WO2020055404A1 - Commande de sortie haptique pour pavé tactile - Google Patents

Commande de sortie haptique pour pavé tactile Download PDF

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Publication number
WO2020055404A1
WO2020055404A1 PCT/US2018/050774 US2018050774W WO2020055404A1 WO 2020055404 A1 WO2020055404 A1 WO 2020055404A1 US 2018050774 W US2018050774 W US 2018050774W WO 2020055404 A1 WO2020055404 A1 WO 2020055404A1
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WO
WIPO (PCT)
Prior art keywords
haptic output
trackpad
actuator
computer system
driver
Prior art date
Application number
PCT/US2018/050774
Other languages
English (en)
Inventor
Jianxun Wang
Debanjan Mukherjee
Original Assignee
Google Llc
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 Google Llc filed Critical Google Llc
Priority to PCT/US2018/050774 priority Critical patent/WO2020055404A1/fr
Publication of WO2020055404A1 publication Critical patent/WO2020055404A1/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
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03547—Touch pads, in which fingers can move on a surface
    • 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

  • This document relates, generally, to controlling haptic output for a trackpad.
  • Some electronic devices are designed to provide haptic feedback to the user based on some condition or circumstance, such as that the user activates an input device or that a predefined event occurs in a computer system.
  • the haptic feedback can be implemented in form of one or more electric motors mounted on or inside the electronic device so as to generate physical movement (e.g., in form of vibrations) that is perceptible to the user.
  • Other operations of a computer system may directly correspond to coded logic and therefore have a relatively deterministic behavior.
  • the furnishing of haptic feedback depends on physical motion generated by way of mechanical operation of tangible components, and may therefore be subject to degradation or other unintended changes in behavior over time. From the user's perspective, this may be frustrating or undesirable. For example, in the course of using the system the person may have come to expect a certain experience of the haptic feedback.
  • a method includes: generating, in a computer system, first haptic output using an actuator coupled to a trackpad; determining, in the computer system, an acceleration relating to the first haptic output using an accelerometer coupled to the actuator; determining, in the computer system, an estimated haptic output based on the determined acceleration; receiving, in the computer system, an input generated by a user, the input specifying an aspect of haptic feedback for the trackpad; defining, in the computer system, a target haptic output for the trackpad based on the received input; generating, in the computer system, a trackpad driver signal based on the determined estimated haptic output and the defined target haptic output; and generating, in the computer system, second haptic output using the actuator, the second haptic output generated based on the generated trackpad driver signal.
  • Implementations can include any or all of the following features.
  • the determined estimated haptic output is received in, and the target haptic output is defined by, a microcontroller in the computer system.
  • the actuator is controlled by a driver in the computer system, and wherein generating the trackpad driver signal comprises providing, by the microcontroller, the determined estimated haptic output and the defined target haptic output to a digital signal processor of the driver.
  • Generating the trackpad driver signal comprises determining, by the digital signal processor, a difference between the determined estimated haptic output and the defined target haptic output.
  • Determining the estimated haptic output comprises estimating a performance of the actuator. Estimating the performance comprises estimating at least one of a velocity of the trackpad associated with the first haptic output, or a displacement of the trackpad associated with the first haptic output.
  • a method includes: generating, in a computer system, first haptic output using an actuator coupled to a trackpad; determining, in the computer system, an estimated haptic output relating to the first haptic output, the estimated haptic output determined using an accelerometer coupled to the actuator; defining, in the computer system, a target haptic output for the trackpad based on a user input; and generating, in the computer system, second haptic output using the actuator, the second haptic output based on the determined estimated haptic output and the defined target haptic output.
  • the method further comprises presenting a graphical user interface and receiving the user input facilitated by the graphical user interface.
  • the user input specifies a setting for an aspect of haptic feedback for the trackpad, the setting entered using the graphical user interface.
  • Determining the estimated haptic output comprises determining, using the accelerometer, an acceleration relating to the first haptic output, and determining a state of the actuator using the determined acceleration.
  • Determining the state of the actuator comprises estimating a performance of the actuator. Estimating the performance of the actuator comprises estimating at least one of a velocity of the trackpad associated with the first haptic output, or a displacement of the trackpad associated with the first haptic output.
  • the computer system includes a
  • the method further comprising providing, by the microcontroller, the determined estimated haptic output and the defined target haptic output to a digital signal processor of the driver, and generating, by the driver, a trackpad driver signal for the actuator.
  • Generating the trackpad driver signal comprises determining, by the digital signal processor, a difference between the determined estimated haptic output and the defined target haptic output.
  • a computer system includes: a processor; a memory; an enclosure; a trackpad; a user interface configured to receive an input defining a target haptic output for the trackpad; an actuator coupled to the trackpad and configured to generate at least first and second haptic outputs; an accelerometer coupled to the actuator and configured to determine at least an acceleration relating to the first haptic output; and a microcontroller configured to generate a trackpad driver signal based on the defined target haptic output and the determined acceleration, and provide the trackpad driver signal for use by the actuator in generating at least the second haptic output.
  • the actuator and the accelerometer are mounted to a surface of the trackpad.
  • the computer system further comprises a driver for the actuator, the microcontroller configured to trigger the driver to generate the trackpad driver signal and provide the trackpad driver signal to the actuator.
  • the computer system further comprises a digital signal processor (DSP) for the driver, the DSP configured to determine a difference between the defined target haptic output and the determined acceleration, and generate the trackpad driver signal based on the determined difference.
