Input device for 3D control

Abstract

The three-dimensional control system includes an input device, a computing device, and a tracking assembly. The input device can include an input sensor, an inertial measurement unit sensor, and an ultrasonic speaker. The tracking assembly can include a plurality of ultrasonic microphones and an inertial measurement unit disposed on or with the computing device. The plurality of ultrasonic microphones can include three microphones in a first plane and at least one other ultrasonic microphone disposed outside the first plane. The ultrasonic microphones can be configured to detect ultrasonic waves output by the speaker of the input device, and the computing device can triangulate the position of the input device in space relative to the computing device.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority to U.S. Provisional Patent Application No. 63 / 478,523, entitled "Input Device," filed January 5, 2023; U.S. Provisional Patent Application No. 63 / 376,767, entitled "Variable Friction and Multi-Texture Mouse," filed September 22, 2022; U.S. Provisional Patent Application No. 63 / 376,763, entitled "Multi-Mode Mouse," filed September 22, 2022; U.S. Provisional Patent Application No. 63 / 376,650, entitled "Input Device for Three-Dimensional Control," filed September 22, 2022; and U.S. Provisional Patent Application No. 63 / 376,756, entitled "Input Device with Adaptive Grip Orientation," filed September 21, 2023, the disclosures of which are incorporated herein by reference in their entireties. This application claims priority to U.S. patent application Ser. No. 18 / 472,185, entitled "Three-Dimensional Control."

[0002] The present disclosure relates generally to user input devices and systems, and more particularly to three-dimensional input device tracking systems and devices. [Background technology]

[0003] Recent advances in computing have enabled immersive user experiences, including desktop games on personal computers, alternative and virtual reality interactive consoles, three-dimensional (3D) computer-aided design (CAD) software, high-resolution display screens, and the like. However, user input devices designed to enable users to manipulate and control the displayed objects and visual elements of such systems, including objects represented three-dimensionally on a display screen, are limited to input devices such as buttons and knobs that are not intuitive or do not reflect actions directed by the user. For example, in CAD software used by engineers and designers to build virtual 3D objects, typical input devices such as computer mice and styluses provide only buttons, knobs, and two-dimensional (2D) position sensing to enable manipulation of the objects being designed. Users often find it unintuitive and difficult to manipulate objects in a 3D environment using these 2D input devices in 3D space, requiring additional control functionality to translate, zoom, rotate, slice, and otherwise move the 3D objects in 3D. Thus, the limited input and control capabilities of current input devices are inefficient, difficult to learn, cumbersome, and inadequate for 3D manipulation.

[0004] For these and other reasons, there is a continuing need for improvements to 3D input devices. Summary of the Invention

[0005] In at least one example of the present disclosure, an input device may include an input sensor, a housing defining an internal volume, an inertial measurement unit (IMU) sensor disposed within the internal volume, and an ultrasonic speaker disposed within the internal volume.

[0006] In one example, the input sensor may include a touch detection sensor. In one example, the ultrasonic speaker is configured to output sound waves greater than approximately 20 kHz. In one example, the ultrasonic speaker is configured to output sound waves between approximately 20 kHz and approximately 80 kHz. In one example, the input device further includes a feedback module. In one example, the feedback module includes a haptic engine. In one example, the feedback module includes a light. In one example, the input device further includes an emitter electrically coupled to the IMU sensor. In one example, the emitter is configured to transmit a signal including information regarding a movement or orientation of the input device detected by the IMU sensor.

[0007] In at least one example of the present disclosure, the tracking device includes a display portion fixed to a base, the display portion having a display screen, an ultrasonic microphone array disposed on the display portion, and a sensor (e.g., an IMU or angle sensor) disposed on the display portion and configured to detect the angle of the display screen relative to the base.

[0008] In one example, the ultrasonic microphone array includes three microphones defining a first plane and a fourth microphone positioned outside the first plane. In one example, the display screen defines a second plane parallel to the first plane. In one example, the display portion is the first portion, the tracking device further includes a second portion rotatably fixed to the first portion, and the fourth microphone is positioned on the second portion. In one example, the second portion includes a keyboard. In one example, the angle includes an angle of the display screen relative to a major plane of the second portion.

[0009] In at least one example of the present disclosure, a three-dimensional (3D) control system includes an input device, a computing device, and a tracking assembly. The input device can include an input sensor, an inertial measurement unit (IMU) sensor, and an ultrasonic speaker. The tracking assembly can include three ultrasonic microphones affixed to the computing device, the three ultrasonic microphones configured to receive ultrasonic waves output by the ultrasonic speaker.

[0010] In one example, the three-dimensional control system includes a display portion having a display screen. In one example, the IMU sensor is a first IMU sensor, and the 3D control system further includes a second IMU sensor fixed to the display portion. In one example, the tracking assembly includes at least four ultrasonic microphones, where a first microphone, a second microphone, and a third microphone of the at least four ultrasonic microphones define a first plane, and a fourth microphone of the at least four ultrasonic microphones is positioned outside the first plane. In one example, the input device includes an emitter configured to transmit a signal including information regarding the movement detected by the IMU sensor to a computing device. In one example, the three-dimensional control system includes a laptop computer, and the input device is operable as a mouse for the laptop computer. [Brief explanation of the drawings]

[0011] The disclosure will be readily understood by the following detailed description in conjunction with the accompanying drawings, in which like reference numerals designate like structural elements and in which:

[0012] [Figure 1] 1 illustrates an example of an input device on a support surface and a visual object on a display device controlled by the input device.

[0013] [Figure 2]1 illustrates an example of an input device that is manipulated in space relative to a display device to control visual objects on a display screen of the display device.

[0014] [Figure 3A] 1 illustrates a top perspective view of an example input device.

[0015] [Figure 3B] 3B shows a cross-sectional view of the device of FIG. 3A.

[0016] [Figure 4] 1 illustrates a perspective view of an example of a tracking device.

[0017] [Figure 5] 1 illustrates a perspective view of an example of a tracking device.

[0018] [Figure 6] FIG. 1 illustrates a side view of an example tracking device.

[0019] [Figure 7] 1 illustrates a perspective view of an example of a computing device and a tracking assembly affixed to the computing device.

[0020] [Figure 8] 1 illustrates an example of an input device detected in 3D space by a computing device as the input device controls a visual object on a display screen of the computing device.

