Computer system with handheld controller

Abstract

A system may include an electronic device, such as a head-mounted device, and a handheld controller for controlling the electronic device. The handheld controller may have a housing having an elongate shaft extending between a first end portion and a second end portion. The handheld controller may include a touch sensor for collecting touch input, a button, a rotary roller, or other input device for collecting other user input, a force sensor for collecting force input, an inertial measurement unit for collecting motion data, a camera for capturing images of an environment, and a processor for processing the images. And / or one or more haptic output devices, such as actuators, for providing haptic output. The control circuitry may send control signals to the head-mounted device based on sensor data and user input (e.g., force input, touch input, motion input, voice input, etc.) collected with the handheld controller.

Description

[0001] This application claims priority to U.S. Patent Application No. 18 / 348,943 filed on July 7, 2023 and U.S. Provisional Patent Application No. 63 / 388,196 filed on July 11, 2022, which are hereby incorporated by reference in their entirety. Technical Field

[0002] The present invention relates generally to computer systems and, more particularly, to input devices for computer systems. Background Art

[0003] Electronic devices such as computers can be controlled using computer mice and other input accessories. In virtual reality systems, force feedback gloves can be used to control virtual objects. Mobile phones can have touch screen displays and vibrators for creating tactile feedback in response to touch input.

[0004] Devices such as these may be inconvenient, cumbersome or uncomfortable for the user, or may provide inadequate feedback. Summary of the invention

[0005] A system may include an electronic device such as a head mounted device and a handheld controller for controlling the electronic device. The head mounted device or other device may have a display configured to display virtual content superimposed on real world content.

[0006] The handheld controller may have a housing having an elongated shaft extending between a first end portion and a second end portion. The housing may have a flat surface and a curved surface. The housing may have a first housing portion and a second housing portion operable in a first mode in which the first housing portion and the second housing portion mate with each other and in a second mode in which the first housing portion and the second housing portion are separated from each other to form a standalone handheld controller device.

[0007] The touch sensor may be located on a curved surface and may be configured to collect touch inputs, such as swipe inputs, tap inputs, multi-touch inputs, and other touch inputs. A button or other input device may be located on a flat surface. A rotating scroll wheel may be mounted in the housing and may be configured to rotate about an axis perpendicular or parallel to the longitudinal axis of the elongated housing. One or more sensors may be located in one or both of the end portions. For example, one of the end portions may have a force sensor and may be force sensitive. The end portion may have a camera to help track the position of the handheld controller in space, on a surface, or relative to an electronic device controlled by the handheld controller. One or more tactile output devices (such as an actuator) may be mounted in the housing.

[0008] The control circuitry in the handheld controller may use the tactile output device to provide tactile output in response to user input, such as force input, touch input, motion input, voice input, and / or any other suitable user input. The control circuitry may adjust operational settings of the handheld controller based on the sensor data and the user input. The control circuitry may also send control signals to an external electronic device, such as a head mounted device, to manipulate display content on the external electronic device, adjust operational settings of the head mounted device, and / or take other actions in response to sensor data and user input collected using the controller.

[0009] The handheld controller may include an inertial measurement unit, such as one or more accelerometers, gyroscopes, and / or compasses. Visual markers, such as passive visual markers and / or active visual markers (e.g., infrared light emitting diodes), may be formed at one or more locations on the housing of the handheld controller. The head mounted device may include a camera for capturing images of the handheld controller and the visual markers. The control circuitry in the head mounted device may be configured to track the position of the handheld controller using the captured images and motion data from the inertial measurement unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic diagram of an illustrative system with a handheld controller according to an embodiment.

[0011] Figure 2 is a perspective view of an illustrative handheld controller according to an embodiment.

[0012] Figure 3 is a cross-sectional side view of an illustrative handheld controller with a removable end portion according to an embodiment.

[0013] Figure 4 is a perspective view of an illustrative handheld controller having a knob that rotates about a longitudinal axis of the handheld controller, according to an embodiment.

[0014] Figure 5 is a perspective view of an illustrative handheld controller having knobs accessible on two opposing sides of the handheld controller and rotatable about an axis perpendicular to the longitudinal axis of the handheld controller, according to an embodiment.

[0015] Figure 6 is a perspective view of an illustrative handheld controller having a knob accessible on a side of the handheld controller and rotatable about an axis perpendicular to a longitudinal axis of the handheld controller, according to an embodiment.

[0016] Figure 7 is a perspective view of an illustrative handheld controller having a first mating housing portion and a second mating housing portion according to an embodiment.

[0017] Figure 8 According to an embodiment, the first mating housing portion and the second mating housing portion are in a configuration in which the first mating housing portion and the second mating housing portion are separated from each other. Figure 7 A perspective view of an exemplary handheld controller.

[0018] Fig. 9 is a diagram of an illustrative system including a handheld controller and an electronic device configured to track the position of the handheld controller according to an embodiment.

[0019] Fig.10 is a side view of an illustrative system having a computer with a computer housing in which a display or other equipment having a display is mounted and having a gaze tracker according to an embodiment.

[0020] Fig.11 is a top view of an illustrative head mounted device having a support structure configured to support a display and sensors such as a gaze tracker and a front facing camera in accordance with an embodiment.

[0021] Fig.12 is a side view of an illustrative handheld controller with computer-generated display content overlaid thereon in accordance with an embodiment.

[0022] Fig.13 is a side view of an illustrative handheld controller with a tip portion having a computer-generated paint brush overlaid thereon, according to an embodiment.

[0023] Fig.14 is a side view of an illustrative handheld controller with a distal portion having a computer-generated tool head overlaid thereon, according to an embodiment.

[0024] Fig.15 is a graph illustrating exemplary haptic output signals that may be generated to provide different textures to a user when interacting with a handheld controller according to an embodiment.

[0025] Fig.16 is a side view of an illustrative haptic output device, such as a linear resonant actuator, according to an embodiment.

[0026] Fig.17 is a graph of an exemplary drive signal for a linear resonant actuator according to an embodiment. DETAILED DESCRIPTION

[0027] An electronic device configured to be held in the user's hand can be used to collect user input and provide output to the user. For example, an electronic device configured to control one or more other electronic devices (which is sometimes referred to as a controller, a handheld controller, or a handheld input device) can be used to collect user input and supply output. For example, a handheld controller may include an inertial measurement unit with an accelerometer for collecting information about controller motion (such as swiping motion, waving motion, writing motion, drawing motion, shaking motion, rotation, etc.), and may include a wireless communication circuit for communicating with external equipment (such as a head-mounted device), may include tracking features (such as active or passive visual markers that can be tracked using optical sensors in external electronic devices), may include input devices (such as touch sensors, force sensors, buttons, knobs, wheels, etc.), may include sensors for collecting information about the handheld controller, the user's hand interacting with the controller, and the surrounding environment. The handheld controller may include a tactile output device that provides tactile output to the user's hand, and may include other output components such as one or more speakers.

[0028] One or more handheld controllers may collect user input from a user. A user may use a handheld controller to control a virtual reality or mixed reality device (e.g., a head-mounted device such as glasses, goggles, a helmet, or other device with a display). During operation, the handheld controller may collect user input, such as information about the interaction between the handheld controller and the surrounding environment, the interaction between the user's fingers or hands and the surrounding environment, and the interaction associated with the virtual content displayed for the user. The user input may be used to control the visual output on the display (e.g., a head-mounted display, a computer display, etc.). The handheld controller may be used to provide corresponding tactile outputs to the user's fingers. The tactile output may be used, for example, to provide a desired sensation (e.g., texture, weight, torque, push, pull, etc.) to the user's fingers when the user uses the handheld controller to interact with a real or virtual object. The tactile output may also be used to generate braking, provide local or global tactile feedback in response to user input supplied to the handheld controller, and / or provide other tactile effects.

[0029] The handheld controllers may be held in one or both hands of a user. The user may use the handheld controllers to interact with any suitable electronic equipment. For example, a user may use one or more handheld controllers to interact with a virtual reality or mixed reality system (e.g., a head mounted device with a display), to supply input to a desktop computer, tablet computer, cellular phone, watch, earbuds, or other accessories, to control household items such as lighting, televisions, thermostats, appliances, etc., or to interact with other electronic equipment.

[0030] Figure 1is a schematic diagram of an illustrative system of the type that may include one or more handheld controllers. Figure 1 As shown, the system 8 may include electronic devices such as a handheld controller 10 and other electronic devices 24. Each handheld controller 10 may be held in the hand of a user. Additional electronic devices in the system 8 (such as device 24) may include devices such as a laptop computer, a computer monitor containing an embedded computer, a tablet computer, a desktop computer (e.g., a display on a stand with an integrated computer processor and other computer circuits), a cellular telephone, a media player or other handheld or portable electronic device, a small device such as a watch device, a hanging device, a head-mounted device such as glasses, goggles, a helmet or other equipment worn on the user's head, or other wearable or miniature devices, a television, a computer display that does not contain an embedded computer, a gaming device, a remote control, a navigation device, an embedded A wearable system (such as a system in which the device is mounted on a kiosk, car, airplane, or other vehicle) or other vehicle, a removable housing for electronic equipment, a strap, wristband, or headband, a removable device cover, a case or bag with straps or other structure to hold and carry electronic equipment and other items, a necklace or armband into which electronic equipment or other items can be inserted, a purse, sleeve, pocket, or other structure, a portion of a chair, sofa, or other seating (e.g., a cushion or other seating structure), a garment or other wearable item (e.g., a hat, belt, wristband, headband, socks, gloves, shirt, pants, etc.), or equipment that performs the functions of two or more of these devices.

