Force feedback trigger

Abstract

As disclosed herein, a system may include a handheld device and a controller. The handheld device may be in electronic communication with the controller. The handheld device may include a housing defining an interior cavity, and the housing defining an aperture providing access to the interior cavity. The trigger may include an outer surface and an inner surface, and the trigger may be oriented to cover the aperture. A delivery member may be oriented in the interior cavity and coupled to the inner surface of the trigger. A force sensor may be oriented in the interior cavity and engaged to the distal end of the delivery member and the interior surface of the trigger. A transfer roller may be oriented in the interior cavity and coupled to the distal end of the transfer member. A cam may be oriented in the interior cavity and configured to engage the transfer member. A motor may be oriented in the interior cavity and coupled to the cam.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of U.S. Provisional Patent Application No. 63 / 351,780, filed on June 13, 2022, and U.S. Non-Provisional Patent Application No. 18 / 334,247, filed on June 13, 2023, the disclosures of which are incorporated herein by reference in their entirety for all purposes. Technical Field

[0003] The present disclosure relates to augmented reality / virtual reality (AR / VR) handheld hardware. More particularly, the present disclosure relates to enhancing tactile feedback of triggers in handheld devices. Background Art

[0004] In augmented reality / virtual reality (AR / VR) environments, it is difficult to simulate the tactile sensation and manipulation of objects. These tangible features of an object may include the weight, hardness, or texture of the object. When simulating actions on an object in an AR / VR environment, it becomes increasingly difficult to simulate these features. For example, if a user squeezes a tennis ball in the environment, a more realistic simulation would be able to capture the user's natural sense of squeezing the tennis ball while manipulating their handheld device. Summary of the invention

[0005] The subject disclosure provides an augmented reality / virtual reality (AR / VR) system that can provide tactile feedback to a user of a handheld device of the system. The disclosure relates to the problem of effectively simulating actions performed on an object in an AR / VR environment. The disclosure solves the problem by configuring a system that can receive an input force from a trigger of a handheld device, determine an output force to be delivered to a user, and deliver the output force to the user.

[0006] According to certain aspects of the present disclosure, a system may include a handheld device and a controller. The handheld device may be in electronic communication with the controller. The handheld device may include a housing that defines an internal cavity, and the housing defines an orifice that provides access to the internal cavity. The trigger may include an outer surface and an inner surface, and the trigger may be oriented to cover the orifice. A transfer member may be oriented in the internal cavity and coupled to the inner surface of the trigger. A force sensor may be oriented in the internal cavity and engaged to the distal end of the transfer member and the inner surface of the trigger. A transfer roller may be oriented in the internal cavity and coupled to the distal end of the transfer member. A cam may be oriented in the internal cavity and configured to engage the transfer member. A motor may be oriented in the internal cavity and coupled to the cam.

[0007] According to other aspects of the present disclosure, a system may include a handheld device. The handheld device may include a housing that defines an internal cavity, and the housing defines an orifice that provides an entrance to the internal cavity. The trigger may include an outer surface and an inner surface, and the trigger may be oriented to cover the orifice. A transmission member may be oriented in the internal cavity and coupled to the inner surface of the trigger. A force sensor may be oriented in the internal cavity and engaged to the distal end of the transmission member and the inner surface of the trigger. A transmission roller may be oriented in the internal cavity and coupled to the distal end of the transmission member. A cam may be oriented in the internal cavity and configured to engage the transmission member. A motor may be oriented in the internal cavity and coupled to the cam. A controller may be in electronic communication with the handheld device. The controller may receive a force input from the trigger from the force sensor. The controller may determine a response force to be applied to the transmission member based on the force input. The controller may start the motor to rotate, thereby transmitting a rotational force through the cam and applying the response force to the transmission member.

[0008] According to yet other aspects of the present disclosure, a system may include a handheld device. The handheld device may include a housing that defines an internal cavity, and the housing defines an orifice that provides an entrance to the internal cavity. The trigger may include an outer surface and an inner surface, and the trigger may be oriented to cover the orifice. A transmission member may be oriented in the internal cavity and coupled to the inner surface of the trigger. A force sensor may be oriented in the internal cavity and engaged to the distal end of the transmission member and the inner surface of the trigger. A transmission roller may be oriented in the internal cavity and coupled to the distal end of the transmission member. A cam may be oriented in the internal cavity and configured to engage the transmission member. A motor may be oriented in the internal cavity and coupled to the cam. A gear train may be coupled to the motor and the cam. The gear train may adjust the rotational speed or torque applied to the cam by the motor. A controller may be in electronic communication with the handheld device. The controller may receive a force input from the trigger from the force sensor. The controller may determine a response force to be applied to the transfer member based on the force input.The controller may start the motor to rotate, thereby transmitting the rotational force through the cam and applying the response force to the transfer member.

