CN107407969A - 触觉***中的感知 - Google Patents
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Abstract
描述了提供不需要与工具、附件或表面本身接触的交互式表面上方的触觉反馈的各种改进的感知技术的***。为人体一部分的感知构件中的一系列感受器被识别以创建基本上均匀的可感知反馈。感知构件中的感受器的范围内的振动频率被选择并动态地改变以在整个接收构件中创建基本上均匀的可感知反馈。
Description
相关申请
本申请要求以下四项美国临时专利申请的权益,其全部内容通过引用整体并入本文:
1.序列号62/118,560,于2015年2月20日提交。
2.序列号62/193,234,于2015年7月16日提交。
3.序列号62/206,393,于2015年8月18日提交。
4.序列号62/275,216,于2016年1月5日提交。
技术领域
本公开一般涉及基于触觉的***中的改进的感知技术。
背景技术
在公共场所中,多点触控表面已经变得普遍,其中大型显示器出现在酒店大厅、商场和其他高客流量区域中。这些***能够动态地改变它们的界面,允许多个用户同时进行交互,并且具有很少的用法说明。
存在当在接触表面之前接收触觉反馈将是有益的情况。这些包括当显示器的视觉受到限制时、诸如在驾驶时,以及当用户不想触摸装置时、诸如当他们的手脏时。在表面上方提供反馈还将允许在视觉旁边的额外信息通道。
空中触觉反馈***在空中创建触感。创建空中触觉反馈的一种方法是使用超声波。超声波换能器的相控阵列被用于对目标施加声辐射力。在本文中将被称为“声场”的声能的这种连续分布对于包括触觉反馈的一系列应用而言是有用的。
因此,提供用于在交互式表面上方的触觉反馈的各种改进的感知技术并且不需要与工具、附件或表面本身接触的***是期望的。
附图说明
其中相同的附图标记贯穿分离的视图指代相同或功能相似的元素的附图以及下面的详细描述被并入说明书中并形成其一部分,并且用于进一步说明包括要求保护的发明的概念的实施例,并解释了那些实施例的各种原理和优点。
图1是在触觉***中制成的形状的表示。
图2是在交互平面中同时产生的五个触觉控制点的示例系列的图示。
图3是在其中控制点通过交互平面移动的声场模拟的选择。
图4是无约束和约束换能器的说明性视图。
本领域技术人员将理解,附图中的元素为了简明和清楚的目的而被示出,并且未必按比例绘制。例如,附图中的一些元素的尺寸可能相对于其他元素被夸大,以帮助提高对本发明的实施例的理解。
已经通过附图中的常规符号适当地表示了装置和方法组件,仅示出了与理解本发明的实施例有关的那些具体细节,以便不会使用具有本文描述的益处的对于本领域普通技术人员而言将是显而易见的细节模糊本公开。
具体实施方式
I.在触觉***中创建声场的挑战
已知通过在其中可以存在声场的空间中限定一个或多个控制点来控制声场。每个控制点被分配了等于声场在该控制点处的所期幅度的幅度值。然后控制换能器以在每个控制点处创建表现出所期幅度的声场。
A.人手属性
振动由皮肤内的机械性刺激感受器检测到。皮肤内的机械性刺激感受器对0.4Hz至500Hz范围内的振动有反应。可以调制发出的超声波,以便在由人手可检测的最佳频率范围内创建振动。通过改变调制频率,它也可能改变手上的振动频率,并且这可以被用于创建不同的触觉属性。以不同频率调制不同焦点可以给每个反馈点其自己独立的“感觉”。以这种方式,可以将触觉和视觉反馈相关联,并且还将意义附加到明显不同的纹理,使得可以经由触觉反馈将信息传送给用户。