  • the computer system further comprises state-determining circuitry coupled to the accelerometer, the state-determining circuitry configured to determine a state of the actuator based on the determined acceleration. The state-determining circuitry determines the state of the actuator based on estimating at least one of a velocity of the trackpad associated with the first haptic output, or a displacement of the trackpad associated with the first haptic output.
  • FIG. 1 shows a perspective view of an example of a trackpad for a computer system.
  • FIG. 2 shows a top view of the trackpad of FIG. 1.
  • FIG. 3 shows a bottom view of the trackpad of FIG. 1.
  • FIG. 4 schematically shows a computer system that provides closed-loop feedback for haptic output.
  • FIG. 5 shows an example of a control system for providing haptic output.
  • FIG. 6 shows an example of a haptic output controller.
  • FIG. 7 shows an example of a method of generating haptic output.
  • FIG. 8 shows another example of a method of providing haptic output.
  • FIG. 9 shows an example of a computer device and a mobile computer device that can be used to implement the techniques described here.
  • This document describes examples of controlling haptic output that is provided by way of one or more trackpads in a computer system.
  • a user can define one or more aspects of the haptic output to be provided, and closed-loop feedback can be taken into account in generating the haptic output.
  • Systems and techniques described herein can provide one or more advantages compared to earlier approaches.
  • a consistency of user experience over the lifetime of a product can be provided.
  • User configurable haptic output can be provided. Closed-loop feedback can be provided for a haptic output system.
  • Haptic output can be configured based on a state of an actuator.
  • FIG. 1 shows a perspective view of an example of a trackpad 100 for a computer system.
  • FIG. 2 shows a top view of the trackpad 100 of FIG. 1.
  • FIG. 3 shows a bottom view of the trackpad 100 of FIG. 1.
  • the trackpad 100 can be used with one or more other examples described herein.
  • the trackpad 100 can be used with various types of computer systems.
  • the trackpad 100 can be used with any of multiple types of electronic devices, including, but not limited to, a laptop computer, a tablet, a smartphone, or a wearable device, and combinations thereof.
  • the trackpad 100 can be used with systems or apparatuses
  • the trackpad 100 can be used for one or more types of input to a computer system.
  • the trackpad 100 can serve as a pointing device regarding a graphical user interface (e.g., as presented on a display).
  • a user can employ the trackpad 100 to move a cursor or other on-screen tool on a presented screen to manipulate one or more items, objects, files, windows, images or other forms of computer content.
  • the user can make an input relating to object selection, object de-selection, typing, editing, deletion, value selection and/or value de-selection regarding one or more screens presented in the graphical user interface.
  • Inputs can be made in one or more ways using the trackpad 100. Inputs can be made by sliding an object (e.g., a fingertip or the tip of a stylus) across the trackpad 100 in a form of gesture. Inputs can be made by pressing an object onto the trackpad 100 (e.g., in what may be called a "click" maneuver) to deflect the trackpad 100 in some direction. In such situations, it can be detected that force is applied to the trackpad 100 and one or more operations can be triggered in response to detecting the force.
  • a Cartesian coordinate system having respective x-, y-, and z-axes is shown for illustrative purposes.
  • the object can be slid across the trackpad 100 in one or both of the x- or y- directions (e.g., in a plane defined by the x- and y-axes).
  • the object pressed onto the trackpad 100 can cause a deflection of at least part of the trackpad 100 in the z-direction (e.g., a direction inward with regard to an electronic device).
  • the trackpad 100 can also or instead be used to provide one or more types of output from the computer system.
  • the trackpad 100 can provide tactile sensation that is perceptible to the user, in order to communicate one or more types of feedback, for example as described in examples below.
  • the trackpad 100 includes a substrate 102 that can form a majority of the physical implementation of the trackpad 100.
  • the substrate 102 can be made of any material having a sufficient stiffness considering the intended input (e.g., sliding or pressing of the object(s)) and/or considering the intended output (e.g., mechanical motion conveyed through the trackpad 100 as part of haptic output to a user).
  • the substrate 102 can be made of metal.
  • the trackpad 100 can include a front surface 104 on the substrate 102.
  • the front surface 104 can face outward (e.g., toward the user) on an electronic device where the trackpad 100 is implemented.
  • the front surface 104 can presently be directed substantially upward).
  • the front surface 104 can include any material that is suitable considering the intended input and/or output.
  • the front surface 104 can include glass, metal, and/or a polymer material.
  • the front surface 104 can provide for touch sensing as part of the exemplary input mentioned above regarding sliding an object in a gesture on the front surface 104.
  • the front surface 104 can include touch-sensitive technology.
  • capacitive and/or resistive touch sensing can be provided in the trackpad 100.
  • the trackpad 100 can include a rear surface 106 on the substrate 102.
  • the rear surface 106 can face inward (e.g., away from the user) on an electronic device where the trackpad 100 is implemented.
  • the front surface 104 can presently be directed substantially downward).
  • the rear surface 106 can be the location where some functional components of the trackpad 100 are installed, for example as will be described.
  • the trackpad 100 can include one or more components of circuitry in order to perform input and/or output operations.
  • a printed circuit board (PCB) 108 is positioned on the rear surface 106.
  • the PCB 108 can include components or other circuitry responsible for performing one or more functions relating to the trackpad 100.
  • the PCB 108 can include a microcontroller that manages haptic output.
  • the PCB 108 can include a driver that generates the signal(s) that trigger the generation of the haptic output.
  • the trackpad 100 can include one or more components configured to generate output. Haptic output is generated using the trackpad 100. In some implementations, the trackpad 100 can provide haptic output. For example, the haptic output can be provided as a feedback to a user corresponding to the performance or non-performance of one or more operations, and/or corresponding to some particular state of the computer system.
