NL1041425B1 - Haptic communication system, method and device for caressing a hand. - Google Patents

Haptic communication system, method and device for caressing a hand. Download PDF

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Publication number
NL1041425B1
NL1041425B1 NL1041425A NL1041425A NL1041425B1 NL 1041425 B1 NL1041425 B1 NL 1041425B1 NL 1041425 A NL1041425 A NL 1041425A NL 1041425 A NL1041425 A NL 1041425A NL 1041425 B1 NL1041425 B1 NL 1041425B1
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Netherlands
Prior art keywords
hand
stroking
external surface
touch
vibration
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NL1041425A
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Dutch (nl)
Inventor
Petrignani Frederic
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Holland Haptics B V
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Priority to NL1041425A priority Critical patent/NL1041425B1/en
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Publication of NL1041425B1 publication Critical patent/NL1041425B1/en

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Abstract

The invention relates to a social touch communication system for hand stroking. A social touch communication system for stroking is a system that can communicate the sense of touch through interactive surfaces, comprising two devices in communication with each other. Simulation of stroking through the surfaces is achieved by at least one actuator in each device vibrating across said surfaces, and two users, one on each device, holding and/or stroking said surfaces.

Description

Haptic communication system, method and device for caressing a hand
The invention relates to a hand stroking communication system. A hand stroking communication system is a system that can communicate the sense of being stroked through interactive surfaces, comprising two devices in communication with each other (or a device in communication with a virtual reality). Simulation of hand stroking through the surfaces is achieved by at least one actuator in each device actuating across said surfaces, and two users, one on each device, holding and/or stroking said surfaces.
The invention aims at a cost effective and/or reliable system which gives users a hand stroking sensing experience through hand stroking which is as natural as possible.
According to the invention, the system comprises a computer network comprising at least one computer or mobile device (e.g. smartphone or tablet) having a processing unit, and two hand stroking input/output devices connected to said computer network at different locations, and computer software arranged to run on said computer processing unit, said hand stroking input/output devices each comprising: a housing designed to be held comfortably by a human hand; one or more touch sensors, at least one actuator in said housing, wherein said actuators comprise a set of vibration motors, and a touch member having an outer surface, said touch member being arranged to be moved through vibration at different locations, such that a user can feel being stroked by touching said outer surface; said actuator being provided by said touch sensors, with means arranged to determine continuously whether it is touched or stroked by the user, and means arranged to communicate continuously the positions it is being touched on said outer surface to said computer processing unit; wherein said computer software is arranged to use said positions, of two corresponding actuators in said two devices to vibrate the next position on outer surfaces, one for each of said actuators, and to communicate said next positions to the respective actuators; and wherein said actuators are arranged to vibrate said outer surfaces instantly at the corresponding positions.
Preferably said hand stroking input/output devices are substantially identical and each device comprises a multitude of said touch sensors and actuators, wherein said software is arranged to communicate said positions between each one touch sensor in one device and the corresponding actuator in the other device.
Said hand stroking input / output devices can have various dimensions so as to fit a child or adult person's hand, wherein said multitude of sensors and actuators are arranged such that the outer surfaces of said sensors and actuators extend in a substantially curved surface and can simultaneously touch all different parts of said hand, being at least the inner parts of the five fingers and the palm of said hand.
Said outer surfaces of said multitude of actuators are preferably covered by one flexible membrane, for instance a rubber membrane, where said membrane is preferably touch sensitive.
Said computer software is preferably arranged to calculate said two next vibrational positions of said outer surfaces such, that if a position is determined in one of said sensors, the corresponding actuator is brought to vibration, instantly or as quickly as the actuator allows, and the same occurs vice versa, from the corresponding sensor to the first, such that a smooth natural feeling of caressing is experienced by users operating the devices as if their two hands were in mutual physical contact.
Optionally, in order to even further extend the use of the hand stroking communication system, it may be possible to arrange the computer programme such that predetermined vibrational position changes are used, for instance in accordance with a corresponding audio and/or visual recording, or that vibrational position changes occur in accordance with input from a visual reality system, for instance when the user operating one device is not a human but a virtual character.
The invention furthermore relates to a hand stroking input/output device comprising: a housing designed to be held comfortably by a human hand ; one or more touch sensors, at least one actuator in said housing; wherein said actuator comprises at least one vibration motor, and a touch member having an outer surface, said touch member being arranged to be moved through vibration at different positions, such that a user can feel the vibrational position change by touching said outer surface; said touch sensor being provided with means arranged to determine continuously the position being touched on said outer surface, and means arranged to communicate continuously said position to a computer processing unit; and wherein said actuator is arranged to move said outer surface instantly through vibration at the communicated next position.