具体地,当人类皮肤与声场进行交互时,由被激发的机械性刺激感受器解释皮肤的振动,并经由神经***向大脑发送信号。例如,手的掌面具有4种不同类型的机械性刺激感受器,每种机械性刺激感受器响应于不同的频率范围。触发这些感受器的每个所需的力随着振动的频率而变化。例如,Pacinian小体(corpuscle)在大约200Hz处具有其最低的激活阈值,而Meissner小体在10-50Hz之间最为敏感。
这些感受器以不同的密度分布在整个皮肤中。例如,由于手中的Pacinian小体的浓度较大,所以200Hz的振动在指尖上不会像手掌上那样感觉强烈。
超声波触觉反馈***在***的用户的皮肤上创建震动-触感。聚焦的超声波在交叉点处创建足够的力以稍微移位用户的皮肤。典型地,超声波触觉反馈***使用具有在40kHz处或超过40kHz的频率的超声波,其高于在皮肤中用于感觉的感受器的阈值。因此,用户只能检测到这种聚焦的超声波的开始和停止。为了提供由皮肤中的感受器可检测的感觉,聚焦的超声波以较低频率被调制在感受器的可检测范围内。该范围典型地从1Hz至500Hz。
当创建具有空中触觉反馈的***时,重要的是针对正在作为目标的皮肤的部分选择正确的振动频率。例如,如果以手为目标,则110Hz的振动频率是一个很好的选择,这是因为它可以跨手的所有部分被感觉到,尽管力度不同。
B.发送用于触觉反馈的超声波信号
可以通过使用超声波换能器的相控阵列对空中的目标施加声辐射力来创建人类皮肤上的触感。超声波由换能器发送,其中由每个换能器发出的相位被调节,使得波同时到达目标点,以便使施加的声辐射力最大化。
通过在空间中限定一个或多个控制点,可以控制声场。每个点都可以被分配了等于在控制点处的所期幅度的值。然后可以控制换能器的物理集合,以创建在控制点处表现出所期幅度的声场。
该技术的副作用在于超声波破坏并创建调制频率处的声音。因此,当使用200Hz调制频率来创建触觉反馈时,也产生了200Hz的声音。这种可听声音可能对用户来说是恼人的,并且可以成为被采用的超声波触觉技术的障碍。
用于产生单个频率的声场的最佳条件可以通过分配激活系数来表示每个换能器的初始状态来实现。然而,为了创建触觉反馈,可以使用潜在的较低频率的信号来调制该场。例如,可以使用200Hz频率来调制40kHz的声场,以便实现200Hz振动-触觉效果。生成这种振动-触觉效果的方法可以通过在离散和不相交的控制点集合之间平滑地内插换能器激活系数,导致在控制点位置处的平滑的正弦幅度变化,来减少可听内容。这些正弦幅度变化导致生成纯音。虽然在感知响度上比由突然改变换能器的状态而引起的不相干频率内容低得多,但纯音仍然是可听的。
已知的是调制波形可以被成形为减少所创建的可听噪声的音量(如例如英国专利申请号1415923.0中描述的)。通常,减少和避免焦点处的压力水平的急剧改变将减少可听声音的响度。例如,使用纯方波的调制将产生比使用纯正弦波的调制更响亮的可听声音。
此外,在该声场中,可以限定一个或多个控制点。这些控制点可以使用信号进行幅度调制,并且因此在空中产生振动-触觉反馈。产生反馈的可替代方法是创建可能不是在幅度上被调制的控制点,而是在空间上移动它们,以创建可以被感觉到的时空调制。然后,这两种方法可以被分开使用或一起使用,以便产生声音和不同的纹理。
II.在触觉***中创建均匀的感觉
A.创建优化的触觉反馈的步骤
使用复用频率来创建优化的触觉反馈的步骤包括以下:
1.了解皮肤中的感受器的分布和频率响应范围,创建均匀的可感知反馈。
2.选择所有感受器的范围内的频率。
