WO2009117125A1 - Substrat vibrant pour une interface haptique - Google Patents

Substrat vibrant pour une interface haptique Download PDF

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Publication number
WO2009117125A1
WO2009117125A1 PCT/US2009/001737 US2009001737W WO2009117125A1 WO 2009117125 A1 WO2009117125 A1 WO 2009117125A1 US 2009001737 W US2009001737 W US 2009001737W WO 2009117125 A1 WO2009117125 A1 WO 2009117125A1
Authority
WO
WIPO (PCT)
Prior art keywords
substrate
actuators
nodal lines
vibrating
nodal
Prior art date
Application number
PCT/US2009/001737
Other languages
English (en)
Inventor
James Edward Colgate
Michael Peshkin
Laura Winfield
Mario Schirru
Original Assignee
Northwestern University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Northwestern University filed Critical Northwestern University
Publication of WO2009117125A1 publication Critical patent/WO2009117125A1/fr

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Classifications

    • 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
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • 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
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user

Definitions

  • the invention relates to haptic devices and, more particularly, to a haptic device having a substrate and one or more actuators for vibrating the substrate in a multiplicity of higher resonant modes, each of which has a high enough frequency to be inaudible and high enough amplitude to create a friction reduction effect at a plurality of vibrating regions on the substrate surface.
  • Solid state interface devices such as touch pads and touch screens, are popular and in use on a wide variety consumer electronic products and motor vehicle systems. However, these solid state interface devices typically fail to provide a user with any form of tactile feedback as a result of their solid state nature. The human user of the interface device therefore is not able to experience haptic sensations that assist and inform the user during interaction with the interface device.
  • vehicle status e.g., speed, engine speed, cruise control status
  • climate control e.g., climate control
  • entertainment e.g., entertainment, communications, navigation, etc.
  • the iDrive used in some BMW motor vehicles comprises a single knob that controls up to 700 vehicle functions.
  • the haptic feel and behavior of the knob are under computer control and are programmed to be context sensitive.
  • the knob can be made to feel and act like a tuning controller for a radio station or like a temperature adjust for a climate control system.
  • the iDrive has numerous drawbacks as well. For instance, it uses a menu system that can be difficult to learn as well as distracting to use, and it offers only one haptic degree of freedom (turning of the knob) such that it fails to exploit the human ability to move in higher dimensional spaces.
  • T. Watanabe and S. Fukui in “A method for controlling tactile sensation of surface roughness using ultrasonic vibration", in Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan (1995) describe a device based on variable friction generated by bulky ultrasonic Langevin-type vibrators wherein the user's finger moves in one dimension along the display surface with no finger position or other feedback.
  • haptic devices that can provide indirect haptic feedback and virtual texture sensations to a user by modulation of friction of a touch surface of the device in response to one or more sensed parameters and/or in response to time (i.e. independent of finger position).
  • the sensed parameters can include, but are not limited to, sensed position of the user's finger, derivatives of sensed finger position such as velocity and/or acceleration, direction of motion of the finger relative to the surface, and/or sensed finger force or pressure on the surface.
  • the touch surface is adapted to be touched by a user's bare finger, thumb or other appendage and/or by an instrument such as a stylus held by the user.
  • the present invention provides in an embodiment a haptic device having a substrate with a touch surface and one or more actuators for vibrating the substrate in a multiplicity of higher resonant modes, each of which has a high enough frequency to be inaudible and a high enough amplitude to create a friction reduction effect at a plurality of vibrating regions on the substrate surface.
  • the present invention provides in another embodiment a haptic device having a substrate with a touch surface and one or more actuators for vibrating the substrate in one or more higher resonant modes in a manner to establish an "n x m" multimodal pattern on the substrate surface wherein n is greater than 1 and m is greater than 1 , wherein some of the nodal lines of the pattern intersect, and wherein the resonant frequency is high enough to be inaudible and the amplitude is high enough to create a friction reduction effect at a plurality of vibrating regions defined by nodal lines.
  • the one or more actuators e.g. vibrators
  • the one or more actuators is/are disposed away from the nodal lines so as not to straddle a nodal line.
  • the one or more actuators is/are disposed between nodal lines such as, for example, at the center of a respective vibrating region.
