： G06F3/01 , B06B1/06 , G10K11/34 , B60W50/16
摘要： Use of ultrasound beams to unlock the perception of mid-air tactile stimuli on hairy skin by using acoustic streaming is described. Such acoustic streaming is directional, more focused than fan and air-puff devices, doesn't require the use of cumbersome attachments, fast since it can be generated at a distance with the speed of sound, and can be used in a complementary fashion with vibrotactile mid-air stimulation deriving from the same hardware. Further proposed is a way to modulate the thermal perception of the mid-air tactile stimuli without the need for a thermal source or wearables. The effect of acoustic streaming and its thermal modulation may be combined for the accurate elicitation of affective touch sensations.

7. 发明申请

WO2021260373A1 FEATURES OF AIRBORNE ULTRASONIC FIELDS 审中-公开
公开(公告)号：WO2021260373A1
公开(公告)日：2021-12-30
申请号：PCT/GB2021/051590
申请日：2021-06-23
申请人： ULTRALEAP LIMITED
发明人： KAPPUS, Brian , MALKIN, Rob , CATSIS, Salvador , LONG, Benjamin John Oliver
IPC分类号： G10K11/34 , G10K15/02 , G06F3/016 , G10K11/346 , G10K11/348
摘要： A method for specifying desired quantities of the energy flux of the combined waves of acoustic radiation pressure to apply producing a mid-air haptic pushing force, which has the effect of simultaneously reducing the harmonic distortion present is described. Further, a method for communicating only the summaries of acoustic field contributions at the required locations in the form of summed portions of the relatively small matrix whose row and column count depend only on the control point count is described. Further, phased arrays of ultrasonic speakers can produce a relatively large amount of acoustic energy which is usually directed in a specific direction or focused to a particular point depending on the application of the array. Further, to allow the system to be driven more strongly than usual, the complex- valued linear system that governs the drive signal to each control point is solved twice. Further, to achieve mid-air haptics with high precision the radiation pressure generated must be modelled accurately.

8. 发明申请

WO2023285822A1 CONTROL POINT MANIPULATION TECHNIQUES IN HAPTIC SYSTEMS 审中-公开
公开(公告)号：WO2023285822A1
公开(公告)日：2023-01-19
申请号：PCT/GB2022/051821
申请日：2022-07-14
申请人： ULTRALEAP LIMITED
发明人： LONG, Benjamin John Oliver , KAPPUS, Brian , CLARK, Rory
IPC分类号： H04S7/00 , G06F3/01
摘要： A method for blending new control points into the field is described. A more costly but conceptually simpler method, measuring the extant field and recreating a copy of that field interpolated with the actually desired value at a new control point is first described. Further, traditionally predicting the output of phased array systems involves taking each element and evaluating its contribution to the field. When focusing phased arrays, predicting the output and the fringing field is necessary for multipoint focusing and acoustic cloaking applications. In the limit of a large enough number of discrete transducer elements, the evaluation of a single approximation will inevitably outperform even a linear summation over the linear acoustic properties of the elements. Further, to resolve the misalignment of expected and realized output of the mid-air haptic array, interactable objects are subdivided into customizable, uniform, intersection "regions" that are then used to compute a volume of 3D positions in which the haptic focal point is then moved between. Positions can be produced and assigned in different ways, and volumes can be produced from any object as long as they have their regions pre-computed. Rather than directly targeting the hand of the user, the virtual intersection of the hand are used and these regions create a generally larger volume in which mid-air haptics can be produced.

9. 发明申请

WO2021130505A1 ACOUSTIC TRANSDUCER STRUCTURES 审中-公开
公开(公告)号：WO2021130505A1
公开(公告)日：2021-07-01
申请号：PCT/GB2020/053373
申请日：2020-12-29
申请人： ULTRALEAP LIMITED
发明人： LONG, Benjamin John Oliver , KAPPUS, Brian , PRICE, Adam
IPC分类号： B06B1/06 , G10K11/34 , G10K11/04 , G10K11/02 , G10K11/22 , G10K11/025 , G10K11/346 , G10K15/02 , G10K15/04 , H04R2217/03
摘要： Defining critical spacing is necessary for steering of parametric audio. Comparing steering measurements both with and without a waveguide leads to a conclusion that the diffuse phyllotactic grating lobe contributes audio and is to blame for poor steering. In addition, the waveguide needs to function with correct phase offsets to achieve the steering required for performance. Arranging tubes so that the array configuration changes from rectilinear to another distribution is useful when the waveguide is short of critical spacing or constrained for space. Array designs may also capitalize on rectilinear transducer design while having the benefits of a transducer tiling that has irrational spacing to promote the spread of grating lobe energy.

10. 发明申请

WO2021074604A1 DYNAMIC CAPPING WITH VIRTUAL MICROPHONES 审中-公开
公开(公告)号：WO2021074604A1
公开(公告)日：2021-04-22
申请号：PCT/GB2020/052546
申请日：2020-10-13
申请人： ULTRALEAP LIMITED
发明人： LONG, Benjamin John Oliver
IPC分类号： G10K11/34
摘要： Estimating the field strength from an ultrasonic phased array can be done by summing the contribution of each transducer to the point of interest. Since this contribution is already calculated when creating a converging spherical wave, it can be reused to add a virtual microphone to the system. By monitoring this microphone and moving it along with new focus points, a robust system of field estimates and regulation may be established.

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