Haptic system for covering a surface area and methods of operating same

Abstract

Haptic system for covering a surface area, comprising a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes operable tiles and passive tiles; and a plurality of actuation assemblies, wherein each actuation assembly is configured for mounting on a node of the mounting surface of an operable tile; and applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly, wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate selected one or more actuation assembly of the plurality of actuation assemblies for causing haptic events.

Description

HAPTIC SYSTEM FOR COVERING A SURFACE AREA AND METHODS OF OPERATING SAMECROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims the benefit of U.S. Provisional Application No. 63 / 547,035, filed on November 2, 2023, which is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] This application generally relates to the field of techniques and systems for producing haptic feedback or effects to users, particularly for haptic systems for covering a surface area and methods of operating same for users participating in immersive experiences.COPYRIGHT

[0003] A portion of the disclosure of this patent document contains material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all copyright rights whatsoever.BACKGROUND

[0004] Haptic systems have been integral in enhancing user experiences across diverse industries. Nevertheless, current haptic systems may have limitations in achieving immersive and captivating user interactions.

[0005] The field of haptic technology has witnessed a burgeoning market demand for advanced haptic floor systems capable of delivering a broader spectrum of tactile sensations, thus elevating user engagement and overall satisfaction. Various sectors, such as entertainment and gaming, require specialized haptic effects tailored to align with their unique content offerings. Fulfilling this need for customized solutions has the potential to unlock profitable niche markets.

[0006] In specific applications like training simulations and medical procedures, the need for high- precision haptic floor systems is paramount. Innovations that offer superior precision and adaptability can serve industries that require lifelike and responsive feedback. Industries where user safety is of utmost importance, such as large-scale events or critical training scenarios, present opportunities for haptic floor systems that excel in reliability and adhere to stringent safety compliance standards. The capability to scale haptic systems to accommodate varying group sizes and environmental settings offers versatile business prospects, spanning from individual user experiences to group-oriented contexts.

[0007] With the rapid evolution of technology, businesses seek haptic floor solutions that seamlessly integrate with emerging platforms, software ecosystems, and hardware configurations. Ensuring compatibility with evolving tech trends can attract discerning and tech-savvy customers. Furthermore, the demand for cost-effective haptic floor solutions is pronounced, particularly in sectors where fiscal constraints play a significant role. The development of systems that provide exceptional value without compromising quality can confer a distinct competitive edge in the market.

[0008] In light of the above, there remains a need to provide improved haptic systems that address at least some of the market needs and alleviate at least in part the deficiencies of the existing haptic systems.SUMMARY

[0009] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key aspects or essential aspects of the claimed subject matter.

[0010] As embodied and broadly described herein, the present disclosure relates to a haptic system for covering a surface area, the haptic system comprising: (a) a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes operable tiles and passive tiles; and (b) a plurality of actuation assemblies, wherein each actuation assembly is configured for (i) mounting on a node of the mounting surface of an operable tile; and (ii) applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly, wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate selected one or more actuation assembly of the plurality of actuation assemblies for causing haptic events, and wherein in the assembled mesh configuration, a total number of actuation assemblies to a total number of tiles is present in a ratio of less than or equal to 0.5.

[0011] In some embodiments, the haptic system may include one or more of the following features:• operable tiles are mounted to respective actuation assemblies via respective compliant joints configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles. in the assembled mesh configuration, adjacent tiles are disposed to maintain a predetermined distance between opposing peripheral edges thereof during operation of the haptic system.in the assembled mesh configuration, the haptic system includes peripheral tiles having a peripheral tile edge including passive nodes.

[0012] As embodied and broadly described herein, the present disclosure relates to a haptic system for covering a surface area, the haptic system comprising: (a) a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes operable tiles and passive tiles; and (b) a plurality of actuation assemblies, wherein each actuation assembly is configured for (i) mounting on a node of the mounting surface of an operable tile; and (ii) applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly, wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate the plurality of actuation assemblies for causing haptic events, and wherein operable tiles are mounted to respective actuation assemblies via respective compliant joints configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles.

[0013] In some embodiments, the haptic system may include one or more of the following features:• in the assembled mesh configuration, adjacent tiles are disposed to maintain a predetermined distance between opposing peripheral edges thereof during operation of the haptic system.• in the assembled mesh configuration, the haptic system includes peripheral tiles having a peripheral tile edge including passive nodes.• in the assembled mesh configuration, a total number of actuation assemblies to a total number of tiles is present in a ratio of less than or equal to 0.5.

[0014] As embodied and broadly described herein, the present disclosure relates to a haptic system for covering a surface area, the haptic system comprising: (a) a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes operable tiles and passive tiles; and (b) a plurality of actuation assemblies, wherein each actuation assembly is configured for (i) mounting on a node of the mounting surface of an operable tile; and (ii) applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly, wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate the plurality ofactuation assemblies for causing haptic events, and wherein in the assembled mesh configuration, the haptic system includes peripheral tiles having a peripheral tile edge include passive nodes.

[0015] In some embodiments, the haptic system may include one or more of the following features:• in the assembled mesh configuration, adjacent tiles are disposed to maintain a predetermined distance between opposing peripheral edges thereof during operation of the haptic system.• operable tiles are mounted to respective actuation assemblies via respective compliant joints configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles.• in the assembled mesh configuration, a total number of actuation assemblies to a total number of tiles is present in a ratio of less than or equal to 0.5.

[0016] As embodied and broadly described herein, the present disclosure relates to a haptic system for covering a surface area, the haptic system comprising: (a) a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes one or more operable tiles and one or more passive tiles; and (b) a plurality of actuation assemblies, wherein each actuation assembly is configured for (i) mounting on a node of the mounting surface of an operable tile; and (ii) applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly, wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate the plurality of actuation assemblies for causing haptic events, and wherein in the assembled mesh configuration, adjacent tiles are disposed to maintain a predetermined distance between opposing peripheral edges thereof during operation of the haptic system.

[0017] In some embodiments, the haptic system may include one or more of the following features:• operable tiles are mounted to respective actuation assemblies via respective compliant joints configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles.• in the assembled mesh configuration, a total number of actuation assemblies to a total number of tiles is present in a ratio of less than or equal to 0.5.• in the assembled mesh configuration, the haptic system includes peripheral tiles having a peripheral tile edge include passive nodes.further comprising the control system for connecting to the plurality of actuation assemblies.• the selected actuation assembly includes a linear actuator for generating a substantially horizontal motion and a bell motion mechanism to convert the substantially horizontal motion to a substantially vertical motion.• operable tiles further include respective base plates functionally coupled to a respective one of the bell motion mechanism.• passive tiles include respective base plates mounted to respective installation posts.• further comprising a sealing member nested in between opposing peripheral edges of adjacent tiles.• the sealing member extends from a first pair of nodes disposed at a first end of opposing peripheral edges of the adjacent tiles to a second pair of nodes disposed at a second end of the opposing peripheral edges.• further comprising a sealing cap configured to cover at least a portion of a plurality of adjacent nodes.• the sealing member and the sealing cap constitute a fluid tight seal between adjacent tiles.• the actuator assembly includes a linear actuator and a bell motion mechanism configured to link translational movements of the linear actuator to the mounting surface to generate the haptic events.