  • the one or more vibrators is/are vibrated concurrently at two or more different resonant frequencies of the substrate. Dead spots of zero vibration corresponding to intersection of nodal lines are thereby avoided or minimized.
  • the one or more actuators is/are alternately vibrated at one of two or more different resonant frequencies of the substrate. Dead spots of zero vibration corresponding to intersection of nodal lines are thereby avoided or minimized.
  • the haptic device can further include a finger or stylus position sensor and a control device to change resonant frequency mode of oscillation from one mode to another in response to a sensed position of a user's appendage (e.g. finger or stylus held by a user) proximate a nodal line on the substrate surface.
  • the substrate is transparent such that a graphical display associated with (e.g. beneath) the substrate can be seen through the substrate touch surface.
  • the haptic device can include a bezel housing overlying the transparent surface in a manner to hide the one or more actuators from view.
  • the one or more actuators can be attached to the substrate directly, or they can be positioned to vibrate the substrate indirectly by being connected to a substrate support or disposed between the substrate and a substrate support.
  • the haptic device includes a mounting structure on which the substrate is supported by mounting elements at (proximate) certain selected locations corresponding to ends of the nodal lines at edges of the substrate where there is little or no substrate displacement.
  • the mounting elements can comprise flexure elements that can twist along a long axis thereof.
  • the mounting elements can provide support of the substrate at at least three locations corresponding to ends of the nodal lines where there is no substrate displacement.
  • the haptic device in another embodiment, includes about its perimeter an inner mounting frame connected to an outer mounting frame by flexure elements that can twist along their long axis.
  • the mounting frame(s) can form a dust- resistant haptic device enclosure to avoid dust entry into the device.
  • the present invention also envisions a method of controlling a haptic device that includes imparting vibration (oscillation) to a substrate in a multiplicity of higher resonant modes in alternate manner or concurrently wherein each mode has a high enough frequency to be inaudible and high enough amplitude to create a friction reduction effect at a plurality of vibrating regions on the substrate touch surface.
  • the present invention also envisions a method of controlling a haptic device that includes imparting vibration (oscillation) to a substrate in one or more higher resonant modes in a manner to establish an "n x m" multimodal pattern on the substrate surface wherein n is greater than 1 and m is greater than 1 and wherein there are some inersecting nodal lines.
  • the resonant frequency is controlled high enough to be inaudible and the amplitude is controlled high enough to create a friction reduction effect at a plurality of the vibrating regions defined by the nodal lines.
  • the invention further provides a method of supporting a haptic device having a substrate with a touch surface and one or more actuators for vibrating the substrate, comprising supportively connecting mounting elements of a mounting structure to the substrate proximate multiple locations corresponding to ends of nodal lines.
  • Figure Ia shows a string stretched between two points.
  • Figure I b shows a 1 st resonant mode; i.e. an illustration of the mode shape at the lowest resonance frequency. The string actually vibrates up and down. What is shown is the envelope of all possible string locations in space.
  • Figure Ic shows a 2nd resonant mode: mode shape at the next-lowest resonant frequency.
  • Figure Id shows a 3rd mode; i.e., the pattern of adding nodal lines (or, in this string analogy, nodal points) continues.
  • Figure Ie shows a schematic view of a substate surface having an "n x m" multimodal pattern of nodal segments defined by intersecting nodal lines establsihed on the substrate surface by energizatoin of piezo patches (piezoelectric actuators) at a peripheral corner thereof.
  • Figure I f shows a schematic elevation of the substate of Figure Ie with two piezoelectric elements top and bottom, although there could equally well be just one of these.
  • Figure 2 is a perspective schematic view of a rectangular substrate having a touch surface and having four circular piezoelectric actuators bonded to its surface at the corners thereof to provide the '5-3' resonance multimodal pattern shown when the actuators are energized.
  • the dashed lines represent nodal lines where the amplitude of vibration is zero.
  • Figure 3 is an exploded perspective view of a haptic device and graphical display where the haptic device includes a transparent substrate (e.g., glass) with two piezoelectric actuators near one edge and where a bezel housing is placed above the transparent substrate piece hiding the two piezoelectric actuators, but leaving a large transparent region that may be placed above a graphical display.
  • a transparent substrate e.g., glass
