Haptic feedback headset

Abstract

A haptic feedback device is described. The haptic feedback device includes a headset (110) conforming to a neurocranium (202) of a user (102) and a haptic processor (113). The headset (110) includes a left haptic actuator and a right haptic actuator (112). The haptic processor (113) is configured to process the input signal and activate the left and right haptic actuators (112) in accordance with the input signal. The left and right haptic actuators (112) are positioned on the headgear (110) to abut the user's neurocranium (202) when the user (102) wears the headgear (110). The left and right haptic actuators (112), when activated by the haptic processor (113), provide haptic feedback to the user via the neurocranium (202).

Description

Background Art

[0001] In many consumer electronics, touch is an underutilized sensory modality. It is mainly deployed on tactile devices, such as handheld computing devices (e.g., mobile phones or handheld gaming devices) and handheld controllers containing tactile actuators. This is partly because the human hand has the highest tactile perception acuity. Although other body positions such as the feet, head, and neck can support good perception of tactile stimuli, these positions are not effectively utilized by tactile devices. Such devices may cause user fatigue or discomfort, or interfere with audio equipment near the tactile device, etc.

[0002] It is with respect to these and other general considerations that the embodiments are described.In addition, although relatively specific problems are discussed, it should be understood that the embodiments should not be limited to solving the specific problems identified in the background. Summary of the invention

[0003] Aspects of the present disclosure are directed to providing tactile feedback.

[0004] In one aspect, a tactile feedback device is provided. The device includes: a headgear that conforms to a user's skull, the headgear including a left tactile actuator and a right tactile actuator; a tactile processor configured to process an input signal and activate the left tactile actuator and the right tactile actuator according to the input signal. The left tactile actuator and the right tactile actuator are positioned on the headgear to abut the user's skull when the user wears the headgear. The left tactile actuator and the right tactile actuator provide tactile feedback to the user via the skull when activated by the tactile processor.

[0005] On the other hand, a tactile feedback device is provided. The tactile feedback device includes an extended reality (XR) head-mounted device having a visual display, a left tactile actuator, and a right tactile actuator. The XR head-mounted device conforms to the user's skull. The device also includes a tactile processor, which is configured to process an input signal and activate the left tactile actuator and the right tactile actuator according to the input signal. The left tactile actuator and the right tactile actuator are positioned on the XR head-mounted device to be adjacent to the user's skull when the user wears the XR head-mounted device. The left tactile actuator and the right tactile actuator provide tactile feedback to the user via the skull when activated by the tactile processor.

[0006] In yet another aspect, a method for providing tactile feedback is provided. The method includes: receiving an input signal corresponding to content provided to a user; processing the input signal to generate an actuation signal for a tactile actuator of a headgear worn by the user, wherein at least some of the tactile actuators abut the left and right sides of the user's skull; and activating the tactile actuators according to the actuation signal and in coordination with the content to provide tactile feedback to the user.

[0007] This Summary is provided to introduce some concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Non-limiting and non-exhaustive examples are described with reference to the following figures.

[0009] Figure 1 A block diagram of an example of a haptic feedback system is shown in accordance with an example embodiment.

[0010] Figure 2A , Figure 2B and Figure 2C A diagram illustrating example locations of haptic actuators for a headgear according to an example embodiment.

[0011] Figure 3A , Figure 3B and Figure 3C A schematic diagram showing an example headgear and head mounted device for a user according to an example embodiment is shown.

[0012] Figure 4 A flow chart of an example method for providing tactile feedback according to an example embodiment is shown.

[0013] Figure 5 is a block diagram illustrating example physical components of a computing device with which aspects of the present disclosure may be practiced.

[0014] Figure 6 and Figure 7 is a simplified block diagram of a mobile computing device with which aspects of the present disclosure may be practiced. DETAILED DESCRIPTION

[0015] In the following detailed description, reference is made to the accompanying drawings which form a part of the specification, in which specific embodiments or examples are shown. These aspects may be combined, other aspects may be utilized, and structural changes may be made without departing from the present disclosure. The embodiments may be practiced as methods, systems, or devices. Therefore, the embodiments may take the form of hardware implementations, complete software implementations, or implementations combining software and hardware aspects. Therefore, the following detailed description should not be considered restrictive, and the scope of the present disclosure is defined by the appended claims and their equivalents.

[0016] The present disclosure describes various examples of a headgear with a tactile actuator for providing tactile feedback to a user. The headgear conforms to the user's skull, for example, the lower or upper rear of the user's skull, one or more sides of the user's skull, the upper front of the user's skull, or other suitable locations. The tactile actuator can be located on the left and right sides of the user's skull and can be activated in response to a tactile processor. The tactile processor can process suitable input signals, such as tactile input signals, audio signals, or video signals, and activate the tactile actuator according to the input signals. In the case where the tactile actuator is located on opposite sides of the user's skull, the tactile processor can activate the tactile actuator to create a "stereoscopic" effect with left and right channel tactile feedback. In some examples, the tactile processor can cause the tactile feedback intensity to flow between the tactile actuators, such as from left to center (e.g., both the left tactile actuator and the right tactile actuator) to right. In other additional examples, the haptic processor can coordinate with other haptic actuators external to the headgear, such as in hand controllers, knee sensors, or foot sensors.

[0017] This and many other embodiments of haptic feedback systems, headgear, head-mounted devices, and methods are described herein. For example, Figure 1 A block diagram of an example of a haptic feedback system 100 according to an example embodiment is shown. The haptic feedback system 100 can be used by a user 102 during a user session, where the user wears a haptic feedback device having a headgear 110 with haptic actuators 112. In various examples, the user session can be a virtual reality (VR) session (including video see-through), an augmented reality (AR) session (including optical see-through), a content consumption session (e.g., watching a video, listening to music, playing a game), or other suitable user session.

[0018] The tactile actuator 112 can include one or more of a voice coil motor (VCM), an electrotactile device, a linear resonant actuator, an eccentric rotating mass device, or other suitable electromechanical devices. In some examples, when the tactile actuator 112 is adjacent to the user 102, the tactile actuator 112 (or a mechanical component therein) moves and / or vibrates to cause tactile feedback to the user 102.

