WO2017034973A1 - Haptic driver with attenuation - Google Patents

Haptic driver with attenuation Download PDF

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Publication number
WO2017034973A1
WO2017034973A1 PCT/US2016/047750 US2016047750W WO2017034973A1 WO 2017034973 A1 WO2017034973 A1 WO 2017034973A1 US 2016047750 W US2016047750 W US 2016047750W WO 2017034973 A1 WO2017034973 A1 WO 2017034973A1
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WO
WIPO (PCT)
Prior art keywords
haptic
output device
haptic output
resonance frequency
frequency range
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/US2016/047750
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English (en)
French (fr)
Inventor
Kaniyalal Shah
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Immersion Corp
Original Assignee
Immersion Corp
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 Immersion Corp filed Critical Immersion Corp
Priority to CN201680034559.3A priority Critical patent/CN107743640A/zh
Priority to EP16839875.8A priority patent/EP3338168A4/en
Priority to KR1020177035809A priority patent/KR20180033456A/ko
Priority to JP2017564590A priority patent/JP2018523863A/ja
Publication of WO2017034973A1 publication Critical patent/WO2017034973A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B6/00—Tactile signalling systems, e.g. personal calling systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 embodiments of the present invention are generally directed to electronic devices, and more particularly, to electronic devices that produce haptic effects.
  • kinesthetic feedback such as active and resistive force feedback
  • tactile feedback such as vibration, texture, and heat
  • Haptic feedback can provide cues that enhance and simplify the user interface.
  • vibration effects may be useful in providing cues to users of electronic devices to alert the user to specific events, or provide realistic feedback to create greater sensory immersion within a simulated or virtual environment.
  • Embodiments of the present invention are directed toward electronic devices configured to produce haptic effects that substantially improve upon the related art.
  • systems and methods include instructions for driving a haptic device including receiving a haptic drive signal configured to drive the haptic output device, identifying a resonance frequency range of the haptic output device, and attenuating the haptic drive signal corresponding to the identified resonant frequency.
  • FIG. 1 is a block diagram of a haptically-enabled system/device according to an example embodiment of the invention.
  • Figs. 2A-2D illustrate frequency responses of an actuator according to example embodiments of the invention.
  • FIG. 3 illustrates a method for attenuating a drive signal and acceleration response of an actuator according to an example embodiment of the invention.
  • Fig. 4 illustrates a haptic driver for manipulating a haptic data signal according to an example embodiment of the present invention.
  • FIG. 5 illustrates a haptic driver for manipulating a haptic data signal according to another example embodiment of the invention.
  • FIG. 6 illustrates a haptic driver for manipulating a haptic data signal according to another example embodiment of the invention.
  • Fig. 7 illustrates a haptic driver for manipulating a haptic data signal according to another example embodiment of the invention.
  • FIG. 8 illustrates a haptic driver for manipulating a haptic data signal according to yet another example embodiment of the invention.
  • Fig. 9 illustrates the effect of a notch filter according to an example
  • the example embodiments are generally directed toward an improved haptic driver, especially an improved high definition ("HD") haptic driver.
  • the haptic driver is configured to attenuate a drive signal of an actuator.
  • the haptic drivers described herein are configured to determine or otherwise identify the resonance frequency of the actuator and to attenuate the haptic drive signal within a range of frequencies. The range of frequencies corresponds to the resonance frequency. As a result, the strength of haptic effects produced by the actuator may be more uniform along a wider frequency range.
  • Fig. 1 is a block diagram of a haptically-enabled system/device 10 according to an embodiment of the present invention.
  • System 10 includes a touch sensitive surface 1 1 or other type of user interface mounted within a housing 15, and may include mechanical keys/buttons 13.
  • a haptic feedback system that generates haptic effects on system 10 and includes a processor or controller 12. Coupled to processor 12 is a memory 20, and a haptic drive circuit 16 which is coupled to an actuator 18.
  • Processor 12 may be any type of general purpose processor, or could be a processor specifically designed to provide haptic effects, such as an application-specific integrated circuit ("ASIC").
  • ASIC application-specific integrated circuit
  • Processor 12 may be the same processor that operates the entire system 10, or may be a separate processor.
