Method of providing haptic feedback to user and electronic device therefor

Abstract

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

Description

METHOD OF PROVIDING HAPTIC FEEDBACK TO USER AND ELECTRONIC DEVICE THEREFORBACKGROUND

[0001] Haptic technology is technology that can create an experience of touch by applying forces, vibrations or motions to the user, and is becoming more and more popular over recent years. Haptic feedback, in particular, is commonly used in electronic devices, by way of one or more actuator typically housed within the electronic device. There are various types of actuators which can be used to provide haptic feedback in electronic devices, common types include rotary and linear actuators. Rotary actuators involve an off-centered mass which is rotated to generate vibration, whereas linear actuators, which are becoming more and more popular, operate on the basis of the back and forth displacement of a mass along a linear path which can be straight or curved. Examples of linear actuators, including explanations about how their operation can be affected by force-response and frequency-response curves, are presented in Published Application US 2022 / 0329141 , for instance. Independently of their type, it is common for actuators to operate on the basis of the controlled movement of a mass.SUMMARY

[0002] A typical mode of operation of an actuator involves generating a haptic signal which may be referred to as a source, input or carrier signal. The signal can have a waveform having a superposition of one or more frequencies at a same or different amplitudes and a same or different phases, and the amplitude(s) can be constant or variable in time. The expression input haptic waveform will be used herein for generality.

[0003] The details of the input haptic waveform can vary significantly based on the application, and may be software driven based on predetermined conditions. For instance in a user input device such as a trackpad, an actuator may be driven by a haptic waveform configured to simulate a “click”, or “snapping”, sensation, when a user presses the trackpad, giving the user the illusion that the click or snap is caused by a mechanical reaction to their press, when the click or snap is rather software driven based on the sensing of the user action and the driving of the actuator. In the context where the electronic device is a game controller, for instance, the nature of the haptic feedback can depend on the current virtual action takingplace in a video game. For instance, in the case of a first person shooter game, a lower frequency, higher displacement haptic waveform may be triggered when the player’s persona fires a shotgun, and a higher frequency, lower displacement haptic waveform may be triggered when the player’s persona fires a small handgun.

[0004] The potential variety of waveforms may be limited by the type of actuator integrated to the electronic device, but is otherwise potentially as large as the different types of sounds and rhythms which are imaginable in audio. There is a difference, however, in the frequencies, and while audio frequencies are typically perceivable between about 20 Hz and 20 kHz, haptic frequencies are typically perceivable between about 5 Hz and 2 kHz.

[0005] A typical mode of operation of an actuator involves driving the actuator in a manner for the mass of the actuator to move in accordance with the input haptic waveform. In this context, the amplitude of the input haptic waveform can be calibrated in a manner for a suitable degree of perception of the haptic feedback to be felt by a typical user in typical conditions of use.

[0006] While existing methods of providing haptic feedback to users were satisfactory to a certain extent, and have contributed to the strong increase in popularity of haptics in the consumer electronics industry over recent years, there remains significant room for improvement.

[0007] In particular, it was found that the human sense of touch, which participates in translating the movement of the mass of the actuator into a haptic perception, has several variations, sometimes non-linear variations. For instance, the peak of haptic feedback perception for a typical user is at 180 Hz, meaning that if the user is provided haptic feedback in the form of a sinusoidal wave at a single frequency and constant amplitude, the typical user will be likely to feel that the amplitude is stronger at 180 Hz than at other frequencies. More specifically, the perceived strength of the haptic signal will be perceived as decreasing, for a constant amplitude of movement, as the frequencies progressively decrease or increase from a starting 180 Hz frequency. Different users may have different biases in terms of frequency perception, and in particular, the degree of mechanical coupling between the user and the electronic device, an example of which may be gripping strength of a game controller forinstance, can also affect the perceived haptic feedback. Indeed, particularly at higher haptic frequencies, e.g., above 180Hz, the user’s perception of a same amplitude of displacement of a mass may increase with increasing coupling strength. This effect can depend on the frequency. For instance, at lower haptic frequencies, e.g., below 180Hz, the user’s perception of a same amplitude of displacement of a mass may decrease with decreasing coupling strength.