[0019] The headgear 110 also includes a haptic processor 113 configured to process input signals related to the user session and activate the haptic actuator 112 according to the input signals. For example, the haptic processor 113 can generate an actuation signal for one, two or more haptic actuators 112. Therefore, the haptic actuator 112 provides haptic feedback to the user 102 when activated by the haptic processor 113 according to the actuation signal. The haptic feedback can be provided to the user 102 to confirm the user's simulated button press (e.g., in VR or AR), enhance the viewing experience (e.g., add vibrations to a car crash in a movie), enhance the listening experience (e.g., add vibrations to bass or kick drum sounds), provide feedback for actions performed by the user 102 (e.g., add vibrations in time with footsteps or climbing movements), or other suitable scenarios. In some examples, the intensity of the haptic feedback is fixed for all events. In other examples, different intensities of haptic feedback are used for different events (e.g., high intensity for footsteps and low intensity for button presses). In other examples, the intensity of the haptic feedback is based on other criteria, such as the state of the user, the action performed by the user, the user's heart rate or sweat level, etc. In one such example, in response to an indication that the user is experiencing cyber-sickness, a higher intensity level of haptic feedback is used.

[0020] In general, the headband 110 is configured to conform to the skull of the user 102. For example, the headband 110 can be formed to wrap around the skull or back of the head of the user 102. In some examples, at least a portion of the headband 110 is formed of a flexible or semi-flexible material (e.g., foam, rubber) to conform to the skull. In some examples, the headband 110 is configured to removably engage a head mounted device 120, such as a VR head mounted device or an AR head mounted device. In this way, the headband 110 provides an optional upgrade to the head mounted device 120, adding tactile feedback to the existing visual display and / or speakers of the head mounted device 120, but can still be removed to reduce weight and improve the comfort of wearing the head mounted device 120. In other examples, the headband 110 is integral with the head mounted device 120 and is not removable. Although not shown, the headgear 110 may include straps, bands, harnesses, or other suitable components configured to hold the headgear 110 on the head of the user 102 (e.g., as a head-mounted device) and / or the head-mounted device 120.

[0021] The headgear 110 includes two, three, or more haptic actuators 112. Generally, the headgear 110 includes a left haptic actuator 112 and a right haptic actuator on the headgear 110 that are positioned adjacent to the user's skull when the user 102 wears the headgear 110. Advantageously, the haptic actuators 112 can be provided along at least the left and right sides of the skull to provide haptic feedback for left, right, and center (e.g., both left and right) feedback. In some examples, the headgear 110 includes additional haptic actuators 112 located at other locations of the skull (e.g., front, top).

[0022] As described above, the haptic processor 113 processes input signals associated with the user session and activates the haptic actuator 112 based on the input signals. In general, the haptic processor 113 generates corresponding actuation signals for the haptic actuator 112 to activate and / or deactivate the haptic actuator 112, change the intensity of the haptic feedback, etc. In some examples, the haptic processor 113 uses an amplifier (not shown) to provide a suitable actuation signal to the haptic actuator 112. The input signal may indicate one or more of the duration of a pulse, a stream of pulses from various actuators, simultaneous activation of multiple actuators, etc. In some examples, actuation is a function of the human perceptual envelope, and the input signal identifies a predetermined actuation function or pattern corresponding to various tactile illusions (such as jumping, flowing, directionality, etc.).

[0023] In various examples, the input signal is a tactile input signal, an audio signal, a video signal, or a combination thereof. The tactile input signal can be a signal intended for tactile feedback and can be received from an audio processor 114 or a source device 130 (e.g., a content source), as described below. The audio signal can be an audio channel associated with the content consumed by the user 102, such as an audio channel for a movie being watched, a game being played, or an audio channel captured by a microphone of the head mounted device 120. The video signal can be a video channel associated with the content. In some examples, the tactile processor 113 generates an actuation signal based on the video signal, for example, causing vibration of the tactile actuator 112 when a flash (e.g., corresponding to a lightning or fireworks display) or other suitable characteristics of the video signal appears in the video signal.

[0024] In some examples, the headgear 110 also includes an audio processor 114 configured to receive an audio signal. As described above, the audio signal may be an audio channel associated with content consumed by the user 102, but the audio processor 114 may be configured to more efficiently process the audio signal, for example by having a dedicated audio decoder, a digital signal processor, and / or a filter. In one example, the audio signal is a multi-channel audio signal, such as a stereo audio signal or a surround sound audio signal. Thus, the audio processor 114 may include a stereo processor, a Dolby Digital processor, a Digital Theater System (DTS) processor, or other suitable audio processor. In one example, the audio processor 114 extracts a low frequency effects (LFE) channel from the audio signal and provides the LFE channel to the haptic processor 113. The audio processor 114 may additionally process and / or filter the LFE channel before providing it to the haptic processor 113. For example, the audio processor 114 may filter high frequency components or components outside the desired operating window of the haptic actuator 112. In some examples, filtering and / or removing components of the audio signal reduces battery consumption of the haptic actuator 112 and may also protect the haptic actuator 112 from adverse conditions (e.g., signal overload, excessive vibration).

[0025] In some examples, the audio processor 114 extracts a low frequency portion of the audio signal and provides the extracted low frequency portion to the haptic processor 113. For example, the audio processor 114 can use a suitable filter, such as a low pass filter (not shown), to extract and provide the haptic processor 113 with an input signal having a suitable frequency range for the haptic actuator 112, such as 20 Hz to 350 Hz or 20 Hz to 150 Hz. In some examples, the audio processor 114 extracts the left low frequency portion and the right low frequency portion from the left channel and the right channel of a multi-channel audio signal (e.g., left front, right front, left surround, right surround) as input signals.

[0026] In other examples, audio processor 114 may generate an input signal for haptic processor 113 based on a change in audio signal characteristics. For example, when a change in the amplitude or signal power of an audio signal reaches a predetermined threshold, audio processor 114 may generate a suitable input signal so that haptic feedback is provided even when the audio signal does not have a low-frequency portion (e.g., below 400 Hz) when, for example, a sudden sound (e.g., lightning or fireworks) is heard.

