CN1264136C - 用于笔记本电脑和其它便携设备的触觉接口 - Google Patents
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- G06F1/1616—Constructional details or arrangements for portable computers with several enclosures having relative motions, each enclosure supporting at least one I/O or computing function with folding flat displays, e.g. laptop computers or notebooks having a clamshell configuration, with body parts pivoting to an open position around an axis parallel to the plane they define in closed position
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Abstract
一种向计算机提供输入的触觉反馈的触摸控制件。一种触摸输入设备,包括一个平面的触摸表面,该表面根据用户接触的部位向计算机提供位置信息。所述计算机能够至少部分地根据所述位置信息在显示的图形环境中对光标定位,或者执行一种不同的功能。至少一个致动器(336)也联接到所述触摸输入设备,并输出一个力,以向用户提供触觉感知。致动器(336)能够横向移动触摸板(332),或者促动一个单独的表面部件。可以用E芯(E-core)致动器、压电致动器或者其它类型的致动器来提供力。所述触摸输入设备能够包括多个不同区域以控制不同计算机功能。
Description
技术领域
本发明总体上涉及用户与计算机和机械设备的接口,更具体地说涉及一种用于与计算机系统和电子设备的接口并向用户提供触觉反馈的设备。
发明背景
人在各种应用中与电子和机械设备进行接口交互,并且对更加自然、易用和富函信息的接口的需求,总是备受关注。在本发明中,人为各种应用程序与计算机设备进行接口交互。这种应用程序之一是与诸如游戏、仿真程序和应用程序的计算机生成环境交互。诸如鼠标和轨迹球的计算机输入设备常用于在图形环境中控制光标并在这些应用程序中提供输入。
在一些接口设备中,力反馈或者触觉反馈,这里统一称为“触觉反馈”,被提供给用户。例如,触觉型的游戏杆、鼠标、游戏板、方向盘或者其它能根据事件或诸如游戏和应用程序的图形环境中发生的交互向用户输出力的设备。
在诸如笔记本电脑的便携计算机或电子设备中,鼠标的工作空间通常太大而不实用。结果,更多地使用诸如轨迹球的紧凑设备。目前,便携计算机中更常见的设备是“触摸板”,即设在计算机键盘附近的小矩形的平板。触摸板利用诸如电容传感或压力传感的各种传感技术检测施加到触摸板上的压力,从而感知指向物的位置。用户通常用指尖接触触摸板并在其上移动手指,从而移动显示在图形环境中的光标。在其它实施例中,用户在触摸板上使用指示笔,将笔尖压在触摸板上并移动。触摸屏是类似的设备,用于在铺在显示屏上的传感板上输入信息,用在诸如个人数字助理(PDA)和其它便携电子设备的设备中。
现有触摸板和屏的一个问题是没有触觉反馈提供给用户。触摸板的用户不能体验到触觉感知,而触觉感知能帮助和告知用户在图形环境中的目标寻找和其它控制任务。
发明内容
本发明针对用于向计算机系统提供触觉反馈的平面触摸控制件。该控制件可以是设在便携计算机上的触摸板,或者是各种设备上的触摸屏。触摸控制件上的触觉感知输出在显示的图形环境中或在控制电子设备的时候提高交互性和操控性。
更具体地,本发明涉及一种触觉反馈的触摸控制件,用于向计算机输入信号以及向该触摸控制件的用户输出力。所述控制件包括一个触摸输入设备,其包含一个平面或者几乎平面的触摸表面,用于根据用户在触摸表面上的接触部位向所述计算机的处理器输入位置信号。一个或多个致动器联接到所述触摸输入设备,能输出力以使触摸输入设备平行或者几乎平行于其表面地横向移动,从而向接触它的用户提供触觉感知。计算机能根据所述位置信号在显示于显示设备上的图形环境中定位光标。该触摸输入设备可以是单独的触摸板或是被包含的触摸屏。
在另一实施例中,触觉反馈的触摸控制件包括一个触摸输入设备,其包含一个平面或者几乎平面的触摸表面,其向计算机处理器输入位置信号;一个表面部件,位于触摸输入设备附近,其中用户在按压触摸输入设备的时候能够接触该表面;以及一个致动器,联接到所述表面部件。该致动器在所述表面部件上输出一个力以向用户提供触觉感知。该表面部件可以平行或者几乎平行于所述触摸输入设备的表面地横向平移;例如,表面部件可以位于触摸输入设备之上并与该设备的表面一同伸展,或者该表面部件可以位于触摸输入设备一侧,使得用户一个手指触摸所述触摸输入设备而另一手指或手掌触摸所述表面部件。例如,表面部件可以位于邻近所述触摸输入设备的一个物理按钮之上。接触和惯性力可以输入在所述表面部件上。
在本发明的另一方面,一种致动器提供一个直线力输出,其包括一个铁磁件,该铁磁件在两个侧磁极之间包括一个中心磁极;一个线圈,绕在所述中心磁极上;一个磁体,靠近所述中心磁极和侧磁极;以及一个联接到所述磁体的衬背板,其中衬背板和磁体在电流流过线圈的时候相对于铁磁件移动。铁磁件和衬背板之间可以放置辊子使得可以运动。一个挠曲件(flexure)可以减少衬背板和铁磁件之间沿不良方向的运动并提供弹性对中力。
在另一方面,触觉触摸设备包括一个压电传感器,该传感器落地并包括一个金属隔膜,金属隔膜联接到一个陶瓷元件,以及一个平面传感元件,诸如触摸板。压电传感器和平面传感元件之间设有一个衬垫。一个弹性元件向所述平面传感元件提供弹性恢复力。
在本发明的另一方面,一种用于向触摸输入设备提供触觉反馈的方法,包括从所述触摸输入设备接收一个指示所述用户在一个表面上的所按压的接触部位的位置信号,以及确定所述接触部位位于所述表面上的多个区域中的哪一个之中。一个输出力与在所述触摸输入设备的表面移动物体的用户相关联。接触部位所在区域可以关联一个功能,诸如值的速率控制或移动一个显示的光标。该力可以在用户从触摸输入设备的一个不同区域移动物体跨过所接触区域的边界时输出。
本发明有利地向计算机的平面触摸控制件设备,诸如触摸板或触摸屏,提供了触觉反馈。触觉反馈能帮助和告知用户在图形用户界面或其它环境中的交互和事件,并使光标目标寻找更轻松。而且,本发明使得便携计算机设备具有这种触摸控制件以利用现有具备触觉反馈能力的软件。在此披露的触觉触摸设备便宜、紧凑和耗电少,能够容易地结合到各种便携的、桌面的计算机和电子设备中。
通过阅读下面的说明及附图,本发明的这些及其它优点将对本领域技术人员更为明显。
附图简述
图1是包括本发明的触觉触摸板的笔记本电脑设备的透视图;
图2是包括本发明的触摸板的远程控制设备的透视图;
图3是本发明实施例的触觉触摸屏的俯视平面图;
图4是适用于本发明中的触觉系统的框图;
图5是适用于本发明的惯性实施例中的致动器组件的一个实施例的透视图;
图6是联接到一个触摸板的图5中的致动器组件的透视图;
图7是靠近触摸板的提供惯性触觉感知的单独手掌表面透视图;
图8a是适用于在本发明中提供惯性感知的压电传感器的透视图;
图8b是适用于用触摸设备提供触觉感知的压电传感器和本发明的结构的侧立面图;
图9是旋转致动器驱动的平移表面部件的一个实施例的透视图;
图10是旋转致动器驱动的平移表面部件的另一个实施例的俯视平面图;
图11是音圈致动器驱动的平移表面部件的另一个实施例的透视图;
图12是靠近触摸板的平移表面的实施例的透视图;
图13是被旋转致动器驱动在一个方向上平移的触摸板的实施例的透视图;
图14是被旋转致动器驱动在两个方向上平移的触摸板的实施例的透视图;
图15a和15b是适用于平移触摸板或单独表面的本发明的扁平E芯(E-core)致动器第一实施例的透视图;
图15c是图15a-15b的致动器的侧视图;
图15d是联接到触摸板的图15a-15b的致动器的透视图;
图16a和16b是本发明的扁平E芯致动器的另一实施例的俯视和仰视透视图;
图17a-17b是表面安装的本发明的E芯致动器的透视和俯视图;
图17c-17g是图17a-17b中的E芯致动器的透视和侧视图;以及
图18是具有不同控制区域的本发明的触觉触摸板的一个例子的俯视平面图。
优选实施例
图1是包括本发明的触觉触摸板的便携计算机10的透视图。计算机10可以是便携式或者“膝上”计算机,能够由用户携带,除固定的电源外由电池或其它电源供电。计算机10优选地运行一个或多个用户要经外设进行交互的主机应用程序。
计算机10可以包括如图所示的各种输入输出设备,包括显示设备12,用于向用户输出图形图象;键盘14,用于用户向计算机提供字符或开关输入;以及本发明的触摸板16。显示设备12可以是各种类型的显示设备之一;便携计算机中最常见的是平板显示器。显示设备12能根据运行于计算机10的CPU上的应用程序和/或操作系统显示图形环境18,诸如图形用户界面(GUI),其包括能由用户输入移动的光标,以及窗口22、图标24和其它GUI环境中公知的图形对象。还可以显示其它图形环境或图象,例如游戏、电影或其它演示、电子表格或其它应用程序等。
还可以结合或联接其它设备到计算机10,诸如存储设备(硬盘驱动器,DVD-ROM驱动器等)、网络服务器或客户、游戏控制器等。在可选实施例中,计算机10可以采取多种形式,包括置于桌面或其它表面的计算设备,立式拱形游戏机、其它便携设备或人穿戴的、手持的、单手使用的设备。例如,主计算机10可以是视频游戏控制台、个人电脑、工作站、电视机“机顶盒”,或其它计算或电子设备。
本发明的触摸板设备16优选地外观近似现有技术的触摸板。在本文披露的多个实施例中,这种板16包括一个平面的、矩形的(或其它形状)光滑表面,可以置于计算机10的外壳上键盘14之下,如图所示,或者可以置于外壳的其它区域。当用户操作计算机10时,用户可以方便地将指尖或其它物体放在触摸板16上并移动以相应地在图形环境18移动光标20。
在操作中,触摸板16根据感测到的物体在触摸板上(或附近)的位置来输入坐标数据到计算机10的微处理器中。如同现有技术中的多种触摸板,触摸板16能使用电容式、电阻式或不同类型的传感技术。电容式触摸板通常根据触摸板和所述物体中的电容器之间的电容来感测物体在触摸板的表面上或附近的位置。电阻式触摸板通常式压力传感的,其中手指、指示笔或其它物体对板的压力引起板上的导电层、迹线、开关等导电连接。某些电阻式或其它类型的触摸板能检测用户施加的压力值,并且能用压力的程度百分比或变量输入到计算机10中。电阻式触摸板通常是至少部分可变形的,使得当压力施加到特定位置时,该位置的传感器产生导电接触。这种变形能力在本发明中很有用,因为用于本发明时,这能潜在地放大诸如触摸板上的脉冲或振动的输出力的大小。如果致动器和移动的物体之间设有调整的柔顺悬架(tunedcompliant suspension),力能被放大。电容式触摸板和其它类型的不需显著接触压力的触摸板更适于本发明的某些实施例,因为触摸板上压力过大会在某些情况下干扰触觉反馈的触摸板的移动。其它类型传感技术也可以用于所述触摸板。本文中,术语“触摸板”优选地包括触摸板16的表面以及任何包括在触摸板单元中的传感装置。
触摸板16的操作与现有触摸板类似,其中指尖在触摸板上的速度与光标在图形环境中的移动距离相关联。例如,如果用户将其手指在板上快速移动,则光标将比用户慢速移动手指的情况移动更大距离。如果用户的手指在光标达到所需目标位置之前达到触摸板的边缘,则用户可以简单地将手指离开触摸板,重新放到离开边界的地方,继续移动光标。这是类似于使鼠标离开所在表面以改变鼠标位置和光标之间偏移的“调位(indexing)”功能。而且,很多触摸板可以提供各自分配特定功能的特定区域,这些功能可以与光标位置无关。下文将参照图18详细说明这种实施例。在某些实施例中,触摸板16还可以允许用户在特定位置“轻敲”(快速接触并移开)触摸板以提供命令。例如,用户可以在光标在一个图标之上时用手指轻敲或“双敲”触摸板以选择该图标。
