CN101095095A - 具有触觉反馈的操纵杆 - Google Patents

具有触觉反馈的操纵杆 Download PDF

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CN101095095A
CN101095095A CNA200580045870XA CN200580045870A CN101095095A CN 101095095 A CN101095095 A CN 101095095A CN A200580045870X A CNA200580045870X A CN A200580045870XA CN 200580045870 A CN200580045870 A CN 200580045870A CN 101095095 A CN101095095 A CN 101095095A
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plunger
electronic installation
power
impedance layer
tactile
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特奥多雷·R·阿内松
罗赫尔·W·阿迪
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Motorola Solutions Inc
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04796—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements for rectilinear control along the axis of the controlling member
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
    • G05G2009/04729—Mounting of controlling member elastic, e.g. flexible shaft melastomeric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04762—Force transducer, e.g. strain gauge
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04777—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional push or pull action on the handle
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H25/00—Switches with compound movement of handle or other operating part
    • H01H25/04—Operating part movable angularly in more than one plane, e.g. joystick
    • H01H2025/048—Operating part movable angularly in more than one plane, e.g. joystick having a separate central push, slide or tumbler button which is not integral with the operating part that surrounds it
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2201/00—Contacts
    • H01H2201/022—Material
    • H01H2201/032—Conductive polymer; Rubber
    • H01H2201/036—Variable resistance
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H2221/00—Actuators