3.优化振动频率不是仅仅可感知的,而是针对强烈或高质量感觉的最佳可能振动频率。
4.动态调整振动频率始终处于最佳频率。
5.复用多个频率以创建跨整个目标区域提供最佳的强度和质量水平的振动。
B.触觉反馈的优化
为了优化反馈的质量和感知强度,可以在进行交互时动态地改变振动频率。例如,在触觉阈值的情况下,其中手通过一些固定平面并且具有在手和该平面的交叉点处创建的振动线,可以实时调整振动的频率以优化手当前正在振动的区域。一种可能性是在手掌的中心接收到200Hz振动的同时手指接收100Hz振动。
这种动态调整使用多个反馈点也是可能的。例如,按钮的空中阵列可以由每个按钮的空中的一个局部振动点来表示。当手移动到按钮阵列上以探索其位置和取向时,每个按钮的振动频率可以实时调整,以匹配其目标所在的手的部分的最佳频率。
还存在其中动态调整不可能或不期望的许多情况。例如,跟踪***可能不复杂以确定手的分立部分,或者所需的处理能力可能太高。
在这些情况下,可以复用频率以提供跨作为目标的皮肤区域的一些均匀覆盖。例如,当以手为目标时,反馈点可以使用100Hz和200Hz两者被复用。手掌会对200Hz分量响应强烈,而指尖对100Hz分量响应最强。在这样做时,建立了跨手可以均匀地感觉到的反馈点。
III.创建不同形状和角部
使用振动来生成空中触觉形状导致角部有困难。已经示出触觉边缘检测需要高度局部化的皮肤位移(拉伸),并且在当前使用的超声波频率下,这是不可能的。可以可靠地检测边缘,但角部没有足够大的特征来容易地识别。
在超声波领域中使用高压点传送振动并被称为“控制点”。它们在小直径(诸如,8.6mm@40kHz)的波长周围的区域中提供局部反馈。控制点可以以编程方式被布置在3D空间中,以创建空间中的形状的感觉。
随着保真度的收益递减被交换用于增加噪声,对于相隔约两个波长(~2cm@40kHz)的控制点存在事实上的最大密度。这意味着当使用与曲率相关的控制点密度时,必须牺牲边缘保真度以便使角点明显。在许多情况下,甚至这不足以使触觉形状的角部可区分。
为了增强角部,可以向内扭曲形状的边缘以强调空间中的角,创建了以使能从空间线索感知角部的方式加重的触觉表示。
转向图1,左框10中示出的是没有角部增强扭曲的形状。在图1的中心框20中示出的是被应用于触觉上使角部显著的角部增强的扭曲功能。图1的右框30中示出的是应用进一步扭曲的功能,示出了该效果取决于情况和所期效果是可调的。
一旦实现了形状扭曲,也可以使用用于增强角部的其它技术。具体地,可以改变曲率相关的控制点密度和时间点的旋转以产生所期效果。这种形状扭曲可以被应用于3D几何形状的部分,以创建具有不同角部的触觉3D几何形状以增加触觉保真度。这也可以被用作使形状中的突出特征显著以引起注意的过程。
IV.创建脉冲点
由于对控制点限定和密度的事实上的限制的意识,可以创建触觉上令人愉快的脉冲点。通过强制控制点靠近在一起,它们合并并成为更小、更弱的振动。通过旋转它们并使它们更接近和进一步分开,可以生成局部脉冲感觉,其可以触觉上给予备用或准备提示。
转向图2,示出的是在交互平面中同时产生的五个控制点的示例系列的图示。图中的点具有波长的直径。五个点快速旋转,所以它们是不可区分的。在图2的左面板40中,五个点旋转并且分开足够远,以使它们被感知为单个大的触觉点。中心面板50示出了随着点轨道更靠近在一起,触觉点收缩并变弱。在右面板60中,五个控制点已合并成为单个控制点。然后将该过程反转以增加触觉点的尺寸和强度,并且然后循环该***以生成脉冲感觉。这导致随着时间的推移而感觉更大和更小的点,以产生了触觉上令人愉快的脉冲效果。像这样,图2示出了点的集合,其以圆旋转,其中圆的直径随着时间的推移变得更小/更大。以圆旋转的替代方法是在两个位置之间移动焦点。