[0008] In addition to the above-identified factors, the mechanical systems including the actuator and the electronic device can have different resonance levels for different frequencies, and some actuators can have a peak resonance frequency, often referred to as the fundamental frequency, though some actuators may have more than one peak resonance frequency or an otherwise flatter frequency response curve. For a given input haptic waveform, the movement of the mass of the actuator can depend on the resonance level. In other words, the movement amplitude of the mass, for a given amplitude of input haptic signal, will be greater for input haptic waveform frequencies corresponding to higher resonance levels than for input haptic waveform frequencies corresponding to lower resonance levels. Moreover, the resonance level, such as the fundamental frequency for instance, may be affected by the degree of coupling between the user and the system, the user potentially adding mass to the system, and potentially shifting the frequency response curve of the user / electronic device mechanical system in the frequency domain (e.g., shifting the fundamental frequency response).

[0009] From the above, it can be seen that the endeavor of communicating an intended haptic feedback waveform to a user can have surprising depths of complexity. More specifically, while the approach of calibrating the amplitude of the input haptic signal to generate a suitable perception level of the haptic feedback to be felt by a typical user in typical conditions of use was satisfactory to a certain degree, it can meet various limitations in different potential conditions of use, as evoked above.

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

[0011] In one example, the modulation can be an amplitude modulation. For instance, the amplitude of an input haptic waveform can be scaled based the measured degree of coupling. Accordingly, the amplitude of movement of the mass of the actuator can be greater (or lower) when the degree of coupling is greater (or lower). For instance, if it is predetermined that in a given set of conditions, including the degree of coupling, the user would have a lesser perception of the haptic feedback than intended by the designer, the modulation can increase the amplitude of the input haptic waveform for the mass to move at a greater amplitude, allowing the user to feel a degree of haptic feedback closer to the designer’s original intentions. In one example where the electronic device is a mouse, it may not be desired for the movement of the mass to be too high when the user coupling is low, as this could generate shaking of the mouse and thus undesired movement of the mouse pointer on the display. In such a case, the haptic feedback may be decreased when the user coupling is measured to be low.

[0012] In another example, the modulation can be a frequency modulation. For instance, the frequency profile of the input haptic waveform can be shifted based on the measured degree of coupling. Accordingly, the frequency(ies) of movement of the mass of the actuator can be higher (or lower) when the degree of coupling is greater (or lower). For instance, if it is predetermined that in a given set of conditions, including the degree of coupling, the user would have a lesser perception of the haptic feedback than intended by the designer, the modulation can shift the frequency(ies) of the input haptic waveform for the mass to move at the shifted frequency(ies), allowing the user to feel a degree of haptic feedback closer to the designer’s original intentions. This can be the case, for instance, if the intention of the designer is for the user to feel a maximum amplitude of haptic feedback, but it is also known that the degree of user coupling would shift the resonance frequency of the actuator, in which case the frequency of the input haptic waveform can be shifted to the predetermined shifted resonance frequency.

[0013] In some cases, this approach can be used to automatically turn on or turn off haptic feedback based on the degree of coupling, and a threshold degree of coupling may be set. For instance, the amplitude of the input haptic waveform can be set to zero, or the frequency can be shifted to zero, when the degree of coupling is below the threshold, essentiallymaintaining the haptic feedback off unless a sufficient degree of coupling is measured. This latter approach can be combined with the examples presented above. The haptic feedback can be switched on only when the degree of coupling exceeds a threshold value, and from there on, the modulation of the input haptic waveform can be constant or further vary based on factors such as degree of coupling.

[0014] The relationship between the inputs (e.g., input haptic waveform, measured degree of coupling) and the output (e.g., waveform at which the mass of the actuator is driven) can be represented by a transfer function. The transfer function may be two-dimensional (e.g., different amplitudes or frequencies of movement of the mass of the actuator for different measured degrees of coupling; different amplitudes or frequencies of movement of the mass of the actuator for different frequencies of the input haptic waveform), or three-dimensional (e.g., different amplitudes or frequencies of movement of the mass of the actuator for different measured degrees of coupling and for different frequencies of the input haptic waveform - frequency response transfer function; different amplitudes and frequencies of movement of the mass of the actuator for different measured degrees of coupling). The transfer function may represent a scaling of amplitude, a shifting of frequencies, or both. The transfer function can, in some embodiments, represent equalization of the input haptic waveform for detected conditions of use.