[0009] It should be understood that, through the following specific embodiments, those skilled in the art will easily understand other configurations of the subject technology, wherein the various configurations of the subject technology are shown and described by way of illustration. As will be appreciated, the subject technology can have other configurations and different configurations, and its several details can be modified in various other aspects, all of which do not depart from the scope of the subject technology. Therefore, the drawings and specific embodiments are essentially considered to be illustrative, rather than restrictive. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings are included to provide a further understanding and are incorporated in and constitute a part of this specification, and illustrate the disclosed embodiments and together with the description serve to explain the principles of the disclosed embodiments. In the drawings:

[0011] Figure 1 shows an isometric cutaway view of internal components of a system including a handheld device according to certain aspects of the present disclosure;

[0012] Figure 2 Shown include Figure 1 a side cutaway view of the internal components of the system of the handheld device shown;

[0013] Figure 3 Shown include Figure 1 and Figure 2 A block diagram of the electronic components and connections of the handheld device system shown;

[0014] Figure 4 Shown include Figure 1 and Figure 2 A block diagram of the network architecture of the handheld device shown;

[0015] Figure 5 shows that it can be composed of Figures 1 to 4 A process flow chart of a method performed by the handheld device and controller system shown;

[0016] Figure 6 shows an isometric view of a force feedback trigger mechanism of a system including a handheld device according to other aspects of the present disclosure;

[0017] Figure 7 Shown include Figure 6 A side cross-sectional view of a force feedback trigger mechanism of a handheld device system is shown;

[0018] Figure 8 Shown include Figure 6 and Figure 7 A rear cross-sectional view of a worm gear and motor of a force feedback trigger mechanism of a handheld device system as shown; and

[0019] Fig. 9 A block diagram of an exemplary computer system is shown with which aspects of the subject technology may be implemented. DETAILED DESCRIPTION

[0020] Without involving a person's sense of touch, augmented reality / virtual reality (AR / VR) systems are limited in providing an immersive experience for that person. Haptic feedback technology can improve user satisfaction with AR / VR systems by bridging the gap between the real world and the digital world. However, when acting on an object in an AR / VR environment, it is difficult to faithfully simulate the tangible characteristics of the object (e.g., weight, hardness, texture). The technology disclosed herein provides the use of force feedback haptic technology to enhance handheld AR / VR controller triggers.

[0021] The detailed description set forth below describes various configurations of the subject technology and is not intended to represent the only configuration in which the subject technology can be implemented. The detailed description includes specific details to provide a thorough understanding of the subject technology. Therefore, dimensions about certain aspects may be provided as non-limiting examples. However, it will be apparent to those skilled in the art that the subject technology can be implemented without these specific details. In some cases, in order to avoid blurring the conception of the subject technology, known structures and components are shown in block diagram form.

[0022] It should be understood that the present disclosure includes examples of the subject technology, but does not limit the scope of the included items. Various aspects of the subject technology will now be disclosed based on specific but non-limiting examples. The various embodiments described in this disclosure can be performed in different ways and variations and according to the desired application or implementation.

[0023] In the following detailed description, many specific details are set forth to provide a comprehensive understanding of the present disclosure. However, it will be apparent to one of ordinary skill in the art that embodiments of the present disclosure may be implemented without some of these specific details. In other cases, well-known structures and techniques are not shown in detail to avoid obscuring the present disclosure.

[0024] Turning now to the accompanying drawings, Figure 1 An isometric cutaway view of the internal components of a system 100 including a handheld device 101 according to certain aspects of the present disclosure is shown. The handheld device 101 includes: a housing 102; an internal cavity 104; an aperture 106; a trigger 108; a transmission member 110; a cam 112; a motor 114 (which may include a gear train 208 (such as Figure 3106; a trigger position sensor 124; and a cam position sensor 206. The housing 102 can define an internal cavity 104, wherein the internal components of the handheld device 101 can be located in the internal cavity. The housing 102 can define an orifice 106, which can provide access to the internal cavity 104. The trigger 108 can include an outer surface and an inner surface, and the trigger 108 can be oriented to cover the orifice 106. The trigger 108 can be a component of the handheld device 101: a user applies a force at the component so that a portion of the trigger retracts into the internal cavity 104. The transfer member 110 can be oriented in the internal cavity 104 and connected to the inner surface of the trigger 108. The retracted trigger 108 can initiate movement of the transfer member 110.

[0025] The cam 112 can convert at least rotational or oscillating motion into at least linear or translational motion. The transmission member 110 (also referred to as a follower, a cam follower, or a track follower) can include a translation or oscillating lever that can directly engage the cam 112, indirectly engage the cam 112, or a combination of the two, and can follow the profile of the cam 112 as the cam 112 rotates or translates. The movement of the transmission member 110 can be based on the profile of the cam 112. The cam 112 may include: a disc cam (also known as a plate cam or radial cam), in which the transfer member 110 can move radially from or relative to the center of rotation of the cam 112; a linear or translational cam, in which the cam 112 translates rather than rotates; a pear-shaped cam, in which the transfer member 110 can remain stationary for approximately half of the rotation of the cam 112, and then rise and fall for approximately the other half of the rotation; a circular cam (also known as an eccentric cam), in which the transfer member 110 reciprocates smoothly; a heart-shaped cam, in which the transfer member 110 can move back and forth at a constant speed; or any standard shape (e.g., star, snail) or non-standard shape suitable for causing appropriate movement of the transfer member 112. The transfer member 112 may include: an oscillating (or rotating) follower; a translational (or reciprocating) follower; a roller follower; a spherical follower; a knife-edge follower; a flat (or mushroom-shaped) follower; or any standard or non-standard shape or structure suitable for causing appropriate engagement with the cam 112 and appropriate movement of the transfer member 110.