在本发明中,触摸板16具有输出触觉反馈的能力,诸如向物理接触触摸板16的用户输出触觉感知。下面详细说明触觉反馈触摸板的结构的各种实施例。某些实施例可能移动设备外壳或单独的移动表面,而不是触摸板本身。
利用一个或多个联接到触摸板16或相关表面的致动器,可以输出多种触觉感知给接触触摸板(或外壳或单独的表面)的用户。例如,可以输出摇晃、振动(变化或恒定振幅)以及纹理感。输出给用户的力可以至少部分基于手指在板上的位置或者主计算机10中图形环境中受控对象的状态,并且/或者独立于手指位置或对象状态。这种输出给用户的力被作为“计算机控制的”,因为微处理器或其它电子控制器利用电子信号控制致动器的输出力的大小。
在其它实施例中,触摸板16可以设在一个经电缆或无线传输连接到计算机10的端口的单独外壳中,外壳从计算机10接收力信息并向其发送位置信息。例如,通用串行总线(USB)、Firewire或标准串行总线可以将这种触摸板连接到计算机10。
计算机10的外壳上还可以设置一个或多个按钮26与触摸板16一起使用。用户的手能够容易地触到这些按钮,可以按每个按钮以向主计算机10提供独特的输入信号。通常,每个按钮26对应一个鼠标输入设备上的类似按钮,使得左按钮能用于选择图形对象(单击或双击),右按钮能带出上下文菜单之类的。在某些实施例中,一个或多个按钮26可以提供触觉反馈。
而且,在某些实施例中,可以包括计算机设备10的外壳的一个或多个可移动部分28,在用户操作触摸板16的时候接触它,并且它能提供触觉反馈。美国专利6,184,868和6,088,019说明了用于触觉反馈的外壳的可移动部分。在某些实施例中,外壳能提供触觉反馈(例如通过联接到外壳的马达上的偏心旋转物)并且触摸板16可以提供单独的触觉反馈。这使主机能够同时控制给用户的两个不同的触觉感知;例如,可以通过外壳传递低频的振动给用户而通过触摸板16传递高频振动给用户。每个提供触觉反馈的按钮或其它控制件也能独立于其它控制件提供触觉反馈。
主机应用程序和/或操作系统优选地显示显示设备12上的环境的图形图象。运行于主计算机10上的软件和环境可以多种多样。例如,主机应用程序可以是字处理器、电子表格、电影、视频或计算机游戏,作图程序、操作系统、图形用户界面、仿真程序、网页或实现HTML或VRML指令的浏览器、科学分析程序、虚拟现实训练程序,或其它利用来自触摸板16的输入和向触摸板16输出力反馈命令的其它应用程序。例如,很多游戏和其它应用程序包括力反馈功能,并可以利用诸如加利福尼亚州圣荷塞的Immersion公司的I-Force、FEELit和Touchsense的标准协议/驱动器与触摸板16通讯。
触摸板16可以包括向主计算机10的微处理器报告控制信号以及处理来自主机微处理器的命令信号的必要电路。例如,适当的传感器(以及相关电路)被用于报告用户手指在触摸板16上的位置。触摸板设备还包括从主机接收信号以及根据主机信号利用一个或多个致动器输出触觉感知的电路。有些触摸板可能与包含这些元件和电路的印刷电路板(PCB)集成。在有些实施例中,可以向触摸板16提供单独的本地微处理器,以向主机报告触摸板传感器数据并/或运行来自主机的力命令,这些命令包括例如触觉感知的类型以及说明所命令的触觉感知的参数。或者,触摸板微处理器可以简单地将数据流从主处理器传递到致动器。术语“力信息”可以包括命令/参数和/或数据流二者。触摸板微处理器可以通过控制触摸板致动器在接收到主机命令之后独立地实现触觉感知;或者,主机处理器可以通过更直接地控制致动器来维持对触觉感知的更大程度上的控制。在其它实施例中,提供给触摸板16的诸如状态机的逻辑电路可以在主机主处理器指挥下处理触觉感知。美国专利5,734,373详细说明了能用于读取传感器信号和提供设备触觉反馈的体系结构和控制方法。
在现有的触摸板实施例中,诸如Synaptics公司制造的触摸板,提供了特别的特性和功能。触摸板的标准表面材料是有纹理的迈拉(Mylar),并且通常任何不导电物体都可以在该触摸板的表面上使用而且能被检测到,尽管当用户用手指时纹理表面更好。该触摸板还可以通过薄覆盖层来感测。通常有空间用于附加触觉反馈元件;例如,在40×60的触摸板上,超过一半的板子可用于触觉电路。
很多触摸板包括一个“手掌检测”功能,其使得笔记本电脑能感测用户是否用手指或手掌或手的其它部分接触触摸板。因为用户可能只是把手掌搁在其上而不是要提供输入,手掌检测功能将忽略被确定为用户的手掌提供的输入。基本上,手掌检测功能是计算导电物体(手指、手掌、手臂等)的接触面积。如果接触面积超过一定阈值,就拒绝这次接触。在很多实施例中可以关闭该功能。
图2可以包括本发明的活动触摸板16的设备30的另一实施例的透视图。该设备可以是手持的远程控制设备30,用户一只手握住并操纵它以使用远离用户的电子设备或电器(这种电视、卡带录像机或DVD播放器、音频/视频接收器、互联网或连接到电视的网络计算机等)的功能。例如,远程控制设备30上可以包括几个按钮32以操纵所控制的装置的功能。还可以提供一个触摸板16使得用户能够提供更多复杂的指向输入。例如,所控制的装置可以具有一个选择屏幕,光标可以在其上移动,并且可以操纵触摸板16以在两个维度上控制光标。根据控制的值或事件,该触摸板16包括本文所述的向用户输出触觉感知的能力。例如,音量水平超过中点或达到最大水平会引起一个脉冲输出到触摸板并输出到用户。
在一个应用中,受控的装置可以是诸如微软公司的WebTV计算机系统或者其它显示图形用户界面和/或通过诸如互联网的网络访问的网页的计算设备。用户能够通过在触摸板16上移动手指(或其它物体)控制光标的方向。光标能被用于选择和/或操纵图标、窗口、菜单项、图形按钮、滑动条、滚动条或者图形用户界面或桌面接口中的其它图形对象。光标还能用于选择和/或操纵网页上的图形对象,诸如链接、图象、按钮等。下面参照图18说明其它与图形对象关联的力感。
图3是能包括本发明的任何触觉设备实施例的另一计算机设备实施例50的俯视平面图。设备50是便携式的计算机设备,诸如“个人数字助理”(PDA)、“基于笔”(pen-based)的计算机、“联网板”(web pad)、“电子书”,或类似设备(本文统称为“个人数字助理”)。能让用户通过接触显示屏或某种数字显示装置输入信息的设备是与本发明相关的,还有允许按钮输入的设备。这些设备可以包括3Com公司的Palm Pilot或类似产品,卡西欧、惠普或其它厂商的便携计算机设备,电子书,具有触摸屏的蜂窝电话或寻呼机,具有触摸屏的笔记本电脑等。
在设备50的一个实施例中,位于靠近外壳54之处的显示屏52可以覆盖计算机设备50的表面的大部分。屏幕52优选地是一个本领域技术人员公知的并且能显示文本、图象、动画等的平板显示器;在某些实施例中,屏幕52用作个人计算机的屏幕。显示屏幕52可以是一个包括传感器的“触摸屏”,允许用户通过物理地接触屏幕50(亦即类似于图1的触摸板16的平面“触摸设备”的另一形式)来输入信息到计算机设备50中。例如,可以在屏幕52上覆盖一层透明传感膜,其中所述膜能检测接触该膜的物体的压力。实现触摸屏的传感设备是本领域公知的。
用户可以通过将手指或指示笔按在屏幕52上图形对象所显示的准确位置上来选择图形显示的按钮或其它图形对象。而且,有些实施例允许用户通过在用户按压诸如指示笔57的指示笔的笔尖或手指尖或其它物体的位置显示图形“墨水”图象56,来在屏幕上“画”或“写”。设备微处理器上运行的软件可以将手写字符识别为命令、数据或其它输入。在其它实施例中,用户可以提供额外地或替换地通过语音识别输入,其中设备上的麦克风输入用户的语音,然后被运行在设备上的软件翻译成适当的命令或数据。设备50的外壳中还可以包括物理按钮58以在按钮安详时提供特定命令给设备50。很多PDA的特征都是缺乏标准键盘用于用户的字符输入;而是采用替换的输入模式,诸如利用指示笔在屏幕上画字符、语音识别等。但是,有些PDA还包括功能齐全的键盘以及触摸屏,其中键盘通常比标准尺寸的键盘小得多。在又一实施例中,带标准键盘的标准尺寸笔记本电脑可以包括平板触摸输入显示屏,并且这种屏幕(类似于图1的屏幕12)可以提供有本发明的触觉反馈。
在本发明的某些实施例中,触摸屏52可以现向用户提供触觉反馈,类似于前述实施例所述的触摸板16。可以以类似于下面所述实施例的方式联接一个或多个致动器到所述触摸屏,或联接到触摸屏附近的可移动表面。用户能通过接触屏幕52的手指或诸如指示笔57的物体或手指体验到触觉反馈。
触摸屏52可以通过一个或多个弹簧或屈服元件,诸如螺旋弹簧、片簧、挠曲件或屈服材料(泡沫、橡胶等),联接到设备50的外壳54,以允许屏幕近似沿z轴运动,从而提供触觉反馈。屏幕还可以提供挠曲件或其它联接器,允许侧到侧(x和/或y)的运动,类似于下面说明的适当实施例。
图4是适用于本发明任意所述实施例中的触觉系统的框图。触觉反馈系统包括一个主计算机系统74和接口设备72。
主计算机系统74优选地包括主机微处理器100、时钟102、显示屏76,以及音频输出设备104。主计算机还包括其它公知组件,诸如随机访问存储器(RAM),只读存储器(ROM),以及输入/输出(I/O)电子设备(未图示)。
如上所述,主计算机74可以是个人计算机,诸如笔记本电脑,并且可以在任何公知操作系统下操作。或者,主计算机系统74可以是各种通常连接到电视机或其它显示器的家用视频游戏控制台系统之一,诸如Nintendo、Sega、索尼或微软等公司的系统。在其它实施例中,主计算机系统74可以是家电、“机顶盒”、或其它用户能提供输入的电子设备。计算机74还可以是便携、手持计算机,诸如PDA或可以是车辆计算机、立式拱形游戏机、工作站等。
主计算机74优选地实现用户经包括触觉反馈功能的接口设备72交互的主机应用程序。例如,主机应用程序可以是视频游戏、字处理器或电子表格、网页或或实现HTML或VRML指令的浏览器、科学分析程序、电影播放器、虚拟现实训练程序,或其它利用来自鼠标12的输入并向设备72输出力反馈命令的其它应用程序。本文为简单起见,诸如WindowsTM、MS-DOS、MacOS、Unix、PalmOS等的操作系统也被称为“应用程序”。本文中,计算机74可能被称为提供“图形环境”,可以是图形用户界面、游戏、仿真程序、或其它可视环境,并且可以包括图形对象,诸如图标、窗口、游戏对象等。加利福尼亚州圣荷塞的Immersion公司能提供适当的软件驱动器作为这种软件与计算机输入/输出(I/O)设备之间的接口。
显示设备76可以包括在主计算机74中,并且可以是标准的显示屏(LCD、CRT、等离子显示器等)、三维眼镜或任何其它可视输出设备。音频输出设备104,诸如扬声器,优选连接到主机微处理器100以向用户提供声音输出。其它类型外设也可以连接到主机处理器100,诸如存储设备(硬盘、CD ROM驱动器、软盘驱动器等)其它输入输出设备。
接口设备72通过总线80联接到计算机74,总线承载设备72和计算机74之间的通讯信号,而且在某些实施例中,还向设备72供电。在其它实施例中,可以通过无线收/发在设备72和计算机74之间发送信号。在某些实施例中,致动器的电源可以由设备上所设的电源存储设备,诸如电容器或一个或多个电池,来补充或单独提供。总线80可以是双向的,以在主机74和设备72之间双向发送信号。总线80可以是串行接口总线,诸如RS232串行接口、RS422、通用串行总线(USB)、MIDI或其它本领域公知协议;或者并行总线或无线链路。