[0021] [Figure 9] 1 shows a cross-sectional view of an example of an input device.

[0022] [Figure 10] 1 shows a cross-sectional view of an example of an input device.

[0023] [Figure 11]1 illustrates a top perspective view of an example input device.

[0024] [Figure 12] 1 shows a cross-sectional view of an example of an input device.

[0025] [Figure 13A] 1 shows a user's hand gripping and operating an example input device.

[0026] [Figure 13B] 13B shows a top view of the input device shown in FIG. 13A illustrating contact areas indicating where portions of a user's hand contact the input device.

[0027] [Figure 14A] 1 shows a user controlling visual objects on a display by manipulating an exemplary input device resting on a support surface.

[0028] [Figure 14B] 14B illustrates a user controlling visual objects on a display by manipulating the input device shown in FIG. 14A in 3D space on a support surface. DETAILED DESCRIPTION OF THE INVENTION

[0029] Reference will now be made in detail to exemplary embodiments as illustrated in the accompanying drawings. It should be understood that the following description is not intended to limit these embodiments to a single preferred embodiment. On the contrary, the following description is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the described embodiments as defined by the appended claims.

[0030] The present disclosure relates generally to user input devices and systems, and more particularly to 3D input device tracking systems and devices. The devices and systems described herein may include a user-operated input device and a computing device configured to detect the input device being manipulated in 3D space. As a user manipulates the input device in 3D space, the computing device can detect the position, movement, and orientation of the input device and manipulate a representation of the 3D object on the screen of the computing device accordingly. In this manner, a user can naturally and intuitively manipulate the 3D object represented on the screen by manipulating the input device in 3D space as if the input device itself were the object represented on the screen.

[0031] In at least one example, the 3D control system can include an input device having an input sensor, an inertial measurement unit (IMU) sensor, and an ultrasonic speaker. The system also includes a tracking assembly having three or more ultrasonic microphones affixed to the computing device. In at least one example, the tracking assembly includes four ultrasonic microphones, one of the ultrasonic microphones positioned out of plane from the other three.

[0032] While a user moves an input device in 3D space, its ultrasonic speaker can transmit audio signals imperceptible to the human ear that are received by an ultrasonic microphone of the tracking assembly. In at least one example, the input device and tracking assembly are synchronized using bidirectional signals from a transceiver. Using the audio signals from the input device received by the tracking assembly, the computing device can determine the 3D position of the input device relative to the microphone (e.g., Cartesian or radial coordinates of the input device relative to an origin). In addition, the input device can be configured to transmit signals related to orientation and movement detected by an IMU of the input device. Between the position information provided by the signals transmitted from the input device's speaker and the signals transmitted related to the IMU information, the system can accurately detect the 3D position, movement, and orientation of the input device relative to the computing device.

[0033] Thus, when the input device is manipulated by a user in physical, tangible 3D space, the computing device can correspondingly manipulate 3D-represented visual objects on the display screen. In this way, the user can use the input device to manipulate visual objects on the display screen as if the input device itself were an object on the display screen. This directly correlates rotation, translation, or other movement of the input device to the same rotation, translation, or other movement of the visual objects on the screen, allowing for intuitive and natural control of objects on the display screen.

[0034] Additionally, the input sensor or sensor array of the input device can be used to detect hand position, grip force, or other gestures performed by the user with the input device to expand the control capabilities of the input device when controlling objects on the screen. In one example, the input sensor can detect the amount of force with which the user grips the input device. When such force exceeds a predetermined threshold, the computing device can begin manipulating the visual object on the screen in sync with the user's manipulation of the input device in 3D space. Before this threshold is met, the computing device can ignore the position and orientation of the input device. In this manner, the user can decide to "grab" the visual object by gripping the input device (using the input device as a proxy). This gripping resembles the natural action of actually grasping a virtual object displayed on the screen. In this manner, the action of grabbing and manipulating an object on the screen is performed naturally and intuitively using a physical input device in the user's hand.

[0035] Additional actions or gestures performed by the user with the input device can also be detected and used to manipulate objects displayed on the screen of the computing device in a natural and intuitive manner. For example, a user can move the device closer to or farther away from the display screen of the computing device to zoom in and out of the displayed objects. Other gestures, hand positions, or actions performed with the input device can otherwise control visual objects, including panning left and right, selecting and deselecting objects, and any other useful 3D manipulation control of 3D objects represented on the screen.

[0036] In at least one example, an IMU sensor or other sensor in the input device can detect when a user lifts the input device from a support surface. When the input device is lifted, the input device can enter a 3D mode in which 3D positioning and movement are detected and utilized. Otherwise, when the input device remains stationary or is moved across only two dimensions on the support surface (such as by being moved across a substantially flat desk or mouse pad), the input device can function as a computer mouse, operating in 2D but with expanded capabilities due to additional input sensors, IMU sensors, ultrasonic speakers, etc. Thus, when controlling an application that does not require 3D manipulation of on-screen objects, a user can leave the input device stationary on the support surface. Then, when using an application or software program that utilizes 3D space and object movement or design, the user can simply lift the input device from the support surface or desk and seamlessly switch to a 3D control mode in which the input device is manipulated in 3D space to control on-screen 3D objects, as described above.

[0037] Thus, the devices and systems described herein provide natural, intuitive, and enhanced control of 3D objects represented on a display screen.

[0038] These and other embodiments are described below with reference to Figures 1-14B. However, those skilled in the art will readily appreciate that the detailed description provided herein with respect to these figures is for illustrative purposes only and should not be construed as limiting. Furthermore, as used herein, a system, method, article, component, feature, or sub-feature that includes at least one of a first option, a second option, or a third option should be understood to refer to a system, method, article, component, feature, or sub-feature that can include one of each listed option (e.g., only one of the first options, only one of the second options, or only one of the third options), multiple of a single listed option (e.g., two or more of the first options), two options simultaneously (e.g., one of the first options and one of the second options), or a combination thereof (e.g., two of the first options and one of the second options).

[0039] 1 illustrates an example of a device 100 resting on a support surface 106. In at least one example, the input device 100 can be a computer mouse. The input device 100 can be configured to manipulate visual objects 108 displayed on a display screen 104 of a display device 102. The display device 102 can include a computing device such as a desktop computer, a laptop computer, or a tablet computer. An electrical connection 110 between the input device 100 and the display device 102 is shown with a dashed line to indicate that some embodiments of the input device 100 may be hardwired to the display device 102 and other embodiments of the input device 100 may be wirelessly connected to the display device 102 to visually manipulate the visual objects 108 on the display screen 104.