    • H01H2221/008—Actuators other then push button
    • H01H2221/012—Joy stick type

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  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Automation & Control Theory (AREA)
  • Position Input By Displaying (AREA)
  • Switches With Compound Operations (AREA)
  • Mechanical Control Devices (AREA)

Abstract

本发明公开了一种具有触觉操作杆的电子装置，该触觉操作杆具有：在XY平面中的力传感阻抗层(120)围绕至少一部分力传感阻抗层(120)的柔性模(115)；连接到柔性模(115)的柱塞(190)，垂直于XY平面安装；和布置得邻近于柱塞(190)的顶表面(135)和底表面(133)之一的触觉圆顶(110)。此外，本发明公开了一种使用触觉装置实现功能的方法，包括：通过施加力致动触觉圆顶(605)；确定在力传感阻抗层中的多个部分中力的分布(610)；以及实现功能(630，635)。

Description

具有触觉反馈的操纵杆
技术领域
本发明涉及一种具有用于导航和选择功能的操纵杆的电子装置。
背景技术
随着技术的发展，电子装置变得日益先进并且能执行多种任务。电子装置的用户期望在电子装置中提供附加的和更复杂的功能性的同时保持装置紧凑。随着电子装置中可用功能性的增加，导航并且访问可用于用户的多种选项和功能的能力变得更加重要。操纵杆是一种使用户能够通过例如电视游戏控制台或者移动电话的电子装置容易地导航并且访问不同可用功能的解决方案。
现今的操纵杆经常使用独立的按钮来实现“选择”功能并且用以控制屏幕上光标的移动。在游戏操纵杆的情况下，使用手柄来完成在屏幕上的导航，并且经常单独的按钮用来“选择”。单独按钮的使用对用户来说极端不便。通常，例如移动电话的电子装置的键盘，在键盘上的键被按下从而确认选择时，为用户提供触觉反馈。但是操纵杆经常缺少这种“硬”(crisp)触觉反馈。
这样，存在对通过在XY平面360度移动而有助于屏幕上光标导航的具有触觉反馈的操纵杆的需求。用户执行的操纵杆移动应该被屏幕上的指针精确地复制，并且当用户执行选择时也能为用户提供硬触觉反馈。
附图说明
附图和下面的详细说明一起合并在说明书中，并形成说明书的一部分，用来说明多种实施例并且解释根据本发明的各种原理和优点。
图1示出了根据本发明实施例的操纵杆。
图2示出了根据本发明实施例的在刚性定位器上具有弹簧锁的操纵杆。
图3示出了根据本发明实施例的操纵杆的透视图。
图4示出了根据本发明另一个实施例的操纵杆。
图5示出了描述力传感阻抗层的实施例。
图6是描述由根据本发明实施例的操纵杆实现的功能的流程图。
图7是由描述根据本发明实施例的操纵杆实现的“选择”功能的实现过程流程图。
图8示出了用在本发明实施例中的力对阻抗的图。
图9示出了用在本发明实施例中的力对电压的图。
具体实施方式
本发明可以以几种形式和方式实现。下面提供的说明和附图示出了本发明的示例性实施例。本领域技术人员将意识到，本发明可以以下面没有示出的其它的形式和方式来实现。本发明应该具有权利要求的全部范围并且不受限于下面所示出的实施例。
电子装置具有提供屏幕上光标导航控制并且在执行“选择”功能时也提供触觉反馈的操纵杆。该电子装置可以实现为数种装置中的一种，例如移动电话装置、远程控制器、游戏控制器、个人数字助理(PDA)、便携式计算机和其它的电子装置。依赖于实现方案，操纵杆既能在XY平面的所有方向移动(水平移动)也能在Z方向移动(垂直移动)。
所述的操纵杆具有几个优点。一个优点是当操纵杆中的触觉圆顶被压时用户接收到触觉反馈。当用户使用操纵杆在电子装置上作出选择时，他感受到确认选择的触觉反馈。触觉圆顶，在被压得超过临界点时，产生负责为操纵杆的用户提供硬触觉反馈的“崩塌”(snap)。