转向图3,示出的是其中在控制点中通过交互平面移动的声场模拟的选择(近似由插图黑色边框示出)。沿着每个图的底部边缘的小的填充的黑色圆圈表示已被配置为重现控制点的换能器元件。在左面板70中,控制点在交互平面下被创建,导致在交互空间中没有聚焦。当焦点向上移动时,交互空间包含如中央面板80中示出的控制点。最后,在右面板90中,焦点已经向上移动通过并移出了交互空间。然后将该过程反转并循环以产生脉冲感。因此,通过向前后移动控制点通过***框,可以在整个中心区域产生脉冲感。在这种情况下的用户检测可能更原生,例如中心区域的光传感器。
如这些图中示出的目的是创建“脉动(pulsating)”的感觉。“脉动”被定义为随着时间的推移变得更强/更弱和更大/更小的感觉。相比之下,简单的调制仅随着时间的推移变得更强/更弱。
此外,图3示出了一个可能的示例,其中焦点在两个位置之间线性地内插,一个在交互区域下方垂直,并且另一个在上方垂直。当焦点上下移动时,由于超声波聚焦为锥形(图中,左图70和右图90上较大,中间图像80中较小),所以交互区域中经历的感觉变得更大/更小。这也具有使感觉更强/弱的效果,这是因为强度下降从最佳焦点移开(如中间图像80中示出的)。
通过交互区域上下移动焦点也具有跟踪***的优点。在垂直方向上需要较少的精度。如图3中示出的,如果交互区域向上或向下移动,则它仍然会经历随着时间的推移变得更大/更小和更强/更弱的感觉。这意味着来自跟踪***的垂直轴上需要更少的精度,从而允许使用更便宜的跟踪***。
可替代地,改变聚焦位置可以创建脉冲感觉。这具有交替聚焦和散焦控制点的效果,其生成较低保真脉冲。尽管这不太有效,但在要求不需要主动感测的预焙的离线响应的情况下,这可能是潜在有用的。
V.结合和设计可听和触觉反馈
A.设计可听反馈
当由调制波形创建可听声音时,可以设计产生的声音。例如,不是使用纯波形来调制聚焦的超声波,而是使用“点击”声音的波形对其进行调制,将导致产生可听“点击”声音。因此,调制波形可以被设计并动态地改变以产生任何可听声音。
当使用聚焦的超声载波时,可听声音在焦点处被最强烈地产生并且是定向的。对于用户而言,这意味着声音似乎来源于焦点。这可能在触觉***中非常有用。例如,可以通过将超声波聚焦到用户的指尖上来创建空中按钮。然后可以使用“点击”声音的波形来调制超声波。用户将感知到来源于其指尖的触觉点击感和可听“点击”声音两者。因此,触觉和音频反馈两者都是在空中相同的位置处创建的。
B.分离音频和触觉反馈
提供最佳触觉反馈的调制波形通常将不同于提供最佳可听声音的调制波形。例如,创建令人愉快的“点击”声音的调制波形可以提供非常弱的触感或者提供强触感的调制波形可能提供烦人的声音。当设计触觉和音频反馈的组合时,因此有必要在两者之间作出权衡。
对此的解决方案是在声场内创建多个聚焦点。每个点都可以使用创建触觉效果或创建可听反馈来计划。在简单的按钮点击示例中,可以将一个点定位在指尖上以创建触觉效果,而另一个点可以定位在声场中的其他位置以创建可听声音。在这种情况下,可听点将被定位以避免与用户接触,并且因此将不能被感觉到。
C.由听觉声音进行的触觉效果的听觉遮蔽
当一个声音的感知受到另一个声音的影响或被其覆盖时,发生声音的听觉遮蔽。由于来自聚焦的超声波的声音是定向的,所以可听点可以被定位于沿着换能器与用户的头部或耳朵之间的路径的任何地方,在那里其然后将最大化该声音的感知音量。相比之下,由触觉点创建的可听声音将从手指反射出来,并且远离用户。因此,它将被感知为更安静。因此,来自触觉点的可听声音将被来自可听点的可听声音遮蔽,并且用户将仅能够听到可听点。