  • an actuator 110 is positioned on the trackpad 100. For example, the actuator 110 can be mounted to the rear surface 106.
  • the actuator 110 can operate according to one or more principles of physics to generate haptic output that is perceptible to a user.
  • the actuator 110 can be an electromagnetic actuator.
  • the actuator 110 can be a linear resonant actuator (LRA) in which electromagnetic interaction between a coil and a magnet causes a certain mass (sometimes referred to as the moving mass) to gain velocity and be displaced. Reciprocal motion can be accomplished and can provide a vibrating sensation through the haptic output.
  • LRA linear resonant actuator
  • the actuator 110 can operate according to one or more axes that can be, but are not necessarily, aligned with the respective x-, y-, and z-axes of the shown coordinate system.
  • the actuator 110 is a multi-axis actuator and can provide haptic output in two or more axes simultaneously or sequentially.
  • the actuator 110 is a single-axis actuator.
  • haptics systems have been provided with predefined open- loop driving signals.
  • an actuator may be driven using substantially the same signal over the lifespan of the product where the actuator is implemented.
  • the performance of an actuator may degrade over such a lifespan.
  • a mechanical structure can be subject to wear, or the product can be involved in accidents such as being dropped to the ground.
  • the actuator continues to operate it may no longer deliver the same haptic output when driven by the same predefined open-loop driving signals. As such, the user's experience of the product can suffer as a result.
  • the trackpad 100 can include one or more components that facilitate closed- loop feedback of the haptic output system.
  • an accelerometer 112 is positioned on the trackpad 100.
  • the accelerometer 112 can be mounted to the rear surface 106.
  • the accelerometer 112 can sense and measure the acceleration to which it is being subjected, and can output one or more signals correspondingly.
  • the accelerometer 112 is configured to sense acceleration in multiple dimensions and generate the corresponding output signal(s).
  • the accelerometer 112 can be a three- dimensional accelerometer.
  • the trackpad 100 can include a plate 114 that can be involved in detecting a click or another force input on the trackpad 100.
  • the plate 114 can serve as, or have mounted thereon, a coil that is involved in detecting deflection of the trackpad 100 as a result of applied force.
  • the trackpad can operate based on inductive force sensing or inductive gap sensing based on force.
  • the trackpad 100 can include a spring 116 that is involved in the suspension of the substrate 102 in its operating position.
  • the spring 116 facilitates the detection of force applied to the front surface 104 by way of allowing deflection of the substrate 102.
  • the spring 116 can allow the substrate 102 to be deflected in the z-direction.
  • One or more damping materials can be provided for the motion/deflection of the trackpad 100.
  • silicone pads can be provided on the rear surface 106.
  • the silicone pads can be covered by an over-molded plastic 118.
  • the trackpad 100 can have one or more structures for mounting the trackpad 100 to a computer system such as an electronic device.
  • the trackpad 100 has structures 120 that can facilitate assembly of the trackpad 100 to a housing or another part of such system.
  • the structure 120 can be mounted on respective opposite edges of the substrate 102.
  • FIG. 4 schematically shows a computer system 400 that provides closed-loop feedback for haptic output.
  • the computer system 400 can be used with one or more other examples described herein.
  • the computer system 400 can be implemented according to one or more examples described with reference to FIG. 9 below.
  • Components of the computer system 400 can operate identically or similarly to corresponding components described in other examples herein.
  • One or more of the components of the computer system 400 can be implemented as separate unit, or as part of an integrated unit together with at least one component.
  • the computer system 400 includes a force/touch sensing component 402.
  • the force/touch sensing component 402 facilitates the user making inputs by either making a gesture (e.g., by sliding an object along the surface) or by applying force (e.g., by pressing with an object).
  • the force/touch sensing component 402 is coupled to one or more other aspects of the computer system 400, and such input(s) to the force/touch sensing component 402 can trigger generating of at least one signal 404.
  • the signal 404 represents, or may otherwise characterize, the gesture and/or force that was input using the force/touch sensing component 402.
  • the computer system 400 includes a microcontroller 406.
  • microcontroller 406 includes at least: one or more processor cores, one or more memories, and one or more input/output components that allow the microcontroller 406 to communicate with other aspects of the computer system 400.
  • the microcontroller 406 includes at least: one or more processor cores, one or more memories, and one or more input/output components that allow the microcontroller 406 to communicate with other aspects of the computer system 400.
  • the processor cores includes at least: one or more processor cores, one or more memories, and one or more input/output components that allow the microcontroller 406 to communicate with other aspects of the computer system 400.
  • the microcontroller 406 includes at least: one or more processor cores, one or more memories, and one or more input/output components that allow the microcontroller 406 to communicate with other aspects of the computer system 400.
  • the microcontroller 406 includes at least: one or more processor cores, one or more memories, and one or more input/output components that allow the microcontroller 406 to communicate with other aspects of the computer system 400
  • microcontroller 406 is implemented as part of a PCB in an electronic device.
  • the microcontroller 406 can be mounted on a trackpad that is configured for providing haptic output.
  • the microcontroller 408 can be characterized as an "always-on processor.”
  • the microcontroller 408 can always be receptive to inputs using the force/touch sensing component 402 regardless of the state of the computer system 400 or the state of the electronic device where the computer system 400 may be implemented.
  • the microcontroller 406 can perform functions regarding the control and provision of haptic output.
  • the microcontroller 406 can facilitate user configuration of the haptic output to provide an increased level of customization.
  • the microcontroller 406 can receive closed-loop feedback about the haptic output and take into account the closed-loop feedback in controlling how the haptic output is generated. For example, the microcontroller 406 can receive a determined estimated haptic output and/or define a target haptic output to be generated.