设备72可以是与主机74分开的,具有自己的外壳,或者与主机的外壳集成,如图1中的笔记本电脑。设备72可以包括或与专用的本地处理器110关联。处理器110对于设备12是本地的,此处的“本地”指处理器110与主计算机14中的任何主机处理器分开的处理器。“本地”还可以指处理器110专用于触觉反馈和设备12的传感器I/O。处理器110可以提供软件指令(例如固件)以等待例子主机74的命令或请求,解码命令或请求,并根据命令或请求来处理/控制输入和输出的信号。另外,处理器110可以通过读取传感器信号并从这些传感器信号、时间信号以及根据主机命令选择的存储或延迟的指令计算出适当的力来独立于主机74操作。适于用作本地处理器110的微处理器包括低端微处理器以及诸如Immersion Touchsense处理器的高级力反馈处理器。处理器110可以包括一个微处理器芯片,多处理器和/或协处理器芯片,数字信号处理器(DSP)能力,和/或逻辑、状态机、ASIC等。
处理器110可以根据主机74经总线80提供的指令从传感器112接收信号并将信号提供给致动器88。例如,在本地控制实施例中,主机74通过总线80提供高层管理命令给处理器110(诸如命令标识符和一个或多个表征触觉感知的参数),并且处理器110根据所述高层命令独立于主机74解码所述命令并管理对传感器和致动器的低层力控制回路。该操作在美国专利5,734,373中有详细说明。在主机控制回路中,力命令从主机输出到处理器110并指示处理器输出一个有特定特征的力或力感。本地处理器110向主机报告数据,诸如描述设备在一个或多个所提供的自由度中的位置的位置数据。数据还可以描述按钮、开关的状态等。主机用这些位置数据更新执行的程序。在本地控制回路中,致动器信号从处理器110提供给一个致动器88,而传感器信号从传感器112和其它输入设备118提供给处理器110。在此,术语“触觉感知”是指提供感知给用户的致动器18的输出的单个力或一系列力。例如,振动、单次摇晃或者纹理感都是触觉感知。处理器110能通过遵循存储的指令来处理输入的传感器信号以确定适当的致动器输出信号。处理器可以在对要输出到用户物体的力作出的本地确定中使用传感器信号,以及将得自传感器信号的位置数据报告给主机。
在又一实施例中,其它硬件而不是处理器110可以本地提供给设备72以提供类似于处理器110的功能。例如,一个结合了固定逻辑的硬件状态机可以用于提供信号到致动器88并从传感器112接收传感器信号,以及输出触觉信号。
在一个不同的、主机控制的实施例中,主机74可以通过总线80提供低层力命令,其直接经处理器110,或如果没有处理器110就经其它电路,发送到致动器18。因此主机74直接控制和处理所有来自和去往设备72的信号,例如主机直接控制致动器88输出的力并直接从传感器112和输入设备118接收传感器信号。其它实施例可以采用“混合”组织,其中某些类型的力(例如闭环效应)只被本地微处理器控制,而其它类型的效应(例如开环效应)可以由主机控制。
本地存储器122,诸如RAM和/或ROM,优选地联接到设备72中的处理器110以存储用于处理器110的指令,并存储临时的和其它的数据。存储器122还可以包括在处理器110中。另外,本地时钟124可以联接到处理器110以提供计时数据。
传感器112感测在理想自由度中的位置或运动(例如触摸板上的一个物体)并提供信号给处理器110(或主机74),包括表示位置和运动的信息。适用于检测运动的传感器包括触摸板中的电容式或电阻式传感器,触摸屏中的接触传感器等。其它类型的传感器也可以使用。任选的传感器接口114可以用于将传感器信号转换为能被处理器110和/或主机系统74解释的信号。
致动器88响应于从处理器110和/或主机74接收的信号将力传给外壳、操纵件、按钮或设备72的其它部分。设备72优选地包括一个或多个产生设备72(或其一个元件)上的力并产生给用户的触觉感知的致动器。致动器是“计算机控制的”,例如,从致动器输出的力最终由诸如微处理器、ASIC等的控制器发出的信号来控制。可以使用多种类型的信号,包括旋转DC马达、音圈致动器、动磁铁致动器、E芯致动器、气动/液动致动器、螺线管、扬声器音圈、压电致动器、被动致动器(制动器)等。下面说明一些优选致动器类型。致动器接口116可以可选地连接到致动器88和处理器110之间,以将来自处理器110的信号转换为适于驱动致动器88的信号。接口116可以包括功率放大器、交换机、数模控制器(DAC)、模数控制器(ADC)以及其它元件,如本领域所公知的。
在本文的某些实现中,致动器具有在设备的外壳或操纵件上施加短期持续力感,或经移动惯性物。这种短期持续力感可以称为“脉冲”。在某些实施例中“脉冲”可以大体沿一特定方向。在某些实施例中,可以控制“脉冲”的幅度;可以控制“脉冲”的感觉,正或负的偏移;可以施加“周期性力感”并可以有振幅和频率,例如周期性感知可以从正旋波、方波、锯齿上波、锯齿下波以及三角波中选取;可以向周期信号施加包迹,允许振幅随时间变化。波形可以从主机“流”到设备,或通过包括诸如振幅、频率和持续时间的参数的高层命令传递。
其它输入设备118可以包括在设备72中并在用户操纵时发送输入信号到处理器110或主机74。这种输入设备包括按钮、表盘、开关、滚轮、旋钮或其它控制件或机械装置。电源120可以可选地包括在设备72中联接到致动器接口116和/或致动器18以提供电能给致动器。或者,可以从一个独立于设备72的电源获得,或者经总线80获得。而且,接收的电能可以由设备72(和/或主机74)存储和调节并在需要驱动致动器88或用于辅助时使用。
接口设备12可以是各种类型的;下面进一步说明一些实施例。这里说明的触摸板和触摸屏设在多种类型的设备上,诸如游戏板、游戏杆、触摸板、球形控制器、指板、旋钮、轨迹球、远程控制装置、蜂窝电话、个人数字助理等。
特定实施例
本发明提供多种向便携计算设备的用户和/或任何具有触摸板或类似输入设备的用户提供触觉反馈的实施例。
有些实施例基于在用户的手指接触触摸板时触动其手指的。这些实施例传递高保真的感觉,同时在用户的指尖提供输入和输出的良好关系。说明致动器和联动件(linkage)方案以驱动任何平移实施例。其它实施例基于正常接触笔记本电脑10的用户手掌表面的刺激。这些表面可以基于惯性联接的力或手掌表面的平移来提供触觉感知。在触摸板或笔记本电脑上表面的平面内平移(即沿X轴和/或Y轴)在传递触觉信息方面与振动或沿Z轴(触摸板或笔记本电脑上表面的法向)位移一样有效。这在考虑到笔记本电脑的音量限制时很重要。
在本文的很多实施例中,由触摸输入设备检测用户的接触也是有利的。因为触觉反馈仅在用户接触触摸设备是需要输出,这种检测允许触觉反馈在没有物体接触触摸输入设备是停止(致动器“关闭”)。该功能可以节约便携设备的电池电能。如果本地触摸设备微处理器(或类似电路)用在计算机中,这种微处理器可以在没有感测到用户接触时关闭致动器输出,这就减轻了主机处理器的额外计算负担,直到再次检测到触摸恢复致动器输出。
在很多优选实施例中,触觉被增加到笔记本电脑或其它设备中,而不需用户重新学习如何控制笔记本电脑也不需制造商扩展其设计和制造远不同于现有设计的产品来提供触觉内容。例如,在笔记本电脑的实施例中,用户在触摸板上移动其手指时,在笔记本电脑的显示屏上显示的光标也相应移动。在光标与图形对象或区域交互、事件发生等时候,可以在触摸板或其它用户接触的笔记本电脑元件上输出触觉效果。在其它应用程序中,触觉效果可以在运行于笔记本电脑上的游戏或其它应用中发生事件或交互时输出。本发明中可以使用多种类型的致动器、传感器、联动件、放大传输等。
目前制造的触摸板表面通常联接到一个包括必要的电子设备和用于连接并操作笔记本电脑中的触摸板的标准连接的印刷电路板(PCB)。因此,当力施加到触摸板时,也就施加到通常直接与触摸板连接的PCB,例如连接在触摸板下。
本文的实施例以特定指导和特征来设计。例如,在特定实施例中感觉强烈的特定触觉体验,触觉内容集中或物理地所在的位置,触觉反馈与用户手指在触摸板上的指示的空间关系,例如,触觉反馈可以就在手指下面,或者从笔记本电脑的外壳上某处发出,产生反馈所需的力度和能量,用户与设备交互的方式以及对反馈的质量和内容(手指接触角度等)的影响,以及能装在笔记本电脑形式的因子/外壳中的致动器和机械装置中哪个最理想。
优选地,现有触觉反馈软件和驱动器可以用于本文所述的实施例,诸如Immersion公司的TouchSense软件。能用于多种不同类型产品的诸如特定的触摸板的标准模块是理想的,诸如PDA、笔记本电脑、蜂窝电话和远程控制件。
这些实施例主要集中在触觉反馈的实现,而非动觉力反馈实施例。如本文所述,有两种基本类型的触觉反馈应用到本发明:惯性触觉反馈和运动接触触觉反馈。惯性反馈利用惯性联接的振动来产生并基于移动一个通过屈服挠曲件联接到外壳/用户的惯性物,其中惯性物的运动在用户接触的表面引起惯性振动。运动接触反馈涉及相对于地面对用户直接移动表面或部件并且通常是通过使用户皮肤发生小位移来产生。
惯性和运动接触反馈之间的区别可以通过用于向用户提供信息的实际装置区分。惯性和触觉刺激二者都引起手或手指组织的位移;惯性反馈通过某种封壳的传导性以及该封壳的物的屈服来联接。运动接触反馈指刺激用户组织更直接的机制。例子包括触点或剪切手指皮肤以通过局部使手指或手掌组织变形引起感觉的表面。此区别用于区分下面说明的两类实施例:惯性和表面平移。
下面说明一种新颖的致动器,本文中称为扁E形(Flat-E),其可以用于本文中的所有实施例并表示一类型面很小的、能效高的、高性能的、平面致动器。扁E形致动器能获得可接受的性能水平,并达到笔记本电脑和其它设备应用所需的有限量(limited volume)和形状因子。
惯性实施例
这些实施例移动一个惯性物以产生对用户的惯性触觉反馈,通常通过诸如外壳或其它表面的封壳或装置传送。在很多情况下,惯性物运行中并不碰到任何表面,尽管这种碰撞能替换地用于提供额外触觉效果。
图5是用于为本发明的触摸板和设备外壳提供惯性触觉感知的致动器组件的一个实施例150的透视图。致动器组件150包括一个落地的挠曲件160和一个致动器155。挠曲件160可以是一个由聚丙烯塑料(“活铰(living hinge)”材料)或其它挠性材料制成的单个的、整体件。挠曲件160可以落地到设备12的外壳,例如在部位161。
致动器155联接到挠曲件160。致动器的外壳联接到挠曲件160的一个接受器部分162,其容纳致动器155,如图所示。致动器的一根旋转轴164在挠曲件160的孔165中联接到挠曲件160,并刚性地联接到一个中心旋转部件170。致动器的旋转轴164绕轴A旋转,其使部件170也绕轴A旋转。旋转部件170通过挠性接合部174联接到夹角部件171的一个第一部分172a。挠性接合部174在其挠曲的维度上做得很薄,使得挠性接合部174在旋转部件170近似直线地移动第一部分172a时弯曲。第一部分172a通过一个挠性接合部178联接到挠曲件的落地部分180,并且第一部分172a通过一个挠性接合部182联接到夹角部件的第二部分172b。第二部分172b本身又在另一端通过挠性接合部184联接到挠曲件的接受器部分162。
包括了第一部分172a和第二部分172b的夹角部件171直线地沿x轴移动,如箭头176所示。实际上,172a和172b两部分仅近似直线地移动。当挠曲件处于原始位置(停靠位置)时,172a和172b两部分相对于其纵向轴夹角优选地如图所示。这使得旋转部件170沿箭头176所示的两个方向推拉夹角部件171。
致动器155在两个方向上驱动旋转部件170时,仅在其旋转角的一小部分中操作,允许输出高带宽和高频率的脉冲或振动。挠性接合部192设在挠曲件部分中接收器部分162和落地部分180之间。挠性接合部192允许接收器部分162(以及致动器155、旋转部件170和第二部分172b)响应于172a和172b两部分的运动而近似直线地在z轴方向移动。挠性接合部190设在夹角部件171的第一部分172a中,允许挠性接合部192在z方向上的挠曲更容易发生。