[0031] With one illustrative configuration (which may sometimes be described herein as an example), device 10 is a handheld controller having an elongated marker-shaped housing configured to be held within a user's finger, or having another shaped housing configured to rest in a user's hand, and device 24 is a head-mounted device, a cellular telephone, a tablet computer, a laptop computer, a watch device, a device with a speaker, or other electronic device (e.g., a device with a display, audio components, and / or other output components). A handheld controller having a marker-shaped housing may have an elongated housing that spans the width of a user's hand and may be held like a pen, pencil, marker, grip stick, or tool.

[0032] Device 10 and device 24 may include control circuit 12 and control circuit 26. Control circuit 12 and control circuit 26 may include storage and processing circuits for supporting the operation of system 8. Storage and processing circuits may include memories such as non-volatile memories (e.g., flash memory or other electrically programmable read-only memories configured to form solid-state drives), volatile memories (e.g., static or dynamic random access memories), etc. The processing circuits in control circuits 12 and 26 may be used to collect inputs from sensors and other input devices, and may be used to control output devices. The processing circuits may be based on one or more microprocessors, microcontrollers, digital signal processors, baseband processors and other wireless communication circuits, power management units, audio chips, application-specific integrated circuits, etc.

[0033] To support communication between device 10 and device 24 and / or to support communication between equipment in system 8 and external electronic equipment, control circuit 12 may communicate using communication circuit 14 and / or control circuit 26 may communicate using communication circuit 28. Circuit 14 and / or circuit 28 may include an antenna, a radio frequency transceiver circuit, and other wireless communication circuits and / or wired communication circuits. For example, circuit 14 and / or circuit 28 (which may sometimes be referred to as control circuits and / or control and communication circuits) may support two-way wireless communication between device 10 and device 24 via wireless link 38 (e.g., a wireless local area network link, a near field communication link, or other suitable wired or wireless communication link (e.g., link, Link, 60 GHz link or other millimeter wave link, etc.)). Device 10 and device 24 may also include power circuits for transmitting and / or receiving wired and / or wireless power, and may include batteries. In a configuration that supports wireless power transfer between device 10 and device 24, an inductive power transfer coil (as an example) may be used to support in-band wireless communication.

[0034] Devices 10 and 24 may include input-output devices, such as device 16 and device 30. Input-output device 16 and / or input-output device 30 may be used to collect user input, to collect information about the user's surroundings, and / or to provide output to the user. Device 16 may include sensor 18, and device 30 may include sensor 32. Sensors 18 and / or 32 may include force sensors (e.g., strain gauges, capacitive force sensors, resistive force sensors, etc.), audio sensors (such as microphones), touch sensors and / or proximity sensors (such as capacitive sensors), optical sensors (such as optical sensors that emit and detect light), ultrasonic sensors (e.g., ultrasonic sensors for tracking device orientation and position and / or for detecting user input such as finger input), and / or other touch sensors and / or proximity sensors, monochrome and color ambient light sensors, image sensors, sensors for detecting positioning, orientation, and / or motion (e.g., accelerometers, magnetic sensors (such as compass sensors, gyroscopes, and / or sensors) or an inertial measurement unit that includes some or all of these sensors)), muscle activity sensors (EMG) for detecting finger movements, radio frequency sensors, depth sensors (e.g., structured light sensors and / or depth sensors based on stereo imaging devices), optical sensors (such as self-mixing interferometric sensors and light detection and ranging (lidar) sensors that collect time-of-flight measurements), optical sensors (such as visual ranging sensors that use images collected by digital image sensors in cameras to collect positioning and / or orientation information), gaze tracking sensors, visible light and / or infrared cameras with digital image sensors, humidity sensors, moisture content sensors, and / or other sensors. In some arrangements, device 10 and / or device 24 may use sensor 18 and / or sensor 32 and / or other input-output devices 16 and / or input-output devices 30 to collect user input (e.g., buttons may be used to collect button press inputs, touch sensors overlapping a display may be used to collect touch screen inputs, touch pads may be used to collect touch inputs, microphones may be used to collect audio inputs, accelerometers may be used to monitor when a finger contacts an input surface and may therefore be used to collect finger press inputs, etc.). If desired, device 10 and / or device 24 may include a spin button (e.g., a crown mechanism on a watch or other suitable spin button that rotates and optionally can be pressed to select an item of interest). Alphanumeric keys and / or other buttons may be included in device 16 and / or device 30. In some configurations, sensor 18 may include a joystick, a ball, an optical sensor (e.g., a laser that emits light and an image sensor that tracks motion by monitoring and analyzing changes in light spot patterns and other information associated with surfaces illuminated with the emitted light as device 10 moves relative to those surfaces), a fingerprint sensor, and / or other sensing circuits. A radio frequency tracking device may be included in sensor 18 to detect position, orientation, and / or range.Beacons (e.g., radio frequency beacons) can be used to transmit radio frequency signals at different locations in the user's environment (e.g., one or more registered locations in the user's home or office). Devices 10 and / or 24 can analyze radio frequency beacon signals to help determine the location and positioning of devices 10 and / or 24 relative to the beacon. If necessary, devices 10 and / or 24 may include beacons. Frequency strength (received signal strength information), beacon orientation, flight time information, and / or other radio frequency information can be used to determine orientation and positioning information. At some frequencies (e.g., lower frequencies, such as frequencies below 10 GHz), signal strength information can be used, while at other frequencies (e.g., higher frequencies, such as frequencies above 10 GHz), indoor radar solutions can be used. If necessary, in addition to or instead of using radio frequency beacons and / or radio frequency radar technology, light-based beacons, ultrasonic beacons, and / or other beacon devices can be used in system 8.

[0035] Device 16 and / or device 30 may include haptic output device 20 and haptic output device 34. Haptic output device 20 and / or haptic output device 34 may generate motion sensed by a user (e.g., motion sensed by a fingertip of the user). Haptic output device 20 and / or haptic output device 34 may include the following actuators: such as electromagnetic actuators, motors, piezoelectric actuators, electroactive polymer actuators, vibrators, linear actuators (e.g., linear resonant actuators), rotary actuators, actuators of flexibly bendable members, actuator devices that generate and / or control repulsive and / or attractive forces between device 10 and / or device 24 (e.g., components for generating electrostatic repulsive and / or attractive forces, such as electrodes; components for generating ultrasonic outputs, such as ultrasonic transducers; components for generating magnetic interactions, such as electromagnets, permanent magnets, magnetic materials such as iron or ferrites for generating DC and / or AC magnetic fields; and / or other circuits for generating repulsive and / or attractive forces between device 10 and / or device 24). In some cases, the actuators used to generate forces in device 10 can be used to exert sensations on the user's fingers (e.g., the sensation of weight, texture, pull, push, torque, etc.) and / or otherwise interact directly with the user's fingers. In other cases, these components can be used to interact with each other (e.g., by using electromagnets to generate dynamically adjustable electromagnetic repulsive and / or attractive forces between a pair of devices 10 and / or between device 10 and device 24).

[0036] If desired, input-output device 16 and / or input-output device 30 may include other devices 22 and / or device 36, such as a display (e.g., displaying a user image in device 24), status indicators (e.g., light-emitting diodes in device 10 and / or device 24 used as power indicators, and other light-based output devices), speakers and other audio output devices, electromagnets, permanent magnets, structures formed from magnetic materials (e.g., iron rods or other ferromagnetic members attracted to magnets, such as electromagnets and / or permanent magnets), batteries, etc. Device 10 and / or device 24 may also include power transmission and / or reception circuitry configured to transmit and / or receive wired and / or wireless power signals.

[0037] Figure 2 is a perspective view of a user's hand (hand 40) and an exemplary handheld controller 10. Figure 2 As shown, the controller 10 may be an elongated marker-shaped electronic device that fits within a user's hand 40. The elongated shape of the controller 10 allows the hand 40 to hold the controller as if the controller 10 were a pen, pencil, marker, or other writing instrument. In other configurations, the controller 10 may be held in the hand 40 like a stick or baton. In general, the controller 10 may be held in the hand 40 in any suitable manner (e.g., at the end, in the middle, between two, three, four, or all five fingers, with both hands, etc.).

[0038] The user may hold one or more devices 10 at the same time. For example, the user may hold a single device 10 in the user's left hand or right hand. As another example, the user may hold a first device 10 in the user's left hand and a second device 10 in the user's right hand. An arrangement in which multiple devices 10 are held in one hand may also be used. A configuration in which the device 10 has a body held in the user's hand is sometimes described herein as an example.

[0039] Control circuitry 12 (and, if desired, communications circuitry 14 and / or input-output devices 16) may be contained entirely within device 10 (e.g., within housing 54) and / or may include circuitry located in an external structure (e.g., in an external electronic device such as device 24, a console, a storage box, etc.).

