Haptic device and method of controlling same

Abstract

A haptic device adapted to be held or worn by a user includes a housing and an actuator configured to generate a haptic effect within an isolated haptic feedback region of the haptic device. A haptic feedback transmitter is located within the housing and coupled to the actuator, which is in communication with a controller. The haptic feedback transmitter includes an end effector in registry with an aperture in the housing that circumscribes and defines the isolated haptic feedback region. The controller is configured to provide control signals to the actuator to actuate the end effector of the feedback transmitter for transmitting the haptic effect to the user within the isolated haptic feedback region.

Description

HAPTIC DEVICE AND METHOD OF CONTROLLING SAMECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority on United States Patent Application No. 63 / 656,905 filed on June 6, 2024, the entire content of which is incorporated herein by reference.TECHNICAL FIELD

[0002] The disclosure relates generally to haptics and, more particularly, to systems and methods for providing users with haptic feedback.BACKGROUND

[0003] The concept of applying forces, vibrations and / or motions to a user for improved immersion in media content and / or improved user experience is known in the art as haptic feedback. Various devices may be configured to provide haptic feedback when, for instance, playing a video game, watching a movie or operating a handheld device. Such devices may be a mouse, a keyboard, a controller, a phone or other handheld device, and so on.

[0004] As an example, gaming controllers may be equipped with mechanical actuators that create sensations in the hands of the user in concert with the media content displayed on the screen. For instance, vibrations in the whole controller, or localized impulses in the triggers, may be generated to immerse the user in the media content. The door remains open, however, for improved haptic feedback technology in order to deliver to the user an end product that will create a strong immersion in the media content or an improved user experience when using the technology in question. It will be understood that challenges arise when it comes to durability and cost for mass production of the components configured to generate haptic feedback.SUMMARY

[0005] There is accordingly provided, in accordance with one aspect, a haptic device adapted to be held or worn by a user, the haptic device comprising: a housing; an actuator configured to generate a haptic effect within an isolated haptic feedback region of the haptic device, the actuator being in communication with a controller; and a haptic feedback transmitter located within the housing and coupled to the actuator, the haptic feedback transmitter including an end effector in registry with an aperture in the housing, the aperture circumscribing and defining the isolated haptic feedback region; wherein the controller is configured to provide control signals to theactuator to actuate the end effector of the haptic feedback transmitter for transmitting the haptic effect to the user within the isolated haptic feedback region.

[0006] The haptic device as defined above and described herein also includes, in certain embodiments, one or more of the following features, in whole or in part, and in any combination.

[0007] In certain embodiments, the haptic effect includes a vibration and the actuator is a vibration actuator configured to generate the vibration within the isolated haptic feedback region.

[0008] In certain embodiments, a tip of the end effector forms a vibrating surface within the isolated haptic feedback region, the vibrating surface being adapted to contact skin of the user.

[0009] In certain embodiments, the end effector is one of a plurality of end effectors forming an array of end effectors, and the aperture is one of a plurality of apertures each receiving one of the plurality of end effectors therein.

[0010] In certain embodiments, the plurality of end effectors of the array of end effectors extend outwardly from a base of the haptic feedback transmitter to the plurality of apertures, the base being coupled to and driven by the actuator.

[0011] In certain embodiments, the plurality of end effectors of the array of end effectors are spaced apart and isolated from each other, the control signals being configured for causing a receiving end effector of the plurality of end effectors to transmit the haptic effect to the user within the isolated haptic feedback region corresponding to the receiving end effector.

[0012] In certain embodiments, the controller is configured to provide the control signals to the actuator so that one or more of the end effectors of the array of end effectors is selectively and independently actuated by the actuator.

[0013] In certain embodiments, the actuator includes an eccentric rotating mass, a linear resonant actuator, a voice coil, a piezo haptic actuator, a solenoid haptic actuator, an ultrasonic transducer, an electrotactile stimulator, a temperature generator, a microfluidic deformable actuator, and / or an impact actuator.

[0014] In certain embodiments, the device includes a skin detection sensor, the skin detection sensor being in communication with the controller and being configured to provide detectionsignals to the controller indicative of a presence of skin of the user over or within the isolated haptic feedback region.

[0015] In certain embodiments, the skin detection sensor at least partially surrounds the aperture in the housing defining the isolated haptic feedback region.

[0016] In certain embodiments, in response to receiving the detection signals, the controller is configured to provide the control signals to the actuator to output the haptic effect to the user within the isolated haptic feedback region via the end effector of the haptic feedback transmitter.

[0017] In certain embodiments, the skin detection sensor includes a pressure detector, a temperature sensor, a capacitive sensor, a resistive sensor, an optical sensor, a force sensor, pressure sensor and / or a piezoelectric sensor.