Furthermore the invention relates to a method for communicating hand stroking between two persons, or between a person and a virtual character, using a hand stroking communication system comprising a computer network comprising at least one computer having a processing unit, and two hand stroking input / output devices connected to said computer network at different locations, and computer software running on said computer processing unit, said hand stroking input / output devices each comprising: a housing designed to be held comfortably by a human hand ; at least one touch sensor, at least one actuator in said housing, wherein said actuator comprises at least one vibration motor; and a touch member having an outer surface, said touch member being arranged to be moved through vibration at different positions, such that a user feels said vibrational position change by touching said outer surface and can touch said touch sensors in order to provide it with the user's own touch positions; said sensor being provided with means which determine continuously the position being touched on said outer surface, and means which communicate continuously said position to said computer processing unit; wherein said computer software uses said position to calculate two next vibrational position of outer surfaces, and communicates said next position to the respective actuator; and wherein said actuators move said outer surface instantly through vibration at the calculated and communicated next position.
The invention also relates to a computer software programme arranged to carry out the method, as well as to a hand stroking input / output device in combination with such a computer software programme.
The invention will now be described by means of a preferred embodiment, with reference to the drawings, wherein :
Figure 1 is a perspective view of a hand stroking device used in the system of the invention;
Figure 2 is a view on how the device in figure 1 is held by the hand;
Figure 3 is a perspective view of how the device in figure 1 is stroked;
Figure 4 is a perspective explosion view of the device in figure 1;
Figure 5 is a sectional explosion view of the actuating components;
Figure 6 is a schematic view of a system according to the invention.
According to figure 1 and 2 the hand stroking device comprises a housing, which can be placed stably on a table and which can be picked up and held by a hand. The shell is provided with surface areas for the exchange of stroking between the hand and the device.
The shape and dimensions of the housing can vary in size, so as to be held easily by the hand of a person of any age, child or adult. According to figure 3,4 and 5, the primary surface for sensing the stroking effected by the first user is the area on top, and the surface for actuating the stroking to receiving user two is the surface that touches part of the back of the hand. However, the stroking areas, both sensing and actuating, can in principle be any area of the device, and the device can be altered in shape to touch any area of the hand. The device is suited for both left and right handed people.
As shown in figure 4, the device comprises a partial housing 1, for instance compressible to mimic touching a human hand, a touch sensitive surface to register the flow and direction of the stroking, a partial lever 3, vibration motors 4, the remaining part of the lever 5 and the remaining part of the housing 6. Each vibration motor on one device corresponds with part of the touch sensitive surface on the other device. As shown in figure 5, the vibration motors are placed in a row (or in any array if there is more than one row), in distinct places each of them, with partial housing in between. This is to enhance the user's capability of sensing the distinct locations being actuated.
The working principle of the hand stroking communication system is such that once a user holds a device that is in communication with another device, the stroking of that user, as measured by touch sensitive area 2, is communicated to the other device, and the stroking actuators, for instance vibration motors, in the other device are brought to actuate corresponding with the first user's stroking movement, so that the other user can feel the stroking of the first user's hand. The same happens in the other direction, i.e. the first user can feel the stroking of the other user's hand because the vibration motors of the first user's device are actuated according to the stroking movement of the other user's hand.
As mentioned, the actuators, for instance vibration motors, can be placed elsewhere on the device, and can be placed in arrays as well as lines, and the touch sensitive surface can be placed on any part of the device, as long as it can be stroked by the user's hand, and as long as the vibration motors' vibrations can be felt by part of the user's hand.
Figure 6 shows the system of the invention, wherein two smartphones, tablets or personal computers 21 are connected through the internet 20, and each smartphone, tablet or personal computer 21 is connected to a hand stroking device 100 as described hereinbefore.
It is noted explicitly that any one side of figure 6 can be virtual, in the sense that a human hand can stroke or feel stroked by a virtual character, this virtual character being either humanlike or non-humanlike, in which case there would not be two devices communicating between each other, but only one, communicating with a hand or corresponding body part inside a virtual reality.
Also noted is that the processing unit normally found in a computer, tablet or smartphone can also be placed inside the hand stroking input/output device itself, thereby eliminating the need for a wireless connection between the social touch device and a separate computer or mobile device, and schematically creating a direct link between the social touch device and the internet.
The invention has thus been described by means of a preferred embodiment. It is to be understood, however, that this disclosure is merely illustrative, and extends to other embodiments, including gloves. Various details of the structure and function were presented, but changes made therein, to the full extent extended by the general meaning of the terms in which the appended claims are expressed, are understood to be within the principle of the present invention. The description and drawings shall be used to interpret the claims. The claims should not be interpreted as meaning that the extent of the protection sought is to be understood as that defined by the strict, literal meaning of the wording used in the claims, the description and drawings being employed only for the purpose of resolving an ambiguity found in the claims. For the purpose of determining the extent of protection sought by the claims, due account shall be taken of any element which is equivalent to an element specified therein.