  • Processor 12 can decide what haptic effects are to be played and the order in which the effects are played based on high level parameters. In general, the high level parameters that define a particular haptic effect include magnitude, frequency and duration.
  • Low level parameters such as streaming motor commands could also be used to determine a particular haptic effect.
  • a haptic effect may be considered “dynamic” if it includes some variation of these parameters when the haptic effect is generated or a variation of these parameters based on a user's interaction.
  • the haptic feedback system in one embodiment generates vibrations 30, 31 or other types of haptic effects on system 10.
  • Processor 12 outputs the control signals to haptic drive circuit 16, which includes electronic components and circuitry used to supply actuator 18 with the required electrical current and voltage ⁇ i.e., "motor signals" to cause the desired haptic effects.
  • System 10 may include more than one actuator 18, and each actuator may include a separate drive circuit 16, all coupled to a common processor 12.
  • Haptic drive circuit 16 is configured to attenuate the haptic drive signal at and around the resonance frequency ⁇ e.g. +/- 20Hz, 30Hz, 40Hz, etc.) of actuator 16. By attenuating the range of frequencies near the resonance frequency, the haptic strength becomes more uniform over a wider frequency band.
  • haptic drive circuit 16 may comprise a variety of signal processing stages, each stage defining a subset of the signal processing stages applied to attenuate the haptic drive signal.
  • Non-transitory memory 20 may include a variety of computer-readable media that may be accessed by processor 12.
  • memory 20 and other memory devices described herein may include a volatile and nonvolatile medium, removable and non-removable medium.
  • memory 20 may include any combination of random access memory (“RAM”), dynamic RAM (“DRAM”), static RAM (“SRAM”), read only memory (“ROM”), flash memory, cache memory, and/or any other type of non-transitory computer-readable medium.
  • RAM random access memory
  • DRAM dynamic RAM
  • SRAM static RAM
  • ROM read only memory
  • flash memory cache memory
  • Memory 20 stores instructions executed by processor 12.
  • audio haptic simulation module 22 which are instructions that, when executed by processor 12, generates high bandwidth haptic effects using speaker 28 and actuator 18, as disclosed in more detail below.
  • Memory 20 may also be located internal to processor 12, or any combination of internal and external memory.
  • System 10 may be any type of handheld/mobile device, such as a cellular telephone, personal digital assistant ("PDA"), smartphone, computer tablet, gaming console, remote control, or any other type of device that includes a haptic effect system that includes one or more actuators.
  • System 10 may be a wearable device such as wrist bands, headbands, eyeglasses, rings, leg bands, arrays integrated into clothing, etc., or any other type of device that a user may wear on a body or can be held by a user and that is haptically enabled, including furniture or a vehicle steering wheel.
  • system 10 may be remotely located or may be implemented by another device that is in communication with the remaining elements of system 10.
  • Actuator 18 may be any type of actuator or haptic output device that can generate a haptic effect.
  • an actuator is an example of a haptic output device, where a haptic output device is a device configured to output haptic effects, such as vibrotactile haptic effects, electrostatic friction haptic effects, temperature variation, and/or deformation haptic effects, in response to a drive signal.
  • haptic output device is a device configured to output haptic effects, such as vibrotactile haptic effects, electrostatic friction haptic effects, temperature variation, and/or deformation haptic effects, in response to a drive signal.
  • Actuator 18 may be, for example, an electric motor, an electro-magnetic actuator, a voice coil, a shape memory alloy, an electro-active polymer, a solenoid, an eccentric rotating mass motor (“ERM”), a harmonic ERM motor (“HERM”), a linear resonance actuator (“LRA”), a solenoid resonance actuator (“SRA”), a piezoelectric actuator, a macro fiber composite (“MFC”) actuator, a high bandwidth actuator, an electroactive polymer (“EAP”) actuator, an electrostatic friction display, an ultrasonic vibration generator, or the like.
  • the actuator itself may include an haptic drive circuit.
  • system 10 may include other types of haptic output devices (not shown) that may be non-mechanical or non-vibratory devices such as devices that use electrostatic friction (“ESF”), ultrasonic surface friction (“USF”), devices that induce acoustic radiation pressure with an ultrasonic haptic transducer, devices that use a haptic substrate and a flexible or deformable surface or shape changing devices and that may be attached to a user's body, devices that provide projected haptic output such as a puff of air using an air jet, etc.