[0018] All features of exemplary embodiments which are described in this disclosure and are not mutually exclusive can be combined with one another. Elements of one embodiment can be utilized in the other embodiments without further mention. Other aspects and features of the present invention will become apparent to those ordinarily skilled in the art upon review of the following description of specific embodiments in conjunction with the accompanying Figures.BRIEF DESCRIPTION OF THE DRAWINGS

[0019] A detailed description of specific exemplary embodiments is provided herein below with reference to the accompanying drawings in which:

[0020] Fig. 1 is a non-limiting illustration of a plurality of tiles assembled to form a haptic surface in accordance with embodiments of the present disclosure.

[0021] Fig. 2 is a non-limiting partial view of two adjacent tiles with a sealing member nested in between these tiles in accordance with embodiments of the present disclosure.

[0022] Fig. 3 is a non-limiting full view of two adjacent tiles mounted to an installation post with a sealing member nested in between the tiles in accordance with embodiments of the present disclosure.

[0023] Figs. 4A-C show a non-limiting cross section view of two adjacent tiles with a sealing member nested in between the tiles, where the tiles are operated to move along a substantially vertical direction in accordance with embodiments of the present disclosure.

[0024] Figs. 5A-D show non-limiting illustrations of an actuation assembly or parts thereof in accordance with embodiments of the present disclosure.

[0025] Figs. 6A-B show a non-limiting side view of two adjacent tiles with active I passive nodes in accordance with embodiments of the present disclosure.

[0026] Figs. 7A-B are non-limiting 2D schematics of actuation assembly operations in accordance with embodiments of the present disclosure.

[0027] Fig. 8 is a non-limiting elevated perspective of a 6-tile assembly forming a hexagonal shape with an exploded view of an actuation assembly and ground plate in accordance with embodiments of the present disclosure.

[0028] Fig. 9A shows a non-limiting plot of ratio W as function of delta_D for different angles <t>, where Lc= 0.044m, in accordance with embodiments of the present disclosure.

[0029] Fig. 9B shows a non-limiting plot of ration W as function of delta_D for different length Lc, in accordance with embodiments of the present disclosure.

[0030] Fig. 10 shows a non-limiting perspective bottom view of a haptic surface showing a support structure and components thereof, with a pair of active nodes at first vertices and a pair of passive nodes at opposite second vertices of adjacent tiles, in accordance with embodiments of the present disclosure.

[0031] Fig. 11 shows a non-limiting perspective top view of the haptic surface of Fig. 10 showing a sealing member nested in between the adjacent tiles and a sealing cap for covering the pair of active nodes, in accordance with embodiments of the present disclosure.

[0032] Fig. 12 shows a non-limiting elevated bottom view of the haptic surface of Fig. 10, in accordance with embodiments of the present disclosure.

[0033] Fig. 13 shows a non-limiting elevated top view of the haptic surface of Fig. 10, in accordance with embodiments of the present disclosure.

[0034] Fig. 14 shows a non-limiting block diagram of a control system for operating one or more actuation assemblies, in accordance with embodiments of the present disclosure.

[0035] In the drawings, exemplary embodiments are illustrated by way of example. It is to be expressly understood that the description and drawings are only for the purpose of illustrating certain embodiments and are an aid for understanding. They are not intended to be a definition of the limits of the invention.DETAILED DESCRIPTION

[0036] The present technology is explained in greater detail below. This description is not intended to be a detailed catalog of all the different ways in which the technology may be implemented, or all the features that may be added to the instant technology. For example, features illustrated with respect to one embodiment may be incorporated into other embodiments, and features illustrated with respect to a particular embodiment may be deleted from that embodiment. In addition, numerous variations and additions to the various embodiments suggested herein will be apparent to those skilled in the art considering the instant disclosure which variations and additions do not depart from the present technology. Hence, the following description is intended to illustrate some embodiments of the technology, and not to exhaustively specify all permutations, combinations, and variations thereof.

[0037] The present inventors have through R&D work designed a haptic system and methods of operating such system that address at least some of the aforementioned market needs and / or address at least some of the deficiencies of known haptic systems.

[0038] In some embodiments, the haptic system described herein is for covering a surface area. For example, the haptic system may include a plurality of tiles for assembling in a mesh configuration for covering the surface area.

[0039] In some embodiments, the haptic system includes one or more operable tiles and one or more passive tiles.

[0040] In some embodiments, the haptic system includes passive and operable tile nodes.

[0041] In some embodiments, the haptic system can be characterized as being modular and scalable system, which is operable to achieve a desired haptic event. The haptic system includes a plurality of tiles that can easily be installed. The simplicity of installation and lack of extensive supportinfrastructure allows for use at temporary events or applications as well as for use in more permanent installations.

[0042] In some embodiments, the haptic system can include at least one actuation assembly for mounting to an operable tile to cause a haptic event. For example, an actuation assembly can be mounted to a node of a mounting surface of the operable tile. The mounted actuation assembly is operable to apply a force to the node of the tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly.

[0043] In some embodiments, the actuation assembly is connectable to a controlling system for controlling operable tiles, where the controlling system may be configured for selectively controlling operable tiles by releasing control signals to one or more actuation assemblies mounted to the operable tiles to cause a haptic event.

[0044] In some embodiments, an operable tile includes one or more nodes having an actuation assembly mounted thereto. In contrast, a passive tile does not include an actuation assembly mounted thereto.

[0045] In some embodiments, the haptic system can include the aforementioned controlling system for controlling operable tiles. For example, the controlling system may be configured for selectively controlling operable tiles by releasing control signals to one or more actuation assemblies mounted to operable tiles to cause a desired haptic event.

[0046] In some embodiments, one or more operable tiles can be independently controlled with the controlling system. In some embodiments, one or more nodes of the same operable tile can be independently controlled with the controlling system.

[0047] The haptic system described herein presents one or more technical advantages.

[0048] For example, the haptic system makes it possible to create immersive and interactive experiences in spaces of varying dimensions, opening up new perspectives in the field of entertainment (video games, amusement parks, etc.), culture (art installations, museums, sciences, etc.), industry (advanced simulations, architecture, etc.), and the like.

[0049] For example, the haptic system makes it possible to install the various components to form a haptic floor, where a plurality of users can stand, sit or lie on the surface and feel the haptic movements, e.g., if standing they will feel the haptic movements through the feet.

[0050] For example, the haptic system allows a haptic surface to be reconfigured based on the presence of passive and operable tile nodes, resulting in a modular haptic surface which can be reconfigured based on application specifics.

[0051] As a specific application, for example, it is possible to form a haptic floor having tiles at a perimeter thereof that have passive nodes, i.e., these nodes do not actively move, but users can still feel haptic sensations when in contact with these tiles as they can move passively from movements of neighboring operable tiles.

