Method of providing haptic feedback to user and electronic device thereof

Abstract

A method may include providing an input haptic waveform, the waveform having an amplitude value that varies over time values; measuring a degree of coupling between the user and the electronic device; modulating the input haptic waveform into a modulated haptic waveform based at least on the measured degree of coupling; and moving a mass of a haptic actuator based on the modulated haptic waveform, including: moving the mass based on a first modulated input haptic waveform when a degree of coupling is measured to have a first value; and moving the mass based on an input haptic waveform of a second modulation when the degree of coupling is measured to have a second value different from the first value, the second modulation being different from the first modulation.

Description

Background Technology

[0001] Haptic technology is a technique that creates a tactile experience by applying force, vibration, or motion to a user, and it has become increasingly popular in recent years. Specifically, haptic feedback is commonly used in electronic devices via one or more actuators, typically housed within the device itself. Various types of actuators exist that can be used to provide haptic feedback in electronic devices, with common types including rotary actuators and linear actuators. Rotary actuators contain an eccentric mass that rotates to produce vibrations, while the increasingly popular linear actuators operate based on the reciprocating displacement of the mass along a linear path, which can be straight or curved. For example, an example of a linear actuator is shown in published application US2022 / 0329141, which includes an explanation of how its operation is affected by force response and frequency response curves. Regardless of their type, actuators generally operate based on the controlled motion of a mass. Summary of the Invention

[0002] A typical operating mode of the actuator involves generating a tactile signal, which may be referred to as a source signal, input signal, or carrier signal. The signal may have a waveform with one or more frequencies having superimposed amplitudes of the same or different amplitudes and phases of the same or different frequencies, and the amplitude may be constant or time-varying. For generality, the input tactile waveform will be used herein.

[0003] The details of the input haptic waveform can vary significantly depending on the application and can be software-driven based on predetermined conditions. For example, in user input devices such as touchpads, actuators can be driven by haptic waveforms configured to simulate a "click" or "bounce" sensation when a user presses the touchpad. When the click or bounce is software-driven based on sensing of the user's action and actuation of the actuator, it gives the user the illusion that the click or bounce is caused by a mechanical response to their press. For example, in the context of an electronic device being a game controller, the nature of the haptic feedback can depend on the current virtual action occurring in a video game. For instance, in the case of a first-person shooter game, a lower-frequency, higher-displacement haptic waveform can be triggered when the player's character fires a shotgun, and a higher-frequency, lower-displacement haptic waveform can be triggered when the player's character fires a pistol.

[0004] The potential diversity of waveforms may be limited by the type of actuator integrated into the electronic device, but in other respects, its possibilities are almost as rich as the different types of sounds and rhythms imaginable in audio. However, there are differences in frequency, and while audio frequencies are generally perceptible between about 20 Hz and 20 kHz, tactile frequencies are generally perceptible between about 5 Hz and 2 kHz.

[0005] A typical operating mode of the actuator involves driving the actuator in such a way that the actuator's mass block moves according to the input tactile waveform. In this case, the amplitude of the input tactile waveform can be calibrated to provide an appropriate level of tactile feedback for a typical user to perceive under typical usage conditions.

[0006] While existing methods of providing haptic feedback to users are satisfactory to some extent and have contributed to the strong growth of haptic popularity in the consumer electronics industry in recent years, there is still significant room for improvement.

[0007] Specifically, it has been found that human tactile perception, which is involved in translating the motion of the mass block of the actuator into tactile sensation, exhibits several variations, sometimes nonlinearly. For example, the peak perceived tactile feedback for a typical user is 180 Hz, meaning that if a user is provided with tactile feedback in the form of a sine wave with a single frequency and constant amplitude, a typical user will likely perceive the amplitude at 180 Hz as stronger than at other frequencies. More specifically, for a constant amplitude of motion, the perceived intensity of the tactile signal will be perceived as decreasing as the frequency gradually decreases or increases from the initial 180 Hz. Different users can have different biases in frequency perception, and specifically, the degree of mechanical coupling between the user and the electronic device (an example of which could be the grip strength of a game controller) can also affect the perceived tactile feedback. In fact, particularly at higher tactile frequencies (e.g., above 180 Hz), a user's perception of displacement of the mass block with the same amplitude can increase with increasing coupling strength. This effect can be frequency-dependent. For example, at lower tactile frequencies (e.g., below 180 Hz), a user's perception of displacement of the same amplitude of the mass block can decrease as the coupling strength decreases.