[0040] The display device 102 may be a computing device configured to execute software applications that display visual information to a user. The visual object 108 shown in FIG. 1 is a representative, non-limiting example of an image that may be controlled to correlate its movement on the display screen 104 with the movement of the input device 100 on the support surface 106. The visual object 108 may be a cursor in some examples. In other examples, the visual object 108 may include a game character or a 3D part or assembly being visualized and / or designed using CAD software. As a user moves the input device 100 across the support surface 106 on which the input device 100 rests, the visual object 108 may similarly move across the display screen 104.

[0041] Support surface 106 can include any surface on which input device 100 can rest and be slid across during use. In one example, support surface 106 includes the top of a mouse pad. In another example, support surface 106 can include the top of a desk, counter, or table, including a variety of materials.

[0042] In at least one example, the visual object 108 on the display screen 104 can be a 3D representation on the 2D display screen 104. The 3D representation visual object, such as the visual object 108, can be displayed on the 2D display screen 104 to appear three-dimensional when displayed by a software application, including CAD software, game software, or other software applications, including web browsers, visual design software, etc. The input device 100 can be configured to manipulate the 3D visual object 108 not only when the input device 100 is resting on the support surface 106, but also when the input device 100 is lifted from the support surface 106 and manipulated in 3D in space. The input device 100 can be manipulated by a user to mimic the desired manipulation of the visual object 108 as if the input device 100 were actually the visual object 108. In this manner, the input device and 3D tracking system of the present disclosure can provide an intuitive and natural control environment for a user to manipulate visual objects represented as 3D objects on a screen.

[0043] The features, components, and / or parts shown in Figure 1, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figure 1.

[0044] 2 illustrates another example of an input device 200 configured to control a visual object 208 displayed on a display screen 204 of a laptop computer 202. The laptop computer 202 is an example of an interface, input device, or display device that interfaces with and may be controlled in part by the input device 200 when the input device 200 is manipulated by a user. In at least one example, the laptop computer 202 may include additional input devices 211, such as a trackpad and a keyboard. As discussed above with reference to the visual object 108 of FIG. 1, the visual object 208 of FIG. 2 may also include a 3D representation of a visual object that may be manipulated by a user via the input device 200.

[0045] In at least one example, input device 200 may include a stylus or other remote control input device or controller electrically coupled to laptop computer 202 such that input commands from a user may be sent from input device 200 to laptop computer 202 to, among other things, manipulate visual objects 208, navigate menus or other graphical user interface (GUI) elements, or provide cursor or typing input. In at least one example, input device 200 shown in Figure 2 may be similar to or identical to input device 100 shown in Figure 1, except that input device 200 shown in Figure 2 is lifted by a user from any support surface, such as support surface 106 shown in Figure 1, and held in mid-air.

[0046] In at least one example, the input device 200 can include one or more components configured to communicate with a laptop computer 202. The laptop computer 202 can include one or more components configured to receive signals transmitted from the input device 200 and detect the position, movement, and orientation of the input device 200 as a user manipulates the input device 200 in 3D space. Based on the detected position, movement, and orientation of the input device 200, the laptop computer 202 can correspondingly display the manipulation of a visual object 208 on the display screen 204. Thus, the devices and systems described herein, including the input device 220 of FIG. 2 , can be held and manipulated in 3D space away from any supporting surface to naturally and intuitively control and manipulate the visual object 208 in the simulated 3D space projected by the display screen 204.

[0047] The features, components, and / or parts shown in Figure 2, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figure 2.

[0048] 3A and 3B show a top perspective view and a cross-sectional view, respectively, of another example of an input device 300. The input device 300 may include a housing 312 defining a grip portion 314 and a bottom portion 316. The cross-sectional view of FIG. 3B shows that the housing 312 may include an inner surface 326 opposite an outer surface 324. The inner surface 326 may define an interior volume 328. In at least one example, the input device 300 may include an IMU sensor 318 and an output component 320. The output component 320 may be configured to transmit one or more signals to a computing device, including the laptop computer 202 shown in FIG. 2 and / or the display device 102 shown in FIG. 1.

[0049] In at least one example, output component 320 can include a speaker. The speaker can be an ultrasonic speaker configured to output sound waves in the ultrasonic spectrum. That is, output component 320 can include an ultrasonic speaker configured to generate ultrasonic waves inaudible to the human ear. Generally, these ultrasonic waves can include frequencies typically greater than 20 kHz. In at least one example, ultrasonic waves can include frequencies between approximately 20 kHz and approximately 80 kHz. In this manner, output component 320 including an ultrasonic speaker can send audio signals that are imperceptible to the human ear but that can be detected by one or more ultrasonic microphones of the computing device.

[0050] The features, components, and / or parts shown in Figures 3A-3B, including their arrangements and configurations, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangements and configurations, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figures 3A-3B.

[0051] Figure 4 shows a perspective view of a tracking device 402, which may include a computing device such as a laptop or tablet computer as shown in Figure 1 or 2. The tracking device 402 may be part of a 3D tracking system for detecting the position in 3D space of an input device configured to control or manipulate a visual object 408 on a display screen 404 of the tracking device 402. The tracking device may also include other input components 411, such as a keyboard and touchpad. The visual object 408 displayed on the display screen 404 shown in Figure 4 may be a representation of a 3D object on a 2D screen, such as that represented by CAD software, 3D game software, etc.

[0052] In at least one example, tracking device 402 can include one or more ultrasonic microphones 430a, 430b, and 430c. The various microphones 430a, 430b, and 430c can be collectively referred to as microphones 430 or microphone array 430. Microphone 430 can be configured as an ultrasonic microphone configured to detect ultrasonic waves above 20 kHz or waves between about 20 kHz and about 80 kHz, as described above. In this manner, microphone 430 of tracking device 402 can be configured to receive signals output by output component 320 of input device 300 shown in FIGS. 3A and 3B.

