CN1924775A - Haptic interface for laptop computers and other portable devices - Google Patents
Haptic interface for laptop computers and other portable devices Download PDFInfo
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- CN1924775A CN1924775A CNA2006100847827A CN200610084782A CN1924775A CN 1924775 A CN1924775 A CN 1924775A CN A2006100847827 A CNA2006100847827 A CN A2006100847827A CN 200610084782 A CN200610084782 A CN 200610084782A CN 1924775 A CN1924775 A CN 1924775A
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/1615—Constructional details or arrangements for portable computers with several enclosures having relative motions, each enclosure supporting at least one I/O or computing function
- G06F1/1616—Constructional details or arrangements for portable computers with several enclosures having relative motions, each enclosure supporting at least one I/O or computing function with folding flat displays, e.g. laptop computers or notebooks having a clamshell configuration, with body parts pivoting to an open position around an axis parallel to the plane they define in closed position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/1626—Constructional details or arrangements for portable computers with a single-body enclosure integrating a flat display, e.g. Personal Digital Assistants [PDAs]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/1633—Constructional details or arrangements of portable computers not specific to the type of enclosures covered by groups G06F1/1615 - G06F1/1626
- G06F1/1684—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675
- G06F1/169—Constructional details or arrangements related to integrated I/O peripherals not covered by groups G06F1/1635 - G06F1/1675 the I/O peripheral being an integrated pointing device, e.g. trackball in the palm rest area, mini-joystick integrated between keyboard keys, touch pads or touch stripes
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- 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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- 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
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
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- 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
- G06F3/03543—Mice or pucks
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- 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
- G06F3/03545—Pens or stylus
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- 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
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- 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
- G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
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- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
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- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Mathematical Physics (AREA)
- User Interface Of Digital Computer (AREA)
- Position Input By Displaying (AREA)
Abstract
A haptic feedback touch control to provide input to a computer. A touch input device includes a planar touch surface that provides position information to a computer based on a location of user contact. The computer can position a cursor in a displayed graphical environment based at least in part on the position information, or perform a different function. At least one actuator (336) is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user. The actuator (336) can move the touchpad (332) laterally, or a separate surface member can be actuated. A flat E-core actuator, piezoelectric actuator, or other types of actuators can be used to provide forces. The touch input device can include multiple different regions to control different computer functions.
Description
The application is dividing an application of following application: application number: 028062590 (PCT/US02/07102), the applying date: on March 8th, 2002, denomination of invention: the haptic interface that is used for notebook computer and other portable equipment.
Technical field
Present invention relates in general to the interface of user and computing machine and plant equipment, more specifically to a kind of be used for department of computer science unify electronic equipment interface and the equipment of tactile feedback is provided to the user.
Background of invention
The people carries out interactive interfacing with electronics and plant equipment in various application, and to the demand of the interface of more natural, easy-to-use and rich letter information, always receives much concern.In the present invention, artificial various application program and computer equipment carry out interactive interfacing.One of this application program is mutual with the computing machine build environment such as recreation, simulated program and application program.Computer entry device such as mouse and trace ball is usually used in controlling cursor and provide input in graphics environment in these application programs.
In some interfacing equipments, force feedback or tactile feedback, unification here is called " tactile feedback ", is provided for the user.For example, the joystick of haptic type, mouse, cribbage-board, bearing circle or other can according to take place in incident or the graphics environment such as recreation and application program alternately to the equipment of user's power output.
In pocket computer or electronic equipment such as notebook computer, the work space of mouse is too big and impracticable usually.As a result, use compact devices more such as trace ball.At present, equipment more common in the pocket computer is " touch pad ", promptly is located near the flat board of the little rectangle of computer keyboard.Touch pad utilization such as capacitance sensing or pressure sensing various sensing technology detect the pressure that is applied on the touch pad, thereby the position of thing is pointed in perception.The user is usually with finger tip contact touch pad and moveable finger thereon, thereby moves the cursor that is presented in the graphics environment.In other embodiments, the user uses stylus on touch pad, nib is pressed on the touch pad also moves.Touch-screen is similar equipment, is used for input information on the sensing plate that is layered on the display screen, is used in the equipment such as PDA(Personal Digital Assistant) and other mancarried electronic aid.
A problem of existing touch pad and screen is not have tactile feedback to offer the user.The user of touch pad can not experience tactilely-perceptible, and tactilely-perceptible can help and inform the goal seeking of user in graphics environment and other control task.
Summary of the invention
The present invention is directed to and be used for providing the plane of tactile feedback to touch control piece to computer system.This control piece can be provided in a side of the touch pad on the pocket computer, or the touch-screen on the various device.The tactilely-perceptible output that touches on the control piece improves interactivity and handling in the graphics environment that shows or in the control electronic equipment.
More specifically, the present invention relates to a kind of touch control piece of tactile feedback, be used for to computer input signal and to user's power output of this touch control piece.Described control piece comprises a touch input device, and the touch-surface that it comprises an almost plane is used for according to the processor input position signal of the contact site of user on touch-surface to described computing machine.One or more actuators are connected to described touch input device, can power output so that touch input device is approximate is parallel to it and laterally moves outwardly, thereby provide tactilely-perceptible to its user of contact.Calculate function according to positioning cursor in the graphics environment of described position signalling on being shown in display device.This touch input device can be independent touch pad or involved touch-screen.
In another embodiment, the touch control piece of tactile feedback comprises a touch input device, and it comprises the touch-surface of an almost plane, and it is to computer processor input position signal; A surface elements is positioned near the touch input device, and wherein the user can contact this surface when pushing touch input device; And an actuator, be connected to described surface elements.This actuator is exported a power to provide tactilely-perceptible to the user on described surface elements.This surface elements can be similar to the transverse translation outwardly that is parallel to described touch input device; For example, surface elements can be positioned on the touch input device and with the surface of this equipment and together stretch, perhaps this surface elements can be positioned at touch input device one side, makes described touch input device of finger touch of user and another finger or palm touch described surface elements.For example, surface elements can be positioned on the physical button of contiguous described touch input device.Contact and inertial force can be imported on described surface elements.
In another aspect of this invention, a kind of actuator provides a straight line force output, and it comprises a ferromagnetic unit, and this ferromagnetic unit comprises a central magnetic pole between two side magnetic poles; A coil is on described central magnetic pole; A magnet is near described central magnetic pole and side magnetic pole; And a backing sheet that is connected to described magnet, wherein backing sheet and magnet move with respect to ferromagnetic unit when electric current flows through coil.Can place roller between ferromagnetic unit and the backing sheet makes and can move.A flex member (flexure) can reduce between backing sheet and the ferromagnetic unit moving and the elasticity centering force is provided along bad direction.
On the other hand, tactile touch equipment comprises a piezoelectric sensor, and this sensor lands and comprises a metal diaphragm, and metal diaphragm is connected to a ceramic component, and a planar sensor element, such as touch pad.Be provided with a liner between piezoelectric sensor and the planar sensor element.A flexible member provides elastic restoring force to described planar sensor element.
In another aspect of this invention, a kind of method that is used for providing tactile feedback to touch input device, comprise from described touch input device receiving the position signalling of a described user of indication, and determine which of described lip-deep a plurality of zones described contact site be arranged among at a lip-deep contact site of pushing.Power output is associated with user at the surperficial mobile object of described touch input device.The region, contact site can related function, such as the rate controlled of value or move the cursor of a demonstration.This power can be exported when a zones of different mobile object of touch input device strides across the border of institute's contact area the user.
The present invention advantageously touches control piece equipment to the plane of computing machine, such as touch pad or touch-screen, provides tactile feedback.Tactile feedback can help and inform the mutual and incident of user in graphic user interface or other environment, and makes the cursor goal seeking lighter.And, the invention enables portable computer device to have this touch control piece to utilize the existing software that possesses tactile feedback capability.Tactile touch equipment disclosed here is cheap, compactness and little power consumption, can be readily incorporated in various computing machines portable, desktop and the electronic equipment.
By reading following explanation and accompanying drawing, these and other advantage of the present invention will be more obvious to those skilled in the art.
The accompanying drawing summary
Fig. 1 is the skeleton view that comprises the notebook computer equipment of tactile touch plate of the present invention;
Fig. 2 is the skeleton view that comprises the remote control equipment of touch pad of the present invention;
Fig. 3 is the plan view from above of the tactile touch screen of the embodiment of the invention;
Fig. 4 is the block diagram that is applicable to the haptic system among the present invention;
Fig. 5 is the skeleton view that is applicable to an embodiment of the actuator among the inertia embodiment of the present invention;
Fig. 6 is the skeleton view that is connected to the actuator among Fig. 5 of a touch pad;
Fig. 7 is the independent palm surface skeleton view that the inertial haptic perception is provided near touch pad;
Fig. 8 a is the skeleton view that is applicable to the piezoelectric sensor that the inertia perception is provided in the present invention;
Fig. 8 b is applicable to touch apparatus the piezoelectric sensor of tactilely-perceptible and the side elevational view of structure of the present invention are provided;
Fig. 9 is the skeleton view of an embodiment of the translation surface elements that drives of revolving actuator;
Figure 10 is the plan view from above of another embodiment of the translation surface elements that drives of revolving actuator;
Figure 11 is the skeleton view of another embodiment of the translation surface elements that drives of voice coil actuator;
Figure 12 is the skeleton view near the embodiment on the translation surface of touch pad;
Figure 13 is rotated the skeleton view of embodiment that actuator drives the touch pad of translation in one direction;
Figure 14 is rotated the skeleton view that actuator drives the embodiment of the touch pad of translation on both direction;
Figure 15 a and 15b are the skeleton views that is applicable to of the present invention flat E core (E-core) actuator first embodiment on translation touch pad or independent surface;
Figure 15 c is the side view of the actuator of Figure 15 a-15b;
Figure 15 d is the skeleton view of actuator that is connected to Figure 15 a-15b of touch pad;
Figure 16 a and 16b are the overlooking and face upwarding view of another embodiment of flat E core actuator of the present invention;
Figure 17 a-17b is the perspective and the vertical view of the E core actuator of the present invention of mounted on surface;
Figure 17 c-17g is the perspective and the side view of the E core actuator among Figure 17 a-17b; And
Figure 18 is the plan view from above of an example with tactile touch plate of the present invention of different control areas.
Preferred embodiment
Fig. 1 is the skeleton view that comprises the pocket computer 10 of tactile touch plate of the present invention.Computing machine 10 can be portable or " above-knee " computing machine, can be carried by the user, is powered by battery or other power supply except that fixing power supply.Computing machine 10 preferably moves one or more users will carry out mutual host application program through peripheral hardware.
Computing machine 10 can comprise various input-output device as shown in the figure, comprises display device 12, is used for to user's output pattern image; Keyboard 14, being used for the user provides character or switch input to computing machine; And touch pad 16 of the present invention.Display device 12 can be one of various types of display devices; Modal in the pocket computer is flat-panel monitor.Display device 12 can be according to application program and/or the operating system display graphics environment 18 on the CPU that runs on computing machine 10, such as graphic user interface (GUI), it comprises and can import mobile cursor by the user, and known Drawing Object in window 22, icon 24 and other gui environment.Can also show other graphics environment or image, for example recreation, film or other demonstration, electrical form or other application program etc.
Can also in conjunction with or the connection miscellaneous equipment to computing machine 10, such as memory device (hard disk drive, DVD-ROM driver etc.), the webserver or client, game console etc.In optional embodiment, computing machine 10 can be taked various ways, comprises placing desktop or other surperficial computing equipment, that vertical arch game machine, other portable equipment or people dress, hand-held, the singlehanded equipment that uses.For example, principal computer 10 can be video game console, PC, workstation, televisor " set-top box ", or other calculating or electronic equipment.