[0040] In general, electronic components such as control circuitry 12, communication circuitry 14, and / or input-output devices 16 (e.g., sensors 18, haptic output devices 20, and / or other devices 22) may be mounted at any suitable location within controller housing 54 and / or at any suitable location on a surface of the controller housing.

[0041] like Figure 2As shown, the housing 54 may have an elongated marker shape, an elongated tube shape, an elongated columnar shape, and / or any other elongated shape. The housing 54, which may sometimes be referred to as a housing, a body, or a box, may be formed of plastic, glass, ceramic, fiber composite material, metal (e.g., stainless steel, aluminum, etc.), fabric, other suitable materials, or any combination of two or more of these materials. The housing 54 may be formed using an integral configuration, in which a portion or all of the housing 54 is machined or molded into a single structure, or may be formed using multiple structures (e.g., an internal frame structure, one or more structures forming an external housing surface, etc.). The housing 54 may form a housing wall, an end portion, and / or an internal support structure for the device 10. The housing 54 may have a length L between 140 mm and 150 mm, between 130 mm and 160 mm, between 100 mm and 200 mm, between 120 mm and 160 mm, greater than 180 mm, less than 180 mm, or any other suitable length. The diameter D of the housing 54 may be between 12 mm and 14 mm, between 10 mm and 15 mm, between 11 mm and 16 mm, between 15 mm and 20 mm, between 18 mm and 25 mm, greater than 25 mm, less than 25 mm, or any other suitable diameter.

[0042] The housing 54 may have one or more curved surfaces and one or more planar surfaces. Figure 2 In the illustrative example of the device 10, the device 10 has a curved surface C wrapped around a first portion of the device 10 and a flat surface F extending along a second portion of the device 10. If desired, the flat surface F can be located on a first side of the device 10 and the curved surface C can be located on an opposite second side of the device 10. The curved surface C and the flat surface F are wrapped around the device 10 to form an elongated tubular shape that surrounds an elongated interior space for housing internal components such as the control circuit 12, the communication circuit 14, and the input-output device 16. The housing 54 can have an elongated shaft portion, such as an axis B, extending between a first end portion and a second end portion, such as an end portion T1 located at a first end of the device 10 and an end portion T2 located at an opposite second end of the device 10. One or both of the housing end portions T1 and T2 can be removed from the main elongated axis B between the end portions T1 and T2.

[0043] Ultrasonic sensors, optical sensors, inertial measurement units, touch sensors such as capacitive touch sensor electrodes, strain gauges and other force sensors, radio frequency sensors and / or other sensors may be used to collect sensor measurements indicating activity of device 10 and / or hand 40 holding device 10.

[0044] In some configurations, controller position, movement, and orientation may be monitored using sensors installed in external electronic equipment (e.g., in a computer or other desktop device, in a head-mounted device or other wearable device, and / or in other electronic devices 24 separate from the device 10). For example, optical sensors (such as image sensors separate from the device 10) may be used to monitor the devices 10 to determine their position, movement, and / or orientation. If desired, the device 10 may include passive optical alignment features and / or active optical alignment features to help the image sensor in the device 24 track the position, orientation, and / or movement of the device 10. For example, the device 10 may include a light emitting device. The light emitting device may include a light emitting diode, a laser (e.g., a laser diode, a vertical cavity surface emitting laser, etc.), or other light source, and may operate at visible wavelengths, ultraviolet wavelengths, and / or infrared wavelengths. The light emitting devices may be arranged in an asymmetrical pattern on housing 44 and may emit light that is detected by an image sensor, depth sensor, and / or other light-based tracking sensor circuit in device 24 (e.g., a head-mounted device, a desktop computer, a stand-alone camera-based monitoring system, and / or other electrical equipment having an image sensor or other tracking sensor circuit). By processing the received patterned emitted light, device 24 is able to determine the location, orientation, and / or motion of device 10. If desired, the light emitting devices may be removable and / or customizable (e.g., a user may customize the location and type of light emitting devices).

[0045] Tracking involving extrapolation from known body part orientations (e.g., finger orientations) to generate orientation information at other body parts (e.g., wrist and / or arm orientations estimated using inverse kinematics) may also be performed. If desired, visual ranging sensors may be included in device 10. These sensors may include image sensors that collect frames of image data of the environment of device 10, and may be used to measure the location, orientation, and / or motion of frames from the image data. If desired, lidar, ultrasonic sensors oriented in multiple directions, radio frequency tracking sensors, and / or other controller tracking arrangements may be used. In some arrangements, user inputs for controlling system 8 may include both user inputs to controller 10 and other user inputs (e.g., user eye gaze inputs, user voice inputs, etc.). For example, when controlling device 10 and / or device 24 in system 8, gaze tracking information (such as the gaze point of the user measured with a gaze tracker) may be fused with the controller input of controller 10. A user may, for example, gaze at an object of interest while device 10 uses one or more sensors in sensors 18 (e.g., accelerometers, force sensors, touch sensors, etc.) to collect information, such as tap input (tap input in which a user taps on device 10 with one or more fingers, tap input in which device 10 taps a desktop or other external surface or object, and / or any other tap input that results in a measurable force and / or accelerometer output from device 10), double-click input, force input, controller gestures (tapping, swiping, turning, shaking, writing, drawing, coloring, carving, gaming and / or other gestures performed using device 10, gestures performed on external surfaces using device 10, gestures performed on external objects using device 10, gestures for interacting with virtual objects, mid-air gestures performed using controller 10, etc.), drag and drop operations associated with objects selected using delayed gaze or other gaze point input, and the like. Controller input from controller 10 to system 8 may include information about the orientation, position and / or movement of a finger relative to controller 10, may include information about the force with which a finger presses against the surface of controller 10 (e.g., force information), may include information about the force with which controller 10 presses against an object or external surface (e.g., the force with which an end portion such as end portion T1 presses against an external surface), may include controller pointing input (e.g., the direction in which controller 10 is pointing) (which controller pointing input may be collected using sensor 18 in device 10 and / or a radio frequency sensor in other sensors), and / or may include other controller inputs.

[0046] By associating user input from a first device in the device 10 with user input from a second device in the device 10 and / or by otherwise analyzing controller sensor input, multi-device input may be detected and used to manipulate virtual objects or take other actions in the system 8. For example, consider using a tap gesture with the device 10 to select a virtual object associated with the user's current gaze point. Once a virtual object has been selected based on the direction of the user's gaze point (or controller pointing direction input) and based on the tap gesture input or other user input, additional user input collected using one or more devices 10 may be used to rotate and / or otherwise manipulate the virtual object. For example, information about controller movement (e.g., rotational movement) may be collected using an internal measurement unit or other sensor 18 in the device 10, and the rotation input may be used to rotate the selected object. In some cases, an object may be selected based on a gaze point (e.g., when it is detected that the user's gaze point is pointing at an object), and after selection, object properties (e.g., virtual object properties such as virtual object appearance and / or real-world object properties such as operational settings of a real-world device) may be adjusted (e.g., rotating the virtual object, etc.) using strain gauge input, touch sensor input, controller orientation input.

[0047] If desired, gestures with device 10, such as air gestures (three-dimensional gestures), may involve additional inputs. For example, a user may control system 8 using hybrid gestures that involve movement of device 10 through the air (e.g., an air gesture component) and also involve contact between device 10 and one or more fingers of hand 40. For example, an inertial measurement unit in device 10 and / or a camera in device 24 may detect user movement of device 10 through the air (e.g., to trace a path), while sensors 18 in device 10 (such as two-dimensional touch sensors, force sensors, or other sensors 18) detect force inputs, touch inputs, or other inputs associated with contact with device 10.

[0048] Sensors in device 10 may, for example, measure the force with which a user moves device 10 relative to a surface (e.g., in a direction perpendicular to the surface) and / or the force with which a user moves device 10 along a surface (e.g., shear force in a direction parallel to the surface). The direction of movement of device 10 may also be measured by force sensors and / or other sensors 18 in device 10.

[0049] Information collected using sensors 18, such as force sensor input collected using force sensors, motion data collected using motion sensors (e.g., pointing input, rotation, etc.), position information indicating the position of controller 10, touch input collected using touch sensors, and other user input may be used to control external equipment such as device 24. For example, control circuitry 12 may send control signals to device 24 that include instructions to select a user interface element, instructions to scroll displayed content, instructions to select a different input function for controller 10 (e.g., to switch from using controller 10 as a drawing or writing tool to using controller 10 as a pointing device or game piece), instructions to draw a line or type a word on a display in device 24, instructions to adjust an operational setting of device 24, instructions to manipulate displayed content on device 24, and / or instructions to take any other suitable action with device 24. These control signals may be sent in addition to or in lieu of providing feedback to sensor input from device 10 (e.g., tactile output, audio output, adjusting an operational setting of device 10, etc.).

