Method and system for haptic beamforming and haptic effects in handheld controller

Abstract

A handheld controller includes a housing and a first vibration source disposed in the housing and characterized by a first phase. The handheld controller also includes a second vibration source disposed in the housing and characterized by a second phase different from the first phase; and a controller disposed in the housing, coupled to the first vibration source and the second vibration source, and configured to change at least one of the first phase or the second phase.

Description

[0001] This application is a divisional application of Chinese patent application No. 202080034639.5, entitled “Method and System for Haptic Beamforming and Haptic Effects in a Handheld Controller” (filed on May 7, 2020).

[0002] Cross-references to related applications

[0003] This application claims priority to U.S. Provisional Patent Application No. 62 / 846,509, filed May 10, 2019, entitled “Method and System for Haptic Beamforming and Haptic Effects in a Handheld Controller,” the disclosure of which is hereby referred to by reference in its entirety for all purposes. Background Technology

[0004] Modern computing and display technologies have facilitated the development of systems for so-called “virtual reality” (VR) or “augmented reality” (AR) experiences, in which digitally reproduced images or portions thereof are presented to the user in a way that appears or may be perceived as real. VR scenes typically involve the presentation of digital or virtual image information but are opaque to other actual real-world visual inputs; AR scenes typically involve the presentation of digital or virtual image information as an enhancement to the visualization of the actual real world surrounding the user.

[0005] To provide a realistic AR experience, AR systems can be designed to interact with users. For example, multiple users can play ball games with a virtual ball and / or other virtual objects. One user can "catch" the virtual ball and then throw it back to another user. In another embodiment, a handheld controller or totem (e.g., a physical "bat" communicatively coupled to the AR system) can be provided to the first user to hit the virtual ball. In other embodiments, a virtual user interface can be presented to the AR user to allow the user to select one of many options. Users can interact with the system using totems, haptic devices, wearable components, or simply by touching a virtual screen.

[0006] Despite the progress made in these display technologies, there is still a need in the field for improved methods and systems related to augmented reality systems, particularly handheld controllers for AR and VR systems. Summary of the Invention

[0007] This disclosure relates to virtual reality and / or augmented reality imaging and visualization systems. Generally, this disclosure relates to methods and systems related to haptic effects in handheld devices. In some specific embodiments, a phased array transmitter (each with a controllable phase) comprising multiple vibration sources is used to generate coherent constructive and destructive interference modes in a predetermined portion of a handheld controller and produce time-varying isolated vibrations. This disclosure is applicable to haptic effects in a variety of applications, including computer vision and image display systems, including augmented reality systems.

[0008] As an example, vibration can be transmitted from a vibration source through the interior of the handheld controller along several vibration paths to the housing of the handheld controller. In some embodiments, the internal space between the vibration source and the housing is filled with a mechanical structure, such as epoxy resin, which provides a vibration conduction path through the handheld controller. By controlling the vibration and phase of the vibration source in the phased array transmitter, a steerable vibration beam that can be perceived by the user can be generated on the housing, and spatially defined vibrations that can be perceived by the user can be generated on the housing, as a result of modulation of the vibration source disposed inside the handheld controller, selectively generating vibrations in different areas of the handheld controller.

[0009] Therefore, using embodiments of this disclosure, instead of vibrating the entire handheld controller, vibrational energy can be directed outward from the vibration source to the housing or outer shell of the handheld controller, thereby generating localized vibrations, such as vibrations selected and directed to different parts or portions of the housing of the handheld controller. In some embodiments, the internal structure of the handheld controller allows vibrations to travel approximately equally in all directions. In these embodiments, a phased array transmitter is capable of generating a steerable beam that can be felt at any location on the housing. In other embodiments, the housing is divided into multiple vibrating outer surfaces separated by vibration dampers (e.g., including vibration damping material, and multiple structural members for mechanically coupling vibrations from the vibration source to the surface). The vibration source may include a separate vibration source mechanically coupled to a structural member, and thus coupled to each of the multiple vibrating outer surfaces or a phased array transmitter (which generates a steerable beam steered in one direction) to couple the steerable beam to the structural member, and thereby to each of the multiple vibrating outer surfaces.

[0010] In some embodiments, the housing is segmented into multiple vibrating outer surfaces, with vibration dampers disposed between each of these surfaces. Therefore, the ability of vibrations reaching the housing to propagate along the housing from one region to another is limited. Segmentation can be defined by using different materials with different stiffness or hardness, heterogeneous materials, spatial separation with intervening air gaps, etc. Thus, embodiments include implementations where the housing includes vibration-isolated regions capable of vibrating individually in a localized manner. The combination of internal structures (e.g., structural members) and segmented housings (e.g., vibration-isolated regions) can be used in conjunction with one or more vibration sources (including phased array sources) to achieve tactile user experiences unattainable using conventional techniques.

[0011] According to embodiments of this disclosure, a handheld controller is provided. The handheld controller includes a housing, a first vibration source disposed within the housing and characterized by a first phase, and a second vibration source disposed within the housing and characterized by a second phase different from the first phase. The handheld controller also includes a controller disposed within the housing, coupled to the first and second vibration sources, and configured to change at least one of the first or second phases.

[0012] According to another embodiment of this disclosure, a method is provided for operating an array of haptic elements disposed in a handheld controller having a housing. The method includes generating a first vibration using a first vibration source. The first vibration is characterized by a first phase. The method further includes generating a second vibration using a second vibration source. The second vibration is characterized by a second phase different from the first phase. The method further includes generating a combined vibration at an initial position on the housing.