通过快速改变致动器轴164的旋转方向,可使致动器/接收器沿z轴振荡并以致动器155作为惯性物在外壳上产生振动。另外,包括在挠曲件160中的挠性接合部,诸如挠性接合部192,起到弹簧的作用,提供向致动器155和接收器部分162的原始位置(停靠位置)的恢复力。在有些实施例中,在挠曲件160中可以包括止动件以限制致动器155和接收器部分162的运动。
其它实施例可以提供其它类型的致动器组件以提供惯性感知,诸如移动一个单独的惯性物的挠曲件而不是致动器本身。或者,可以振荡一个联接到致动器旋转轴的偏心物,以提供旋转的惯性触觉感知给外壳。偏心物可以单向驱动也可以双向驱动。其它类型的致动器组件还可用于,诸如直线音圈致动器、螺线管、动磁铁致动器等
在一个实施例中,诸如上述的致动器组件可以联接到笔记本电脑外壳或其它设备外壳的任何位置并用于振动外壳的零件,依赖于通过远程安装的致动器模块经产品外壳传输的振动。致动器组件可以安在笔记本电脑外壳或元件的不同区域,以在惯性物振荡时提供惯性触觉反馈。
用户的体验依致动器组件在笔记本电脑上的确切位置而不同,并且有不同触觉效果的输出。致动器组件的联接位置包括外壳的底部,侧面或前面,操作设备时用户的手掌所配合的表面,靠近触摸板或触摸屏的区域,或联接到触摸板或触摸屏。触摸板本身(例如,将致动器组件联接到触摸板底部)也是一个有效的位置。在有些实施例中,如果触摸板是矩形的,可以获得更多沿触摸板的长轴的柔顺性。
一般地,触觉内容由用户通过将致动器组件安在笔记本电脑上的一个位置上在一个有限的频率范围内接收。例如,一个传送振动的最有效的特定位置可以凭经验确定。
在很多情况下,触觉效果的几种类型的输出可能使用户范晕,并且具有高得多的频率的效果可能更易于察觉。该实施例的一种有效的触觉效果是相对高频的“响铃”效果。笔记本电脑壳体和触摸板的共振可能放大这些振动。一种设计为在特定理想频率下共振的致动器可以用于通过振幅调制技术提供宽的频谱。例如,可以通过调制由调好的共振致动器,诸如大压电陶瓷共振器(如图8a-8b),产生的250Hz自然频率来产生强制的25Hz方波。这种调制方案可能依赖于根据所处环境调整的致动器以及其必须驱动的物体。有些类型的振动隔离系统可以用于某些实施例中以将能量限制在触觉模块中,不让能量在共振模式下分散到笔记本电脑或其它设备的其它部分。
图6是另一实施例的透视图,其中触摸板模块可以悬在一个柔顺支撑结构上并且可以联接到一个谐波源并沿z轴振动。在本例中,触摸板200可以随一个在z轴中垂直于触摸板表面地移动触摸板表面的致动器组件202移动。该触摸板可以通过一个或多个泡沫、橡胶或其它柔顺材料的层或支撑件联接到笔记本电脑外壳204,其中泡沫的边条206设在触摸板周界上触摸板200和外壳204之间,如图6所示。致动器组件202可以联接到致动器组件的底部(或其它位置),使得当惯性物振荡时,其振荡传递到触摸板,并允许其在z方向上相对于笔记本电脑外壳204移动。例如,致动器组件可以直接结合到触摸板PCB的底部。或者可以移动触摸板的一个浮动组件和框(bezel)(围绕触摸板的表面),而不是只在z轴上移动触摸板模块。
在另一实施例中,可以使用一个独立的触摸板设备,其中触摸板容纳在一个单独的外壳中,并与笔记本电脑或其它设备通过有线或无线传输进行通信。在一个实施例中,该独立的触摸板设备可以安到一个手掌板上(或其它部件),而致动器组件联接到该板上。当致动器组件的惯性物振荡时,惯性感知通过该部件传送到触摸板,亦即这有效地提供从致动器组件到触摸板表面的惯性联接。板和地面之间可以联接一泡沫层(或其它柔顺层)以提供柔顺性并使得板和触摸板惯性地移动。该实施例可以比那些致动器组件安装到笔记本电脑附近或安装在内建的触摸板上的实施例产生更强烈的感觉,可能因为泡沫的柔顺性能允许输出更强烈的感知。
整个触摸板可以作为单个的整体部件来提供触觉感知;或者,在其它实施例中,该板的单独移动部分每一个都可以提供其自己的触觉反馈致动器和相关传输,使得触觉感知可以仅对特定部分提供。例如,有些实施例可能包括一个具有可以挠曲或相对于触摸板其它部分移动的不同部分的触摸板。
在另一实施例中,围绕或靠近触摸板的表面联接到谐波振动源(例如,致动器组件)并在一个或多个轴上振动。例如,手掌停靠表面可以由一个容纳在笔记本电脑中的惯性致动器组件驱动。图7是惯性驱动的手掌停靠表面的一个例子的透视图。笔记本电脑210包括一个起类似典型触摸板的作用的触摸板212。一个手掌停靠表面214位于触摸板212附近,其中表面214可以安到笔记本电脑外壳上的一层回弹敞开蜂窝泡沫(resilient open cell foam)或其它柔顺材料上。在有些实施例中,表面214可以具有麻点和/或凸起以使用户对表面的接触更强烈。致动器组件216联接到手掌停靠表面214;在所示实施例中,组件216联接到表面214下侧。该组件可以是上述致动器组件中任一种。例如该致动器组件216可以提供z轴振荡给手掌停靠表面214。
用户在用手指使用触摸板212时优选地将手指和/或几个手指停放在手掌停靠表面214上。因此,用户在操作触摸板的时候能通过手掌停靠表面感到触觉感知。或者用户的一只手用于指示和操作触摸板,而另一只手停放在手掌停靠表面214上并感觉触觉反馈。手掌停靠表面实现为实际上不可避免地会接触到的表面,并且因此用户在使用触摸板时不会错过太多触觉事件。在有些实施例中,用户在所述表面上停放其手掌的力度可能引起有用的带宽上的所察觉的幅度产生微小变化,并且可能是僵硬和所使用的特定设备的质量的结果。在不同实施例中,手掌表面与外壳联接的刚度可以调整为特定的感觉。
在一个相关的实施例中,致动器组件可以安装在不同区域。例如,致动器组件可以安到由有纹理的材料制成的手掌停靠表面的延伸底部,而手掌停靠表面又安装在一层回弹敞开蜂窝泡沫或其它柔顺材料上。
在其它实施例中,所述手掌表面可以在X和/或Y方向上平移,类似于下面将说明的触摸板平移。惯性致动器组件可用于推动所述平移,或者一种不同类型的致动器,例如在平移模式中的高致动器权力和相当高的刚度以避免不必要的硬止动限制扭曲等。平移的手掌表面可适于一个扁平致动器,使得该组件能集成到笔记本电脑外壳中;下面说明扁平致动器。
图8a是适用于本发明的惯性触觉反馈设备的另一实施例中的致动器的透视图。在该实施例中,对一个联接到触摸板的更高频率的机械振荡器进行调制。这种实现的一个例子可以包括一个大直径市售薄压电传感器230,例如直径60mm,周边支撑时自然频率300-400Hz。该压电传感器优选地包括一个薄金属膜(片)231。一个实施例可以在压电膜的中心陶瓷处包括一个附加物232,以增加惯性质量并降低自然频率以从振荡物获得更强的惯性触觉感知。传感器230外围可以落地,而物体232可以垂直于盘表面以向该传感器所在的外壳产生惯性触觉感知。
致动器230可以起到谐波振荡器的作用,所述谐波振荡器运行于相对高频,传送感知到手或者其所在的笔记本电脑的零件。调幅(包迹)可以用于产生比单个基本鼓形模式更宽的触觉频谱。大直径压电驱动器可以从例如台湾的Kingstate得到。也可以使用不同尺寸的盘。
为了提供理想的触觉感知,大的压电传感器或“蜂鸣器”应该提供物体的大的可以承受的物体位移(加速)并且载波频率(振荡的频率)应该用触觉信号调制。有些电子设备可能需要操作这种类型的致动器。高的电压供应可以产生于5伏。振荡电路,例如自激励电路,能驱动该元件。可以有门控特征以启动和停止振荡,以及比例控制以允许对输出振幅进行调制。全数字的实现可以通过门控振荡的开和关来提供。
图8b是提供触觉反馈的压电传感器的另一实施例234的侧立面图,其中传感器沿z轴直接施加(非惯性)振荡到触摸板(或触摸屏)。笔记本电脑或其它设备的外壳236可以包括覆盖触摸板部件238的框,用户物理地接触它以提供输入给计算机或处理器。触摸板部件238可以包括所需的电子设备以将触摸板与其它电子元件相接。触摸板部件238可以停靠在一个具有选用于允许高效触觉输出的特定物体的衬垫240上。衬垫240停靠在压电金属膜231的边缘上,其是压电传感器的一部分,并且其中导线241联接在膜231和信号源246之间。压电陶瓷元件242也是压电传感器的一部分,联接到金属膜231,而导线243联接在元件242和信号源246之间。一个电极镀在陶瓷元件242上。一个接触板248位于元件242和底部外壳250之间。接触板248做得很小,使得膜231具有增加的弯曲度,导致更大加速度和更强的触觉效果。底部外壳250可以包括例如一个印刷电路板(PCB)。一个或多个预加载的弹簧元件252联接触摸板元件238到底部外壳250,例如片簧、螺旋簧等。
在操作时,当来自信号源246的振荡电流流过膜231和陶瓷元件242时,压电传感器沿z轴移动。因此,衬垫240仅在膜231边缘提供,以允许膜内部和陶瓷元件242运动,而陶瓷元件推底部外壳250,引起膜231推衬垫240,这又推动触摸板元件238。这将触摸板部件推起,而弹簧元件252在触摸板上提供弹性恢复力,使得其返回中间位置。当压电传感器类似地在相反方向上移动时,如振荡信号指导的,这将朝底部外壳250向下移动触摸板元件238。触摸板元件因此沿z轴振荡并提供触觉感知给接触该触摸板元件的用户。
在有些实施例中,可以选择触摸板实施例234的元件以提供更多有效触觉感知。例如,如果压电传感器以接近于机械系统(包括传感器本身)的自然频率振荡,则可以输出更大的力和更有效的触觉感知。该移动机械系统可以近似地表达为表达式k1加上k2除m的平方根,如下:
其中fn是自然频率,k1是压电传感器的金属膜231的弹性常量,k2是弹性元件252的弹性常量,而m是衬垫240、触摸板238和安到触摸板上的悬架的零件的总质量。可以选择该质量,以及弹性常量,以提供理想的低自然频率,诸如大约120Hz或更少,这更能带来有效的触觉感知。该衬垫240能允许多个压电传感器,例如并排的,靠着底部外壳250,使得所述单个传感器能一致地或在不同时间得到更强触觉效果以在触摸板元件238的特定位置提供感知。
提供驱动信号的一种途径是在自然频率fn或附近提供初始振荡载波信号,如果适用(例如调整振幅到理想状态以提供理想的频率或效果),用特效包迹(effect envelope)调制载波信号,并且用所调制的信号驱动放大器,其本身又驱动压电传感器。这种实施例中的正弦波载波信号,与方波或其它类型波不同,易于在所述的图8b的实施例中产生更平静的触觉效果,这通常更理想。
在一个替换实施例中,压电传感器和衬垫保持定向,使得衬垫240接触底部外壳250,膜231停靠在衬垫240上,陶瓷元件242位于膜之上,并且陶瓷元件在被驱动信号驱使振荡时直接碰撞触摸板元件238或联接到触摸板部件的板。在又一实施例中,陶瓷元件可以直接联接到触摸板元件,但一般结果是强度和有效触觉效果较弱。
表面平移实施例
这些实施例将与用户接触的表面平移,以向用户提供触觉反馈。用户感觉平移表面剪切其皮肤,产生直接感知。这种类型的触觉反馈基于与固定表面或接触用户手指或手的相邻表面间的相对运动无关的平面运动。接触或靠近触摸板模块表面(图9-12)的表面的平移,以及触摸板表面自身(图13-14)的位移都是下面说明的实施例,还有用于这两种应用的致动器(图15-17)。美国专利5,184,868中说明的移动表面发明也可以采用。
相邻表面之间的小位移(<1mm)提供良好的信号传输给手指组织。更好的表面可以具有物理表面纹理(凸起或粗纹等)并且可以将形状做得贴合用户的任何位置或方向。在有些实施例中,小的侧向平移(在指尖下0.25mm至0.5mm之间的位移)可以比远处的惯性振动甚或触摸板下的超出平面的(z轴)振动更有效,例如有些实施例中惯性联接可以具有更远和断开的感觉。
单独表面平移
位于触摸板模块顶部的单独表面部件的位移在提供良好的相关反馈方面很有效。反馈感觉足够同步,光洁(clear)表面可以在可视显示屏上平移,象在PDA或触摸屏中一样。在其它实施例中可以执行其它表面向侧面的或靠近触摸板的平移。