[0018] In certain embodiments, the skin detection sensor includes the capacitive sensor configured to detect the presence of skin of the user and the force sensor configured to detect pressure applied by the user within the isolated haptic feedback region.

[0019] In certain embodiments, the array of end effectors is displaceable between an extended position and a depressed position, wherein in the extended position a tip of each end effector of the array of end effectors protrudes outwardly relative to the housing and through the plurality of apertures in the housing, and in the depressed position the tip of said each end effector is located closer to the housing than in the extended position.

[0020] In certain embodiments, the array of end effectors is configured to output the haptic effect to the user when in both the extended position and the depressed position.

[0021] In certain embodiments, the controller is configured to sequentially provide the control signals in a sequence to the actuator, the sequence being generated by the controller based on a predetermined haptic pattern received by the controller.

[0022] In certain embodiments, the actuator is one of an array of actuators.

[0023] In certain embodiments, the haptic effect includes skin stretch.

[0024] In certain embodiments, the haptic effect includes skin deformation.

[0025] There is also provided a haptic device adapted to be held or worn by a user, the haptic device comprising: a housing; an actuator attached to the housing and configured to generate a haptic effect within an isolated haptic feedback region of the haptic device, the actuator being in communication with a controller; and a skin detection sensor located adjacent to the isolated haptic feedback region, the skin detection sensor being in communication with the controller and being configured to provide detection signals to the controller indicative of the presence of skin of the user over or near the isolated haptic feedback region; wherein, in response to receiving the detection signals, the controller is configured to provide control signals to the actuator to output the haptic effect to the user within the isolated haptic feedback region.

[0026] The haptic device as defined above and described herein also includes, in certain embodiments, one or more of the following features, in whole or in part, and in any combination.

[0027] In certain embodiments, the skin detection sensor at least partially surrounds the isolated haptic feedback region.

[0028] There is further provided a haptic device adapted to be held or worn by a user, the haptic device comprising: a housing; two or more isolated haptic feedback regions within the haptic device, the two or more isolated haptic feedback regions being isolated from each other, each of the two or more isolated haptic feedback regions having an actuator attached to the housing and an end effector configured to generate haptic effects within each of the two or more isolated haptic feedback regions; and a controller in communication with the actuator, the controller being configured to sequentially provide separate control signals to each said actuator of the two or more isolated haptic feedback regions, each control signal being configured for causing the end effector within a respective one of the two or more isolated haptic feedback regions to transmit a haptic effect to the user within respective ones of the two or more isolated haptic feedback regions.

[0029] The haptic device as defined above and described herein also includes, in certain embodiments, one or more of the following features, in whole or in part, and in any combination

[0030] In certain embodiments, the device includes a skin detection sensor located at least partially over or adjacent to the two or more isolated haptic feedback regions, the skin detection sensor being in communication with the controller and being configured to provide detection signals to the controller indicative of the presence of the skin of a user over or near the two or more isolated haptic feedback region.

[0031] In certain embodiments, a haptic feedback transmitter is located within the housing and coupled to the actuator, the haptic feedback transmitter including an end effector in registry with an aperture in the housing, the aperture circumscribing and defining the isolated haptic feedback region.

[0032] In certain embodiments, the end effector is one of a plurality of end effectors forming an array of end effectors, the isolated haptic feedback region being one of a plurality of isolated haptic feedback regions each in registry with the plurality of end effectors, isolated haptic feedback region.

[0033] In certain embodiments, the plurality of end effectors are spaced apart and isolated from each other, the control signals being configured for causing a receiving end effector of the plurality of end effectors to transmit the haptic effect to the user within a corresponding one of the plurality of isolated haptic feedback regions.

[0034] In certain embodiments, the array of end effectors is displaceable between an extended position and a depressed position, and wherein, in the extended position, a tip of each end effector of the array of end effectors protrudes outwardly relative to the housing through the aperture corresponding thereto, and in the depressed position the tip of said each end effector is located closer to the housing than in the extended position.

[0035] In certain embodiments, the array of end effectors is configured to output the haptic effect to the user when in both the extended position and the depressed position.

[0036] In certain embodiments, the controller is configured to sequentially provide the control signals in a sequence to the actuator, the sequence being generated by the controller based on a predetermined haptic pattern received by the controller.