[0050] exist Figure 2 In an exemplary configuration of , device 10 includes touch sensor 42. Touch sensor 42 may be formed by an array of capacitive touch sensor electrodes, such as electrodes 46, that overlaps one or more surfaces of housing 54 (such as curved surface C, flat surface F, and / or surfaces on end portions T1 and T2). Touch sensor 42 may be configured to detect swipes, taps, multi-touch inputs, squeeze inputs, and / or other touch inputs. In some arrangements, touch sensor 42 is formed by a one-dimensional or two-dimensional array of capacitive electrodes 46. In some arrangements, touch sensor 42 may be a strain gauge that detects squeeze inputs to housing 54 (e.g., when a user squeezes or pinches device 10 between the user's fingers). Touch sensor 42 may be used to capture touch inputs, such as inputs from direct contact and / or close proximity with different fingers of a user or other external objects. In Figure 2In the example of , touch sensor 42 overlaps touch input area 44 on curved surface C of device 10. If desired, additional touch input may be collected in adjacent areas, such as flat surface F of housing 54. If desired, touch sensor 42 may include other types of touch sensing technologies, such as optical touch sensors, acoustic-based touch sensors, and the like. Touch sensor 42 may span length L of device 10, may span only partially along length L of device 10, may cover some or all of curved surface C, may cover some or all of flat surface F, and / or may cover some or all of end portions T1 and T2. If desired, touch sensor 42 may be illuminated, may overlap a display (e.g., to form a touch-sensitive display area on device 10), may overlap an indicator or textured surface, and / or may otherwise be visually or tactilely distinct from surrounding non-touch-sensitive portions of housing 54, if desired.

[0051] In addition to or in lieu of touch sensor 42, device 10 may include one or more other user input devices, such as user input device 48. User input device 48 may be a mechanical input device such as a depressible button, a rotary knob, a rotary wheel, a rocker switch, a slider, or other mechanical input device, a force sensor such as a strain gauge or other force sensor, an optical sensor such as a proximity sensor, a touch sensor such as a capacitive, acoustic, or optical touch sensor, and / or any other suitable input device for receiving input from a user's hand 40. If desired, one of haptic output devices 20 (such as an actuator) may be used to provide haptic feedback in response to user input to device 48. For example, input device 48 may be a touch-sensitive button that does not physically move relative to housing 54, but a user may experience a localized button click sensation from the tactile output provided by actuator 20 that overlaps device 48.

[0052] Haptic output devices 20 may be located in any suitable position within housing 54. In one exemplary arrangement, one or more haptic output devices 20 may be located at each end of axis B, such as at one or both of end portions T1 and T2. Haptic output devices 20 may be configured to provide local haptic feedback and / or global haptic feedback. Local haptic feedback may be more prominent in a particular location of housing 54 relative to other portions of housing 54 (e.g., local haptic feedback may be more prominent at one or both of end portions T1 and T2). Local haptic effects may be achieved by arranging the axis of a linear resonant actuator within housing 54 perpendicular to the longitudinal axis of device 10 (e.g., perpendicular to length L). Haptic output devices 20 may additionally or alternatively provide global haptic feedback that is more prominent across most or all of the length of device 10. To achieve a global haptic effect, the axis of the linear resonant actuator may be arranged in housing 54 to be parallel to the longitudinal axis of device 10 (e.g., parallel to length L).

[0053] In addition to or in lieu of touch sensor 42 and input device 48, device 10 may include one or more sensors at end portions T1 and T2. For example, end portion T1 and / or end portion T2 may be force sensitive. Figure 2 As shown, device 10 may include sensor 52. Sensor 52 may be located at one or both of end portions T1 and T2 and / or may be located elsewhere in device 10, such as at a location along axis B of device 10. Axis B, which may sometimes be referred to as a cylindrical housing, may form an elongated body portion of housing 54 of device 10 that extends between end portions T1 and T2. One or both of end portions T1 and T2 may be removable and may sometimes be referred to as a cap, writing tip, etc. Sensors located at end portions T1 and T2 (such as sensor 52) may include device positioning sensors (e.g., optical flow sensors having a light source that illuminates a portion of a surface contacted by device 10 and having an image sensor configured to determine the position of device 10 on the surface and / or measure movement of the electronic device relative to the surface based on a captured image of the illuminated portion; mechanical positioning sensors, such as encoder wheels that track movement of device 10 on the surface; or other device positioning sensors), force sensors (e.g., one or more strain gauges, piezoelectric force sensors, capacitive force sensors, and / or any other suitable force sensors), optical proximity sensors (such as light emitting diodes and light detectors), cameras (e.g., single-pixel cameras or image sensors having a two-dimensional pixel array), and / or other sensors.

[0054] If desired, power may be wirelessly transferred between device 10 and an external electronic device such as device 24 (e.g., a head mounted device, a wireless charging mat, a storage case, a battery case, a wireless charging puck, or other electronic device). For example, contacts (e.g., metal pads) may be capacitively coupled (without forming an ohmic contact) to allow power to be transferred, and / or power may be transferred using a wireless power transmitter having a coil in device 24 to transmit a wireless power signal to a wireless power receiver having a coil in device 10. Inductive power transfer techniques may be used (e.g., wireless power may be transmitted using one or more wireless power transmission coils in device 24, and the transmitted wireless power signal may be received in a power receiving circuit in device 10 using a power receiving coil such as coil 50). A rectifier in device 10 may be used to convert a received AC wireless power signal from device 24 into DC power for charging a battery in device 10 and / or powering circuits in device 10. In a configuration in which the power receiving circuit of device 10 receives power via a wired connection (eg, using terminals), the power receiving circuit in device 10 may provide the received power to a battery and / or other circuits in device 10 .

[0055] To help align wireless charging coil 50 in device 10 with a wireless charging coil in device 24 and / or otherwise hold device 10 to a power source or other device (e.g., Figure 1 Device 24), device 10 and device 24 may be provided with mating alignment features (e.g., mating protrusions and recesses and / or other interlocking alignment structures (e.g., key and keyhole structures that allow device 10 and / or device 24 to interlock when engaged by twisting or other locking movements), magnets (or ferromagnetic elements such as iron bars) and / or other alignment structures.

[0056] In configurations where device 10 includes a magnetic attachment structure (e.g., a magnet, a magnetic material that is attracted to a magnet, or other magnetic attachment structure), the magnetic attachment structure may be used to hold device 10 against the interior and / or exterior of device 24. For example, device 24 may be a battery case having a groove or other recessed portion that receives device 10. Magnetic attachment structures in device 24 (e.g., near the groove) and in device 10 may cooperate (magnetically attach) to help secure device 10 within the interior of the case (e.g., without allowing device 10 to rattle excessively within the case). As another example, device 24 may be a head-mounted device (e.g., goggles and / or glasses) or a band or other wearable device. In this type of arrangement, the magnetic attachment structure may hold device 10 against an exterior surface of device 24 (e.g., against a portion of a housing of a pair of goggles or glasses, such as along the frame of a pair of glasses, to a front surface, top surface, or side surface of a pair of goggles, etc.) or within a recess in the housing of device 24. Magnets and other alignment features may be located near the coil 50 or may be located in other portions of the housing 54 .

[0057] Figure 3 is a cross-sectional side view of an illustrative portion of device 10 showing how one or more end portions of device 10 may be removed. Figure 3As shown in , the device 10 may include a housing 54 having an axis B that extends parallel to the longitudinal axis 62 of the device 10. The end portion T1 may be removably attached to the main body portion B using an attachment structure such as an attachment structure 58. The attachment structure 58 may be one or more screws, friction fits, magnetic attachment structures (e.g., magnets, magnetic materials attracted to magnets, or other magnetic attachment structures), clasps, clips, interlocking engagement features, or any other suitable attachment structure. In a configuration where the attachment structure 58 is a screw, the screw may be mounted to an internal support structure, such as a support structure 56 in the main body portion B, and the screw portion 58 may extend from the support structure 56 into the end portion T1. The end portion T1 may have threads that mate with threads on the attachment structure 58. The user may remove the end portion T1 by twisting the end portion T1 relative to the main body portion B. The end portion T1 may be mounted back on the main body portion B, thereby twisting the end portion T1 relative to the main body portion B rotated in the direction 60. In configurations where tip portion T1 includes sensor 52 (such as a force sensor forming a touch-sensitive tip on device 10), a user may be able to replace the force-sensitive tip in the event of damage by removing tip portion T1 and replacing it with a new tip portion.

[0058] Figure 4 , Figure 5 and Figure 6 Exemplary shapes for device 10 and different forms of input devices included in device 10 are shown. Figure 4 In the example of , housing 54 has a pill-shaped cross-section having opposing first and second planar surfaces F joined by upper and lower curved surfaces. If desired, one or more openings such as opening 70 may be formed on one or both ends of housing 54 to form a connector port (for sending and / or receiving data signals, power signals, ground signals, etc.), an audio port (e.g., one or more openings through which sound is transmitted to a microphone in device 10, one or more openings through which sound is emitted from a speaker in device 10, and / or an opening forming an audio jack for receiving an audio cable), a window for a sensor in device 10 (such as an optical sensor), or other openings.

[0059] exist Figure 4In an example of , device 10 includes an input device, such as a rotating scroll wheel 64. Wheel 64 may be mounted in an opening (such as opening 72) of housing 54. Wheel 64 may be configured to rotate about axis 68 (e.g., an axis parallel to the longitudinal axis of device 10) in direction 66. Control circuit 12 may be configured to detect the rotation of wheel 64 and may take appropriate action based on the rotation of wheel 64. This may include, for example, adjusting one or more settings or operating modes of device 10, selecting a virtual end for device 10 (e.g., scrolling through different types of tools that device 10 is using in a virtual setting, such as a paint brush, pencil, pen or other writing instrument, styling tool, etc.), sending a control signal to an external electronic device such as device 24 (e.g., to scroll through content on a display of device 24, select an option being displayed on a display of device 24, etc.), and / or other actions.