  • a bezel housing is placed above the transparent substrate piece hiding the two piezoelectric actuators, but leaving a large transparent region that may be placed above a graphical display.
  • Figure 4 is a perspective schematic view of a rectangular plate substrate having a touch surface wherein the triangles represent potential substrate mounting points in the vibrational mode illustrated in Fig. 2.
  • Figure 5 is a partial perspective schematic view of a rectangular plate substrate mounted by flexure elements that can twist.
  • Figure 6a is a partial sectional schematic view of a portion of a rectangular plate substrate mounted by inner and outer frames with flexure elements between the frames.
  • Figure 6b is a perspective view of the framed substrate.
  • the present invention involves a variable friction haptic device 5 of the illustrative type shown in Figure 2 having a substrate 10 with a touch surface 10s and one or more vibrators PP operably associated with the substrate in a manner to impart vibration (oscillation) thereto at an amplitude and resonant frequency effective to establish a plurality of distinct vibrating regions RR on the touch surface.
  • the distinct vibrating regions exhibit reduced friction as felt by a user's appendage (user's fingertip or stylus held by a user) as described in copending application U.S. Serial No. 1 1/726,391 filed March 21, 2007, of common assignee, the disclosure of which is incorprated herein by reference.
  • the distinct vibrating regions RR are defined by intersecting nodal lines NL resulting from vibration of the substrate at an amplitude and resonant frequency of higher mode. Amplitude of vibration is greatest at the center of each distinct region RR.
  • An illustrative embodiment of the present invention provides a variable friction haptic device that addresses factors that include 1) the capablity to provide different touch surface areas for different use applications such as, in particular, the need for larger touch surface areas for use with large-scale haptic devices, 2) the need for thinner substrates, 3) the need for vibrations of the touch surface of sufficient amplitude to produce friction reduction, 4) the desire for vibrations preferably at a high enough frequency so that they are inaudible to a user (e.g.
  • the haptic device 5 In order to obtain high amplitude, the haptic device 5 must be vibrated at or near a resonant frequency.
  • the resonant frequencies depend on the size of the device, and, as a general rule, larger and thinner devices have lower resonant frequencies. More specifically, the resonant frequency associated with a given mode of vibration moves to a lower frequency as the structure (e.g.
  • the present invention accommodates the size of the haptic device by vibrating the touch surface in a higher mode, meaning a mode associated with a resonant frequency greater than the first or fundamental mode. By using higher resonant frequency modes, it is possible to achieve sufficient vibration amplitude at sufficiently high frequencies.
  • Figures Ia- Id illustrate the meaning of higher resonant frequency modes with a simple, one-dimensional structure: a string stretched between two points, Figure Ia.
  • the first, second and third modes are illustrated in Figures Ib, Ic, and Id.
  • the mode number increases, the number of peaks increases, the number of nodal lines increases, and (not illustrated) the frequency of oscillation increases.
  • the same basic features are true of real three-dimensional structures.
  • the invention provides methods for maintaining high performance even in the presence of nodal lines.
  • Embodiments of these of these methods require the availability of multiple modes, each capable of producing effective friction reduction. For this reason and purposes of illustration, an explanation is now provided as to how to design a vibrating plate capable of friction reduction in more than one resonant mode.
  • ⁇ o ⁇ r is the viscosity of air
  • Rf is the radius of the finger-surface contact patch
  • p am is atmospheric pressure
  • ⁇ is the frequency of oscillation
  • ⁇ is the average thickness of the squeeze film. The squeeze number must be beyond a given threshold for air to be captured under the fingertip.
  • W is necessarily less than ⁇ , since the vibration amplitude cannot be greater than the average thickness of the squeeze film.
  • the two variables that are controlled pursuant to the invention are ⁇ and W. As can be seen, both should be large. Increasing ⁇ is necessary to produce a large squeeze number (and also the frequency is to be well into the ultrasonic range so that the vibrations are inaudible). Increasing ⁇ produces higher pressure, as needed to support the user's appendage (e.g. finger or stylus).
  • Q is related to the amount of energy dissipation in the system, and Q can be increased by eliminating sources of energy loss. For instance, it is helpful to select a high- ⁇ 9 plate material, such as glass. It is also helpful to provide a mounting mechanism that does not couple significant amounts of plate energy into the rest of the system as described below with respect to several novel flexure mounting structures.
  • Strategy 1 excite two or more different resonant modes simultaneously (e.g.. energize piezoelectric actuators at two or more different voltages to this end)