  • the computer system 400 includes a user interface 408 that can be employed for user configuration of haptic output.
  • the user interface 408 can be coupled to the microcontroller 406 directly or indirectly.
  • aspects of the user interface 408 that involve presenting content on a display, and receiving inputs facilitated by the presented content can be handled by a main processing unit for the electronic device or other apparatus where the computer system 400 is implemented (see, e.g., FIG. 9), and that main processing unit can couple to the microcontroller 406 to facilitate the necessary input and/or output.
  • the user interface 408 provides a graphical user interface where a user is presented with options for tailoring or customizing the haptic output in one or more regards.
  • the graphical user interface can identify one or more aspects of the haptic output and the user can then make one or more inputs to specify some setting(s) for the identified aspect(s).
  • Such user input(s) can be a basis for the microcontroller 406 to define a target haptic output; that is, the defined target haptic output can characterize the haptic output to be provided according to one or more aspects thereof, including, but not limited to, its duration, strength, or other perceptible characteristic.
  • the computer system 400 can present a graphical user interface and can receive user input facilitated by the graphical user interface.
  • the computer system 400 includes an actuator sub-system 410 that includes an actuator 412 and a driver 414 coupled to the actuator 412.
  • the actuator sub-system 410 can be coupled to the microcontroller 408 (e.g., by one or more bus connections) and can be configured for providing haptic output.
  • the actuator 412 is coupled to a trackpad (see, e.g., trackpad 100 in FIGS. 1-3) and can be configured to undergo mechanical motion that impacts the trackpad so as to be perceptible to a user.
  • the actuator 412 is an electromagnetic actuator.
  • the actuator 412 can be a linear resonant actuator.
  • the actuator 412 operates based on at least one trackpad driver signal 416 that the driver 414 provides to the actuator 412.
  • the trackpad driver signal 416 includes one or more electromagnetic waveforms that cause current(s) to flow through, and voltage(s) to be applied across, the actuator 412.
  • the driver 414 can include one or more circuits and/or other components to control the actuator 412.
  • the microcontroller 406 can trigger the driver 414 to perform operations.
  • the microcontroller 406 can be configured to trigger the driver 414 to generate the trackpad driver signal 416 and to provide the trackpad driver signal 416 to the actuator 412.
  • the operation of the driver 414 can be facilitated by at least one digital signal processor 418.
  • the DSP 418 for the driver 414 can be mounted on the trackpad.
  • the DSP 418 can be implemented as part of the PCB 108 (FIG. 1).
  • the DSP 418 can be coupled to the microcontroller 406, for example by a bus connection.
  • the DSP 418 can instruct the driver 414 as to the trackpad driver signal 418 that is to be generated, and the driver 414 executes that instruction by controlling the operation of the actuator 412 in accordance with the trackpad driver signal 416.
  • the DSP 418 can be configured to receive a definition of haptic output and a determination of acceleration.
  • the DSP 418 can determine a difference between the defined target haptic output and the determined acceleration, and generate the trackpad driver signal 416 based on the determined difference.
  • the computer system 400 can include an accelerometer 420.
  • the accelerometer is coupled to the actuator 412 so as to detect acceleration that the actuator 412 imposes on the trackpad as part of of the haptic output being provided through the trackpad.
  • the accelerometer 420 can be mounted on the trackpad (see, e.g., the accelerometer 112 in FIG. 1).
  • the accelerometer 420 can be coupled to the microcontroller 406, for example by a bus connection.
  • the accelerometer 420 generates at least one signal 422 that can represent the measured acceleration.
  • the signal 422 can include a three-dimensional characterization of detected acceleration.
  • the signal 422 can be received by the microcontroller 406 directly or indirectly.
  • the microcontroller 406 can use the signal 422 from the accelerometer 420 as closed-loop feedback regarding provided haptic output.
  • the microcontroller 406 can determine an estimated haptic output based on the signal 422.
  • the determined estimated haptic output corresponds to a measurement or an observation of the state of the actuator 412.
  • the microcontroller 406 can generate a signal 424 to the actuator sub-system 410.
  • the signal 424 provides a determined estimated haptic output and a defined target haptic output (e.g., a given user configuration made by way of the user interface 408) to the DSP 418 of the driver 414.
  • the DSP 418 can determine a difference between the determined estimated haptic output and the defined target haptic output, and base the trackpad driver signal 418 on the determined difference.
  • the microprocessor 406 can provide the signal 424 to trigger the driver 414 to generate the trackpad driver signal 416. Particularly, the microcontroller 406 can first generate the signal 424 to trigger the actuator sub-system 410 to produce a first haptic output.
  • the accelerometer 420 can provide closed-loop feedback of the first haptic output to the microcontroller 406 by the signal 422, and the microcontroller 406 can determine an estimated haptic output based thereon.
  • determining the estimated haptic output can include estimating a performance of the actuator 412. For example, the performance estimation can reflect whether the actuator 412 has undergone degradation or other unintended change.
  • the microcontroller can then provide an updated instance of the signal 424, based on the closed-loop feedback, to trigger the driver 414 to generate an updated instance of the trackpad driver signal 416.
  • the updated instance of the trackpad driver signal 416 can cause greater current and/or voltage, or current/voltage having a different waveform, to be applied to the actuator 412. That is, second haptic output produced based on the updated instance of the trackpad driver signal 416 can provide the advantage that the haptic output is tailored to the user configuration and/or reduces or eliminates the effect of the particular state of the actuator 412.