[0008] In addition to the factors mentioned above, mechanical systems, including actuators and electronics, can have different resonance levels for different frequencies, and some actuators may have a peak resonant frequency (often called the fundamental frequency), although some actuators may have more than one peak resonant frequency or a flatter frequency response curve in other ways. For a given input haptic waveform, the movement of the actuator's mass block can depend on the resonance level. In other words, for a given input haptic signal amplitude, the amplitude of the mass block's movement will be greater for input haptic waveform frequencies corresponding to higher resonance levels than for frequencies corresponding to lower resonance levels. Furthermore, resonance levels (such as the fundamental frequency) can be affected by the degree of coupling between the user and the system; the user may add a mass block to the system, potentially shifting the frequency response curve of the user / electronics mechanical system in the frequency domain (e.g., shifting the fundamental frequency response).

[0009] As can be seen from the above, the effort to convey the expected haptic feedback waveform to the user can be surprisingly complex. More specifically, while methods that calibrate the amplitude of the input haptic signal to generate an appropriate perceived level of haptic feedback for a typical user to experience under typical usage conditions are satisfactory to a certain extent, as mentioned above, they can be limited by various constraints under different potential usage conditions.

[0010] One approach to address some or all of these limitations is to measure the coupling between the user and the electronic device, modulate the haptic waveform based on the measured coupling, and drive the movement of the actuator's mass block based on the modulated haptic waveform.

[0011] In one example, the modulation could be amplitude modulation. For instance, the amplitude of the input haptic waveform can be scaled based on the measured coupling degree. Therefore, when the coupling degree is higher (or lower), the amplitude of the motion of the actuator's mass block can be greater (or lower). For example, if it is predetermined that the user will have a smaller perceived haptic feedback than the designer intended within a given set of conditions including coupling degree, modulation can increase the amplitude of the input haptic waveform to cause the mass block to move with a larger amplitude, thus allowing the user to feel a level of haptic feedback closer to the designer's original intent. In an example where the electronic device is a mouse, when the user coupling is low, excessive movement of the mass block may not be desirable, as this could produce mouse jitter, resulting in undesirable movement of the mouse pointer on the display. In such a case, when the measured user coupling is low, the haptic feedback can be reduced.

[0012] In another example, the modulation could be frequency modulation. For instance, the frequency distribution of the input haptic waveform could be offset based on a measured degree of coupling. Thus, when the coupling is higher (or lower), the movement frequency of the actuator's mass block can be higher (or lower). For example, if it is predetermined that the user will have a smaller perceived haptic feedback than the designer intended within a given set of conditions including the coupling degree, the modulation can offset the frequency of the input haptic waveform to cause the mass block to move at the offset frequency, thereby allowing the user to experience a level of haptic feedback closer to the designer's original intent. For example, if the designer's intention is for the user to experience the maximum amplitude of haptic feedback, but it is also known that the degree of user coupling will shift the actuator's resonant frequency, in this case, the frequency of the input haptic waveform can be shifted to a predetermined offset resonant frequency.

[0013] In some cases, this method can be used to automatically turn haptic feedback on or off based on coupling degree, and a threshold coupling degree can be set. For example, when the coupling degree is below a threshold, the amplitude of the input haptic waveform can be set to zero, or the frequency can be shifted to zero, essentially keeping haptic feedback off unless sufficient coupling degree is measured. The latter approach described above can be combined with the example above. Haptic feedback can be turned on only when the coupling degree exceeds a threshold, and from this point onward, the modulation of the input haptic waveform can be constant or further varied based on factors such as coupling degree.

[0014] The relationship between inputs (e.g., input haptic waveforms, measured coupling) and outputs (e.g., waveforms of the actuator's mass block being driven) can be represented by a transfer function. The transfer function can be two-dimensional (e.g., the amplitude or frequency of the actuator's mass block motion differs for different measured couplings; the amplitude or frequency of the actuator's mass block motion differs for different frequencies of the input haptic waveform) or three-dimensional (e.g., the amplitude or frequency of the actuator's mass block motion differs for different measured couplings and for different frequency-frequency response transfer functions of the input haptic waveform; the amplitude and frequency of the actuator's mass block motion differ for different measured couplings). The transfer function can represent amplitude scaling, frequency shifting, or both. In some embodiments, the transfer function can represent equalization of the input haptic waveform for detected usage conditions.