[0037] There is further provided a method for controlling a haptic device adapted to be held or worn by a user, the haptic device having a housing and an actuator within the housing, the method comprising: receiving an indication of a predefined haptic pattern; generating a sequence of control signals based on the predefined haptic pattern; and sequentially providing the control signals to the actuator, the actuator being coupled to a plurality of end effectors spaced apart and isolated from each other, each control signal being configured for causing a receiving end effector of the plurality of end effectors to transmit a haptic effect to a user within an isolated haptic feedback region of the haptic device.BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Reference is now made to the accompanying figures in which:

[0039] Fig. 1 is a schematic block diagram of a haptic device in accordance with an embodiment;

[0040] Fig. 2 is a schematic diagram of a haptic device in accordance with an embodiment;

[0041] Fig. 3 is another schematic diagram of the haptic device in accordance with an embodiment;

[0042] Fig. 4 is a perspective view of a haptic device in accordance with an embodiment;

[0043] Fig. 5 is another perspective view of a haptic device in accordance with an embodiment;

[0044] Figs. 6A-6C are perspective top right, top right cross-section and bottom left views, respectively, of another haptic device in accordance with an embodiment;

[0045] Figs. 7A-7C are perspective top right, top right cross-section and bottom left views, respectively, of another haptic device in accordance with an embodiment;

[0046] Fig. 8 is a flowchart of a method for controlling the haptic device of Figs. 1-7C;

[0047] Fig. 9 is another flowchart of a method for controlling the haptic device of Figs. 1-7C; and

[0048] Fig. 10 is a schematic representation of a computing device to be used with the haptic device of Figs. 1-7C.DETAILED DESCRIPTION

[0049] This present disclosure is directed at creating representative sensations that includes all the elements of a haptic interaction by using a haptic device. The haptic device as described herein is an ungrounded device and may include for example a handheld device (e.g., a game controller, a virtual reality (VR) controller, a steering wheel, or other handheld devices used, for example, in the context of a virtual reality system) or a wearable device that is adapted to be wornby the user. Such a wearable device may include, for example, a watch, a wrist strap, a glove, a piece of cloth, a head band, a helmet, a ring etc.

[0050] Now referring to Fig. 1 , there is shown a schematic block diagram of a haptic device 10, in accordance with an embodiment. The haptic device 10 includes a controller 12 and an actuator 14. In some embodiments, the haptic device 10 includes a skin detection sensor 16, as will be explained in further detail below. The controller 12 of the haptic device 10 is in communication with a media content source 18. The actuator 14 may be one of a plurality of actuators, or an array of actuators. The haptic device 10 has a housing 20 in which the actuator(s) 14 are installed and in which, in certain embodiments, the controller 12 may also be installed. The haptic device 10 may be powered by any suited power source, such as a battery or from a DC or AC external source. In operation, the controller 12 receives from the media content source 18 signals indicative of an “event” in the media content, and in response, provides a control signal to the actuator 14. For example, a character controlled in a video game may contact an object in the video game.

[0051] It will be appreciated that the type of actuator 14 may vary. However, in a particular embodiment the actuator 14 is a vibration actuator. In other embodiments, the actuator 14 is selected from, but not limited to, one of an eccentric rotating mass (ERM), a linear resonant actuator (LRA), a voice coil, a piezo haptic actuator, a solenoid haptic actuator, an ultrasonic transducer, an electrotactile stimulator, a temperature generator, a microfluidic deformable actuator, an impact actuator, and other actuators of the like. Additionally, the actuator could be a deformation actuator, or a skin stretch actuator. The actuator 14 is configured to provide one or more than one haptic effects to the user. For example, in certain embodiments the actuator 14 may provide a combination of haptic effects to the user, which include vibration, skin stretch, and / or skin deformation. These haptic effects can be intermixed in any combination.

[0052] The controller 12 may be installed inside the housing 20 of the haptic device 10, or exterior to the haptic device 10. For instance, the controller 12 may be installed in the haptic device 10 and have means to wirelessly communicate with another computing device having the media content source 18. In some other embodiments, the haptic device 10 may include both the controller 12 and the media content source 18, in cases, for instance, of a portable video game system or a phone or a tablet. In some embodiments, the controller 12 of the haptic device 10 is coupled to another computing device having the media content source 18 via a USB cord or other wired means of the like. In some embodiments, the haptic device 10 may include a hand-held orwearable portion including the actuator 14, and a separate device including the controller 12 wired or wirelessly coupled to the actuator of the hand-held or wearable potion.

[0053] The skin detection sensor 16 is configured to sense the presence of the user’s skin on the housing 20 of the haptic device 10 near, around, adjacent to, over, within the boundaries of, and / or on, an isolated haptic feedback region 60. In a particular embodiment, the skin detection sensor 16 at least partially surrounds, and may in fact fully surround, an aperture 29 in the housing defining the isolated haptic feedback region 60. As will be explained in further detail herein, within this isolated haptic feedback region 60 one or more of the following haptic effects is provided in a localized manner to the user: vibration haptic feedback; deformation haptic feedback; skin stretch haptic feedback; and combinations thereof. The skin detection sensor 16 may be of various kinds. For instance, the skin detection sensor 16 may be a pressure detector, a temperature sensor, a capacitive sensor, a resistive sensor, an optical sensor and / or any other type of suited sensor. In some embodiments, the skin detection sensor 16 may include a piezoelectric sensor. It will be appreciated that the skin detection sensor 16 is configured to detect the presence of the skin, the area of the skin in contact with the region and may also quantify the force at which the user presses against the skin detection sensor 16. In cases where the skin detection sensor 16 includes a capacitive sensor, a resistive sensor, an optical sensor a temperature sensor, the detection could be limited direct contact, i.e. , to the detection of a material having an impedance, resistance, optical transmission and / or reflection or temperature close to normal values for the skin. In other cases where the skin detection sensor 16 includes a pressure detector, indirect detection of the user’s skin, e.g., through a piece of cloth, such as a glove, is possible. Combinations of the abovementioned sensors may be preferable, in some embodiments. For example, the skin detection sensor 16 as referred to herein may in fact comprise more than one sensor component, such as a capacitive sensor and / or a force sensor, which collectively make up the skin detection sensor 16.

