Systems and methods for providing a haptic device
Systems and methods for providing haptic feedback in a user interface are disclosed. In one embodiment, an apparatus comprises a manipulandum, a rotor in communication with the manipulandum, an actuator in communication with the rotor, and a biasing element disposed between the manipulandum and the rotor. The actuator may be configured to vary a force on the rotor. The biasing element may be configured to store at least a portion of energy input to the apparatus when the actuator increases the force on the rotor, and to provide at least a portion of the stored energy to the manipulandum when the actuator decreases the force on the rotor, or when the manipulandum is released.
1. An apparatus comprising:
a manipulandum;
a rotor in communication with the manipulandum;
an actuator in communication with the rotor, the actuator configured to vary a force on the rotor; and
a biasing element disposed between the manipulandum and the rotor, the biasing element configured to store at least a portion of energy input to the apparatus when the actuator increases the force on the rotor and to provide at least a portion of the energy to the manipulandum when at least one of the following events occurs:
the actuator decreases the force on the rotor; and
the manipulandum is released.
2. The apparatus of claim 1 , wherein the actuator comprises a resistive actuator.
3. The apparatus of claim 1 , wherein the biasing element is configured to store the energy input to the apparatus by providing a rotational degree of flexibility to the manipulandum when the actuator increases the force on the rotor.
4. The apparatus of claim 1 , wherein the manipulandum is operable to be displaced in a rotational degree of freedom.
5. The apparatus of claim 1 , wherein the biasing element is configured to provide at least a portion of the energy to the manipulandum by providing a torque.
6. The apparatus of claim 1 , wherein the rotor comprises an inertial element configured to provide a torque to the manipulandum, and wherein the biasing element is configured to provide at least a portion of the energy to the manipulandum by providing at least a portion of the energy to the inertial element.
7. The apparatus of claim 1 , wherein the biasing element comprises a first end and a second end, and wherein the first end of the biasing element is coupled to the rotor.
8. The apparatus of claim 7 , wherein the second end of the biasing element is coupled to at least one of the manipulandum and a shaft coupled to the manipulandum.
9. The apparatus of claim 1 , wherein the biasing element comprises a spring.
10. The apparatus of claim 1 , wherein the biasing element comprises a compliant shaft.
11. The apparatus of claim 1 , wherein the rotor comprises a brake surface disposed adjacent to the actuator.
12. The apparatus of claim 1 , wherein the actuator comprises an electromagnet, and the rotor is configured to be acted upon by the electromagnet.
13. The apparatus of claim 1 , further comprising a processor in communication with the actuator, the processor configured to generate a control signal operable to cause the actuator to provide a haptic effect to the manipulandum.
14. The apparatus of claim 1 , further comprising a sensing device in communication with at least one of the manipulandum, the biasing element, and the rotor.
15. A method comprising:
energizing an actuator to provide a resistance to movement of a rotor in communication therewith, wherein the rotor is coupled to a first end of a biasing element;
storing at least a portion of energy input to the biasing element by a rotational movement of a manipulandum coupled to a second end of the biasing element; and
providing at least a portion of the energy to the manipulandum by decreasing the resistance to movement of the rotor.
16. The method of claim 15 , wherein the actuator comprises a resistive actuator.
17. The method of claim 15 , wherein providing at least a portion of the energy to the manipulandum comprises providing a torque to the manipulandum.
18. The method of claim 15 , wherein the rotor comprises an inertial element configured to provide a torque to the manipulandum, and wherein providing at least a portion of the energy to the manipulandum comprises providing at least a portion of the energy to the inertial element.
19. The method of claim 15 , wherein the biasing element comprises a spring.
20. The method of claim 19 , wherein the spring comprises at least one of a torsional spring and a helical spring.
21. The method of claim 15 , wherein the biasing element comprises a compliant shaft.
22. The method of claim 15 , wherein the rotor comprises a brake surface disposed adjacent to the actuator.
23. The method of claim 15 , wherein the actuator comprises an electromagnet, and the rotor is configured to be acted upon by the electromagnet.
24. A computer readable medium comprising program code, the program code comprising:
program code for energizing an actuator to provide a resistance to movement of a rotor in communication therewith, wherein the rotor is coupled to a first end of a biasing element;
program code for storing at least a portion of energy input to the biasing element by a rotational movement of a manipulandum coupled to a second end of the biasing element; and
program code for providing at least a portion of the energy to the manipulandum by decreasing the resistance to movement of the rotor.
25. The computer-readable medium of claim 24 , wherein the actuator comprises a resistive actuator.