[0015] Therefore, by moving the mass block from the input waveform modulation actuator, different users with different coupling strengths or the same user with different coupling strengths can be stimulated in a way that provides a similar level of tactile sensation.

[0016] According to one aspect, a method for providing haptic feedback to a user is provided, the method comprising: providing an input haptic waveform having an amplitude value that varies over time; measuring a coupling degree between the user and an electronic device, the coupling degree being a function of a force applied by the user to an outer surface of the electronic device; modulating the input haptic waveform into a modulated haptic waveform based at least on the measured coupling degree; and moving a mass block of a haptic actuator based on the modulated haptic waveform, comprising: moving the mass block based on a first modulated input haptic waveform when the measured coupling degree has a first value; and moving the mass block based on a second modulated input haptic waveform, the second modulation being different from the first modulation, when the measured coupling degree has a second value different from the first value.

[0017] According to another aspect, there exists an electronic device comprising: a housing; a coupling sensor configured to measure the amount of force applied by a user to an outer surface of the electronic device; a haptic actuator having a fixed part and a movable part, the fixed part being integral with the housing, the movable part having a mass; and a controller configured to move the mass of the haptic actuator according to a transfer function based on at least one of amplitude and frequency, the amplitude and frequency being dependent on the amount of force measured by at least one coupling sensor.

[0018] It goes without saying that all the technical implementation details and advantages described with respect to a particular aspect of the invention are applicable to all other aspects of the invention with the necessary modifications.

[0019] Many other features of this improvement and combinations thereof will become apparent to those skilled in the art upon reading this disclosure. Attached Figure Description

[0020] In the attached diagram,

[0021] Figure 1 This is a view of an example of an electronic device mechanically coupled to a user;

[0022] Figure 2 yes Figure 1 A schematic diagram of an electronic device;

[0023] Figure 3 This is a flowchart of an exemplary method for providing haptic feedback to a user;

[0024] Figure 4 It is a graph showing an exemplary waveform formed by adding three lower-level waveforms with different amplitudes and frequencies;

[0025] Figure 5A , Figure 5B and Figure 5C These are graphs showing an exemplary input tactile waveform, an input tactile waveform modulated in the first manner, and an input tactile waveform modulated in the other manner.

[0026] Figure 6A , Figure 6B , Figure 6C and Figure 6D This is a graph illustrating an exemplary transfer function that can be used as the basis for modulating input tactile waveforms;

[0027] Figures 7A to 7G A schematic diagram of an exemplary electronic device that can be used to implement the method; and

[0028] Figure 8 This is a block diagram of an exemplary computer. Detailed Implementation

[0029] Figure 1 An example of an electronic device 10 mechanically coupled to a user 12 during normal use is shown. In this example, the electronic device 10 is a mouse 10', which can be connected to a display on an external computer 20. Figure 2 The graphical user interface (GUI) on the display screen 22 serves as an input device, allowing users to input commands, perform actions, and generally interact with the GUI. The mouse 10' may have several conventional user inputs, such as buttons 14A, 14B for receiving left or right clicks, a scroll wheel that the user can scroll down or up certain types of GUI elements, and motion sensors that can detect movement of the mouse along its underside by user actions, such as those commonly used to move a graphical pointer along the GUI. In addition to conventional user inputs, the mouse 10' has one or more coupling sensors 16 and one or more haptic actuators 18 (in... Figure 2 (Illustrated schematically).

[0030] exist Figure 2 In one exemplary embodiment, schematically illustrated, the mouse may have two coupling sensors 16 and two haptic actuators 18. More specifically, in Figure 2 In the schematically illustrated embodiment, the haptic actuator 18 is positioned close to the coupling sensor 16, and more specifically, immediately below and adjacent to it. However, in an alternative embodiment, the haptic actuator may be positioned further away from the coupling sensor. In an alternative embodiment, one or more coupling sensors and one or more haptic actuators may be integrated into the electronics.

