IP Library › Granted Patent US 8,002,089

Granted Patent B2

US 8,002,089 · App. 10/937,931 · Granted Aug 23, 2011

Systems and methods for providing a haptic device

Assignee: Immersion Corporation

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Quick Facts

Patent No.: US 8,002,089
App. No.: 10/937,931
Granted: Aug 23, 2011
Kind: B2

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Abstract

Systems and methods for providing a haptic device are described. In one described system, a first brake surface of a first element contacts a second brake surface of a second element. At least one actuator is configured to exert a force on at least one of the first and second elements. A flexure is coupled to at least one of the first element, the second element, a housing, a manipulandum, and a shaft coupled to the manipulandum. The flexure provides a degree of rotational flexibility to the manipulandum when the at least one actuator exerts the force. The described system may include a processor in communication with the at least one actuator for providing the haptic effects.

Claims (62)

1. An apparatus comprising:

a first element having a first brake surface;

a second element having a second brake surface configured to contact the first brake surface;

at least one actuator configured to exert a force on the first element or the second element; and

a flexure coupled to the apparatus to provide a degree of rotational flexibility to a manipulandum when the at least one actuator exerts the force.

2. The apparatus of claim 1 , further comprising a processor in communication with the at least one actuator, the processor configured to generate a control signal operable to cause the at least one actuator to provide a haptic effect to the manipulandum.

3. The apparatus of claim 1 , wherein the at least one actuator is configured to exert the force to provide a haptic effect.

4. The apparatus of claim 1 , wherein the at least one actuator comprises a resistive actuator.

5. The apparatus of claim 4 , wherein the first element comprises a magnetic target, and the second element comprises a magnetic core.

6. The apparatus of claim 4 , wherein the first element comprises a magnetic core, and the second element comprises a magnetic target.

7. The apparatus of claim 1 , wherein the flexure is further configured to provide a restoring force to the first element or the second element.

8. The apparatus of claim 7 , wherein the restoring force comprises a centering force with respect to a rotational axis common to the first and second elements.

9. The apparatus of claim 1 , wherein the flexure is further configured to maintain contact between the first and second brake surfaces.

10. The apparatus of claim 1 , wherein the flexure is further configured to provide the manipulandum with a degree of axial flexibility.

11. The apparatus of claim 1 , wherein the flexure is further configured to provide the manipulandum with a degree of radial flexibility.

12. The apparatus of claim 1 , wherein the flexure is further configured to provide the manipulandum with a degree of lateral flexibility.

13. The apparatus of claim 1 , wherein the flexure is further configured to provide the manipulandum with a degree of angular flexibility.

14. The apparatus of claim 1 , wherein the flexure comprises at least one beam.

15. The apparatus of claim 14 , wherein the at least one beam comprises a plurality of beams.

16. The apparatus of claim 14 , wherein the at least one beam comprises a fixed end coupled to the flexure, and a deflectable end.

17. The apparatus of claim 16 , wherein the deflectable end is coupled to the first element, the second element, a housing, the manipulandum, or a shaft coupled to the manipulandum.

18. The apparatus of claim 16 , wherein the flexure is rigidly coupled to a shaft coupled to the manipulandum and the deflectable end is flexibly coupled to the first element.

19. The apparatus of claim 16 , wherein the flexure is rigidly coupled to a housing, and the deflectable end is flexibly coupled to the second element.

20. The apparatus of claim 16 , wherein the flexure is rigidly coupled to the second element, and the deflectable end is flexibly coupled to a housing.

21. The apparatus of claim 1 , wherein at least a portion of the flexure is mechanically grounded.

22. The apparatus of claim 21 , wherein at least the portion of the flexure is mechanically grounded to a housing.

23. The apparatus of claim 1 , wherein the flexure comprises an integral part of a housing.

24. The apparatus of claim 1 , further comprising a sensing device in communication with the first element, the second element, or the manipulandum.

25. The apparatus of claim 1 , wherein the flexure is coupled to at least one portion of the apparatus selected from the group consisting of the first element, the second element, a housing, a manipulandum, a coil, and a shaft coupled to the manipulandum.