[0052] As another specific application, for example, it is possible to have a plurality of peripheral tiles having a peripheral tile edge contacting a corresponding peripheral vertical surface (i.e., a wall at the periphery of the surface area) and configured to remain in contact with the vertical surface during operation of the haptic system. In such applications, the peripheral tile edge includes passive nodes such that the peripheral tile edge remains in contact with the peripheral vertical surface during haptic events. From a safety point of view, this also allows obtaining a haptic surface, e.g., a haptic floor, which is not likely to cause people to accidently insert a body part in a gap between the vertical wall and the haptic floor.

[0053] For example, a haptic surface, such as a haptic floor, can be configured to have passive tiles at a periphery thereof, at an interface with a surface area devoid of such haptic surface - i.e., when the haptic surface is a haptic floor, having operable tiles at such interface could cause users to fall from an otherwise variable step height which would occur at the interface.

[0054] For example, the haptic system described herein is also modular in that it allows a large number of surface configurations, with multiple active nodes and multiple passive nodes.

[0055] For example, the haptic system described herein includes an actuator assembly which can be configured to implement movements that are calibrated to avoid discomfort.

[0056] Specific non-limiting implementations of the haptic system and methods of operating such system are described in further details in the following sections.Haptic surface

[0057] With respect to Fig. 1 , there is shown a non-limiting implementation of haptic system 100 including a plurality of tiles 110 forming a haptic surface.

[0058] In some embodiments, the haptic surface covers at least a portion of an underlying surface area 150. The plurality of tiles 110 are arranged to be proximate to each other, assembling into amesh configuration. In the particular embodiment shown in Fig. 1 , the haptic surface includes 24 tiles 110.

[0059] In some embodiments, the underlying surface area 150 may be a generally planar area. When a surface area is described as “planar,” it generally means that it is substantially flat and forms a two- dimensional plane. This can refer to surfaces such as portions or complete surfaces of walls, floors, ceilings, or any other flat and level surface. For example, arbitrary large relatively flat surfaces allowing deployment of an immersive space. In some other embodiments, the underlying surface area 150 may include a non-planar or curved portion surface. This includes portion surfaces that are not flat and may have curves, bends, or irregular shapes. For example, the underlying surface area 150 can be a floor where the plurality of tiles are arranged to be proximate to each other in a meshed configuration to provide a support platform or flooring for a space to support a user or to provide a portion of a seat orthe like that would be in contact with a portion of a user’s body. In another example, the surface area can be a wall where the plurality of tiles are arranged to be proximate to each other in a meshed configuration to provide a haptic wall that can be in contact with a portion of a user’s body, such as a hand, and provide the person with wall trembling or vibrations effects. In some embodiments, the haptic system 100 can cover the entirety of a large immersive space surface area. For example, artistic venues with audience.

[0060] In some embodiments, the haptic system 100 can form a haptic floor, a haptic wall, a haptic sculpture, haptic platform, and the like.

[0061] In some embodiments, the plurality of tiles 110 can have complementary shapes to form the desired mesh configuration. Advantageously, each tile of the plurality of tiles 110 when seen from an elevated perspective has a polygon shape that allows tiling. In a preferred embodiment, each tile of the plurality of tiles 110 can be a polygon with three edges and three nodes, i.e., a triangular shape - where triangles can fit to other triangles for unlimited tiling, allowing the haptic system 100 to be scalable in space. The triangular shape can be an equilateral, isosceles, or scalene triangle. Preferably, an equilateral or isosceles triangle. More preferably, an equilateral triangle. For example, when each tile of the plurality of tiles 110 when seen from an elevated perspective has an equilateral triangle shape, the plurality of tiles 110 can be assembled to form a hexagonal shape 800 (as shown in Fig. 8) having six tiles 110 forming a haptic surface, which in turn, allows for easy assembling and fitting into large surface area, such as large flat surface areas with irregular contours, simply by multiplying and juxtaposing several hexagonal shape 800 components.

[0062] As shown in Fig. 2, the plurality of tiles 110 can be arranged to be proximate to each other such that adjacent tiles 110, 110’ define a gap having a predetermined size GDbetween opposing peripheral edges thereof 130, 130’. Advantageously, the adjacent tiles 110, 110’ are disposed uponinstallation on support structure 1000 (as best shown in Fig. 10) such that, in the assembled mesh configuration, adjacent tiles 110, 110’ initially have such gap of predetermined size GD. The haptic system 100 is configured such that the gap of predetermined size GDcan then be substantially maintained while the adjacent tiles 110, 110’ are idle or in movement. Such relative substantial maintenance of the gap size GDallows the vertical position of any given tile node 160 to be determined at any moment, while being idle or in movement. Such vertical position predictability prevents overlap of opposing peripheral edges 130, 130’ of adjacent tiles 110, 110’, which would render the operation of the system 100 difficult and / or unsafe to a user.

[0063] As used herein, the term “node” refers to a portion of the tile which is located proximate to a tile’s vertices, as shown in Figs. 2-3.

[0064] As shown in Fig. 2, the haptic system 100 can further include a sealing member 140 nested in between opposing peripheral edges 130, 130’ of adjacent tiles 110, 110’. The sealing member 140 is advantageously configured to connect the adjacent tiles 110, 110’ such as to form the relatively continuous haptic surface. Once installed, the sealing member 140 nested in between opposing peripheral edges 130, 130’ of adjacent tiles 110, 110’, extends from a first pair of nodes 160,160’ disposed at a first end of opposing peripheral edges 130, 130’ of adjacent tiles 110, 110’ to a second pair of nodes 160,160’ disposed at a second end of the opposing peripheral edges 130, 130’ of the adjacent tiles 110, 110’, as shown in Fig. 3.

[0065] Advantageously, the sealing member 140 nested in between opposing peripheral edges 130, 130’ forms a fluid tight seal where there was a gap beforehand. Such fluid tight seal can prevent insertion of a foreign object in between adjacent tiles, for example user fingers or user shoe heel, or insertion of liquids, such as water or alcoholic beverages, that would otherwise damage components of the system, such as electronics and the like.

[0066] A non-limiting exemplary embodiment of the sealing member 140 will now be described with respect to Fig. 3 and Figs. 4A-4C.

[0067] As shown, the sealing member 140 has an elongate body 400 extending along a longitudinal axis thereof and an engaging element 410 which extends away from the surface of the elongate body 400 along a substantially perpendicular axis thereof. In some embodiments, the engaging element 410 may also extend along the longitudinal axis over at least a portion of the elongate body 400 length. In some embodiments, the engaging element 410 may extend along the longitudinal axis over the entire elongate body 400 length. Upon nesting the sealing member 140 in between opposing peripheral edges 130, 130’, the engaging element 410 is configured for being disposed in between the opposing peripheral edges 130, 130’. The engaging element 410 can be made from a materialthat is compressible such as to remain in place during relative movement of adjacent tiles 110, 110’. The engaging element 410 may contribute to forming the fluid tight seal between the adjacent tiles 110, 110’.