[0060] exist Figure 5 In the example of Figure 4 The housing 54 may have a pill-shaped cross-section having opposing first and second flat surfaces F joined by an upper curved surface and a lower curved surface. The device 10 includes an input device, such as a rotating scroll wheel 74. The wheel 74 may be accessible through a first opening and a second opening. For example, the housing 54 may have a first opening located on a first side of the device 10 (e.g., in one of the curved surfaces of the housing 54) and a second opening located on a second side of the device 10 (e.g., in an opposing curved surface of the housing 54). The wheel 74 may be configured to rotate about an axis 78 (e.g., an axis perpendicular to the longitudinal axis of the device 10) in a direction 76. The control circuit 12 may be configured to detect the rotation of the wheel 74 and may take appropriate action based on the rotation of the wheel 74 (e.g., by adjusting one or more settings or operating modes of the device 10, by selecting a virtual end for the device 10, by sending a control signal to an external electronic device such as the device 24 to scroll the content on the display of the device 24, select an option being displayed on the display of the device 24, and / or other actions).

[0061] exist Figure 6In the example of FIG. 5 , device 10 includes an input device, such as a rotating scroll wheel 80. Wheel 80 may be accessible through an opening in housing 54 and may be configured to rotate about an axis 84 (e.g., an axis perpendicular to the longitudinal axis of device 10) in a direction 82. Control circuitry 12 may be configured to detect the rotation of wheel 80 and may take appropriate action based on the rotation of wheel 80 (e.g., by adjusting one or more settings or operating modes of device 10, by selecting a virtual end for device 10, by sending a control signal to an external electronic device such as device 24 (e.g., by adjusting one or more settings or operating modes of device 10, by selecting a virtual end for device 10, by sending a control signal to an external electronic device such as device 24 to scroll content on a display of device 24, select an option being displayed on a display of device 24, and / or other actions).

[0062] Figure 7 and Figure 8 An exemplary arrangement of the device 10 is shown, wherein the device 10 includes a first detachable portion and a second detachable portion forming a first controller and a second controller. Figure 7 As shown in FIG, the device 10 may include a first controller 10A and a second controller 10B. Figure 7 In the configuration of , the controllers 10A and 10B are connected and cooperate with each other. Figure 8 In the configuration of , controllers 10A and 10B are separated from each other and can be used independently to control external equipment such as device 24.

[0063] Controllers 10A and 10B may be coupled together using interlocking engagement features, screws, press fit connections, magnets, magnetic materials attracted to magnets, other magnetic attachment structures, and / or other attachment structures. Figure 8 , for example, controller 10A and controller 10B have mating engagement features such as protrusion 88 and opening 90. Protrusion 88 on controller 10A may be configured to mate with corresponding opening 90 on controller 10B, and protrusion 88 on controller 10B may be configured to mate with corresponding opening 90 on controller 10A.

[0064] If desired, each detachable piece of device 10, such as controller 10A and controller 10B, may have a separate input device. For example, controller 10A may have input device 86A for receiving user input, and controller 10B may have input device 86B for receiving user input. Input devices 86A and 86B may include one or more buttons, scroll wheels, touch sensors, switches, etc. This may allow more than one user to use device 10 (e.g., a first user may use controller 10A to control an external device, and a second user may use controller 10B to control the external device). This may also allow a single user to use a controller in each hand (e.g., controller 10A may be held in the user's left hand, and controller 10B may be held in the user's right hand).

[0065] If desired, each component of device 10, such as controllers 10A and 10B, may have separate circuits such as separate control circuits 12, communication circuits 14, and input-output devices 16. In other arrangements, some of the circuits of device 10 may be located in one controller, such as controller 10A, and not in controller 10B (or vice versa). If desired, the input-output capabilities of one controller may be shared with another controller. For example, a wireless control circuit of a controller, such as controller 10A, may collect user input from another controller, such as controller 10B, and may send corresponding control signals to external equipment. Button press inputs, touch inputs, force inputs, or pointing inputs received by controller 10A may be used to control the operational settings of controller 10B (as an example).

[0066] like Fig. 9As shown in , external equipment such as electronic device 24 in system 8 may include sensors, such as one or more cameras 92 (e.g., visible light cameras, infrared cameras, etc.). For example, electronic device 24 may be a head-mounted device such as augmented reality (mixed reality) or virtual reality goggles (or glasses, helmets, or other head-mounted support structures). Visual markers such as marker 96 may be placed on device 10. Marker 96 may be, for example, a passive visual marker such as a barcode, a cross, a reflector, or other visually recognizable pattern, and the marker may be applied to any suitable location of device 10. If desired, marker 96 may include an active visual marker formed by a light-emitting component (e.g., a visual light-emitting diode and / or an infrared light-emitting diode modulated with a recognizable modulation code) detected using a camera such as camera 92. When a user interacts with a computer or other equipment in system 8, marker 96 may help inform system 8 of the location of controller 10. If desired, device 10 may include an optical sensor, such as sensor 94 in end portion T1. Optical sensor 94 may be a single-pixel camera or a two-dimensional array of pixels forming an image sensor. Sensor 94 may be configured to capture images of the environment, which may be used by control circuitry 12 in device 10 and / or control circuitry 26 in device 24 to help track the position of device 10. This may be useful in scenarios where, for example, hand 40 obstructs visual marker 96 on device 10.

[0067] Visual markers 96 and / or an inertial measurement unit (such as inertial measurement unit 98 (e.g., accelerometer, compass, and / or gyroscope)) on device 10 may be used to track the position of device 10 relative to device 24 and / or relative to an external object (such as surface 100). At the same time, system 8 may display associated visual content to the user (e.g., using a display on device 24). The user may provide device 10 with (e.g., for Figure 2 force input by the force sensor 52 in the force-sensitive end portion T1, motion input detected by the motion sensor 98 (e.g., aerial gestures, pointing gestures, rotations, etc.), taps, shear force input, (e.g., for Figure 2 The touch sensor 42) touch input and other inputs are used to interact with the displayed visual content.

[0068] For example, during operation of system 8, information about the position of device 10 relative to device 24 and / or surface 100 may be collected by control circuitry 12 in device 10 or by control circuitry 26 of device 24 (e.g., a head mounted device, a computer, a cellular phone, or other electronic device) while monitoring device 10 for force input, gesture input (e.g., tap, three-dimensional air gesture, pointing input, writing or drawing input, etc.), touch input, and / or any other user input indicating that a user has selected (e.g., highlighted), moved, or otherwise manipulated a displayed visual element and / or provided a command to system 8. For example, a user may make an air gesture with device 10, such as swiping device 10 to the left to move visual content to the left. System 8 may detect a left-hand swipe gesture using an inertial measurement unit in device 10, and may move a visual element presented to the user using a display in device 24 in response to the left-hand swipe gesture. For another example, a user may select a visual element of device 10 in the user's field of view by tapping the element and / or pointing to the element of device 10. The user may draw, paint, or otherwise move device 10 along surface 100 to produce a corresponding drawing, painting, or other visual output on the display of device 24 .

[0069] In this way, the control circuit 12 in the device 10 and / or the control circuit 26 in the device 24 can allow the user to manipulate the visual elements that the user is viewing (e.g., virtual reality content or other visual content presented using a head-mounted device such as augmented reality goggles or other devices 24 with a display). If desired, a camera such as the camera 92 can face the user's eyes (e.g., the camera 92 or other visual tracking equipment can form part of a gaze tracking system). The camera and / or other circuits of the gaze tracking system can monitor the direction in which the user is viewing real-world objects and visual content. For example, when the user is interacting with virtual content presented by the device 24 and when the user is holding the controller 10 in the hand 40, the camera can be used to monitor the gaze point (gaze direction) of the user's eyes. The control circuit 12 in the device 10 and / or the control circuit 26 in the device 24 can measure the amount of time that the user's gaze stays in a particular position, and the gaze point information can be used to determine when to select a virtual object. A virtual object may also be selected when it is determined that the user is viewing a particular object (e.g., by analyzing gaze point information) and when it is determined that the user has made a voice command, finger input, button press input, or other user input to select the particular object being viewed. Gaze point information may also be used during drag and drop operations (e.g., to move a virtual object based on the movement of the gaze point from one location to another in the scene).

[0070] As an example, consider Fig.10. In this example, device 24 has a housing in which a gaze tracker 106 has been mounted for monitoring a user's eyes 110. Device 24 may include a display, such as display 108. Display 108 may be configured to display an image to a user. The image may include one or more objects (e.g., visual items), such as object 102. Control circuitry in device 24 may use gaze tracker 106 to determine a direction 112 in which a user is looking at display 108 or other objects. Using direction 112 and / or other information from gaze tracker 106 and / or other sensors (e.g., depth sensors and / or other sensors that determine the distance of a user from device 24), device 24 may determine the location of a user's gaze point 104 on display 108. For example, device 24 may determine whether a user is currently looking at a virtual object, such as object 102 on display 108.