26. The apparatus of claim 1 , wherein the at least one actuator comprises a first actuator configured to exert a first force on the first element or the second element, and a second actuator configured to exert a second force on the first element or the second element.

27. The apparatus of claim 26 , wherein the first actuator comprises an active actuator, and the second actuator comprises a resistive actuator coupled to the manipulandum, wherein both the first and the second actuators are configured to provide a haptic effect to the manipulandum.

28. A method comprising:

providing a first element having a first brake surface;

providing a second element having a second brake surface configured to contact the first brake surface;

providing at least one actuator configured to exert a force on the first element or the second element; and

providing a flexure coupled to the apparatus to provide a degree of rotational flexibility to a manipulandum when the at least one actuator exerts the force.

29. The method of claim 28 , further comprising providing a processor in communication with the at least one actuator, the processor configured to generate a control signal operable to cause the at least one actuator to provide a haptic effect to the manipulandum.

30. The method of claim 28 , wherein the at least one actuator is configured to exert the force to provide a haptic effect.

31. The method of claim 28 , wherein the at least one actuator comprises a resistive actuator.

32. The method of claim 31 , wherein the first element comprises a magnetic target, and the second element comprises a magnetic core.

33. The method of claim 31 , wherein the first element comprises a magnetic core, and the second element comprises a magnetic target.

34. The method of claim 28 , wherein the flexure is further configured to provide a restoring force to the first element or the second element.

35. The method of claim 34 , wherein the restoring force comprises a centering force with respect to a rotational axis common to the first and second elements.

36. The method of claim 28 , wherein the flexure is further configured to maintain contact between the first and second brake surfaces.

37. The method of claim 28 , wherein the flexure is further configured to provide the manipulandum with a degree of axial flexibility.

38. The method of claim 28 , wherein the flexure is further configured to provide the manipulandum with a degree of radial flexibility.

39. The method of claim 28 , wherein the flexure is further configured to provide the manipulandum with a degree of lateral flexibility.

40. The method of claim 28 , wherein the flexure is further configured to provide the manipulandum with a degree of angular flexibility.

41. The method of claim 28 , wherein the flexure comprises at least one beam.

42. The method of claim 41 , wherein the at least one beam comprises a plurality of beams.

43. The method of claim 41 , wherein the at least one beam comprises a fixed end coupled to the flexure, and a deflectable end.

44. The method of claim 43 , wherein the deflectable end is coupled to the first element, the second element, the housing, the manipulandum, or a shaft coupled to the manipulandum.

45. The method of claim 43 , wherein the flexure is rigidly coupled to a shaft coupled to the manipulandum and the deflectable end is flexibly coupled to the first element.

46. The method of claim 43 , wherein the flexure is rigidly coupled to a housing, and the deflectable end is flexibly coupled to the second element.

47. The method of claim 43 , wherein the flexure is rigidly coupled to the second element, and the deflectable end is flexibly coupled to a housing.

48. The method of claim 28 , wherein at least a portion of the flexure is mechanically grounded.

49. The method of claim 48 , wherein at least the portion of the flexure is mechanically grounded to a housing.

50. The method of claim 28 , wherein the flexure comprises an integral part of a housing.

51. The method of claim 28 , further comprising providing a sensing device in communication with the first element, the second element, or the manipulandum.

52. The method of claim 28 , wherein the flexure is coupled to at least one portion of the apparatus selected from the group consisting of the first element, the second element, a housing, a manipulandum, a coil, and a shaft coupled to the manipulandum.

53. The method of claim 28 , wherein the at least one actuator comprises a first actuator configured to exert a first force on the first element or the second element, and a second actuator configured to exert a second force on the first element or the second element.

54. The method of claim 53 , wherein the first actuator comprises an active actuator, and the second actuator comprises a resistive actuator coupled to the manipulandum, wherein both the first and the second actuators are configured to provide a haptic effect to the manipulandum.

Assignments (1)

ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Dec 16, 2004

From: JASSO, ALEXANDER; BAILEY, DAVID W.

To: IMMERSION CORPORATION

Reel/Frame 016077/0122 →

Continuity (1)

Related Publication 20060054427A1 · Mar 16, 2006