[0026] In other aspects, the motor 114 can include a rotary motor configured to rotate the cam 112 about an axis. In other aspects, the trigger position sensor 124 can be a Hall effect sensor. In other aspects, the Hall effect sensor can provide data about simulated actions in an augmented reality / virtual reality (AR / VR) environment.

[0027] Figure 2 Shown include Figure 1A side cross-sectional view of the internal components of the system 100 of the handheld device 101 is shown. The handheld device 101 includes a housing 102, a trigger 108, a transfer member 110, a cam 112, a motor 114, a transfer roller 116, and a force sensor 120. The force sensor 120 may include one or more load cells (e.g., capacitive load cells, inductive load cells, hydraulic load cells, magnetostrictive load cells, piezoelectric crystal load cells, pneumatic load cells, strain gauge load cells), force sensing resistors (FSRs), optical force sensors, strain gauges, ultrasonic force sensors, etc. The force sensor 120 may be oriented in the internal cavity and coupled to the distal end of the transfer member 110 and the inner surface of the trigger 108. The transfer roller 116 may be oriented in the internal cavity and coupled to the distal end of the transfer member 110. The cam 112 may be oriented in the internal cavity and configured to engage the transfer member 110. A motor 114 may be oriented within the interior cavity and coupled to the cam 112. The cam 112 may be coupled to the motor 114, wherein the motor 114 may rotate the cam.

[0028] Figure 6 An isometric view of a force feedback trigger mechanism of a system 600 including a handheld device according to other aspects of the present disclosure is shown. The force feedback trigger mechanism includes: a trigger 608, wherein the triggers 108 and 608 can be similar, the same or different components; a transfer member 610, wherein the transfer members 110 and 610 can be similar, the same or different components; a transfer roller 616, wherein the transfer rollers 116 and 616 can be similar, the same or different components; and a motor 614, wherein the motors 114 and 614 can be similar, the same or different components. The system 600 also includes a worm gear 640.

[0029] Figure 7 Shown include Figure 6 A side cross-sectional view of a force feedback trigger mechanism of a handheld device system 600 is shown. The force feedback trigger mechanism includes: a cam 612, wherein the cams 112 and 612 can be similar, the same, or different components; a force sensor 620, wherein the force sensors 120 and 620 can be similar, the same, or different components; a trigger position sensor 624, wherein the trigger position sensors 124 and 624 can be similar, the same, or different components; and a worm gear mechanism including a worm gear 640 and a worm 642. The force sensor 620 can be coupled to the distal end of the transfer member 610 and the inner surface of the trigger 608. The transfer roller 616 can be coupled to the distal end of the transfer member 610. The cam 612 can be configured to engage the transfer member 610 and the worm gear mechanism. Figure 8 Shown include Figure 6 and Figure 7A rear cross-sectional view of a worm gear mechanism and a motor of a force feedback trigger mechanism of a system of a handheld device is shown. A worm gear 640 can be coupled to a worm 642, which can be coupled to a motor 614 via a shaft of the motor 614. The motor 614 can rotate the cam 612 via the worm gear mechanism. In other aspects, the spring 630 can provide a spring force to return the trigger 608 from a recessed position, which can be caused by a user applying force to the trigger 608. In other aspects, the trigger 608 can include a local haptic motor 632.

[0030] according to Figure 1 and Figure 2 In certain aspects of the present disclosure shown, the linear force applied by the user to the trigger 108 can be converted into a rotational force by the transmission member 110. At the proximal end of the transmission member 110, the transmission member 110 can be coupled to the inner surface of the trigger 108. The connection between the transmission member 110 and the trigger 108 can allow the transmission member 110 to rotate. In other aspects, the first section of the distal end of the transmission member 110 can engage the force sensor 120, and the second section of the distal end of the transmission member 110 can be coupled to the transmission roller 116. The rotational force transmitted by the transmission member 110 can cause the transmission roller 116 coupled at the distal end of the transmission member 110 to engage the cam 112. In other aspects, the transmission roller 116 can include a roller bearing configured to maintain contact and roll on a surface. As the transmission member 110 rotates, the transmission roller 116 located at the distal end of the transmission member 110 can roll along the outer surface of the cam 112. The movement of the cam 112 can also be controlled by the motor 114. The motor 114 can start the rotation of the cam 112. As the motor 114 starts to rotate, the rotating cam 112 can generate a force that can be transmitted back to the transmission member 110, thereby causing tactile feedback to the user who squeezes the trigger 108. Figures 6 to 8 In other aspects of the present disclosure shown, when the components are similar or identical, similar or identical configurations may be arranged or similar or identical actions may be performed.

