WO2024040352A1

WO2024040352A1 - A portable and foldable haptic all-in-one console

Info

Publication number: WO2024040352A1
Application number: PCT/CA2023/051124
Authority: WO
Inventors: Colin GALLACHER; Felix DESOURDY; Steven Ding; Maciej LACKI; Oliver PHILBIN-BRISCOE; Antoine WEILL--DUFLOS
Original assignee: Haply Robotics inc.
Priority date: 2022-08-26
Filing date: 2023-08-25
Publication date: 2024-02-29

Abstract

Described are various embodiments of a portable and foldable haptic all-in-one console. In one embodiment, the console comprises an openable housing. The housing comprises a first portion hingedly coupled to a second portion, the first portion and second portion configured to be hingedly movable for opening or closing the housing. At least one recess is formed through an inner face of any one of the first portion or the second portion, the at least one recess configured to accommodate at least one haptic force feedback device therein. The housing comprises one or more attachment surfaces to removably affix the at least one haptic force feedback device thereto.

Description

A PORTABLE AND FOLDABLE HAPTIC ALL-IN-ONE CONSOLE

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 63/373,628 filed August 26, 2022, which is incorporated herein by reference in its entirety.

FIELD OF THE DISCLOSURE

[0002] The present disclosure relates to haptic devices, and, in particular, to a portable and foldable haptic all-in-one console.

BACKGROUND

[0003] Currently, haptic devices act like computer peripherals that need to be connected to a computer system. They require the user to attach a device to a work surface, connect it to power and electricity, and calibrate it. Additionally, haptic devices are difficult to transport as they rely on their mass and large footprint to remain stationary during the use. Because of this, current solutions are only set in labs and are barely moved.

[0004] This background information is provided to reveal information believed by the applicant to be of possible relevance. No admission is necessarily intended, nor should be construed that any of the preceding information constitutes prior art or forms part of the general common knowledge in the relevant art.

SUMMARY

[0005] The following presents a simplified summary of the general inventive concepts described herein to provide a basic understanding of some aspects of the disclosure. This summary is not an extensive overview of the disclosure. It is not intended to restrict key or critical elements of embodiments of the disclosure or to delineate their scope beyond that which is explicitly or implicitly described by the following description and claims.

[0006] A need exists for a portable and foldable haptic all-in-one console that folds flat for transportation while providing a range of customizable working configurations. This allows a user to conveniently transport and deploy one or more haptic force feedback devices to be used, in some embodiments, with an on-board display and speaker system. This advantageously provides the ability to deploy and use haptic force feedback devices at various locations, for example to provide training or for personal use. [0007] In accordance with one aspect, there is provided a haptic console, comprising: an openable housing comprising: a first portion hingedly coupled to a second portion, the first portion and second portion configured to be hingedly movable for opening or closing the housing; at least one recess formed through an inner face of any one of said first portion or said second portion, the at least one recess configured to accommodate at least one haptic force feedback device therein; and one or more attachment portions to removably affix said at least one haptic force feedback device thereto.

[0008] In one embodiment, upon the housing being opened, said second portion is configured to rest on a flat horizontal surface and said first portion to be substantially vertical with respect to the second portion.

[0009] In one embodiment, at least one of said one or more attachment portions is located on an inner face of said second portion.

[0010] In one embodiment, at least one of said one or more attachment portions is located on said first portion.

[0011] In one embodiment, one of said at least one recess is located on the second portion.

[0012] In one embodiment, one of said at least one recess is located on the first portion.

[0013] In one embodiment, an inner face of said first portion comprises a digital display.

[0014] In one embodiment, the haptic console further comprises housed in said housing a computing unit coupled to a memory and an input/output module, and operable to operate, at least in part, said at least one haptic device.

[0015] In one embodiment, the haptic console further comprises a network adapter operably coupled to the computing unit operable to communicate with one or more servers via a network to receive simulation data thereof.

[0016] In one embodiment, the computing unit is configured to operate as an edge device in an edge computing system comprising said one or more servers.

[0017] In one embodiment, the haptic console further comprises an input/output port operably coupled to the computing unit and configured to communicatively couple the computing unit to another computing system in the physical vicinity of the haptic console to receive simulation data thereof.