  • the computer system 400 is an example of a computer system that includes a processor (e.g., the processor 902 in FIG. 9), a memory (e.g., the memory 904 in FIG. 9), an enclosure (e.g., the enclosure 614 in FIG. 6), a trackpad (e.g., the trackpad 100 in FIGS. 1-3), and a user interface (e.g., the user interface 408) configured to receive an input defining a target haptic output for the trackpad.
  • the computer system includes an actuator (e.g., the actuator 412) coupled to the trackpad and configured to generate at least first and second haptic outputs.
  • the computer system includes an accelerometer (e.g., the accelerometer 420) coupled to the actuator and configured to determine at least an acceleration relating to the first haptic output (e.g., reflected in the signal 422).
  • the computer system includes a microcontroller (e.g., the microcontroller 406) configured to generate a trackpad driver signal (e.g., the trackpad driver signal 416) based on the defined target haptic output and the determined acceleration, and provide the trackpad driver signal for use by the actuator in generating at least the second haptic output.
  • the computer system 400 is an example of an implementation that can perform a method relating to controlling haptic output for a trackpad.
  • a method includes generating, in a computer system, first haptic output (e.g., based on the trackpad driver signal 416) using an actuator (e.g., the actuator 412) coupled to a trackpad (e.g., the trackpad 100 in FIGS. 1-3).
  • the method includes determining, in the computer system (e.g., by the microcontroller 406), an estimated haptic output relating to the first haptic output.
  • the estimated haptic output can be determined using an accelerometer (e.g., the accelerometer 420) coupled to the actuator.
  • the method includes defining, in the computer system, a target haptic output for the trackpad based on a user input (e.g., received by way of the user interface 408).
  • the method includes generating, in the computer system, second haptic output using the actuator (e.g., based on the updated trackpad driver signal 416).
  • the second haptic output can be based on the determined estimated haptic output and the defined target haptic output.
  • a method that can be performed by the computer system 400 includes generating, in a computer system, first haptic output (e.g., based on the trackpad driver signal 416) using an actuator (e.g., the actuator 412) coupled to a trackpad (e.g., the trackpad 100 in FIGS. 1-3).
  • the method includes determining, in the computer system (e.g., by the microcontroller 406), an acceleration relating to the first haptic output using an accelerometer (e.g., the accelerometer 420) coupled to the actuator.
  • the method includes determining, in the computer system, an estimated haptic output based on the determined acceleration.
  • the method includes receiving, in the computer system, an input generated by a user, the input specifying an aspect of haptic feedback for the trackpad.
  • the method includes defining, in the computer system, a target haptic output for the trackpad based on the received input.
  • the method includes generating, in the computer system, a trackpad driver signal based on the determined estimated haptic output and the defined target haptic output.
  • the method includes generating, in the computer system, second haptic output using the actuator, the second haptic output generated based on the generated trackpad driver signal.
  • FIG. 5 shows an example of a control system 500 for providing haptic output.
  • the computer system 400 can be used with one or more other examples described herein.
  • control system 500 can be implemented according to one or more examples described with reference to FIG. 9 below.
  • Components of the control system 500 can operate identically or similarly to corresponding components described in other examples herein.
  • One or more of the components of the computer system 400 can be implemented as separate unit, or as part of an integrated unit together with at least one component.
  • the control system 500 can operate based on an input 502.
  • the input 502 corresponds to a target haptic output.
  • a microcontroller can define a target haptic output based on input received by way of a user interface.
  • the target haptic output can specify the setting(s) for one or more aspects of the haptic output.
  • An operation 504 can be performed based at least in part on the defined target haptic output.
  • the control system 500 includes a DSP controller 506.
  • the DSP controller 506 can execute one or more operations relating to the provisioning of haptic output.
  • the DSP controller 506 can cause a driver 508 to generate a trackpad driver signal 510 to an actuator 512 of the control system 500 that may be mounted to the trackpad.
  • the trackpad driver signal 510 can cause the actuator 512 to generate haptic output 514.
  • the haptic output 514 can also be applied to an accelerometer 516 in the control system 500.
  • the accelerometer 516 generates at least one signal 518 based on sensing the haptic output 514.
  • the signal 518 can reflect a measured acceleration or a determined acceleration regarding the haptic output 514.
  • the signal 518 can be provided to state-determining circuitry 520 coupled to the accelerometer 516 in the control system 500.
  • the state-determining circuitry 520 includes one or more circuits or other components configured to determine a state of the actuator 512 based on the signal 518. For example, the state-determining circuitry 520 can determine whether the actuator 512 has undergone degradation or other unwanted change such that the haptic output 514 may not correspond to the target haptic output that may have been defined in the input 502. Operations performed by the state-determining circuitry 520 can include receiving and analyzing the signal 518, defining the possible states for the actuator 512, determining which of the defined states the actuator 512 is in based on the signal 518, and generating an output corresponding to the determination.
  • the state determining circuitry 520 can generate a signal 522 based on having the determined the state of the actuator 512.
  • the signal 522 represents an estimated performance of the actuator 412.
  • the signal 522 reflects that the state determining circuitry 520 estimates a velocity, and/or estimates a displacement, of the trackpad. Estimating such velocity and/or displacement of the trackpad can correspond to an insight into the respective velocity and/or displacement of a moving mass that is part of the actuator 512.
  • the estimated performance can reflect a state of the actuator 512 and/or a determination of a state of the actuator 512.
  • the signal 522 can be provided to the operation 504. In some embodiments,
  • the operation 504 performs a comparison using the signal 522 and the signal 502 to serve as the basis for potentially updating the trackpad driver signal 510. For example, a difference can be determined between a determined estimated haptic output reflected by the signal 522, and a target haptic output defined by the signal 502.