[0031] Figure 3 A block diagram of an electronic communication system 200 is shown, the electronic communication system including a controller 202 and Figure 1 and Figure 2The handheld device 101 shown. The controller 202 can be a computing device in electronic communication with the motor 114, the force sensor 120, and the cam position sensor 206. The cam position sensor 206 can include a contact sensor (e.g., a rotary potentiometer) or a non-contact sensor. The cam position sensor 206 can include one or more of a variable reluctance sensor, a magneto-resistive element (MRE) sensor, a pass-through sensor, a Hall effect sensor, a non-magnetic Hall effect sensor, a rotary variable differential converter (RVDT), etc. In other aspects, the cam position sensor 206 can include an encoder, wherein the encoder is configured to detect the rotation of the cam and convert at least the rotational position into an electronic signal. During operation of the handheld device 101, the controller 202 can first receive a force input from the trigger 108 through the force sensor 120. In response, the controller 202 can cause the motor 114 to start rotating, thereby transmitting a rotational force through the cam 112 and applying a response force to the transmission member 110. In other aspects, the elliptical shape of the cross-section of the cam 112 can contribute to the change in the force transmission rate of the motor 114 when the transmission roller 116 rolls along the shape of the cam 112. In other aspects, the rate of change of the rotation of the cam 112 can be adjusted by switching the drive gear (not shown) in the gear train 208. The gear train 208 that can be connected to the motor 114 and the cam 112 can be a set of rotating gears that can be configured to adjust the rotational speed or torque applied to the cam by the motor, or can allow the user to select a specific gear to change the torque output and / or the rotational speed output. For example, when the user is in an AR / VR environment and is in a simulation of squeezing a tennis ball, the controller can cause the motor 114 and the cam 112 to rotate, thereby generating a response resistance transmitted to the trigger 108, which is consistent with the response force felt by the user when trying to squeeze the tennis ball.

[0032] Figure 4 Shown include Figure 1 and Figure 2100 of the handheld device 101 shown. The system includes: a network 405; a server 410; a pair of AR / VR goggles 415; a mobile device 420; an electronic storage device 170; a plurality of sensors 425, including a force sensor 120, a trigger position sensor 124, and a cam position sensor 206; a motor 114; a communication module 430; and a controller 202, which includes a processor 432. The processor 432 includes machine-readable instructions 177, which include an input force receiving module 435, a response force determining module 440, and a response force output module 445.

[0033] The network 405 interconnecting the components of the system 100 may correspond to a communication network. The communication network may be a local area network (LAN), a wide area network (WAN), the Internet, a direct peer-to-peer (P2P) network (e.g., ) and indirect P2P network, etc. Server 410 may correspond to one or more server computers. Server 410 may be located locally or remotely. Server 410 may host one or more applications installed on handheld device 101, AR / VR glasses 150, or mobile device 420. One or more applications may allow a user to control settings or provide, collect, or process data collected by handheld device 101, AR / VR glasses 150, or mobile device 420.

[0034] The mobile device 420 may include one or more mobile devices including a laptop, an e-reader, a tablet, a handheld video game console, a smart watch, a smart speaker, and a smartphone. The mobile device 420 may host one or more applications that allow the mobile device 420 to operate the handheld device 101 or the AR / VR glasses 415, or be operated by the handheld device 101 or the AR / VR glasses 415.

[0035] AR / VR glasses 415 may include head-mounted, tethered, or stand-alone devices that enable augmented reality (AR), virtual reality (VR), or mixed reality (MR) experiences. In other aspects, AR / VR glasses 415 may include a pair of augmented reality (AR) glasses. AR glasses may be transmissive or non-transmissive. Transmissive AR glasses can overlay interactive digital objects onto a real-world environment. In other aspects, AR / VR glasses 415 may include a virtual reality (VR) head-mounted device. A VR head-mounted device may include a head-mounted display that provides a fully immersive visual and auditory experience. A VR head-mounted device may include a camera that allows a user to perceive the real world on a VR screen as if the user is looking directly at the real world. In other aspects, AR / VR glasses 415 may include a mobile AR device (e.g., a smartphone). A mobile AR device may host an application that uses one or more of the camera, sensors, and processing capabilities of the mobile AR device to overlay digital objects and information onto a real-world environment.

[0036] The one or more sensors 425 may include at least one of a camera, a motion sensor, a light sensor, a proximity sensor, a temperature sensor, a biosensor, a magnetometer, and a Global Positioning System (GPS) receiver. The sensors 425 may be physical or virtual, and the sensors may capture real world elements, virtual world elements, or a combination thereof. The communication module 430 may include radio and antenna hardware or software to send wireless signals to at least one of the server 410, the AR / VR glasses 415, and the mobile device 420 via the network 405 and receive wireless signals from at least one of the server 410, the AR / VR glasses 415, and the mobile device 420.

[0037] Processor 432 may be configured to provide information processing capabilities in handheld device 101. Processor 432 may include one or more processors, which may include one or more control units, one or more arithmetic-logic units (ALUs), and one or more processor registers for operation of modules 435, 440, and / or 445 and / or other modules. Processor 432 may include one or more of a digital processor, an analog processor, a digital circuit designed to process information, an analog circuit designed to process information, a state machine, and / or other mechanisms for electronically processing information. Although processor 432 may be configured to provide information processing capabilities in handheld device 101, processor 432 may include one or more of a digital processor, an analog processor, a digital circuit designed to process information, an analog circuit designed to process information, a state machine, and / or other mechanisms for electronically processing information. Figure 4432 is shown as a single entity, but this is for illustration purposes only. In some embodiments, processor 432 may include multiple processing units. These processing units may be physically located within the same device, or processor 432 may represent processing functions of multiple devices operating in coordination. Processor 432 may be configured to execute modules 435, 440, and / or 445, and / or other modules. Processor 432 may be configured to execute modules 435, 440, and / or 445, and / or other modules by: software; hardware; firmware; some combination of software, hardware, and / or firmware; and / or other mechanisms for configuring processing capabilities on processor 432.