[0053] In at least one example, three separate microphones 430a, 430b, and 430c can be positioned at various locations on the tracking device 402, such as around the periphery of the display screen 404, and spaced apart from one another. The configuration and placement of microphones 430 shown in FIG. 4 is exemplary only and is not intended to be limiting. Other locations can be used such that microphone 430 can triangulate the three-dimensional spatial position of an input device emitting ultrasound waves based on the positions of microphones 430a, 430b, and 430c and signals received by microphones 430a-430c from the input device. In at least one example, tracking device 402 can include a processor electrically coupled to microphone 430. The processor can be configured to execute instructions stored on a memory component, including one or more algorithms for triangulating the position of an input device outputting ultrasound waves detected by microphone 430.

[0054] In such an example, the location of the input device may be detected based on its proximity to the various microphones 430a, 430b, and 430c of the microphone array 430 shown in Figure 4. Upon detection of ultrasound waves by the various microphones 430a, 430b, 430c of the illustrated microphone array 430, a processor may execute an algorithm to determine where the input device is in space based on the distance of the input device relative to each individual microphone 430a, 430b, 430c by measuring the time of flight of ultrasound waves transmitted from an ultrasonic speaker of the input device (e.g., output component 320 shown in Figure 3A).

[0055] Additionally, in at least one example, the tracking device 402 may include an IMU sensor 432. In at least one example, the tracking device 402 may include a laptop computer having a base portion 413 and a display portion 415 rotatably fixed to the base portion 413. A user may adjust the angle of the display portion 415 relative to the base portion 413 or the angle of the display screen 404 relative to a major plane of the base portion 413. The angle at which the display portion 415 is positioned may affect the triangulation algorithm for determining the position of the input device relative to the microphone 430. Accordingly, the tracking device 402 may include an IMU sensor 432 for detecting the angle of the display portion 415 relative to the base portion 413. The algorithm may take this angle into account to accurately determine the position of the input device regardless of changes in the angle of the display portion 415. Further details regarding triangulation and detection of the position of the input device relative to the tracking device 402 are provided below with reference to other figures.

[0056] The features, components, and / or parts shown in Figure 4, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figure 4.

[0057] 5 shows another example of a tracking device 502 including a base portion 513 and a display portion 515 rotatably connected to the base portion 513. The display portion 516 can include a display screen 504 that shows a visual object 508 represented as a 3D object that can be moved, controlled, and manipulated by an input device, as described herein. The base portion 513 can include additional input components 511, including a keyboard and a touchpad. Similar to the tracking device 402 shown in FIG. 4, the tracking device 502 shown in FIG. 5 can include an IMU sensor 532 disposed on or within the display portion 515 that compensates for the angle of the display portion 515 relative to the base portion 513 when a triangulation algorithm stored on a memory component is executed by a processor of the tracking device 502.

[0058] In another example, the tracking device 502 includes an angular position sensor in a clutch or hinge of the tracking device 502 between the base portion 513 and the display portion 515, or at another location that senses the opening angle between the base portion 513 and the display portion 515 at any increment between a fully closed position (e.g., a closed clamshell position) and a fully open position (flat). The output of the angular position sensor can be used as input to the triangulation algorithm(s) described herein.

[0059] Additionally, tracking device 502 may include a microphone array including individual microphones 530a, 530b, 530c, 530d, 530e, and 530f. Individual microphones 530a, 530b, 530c, 530d, 530e, and 530f may be collectively referred to as microphones 530 or microphone array 530. Microphones 530 may be ultrasonic microphones configured to detect ultrasonic waves. In at least one example, tracking device 502 includes four microphones 530a-530d arranged in a single plane and spaced apart to surround display screen 504. Additionally, at least one example of tracking device 502 may include one or more additional microphones 530e and 530f positioned outside the plane of microphones 530a-530d positioned on display portion 515. In at least one example, additional microphones 530 e and 530 f are located on base portion 513 .

[0060] In one or more other examples, the number, placement, and plane or configuration of the microphone array 530 may be different. FIG. 5 shows one example for purposes of illustration and explanation, but is not intended to be limiting. In general, the tracking devices and 3D tracking systems described herein may include at least three microphones and a single plane (by definition, any three microphones are in the same plane) and at least one other microphone positioned outside the plane of the other three microphones. Some examples may include four or five microphones in a single plane and three or four microphones positioned in a second plane that is not parallel to the first plane. Other examples may include three microphones in a single plane and one microphone outside the plane of the other three. It should be understood that, similar to the microphone arrays 430, 530 shown in FIGS. 4 and 5, the configuration of the number of in-plane and out-of-plane microphones of the microphone array may enable triangulation of an input device manipulated in 3D space. Thus, the number and positioning of microphones 530 can ensure that at least four microphones are arranged in a way that prevents their three-dimensional positions in space from being considered coplanar, which can improve the detection accuracy and triangulation capabilities of the microphone array of the input device.

[0061] FIG. 6 shows a side view of another example of a tracking device 602 in the form of a laptop computer having a base portion 613 and a display portion 615 rotatably connected to the base portion 613 at an angle θ. Similar to the other tracking devices illustrated herein, the tracking device 602 of FIG. 6 can include several microphones 630a, 630b, and 630c, collectively referred to as a microphone array 630 or microphones 630. The first microphone 630a and the second microphone 630b may be positioned in the same plane, and the third microphone 630c may be positioned outside the plane. For example, the system may be preconfigured with information indicating that microphones 630a and 630b are coplanar in the vertical YZ plane and that microphone 630c is offset a predetermined distance from the YZ plane (e.g., in the X direction). Thus, the three microphones, in combination with this preconfigured information, may be used to triangulate the position of an input device relative to the tracking device 602. Additionally, the tracking device 602 may include an IMU sensor 632 for detecting the angle θ of the display portion 615 relative to the base portion 613 .

[0062] The microphone 630 may be an ultrasonic microphone configured to receive and detect ultrasonic waves emitted by an input device being tracked by the tracking device 602. The tracking device 602 may also include a display screen 604 of a display portion 615 configured to display visual objects in two dimensions but project them into a virtual three-dimensional scene.

[0063] The features, components, and / or parts shown in Figures 5 and 6, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in the other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to the other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figures 5 and 6.

[0064] Figure 7 shows another example of a tracking device 702 that includes a base portion 713 having input components 711, such as a keyboard and a touchpad. The tracking device 702 may also include a display portion 715 having a display screen 704 configured to display a visual object 708. The tracking device 702 may include a microphone array 730 including individual microphones 730a-730f, similar to the tracking device 502 shown in Figure 5. However, the tracking device 702 shown in Figure 7 may include removably attachable microphones 730a-730f and / or a removably attachable IMU sensor 732 connected to the display portion 715.