  • ESF electrostatic friction
  • USF ultrasonic surface friction
  • an actuator may be characterized as a standard definition ("SD") actuator that generates vibratory haptic effects at a single frequency.
  • SD actuator examples include ERM and LRA.
  • an HD actuator or high fidelity actuator such as a piezoelectric actuator or an EAP actuator is capable of generating high bandwidth/definition haptic effects at multiple frequencies.
  • HD actuators are characterized by their ability to produce wide bandwidth tactile effects with variable amplitude and with a fast response to transient drive signals.
  • Actuators are very responsive at their resonance frequencies.
  • HD actuators provide significantly higher haptic strength at their resonance frequencies.
  • Such actuators when driven at the rated voltage, produce a high amount of force.
  • the actuators may hit internal portions of the housing of their host device.
  • the actuator may hit end stops located within the housing, and a loud and annoying noise may be produced as a result.
  • actuator types which are configured to carry a load or mass ⁇ e.g., a piezoelectric actuator), even larger forces may be produced resulting in even louder noises.
  • One method to solve this problem is to drive the actuator below its rated voltage.
  • the significant drawback of this approach is a diminished haptic experience because the actuator produces less acceleration at all frequencies.
  • the similarly rated actuators often produce inconsistent haptic responses.
  • the variance is especially large between different actuator manufacturers, but is still significant among actuators produced by a single manufacturer.
  • Known solutions attempt to simulate and modify haptic drive signal strength externally, such as applying a software algorithm before sending the data. However, such techniques are overly complex and do not produce consistent haptic responses.
  • FIG. 2A-2D illustrates frequency responses of an actuator according to an example embodiment of the invention.
  • the embodiments improve the frequency response of the actuators.
  • the haptic drive signals are attenuated at and around the resonance frequency of the actuator. Accordingly, the actuator is driven at a more level acceleration over a wider frequency band. In other words, the resulting haptic strength of the actuator is more uniform over a wider frequency band.
  • the example embodiments may reduce the mechanical energy of the actuators more quickly ⁇ i.e., braking) and greater fidelity haptic effects may be provided. As a result, the embodiments provide an improved haptic experience.
  • Fig. 2A illustrates the frequency response of an actuator when the haptic drive signal V 0 is constant ⁇ i.e., not attenuated).
  • the haptic drive signal V 0 is a constant input voltage that is applied to the actuator.
  • the acceleration of the actuator peaks at the resonance frequency which is located within a mid-range frequency band.
  • the haptic drive signal V 0 is attenuated at a frequency band at and around the resonance frequency or resonance frequency range of the haptic output device.
  • the acceleration of the actuator of Fig. 2B is also band attenuated.
  • Fig. 2A illustrates the frequency response of an actuator when the haptic drive signal V 0 is constant ⁇ i.e., not attenuated.
  • the haptic drive signal V 0 is a constant input voltage that is applied to the actuator.
  • the acceleration of the actuator peaks at the resonance frequency which is located within a mid-range frequency band.
  • the haptic drive signal V 0 is attenuated at
  • the haptic drive signal is boosted to V ⁇ i.e., V-i>V 0 ), and the haptic drive signal Vi is band attenuated.
  • Signal boosting may be achieved internal or by increasing the supply or drive voltage setting.
  • the acceleration of the actuator of Fig. 2C is also band attenuated at and around the resonant frequency.
  • Each of Figs. 2B and 2C illustrates the use of a notch filter to attenuate the drive signal at and around the resonance frequency of the actuator. As a result, the acceleration of the actuator is also dampened at the resonance frequencies.
  • Both the bandwidth and attenuation ⁇ e.g., depth) of the notch filter may be adjustable ⁇ e.g., programmable) so that a variety of actuators and other haptic output devices originating from different manufactures may be used.
  • the depth of attenuation may vary between 30% and 70% of the drive voltage.
  • the width of the notch filter may be adjustable ⁇ e.g., programmable
  • Attenuation notch may be varied.
  • the drive signal may be attenuated within +/- 20Hz, 30Hz, 40Hz, etc. of the resonance frequency. This further enables the use of a larger variety of actuators and other haptic output devices.
  • Fig. 2D illustrates the frequency responses of Figs. 2A-2C within a single graph.