[0038] As used herein, the term "module" may refer to any component or group of components that perform the functionality attributed to the module. This may include one or more physical processors, processor readable instructions, circuits, hardware, storage media, or any other components during the execution of processor readable instructions. It should be understood that although modules 435, 440 and / or 445 and / or other modules are not necessarily identical, they are not necessarily identical. Figure 4 435, 440 and / or 445 and / or other modules can be implemented away from other modules. The description of the functions provided by different modules 435, 440 and / or 445 and / or other modules described below is for illustrative purposes and is not intended to be restrictive, because any one of modules 435, 440 and / or 445 and / or other modules can provide more or less functions than described. For example, one or more of modules 435, 440 and / or 445 and / or other modules can be eliminated, and some or all of their functions can be provided by other modules in modules 435, 440 and / or 445 and / or other modules. As another example, processor 432 can be configured to execute one or more additional modules, which can perform some or all of the functions attributed to one of 435, 440 and / or 445 and / or other modules below.

[0039] The input force receiving module 435 may receive the force input from the trigger 108 via the force sensor 120. The response force determining module 440 may determine the response force to be applied to the transmission member based on the force input. The response force output module 445 may start the motor 114 to rotate, thereby transmitting the rotational force through the cam 112 and applying the response force to the transmission member 110.

[0040] Figure 5 shows that it can be composed of Figures 1 to 41 and 2. The process flow diagram of the method 500 performed by the system 100 of the handheld device 101 and the controller 202 shown in FIG. 1 is a flowchart of the method 500 performed by the system 100 of the handheld device 101 and the controller 202 shown in FIG. Block 510 describes receiving a force input from a trigger (e.g., 108) via a force sensor (e.g., 120). Block 520 describes determining a response force to be applied to a transfer member (e.g., 110) based on the force input. Block 530 describes causing a motor (e.g., 114) to start rotating, thereby transmitting a rotational force through a cam (e.g., 112) and applying a response force to a transfer member (e.g., 110).

[0041] Fig. 9 A block diagram of an exemplary computer system 900 is shown, with which aspects of the subject technology may be implemented. Computer system 900 includes: processor 905, where processors 432 and 905 may be similar, the same, or different components; memory 910; data storage device 915, where electronic storage 170 and data storage device 915 may be similar, the same, or different components; bus 920; input / output module 925; communication module 930, where communication modules 430 and 930 may be similar, the same, or different components; input device 935; and output device 940. In some aspects, computer system 900 may be implemented using hardware or a combination of software and hardware, or implemented in a dedicated server, or integrated into another entity, or distributed among multiple entities.

[0042] The computer system 900 (e.g., server and / or client) includes a bus 920 or other communication mechanism for transmitting information and a processor 905 coupled to the bus 920 for processing information. For example, the computer system 900 can be implemented with one or more processors 905. The processor 905 can be a general-purpose microprocessor, a microcontroller, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a programmable logic device (PLD), a controller, a state machine, gated logic, discrete hardware components, or any other suitable entity capable of performing calculations or other manipulations on information.

[0043] In addition to hardware, the computer system 900 may also include code that creates an execution environment for the computer program in question, such as code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them, which is stored in the included memory 910, such as random access memory (Random Access Memory, RAM), flash memory, read only memory (Read Only Memory, ROM), programmable read-only memory (ProgrammableRead-Only Memory, PROM), erasable PROM (ErasablePROM, EPROM), registers, hard disk, removable disk, CD-ROM, DVD or any other suitable storage device coupled to the bus 920 for storing information and storing instructions to be executed by the processor 905. The processor 905 and the memory 910 may be supplemented by or incorporated in special purpose logic circuitry.

[0044] These instructions may be stored in memory 910 and implemented in one or more computer program products (i.e., one or more modules of computer program instructions encoded on a computer-readable medium) for execution by computer system 900 or to control the operation of computer system 900 according to any method known to those skilled in the art, including but not limited to computer languages ​​(e.g., data-oriented languages ​​(e.g., Structured Query Language (SQL), database (dBase))), system languages ​​(e.g., C language, object-oriented programming (Objective-C) language extending C, C++ language, assembly language), structured languages ​​(e.g., Java, .NET), and application languages ​​(e.g., PHP, Ruby, Perl, Python). The instructions may also be implemented in computer languages, such as array languages, aspect-oriented languages, assembly languages, authoring languages, command line interface languages, compiled languages, concurrent languages, curly-bracket languages, data flow languages, data structured languages, declarative languages, esoteric languages, extended languages, fourth generation languages, functional languages, interactive mode languages, interpreted languages, iterative languages, list-based languages, small languages, logic-based languages, machine languages, macro languages, metaprogramming languages, multiparadigm languages, numerical analysis, non-English-based languages, object-oriented class-based languages, object-oriented prototype-based languages, offside rule languages, procedural languages, reflective languages, rule-based languages, scripting languages, stack-based languages, synchronous languages, grammar processing languages, visual languages, wirth languages, and XML-based languages. The memory 910 may also be used to store temporary variables or other intermediate information during the execution of instructions to be executed by the processor 905.