In operation, touch pad 16 near the position of (or) comes the input coordinate data in the microprocessor of computing machine 10 according to the object that senses on touch pad.As multiple touch pad of the prior art, touch pad 16 can use condenser type, resistance-type or dissimilar sensing technologies.Capacitive type touch pad usually according to the electric capacity between the capacitor in touch pad and the described object come object sensing on the surface of touch pad or near the position.The common formula of resistive touch plate is pressure sensing, and wherein finger, stylus or other object cause that to the pressure of plate conductions such as conductive layer on the plate, trace, switch connect.The touch pad of some resistance-type or other type can detect user's applied pressure value, and can be input in the computing machine 10 with the degree number percent or the variable of pressure.The resistive touch plate is normally deformable to small part, makes when pressure is applied to ad-hoc location, and the sensor of this position produces the conduction contact.This deformability in the present invention of great use because be used for when of the present invention, this can amplify the size such as the power output of pulse on the touch pad or vibration potentially.If be provided with the submissive suspension (tunedcompliant suspension) of adjustment between actuator and the mobile object, power can be exaggerated.The touch pad that does not need remarkable contact pressure of capacitive type touch pad and other type is more suitable for some embodiment of the present invention, because the touch pad upward pressure is crossed moving of touch pad that conference disturbs tactile feedback in some cases.Other type sensing technology also can be used for described touch pad.Herein, term " touch pad " preferably includes surface and any sensing device that is included in the touch panel unit of touch pad 16.
The operation of touch pad 16 and existing touch pad are similar, and wherein finger tip is associated with the displacement of cursor in graphics environment in the speed on the touch pad.For example, if the user points fast moving onboard with it, then cursor will than the user at a slow speed the situation of moveable finger move bigger distance.If user's finger reached the edge of touch pad before cursor reaches required target location, then the user can leave touch pad with finger simply, is re-applied to the place of leaving the border, continues moving cursor.This is to be similar to make mouse leave the surface, place to change " positioning (the indexing) " function that is offset between mouse position and the cursor.And a lot of touch pads can provide the specific region of distributing specific function separately, and these functions can be irrelevant with cursor position.Hereinafter describe this embodiment in detail with reference to Figure 18.In certain embodiments, touch pad 16 can also allow the user " to rap " (contact fast and remove) touch pad at ad-hoc location so that order to be provided.For example, the user can be when cursor be on an icon with finger rap or " two striking " touch pad to select this icon.
In the present invention, touch pad 16 has the ability of output tactile feedback, exports tactilely-perceptible such as the user to physics contact touch pad 16.Describe the various embodiment of the structure of tactile feedback touch pad below in detail.Some embodiment possibility mobile device shell or independent translational surface, rather than touch pad itself.
Utilize one or more actuators that are connected to touch pad 16 or relevant surfaces, can export the user that multiple tactilely-perceptible is given contact touch pad (or shell or independent surface).For example, can export and rock, vibrate (changing or uniform amplitude) and texture sense.Export to the user power can to small part based on finger onboard the position or principal computer 10 in the state of controll plant in the graphics environment, and/or be independent of finger position or Obj State.This user's of exporting to power is used as " computer-controlled ", because microprocessor or other electronic controller utilize the size of the power output of electronic signal control actuator.
In other embodiments, touch pad 16 can be located at one and be connected in the separate housing of port of computing machine 10 through cable or wireless transmission, and shell sends positional information from computing machine 10 reception information and to it.For example, USB (universal serial bus) (USB), Firewire or standard serial bus can be connected to computing machine 10 with this touch pad.
One or more buttons 26 can also be set on the shell of computing machine 10 to be used with touch pad 16.User's hand can easily contact these buttons, can be by each button so that unique input signal to be provided to principal computer 10.Usually, the similar button on each button 26 corresponding mouse input equipments makes left button can be used to select Drawing Object (click or double-click), and right button can be taken context menu and so on out of.In certain embodiments, one or more buttons 26 can provide tactile feedback.
And, in certain embodiments, can comprise one or more moveable parts 28 of the shell of computer equipment 10, when the user operates touch pad 16, contact it, and it can provide tactile feedback.United States Patent (USP) 6,184,868 and 6,088,019 has illustrated the moveable part of the shell that is used for tactile feedback.In certain embodiments, shell can provide tactile feedback (for example by the eccentric gig on the motor that is connected to shell) and touch pad 16 that independent tactile feedback can be provided.This can control simultaneously to two of the user different tactilely-perceptible main frame; For example, can pass through touch pad 16 for the user by the vibration that shell transmits low frequency and transmit dithers to the user.Each provides the button of tactile feedback or other control piece also can be independent of other control piece tactile feedback is provided.
Host application program and/or operating system preferably show the graphic image of the environment on the display device 12.The software and the environment that run on the principal computer 10 can be varied.For example, host application program can be word processor, electrical form, film, video or computer game, plotting program, operating system, graphic user interface, simulated program, webpage or realize HTML or browser, scientific analysis program, the virtual reality training program of VRML instruction, or other is used to from the input of touch pad 16 with to other application programs of touch pad 16 power output feedback command.For example, a lot of recreation and other application program comprise force feedback function, and can utilize standard agreement/driver and touch pad 16 communications such as I-Force , FEELit and the Touchsense of the Immersion company of California Sheng Hesai.
In conventional touch pad embodiment, the touch pad such as Synaptics company makes provides special characteristic and function.The standard surface material of touch pad is that veined step drawn (Mylar), and common any nonconducting object can use on the surface of this touch pad and can be detected, although grain surface is better when user's usefulness is pointed.This touch pad can also come sensing by thin overlayer.Usually have living space and be used for the additional tactile feedback element; For example, on the touch pad of 40x60, the plank that surpasses half can be used for haptic circuit.
A lot of touch pads comprise " palm detection " function, and it makes whether notebook computer can sensing user use the other parts of finger or palm or hand to contact touch pad.Because the user may just rest palm on it rather than input will be provided, the palm measuring ability will be ignored the input that the palm that is confirmed as the user provides.Basically, the palm measuring ability is a contact area of calculating conductive body (finger, palm, arm etc.).If contact area surpasses certain threshold value, the just current contact of refusal.In a lot of embodiment, can close this function.
Fig. 2 can comprise the skeleton view of another embodiment of the equipment 30 of movable touch pad 16 of the present invention.This equipment can be the remote control equipment of handing 30, and one of user holds and handle it to use the function away from user's electronic equipment or electrical equipment (this TV, cassette tape video recorder or DVD player, audio/video receiver, internet or be connected to the network computer etc. of TV).For example, can comprise on the remote control equipment 30 that several buttons 32 are to handle the function of the device of being controlled.Can also provide a touch pad 16 to make the user that the sensing input of more complexity can be provided.For example, the device of being controlled can have one and select screen, and cursor can move thereon, and can handle touch pad 16 to control cursor on two dimensions.According to the value or the incident of control, this touch pad 16 comprises ability from tactilely-perceptible to the user that export as herein described.For example, audio volume level surpasses mid point or reaches maximum horizontal and can cause that a pulse outputs to touch pad and outputs to the user.
In an application, controlled device can be such as the WebTV computer system of Microsoft or other display graphics user interface and/or by the computing equipment such as the webpage of the access to netwoks of internet.The user can be by the direction of the control of moveable finger (or other object) on touch pad 16 cursor.Cursor can be used to select and/or handle other Drawing Object in icon, window, menu item, graphic button, slider bar, scroll bar or graphic user interface or the desktop interface.Cursor can also be used to select and/or manipulating web pages on Drawing Object, such as link, image, button etc.Below with reference to Figure 18 the power sense that other is related with Drawing Object is described.
Fig. 3 is the plan view from above that can comprise another computer equipment embodiment 50 of any haptic apparatus embodiment of the present invention.Equipment 50 computer equipment that is of portable form, such as " personal digital assistant " (PDA), " based on pen " computing machine, " Web pad " (web pad), " e-book " (pen-based), or similar devices (this paper is referred to as " personal digital assistant ").Can allow the user be related to the present invention, allow button inputted equipment in addition by the equipment of contact display screen or certain numeric display unit input information.These equipment can comprise the Palm Pilot or the similar products of 3Com Co Ltd, the portable computer device of Casio, Hewlett-Packard or other manufacturer, and e-book has the cell phone or the pager of touch-screen, has the notebook computer of touch-screen etc.
In an embodiment of equipment 50, be positioned at the major part that can cover the surface of computer equipment 50 near the display screen 52 of shell 54 parts.Screen 52 preferably one well known to a person skilled in the art and can videotex, the flat-panel monitor of image, animation etc.; In certain embodiments, screen 52 is as the screen of personal computer.Display screen 52 can be one " touch-screen " that comprise sensor, allows the user to come input information in computer equipment 50 by contact screen 50 physically (that is be similar to the touch pad 16 of Fig. 1 another form on plane " touch apparatus ").For example, can cover the layer of transparent sensing membrane on screen 52, wherein said film can detect the pressure of the object of this film of contact.The sensing equipment of realizing touch-screen is well known in the art.
The user can by will point or stylus by button or other Drawing Object of on the shown accurate position of Drawing Object on the screen 52, selecting graphic presentation.And some embodiment allows the user by pushing the user such as the nib of the stylus of stylus 57 or position display figure " ink " image 56 of finger tip or other object, comes on screen " picture " or " writing ".The software that moves on the device microprocessor can be order, data or other input with Handwritten Digits Recognition.In other embodiments, the user can provide extraly or alternatively by the speech recognition input, wherein the microphone on the equipment is imported user's voice, and the software translation that is running in then on the equipment becomes appropriate command or data.Can also comprise in the shell of equipment 50 that physical button 58 is to provide particular command to equipment 50 when button is serene.The feature of a lot of PDA all is to lack the character input that QWERTY keyboard is used for the user; But the input pattern of adopt replacing, such as utilizing stylus on screen, make one's cross symbol, speech recognition etc.But some PDA also comprises multiple functional keyboard and touch-screen, and wherein keyboard is more much smaller than standard-sized keyboard usually.In another embodiment, the standard size notebook computer of band QWERTY keyboard can comprise dull and stereotyped touch input panel, and this screen (being similar to the screen 12 of Fig. 1) can provide tactile feedback of the present invention.
In certain embodiments of the present invention, touch-screen 52 can now provide tactile feedback to the user, is similar to the described touch pad 16 of previous embodiment.Can connect one or more actuators in the mode that is similar to following described embodiment to described touch-screen, or be connected near the movable surface the touch-screen.The user can experience tactile feedback by the finger of contact screen 52 or such as the object or the finger of stylus 57.
Touch-screen 52 can such as volute spring, sheet spring, flex member or compliant material (foam, rubber etc.), be connected to the shell 54 of equipment 50 by one or more springs or surrender element, and screen is approximate to move along the z axle to allow, thereby tactile feedback is provided.Screen can also provide flex member or other unitor, allows the motion of side to side (x and/or y), is similar to the suitable embodiment that the following describes.
Fig. 4 is the block diagram that is applicable to the haptic system among any described embodiment of the present invention.Haptic feedback system comprises a mainframe computer system 74 and interfacing equipment 72.
Mainframe computer system 74 preferably includes host microprocessors 100, clock 102, display screen 76, and audio output apparatus 104.Principal computer also comprises other known assemblies, such as random access storage device (RAM), and ROM (read-only memory) (ROM), and I/O (I/O) electronic equipment (not shown).