[0027] Although in Figure 1In the example of , the haptic processor 113 is shown as part of the headgear 110, but in other examples, the haptic processor 113 can be located outside the headgear 110. For example, the haptic processor 113 can be located on the source device 130 or on a separate module, such as a computing device carried by the user 102 when the user 102 uses the headgear 112 or the user 102's smartphone. The haptic processor can be implemented as a software module, a hardware module, or a combination thereof. Similarly, the audio processor 114 is shown as part of the headgear 110, but in other examples can be located outside the headgear 110. The haptic processor 113 and the audio processor 114 can be co-located (e.g., at the source device 130 or other computing device), or can be located separately from each other. In some examples, one or both of the haptic processor 113 and the audio processor 114 are located in a cloud computing environment, in which the haptic processor and the audio processor receive input signals from the source device 130 and activate the haptic actuator 112, for example, by sending an actuation signal to the haptic actuator 112.

[0028] When the haptic processor 113 and / or the audio processor 114 are located on the headgear 110, the headgear 110 can also include a communication processor 116 to facilitate sending and / or receiving signals, such as input signals of the haptic processor 113 and / or the audio processor 114, actuation signals of the haptic actuator 112 (which is on the headgear 110 and / or external), or other suitable signals. In some examples, the communication processor 116 also facilitates sending and / or receiving other signals, such as audio and / or video signals, to the head mounted device 120. In some examples, the communication processor 116 is configured to coordinate the haptic feedback provided by the left and right haptic actuators of the headgear 110 with the haptic feedback provided by the external haptic actuators, as described below.

[0029] In various examples, the head mounted device 120 may be a VR head mounted device, an AR head mounted device, or an extended reality (XR) head mounted device. The head mounted device 120 may include one or more displays, speakers, processors, memory, attachment devices for engaging the head of the user 102, or other suitable elements. The head mounted device 120 may include one or more buttons or other control inputs, spatial orientation devices, tactile actuators, or other suitable elements. The spatial orientation device may be one or more of an accelerometer, a gyroscope, an inertial measurement unit (IMU), a goniometer, or other suitable devices.

[0030] As described above, the user 102 may wear the headgear 110 during a user session, such as a VR session, an AR session, a content consumption session (e.g., watching a video, listening to music, playing a game), or other suitable user session. The tactile feedback system 100 may also include a source device 130, which is the source of the user session content. In general, the source device 130 may be any suitable type of computing device, such as a smartphone, a personal computer, a laptop, a tablet, a server, a cloud computer or cloud service platform, or other suitable computing device or system. In some examples, the source device 130 is part of a social media platform or service, an image or video sharing platform or service, a cloud gaming platform or service, or provides other suitable applications to the user. The source device 130 may be configured to execute one or more software applications (or "applications") and / or services and / or manage hardware resources (e.g., processors, memory, etc.), for example, which may be used, for example, by the user 102. In some examples, source device 130 is an extended reality (XR) compatible device (e.g., covering VR and AR) that can provide appropriate input to an XR device such as head mounted device 120.

[0031] Source device 130 includes a content processor 132 configured to generate appropriate signals for a user session, such as one or more of a video signal for a video display, an audio signal for a speaker, or a tactile input signal for tactile feedback. As such, content processor 132 may include one or more of a video decoder (or code converter), an audio decoder (or code converter), a digital signal processor, a filter, or other suitable processors. In some examples, content processor 132 includes one or more of a GPU, a CPU, or an AI engine. Source device 130 may include an input / output (I / O) device 134, such as a display (e.g., an LCD or LED display or monitor), a speaker, a keyboard, a mouse, a microphone, a camera, a tactile actuator, a light (e.g., RGB lighting), or other suitable I / O devices. In some examples, audio, video, and / or tactile input signals are provided to two or more of I / O device 134, headgear 110, and / or head-mounted device 120. For example, an audio signal may be provided to a speaker (I / O device 134) to provide audio to user 102, and also provided to audio processor 114 to provide tactile feedback to user 102. As another example, a video signal may be provided to an LCD monitor (I / O device 134) and tactile processor 113 to provide tactile feedback to user 102.

[0032] Source device 130 may also include communication processor 136 that provides audio signals, video signals, and / or tactile input signals to headgear 110 via communication processor 116. In some examples, communication processors 116 and 136 are communicatively coupled via interface 160. In some examples, communication processor 136 and communication processor 116 are configured to communicate using a suitable communication protocol, such as Universal Datagram Protocol (UDP), where communication processor 136 implements a UDP server and communication processor 116 implements a UDP client.

[0033] Interface 160 may include a wired and / or direct connection, for example, using a data bus or suitable cable (e.g., a universal serial bus, a multifunction data port, Ethernet, etc.). In other examples, interface 160 may include one or more networks, such as a local area network (LAN), a wide area network (WAN), an enterprise network, the Internet, etc., and may include one or more of a wired and / or wireless portion. Communication processors 116 and 136 may include at least one wired or wireless network interface that enables communication with each other (or an intermediate device, such as a web server or a database server) via interface 160. Examples of such network interfaces include, but are not limited to, an IEEE 802.11 wireless LAN (WLAN) wireless interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth® wireless interface, a cellular network ... TM interface or near field communication (NFC) interface.

[0034] As described above, the haptic feedback system 100 may include a haptic actuator 112 on the headgear 110, and may also include an external device 150, such as one or more haptic devices 151, haptic device 152, haptic device 153, or other suitable external devices. Figure 1In the example shown, the external device 150 includes hand controllers 151A and 151B, which are worn (e.g., as gloves, rings, or wristbands) and / or held in the left and right hands of the user 102. The external device 150 may also include foot controllers 152A and 152B, which are worn and / or held on the left and right feet (or shoes) of the user 102. The external device 150 may also include knee controllers (or sensors) 153A and 153B, which are worn and / or held on the left and right legs of the user 102, for example, on, below, or near the knees. Other external devices 150 may be worn near the elbows, knees, forearms, etc. of the user 102. In general, the external device 150 may include one or more of buttons or other control inputs, spatial orientation devices, tactile actuators, or other suitable elements. In some examples, external device 150 includes a communication processor, similar to communication processor 116 or 136 , for communicating with source device 130 and / or headgear 110 .

[0035] In some examples, the external device 150 can provide an input signal to the haptic processor 113 via the communication processor 116. In one such example, the input signal corresponds to a button press on the hand controller 151A, a change in direction of the hand controller 151B, detection of footsteps by the foot controller 152A, or other suitable input. In some examples, the haptic processor 113 provides haptic feedback based on the input signal from the external device 150 or the source device 130, and the haptic feedback corresponds to various types of motion, such as walking on grass, hiking (side steps), climbing steps on different materials (stone and carpet), climbing, zip lines, or other motions. Advantageously, these forms of motion can be more easily communicated to the user 102 via the haptic actuator 112 through the haptic feedback of the user's head skull, rather than through the audio or video device (I / O device 134) alone, thereby promoting immersion in the XR environment. In addition, the haptic processor 113 can provide haptic feedback configured for scenes that may cause motion sickness, wherein the haptic feedback reduces the user's perceived intensity of motion sickness.