[0018] In one embodiment, the haptic console further comprises: a rigid foldable support frame hingedly coupled to an inner face of the second portion, the support frame comprising an elongated horizontal member and configured to be hingedly movable into an unfolded state wherein the elongated horizontal member is elevated above the inner face of the second portion to serve one of said one or more attachment portions.

[0019] In one embodiment, the haptic device further comprises a rod configured to abut against the support frame and the bottom portion of the housing thereby securing the support frame.

[0020] In one embodiment, the at least one haptic force feedback device is a three degrees of freedom (3DOF) haptic force feedback device.

[0021] In one embodiment, the at least one haptic force feedback device is a two degrees of freedom (2DOF) haptic force feedback device.

[0022] Other aspects, features and/or advantages will become more apparent upon reading of the following non-restrictive description of specific embodiments thereof, given by way of example only with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Several embodiments of the present disclosure will be provided, by way of examples only, with reference to the appended drawings, wherein:

[0024] FIG. 1A is a top view of an all-in-one haptic console in an opened configuration, in accordance with one embodiment;

[0025] FIG. IB is a perspective view of the haptic console of FIG. 1A, in accordance with one embodiment;

[0026] FIG. 1C is a front view of the haptic console of FIG. 1A, in accordance with one embodiment;

[0027] FIG. ID is a side view of the haptic console of FIG. 1A, in accordance with one embodiment;

[0028] FIG. IE is another perspective view of the haptic console of FIG. 1A with the haptic devices stored in the housing, in accordance with one embodiment.

[0029] FIG. IF is another perspective view of the haptic console of FIG. 1A in a closed configuration, in accordance with one embodiment.

[0030] FIG. 2A and FIG. 2B are a perspective view and side view, respectively, of an exemplary 3DOF haptic force feedback device of FIGS. 1A-1F, in accordance with one embodiment; [0031] FIG. 3 is a schematic diagram illustrating internal electronic components of the all-in- one console of FIGS. 1A-1E, in accordance with different embodiment;

[0032] FIG. 4 is a perspective view of an all-in-one haptic console for storing and a two degree of freedom (2DOF) haptic force feedback device, in accordance with another embodiment; and [0033] FIG. 5A, 5B and 5C are perspective views of an all-in-one haptic console comprising a foldable rigid support frame, in accordance with another embodiment.

[0034] Elements in the several drawings are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be emphasized relative to other elements for facilitating understanding of the various presently disclosed embodiments. Also, common, but well-understood elements that are useful or necessary in commercially feasible embodiments are often not depicted in order to facilitate a less obstructed view of these various embodiments of the present disclosure.

[0035] FIG. 5B illustrates an aspect of the subject matter in accordance with one embodiment. [0036] FIG. 5C illustrates an aspect of the subject matter in accordance with one embodiment.

DETAILED DESCRIPTION

[0037] Various implementations and aspects of the specification will be described with reference to details discussed below. The following description and drawings are illustrative of the specification and are not to be construed as limiting the specification. Numerous specific details are described to provide a thorough understanding of various implementations of the present specification. However, in certain instances, well-known or conventional details are not described in order to provide a concise discussion of implementations of the present specification.

[0038] Furthermore, numerous specific details are set forth in order to provide a thorough understanding of the implementations described herein. However, it will be understood by those skilled in the relevant arts that the implementations described herein may be practiced without these specific details. In other instances, well-known methods, procedures and components have not been described in detail so as not to obscure the implementations described herein.

[0039] In this specification, elements may be described as “configured to” perform one or more functions or “configured for” such functions. In general, an element that is configured to perform or configured for performing a function is enabled to perform the function, or is suitable for performing the function, or is adapted to perform the function, or is operable to perform the function, or is otherwise capable of performing the function.

[0040] When introducing elements of aspects of the disclosure or the examples thereof, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. The term “exemplary” is intended to mean “an example of.” The phrase “one or more of the following: A, B, and C” means “at least one of A and/or at least one of B and/or at least one of C.”

[0041] The present disclosure provides, in accordance with different embodiments, different examples of an all-in-one haptic console or system consisting of one or more controllers capable of providing force feedback such as haptic force feedback devices attached to a frame thereof. The console comprises a physical structure and a computer system. In some embodiments, an audio visual system may also be included. An exemplary typical use case made possible by this disclosure is to travel by plane with the console and being able to open the console and use it in any table (i.e. airport lounge, internet coffee, temporary desk in office, etc.).