  • FIG. 6 shows an example of a haptic output controller 600.
  • the haptic output controller 600 can be used with one or more other examples described herein.
  • the haptic output controller 600 can be implemented according to one or more examples described with reference to FIG. 9 below.
  • Components of the haptic output controller 600 can operate identically or similarly to corresponding components described in other examples herein.
  • One or more of the components of the haptic output controller 600 can be implemented as separate unit, or as part of an integrated unit together with at least one component.
  • the haptic output controller 600 can be configured for controlling the generation of haptic output in a computer system, such as when implemented in an electronic device.
  • the haptic output controller 600 includes a user interface (UI) management component 602.
  • the UI management component 602 is configured to generate a UI 604 for presentation on a display device (e.g., a display device that is included in the computer system for which haptic output is to be provided).
  • the UI management component 602 can define what content appears at the UI 604 and control one or more inputs that a user can make under guidance of the UI 604.
  • the UI 604 relates to user configuration of haptic output for a trackpad.
  • the UI 604 includes one or more characteristics 606 relating to the haptic output, each of which can correspond to at least one aspect 608 of the haptic feedback.
  • the UI 604 can provide, or be configured to accept input of, multiple settings 610.
  • the setting(s) 610 can be selected or otherwise entered in various ways, including, but not limited to, by way of a cursor manipulated using a pointing device or a keyboard.
  • the aspect(s) 608 can reflect the configuration of how the haptic output is to be generated and/or perceived in one or more regards.
  • the aspect 608 can correspond to a duration of the haptic output.
  • the setting 610 of the aspect 608 defines whether a longer or shorter haptic output should be provided.
  • the aspect 608 can correspond to a sharpness of the haptic output.
  • the setting 610 of the aspect 608 defines whether a sharper or less sharp haptic output should be provided.
  • the aspect 608 can correspond to an amplitude of the haptic output.
  • the setting 610 of the aspect 608 defines whether a stronger or weaker haptic output should be provided.
  • the aspect 608 can relate to a characteristic of a trackpad driver signal triggering the haptic output.
  • the setting 610 of the aspect 608 can define one or more parameters regarding a waveform that is to be applied to an actuator to generate the haptic output.
  • the aspect 608 can correspond to a condition relating to the haptic output.
  • the setting 610 of the aspect 608 defines one or more conditions based on which haptic output should be, or should not be, provided. Other aspects of the haptic output can be controlled using the UI 604.
  • the haptic output controller 600 includes a component 612 that is configured for DSP/Driver communication.
  • the haptic output controller 600 uses the component 612 to communicate with a driver (e.g., the driver 508 in FIG. 5 or the driver 414 in FIG. 4).
  • the haptic output controller 600 uses the component 612 to communicate with a DSP (e.g., the DSP Controller 506 in FIG. 5 or the DSP 418 in FIG. 4).
  • the haptic output controller 600 can be implemented in or on an enclosure 614.
  • the enclosure 614 provides an exterior surface that can expose some or all of the haptic output controller 600 to a user.
  • the enclosure 614 can be a laptop enclosure.
  • the enclosure 614 can be a tablet enclosure.
  • FIG. 7 shows an example of a method of generating haptic output.
  • the method 700 can be used with one or more other examples described herein. More or fewer operations than shown can be performed. Two or more operations of the method 700 can be performed in a different order unless otherwise indicated.
  • the method 700 includes generating, in a computer system, first haptic output (e.g., the haptic output 514 in FIG. 5) using an actuator (e.g., the actuator 512 in FIG.
  • the method 700 includes determining, in the computer system (e.g., by the microcontroller 406 in FIG. 4), an estimated haptic output relating to the first haptic output (e.g., as represented by the signal 522 in FIG. 5).
  • the estimated haptic output can be determined using an accelerometer (e.g., the accelerometer 516 in FIG. 5) coupled to the actuator.
  • the method 700 includes defining, in the computer system, a target haptic output for the trackpad (e.g., as represented by the signal 502 in FIG. 5) based on a user input (e.g., received by way of the UI 604 in FIG.
  • the method 700 includes generating, in the computer system, second haptic output (e.g., the haptic output 514 in FIG. 5) using the actuator (e.g., based on the updated trackpad driver signal 416 in FIG. 4).
  • the second haptic output can be based on the determined estimated haptic output and the defined target haptic output.
  • FIG. 8 shows another example of a method 800 of providing haptic output.
  • the method 800 can be used with one or more other examples described herein. More or fewer operations than shown can be performed. Two or more operations of the method 800 can be performed in a different order unless otherwise indicated.
  • the method 800 includes generating, in a computer system, first haptic output (e.g., the haptic output 514 in FIG. 5) using an actuator (e.g., the actuator 512 in FIG. 5) coupled to a trackpad (e.g., the trackpad 100 in FIGS. 1-3).
  • the method 800 includes determining, in the computer system (e.g., by the microcontroller 406 in FIG. 4), an acceleration relating to the first haptic output using an accelerometer (e.g., the accelerometer 516 in FIG. 5) coupled to the actuator.
  • the method 800 includes determining, in the computer system, an estimated haptic output (e.g., as represented by the signal 522 in FIG.
  • the method 800 includes receiving, in the computer system, an input generated by a user (e.g., by way of the UI 604 in FIG. 6), the input specifying an aspect of haptic feedback for the trackpad (e.g., in terms of the aspect 608 in FIG. 6).
  • the method 800 includes defining, in the computer system, a target haptic output (e.g., as represented by the signal 502 in FIG. 5) for the trackpad based on the received input.