[0054] Now referring to Figs. 2 and 3, schematic diagrams of the haptic device 10 are depicted. As seen in Fig. 2, the haptic device 10 includes, within one or more feedback regions 62 thereof, a haptic feedback transmitter 26 located within the housing 20 and coupled to, and thus driven by, an actuator 14. The actuator may be, for example, mounted to the housing 20 in a fixed position relative thereto. The actuator 14 acts on, and in certain embodiments may be rigidly fixed to, the haptic feedback transmitter 26, in such a manner as to generate a haptic effect that is transmitted to the user via the haptic feedback transmitter 26.

[0055] The haptic feedback transmitter 26 includes one or more end effectors 27 that extend from a base 35 of the haptic feedback transmitter 26, the base 35 of the haptic feedback transmitter 26 being directly coupled to and driven by the actuator 14. At least the tips 31 of the end effectors 27 project through corresponding apertures 29 in the housing 20, and these tips 31 of the end effectors 27 being configured for transmitting one or more haptic effects from the actuator 14 to the user, via the haptic feedback transmitter 26. As such, the end effectors 27 are in registry with corresponding apertures 29 in the housing 20, with each of these apertures circumscribing and defining the isolated haptic feedback regions 60. The expression “in registry”, as used herein, is intended to mean that each of the end effectors 27 is aligned with, and may in certain embodiments be matingly received within, a respective one of the aperture 29 defined in the housing 20 of the device. In certain embodiments, the apertures have a shape (e.g., a perimeter shape) that corresponds to that of the respective end effectors 27. Typically, each aperture 29 will be slightly larger (e.g., have a slightly lager diameter or width) than the corresponding diameter or width of the tip 31 of the end effector 27 received therein. However the gap (for example, in a radial direction) between the outer perimeter of the tips 31 of the end effectors 27 and the inner diameter of the apertures 29 is preferably kept to a minimum.

[0056] With reference to Fig. 2, the haptic feedback transmitter 26 may include an array of end effectors 27, each of the end effector 27 projecting through a respective aperture 29 in the housing 20. In a particular embodiment, the end effectors 27 may be pins, which form a pin array and project outwardly from the base 35 of the haptic feedback transmitter 26. The suspension 24 is located between the haptic feedback transmitter 26 and an inner surface 33 of the housing 20, and may for example surround each end effector 27 of the array of end effectors 27. As shown in Fig. 2, a cover 28 may, in certain embodiments, be provided to cover the end effectors 27 of the haptic feedback transmitter 26. It is to be understood, however, that in certain embodiments no such cover is provided, such that the tips 31 of the end effectors 27 directly contact the skin of the user. The cover 28, which may be formed of a gel or other suitable flexible and / or deformable surface, covers the protruding tips 31 of the end effectors 27 while still permitting vibrations or other haptic effects (e.g., skin stretch, skin deformation, etc.) to be transmitted therethrough such that the user is able to sense these haptic effects generated by the haptic feedback transmitter 26 and actuator 14. In certain embodiments, the cover 28 may have a similar texture and / or color as the texture and / or color of the housing 20 to create a uniform appearance from the point of view of the user. In some embodiments, the skin detection sensor 16 is included directly within the cover 28.

[0057] The apertures 29 in the housing 20, through which the tips 31 of the end effectors 27 of the haptic feedback transmitter 26 project, accordingly define “isolated haptic feedback regions” 60, as will be described and referred to herein. These isolated haptic feedback regions 60, which are also described below with reference to Fig. 4, are thus distinct from the static portions 63 of the housing 20 of the haptic device 50 that surround the isolated haptic feedback regions 60. More particularly, and as easily seen in Fig. 4 for example, the haptic devices as described herein have feedback regions 62 within which haptics are incorporated. Each of these feedback regions 62 encompasses a static portion 63 of the device’s housing 20, and one or more isolated haptic feedback regions 60 that are surround the static portion 63. The static portion 63 within the feedback region 62 may also include a skin detector sensor 16 as described herein. Stated differently, the lager feedback regions 62 of the device include therein one or more smaller isolated feedback regions 60 that are, as the name suggests, isolated from the remainder of the feedback region 62 (i.e., the static portion 63 of the housing 20 of the device).