As mentioned above, principal computer 74 can be a personal computer, such as notebook computer, and can operate under any well-known operations system.Perhaps, mainframe computer system 74 can be one of various home video game control desk systems that are typically connected to televisor or other display, such as the system of companies such as Nintendo, Sega, Sony or Microsoft.In other embodiments, mainframe computer system 74 can be the electronic equipment that household electrical appliances, " set-top box " or other user can provide input.Computing machine 74 can also be portable, handheld computer, maybe can be vehicle computer, vertical arch game machine, workstation etc. such as PDA.
Principal computer 74 is preferably realized the mutual host application program of the interfacing equipment 72 of user through comprising haptic feedback functions.For example, host application program can be video-game, word processor or electrical form, webpage or or realize browser, scientific analysis program, movie player, the virtual reality training program of HTML or VRML instruction, or other is used to from the input of mouse 12 and to other application programs of equipment 72 power output feedback command.This paper for the sake of simplicity, such as Windows
TM, MS-DOS, MacOS, Unix, PalmOS etc. operating system be also referred to as " application program ".Herein, computing machine 74 may be called as provides " graphics environment ", can be graphic user interface, recreation, simulated program or other visual environment, and can comprise Drawing Object, such as icon, window, game object etc.The Immersion company of California Sheng Hesai can provide the appropriate software driver as the interface between this software and computing machine I/O (I/O) equipment.
Interfacing equipment 72 is connected to computing machine 74 by bus 80, the communication signal between bus load bearing equipment 72 and the computing machine 74, and in certain embodiments, also to equipment 72 power supplies.In other embodiments, can between equipment 72 and computing machine 74, send signal by wireless receipts/send out.In certain embodiments, the power supply of actuator can be by power storage equipment set on the equipment, such as capacitor or one or more battery, replenishes or provide separately.Bus 80 can be two-way, with two-way transmission signal between main frame 74 and equipment 72.Bus 80 can be a serial interface bus, such as RS232 serial line interface, RS422, USB (universal serial bus) (USB), MIDI or other agreement known in this field; Perhaps parallel bus or Radio Link.
Equipment 72 can separate with main frame 74, has the shell of oneself, and is perhaps integrated with the shell of main frame, as the notebook computer among Fig. 1.Equipment 72 can comprise or is related with the native processor 110 of special use.Processor 110 is local for equipment 12, the processor that " this locality " finger processor 110 herein and any host-processor in the principal computer 14 separate." this locality " can also refer to the sensor I/O that processor 110 is exclusively used in tactile feedback and equipment 12.Processor 110 can provide order or the request of software instruction (for example firmware) with wait example main frame 74, decodes commands or request, and according to the signal of ordering or ask to handle/control input and output.In addition, processor 110 can go out suitable power by the command calculations of read sensor signal and storage of selecting from these sensor signals, time signal and according to Host Command or delay and is independent of main frame 74 operations.The microprocessor that is suitable for use as native processor 110 comprises the low side microprocessor and such as the senior force feedback processor of Immersion Touchsense processor.Processor 110 can comprise a microprocessor chip, multiprocessor and/or harmonizing processor chip, digital signal processor (DSP) ability, and/or logic, state machine, ASIC etc.
Processor 110 can offer actuator 88 through the instruction that bus 80 provides from sensor 112 received signals and with signal according to main frame 74.For example, in this locality control embodiment, main frame 74 provides the top management order to processor 110 (such as the parameter of command identifier and one or more characterizing tactile perception perception) by bus 80, and processor 110 is independent of the main frame 74 described orders of decoding and the management low layer power control loop to sensor and actuator according to described high-rise order.This operates in United States Patent (USP) 5,734, detailed description is arranged in 373.In the host computer control loop, the power order outputs to processor 110 and a power or power sense that special characteristic is arranged of instruction processorunit output from main frame.Native processor 110 is to the main frame report data, such as the position data of the position of description equipment in one or more degree of freedom that provide.Data can also be described the state of button, switch etc.Main frame upgrades the program of carrying out with these position datas.In local control loop, actuator signal offers an actuator 88 from processor 110, and sensor signal offers processor 110 from sensor 112 and other input equipment 118.At this, single power or a series of power of perception to the output of user's actuator 18 that provides is provided term " tactilely-perceptible ".For example, the vibration, single rocks or the texture sense all is a tactilely-perceptible.Processor 110 can be handled the sensor signal of input to determine suitable actuator output signal by the instruction of following storage.Processor can be in this locality that the masterpiece that will output to user's object is gone out be determined the use sensor signal, and the position data that will derive from sensor signal reports to main frame.
In another embodiment, other hardware rather than processor 110 can local offer equipment 72 so that the function that is similar to processor 110 to be provided.For example, hardware state machine that combines fixed logic can be used to provide a signal to actuator 88 and from sensor 112 sensor-lodgings, and the output haptic signal.
In an embodiment different, host computer control, main frame 74 can provide the order of low layer power by bus 80, its direct treated device 110, if or do not have processor 110 just through other circuit, send to actuator 18.Therefore main frame 74 directly control and handle all from the signal of going to equipment 72, for example main frame is directly controlled the power of actuator 88 outputs and directly from sensor 112 and input equipment 118 sensor-lodgings.Other embodiment can adopt " mixing " tissue, and wherein the power of some type (for example closed loop effect) is only controlled by local microprocessor, and the effect of other type (for example open loop effect) can be by host computer control.
Local storage 122, such as RAM and/or ROM, the processor 110 that preferably is connected in the equipment 72 is used for the instruction of processor 110 with storage, and stores interim data with other.Storer 122 can also be included in the processor 110.In addition, local clock 124 can be connected to processor 110 so that chronometric data to be provided.
In some of this paper realized, actuator had apply short term sustained power sense on the shell of equipment or controls, or through mobile inertia thing.This short term sustained power sense can be called " pulse "." pulse " can be generally along a specific direction in certain embodiments.In certain embodiments, can control the amplitude of " pulse "; Can control the sensation of " pulse ", the skew of plus or minus; Can apply " cyclic force sense " and amplitude and frequency can be arranged, for example periodically perception can be on dextrorotation ripple, square wave, sawtooth be chosen ripple and the triangular wave under ripple, the sawtooth; Can apply envelope to periodic signal, allow amplitude to change in time.Waveform can be from main frame " stream " to equipment, or transmit by comprising such as the high level order of the parameter of amplitude, frequency and duration.
Specific embodiment
The invention provides the multiple embodiment that provides tactile feedback to user and/or any user of portable computing equipment with touch pad or similar input equipment.
Some embodiment touches its finger when contacting touch pad based on the finger the user.These embodiment transmit the sensation of high-fidelity, and the good relationship of input and output is provided at user's finger tip simultaneously.Actuator and STATEMENT OF FEDERALLY SPONSORED (linkage) scheme that illustrates is to drive any translation embodiment.Other embodiment is based on the stimulation of user's palm surface of normal contact notebook computer 10.These surfaces can provide tactilely-perceptible based on the power of inertia connection or the translation of palm surface.Translation in the plane of touch pad or notebook computer upper surface (promptly along X-axis and/or Y-axis) is being transmitted aspect the tactile data and vibration or the same effective along Z axle (normal direction of touch pad or notebook computer upper surface) displacement.This is very important when considering the volume limitations of notebook computer.
In a lot of embodiment of this paper, the contact that is detected the user by touch input device also is favourable.Because it is to need output that tactile feedback only contacts touch apparatus the user, it is to stop (actuator " cuts out ") there not being object contact touch input device that this detection allows tactile feedback.This function can be saved the battery power of portable equipment.If local touch apparatus microprocessor (or similar circuit) is used in the computing machine, this microprocessor can cut out actuator output not sensing when the user contacts, this has just alleviated the extra computation burden of host-processor, recovers actuator output up to detecting once more to touch.
In a lot of preferred embodiments, sense of touch is added in notebook computer or the miscellaneous equipment, does not provide haptic content and do not need the user to relearn how to control notebook computer also not need manufacturer to expand its design and make far different than the product of existing design.For example, in the embodiment of notebook computer, when the user moved its finger on touch pad, the cursor that shows on the display screen of notebook computer is also corresponding to be moved.In the time of, incident generation mutual etc., can on the notebook computer element of touch pad or other user contact, export haptic effect at cursor and Drawing Object or zone.In other application program, generation incident or output when mutual during the recreation that haptic effect can be on running on notebook computer or other are used.Can use polytype actuator, sensor, STATEMENT OF FEDERALLY SPONSORED, amplification transmission etc. among the present invention.
The present touchpad surface of making is connected to one usually and comprises necessary electronic equipment and be used for being connected the also printed circuit board (PCB) (PCB) of the standard connection of the touch pad of this computer of Operational Note.Therefore, when power is applied to touch pad, also just be applied to the PCB that directly is connected usually, for example be connected under the touch pad with touch pad.
The embodiment of this paper designs with specific guidance and feature.For example, feel strong specific tactile experience in a particular embodiment, haptic content is concentrated or the position at place physically, the spatial relationship of tactile feedback and the indication of user's finger on touch pad, for example, tactile feedback can be just below finger, perhaps send in the somewhere from the shell of notebook computer, produce feedback required dynamics and energy, user and equipment alternant way and to the influence of the quality and the content (finger contact angle etc.) of feedback, and it is the most desirable which can be contained in actuator in the factor/shell of notebook computer form and the mechanical hook-up.
Preferably, existing tactile feedback software and driver can be used for embodiment as herein described, such as the TouchSense software of Immersion company.The standard module such as specific touch pad that can be used for the number of different types product is desirable, such as PDA, notebook computer, cell phone and Long-distance Control part.
These embodiment mainly concentrate on the realization of tactile feedback, but not kinaesthesia force feedback embodiment.As described herein, have the tactile feedback of two kinds of fundamental types to be applied to the present invention: the inertial haptic feedback contacts tactile feedback with motion.The vibration that the inertia feedback utilizes inertia to connect produces and based on moving one by surrendering the inertia thing that flex member is connected to shell/user, wherein the motion of inertia thing causes inertial oscillation on the surface of user's contact.Motion contact feedback relates to respect to ground in the face of the direct translational surface of user or parts and normally produce by making user's skin that little displacement take place.
Difference between inertia and the motion contact feedback can be by being used for providing the actual device of information to distinguish to the user.The two all causes the displacement of hand or finger tissue inertia and haptic stimulus; The surrender that inertia feeds back by the thing of the conduction of certain capsule and this capsule connects.Motion contact feedback refers to stimulate the more direct mechanism of user group.Example comprises the contact or shears the surface of finger skin to make finger or palm metaplasia cause sensation by the part.This difference is used to distinguish the two class embodiment that the following describes: inertia and surface translation.
The following describes a kind of actuator of novelty, be called flat E shape (Flat-E) herein, it can be used for all embodiment herein and represent very little, efficiency is high, high performance, the planar actuator of a class profile.Flat E shape actuator can obtain acceptable performance level, and reaches notebook computer and required finite quantity (limited volume) and the form factor of miscellaneous equipment application.
Inertia embodiment
These embodiment move an inertia thing with the inertial haptic feedback of generation to the user, pass through usually such as shell or other surperficial capsule or device transmission.Under many circumstances, the inertia thing is in service does not run into any surface, although this impact energy alternatively is used to provide extra haptic effect.
Fig. 5 is used to the skeleton view of an embodiment 150 that touch pad of the present invention and device housings provide the actuator of inertial haptic perception.Actuator 150 comprises a flex member of landing 160 and an actuator 155.Flex member 160 can be single, the single piece made by acrylic plastering (" hinge (living hinge) of living " material) or other flexible material.Flex member 160 can be landed to the shell of equipment 12, for example at the position 161.