[0015] Accordingly, different users having different coupling strengths, or same users having different coupling strengths may be stimulated in a manner to receive a similar level of haptic sensation, by modulating the movement of the mass of the actuator from the input waveform.

[0016] In accordance with one aspect, there is provided a method of providing haptic feedback to a user, the method comprising : providing an input haptic waveform, the waveform having values of amplitude varying over values of time; measuring a degree of coupling between the user and an electronic device, the degree of coupling being a function of a force applied by the user to an external surface of the electronic device; modulating the input haptic waveform based at least on the measured degree of coupling, into a modulated haptic waveform; and moving the mass of the haptic actuator based on the modulated haptic waveform, including : when the degree of coupling is measured to have a first value, movingthe mass based the input haptic waveform at a first modulation; and when the degree of coupling is measured to have a second value, different from the first value, moving the mass based on the input haptic waveform at a second modulation, the second modulation different from the first modulation.

[0017] In accordance with another aspect, there is an electronic device comprising : a housing; a coupling sensor configured to measure an amount of force exerted by a user against an external surface of the electronic device; a haptic actuator having a fixed component made integral to the housing, and a movable component having a mass; a controller configured to move the mass of haptic actuator in accordance with at least one of an amplitude and a frequency which depends on the amount of force measured by the at least one coupling sensor in accordance with a transfer function.

[0018] All technical implementation details and advantages described with respect to a particular aspect of the present invention are self-evidently mutatis mutandis applicable for all other aspects of the present invention.

[0019] Many further features and combinations thereof concerning the present improvements will appear to those skilled in the art following a reading of the instant disclosure.DESCRIPTION OF THE FIGURES

[0020] In the figures,

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

[0022] Fig. 2 is a schematic view of the electronic device of Fig. 1 ;

[0023] Fig. 3 is a flow chart of an example method of providing haptic feedback to a user;

[0024] Fig. 4 is a graph showing an example waveform formed by the addition of three subjacent waveforms having different amplitudes and frequencies;

[0025] Fig. 5A, 5B and 5C are graphs showing respectively an example input haptic waveform, the input haptic waveform at a first modulation, and the input haptic waveform at another modulation;

[0026] Figs 6A, 6B, 6C and 6D are graphs showing example transfer functions which may used as a basis for modulating input haptic waveforms;

[0027] Figs. 7A to 7G are schematic views of example electronic devices which may be used to implement the method; and

[0028] Fig. 8 is a block diagram of an example computer.DETAILED DESCRIPTION

[0029] Fig. 1 shows an example of an electronic device 10 which is mechanically coupled to a user 12 during normal use. In this example, the electronic device 10 is a mouse 10’ which can be used as an input device in combination with a graphical user interface displayed on a display screen 22 of an external computer 20 (Fig. 2), to allow a user to enter commands, perform actions, and generally interact with the graphical user interface. The mouse 10’ can have a number of traditional user inputs such as buttons 14A, 14B to receive a left click or a right click, a roll wheel rollable by the user to scroll down or up some types of graphical user interface elements, and a movement sensor which can detect the movement of the mouse along an underlying surface by the action of the user, such as can commonly be used to move the a graphical pointer along the graphical user interface. In addition to traditional user inputs, the mouse 10’ has one or more coupling sensors 16, and one or more haptic actuators 18 (schematically shown in Fig. 2).

[0030] In one example embodiment, schematized in Fig. 2, the mouse can have two coupling sensors 16, and two haptic actuators 18. More specifically, in the embodiment schematized in Fig. 2, the haptic actuators 18 are positioned close to the coupling sensors 16, and more specifically immediately underneath them, but in alternate embodiments, the haptic actuator(s) can be positioned farther away from the coupling sensor(s). In alternate embodiments, there can be one or more coupling sensor and one or more haptic actuator integrated to the electronic device.