[0031] One or more coupling sensors 16 are configured to measure the degree of coupling between the user 12 and the outer surface of the electronic device 10. Various types of sensors can be used for this purpose. For example, the sensor can be a force sensor, such as a sensor that provides a variable output based on the amount of force applied by the user to a portion of the outer surface of the electronic device. Such a force sensor can be configured to measure normal compressive or shear forces. Alternatively, the coupling sensor can be a pixelated capacitive sensor, such as those commonly used in connection with the display screen of an electronic device, and it provides an indication of which portion of the surface is being engaged by a portion of the user. In practice, when the user is more strongly coupled to the device (e.g., by applying a normal force to the device), the surface area of ​​the device covered by the user's fingers can increase due to the softness of the user's skin, and thus the surface area of ​​the device covered by the user's skin (as determined by a capacitive sensor, for example, integrated into the surface of the electronic device) can therefore be used as an indication of the degree of coupling. More than one type of sensor can be combined to form a coupling sensor.

[0032] One or more haptic actuators 16 are configured to provide haptic feedback to user 12. The actuators typically have a portion integrated with the electronics 10 and a movable portion with a movable mass, and are configured to move the movable mass relative to the electronics. For example, in the case of an electromagnetic actuator, the mass may be integrated with a permanent magnet, and one or more coils may be integrated with the housing of the electronics. Activating one or more coils with an electrical signal having a given waveform can generate a time-varying electromagnetic field that engages with the permanent magnetic field of the permanent magnet, thereby driving the movement of the mass relative to the coils.

[0033] Exemplary methods of operating electronic devices in Figure 3 The method begins with an optional step of determining that the conditions for generating haptic feedback have been met. Various triggers may exist for determining that the conditions for generating haptic feedback have been met, and these triggers may be explicit or implicit. An example could be determining that a user's character in a video game is firing a shotgun in a virtual environment. The video game software or associated software can associate the condition of the user's character firing a shotgun with a specific type of haptic feedback (with a specific haptic waveform). The haptic waveform can be considered to specifically represent, to some extent, the situation of the shotgun being fired. In other words, different haptic waveforms can be used in association with different events in the virtual environment of the video game. Another example could be determining that a user has closed a graphical user interface window displayed on a computer screen through interaction with the mouse and associated software functions, in which case the utility software managing the window or associated software can associate the state of the user closing the window with a haptic waveform reminiscent of a sudden, fleeting sensation. Regardless of the nature of the tactile waveform associated with the tactile feedback generation condition, an initial tactile waveform can be provided as input at that point, such as by retrieving the waveform associated with the condition that triggered the tactile feedback generation.

[0034] The coupling degree between the user and the electronic device is measured. This measurement can be performed, for example, by interrogating the output of a continuously available coupling sensor or by actively controlling the coupling sensor to perform the measurement. The coupling degree is at least partially variable and can be continuously variable within a certain range.

[0035] Subsequently, the input tactile waveform is modulated based on the coupling degree. The modulation can take different forms, such as amplitude scaling and frequency shifting, examples of which will be presented below.

[0036] Subsequently, one or more haptic actuator mass blocks are moved based on the modulated haptic waveform, meaning that the waveform representing the movement of the mass block conveys modulation. In other words, when the coupling has a first value, the movement of the mass block is based on the input haptic waveform modulated by a first modulation, and when the coupling has a second value, the movement of the mass block is based on the input haptic waveform modulated by a second modulation. The first modulation and the second modulation are different when the first value of the coupling is different from the second value of the coupling. To give just three possible examples, the modulation can be amplitude scaling, frequency shifting, or both. For example, if the modulation is in terms of amplitude scaling, then when the coupling is low, the mass block can move with a larger amplitude, and vice versa, or when the coupling is low, the mass block can move with a lower amplitude, and the amount of amplitude scaling can be constant or vary based on another variable, such as the frequency of the input haptic waveform.

[0037] Tactile waveforms can take essentially as many forms as audio waveforms. For example, a constant sine wave with a single amplitude over a given time period can be equivalent to a buzzing sound in audio. In fact, any waveform can be represented as the sum of multiple fundamental waveforms with different frequencies and phases. Figure 4 An example of a tactile waveform is presented at the bottom of the graph. The tactile waveform can be viewed as the variation of amplitude over time (expressed here in arbitrary units, but the intention is generally to convey it as the degree of displacement of the mass block of the actuator, and it will be noted that the mass block's response to the actuation signal may not be direct). In this particular case, provided only as an example, the tactile waveform is the sum of three distinct sinusoidal signals, each with a corresponding amplitude and frequency. At any given time, the resulting tactile waveform is the sum of the positive, zero, or negative amplitudes of the three sinusoidal signals, and complex waveforms can thus be represented by the addition of simpler waveforms.