[0036] The tactile feedback provided to the head of the user 102 can improve the user session by providing confirmation of the actions taken by the user. For example, the tactile processor 113 can be configured to provide tactile feedback via the tactile actuator 112 in response to the following behavior: the user uses their fingers or hands to type on a virtual keyboard (i.e., tactile feedback of the keys), press buttons, or manipulate other virtual (or augmented reality) controls that can be displayed by the head-mounted device 120. In this way, the tactile feedback system 100 can provide a "bare-handed" tactile interaction, in which the user 102 can extend their fingers and hands in a more natural way without having to hold a controller or other physical device. In various examples, the tactile processor 113 can provide appropriate tactile feedback or prompts to signal the start, end, or progress of various tasks, thereby improving the efficiency of bare-hand interactions and the overall user experience. For example, in an XR environment, each time a virtual button is pressed or an item is dragged, the user 102 can feel the click of the confirmation button press on the head.

[0037] exist Figure 1 In the example shown, the content processor 132 generates a content signal 140 for the I / O device, wherein the content signal 140 may include an audio or video signal for driving a speaker, display, etc. of the source device 130. In other examples, the content signal 140 is provided to the head mounted device 120 (e.g., for a display or speaker of the head mounted device 120). The content processor 132 may also provide an input signal 142 to the communication processor 136 for transmission to the head mounted part 110. In some examples, the input signal 142 is the same as the content signal 140 (i.e., the audio and / or video signal). In other examples, the input signal 142 is a dedicated tactile input signal. For example, the input signal 142 may be generated based on the state of the user (e.g., walking, running, squatting, extending the arm, bending the fingers). As one such example, in response to the user stepping to the left, a left tactile input signal is generated that causes tactile feedback on the left side of the head, and in response to the user stepping to the right, a right tactile input signal is generated that causes tactile feedback on the right side of the head. In other examples, similar tactile feedback can be generated corresponding to hand or finger movements, arm movements, etc.

[0038] The communication processor 136 can provide the signal 142 to the communication processor 116 via the interface 160, for example, using the UDP protocol as described above. In various examples, the communication processor 116 provides the signal 142 to the audio processor 114 and / or the haptic processor 113. In some examples, the audio processor 114 processes the signal 142 (e.g., an audio signal) to generate an input signal 144 for the haptic processor 113. In other examples, the signal 142 contains the input signal 144. The haptic processor 113 receives the input signal 144 (or 142) and generates an actuation signal 146 for the haptic actuator 112.

[0039] Figure 2A , Figure 2B and Figure 2C A diagram illustrating example locations of haptic actuators for a headgear 110 according to an example embodiment. Figure 2A shows a left side view of the skull 200 of the user 102, Figure 2B A rear view of the head 250 of the user 102 is shown, and Figure 2C A front view of a head 250 is shown. The skull 200 has facial bones 201 and a cranium 202. The cranium 202 includes a frontal bone 203, left and right parietal bones 204, an occipital bone 206, left and right temporal bones 208, and a sphenoid bone 209. To improve clarity, the ears 210 (left ear 210A, right ear 210B) of the user 102 are also shown.

[0040] In general, the haptic actuators 112 include at least one pair of left and right haptic actuators 112, which are positioned on the headgear 110 to abut the left and right sides of the skull. In one example, the left and right haptic actuators 112 are positioned on the headgear 110 to abut positions 212 (252A, 252B) adjacent to the left and right sides of the occipital bone 206 when the user 102 wears the headgear 110. In another example, the left and right haptic actuators 112 are positioned on the headgear 110 to abut positions 214 adjacent to the left and right temporal bones of the skull, respectively, when the user 102 wears the headgear 110. In yet another example, the left and right haptic actuators 112 are positioned on the headgear 110 to abut positions 216 (256A, 256B) adjacent to the left and right sides of the parietal bone 204. In yet another example, the left and right haptic actuators 112 are positioned at the headgear 110 adjacent to positions 218 (258A, 258B) on the left and right sides of the adjacent frontal bone 203. Although only four such positions of the haptic actuators 112 are described, other positions may be used in place of or in addition to positions 212, 214, 216, and 218.

[0041] The tactile actuator 112 may be located at any suitable location adjacent to the skull 202. In some examples, the location is configured so that the tactile actuator 112 provides vestibular stimulation, thereby affecting the inner ear and sense of balance of the user 102. In some scenarios, tactile feedback that provides vestibular stimulation can reduce the feeling of sensory mismatch (e.g., motion sickness) that can be experienced in a virtual reality environment. In some examples, the location is configured to reduce the shaking of the headgear 110 and / or the head-mounted device 120, for example, using locations 214 or 212, which are more centrally located within the head-mounted device 120 so as to apply less torque that can rotate the head-mounted device 120. In other examples, the locations are configured away from pressure points of the head-mounted device 120 to avoid vibrations that can tend to displace the head-mounted device 120.

[0042] Figure 3A , Figure 3B and Figure 3C A schematic diagram of an example headgear 300 and head mounted device 350 of a user is shown in accordance with an example embodiment. Figure 3A A front view of the headgear 300 is shown, Figure 3B A left side view of the head mounted device 350 with the head mount 300 attached is shown, and Figure 3C A left view of a head mounted device 350 worn by a user 360 is shown. Head mounted device 300 may generally correspond to head mounted device 110 and include a frame 302, a processor module 304, left and right occipital haptic actuators 306A, 306B, and left and right parietal haptic actuators 308A, 308B. Processor module 304 may include one or more of haptic processor 113, audio processor 114, and / or communication processor 116. Processor module 304 may also include a battery module (not shown), a communication and / or charging port (e.g., a USB-C port, not shown), or other suitable components. The left occipital haptic actuator 306A and the right occipital haptic actuator 306B may generally correspond to positions 252A and 252B of the head 250 , while the left parietal haptic actuator 308A and the right parietal haptic actuator 308B may generally correspond to positions 256A and 256B of the head 250 .