  • a notch filter is described in connection with the examples of Figs. 2B-2C, the embodiments are not so limited.
  • a band pass filter design with a programmable parameter for frequency band and an attenuation factor may be used.
  • the resonance frequency may be detected automatically, and an attenuation factor may be applied based on a predetermined or programmatically variable parameter. For example, the
  • programmatically variable parameter may be based on a predetermined value or a programmatically controlled frequency band.
  • Attenuation curve may be based on a characteristic curve of the actuator that is either entered manually or thru an automatic calibration or programming process.
  • Fig. 3 illustrates functionality 300 for attenuating a drive signal
  • the functionality of the flow diagram of Fig. 3 is implemented by software stored in memory or other computer readable or tangible media, and executed by a processor. In other instances, the functionality may be performed by hardware ⁇ e.g., through the use of an application specific integrated circuit ("ASIC"), a programmable gate array (“PGA”), a field programmable gate array
  • ASIC application specific integrated circuit
  • PGA programmable gate array
  • FPGA field programmable gate array
  • FPGA field-programmable gate array
  • functionality 300 may receive one or more haptic drive signals configured to drive the actuator, at 310.
  • functionality 300 determines or identifies the resonance frequency or the resonance frequency range of the actuator.
  • the resonance frequencies may be determined using a variety of techniques. For example, the resonance frequencies may be automatically determined by monitoring the operation of the actuator. Alternatively, the resonance frequencies may be supplied by the actuator or may be determined by using a look-up table. In yet another example, the resonance frequencies may be determined using one or more back electromotive force (“back-EMF”) algorithms.
  • the received haptic drive signal is attenuated at frequencies corresponding to the detected resonant frequencies, at 330.
  • One or more filters may be applied to attenuate the haptic drive signal at resonant frequencies. In some instances, the haptic drive signal voltage may also be boosted.
  • Embodiments of the invention are directed to haptic drivers, especially HD haptic drivers ⁇ e.g., haptic drive circuit 16 of Fig. 1 ).
  • Haptic drivers may be implemented in a variety of configurations as will be described in connection with each of Figs. 4-8.
  • Each of the various configurations provides uniform or near uniform control of the haptic actuators originating from different manufacturers.
  • each configuration renders a more consistent haptic experience over wider frequency ranges.
  • Fig. 4 illustrates a haptic driver 400 for manipulating a haptic data signal according to an example embodiment of the invention.
  • the haptic data signal 410 is modified in digital form, with an algorithm, before converting the haptic data signal 410 to analog form when it is applied to an actuator.
  • digital haptic data signal 410 is supplied to memory 420 ⁇ e.g., first-in-first-out memory, hereinafter "FIFO") and haptic control data 415 is supplied to configuration controller 430.
  • Memory 420 supplies digital haptic data signal 410 to signal modifier 440.
  • haptic control data 415 that is supplied by FIFO
  • signal modifier 440 may alter digital haptic data signal 410 in advance of conversion to a corresponding analog signal.
  • Signal modifier 440 may apply one or more processing algorithms. Such algorithms may be applied to digital haptic data signal 410 in advance of subsequent stages.
  • haptic control data 415 may include resonance frequency data, resonance bandwidth data, and attenuation data that may be used to modify the drive voltage and attenuation parameters of digital haptic data signal 410.
  • digital haptic data signal 410 is supplied to digital to analog converter ("DAC") 450. Supplied with haptic control data 415 by configuration controller 430, DAC 450 converts the digital haptic data signal to analog haptic data signal 410'.
  • haptic control data 415 may be used to further adjust the drive voltage and attenuation parameters of digital haptic data signal 410 during the digital to analog conversion stage.
  • analog haptic data signal 410' is received and its voltage level may be varied depending on the input parameters of subsequent stages.
  • power stage 460 may be configured to adjust the voltage level of analog haptic data signal 410' using one or more output filters.
  • Fig. 5 illustrates a haptic driver 500 for manipulating a haptic data signal according to another example embodiment of the invention.
  • a haptic driver 500 for manipulating a haptic data signal according to another example embodiment of the invention.
  • the haptic data signal 510 is converted to analog form before signal condition processing occurs.