[0038] Taking an exemplary tactile waveform as an example, and re-presenting it... Figure 5A As an example of an input haptic waveform, it will be combined with... Figure 5B and Figure 5C Examples of amplitude scaling modulation and frequency offset modulation are presented in association. Figure 5BThe input haptic waveform after the first modulation is presented. More specifically, the characteristics of the input haptic waveform after the first modulation remain recognizable in the input haptic waveform, but the amplitude is smaller. In this example, the amplitude scaling factor of the first modulation is 0.5. In this example, the amplitude scaling factor can depend on the measured coupling degree, and the second modulation can be an amplitude scaling factor of 0.75 or 1.5, to name just two examples. In such an example, the amplitude of the mass block's movement can be decreased or increased while maintaining the characteristics of the input haptic waveform to compensate for the effect that the user's coupling degree can be expected to have in the user's perception of haptic feedback, which can be considered a form of equalization.

[0039] Figure 5C The input haptic waveform in the third modulation is presented. In this example, the third modulation is a frequency shift or, otherwise described, scaling of the input haptic waveform in the time domain. The amplitude change of the input haptic waveform after third modulation maintains the amplitude change of the input haptic waveform, but the frequencies that make up the signal are adjusted by a scaling factor. In this example, the frequency scaling factor for the third modulation is 0.75. In this example, the frequency scaling factor can depend on the measured coupling, and the fourth modulation can be an amplitude scaling factor of 0.5 or 1.5, to name just two examples. In such an example, the movement amplitude of the mass block remains the same, but one or more frequencies of the input haptic signal can be shifted while maintaining the characteristics of the input haptic waveform to compensate for the effect that the user's coupling can be expected to have in the user's perception of haptic feedback; this can be considered a form of equalization. Frequency shift is a more frequently used term than frequency scaling, so the former will be used here.

[0040] It should be understood that many different forms of modulation can be applied, and more than one form of modulation can be combined in a given embodiment. Furthermore, modulation can depend not only on the measured coupling between the user and the electronic device, but also on additional factors such as the frequency of the input tactile signal. Moreover, the relationship between coupling and the applied modulation can be linear or non-linear. To facilitate understanding of these concepts, the concept of a transfer function will be introduced, and [the following will be discussed]. Figure 6A , Figure 6B , Figure 6C and Figure 6D For reference. More specifically, the relationship between input and output can be called a transfer function. A transfer function can be two-dimensional, three-dimensional, or can have additional dimensions corresponding to additional variables such as inputs.

[0041] Figure 6AThe first example of a transfer function is presented, where the haptic modulation coefficients (which may be, for example, frequency offset coefficients or amplitude scaling coefficients) can be considered to depend on the measured coupling degree. In other words, any haptic waveform provided as input will be offset or scaled according to the haptic modulation coefficients determined by the measured coupling degree.

[0042] exist Figure 6A In the example presented, the relationship between the haptic modulation coefficient and the measured coupling value is constant above a value that will be referred to herein as the activation threshold, and zero below the activation threshold. This is an example of a transfer function corresponding to a relatively simple modulation, for example, where the haptic modulation coefficient has a constant value of 1 when the measured coupling value is above the activation threshold, or a constant value of 0 when the measured coupling value is below the activation threshold, thus turning off haptics when the user is decoupled from the electronic device.

[0043] exist Figure 6B In the example presented, the haptic modulation coefficient has a linear relationship with the measured coupling value, decreasing proportionally as the coupling value increases. In the first variation, the latter can hold when the measured coupling value meets or exceeds a threshold, and the haptic modulation coefficient can be zero when the measured coupling value is below an activation threshold. The activation threshold is optional, but can, for example, provide the advantage of disabling haptics when the user is decoupled from the electronic device. In the second variation, represented by a dashed line projected onto a linear relationship, the haptic modulation coefficient can continue to increase as the coupling value decreases.