[0031] The one or more coupling sensors 16 are configured to measure a degree of coupling between the user 12 and the external surface of the electronic device 10. Various types of sensors can be used to this effect. For instance, the sensor can be a force sensor, e.g. a sensor which provides a variable output depending on the amount of force applied by the user on a portion of the external surface of the electronic device. Such a force sensor can be configured to measure normal compressive force or shear force, for instance. Alternately, the coupling sensor can be a pixelized capacitive sensor, such as commonly used in relation with display screens of electronic devices, and which provide an indication of which portion of the surface is being engaged by a portion of the user. Indeed, when a user couples with the device more strongly, such as by applying a normal force to the device, the surface area of the device covered by the user’s finger may increase due to the softness of the user’s flesh, and the surface area of the device which is covered by the user’s skin, as determined via a capacitive sensor integrated to the surface of the electronic device for instance, may thus be used as an indication of degree of coupling. More than one type of sensor can be combined to form a coupling sensor.

[0032] The one or more haptic actuators 16 are configured to provide haptic feedback to the user 12. Actuators typically have a portion made integral to the electronic device 10 and a mobile portion with the movable mass, and are configured to move the movable mass relative the electronic device. In the case of an electromagnetic actuator, for instance, the mass can be made integral with permanent magnets, and one or more coils may be made integral to the housing of the electronic device. Activating the one or more coils with an electric signal having a given waveform can generate a time-varying electromagnetic field which engages the permanent magnetic field of the permanent magnets, driving the movement of the mass relative the coils.

[0033] An example method of operation of the electronic device is presented in Fig. 3. The method begins with an optional step of determining that haptic feedback generation conditions have been met. There can be various triggers for determining that haptic feedback generation conditions have been met, and the triggers may either be explicit or implicit. An example can be : determining that a user’s persona in a video game played by the user is firing a shotgun in the virtual environment. The software of the videogame, or associated software, can tie thecondition of the user’s persona firing a shotgun to a specific type of haptic feedback, having a specific haptic waveform. The haptic waveform can considered to be, within a certain extent, specifically representative of the situation of the shotgun being fired. In other words, different haptic waveforms may be used in relationship with different events in the virtual environment of the videogame. Another example can be : determining that a user has closed a window of the graphical user interface presented on the display screen of the computer by interacting with it via the mouse and associated software functions, in which case the utility software managing the windows, or an associated software, can tie the condition of the window being closed by the user to a haptic waveform reminiscent of a whooshing sensation. Independently of the nature of the haptic waveform which is tied to the haptic feedback generation conditions, an initial haptic waveform can be provided as an input at that point, such as by being retrieved in association with the conditions which triggered the haptic feedback generation.

[0034] A degree of coupling between the user and the electronic device is measured. This measurement can be acquired by interrogating the output(s) of the coupling sensor(s), which may be continuously provided, or by positively controlling the coupling sensor(s) to make a measurement, for instance. The degree of coupling is at least somewhat variable, and may be continuously variable within a certain extent.

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

[0036] The mass of the one or more haptic actuator(s) is then moved based on the modulated haptic waveform, in the sense that the waveform representing the movement of the mass conveys the modulation. In other words, when the degree of coupling has a first value, the movement of the mass is based on the input haptic waveform at a first modulation, and when the degree of coupling has a second value, the movement of the mass is based on the input haptic waveform at a second modulation, the first modulation being different from the second modulation when the first value of degree of coupling is different from the second value of degree of coupling. The modulation can be in terms of amplitude scaling, frequency shifting, or both, to name three possible examples. For instance, if the modulation is in terms of amplitude scaling, the movement of the mass can be at a greater amplitude when the degreeof coupling is lower, or vice-versa, or at a lower amplitude when the degree of coupling is lower, and the amount of amplitude scaling may be constant or vary based on yet another variable, such as the frequency of the input haptic waveform.