  • the method 800 includes generating, in the computer system, a trackpad driver signal (e.g., the updated trackpad driver signal 416 in FIG.
  • the method 800 includes generating, in the computer system, second haptic output (e.g., the haptic output 514 in FIG. 5) using the actuator, the second haptic output generated based on the generated trackpad driver signal.
  • second haptic output e.g., the haptic output 514 in FIG. 5
  • FIG. 9 shows an example of a generic computer device 900 and a generic mobile computer device 950, which may be used with the techniques described here.
  • Computing device 900 is intended to represent various forms of digital computers, such as laptops, desktops, tablets, workstations, personal digital assistants, televisions, servers, blade servers, mainframes, and other appropriate computing devices.
  • Computing device 950 is intended to represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, and other similar computing devices.
  • the components shown here, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed in this document.
  • the generic computer device 900 and/or the generic mobile computer device 950 can be implemented in or on the enclosure 614 in FIG. 6.
  • Computing device 900 includes a processor 902, memory 904, a storage device 906, a high-speed interface 908 connecting to memory 904 and high-speed expansion ports 910, and a low speed interface 912 connecting to low speed bus 914 and storage device 906.
  • the processor 902 can be a semiconductor-based processor.
  • the memory 904 can be a semiconductor-based memory.
  • Each of the components 902, 904, 906, 908, 910, and 912, are interconnected using various busses, and may be mounted on a common motherboard or in other manners as appropriate.
  • the processor 902 can process instructions for execution within the computing device 900, including instructions stored in the memory 904 or on the storage device 906 to display graphical information for a GUI on an external input/output device, such as display 916 coupled to high speed interface 908.
  • an external input/output device such as display 916 coupled to high speed interface 908.
  • multiple processors and/or multiple buses may be used, as appropriate, along with multiple memories and types of memory.
  • multiple computing devices 900 may be connected, with each device providing portions of the necessary operations (e.g., as a server bank, a group of blade servers, or a multi-processor system).
  • the memory 904 stores information within the computing device 900.
  • the memory 904 is a volatile memory unit or units. In another
  • the memory 904 is a non-volatile memory unit or units.
  • the memory 904 may also be another form of computer-readable medium, such as a magnetic or optical disk.
  • the storage device 906 is capable of providing mass storage for the computing device 900.
  • the storage device 906 may be or contain a computer- readable medium, such as a floppy disk device, a hard disk device, an optical disk device, or a tape device, a flash memory or other similar solid state memory device, or an array of devices, including devices in a storage area network or other configurations.
  • a computer program product can be tangibly embodied in an information carrier.
  • the computer program product may also contain instructions that, when executed, perform one or more methods, such as those described above.
  • the information carrier is a computer- or machine-readable medium, such as the memory 904, the storage device 906, or memory on processor 902.
  • the high speed controller 908 manages bandwidth-intensive operations for the computing device 900, while the low speed controller 912 manages lower bandwidth intensive operations. Such allocation of functions is exemplary only.
  • the high-speed controller 908 is coupled to memory 904, display 916 (e.g., through a graphics processor or accelerator), and to high-speed expansion ports 910, which may accept various expansion cards (not shown).
  • low-speed controller 912 is coupled to storage device 906 and low-speed expansion port 914.
  • the low-speed expansion port which may include various communication ports (e.g., USB, Bluetooth, Ethernet, wireless Ethernet) may be coupled to one or more input/output devices, such as a keyboard, a pointing device, a scanner, or a networking device such as a switch or router, e.g., through a network adapter.
  • input/output devices such as a keyboard, a pointing device, a scanner, or a networking device such as a switch or router, e.g., through a network adapter.
  • the computing device 900 may be implemented in a number of different forms, as shown in the figure. For example, it may be implemented as a standard server 920, or multiple times in a group of such servers. It may also be implemented as part of a rack server system 924. In addition, it may be implemented in a personal computer such as a laptop computer 922. Alternatively, components from computing device 900 may be combined with other components in a mobile device (not shown), such as device 950. Each of such devices may contain one or more of computing device 900, 950, and an entire system may be made up of multiple computing devices 900, 950 communicating with each other.
  • Computing device 950 includes a processor 952, memory 964, an input/output device such as a display 954, a communication interface 966, and a transceiver 968, among other components.
  • the device 950 may also be provided with a storage device, such as a microdrive or other device, to provide additional storage.
  • a storage device such as a microdrive or other device, to provide additional storage.
  • Each of the components 950, 952, 964, 954, 966, and 968 are interconnected using various buses, and several of the components may be mounted on a common motherboard or in other manners as appropriate.
  • the processor 952 can execute instructions within the computing device 950, including instructions stored in the memory 964.
  • the processor may be implemented as a chipset of chips that include separate and multiple analog and digital processors.
  • the processor may provide, for example, for coordination of the other components of the device 950, such as control of user interfaces, applications run by device 950, and wireless communication by device 950.
  • Processor 952 may communicate with a user through control interface 958 and display interface 956 coupled to a display 954.
  • the display 954 may be, for example, a TFT LCD (Thin-Film-Transistor Liquid Crystal Display) or an OLED (Organic Light Emitting Diode) display, or other appropriate display technology.
  • the display interface 956 may comprise appropriate circuitry for driving the display 954 to present graphical and other information to a user.
  • the control interface 958 may receive commands from a user and convert them for submission to the processor 952.
  • an external interface 962 may be provided in communication with processor 952, so as to enable near area communication of device 950 with other devices.