[0013] According to a specific embodiment of this disclosure, a handheld controller is provided. The handheld controller includes a housing having one or more outer surfaces and a plurality of vibrating outer surfaces. The handheld controller also includes a vibration source disposed within the housing, a vibration damping material disposed between each of the plurality of vibrating outer surfaces, and a plurality of structural members. Each of the plurality of structural members mechanically couples one of the plurality of vibrating outer surfaces to the vibration source.

[0014] According to another specific embodiment of this disclosure, a handheld controller is provided. The handheld controller includes a housing comprising a frame and a plurality of vibrating outer surfaces. The handheld controller further includes: a vibration damper disposed between each of the plurality of vibrating outer surfaces; a plurality of vibration sources, each of the plurality of vibration sources being mechanically coupled to one of the plurality of vibrating outer surfaces; and a controller coupled to each of the plurality of vibration sources.

[0015] Compared to conventional techniques, this disclosure offers numerous benefits. For example, embodiments of this disclosure provide methods and systems capable of enhancing control over haptic effects in a handheld controller. For instance, a phased array of one or more vibration sources can be positioned and controlled to emit a steerable beam of vibrational energy that can be used to generate vibrations on predetermined portions of the housing of the handheld controller. This ability to create localized vibrational patterns on the housing of the handheld controller can be used to create haptic effects that are not achievable with previous methods, such as a touch or pressure sensation only in one area of ​​the user's hand, or a propagating sensation that changes the position of the user's hand over a period of time (and may respond to user input). This can also be used to segment different haptic effects for different user experience purposes: vibrations at the controlled bottom might be used for system indications and alarms, while vibrations at the top of the controller, closer to the more sensitive touch receiver in the user's finger, might be transferred to application control; propagated vibrations might be segmented by pattern, one pattern alerting the user to a new email, while another alerts the user to low battery; and even the physical range of the vibration might be used to indicate information to the user with very tight, localized, and weak vibration patterns, reminding the user of something not very urgent (perhaps a 50% battery indicator), while a large vibration pattern across the entire device might alert the user to something very urgent (a 5% battery indicator). These and other embodiments of this disclosure, along with their many advantages and features, are described in more detail below and with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1A A perspective view of a handheld controller according to some embodiments is shown schematically.

[0017] Figure 1B A side view of a handheld controller according to some embodiments is shown schematically.

[0018] Figure 2A A schematic plan view of a handheld controller having multiple tactile areas according to some embodiments is shown.

[0019] Figure 2B A cross-sectional view of a handheld controller including a phased array transmitter, according to some embodiments, is schematically shown.

[0020] Figure 3A A set of three vibration sources that generate a steerable beam at a predetermined angle, according to some embodiments, is schematically shown.

[0021] Figure 3B This schematically illustrates a configuration in a handheld controller according to some embodiments. Figure 3A The diagram shows a set of three vibration sources.

[0022] Figure 3CA standing wave formed on the surface of a handheld controller according to some embodiments is schematically shown.

[0023] Figure 3D A set of four tactile elements in a tetrahedral arrangement according to some embodiments is schematically shown.

[0024] Figure 4 A tactile element having rigid support for a vibration-isolating surface is schematically shown according to some embodiments.

[0025] Figure 5 A pixelated structure with vibration-isolated tactile elements is schematically shown according to some embodiments.

[0026] Figure 6 This is a simplified flowchart illustrating a method for operating an array of haptic elements according to some embodiments. Detailed Implementation

[0027] This disclosure relates to virtual reality and / or augmented reality imaging and visualization systems. Generally, this disclosure relates to methods and systems related to haptic effects in handheld devices. In some specific embodiments, a phased array transmitter is used to generate time-varying, isolated vibrations at a predetermined portion of a handheld controller. This disclosure is applicable to haptic effects in a variety of applications, including computer vision and image display systems, including augmented reality systems.

[0028] As described herein, embodiments of this disclosure utilize a set of vibration sources, also known as tactile elements, arranged in a geometrical relationship relative to each other, such that control of the phase delay between the set of vibration sources can generate a beam of vibrational energy that can be directed to any location on the surface of the handheld controller.

[0029] In augmented reality (AR) systems, the AR system can be designed to interact with the user. As an example, a handheld controller, also known as a totem, can be provided to the user, allowing them to interact with the AR system. The handheld controller can utilize one of several mechanisms to provide feedback, information, direction, etc., to the user. For instance, the user experience can be enhanced by using vibrations of specific parts of the handheld controller in an independent, sequential, or concurrent manner.

[0030] Figure 1A A perspective view of a handheld controller according to some embodiments is schematically shown. Figure 1AAs shown, the handheld controller 100 may include a housing 105 in which electronics, communication units, and one or more vibration sources (not shown) may be housed. The surface of the housing 105 of the handheld controller 100 may be divided to provide individual components, including a touchpad 110, a finger trigger 112, a bumper 114, buttons 116, etc. As described more fully herein, individual components (e.g., the touchpad 110) may be mechanically isolated from other individual components and the housing 105 using a vibration damping material 111. Although illustrated only with respect to the touchpad 110, it should be understood that other individual components may be mechanically isolated using suitable vibration damping materials. In one use case, the user holds the handheld controller 100 with their right hand, positioning their thumb adjacent to button 116 and their index finger adjacent to trigger 112.

[0031] While in some embodiments the handheld controller 100 may be held in the user's hand, it may also be mounted on the user's hand or arm (e.g., as part of a ring, bracelet, or glove worn by the user). In some embodiments, the handheld controller 100 may be a totem, for example, for use in gaming scenarios (e.g., a multi-degree-of-freedom controller) or to provide a rich user experience or allow the user to interact with an AR system in an AR environment. As described herein, the handheld controller 100 integrates haptic effects and is a haptic device.