  • Strategy 2 switch between two or more resonant modes
  • control algorithm for switching between two or more resonant modes using a control unit such as CU shown in Figure 3 can be as follows: • In a control loop, do the following:
  • position here refers to the geometric centroid of the contact patch, as estimated by fingertip position sensors.
  • the invention envisions a modification to this algorithm which uses the fingertip velocity to estimate when the fingertip can be expected to cross a nodal line and switch modes only when a crossing is imminent. This will prevent some unnecessary mode switching.
  • the invention also envisions a modification to this algorithm which coordinates mode- switching with the desired friction level to switch modes when the friction is high. This is because high friction corresponds to small or no vibration amplitude. Thus, there is no need to "ring down” a mode before “ringing up” the next mode.
  • Figure 2 illustrates an exemplary rectangular substrate 10 having a touch surface 10s and having four circular piezoelectric actuators PP bonded to its touch surface 10s at the corners thereof as shown.
  • Proper activation of the piezoelectric actuators PP will cause the substrate to resonate at a resonant frequency mode greater than that of the first or fundamental mode.
  • the '5-3' resonance is shown in Figure 2.
  • the dashed lines represent nodal lines NL where the amplitude of vibration is zero. These nodal lines define or divide the substrate surface 10s into a set of 15 (5 x 3) distinct vibrating regions RR where the vibration amplitude is maximum at the center of each region RR.
  • the '5-3' resonance pattern shown includes 5 nodal segments along the longitudinal or major axis and 3 nodal segments along the other minor axis of the substrate surface as shown in Figure 2.
  • the particular "n x m" pattern of nodal lines and segements established is determined and conrolled by the frequency of excitation of the actuators PP.
  • Figure 2 is described with respect to inducing substrate vibrations via bending moments created by glued-on piezoelectric actuators PP, it will be apparent to one skilled in the art that other forms of actuation are possible in practice of the invention, including, but not limited to, piezoelectric actuators that are mounted between the plate substrate 10 and the support structure therefor. Other forms of acutation can be used in lieu of or in addition to piezoelecric actuators, such as electromagnetic actuators.
  • a challenge associated with the use of higher resonant frequency modes is that many "nodal lines"; i.e., lines NL where the vibration amplitude is zero, occur.
  • nodal lines On either side of a nodal line NL, the vibrations are out of phase with one another.
  • the surface region on one side of the nodal line is moving upwards at a particular instant, the surface region on the other side is moving down. Because of this, it is generally desirable to place each piezoelectric actuator PP with respect to the nodal lines NL such that the actuator PP does not cross a nodal line and is located between nodal lines.
  • Figure 2 illustrates an exemplary arrangement that is suitable.
  • each piezoelectric actuator PP is bonded to the vibrating substrate 10 such that the actuator centers each correspond to the center of a vibrating region RR (i.e., a surface region bounded by nodal lines), although in practice of the invention it is not necessary to use more than one piezoelectric actuator even though there will be a multiplicity of vibrating regions RR.
  • typically multiple actuators PP can be used as shown in Figure 2, which serve to increase the vibration amplitude.
  • the arrangement shown in Figure 2 has the additional benefit that the piezoelectric actuator or actuators PP do not need to cover the entire surface (either touch surface 10s or bottom surface 10b) of the vibrating substrate 10. This enables a transparent variable friction haptic display to be provided by using a transparent material, such as glass or quartz, for the substrate 10.
  • a haptic device arranged as shown in Figure 3 is possible, in which the piezoelectric actuator(s) PP is/are hidden under a bezel 20 while the glass touch surface 1 Os is arranged over a graphical display 30.
  • the haptic device comprises a transparent substrate (e.g., glass) 10 with two piezoelectric actuators PP near one peripheral or outer edge of the substrate.
  • the bezel housing 20 is placed above the substrate 10 so as to hide the two actuators PP, while leaving a large surface area access opening 20a thereof overlying a large transparent region TR of the substrate, through which opening 20a the touch surface 10s can be accessed and the underlying display 30 viewed.
  • Finger position sensors such as photodiodes PD in a linear sensor array (x-y array) can be disposed on the bezel housing 20 to sense position of the user's finger or stylus for purposes of illustration and not limitation. Alternatively, an infrared touch screen can be used having position sensors thereon to this end.
  • Control unit CU also can be hidden under the bezel housing and connected elecrically to the actuators PP and to the finger position sensors PD to provide position feedback to a microprocessor incorporated in or integrated as part of the control unit. Control unit can be powered by a battery (not shown) or other conventional power source.