图9是第一单独表面平移实施例250的透视图,其中一个单独的与触摸板模块滑动接触的薄表面在手指下横向移动。一个平移表面部件(“表面”)252位于固定的触摸板254顶上并覆盖着。联接到平移表面252的延伸部件256a和256b能近似正交地在x或y方向延伸离开触摸板254。一个致动器258a和258b分别联接到各延伸部件256a和256b。在所述实施例中,致动器258是对延伸部件256输出直线力从而在输出力方向上移动平移表面的直线致动器。例如,该致动器可以是E芯致动器。致动器258b上未示出两个磁极259以显出铁磁件382下的线圈260。
滑动表面252可以是任何一种硬的或基本硬的材料;例如可以用卡普木(聚酰胺)挠性印刷电路板材料。延伸部件256可以结合一个更硬的部分以防皱折。滑动表面252可以是纹理表面,提供与用户的皮肤组织接触的摩擦力。移动表面252顶面的区域可以包括具有足够表面粗糙度的纹理,以贴紧皮肤而不觉得摸起来太粗糙。在移动表面的底面,可以包括低摩擦力的涂覆面,以增强表面252和触摸板254之间的滑动。该底面元件可以非常薄,例如小于0.010英尺(0.25mm)厚。
用户把移动表面252当作触摸板254本身来触摸。表面252足够薄,使得触摸板254能检测所有用户对表面252的接触,就象用户直接触摸表面252的触摸位置下的触摸板一样。
在有些实施例中,致动器可以位于与移动表面相对较远的位置(例如大于10cm),而在这些实施例中,更硬的延伸部件256可能需要以尽可能少的摩擦力或脱离平面的运动来传递张力和压力。例如,玻璃或碳素的纤维叠片具有这种功能。
在有动磁致动器实施例中,可以在移动表面252上层叠薄的稀土磁片以作为移动磁体。例如可以获得高度集成,如果移动磁片是类似于小于Imm厚度的,并且E芯和线圈位于延伸部件256的远端部分之下,例如直接安装到触摸板PCB本身上。线圈线可以直接焊接到触摸板PCB上。
图10是另一平移表面实施例270的俯视平面图,其中单独的移动触觉表面位于触摸板之上与之滑动接触。该表面由高带宽致动器通过高保真的机械连接驱动相对于触摸板平移。
在该实施例中,平移表面272放在触摸板274之上,类似于图9的实施例。延伸部件276在一个方向(此处是x方向)上向一个旋转致动器278延伸,旋转致动器在本例中落脚在笔记本电脑外壳280上。致动器278可以是具有旋转轴282直流旋转马达,旋转轴联接到一个联接联动件284,联动件本身又连接到延伸部件276。例如,可以使用前述致动器组件150的联动件的的一部分。当致动器278在两个方向转动旋转轴时,联动件将旋转转化为表面272在相应方向(左或右)的平移。例如,可以获得大约+/-1mm的位移。用户在表面272上移动手指时感觉到表面的平移。马达旋转可以引起x方向上非常清晰的高保真平移。一种直流马达的设计可以用于在侧面或外壳前面给出了空闲空间的笔记本电脑。可以在y方向提供类似的延伸部件、联动件和马达以在该方向移动表面272。用户的输入通过移动的触觉表面在触摸板上检测到。
可以裁剪该薄表面,以小的围绕边界配合在触摸板区域中。可以裁剪出一个较大的叠层以提供一个相当硬的条块给致动器驱动。该条块应该足够宽以允许致动器在操作中推它而不会皱折。
如同图9,表面272的底面可以提供光滑的表面接触触摸板,以提供与用户手指通常触摸的触摸板塑料涂覆面之间的光滑低摩擦力滑动界面。移动表面272的顶面可以制成有摩擦的以利于用户良好地把握,例如类似精细砂纸的纹理。这可以提供优良的接触表面,因为其提供与手指表面的机械结合,却不会摸起来太粗糙。其它实施例可以利用多种类型的摩擦表面。其它实施例还可以利用平锤致动器,例如动磁致动器或音圈致动器。
塑料的或其它材料的两个条块286可以安在围绕触摸板的框上(例如为触摸板外壳开口的边缘)并覆盖表面272的边缘,以限制移动表面272并保持其平贴和平行于触摸板274。
图9和10的实施例能提供显著的触觉感知。在触摸板上增加一个表面基本上不干扰触摸板的感测操作。用户可以同时指点和通过该表面相对于固定触摸板的运动接收触觉反馈。用户在触摸板上的平移表面上触摸和移动时提供输入给笔记本电脑或其它电子设备是很容易的。在有些实施例中,移动表面可以保持在触摸板之上,而不与其接触,因此有些用户的压力可能需要除去自由移动并接近传感器阵列。
当在显示的滚动条上并在笔记本电脑所显示的桌面GUI中移动光标时,用户感觉到明显的高保真的与光标良好空间相关的效果。这种相关性的特点可能根据用户是否在x方向或y方向移动手指或物体而不同。所示实施例270中的致动器在x方向移动实施例。因此,在图标上上下移动光标,用户可以感觉到单向的突伸或类似的触觉效果,如果用户不集中注意或观察表面272的运动与光标运动正交。
用户手指在平移方向的移动——在图10中是x方向-—会更加明显。例如,当用户在x方向拖动手指以将光标从一个单选钮移动到另一个时,表面272可以引导用户到下一个并感觉起来象个锁键(detent),即使只产生了很小的移动。相反于移动方向的表面平移力能更有效,例如,如果用户左移到一个图标,则向右的平移力将更脆更自然。如果触觉反馈仅在一个轴上允许,y轴在某些实施例中可能是更好的选择,因为GUI桌面和应用程序中可能有更多的垂直方向的内容。
在从一个物体移动到另一个时,例如在图形按钮之间,短时的、明显的脉冲可以提供优良的过渡。通过以正弦或其它周期波形振荡驱动表面的致动器,从而在相反方向振荡平移表面,这样,在表面平移的实施例中,振动可以传递到用户。
用户还会自然地在控制光标的运动之间拿起手指,并且马达和联动件的固有弹性对中力会将移动表面252或272返回到一个中间(原始)位置,以备下次交互。在反馈装置移回到中间原始位置时受控光标不移动,因为仅触摸板上的表面移动并且不象用户的手指一样向计算机提供输入。
在特定方向的运动允许表面平移实施例在有些实施例中,作为带有伪动觉反馈的相对指点设备。触觉反馈依然是主要触觉反馈类型,但表面的小位移可以显著地察觉到,呈现为定向的弹性力,感觉象在一个方向上推动用户手指的锁键“斜面”,即使它们仅是突伸。
致动器的总体刚度会影响结果。如果用户在移动表面上按压太重,则用户可能在拖动/指点手指时移动表面,而这会使致动器脱离其弹性中心。优选的实施例具有有力的但刚性的致动器,用户几乎无法通过用力按压反向驱动它。
有些实施例中,移动表面最好具有特定的移动量或屈服量,例如2mm。存在一个来自马达和联动件的强弹性对中力,并且,在诸如GUI中的按钮的两个物体之间移动光标是现实的,因为用户可能察觉真动觉力反馈直至手指压力降低并且手指以相对模式快速移过屏幕。输出的触觉反馈是简单的触觉突伸,并且没有实际的动觉弹簧在x方向和y方向提供。但是,用户感到其手指被拉到相邻物体,例如下一按钮。
要注意的是,不同的实施例中可能提供动觉力反馈。例如,如果用户将手指保持在移动表面上的一个位置,并且移动表面有足够大的位移,则可以在移动表面的运动自由度的程度内输出力,提供动觉力反馈。触摸板的传感器可以用作指示用于计算力(诸如具有依赖于从弹簧原始位置移动的距离的幅度的弹性力)的手指/移动表面的位置传感器。因此,这种实施例将是双模式触觉系统,包括触觉和动觉模式。
移动表面的有些实施例可能允许由用户滑动,而其它可能很刚性,少有滑动。在很多实施例中,如果表面的最大允许移动足够在两个相邻图形目标之间横跨,则动觉模式能有效并且用户可能不会注意到其在移动表面。有些实施例能在两个轴(x和y)上提供平移和力,让该动觉在触摸板的各个方向上引导反馈(真的弹簧)。
触觉效果可能感觉起来不一样,如果用户没在触摸板上移动其手指或物体。在与触觉效果(例如,锁键突伸效果)对应的触摸板运动中经常有内容和值。例如,当用户在移动手指并在手指平移移动表面到图标或按钮之间的过渡点时接收突伸效果,这是有效的。
上述说明的单独平移表面的很多有点也可以应用到平移触摸板表面,如下所述。
图11是单独平移表面和移动线圈致动器的另一个实施例290的透视图。在该实施例中,一个框架292置于设备的触摸板294上。框架292包括一个薄表面部分296,直接位于触摸板294之上,并且足够薄,以允许用户接触要被下面的触摸板294检测的部分296。框架292还包括一个集成的音圈298,作为音圈致动器300的一部分。线圈298可以是铸入框架292的有线迹线,可以是一个PCB。致动器300的另一部分包括一个静态两极磁体302,位于线圈298之上,并且落地到笔记本电脑外壳,以及一块钢制背板304,位于框架292另一侧并落地到外壳,用作磁通返回路径。该钢组件可以安到例如触摸板PCB本身上。
因此,磁体302的磁场和流过线圈298的电流交互,引起对框架298的直线力,使框架和部分296作如箭头306所示的移动。这向用户提供了类似于前述单独平移表面实施例的触觉感知。外壳可以包围整个框架,除围绕框架292的部分296的开口。在有些实施例中,线圈298的线可以连接到利用从移动框架292分叉的单独弯曲电路手指的触摸板PCB。
图12是单独平移表面的另一实施例310的透视图。在该实施例中,围绕触摸板的表面在x和/或y方向相对于触摸板表面平移。拇指表面312位于触摸板314底侧并刚性地联接到链接部件295。链接部件316联接到挠性链接件318,挠性链接件联接到落地到笔记本电脑外壳的致动器320的旋转轴。当致动器320转动轴时,挠性链接件318直线地移动链接部件316,如箭头322所示,链接部件316沿x轴直线地移动拇指表面312。拇指表面312滑动地与直接位于表面312之下的标准按钮(未图示)接触。
用户可以在操作触摸板时将其拇指、手掌或手指停放在拇指表面312上以感觉触觉感知。要按位于拇指表面312之下的按钮,用户只需按下表面312。总体上,其感觉会类似于前述的其它平移表面。在其它实施例中,链接部件316可以更长,以允许致动器320在笔记本电脑或其它设备中的理想位移。
一个缺点是没有反馈给用户,除非用户有拇指、手指或手掌在拇指表面区域中。用户可能必须去够其它按钮以键入并失去触觉体验。在用户难于在使用同一只手指点触摸板时保持拇指在表面312上的实施例中,可以使用大的表面312或手掌板延伸。
触摸设备平移
这些实施例将触摸板(或触摸屏)表面本身平移,而不移动单独的表面。用户感觉到平移触摸板横向移动,与其皮肤相剪切,产生感知。触摸板可以相对于固定的环境移动,诸如笔记本电脑外壳。
图13是提供平移触摸板表面的实施例330的透视图。触摸板332通过致动器336相对于诸如笔记本电脑或PDA的外壳334移动。在所述的实施例中,致动器336是旋转致动器,诸如直流电机,具有联接到联动件340的旋转轴338。联动件340另一端联接到支架342,其中支架342联接到触摸板332模块的下侧。所述联动件包括接合件和/或挠性件/柔顺件以允许轴338的旋转运动转化为直线力,从而使触摸板332横向移动,如箭头344所示。例如,联动件可以由聚丙烯制成,类似于图5的致动器组件的联动件。笔记本电脑的外壳可以作为移动触摸板模块的限制结构。
例如,标准直流马达可以用于致动器336和联动件340的聚丙烯联动件组件。在一个实施例中,触觉反馈元件可以位于放置笔记本电脑的可选元件的位置,诸如可选磁盘驱动器。
在其它实施例中,致动器338可以位于远离触摸板332的地方,例如外壳中与直接位于触摸板下(如图13所示)相对的任何可用的地方。联动件可以用于定位远离触摸板的致动器,如图14所示。
在一个轴或两个轴上平移整个触摸板可能是一个好的总体触觉途径。触摸板的很小位移(0.2mm<x<0.5mm)适合于提供有用的触觉。在实际幅度范围内衡量时,该实施例的能耗能小于目前可得到的惯性鼠标接口设备,其能通过诸如USB的对主机的接口接收所有所需能量。
在这类实施例中,有些优点很明显。反馈体验是直接的,与指点动作良好相关,并且精确。实现可以弹性并且不突兀,并且触觉元件的增加不改变触摸板的使用。平移表面的位移需要较惯性方式小——这减少能耗并便于制造。在有些实施例中,触摸板的移动可以在x-y平面上成夹角。缺点可能包括使用直流马达,其相对较大,挠性联动件可能需要常清洁并可引起摩擦,以及能耗可能相对较高。