[0065] 7, the microphone array 730 is detachably attachable to the tracking device 702 so that the microphone array 730 can be attached to a device other than the tracking device 702, such as a desktop computer, a laptop computer, or a tablet computer. In at least one example, each individual microphone 730a-730f, as well as the IMU sensor 732, can be detachably attached to the tracking device 702. In another example, any two or more of the microphones 730a-730f of the microphone array 730, including all of the microphones 730a-730f, can be secured together and detachably secured to the tracking device 702. In other examples, such as the devices shown in FIGS. 4-6 and other examples shown herein, the microphones and IMU sensor can be incorporated within the tracking device such that they cannot be removed during normal intended use.

[0066] The tracking devices, computing devices, and display devices described herein include microphone arrays that include ultrasonic microphones, although other examples can include microphones configured to detect sound waves at frequencies other than ultrasonic frequencies. Generally, the microphones of the tracking devices described herein are configured to detect sound waves output by an output component of an input device used to control the tracking device. These sound waves can be in a variety of different spectrums, including those in the spectrum below about 20 kHz and those in the spectrum above about 80 kHz.

[0067] The features, components, and / or parts shown in Figure 7, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figure 7.

[0068] Figure 8 shows an example of a 3D control system 801 including an input device 800 and a tracking device 802. In the example shown in Figure 8, the tracking device 802 may include a laptop computer having a base portion 813 and a display portion 815 rotatably connected to the base portion 813. The tracking device 802 may also be referred to as a computing device 802, as shown in the example of Figure 8. The display portion 815 of the computing device 802 includes a display screen 804 that displays a visual object 808 manipulated by a user via the input device 800. As shown, the input device 800 may be configured to be held in the air without resting on any supporting surface when a user manipulates the input device 800.

[0069] In at least one example, computing device 802 may include a plurality of microphones 830a-830f, which may also be referred to as microphone array 830 or simply microphones 830. At least four microphones 830a-830d may be disposed on or with display portion 813 in a first plane. Also, display screen 804 of display portion 815 may also define a plane parallel to the plane defined by microphones 830a-830d. ​​Additionally, the example shown in FIG. 8 includes two microphones 830e and 830f disposed on or with base portion 813. Thus, the two microphones 830e and 830f of base portion 813 may be outside the plane formed by the four microphones 830a-830d of microphone array 830. As described above, each of microphones 830a-830f of computing device 802 may be an ultrasonic microphone configured to detect ultrasonic waves incident by input device 800.

[0070] Much like above, the input device 800 may include a speaker 820, such as an ultrasonic speaker 820, configured to emit ultrasonic waves detectable by a microphone 830 of the computing device 802. The computing device 802 may also include an IMU sensor 832 on, within, or otherwise coupled to the display portion 815. The IMU sensor 832 may be configured to detect the angle of the display portion 815 or display screen 804 relative to the base portion 813. The input device 800 of the system 801 shown in FIG. 8 may include any or all of the features and components of other input devices shown in any other figures described herein. Similarly, the computing device 802 may include any or all of the features and components of other computing devices, tracking devices, display devices, etc. shown in other figures described herein.

[0071] 8 illustrates a system 801 that indicates the position of an input device 800 detected by a computing device 802 using a microphone array 830. In particular, the dotted lines in FIG. 8 may represent ultrasonic waves incident by an ultrasonic speaker 820 of the input device 800 traveling to each individual ultrasonic microphone 830a-830f of the computing device 802. As described above with reference to other examples, the computing device 802 may include one or more processors 817 and one or more memory components 819 that store executable instructions, including instructions for performing a triangulation algorithm. The processor 817 may perform a triangulation algorithm based on input received from the microphones 830a-830f to determine the position of the input device 800 in space, including its position over time to detect movement of the input device 800.

[0072] A triangulation algorithm executed by the processor 817 can determine the position of the input device 800 relative to the display screen 804 based at least in part on differences in ultrasonic signals emitted by the ultrasonic speaker 820 of the input device 800, which may differ for each microphone 830a-830f based on the physical distance of the input device 800 from each microphone 830a-830f. The algorithm can also take into account signals from the IMU sensor 832 and the angle of the display screen 804 relative to the base portion 813 when a user adjusts the display portion 815 relative to the base portion 813. Much like as described above, in at least one example of the computing device 802, the processor 817 and memory component 819 can be electrically coupled to each of the microphones 830a-830f and the IMU sensor 832.

[0073] The features, components, and / or parts shown in Figure 8, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figure 8.

[0074] FIG. 9 shows a cross-sectional view of one example of an input device 900 that can be used in the 3D tracking systems described herein. In the example shown in FIG. 9 , the input device 900 can include a housing 912 having a grip portion 914 and a bottom portion 916. The housing 912 can include an inner surface 926 and an outer surface 924. The inner surface 926 can define an interior volume 928 that houses or accommodates several other components. These other components can include an input sensor array 940, a feedback module 944, an antenna 946, and any other electronic components 948. The processor 934 can be electrically coupled to any one of these other electronic components via one or more wires or circuitry 936, represented by dotted lines in FIG. 9 . The input device 900 can also include a visual sensor 938 disposed with the bottom portion 916 to track the movement and position of the input device 900 as it slides across a support surface, such as a mouse pad, in contact with the bottom portion 916. In at least one example, gripping portion 914 may include an upper curved surface configured to conform to a user's hand and fingers gripping input device 900. Lower portion 916 may also be flat and configured to rest and / or support input device 900 on a support surface, such as a mouse pad or desktop surface, when used as a conventional computer mouse.

[0075] In at least one example, the input sensor array 940 can include a plurality of touch input sensors 942 positioned against the inner surface 926 of the housing 912. In at least one example, the touch input sensors 942 can include capacitive touch sensors adhered to or otherwise positioned against the inner surface 926. In this manner, the input device 100 can be configured to detect the position of a user's fingers or hand on the gripping portion 914 and receive a signal when the user taps, squeezes, or otherwise contacts the input device 900. The location of the sensor array 940, including each touch input sensor 942, can vary in one or more other examples. For example, other input devices can include a sensor array with touch input sensors positioned against the inner surface of the bottom portion 916 of the housing 912 or positioned elsewhere on the outer surface 924. Input sensors in other devices can also include physical buttons and switches, such as TAC switches (e.g., signal switches that require a touch to open or close a circuit) and buttons that are physically or mechanically depressed by the user.