The angle parts 171 that comprised 172a of first and second portion 172b move along the x axle point-blank, shown in arrow 176.In fact, 172a and 172b two parts only move near linear.When flex member was in original position (stop position), 172a and 172b two parts were with respect to its longitudinal axis angle preferably as shown in the figure.This makes rotary part 170 along the both direction push-and-pull angle parts 171 shown in the arrow 176.
By the sense of rotation of quick change actuator shaft 164, can make actuator/receiver on shell, produce vibration as the inertia thing along the vibration of z axle and with actuator 155.In addition, be included in the flexible joint in the flex member 160,, play the effect of spring, the restoring force to the original position of actuator 155 and receiver part 162 (stop position) is provided such as flexible joint 192.In some embodiments, in flex member 160, can comprise the motion of retainer with limiting actuator 155 and receiver part 162.
Other embodiment can provide the actuator of other type so that the inertia perception to be provided, such as the flex member rather than the actuator itself that move an independent inertia thing.Perhaps, can vibrate one is connected to the eccentric thing of actuator turning axle, with inertial haptic perception that rotation is provided to shell.Eccentric thing can unidirectional drive also can bi-directional drive.The actuator of other type also can be used for, such as straight line voice coil actuator, solenoid, moving magnet actuator etc.
In one embodiment, can be connected to any position of notebook computer casing or miscellaneous equipment shell and be used to vibrate the part of shell, depend on actuator module by long-range installation through the vibration of product shell transmission such as above-mentioned actuator.Actuator can be positioned on the zones of different of notebook computer casing or element, so that the inertial haptic feedback to be provided when the inertia thing vibrates.
User's experience according to actuator on notebook computer definite position and difference and has the output of different haptic effects.The coupled position of actuator comprises the bottom of shell, side or front, and user's the surface that palm cooperated during operating equipment near the zone of touch pad or touch-screen, or is connected to touch pad or touch-screen.Touch pad itself (for example, actuator being connected to the touch pad bottom) also is an effective position.In some embodiments, if touch pad is a rectangle, can obtain the compliance of more major axis along touch pad.
Usually, haptic content is received in a limited frequency range by actuator being positioned on the position on the notebook computer by the user.For example, the most effective ad-hoc location that transmits vibration can be determined by rule of thumb.
Under many circumstances, the output of the several types of haptic effect may make user Fan Yun, and the effect with much higher frequency may be easier to discover.A kind of effective haptic effect of this embodiment is relative high frequency " jingle bell " effect.The resonance of notebook computer casing and touch pad may be amplified these vibrations.A kind of being designed to can be used for providing wide frequency spectrum by amplitude-modulation techniques at the actuator of specific desired frequency low-resonance.For example, can be by modulation by the resonance actuator that mixes up, such as big piezoelectric ceramic resonator (as Fig. 8 a-8b), the 250Hz free-running frequency of generation produces compulsory 25Hz square wave.This modulation scheme may depend on the actuator adjusted according to environment of living in and the object that must drive.The vibration isolation system of some type can be used for some embodiment with energy limited in the sense of touch module, do not allow energy under resonance mode, be distributed to the other parts of notebook computer or miscellaneous equipment.
Fig. 6 is the skeleton view of another embodiment, and wherein touch panel module can be suspended on the submissive supporting construction and can be connected to a harmonic source and along the z shaft vibration.In this example, touch pad 200 can with one in the z axle actuator 202 perpendicular to the mobile touchpad surface in touchpad surface ground move.This touch pad can be connected to notebook computer casing 204 by the layer or the support member of one or more foams, rubber or other submissive material, and wherein the edge strip 206 of foam is located on the touch pad circumference between the touch pad 200 and shell 204, as shown in Figure 6.Actuator 202 can be connected to the bottom (or other position) of actuator, makes that its vibration is delivered to touch pad, and allows it to move with respect to notebook computer casing 204 on the z direction when the inertia thing vibrates.For example, actuator can directly be attached to the bottom of touch pad PCB.Unsteady assembly that perhaps can mobile touch pad and frame (bezel) (around the surface of touch pad), rather than mobile touch panel module on the z axle only.
In another embodiment, can use an independently touch panel device, wherein touch pad is contained in the independent shell, and communicates by wired or wireless transmission with notebook computer or miscellaneous equipment.In one embodiment, this independently touch panel device can pacify to a palm plate (or other parts), and actuator is connected on this plate.When the inertia thing of actuator vibrated, the inertia perception was sent to touch pad by these parts, that is this provides the inertia from the actuator to the touchpad surface to connect effectively.Can connect a froth bed (or other compliant layers) between plate and the ground compliance to be provided and to move with making plate and touch pad inertia.This embodiment can be installed near the notebook computer or the embodiment that is installed on the built-in touch pad produces more keen sensation than those actuators, may be because the submissive performance of foam allows the stronger perception of output.
Whole touch pad can be used as single global facility tactilely-perceptible is provided; Perhaps, in other embodiments, each can provide its oneself tactile feedback actuators and associated transport the independent movable part of this plate, makes tactilely-perceptible only to provide specific part.For example, some embodiment may comprise a touch pad with the different piece of can deflection or moving with respect to the touch pad other parts.
In another embodiment, around or be connected to harmonic vibration source (for example, actuator) and vibration on one or more axles near the surface of touch pad.For example, the palm rest surface can be driven by an inertia actuator that is contained in the notebook computer.Fig. 7 is the skeleton view of an example of the palm rest surface of inertia-activated.Notebook computer 210 comprises a touch pad 212 that plays similar typical touch pad.A palm rest surface 214 is positioned near the touch pad 212, and wherein one deck resilience that can pacify to the notebook computer casing of surface 214 is opened wide on honeycomb foam (resilient open cell foam) or other submissive material.In some embodiments, surface 214 can have pit and/or projection so that the user is stronger to the contact on surface.Actuator 216 is connected to palm rest surface 214; In the embodiment shown, assembly 216 is connected to surperficial 214 downsides.This assembly can be in the above-mentioned actuator any.For example this actuator 216 can provide the z axle to vibrate to palm rest surface 214.
The user preferably will point when using touch pad 212 with finger and/or several fingers is parked on the palm rest surface 214.Therefore, the user can feel tactilely-perceptible by the palm rest surface in the operation touch pad.Perhaps the user hand is used for indication and operation touch pad, and the another hand is parked on the palm rest surface 214 and feel tactile feedback.The palm rest surface is embodied as the surface that can touch in fact inevitably, and therefore the user can not miss too many haptic events when using touch pad.In some embodiments, the user may cause that in the dynamics of parking its palm on the described surface amplitude of being discovered on the useful bandwidth produces subtle change, and may be the result of the quality of stiff and employed particular device.In different embodiment, the rigidity that palm surface connects with shell can be adjusted into specific sensation.
In a relevant embodiment, actuator can be installed in zones of different.For example, actuator can be pacified the extension bottom to the palm rest surface of being made by veined material, and the palm rest surface is installed on the unlimited honeycomb foam of one deck resilience or other the submissive material.
In other embodiments, described palm surface can translation on X and/or Y direction, is similar to below the touch pad translation with explanation.The inertia actuator can be used for promoting described translation, perhaps a kind of dissimilar actuator, and for example high actuator power in translational mode and quite high rigidity are to avoid unnecessary hard stop limit distortion etc.The palm surface of translation can be suitable for a flat actuator, makes this assembly can be integrated in the notebook computer casing; The following describes flat actuator.
Fig. 8 a is the skeleton view that is applicable to the actuator among another embodiment of inertial haptic feedback device of the present invention.In this embodiment, a mechnical oscillator that is connected to the higher frequency of touch pad is modulated.An example of this realization can comprise a commercially available thin piezoelectric sensor 230 of major diameter, diameter 60mm for example, free-running frequency 300-400Hz during perimeter support.This piezoelectric sensor preferably includes a thin metal film (sheet) 231.An embodiment can comprise a condiment 232 at pottery place, the center of piezoelectric film, to increase inertial mass and to reduce free-running frequency to obtain stronger inertial haptic perception from the vibration thing.Sensor 230 peripheries can be landed, and object 232 can produce the inertial haptic perception with the shell to this sensor place perpendicular to panel surface.
Actuator 230 can play the effect of harmonic oscillator, and described harmonic oscillator runs on relative high frequency, transmits the part of the notebook computer in one's hands or its place of perception.Amplitude modulation (envelope) can be used to produce than the wideer sense of touch frequency spectrum of single basic cydariform pattern.The major diameter piezoelectric actuator can obtain from the Kingstate in for example Taiwan.Also can use the dish of different size.
For the desired tactile perception is provided, big piezoelectric sensor or " hummer " should provide the big ohject displacement that can bear (acceleration) of object and carrier frequency (frequency of vibration) to modulate with haptic signal.Some electronic equipment may need to operate such actuator.High voltage supply can result from 5 volts.Oscillatory circuit, for example the autoexcitation circuit can drive this element.The gate feature can be arranged with the startup and the failure of oscillations, and proportional control is modulated to output amplitude with permission.Digital realization can provide by the He Guanlai that opens of gate vibration.
Fig. 8 b provides the side elevational view of another embodiment 234 of the piezoelectric sensor of tactile feedback, and wherein sensor directly applies (non-inertia) along the z axle and oscillates to touch pad (or touch-screen).The shell 236 of notebook computer or miscellaneous equipment can comprise the frame that covers touch pad parts 238, and the user physically contacts it and inputs to computing machine or processor to provide.Touch pad parts 238 can comprise that required electronic equipment is to join touch pad and other electron component.Touch pad parts 238 can rest in one to have on the liner 240 that is selected to the certain objects that allows efficient sense of touch output.Liner 240 rests on the edge of piezoelectricity metal film 231, and it is the part of piezoelectric sensor, and wherein lead 241 is connected between film 231 and the signal source 246.Piezo ceramic element 242 also is the part of piezoelectric sensor, be connected to metal film 231, and lead 243 is connected between element 242 and the signal source 246.An electrode is plated on the ceramic component 242.A contact plate 248 is between element 242 and bottom enclosure 250.Contact plate 248 is done very for a short time, makes film 231 have the flexibility of increase, causes more high acceleration and stronger haptic effect.Bottom enclosure 250 can comprise a for example printed circuit board (PCB) (PCB).The spring element 252 of one or more prestrains connects touch pad element 238 to bottom shell 250, for example sheet spring, spiral spring etc.
When operation, when the oscillating current from signal source 246 flow through film 231 and ceramic component 242, piezoelectric sensor moved along the z axle.Therefore, liner 240 only provides at film 231 edges, move to allow film inside and ceramic component 242, and ceramic component pushes away bottom enclosure 250, causes that film 231 pushes away liner 240, and this promotes touch pad element 238 again.This boosts the touch pad parts, and spring element 252 provides elastic restoring force on touch pad, makes it return the centre position.When piezoelectric sensor is mobile in the opposite direction similarly, instruct as oscillator signal, this will move down touch pad element 238 towards bottom enclosure 250.Therefore the touch pad element is along the vibration of z axle and the user of tactilely-perceptible to this touch pad element of contact is provided.