[0045] The computer programs discussed herein do not necessarily correspond to files in a file system. A program may be stored in a portion of a file (e.g., one or more scripts stored in a markup language document) storing other programs or data, in a single file dedicated to the program in question, or in multiple collaborative files (e.g., files storing one or more modules, subroutines, or code portions). A computer program may be deployed to be executed on one or more computers, which are located at one site or distributed at multiple sites and interconnected by a communication network. The processes and logic flows described in this specification may be performed by one or more programmable processors executing one or more computer programs to perform various functions by operating on input data and generating outputs.

[0046] The computer system 900 also includes a data storage device 915, such as a disk or optical disk, coupled to the bus 920 for storing information and instructions. The computer system 900 can be coupled to various devices via an input / output module 925. The input / output module 925 can be any input / output module. An exemplary input / output module 925 includes a data port, such as a USB port. The input / output module 925 can be configured to be connected to a communication module 930. An exemplary communication module 930 includes a network interface card, such as an Ethernet card and a modem. In some aspects, the input / output module 925 is configured to be connected to multiple devices, such as an input device 935 and / or an output device 940. An exemplary input device 935 includes a keyboard and a pointing device (such as a mouse or a trackball), and a user can provide input to the computer system 900 through the input device. Other types of input devices 935 can also be used to provide interaction with the user, such as tactile input devices, visual input devices, audio input devices, or brain-computer interface devices. For example, the feedback provided to the user may be any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback, and the input from the user may be received in any form, including sound input, voice input, tactile input, or brain wave input. Exemplary output device 940 includes a display device for displaying information to the user, such as a liquid crystal display (LCD) monitor.

[0047] According to one aspect of the present disclosure, the above system can be implemented using a computer system 900 in response to a processor 905 executing one or more sequences of one or more instructions contained in a memory 910. Such instructions can be read into the memory 910 from another machine-readable medium (e.g., a data storage device 915). The execution of the sequence of instructions contained in the memory 910 causes the processor 905 to perform the process steps described herein. One or more processors in a multi-processing arrangement can also be used to execute the sequence of instructions contained in the memory 910. In alternative aspects, hard-wired circuits can be used instead of software instructions or hard-wired circuits can be used in combination with software instructions to implement various aspects of the present disclosure. Therefore, various aspects of the present disclosure are not limited to any specific combination of hardware circuits and software.

[0048] Various aspects of the subject matter described in this specification may be implemented in a computing system that includes a back-end component (e.g., a data server), or includes a middleware component (e.g., an application server), or includes a front-end component (e.g., a client computer with a graphical user interface or a web browser through which a user can interact with the implementation of the subject matter described in this specification); or various aspects of the subject matter described in this specification may be implemented in any combination of one or more such back-end components, middleware components, or front-end components. These components of the system may be interconnected by digital data communication (e.g., a communication network) in any form or medium. The communication network may include, for example, any one or more of a LAN, a WAN, the Internet, etc. In addition, the communication network may include, for example, but is not limited to, any one or more of the following network topologies, including, for example, a bus network, a star network, a ring network, a mesh network, a star bus network, a tree or hierarchical network, etc. The communication module may be, for example, a modem or an Ethernet card.

[0049] Computer system 900 can include client and server.Client and server are usually far away from each other, and typically interact through communication network.The relationship of client and server is produced by means of computer program that runs on corresponding computer and has client-server relationship between each other.Computer system 900 can be, for example, but not limited to desktop computer, laptop computer or tablet computer.Computer system 900 can also be embedded in another device, and this another device is, for example, but not limited to: mobile phone, personal digital assistant (PDA), mobile audio player, global positioning system (GPS) receiver, video game console and / or TV set-top box.

[0050] The term "machine-readable storage medium" or "computer-readable medium" as used herein refers to any one or more media that participate in providing instructions to the processor 905 for execution. Such media can take a variety of forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include optical or magnetic disks such as data storage device 915. Volatile media include dynamic memory, such as memory 910. Transmission media include coaxial cables, copper wires, and optical fibers, including wires that form bus 920. Common forms of machine-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, DVDs, any other optical media, punch cards, paper tapes, any other physical media with hole patterns, RAM, PROMs, EPROMs, FLASH EPROMs, any other storage chips or cassettes, or any other media that a computer can read. The machine-readable storage medium can be a machine-readable storage device, a machine-readable storage substrate, a storage device, a composition of matter that causes a machine-readable propagation signal, or a combination of one or more of them.

[0051] When the user computing system 900 reads data, information may be read from the data and stored in a storage device such as memory 910. In addition, data accessed from a server of memory 910 via a network, bus 920, or data storage device 915 may be read and loaded into memory 910. Although data is described as being found in memory 910, it should be understood that data need not be stored in memory 910, but may be stored in other memory accessible to processor 905, or distributed across several media such as data storage device 915.

[0052] Although the above discussion primarily relates to microprocessors or multi-core processors that execute software, one or more embodiments are performed by one or more integrated circuits, such as application specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs). In one or more embodiments, such integrated circuits execute instructions stored on the circuits themselves.

[0053] Those skilled in the art will appreciate that various illustrative frames, modules, elements, parts, methods and algorithms described herein can be implemented as electronic hardware, computer software or a combination of the two. In order to illustrate this interchangeability of hardware and software, various illustrative frames, modules, elements, parts, methods and algorithms have been described above with respect to their functions. Whether this function is implemented as hardware or software depends on specific application and the design constraints to the entire system. The technician can implement the described function in different ways for each specific application. Various parts and frames can be arranged differently (e.g., arranged in different orders, or divided in different ways), all of which do not depart from the scope of this subject technology.