Claims (13)

1. Een communicatiesysteem voor hand aaien, bevattende een computer netwerk, bevattende ten minste één mobiele telefoon, tablet of computer met een verwerkingseenheid en twee invoer/uitvoer apparaten voor hand aaien verbonden met genoemd computer netwerk op verschillende geografische locaties, en computer software geschikt om te functioneren op genoemde computer verwerkingseenheid, genoemde invoer/uitvoer apparaten voor hand aaien elk bevattende: een behuizing geschikt om vast te worden gehouden door een menselijke hand of omvattende een menselijke hand (bijv. een handschoen); minimaal één aanrakingsgevoelig oppervlak op genoemde behuizing, zo ingericht dat het de precieze positie (in mm) van aanraking en beweging kan voelen; minimaal één actuator in genoemde behuizing, met het kenmerk dat genoemde actuator bestaat uit één of meer vibratiemotors en een aanrakingselement met uitwendig oppervlak, genoemd aanrakingselement zo ontworpen dat het door vibratie bewogen kan worden, zodanig dat een gebruiker genoemde vibratie en positionele verandering kan voelen door genoemd uitwendig oppervlak aan te raken; genoemd aanrakingsgevoelig oppervlak is voorzien van een manier om in staat te zijn continu bij genoemde intervallen de positie van aanraking te bepalen op genoemd uitwendig oppervlak en de mogelijkheid om continu de genoemde positie te communiceren met genoemde computer verwerkingseenheid; waarbij genoemde computer software is ingericht om de genoemde positie te communiceren naar de respectievelijke actuator; en waarin genoemde actuatoren zo zijn geplaatst om het uitwendig oppervlak direct door middel van vibratie te bewegen op de berekende en gecommuniceerde volgende positie.A hand-held communication system, comprising a computer network, comprising at least one mobile telephone, tablet or computer with a processing unit and two input / output devices for hand-stroking connected to said computer network at different geographical locations, and computer software capable of to function on said computer processing unit, said input / output devices for hand stroking each comprising: a housing adapted to be held by a human hand or comprising a human hand (e.g., a glove); at least one touch sensitive surface on said housing, arranged so that it can feel the precise position (in mm) of touch and movement; at least one actuator in said housing, characterized in that said actuator consists of one or more vibration motors and a touch element with external surface, said touch element designed so that it can be moved by vibration, such that a user can feel said vibration and positional change by touching said external surface; said touch sensitive surface is provided with a way to be able to continuously determine the position of touch on said external surface at said intervals and the ability to continuously communicate said position with said computer processing unit; wherein said computer software is adapted to communicate said position to the respective actuator; and wherein said actuators are arranged to move the external surface directly by means of vibration to the calculated and communicated next position. 2. Een communicatiesysteem voor hand aaien in overeenstemming met conclusie 1, met het kenmerk dat genoemde actuator is gemonteerd in een behuizing die herhaalbare positionele vibratie toestaat.A hand-held communication system according to claim 1, characterized in that said actuator is mounted in a housing that allows repeatable positional vibration. 3. Een communicatiesysteem voor hand aaien in overeenstemming met elk van de afzonderlijke conclusies, met het kenmerk dat genoemde invoer/uitvoer apparaten voor hand aaien substantieel identiek zijn en elk apparaat een veelvoud van genoemde sensoren en actuatoren omvat, waarbij genoemde software is gericht op het communiceren van genoemde positie tussen elk individuele sensor of positie op een sensor in één apparaat en de overeenkomende actuator in het andere apparaat.A hand-held communication system according to any of the individual claims, characterized in that said hand-in input / output devices are substantially identical and each device comprises a plurality of said sensors and actuators, said software being focused on the communicating said position between each individual sensor or position on a sensor in one device and the corresponding actuator in the other device. 4. Een communicatiesysteem voor hand aaien in overeenstemming met conclusie 3, met het kenmerk dat genoemd invoer/uitvoer apparaat voor hand aaien dusdanige afmetingen heeft dat het comfortabel vastgehouden kan worden door de hand van een kind of volwassene, en waarbij het genoemde veelvoud van sensors en actuators zodanig zijn geplaatst in, over en/of onder het uitwendige oppervlak dat de aanrakingselementen van genoemde actuatoren verdeeld zijn over een substantieel gebogen oppervlak en zodoende alle onderdelen van genoemde hand kunnen aanraken, zijnde minimaal de palm en/of de binnenkant van één of elk van de vijf vingers van genoemde hand.A hand stroking communication system according to claim 3, characterized in that said hand stroking input / output device is of such dimensions that it can be comfortably held by the hand of a child or adult, and wherein