[0068] As also shown, the sealing member 140 may have first and second flanges 420, 420’, which extend away from the surface of the elongate body 400 along a substantially transversal axis thereof. In some embodiments, the first and second flanges 420, 420’ may extend along the longitudinal axis over at least a portion of the elongate body 400 length. In some embodiments, the first and second flanges 420, 420’ may also extend along the longitudinal axis over the entire elongate body 400 length. Upon nesting the sealing member 140 in between opposing peripheral edges 130, 130’, the first and second flanges 420, 420’ are configured for being disposed along a marginal portion of the opposing peripheral edges 130, 130’ such as to form a substantially continuous surface between adjacent tiles 110, 110’. As shown in Figs. 4A-4C, it is also possible that a small gap remains between the sealing member 140 and opposing peripheral edges 130, 130’, which is acceptable so long as the small gap prevents insertion of foreign objects, such as show heel, user finger, and the like. The first and second flanges 420, 420’ may contribute to forming the fluid tight seal between the adjacent tiles 110, 110’.

[0069] As also shown, the sealing member 140 may have a retention member 430, which extend away from the engaging element 410 along a substantially transversal axis thereof. In some embodiments, the retention member 430 may also extend along the longitudinal axis over at least a portion of the elongate body 400 length. In some embodiments, the retention member 430 may extend along the longitudinal axis over the entire elongate body 400 length. The retention member 430 advantageously has a shape which is suitable to perform its required retention function. For example, the retention member 430 can have a tubular shape that extend along the longitudinal axis as discussed above, and which defines an internal lumen 440.

[0070] In some embodiments, upon nesting the sealing member 140 in between opposing peripheral edges 130, 130’, the retention member 430 being preferably made from a resilient material can be compressed to fit between the opposing peripheral edges 130, 130’ and pushed beyond below respective mounting surface 180, 180’ of the adjacent tiles 110, 110’. As such, the retention member 430 is disposed in a cavity below the respective mounting surface 180, 180’ of the adjacent tiles 110, 110’. The retention member 430 being made from a resilient material, the retention member 430 expands to a size larger than the gap size dimension GDbetween the opposing peripheral edges 130, 130’ such that a top surface of the retention member 430 abuts against a peripheral portion of the respective mounting surface 180, 180’ of the adjacent tiles 110, 110’. As a result, mechanical force is typically required to remove the sealing member 140 from the gap between the opposing peripheral edges 130, 130’ since the top surface of the retention member 430 abuts against the peripheralportion of the respective mounting surface 180, 180’ of the adjacent tiles 110, 110’. The retention member 430 may contribute to forming the fluid tight seal between the adjacent tiles 110, 110’.

[0071] In some embodiments, two or more of the elongate body 400, engaging element 410, the first and second flanges 420, 420’, and the retention member 430 may be made from the same material. For example, any suitable material such as silicone, rubber, and the like. Advantageously, the elongate body 400, engaging element 410, the first and second flanges 420, 420’, and / or the retention member 430 is made from a suitable material that has hydrophobic properties to further contribute to forming the fluid tight seal between the adjacent tiles 110, 110’.

[0072] In some embodiments, the haptic surface described herein includes a plurality of tiles 110, 110’ each having a polygon shape with three edges and three nodes, i.e., a triangular shape. When the haptic surface includes a plurality of tiles having a triangle shape, the tiles can be assembled to form various shapes, that can be juxtaposed to each other to cover a larger surface area. In cases where there are two or more tiles forming a surface, there are respective adjacent nodes 160 that meet at a meeting location. To maintain the fluid tight seal discussed above, the haptic system 100 may further include a sealing cap 190 (as shown in Fig. 11) which is configured to cover at least a portion of a plurality of adjacent nodes 160. For example, when the haptic surface includes 6 adjacent tiles assembled into a hexagonal haptic surface 800, the sealing cap 190 will be located at the center of the hexagon 800, where the respective adjacent nodes 160 meet.

[0073] Similarly to the sealing member 140, the sealing cap 190 may include subcomponents that are made of same materials, for example. The sealing cap 190 may be made of any suitable material such as silicone, rubber and the like. Advantageously, the sealing cap 190 includes a material that has hydrophobic properties to further contribute to forming the fluid tight seal.

[0074] In some embodiments, either or both the sealing member 140 and the sealing cap 190 are removable (non-destructively), which allows access under the haptic surface for maintenance, for example.Plurality of tiles

[0075] In some embodiments, the haptic system 100 includes a plurality of tiles 110 forming the haptic surface.

[0076] As best shown in Fig. 2, each tile of the plurality of tiles 110 includes an upper contact surface 250, where a user can directly or indirectly contact the contact surface 250. For example, when the haptic system forms a floor, the user can stand, sit, or lie down directly or indirectly onto the contact surface 250 of one or more adjacent tiles 110. Indirect contact may occur, for example, via an objectsuch as a chair or cushion in the case of a haptic system forming a floor. In operation, when a tile is actuated with control system 24, the tile including the contact surface 250 is caused to move, as shown with arrow 10. As a result, the user which is in direct or indirect contact with the contact surface 250 is also caused to move, such that the user experiences a haptic event.

[0077] In some embodiments, a tile 110 may be made from various materials such as, but not limited to, plastic, rubber, glass, wood, or any combination thereof. The tiles 110 can thus be opaque, semitransparent, or transparent as desired. The dimensions of each tile 110 vary based on the application of the tiles and on the user’s preferences. The panel size, material and / or thickness may be altered to provide a suitable support for the intended purpose, such as support the forces associated with a user's bodyweight while simultaneously transmitting haptic movement to the user. For example, in some cases, the tile 110 may be configured to support up to 100 lbs of static weight per square feet or 200 lbs of dynamic weight per square feet. For example, in some cases, the tile 110 may be configured to have a surface area of from about 2.0 square feet to about 5.5 square feet per tile, including any values therein.

[0078] In some embodiments, the contact surface 250 is caused to move to provide a user with a vibration, shake, or movement sensation.

[0079] As shown in Fig. 2, a tile has a mounting surface 280 opposite the contact surface 250. For example, the mounting surface 280 will typically face the surface area 150 being covered with the haptic system 100.Actuation assembly

[0080] In some embodiments, the haptic system 100 can include at least one actuation assembly 500, which operates to cause movement to an operable tile of the plurality of tiles 110.

[0081] The mounting surface 280 of a tile 110 may be configured for functionally coupling to an actuation assembly 500 at a node 160 thereof. For example, an actuation assembly 500 may be mounted to the node 160 thereof using any suitable attachment mechanism. In some embodiments, a suitable attachment mechanism may be any suitable threaded fasteners, magnets, vacuums and / or interference fittings. For example, a suitable attachment mechanism is one or more bolts.

[0082] The actuation assembly 500 is operable to apply a force to the mounting surface 280 at the node 160 to which it is mounted, causing a corresponding motion to the mounting surface 280 and to the contact surface contact surface 250 which is opposite to the mounting surface 280.

[0083] With respect to Figs. 5A-5D, the actuation assembly 500 described herein includes various elements that cooperate to generate the herein described haptic events.