[0043] like Figure 3BAs shown, the head mounted device 350 includes a front portion 352, a rear portion 354, and a connecting member 356 connecting the front portion 352 and the rear portion 354. The head mounted device 350 may generally correspond to the head mounted device 120. The frame 302 of the head mounted device 300 is shown to be engaged with the rear portion 354, for example using buckles, Velcro, magnets or other suitable fastening devices. The front portion 352 includes one or more displays (e.g., LCD or LED displays). The display may be an opaque display such as in a VR head mounted device, or a light-transmitting display such as in an AR head mounted device that allows natural light to pass through the front portion 352 to reach the user 360. The head mounted device 350 may also include one or more speakers, spatial orientation devices, processors, batteries, antennas, or other suitable elements in the front portion 352 and / or the rear portion 354. In some examples, the speaker is an external device 358, such as a Bluetooth head mounted device or earpiece.

[0044] Although only one headgear 300 is shown engaged with the head mounted device 350, in some examples, two or more separate headgear may be engaged with the head mounted device 350. For example, a front headgear may engage the front portion 352 and provide a haptic actuator adjacent to the location 218, while a rear headgear may engage the rear portion 354 and provide a haptic actuator adjacent to the locations 212, 214, and / or 216, or other suitable locations. In other additional examples, a single headgear (not shown) is configured to engage both the front portion 352 and the rear portion 354. For example, a single headgear may have multiple haptic actuators for the different locations described above, and may be configured as a skull cap.

[0045] Using multiple haptic actuators 306 and 308 located on opposite sides of the head of the user 360, the headgear 300 can provide improved haptic feedback to the user 360. More specifically, for example, using the left haptic actuator 306A and the right haptic actuator 306B (or the left haptic actuator 308A and the right haptic actuator 308B), the haptic processor 113 of the processor module 304 can activate the haptic actuators 306 to create a “stereoscopic” effect with left and right channel haptic feedback.

[0046] Providing a satisfactory user session in a VR or AR environment can rely on accurate tracking of the head movements of the user 360. For example, when the user 360 rotates their head, the display within the head mounted device 350 should be updated to correspond to the new orientation of the head. In general, one or more spatial orientation devices within the head mounted device 350 provide orientation feedback for these movements and orientation changes, but tactile feedback may introduce noise in some scenarios or otherwise reduce the accuracy of the orientation feedback, thereby reducing the quality of the user session. In some examples, the tactile processor 113 filters a frequency range corresponding to the interference range of the spatial orientation device from the actuation signal generated for the tactile actuator 306 and / or 308. For example, the accelerometer within the head mounted device 350 may have a sampling rate of 60 Hz, so that vibrations (i.e., tactile feedback) within the interference range of 50 Hz to 70 Hz cause the performance of the accelerometer to be reduced and the quality of the user session to be reduced. Therefore, the tactile processor 113 can filter the actuation signal that causes vibrations within the interference range. In some examples, filtering to remove interference is performed on the audio signal by the audio processor 114 before the filtered signal is provided to the haptic processor 113. In other examples, a separate filter is used after the actuation signal is generated.

[0047] When the user session includes audio provided to the user 360 through a speaker, the haptic processor 113 can generate an actuation signal that reduces or avoids interference with the audio through the speaker. As an example, when the audio signal includes a portion having a frequency of 200 Hz, the haptic processor 113 can avoid actuation signals that can cause vibrations at 200 Hz, harmonics of 200 Hz, or other frequencies that can cause undesirable levels of constructive or destructive interference with the 200 Hz audio signal. As another example, the haptic processor 113 can select a haptic actuator for actuation that is located farther from the speaker to reduce interference (e.g., selecting a haptic actuator at position 218 rather than position 214).

[0048] As described above, the haptic processor 113 can be configured to avoid interfering with a speaker or spatial orientation device. In other examples, the haptic processor 113 reduces or avoids interference with other sensors, displays, or components of the head mounted device 350 or the haptic feedback system 100. For example, the haptic processor 113 can avoid interference with a heart rate sensor by filtering the actuation signal within the interference range of the heart rate sensor.

[0049] In some examples, the haptic processor 113 can cause a flow that increases or decreases the intensity of haptic feedback between the haptic actuators, such as from the left haptic actuator to the center (e.g., both the left haptic actuator and the right haptic actuator), and then to the right haptic actuator. For example, during a first time interval, the haptic processor 113 activates the left haptic actuator 306A to have high-intensity feedback, and deactivates the right haptic actuator 306B (i.e., no feedback). During a second time interval after the first time interval, the haptic processor 113 activates the left haptic actuator 306A to have low-intensity feedback, and activates the right haptic actuator 306B to have low-intensity feedback. In a third time interval after the second time interval, the haptic processor 113 deactivates the left haptic actuator 306A (i.e., no feedback) and activates the right haptic actuator 306B to have high-intensity feedback.

[0050] In other examples, the haptic processor 113 can cause the flow of haptic feedback between other haptic actuators of the headgear 300, such as from haptic actuator 306A to haptic actuator 308A, or from haptic actuator 308B to 306A, etc. In still other examples, the haptic processor 113 can cause the flow of haptic feedback in different patterns, such as flow in a circle around the back of the head (i.e., 306A to 306B, 308B to 308A), flow in a circle around the top of the head (i.e., from location 218 to 216).

[0051] In other examples, the haptic processor 113 can coordinate with other haptic actuators external to the headgear 300, such as with haptic actuators in the hand controller 151 and / or the foot controller 152. In these examples, the haptic processor 113 can cause haptic feedback to flow from the headgear 300 to the hand controller 151 and then to the foot controller 152, for example.

[0052] Figure 4 Flowcharts of an example method 400 for providing tactile feedback according to an example embodiment are shown. Unless otherwise indicated, the technical processes shown in these figures will be performed automatically. In any given embodiment, some steps of the process may be repeated, possibly with different parameters or data to operate. The steps in an embodiment may also be performed in different Figure 4 400. The steps may be performed in a sequential order from top to bottom as shown in 400. The steps may be performed serially, in a partially overlapping manner, or completely in parallel. Thus, the order in which the steps of method 400 are performed may vary from one execution of the process to another. Steps may also be omitted, combined, renamed, regrouped, performed on one or more machines, or otherwise deviate from the illustrated flow if the performed process is operable and complies with at least one claim. Figure 4The steps may be performed by headgear 110 (eg, via haptic processor 113, audio processor 114) or other suitable computing device.