said plurality of sensors and actuators are placed in, over and / or under the external surface such that the contact elements of said actuators are distributed over a substantially curved surface and thus can touch all parts of said hand, being at least the palm and / or the inside of one or each of the five fingers of said hand. 5. Een communicatiesysteem voor hand aaien in overeenstemming met elk van de afzonderlijke conclusies, met het kenmerk dat de genoemde aanrakingselementen en genoemde uitwendige oppervlakken van genoemd veelvoud van actuators afgedekt zijn door één flexibel membraan, zoals een rubber membraan, dat zelf aanrakingsgevoelig kan zijn.A hand-held communication system according to any of the separate claims, characterized in that said touch elements and said external surfaces of said plurality of actuators are covered by one flexible membrane, such as a rubber membrane, which may itself be touch sensitive. 6. Een communicatiesysteem voor hand aaien in overeenstemming met elk van de afzonderlijke conclusies, met het kenmerk dat genoemde computer software is ingericht om de twee volgende relatieve posities van genoemd uitwendig oppervlak te berekenen zodanig, dat genoemde twee actuators door vibratie bewogen worden, zodanig dat een soepele en natuurlijk aanvoelende positieverandering, zijnde beweging, wordt ervaren door gebruikers die het apparaat bedienen, alsof hun twee handen fysiek contact zouden maken.A hand-held communication system in accordance with any of the separate claims, characterized in that said computer software is arranged to calculate the two following relative positions of said external surface such that said two actuators are vibrated such that a smooth and naturally sensible position change, being movement, is experienced by users operating the device as if their two hands were making physical contact. 7. Een communicatiesysteem voor hand aaien in overeenstemming met elk van de afzonderlijke conclusies, met het kenmerk dat genoemde software is ingericht om genoemde volgende vibratie-posities te berekenen middels een algoritme dat over tijd rekening houdt met vertraging over afstand en inactiviteit van genoemde gebruikers.A hand-held communication system in accordance with any of the individual claims, characterized in that said software is arranged to calculate said subsequent vibration positions by means of an algorithm that takes into account the delay over distance and inactivity of said users over time. 8. Een invoer/uitvoer apparaat voor hand aaien bevattende : een behuizing geschikt om vast te worden gehouden door een menselijke hand; ten minste één aanrakingsgevoelig oppervlak, zo ingericht dat het de precieze positie (in mm) can aanraking kan voelen; ten minste één actuator in genoemde behuizing, gekenmerkt door genoemde actuator die omvat een vibratiemotor, en een aanrakingselement met een uitwendig oppervlak, genoemd aanrakingselement zo ontworpen dat het door vibratie bewogen kan worden, zodanig dat een gebruiker positieverandering kan voelen door aanraking van het uitwendige oppervlak; genoemde aanrakingsgevoelig oppervlak omvat het continu kunnen meten van de positie van aanraking op genoemd uitwendig oppervlak met genoemde intervallen en het continu kunnen bepalen van de positie van genoemd uitwendig oppervlak, en de mogelijkheid om genoemde positie continu te communiceren met genoemde intervallen naar een computer verwerkingseenheid; en waarbij genoemde actuator is ingericht om het genoemde uitwendige oppervlak door vibratie te bewegen op de berekende en gecommuniceerde volgende positie.An input / output device for hand stroking comprising: a housing adapted to be held by a human hand; at least one touch sensitive surface, arranged so that it can sense the precise position (in mm) of touch; at least one actuator in said housing, characterized by said actuator comprising a vibration motor, and a contact element with an external surface, said contact element designed so that it can be moved by vibration, such that a user can feel a position change by touching the external surface ; said touch sensitive surface includes being able to continuously measure the position of contact on said external surface at said intervals and being able to continuously determine the position of said external surface, and the ability to continuously communicate said position at said intervals to a computer processing unit; and wherein said actuator is adapted to vibrate said external surface at the calculated and communicated next position. 