[0054] It should be understood that any particular order or level of the frames in the disclosed process is an illustration of the exemplary method. Based on implementation preferences, it is understood that the particular order or level of the frames in the process can be rearranged, or not all of the frames shown are executed. Any frame can be executed simultaneously. In one or more embodiments, multitasking and parallel processing may be advantageous. In addition, the separation of the various system components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can usually be integrated together in a single software product or encapsulated in multiple software products.

[0055] For example, the subject technology is described according to the above aspects. The present disclosure is provided to enable any person skilled in the art to practice the various aspects described herein. The present disclosure provides various examples of the subject technology, and the subject technology is not limited to these examples. Those skilled in the art will readily understand various modifications to these aspects, and the general principles defined herein may be applied to other aspects.

[0056] Unless otherwise specified, elements referred to in the singular are not intended to mean "one and only one," but rather "one or more." Unless otherwise specified, the term "some" refers to one or more. Masculine pronouns (e.g., his) include feminine and neuter pronouns (e.g., her and its) and vice versa. Headings and subheadings, if any, are used for convenience only and do not limit the invention.

[0057] The word "exemplary" as used herein means "serving as an example or illustration." Any aspect or design described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other aspects or designs. In one aspect, the various alternative configurations and operations described herein may be considered to be at least equivalent.

[0058] As used herein, the phrase "at least one of..." preceding a series of items, and the term "or" used to separate any items, modifies the list as a whole, rather than each item in the list. The phrase "at least one of..." does not require selection of at least one item; rather, the phrase allows for the inclusion of the following meanings: at least one of any one of the items, and / or at least one of any combination of the items, and / or at least one of each of the items. For example, the phrase "at least one of A, B, or C" may mean: only A, only B, or only C; or any combination of A, B, and C.

[0059] Phrases such as "aspects" do not mean that the aspect is essential to the subject technology, nor do they mean that the aspect is applicable to all configurations of the subject technology. The disclosure related to aspects can apply to all configurations, or one or more configurations. Aspects can provide one or more examples. Phrases such as aspects can refer to one or more aspects, and vice versa. Phrases such as "embodiments" do not mean that the embodiment is essential to the subject technology, nor do they mean that the embodiment is applicable to all configurations of the subject technology. The disclosure related to embodiments can apply to all embodiments, or one or more embodiments. Embodiments can provide one or more examples. Phrases such as embodiments can refer to one or more embodiments, and vice versa. Phrases such as "configurations" do not mean that the configuration is essential to the subject technology, nor do they mean that the configuration is applicable to all configurations of the subject technology. The disclosure related to configurations can apply to all configurations, or one or more configurations. Configurations can provide one or more examples. Phrases such as configurations can refer to one or more configurations, and vice versa.

[0060] On the one hand, unless otherwise stated, all measurements, values, ratings, positions, quantities, dimensions, and other specifications set forth in this specification (including the following clauses) are approximate values, not exact values. On the one hand, they are intended to have a reasonable range that is consistent with the functions to which they are related and the conventions of the field to which they belong. It should be understood that some or all of the steps, operations, or processes can be performed automatically without user intervention. Method clauses can be provided to present elements of various steps, operations, or processes in an example order, and are not meant to be limited to the specific order or hierarchy presented.

[0061] All structural and functional equivalents of the elements of the various aspects described in the entire disclosure that are known or will be known to those of ordinary skill in the art are expressly incorporated herein by reference, and are intended to be included in the included clauses. In addition, nothing disclosed herein is intended to be dedicated to the public, regardless of whether such disclosure is explicitly stated in the clause. Unless the phrase "device for..." is used to expressly describe the element, or the phrase "step for..." is used to describe the element in the case of a method clause, no clause element shall be interpreted according to the provisions of 35 U.S.C. 112 (f). In addition, with respect to the use of the terms "including", "having", etc., such terms are intended to be inclusive in a manner similar to the term "comprising", as explained when "comprising" is used as a transitional word in a clause.

[0062] The title, background technology and illustrations of the present disclosure are hereby included in the present disclosure and are provided as illustrative examples of the present disclosure, rather than as restrictive descriptions. It should be understood that they will not be used to limit the scope or meaning of the clauses. In addition, in the specific embodiments, it can be seen that the description provides illustrative examples, and in order to simplify the present disclosure, various features are combined together in various embodiments. This disclosure method should not be interpreted as reflecting the intention that the included subject matter requires more features than the features explicitly described in any clause. Instead, as reflected in the clauses, the inventive subject matter lies in less than all the features of a single disclosed configuration or operation. These clauses are thus included in the specific embodiments, wherein each clause independently represents a separate patentable subject matter.

[0063] These Terms shall not be limited to the aspects set forth herein, but shall be given the full scope consistent with the language of the Terms and include all legal equivalents. Notwithstanding the foregoing, no provision is intended to cover subject matter that fails to satisfy the requirements of 35 U.S.C. 101, 102, or 103, nor shall it be construed in such a manner.