[0076] 9 , the input device 900 can include a feedback module 944. The feedback module 944 can be configured to provide feedback to the user in response to certain input signals provided by the user to the input device 900 and / or to alert the user with one or more signals transmitted from a tracking or computing device controlled by the input device 900. In one example, the feedback module 944 can include a haptic engine that provides haptic feedback in the form of vibrations or other movements of the haptic engine. In at least one example, the feedback module 944 can include visual feedback components, such as light-emitting components. In at least one example, the feedback module 944 can include one or more speakers that provide audio feedback to the user.

[0077] As described above, the sensor array 940, in conjunction with the processor 934, can be configured to sense and detect when a user applies a certain force to the housing 912, for example, when the user squeezes or grips the input device 900 above a certain force threshold. Much like above, the sensor array 940 can include a force sensor. That is, one or more of the touch input sensors 942 can include a force sensor configured to detect a certain stress or strain on the housing 912 due to a user's gripping force when the user handles or manipulates the input device 900.

[0078] Also, as described above, the input device 900 may include an emitter / receiver component, such as an antenna 946 electrically coupled to the processor 934. The antenna may also be referred to as an emitter or a receiver. The antenna 946 may be configured to wirelessly transmit signals to a computing device or a tracking device. The signals may include information about the touch detected by the sensor array 940. The antenna 946 may also be configured to transmit signals regarding the position, orientation, and movement of the input device 900 in space as a user manipulates the input device 900. The signals may include the position, orientation, and movement detected by an IMU sensor of the input device 900.

[0079] Much like above, as noted above, input device 900 can include additional electronic components 948. In at least one example, additional electronic components 948 can include an IMU sensor. In at least one example, electronic components 948 can include memory components or other circuitry components necessary for the functioning of other components of input device 900 described herein. In one example, electronic components 948 of input device 900 can include a battery for providing wireless power to input device 900 and its various electronic components.

[0080] The features, components, and / or parts shown in Figure 9, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figure 9.

[0081] FIG. 10 illustrates a cross-sectional view of another example of an input device 1000 showing a plan view of the interior of a grip portion 1014 defined by a housing 1012. An inner surface 1026 of the housing 1012 can define an interior volume in which any number of electronic components of the input device 1000 are disposed. The input device 1000 illustrated in FIG. 10 includes a sensor array 1040 including a plurality of input touch sensors 1042 disposed on or against the inner surface 1026 of the housing 1012. Also, similar to the input device 900 illustrated in FIG. 9, the input device 1000 illustrated in FIG. 10 can include a feedback module 1044. The feedback module 1044 can include a light array 1050 having a plurality of lights 1052 disposed within the interior volume of the housing 1012 and / or near, adjacent to, or against the inner surface 1026.

[0082] The input device 1000 may also include a processor 1034 electrically coupled to the sensor array 1040 and the feedback module 1044 via one or more wires or circuitry components 1036, shown in dotted lines in Figure 10. The light array 1050, including individual lights 1052, of the feedback module 1044 may be configured to visually present different messages or signals to the user as the user manipulates the input device 1000 to control visual images on the computing device, as described herein.

[0083] FIG. 11 illustrates, from an exterior perspective view, another example of an input device 1100 similar to the input device 1000 illustrated in FIG. 10 . The input device 1100 can include a housing 1112 having a grip portion 1114. The input device 1100 can also include a light array 1150 including individual lights 1152 configured to shine light through the housing 1112, which, in at least one example, can be transparent or translucent. As shown in FIG. 11 , a visible signal 1154 of at least one of the lights 1152 can shine through the housing 1112. Any one of the lights 1152 or all of the lights in the light array 1150 can emit light individually or simultaneously toward the housing 1112 to provide visual feedback to a user of the input device 1100. In at least one example, each of the individual lights 1152 in the light array 1150 can emit light of a different color. In at least one example, the timing of light emission from each of the lights 1152 of the light array 1150 can be synchronized and staged so that the light emitted from the light array 1150 appears to move back and forth or in any direction or pattern based on the position of the light 1152. As mentioned above, the light array 1150 can be an example of a feedback module configured to communicate with and provide feedback to a user.

[0084] The light emitted from the light array 1150, and the different forms of light emitted as described above, can be configured to communicate different messages and signals from a computing device controlled by the input device 1100 or from the input device 1100 itself. The signals from the light array 1150 can communicate a certain status or action that is displayed on the display screen of the computing device. Also, the different lights emitted from the light array 1150 can communicate that a certain gesture or action performed by a user with the input device 1100 has been received and acknowledged and / or sent as a control signal to the computing device. In one example, if a user grips the input device 1100 with a force that exceeds a certain threshold, as detected by various force sensors or touch input sensors described in other examples, the light array 1150 can emit a certain number, type, or color of light from the lights 1152 to confirm to the user that the user's gripping force exceeded the threshold, and an object displayed on the display screen by the computing device can be moved by moving the input device 1100. Conversely, when the user has finished manipulating the visual object via the input device 1100, the user may reduce the grip force on the input device below a threshold without completely releasing the input device, indicating an intent to stop manipulating the visual object while still holding the input device 1200. This intent may be confirmed to the user via the light array 1150.

[0085] In another example, the light emitted by the light array 1150 can confirm or communicate to a user that the operational mode of the input device 1100 has changed. For example, a first operational mode may include the input device 1100 being placed on a support surface and certain movements and manipulations on that surface being interpreted to control an image on a computing device. Then, when the user lifts the input device 1100 from the support surface, the light array 1150 can indicate to the user that a 3D motion tracking operational mode has been activated. In this mode, the user knows that he or she can manipulate the input device 1100 in 3D space to control visual objects on the computing device. It will be understood that the variations and configurations of the light emitted by the light array 1150 can vary from example to example to communicate any number of messages to the user. Additionally, while the light arrays 1150 and 1050 shown in FIGS. 11 and 10, respectively, are shown as feedback modules, the other feedback modules described herein can also be used to communicate and provide feedback to the user. These other feedback modules may include a haptic feedback mechanism including a speaker and a haptic engine. In at least some examples, a combination of the various feedback modules described herein may all be included in a single input device and used to provide haptic, audible, and visual feedback to a user.