图14是移动触摸板的实施例350的透视图,其中触摸板可以在x和y两个方向上移动。触摸板351直接联接到第一联动件352,第一联动件通过诸如聚丙烯的挠性部件354联接到致动器353的旋转轴。致动器353落地到笔记本电脑外壳。当致动器353转动其轴时,挠性部件354将旋转运动转化为直线运动并在x方向平移联动件352,这反过来又平移触摸板,如箭头355所示。在第一联动件354的远端,通过例如挠性联接,联接着第二联动件356。
落地到笔记本电脑外壳的第二致动器358通过一个挠性部件357联接到第二联动件356的另一端,其中致动器358的旋转轴旋转的轴线基本上是致动器353旋转的轴线。致动器358的旋转轴输出的旋转力被挠性部件357转化为直线力。该直线力使第二联动件356沿其长度方向直线地移动,这反过来又使第一联动件352近似绕其靠近致动器353的一端沿y轴作枢轴转动,并使触摸板351近似沿y轴移动。致动器353和358可以是,例如直流马达或任意其它类型的致动器,例如也可以用直线致动器,如图15-17。所述联动件可以由适当材料制成,例如碳素纤维。优选地,很小的能量被落地结构或联动件的变形所吸收。
因此,机械地分离x轴和y轴运动;通过启动致动器353提供x轴运动,通过启动致动器358,提供y轴运动;同时启动两个马达就能提供x轴和y轴两种运动。两个致动器都能一同驱动(共同模式)或差动驱动(差动模式)以获得纯x或y轴运动,而不需结合联动零件。而且,任何组合驱动将产生一个沿任意轴线的合力,具有相同保真度且不要结合。
一个实施例可以使用固件用于快速估计合输出x和y力,例如运行于诸如微处理器的本地控制器上或主机CPU上的软件。在有些实施例中,这种固件可以很复杂,使得可以替换地使用在两个主反馈轴线之间带有电子开关方式的机构。在一个实施例中,两个直流马达可以与保留通过两个马达之一的电流的开关连接在一系列电路中。
在图14的实施例中,当用户沿x方向在触摸板上移动手指时可以感到x和y方向的力之间的不同。在触觉反馈与手指/光标运动之间的相关性或定位调整中有触觉值;在有些情况下,定位调整可以增大触觉信噪比。例如,当反馈沿x轴水平引导时,从右向左将光标移过图标或按钮可能比感觉更好,并且对于用户更象真实按钮。如果反馈与光标方向对齐而不是全方位的或不对齐的,则需要的能量更少。在有些情况下,不那么对齐的触觉可能比不对齐的更强效果更有意义。
有增强纹理的触摸板表面相对于有增强纹理的固定围绕表面移动。增强纹理更粗糙、更皱或带纹路,产生更强的用户接触。
在其它一些实施例中,触摸板表面可以包括在x或y方向互相相对地交叉移动的表面特征。例如,触摸板的两半可以由致动器驱动以互相相对移动。
在其它实施例中,可以使用其它致动器在z方向移动触摸板、触摸屏或其它触摸设备。例如压电致动器、音圈致动器或动磁致动器可以直接联接到触摸板或触摸屏,以提供触摸表面的定向运动。而且,触摸板表面可以包括一个固定触觉表面和一个参考表面,其中参考表面可以沿z轴相对于固定触摸表面位移。
图15a和15b分别是用于平移触摸板的新颖“扁E形”致动器一个不同实施例的俯视和仰视透视图。图15c是致动器360的侧视图。致动器360设计得很扁平,因此更适合在可能是触摸板、触摸屏或其它类似输入设备的固有零件的扁平组件中工作。“E芯”致动器提供了利用最小磁性材料的拓扑优良的致动器,并且传递良好的力和带宽。动磁致动器的一个缺点是需要的高度大(“E”芯铁磁件的宽度可以在某种程度内换取高度,或者减少致动器的总体高度)。
致动器360具有创新的“E”芯实施例,能用于平移触摸板(或者平移单独表面,如图9-14的实施例)。一个折叠的扁平3维实施例,如图15a-15b所示,可以基本上象2维的情况一样工作,但在磁极处有更多泄漏和不统一。
致动器360包括一个“E”字形铁磁件362,可以由含铁金属或碳钢板制成,并且可以是单片或层叠金属。线圈364绕着铁磁件362的“E”字的中心极。一个活动的塑料盒368可以置于铁磁件362上并且可包括两个或多个置于盒子中的孔隙中的辊子370,孔隙的方向使得辊子绕平行于穿过线所绕的线圈364的轴线滚动。盒子可以是塑料的活动的,亦即不附于其它元件,以允许辊子滚动。一个两极磁体366置于铁磁件362和盒子368的磁极之上,使得在磁体和铁磁件之间有空隙。磁体366联接到衬背钢板372的下侧(在图中的方向;其它方向也可能),衬背钢板位于辊子370之上并与其接触。辊子因此在磁体和铁磁件362之间的设定了额定磁隙。衬背钢板372可以刚性地联接到触摸板373,如图15d所示,使得触摸板、钢片372和磁体366可以相对于铁磁件362平移。例如,在有些实施例中,磁体可以是焊接的钕晶片,并且钢的零件可以从约1mm厚的片冲压。额外的辊子或泡沫可以用于支撑铁磁件的端部对着磁体366。磁体、盒子和衬背件位于“E”极的侧面而非在其它E芯类型的致动器中的前边缘;这允许本发明的致动器为笔记本电脑和其它便携设备应用做得很扁平。
在操作中,电流流过线圈364,使磁通按箭头374所指的方向流过铁磁件。所引起的反应是钢片372沿箭头376所示的轴的方向移动(该方向依赖于线圈中电流的方向)。辊子370旋转以使钢片372和磁体366相对于铁磁件362平移。活动盒子368使辊子不会在旋转时朝不需要的方向移动。而且,铁磁件362和磁体366之间的法向磁吸力作用于辊子370。其它扁E形相关实施例可以包括挠曲件和刀边悬架(knife edge suspension)以抵抗法向磁力(允许该力引起的运动)。
此处说明的扁E形致动器实施例可以用于平移触摸板(或触摸屏)或一个在触摸板之上或之侧的单独表面部件。例如,两个扁E形致动器可以用于类似图9的配置以在两个轴x和y上驱动触摸板或表面部件。
致动器360可以做得比其它致动器薄很多,例如,该组件可以制成约3或4mm厚,比其它“E”芯致动器薄一半。磁性的设计可以叠加以获得最佳性能。直线和锁键力可以换取厚度。
其优点包括平面的薄的几何形状,适合于笔记本电脑、PDA和其它便携设备。移动磁体方式不需大的空隙,因此对笔记本电脑触觉反馈更有吸引力。一个“E”芯样机大小为10mm×20mm×8mm,小于多数马力和能耗相同的直流马达。而且,其是直接驱动配置,因此在致动器和触摸板之间不需传输。高效、低耗而易于制造的元件使得该致动器能廉价地制造。该致动器易于与现有触摸板PCB和模块集成。一个缺点是存在法向磁吸力,使得悬架成为必要。辊子和/或挠曲件和刀边悬架可以用在某些实施例中以抵抗法向磁力。
致动器360一般提供良好的带宽。可以获得较大(例如>1mm)位移。这些采用泡沫支撑铁磁件的对端的实施例具有低弹性常量的恢复弹簧,多数来自于以剪切模式操作的泡沫悬架。通过利用泡沫和/或辊子还可以降低可闻噪音。尽管触觉性能好,但表面位移足够小,使得当用户在触摸板上移动手指以使光标在桌面移动时,表面位移不明显影响光标运动。
图16a和16b是图15a-15c所示的“扁E形”致动器的另一实施例380的俯视和仰视透视图。一个铁磁件382(或在另一实施例中是一个叠层)包括一个近似“E”字的结构并具有绕E中心极385的线圈384。两极磁体386跨E字的中心极385放置,使得在铁磁件382和磁体之间形成间隙,类似于实施例360。金属片388(例如钢片)联接到磁体386并与铁磁件和磁体平行。可以设置盒子390作为中间层,其中辊子389(如虚线所示)可以置于盒子390的孔隙中并允许金属片388相对于铁磁件和磁体横向滑动。触摸板或触摸屏(未图示)可以刚性地联接到金属片388的顶上,片382落地。在替换实施例中,触摸板或触摸屏可以用落地的片388联接到片382。
实施例380还包括一个挠性悬架,其可以联接到中间层塑料盒子390,并且可以包括两个有效联接在钢片388和铁磁件382之间的联动件392。联动件392在端部394处接触钢片388并且在端部396处联接到盒子层390(或者与盒子层铸在一起成为单个塑料件)。每个联动件包括一个较薄部件398和较厚部件400。
在操作中,电流流过线圈384并且电流和磁体386引起的磁力使片388(以及触摸板)按箭头402所示方向移动。包括联动件392的悬架防止片388因为法向磁力或其它的力而歪斜。每个联动件392都弯曲以容纳片388的运动,其中较薄部件398首先弯曲,如果达到部件398的弯曲极限则较厚部件400弯曲。该薄-厚结构使得可以进行弹性对中直至较厚(较硬)的梁配合,这提供了较软的运动停止感。最终的运动极限是任一止动件404碰到片388的内边。
上述挠性悬架有效地允许所需的片和触摸板的横向运动,但防止在其它方向的运动。这使片388的运动稳定得多,并且不允许片388随着时间在其位置上漂移。而且,所述悬架在片388和触摸板上提供了理想的弹性对中力,使得触摸板在用户停止触摸和推动摸板时移动到其运动范围的中心。
图17a-17b是扁E形致动器触摸板的另一实施例420的透视和俯视图,该实施例使致动器小型化并提供利用现有引线框(lead frame)和重叠成型制造技术的预制表面安装设备。这种小尺寸设备可以波焊到触摸板模块并可以并行工作从而为触摸板平移(或在替换实施例中为z轴力)提供适当的冲程和力。
图17a-17c显示了PCB 422的俯视图,其包括单个扁E形致动器424。一个致动器424可以位于PCB 422的每个角上,如图所示。在其它配置中可以替换地安放更多或更少致动器。单个致动器424的使用可以提供更大幅度的力并允许每个致动器424有更小的力输出和成本。在一个实施例中,PCB 422是一个落地到笔记本电脑外壳的单独的PCB。触摸板(例如包括其自己的与PCB 422不同的PCB)然后联接到致动器的运动部分,例如联接到图17a所示的板426。在另一实施例中,PCB 422就是触摸板,并且致动器的运动部分联接到笔记本电脑中的落地表面,例如外壳。在这种实施例中,致动器424可以通过外壳的唇板向用户隐藏,该唇板围绕触摸板的周边延伸,留出PCB 422的中心区域给用户。
图17d是与触摸板分开的PCB 422一端的侧视图,包括扁E形致动器424。触摸板/PCB部件428联接到致动器424的移动部件430。
图17e显示了图17a所示的PCB 422的下侧的一个实施例的透视图,其中扁E形致动器424安装到PCB 422的下侧表面。这可以象“手放(hand-placed)”元件一样完成,或者优选地利用自动表面安装技术安装设备。“E”形铁磁件432可以落地到PCB 422上,使得致动器的磁体和钢制衬背板移动。
图17f和17g分别是具有3极并能象前述扁E形致动器一样操作的扁E形致动器424的俯视和仰视透视图。铁磁件432形状类似“E”字并具有一个线圈434绕着中心极。挠曲件436允许磁体438和钢衬背板440相对于铁磁件432和线圈434移动。触摸板(未图示)可以联接到钢衬背板440并且E形叠片432/线圈434可以落地,如同图17a-17e所示的实施例。或者,衬背板440和磁体438可以落地而触摸板联接到一个移动铁磁件432。
所述扁E形致动器可以用于直接平移触摸板模块或手掌表面。在所述实施例中,扁E致动器的总厚度可以是大约3mm或更小。能集成到现有触摸板产品线中的扁E磁性组件是尺寸、可制造性和规模的经济性方面优选的实施例。
在其它实施例中,可以使用其它动磁致动器设计,以及其它音圈致动器设计,诸如美国专利6,166,723和6,100,874所说明的。
在其它实施例中,其它类型的输入表面和显示屏也可类似地利用本文所述的任意致动器来平移。例如,光洁表面,诸如覆盖PDA显示屏或监视器或CRT的触摸屏的输入传感设备,可以类似地在x和/或y方向(平行于屏幕表面)平移以提供触觉反馈。这种光洁表面平移的一种应用是ATM机,其中用户通常在触摸屏上输入信息。触觉反馈能使这种输入更容易实现并且对低于一般视力的人更容易。触觉反馈可以在用户手指经过图形显示的按钮时进行指示,或者能以不同触觉感知来识别特定的显示的按钮。这在很多ATM应用中有用,因为没有移动的光标;触觉反馈有利于指示用户按钮被按下了,例如在按钮被激活的时候输出一个小的振动。触觉反馈还可以在嘈杂环境中帮助用户,诸如在交通流量大的地方,用户可能不易听到声音。