[0044] exist Figure 6C In the example presented, the haptic modulation coefficient has a non-linear relationship with the measured coupling value, decreasing exponentially as the coupling value increases. In the first variation, the latter can hold when the measured coupling value meets or exceeds a threshold, and the haptic modulation coefficient can be zero when the measured coupling value is below an activation threshold. The activation threshold is optional, but can provide, for example, the advantage of disabling haptics when the user is decoupled from the electronic device. In the second variation, represented by a dashed line projected onto an exponential relationship, the haptic modulation coefficient can remain constant when the coupling value is below the activation threshold.

[0045] Figure 6D The examples presented are somewhat similar to Figure 6CThe variation, represented by a solid line, involves an activation threshold applied to the transfer function below which the haptic modulation coefficient abruptly becomes zero. The relationship between the haptic modulation coefficient and the measured coupling value is non-linear above the activation threshold. However, the difference lies in that the haptic modulation coefficient applied to the input haptic waveform further depends on the frequency of the input haptic waveform, denoted by an additional axis. In this example, for higher frequencies, the haptic modulation coefficient decreases with the measured coupling, but for lower frequencies, the haptic modulation coefficient increases with the measured coupling. Such as... Figure 6D The transfer function shown can be applied to input haptic waveforms with a single frequency, such as a sinusoidal signal with constant amplitude, or it can be applied to input haptic waveforms with multiple different frequencies, in which case the different fundamental frequencies can be affected by different haptic modulation coefficients. The latter transfer function can be called a frequency response transfer function. In alternative embodiments, various variations are possible.

[0046] Figures 7A to 7G Various examples of electronic devices are presented, in which one or more tactile actuators and one or more coupling sensors can be integrated, and the above-described methods can be implemented via said electronic devices. Surfaces drawn with regularly spaced dots are used to represent the area occupied by the force sensor, while surfaces drawn with irregularly spaced dots are used to represent the approximate relative positions of the actuators.

[0047] Figure 7A Another example of a mouse is presented, but in this example, three subsystems are integrated with the electronics, each subsystem having a coupling sensor and a haptic actuator, one on each mouse button and one in the palm support area.

[0048] Figure 7B Another example of an electronic device serving as a steering wheel is presented, in which two subsystems are used, one on each side of the steering wheel, corresponding to the typical hand position of the user.

[0049] Figure 7C Another example is presented where the electronic device is a game controller (video game controller). In this example, two subsystems are used, one on each grip of the game controller, corresponding to the typical hand position of the user.

[0050] Figure 7D Another example is presented where the electronics are haptic seats. In this example, multiple subsystems are used, including a subsystem integrated into the backrest of the seat and a subsystem integrated into the seat portion of the seat.

[0051] Figure 7EAnother example is presented where the electronic device is a wrist rest. In this example, a single subsystem is used, which is integrated into a part of the wrist rest that corresponds to the position where the user would rest their wrist when they are controlling the W, A, S, and D keys on the keyboard.

[0052] Figure 7F Another example is presented where the electronic device is a VR controller. In this example, a single subsystem is used, which is integrated into the grip of the VR controller. Figure 7G Another example is presented where the electronics are a control panel. In this example, the coupling sensor encompasses the entire touchscreen, and an actuator is housed beneath a portion of the touchscreen, mechanically coupled to it.

[0053] It should be noted that in the example presented above, the haptic actuator is integrated into the electronics at a physical location very close to the coupling sensor, such as directly below it. This can be convenient because it allows for a higher degree of correlation between the measured coupling and the expected effect of balanced perceived haptic feedback. However, this is not necessary, and in some embodiments, it may be more convenient to use coupling sensor measurements taken at one or more locations not directly above the haptic actuator.

[0054] Many variations are possible. For example, in some embodiments, the gyroscope may be further integrated into the electronic device. In some embodiments, the use of a controller to perform actions such as measuring the coupling between the user and the electronic device, modulating the input haptic waveform based on the measured coupling, and moving the mass block of the haptic actuator according to the modulated input haptic waveform may be related. In some embodiments, such as the controller, may be integrated within the electronic device. Alternatively, the electronic device may have data communication capabilities to communicate with an external computer separate from the electronic device, and the controller may be implemented as a software module running on an external computer. In some embodiments, some functions may be performed by a controller integrated into the electronic device, while other functions may be performed by the controller embodied as a software module running on an external computer. Thus, the controller may be implemented as hardware, software, or a combination of hardware and software, and in any of these ways, the controller may include a computer. The controller may receive a haptic waveform as input, and the latter may be generated by software running on a computer external to the electronic device. Alternatively, the input haptic waveform may be defined in the memory integrated into the electronic device, and a determination may be made at the electronic device that the conditions for generating haptic feedback have been met.

