Complex mass trajectories for improved haptic effect
A haptic actuator includes mechanical links defining a first J-trajectory and mechanical links defining a second J-trajectory as well as a motor coupled to the mechanical links so as to synchronously accelerate a first mass over the first J-trajectory and a second mass over the second J-trajectory. During a first time interval, reactive forces of the first mass accelerating substantially balance reactive forces of the second mass accelerating and during a second time interval reactive forces of the first mass accelerating do not substantially balance reactive forces of the second mass accelerating. This un-balanced condition results in a tap signal being produced.
1. A haptic actuator comprising:
a shaft, said shaft being supported for rotation about a longitudinal axis thereof;
a pivotal linkage coupled, at a first proximal end thereof, to said shaft and, at a second distal end thereof, to an energy storage mass, such that a rotational acceleration of said shaft about said longitudinal axis is configured to add rotational kinetic energy to said energy storage mass; and
a latch mechanism, said latch mechanism having a first operational state in which said latch mechanism retains said pivotal linkage and said energy storage mass in a first configuration, in which said first configuration said energy storage mass is disposed in relative proximity to said shaft, said latch mechanism having a second operational state in which said latch mechanism releases said pivotal linkage, whereby said pivotal linkage and said energy storage mass transitions to a second configuration, in which said second configuration said energy storage mass is disposed relatively distal to said shaft, said pivotal linkage being adapted and configured to control a motion of said energy storage mass during said transition so as to convert a portion of said rotational kinetic energy to a linear impulse, said linear impulse being oriented generally parallel to said longitudinal axis.
2. A haptic actuator comprising:
a shaft, said shaft being supported for rotation about a longitudinal axis thereof;
a pivotal linkage, said pivotal linkage being supported, at a first proximal end thereof, for rotation about said longitudinal axis, said pivotal linkage being coupled, at a second distal end thereof, to an energy storage mass, such that a rotational acceleration of said pivotal linkage about said longitudinal axis is configured to add rotational kinetic energy to said energy storage mass; and
a latch mechanism, said latch mechanism having a first operational state in which said latch mechanism retains said pivotal linkage and said energy storage mass in a first configuration, in which said first configuration said energy storage mass is disposed in relative proximity to said longitudinal axis, said latch mechanism having a second operational state in which said latch mechanism releases said pivotal linkage, whereby said pivotal linkage and said energy storage mass transitions to a second configuration, in which said second configuration said energy storage mass is disposed relatively distal to said longitudinal axis, said linkage being adapted and configured to control a motion of said energy storage mass during said transition so as to convert a portion of said rotational kinetic energy to a linear impulse, said linear impulse being oriented generally parallel to said longitudinal axis.
3. A haptic actuator as defined in claim 2 wherein said rotational kinetic energy added to said energy storage mass is received through said latch mechanism.
4. A haptic actuator as defined in claim 2 wherein said release of said latch mechanism includes a folding of a spherical joint in response to a rotational deceleration of said shaft.
5. A haptic actuator as defined in claim 2 wherein said latch mechanism includes a magnet.
6. A haptic actuator as defined in claim 5 wherein said latch mechanism releases said pivotal linkage when a force produced by said rotational acceleration exceeds an attractive force of said magnet.
7. A haptic actuator as defined in claim 2 wherein said latch mechanism includes a permanent magnet.
8. A haptic actuator as defined in claim 2 wherein said latch mechanism includes a permanent magnet and a stator coil of a motor, said motor being operatively coupled to said shaft.
9. A haptic actuator as defined in claim 2 wherein said first proximal end of said pivotal linkage is substantially fixedly coupled to an external circumferential surface region of said shaft.
10. A haptic actuator as defined in claim 2 wherein said latch mechanism is substantially fixedly coupled to an external circumferential surface region of said shaft.
11. A haptic actuator as defined in claim 2 wherein said latch mechanism comprises a passive latch mechanism.
12. A haptic actuator as defined in claim 2 wherein said latch mechanism comprises an active latch mechanism.
13. A method of generating a haptic impulse comprising:
providing an energy storage mass, said energy storage mass being coupled to a first end of a pivotal linkage, said pivotal linkage being supported for rotational motion of said energy storage mass about a center of rotation;
applying an angular acceleration to said energy storage mass so as to store a quantity of rotational kinetic energy in said energy storage mass;
constraining said energy storage mass in a first configuration in relative proximity to said center of rotation;
abruptly releasing said energy storage mass, thereby allowing said energy storage mass to move to a second configuration, relatively distal to said center of rotation; and
conveying said energy storage mass between said first configuration and said second configuration with said pivotal linkage so as to divert a portion of said quantity of rotational kinetic energy into a linear impulse.