[0053] Method 400 begins at step 402. At step 402, an input signal corresponding to content provided to a user is received. For example, input signal 142 or 144 is received by haptic processor 113. In some examples, the content includes one or more of audio content or video content provided to the user via an extended reality (XR) head mounted device. For example, the content can be music, a video, a gaming session, a VR session, an AR session, a video see-through (VST) session, an optical see-through (OST) session, or other content provided (or enhanced) by source device 130 (via content processor 132).

[0054] In step 404, the input signal is processed to generate an actuation signal for a tactile actuator of a headgear worn by a user. At least some of the tactile actuators are adjacent to the left and right sides of the user's skull. For example, the tactile processor 113 generates an actuation signal 146 for the tactile actuator 112, the tactile actuator 306, or the tactile actuator 308. In one example, the input signal is an audio signal from content, and processing the input signal includes extracting a low-frequency portion of the audio signal to generate the actuation signal. In another example, the audio signal is a multi-channel audio signal, and the low-frequency portion includes a low-frequency effect channel of the multi-channel audio signal. In yet another example, the audio signal is a multi-channel audio signal, and extracting the low-frequency portion includes extracting a left low-frequency portion and a right low-frequency portion from a left channel and a right channel of the multi-channel audio signal. In some examples, the actuation signal is configured to provide feedback for the user's actual walking or stepping movement during the VST session, which can reduce motion sickness and improve the user's perception of walking movement. In this way, haptic feedback can provide reassurance to the user when their field of view is indirectly projected through the XR headset.

[0055] At step 406 , the haptic actuator is activated according to the actuation signal and in coordination with the content to provide haptic feedback to the user. For example, the haptic actuator 112 , the haptic actuator 306 , and / or the haptic actuator 308 are activated to provide haptic feedback to the user 102 or 360 .

[0056] In some examples, step 404 includes filtering a frequency range corresponding to an interference range of the spatial orientation device from the actuation signal. For example, as described above, the haptic processor 113 can filter a frequency range corresponding to an accelerometer of the head mounted device 350.

[0057] In some examples, step 404 includes generating an actuation signal to cause a flow of haptic feedback strength between haptic actuators. For example, the haptic processor 113 can cause a flow of increasing or decreasing haptic feedback strength between haptic actuators 112 , 306 , 308 and / or haptic actuators of the external device 150 .

[0058] Figure 5 , Figure 6 and Figure 7 The and associated descriptions provide a discussion of various operating environments in which aspects of the present disclosure may be practiced. Figure 5 , Figure 6 and Figure 7 The devices and systems illustrated and discussed are for purposes of example and explanation and are not limiting of the wide variety of computing device configurations that may be used to practice aspects of the present disclosure as described herein.

[0059] Figure 5 is a block diagram illustrating the physical components (e.g., hardware) of a computing device 500 with which aspects of the present disclosure may be practiced. The computing device components described below may have computer-executable instructions for implementing a haptic feedback application 520 on a computing device (e.g., headmount 110, headmount 120, headmount 300, headmount 350), including computer-executable instructions of the haptic feedback application 520 that may be executed to implement the methods disclosed herein. In a basic configuration, the computing device 500 may include at least one processing unit 502 and a system memory 504. Depending on the configuration and type of the computing device, the system memory 504 may include, but is not limited to, volatile memory (e.g., random access memory), non-volatile memory (e.g., read-only memory), flash memory, or any combination of these memories. The system memory 504 may include an operating system 505 and one or more program modules 506 suitable for running the haptic feedback application 520, such as programs related to the haptic feedback application 520. Figure 1 and one or more components of FIG. 3 , and in particular a haptic processor 521 (eg, corresponding to the haptic processor 113 ), an audio processor 522 (eg, corresponding to the audio processor 114 ), and a communication processor 523 (eg, corresponding to the communication processor 116 ).

[0060] For example, operating system 505 may be adapted to control the operation of computing device 500. In addition, embodiments of the present disclosure may be practiced in conjunction with a graphics library, other operating systems, or any other application, and are not limited to any particular application or system. Figure 5508. The computing device 500 may have additional features or functionality. For example, the computing device 500 may also include additional data storage devices (removable and / or non-removable), such as magnetic disks, optical disks, or tapes. Such additional storage may be Figure 5 , illustrated by a removable storage device 509 and a non-removable storage device 510.

[0061] As described above, a plurality of program modules and data files may be stored in system memory 504. When executed on processing unit 502, program module 506 (e.g., haptic feedback application 520) may perform processes including, but not limited to, aspects as described herein. Other program modules that may be used according to aspects of the present disclosure, particularly program modules for providing haptic feedback, may include haptic processor 521, audio processor 522, and communication processor 523.

[0062] In addition, embodiments of the present disclosure may be implemented in circuits including discrete electronic components, packaged or integrated electronic chips containing logic gates, circuits utilizing microprocessors, or practiced on a single chip containing electronic components or a microprocessor. For example, embodiments of the present disclosure may be practiced via a system on a chip (SOC) wherein Figure 5 Each or many components illustrated in the figure can be integrated into a single integrated circuit. Such SOC devices may include one or more processing units, graphics units, communication units, system virtualization units, and various application functionalities, all of which are integrated (or "burned") into the chip substrate as a single integrated circuit. When operated via the SOC, the functionality described herein regarding the ability to switch protocols for the client can be operated via dedicated logic integrated with other components of the computing device 500 on a single integrated circuit (chip). Embodiments of the present disclosure may also be practiced using other technologies capable of performing logical operations (e.g., AND, OR, and NOT), including but not limited to mechanical, optical, fluid, and quantum technologies. In addition, embodiments of the present disclosure may be practiced in a general-purpose computer or any other circuit or system.

[0063] The computing device 500 may also have one or more input devices 512, such as a keyboard, a mouse, a pen, a sound or voice input device, a touch or sliding input device, etc. Output devices 514, such as a display, a speaker, a printer, etc., may also be included. The above devices are examples, and other devices may be used. The computing device 500 may include one or more communication connections 516 that allow communication with other computing devices 550. Examples of suitable communication connections 516 include, but are not limited to, radio frequency (RF) transmitters, receivers, and / or transceiver circuit devices; universal serial bus (USB), parallel and / or serial ports.