In some embodiments, can select the element of touch pad embodiment 234 so that more effective tactilely-perceptible to be provided.For example, if piezoelectric sensor then can be exported bigger power and more effective tactilely-perceptible to approach the free-running frequency vibration of mechanical system (comprising sensor itself).This mechanically moving system can be expressed as expression formula k1 approx and add that k2 removes the square root of m, and is as follows:
Wherein fn is a free-running frequency, and k1 is the elastic constant of the metal film 231 of piezoelectric sensor, and k2 is the elastic constant of flexible member 252, and m is liner 240, touch pad 238 and the gross mass of pacifying the part of the suspension to the touch pad.Can select this quality, and elastic constant, so that desirable low free-running frequency to be provided, such as about 120Hz or still less, this more can bring effective tactilely-perceptible.This liner 240 can allow a plurality of piezoelectric sensors, for example side by side, against bottom enclosure 250, makes described single-sensor as one man or to obtain stronger haptic effect at different time and provides perception with the ad-hoc location at touch pad element 238.
A kind of approach that drive signal is provided be free-running frequency fn or near initial vibration carrier signal is provided, if be suitable for (for example adjust amplitude to perfect condition so that desirable frequency or effect to be provided), with special efficacy envelope (effect envelope) modulated carrier signal, and use the signal driving amplifier of being modulated, itself is the drive pressure electric transducer again.Sinusoidal wave carrier signal among this embodiment, different with square wave or other type of wave, be easy in the embodiment of described Fig. 8 b, produce tranquiler haptic effect, this is better usually.
In an alternative embodiment, it is directed that piezoelectric sensor and liner keep, make liner 240 contact bottom enclosure 250, film 231 rests on the liner 240, ceramic component 242 is positioned on the film, and ceramic component is being driven the plate that signal orders about when vibration direct collision touch pad element 238 or is connected to the touch pad parts.In another embodiment, ceramic component can directly be connected to the touch pad element, but General Result be intensity and effectively haptic effect a little less than.
Surface translation embodiment
The surface translation that these embodiment will contact with the user is to provide tactile feedback to the user.The user feels its skin of translation surface shear, produces direct perception.Such tactile feedback based on fixed surface contact user finger or the adjacently situated surfaces of hand between the irrelevant plane motion of relative motion.Contact or near the translation on the surface on touch panel module surface (Fig. 9-12), and the displacement of touchpad surface self (Figure 13-14) all is the embodiment that the following describes, and also is useful on the actuator (Figure 15-17) of these two kinds of application.United States Patent (USP) 5,184, the invention of the translational surface of explanation also can be adopted in 868.
Little displacement between the adjacently situated surfaces (＜1mm) provide good signal to be transferred to finger tissue.Better the surface can have physical surface texture (projection or coarse groove etc.) and shape can be done applying user's any position or direction.In some embodiments, little lateral translation (displacement under finger tip between the 0.25mm to 0.5mm) even can be more effective than inertial oscillation touch pad (z axle) vibration that exceeds the plane down at a distance, for example inertia connects and can have sensation farther and disconnection among some embodiment.
Independent surface translation
The displacement that is positioned at the independent surface elements at touch panel module top is providing very effective aspect the good relevant feedback.Feedback feeling is enough synchronous, and bright and clean (clear) surface can translation on visual display, as in PDA or touch-screen.Can carry out the translation of other sideways or close touch pad in surface in other embodiments.
Fig. 9 is the skeleton view of the first independent surface translation embodiment 250, and one of them is independent laterally mobile under finger with the thin surface touch panel module sliding contact.A translation surface elements (" surface ") 252 is positioned at fixing touch pad 254 tops and goes up and be covered with.The extension component 256a and the 256b that are connected to translation surface 252 can leave touch pad 254 at x or the extension of y direction in nearly orthogonal ground.Actuator 258a and 258b are connected to each extension component 256a and 256b respectively.In described embodiment, thereby actuator 258 is the linear-motion actuators to extension component 256 output straight line force mobile translation surfaces on the power output direction.For example, this actuator can be an E core actuator.Last not shown two magnetic poles 259 of actuator 258b are to show the coil 260 under the ferromagnetic unit 382.
The user is used as touch pad 254 to translational surface 252 and itself touches.Surface 252 is enough thin, makes touch pad 254 can detect the contact of all users to surface 252, the touch pad under the touch location of the direct touch-surface 252 of user.
In some embodiments, actuator can be positioned at relative position far away with translational surface (for example greater than 10cm), and in these embodiments, harder extension component 256 may transmit tension force and pressure with the motion on the least possible friction force or disengaging plane.For example, the fiber lamination of glass or carbon element has this function.
In magnetic actuator embodiment is arranged, can be on translational surface 252 the rare earth magnetic sheet of laminated thin with as moving magnet.For example can obtain highly integratedly, if mobile magnetic sheet is similar to the thickness less than 1mm, and E core and coil be positioned under the distal portions of extension component 256, for example directly be installed to touch pad PCB originally on one's body.Winding wire can be welded direct on the touch pad PCB.
Figure 10 is the plan view from above of another translation surface embodiment 270, and wherein independent mobile tactile-surface is positioned at sliding contact with it on the touch pad.This surface is driven with respect to the touch pad translation by the mechanical connection of high bandwidth actuator by high-fidelity.
In this embodiment, translation surface 272 is placed on the touch pad 274, is similar to the embodiment of Fig. 9.Extension component 276 is gone up to a revolving actuator 278 in a direction (being the x direction) herein and is extended, and revolving actuator is stopped in this example on notebook computer casing 280.Actuator 278 can be to have turning axle 282 direct current rotation motors, and turning axle is connected to one and connects STATEMENT OF FEDERALLY SPONSORED 284, and STATEMENT OF FEDERALLY SPONSORED itself is connected to extension component 276 again.For example, can use aforementioned actuator 150 STATEMENT OF FEDERALLY SPONSORED a part.When actuator 278 when both direction rotates turning axle, STATEMENT OF FEDERALLY SPONSORED is converted into the translations of surface 272 on respective direction (left side or right) with rotation.For example, can obtain approximately+/-displacement of 1mm.The user feels the translation on surface during moveable finger on surface 272.The motor rotation can cause gem-pure high-fidelity translation on the x direction.A kind of design of d.c. motor can be used in the side or the shell front has provided the notebook computer of free space.Can provide similar extension component, STATEMENT OF FEDERALLY SPONSORED and motor with at this direction translational surface 272 in the y direction.User's input detects on touch pad by the tactile-surface that moves.
Can this thin surface of cutting, with little being engaged in the touch pad area around the border.Can cut out a bigger lamination drives to actuator so that a quite hard stick to be provided.This stick should be enough wide with allow actuator push away in operation it and can fold.
As Fig. 9,272 bottom surface, surface can provide smooth surface contact touch pad, to provide and the user points smooth low-frictional force sliding interface between the touch pad plastic coat face of common touch.The user that is beneficial to that the end face of translational surface 272 can be made friction holds well, for example the texture of similar meticulous sand paper.This can provide good surface in contact, because it provides the mechanical bond with finger surface, but can not touch up too coarse.Other embodiment can utilize polytype friction surface.Other embodiment can also utilize the hammer flattener actuator, for example moving magnetic actuator or voice coil actuator.
Two sticks 286 plastics or other material can be positioned on and (for example be the edge of touch pad shell aperture) and the edge of covering surfaces 272 on the frame of touch pad, with restriction translational surface 272 and keep it smooth and be parallel to touch pad 274.
Fig. 9 and 10 embodiment can provide significant tactilely-perceptible.On touch pad, increase the sense operation that touch pad is not disturbed on a surface basically.The user can give directions and pass through this surface simultaneously and receive tactile feedback with respect to the motion of fixing touch pad.Touch on the translation surface of user on touch pad and provide when mobile and input to notebook computer or other electronic equipment is easily.In some embodiments, translational surface can remain on the touch pad, and is not in contact with it, so some user's pressure may need to remove and moves freely and proximity sensor arrays.
When at moving cursor on the scroll bar that shows and in the shown desktop GUI of notebook computer, the user feels tangible high-fidelity and the effect good space correlation of cursor.The characteristics of this correlativity may be according to the user whether at x direction or y direction moveable finger or object and difference.Actuator in the illustrated embodiment 270 moves embodiment in the x direction.Therefore, move up and down cursor on icon, the user can feel unidirectional projection or similar haptic effect, if user's focal attention or observe the motion and the cursor movement quadrature on surface 272 not.
User's finger can be more obvious translation direction move---being the x direction in Figure 10---.For example, when the user the x direction drag finger with cursor when an OptionButton moves to another, surface 272 can guide the user to the next one and feel to resemble a locking key (detent), even only produced very little moving.Surface translation power in contrast to moving direction can be more effective, and for example, if the user moves left to an icon, then translational force to the right will be more crisp more natural.If tactile feedback only allows on an axle, the y axle may be better choice in certain embodiments, because have the content of more vertical direction in GUI desktop and the application program.
From a movement of objects during to another, for example between graphic button, in short-term, significantly pulse can provide good transition.By the actuator of drive surfaces that vibrates with sinusoidal or other periodic waveform, thereby in the opposite direction vibrate the translation surface, like this, in the embodiment of surface translation, vibration can be delivered to the user.
The user also can be naturally pick up finger between the motion of control cursor, and the intrinsic elasticity centering force of motor and STATEMENT OF FEDERALLY SPONSORED can turn back to translational surface 252 or 272 position, a centre (original), in order to next time mutual.Controlled cursor does not move during the original position in the middle of feedback assembly is moved back into, because move on the surface only on the touch pad and do not provide input as user's finger to computing machine.
Motion at specific direction allows surface translation embodiment in some embodiments, as the relative pointing apparatus that has pseudo-kinesthetic feedback.Tactile feedback still is main tactile feedback type, but the little displacement on surface can perceive significantly, is rendered as directed elastic force, and sensory images promotes the locking key " inclined-plane " of user's finger in one direction, even they only are projections.
The global stiffness of actuator can influence the result.If the user pushes too heavy on translational surface, translational surface when then the user may drag/giving directions finger, and this can make actuator break away from its elastic center.Preferred embodiment has strong but the actuator of rigidity, the user almost can't by firmly push reverse drive it.
Among some embodiment, translational surface preferably has specific amount of movement or compliancy, for example 2mm.There is a strong elasticity centering force from motor and STATEMENT OF FEDERALLY SPONSORED, and, moving cursor is real between such as two objects of the button among the GUI, feels that force feedback moves past screen until finger pressure reduction and finger fast with relative pattern because the user may discover real movement.The tactile feedback of output is the simple haptic projection, and does not have actual kinaesthesia spring to provide in x direction and y direction.But the user feels that its finger is pulled to adjacent objects, for example next button.
Be noted that among the different embodiment kinaesthesia force feedback may be provided.For example, if the user remains on a position on the translational surface with finger, and translational surface has enough big displacement, then can be in the degree of the freedom of motion of translational surface power output, the kinaesthesia force feedback is provided.The sensor of touch pad can be used for the position transducer of the finger/translational surface of computing power (such as the elastic force with the amplitude that depends on the distance that moves from the spring original position) as indication.Therefore, this embodiment will be double mode haptic system, comprise sense of touch and kinaesthesia pattern.
Some embodiment of translational surface may allow to be slided by the user, and other rigidity very, rare slip.In a lot of embodiment, if the maximum on surface allow to move enough between two adjacent pattern targets across, then the kinaesthesia pattern can be effectively and the user may not can notice that it is at translational surface.Some embodiment can provide translation and power on two axles (x and y), allow this kinaesthesia guide feedback (genuine spring) on all directions of touch pad.
It is different that haptic effect may be felt, if the user does not move its finger or object on touch pad.Often meaningful and value in the touch pad with haptic effect (for example, locking key projection effect) correspondence moves.For example, when user's reception projection effect during at moveable finger and at the transition point of finger translation translational surface to icon or button between, this is effective.
The a lot of of the independent translation surface of above-mentioned explanation a bit also can be applied to the translation touchpad surface, and are as described below.
