Haptic device with controlled traction forces
A haptic device includes a substrate that is subjected to lateral motion such as lateral oscillation with one or more degrees of freedom together with modulation of a friction reducing oscillation in a manner that can create a shear force on the user's finger or on an object on the device.
1. A haptic device comprising a substrate having a surface and one or more actuators that subject the substrate to lateral oscillation, wherein a net shear force acts on a user's finger or an object in contact with the surface of the substrate, and the net shear force is an average of a higher shear force over a portion of a lateral oscillation cycle and a lower shear force over a remainder of the lateral oscillation cycle.
2. The device of claim 1 wherein the net shear force has a magnitude that is changed from a higher level to a lower level by modulating the amount of friction between the surface of the substrate and the user's finger or object in contact with the surface of the substrate.
3. The device of claim 2 wherein modulation of friction is achieved by subjecting the substrate to friction reducing ultrasonic oscillations.
4. The device of claim 1 further comprising a control device that controls the lateral motion in synchrony with the magnitude of the net shear force.
5. The device of claim 4 wherein a phase angle relationship between a lateral velocity of the substrate during lateral oscillation and a magnitude of the shear force is changed to change a direction of the net shear force.
6. The device of claim 1 wherein the one or more actuators impart a non-straight line motion to the substrate.
7. The device of claim 6 wherein the one or more actuators impart a lateral circular motion to the substrate.
8. The device of claim 1 wherein the net shear force guides the motion of a user's finger or an object in contact with the surface of the substrate.
9. The device of claim 1 wherein the substrate comprises a flat plate.
10. A method of generating a force on a user's finger or an object in contact with a surface of a substrate of a haptic device, comprising subjecting the substrate to lateral oscillation, modulating a friction force that acts on the user's finger or object in contact with the surface of the substrate such that a higher friction force acts over a portion of the lateral oscillation cycle and a lower friction force acts over the remainder of the lateral oscillation cycle, and controlling synchronization of the lateral oscillation and modulation of the friction force to generate the force on the user's finger or object in contact with the surface of the substrate as a net shear force.
11. The method of claim 10 wherein the lateral oscillation occurs once.
12. The method of claim 10 wherein the lateral oscillation occurs a plurality of times.
13. The method of claim 10 wherein the lateral oscillation is persistent.
14. The method of claim 13 wherein the lateral oscillation has a frequency greater than 500 Hz.
15. The method of claim 10 wherein the substrate is laterally oscillated on two axes, providing a non-linear motion of the substrate.
16. The method of claim 15 wherein the non-linear motion comprises a circular motion of the substrate.
17. The method of claim 10 wherein the substrate has a lateral velocity during lateral oscillation and a phase angle between the lateral velocity of the substrate and a magnitude of the friction force that acts on the user's finger or object in contact with the surface of the substrate is changed to change a direction and magnitude of the net shear force.
18. The method of claim 10 wherein the net shear force is controlled to produce a haptic effect.
19. The method of claim 10 wherein the net shear force is changed in response to a position of the user's finger or object to provide a force field in a plane that corresponds to the surface of the substrate.
20. The method of claim 10 wherein the net shear force guides a motion of the user's finger or object that is in contact with the surface of the substrate.