[0058] As it is apparent from Fig. 2, the projecting end effectors 27 (e.g., pins) form an array, and the tip 31 of each of the end effectors 27 project through the aperture 29 of the housing 20 when, for instance, the end effectors 27 and thus the feedback transmitter is in an extended position. In this position, the end effectors 27 may be kept in place by the actuator 14 when the user presses against the cover 28 (or directly against the end effectors 27). In other cases, the end effectors 27 may be retracted inside the housing 20 in response to a pressure exerted thereon by the user. In this case, the skin 22 of the user abuts an outer surface of the housing 20 when the end effectors 27 are retracted inside the housing 20.

[0059] As shown in Fig. 3, the skin 22 of the user is depicted as being in contact with the housing 20 over one or more skin detection sensors 16, as described above.

[0060] As seen in Figs. 2 and 3, a suspension 24 is provided between the haptic feedback transmitter 26 and the housing 20, such as to help isolate the vibration or other haptic effect generated by the actuator 14 and transmitted by the haptic feedback transmitter 26 to the user. More particularly, the suspension 24 acts to limit the transmission of vibrations or other haptic effects generated by the actuator to the housing 20. As such, the vibration is concentrated, or isolated, such as to act mainly (or only) on the end effectors 27 of the haptic feedback transmitter 26, which transmit the haptic effects to the user - and this only within the isolated haptic feedback regions 60. The suspension 24 is therefore designed so that a majority (i.e., greater than 50%) of the vibrations or other haptic effect generated are directed to the surface to be vibrated (i.e., tips31 of the end effectors 27) and not transmitted to the housing 20. Ideally, the suspension 24 would be such that substantially no (or minimal) vibrations are transmitted to the housing and thus substantially all are transmitted to the user via the end effectors. In a particular embodiment, the suspension 24 is designed such that the surface to be vibrated (e.g., the end effectors 27) has a magnitude of vibration that is 10 times higher than that of the housing. The suspension 24 may in certain embodiments be composed of a deformable material, such as rubber, elastomer or other suitable vibration absorbing material, suited to dampen vibration between the end effector 27, driven by the actuator 14, and the housing 20. In certain embodiments, the suspension 24 may also act to limiting the amplitude of movement of the end effector 27 when driven by the actuator 14.

[0061] Material suited for the suspension 24 may be plastic, silicone rubber, cured silicone rubber, deformable polymer, polydimethylsiloxane (PDMS) and the like. In some embodiment, the suspension 24 is composed of Ecoflex™. The housing 20 may also be generally composed of a resilient material, such as acrylonitrile butadiene styrene (ABS) plastic or polycarbonate.

[0062] In some embodiments, the tips 31 of the end effectors 27 collective form a vibrating surface that may be covered by the skin detection sensor 16, which provides signals indicative of the skin 22 of the user being in contact with the vibrating surface, as shown in Fig. 3. In such configuration, the skin detection sensor 16 is configured to detect the presence of the skin 22. In some cases where the skin detection sensor 16 is configured to sense the force applied by the user on the suspension 24, the controller of the haptic device may be configured to take into account the vibrations generated by the actuator 14 in the signal provided by the skin detection sensor 16, such that the signal obtain therefrom is representative of the force at which the user presses against the vibrating surface even when the actuator 14 is vibrating.

[0063] As shown in Fig. 3, multiple skin detection sensors 16a, 16b, 16c may be provided on the housing 20. In such case, the skin detection sensors 16a, 16c are placed next to the vibrating surface and the skin detection sensor 16b is placed over the vibrating surface. In such configuration, the haptic device is able to detect the presence of the skin 22 surrounding the vibrating surface even if there is not a direct contact between the skin 22 and the skin detection sensor 16b placed over the suspension 24. In some embodiments, the skin detection sensors 16a, 16b, 16c form a single skin detection sensor 16, which may cover at least in part the vibrating surface(s) of the end effector(s) 27. It will be appreciated that the skin detection sensors 16a, 16b,16c may be the same type of sensors or different types of sensors, depending on the implementation.

[0064] The haptic feedback transmitter 26 as described above may in fact be one of a number of haptic feedback transmitters 26, forming for example an array of haptic feedback transmitters, integrated into the haptic device 10. It is understood that the haptic feedback transmitter may be any suitable component configured to transmit haptic feedback from the actuator 14 to the vibrating surface and / or to the use. The haptic feedback generated by the haptic devices described herein is not limited to vibration, and may be other types of haptic feedback, such as a deformation of the surface and a skin-stretch effect. It will also be appreciated that the housing 20 may include a plurality of combinations of actuators 14, skin detection sensors 16, suspensions 24 and end effectors 27, in accordance with the implementation.