[0032] The integration of one or more vibration sources with the handheld controller 100 may be accompanied by a battery or other power source that can provide power to the one or more vibration sources, such as a phased array transmitter as discussed more fully in the description below. Furthermore, the handheld controller 100 may include other components, including controllers, communication devices, inertial motion units (IMUs), etc.

[0033] Figure 1B A side view of a handheld controller according to some embodiments is schematically shown. Regarding Figure 1A The provided description is applicable as appropriate. Figure 1B The surface of the housing 105 of the handheld controller 100 includes individual components, including a touchpad 110, a finger trigger 112, a buffer 114, and a button 116. The handheld controller includes an internal frame 130, shown by dashed lines, as it is located inside the housing 105. The frame 130 provides mechanical support for the housing 105 and the individual components of the handheld controller. A vibration source 132 is disposed inside the housing 105 and mechanically coupled to the frame 130 and controlled by a controller 134, which may be a microprocessor coupled to memory, etc. As an example, to actuate the touchpad 110, the vibration source 132 may be actuated by the controller 134 to transmit a vibration as described above. Figure 2B The aforementioned vibrational energy beam, via as about Figure 4 The aforementioned structural components transmit vibrational energy, etc.

[0034] Figure 2A A schematic plan view of a handheld controller having multiple tactile areas according to some embodiments is shown. Figure 2A As shown, the handheld controller 100 includes multiple different outer surfaces, some of which are vibrating and others are fixed. Therefore, tactile effects can be generated on certain areas of the housing (which may be referred to as vibrating areas) independent of other areas of the housing. In the illustrated embodiment, in Figure 1A and Figure 1B The buffer 210 (shown as buffer 114), the left peripheral portion 222, the right peripheral portion 224, the touchpad 212, and the vibrating plate 240 are vibration-isolating outer surfaces isolated from adjacent areas. Also shown are... Figure 1A and Figure 1B Button 214 is shown as button 116. Therefore, as described herein, in some embodiments, the vibration region of the housing designed to transmit vibrations from a vibration source to the user is surrounded by other regions of the housing that isolate the vibration regions from each other. This structure allows for selective control of tactile effects that improve the user experience.

[0035] The number and location of vibrating outer surfaces are not limited to this specific example, and only the vibrating outer surfaces shown are illustrated (e.g., buffer 210, left peripheral portion 222, right peripheral portion 224, touchpad 212, and vibrating plate 240). Therefore, more or fewer numbers of vibrating outer surfaces, as well as vibrating outer surfaces of different shapes and sizes, are included within the scope of this disclosure. Vibrating outer surfaces can be vibration-isolated from other parts of the housing, such that vibration of one vibrating outer surface will not cause vibration of another vibrating outer surface or other fixed parts of the housing. Many variations, modifications, and substitutions will be recognized by those skilled in the art.

[0036] In some embodiments, such as reference Figure 3A and Figure 3B The vibrating outer surface is actuated using a steerable vibrational energy beam as described herein. In other embodiments, the vibrating outer surface uses, for example, a reference... Figure 4 Actuation of structural components as described herein.

[0037] Figure 2B A schematic cross-sectional view of a handheld controller including a phased array transmitter according to some embodiments is shown. To generate a directional vibration beam, the phased array transmitter 210 is incorporated as an element of the housing 105 of the handheld controller 100 and positioned therein. (As shown in...) Figure 2BAs shown, the phased array transmitter 210 emits a steerable vibrational energy beam 212 oriented along a direction represented by direction vector 214. In the illustrated embodiment, the steerable vibrational energy beam 212 impacts the buffer 114, but this is not required by this disclosure. As described herein, the vibrational energy beam 212 may be steered to impact other parts or areas of the housing, such as the touchpad 110, finger trigger 112, button 116, specific areas on the housing 105, etc.

[0038] It should be understood that the phased array transmitter 210 may also include or be coupled to an IMU 220, which may be configured to assist in conveying feedback and / or information to the user of the handheld controller 100. As an example, as the user moves the handheld controller to the left, the vibration beam may be directed to the left side of the housing of the handheld controller 100. Figure 1A The area 120 is shown in the diagram. Alternatively, as the user moves the handheld controller to the right, the vibration beam can be directed to a matching area on the right side of the housing 105 of the handheld controller 100, which is opposite to area 120 on the left side of the housing 105 of the handheld controller 100. Furthermore, the left peripheral portion 222 and the right peripheral portion 224 can operate in conjunction with area 120 and the matching area. Thus, as the user moves the handheld controller to the left, the vibration beam can be swept across to actuate the right peripheral area 224, then the left peripheral area 222, and then land on area 120, sweeping to the left side of the handheld controller in conjunction with the user's movement on the handheld controller. Similarly, as the user moves the handheld controller to the right, the vibration beam can be swept across to actuate the left peripheral area 222, then the right peripheral area 224, and then land on the matching area on the right side of the housing 105, sweeping to the right side of the handheld controller in conjunction with the user's movement on the handheld controller.

[0039] Figure 3A A set of three vibration sources, according to some embodiments, generates a steerable beam at a predetermined angle. For example... Figure 3A As shown, three phased array vibration sources 310, 312, and 314 are included as elements of a phased array transmitter 305, which is disposed in a handheld controller 100 (e.g., Figure 2B In the phased array transmitter 210. In some embodiments, each of the phased array vibration sources 310, 312, and 314 can be a tactile device operating at a predetermined frequency (e.g., in the range of 10 Hz to 10 kHz), such that each tactile device generates a vibration field. The phased array vibration can include or utilize piezoelectric actuators, linear resonant actuators, eccentric rotating mass actuators, etc.