[0084] In some embodiments, the actuation assembly 500 includes a linear actuator 510 as shown in Figs. 5A-5B, which is typically an electro-mechanical linear actuator that includes a motor having an output shaft for producing a bi-directional output, i.e., in traction and compression. For example, the linear actuator 510 can be driven by a control system 24, or any other appropriate and adapted source of control signals. The linear actuator 510 produces a translational output, along an axial direction thereof.

[0085] It will be apparent to the reader that in some implementations, a distance between the surface area 150 and the mounting surface 280 may not be sufficient to accommodate bulky elements there in-between. Conveniently, the linear actuator 510 can be disposed at substantially a more or less parallel angle with respect to the haptic surface plane. In other words, when the haptic surface and the surface area 150 form parallel surfaces, the linear actuator 510 can be disposed there in-between in a sandwiched fashion.

[0086] In some embodiments, the linear actuator 510 can functionally connect through a coupling interface 520 to a bell motion mechanism 580 (or “bell crank mechanism”). The bell motion mechanism 580 is configured to link translational movement of the linear actuator 510 to the mounting surface 280, at the node 160 to which is mounted the actuation assembly 500, so as to cause a corresponding movement of the mounting surface 280.

[0087] As shown in Figs. 5B-5C, the coupling interface 520 includes pivot A for connecting to L-arm 582 of the bell motion mechanism 580 at pivot A. The L-arm 582 has a long arm and short arm, which is configured to perform arc-like movements to transform horizontal movement into vertical movement. An intermediate arm 584 connects to the L-arm 582 via pivot C and connects to linear guide 530 via pivot E.

[0088] In some embodiments, the actuation assembly 500 includes a base plate 560 coupled to an upper end of the linear guide 530. The base plate 560 can be fastened to the upper end of the linear guide 530 with any suitable attachment mechanism. In some embodiments, a suitable attachment mechanism may be any suitable threaded fasteners, magnets, vacuums and / or interference fittings. For example, a suitable attachment mechanism is one or more bolts.

[0089] As shown in Fig. 5C, the linear guide 530 includes an elongate body 532 having an internal surface 535 defining a substantially continuous internal lumen forming a corresponding substantially continuous single channel. In some embodiments, the elongate body 532 can have a substantially circular cross-section over at least a portion thereof. For example, the elongate body 532 can have a substantially circular cross-section over its entire length. In some embodiments, the elongate body 532 can have a cross-section size or shape such that the internal diameter of the lumen definedtherein is substantially constant along at least a portion thereof. For example, the elongate body 532 can have a cross-section size or shape such that the internal diameter of the lumen defined therein is substantially constant over its entire length. In some embodiments, the elongate body 532 can have a cross-section shape such that the internal diameter of the lumen is tapered along at least a portion thereof. For example, the elongate body 532 can have a cross-section shape such that the internal diameter of the lumen is tapered over its entire length.

[0090] As shown in Figs. 5A and 5C, the actuation assembly 500 further includes a floor plate 540 having a base 542 and shaft 545 that extends along a longitudinal axis thereof. The shaft 545 is configured for fitting into the internal lumen of the linear guide 530, i.e., the shaft 545 has a shape that fits into the internal lumen of the linear guide 530.

[0091] During a haptic event, the bell motion mechanism 580 operates as follows: a translation of the linear actuator 510 at pivot A makes L-Arm 582 rotate about pivot B. Rotation of L-Arm 582 makes the intermediate arm 584 connected at pivot C move (up or down, in an arc motion). Intermediate arm 584 is connected to linear guide 530 via pivot element E and transmits the movement. Since the linear guide 530 is guided by the shaft 545, the linear guide 530 only moves up or down. Support plate 595 links the bell motion mechanism 580 at pivot B to ground plate 810.

[0092] In operation, the linear guide 530 and shaft 545 thus cooperate to allow vertical movement while locating the active vertex (i.e., extremity of the node) in the horizontal plane. This is possible due to at least the linear guide 530 sliding along a longitudinal axis of the shaft 545, without significant deviation from the longitudinal axis. It will be understood that such vertical movement may facilitate locating the active vertex in the horizontal plane, which in turn, allows implementing haptic events while maintaining substantially the same gap distance GDbetween adjacent tiles 110, 110’.

[0093] In some embodiments, the actuation assembly 500 may include a cover 820 (as shown in Fig. 8)configured for installing over a portion of linear guide 530 to protect against accidental foreign object intrusion, for example.

[0094] While each node 160 of a given tile may be functionally coupled to a corresponding actuation assembly 500, such configuration may not be required in specific implementations. In other words, a haptic surface may include one or more active nodes and one or more passive nodes. This concept is illustrated in Figs. 6A and 6B. With respect to Fig. 6A, the first operable tile 100 has a node 160 mounted to an actuator assembly 500 via corresponding base plate 560, and the second operable tile 100’ has a node 160’ mounted to corresponding actuator assembly 500’ via corresponding base plate 560’. With respect to Fig. 6B, the first operable tile 100 has a node 160 mounted to an actuatorassembly 500 via corresponding base plate 560, and the passive tile 100” has a node 160” mounted to an installation post 600 via corresponding base plate 560”.

[0095] In some embodiments, a passive tile can passively receive and transmit movement from one or more adjacent operable tiles or act as spacers between operable tiles.

[0096] Such characteristics provide an operator with flexibility in terms of allowing various possible configurations with the same haptic system elements. Further, such characteristics to assemble operable tiles with passive tiles also provide the ability to form an expanded, multi-tile system that covers a greater surface area at an overall reduced cost, since it is possible to reduce the number of actuation assembly elements required to operate the haptic system 100.

[0097] In some practical implementations, the haptic system 100 includes operable tiles combined with passive tiles, which results in an assembled haptic surface that can characterized with a total number of actuation assemblies 500 (ASn) and a total number of tiles 100 (Tn) present in a ratio of less than or equal to 0.5 (i.e., ASn / Tn< 0.5). For example, when an assembled haptic surface includes operable tiles and passive tiles with a total number of tiles (Tn) of 18 tiles, the assembled haptic surface can be implemented with a total number of actuation assemblies 500 of 9 or less. For example, the assembled haptic surface illustrated in Fig. 1 may be configured to only include actuation assemblies 500 mounted to respective nodes 160 located under respective sealing caps 190, such that the haptic system 100 includes a total number of tiles (Tn) of 24 tiles and a total number of actuation assemblies 500 of 7. It will be apparent to the reader that in doing so, the operator can reduce overall cost associated with actuation assembly 500 required to operate the haptic system 100.Optimization of actuation assembly configuration

[0098] In some embodiments, the haptic system 100 described herein includes an actuator assembly 500 which can be configured (calibrated) to ensure user comfort, i.e., movements are calibrated to avoid discomfort. A non-limiting example of calibration is discussed in the following section.