本文提供的实施例还可以在用户使用指示笔或其它物体在触摸板、触摸屏或输入区上输入数据的实施例中提供触觉反馈。触觉感知可以从触摸板(或其它移动表面)并通过指示笔或其它物体发送给用户。
其它特征
在有些实施例中与触觉反馈相关的人为因素还可以包括力过载保护。理想地,对非惯性反馈致动器和传动设计,诸如平移表面和差动表面,致动器最好以保真度产生大的力而不管致动器的载荷或在致动器运行路线中的位置。另一方式,用户的手指或手不应移动致动器到极限或达到运行条件的末端,这将削弱振动循环的一半。为此,致动器和传动机构的设计最好自然地与用户载荷分开。一个例子是具有由刚性悬架提供的高弹性对中力的E芯致动器,如图16a-16b所示的实施例。强力的致动器能轻易地克服该弹性力,并且手指在触摸板表面上的拖动力占全部致动器输出的小百分比。较弱的致动器可能需要更柔顺的悬架,这将允许用户交互干涉振荡并产生非直线输出。
有些实施例中与触觉反馈相关的另一人为因素是可听度。例如,手掌停放表面的使用和惯性致动器组件引起声音,这是触觉传声板的不可避免的副作用。有载荷的表面,诸如当用户触摸外壳或触摸板时,发出不好的声音,并且仍能很好地传递力。因此,在有些实施例中,可以用载荷测量设备确定用户的手何时在移动表面上以使得仅在有手在其上的时候才输出力。
要在向笔记本电脑或其它类似输入设备提供触觉功能的时候节约成本,可以在某些实施例中利用笔记本电脑、PDA或其它设备中现有的声音电子设备。例如,现有声音模拟输出(例如,数字到模拟转换器)和声音功率放大器可以为如上述的触摸板或其它笔记本电脑元件驱动用于触觉反馈的致动器,而不必增加附加的微处理器和/或附加功率电子设备。陷波滤波器或其它声音信号传感器可以用于提供触觉反馈信号。例如,触觉效果控制信号可以在听不到的声音频谱中提供并过滤,使得这些控制信号可以提供给触觉致动器,而可听到的范围中的剩余部分被路由到笔记本电脑的音频扬声器。或者,可以对可听到的范围之外且不包括音频信号的专门的信号进行过滤或路由以控制触觉反馈致动器。
而且,很多笔记本电脑中的现有软件跟踪电池电量以指示电源水平,警告用户,或者关闭笔记本电脑以保存电池电量。该跟踪软件可以接进触觉反馈应用程序。例如,如果电池电量低于一定水平,触觉反馈软件例程可以降低甚或关闭对用户的输出力。这可以通过降低力的幅度,或通过降低GUI中具有触觉效果的图形对象的类型或数量,例如通常50ms的效果可以降低到40ms等。而且,可以使用这些方法的组合。最后,有些笔记本电脑具有不同的设置,诸如高能耗、中能耗和低能耗,用户可以可以根据需要选择,例如低能耗设置下电池能用底更久。触觉反馈控制件可以链接到所述设置由这种设置来控制。例如,如果用户选择低能耗模式,触觉反馈控制器可以如上调整以降低触觉效果的能耗需求。
图18是本发明的触摸板450的俯视图。在有些实施例中触摸板450可以简单地用作定位设备,其中触摸板的整个区域都提供光标控制。在其它实施例中,板的不同区域可以用于不同功能。在这些区域的有些实施例中,可以每个区域在其下面提供一个致动器,或者物理地关联一个致动器,而其它区域实施例可以使用单个致动器向整个触摸板450施力。在所示实施例中,可以用一个中心光标控制区域452定位笔记本电脑或其它设备显示的一个光标或视点。
触摸板的光标控制区域可以使得在触摸板上根据受控光标与图形环境和/或该环境中的事件之间的交互作用来输出力。用户在区域452中移动手指或其它物体以,例如,相应地移动光标20。力优选地与光标和所显示图形对象之间的交互作用相关联。例如,可以输出摇晃或“脉冲”感知,其是快速升起到所需幅度然后关闭或快速消退到零或很小幅度的单个力脉冲。触摸板450可以是在一个方向的摇晃,或者在惯性触觉反馈实施例中是在z轴或其它轴上惯性地振荡,或者触摸板可以在一个方向平移或振荡一次或多次以提供脉冲。也可以输出振动感觉,其是通常周期性随时间变化的力。该振动能使触摸板450或其部分来回振荡多次,并且可以由主机或本地微处理器输出以模拟主机应用程序中发生的特定效果。
触摸板上可以输出的另一种类型的力感使纹理力。这种力类似于脉冲力,但依赖于用户手指在触摸板的区域上和/或在图形环境中光标处的位置。因此,纹理凸起可以根据光标是否在图形环境中移过一个凸起的位置来输出。这种力是依赖于空间的,亦即,根据光标在移过指定纹理区域时的位置输出力;当光标移过一个凸起时,输出一个力。这可以通过在光标拖过光栅时主机发送脉冲信号来达到,或者可以将一个单独的触摸板处理器专用于触摸板的触觉反馈,并且纹理效果可以利用本地控制(例如,主机发送带有纹理参数的高电平命令并且感知直接由触摸板处理器控制)得到。在其它情况下,纹理可以通过向用户提供振动来执行,振动依赖于用户手指(或其它物体)在触摸板上的当前速度。当手指静止时,不会激起振动;随着手指移动加快,振动的频率和振幅增加。该感知可以由触摸板处理器(如果有)或主机控制。还可以提供其它空间力感。另外,这里所需的任何力感可以同时输出或者按需组合输出。
不同类型的图形对象可以关联到触觉感知。触觉感知能在触摸板上根据光标与窗口、菜单、图标、网页链接等之间的交互作用来输出。例如,当光标移过一个窗口的边界时可以在触摸板上输出“凸起”或脉冲以通知用户光标的位置。在其它相关交互中,当用触摸板执行(通过光标的使用)速率控制或滚动功能时,可以相关于速率控制功能输出感知。而且,触摸板上输出力的幅度可以依赖于图形环境中的事件或交互,包括独立于用户的事件。这些力感还可以用于游戏或仿真中。美国专利6,211,861中说明了这些或其它触觉感知。其它可以包括本发明的触摸板在其外壳中的控制设备或手柄包括:用于在计算机生成的环境中操纵光标或其它图形对象游戏板、鼠标或轨迹球设备;或者一个压力球或类似物。
有些形式的触摸板和触摸屏允许感测用户施加在触摸板上的压力量。这允许至少部分地根据感测到的压力确定各种触觉感知。例如,可以用依赖于感测到的压力的频率输出周期性振动。或者,输出触觉感知的增益(幅度)可以根据感测到的压力调整。通常以更大的压力使用触摸板的用户可以选择一个持久有效的自动幅度增加。
触摸板和触摸屏的其它实施例允许用户通过跟踪光标控制区域或其它区域上的符号来输入“手势”或快捷键,其被处理器识别为命令或数据。触觉感知可以关联于或取决于特定手势。例如,当识别出模式确认手势时,模式的确认可以以特定触觉感知进行触觉的传递。从手势识别的特征还可以每个都具有特定触觉感知与其关联。在多数触摸板实施例中,用户能通过“轻敲”触摸板选择一个图形对象或菜单项。有些触摸板可以识别一个“一下半轻敲”或双敲,即用户轻敲一下然后再次触摸所述板并在移动手指的时候维持手指或物体在板上。例如,这种手势可以提供“拖动”模式,其中对象随光标移动。当用户处于这种拖动模式中的时候,可以输出振动或其它触觉感觉以指示用户该模式激活了。
如上所述,触摸板450还可以提供不同控制区域,其提供来自主光标控制区域452的单独输入。在有些实施例中,不同区域可以在触摸板450的表面上(和/或来自计算机10的声音)物理地标上线、边界或纹理,使得用户能可见地、可听地和/或触觉地分辨出他/她在触摸板上接触的是哪个区域。
例如,滚动或速率控制区域454a和454b能用于提供输入以执行速率控制任务,诸如滚动文档、调整值(诸如音量、扬声器均横、监视器显示亮度等),或在游戏或仿真中左右/俯仰视野。可以通过放置手指(或其它物体)在该区域中来使用区域454a,其中该区域的上部将增加值、上滚等,而区域的下部将降低值、下滚等。在能读取置于触摸板上的压力的实施例中,压力的量能直接控制调整的比例;例如,较大的压力将使文档滚动更快。区域454b能类似地用于水平(左/右)滚动或一个不同值、视野等的速率控制调整。
可以将特定触觉效果与控制区域454a和454b关联。例如,当使用速率控制区域454a和454b时,触摸板上能输出特定频率的振动。在那些有多个致动器的实施例中,可以激活直接置于区域454a和454b之下的致动器,从而为“激活(当前使用)”的区域提供更局部化的触觉感知。当区域454的一部分被按下进行速率控制时,触摸板(或触摸板的区域)上可以输出脉冲以指示何时页面滚过,经过一个特定值等。用户接触区域454a和454b时还可以连续输出振动。
其它区域456也可以置于触摸板450上。例如,每个区域456都可以是小矩形区域,象按钮,用户可以点它以指示一个与所点区域关联的功能。区域456能发起这种计算机功能,诸如运行一个程序,打开或关闭一个窗口,在web浏览器中的一列网页中“前进”或“后退”,给计算机10供电或启动“睡眠”模式,检查邮件,在游戏中开火,从缓冲区剪切或粘贴数据,将文件存储到存储设备中,选择一种字体等。区域456能复制应用程序中提供的功能和按钮或提供新的不同的功能。
类似于区域454,区域456可以每一个都跟触觉感知关联;例如,区域456能在其被用户选择时提供一个脉冲感知,提供该功能被选择的即时反馈。例如,感知可以在用户在区域456、452或454上“轻敲”手指或其它物体以作出选择时输出诸如脉冲的触觉。类似于根据所按深度提供输出范围的物理的模拟按钮,一个或多个区域456可以是象模拟的按钮,这是通过根据用户在触摸板上施加的压力提供成比例的、阶梯式的或模拟输出达到的。
而且,相同类型的区域可以与类似感觉的触觉感知关联。例如,每个字处理相关区域456可以在被指点时引起一个特定强度的脉冲,而每个游戏相关区域456可以提供一个不同强度的脉冲或振动。而且,当用户从一个区域454或456移动指点物体到另一个区域时,触摸板450上可以输出触觉感知(诸如脉冲)以通过跨过了区域边界。例如,可以在指点物体进入指定的区域时输出快速消退到零幅度的高频振动。这是有价值的,因为其提供区域454和456的边界指示,否则用户不能得知。这还允许区域的尺寸和/或位置重设并允许用户快速通过触觉得知新的布局。区域还可以关联于在图形环境中定义区域的“封壳”,以及在光标进入、存在并移动于该封壳和具有这种关联的特定边界中的时候输出的不同触觉感知。
另外,区域优选地可对尺寸和形状以及所关联的功能进行编程。因此区域456的功能能够根据图形环境中激活的应用程序和/或根据输入和/或存储在计算机10中的用户偏好来变化。优选地,每个区域的尺寸和位置都可以由用户或应用程序调整,并且如果需要,可以删去任意或全部区域。而且,用户优选地能够根据与区域相关的功能类型将特定触觉感知分配给特定区域或区域类型。可以在诸如加州圣荷塞的Immersion公司的Immersion StudioTM的根据中设计不同触觉感知。
需注意,区域454和456不必是触摸板450的物理区域。亦即,整个触摸板表面仅需提供用户接触坐标给计算机的处理器,并且计算机上的软件能指派不同区域的所在。计算机能解释所述坐标并且能根据用户接触位置将触摸板输入信号解释为光标控制信号或不同类型的信号,诸如速率控制、按钮功能等(例如,如果需要,驱动程序能提供该解释功能)。触摸板微处理器,如果有,可以替换地解释与用户接触位置关联的功能并向主机处理器(报告适当的信号或数据诸如位置坐标或按钮信号),因此不让主机处理器或软件作低层处理。在其它实施例中,触摸板450可以物理地设计成根据物理地标记在用户所接触的触摸板表面上的不同区域来输出不同信号给计算机;例如,每个区域可以被不同的传感器或传感器阵列感测。
本文的这些提供触觉反馈给用户接触触摸板或触摸屏的手指或物体的实施例都可以用于触摸板450的区域。
尽管本发明是以几个优选实施例,但其修改、置换和等同物对阅读本说明书和附图的本领域技术人员是明显的。例如一个实施例中说明的很多功能可以互换地用于其它实施例中。而且,特定术语是用于清楚描述的目的,而不是限制本发明。
Claims (36)
1.一种触觉反馈的触摸控制件,用于输入信号到计算机并输出力给该触摸控制件的用户,该触摸控制件包括:
一个触摸输入设备,包括平面或者几乎平面的触摸表面,用于根据所述用户在所述触摸表面上的接触部位提供位置信号,所述位置信号二维地表示所述部位;其中所述计算机接收从所述位置信号派生的位置信息;以及
至少一个联接到所述触摸输入设备的致动器,所述致动器在所述触摸输入设备上输出力以使触摸输入设备平行或者几乎平行于其表面地横向移动,以向接触所述触摸表面的用户提供触觉感知,其中所述致动器根据所述计算机输出的力信息输出所述力。
2.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述计算机至少部分地根据所述位置信号在显示于显示设备上的图形环境中定位光标。
3.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述触摸输入设备是触摸板,所述触摸板与所述计算机的显示屏相分离。
4.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述触摸输入设备集成在所述计算机的外壳中。
5.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述用户用其手指接触所述触摸表面。
6.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述用户用所持的有形物体接触所述触摸表面。
7.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述至少一个致动器是在平行或者几乎平行于所述触摸输入设备的所述表面的第一横向方向输出第一力的第一致动器,并且还包括一个第二致动器,联接到所述触摸输入设备,并用于沿平行或者几乎平行于所述表面且与所述第一横向方向正交或者几乎正交的第二横向方向在所述触摸输入设备上输出一个第二力。
8.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述致动器是直线致动器,在直线自由度上提供输出力,并且所述致动器联接在所述触摸板和落地的外壳之间。
9.如权利要求8所述的触觉反馈的触摸控制件,其特征在于,所述致动器是旋转致动器,在旋转自由度上提供输出力,所述输出力被转化为所述直线力。
10.如权利要求8所述的触觉反馈的触摸控制件,其特征在于,所述致动器是E芯致动器。
11.如权利要求10所述的触觉反馈的触摸控制件,其特征在于,所述致动器包括至少一个辊子,让所述致动器的衬背板相对于所述致动器的磁体滑动。
12.如权利要求11所述的触觉反馈的触摸控制件,其特征在于,所述致动器包括一个挠曲件,在所述衬背板和所述磁体之间提供弹性恢复力。
13.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述致动器横向地振荡所述触摸输入设备。
14.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述触摸输入设备包括单个不同区域,其中至少所述区域之一提供所述位置信号并且至少另一区域提供用于所述计算机控制不同功能的信号。
15.如权利要求14所述的触觉反馈的触摸控制件,其特征在于,至少所述区域之一与所述触摸输入设备上输出的不同于另一区域的触觉感知相关联。
16.如权利要求14所述的触觉反馈的触摸控制件,其特征在于,当用户从所述区域之一移动接触物体到另一区域时输出触觉感知。
17.如权利要求1所述的触觉反馈的触摸控制件,其特征在于,所述致动器是第一致动器,并且还包括至少一个附加致动器联接到所述触摸输入设备,其中所述致动器是表面安装到印刷电路板上的E芯致动器。
18.一种触觉反馈的触摸控制件,用于输入信号到计算机并输出力给该触摸控制件的用户,该触摸控制件包括:
一个触摸输入设备,包括平面或者几乎平面的触摸表面,用于根据所述用户在所述触摸表面上的按压部位提供位置信号,所述位置信号二维地表示所述部位;其中所述计算机接收从所述位置信号派生的位置信息;
一个表面部件,位于所述触摸输入设备附近,其中用户在按压所述触摸输入设备的时候能够接触所述表面;以及
至少一个联接到所述表面部件的致动器,所述致动器在所述表面部件上输出一个力以向接触所述表面部件的用户提供触觉感知,其中所述致动器根据所述计算机输出的力信息输出所述力。
19.如权利要求18所述的触觉反馈的触摸控制件,其特征在于,所述表面部件在平行或者几乎平行于所述平面触摸表面的平面中横向平移。
20.如权利要求19所述的触觉反馈的触摸控制件,其特征在于,所述表面部件位于所述触摸输入设备之上并且至少与所述触摸输入设备的所述表面一同伸展,使得所述用户按压所述表面部件以按压所述触摸输入设备。
21.如权利要求20所述的触觉反馈的触摸控制件,其特征在于,所述致动器是直线致动器。
22.如权利要求20所述的触觉反馈的触摸控制件,其特征在于,所述致动器是旋转致动器,其中联动件将旋转输出力转化为所述平移表面部件上的直线或者几乎直线的输出力。
23.如权利要求18所述的触觉反馈的触摸控制件,其特征在于,所述致动器是音圈致动器,其中线圈物理地联接到所述表面部件。
24.如权利要求18所述的触觉反馈的触摸控制件,其特征在于,所述表面部件位于所述触摸输入设备一侧,使得所述用户用一个手指触摸所述触摸输入设备而用另一手指或手掌触摸所述表面部件。
25.如权利要求21所述的触觉反馈的触摸控制件,其特征在于,所述表面部件位于邻近所述触摸输入设备的有形按钮之上。
26.如权利要求18所述的触觉反馈的触摸控制件,其特征在于,所述表面部件上的力是垂直或者几乎垂直于所述表面部件的一个表面地输出的直线力。
27.如权利要求26所述的触觉反馈的触摸控制件,其特征在于,所述直线力是由包括所述致动器并移动一个惯性物的致动器组件输出的惯性力,其中所述惯性力通过所述表面部件传递给接触所述表面部件的用户。
28.如权利要求18所述的触觉反馈的触摸控制件,其特征在于,所述表面部件是一个联接到所述计算机外壳并位于所述触摸输入设备边的手掌表面。
29.如权利要求18所述的触觉反馈的触摸控制件,其特征在于,所述计算机用于驱动所述至少一个致动器。
30.一种用于向触摸输入设备提供触觉反馈的方法,所述触摸输入设备向计算机设备提供输入,所述计算机设备实现图形环境,该方法包括:
从所述触摸输入设备接收一个位置信号,所述位置信号指示所述用户在一个表面上的所按压的接触部位的位置信号;
确定所述接触部位位于所述表面上的多个区域中的哪一个之中,其中所述触摸输入设备的所述表面被分成所述多个区域;以及
提供力信息以使至少一个致动器输出力给操作所述触摸输入设备的所述用户,关联于所述用户的所述力在所述触摸输入设备的所述表面上移动物体。
31.如权利要求30的方法,还包括实现一个与所述接触部位所在的所述区域关联的功能。
32.如权利要求31的方法,其特征在于,关联于所述区域的所述功能包括一个值的速率控制功能。
33.如权利要求31的方法,其特征在于,关联于所述区域的所述功能包括根据所述位置信号将光标移到一个屏幕位置。
34.如权利要求31的方法,其特征在于,关联于所述区域的所述功能包括一个也能通过选择由运行于所述计算机设备上的应用程序选择的图形按钮来发起的功能。
35.如权利要求30的方法,其特征在于,在所述用户从所述触摸输入设备的一个不同区域移动物体跨过所述接触部位被定位的所述区域的边界时输出所述力。
36.如权利要求30的方法,其特征在于,在所述触摸输入设备的所述表面上移动的所述物体包括所述用户的手指或所述用户所持的物体。
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- 2002-03-08 WO PCT/US2002/007102 patent/WO2002073587A1/en active Application Filing
- 2002-03-08 JP JP2002572160A patent/JP2004530200A/ja active Pending
- 2002-03-08 CN CNB028062590A patent/CN1264136C/zh not_active Expired - Lifetime
- 2002-03-08 EP EP02715077.0A patent/EP1374217B1/en not_active Expired - Lifetime
- 2002-03-08 AU AU2002247296A patent/AU2002247296A1/en not_active Abandoned
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2004
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- 2004-08-17 US US10/919,798 patent/US7548232B2/en not_active Expired - Fee Related
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2007
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- 2007-10-30 US US11/981,252 patent/US20080062145A1/en not_active Abandoned
- 2007-10-30 US US11/981,221 patent/US8063892B2/en not_active Expired - Fee Related
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2012
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CN1496549A (zh) | 2004-05-12 |
US20050017947A1 (en) | 2005-01-27 |
WO2002073587A9 (en) | 2002-12-05 |
US20120235942A1 (en) | 2012-09-20 |
JP2004530200A (ja) | 2004-09-30 |
US20080060856A1 (en) | 2008-03-13 |
EP1374217B1 (en) | 2014-03-05 |
US20050052430A1 (en) | 2005-03-10 |
EP1374217A4 (en) | 2007-07-18 |
AU2002247296A1 (en) | 2002-09-24 |
WO2002073587A1 (en) | 2002-09-19 |
US20080062144A1 (en) | 2008-03-13 |
US20080062143A1 (en) | 2008-03-13 |
US8059104B2 (en) | 2011-11-15 |
US7548232B2 (en) | 2009-06-16 |
KR100887778B1 (ko) | 2009-03-09 |
US6822635B2 (en) | 2004-11-23 |
US7450110B2 (en) | 2008-11-11 |
US20080062145A1 (en) | 2008-03-13 |
US8188981B2 (en) | 2012-05-29 |
EP1374217A1 (en) | 2004-01-02 |
US20020033795A1 (en) | 2002-03-21 |
US8063892B2 (en) | 2011-11-22 |
KR20030082968A (ko) | 2003-10-23 |
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