9. Een methode voor het communiceren van hand aaien tussen twee personen, gebruikmakend van een communicatiesysteem voor hand aaien omvattende een smartphone, tablet of computer netwerk omvattende ten minste één mobiele telefoon, tablet of computer met een verwerkingseenheid, en twee invoer / uitvoer apparaten voor hand aaien verbonden met genoemd computer netwerk vanaf verschillende geografische locaties, en computer software werkend op genoemde computer verwerkingseenheid, genoemd invoer / uitvoer apparaat voor hand aaien omvat: een behuizing geschikt om vast te worden gehouden door een menselijke hand; ten minste één aanrakingsgevoelig oppervlak, zo ingericht dat het de precieze positie (in mm) van aanraking kan voelen; ten minste één actuator in genoemde behuizing, waarbij genoemde actuator omvat een vibratiemotor, een aanrakingselement met een uitwendig oppervlak, genoemd aanrakingselement zo ontworpen dat het door vibratie bewogen kan worden, zodanig dat een gebruiker positieverandering, zijnde beweging, kan voelen door aanraking van het uitwendige oppervlak; genoemde aanrakingsgevoelig oppervlak omvat het continu kunnen meten van de positie van aanraking op genoemd uitwendig oppervlak met genoemde intervallen en het continu kunnen bepalen van de positie van genoemd uitwendig oppervlak, en de mogelijkheid om genoemde positie continu te communiceren met genoemde intervallen naar een computer verwerkingseenheid; gekenmerkt door genoemde computer software die genoemde positie als bepaald tijdens het vorige interval van twee overeenkomstige sensoren en actuatoren in genoemde twee apparaten om twee volgende relatieve vibratie-posities van het uitwendige oppervlak te berekenen, één voor elk van de genoemde actuatoren, en het communiceren van genoemde volgende relatieve posities naar de betreffende actuators; en gekenmerkt door genoemde actuatoren genoemde oppervlak direct door middel van vibratie kunnen bewegen op de berekende en gecommuniceerde volgende positie.A method for communicating hand stroking between two persons, using a hand stroking communication system comprising a smartphone, tablet or computer network comprising at least one mobile telephone, tablet or computer with a processing unit, and two input / output devices for hand stroking connected to said computer network from different geographic locations, and computer software operating on said computer processing unit, said input / output device for hand stroking comprises: a housing adapted to be held by a human hand; at least one touch sensitive surface, arranged so that it can sense the precise position (in mm) of touch; at least one actuator in said housing, said actuator comprising a vibration motor, a contact element with an external surface, said contact element designed so that it can be moved by vibration, such that a user can feel a change in position, being movement, by touching the external surface; said touch sensitive surface includes being able to continuously measure the position of contact on said external surface at said intervals and being able to continuously determine the position of said external surface, and the ability to continuously communicate said position at said intervals to a computer processing unit; characterized by said computer software having said position as determined during the previous interval of two corresponding sensors and actuators in said two devices to calculate two subsequent relative vibration positions of the external surface, one for each of said actuators, and communicating said following relative positions to the relevant actuators; and characterized by said actuators being able to move said surface directly by means of vibration at the calculated and communicated next position. 10. Een computer software programma ingericht om de methode uit te voeren zoals beschreven in conclusie 10.A computer software program adapted to perform the method as described in claim 10. 11. Een invoer / uitvoer apparaat voor hand aaien zoals gedefinieerd volgens elk van de afzonderlijke voorgaande conclusies in combinatie met een computer software programma ingericht om de methode uit te voeren zoals beschreven in conclusie 10.An input / output device for manual stroking as defined according to any of the individual preceding claims in combination with a computer software program adapted to perform the method as described in claim 10. 12. Een invoer / uitvoer apparaat voor hand aaien in overeenstemming met elk van de afzonderlijke conclusies, met het kenmerk dat de genoemde verwerkingseenheid binnen in het apparaat is geplaatst, in plaats van in een computer, tablet of mobiele telefoon, waardoor er schematisch een direct link is tussen het invoer / uitvoer apparaat en het internet.An input / output device for manual stroking according to any of the individual claims, characterized in that said processing unit is placed inside the device, instead of in a computer, tablet or mobile phone, whereby there is schematically a direct link is between the input / output device and the internet. 13. Een communicatiesysteem voor hand aaien in overeenstemming met elk van de afzonderlijke conclusies, met het kenmerk dat één zijde van de communicatie een virtuele werkelijkheid is.A hand-held communication system according to any of the individual claims, characterized in that one side of the communication is a virtual reality.
NL1041425A 2015-08-13 2015-08-13 Haptic communication system, method and device for caressing a hand. NL1041425B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11205329B2 (en) 2018-03-16 2021-12-21 The Board Of Trustees Of The Leland Stanford Junior University Haptic devices to create the sensation of continuous lateral motion

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11205329B2 (en) 2018-03-16 2021-12-21 The Board Of Trustees Of The Leland Stanford Junior University Haptic devices to create the sensation of continuous lateral motion

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