Claims

1. A system comprising: Controller; a handheld device in electronic communication with the controller, wherein the handheld device includes a housing, wherein the housing defines an interior cavity, and wherein the housing defines an aperture providing access to the interior cavity; a trigger comprising an outer surface and an inner surface, wherein the trigger is oriented to cover the orifice providing access to the interior cavity; a transfer member oriented within the interior cavity and coupled to the interior surface of the trigger; a force sensor oriented within the interior cavity and coupled to a distal end of the transfer member and to the interior surface of the trigger; a transfer roller oriented within the interior cavity and coupled to the distal end of the transfer member; a cam oriented within the interior cavity and configured to engage the transfer member; and A motor is oriented within the interior cavity and coupled to the cam.

2. The system according to claim 1, wherein: The motor includes a rotary motor configured to rotate the cam about an axis.

3. The system according to claim 1, wherein: The transfer member includes a proximal end, wherein the proximal end is coupled to the inner surface of the trigger, wherein a coupling interface between the transfer member and the trigger is configured to allow rotation at the coupling interface.

4. The conveying member according to claim 3, wherein: A first section of the distal end of the transfer member engages the force sensor, and a second section of the distal end of the transfer member is coupled to the transfer roller.

5. The system according to claim 1, further comprising an encoder, wherein: The encoder is configured to convert at least a rotational position into an electronic signal.

6. The system of claim 1 further comprising a gear train coupled to the motor and the cam, wherein: The gear train is configured to regulate a rotational speed or torque applied by the motor to the cam.

7. The system according to claim 1, wherein: The trigger includes a Hall effect sensor, wherein the Hall effect sensor provides data regarding simulated action in an augmented reality / virtual reality environment.

8. A system comprising: A handheld device, wherein the handheld device comprises a housing, wherein the housing defines an interior cavity, and wherein the housing defines an aperture providing access to the interior cavity; a trigger comprising an outer surface and an inner surface, wherein the trigger is oriented to cover the orifice providing access to the interior cavity; a transfer member oriented within the interior cavity and coupled to the interior surface of the trigger; a force sensor oriented within the interior cavity and coupled to a distal end of the transfer member and to the interior surface of the trigger; a transfer roller oriented within the interior cavity and coupled to the distal end of the transfer member; a cam oriented within the interior cavity and configured to engage the transfer member; a motor oriented within the interior cavity and coupled to the cam; and a controller in electronic communication with the handheld device, wherein the controller is configured to: receiving a force input from the trigger via the force sensor; determining a response force to be applied to the transfer member based on the force input; and The motor is started to rotate, thereby transmitting a rotational force through the cam and applying the response force to the transmission member.

9. The system according to claim 8, wherein: The motor includes a rotary motor configured to rotate the cam about an axis.

10. The system according to claim 8, wherein: The transfer member includes a proximal end, wherein the proximal end is coupled to the inner surface of the trigger, wherein a coupling interface between the transfer member and the trigger is configured to allow rotation at the coupling interface.

11. The conveying member according to claim 10, wherein: A first section of the distal end of the transfer member engages the force sensor, and a second section of the distal end of the transfer member is coupled to the transfer roller.

12. The system of claim 8, further comprising an encoder, wherein: The encoder is configured to convert at least a rotational position into an electronic signal.

13. The system of claim 8, further comprising a gear train coupled to the motor and the cam, wherein: The gear train is configured to regulate a rotational speed or torque applied by the motor to the cam.

14. The system according to claim 8, wherein: The trigger includes a Hall effect sensor, wherein the Hall effect sensor provides data regarding simulated action in an augmented reality / virtual reality environment.

15. A system comprising: A handheld device, wherein the handheld device comprises a housing, wherein the housing defines an interior cavity, and wherein the housing defines an aperture providing access to the interior cavity; a trigger comprising an outer surface and an inner surface, wherein the trigger is oriented to cover the orifice providing access to the interior cavity; a transfer member oriented within the interior cavity and coupled to the interior surface of the trigger; a force sensor oriented within the interior cavity and coupled to a distal end of the transfer member and to the interior surface of the trigger; a transfer roller oriented within the interior cavity and coupled to the distal end of the transfer member; a cam oriented within the interior cavity and configured to engage the transfer member; a motor oriented within the interior cavity and coupled to the cam; a gear train coupled to the motor and the cam, wherein the gear train is configured to adjust a rotational speed or torque applied by the motor to the cam; and a controller in electronic communication with the handheld device, wherein the controller is configured to: receiving a force input from the trigger via the force sensor; determining a response force to be applied to the transfer member based on the force input; and The motor is started to rotate, thereby transmitting a rotational force through the cam and applying the response force to the transmission member.

16. The system of claim 15, wherein: The motor includes a rotary motor configured to rotate the cam about an axis.

17. The system of claim 15, wherein: The transfer member includes a proximal end, wherein the proximal end is coupled to the inner surface of the trigger, wherein a coupling interface between the transfer member and the trigger is configured to allow rotation at the coupling interface.

18. The conveying member according to claim 17, wherein: A first section of the distal end of the transfer member engages the force sensor, and a second section of the distal end of the transfer member is coupled to the transfer roller.

19. The system of claim 15, further comprising an encoder, wherein: The encoder is configured to convert at least a rotational position into an electronic signal.

20. The system of claim 15, wherein: The trigger includes a Hall effect sensor, wherein the Hall effect sensor provides data regarding simulated action in an augmented reality / virtual reality environment.

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