[0099] Figs. 7A-7B show a non-limiting 2D schematic of actuation assembly 500 operations, where: a) LA and LBare respectively the long and short arm lengths of the L-arm 582, which are coupled to each other at pivot point B; b) Lcis the length of the intermediate arm 584 linking the linear guide 530 to the L-arm 582. The intermediate arm 584 is coupled to the linear guide 530 at pivot point E. The intermediate arm 584 is coupled to the L-arm 582 at pivot point C; andc) LDis the length between pivot D that holds the linear actuator 510 to floor plate 810 (shown in Fig. 8) on which is installed the actuator assembly 500 and the end of the linear actuator 510 (connected to the L-arm 582) at pivot point A.

[0100] The reader will readily understand that l_Dvaries in length when the linear actuator 510 is extended or retracted (haptic event). Theta_B is the angle at pivot B formed between LA and LBof the L-arm 582. In embodiments where the L-arm 582 is a single, solid part, Theta_B is constant. In the 2D schematic shown here, Theta_B = 90°, although other values where explored during design of the actuation assembly 500. Theta_C is the angle at pivot C formed between LBand Lc. This angle is variable, depending on the linear actuator 510 extension or retraction state. Theta_D is the angle at pivot A formed between LDand LA.

[0101] Optimization of the variable parameters (e.g., angle of the linear actuator 510 Theta_D, position of the pivots, shape and size of the L-arm 582, size of the intermediate arm 584, position of the linear guide 530, etc.) makes it possible to convert the linear actuator 510 horizontal movement to a vertical movement according to a determined ratio. The mechanism is such that it acts in a linearized area of the ratio, but this area can be adjusted according to the needs of the user by modifying the parameters mentioned. The ratio allows a balance between the transmitted haptic force and the possible course of the active vertices.

[0102] For example, let delta_D be the extension of the linear actuator 510. During a haptic event, the new length between pivots A and D becomes LD= LD+ delta_D. The reader will readily understand that delta_D is positive when the linear actuator 510 extends past its resting position, and negative when the linear actuator 510 retracts past its resting position. Let also W be the ratio between the input (delta_D) and the output of the mechanism (vertical movement). Fig 9A plots different ratios W in function of delta_D for different configurations Theta_B at the resting position. Note for this figure that Theta_B = Phi. For Phi < 90°, the ratio increases when delta_D increases (an input of e.g. 1 mm at the end of the course of the linear actuator 510 will result in a larger displacement of the output compared to the same input at the beginning of the course). For Phi > 90°, the ratio decreases when delta_D increases. An angle close to Phi = 90° minimizes this effect e.g. the ratio is almost constant when delta_D increases.

[0103] In Fig 9B, length L_C is varied as a ratio of LA(for example, where Lc= 0.5*LAmeans Lcis 50% the length of LA). It was observed that for small inputs (+ / - 5 mm of delta_D), all configurations showed a ratio that was approximately constant. It was also observed that a length Lcbetween 0.7*LAand 0.9*LAallows a longer “linear” ratio for positive inputs delta_D.

[0104] In some embodiments, the actuation assembly 500 operates with a ratio W of from about 1.50:1 to about 3.90:1 , including any values therein, such as 1.80:1 , 1.85:1 , 1.90:1 , 1.95:1 , 2.00:1 , 2.05:1 , 2.10:1 , 2.15:1 , 2.20:1 , and the like. In preferred embodiments, the actuation assembly 500 operates with a ratio W of 1.80:1 , 1.85:1 , 1.90:1 , 1.95:1 , 2.00:1 , 2.05:1 , 2.10:1 , 2.15:1 , 2.20:1 , more preferably with a ratio W of 1 .90: 1 , 1 .95: 1 , 2.00: 1 , 2.05: 1 , 2.10: 1 , even more preferably 1 .95: 1 , 2.00: 1 , 2.05:1 , or yet more preferably about 2:1.Compliant joints

[0105] In some embodiments, the haptic surface includes a plurality of tiles 110 having a polygon shape with three edges and three nodes, i.e., a triangular shape.

[0106] When the haptic surface includes a plurality of tiles 110 having a triangle shape, the tiles 110 can form hexagons 800 (6 triangles together) that can be juxtaposed to each other to cover a larger surface area. When six operable triangular tiles 110 are assembled together, this can create a haptic surface characterized as being over-constrained, i.e., having hyperstatic joints. When this occurs, it creates a complex situation to adjust the haptic system 100 operation and / or layout so as to avoid having tiles 110 pinching to each other, variables gap distance between adjacent tiles, efforts in the mechanism, or even blockage of the latter.

[0107] As shown in Fig. 5D, the base plate 560 can include one or more compliant joints 565 in order to address the afore-mentioned hyperstatic joints situation. For example, each base plate 560 can include one compliant joint 565 per node 160 connected thereto, e.g., in cases where there are six tiles forming a hexagon, the six nodes 160 at the center of the hexagon 800 can be coupled to a single base plate 560 via corresponding six compliant joints 565. Each of the plurality of compliant joints 565 has a topology and rigidity characteristics that allow the transmission of haptic events to the respective node 160 of operable tiles (both in traction and compression). Advantageously, each of the plurality of compliant joints 565 has a topology and rigidity characteristics that allow the transmission of haptic events to the respective node 160 of operable tiles while accommodating other degrees of freedom, without having unpleasant vibrations (rattle).

[0108] As will be apparent to the reader in view of the present disclosure, each tile vertex can move independently. However, during these movements, the vertices move in roll, pitch and yaw in addition to moving in the horizontal plane. The trivial solution would be a very flexible junction element, however, the primary purpose is to transmit vibrations and a flexible junction element would, by definition, isolate the tiles from these vibrations.

[0109] The present inventors have through inventive work determined that each of the plurality of compliant joints 565 should provide minimal vertical (haptic) signal degradation. Advantageously,each of the plurality of compliant joints 565 should also offer low resistance to other degrees of freedom (but not zero, otherwise the tile would be "floating" and could resonate). In other words, each of the plurality of compliant joints 565 can be characterized as effectively controlling one degree of freedom along the vertical axis allowing transmission of haptic events to the operable tiles. As such, an operable tile 110 is mounted to a respective actuation assembly 500 via a respective compliant joint 565 configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles.

[0110] In some embodiments, each of the plurality of compliant joints 565 can be characterized as effectively having five degrees of freedom or less.

[0111] For example, the compliant joints 565 can be made of a suitable rigid material, such as silicone, rubber, and the like. Preferably, the rigid material includes vulcanized rubber.Control system

[0112] In some embodiments, the actuator assembly 500 is connectable directly or indirectly to a control system 24 configured for controlling operations of the actuator assembly 500, for example over a wired or wireless communication link. In some embodiments, the haptic system 100 thus includes the control system 24.

[0113] In some embodiments, the control system 24 can include a personal computer, or any device capable of communicating with the one or more actuator assemblies 500 in the assembled plurality of tiles 110. As shown in Fig. 14, the control system 24 may include a processing unit 40, and a machine-readable storage 42 (or memory unit), where the processing unit 40 is in communication with the machine-readable storage 42 that stores a set of instructions in code. The processing unit 40 is configured to communicate with the machine-readable storage 42, access the set of instructions in code, and execute the set of instructions to process the received control input and translate same into a control signal to generate a haptic event.