操纵杆的设计使“选择”功能和导航功能一体化而不使用附加的按钮。当用户在Z方向对操纵杆施力时“选择”功能被激活，其执行屏幕上应用程序、屏幕上的超链接或者非屏幕功能例如电视游戏中的“开火”的选择。当用户在XY平面移动操纵杆时导航功能被激活，它在计算设备上移动屏幕上的光标到特定的位置，滚动显示等等。
在所示的实施例中，触觉反馈操纵杆具有配置来接收来自致动装置的外力的力传感阻抗层。力传感阻抗层具有多个接收外力的传感元件。当在力传感阻抗层的所有传感元件中力的分布大体上相等时，力传感阻抗层给处理器发送“选择”信号。替换地，触觉圆顶的“崩塌”产生阻抗和电压的改变，其也能被识别为“选择”功能。如果发生特定传感元件中力变大的情况(有或者没有圆顶的“崩塌”)，力传感阻抗层给处理器发送“方向”信号以使能够在由该特定传感元件传感经受的外力的方向移动。
图1示出了根据本发明实施例的操纵杆。在图1所示出的特定实施例中，操纵杆100是能用来移动屏幕上光标的导航装置。例如，在移动电话的情况下，用户能使用操纵杆选择屏幕上的图标或者滚动屏幕上可用的各种选项。典型地，用户可以向上、向下、向左或向右滚动，并然后作出他希望在移动电话上使用的软件应用程序的选择。在其它情况中，操纵杆能控制网页上的光标。
在一个实施例中，操纵杆100包括在XY平面的力传感阻抗层120，围绕至少一部分力传感阻抗层120的柔性模115，垂直于XY平面安装的柱塞190，连接到柱塞190和柔性模115的刚性定位器105，和布置在刚性定位器105与柱塞190的底表面133之间的触觉圆顶110。上面描述的整个设备安装在电子装置中的基底125上，例如印刷电路板(“PCB”)上。
柱塞190可以是一种具有顶表面135的手柄，顶表面135被设计用来容纳人的手指以施加外力。柱塞190被部分地装入在刚性定位器105中，并且与触觉圆顶110接触，以使触觉圆顶110在不存在施加在柱塞190上的外力时处于松弛状态。触觉圆顶110装在柱塞190的底表面133和刚性定位器105之间柱塞的底表面133具有突起130，以在柱塞190被以特定最小量的垂直力(Z方向)压下时，向触觉圆顶110的凸表面145提供力。
这种类型的触觉圆顶110为柱塞突起130提供目标区域(“甜区”)。“甜区”是当被致动时给用户提供最大触觉反馈的区域。当柱塞190接收外力时，触觉圆顶110能在垂直方向(例如在“甜区”)或者在力方向(例如，偏斜地)被按下。当它在”甜区”接收到预定量的力时触觉圆顶110塌陷，并且当力移走时回弹，这样给用户提供硬触觉反馈。
在另一个实施例中(未示出)，代替设置突起130，触觉圆顶110在触觉圆顶110的中心设置有凸起的凹座。具有凸起的凹座的触觉圆顶的优点是柱塞190不需要被精确地置于中心来使触觉圆顶110塌陷。这样，具有平坦底表面的柱塞能首先接触到凸起的凹座，并且借助凸起的凹座在中心推动触觉圆顶。
操纵杆使用户能导航电子装置的屏幕上的光标。这通过使用力传感阻抗层120来完成。根据实施例，刚性定位器105是这样的组件，当外力被柱塞190接收到时，其建立与力传感阻抗层120接触。刚性定位器105的凸起底表面150，在不存在外力时，保持稍微在力传感阻抗层120之上，以使当在柱塞190上接收到基本垂直的外力时，刚性定位器的底表面150恢复与力传感阻抗层接触。柱塞190接收到的力通过刚性定位器105递给力传感阻抗层120。柔性模115为刚性定位器105提供向上和向下的活动性，同时维持在力传感阻抗层120之上的刚性定位器105的相对的标定的XY位置。
图2示出了操纵杆200装配有位于刚性定位器205之上的卡锁(snap lock)298的实施例。卡锁298被提供来使柱塞290和刚性定位器205保持在一起。柱塞290具有顶表面235和底表面233。柱塞290的底表面233具有突起230，用于当柱塞290被以特定最小量的垂直力(Z方向)压下时向触觉圆顶210的凸表面245提供力。柱塞290的顶表面235被设计用来容纳人的手指以施加外力。
柱塞290垂直于XY平面安装并且连接到刚性定位器205。刚性定位器205保持柱塞290垂直于XY平面，并且其连接到柔性模215上。柔性模215安装在电子装置中的基底225例如PCB的上。在一个实施例中，刚性定位器205的凸底表面250与力传感阻抗层220接触，以传递通过柱塞290传递给具有突起230的底表面233的、在柱塞290的顶表面235上接收到的力。当足够的向下的力放在柱塞290上时，突起230按压位于刚性定位器205与柱塞290的底表面233之间的触觉圆顶210。当触觉圆顶210的“甜区”被致动时，它产生导致提供给用户的触觉反馈的“崩塌”。