[0040] exist Figure 3AIn the exemplary phased array transmitter 305 shown, all phased array vibration sources 310, 312, and 314, also referred to as haptic elements, are arranged in a single plane, for example, in the yz plane. Typically, the relative orientation and arrangement of the phased array vibration sources 310, 312, and 314 are chosen such that the main lobe, generated by the constructive interference of the vibration fields emitted by the vibration sources, is oriented along a direction pointing towards the most common part of the handheld controller where the user will experience the resulting haptic effect. This is merely an example. Figure 3A In the diagram, the main lobe direction is shown by the transmitted beam 320 oriented at a beam angle θ, which includes components θ aligned with the x-axis, y-axis, and z-axis, respectively. x θ y and θ z .

[0041] Since the vibration field is emitted by each of the phased array vibration sources 310, 312, and 314, the wave nature of the vibration field leads to interference between the various vibration fields emitted by the phased array vibration sources 310, 312, and 314. This interference produces constructive interference regions and destructive interference regions. For Figure 3A The phased array vibration sources 310, 312, and 314 shown will generate a main lobe along the x-direction orthogonal to the plane of the figure if the phases of each element are aligned (i.e., there is no delay between elements). If a fixed phase delay relationship is achieved between the phased array vibration sources (i.e., phased array vibration source 310 with a phase delay φ that can be zero, phased array vibration source 312 with a phase delay φ1, and phased array vibration source 314 with a phase delay φ2), then interference between the phased array vibration sources 310, 312, and 314 will result in the generation of a main lobe 325 and side lobes (not shown for clarity). Figure 3A (as shown in the figure). In some embodiments, the phased array vibration sources 310, 312, and 314 will be positioned such that... Figure 3A The yz plane shown will be with Figure 3A The beam angle θ shown is orthogonal so that the main lobe generated using phase-delay-free technology is roughly aligned with the direction pointing to the most common part of the handheld controller where the user will experience the resulting haptic effect. Although Figure 3A The illustration shows three phased array vibration sources, but embodiments of this disclosure are not limited to this specific number, and embodiments of this disclosure may utilize other numbers including two phased array vibration sources and more than three phased array vibration sources.

[0042] Therefore, although the phased array vibration sources 310, 312, and 314 are static (i.e., their positions in the handheld controller are fixed), control of the phase delay associated with each phased array vibration source allows for the steering of the main lobe 325. For example... Figure 3AAs shown, the main lobe 325 is centered on vector 320, which is oriented at a beam angle θ, which has components θ along the x-axis, y-axis, and z-axis, respectively. x θ y and θ z Vector 320 can be referred to as the center vector because it is aligned with the center of the main lobe. The main lobe 325 can be oriented by modifying the phase delays φ, φ1, and / or φ2, allowing vector 320 to be oriented at any beam angle θ. Although in some embodiments only the phase delays φ1 and / or φ2 corresponding to phased array vibrators 312 and 314 are modified, it should be understood that the phase delay φ associated with phased array vibrator 310 can also be modified or controlled to result in control of the beam angle θ associated with the main lobe 325. Therefore, when using the phase delay φ, all three phase delays can be controlled to achieve the desired phase delay among phased array vibrators 310, 312, and 314. Many variations, modifications, and substitutions will be recognized by those skilled in the art.

[0043] like Figure 3A As shown, controller 307 is electrically coupled to vibration sources 310, 312, and 314, thereby enabling control over the amplitude and phase of vibrations generated using vibration sources 310, 312, and 314. The controller may include hardware elements electrically coupled via a bus, including, for example, at least one central processing unit (“CPU”) and at least one input device (e.g., [missing information]). Figure 1A The controller 307 may include one or more storage devices, such as disk drives, optical storage devices, and solid-state storage devices, including, for example, random access memory (“RAM”) or read-only memory (“ROM”), as well as removable media devices, memory cards, flash memory cards, etc.

[0044] The controller 307 may include communication devices (such as a modem, network card (wireless or wired), infrared communication devices, etc.) or communicate with communication devices to communicate with devices external to the handheld controller. To power the controller 307 and the vibration sources 301, 312, and 314, a power supply 309 may be provided, for example, inside the housing 105. The power supply 309 may be a rechargeable battery, etc.

[0045] Figure 3B This schematically illustrates a configuration in a handheld controller according to some embodiments. Figure 3A The diagram shows a set of three vibration sources. Figure 3B In the present disclosure, for clarity, the handheld controller 300 is shown as having a cubic geometry. However, it should be understood that embodiments of this disclosure are not limited to this cubic shape, and are based on... Figure 1A , 1BThe implementation of the handheld controller 100 shown in 2A and 2B is included within the scope of this disclosure.