  • the transparent haptic device can be placed in front of graphical display 30 and integrated with a fingertip position sensor of a type known in the art (capacitive, resistive, infrared, acoustic, force reaction based, etc.), many of which are described in copending application U.S. Serial No. 1 1/726,391 filed March 21 , 2007, incorporated herein by reference above.
  • the frictional properties of the substrate touch surface 10s can be coordinated with the graphical objects/images of the display 30 seen through it.
  • the touch surface 10s may feel smooth and slippery, except for where a virtual button is seen from the underlying graphical display 30.
  • the button may differ in friction level (being more slippery or more sticky), or it may have a texture (spatially varying friction coefficient) as described in the above copending application.
  • the resonant mode employed can be selected such that nodal lines do not cross the virtual button or other virtual representation.
  • the graphical display can be designed so that the virtual button or other representation do not cross the nodal lines.
  • a great variety of types of graphical display 30 can be used including programmable types (LCD, OLED, CRT, Plasma, etc.), fixed displays (screen printed, laser etched, back lit, etc.), and others.
  • programmable types LCD, OLED, CRT, Plasma, etc.
  • fixed displays screen printed, laser etched, back lit, etc.
  • a graphical display may not be needed at all.
  • the vibration amplitude is small in the vicinity of the nodal line.
  • an embodiment of the invention involves using more than one resonant frequency mode of vibration of the substrate 10 as the user's finger moves on the touch surface 10s near to a nodal line NL.
  • the mode of vibration is switched as described above to one that does not have a nearby nodal line in response to the fingertip being near or moving toward a nodal line.
  • the fingertip position relative to a nodal line NL can be computed by a computer controller for each of the candidate modes of vibration and swiched by the controller as described in copending application U.S. Serial No. 1 1/726.391 filed March 21, 2007, incorprated herein by reference above, or other computer controller known in the art. Finger position sensors are described above.
  • another embodiment of the present invention provides a mounting structure that minimizes such energy coupling, thereby keeping as much as the vibrational energy as possible in the substrate 10 itself.
  • One embodiment involves mounting the plate substrate 10 to a frame 50 only at (proximate) the ends EE of the nodal lines NL where there is minimal substrate displacement, as shown in Figure 4. While the mounting points MP are shown schematically in this figure, they represent three dimensional cones such as being made from hardened screw tips, or hardened balls, that are pressed against the plate substrate 10. Spring-loading also helps to ensure that the mounting points remain pressed against the plate substrate despite manufacturing inaccuracies or thermal expansion. The minimum number of contact points necessary to confine the plate is only three points.
  • connector elements 70 are fastening to respective edges (e.g. three or more different edges) of the plate substrate 10 as shown in Figure 5 where the connector elements 70 can be glued, press fit, clamped, or otherwise fastened.
  • the locations of the connector elements 70 correspond to the ends of the nodal lines NL at the substrate edges 1Oe where there is minimal substrate displacement.
  • Each connector element 70 is connected to or formed as part of a flexure element 72 that is connected to or formed as part of perimeter support rail 74 (or other support structure).
  • the flexure element 72 can twist about its long axis that is perpendicular to the edge 1 Oe of the plate substrate 10 to accommodate that the plate substrate does twist through a very small angle at a nodal line, although it does not move up/down at a nodal line.
  • the connector elements, flexure elements, and support rail of Figure 5 can be molded or formed as one piece or multiple pieces connected together.
  • variable friction haptic display includes a plate substrate 10 whose outer perimeter (part or all) is glued or otherwise fastened in an inner frame 90.
  • the inner frame 90 is connected to an outer support frame 94 by flexure joint elements 92 (three or more can be employed).
  • the flexure elements 92 act somewhat like a hinge joint, permitting fairly free rotation (twisting) at the edges of the plate substrate 10.
  • the flexure element 92 can twist about its long axis that is perpendicular to the edge of the plate substrate 10 to accommodate that the plate substrate does twist through a very small angle at a nodal line, although it does not move up/down at a nodal line.
  • the inner frame, flexure elements, and outer support frame of Figure 6a, 6b can be molded or formed as one piece or multiple pieces connected together with the frames 90, 94 being configured and cooperating to form a haptic device enclosure that is resistant to dust entry.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)