[0055] refer to Figure 8It will be understood that the expression "computer" 400 as used herein is not to be interpreted in a restrictive manner. Rather, it is used broadly to generally refer to a combination of one or more processing units 412 and a memory system 414 of some form that can be accessed by the processing units. The memory system may be of a non-transitory type. The use of the singular form of "computer" as used herein includes, within its scope, a combination of two or more computers working together to perform a given function. Furthermore, the expression "computer" as used herein includes, within its scope, the use of a portion of the capabilities of a given processing unit.

[0056] Exemplary computers include desktop computers, laptop computers, smartphones, smartwatches, low-complexity controller devices, etc.

[0057] The processing unit can be implemented in the form of a general-purpose microprocessor or microcontroller, a digital signal processing (DSP) processor, an integrated circuit, a field-programmable gate array (FPGA), a reconfigurable processor, a programmable read-only memory (PROM), to name just a few.

[0058] Memory systems can include suitable combinations of any suitable types of computer-readable storage, which may be internal or external and accessible by a processor directly or via a network such as the Internet, either wired or wirelessly. Computer-readable storage can be implemented in the form of random access memory (RAM), read-only memory (ROM), optical disc read-only memory (CDROM), electro-optical memory, magneto-optical memory, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferroelectric RAM (FRAM), and a few other examples.

[0059] A computer may have one or more input / output (I / O) interfaces to allow communication with a human user and / or with another computer via associated input, output, or input / output devices (such as a keyboard, mouse, touchscreen, antenna, port, etc.). Each I / O interface enables the computer to communicate and / or exchange data with other components, access and connect to network resources, serve applications by connecting to networks (or more) capable of carrying data, and / or perform other computing applications. These networks include the Internet, Ethernet, Common Old Telephone Service (POTS) lines, Public Switched Telephone Network (PSTN), Integrated Services Digital Network (ISDN), Digital Subscriber Line (DSL), coaxial cable, fiber optic, satellite, mobile, wireless (e.g., Wi-Fi, Bluetooth, WiMAX), SS7 signaling networks, fixed lines, local area networks (LANs), wide area networks (WANs), and to name just a few.

[0060] It should be understood that a computer can perform functions or processes via hardware or a combination of hardware and software. For example, hardware may include logic gates incorporated as part of a silicon chip of a processor. Software (e.g., applications, processes) may be in the form of data, such as computer-readable instructions stored in a non-transitory computer-readable storage medium accessible by one or more processing units. With respect to a computer or processing unit, the expression "configured" refers to the presence of hardware or a combination of hardware and software operable to perform associated functions. Different components of a computer (such as processors and / or memory) may be local, or partially or wholly remote and / or distributed and / or virtual.

[0061] The methods and systems disclosed herein can be implemented in high-level procedural or object-oriented programming or scripting languages, or combinations thereof, to communicate with or assist the operation of a computer system (e.g., a controller). Alternatively, the methods and systems described herein can be implemented in assembly language or machine language. The languages ​​can be compiled or interpreted languages. Program code for implementing the methods and systems described herein can be stored on a storage medium or device, such as ROM, disk, optical disk, flash drive, or any other suitable storage medium or device. The program code can be general-purpose or special-purpose programmable computer-readable for configuring and operating the computer when the computer reads the storage medium or device to perform the processes described herein. Embodiments of the methods and systems described herein can also be considered as being implemented via a non-transitory computer-readable storage medium on which a computer program is stored. The computer program may include computer-readable instructions 416 that cause the computer (or more specifically, the processing unit 412 of the computing device 400) to operate in a particular and predefined manner to perform the functions described herein, such as those described in the methods above. Instructions 416 may be stored in memory 416 of the computer 400 and may include, for example, transfer functions.