  • digital haptic data signal 510 is supplied to memory 520 ⁇ e.g., FIFO memory) and haptic control data 515 is supplied to configuration controller 530.
  • Memory 520 supplies digital haptic data signal 510 to DAC 540.
  • DAC 540 Supplied with haptic control data 515 by configuration controller 530, DAC 540 converts the digital haptic data signal to analog haptic data signal 510'.
  • Haptic control data 515 may include resonance frequency data, resonance bandwidth data, and attenuation data that may be used to modify the drive voltage and attenuation parameters of digital haptic data signal 510 during the digital to analog conversion stage.
  • analog haptic data signal 510' is supplied to signal conditioner 550.
  • signal conditioner 550 may alter analog haptic data signal 510' using one or more analog filtering algorithms that utilize haptic control data 515.
  • analog filters such as an RC filter
  • More complex filters may be implemented in semiconductor device depending on the design.
  • signal conditioner 550 may further be applied to enhance the characteristics of silicon used to fabricate the actuator located at a subsequent stage.
  • haptic control data 515 may be used to modify the drive voltage and attenuation parameters of analog haptic data signal 510'.
  • analog haptic data signal 510' is received and its voltage level may be varied depending on the input parameters of subsequent stages.
  • power stage 560 may be configured to adjust the voltage level of analog haptic data signal 510' using one or more output filters.
  • Fig. 6 illustrates a haptic driver 600 for manipulating a haptic data signal according to another example embodiment of the invention.
  • a haptic driver 600 for manipulating a haptic data signal according to another example embodiment of the invention.
  • a haptic driver 600 for manipulating a haptic data signal according to another example embodiment of the invention.
  • the haptic data signal 610 is converted to analog form before further signal condition processing occurs.
  • digital haptic data signal 610 is supplied to memory 620 ⁇ e.g., FIFO memory) and haptic control data 615 is supplied to configuration controller 630.
  • Memory 620 supplies digital haptic data signal 610 to DAC 640.
  • DAC 650 converts the digital haptic data signal to analog haptic data signal 610'.
  • haptic control data 615 is supplied to resonance detector 645.
  • haptic driver 600 may readily determine the resonance frequency of a down stage actuator.
  • resonance detector 645 may be configured to scan and/or otherwise automatically determine the resonance frequency of the actuator. In some instances, the resonance frequency band and corresponding attenuation may be adjusted.
  • resonance detector 645 may be configured to detect changes in resonance frequency using a sensing mechanism ⁇ e.g., located at the haptic device) to measure force or applied pressure.
  • the actuator itself may supply its resonance frequency.
  • back-EMF may be used to determine the resonance frequency of the actuator.
  • Haptic control data 615 may be supplied to resonance detector 645.
  • Resonance detector 645 may be an auto resonance detector adapted to use configuration parameters supplied by haptic control data 615 and configuration controller 630.
  • configuration parameters ⁇ e.g., frequency of resonance from data sheet
  • Additional configuration parameters such as back-EMF gain may be provided to prevent false detection.
  • analog haptic data signal 610', resonance detection signal 646, and haptic control data 615 are supplied to signal conditioner 650. Using these inputs, signal conditioner 650 may alter analog haptic data signal 610'.
  • haptic control data 615 may include resonance frequency data, resonance bandwidth data, and attenuation data that may be used to modify the drive voltage and attenuation parameters of digital haptic data signal haptic data signal 610'.
  • Fig. 7 illustrates a haptic driver 700 for manipulating a haptic data signal according to another example embodiment of the present invention.
  • haptic data signal 710 is converted to analog form before further signal condition processing occurs.
  • digital haptic data signal 710 is supplied to memory 720 ⁇ e.g., FIFO memory) and haptic control data 715 is supplied to configuration controller 730.
  • Memory 720 supplies digital haptic data signal 710 to DAC 740.
  • DAC 750 Supplied with haptic control data 715 by configuration controller 730, DAC 750 converts digital haptic data signal 710 to analog haptic data signal 710'.
  • Haptic control data 715 may include resonance frequency data, resonance bandwidth data, and attenuation data that may be used to modify the drive voltage and attenuation parameters of digital haptic data signal 710 during the digital to analog conversion stage.
  • analog haptic data signal 710' is supplied to signal conditioner 750.