Abstract

L'invention porte sur un dispositif haptique ayant un substrat avec une surface tactile et un ou plusieurs actionneurs pour faire vibrer le substrat dans une diversité de modes de résonance supérieurs, chacun d'eux ayant une fréquence suffisamment élevée pour être inaudible et une amplitude suffisamment élevée pour créer un effet de réduction de frottement au niveau d'une pluralité de régions vibrantes sur la surface tactile du substrat.
PCT/US2009/001737 2008-03-20 2009-03-19 Substrat vibrant pour une interface haptique WO2009117125A1 (fr)

Applications Claiming Priority (2)

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US7021208P 2008-03-20 2008-03-20
US61/070,212 2008-03-20

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WO2009117125A1 true WO2009117125A1 (fr) 2009-09-24

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011046714A1 (fr) * 2009-10-16 2011-04-21 Immersion Corporation Systèmes et procédés adaptés pour fournir une rétroaction haptique à une pluralité de fréquences de résonance
JP2014194589A (ja) * 2013-03-28 2014-10-09 Kyocera Document Solutions Inc 表示入力装置及びこれを備えた画像形成装置
WO2018107550A1 (fr) * 2016-12-13 2018-06-21 宁波普瑞均胜汽车电子有限公司 Dispositif de commande de volant de direction multipoint sensible à la pression ayant une fonction de rétroaction par vibrations
EP4025983A2 (fr) * 2019-09-03 2022-07-13 Hap2u Procédé et dispositif pour la réalisation d'un effet de clic-bouton sur une interface haptique

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4686407A (en) * 1986-08-01 1987-08-11 Ceperley Peter H Split mode traveling wave ring-resonator
US20060284839A1 (en) * 1999-12-15 2006-12-21 Automotive Technologies International, Inc. Vehicular Steering Wheel with Input Device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4686407A (en) * 1986-08-01 1987-08-11 Ceperley Peter H Split mode traveling wave ring-resonator
US20060284839A1 (en) * 1999-12-15 2006-12-21 Automotive Technologies International, Inc. Vehicular Steering Wheel with Input Device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011046714A1 (fr) * 2009-10-16 2011-04-21 Immersion Corporation Systèmes et procédés adaptés pour fournir une rétroaction haptique à une pluralité de fréquences de résonance
US8610549B2 (en) 2009-10-16 2013-12-17 Immersion Corporation Systems and methods for providing haptic feedback at multiple resonance frequencies
US8913027B2 (en) 2009-10-16 2014-12-16 Immersion Corporation Systems and methods for providing haptic feedback at multiple resonance frequencies
EP3100792A1 (fr) * 2009-10-16 2016-12-07 Immersion Corporation Systèmes et procédés adaptés pour fournir une rétroaction haptique à une pluralité de fréquences de résonance
JP2014194589A (ja) * 2013-03-28 2014-10-09 Kyocera Document Solutions Inc 表示入力装置及びこれを備えた画像形成装置
WO2018107550A1 (fr) * 2016-12-13 2018-06-21 宁波普瑞均胜汽车电子有限公司 Dispositif de commande de volant de direction multipoint sensible à la pression ayant une fonction de rétroaction par vibrations
EP4025983A2 (fr) * 2019-09-03 2022-07-13 Hap2u Procédé et dispositif pour la réalisation d'un effet de clic-bouton sur une interface haptique

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