[0037] The haptic waveforms can take essentially as many forms as audio waveforms. For instance, a constant sinusoidal signal at a single amplitude over a given period of time can be the equivalent of a beep in audio. Practically any waveform can be expressed as the sum of a number of underlying waveforms having different frequencies and phases. Fig. 4 presents an example of a haptic waveform at the bottom graph. The haptic waveform can be seen to constitute variations in amplitude (here in arbitrary units, but the intention is typically to convey this ultimately as an extent of displacement of the mass of an actuator and it will be noted that the reaction of the mass to the driving signal may not be direct) over time. In this specific case, provided solely for the purpose of serving as an example, the haptic waveform is the sum of three different sinusoidal signals, each having respective amplitudes and frequencies. At any point in time, the resulting haptic waveform is the sum of the positive, zero, or negative amplitudes of the three constituting sinusoidal signals, and a complex waveform may so emanate from the addition of more simple waveforms.

[0038] Taking the example haptic waveform and re-presenting it at Fig. 5A as an example input haptic waveform, example cases of modulation by amplitude scaling and frequency shifting will be presented in relation with Fig. 5B and Fig. 5C, respectively. Fig. 5B presents the input haptic waveform at a first modulation. More specifically, the signature of the input haptic waveform remains recognizable in the input haptic waveform at the first modulation, but the amplitudes are reduced. In this example, the first modulation is a 0.5 amplitude scaling factor. In this example, the amplitude scaling factor can depend on the measured degree of coupling, and a second modulation could be an amplitude scaling factor of 0.75, or 1.5, to name two examples. In such an example, the amplitude of movement of the mass could be reduced or increased, while maintaining the signature of the input haptic waveform, to compensate for the effect that degree of the user’s coupling can be expected to have in the user’s perception of the haptic feedback, and can be considered a form of equalization.

[0039] Fig. 5C presents the input haptic waveform at a third modulation. In this example, the third modulation is a frequency shifting, or otherwise said, a scaling of the input hapticwaveform in the time domain. The amplitude variations of the input haptic waveform at the third modulation preserve the amplitude variations of the input haptic waveform, but the frequencies of the constituent signals are all modified by a scaling factor. In this example, the third modulation is a 0.75 frequency scaling factor. In this example, the frequency scaling factor can depend on the measured degree of coupling, and a fourth modulation could be an amplitude scaling factor of 0.5 or 1.5, to name two examples. In such an example, the amplitude of movement of the mass remains the same, but the frequency or frequencies of the input haptic signal may be shifted, while maintaining the signature of the input haptic waveform, to compensate for the effect that degree of the user’s coupling can be expected to have in the user’s perception of the haptic feedback, and can be considered a form of equalization. Frequency shifting is a more frequently used term than frequency scaling, and therefore the former will be used herein.

[0040] It will be understood that many different forms of modulation may be applied, and that more than one form of modulation may be combined in a given embodiment. Moreover, the modulation may depend not only on the measured degree of coupling between the user and the electronic device, but may further depend on additional factors, such as the frequency(ies) of the input haptic signal for instance. Moreover, the relationship between the degree of coupling and the applied modulation may be linear or non-linear. To facilitate the comprehension of these concepts, the concept of transfer function will be introduced, and reference will be made to Figs. 6A, 6B, 6C and 6D. More specifically, the relationship between the input(s) and the output can be referred to as a transfer function. The transfer function can be bi-dimensional, tri-dimensional, or can have additional dimensions corresponding to additional variables such as inputs.

[0041] Fig. 6A presents a first example of a transfer function wherein a haptic modulation factor (which can be a frequency shift factor or amplitude scaling factor for instance), can be seen to depend on the measured degree of coupling. In other words, any haptic waveform provided as an input will be shifted or scaled in accordance with the haptic modulation factor determined by the measured degree of coupling.

[0042] In the example presented in Fig. 6A, the relationship between the haptic modulation factor and the measured value of degree of coupling is constant above a value which will bereferred to herein as an activation threshold, and is zero below the activation threshold. This is an example of a transfer function which corresponds to modulation which is relatively simple, either the haptic modulation factor has a constant value of 1 , when the measured value of degree of coupling is above the activation threshold, or the haptic modulation factor has a constant value of zero when the measured value of degree of coupling is below the activation threshold, turning the haptics off when the user is uncoupled from the electronic device, for instance.