[0114] As will be apparent to the reader, the processing unit 40 may be any suitable processing device or set of processing devices such as, but not limited to a microprocessor, a microcontrollerbased platform, a suitable integrated circuit, or one or more application-specific integrated circuits (ASICs). The machine-readable storage 42 may be any suitable memory device such as, but not limited to: volatile memory (e.g., RAM, which can include non-volatile RAM, magnetic RAM, ferroelectric RAM, and any other suitable forms); non-volatile memory (e.g., disk memory, FLASH memory, EPROMs, EEPROMs, memristor-based non-volatile solid-state memory, etc.); unalterable memory (e.g., EPROMs); or read-only memory.

[0115] In some embodiments, the control system 24 may receive control input from programmed instructions contained as code on the machine-readable storage 42, from optional user control interface 35, or from inputs received at optional user input device 32.

[0116] For example, the control system 24 may include an optional user control interface 35, including optional user input device 32, through which an operator may interact with the haptic surface, e.g., program, record or play a haptic sequence, select a node or series of nodes and operate same, launch a maintenance sequence, etc.

[0117] For example, the control input can be present in programmed instructions contained as code on the machine-readable storage 42, where a haptic event sequence can be initiated when the control system 24 is activated. In some embodiments, a haptic event sequence can thus be pre-programmed to allow automated haptic system movements synchronized with an audio track, for example. In some embodiments, such instructions can enable a mapping of the assembled mesh configuration, for example in a 3D model, which can allow any physics or interaction applied in a virtual environment to become a source of movement applied to the assembled mesh configuration. For example, sea waves from a simulation can be displayed from a screen with a consistent continuity in the floor formed by the assembled mesh configuration of the present disclosure.

[0118] The reader will appreciate that other configurations may be possible depending on the specifics of an application.

[0119] In some embodiments, the control signal can be released directly to actuator assembly 500 to generate the haptic event.

[0120] In some embodiments, the control signal can be released indirectly to actuator assembly 500 to generate the haptic event. For example, the control system 24 may include an optional actuator control module 50 configured to receive control signals from controller 34 and transmit same to one or more selected actuator assembly 500. Additionally or alternatively, the control system 24 may include an optional slave (or follower) computing device (not shown) configured to receive control signals from controller 34 and transmit same to selected actuator assembly 500, directly or indirectly through optional actuator control module 50.

[0121] In some embodiments, the control system 24 includes an actuator control module 50 which can be conveniently located in proximity to the haptic surface, e.g., underneath the plurality of tiles 110 assembled in the mesh configuration.

[0122] In some embodiments, the user input device 32 may include sensors for detecting audio, visual, or motion signals. The term “audio signal” can encompass audio data or audio content withina media signal, an independent audio signal, and / or the audio data or audio content integrated into audiovisual content. For example, control signal release to an operable tile can be triggered by either an auditory signal or command signals embedded in any part of an audio-visual content data stream.

[0123] In some embodiments, when controlled by sound signals, the assembled plurality of tiles 110 forming a mesh configuration can be considered as a spatialized audio device: a sound source can pass above the plurality of tiles then below, the tiles 110 reacting to sounds and their positions.

[0124] In some embodiments, the user input device 32 is capable of transmitting signals, whether wirelessly or through wired connections, to a receiver situated within the controller 34. In response to these signals, the controller 34 then issues the control signals. These directives prompt corresponding one or more actuator assembly 500 to generate movement that can be synchronized with the measured audio, visual or motion signal. For example, when sound and graphics are involved in an immersive experience, controlling the haptic system 100 to correlate with immersive content can allow one or more of the following non-limiting illustrative examples: (a) locating the sound in the floor in order to continue a sound trajectory (b) propagating waves from a sea displayed on screen to mechanical waves on the floor (c) ripple effect as well as delivering of different types of haptic content to different areas of the floor at the same time, corresponding to drops falling from the sky (d) control vibration of the floor according to the sound played, etc.

[0125] In some embodiments, the control system 24 may be configured for selectively controlling one or more operable tiles of the plurality of tiles 110 by releasing control signals over wired or wireless means either directly or indirectly to one or more selected actuator assembly 500. Such control signals include instructions that are received at the relevant actuation assembly 500 functionally coupled to a node 160 of a mounting surface 280 of a tile 110 causing a corresponding motion to the contact surface 250 which is opposite to the mounting surface 280 to which is mounted the actuation assembly 500.

[0126] Control signals described herein may include instructions for a selected actuation assembly 500 that can relate to velocity, travelling distance, compression vs. traction, and the like. The control signals thus cause one or more operable tiles of the plurality of tiles 110 assembled in the mesh configuration to vibrate, shake, or move.Support structure

[0127] In some embodiments, the haptic system 100 described herein can be easily installed using support structure 1000 which can be conveniently configured for supporting the haptic system 100.

[0128] As shown in Fig. 10, the support structure 1000 may include several components that can cooperate to support the haptic system 100.

[0129] In some embodiments, the support structure 1000 may include one or more vertex base 1010, which is configured for receiving and coupling to installation post 600 for securing a passive node thereto via corresponding base plate 560, or which is configured for receiving and coupling to floor plate 810, which in turn receives and couples to an actuator assembly 500 for securing an operable node thereto via corresponding base plate 560. The vertex base 1010 may include any suitable attachment mechanism for coupling installation post 600 and floor plate 810. In some embodiments, a suitable attachment mechanism may be any suitable threaded fasteners, magnets, vacuums and / or interference fittings. For example, a suitable attachment mechanism is one or more bolts, as shown.

[0130] In some embodiments, the support structure 1000 may include a plurality of rails 1050 which are configured to receive and couple to at least a peripheral portion of tile 110. For example, when the tile 110 has a triangle shape, the corresponding rail 1050 is configured to form a triangular shape corresponding to that one of the tile 110 such as to receive and couple to at least a peripheral portion of such tile 110. During installation, the support structure 1000 can be disposed onto the surface area 150 such that the tiles 110 can be simply aligned to and disposed onto respective rails 1050. The rails 1050 thus represent an installation framework which can be designed to contribute to adjacent tiles having a gap of predetermined size GDbetween opposing peripheral edges thereof 130, 130’.

[0131] In some embodiments, as shown in Figs. 10-13, the support structure 1000 can be configured to receive a pair of adjacent tiles 110, 110’, such that installation of a larger haptic surface would require disposing onto the surface area 150 a plurality of support structures 1000 to form a complete support structure for the desired haptic surface.

[0132] In some embodiments, the support structure 1000 can further include support base 1150 for receiving optional actuator control module 50, for example.

[0133] Other examples of implementations will become apparent to the reader in view of the teachings of the present description and as such, will not be further described here.

[0134] Note that titles or subtitles may be used throughout the present disclosure for convenience of a reader, but in no way these should limit the scope of the invention. Moreover, certain theories may be proposed and disclosed herein; however, in no way they, whether they are right or wrong, should limit the scope of the invention so long as the invention is practiced according to the present disclosure without regard for any particular theory or scheme of action.

[0135] All references cited throughout the specification are hereby incorporated by reference in their entirety for all purposes.