Figure 11 is the skeleton view of another embodiment 290 of independent translation surface and moving coil actuator.In this embodiment, a framework 292 places on the touch pad 294 of equipment.Framework 292 comprises a thin surface part 296, is located immediately on the touch pad 294, and enough thin, will be to allow user's contact by the part 296 of following touch pad 294 detections.Framework 292 also comprises an integrated voice coil loudspeaker voice coil 298, as the part of voice coil actuator 300.Coil 298 can be the wired trace that is cast into framework 292, can be a PCB.Another part of actuator 300 comprises a static dipolar 302, is positioned on the coil 298, and lands to notebook computer casing, and a steel backboard 304, is positioned at framework 292 opposite sides and lands to shell, as the magnetic flux return path.This steel assembly can pacify to touch pad PCB for example originally on one's body.
Therefore, the magnetic field of magnet 302 is mutual with the electric current that flows through coil 298, causes the straight line force to framework 298, makes framework and part 296 do moving shown in arrow 306.This provides the tactilely-perceptible that is similar to aforementioned independent translation surface embodiment to the user.Shell can surround whole framework, removes around the opening of the part 296 of framework 292.In some embodiments, the line of coil 298 can be connected to the touch pad PCB of utilization from the independent crooked circuit finger of travelling frame 292 bifurcateds.
Figure 12 is the skeleton view of another embodiment 310 on independent translation surface.In this embodiment, around the surface of touch pad in x and/or y direction with respect to the touchpad surface translation.Thumb surface 312 is positioned at touch pad 314 bottom sides and is connected to link member 295 rigidly.Link member 316 is connected to flexible chain fitting 318, and the flexible chain fitting is connected to the turning axle that lands to the actuator 320 of notebook computer casing.When actuator 320 rotation axiss, the mobile point-blank link member 316 of flexible chain fitting 318, shown in arrow 322, link member 316 is along the mobile point-blank thumb of x axle surface 312.Thumb surface 312 contacts with the standard button (not shown) that is located immediately under surperficial 312 slidably.
The user can be parked on the thumb surface 312 its thumb, palm or finger with the sensation tactilely-perceptible when the operation touch pad.Will be by the button that is positioned under the thumb surface 312, the user only need press surface 312.Generally, its sensation can be similar to aforesaid other translation surface.In other embodiments, link member 316 can be longer, to allow the desired displacement of actuator 320 in notebook computer or miscellaneous equipment.
A shortcoming is not feed back to the user, unless the user has thumb, finger or palm in the thumb surf zone.The user may must go enough other buttons to key in and to lose tactile experience.When being difficult to using the same hand to give directions touch pad, the user keeps to use big surface 312 or palm plate to extend among the embodiment of thumb on surface 312.
The touch apparatus translation
These embodiment are with the surperficial translation of touch pad (or touch-screen) own, and mobile independent surface.The user feels that the translation touch pad laterally moves, and shears mutually with its skin, produces perception.Touch pad can move with respect to fixing environment, such as notebook computer casing.
Figure 13 provides the skeleton view of the embodiment 330 of translation touchpad surface.Touch pad 332 moves with respect to the shell 334 such as notebook computer or PDA by actuator 336.In described embodiment, actuator 336 is revolving actuators, such as direct current generator, has the turning axle 338 of STATEMENT OF FEDERALLY SPONSORED of being connected to 340.STATEMENT OF FEDERALLY SPONSORED 340 other ends are connected to support 342, and its medium-height trestle 342 is connected to the downside of touch pad 332 modules.Described STATEMENT OF FEDERALLY SPONSORED comprises that fitting piece and/or flexible element/pliable member are converted into straight line force to allow rotatablely moving of axle 338, thereby touch pad 332 is laterally moved, shown in arrow 344.For example, STATEMENT OF FEDERALLY SPONSORED can be made by polypropylene, is similar to the STATEMENT OF FEDERALLY SPONSORED of the actuator of Fig. 5.The shell of notebook computer can be used as the limiting structure of mobile touch panel module.
For example, the standard d.c. motor can be used for the polypropylene STATEMENT OF FEDERALLY SPONSORED assembly of actuator 336 and STATEMENT OF FEDERALLY SPONSORED 340.In one embodiment, tactile feedback elements can be positioned at the position of the selectable unit of placing notebook computer, such as optional disc driver.
In other embodiments, actuator 338 can be positioned at the place away from touch pad 332, for example in the shell be located immediately at touch pad under (as shown in figure 13) relative any available place.STATEMENT OF FEDERALLY SPONSORED can be used to locate the actuator away from touch pad, as shown in figure 14.
The whole touch pad of translation may be a good overall sense of touch approach on an axle or two axles.(0.2mm＜x＜0.5mm) is suitable for providing the sense of touch of usefulness in the very little displacement of touch pad.When weighing in the actual margin scope, this embodiment's can consume energy less than present available inertia mouse interfacing equipment, and it can receive all institute's energy requirements by the interface to main frame such as USB.
In this class embodiment, some advantage clearly.Feedback experiences is directly, and is good relevant with the indication action, and accurately.Realization can elasticity and not lofty, and the increase of tactile element does not change the use of touch pad.The displacement on translation surface is little than the inertia mode---and this reduces energy consumption and is convenient to makes.In some embodiments, moving of touch pad can become angle on the x-y plane.Shortcoming may comprise the use d.c. motor, and it is relatively large, and flexible STATEMENT OF FEDERALLY SPONSORED may need normal cleaning and can cause friction, and energy consumption may be higher relatively.
Figure 14 is the skeleton view of the embodiment 350 of mobile touch pad, and wherein touch pad can move on x and y both direction.Touch pad 351 directly is connected to first STATEMENT OF FEDERALLY SPONSORED, 352, the first STATEMENT OF FEDERALLY SPONSORED by be connected to the turning axle of actuator 353 such as polyacrylic flexible part 354.Actuator 353 lands to notebook computer casing.When actuator 353 rotates it, flexible part 354 will rotatablely move and be converted into rectilinear motion and in x direction translation STATEMENT OF FEDERALLY SPONSORED 352, and this is translation touch pad again conversely, shown in arrow 355.At the far-end of first STATEMENT OF FEDERALLY SPONSORED 354,, connecting second STATEMENT OF FEDERALLY SPONSORED 356 by for example flexible connection.
Land and be connected to the other end of second STATEMENT OF FEDERALLY SPONSORED 356 to second actuator 358 of notebook computer casing by a flexible part 357, wherein the axis of the turning axle of actuator 358 rotation is the axis of actuator 353 rotations basically.The revolving force of the turning axle output of actuator 358 is converted into straight line force by flexible part 357.This straight line force makes second STATEMENT OF FEDERALLY SPONSORED 356 move point-blank along its length direction, and this makes again conversely, and first STATEMENT OF FEDERALLY SPONSORED 352 is approximate to be pivoted along the y axle around its ends near actuator 353, and makes that touch pad 351 is approximate to be moved along the y axle.Actuator 353 and 358 can be that for example d.c. motor or the actuator of other type arbitrarily for example also can be used linear-motion actuator, as Figure 15-17.Described STATEMENT OF FEDERALLY SPONSORED can be made by suitable material, for example carbon fibre.Preferably, very little energy is landed the distortion of structure or STATEMENT OF FEDERALLY SPONSORED and is absorbed.
Therefore, mechanically separate the motion of x axle and y axle; Provide the motion of x axle by starting actuator 353,, provide the motion of y axle by starting actuator 358; Start two motors simultaneously x axle and two kinds of motions of y axle just can be provided.Two actuators can both together drive (common mode) or differential driving (differential mode) obtaining the motion of pure x or y axle, and do not need in conjunction with the interlock part.And any combination drives and will produce making a concerted effort of an any axis in edge, has identical fidelity and not combination.
Embodiment can use firmware to be used for Fast estimation and close output x and y power, for example runs on such as on the local controller of microprocessor or the software on the host CPU.In some embodiments, this firmware can be very complicated, makes alternatively to use the mechanism that has the electronic switch mode between two primary feedback axis.In one embodiment, two d.c. motors can be connected in a series of circuit with the switch of reservation by the electric current of one of two motors.
In the embodiment of Figure 14, when the user can feel difference between the power of x and y direction during moveable finger on touch pad along the x direction.Tactile value during correlativity between tactile feedback and finger/cursor movement or location are adjusted; In some cases, locate adjustment and can increase the sense of touch signal to noise ratio (S/N ratio).For example, when feedback when the x axle horizontal guides, from right to left cursor being moved past icon or button may be than feeling better, and more resembles true button for the user.If feedback is alignd with cursor direction rather than be omnibearing or do not line up, the energy that then needs still less.In some cases, the sense of touch of alignment may be more not meaningful than the more potent fruit that does not line up so.
The touchpad surface that strengthens texture is arranged with respect to there being the fixing surface that centers on that strengthens texture to move.Strengthen texture more coarse, more wrinkle or band lines, produces stronger user and contact.
In some other embodiment, touchpad surface can be included in x or y direction and intersect mobile surface characteristics relative to each other.For example, the two halves of touch pad can be driven to move relative to one another by actuator.
In other embodiments, can use other actuator to move touch pad, touch-screen or other touch apparatus in the z direction.For example piezo-activator, voice coil actuator or moving magnetic actuator can directly be connected to touch pad or touch-screen, so that the directed movement of touch-surface to be provided.And touchpad surface can comprise fixedly a tactile-surface and a reference surface, and wherein reference surface can be along the z axle with respect to fixedly touch-surface displacement.
Figure 15 a and 15b are respectively overlooking and face upwarding view of novelty " flat E shape " the different embodiment of actuator that are used for the translation touch pad.Figure 15 c is the side view of actuator 360.Actuator 360 designs very flatly, therefore is more suitable for working in the flat pack of intrinsic part that may be touch pad, touch-screen or other similar input equipment." E core " actuator provides the topological good actuator that utilizes minimum magnetic material, and transmits good power and bandwidth.A shortcoming of moving magnetic actuator is the height that needs big (width of " E " core ferromagnetic unit can exchange height in to a certain degree, perhaps reduce the overall height of actuator).
Actuator 360 comprises " E " font ferromagnetic unit 362, can be made by ferrous metal or carbon steel sheet, and can be monolithic or laminated metal.Coil 364 is around the center pole of " E " word of ferromagnetic unit 362.The plastic casing 368 of an activity can place on the ferromagnetic unit 362 and can comprise two or more rollers 370 that place the hole of box, the direction of hole make roller around be parallel to pass line around the axis of coil 364 roll.Box can be the activity of plastics, that is does not invest other element, to allow roller rolled.A dipolar 366 places on the magnetic pole of ferromagnetic unit 362 and box 368, and making has the space between magnet and ferromagnetic unit.Magnet 366 is connected to the downside (direction in the drawings of backing steel plate 372; Other direction is possibility also), the backing steel plate is positioned on the roller 370 and is in contact with it.Roller therefore the setting between magnet and ferromagnetic unit 362 specified magnetic gap.Backing steel plate 372 can be connected to touch pad 373 rigidly, shown in Figure 15 d, makes that touch pad, steel disc 372 and magnet 366 can be with respect to ferromagnetic unit 362 translations.For example, in some embodiments, magnet can be the neodymium wafer of welding, and the part of steel can be from the thick sheet punching press of about 1mm.Extra roller or foam can be used to support the end of ferromagnetic unit facing to magnet 366.Magnet, box and backing spare be arranged in " E " utmost point the side but not at the leading edge of the actuator of other E core type; This allows actuator of the present invention is that notebook computer and other portable equipment should be used as very flatly.