触觉和可听点每个可以具有它们自己的单独的调制波形。这允许每种类型的点以最佳波形进行调制,以达到其各自所期效果。实际上,***并不限于只具有两个同时点。可以具有触觉反馈和可听反馈两者的许多独立且同时的点。
VI.触觉***中的时空调制
A.绝对相位偏移
为了在换能器激活系数的任何两个复杂空间之间创建平滑的过渡,它们应尽可能少地不同。换能器激活系数的所有集合具有一个备用自由度:它们相对于一些其他激活系数模式的绝对相位。通过将两者捆绑到某个任意的测量点、诸如尽可能地使两者为零相位偏移,这样将两个模式之间移动所需的换能器的频移减至最小。
这在图4中示出,其示出了两个换能器的说明性阵列。该阵列的聚焦是由于两个换能器之间的波形中的相对相位偏移而造成,其被两个换能器之间的角度描述。在无约束的示例中,在左边,时间t=0 100处的相位务必相当大的改变以便达到针对时间t=1 110限定的复杂激活系数。当跨许多换能器缩放时,这会导致瞬态行为、频移和功率无效率。然而,在右边的约束示例中,换能器系数的总和已经被约束在t=0 120和t=1 130处的实线,促进了角度的小改变以获得适当的相对相位。
将任何特定模式的复值换能器激活系数相加可以被用于产生平均值。一旦被计算,该平均值的复共轭可以被采取并且变成单位幅度复数值。然后通过将每个换能器激活系数与该值相乘,平均相位偏移变为零。这使用备用自由度来线性地最小化由每个换能器经历的改变,将无穷小不同模式的换能器激活系数的复相位空间之间的差推向零,一般是用于减少声场和换能器功耗的突然变化的关键必需品。
B.点、线和形状的时空调制
当幅度变化时,创建和销毁控制点(从零增加幅度或将幅度减少到零)与噪声相关联。为了最大程度地减少噪声,可以创建非调制控制点,并围绕参数限定的曲线段集合上移动。虽然非调制控制点将最大程度地减少噪声,但是“较少调制”的控制点也可能在较小程度上减少噪声(即调制在0.5-1之间而不是0-1之间的幅度)。
限定的曲线将被关闭(其中点将在曲线上连续循环)或者被打开(其中点将反向)。可替代地,点在到达曲线末端时可能会“消失”。当多个点突出显示单个开放曲线时,当它们变得足够接近以被感知为单个点时,针对它们交换位置可能是有用的,以防止输出中的任何感知或物理下降。
可以被实现为三维样条曲线的该开放或闭合路径曲线是用于创建时空调制反馈的***的基本构建块。穿过三维空间的这些曲线中的许多可以用作轮廓,并且被用于创建形状或表面的印象。可以使用具有非常小半径的圆形路径来创建点的印象。
由于该技术需要较少的聚焦时间来产生相同的响应,所以较大的区域可以在触觉上被致动。例如,使用控制点“绘制”区域可以被用于创建可以被感觉到刺激皮肤中更多感受器的更宽的空间区域。
由于可以被致动的宽区域,可以从位置移除反馈以创建负空间的印象。例如,可以创建缺少一块的圆,以表示触觉基准或生成具有明显缺失区域的感觉区域。通过在空间周围发出触觉,可以对区域进行突出显示,而不必要求它被直接感觉到,例如当问题区域因为可见性原因而必须保持手或肢体的干净时。
C.来自控制点的参数声音
来自控制点的触觉感觉是通过时空频闪效应的作用生成的。由于触觉效果的来源与幅度调制截然不同,因此幅度调制可以与非触觉可听内容一起使用,而同时在同一点、线或形状上同时创建高质量的触觉感觉。