  • External interface 962 may provide, for example, for wired communication in some implementations, or for wireless communication in other implementations, and multiple interfaces may also be used.
  • the memory 964 stores information within the computing device 950.
  • the memory 964 can be implemented as one or more of a computer-readable medium or media, a volatile memory unit or units, or a non-volatile memory unit or units.
  • Expansion memory 974 may also be provided and connected to device 950 through expansion interface 972, which may include, for example, a SIMM (Single In Line Memory Module) card interface.
  • SIMM Single In Line Memory Module
  • expansion memory 974 may provide extra storage space for device 950, or may also store applications or other information for device 950.
  • expansion memory 974 may include instructions to carry out or supplement the processes described above, and may include secure information also.
  • expansion memory 974 may be provided as a security module for device 950, and may be programmed with instructions that permit secure use of device 950.
  • secure applications may be provided via the SIMM cards, along with additional information, such as placing identifying information on the SIMM card in a non-hackable manner.
  • the memory may include, for example, flash memory and/or NVRAM memory, as discussed below.
  • a computer program product is tangibly embodied in an information carrier.
  • the computer program product contains instructions that, when executed, perform one or more methods, such as those described above.
  • the information carrier is a computer- or machine-readable medium, such as the memory 964, expansion memory 974, or memory on processor 952, that may be received, for example, over transceiver 968 or external interface 962.
  • Device 950 may communicate wirelessly through communication interface 966, which may include digital signal processing circuitry where necessary. Communication interface 966 may provide for communications under various modes or protocols, such as GSM voice calls, SMS, EMS, or MMS messaging, CDMA, TDMA, PDC, WCDMA, CDMA2000, or GPRS, among others. Such communication may occur, for example, through radio-frequency transceiver 968. In addition, short-range communication may occur, such as using a Bluetooth, WiFi, or other such transceiver (not shown). In addition, GPS (Global Positioning System) receiver module 970 may provide additional navigation- and location- related wireless data to device 950, which may be used as appropriate by applications running on device 950.
  • GPS Global Positioning System
  • Device 950 may also communicate audibly using audio codec 960, which may receive spoken information from a user and convert it to usable digital information. Audio codec 960 may likewise generate audible sound for a user, such as through a speaker, e.g., in a handset of device 950. Such sound may include sound from voice telephone calls, may include recorded sound (e.g., voice messages, music files, etc.) and may also include sound generated by applications operating on device 950.
  • Audio codec 960 may receive spoken information from a user and convert it to usable digital information. Audio codec 960 may likewise generate audible sound for a user, such as through a speaker, e.g., in a handset of device 950. Such sound may include sound from voice telephone calls, may include recorded sound (e.g., voice messages, music files, etc.) and may also include sound generated by applications operating on device 950.
  • the computing device 950 may be implemented in a number of different forms, as shown in the figure. For example, it may be implemented as a cellular telephone 980. It may also be implemented as part of a smart phone 982, personal digital assistant, or other similar mobile device.
  • implementations can include implementation in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
  • a programmable processor which may be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
  • the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer.
  • a display device e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor
  • a keyboard and a pointing device e.g., a mouse or a trackball
  • Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
  • the systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a client computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components.
  • the components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (“LAN”), a wide area network (“WAN”), and the Internet.
  • LAN local area network
  • WAN wide area network
  • the Internet the global information network
  • the computing system can include clients and servers.
  • a client and server are generally remote from each other and typically interact through a communication network.
  • the relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

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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)

Abstract

Un procédé selon la présente invention comprend les étapes consistant à : générer, dans un système informatique, une première sortie haptique à l'aide d'un actionneur couplé à un pavé tactile ; déterminer, dans le système informatique, une accélération relative à la première sortie haptique à l'aide d'un accéléromètre couplé à l'actionneur ; déterminer, dans le système informatique, une sortie haptique estimée sur la base de l'accélération déterminée ; recevoir, dans le système informatique, une entrée générée par un utilisateur, l'entrée spécifiant un aspect de rétroaction haptique pour le pavé tactile ; définir, dans le système informatique, une sortie haptique cible pour le pavé tactile sur la base de l'entrée reçue ; générer, dans le système informatique, un signal pilote de pavé tactile sur la base de la sortie haptique estimée déterminée et de la sortie haptique cible définie ; et générer, dans le système informatique, une seconde sortie haptique à l'aide de l'actionneur, la seconde sortie haptique étant générée sur la base du signal pilote de pavé tactile généré.
PCT/US2018/050774 2018-09-12 2018-09-12 Commande de sortie haptique pour pavé tactile WO2020055404A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2624100A1 (fr) * 2012-02-01 2013-08-07 Immersion Corporation Optimisation d'actionneur de masse excentrique rotative pour effets haptiques
US20140320402A1 (en) * 2014-07-14 2014-10-30 Immersion Corporation Self calibration for haptic devices
US20150130730A1 (en) * 2012-05-09 2015-05-14 Jonah A. Harley Feedback systems for input devices
US20180033262A1 (en) * 2016-07-27 2018-02-01 Immersion Corporation Braking characteristic detection system for haptic actuator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2624100A1 (fr) * 2012-02-01 2013-08-07 Immersion Corporation Optimisation d'actionneur de masse excentrique rotative pour effets haptiques
US20150130730A1 (en) * 2012-05-09 2015-05-14 Jonah A. Harley Feedback systems for input devices
US20140320402A1 (en) * 2014-07-14 2014-10-30 Immersion Corporation Self calibration for haptic devices
US20180033262A1 (en) * 2016-07-27 2018-02-01 Immersion Corporation Braking characteristic detection system for haptic actuator

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