虽然刚性定位器205和柱塞290实质上是刚性的，它们也被提供有足够的柔性，以允许卡在一起的类型(snap together type)的组件。柱塞290和刚性定位器205不必是由相同材料制成。它们中之一可以需要提供比较大的柔性以允许卡在一起的方法(snap together method)。此外，至于柱塞或者刚性定位器是否含有卡扣特征则不是关键的。本领域技术人员应该意识到，还存在他方式来将柱塞和刚性定位器保持在一起，并且这些方式也在本发明的范围内。柱塞和刚性定位器能在Z方向相对彼此移动，使得通过在柱塞290底表面233上的突起230允许触觉圆顶210的压缩以及随后的“崩塌”。
在另一个实施例中，代替在柱塞290的底表面上的突起230，触觉圆顶210可以设置有在触觉圆顶210的中心的凸起的凹座。具有凸起的凹座的触觉圆顶的优点是柱塞290不需要精确地置于中心以使触觉圆顶210塌陷。具有平坦底表面的柱塞能首先接触到凸起的凹座，并且借助凸起的凹座在中心推动触觉圆顶。
图3示出了根据本发明实施例的操纵杆300的透视图。与其它实施例类似，该操纵杆能作为用于移动装置、PDA或者便携式计算机中屏幕上光标的导航装置使用。它也能作为电视游戏控制台中的游戏操纵杆使用。操纵杆300安装在建立XY平面并且装在电子装置中的基底325例如PCB上。柱塞390具有接触用户手指的顶表面335，和其上安装触觉圆顶310的底表面333。柱塞390允许用户沿着XY平面360度导航。用户能在XY平面中的任何方向或者为了激活“选择”功能沿着“Z”轴移动柱塞390。代替在XY平面中的360度移动，可以将操纵杆限制到很小的自由度，例如仅仅沿着XY平面中的一个轴，沿着XY平面中的两个轴等等。柱塞390能由任何刚性的改性塑料材料或者一种聚碳酸酯或者类似物制成。
柱塞390，在接收至少预定幅度的Z轴中的外力时，将触觉圆顶310的凸表面345压向力传感阻抗层320。如果外力足够大，触觉圆顶310塌陷，这给用户提供触觉反馈。当触觉圆顶310的“甜区”被压时获得最大反馈。触觉圆顶310的特性允许当沿着垂直的“Z”轴被压时为最大触觉反馈。轻微偏离垂直轴可能抑制或减小圆顶的触觉“崩塌”，并且允许使用力传感阻抗层320的导航功能，这些将在下面进一步说明。柱塞390在XY平面的移动原则上不应该使触觉圆顶310“崩塌”，因为施加的使之能在XY平面移动的外力将主要是不垂直的。因此，沿着垂直“Z”轴的力允许最大触觉反馈并且能用于“选择”功能。
柔性模315将柱塞390保持在力传感阻抗层320之上相对的标定的XY位置。对于所有实施例，柔性模315能由硅、合成橡胶或者其它合适的柔性材料制成。当施加外力时柔性模315允许柱塞390移动。虽然允许上述的移动，但是柔性模315仍然负责维持柱塞390的大致位置。
图4示出了操作杆400的另一个实施例。这个特定的实施例与图3所示的实施例相似。借助于能使触觉圆顶410稳固地粘在柱塞490上的粘合材料或者类似物质，触觉圆顶410直接固定在柱塞490的底表面433上。
当柱塞490由于施加在上表面435的外力被推动时，触觉圆顶410的凸表面445与在电子装置中的基底425例如PCB上的力传感阻抗层420相接触。力传感阻抗层420具有多个传感元件。触觉圆顶410把外力传递给力阻抗层420。传感元件感测力的方向和大小以决定屏幕上光标的方向、移动和/或速度，这将以后说明。
在由于Z方向外力的大小而使触觉圆顶410“崩塌”，并且在力传感阻抗层420测量的力在多个传感元件中都相等的情况下，力传感阻抗层420识别出“选择”功能，并且选择屏幕上光标位置所指示的项或者执行相当的功能，例如在电视游戏中的“开火”。
该操纵杆可以被实现来执行与用在例如导航网页中的鼠标一样的功能。操纵杆能被用来导航屏幕上的光标以突出显示超链接。然后操纵杆被按下以“选择”那个超链接，于是这带来另一个网页。本领域技术人员应该意识到，“选择”功能能用于其它目的，例如在游戏系统的情况下武器开火，并且这些实施例都在本发明的范围内。
回到图4，柔性模415为柱塞490提供所需的活动性以在向上或向下(也就是Z轴)方向移动，来建立与力传感阻抗层420的接触。虽然允许柱塞490移动，柔性模415也维持柱塞490的大概位置。