[0086] Figure 12 shows a cross-sectional view of another example of an input device 1200 similar to that shown in Figures 10 and 11. The input device 1200 shown in Figure 12 can include a housing 1212 having a grip portion 1214. The housing 1212 can include an inner surface 1226 that defines an interior volume 1228. The input device 1200 can include a feedback module 1244 that can include any type of feedback module described elsewhere herein with reference to other examples, and a light array 1250 that includes a plurality of lights 1252 positioned against the inner surface 1226 of the housing 1212.

[0087] Additionally, input device 1200 may include a sensor array 1240 including a plurality of touch input sensors 1242 disposed against inner surface 1226 of housing 1212. Touch input sensors 1242 may include capacitive touch elements or other types of touch sensors configured to detect the presence and / or position of one or more finger regions or palm regions of a user's hand when the user is holding or gripping input device 1200. Sensor array 1240 may also include one or more force sensors for detecting gripping force, gripping movement, or other forces acting on housing 1212 during use. Additionally, input device 1200 may include several other electronic components, including other feedback modules 1244, antennas (emitter / receivers) 1246, and other sensors or components 1248, including IMU sensors, batteries, etc. Input device 100 may also include a processor 1234 electrically coupled to other electronic components via one or more wires or circuitry components 1236, shown in dotted lines in FIG. 12 .

[0088] In at least one example, the housing 1212 is symmetrical (e.g., rotationally symmetrical) about a central axis 1253 oriented generally perpendicular to a surface on which the input device 1200 may rest or be manipulated. For example, the housing 1212 may be circular, with the central axis 1253 being the central axis of rotation and / or symmetry of the input device 1200. In at least one example, a user may initially grasp the input device 1200, including the housing 1212, in any orientation and, as described herein, orient the input device 1200 in an orientation intended by the user based on the user's grip or hand position, regardless of the actual orientation of the input device 1200. In such an example, the processor 1234 is electrically coupled to the sensor array 1240 and may determine the hand position and intended orientation of the input device 1200 via the sensor array 1240 based on the position of the user's hand gripping the housing 1212.

[0089] In at least one example, the housing 1212 of the input device 1200 is circular or dome-shaped, as shown in FIG. 12 , so that the housing 1212 can rotate about a central axis 1253 that serves as the central axis of rotation for the circular housing 1212. In such an example, the mouse does not depend on the actual orientation of the housing 1212 relative to the support surface on which the housing 1212 rests. Rather, the housing 1212 can be digitally or computationally oriented and / or reoriented by the processor 1234 based on the position of the user's hand detected by the sensor array 1240, without the need to physically move or rotate the input device 1200 when grasping the housing 1212.

[0090] The features, components, and / or parts shown in Figures 10-12, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in the other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to the other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figures 10-12.

[0091] FIG. 13A illustrates another example of an input device 1300, which may be similar to the input devices 1000, 1100, 1200 illustrated in FIGS. 10-12, or any other input device illustrated in other figures described herein. The input device 1300 illustrated in FIG. 13Aa may include a gripping portion 1314. FIG. 13A illustrates a user's hand 1356 with multiple fingers 1358 touching or gripping the input device 1300. Like other examples of input devices described herein, the input device 1300 of FIG. 13A may include a touch input sensor and sensor array configured to detect the presence and location of contact between the user's hand 1356 and the gripping portion 1314 of the input device 1300. The input device 1300 may also be configured to detect contact between the user's hand 1356 and any other portion of the input device 1300 other than the gripping portion 1314, such as a bottom portion or other side portion of the housing. Additionally, as described above with reference to other examples, the input device 1300 may include one or more force sensors for detecting gripping forces, gripping movements, or other forces applied to the housing 1312 from the fingers 1358 or other parts of the user's hand 1356.

[0092] FIG. 13B shows a top view of the input device 1300 shown in FIG. 13A. The top view of FIG. 13B shows regions 1360a-1360f on the gripping portion 1314 of the housing 1312 where a user's hand 1356 or fingers 1358 are in contact with the housing 1312. In the illustrated example, regions 1360a-1360e represent five fingertip contact locations from the user's hand 1356, and region 1360f can represent the area of ​​the user's palm in contact with the housing 1312. The illustrated touch configuration is illustrative only and not limiting. Other examples may include a user touching or gripping the input device 1300 with two fingers, three fingers, with or without palm contact, etc. A user can grip input device 1300 in any manner he or she chooses, and as described above, input device 1300 can include various sensors configured to detect where, how, and with what force a user grips input device 1300. In some examples, the manner in which a user grips input device 1300, as detected by sensors that define regions 1360a-1360f as shown in FIG. 13B, can change the operational mode or functionality of input device 1300.

[0093] For example, the processor of the input device 1300 can execute a machine learning algorithm stored on a memory component of the input device 1300 to learn over time when a particular combination of touch regions 1360a-1360f indicates a particular user intent. In one example, a user gripping the input device 1300 in a particular manner over a support surface while the input device 1300 is resting on the support surface can indicate an intent to control a visual object on a computing device. Another configuration of the detected contact regions 1360a-1360f can indicate a user intent to grip and manipulate the input device 1300 in 3D space without resting it on a support surface to control an object on a display screen of the computing device. In some examples, such a determination of user intent can be based on predefined touch regions 1360a-1360f learned by the user. In either case, the input devices described herein may be configured to detect the position of a user's hand 1356 when the user grasps and manipulates the input device 1300 to control visual objects on a display screen of a computing device using the input device either on a support surface or in 3D space.

[0094] The features, components, and / or parts shown in Figures 13A-13B, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figures 13A-13B.

[0095] Much like above, Figure 14A shows a user's hand 1456 manipulating an input device 1400 on a support surface 1406 to control and manipulate a visual object 1408 displayed by a display screen 1404 of a computing device 1402. The input device 1400 shown in Figure 14a may be similar to and include any of the components and features of any other input device described herein and shown in other figures. Thus, the input device 1400 may also be configured to be lifted from the support surface 1406 and manipulated in 3D space when grasped and manipulated by the user's hand 1456 shown in Figure 14B. Various arrows shown next to the input device 1400 in Figure 14B indicate various movements, including translational and rotational movements, of the input device 1400 caused by the user. Also, as seen in FIG. 14B, the visual object 1408 displayed on the display screen 1404 of the computing device 1402 can move in a similar manner, as indicated by corresponding arrows showing various translational and rotational movements of the visual object 1408 on the display screen 1404.