[0046] refer to Figure 3B Phased array vibration sources 310, 312, and 314 are positioned at predetermined locations within the handheld controller 300. These predetermined locations can be measured relative to the Cartesian coordinate system shown. Assuming the handheld controller 300 is filled with a material that will support vibrational oscillations propagating in all directions, i.e., a vibration-conducting material such as epoxy resin, the actuation of the phased array vibration sources 310, 312, and 314 has a defined phase delay relationship between each of the phased array vibration sources 310, 312, and 314 (i.e., phased array vibration source 310 with a phase delay φ that can be zero, phased array vibration source 312 with a phase delay φ1, and phased array vibration source 314 with a phase delay φ2). Interference between the phased array vibration sources 310, 312, and 314 will result in the generation of... Figure 3A The main lobe 325 is discussed, centered on vector 320. Therefore, the phased array vibration sources 310, 312, and 314, combined with vibration paths provided within the handheld controller 300 as a result of material filling, enable the generation and control of the steerable main lobe 325. In some embodiments, a vibration-conducting material is used to transmit vibrations (e.g., phonons) with reduced or minimal loss or attenuation to an external vibration material. The vibration-conducting material can be solid, rigid, or other materials suitable for conducting vibrations.

[0047] Although the three phased array vibration sources are set in the handheld controller 300, such as Figure 3B As shown, embodiments of this disclosure are not limited to this specific number, and embodiments of this disclosure may utilize other numbers including two phased array vibration sources and more than three phased array vibration sources. As an example, larger arrays of phased array vibration sources may be used, such as three-dimensional arrays of phased array vibration sources, such as 3x3x3, 5x5x5, or 10x10x10 arrays, to form a more focused beam of vibrational energy. In some embodiments, multiple structures (such as...) Figure 3B The structure shown can be combined in a single handheld controller, thereby implementing multiple phased array transmitters (each including multiple phased array vibration sources) within a single handheld controller. Many variations, modifications, and alternatives will be recognized by those skilled in the art.

[0048] Figure 3C A standing wave formed on the surface of a handheld controller according to some embodiments is schematically shown. Figure 3AAs shown, the main lobe 325 points towards the top surface 350 of the handheld controller 300 and generates a standing wave on the top surface 350. Therefore, considering Figure 2A Individual components of the handheld controller 100 shown. Figure 3C The standing waves shown can be formed on the buffer 210, touchpad 212, left peripheral portion 222, right peripheral portion 224, vibrating plate 240, or button 214. Therefore, the discussion regarding the top surface 350 should be understood to apply to the surface of the handheld controller, including mechanically isolated individual elements, portions of the housing such as those shown in area 120, etc.

[0049] refer to Figure 3C A peak vibration 352 is generated on the top surface 350, which is shown as a topographical profile to illustrate how the vibration decreases with increasing distance from vector 320 (measured in the plane of surface 350). In addition to the vibration generated on the top surface 350 by the main lobe 325, side lobes may exist and are shown as generating subsidiary vibrations 354a, 354b, and 354c. Similar to the peak vibration 352, the subsidiary vibrations 354a, 354b, and 354c are shown as topographical profiles to illustrate how the vibration decreases with increasing distance from the vector associated with the center of each side lobe. Although the vibrations 354a, 354b, and 354c associated with the side lobes... Figure 3C As shown, this is not required by this disclosure, and other implementations would design beam generation to reduce or eliminate the presence of sidelobes. It will be apparent to those skilled in the art that the physical distance between vibration sources (e.g., phased array vibration sources 310, 312, and 314), the materials between vibration sources, and the operating frequency and phase delay will affect the position, orientation, and direction of the steerable beam of vibration energy.

[0050] Although the top surface 350 is shown as having a square shape for clarity, it should be understood that various surfaces of the handheld controller 300 can be designed to utilize specific shapes that will support specific types of standing waves. Furthermore, Chladni modes can be formed by changing the oscillation frequency of the vibration source, enabling different vibration modes to be formed on the surface of interest and supplementing beam steering functionality.

[0051] Because embodiments of this disclosure utilize phase delay control to achieve the steerability of the vibration energy beam, benefits unattainable with conventional haptic elements are achieved. As an example, as the vibration energy beam is steered, a specific portion or area of ​​the handheld controller's housing can be actuated. Beam steering can result in continuous motion of the peak vibration or interrupted motion of the peak vibration. Reference Figure 1AThe vibration energy beam can be directed to region 120 on the left side of the handheld controller 100 for a predetermined time period, and then interrupted and re-established on the touchpad 110 for a second predetermined time period. Furthermore, since the beam can be directed rapidly compared to the user's reaction time, the vibration energy beam can be directed to region 120 on the left side of the handheld controller 100 during a first time period (the first 10 ms), and then directed to the touchpad 110 during a second time period (the second 10 ms). This pattern can then be repeated in subsequent time periods (20 to 30 ms in region 120 and 30 to 40 ms on touchpad 110) to simultaneously simulate vibration generation at both locations. Many variations, modifications, and substitutions will be recognized by those skilled in the art.

[0052] Figure 3D A set of four vibration sources in a tetrahedral arrangement according to some embodiments is schematically shown. Figure 3D As shown, four phased array vibration sources 360, 362, 364, and 366 are positioned at the four vertices of a tetrahedron. Phased array vibration sources 360, 362, and 364 are located in the yz plane, while phased array vibration source 366 is located at a predetermined height above the yz plane measured along the x-axis. By utilizing Figure 3D The tetrahedral arrangement shown provides additional control over the beam shape of the main lobe 325 and increased control over beam steering in the yz plane.

[0053] As mentioned above, for beamforming technology, the control of the beam pattern (e.g., main lobe width) and the directionality of the phased array's steering beam is a function of the number and location of the vibration sources in the array. Typically, as described below, the maximum main lobe intensity is formed in a plane perpendicular to the vibration source. As an example, if two vibration sources are used, the symmetry of the two sources will enable the generation of a beam in a plane perpendicular to the line connecting the two sources and located midway between their perpendicular bisectors.