[0065] Now referring to Figs. 4 and 5, a haptic device 50 is shown, which in this particular implementation is a computer mouse. The haptic device 50 has a first portion 52 and a second portion 54. Both the first portion 52 and the second portion 54 form part of the body of the haptic device 50. The first portion 52 is configured to slide on a surface when handled by the user and to receive fingers of the user, such as the thumb, the pinky and the ring finger. The second portion 54 has a left-click button 56 and a right-click button 58 and is configured to receive the palm and the fingers, such as the index and the middle fingers, of the user.

[0066] The haptic device 50 includes one or more feedback regions 62 having haptics incorporated therein, of which two of such regions 62 are visible in Fig. 4, namely one region 62 within each of the first and second portions 52, 54 of the body (or housing 20) of haptic device 50. As noted above, each of these feedback regions 62 includes at least one (and in most embodiments, an array of) isolated feedback regions 60 which is / are surrounded by a static portion 63 of the device’s housing 20. It is to be understood that the static portion or portions 63 of the device are static relative to the tips 31 of the end effectors 27 that are disposed within the isolated feedback regions 60, but not necessarily static in the absolute (e.g., the moving mouse or other haptic device). Accordingly, the isolated feedback regions 60 of the haptic device 50 provide isolated haptic effects within these specific and localized regions 60, wherein elsewhere on the device, and even within the static portion 63 of the feedback regions 62, there are little to no haptic effects transmitted therethrough. Thus, the lager feedback regions 62 of the device include therein one or more isolated feedback regions 60 that are, as the name suggests, isolatedfrom the remainder of the feedback region 62 (i.e. , the static portion 63 of the housing 20 of the device) and thus also isolated from a reminder of the device.

[0067] Within each of these isolated feedback regions 60 is one of the end effectors 27, as described above. More particularly, in Fig. 4 a first array of end effectors 27 is provided within a corresponding first set of isolated feedback regions 60 in the first portion 52 of the device 50, that is the surface configured to receive the thumb of the user. Similarly, a second array of end effectors 27 is provided within a corresponding second set of isolated haptic feedback regions 60 in the second portion 54 of the device, which in this case is located on the left-click button 56 of the second portion 54. In operation, the first and second arrays of end effectors 27, within the corresponding first and second isolated haptic feedback regions 60, vibrate and / or provide another haptic effect upon activation of at least one actuator coupled to the end effectors of the first and second arrays of end effectors 27. In some embodiments, each end effector of the first and second arrays of end effectors is coupled to a respective actuator. In other embodiments, two or more end effectors of the first or second arrays of end effectors 27 are coupled to a single actuator, which is configured to selectively and independently actuate an end effector using a suitable mechanism. In this case, the mechanism may be, for example, an actuator that is movable in the plane beneath the first and second isolated haptic feedback regions 60, such that it can be placed beneath a selected end effector. In some embodiments, the two or more end effectors of the first or second arrays of end effectors 27 coupled to a single actuator may also be coupled together, such that the two or more end effectors are simultaneously actuated when activating the actuator. In some embodiments, the end effectors of the arrays of end effectors 27 protrude in different directions from the actuator, or protrude in different directions from each other, thereby creating a skin stretch effect when the actuator is activated.

[0068] The first and second arrays of end effectors 27 are configured to transmit haptic vibrations and / or other haptic effects from the actuators to the user within the isolated haptic feedback regions 60. Each end effector includes, in this embodiment, a pin or an array of pins with an extremity of each pin forming a vibrating surface in the isolated haptic feedback regions 60. It will be appreciated that the vibrating surface of the end effectors is adapted to contact the skin of the user. The vibrations generated by the first and second arrays of end effectors 27 are thus perceivable by the user in the area defined by the isolated haptic feedback regions 60, respectively. In other cases, the vibrations generated by the first and second arrays of end effectors 27 may be somewhat perceivable by the user outside the isolated haptic feedback regions 60, for example elsewhere within the larger feedback region 62. In this case, the amplitudeof the vibrations may be reduced by a defined amount, e.g., 25%, 50% or 75%, outside the isolated haptic feedback regions 60.