[0042] In this specification, a "controller capable of haptic force feedback" and “haptic force feedback device” should be understood to include any devices which allow a user to interact with a computer through tactile feedback achieved by applying a degree of opposing forces to the user using an actuated mechanism. In some embodiments, these may include one or more actuated arms operable to provide directional forces. In some embodiments, these may include devices comprising a five-bar linkage or the like. Different haptic force feedback devices may have different degrees of freedom (DOF), and may include 2-DOF or 3 -DOF devices, without limitation.

[0043] With reference to FIGS. 1A to IE and FIGS. 2A and 2B, and in accordance with one embodiment, an all-in-one haptic console, referred to using the numeral 102, will now be discussed. FIGS. 1A to IE show different views of the haptic console 102 in different usage configurations. For example, FIG. 1 A-1C show the console 102 in an opened configuration with the haptic force feedback devices 104 deployed. FIG. IE show the haptic force feedback devices 104 stored in corresponding recesses 112, and FIG. IF illustrate the console in the closed configuration.

[0044] The illustrated exemplary haptic force feedback devices 104 are shown in FIGS. 1A-1E without arms to facilitate a less obstructed view only. FIGS. 2A and 2B show additional views of the exemplary haptic force feedback device 104 with its arms deployed (FIG. 2 A) and folded (FIG. 2B). This haptic force feedback device includes a five-bar linkage and is similar to the devices described in International Patent Applications PCT/IB2021/000644, which is incorporated by reference in its entirety. This exemplary haptic force feedback device is capable of providing 3DOF force feedback comprises the following features and design parameters:

• Small work surface footprint;

• A tool-less surface attachment 202 configured to releasably attach the device to an anchor structure comprising a clamp (but may also include one or more suction cups, or adhesive - not shown);

• A folded / transportation state where all moving components are immobilized; and

• A flat symmetric device shape.

[0045] In this embodiment, the haptic device 104 is shown comprising a base having an upper portion that is rotatably movable with respect to the lower portion (shown by the arrow 204). The portions may be aligned and locked when folding the device as shown in FIG. 2B. The five-bar linkage comprises 4 arms 206 that can be deployed or folded, and that can be moved in three- dimensional space by a user via an attachment portion 208 (with a removably attached tool for example).

[0046] The skilled person in the art will appreciate that the illustrated haptic device 104 is only an example, and that other haptic devices or controllers may be used with the 110 as well.

[0047] Going back to FIGS. 1 A-1E, the console 102 is configured to allow a user to removably affix and use two haptic force feedback devices 104 in an opened configuration (FIGS. 1A-1D), and to house or store the two devices in a closed configuration (FIGS. 1E-1F). Different configurations housing different numbers of haptic force feedback devices 104 may also be considered, including a single device.

[0048] The console 102 comprises a substantially rigid frame or body having an upper portion 116 hingedly coupled to a bottom portion 114 via a hinge portion 108. The top portion 116 of this exemplary embodiment is configured to be substantially vertical in the opened configuration and comprises, centered on an inner face thereof, a digital display 118. On each side of the digital display 118 is a recess 112 configured and shaped to serve as a storage compartment and fittingly receive therein a haptic force feedback device 104. In this example, each haptic force feedback device 104 comprises a 1 degree-of-freedom lockable, tool-less, joints that allows each haptic force feedback device 104 to fold flat into the storage compartment as illustrated in FIG. IE. When folded or closed, the rigid frame protects haptic devices from physical damage. In some embodiments, at least one recess may be located on the bottom portion.

[0049] The bottom portion 114 of the frame is configured to rest on a flat surface (e.g., table or the like), and comprises on an inner face 120 thereof one or more modular attachment positions or components 110, so that one or more haptic devices can be attached or removably affixed thereto. In some embodiments, these attachment components may be located at different locations than the ones illustrated in FIGS. 1A-1E, for example on the top, in an upside down orientation, or to the sides of the frame to allow maximum flexibility in the configuration. Also shown on the inner face of the bottom portion 114 is an exemplary knob or controller 106 that may be used to provide inputs to the console (e.g., controlling volume, image, haptic feedback options, etc.). Other embodiments may have different types of buttons, knobs, joysticks or integrated or detachable controllers as well. These may also be located at different positions on the inner faces of the top portion and bottom portions.