该技术的最终目标是产生无声的操作。可听输出与声场的时间变化相关,因此其必须尽可能平滑和减少。为了创建这种效果,可以使用高速更新(优选地大于2kHz)平滑地四周移动超声波聚焦模式的控制点,以在目标点、线和形状处产生感觉,而不是使用更高强度的超声波装置在时间上不变化地产生它们或在时间上操纵它们的幅度。
以这种方式调制可以使用比通过简单地考虑机械性刺激感受器或聚焦功率在时间上的密度而预期的那样低得多的频闪频率。因此,立刻组合控制点的时空和幅度调制两者也可以被用于产生更强的触觉反馈。也可以使用控制点运动的不同节奏来提供不同的纹理,并且因此幅度调制可以向时空调制的控制点提供纹理,反之亦然。
VII.使用自相交曲线进行频率控制
创建点并将其移动而不进行幅度调制,可能会触觉上使空中的路径致动。通过以给定的速度和恒定的频率使该点重复遵循路径,可以在空中的路径上生成触觉效果。使路径更长增加了路径距离以及因此点达到给定频率所需的速度。因此,这降低了可用于创建反馈的功率密度。多个点可以在触觉上致动路径以在给定频率处在路径周围创建更均匀的分布。但是,这减少了在这些点处可以承受的功率。另一个显着的限制在于由于开放路径中所涉及的不连续性,诸如例如不同点或线段,路径必须是闭合的或者将导致可听声音。
克服这些问题的一种方法是在点沿着曲线移动时减慢或加速该点。然而,当与时空调制一起使用时,这具有局限性,在于:沿着路径的不同点的频率不能是不同的,并且如果该点太慢,则它变得不太可感知,这是因为它移出在触觉上可感知的频率范围。相反,如果点沿其路径移动太快,则可能创建进一步的空气干扰以及因此可听噪声。
代替简单地改变点的速度,可以通过在空间上越过其自身一次或多次的自相交曲线的构建来实现路径上的给定点处的功率量的增加。在交叉点的本地邻域中,可以表示基本路径频率的谐波。频率行为的这种改变也增加了交叉点处的功率,使能在与沿着路径的其他位置相反的交叉区域中实现丰富的行为调色板。这个交叉点也可以被设计成产生仅在人触摸的可检测频率范围内的交叉,或者仅仅在频率范围之外的交叉,并且因此是触觉上不可检测的。它还使能皮肤中不同机械性刺激感受器的特异性和广泛定目标。在许多情况下,在由触觉反馈包围的区域中不存在触觉反馈可能比反馈本身感觉更强烈。
也可以创建相交一次或多次的多个路径;这将产生体现特定节奏或纹理的触觉节奏模式。这不一定意味着一条或多条路径应该是可重复的,或者每次在同一位置处的曲线的交叉点。在某些情况下,由于单独考虑的点的移动太快或太弱而无法感觉到,所以可以进行设计,使得一个或多个交叉点由于自相交而触觉上被突出显示。在每种情况下,这些多个交叉或自相交曲线可以包含一个或两个点区域和路径段,其中曲线占据相同的空间。
沿着在精确位置处限定的曲线移动的点具有真实的物理尺寸。“曲线”的抽象概念并不反映点的尺寸,所以在许多情况下,抽象曲线不必相交,而是点的起作用区域仅仅务必重叠以实现平均功率和频率的增加。由于此,自相交曲线或路径集合可能潜在地导致意想不到的触觉结果。因此,所产生的触觉模式可以使用频率/占有率图形来最佳地可视化,并且这样的频率/占有率图形可以被转换到代表性的触觉曲线和从其转换。
VIII.结论
可以选择和组合前述实施例的各种特征以产生改进的基于触觉的***的许多变化。
在前面的说明书中,已经描述了具体实施例。然而,本领域普通技术人员可以理解,在不脱离如下面权利要求书所阐述的本发明的范围的情况下,可以进行各种修改和改变。因此,说明书和附图被认为是说明性的而不是限制性的意义,并且所有这些修改旨在被包括在本教导的范围内。
可能导致任何益处、优点或解决方案发生或变得更加显着的益处、优点、问题的解决方案以及任何元素不应被解释为任何或所有权利要求的关键的、必需的或基本的特征或元素。本发明仅由所附权利要求限定,包括在本申请的未决期间作出的任何修改以及所发布的那些权利要求的所有等同物。