[0054] By utilizing additional vibration sources, such as three, two-dimensional beam steering becomes possible. The maximum intensity of the main lobe will be located at a position perpendicular to the plane containing the three vibration sources. (Reference) Figure 3A The maximum intensity will be concentrated on the three vibration sources and located above or below the plane of the image. Control decreases as the beam veers toward a position with a small x-dimensional dimension.

[0055] exist Figure 3D In the tetrahedral arrangement shown, with Figure 3A Compared to the three vibration sources shown, the four faces of the tetrahedron provide enhanced control. (Reference) Figure 3DVibration sources 360, 362, and 364 are located in the yz plane and provide effective beam steering in directions with components perpendicular to the yz plane (i.e., above and below the plane of the figure). The other three faces of the tetrahedron provide three normals, along which beamforming can produce a steering beam with maximum intensity, thus providing a high level of three-dimensional control. As an example, the transmit beam 320 of the main lobe 325 is shown perpendicular to the face of the tetrahedron defined by vibration sources 360, 364, and 366, thereby providing a high level of control in the direction of the transmit beam 320 and in the direction opposite to the direction of the transmit beam 320. Similarly, the transmit beam can be shown perpendicular to the face of the tetrahedron defined by vibration sources 360, 362, and 366, thereby providing a high level of control in a direction generally aligned with the x-axis, and the transmit beam can be shown perpendicular to the face of the tetrahedron defined by vibration sources 362, 364, and 366. It is also possible to generate the emitted beam in the direction opposite to the external normal of the tetrahedron's face.

[0056] Although Figure 3A and 3D Three and four vibration sources are shown, but embodiments of this disclosure are not limited to these specific numbers of vibration sources, and arrays including additional vibration sources can be utilized. As the number of vibration sources in a phased array increases, the symmetry of the array also increases, as viewed from different directions. Therefore, additional vibration sources can be used to increase the fourfold symmetry of a tetrahedron to a higher level of symmetry, thereby increasing control available in three dimensions. Thus, according to embodiments of this disclosure, both Platonic solids and non-Platonic solids with vibration sources at multiple vertices can be used to provide additional surfaces suitable for projection in the vertical direction.

[0057] In some embodiments, internal structures present within the handheld controller (e.g., printed circuit boards, batteries, electrical connectors, etc.) may be internal structures that can impede the propagation of or deflection of the vibration energy beam, which may therefore pose a challenge to generating standing waves (e.g., peak vibration 352) in desired areas on the handheld controller housing.

[0058] Figure 4 A tactile element having rigid support for a vibration-isolating surface is schematically illustrated according to some embodiments. Reference Figure 4 For clarity, the outer surface of the handheld controller 400 is shown as the six faces of a cube. However, it should be understood that embodiments of this disclosure are not limited to this cube shape, and are not limited to other shapes. Figure 1A , 1B The implementation of the handheld controller 100 shown in 2A and 2B is included within the scope of this disclosure.

[0059] Each of the outer surfaces of the handheld controller 400, represented by top surface 410, left surface 412, back surface 414 and right surface 416, front surface 418 and bottom surface 420, is separated by a vibration damping material 425 (e.g., foam, rubber, silicone, PDMS, cork, fabric, etc.). In some embodiments, each of the vibrating outer surfaces has a periphery, and the vibration damping material disposed between each of the plurality of vibrating outer surfaces may be an elastic band attached to and surrounding each of the plurality of vibrating outer surfaces at its periphery. In other embodiments, the vibration damping material 425 may be positioned on the inner surface of the vibrating outer surfaces. Thus, the vibrating outer surfaces are capable of vibrating independently of each other, thereby providing a plurality of independent vibrating outer surfaces.

[0060] In some embodiments, all outer surfaces are vibrating surfaces, while in other embodiments, some outer surfaces are fixed to other elements of the handheld controller, such as being mechanically coupled to the frame of the handheld controller, while some outer surfaces are vibrating outer surfaces. Reference Figure 2A The buffer 210, the left outer perimeter 222, the right outer perimeter 224, and the vibrating plate 240 are the vibrating outer surfaces. Figure 4 In the simplified handheld controller 400 shown, the top surface 410, left surface 412, and back surface 414 are vibrating outer surfaces, which can be coupled with, for example... Figure 2A The vibration is related to the outer surface shown.

[0061] A vibration source 430, also referred to as a vibration oscillator, is disposed within the handheld controller 400 and mechanically coupled to an optional frame. In some embodiments, the vibration source 430 is anchored to one or more components within the handheld controller. As an example, a mounting pad may be used to anchor the vibration source 430. As another example, the vibration source 430 may be coupled to an internal foam structure, a frame portion of the handheld controller, etc. In other embodiments, the vibration source is mounted only to external vibrating surfaces, namely the top surface 410, left surface 412, and back surface 414. Figure 4 As shown, the vibration of vibration source 430, which can be considered as the center of mass of the vibration source, can be transmitted to the external vibration surface through structural components, as described more fully below.

[0062] Depending on the nature of the vibration source, vibration can be generated in a preferred direction. As an example, for a linear resonant actuator, vibration will be preferentially generated along a linear direction, which can be aligned with one of the structural members to direct the vibration to the desired external vibration surface. For an eccentric rotating mass actuator, vibration is typically generated in the plane of mass rotation. Therefore, if vibration source 430 is an eccentric rotating mass actuator, vibration can be effectively transmitted through structural members 432 and 436. It should be understood that multiple vibration sources can be combined to effectively utilize the specific properties of a particular vibration source. For example, vibration source 430 may include a linear resonant actuator aligned to vibrate structural member 434 and an eccentric rotating mass actuator to vibrate structural members 432 and 436. Many variations, modifications, and substitutions will be recognized by those skilled in the art.