[0050] In some embodiments, as illustrated in FIG. 3, the console 102 can work in a fully standalone fashion, either on batteries or with a power supply (e.g., power source 306). The console 102 is communicatively coupled to each haptic device 104 via an input/output module 322. In some embodiments, embedded orientation sensors 308 are making sure the directionality of the forces are preserved. In some embodiments, the console 102 comprises a digital display 314. In some embodiments, a sound system 316 may also be included. The sound system 316 may comprise one or more speakers, and/or output ports/modules to connect one or more headphones. In some embodiments, a computing unit 302 coupled to a memory 304 is included with the console and can run simulations and compute the graphics and sound as well as the haptics interactions instructions to the haptic device 104. The memory 304 comprises instructions operable to allow the computing unit 302 to operate, at least in part, the haptic device 104 based on a positional or orientational data acquired by one or more onboard sensors 324 of the haptic device 104. In some embodiments, the unfolding and reconfiguration of the haptic device 104 is made possible by the use of onboard sensors 324 tracking the orientation of the devices and full integration of the software with the console.

[0051] To minimize the local power requirements, the 110 may also include, in some embodiments, the ability to connect locally to one or more computers or computing devices in order to use it as part of a larger integrated system. For example, the 110 may comprise one or more input/output module 322 configured to communicatively coupled via one or more cables or wirelessly to one or more computers or external units 320 located in physical proximity of the 110. When used in that fashion, the computing unit 302 may only take care of a minimal amount of computations and connects to the simulation running on the external unit 320 in a client-server fashion. In some embodiments, the computing unit 302 may also comprise a network adapter 310 configured to allow the 110 to connect via a network 318 (e.g., such as the internet) to one or more servers 312 configured in turn to stream part of the simulation to the 110 and take advantage of edge computing technologies or the like.

[0052] In some embodiments, the computing unit 302, memory 304, power source 306, orientation sensors 308, input/output module 322, network adapter 310 may be located in the upper portion and/or the lower portion of the frame of the console. The skilled person in the art will appreciate that different configurations may be envisioned based on weight and volume requirements. In addition, the network adapter 310 may operable to communicate wirelessly via protocols such as Bluetooth, near field communications, Wi- Fi, and/or any other wireless communications protocol or technology capable of being understood by anyone skilled in the art. In some embodiments, they may also be configured to communicate via a wired connection.

[0053] FIG. 4 shows a haptic console 402, in accordance with another embodiment. The console 402 comprises a 2 degree of freedom (2DOF) haptic force feedback device 410 in the center of the bottom portion 408 and a screen 404 in the top part or portion 406 of a case that is the size of a handbag. All the computing electronic is behind the screen and under the device. In this example, the bottom portion 408 also comprises two recesses 412 and 414 shaped and sized to fittingly receive therein the disassembled device 410 for storage. The illustrated 2DOF device 410 comprises a plurality of arms and is constrained to provide force feedback in 2 dimensions, as is well known in the art.

[0054] FIG. 5A shows another exemplary embodiment of the portable console 502. In this embodiment, two 3DOF haptic force feedback devices 516a and 516b are attached to the frame, one (e.g., 516a) on a upper portion 504 and one on the bottom portion 506. In the embodiment of FIG. 5A, the upper portion 506 is shown without foldable casing cover (e.g., such as top portion 116 in FIGS. 1A-1F), but only to facilitate a less obstructed view of the console 502. This embodiment comprises a foldable rectangular rigid support frame 510 comprising a horizontal elongated member 508 coupled at each end thereof to a first end of a corresponding support member 504. The support members 504 are co-aligned and each hingedly coupled at a second end thereof to a corresponding hinge portion 518 located on the inner face 512. In this example, the support frame 510 is hingedly movable front-to-back as illustrated by the double ended arrow 520. In the fully folded state, the support frame 510 is configured to rest substantially horizontally on top of the inner face 512 of the bottom portion 506. Unfolded, as shown in FIG. 5A, the support frame 510 is elevated above the inner face 512 and may be secured using one or more support rods 514 that abuts at one end thereof against the inner face 512. Once secured, the 3DOF haptic force feedback device 516a (for example) may be removably affixed to the horizontal member 508. This configuration enables a broader workspace. In some embodiments, the console 502 may further comprise a display 522 coupled to the bottom portion 506.