[0043] In the example presented in Fig. 6B, the haptic modulation factor has a linear relationship with the measured value of degree of coupling, decreasing proportionally to increasing values of degree of coupling. In a first variant, the latter can be true when the measured value of degree of coupling meets or exceeds a threshold value, and the haptic modulation factor can be zero when the measured value of degree of coupling is below the activation threshold. The activation threshold is optional, but can offer the advantage of turning the haptics off when the user is uncoupled from the electronic device, for instance. In a second variant, represented by the dashed line projection to the linear relationship, the haptic modulation factor may continue to increase for reduced values of degree of coupling.

[0044] In the example presented in Fig. 6C, the haptic modulation factor has a non-linear relationship with the measured value of degree of coupling, decreasing exponentially with increasing values of degree of coupling. In a first variant, the latter can be true when the measured value of degree of coupling meets or exceeds a threshold value, and the haptic modulation factor can be zero when the measured value of degree of coupling is below the activation threshold. The activation threshold is optional, but can offer the advantage of turning the haptics off when the user is uncoupled from the electronic device, for instance. In a second variant, represented by the dashed line projection to the exponential relationship, the haptic modulation factor may remain constant for reduced values of degree of coupling below the activation threshold.

[0045] The example presented in Fig. 6D is somewhat similar to the variant presented in full lines in Fig. 6C, in that an activation threshold is applied to the transfer function below which the haptic modulation factor transits sharply to zero, and the relationship between haptic modulation factor and measured value of degree of coupling is non-linear above the activationthreshold, but is different in that the haptic modulation factor applied to the input haptic waveform further depends on the frequency(ies) of the input haptic waveform, represented as an additional axis. In this example, for higher frequencies, the haptic modulation factor decreases with the measured degree of coupling, but for lower frequencies, the haptic modulation factor increases with the measured degree of coupling. A transfer function such as shown in Fig. 6D may be applied to an input haptic waveform having a single frequency, such as a sinusoidal signal of constant amplitude, or may be applied to an input haptic waveform having a number of different frequencies, in which case different ones of the subjacent frequencies may be subjected to different haptic modulation factors. This latter transfer function may be referred to as a frequency-response transfer function. Many different variants are possible in alternate embodiments.

[0046] Figs 7A to 7G present various examples of electronic devices in which one or more haptic actuator and one or more coupling sensor may be integrated, and via which the methods described above can be implemented. Surfaces with regularly interspaced stippling are used to represent areas occupied by the force sensors, whereas surfaces with irregularly interspaced stippling are used to represent the approximate relative location of the actuator.

[0047] Fig. 7A presents an other example of a mouse, but in this example, three subsystems, each having one coupling sensor and one haptic actuator, are integrated with the electronic device, one on each mouse button, and one at a palm support area.

[0048] Fig. 7B presents another example where the electronic device is a steering wheel, In this example, two subsystems are used, one on each side of the steering wheel, corresponding to typical hand positions of a user.

[0049] Fig. 7C presents another example where the electronic device is a game pad (video game controller). In this example, two subsystems are used, one on each grip of the gamepad, corresponding to typical hand positions of a user.

[0050] Fig. 7D presents another example where the electronic device is a haptic seat. In this example, multiple subsystems are used, including one integrated to a backrest of the seat, and one integrated to a seat portion of the seat.

[0051] Fig. 7E presents another example where the electronic device is wrist rest. In this example, a single subsystem is used, integrated to a portion of the wrist rest corresponding to where a user would rest his wrist if he / she is controlling the WA S and D keys of the keyboard.

[0052] Fig. 7F presents another example where the electronic device is a VR controller. In this example, a single subsystem is used, integrated to a grip of the VR controller. Fig. 7G presents another example where the electronic device is a touchscreen. In this example, the coupling sensor includes the entire touchscreen and one actuator is housed below a portion of the touchscreen, mechanically coupled to the touchscreen.

[0053] It will be noted that in the examples presented above, the haptic actuators are integrated to the electronic devices at a physical location which is very close to the coupling sensor, such as directly underneath it. This can be convenient as it may allow obtaining a higher degree of relevance between the measured degree of coupling and an intended effect of equalizing the perceived haptic feedback. However, this is not essential and in some embodiments, it may be more convenient to use a coupling sensor measurement taken at one or more locations not directly above the location of the haptic actuator.