[0071] Another exemplary system with gaze tracking is Fig.11 In Fig.11 In the example of FIG. 1 , device 24 is a head-mounted device having a head-mounted support structure 114 (sometimes referred to as a housing) configured to be worn on a user's head. A rear-facing gaze tracking system 106 may monitor the user's eyes 110 to determine the direction 112 of the user's gaze. Additional sensors (e.g., a depth sensor 116) may be used to determine the position of objects (such as objects) in the user's field of view. Fig.11 102). The device 24 may determine when the user's gaze point 104 coincides with the object 102.

[0072] Fig.10 and Fig.11The arrangement of the type shown in allows the user to interact with real-world content and computer-generated (virtual) content. For example, the user can select the object by pointing the gaze point 104 to the object of interest (e.g., up to a predetermined dwell time and / or until an associated user input such as a finger input is received to confirm the selection). Using other equipment in the device 10 and / or system 8, the user can perform operations on the selected object. For example, the two-dimensional touch input collected by the touch sensor 42, the force input collected by the sensor 52, the tap input collected by the accelerometer in the device 10, the motion input collected by the motion sensor 98 and / or the positioning tracking circuit (such as the camera 92, the camera 94 and / or the visual marker 86) or the other input collected by the other sensor 18 can be used to manipulate the object selected by the delayed gaze point or other selection action. Examples of virtual object manipulations that can be performed based on the two-dimensional touch input and / or other sensor inputs include object translation, rotation, resizing operations, changes in other visual characteristics (such as color, texture, brightness level and / or contrast settings, etc.).

[0073] Real-world objects may also be manipulated. These objects may include, for example, real-world devices such as electronic systems in a home or office, electronic devices such as portable electronic devices and / or other electronic equipment, computers, home automation systems, lighting, heating and ventilation systems, blinds, door locks, security cameras, thermostats, audio systems, audio-visual equipment such as televisions, set-top boxes, voice assistant speakers, and / or other electronic equipment (e.g., devices that include components of circuits such as device 24). Examples of real-life object manipulations that may be performed on a selected object include: adjusting the brightness of a light bulb (part of a wireless lighting system), adjusting the temperature of a thermostat, adjusting the operation of a computer, adjusting a television (e.g., changing channels, adjusting volume, changing video and / or audio sources, selecting tracks and video clips to play, etc.), adjusting speaker volume, skipping tracks, etc.

[0074] If desired, an object may be selected by detecting when device 10 is pointed at an object of interest (e.g., by tracking the position of the object and / or device 10 using a camera in device 24 or device 10, and determining the orientation and pointing direction of device 10 using an inertial measurement unit or other orientation sensor in device 10, and / or by using radio frequency sensors and / or using a camera to track the position and orientation of device 10 using optical tracking elements on device 10). Relative position determination and object selection may be performed using radio frequency sensors (e.g., IEEE ultra-wideband sensors) for detecting the orientation and position of device 10 and determining the range of an object, etc., and / or using other sensors 18.

[0075] As a first example, consider a scenario where object 102 is a computer-generated icon. In this case, after aligning gaze point 104 to overlap with the computer-generated icon and thereby selecting the icon for further action, the user may utilize controller 10 and / or other input components in system 8 to supply a command directing system 8 to begin an associated operation in system 8. As an example, if the icon is an email icon, system 8 may launch an email program on device 24 upon receiving user input to device 10.

[0076] In a second example, object 102 is a real-world object, such as a non-electronic inanimate object (e.g., a real-world object represented by a user's head when device 24 is worn on the user's head). Fig.11 In response to detecting that the user's gaze point 104 is directed toward object 102 and in response to receiving input to controller 10, device 24 may generate a virtual object that overlaps all or part of object 102 in the user's field of view. Other operations may include enlarging a portion of object 102, changing the color or texture of object 102, adding an outline around object 102, adding a graphical element aligned with object 102, and / or taking other suitable actions.

[0077] In a third example, object 102 is a real-world object including a circuit. Object 102 may be, for example, a wireless speaker or other electronic device 24. In response to detecting that the user's gaze point 104 is directed to object 102 and in response to receiving a user input for device 10, device 24 may adjust the output volume of the speaker. If the object coincident with gaze point 104 is a device such as a television, the channel of the television may be changed in response to the user input for device 10. In this way, a user may interact with electronic devices around the user's home or office or in other environments simply by gazing at an object and coordinating this gaze point selection to supply additional input for device 10. Gaze point dwell time, blinking, and other eye activities may also be used as user input.

[0078] If desired, device 24 may be used to overlay computer-generated content onto or near device 10. Fig.12 , for example, a user may wear head mounted device 24 while holding device 10. Head mounted device may overlay computer generated display content, such as display content 118, onto device 10. Display content 118 may, for example, include an array of virtual keyboard keys. A user may select a key by providing touch input, force input, motion input, or other user input to device 10 in a location that overlaps with the virtual keyboard key being selected. For example, Fig.12, some of the displayed content, such as displayed content 118M, may overlap device 10. The user may then select a keyboard key from display content 118M by tapping, hovering, gazing, or providing other user input to a desired virtual key within the row of displayed content 118M. If desired, the user may apply a touch or force input to touch sensor 42 to select or manipulate displayed content 118 (e.g., to act as a shift key). To scroll to a different row so that a different set of keys overlaps device 10, the user may rotate device 10 in directions 122 and 124, which may cause displayed content 118 to move based on the rotation direction of device 10. If desired, sensors in device 10 and / or cameras in device 24 may track the position of the user's finger relative to device 10, and may manipulate displayed content 118 accordingly. For example, if finger 40B is hovering in position 120C, a key in the top row may be selected, or the top row of keys in display 118 may be moved downward to overlap device 10 so that a user may select one of the keys from the row by touching or tapping device 10. If finger 40A is hovering in position 120B, a key in the bottom row may be selected, or the bottom row of virtual keys in display 118 may be moved upward to overlap device 10 so that a user may select one of the keys from the row by touching or tapping device 10. Camera 92 of device 24 and / or sensor 18 in device 10 may be used to monitor the finger position (e.g., position 120A, 120B, 120C, 120D, etc.) relative to device 10 so that appropriate action may be taken with respect to display 118.

[0079] If desired, display content may be overlaid onto device 10 to indicate what type of input functionality device 10 is providing to an external device such as device 24. For example, if device 10 is used to provide virtual drawing input while a display in device 24 shows what a user is drawing, the display of device 24 may overlay brush head 126 onto the end of device 10, such as Fig.13 If the device 10 is used to provide virtual styling input, and the display in the device 24 shows what the user is styling, the display of the device 24 can overlay the styling tool 128 onto the end of the device 10, as shown in FIG. Fig.14 . These examples are merely illustrative. Other computer-generated display content such as other writing instruments, steering wheels, buttons, knobs, levers, and / or any other suitable virtual content may be overlaid on device 10 while using device 10 to provide input to an external device such as device 24.

[0080] If desired, device 10 may provide tactile output when device 10 is being used to control external equipment. For example, when a user is "writing" with device 10 by moving the tip of device 10 across a surface, tactile output may be provided based on the texture of the surface being written and / or based on the writing instrument currently selected for device 10. If desired, different surfaces and / or different input modes for device 10 may produce different tactile outputs. Fig.15 1 is a graph showing an exemplary drive signal D that has been plotted as a function of time t. As an example, when device 10 is being used in a pen input mode (e.g., where device 10 is used to create pen-style writing on an external display), control circuitry in device 10 may supply a first drive signal D having a relatively high amplitude and frequency during time 130. When device 10 is switched to a different mode such as a gaming mode (e.g., where device 10 is being used as a tool in a game) during time 132, a different texture or other tactile output may be supplied to the user's hand using tactile output component 20 in device 10. As an example, during time 132, a lower frequency and lower amplitude drive signal D may be used to control the tactile output component in device 10. Thus, when device 10 is used for a first input function, the user will feel a first texture or other feedback, and when device 10 is used for a second input function, the user will feel a second texture or other feedback. If desired, other haptic effects, such as haptic outputs that convey shapes and / or rounded edges, effects associated with compliant structures, braking, force feedback that simulates resistance to movement, clicking simulates depression and / or release of a button with a physical click feel, and / or other haptic effects. A corresponding visual effect may be provided from a display of device 24.

[0081] Fig.16 is a diagram of an exemplary haptic output device (such as a linear resonant actuator) that may be included in the haptic output device 20 of the controller 10. Fig.16In the example of , the linear resonant actuator 232 has a magnet 228. The magnet 228 may include a permanent magnet and / or an electromagnet. The support structure 226 may be formed of metal, polymer, and / or other materials. A first magnet in the magnet 228, such as magnet MAG2 (e.g., a permanent magnet), may be attached to the support structure 226. A second magnet in the magnet 228, such as magnet MAG1 (e.g., an electromagnet), may be coupled to the support structure 226 by a mechanical system (e.g., see spring 230) that allows the magnet MAG1 to move relative to the magnet MAG2 and exhibit resonance. The linear resonant actuator 232 may be driven by applying an AC drive signal to an electromagnet in the magnet 228 (e.g., magnet MAG2). When driven with a waveform characterized by a frequency at or near the resonant frequency of the actuator 232, the actuator 232 may exhibit enhanced vibration and thus an enhanced tactile output for the user of the device 10. Linear resonant actuator 232 may be mounted in any suitable location of apparatus 10 (eg, within body portion B, end portion T1 , end portion T2 , etc.).