[0055] FIG. 5B and FIG. 5C show how the haptic force feedback device 516a may be removably affixed to the support frame 510 in different configurations. The device 516a may be affixed or secured in a tilted or upside-down configuration to the elongated member 508 to allow easier access thereto. The illustrated configurations are only examples, and other configurations may be considered as well. These may include, in some embodiments, removably affixing or securing the haptic force feedback devices to the support members 504 instead.

[0056] The functionality described herein can be performed, at least in part, by one or more hardware logic components. According to an embodiment, the computing apparatus is configured by the program code when executed by the processor(s) to execute the embodiments of the operations and functionality described. Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Program-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), Graphics Processing Units (GPUs). [0059] Examples of the disclosure may be described in the general context of computer executable instructions, such as program modules, executed by one or more computers or other devices in software, firmware, hardware, or a combination thereof. The computer-executable instructions may be organized into one or more computer-executable components or modules. Generally, program modules include, but are not limited to, routines, programs, objects, components, and data structures that perform particular tasks or implement particular abstract data types. Aspects of the disclosure may be implemented with any number and organization of such components or modules. For example, aspects of the disclosure are not limited to the specific computer- executable instructions or the specific components or modules illustrated in the figures and described herein. Other examples of the disclosure may include different computer-executable instructions or components having more or less functionality than illustrated and described herein.

[0057] By way of example, and not limitation, computer-readable media or memory can comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks [0058] While the present disclosure describes various embodiments for illustrative purposes, such description is not intended to be limited to such embodiments. On the contrary, the applicant's teachings described and illustrated herein encompass various alternatives, modifications, and equivalents, without departing from the embodiments, the general scope of which is defined in the appended claims. Information as herein shown and described in detail is fully capable of attaining the above-described object of the present disclosure, the presently preferred embodiment of the present disclosure, and is, thus, representative of the subject matter which is broadly contemplated by the present disclosure.

Claims

CLAIMS What is claimed is:

1. A haptic console, comprising: an openable housing comprising: a first portion hingedly coupled to a second portion, the first portion and second portion configured to be hingedly movable for opening or closing the housing; at least one recess formed through an inner face of any one of said first portion or said second portion, the at least one recess configured to accommodate at least one haptic force feedback device therein; and one or more attachment portions to removably affix said at least one haptic force feedback device thereto.

2. The haptic console of claim 1, wherein upon the housing being opened, said second portion is configured to rest on a flat horizontal surface and said first portion to be substantially vertical with respect to the second portion.

3. The haptic console of claim 2, wherein at least one of said one or more attachment portions is located on an inner face of said second portion.

4. The haptic console of claim 2, wherein at least one of said one or more attachment portions is located on said first portion.

5. The haptic console of claim 2, wherein one of said at least one recess is located on the second portion.

6. The haptic console of claim 2, wherein one of said at least one recess is located on the first portion.

7. The haptic console of claim 2, wherein said an inner face of said first portion comprises a digital display.

8. The haptic console of claim 1, further comprising housed in said housing a computing unit coupled to a memory and an input/output module, and operable to operate, at least in part, said at least one haptic device.

9. The haptic console of claim 8, further comprising a network adapter operably coupled to the computing unit operable to communicate with one or more servers via a network to receive simulation data thereof.

10. The haptic console of claim 9, wherein said computing unit is configured to operate as an edge device in an edge computing system comprising said one or more servers.

11. The haptic console of claim 8, further comprising an input/output port operably coupled to the computing unit and configured to communicatively couple the computing unit to another computing system in the physical vicinity of the haptic console to receive simulation data thereof.

12. The haptic console of claim 2, further comprising: a rigid foldable support frame hingedly coupled to an inner face of the second portion, the support frame comprising an elongated horizontal member and configured to be hingedly movable into an unfolded state wherein the elongated horizontal member is elevated above the inner face of the second portion to serve one of said one or more attachment portions.

13. The haptic console of claim 12, further comprising a rod configured to abut against the support frame and the bottom portion of the housing thereby securing the support frame.

14. The haptic console of claim 2, wherein the at least one haptic force feedback device is a three degrees of freedom (3DOF) haptic force feedback device.

15. The haptic console of claim 2, wherein the at least one haptic force feedback device is a two degrees of freedom (2DOF) haptic force feedback device.