  • signal conditioner 750 uses a lookup table (not shown).
  • the lookup table may be supplied by the user or be preprogrammed.
  • the look-up table may store the frequency response characteristics for multiple actuators made by a variety of manufacturers.
  • signal conditioner 750 may alter analog haptic data signal 710'.
  • haptic control data 715 may be used to modify the drive voltage and attenuation parameters of analog haptic data signal 710'.
  • analog haptic data signal 710' is received and its voltage level may be varied depending on the input parameters of subsequent stages.
  • power stage 760 may be configured to adjust the voltage level of analog haptic data signal 710' using one or more output filters.
  • FIG. 8 illustrates a haptic driver 800 for manipulating a haptic data signal according to yet another example embodiment of the invention.
  • haptic driver 800 processes haptic data signal 810 using signal modification and signal conditioning.
  • digital haptic data signal 810 is supplied to memory 820 ⁇ e.g., FIFO) and haptic control data 815 is supplied to configuration controller 830.
  • Memory 820 supplies digital haptic data signal 810 to signal modifier 840.
  • signal modifier 840 may alter digital haptic data signal 810 in advance of conversion to a corresponding analog haptic data signal 810'.
  • Signal modifier 840 may apply one or more processing algorithms. Such algorithms may be applied to digital haptic data signal 810 in advance of subsequent stages.
  • haptic control data 815 may include resonance frequency data, resonance bandwidth data, and attenuation data that may be used to modify the drive voltage and attenuation parameters of digital haptic data signal 810.
  • the digital haptic data signal 810 is supplied to DAC 840.
  • DAC 850 converts the digital haptic data signal 810 to analog haptic data signal 810'.
  • Haptic control data 815 may be used to modify the drive voltage and attenuation parameters of digital haptic data signal 810 during the digital to analog conversion stage.
  • analog haptic data signal 810' is supplied to signal conditioner 860.
  • signal conditioner 860 may alter analog haptic data signal 810'.
  • signal conditioner may apply signal conditioning based on a programmed parameter, a resonance detection mechanism, a look-up table, and the like.
  • analog haptic data signal 810' is received and its voltage level may be varied depending on the input parameters of subsequent stages.
  • power stage 870 may be configured to adjust the voltage level of analog haptic data signal 810' using one or more output filters.
  • Fig. 9 illustrates the effect of a notch filter according to an example
  • haptic drive signal 910 is defined as a variable frequency signal within the 20-450Hz range.
  • notch filter With application of the notch filter (not shown), as haptic drive signal 910 reaches notch filter frequencies, its signal strength is attenuated as shown by the resulting haptic drive signal 920.
  • Various characteristics of the filter such as filter gain, determine the degree of attenuation caused by the notch filter.
  • the embodiments of the invention provide significant improvement and uniformity in haptic experience over a wider frequency band.
  • the HD haptic drivers described herein provide uniform control of haptic actuators made by different manufacturers and help to render consistent haptic experience over wider frequency ranges by improving the haptic response of the actuators to make it usable for wider frequency band and provide uniform/consistent experience.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • User Interface Of Digital Computer (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
PCT/US2016/047750 2015-08-21 2016-08-19 Haptic driver with attenuation Ceased WO2017034973A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201680034559.3A CN107743640A (zh) 2015-08-21 2016-08-19 具有衰减的触觉驱动器
EP16839875.8A EP3338168A4 (en) 2015-08-21 2016-08-19 HAPTIC DRIVER WITH CUSHIONING
KR1020177035809A KR20180033456A (ko) 2015-08-21 2016-08-19 감쇠를 가지는 햅틱 구동기
JP2017564590A JP2018523863A (ja) 2015-08-21 2016-08-19 減衰を有するハプティックドライバ

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US201562208430P 2015-08-21 2015-08-21
US62/208,430 2015-08-21
US15/240,682 2016-08-18
US15/240,682 US10109161B2 (en) 2015-08-21 2016-08-18 Haptic driver with attenuation

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EP (1) EP3338168A4 (enExample)
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CN (1) CN107743640A (enExample)
WO (1) WO2017034973A1 (enExample)

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EP3338168A1 (en) 2018-06-27
US20190080568A1 (en) 2019-03-14
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US10109161B2 (en) 2018-10-23

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