[0063] Vibration source 430 may include or utilize piezoelectric actuators, linear resonant actuators, eccentric rotating mass actuators, etc. Multiple structural members 432, 434, and 436, also referred to as spars, are attached to vibration source 430 and top surface 410, left surface 412, and back surface 414, respectively, thereby providing mechanical coupling between the vibration source and each of the multiple vibrating outer surfaces. Therefore, actuation of vibration source 430 will cause top surface 410, left surface 412, and back surface 414 to vibrate independently of right surface 416, front surface 418, and bottom surface 420. Although a single vibration source 430 and three structural members 432, 434, and 436... Figure 4 As shown, other embodiments can be implemented using an additional vibration source that can be mechanically coupled to one or more external vibrating surfaces.

[0064] Use based on Figure 4 Embodiments of the principle illustrated can provide a user with a tactile experience including, for example, localized sensations on one or more of the buffer 210, left peripheral portion 222, right peripheral portion 224, or vibrating plate 240, such as... Figure 2A As shown in the illustration. Embodiments of this disclosure enable the use of a large number of small and potentially inexpensive tactile elements to generate a localized vibrational sensation in a predetermined area of ​​the housing.

[0065] Figure 5 A pixelated structure with vibration-isolated haptic elements is schematically illustrated according to some embodiments. For clarity, although... Figure 5 The diagram shows the outer surface of the handheld controller 500 and the twelve faces of seven cubes forming a larger cube. It should be understood that this illustration is merely for demonstrating operational principles. Therefore, it should be understood that embodiments of this disclosure are not limited to this cube shape, and are not limited to other shapes. Figure 1A , 1BThe implementation of the handheld controller 100 shown in 2A and 2B is included within the scope of this disclosure.

[0066] refer to Figure 5 Vibration sources 510, 512, and 514 are mechanically coupled to vibrating outer surfaces 520, 522, and 524, respectively. Vibration sources 510, 512, and 514 may include or utilize piezoelectric actuators, linear resonant actuators, eccentric rotating mass actuators, etc. In some embodiments, vibration sources 510, 512, and 514 are physically attached or bonded to vibrating outer surfaces 520, 522, and 524, for example, using epoxy resin, while in other embodiments, other mounting techniques are used to provide the desired mechanical coupling. Each of the vibrating outer surfaces 520, 522, and 524 is separated by a vibration damping material disposed between each of the plurality of vibrating outer surfaces. (See also: Regarding...) Figure 4 The vibration damping material 425 discussed may be, for example, foam, rubber, silicone resin, PDMS, cork, fabric, etc. In some embodiments, each of the vibrating outer surfaces has a periphery, and the vibration damping material disposed between each of the plurality of vibrating outer surfaces may be an elastic band that is attached to and surrounds each of the plurality of vibrating outer surfaces at its periphery. In other embodiments, the vibration damping material 425 may be positioned on the inner surface of the vibrating outer surface. Thus, the vibrating outer surfaces can vibrate independently of each other, thereby providing a plurality of independent vibrating outer surfaces.

[0067] Although the additional vibration sources 530, 531, 532, 533, 534, 535, 536, 537 and 538 are in Figure 5 As shown, but for clarity, each of them is mechanically coupled to the vibrating outer surfaces 540, 541, 542, 543, 544, 545, 546, 547 and 548 respectively. The discussion here will relate to the vibration sources 510, 512 and 514 that are mechanically coupled to the vibrating outer surfaces 520, 522 and 524, and this description may be applied to other vibration sources and vibrating outer surfaces as appropriate.

[0068] Such as about Figure 4 In some embodiments, all outer surfaces discussed are vibrating surfaces, while in other embodiments, some outer surfaces are fixed to other elements of the handheld controller, such as being mechanically coupled to an optional frame of the handheld controller, and some outer surfaces are vibrating outer surfaces. (See reference) Figure 2A The buffer 210, the left outer perimeter 222, the right outer perimeter 224, and the vibrating plate 240 are the vibrating outer surfaces. Figure 4In the simplified handheld controller 500 shown, the vibrating outer surfaces 520, 522, 524, 540, 541, 542, 543, 544, 545, 546, 547, and 548 are vibrating outer surfaces, which can be, for example... Figure 2A The vibration is related to the outer surface shown.

[0069] Referring to vibration sources 510, 512, and 514, since each of these vibration sources is mechanically coupled only to a single and potentially small vibrating outer surface, each of these vibration sources can be smaller, lighter, and likely less expensive than a larger vibration source used to drive a larger, heavier vibrating outer surface. By subdividing the surface of the handheld controller 500 into 24 “pixels,” 12 of which are shown, and 12 of which are not shown on the left, back, and bottom sides, the energy used for each of the vibrating pixels can be reduced. As an example, if a given amount of energy is used to vibrate the entire surface of the housing, typically 1 / 24 of that given amount of energy would be used to vibrate only one of the vibrating pixels.

[0070] In some embodiments, a controller (not shown) is coupled to each of a plurality of vibration sources to achieve independent control of the vibration of the outer surfaces 502, 522, 524, 540, 541, 542, 543, 544, 545, 546, 547 and 548.