[0096] The computing device / display device 1402 shown in Figures 14A and 14B may include any or all of the features of components of other computing devices, tracking devices and systems, and display devices shown in other figures and described elsewhere herein. That is, the computing device 1402 may include multiple ultrasonic microphones and IMU sensors described with reference to other examples and shown in other figures. In this manner, the computing device 1402 may track the position of the input device 1400 in 3D space as a user manipulates the input device 1400. The movement arrows on the display screen 1404 and next to the input device 1400 in Figure 14B are for illustrative and explanatory purposes only and may not be included in some example display screens and input devices.

[0097] The input device 1400 may include sensors that detect when a user slides or manipulates the input device 1400 relative to the support surface 1406 and when the user lifts the input device 1400 off the support surface 1406 into the air in 3D space. As described above, a specific feedback module mechanism can confirm to the user which mode the input device 1400 is operating in. As shown in FIG. 14B , when a user's hand 1456 grasps the input device 1400 and moves the input device 1400 in any direction or orientation in 3D space, the visual object 1408 represented on the display screen 1404 of the computing device 1402 can move in the same manner in virtual 3D on the 2D display screen 1404. In this way, the user can perceive that they are holding the visual object 1408 when they are actually holding the input device 1400. Thus, the user can move and manipulate the visual object 1408 as if they were actually moving or manipulating the input device 1400. In this way, the manipulation and control of the visual objects 1408 displayed by the display screen 1404 becomes natural and intuitive.

[0098] In addition to these natural and intuitive control scenarios provided by the input devices described herein, including the input device 1400 shown in FIGS. 14A and 14B , the input device 1400 may include additional functionality enabled by various force sensors, IMU sensors, touch detection arrays, and the like to enhance the functionality of the input device 1400 beyond simply manipulating a visual object 1408 in 3D. For example, a user's hand 1456 may grasp the input device 1400 above a certain grip force threshold to virtually grasp and release the visual object 1408. Also, for example, the display device 1402 may include a tracking system having an ultrasonic microphone that detects the position of the input device 1400 relative to the display screen 1404, allowing a user to zoom in or out on the visual object 1408 by moving the input device 1400 closer to or farther from the display screen 1404. Other movement, gesture, and input command scenarios enabled by the sensors of the input devices described herein are also contemplated, although not all are listed.

[0099] The features, components, and / or parts shown in Figures 14A-14B, including their arrangement and configuration, either alone or in any combination, may be included in any of the other example devices, features, components, and parts shown in other figures described herein. Similarly, the features, components, and / or parts shown in and described with reference to other figures, including their arrangement and configuration, either alone or in any combination, may be included in the example devices, features, components, and parts shown in Figures 14A-14B.

[0100] It is well understood that use of personally identifiable information should comply with generally recognized privacy policies and practices that meet or exceed industry or government requirements for maintaining user privacy. In particular, personally identifiable information data should be managed and handled in a manner that minimizes the risk of unintended or unauthorized access or use, and the nature of authorized uses should be clearly indicated to users.

[0101] In the foregoing description, for purposes of explanation, specific terminology was used to provide a thorough understanding of the described embodiments. However, it will be apparent to those skilled in the art that specific details are not required to practice the described embodiments. Thus, the foregoing descriptions of specific embodiments described herein have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. It will be apparent to those skilled in the art that numerous modifications and variations are possible in light of the above teachings.

Claims

1. an input sensor; a housing having an interior surface defining an interior volume; an inertial measurement unit (IMU) sensor disposed within the interior volume; an ultrasonic speaker disposed within the interior volume; An input device comprising:

2. The input device of claim 1 , wherein the ultrasonic speaker is configured to output sound waves greater than about 20 kHz.

3. The input device of claim 1 further comprising a feedback module.

4. The input device of claim 3 , wherein the feedback module includes a haptic engine or a light.

5. The input device of claim 1 , further comprising an emitter electrically coupled to the IMU sensor.

6. The input device of claim 5 , wherein the emitter is configured to transmit a signal containing information regarding a movement or orientation of the input device detected by the IMU sensor.

7. The input device of claim 1 , wherein the input sensor comprises a touch detection sensor.

8. The housing is circular about a central axis, the input device further comprising a processor electrically coupled to the touch detection sensor; the processor is configured to determine an intended orientation of the housing based on a position of a user's hand detected by the touch detection sensor.

8. An input device according to claim 7.

9. a display portion secured to the base, the display portion including a display screen; an ultrasonic microphone array disposed in the display portion; a sensor disposed on the display portion, the sensor configured to detect an angle of the display screen relative to the base; A tracking device comprising:

10. the ultrasonic microphone array includes three microphones defining a first plane; the ultrasonic microphone array includes a fourth microphone positioned outside the first plane; The tracking device of claim 9.

11. The tracking device of claim 10 , wherein the display screen defines a second plane parallel to the first plane.

12. the display portion is a first portion, and the tracking device further includes a second portion rotatably fixed to the first portion; the fourth microphone is disposed in the second portion; The tracking device of claim 10.

13. The tracking device of claim 12 , wherein the second portion includes a keyboard.

14. The tracking device of claim 12 , wherein the angle comprises the angle of the display screen relative to a major plane of the second portion.

15. an input sensor; an inertial measurement unit (IMU) sensor; an ultrasonic speaker; a computing device; an input device comprising: a tracking assembly including three ultrasonic microphones fixed to the computing device, the three ultrasonic microphones configured to receive ultrasonic waves output by the ultrasonic speaker; A three-dimensional control system comprising:

16. The three-dimensional control system of claim 15 , wherein the computing device includes a display portion having a display screen.

17. 17. The three-dimensional control system of claim 16, wherein the IMU sensor is a first IMU sensor, and the three-dimensional control system further includes a second IMU sensor affixed to the display portion.

18. the tracking assembly includes at least four ultrasonic microphones; a first microphone, a second microphone, and a third microphone of the at least four ultrasonic microphones are located in a plane; a fourth microphone of the at least four ultrasonic microphones is positioned outside the plane; The three-dimensional control system of claim 15.

19. The three-dimensional control system of claim 15 , wherein the input device includes an emitter configured to transmit a signal to the computing device that includes information regarding the movement detected by the IMU sensor.

20. 16. The three-dimensional control system of claim 15, wherein the computing device comprises a laptop computer, and the input device is operable as a mouse for the laptop computer.

Images