[0136] Reference throughout the specification to “some embodiments”, and so forth, means that a particular element (e.g., feature, structure, and / or characteristic) described in connection with the invention is included in at least one embodiment described herein, and may or may not be present in other embodiments. In addition, it is to be understood that the described inventive features may be combined in any suitable manner in the various embodiments.

[0137] Any process descriptions or blocks in the figures, should be understood as representing modules, segments, or portions of code that include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the embodiments described herein, in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those having ordinary skill in the art.

[0138] It will be understood by those of skill in the art that throughout the present specification, the term “a” used before a term encompasses embodiments containing one or more to what the term refers. It will also be understood by those of skill in the art that throughout the present specification, the term “comprising”, which is synonymous with “including,” “containing,” or “characterized by,” is inclusive or open-ended and does not exclude additional, un-recited elements or method steps.

[0139] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. In the case of conflict, the present document, including definitions will control.

[0140] As used in the present disclosure, the terms “around”, “about” or “approximately” shall generally mean within the error margin generally accepted in the art. Hence, numerical quantities given herein generally include such error margin such that the terms “around”, “about” or “approximately” can be inferred if not expressly stated.

[0141] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention pertains.

[0142] Although various embodiments of the disclosure have been described and illustrated, it will be apparent to those skilled in the art considering the present description that numerous modificationsand variations can be made. The scope of the invention is defined more particularly in the appended claims.

Claims

CLAIMS1 . A haptic system for covering a surface area, the haptic system comprising a) a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes operable tiles and passive tiles; and b) a plurality of actuation assemblies, wherein each actuation assembly is configured for i) mounting on a node of the mounting surface of an operable tile; and ii) applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly, wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate selected one or more actuation assembly of the plurality of actuation assemblies for causing haptic events, and wherein in the assembled mesh configuration, a total number of actuation assemblies to a total number of tiles is present in a ratio of less than or equal to 0.5.

2. The haptic system of claim 1 , wherein operable tiles are mounted to respective actuation assemblies via respective compliant joints configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles.

3. The haptic system of claim 1 or 2, wherein in the assembled mesh configuration, adjacent tiles are disposed to maintain a predetermined distance between opposing peripheral edges thereof during operation of the haptic system.

4. The haptic system of any one of claims 1 to 3, wherein in the assembled mesh configuration, the haptic system includes peripheral tiles having a peripheral tile edge including passive nodes.

5. A haptic system for covering a surface area, the haptic system comprising a) a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes operable tiles and passive tiles; andb) a plurality of actuation assemblies, wherein each actuation assembly is configured for i) mounting on a node of the mounting surface of an operable tile; and ii) applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly, wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate the plurality of actuation assemblies for causing haptic events, and wherein operable tiles are mounted to respective actuation assemblies via respective compliant joints configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles.

6. The haptic system of claim 5, wherein in the assembled mesh configuration, adjacent tiles are disposed to maintain a predetermined distance between opposing peripheral edges thereof during operation of the haptic system.

7. The haptic system of claim 5 or 6, wherein in the assembled mesh configuration, the haptic system includes peripheral tiles having a peripheral tile edge including passive nodes.

8. The haptic system of any one of claims 5 to 7, wherein in the assembled mesh configuration, a total number of actuation assemblies to a total number of tiles is present in a ratio of less than or equal to 0.5.

9. A haptic system for covering a surface area, the haptic system comprising a) a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes operable tiles and passive tiles; and b) a plurality of actuation assemblies, wherein each actuation assembly is configured for i) mounting on a node of the mounting surface of an operable tile; and ii) applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly,wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate the plurality of actuation assemblies for causing haptic events, and wherein in the assembled mesh configuration, the haptic system includes peripheral tiles having a peripheral tile edge including passive nodes.

10. The haptic system of claim 9, wherein in the assembled mesh configuration, adjacent tiles are disposed to maintain a predetermined distance between opposing peripheral edges thereof during operation of the haptic system.11 . The haptic system of claim 9 or 10, wherein operable tiles are mounted to respective actuation assemblies via respective compliant joints configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles.

12. The haptic system of any one of claims 9 to 11 , wherein in the assembled mesh configuration, a total number of actuation assemblies to a total number of tiles is present in a ratio of less than or equal to 0.5.

13. A haptic system for covering a surface area, the haptic system comprising a) a plurality of tiles for assembling in a mesh configuration for covering the surface area, each tile of the plurality of tiles comprising a contact surface and a mounting surface opposite the contact surface, wherein the assembled meshed configuration includes one or more operable tiles and one or more passive tiles; and b) a plurality of actuation assemblies, wherein each actuation assembly is configured for i) mounting on a node of the mounting surface of an operable tile; and ii) applying a force to the node of the mounting surface of the operable tile to cause a corresponding motion to the contact surface opposite the mounting surface to which is mounted the actuation assembly, wherein the plurality of actuation assemblies is connectable to a controlling system configured to generate and transmit control signals to operate the plurality of actuation assemblies for causing haptic events, and wherein in the assembled mesh configuration, adjacent tiles are disposed to maintain a predetermined distance between opposing peripheral edges thereof during operation of the haptic system.

14. The haptic system of claim 13, wherein operable tiles are mounted to respective actuation assemblies via respective compliant joints configured to control one degree of freedom along the vertical axis, allowing transmission of haptic events to the operable tiles.

15. The haptic system of claim 13 or 14, wherein in the assembled mesh configuration, a total number of actuation assemblies to a total number of tiles is present in a ratio of less than or equal to 0.5.

16. The haptic system of any one of claims 13 to 15, wherein in the assembled mesh configuration, the haptic system includes peripheral tiles having a peripheral tile edge including passive nodes.

17. The haptic system of any one of claims 1 to 16, further comprising the control system for connecting to the plurality of actuation assemblies.

18. The haptic system of any one of claims 1 to 17, wherein the selected actuation assembly includes a linear actuator for generating a substantially horizontal motion and a bell motion mechanism to convert the substantially horizontal motion to a substantially vertical motion.

19. The haptic system of claim 18, wherein operable tiles further include respective base plates functionally coupled to a respective one of the bell motion mechanism.

20. The haptic system of any one of claims 1 to 19, wherein passive tiles include respective base plates mounted to respective installation posts.21 . The haptic system of any one of claims 1 to 20, further comprising a sealing member nested in between opposing peripheral edges of adjacent tiles.

22. The haptic system of claim 21 , wherein the sealing member extends from a first pair of nodes disposed at a first end of opposing peripheral edges of the adjacent tiles to a second pair of nodes disposed at a second end of the opposing peripheral edges.

23. The haptic system of claim 21 or 22, further comprising a sealing cap configured to cover at least a portion of a plurality of adjacent nodes.

24. The haptic system of claim 23, wherein the sealing member and the sealing cap constitute a fluid tight seal between adjacent tiles.

25. The haptic system of any one claims 1 to 24, wherein the actuator assembly includes a linear actuator and a bell motion mechanism configured to link translational movements of the linear actuator to the mounting surface to generate the haptic events.

Images