[0071] refer to Figure 4 and Figure 5 Various combinations of mechanical coupling designs can be used. For example, one of multiple vibration sources can be mechanically coupled to the frame of the handheld controller, and structural components can be used to mechanically couple vibrations generated in the vibration sources to components such as... Figure 4 One of the multiple vibrating outer surfaces shown. Continuing this example, another vibration source among multiple vibration sources can be combined with, as shown... Figure 5 One of the multiple vibrating outer surfaces shown. Furthermore, structural members can be detachably connected to the vibration source and the vibrating outer surface, engaging the vibration source to the vibrating outer surface in a first operating mode and disengaging the vibration source from the vibrating outer surface in a second operating mode. Therefore, combinations of the various implementations described herein are included within the scope of this disclosure and enable pixelated vibration control of one or more regions of the housing. It should be noted that references... Figure 2A , Figure 4 and Figure 5 The vibrating outer surface shown can be implemented as a separate element, including a buffer 210, a touchpad 212, a left peripheral portion 222, a right peripheral portion 224, a vibrating plate 240, or a button 214. Therefore, with... Figure 4 and Figure 5The discussion provided regarding the vibrating outer surface shown should be understood to apply to the surface of the handheld controller, including mechanically isolated individual components, portions of the housing such as those shown in area 120, and so on.

[0072] Figure 6 This is a simplified flowchart illustrating a method of operating an array of haptic elements according to some embodiments. In some embodiments, the array of haptic elements is disposed within a housing of a handheld controller. The method includes generating a first vibration using a first vibration source (610). The first vibration source and thus the first vibration are characterized by a first phase. The method also includes generating a second vibration using a second vibration source (612). The second vibration source and thus the second vibration are characterized by a second phase different from the first phase. The method further includes generating a combined vibration at an initial position on the housing (614). As described herein, the first and second vibration sources, each having a controllable phase, operate as phased array transmitters to generate coherent constructive and destructive interferences, thereby generating time-varying isolated vibrations in a predetermined portion of the handheld controller. The method may also include modifying at least one of the first or second phases (616) and translating the combined vibration to a subsequent position different from the initial position (618).

[0073] In addition to using the first and second vibration sources, an additional vibration source (e.g., a third vibration source) can be utilized, and the method may further include generating a third vibration using the third vibration source. The third vibration source and thus the third vibration are characterized by a third phase different from at least one of the first or second phases and contribute to the combination of vibrations. In an embodiment, the first, second, and third vibration sources are arranged in a plane.

[0074] refer to Figure 2A The combined vibrations can be initially positioned on the housing, such as touchpad 212. As the phase of one or more vibration sources is modified, the combined vibrations can be translated relative to the geometry of the housing, for example, moved to the left peripheral region 222, right peripheral region 224, etc. Therefore, isolated vibrations that can vary over time can be shifted to convey information to the user, provide feedback, enhance the user experience, etc.

[0075] It should be understood that Figure 6 The specific steps shown provide a particular method for operating an array of haptic elements according to an embodiment of the invention. Other sequences of steps can also be performed according to alternative embodiments. For example, alternative embodiments of the invention may perform the steps outlined above in a different order. Furthermore, Figure 6The steps shown may include multiple sub-steps, which can be performed in various orders depending on the individual steps. Furthermore, additional steps may be added or removed depending on the specific application. Those skilled in the art will recognize many variations, modifications, and substitutions.

[0076] It should also be understood that the examples and embodiments described herein are for illustrative purposes only, and various modifications or variations thereof will be suggested to those skilled in the art and will be included within the spirit and scope of this application and the appended claims.

Claims

1. A handheld controller comprising: a housing comprising: one or more outer surfaces; and a plurality of vibrating outer surfaces; a vibration source disposed in the housing; a vibration dampening material disposed between each of the plurality of vibrating outer surfaces; and a plurality of structural members, wherein each of the plurality of structural members mechanically couples one of the plurality of vibrating outer surfaces to the vibration source.

2. The handheld controller of claim 1, wherein, The vibration dampening material comprises an elastomeric band.

3. The handheld controller of claim 1, wherein, Each of the plurality of vibrating outer surfaces comprises a periphery, and the vibration dampening material surrounds each of the plurality of vibrating outer surfaces at the periphery.

4. The handheld controller of claim 1, wherein, Each of the plurality of structural members is bonded to one of the plurality of vibrating outer surfaces.

5. The handheld controller of claim 1, wherein, Each of the plurality of structural members is detachably connected to at least one of: the vibration source, and one of the plurality of vibrating outer surfaces.

6. The handheld controller of claim 1, wherein, The housing further comprises a frame, wherein the one or more outer surfaces and the vibration source are mechanically coupled to the frame.

7. A handheld controller comprising: a housing comprising: a frame; and a plurality of vibrating outer surfaces; a vibration dampener disposed between each of the plurality of vibrating outer surfaces; a plurality of vibration sources, each of the plurality of vibration sources mechanically coupled to one of the plurality of vibrating outer surfaces; and a controller coupled to each of the plurality of vibration sources.

8. The handheld controller of claim 7, wherein, The housing further comprises one or more outer surfaces mechanically coupled to the frame.

9. The handheld controller of claim 7, wherein, Each of the plurality of vibration sources is mounted to one of the plurality of vibrating outer surfaces.

10. The handheld controller of claim 7, wherein, Each of the plurality of vibration sources is mechanically coupled to the frame, the handheld controller further comprising a plurality of structural members, wherein each of the plurality of structural members mechanically coupling each of the plurality of vibration sources is mounted to one of the plurality of vibrating outer surfaces.

11. The handheld controller of claim 7, wherein, The vibration dampener comprises an elastomeric band.

12. The handheld controller of claim 7, wherein, Each of the plurality of vibrating outer surfaces comprises a periphery, and the vibration dampener surrounds each of the plurality of vibrating outer surfaces at the periphery.

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