在另一个实施例中(没有画出)，触觉圆顶能放置在柱塞的顶表面上。在这种情况下，触觉圆顶应该被装入保护盖以使触觉圆顶间接暴露于湿气、来自操纵杆用户的油等等。当触觉圆顶以外力方式致动时，操纵杆的用户仍然能体验触觉反馈。在这种情况下，接触力传感阻抗层的柱塞(或者刚性定位器)的底表面将是凸的。这样，在触觉圆顶上接收到的力被传递到柱塞，又把力直接(与图3和图4中)或者非直接地(如图1和图2中)传递给力传感阻抗层。
图5提供了力传感阻抗组件500工作的详细说明。力传感阻抗组件500可以是上述的力传感阻抗层120、220、320、420中的任何一个。屏幕上光标的方向和功能由力传感阻抗组件500基于由力传感阻抗层510上的传感元件接收到外力的方向和大小来决定。力传感阻抗层510包括在力传感阻抗层510的多个部分522、524、526、528中的传感元件。在这个特定的实施例中，力传感阻抗层510被分成象限。引脚591、594、595和598引向公共迹线。引脚592、593、596和597引向信号线。测量每一象限522、524、526、528中从信号线到公共迹线的阻抗给出与施加到力传感阻抗层510的力成比例的阻抗。
根据实施例，当力施加到电子装置中的触觉操纵杆时，柱塞被致动并且柱塞的底表面直接或间接地与力传感阻抗层510接触。在一个实施例中，柱塞通过刚性定位器或者触觉圆顶间接与力传感阻抗层接触。在替换的实施例中，柱塞直接与力传感阻抗层接触。一旦与力传感阻抗层的接触建立了，则关于施加到柱塞的力的分布也就确定了。
在这个实施例中，如果触觉圆顶(例如触觉圆顶110、210、310、410)塌陷并且在力传感阻抗层的所有象限522、524、526、528中力的分布相对地相等，则选择信号被发送到处理器515，其连接到力传感阻抗层510。在接收到这样的选择信号时，处理器515执行选择功能。
如果施加的力在力传感阻抗层510的象限522、524、526、528中具有不相等的分布，则不管触觉圆顶是否塌陷，在力的方向上的方向信号被发送到处理器515，并且处理器515执行这个在力的方向上的信号。在这种情况下，至少一个传感元件体验到比其它传感元件实质上大的力，这样提供用户在该特定方向移动的意图的指示。在决定力的方向的时候，力传感阻抗层510把方向信号发送给处理器515以在该方向并且以力传感阻抗层510所指示的速度执行光标移动。
如果操纵杆设计为允许在XY平面360度导航(也允许通过在Z轴移动执行“选择”功能)，则将处理器515编程以允许这样的360度移动。如果操纵杆限制为仅在四个方向(例如上、下、左、右)和Z轴导航，那么处理器515将被编程以在这种限制下解释方向信号。类似地，如果操纵杆应当仅控制Y轴(上和下)和Z轴移动，那么处理器515仅允许光标沿着Y轴移动和触发选择功能。其它的导航选择也是可行的。注意，通过在软件程序的指导下改变处理器515的编程模式，可以在不同的时候对使用单一操纵杆的光标控制进行不同的限制。
一个实施例包括以图6中流程图600所示的通过操纵杆实现功能的方法。该方法以首先致动在例如移动电话、PDA、便携式电脑或者游戏控制器的电子装置的操纵杆中的触觉圆顶605开始。这里所说的操纵杆能是早先连同它们的相关触觉圆顶110、210、310、410一起描述的操纵杆之一。施加在Z方向的外力以致动触觉圆顶。在致动触觉圆顶之后，在610，在例如图5中所示的触觉装置的力传感阻抗组件内进行力的分布的测量。基于在力传感阻抗层中的多个传感元件中的力的分布，实现功能。
根据一个实施例，如果在620，力传感阻抗层中多个部分中的多个传感元件中力的分布相对相等，则在625，发送选择信号到连接到力传感阻抗层的处理器，并且在630，处理器执行该选择信号。
除了实现选择功能之外，另外的实施例使用电子装置中的触觉操纵杆在屏幕或显示器上导航光标。在有或没有触觉圆顶的“崩塌”的情况下，如果力传感阻抗层的象限接收到的力不相等，则在635，将导航信号发送到力传感阻抗层的处理器并且处理器执行该导航信号。导航信号可以包括在一维上导航光标例如向上和向下滚动，沿着两垂直轴导航光标例如上、下、左和右移动，XY平面中完全360度导航光标，以其它的变化。
另一个实施例包括用于使用电子装置中的操纵杆实现“选择”功能的流程图700。“选择”功能被用来在例如移动电话、PDA、便携式电脑或者游戏控制器的电子装置的屏幕上作出选择。当使用游戏控制器玩游戏时用户可能希望选择终端屏幕上的图标，或者可能希望在移动电话显示器中的可用菜单中选择特定项目。在选择特定图标或项目之前，用户通常在显示器的XY平面中上、下、左、右或其它方向滚动，直到光标来到他所选择的图标或项目。