[0069] While each of the first and second arrays of end effectors 27 in the embodiments depicted to date includes three end effector pins linearly aligned, it will be appreciated that the number of end effectors and the disposition thereof may vary. Furthermore, the position and number of arrays of end effectors may also vary. It will be understood that, while various configurations may be contemplated, in some cases, positioning the arrays of end effectors on other surfaces configured for contacting the skin of the user. In the depicted device 50 of Fig. 4, which is a computer mouse, at least two additional isolated haptic feedback regions may also be provided, for example one located on the right-hand side of the device (not visible in Figs. 4-5)

[0070] As seen in Fig. 5, an additional isolated haptic feedback region 60 may also be provided in the second portion 54 of the haptic device 50, and configured in this case to contact with the palm of the user. This additional isolated haptic feedback region 60 includes a single, larger, vibrating pad 64 that may be coupled to one or more actuator(s) and is configured to transmit haptic vibrations from the actuator(s) to this specific isolated haptic feedback region 60 via the vibrating pad 64. The vibrating pad 64 may be a single end effector. The vibrating pad 64 may also include a 2D array of actuators for generating 2D vibration patterns in the plane of the vibrating pad 64. Each of the end effectors of the first and second arrays of end effectors 27 and the vibrating pad 64 may be coupled to one or more skin detection sensor, depending on the implementation.

[0071] Now referring to Figs. 6A-C, there are shown top right, top right cross-section and bottom left views, respectively, of a haptic device 100 having a first portion 102 and a second portion 104 forming a housing 105. It will be apparent that the haptic device 100 corresponds to a video game controller in the depicted embodiment. The first and second portions 102, 104 may be releasably attached together via a set of screws, bolted together or integral with one another, in accordance with the embodiment. The haptic device 100 has a first handle 106 and a second handle 108. The housing 105 includes arrays of end effectors 27 positioned on the first and second handles 106, 108, each array of the end effectors 27 being coupled to a respective actuator (not shown in Fig. 6B or Fig. 7B, but each being received within an actuator housing 112) for transmitting haptic vibrations to a user via a vibrating surface. As best seen in Fig. 6C, an array of end effectors 27 is positioned beneath each handle 106, 108, and another array of end effectors 27 positioned on the inside of each handle 106, 108. Figs. 7A-C show the haptic device 100 whereinstead of being positioned on the inside of the handles 106, 108, the array of end effectors 110 is positioned on the laterally outwardly facing side of each handle 106, 108, as best seen in Fig. 7C. It is to be understood that a combination of these two configurations could also be used, for example whereby each of the handles of the device 100 has an array of end effectors on both the inwardly facing and outwardly facing sides of the handle, such that the each hand holding the device 100 is provided with multiple arrays of end effectors and thus multiple isolated haptic feedback regions in various locations on the user’s fingers and / or palm.

[0072] As best seen in Figs. 6B and 7B, each end effector 27 within an array projects from the actuator housing 112 towards a respective aperture 29 defined in the second portion 104. The apertures 29 according define the isolated haptic feedback regions 60, as described above. The end effectors may be selectively and independently, or simultaneously, activated, depending on the configuration. In some embodiments, the arrays of end effectors 27 are displaceable between an extended position and a depressed position, wherein in the extended position the outer extremity or tip 31 of each end effector 27 of the array protrudes outwardly relative to the housing 105, though the apertures 29, and in the depressed position the outer extremity or tip 31 of each end effector 27 of the array is located closer to the housing 105 than in the extended position. In such case, the arrays of end effectors 27 may be configured to transmit the haptic effect (e.g., vibration, skin stretch, skin deformation, etc.) to the user when in both (or either of) the extended position and the depressed position. Additionally, in certain embodiments, the haptic device may also be configured to determine an amount of pressure or force exerted by the user on one or more of the end effectors of the array, and in conjunction with the controller be operable to modulate, or modify the vibrations provided to the user by the actuator via the end effectors.

[0073] It will be appreciated that the haptic device 100 shown in Figs. 6A-6C and 7A-7C is an exemplary embodiment of the current technology, and that various other implementations are contemplated.

[0074] Now referring to Fig. 8, there is shown a method 150 for controlling a haptic device, such as the haptic devices 10, 50, 100, given that the haptic device includes a skin detection sensor. The method 150 may be performed by a controller, such as the controller 12. The method 150 starts at step 152.

[0075] At step 154, media content is received. The media content may be received by a media content source, such as the media content source 18. In some embodiments, the media contentincludes an indication that audio and / or video content is being played back, and that events may be provided to the controller at any moment. In some embodiments, the media content includes an audio and / or visual content, such as a movie or a video game, in cases where the controller is configured to playback the media content to the user, e.g., in cases where the haptic device is a portable video game system or a tablet or a phone. In some embodiments, the media content does not include audio and / or video content, e.g., where the haptic device is a phone or a tablet, and thus may comprise a signal that the haptic device is in a state able to receive notifications, such as a text message, a call, an application notification and the like. In this case, the event may correspond to the reception of one of those notifications. It will be appreciated that the media content may vary and generally correspond broadly to a signal able to convey events to the controller.

[0076] At step 156, an event in the media content may be received by the controller. The event may be of various types and may not always be present when operating the haptic controller, depending on the embodiment and the use of the haptic device. The event may be, for instance, and not limited to, a firing of a gun, explosions, collisions, impacts, vibrations in a vehicle, and various other types of events. In cases where the haptic device is a VR controller, the event may be an interaction between the user and an object in the virtual world, e.g., the feeling of a sword clash.