[0062] Computer-executable instructions can take many forms, including program modules, and can be executed by one or more computers or other devices. Typically, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. Generally, in various embodiments, the functionality of program modules can be combined or allocated as needed. The technical solutions of the embodiments can be in the form of software products. Software products can be stored on non-volatile or non-transitory storage media, such as optical disc read-only memory (CD-ROM), USB flash drives, or removable hard drives. Software products include multiple instructions that enable a computer device (personal computer, server, or network device) to execute the methods provided by the embodiments.

[0063] As will be understood, the examples described and illustrated above are intended to be exemplary only. The scope is defined by the appended claims.

Claims

1. A method for providing tactile feedback to a user, the method comprising: Provide an input tactile waveform, the waveform having an amplitude value that varies with time; The coupling degree between the user and the electronic device is measured as a function of the force applied by the user to the outer surface of the electronic device; The input tactile waveform is modulated into a modulated tactile waveform based at least on the measured coupling degree; as well as Moving the mass block of the haptic actuator based on the modulated haptic waveform includes: When the coupling degree is measured to have a first value, the mass block is moved based on the first modulated input tactile waveform; as well as When the coupling is measured to have a second value that is different from the first value, the mass block is moved based on the second modulated input tactile waveform, which is different from the first modulation.

2. The method according to claim 1, wherein, Modulating the input tactile waveform includes scaling the amplitude of the input tactile waveform by a scaling factor that depends on the measured coupling degree, wherein the input tactile waveform has a first amplitude scaling when modulated by the first modulation and a second amplitude scaling when modulated by the second modulation.

3. The method according to claim 1 or 2, wherein, Modulating the input tactile waveform includes frequency shifting of the input tactile waveform by an offset coefficient, the offset coefficient depending on the measured coupling degree, wherein the input tactile waveform has a first frequency shift when modulated by the first modulation and a second frequency shift when modulated by the second modulation.

4. The method according to any one of claims 1 to 3, wherein, The modulation of the input tactile waveform is further based on the frequency of the input tactile waveform, wherein, when the measured coupling remains the same during the modulation, the input tactile waveform has a third modulation at a first frequency of the input tactile waveform and a fourth modulation at a second frequency of the input tactile waveform.

5. The method according to claim 4, wherein, The input tactile waveform has a superposition of more than one frequency amplitude variation, wherein modulating the input tactile waveform includes applying different modulation coefficients to different frequencies among the more than one frequency.

6. The method according to any one of claims 1 to 5, wherein, Modulating the input tactile waveform includes applying at least one modulation coefficient to the input tactile waveform.

7. The method according to claim 6, wherein, The modulation coefficient varies linearly with the measured coupling degree value within the range of the measured coupling degree value.

8. The method according to claim 6, wherein, The modulation coefficient varies non-linearly with the measured coupling degree value within the range of the measured coupling degree value.

9. The method according to claim 6, wherein, When the measured coupling value is below the threshold, the modulation coefficient is zero.

10. The method according to any one of claims 1 to 9, wherein, The measurement of coupling includes measuring the normal force applied by the user to the outer surface of the electronic device.

11. The method according to any one of claims 1 to 10, wherein, The measurement of coupling includes measuring the contact surface area between the user's skin and the outer surface of the electronic device.

12. The method according to claim 11, wherein, The measurement of coupling includes performing a measurement of the amount of electrostatic interference applied by the user's skin to a capacitive sensor integrated into the frame or housing of the electronic device.

13. An electronic device comprising: case; A coupling sensor configured to measure the amount of force applied by the user to the outer surface of the electronic device; A tactile actuator having a fixed part and a movable part, the fixed part being integral with the housing, and the movable part having a mass block; and A controller operable to move the mass block of a tactile actuator according to a transfer function based on at least one of amplitude and frequency, the at least one of which depends on the amount of force measured by at least one coupled sensor.

14. The electronic device according to claim 13, wherein, The electronic device is a mouse, which is configured to function as a user input device for a computer.

15. The electronic device according to claim 14, wherein, The mouse has a left-click button, a right-click button, a palm rest, and a position sensor, wherein the coupling sensor and the haptic actuator are associated with one of the left-click button, the right-click button, and the palm rest.

16. The electronic device according to any one of claims 13 to 15, wherein, The tactile actuator is integrated immediately below and adjacent to the coupling sensor.

17. The electronic device according to any one of claims 13 to 16, wherein, The tactile actuator is a linear actuator.

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