此外,在该文献中,诸如第一和第二、顶部和底部等的相关术语可以仅用于将一个实体或动作与另一个实体或动作区分开,而不一定要求或暗示这些实体或动作之间的任何实际的这种关系或顺序。“包含”、“包含了”、“具有”、“具有了”、“包括”、“包括了”、“含有”、“含有了”或其任何其他变体旨在涵盖非排他性包含,使得包含、具有、包括、含有元素列表的过程、方法、物品或装置不仅包括那些元素,而且可以包括未明确列出或者这些元件或方法、物品或装置固有的其它元素。由“包含...一个”、“具有...一个”、“包括...一个”、“含有...一个”开始的元素在没有更多约束的情况下不排除在包含、具有、包括、含有该元素的过程、方法、物品或装置中的额外的相同元素的存在。术语“一”和“一个”被定义为一个或多个,除非本文另有明确说明。术语“基本上”、“本质上”、“大约”、“约”或其任何其他版本被定义为接近于如本领域普通技术人员所理解的。如本文所使用的术语“耦接的”被定义为连接的,尽管不一定是直接的,并且不一定是机械的。以某种方式“配置”的装置或结构至少以该方式进行配置,但也可以以未列出的方式进行配置。
提供本公开的摘要以允许读者快速确定技术公开的性质。应理解的是,提交该摘要不会被用于解释或限制权利要求的范围或含义。另外,在前面的具体实施方式中,可以看出,为了简化本公开的目的,在各种实施例中将各种特征分组在一起。这种公开的方法不应被解释为反映所要求保护的实施例要求比每个权利要求中明确叙述的更多特征的意图。相反,如以下权利要求所反映的那样,发明的主题在于少于单个所公开的实施例的所有特征。因此,以下权利要求特此被并入具体实施方式中,其中每个权利要求独立地作为分开要求保护的主题。
Claims (31)
1.一种方法,包括:
i)从具有已知相对位置和取向的换能器阵列产生声场;
ii)限定多个控制点,其中所述多个控制点中的每个具有相对于所述换能器阵列的已知空间关系;
iii)向所述多个控制点中的每个分配幅度;并且
iv)在调整在所述声场内经历的改变使得所述改变落在预定阈值以下的同时在所述声场内移动所述多个控制点。
2.根据权利要求1所述的方法,其中所述声场由空中触觉反馈***产生。
3.根据权利要求2所述的方法,其中移动所述多个控制点的步骤通过使用基本上为零的平均相位偏移来创建平滑过渡。
4.根据权利要求2所述的方法,其中移动所述多个控制点的步骤发生在限定的曲线集合上。
5.根据权利要求4所述的方法,其中所述限定的曲线是样条曲线。
6.根据权利要求5所述的方法,其中所述样条曲线被限定为模拟触觉反馈中的三维表面的印象。
7.根据权利要求6所述的方法,其中所述触觉反馈包括在所述三维表面内的明显缺失的触觉区域。
8.根据权利要求2所述的方法,还包括使用幅度调制来调制所述控制点。
9.根据权利要求8所述的方法,其中所述幅度调制产生与由步骤iv产生的触觉反馈基本上不同的触觉反馈。
10.一种用于创建触觉反馈的过程,包括:
识别感知构件中的感受器的范围以创建基本上均匀的可感知反馈,其中所述感知构件是人体的一部分;
选择处于所述感知构件中的感受器的范围内的至少一个振动频率;并且
动态地改变所述至少一个振动频率以在整个所述接收构件上创建基本上均匀的可感知反馈。
11.根据权利要求10所述的过程,其中动态改变所述至少一个振动频率的步骤发生在空中触觉反馈***中。
12.根据权利要求11所述的过程,其中动态地改变所述至少一个振动频率的步骤包括复用多个频率。