[0054] Many variants are possible. For instance, in some embodiments, a gyroscope may further be integrated to the electronic device. It can be relevant in some embodiments to use a controller to perform actions such as measuring the degree of coupling between he user and the electronic device, modulate the input haptic waveform based on the measured degree of coupling, and moving the mass of the haptic actuator in accordance with the modulated input haptic waveform. In some embodiments, such as a controller may be integrated within the electronic device. Alternately the electronic device can have data communication capabilities to communicate with an external computer, distinct from the electronic device, and the controller can be implemented as a software module running on the external computer. In some embodiments, some of the functions can be performed by a controller integrated to the electronic device, whereas others may be performed by a controller embodied as software module running on an external computer. Accordingly, the controller can be implemented as hardware, software, or a combination of hardware and software, and in either avenue, the controller may include a computer. The controller can receive the haptic waveform as an input, and the latter may be generated by a software running on a computer which is external to theelectronic device. Alternately, the input haptic waveform may be defined in a memory integrated to the electronic device and the determination that haptic feedback generation conditions have been met may be made at the electronic device.

[0055] Referring to Fig. 8, it will be understood that the expression “computer” 400 as used herein is not to be interpreted in a limiting manner. It is rather used in a broad sense to generally refer to the combination of some form of one or more processing units 412 and some form of memory system 414 accessible by the processing unit(s). The memory system can be of the non-transitory type. The use of the expression “computer” in its singular form as used herein includes within its scope the combination of a two or more computers working collaboratively to perform a given function. Moreover, the expression “computer” as used herein includes within its scope the use of partial capabilities of a given processing unit.

[0056] Example computers include desktop, laptop, smartphone, smart watch, less elaborated controller devices, etc.

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

[0058] The memory system can include a suitable combination of any suitable type of computer-readable memory located either internally, externally, and accessible by the processor in a wired or wireless manner, either directly or over a network such as the Internet. A computer-readable memory can be embodied in the form of random-access memory (RAM), read-only memory (ROM), compact disc read-only memory (CDROM), electro-optical memory, magneto-optical memory, erasable programmable read-only memory (EPROM), and electrically-erasable programmable read-only memory (EEPROM), Ferroelectric RAM (FRAM)to name a few examples.

[0059] A computer can have one or more input / output (I / O) interface to allow communication with a human user and / or with another computer via an associated input, output, or input / output device such as a keybord, a mouse, a touchscreen, an antenna, a port,etc. Each I / O interface can enable the computer to communicate and / or exchange data with other components, to access and connect to network resources, to serve applications, and / or perform other computing applications by connecting to a network (or multiple networks) capable of carrying data including the Internet, Ethernet, plain old telephone service (POTS) line, public switch telephone network (PSTN), integrated services digital network (ISDN), digital subscriber line (DSL), coaxial cable, fiber optics, satellite, mobile, wireless (e.g. Wi-Fi, Bluetooth, WiMAX), SS7 signaling network, fixed line, local area network, wide area network, to name a few examples.

[0060] It will be understood that a computer can perform functions or processes via hardware or a combination of both hardware and software. For example, hardware can include logic gates included as part of a silicon chip of a processor. Software (e.g. application, process) can be in the form of data such as computer-readable instructions stored in a non-transitory computer-readable memory accessible by one or more processing units. With respect to a computer or a processing unit, the expression “configured to” relates to the presence of hardware or a combination of hardware and software which is operable to perform the associated functions. Different elements of a computer, such as processor and / or memory, can be local, or in part or in whole remote and / or distributed and / or virtual.

[0061] The methods and systems of the present disclosure may be implemented in a high level procedural or object oriented programming or scripting language, or a combination thereof, to communicate with or assist in the operation of a computer system, for example the controller. Alternatively, the methods and systems described herein may be implemented in assembly or machine language. The language may be a compiled or interpreted language. Program code for implementing the methods and systems described herein may be stored on a storage media or a device, for example a ROM, a magnetic disk, an optical disc, a flash drive, or any other suitable storage media or device. The program code may be readable by a general or special-purpose programmable computer for configuring and operating the computer when the storage media or device is read by the computer to perform the procedures described herein. Embodiments of the methods and systems described herein may also be considered to be implemented by way of a non-transitory computer-readable storage medium having a computer program stored thereon. The computer program may comprise computer-readable instructions 416 which cause a computer, or more specifically the processing unit 412 of the computing device 400, to operate in a specific and predefined manner to perform the functions described herein, for example those described in the method above. The instructions 416 may be stored in the memory 416 of the computer 400, and may include the transfer function, for instance.