[0082] A tactile output device such as linear resonant actuator 232 may be driven using any suitable drive signal. Exemplary drive signals that may be used are shown in FIG. Fig.17 In Fig.17 In the graph of FIG. 1 , drive signal amplitude AM is plotted versus time t for two exemplary drive signals. Fig.17 The exemplary drive signal may be repeated for multiple periods TP (e.g., at a repetition rate of 75 Hz, greater than 75 Hz, or less than 75 Hz). The total duration of the drive signal applied to the linear resonant actuator 232 is equal to the total duration of the desired tactile output (e.g., at least 0.2 s, at least 0.5 s, at least 1 s, less than 500 s, less than 50 s, less than 5 s, less than 0.8 s, etc.). As shown in the exemplary drive waveform 234, within each period TP, the linear resonant actuator 232 may be driven by a periodic oscillating waveform that decays within a number of oscillations. The frequency of the oscillations in this waveform may be selected to coincide with the resonant frequency of the linear resonant actuator.

[0083] The asymmetry of the oscillations within each period TP can impart directionality to the tactile effect experienced by the user. For example, waveform 234 may impart a sensation of force on finger 40 in a given direction, while waveform 236, which is the complement of waveform 234, may impart a sensation of force on finger 40 in a direction opposite to the given direction (as an example). Tactile output having frequency components in the range of 50 Hz to 300 Hz may be well suited for detection by a human (e.g., finger 40), but other frequency components may be present in the drive signal applied to linear resonant actuator 232 if desired. In some arrangements, there may be a tradeoff between directional sensation and vibration sensation (i.e., a drive signal that is asymmetric or otherwise configured to enhance the user's perception of a directional force on finger 40 may tend to reduce the user's perception that finger 40 is vibrating, and vice versa). Such as Fig.17 The drive signals 234 and 236 may be configured to provide a desired mixture of directional and vibration sensations (e.g., by changing the shape of the decay envelope of the drive signal, by changing the oscillation frequency of the drive signal within each period TP, by changing the leading edge slope and / or trailing edge slope of the oscillations in the drive signal, by changing the degree of asymmetry within each oscillation and / or within each period TP, etc.).

[0084] As described above, one aspect of the present technology is to collect and use information, such as sensor information. The present disclosure contemplates that, in some instances, these collected data may include personal information data that uniquely identifies or can be used to contact or locate a specific person. Such personal information data may include demographic data, location-based data, phone numbers, email addresses, twitter IDs, home addresses, data or records related to the user's health or fitness level (e.g., vital sign measurements, medication information, exercise information), date of birth, eyeglass prescription, username, password, biometric information, or any other identifying information or personal information.

[0085] The present disclosure recognizes that the use of such personal information in the present technology can be used to benefit users. For example, the personal information data can be used to deliver targeted content that users are more interested in. Therefore, the use of such personal information data enables users to have planned control over the content delivered. In addition, the present disclosure also anticipates other uses of personal information data that benefit users. For example, health and fitness data can be used to provide insights into the user's overall health status, or can be used as positive feedback to individuals who use technology to pursue health goals.

[0086] The disclosure anticipates that entities responsible for the collection, analysis, disclosure, transmission, storage or other uses of such personal information data will comply with sound privacy policies and / or privacy measures. Specifically, such entities should implement and adhere to the use of privacy policies and measures that are recognized as meeting or exceeding the industry or government requirements for maintaining the privacy and security of personal information data. Such policies should be easy for users to access and should be updated as changes in the collection and / or use of data occur. Personal information from users should be collected for legal and reasonable entity purposes and should not be shared or sold outside these legal purposes. In addition, such collection / sharing should be carried out after receiving the user's informed consent. In addition, such entities should consider taking any necessary steps to protect and safeguard access to such personal information data, and ensure that other entities with access to personal information data comply with the privacy policies and procedures of other entities. In addition, such entities can subject themselves to third-party assessments to prove that they comply with widely accepted privacy policies and practices. In addition, policies and practices should be adapted to specific types of personal information data collected and / or accessed, and to applicable laws and standards including considerations of special jurisdictions. For example, in the United States, the collection or access of certain health data may be governed by federal and / or state laws such as the Insurance Portability and Accountability Act (HIPAA), while health data in other countries may be subject to other regulations and policies and should be handled accordingly. Therefore, different privacy measures should be advocated for different types of personal data in each country.

[0087] Regardless of the foregoing, the present disclosure also contemplates implementation schemes in which users selectively block the use or access of personal information data. That is, the present disclosure contemplates that hardware elements and / or software elements may be provided to prevent or block access to such personal information data. For example, the technology of the present invention may be configured to allow users to choose to "opt in" or "opt out" at any time during or after registration for a service to participate in the collection of personal information data. In another example, a user may choose not to provide certain types of user data. In yet another example, a user may choose to limit the length of time that user-specific data is maintained. In addition to providing "opt-in" and "opt-out" options, the present disclosure also contemplates providing notifications related to access or use of personal information. For example, a user may be notified that their personal information data will be accessed when downloading an application ("app"), and then the user may be reminded again before the personal information data is accessed by the app.

[0088] In addition, it is the intention of the present disclosure that personal information data should be managed and processed in a manner that minimizes the risk of unintentional or unauthorized access or use. Once the data is no longer needed, the risk can be minimized by limiting the collection of data and deleting the data. In addition, and when applicable, including in certain health-related applications, data de-identification can be used to protect the privacy of users. Where appropriate, de-identification can be facilitated by removing specific identifiers (e.g., date of birth, etc.), controlling the amount or characteristics of stored data (e.g., collecting location data at the city level rather than the address level), controlling how the data is stored (e.g., aggregating data across users), and / or other methods.

[0089] Therefore, while the present disclosure broadly covers the use of personal information data to implement one or more of the various disclosed embodiments, the present disclosure also contemplates that various embodiments may be implemented without access to such personal information data. That is, various embodiments of the present technology will not fail to function properly due to the lack of all or part of such personal information data.

[0090] Physical environment: The physical environment refers to the physical world that people can sense and / or interact with without the help of electronic systems. A physical environment, such as a physical park, includes physical objects, such as physical trees, physical buildings, and physical people. People can directly sense and / or interact with the physical environment, such as through vision, touch, hearing, taste, and smell.

[0091] Computer Generated Reality: In contrast, a computer generated reality (CGR) environment refers to a fully or partially simulated environment that people perceive and / or interact with via an electronic system. In CGR, a subset of a person's physical movements or a representation thereof is tracked, and in response, one or more features of one or more virtual objects simulated in the CGR environment are adjusted in a manner that complies with at least one physical law. For example, a CGR system can detect a person's head rotation, and in response, adjust the graphical content and sound field presented to the person in a manner similar to the way such views and sounds change in a physical environment. In some cases (e.g., for accessibility reasons), adjustments to the characteristics of virtual objects in a CGR environment can be made in response to a representation of physical movement (e.g., a voice command). People can sense and / or interact with CGR objects using any of their senses, including vision, hearing, touch, taste, and smell. For example, a person can sense and / or interact with an audio object that creates a 3D or spatial audio environment that provides a perception of a point audio source in 3D space. As another example, an audio object can enable audio transparency, which selectively introduces ambient sounds from the physical environment with or without computer-generated audio. In some CGR environments, a person can sense and / or interact only with an audio object. Examples of CGR include virtual reality and mixed reality.

[0092] Virtual Reality: A virtual reality (VR) environment refers to a simulated environment designed to be based entirely on computer-generated sensory input to one or more senses. A VR environment includes a plurality of virtual objects that a person can sense and / or interact with. For example, trees, buildings, and computer-generated images representing avatars of people are examples of virtual objects. A person can sense and / or interact with virtual objects in a VR environment through a simulation of the person's presence within the computer-generated environment and / or through a simulation of a subset of the person's physical movement within the computer-generated environment.