根据图7中所示的实施例，该方法包括：在705，施加基本上垂直的力致动触觉圆顶，在710，决定圆顶的“崩塌”，以及然后，在715，实现选择功能。圆顶“崩塌”的发生是期望实现选择功能的关键事件，并且有几种能确定圆顶“崩塌”的情况。
根据一个实施例，如图8所示，圆顶的“崩塌”通过测量第一低阻抗点805，接着测量高阻抗点810，并且最后测量第二低阻抗点815来确定。如果发生圆顶的“崩塌”，存在与接收到的力有关的阻抗值改变的趋势。力的增加导致阻抗的降低，并且例如图5中所示的力传感阻抗组件能测量和识别这种趋势，并且从而实现“选择”功能。换句话说，当力增加时，阻抗降低到点805，接着触觉圆顶“崩塌”，这使得阻抗增加到点810，并且随后，随着塌陷的触觉圆顶，阻抗继续降低到点815。这种反跳趋势，从点805到点815，典型地持续30毫秒，并且很大程度依赖于触觉圆顶的制造和实现方案。
根据另一实施例，如图9所示，通过测量电压的改变能类似地确定圆顶的“崩塌”。这包括测量第一高电压点905，低电压点910，并且最后测量第二高电压点915。因为阻抗与电压成反比，当力增加时，电压增加到点905。接着触觉圆顶“崩塌”，这使得电压降低到点910，并且随后随着塌陷的触觉圆顶电压继续增加到点915。与阻抗的改变一样，存在相应的电压改变的趋势，并且力传感阻抗组件能测量和识别这种趋势。再一次地，反跳趋势，从点905到点915，典型地持续30毫秒，并且很大程度依赖于触觉圆顶的制造和实现方案。
本发明涉及一种具有给用户提供硬触觉反馈以及屏幕上光标移动的集成触觉操纵杆的电子装置。此外，本发明也涉及一种使用电子装置中的触觉操纵杆实现功能例如选择功能的方法。
 权利要求书（按照条约第19条的修改）
1.一种具有触觉操纵杆的电子装置，包括：
在XY平面中的力传感阻抗层；
围绕至少一部分力传感阻抗层的柔性模；
连接到柔性模的柱塞，其垂直于XY平面安装，具有设置在柱塞的顶表面和底表面之一上的触觉圆顶。
2.如权利要求1的电子装置，其中触觉圆顶能够接触力传感阻抗层以指示光标移动。
3.如权利要求1的电子装置，其中使柱塞的顶表面接收基本上垂直的力。
4.如权利要求1的电子装置，其中柱塞的底表面具有突起。
5.如权利要求1的电子装置，进一步包括：
连接到柔性模的刚性定位器，其垂直于XY平面安装，以使刚性定位器的内表面在柱塞底表面处邻接触觉圆顶的下表面。
6.如权利要求5的电子装置，其中刚性定位器能够接触力传感阻抗层以指示光标移动。
7.如权利要求6的电子装置，其中刚性定位器的底表面是凸的。
8.如权利要求1的电子装置，其中柱塞能够接触力传感阻抗层以指示光标移动。
9.如权利要求8的电子装置，其中柱塞的底表面是凸的。

Claims (9)

1.一种具有触觉操纵杆的电子装置，包括：
在XY平面中的力传感阻抗层；
围绕至少一部分力传感阻抗层的柔性模；
连接到柔性模的柱塞，其垂直于XY平面安装；和
设置得邻近于柱塞的顶表面和底表面之一的触觉圆顶。
2.如权利要求1的电子装置，其中触觉圆顶能够接触力传感阻抗层以指示光标移动。
3.如权利要求1的电子装置，其中使柱塞的顶表面接收基本上垂直的力。
4.如权利要求1的电子装置，其中柱塞的底表面具有突起。
5.如权利要求1的电子装置，进一步包括：
连接到柔性模的刚性定位器，其垂直于XY平面安装以使刚性定位器的内表面邻接柱塞底表面上的触觉圆顶的下表面。
6.如权利要求5的电子装置，其中刚性定位器能够接触力传感阻抗层以指示光标移动。
7.如权利要求6的电子装置，其中刚性定位器的底表面是凸的。
8.如权利要求1的电子装置，其中柱塞能够接触力传感阻抗层以指示光标移动。
9.如权利要求8的电子装置，其中柱塞的底表面是凸的。
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WO2006073964A2 (en) 2006-07-13
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WO2006073964B1 (en) 2007-03-15
US20060146018A1 (en) 2006-07-06

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