[0064] The term computer-readable medium used herein may include computer storage media. Computer storage media may include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures or program modules. System memory 504, removable storage device 509 and non-removable storage device 510 are all examples of computer storage media (e.g., memory storage). Computer storage media may include RAM, ROM, electrically erasable read-only memory (EEPROM), flash memory or other storage technology, CD-ROM, digital versatile disk (DVD) or other optical storage, cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other manufactured product that can be used to store information and can be accessed by computing device 500. Any such computer storage media may be part of computing device 500. Computer storage media do not include carrier waves or other propagated or modulated data signals.

[0065] Communication media may be embodied by computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and includes any information delivery media. The term "modulated data signal" may describe a signal having one or more characteristics set or changed in a manner that encodes information in the signal. By way of example and not limitation, communication media may include wired media such as a wired network or direct-wired connection, and wireless media such as acoustic wireless media, radio frequency (RF) wireless media, infrared wireless media, and other wireless media.

[0066] Figure 6 and Figure 7 A mobile computing device 600 is illustrated, for example, a mobile phone, a smart phone, a wearable computer (such as a smart watch), a tablet computer, a laptop computer, etc., with which some aspects of the present disclosure can be practiced. In some aspects, the client can be a mobile computing device. Figure 6, illustrates one aspect of a mobile computing device 600 for implementing these aspects. In a basic configuration, the mobile computing device 600 is a handheld computer with input elements and output elements. The mobile computing device 600 typically includes a display 605 and one or more input buttons 610 that allow a user to enter information into the mobile computing device 600. The display 605 of the mobile computing device 600 can also be used as an input device (e.g., a touch screen display). If included, an optional side input element 615 allows additional user input. The side input element 615 can be a rotary switch, a button, or any other type of manual input element. In alternative aspects, the mobile computing device 600 can incorporate more or fewer input elements. For example, in some embodiments, the display 605 may not be a touch screen. In yet another alternative embodiment, the mobile computing device 600 is a portable telephone system, such as a cellular phone. The mobile computing device 600 can also include an optional keyboard 635. The optional keypad 635 can be a physical keypad or a "soft" keypad generated on the touch screen display. In various embodiments, the output elements include a display 605 for showing a graphical user interface (GUI), a visual indicator 620 (e.g., a light emitting diode), and / or an audio transducer 625 (e.g., a speaker). In some aspects, the mobile computing device 600 incorporates a vibration transducer for providing tactile feedback to the user. In yet another aspect, the mobile computing device 600 includes input and / or output ports for sending or receiving signals to or from external devices, such as an audio input (e.g., a microphone jack), an audio output (e.g., a headphone jack), and a video output (e.g., an HDMI port).

[0067] Figure 7 702 is a block diagram illustrating an architecture of one aspect of a mobile computing device. That is, mobile computing device 600 may implement some aspects in conjunction with system (e.g., architecture) 702. In one embodiment, system 702 is implemented as a "smart phone" capable of running one or more applications (e.g., browser, email, calendar, contact manager, messaging client, game, and media client / player). In some aspects, system 702 is integrated as a computing device, such as an integrated personal digital assistant (PDA) and wireless phone.

[0068] One or more application programs 766 may be loaded into the memory 762 and run on or in association with the operating system 764. Examples of application programs include a phone dialer program, an email program, a personal information management (PIM) program, a word processing program, a spreadsheet program, an Internet browser program, a messaging program, and the like. The system 702 also includes non-volatile storage 768 within the memory 762. The non-volatile storage 768 may be used to store permanent information that should not be lost if the system 702 loses power. The application programs 766 may use and store information in the non-volatile storage 768, such as emails or other messages used by an email application, and the like. A synchronization application (not shown) also resides on the system 702 and is programmed to interact with a corresponding synchronization application resident on the host to keep the information stored in the non-volatile storage 768 synchronized with the corresponding information stored at the host.

[0069] System 702 has a power source 770, which can be implemented as one or more batteries. Power source 770 can also include an external power source, such as an AC adapter or a powered docking cradle that replenishes or charges the batteries.

[0070] The system 702 may also include a radio interface layer 772 that performs the functions of transmitting and receiving radio frequency communications. The radio interface layer 772 facilitates wireless connectivity between the system 702 and the "outside world" via a communications carrier or service provider. Transmissions to and from the radio interface layer 772 are performed under the control of the operating system 764. In other words, communications received by the radio interface layer 772 can be disseminated to the application 766 via the operating system 764, and vice versa.

[0071] Visual indicator 720 may be used to provide visual notification, and / or audio interface 774 may be used to provide a visual notification via audio sensor 625 (e.g., Figure 6The audio sensor 625 shown in the figure) generates an auditory notification. In the illustrated embodiment, the visual indicator 720 is a light emitting diode (LED), and the audio transducer 625 can be a speaker. These devices can be directly coupled to the power supply 770 so that when activated, even if the processor 760 and other components may be turned off to save battery power, they remain turned on for the duration indicated by the notification mechanism. The LED can be programmed to remain turned on indefinitely until the user takes action to indicate the power-on state of the device. The audio interface 774 is used to provide an auditory signal to the user and receive an auditory signal from the user. For example, in addition to being coupled to the audio transducer 625, the audio interface 774 can also be coupled to a microphone to receive an auditory input, such as to facilitate a telephone conversation. According to an embodiment of the present disclosure, the microphone can also be used as an audio sensor to facilitate the control of the notification, as described below. The system 702 may also include a video interface 776, which enables the operation of the peripheral device 730 (e.g., an onboard camera) to record still images, video streams, etc.

[0072] The mobile computing device 600 implementing the system 702 may have additional features or functionalities. For example, the mobile computing device 600 may also include additional data storage devices (removable and / or non-removable), such as magnetic disks, optical disks, or tapes. Such additional storage may be stored in a variety of formats, such as memory cards, memory cards, or other storage media. Figure 7 , illustrated by non-volatile storage 768.

[0073] Data / information generated or captured by mobile computing device 600 and stored via system 702 may be stored locally on mobile computing device 600, as described above, or the data may be stored on any number of storage media accessible by the device via radio interface layer 772 or via a wired connection between mobile computing device 600 and a separate computing device associated with mobile computing device 600 (e.g., a server computer in a distributed computing network such as the Internet). It should be understood that such data / information may be accessed via mobile computing device 600 via radio interface layer 772 or via a distributed computing network. Similarly, such data / information may be readily transferred between computing devices for storage and use according to well-known data / information transfer and storage equipment, including electronic mail and collaborative data / information sharing systems.

