Apparatus and method for modifying a haptic output of a haptic device

1. A wearable device, comprising:

a haptic actuator to produce an output haptic vibration in response to a target input signal waveform;

a haptic effect sensor located in proximity to the haptic actuator to measure an amplitude and a frequency of a haptic vibration corresponding to the output haptic vibration and to output a measured haptic vibration waveform; and

a feedback circuit to:

transform the measured haptic vibration waveform to a frequency domain to identify a range of sensed frequencies; and

modify the target input signal waveform to reduce a difference between the output haptic vibration and the measured haptic vibration waveform.

2. The wearable device according to claim 1 , wherein the haptic effect sensor is disposed adjacent the haptic actuator.

3. The wearable device according to claim 1 , wherein the feedback circuit includes a processor to convert the measured haptic vibration waveform to the frequency domain.

4. The wearable device according to claim 1 , wherein the feedback circuit is to identify a dominant frequency in the range of sensed frequencies.

5. The wearable device according to claim 1 , wherein the wearable device includes at least one of a garment, footwear, headwear, eyewear, wrist wear, a vest, a band, a therapeutic device, an orthotic device, a medical device, a watch, or a soft exosuit.

6. The wearable device according to claim 1 , wherein the feedback circuit includes a processor to determine the difference between the target input signal waveform and the measured haptic vibration waveform.

7. The wearable device according to claim 1 , wherein the haptic actuator is a first haptic actuator disposed on a first portion of the device, the haptic effect sensor includes a first sensor disposed adjacent to the first haptic actuator and further including:

a second haptic actuator disposed on a second portion of the device; and

a second sensor disposed adjacent to the second haptic actuator, the feedback circuit to modify an input to the second haptic actuator based on a difference between a second input signal waveform and a second measured haptic vibration waveform sensed by the second sensor.

8. The wearable device according to claim 1 , further including a position actuator to move at least a portion of the wearable device from a first position to a second position responsive to the difference between the target input signal waveform and the measured haptic vibration waveform.

9. A method, comprising:

storing a target input signal waveform for a haptic actuator;

storing a measured haptic vibration waveform corresponding to a vibration sensed by a haptic effect sensor in a proximity of the haptic actuator;

transforming the measured haptic vibration waveform to a frequency domain, via a processor, to identify a range of sensed frequencies; and

using a feedback circuit, modifying the target input signal waveform to reduce a difference in amplitude and a difference in frequency between the target input signal waveform and the measured haptic vibration waveform.

10. The method according to claim 9 , wherein the transforming of the measured haptic vibration waveform includes transforming the measured haptic vibration waveform with the processor.

11. The method according to claim 9 , wherein the haptic actuator, the haptic effect sensor and the feedback circuit are included in a wearable device including at least one of a garment, footwear, headwear, eyewear, wrist wear, a vest, a band, a therapeutic device, an orthotic device, a medical device, a watch or a soft exosuit.

12. A device, comprising:

actuating means for producing an output haptic vibration in response to a target input signal waveform;

sensing means located in proximity to the actuating means for sensing a haptic vibration amplitude and frequency and for outputting a measured haptic vibration waveform; and

a feedback circuit to:

transform the measured haptic vibration waveform to a frequency domain to identify a range of sensed frequencies; and

modify the target input signal waveform to reduce a difference between the target input signal waveform and the measured haptic vibration waveform.

13. The device according to claim 12 , further including: actuating means for modifying a position of the device from a first position to a second position responsive to the feedback circuit.

14. The device according to claim 12 , further including a robot end effector, the actuating means and the sensing means disposed in at least a portion of the robot end effector.