[0093] Mixed Reality: In contrast to VR environments, which are designed to be based entirely on computer-generated sensory input, a mixed reality (MR) environment refers to a simulated environment designed to include sensory input from the physical environment, or representations thereof, in addition to computer-generated sensory input (e.g., virtual objects). On the virtual continuum, a mixed reality environment is anything between a fully physical environment at one end and a virtual reality environment at the other end, but not including both ends. In some MR environments, computer-generated sensory input can respond to changes in sensory input from the physical environment. In addition, some electronic systems used to render MR environments can track position and / or orientation relative to the physical environment to enable virtual objects to interact with real objects (i.e., physical items from the physical environment, or representations thereof). For example, the system can cause movement so that virtual trees appear stationary relative to the physical ground. Examples of mixed reality include augmented reality and augmented virtuality. Augmented Reality: An augmented reality (AR) environment refers to a simulated environment in which one or more virtual objects are superimposed on a physical environment or a representation of a physical environment. For example, an electronic system used to render an AR environment may have a transparent or semi-transparent display through which a person can directly view the physical environment. The system can be configured to present virtual objects on a transparent or translucent display so that people use the system to perceive virtual objects superimposed on a physical environment. Alternatively, the system can have an opaque display and one or more imaging sensors that capture images or videos of the physical environment, which are representations of the physical environment. The system combines the image or video with the virtual object and presents the composition on an opaque display. People use the system to indirectly view the physical environment via an image or video of the physical environment and perceive the virtual objects superimposed on the physical environment. As used herein, the video of the physical environment displayed on the opaque display is referred to as "transmitted video", meaning that the system uses one or more image sensors to capture images of the physical environment and uses those images when presenting the AR environment on the opaque display. Further alternatively, the system can have a projection system that projects virtual objects into the physical environment, such as as a hologram or on a physical surface, so that people use the system to perceive virtual objects superimposed on the physical environment. An augmented reality environment also refers to a simulated environment in which a representation of the physical environment is converted by computer-generated sensory information. For example, in providing pass-through video, the system can transform one or more sensor images to impose a selected perspective (e.g., viewpoint) that is different from the perspective captured by the imaging sensor. For another example, the representation of the physical environment can be transformed by graphically modifying (e.g., enlarging) a portion thereof, such that the modified portion can be a representative but not true version of the original captured image. For another example, the representation of the physical environment can be transformed by graphically eliminating or blurring a portion thereof.Augmented Virtual: An augmented virtual (AV) environment refers to a simulated environment in which a virtual environment or a computer-generated environment incorporates one or more sensory inputs from the physical environment. The sensory input may be a representation of one or more characteristics of the physical environment. For example, an AV park may have virtual trees and virtual buildings, but the faces of people are realistically reproduced from images taken of physical people. For another example, a virtual object may take the shape or color of a physical item imaged by one or more imaging sensors. For another example, a virtual object may take a shadow that conforms to the positioning of the sun in the physical environment.

[0094] Hardware: There are many different types of electronic systems that enable a person to sense and / or interact with various CGR environments. Examples include head-mounted systems, projection-based systems, heads-up displays (HUDs), vehicle windshields with integrated display capabilities, windows with integrated display capabilities, displays formed as lenses designed to be placed on a person's eyes (e.g., similar to contact lenses), headphones / earpieces, speaker arrays, input systems (e.g., wearable or handheld controllers with or without tactile feedback), smartphones, tablet computers, and desktop / laptop computers. A head-mounted system may have one or more speakers and an integrated opaque display. Alternatively, a head-mounted system may be configured to accept an external opaque display (e.g., a smartphone). A head-mounted system may incorporate one or more imaging sensors for capturing images or video of the physical environment, and / or one or more microphones for capturing audio of the physical environment. Instead of an opaque display, a head-mounted system may have a transparent or translucent display. A transparent or translucent display may have a medium through which light representing the image is directed to a person's eyes. The display may utilize digital light projection, OLED, LED, μLED, liquid crystal on silicon, laser scanning light source, or any combination of these technologies. The medium may be an optical waveguide, a hologram medium, an optical combiner, an optical reflector, or any combination thereof. In one embodiment, a transparent or translucent display may be configured to selectively become opaque. A projection-based system may employ retinal projection technology that projects a graphic image onto a person's retina. The projection system may also be configured to project a virtual object into a physical environment, such as as a hologram or onto a physical surface.

[0095] According to an embodiment, a handheld controller for controlling an electronic device is provided, comprising: a housing having an elongated axis extending between a first end portion and a second end portion; a force sensor located in the first end portion and configured to collect force input; a motion sensor configured to collect motion data; an actuator configured to provide tactile output in response to the force input and the motion data; and a control circuit located in the housing and configured to send a control signal to the electronic device based on the force input and the motion data.

[0096] According to another embodiment, the first end portion is removable from the elongated shaft.

[0097] According to another embodiment, the elongated shaft has a flat surface and a curved surface.

[0098] According to another embodiment, the handheld controller includes buttons located on a flat surface of the elongated shaft.

[0099] According to another embodiment, a handheld controller includes a touch sensor located on a curved surface of the elongated shaft.

[0100] According to another embodiment, a handheld controller includes a power receiving coil configured to receive wireless power.

[0101] According to another embodiment, the actuator includes a linear resonant actuator configured to impart directionality to the tactile output.

[0102] According to another embodiment, the handheld controller includes a scroll wheel that rotates relative to the elongated housing.

[0103] According to another embodiment, the slender housing includes a first housing portion and a second housing portion that can be operated in a first mode and a second mode. In the first mode, the first housing portion and the second housing portion cooperate with each other. In the second mode, the first housing portion and the second housing portion are separated from each other and operate independently.

[0104] According to another embodiment, the control signal includes instructions for selecting a user interface element on a display in the electronic device.

[0105] According to another embodiment, the control signal includes instructions for drawing a line on a display in the electronic device.

[0106] According to another embodiment, the control signal includes instructions for typing a word on a display in the electronic device.

[0107] According to an embodiment, a handheld controller for controlling an electronic device is provided, comprising: a housing having an elongated axis extending between a first end portion and a second end portion; a motion sensor configured to collect motion data; a camera located in the first end portion and configured to capture an image; a touch sensor located on the elongated axis and configured to collect touch input; and a control circuit configured to send a control signal to the electronic device based on the motion data, the image, and the touch input.

[0108] According to another embodiment, the housing has a length between 130 mm and 160 mm and a diameter between 10 mm and 15 mm.

[0109] According to another embodiment, the camera comprises a single pixel camera.

[0110] According to another embodiment, the control signal includes instructions for scrolling content on a display in the electronic device.

[0111] According to an embodiment, a system is provided, comprising: a handheld controller comprising an elongated housing having a force-sensitive end, visual markers located on the elongated housing, and an inertial measurement unit configured to collect motion data; and a head-mounted device comprising a camera configured to capture images of the visual markers, and control circuitry configured to track the position of the handheld controller relative to the head-mounted device based on the images and the motion data.

[0112] According to another embodiment, a head mounted device includes a display configured to overlay computer generated display content onto a handheld controller.

[0113] According to another embodiment, the handheld controller includes additional control circuitry configured to send control signals to the head mounted device in response to the motion data to manipulate the computer generated display content.

[0114] According to another embodiment, the computer-generated display content is selected from the group consisting of: virtual keyboard keys and virtual writing instruments.

[0115] The foregoing is merely illustrative and various modifications may be made to the embodiments described. The foregoing embodiments may be implemented individually or in any combination.

Claims

1. A handheld controller for controlling an electronic device, comprising: a housing having an elongated shaft extending between a first end portion and a second end portion; a force sensor located in the first end portion and configured to collect a force input; a motion sensor configured to collect motion data; an actuator configured to provide a tactile output in response to the force input and the motion data; and A control circuit is located in the housing and is configured to send a control signal to the electronic device based on the force input and the motion data.

2. The handheld controller of claim 1, wherein the first end portion is removable from the elongated shaft.

3. The handheld controller of claim 1, wherein the elongated shaft has a flat surface and a curved surface.

4. The handheld controller of claim 3, further comprising a button located on the flat surface of the elongated shaft.

5. The handheld controller of claim 3, further comprising a touch sensor located on the curved surface of the elongated shaft. 6 . The handheld controller of claim 1 , further comprising a power receiving coil configured to receive wireless power.

7. The handheld controller of claim 1, wherein the actuator comprises a linear resonant actuator configured to impart directionality to the tactile output.

8. The handheld controller of claim 1, further comprising a scroll wheel that rotates relative to the elongated housing.

9. A handheld controller according to claim 1, wherein the slender housing includes a first housing portion and a second housing portion capable of operating in a first mode and a second mode, in which the first housing portion and the second housing portion cooperate with each other, and in the second mode, the first housing portion and the second housing portion are separated from each other and operate independently.

10. The handheld controller of claim 1, wherein the control signal comprises instructions for selecting a user interface element on a display in the electronic device.

11. The handheld controller of claim 1, wherein the control signal comprises instructions for drawing a line on a display in the electronic device.

12. The handheld controller of claim 1, wherein the control signal comprises instructions for typing a word on a display in the electronic device.

13. A handheld controller for controlling an electronic device, comprising: a housing having an elongated shaft extending between a first end portion and a second end portion; a motion sensor configured to collect motion data; a camera located in the first end portion and configured to capture an image; a touch sensor located on the elongated shaft and configured to collect touch input; and A control circuit is configured to send a control signal to the electronic device based on the motion data, the image, and the touch input.

14. The handheld controller of claim 13, wherein the housing has a length of between 130 mm and 160 mm and a diameter of between 10 mm and 15 mm.

15. The handheld controller of claim 13, wherein the camera comprises a single pixel camera.

16. The handheld controller of claim 13, wherein the control signal includes instructions for scrolling content on a display in the electronic device.

17. A system comprising: A handheld controller, comprising: an elongated housing having a force-sensitive end; a visual marker located on the elongated housing; and an inertial measurement unit configured to collect motion data; and A head mounted device, the head mounted device comprising: a camera configured to capture an image of the visual marker; and A control circuit is configured to track a position of the handheld controller relative to the head mounted device based on the image and the motion data.

18. The system of claim 17, wherein the head mounted device comprises a display configured to overlay computer generated display content onto the handheld controller.

19. The system of claim 18, wherein the handheld controller includes additional control circuitry configured to send control signals to the head mounted device in response to the motion data to manipulate the computer generated display content.

20. The system of claim 19, wherein the computer-generated display content is selected from the group consisting of: virtual keyboard keys and virtual writing instruments.

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