In operation, electric current flows through coil 364, makes magnetic flux flow through ferromagnetic unit by the direction of arrow 374 indications.To be steel disc 372 move (this direction depends on sense of current in the coil) along the direction of the axle shown in the arrow 376 in caused reaction.Roller 370 rotation so that steel disc 372 and magnet 366 with respect to ferromagnetic unit 362 translations.Movable box 368 can not move roller when rotated towards unwanted direction.And the normal direction magnetic attraction between ferromagnetic unit 362 and the magnet 366 acts on roller 370.Other flat E shape related embodiment can comprise that flex member and knife-edge suspension (knife edge suspension) are with opposing normal direction magnetic force (motion that allows this power to cause).
Herein Shuo Ming flat E shape actuator embodiment can be used for translation touch pad (or touch-screen) or one on touch pad or the independent surface elements of side.For example, two flat E shape actuators can be used for similar Fig. 9 be configured on two axle x and y, drive touch pad or surface elements.
Its advantage comprises the thin geometric configuration on plane, is suitable for notebook computer, PDA and other portable equipment.The moving magnet mode does not need big space, therefore to notebook computer tactile feedback more attractive." E " core machine size is 10mm * 20mm * 8mm, less than most horsepower d.c. motor identical with energy consumption.And it is direct drive arrangements, therefore need not transmit between actuator and touch pad.Efficiently, low consumption and the element that is easy to make makes this actuator to make at an easy rate.This actuator be easy to and have now touch pad PCB and module integrated.A shortcoming is to have the normal direction magnetic attraction, makes suspension necessitate.Roller and/or flex member and knife-edge suspension can be used in certain embodiments with opposing normal direction magnetic force.
Figure 16 a and 16b are the overlooking and face upwarding view of another embodiment 380 of " flat E shape " shown in Figure 15 a-15c actuator.A ferromagnetic unit 382 (or being a lamination in another embodiment) comprises the structure of approximate " E " word and has coil 384 around E center pole 385.Dipolar 386 is striden the center pole 385 of E word and is placed, and makes to form the gap between ferromagnetic unit 382 and magnet, is similar to embodiment 360.Sheet metal 388 (for example steel disc) is connected to magnet 386 and parallel with magnet with ferromagnetic unit.Box 390 can be set as the middle layer, its middle roller 389 (shown in dotted line) can place the hole of box 390 and allow sheet metal 388 laterally to slide with respect to ferromagnetic unit and magnet.Touch pad or touch-screen (not shown) can be connected on the top of sheet metal 388 rigidly, and sheet 382 lands.In alternative embodiment, touch pad or touch-screen can be connected to sheet 382 with the sheet 388 that lands.
In operation, electric current flows through the magnetic force that coil 384 and electric current and magnet 386 cause sheet 388 (and touch pad) is moved by direction shown in the arrow 402.It is crooked because of normal direction magnetic force or other power that the suspension that comprises STATEMENT OF FEDERALLY SPONSORED 392 prevents sheet 388.Each STATEMENT OF FEDERALLY SPONSORED 392 is all crooked to hold the motion of sheet 388, and wherein thin parts 398 are at first crooked, if reach parts 398 beaming limit than thick parts 400 bendings.Should make that can carry out elasticity centering cooperated until the beam of thicker (harder) by thin-thick structure, this provides softer motion to stop sense.Final limit of sports record is the inner edge that arbitrary retainer 404 is run into sheet 388.
Above-mentioned flexible hanger allows the transverse movement of required sheet and touch pad effectively, but prevents the motion in other direction.This make sheet 388 motion stabilization many, and do not allow sheet 388 along with the time drifts about on its position.And the described elasticity centering force that provides desirable on sheet 388 and the touch pad that is suspended in makes touch pad move to the center of its range of movement when the user stops to touch and promoting to touch plate.
Figure 17 a-17b is perspective and the vertical view of another embodiment 420 of flat E shape actuator touch pad, and this embodiment makes the actuator miniaturization and the prepared surface erecting equipment that utilizes existing lead frame (lead frame) and superpose-forming manufacturing technology is provided.Thereby this small-size equipment can wave soldering can concurrent working be that touch pad translation (or being z axle power in alternative embodiment) provides suitable stroke and power also to touch panel module.
Figure 17 a-17c has shown the vertical view of PCB 422, and it comprises single flat E shape actuator 424.An actuator 424 can be positioned on each angle of PCB 422, as shown in the figure.In other configuration, can alternatively lay more or less actuator.The use of single actuator 424 can provide power by a larger margin and allow each actuator 424 that littler power output and cost are arranged.In one embodiment, PCB 422 is one and lands to the independent PCB of notebook computer casing.Touch pad is connected to (for example comprising its oneself the PCB different with PCB 422) motion parts of actuator then, for example is connected to the plate 426 shown in Figure 17 a.In another embodiment, PCB 422 is exactly a touch pad, and the motion parts of actuator is connected to the surface of landing in the notebook computer, for example shell.In such an embodiment, actuator 424 can be hidden to the user by the labial lamina of shell, and this labial lamina extends around the periphery of touch pad, reserves the central area of PCB 422 and gives the user.
Figure 17 d is the side view of PCB 422 1 ends that separate with touch pad, comprises flat E shape actuator 424.Touch pad/PCB parts 428 are connected to the moving-member 430 of actuator 424.
Figure 17 e has shown the skeleton view of an embodiment of the downside of the PCB 422 shown in Figure 17 a, and wherein flat E shape actuator 424 is installed to the downside surface of PCB 422.This can finish as " hand is put (hand-placed) " element, perhaps preferably utilizes automatic surface field engineering erecting equipment." E " shape ferromagnetic unit 432 can land to PCB 422, makes the magnet of actuator and steel backing sheet move.
Figure 17 f and 17g have 3 utmost points and the overlooking and face upwarding view of the flat E shape actuator 424 that can operate as aforementioned flat E shape actuator.Similar " E " word of ferromagnetic unit 432 shapes also has a coil 434 around center pole.Flex member 436 allows magnet 438 and steel lining backboard 440 to move with respect to ferromagnetic unit 432 and coil 434.Touch pad (not shown) can be connected to steel lining backboard 440 and E shape lamination 432/ coil 434 can land, as the embodiment shown in Figure 17 a-17e.Perhaps, backing sheet 440 and magnet 438 can land and touch pad is connected to a mobile ferromagnetic unit 432.
Described flat E shape actuator can be used for direct translation touch panel module or palm surface.In described embodiment, the gross thickness of flat E actuator can be about 3mm or littler.Can be integrated into and have the flat E magnet assembly in the touch pad product line now the economy aspect preferred embodiment that is size, manufacturability and scale.
In other embodiments, can use other moving magnetic actuator design, and other voice coil actuator design, such as United States Patent (USP) 6,166,723 and 6,100,874 is illustrated.
In other embodiments, the input of other type surface and display screen also can utilize any actuator as herein described to come translation similarly.For example, smooth finish surface, such as the input sensing equipment of the touch-screen that covers PDA display screen or monitor or CRT, can be similarly in x and/or y direction (being parallel to screen surface) translation so that tactile feedback to be provided.A kind of application of this smooth finish surface translation is an ATM, wherein user's input information on touch-screen usually.Tactile feedback can make the easier realization of this input and easier to the people who is lower than general eyesight.Tactile feedback can be indicated when the user points the button of process graphic presentation, perhaps can discern the button of specific demonstration with different tactilely-perceptible.This is useful in a lot of ATM use, because there is not mobile cursor; Tactile feedback helps indicating user button to be pressed, for example little vibration of output when button is activated.Tactile feedback can also help the user in noisy environment, such as in the big place of the magnitude of traffic flow, the user may be difficult for hearing sound.
Embodiment provided herein can also use stylus or other object to import on touch pad, touch-screen or input field among the embodiment of data the user tactile feedback is provided.Tactilely-perceptible can send to the user from touch pad (or other translational surface) and by stylus or other object.
Further feature
Relevant with tactile feedback in some embodiments human factor can also comprise the power overload protection.Ideally, to non-inertia feedback actuators and transmission design, such as translation surface and differential surface, actuator preferably produces big power with fidelity and regardless of the load or the position in the actuator running route of actuator.Another way, user's finger or hand do not answer movement actuator to the limit or reach the end of service condition, and this will weaken vibration cycles half.For this reason, the design of actuator and gear train preferably separates with user's load naturally.An example is the E core actuator with the high resiliency centering force that is provided by rigid suspension, the embodiment shown in Figure 16 a-16b.Powerful actuator can overcome this elastic force easily, and the drawing force of finger on touchpad surface accounts for the little number percent of whole actuator outputs.More weak actuator may need submissiveer suspension, and this will allow user interactions to interfere vibration and produce non-rectilinear output.
Another relevant with tactile feedback among some embodiment human factor is an audibility.For example, use and inertia actuator that palm is parked the surface cause sound, and this is the inevitable spinoff of the transaudient plate of sense of touch.The surface that load is arranged when touching shell or touch pad as the user, is sent bad sound, and still can be transmitted power well.Therefore, in some embodiments, the hand that can determine the user with load measurement equipment when on the translational surface so that power output just when only having hand thereon.
To can utilize existing sound electronic equipment in notebook computer, PDA or the miscellaneous equipment in certain embodiments when notebook computer or other similar input equipment provide feeling function, saving cost.For example, existing speech simulation output (for example, digital-to-analog converter) and the sound power amplifier can be used for the actuator of tactile feedback for touch pad or other notebook computer element drives of as above stating, and needn't increase additional microprocessor and/or secondary power electronic equipment.Notch filter or other sound signal sensing device can be used to provide tactile feedback signal.For example, the haptic effect control signal can provide in unheard sound spectrum and filter, and make these control signals can offer tactile actuator, and the remainder in the scope that can hear is routed to the audio tweeter of notebook computer.Perhaps, can to outside the scope that can hear and the special signal that does not comprise sound signal filters or route with the control tactile feedback actuators.
And the existing software track battery electric quantity in a lot of notebook computers is with the indication power level, and the warning user perhaps closes notebook computer to conserve battery charge.This tracking software can tap into the tactile feedback application program.For example, if battery electric quantity is lower than certain level, even the tactile feedback software routines can reduce the power output of closing the user.This can be by the amplitude of reduction power, or by reducing type or the quantity that has the Drawing Object of haptic effect among the GUI, for example the effect of 50ms can be reduced to 40ms etc. usually.And, can use the combination of these methods.At last, some notebook computer has different settings, and such as high energy consumption, middle energy consumption and low energy consumption, the user can select as required, for example low energy consumption battery is set down can be more of a specified duration the end of with.The tactile feedback control piece can be linked to described setting and be controlled by this set.For example, if the user selects low-power mode, the tactile feedback controller can as above be adjusted to reduce the energy consumption demand of haptic effect.
Figure 18 is the vertical view of touch pad 450 of the present invention.Touch pad 450 can be used simply as positioning equipment in some embodiments, and wherein the whole zone of touch pad all provides cursor control.In other embodiments, the zones of different of plate can be used for difference in functionality.In some embodiment in these zones, can provide an actuator in its lower section in each zone, perhaps physically related actuator, and other regional embodiment can use single actuator to whole touch pad 450 application of forces.Cursor that can show with cursor control area, a center 452 location notebook computers or miscellaneous equipment in the embodiment shown, or viewpoint.