[0074] It should be understood that Figure 6 and Figure 7 The description is for the purpose of illustrating the methods and systems of the present invention and is not intended to limit the present disclosure to a specific order of steps or a specific combination of hardware or software components.

[0075] The description and illustration of one or more aspects provided in this application are not intended to limit or restrict the scope of the present disclosure in any way. The aspects, examples and details provided in this application are considered to be sufficient to convey ownership and enable others to make and use the best mode of the disclosure claimed. The disclosure claimed should not be interpreted as being limited to any aspect, example or detail provided in this application. Whether it is combined or shown and described individually, various features (structural and methodological) are intended to be selectively included or omitted to produce an embodiment with a specific feature set. The description and illustration of the present application have been provided, and those skilled in the art can envision changes, modifications and alternative aspects that fall within the spirit of the broader aspects of the overall inventive concept embodied in this application, and these changes, modifications and alternative aspects do not depart from the broader scope of the disclosure claimed.

[0076] The use of any and all examples or exemplary language (e.g., "such as") provided herein is intended merely to better illustrate the disclosed embodiments and does not limit the scope of the disclosed embodiments unless otherwise stated. Many modifications and adaptations will be apparent to those of ordinary skill in the art.

Claims

1. A tactile feedback device, comprising: a headgear that conforms to a user's skull, the headgear comprising a left haptic actuator and a right haptic actuator; a haptic processor configured to process an input signal and activate the left haptic actuator and the right haptic actuator according to the input signal; wherein the left haptic actuator and the right haptic actuator are positioned on the headgear to abut the skull of the user when the user wears the headgear; and Wherein the left haptic actuator and the right haptic actuator provide haptic feedback to the user via the skull when activated by the haptic processor.

2. The tactile feedback device according to claim 1, wherein the tactile processor is integrated with the headgear.

3. The tactile feedback device according to claim 1, further comprising: an audio processor configured to receive an audio signal, extract a low-frequency portion of the audio signal, and provide the extracted low-frequency portion of the audio signal as the input signal to the haptic processor; Wherein the haptic processor activates the left haptic actuator and the right haptic actuator based on the extracted low-frequency portion of the audio signal.

4. The tactile feedback device according to claim 1, wherein: The headgear is configured to removably engage an extended reality (XR) head-mounted device; and When the headgear is engaged with the XR head-mounted device and when the user wears the XR head-mounted device, the left haptic actuator and the right haptic actuator are positioned on the headgear adjacent to the skull of the user.

5. The haptic feedback device of claim 1, wherein the left haptic actuator and the right haptic actuator are positioned on the headgear to abut against left and right sides of an occipital bone adjacent to the skull when the user wears the headgear.

6. The haptic feedback device of claim 1, wherein the left haptic actuator and the right haptic actuator are positioned on the headgear to abut against left and right temporal bones, respectively, adjacent to the skull when the user wears the headgear.

7. The tactile feedback device according to claim 1, further comprising: A communication processor is configured to coordinate the haptic feedback provided by the left haptic actuator and the right haptic actuator with haptic feedback provided by an external haptic actuator.

8. A tactile feedback device, comprising: an extended reality (XR) head mounted device having a visual display, a left haptic actuator, and a right haptic actuator, the XR head mounted device conforming to a skull of a user; as well as a haptic processor configured to process an input signal and activate the left haptic actuator and the right haptic actuator according to the input signal; wherein the left haptic actuator and the right haptic actuator are positioned on the XR head mounted device to abut against a skull of the user when the user wears the XR head mounted device; and Wherein the left haptic actuator and the right haptic actuator provide haptic feedback to the user via the skull when activated by the haptic processor.

9. The haptic feedback apparatus of claim 8, wherein the haptic processor is integrated with the XR head mounted device.

10. The tactile feedback device according to claim 8, further comprising an audio processor, the audio processor being configured to receive an audio signal, extract a low-frequency portion of the audio signal, and provide the extracted low-frequency portion of the audio signal as the input signal to the tactile processor; Wherein the haptic processor activates the left haptic actuator and the right haptic actuator based on the extracted low-frequency portion of the audio signal.

11. The haptic feedback apparatus of claim 8, wherein the left haptic actuator and the right haptic actuator are positioned on the XR head mounted device to abut the left and right sides of an occipital bone adjacent to the skull when the user wears the XR head mounted device.

12. The tactile feedback apparatus according to claim 8, wherein the left tactile actuator and the right tactile actuator are positioned on the head mounted device to respectively abut a left temporal bone and a right temporal bone adjacent to the brain skull when the user wears the XR head mounted device.

13. The tactile feedback device according to claim 8, further comprising: one or more external haptic actuators external to the XR head mounted device and adjacent to the user; as well as A communication processor is configured to coordinate the haptic feedback provided by the left haptic actuator and the right haptic actuator with haptic feedback provided by the one or more external haptic actuators.

14. A method for providing tactile feedback, the method comprising: receiving an input signal corresponding to content provided to a user; processing the input signals to generate actuation signals for haptic actuators of a headgear worn by the user, wherein at least some of the haptic actuators abut a left side and a right side of a skull of the user; and The haptic actuator is activated according to the actuation signal and in coordination with the content to provide the haptic feedback to the user.

15. The method of claim 14, wherein the content comprises one or more of audio content or video content provided to the user via an extended reality (XR) head mounted device.

16. The method of claim 14, wherein the input signal is an audio signal from the content, and processing the input signal comprises extracting a low frequency portion of the audio signal to generate the actuation signal.

17. The method of claim 16, wherein the audio signal is a multi-channel audio signal and the low-frequency portion comprises a low-frequency effects channel of the multi-channel audio signal.

18. The method of claim 16, wherein the audio signal is a multi-channel audio signal, and extracting the low frequency portion comprises extracting left and right low frequency portions from left and right channels of the multi-channel audio signal.

19. The method of claim 14, wherein processing the input signal comprises filtering a frequency range from the actuation signal that corresponds to an interference range of a spatial orientation device.

20. The method of claim 14, wherein processing the input signal to generate the actuation signal comprises: The actuation signal is generated to cause a flow of haptic feedback intensity between the haptic actuators.

Images