13.根据权利要求11所述的过程,其中所述感知构件是人的手。
14.根据权利要求13所述的过程,其中,其中动态地改变所述至少一个振动频率的步骤包括调整所述至少一个振动频率以将所述人的手的特定部分作为目标。
15.根据权利要求14所述的过程,其中调节所述至少一个振动频率的步骤包括约100Hz的振动以将所述人手的手掌作为目标并且约200Hz的振动以将所述人手的指尖作为目标。
16.一种方法,包括:
i)从具有已知相对位置和取向的换能器阵列产生声场;
ii)限定多个控制点,其中所述多个控制点中的每个相对于所述换能器阵列具有已知的空间关系;
iii)向所述多个控制点中的每个分配幅度;并且
iv)通过以下创建增强的形状效果:
a)限定具有多个形状角和多个形状边缘的真实世界形状,以经由所述声场内的触觉反馈被复制;并且
b)通过增加所述多个形状角的触觉反馈来调整所述多个控制点以修改所述真实世界形状的触觉反馈。
17.根据权利要求16所述的方法,其中从换能器阵列产生声场的步骤创建空中触觉反馈***。
18.根据权利要求17所述的方法,还包括动态地改变所述多个控制点的幅度。
19.根据权利要求17所述的方法,其中调整所述多个控制点的步骤包括改变所述多个控制点之间的接近度以增强所述多个形状边缘的复制的触觉反馈。
20.根据权利要求17所述的方法,其中调整所述多个控制点的步骤包括改变所述多个控制点的位置以增强所述多个形状边缘的复制的触觉反馈。
21.一种方法,包括:
i)从具有已知相对位置和取向的换能器阵列产生声场;
ii)限定多个控制点,其中所述多个控制点中的每个具有相对于所述换能器阵列的已知空间关系;
iii)向所述多个控制点中的每个分配幅度;并且
iv)调制与所述多个控制点中的至少一个控制点相关联的声场,以产生所期可听声音。
22.根据权利要求21所述的方法,其中所述声场由空中触觉反馈***产生。
23.根据权利要求22所述的方法,其中所述所期可听声音被感知为来源于所述多个控制点中的至少一个控制点。
24.根据权利要求22所述的方法,还包括调制与所述多个控制点中的至少一个控制点相关联的声场,以在与所述所期可听声音相同的一般位置产生局部触觉反馈。
25.根据权利要求24所述的方法,其中所述局部触觉反馈与所期可听声波分离,使得所述所期可听声音产生在预设阈值之下的可感知触觉反馈。
26.根据权利要求24所述的方法,其中所述所期可听声音被用户感知为比由所述局部触觉反馈产生的可听声音更响亮。
27.一种方法,包括:
i)从具有已知相对位置和取向的换能器阵列产生声场;
ii)限定具有相对于所述换能器阵列的已知空间关系的第一焦点;
iii)向所述第一焦点分配幅度;并且
iv)移动所述第一焦点,使得所述焦点的路径在所述声场内越过自身至少一次。
28.根据权利要求27所述的方法,其中所述声场由空中触觉反馈***产生。
29.根据权利要求28所述的方法,还包括:
v)限定具有相对于所述换能器阵列的已知空间关系的第二焦点;
vi)向所述第二焦点分配幅度;并且
vii)移动所述第二焦点,使得所述第二焦点的路径在所述声场内越过所述第一焦点的路径至少一次。
30.根据权利要求29所述的方法,其中在所述声场内移动所述第一焦点和所述第二焦点的步骤使用所述基本路径频率的谐波。
31.根据权利要求30所述的方法,其中,所述第一控制点的路径在所述声场内越过所述第二控制点的路径的空间在与所述声场内的其他空间相比较时产生基本上增加的触觉反馈。
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