[0062] Computer-executable instructions may be in many forms, including program modules, executed by one or more computers or other devices. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. Typically the functionality of the program modules may be combined or distributed as desired in various embodiments. The technical solution of embodiments may be in the form of a software product. The software product may be stored in a non-volatile or non-transitory storage medium, which can be a compact disk read-only memory (CD-ROM), a USB flash disk, or a removable hard disk. The software product includes a number of instructions that enable a computer device (personal computer, server, or network device) to execute the methods provided by the embodiments.

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

Claims

WHAT IS CLAIMED IS:

1. A method of providing haptic feedback to a user, the method comprising : providing an input haptic waveform, the waveform having values of amplitude varying over values of time; measuring a degree of coupling between the user and an electronic device, the degree of coupling being a function of a force applied by the user to an external surface of the electronic device; modulating the input haptic waveform based at least on the measured degree of coupling, into a modulated haptic waveform; and moving a mass of a haptic actuator based on the modulated haptic waveform, including : when the degree of coupling is measured to have a first value, moving the mass based the input haptic waveform at a first modulation; and when the degree of coupling is measured to have a second value, different from the first value, moving the mass based on the input haptic waveform at a second modulation, the second modulation different from the first modulation.

2. The method of claim 1 wherein said modulating the input haptic waveform includes scaling the amplitude of the input haptic waveform by a scaling factor, the scaling factor depending on the measured degree of coupling, wherein the input haptic waveform has a first amplitude scale at the first modulation and a second amplitude scale at the second modulation.

3. The method of claim 1 or 2 wherein said modulating the input haptic waveform includes frequency shifting of the input haptic waveform by a shifting factor, the shifting factor depending on the measured degree of coupling, wherein the input hapticwaveform has a first frequency shift at the first modulation, and a second frequency shift at the second modulation.

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

5. The method of claim 4 wherein the input haptic waveform has a superposition of amplitude variations at more than one frequency, wherein said modulating the input haptic waveform includes applying a different modulation factor to different ones of the more than one frequency.

6. The method of any one of claims 1 to 5 wherein said modulating the input haptic waveform includes applying at least one modulation factor to the input haptic waveform.

7. The method of claim 6 wherein said modulation factor varies linearly with values of measured degree of coupling over a range of values of measured degree of coupling.

8. The method of claim 6 wherein said modulation factor varies non-linearly with values of measured degree of coupling over a range of values of measured degree of coupling.

9. The method of claim 6 wherein said modulation factor is zero for values of measured degree of coupling below a threshold value.

10. The method of any one of claims 1 to 9 wherein said measuring a degree of coupling includes measuring a normal force applied by the user to the external surface of the electronic device.

11. The method of any one of claims 1 to 10 wherein said measuring a degree of coupling includes measuring a surface area of contact between flesh of the user and the external surface of the electronic device.

12. The method of claim 11 wherein said measuring a degree of coupling includes performing a measurement of an amount of electrostatic interference imparted by the flesh of the user to a capacitive sensor integrated to a frame or housing of the electronic device.

13. An electronic device comprising : a housing; a coupling sensor configured to measure an amount of force exerted by a user against an external surface of the electronic device; a haptic actuator having a fixed component made integral to the housing, and a movable component having a mass; and a controller operable to move the mass of haptic actuator in accordance with at least one of an amplitude and a frequency which depends on the amount of force measured by the at least one coupling sensor in accordance with a transfer function.

14. The electronic device of claim 13 wherein the electronic device is a mouse configured for use as a user input device for a computer.

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

16. The electronic device of any one of claims 13 to 15 wherein the haptic actuator is integrated immediately below the coupling sensor.

17. The electronic device of any one of claims 13 to 16 wherein the haptic actuator is a linear actuator.

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