The cursor control area of touch pad can be so that come power output according to the reciprocation between the incident in controlled cursor and graphics environment and/or this environment on touch pad.The user in zone 452 moveable finger or other object with, for example, correspondingly moving cursor 20.Power preferably with cursor and shown Drawing Object between reciprocation be associated.For example, can export and rock or " pulse " perception, it is to rise to required amplitude fast to close then or disappear fast to zero or very by a small margin single power pulse.Touch pad 450 can be the rocking an of direction, and perhaps is inertia ground vibration on z axle or other axle in inertial haptic feedback embodiment, and perhaps touch pad can be at a direction translation or the one or many that vibrates to provide pulse.Also can export seismesthesia, it is usually the time dependent power of periodicity.This energy of vibration is vibrated repeatedly touch pad 450 or its part back and forth, and can be by the certain effects of main frame or local microprocessor output to take place in the simulation framework application program.
The power sense of the another kind of type that can export on the touch pad makes texture power.This power is similar to surging force, but depends on the position at user's finger cursor place on the zone of touch pad and/or in graphics environment.Therefore, the texture projection can be exported according to whether cursor moves past a projection in graphics environment position.This power depends on the space, that is, according to the position power output of cursor when moving past the appointment texture region; When cursor moves past one when protruding, export a power.This can send pulse signal by main frame when cursor dragged grating and reach, perhaps an independent touch pad processor can be exclusively used in the tactile feedback of touch pad, and grain effect can utilize local control (for example, main frame sends the high level command that has parametric texture and perception directly by the control of touch pad processor) to obtain.In other cases, texture can be carried out by vibration is provided to the user, and vibration depends on user's finger (or other object) present speed on touch pad.When finger is static, can not evoke vibration; Accelerate along with finger moves, the frequency of vibration and amplitude increase.This perception can be by touch pad processor (if there is) or host computer control.Other non-coplanar force sense can also be provided.In addition, required here any power sense can be exported or array output as required simultaneously.
Dissimilar Drawing Objects can be associated with tactilely-perceptible.Tactilely-perceptible can exported according to the reciprocation between cursor and window, menu, icon, web page interlinkage etc. on the touch pad.For example, when moving past the border of a window, can on touch pad, export cursor " projection " or pulse to notify the position of user's cursor.In other is correlated with alternately, when carrying out (by the use of cursor) rate controlled or rolling function, can be relevant to rate control feature output perception with touch pad.And the amplitude of power output can depend on incident in the graphics environment or mutual on the touch pad, comprises the incident that is independent of the user.These power senses can also be used for recreation or emulation.United States Patent (USP) 6,211 has illustrated these or other tactilely-perceptible in 861.Other can comprise that opertaing device or the handle of touch pad of the present invention in its shell comprises: be used for environment manipulable cursor or other Drawing Object cribbage-board, mouse or trace ball equipment in the computing machine generation; Perhaps pressure ball or analog.
The touch pad of some form and touch-screen permission sensing user are applied to the amount of pressure on the touch pad.This allows to determine various tactilely-perceptible according to the pressure that senses at least in part.For example, can export periodic vibration with the frequency that depends on the pressure that senses.Perhaps, the gain (amplitude) of output tactilely-perceptible can be according to the pressure adjustment that senses.Usually use the user of touch pad can select a lasting effectively automatic amplitude to increase with bigger pressure.
Other embodiment of touch pad and touch-screen allows the user to import " gesture " or shortcut by the symbol on tracking cursor control area or other zone, and it is identified as order or data by processor.Tactilely-perceptible can be associated with or depend on certain gestures.For example, when the pattern that identifies was confirmed gesture, pattern was approved really to carry out the transmission of sense of touch with specific tactilely-perceptible.From the feature of gesture identification can also each all to have specific tactilely-perceptible related with it.In most touch pad embodiment, the user can select a Drawing Object or menu item by " rapping " touch pad.Some touch pad can be discerned one " one second rap " or two striking, promptly the user rap and then touch described plate and in moveable finger, keep finger or object onboard.For example, this gesture can provide " dragging " pattern, and wherein object moves with cursor.When the user is in thisly when dragging in the pattern, can export vibration or other tactile sensation with this mode activation of indication user.
As mentioned above, touch pad 450 can also provide different control areas, and it provides the independent input from primary cursor control area 452.In some embodiments, zones of different can be on the surface of touch pad 450 sound of computing machine 10 (and/or from), and physical landmark is reached the standard grade, border or texture, and which zone what make that the user can tell visibly, that he contacts with can listening ground and/or sense of touch on touch pad is.
For example, rolling or rate controlled zone 454a and 454b can be used to provide input to carry out the rate controlled task, such as rolling document, adjusted value (such as volume, the equal horizontal stroke of loudspeaker, monitor display brightness etc.), or about in recreation or emulation/the pitching visual field.Can in this zone, use regional 454a by placing finger (or other object), top that wherein should the zone with added value, on roll etc., and the bottom in zone is with the reduction value, roll etc. down.Can read the embodiment that places the pressure on the touch pad, the amount of pressure can directly be controlled the ratio of adjustment; For example, bigger pressure will make scrolling of document faster.Zone 454b can be used for similarly that level (left side/right side) is rolled or the rate controlled adjustment in different value, the visual field etc.
Can specific haptic effect is related with control area 454a and 454b.For example, when using rate controlled zone 454a and 454b, the vibration that can export characteristic frequency on the touch pad.Have among the embodiment of a plurality of actuators at those, can activate the actuator that directly places under regional 454a and the 454b, thereby provide the more tactilely-perceptible of localization for the zone of " activate (current use) ".When a zone part of 454 is pressed when carrying out rate controlled, when the page rolls across to indicate can to export pulse on the touch pad (or zone of touch pad), through a particular value etc.Output vibration continuously when user's contact area 454a and 454b.
Be similar to zone 454, the tactilely-perceptible association can each all be followed in zone 456; For example, zone 456 can provide a pulse perception when it is selected by the user, provide this function selecteed immediate feedback.For example, perception can the user on zone 456,452 or 454 " rapping " finger or other object with the sense of touch of time output such as the pulse that makes one's options.Be similar to according to provide the analog buttons of the physics of output area by the degree of depth, one or more regional 456 can be the button that resembles simulation, this is by providing proportional, stepped according to user's applied pressure on touch pad or simulation output reaches.
And the zone of same type can be related with the tactilely-perceptible of similar sensation.For example, each word processing relevant range 456 can cause the pulse of a certain strength when being given directions, and each recreation relevant range 456 can provide the pulse or the vibration of a varying strength.And, when the user moves from a zone 454 or 456 when giving directions object to another zone, can export tactilely-perceptible (such as pulse) on the touch pad 450 with by having striden across the zone boundary.For example, can when giving directions object to enter appointment regional, output disappear fast to the dither of zero amplitude.This is valuable, because it provides the border indication in zone 454 and 456, otherwise the user can not learn.This also allows the size and/or the position in zone to reset and allow the user to learn new layout by sense of touch fast.The zone can also be associated with " capsule " of defined range in graphics environment, and the different tactilely-perceptible of output when entering, existing and being displaced in this capsule and the specific border with this association at cursor.
In addition, preferably can programme to size and dimension and associated function in the zone.Therefore the function in zone 456 can change according to the application program that activates in the graphics environment and/or according to the user preference of importing and/or be stored in the computing machine 10.Preferably, size that each is regional and position can be by user or application program adjustment, and if desired, can leave out arbitrarily or Zone Full.And the user preferably can distribute to specific region or area type with specific tactilely-perceptible according to the function type relevant with the zone.Can be at Immersion Studio such as the Immersion company of California Sheng Hesai
TMBasis in the design different tactilely-perceptible.
Note that zone 454 and 456 needs not to be the physical region of touch pad 450.That is whole touchpad surface only need provide the user to contact the processor of coordinate to computing machine, and the software on the computing machine can be assigned the place of zones of different.Calculating function explains described coordinate and can the touch pad input signal be interpreted as cursor control signal or dissimilar signals according to user's contact position, such as rate controlled, push button function etc. (for example, if desired, driver can provide this explanation function).The touch pad microprocessor if having, can alternatively be explained the function related with user's contact position and to host-processor (report appropriate signals or data such as position coordinates or button signal), therefore not allow host-processor or software do the low layer processing.In other embodiments, touch pad 450 can physically be designed to export unlike signal according to the zones of different of mark on the touchpad surface that the user contacted physically and give computing machine; For example, each zone can be by different sensors or sensor array sensing.
The embodiment that these of this paper provide tactile feedback to contact the finger of touch pad or touch-screen or object to the user may be used to the zone of touch pad 450.
Although the present invention is with several preferred embodiments, its modification, displacement and equivalent are tangible to the those skilled in the art that read this instructions and accompanying drawing.For example a lot of functions that illustrate among embodiment can be used for other embodiment interchangeably.And particular term is to be used to know purpose of description, rather than restriction the present invention.
Claims (8)
1. actuator that straight line force output is provided, this actuator comprises:
A ferromagnetic unit that lands, this ferromagnetic unit comprise a central magnetic pole between two side magnetic poles;
A coil is on described central magnetic pole;
A magnet near described central magnetic pole and side magnetic pole, is provided with the space between wherein said magnet and the described ferromagnetic unit; And
A backing sheet that is connected to described magnet, wherein said backing sheet and described magnet move with respect to ferromagnetic unit when electric current flows through described coil.
2. actuator as claimed in claim 1 also comprises the roller that places between described ferromagnetic unit and the described backing sheet, to allow the relative motion between described ferromagnetic unit and the described backing sheet.
3. actuator as claimed in claim 2 is characterized in that, described roller is retrained by box parts.
4. actuator as claimed in claim 1, also comprise a flex member that is connected between described ferromagnetic unit and the described backing sheet, described flex member reduces between described backing sheet and the described ferromagnetic unit relative motion along bad direction, and provides the elasticity centering force between described backing sheet and described ferromagnetic unit.
5. actuator as claimed in claim 1 is characterized in that, about 4 millimeters or littler of the whole thickness of described actuator.
6. tactile touch equipment comprises:
A piezoelectric sensor, this sensor connects with ground, and comprises a metal diaphragm, and metal diaphragm is connected to a ceramic component;
A planar sensor element, be used for sensing user in the contact site on the surface of described planar sensor element and the information that the described position of expression is provided to a computer control;
A liner is located between described piezoelectric sensor and the described planar sensor element, and wherein said metal film contacts described liner; And
A flexible member is connected between described planar sensor element and the described ground, and described flexible member provides elastic restoring force to described planar sensor element.
7. tactile touch equipment as claimed in claim 6 is characterized in that, described piezoelectric sensor is driven by the big signal about the free-running frequency of described tactile touch equipment.
8. tactile touch equipment as claimed in claim 6 is characterized in that, described free-running frequency can be adjusted by the elastic constant of adjusting described flexible member or the quality of adjusting described liner or described planar sensor element.
Applications Claiming Priority (4)
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| US09/917,263 US6822635B2 (en) | 2000-01-19 | 2001-07-26 | Haptic interface for laptop computers and other portable devices |
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| CN100426213C CN100426213C (en) | 2008-10-15 |
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| CN (1) | CN100426213C (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR100950822B1 (en) | 2010-04-02 |
| KR101136307B1 (en) | 2012-04-25 |
| KR20090052401A (en) | 2009-05-25 |
| KR20080039551A (en) | 2008-05-07 |
| KR101035450B1 (en) | 2011-05-18 |
| KR20080096854A (en) | 2008-11-03 |
| KR20100089104A (en) | 2010-08-11 |
| CN100426213C (en) | 2008-10-15 |
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Address after: American California Patentee after: IMMERSION CORPORATION Address before: American California Patentee before: Immersion Corp |
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| CX01 | Expiry of patent term |
Granted publication date: 20081015 |
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| CX01 | Expiry of patent term |