[0077] Once the event is received, at step 158, the controller determines from the signals received by the skin detection sensor if the skin of the user is present on the surface of the haptic device near and / or on the vibrating surfaces of the array of end effectors. If the skin is not detected, the controller may ignore the event and return to step 152. Otherwise, the controller may proceed to step 160. It will be appreciated that ignoring the event may be beneficial, e.g., for power-saving purposes and preventing wear of the device. In some embodiments, the controller may be configured to proceed to step 158 even if skin is not detected by the skin detection sensor.

[0078] At step 160, which may be optional, the controller receives a signal indicative of the force applied by the user on the vibrating regions via the skin detection sensor. The signal received at step 160 may be representative of the direction and / or amplitude of force applied by the user on the end effector(s) or on the skin detection sensor(s). In other words, the amount of force applied by the user on the device may be determined and used by the controller to generate a suitable (and in some cases, proportionate) haptic feedback. For example, if the user applies a large amount of pressure or a large force to the sensors or the end effector of the device, thesystem will generate a correspondingly large haptic feedback to the user. Additionally, the position of the skin around the vibrating regions may be obtained in the signal received at step 160. Optionally, the temperature of the skin may also be obtained in the signal received at step 160.

[0079] At step 162, a control signal to be provided to at least one actuator is generated, the control signal being representative of a haptic effect. The haptic effect may be selected depending on the type of event, such as the events listed above. The haptic effect may also be selected by the type of force obtained from the skin detection sensor and / or the position of the skin of the user over or near the vibrating regions.

[0080] It will be appreciated that the types of haptic effect generated by the haptic device may vary, and are, for instance, and not limited to, a spontaneous vibration, a continuous vibration, a force feedback, a tactile feedback and the like.

[0081] Once the control signal is generated by the controller, at step 164, the control signal is outputted to the at least one actuator. Once the haptic feedback is generated by the at least one actuator, the method 150 may end at step 166. If media content is still received by the controller, the method may continue at step 154 until no more media content is received. In some embodiments, the media content may include a command to turn off the controller, in which case the method ends at step 166.

[0082] Now referring to Fig. 9, there is shown a method 180 for controlling a haptic device, such as the haptic devices 10, 50, 100, given that the haptic device includes at least one actuator coupled to a plurality of end effectors spaced apart and isolated from each other within the haptic device. The method 180 may be performed by a controller, such as the controller 12. The method 180 starts at step 182.

[0083] At step 184, an indication of a predefined haptic pattern is received by the controller. Alternatively, the controller may select the haptic pattern from predefined haptic patterns, or generate a haptic pattern, based on a signal received from a skin detection sensor and / or an event.

[0084] At step 186, a sequence of control signals is generated based on the predefined haptic pattern.

[0085] At step 188, the control signals are sequentially provided to at least one actuator coupled to a plurality of end effectors, each control signal being configured for causing a receivingend effector of the plurality of end effectors to transmit a haptic effect to a user within an isolated region of the haptic device. As mentioned above, the actuators may be coupled to two or more end effectors and be configured to selectively and independently actuate each end effector. The method 180 ends at step 190.

[0086] In operation, when the user receives the haptic feedback generated using the method 180, the user may sense haptic feedback from various regions on the haptic device. Using this effect, various patterns having directionality may be created by the haptic device. It is understood that the types of patterns may greatly vary, and may be, for example, the activation of end effectors on the front of a computer mouse, followed by the activation of end effectors at the rear of the computer mouse and thereafter reactivation of the end effectors on the front of a computer mouse to simulate the firing of a large gun, such as the gun of a tank. Another exemplary pattern could be the sequential activation of end effectors arranged in a circular configuration on a video game controller or a computer mouse to simulate the casting of a fireball.

[0087] With reference to Fig. 10, an example of a computing device 200 is illustrated. For simplicity only one computing device 200 is shown but the system may include more computing devices 200 operable to exchange data. The computing devices 200 may be the same or different types of devices. The controller 12 of the haptic device 10, 50, 100 may be in communication and implemented with one or more computing devices 200.

[0088] The computing device 200 comprises a processing unit 202 and a memory 204 which has stored therein computer-executable instructions 206. The processing unit 202 may comprise any suitable devices configured to implement the method described herein such that instructions 206, when executed by the computing device 200 or other programmable apparatus, may cause the functions / acts / steps performed as part of the method as described herein to be executed. The processing unit 202 may comprise, for example, any type of general-purpose microprocessor or microcontroller, a digital signal processing (DSP) processor, a central processing unit (CPU), an integrated circuit, a field programmable gate array (FPGA), a reconfigurable processor, other suitably programmed or programmable logic circuits, or any combination thereof.

[0089] The memory 204 may comprise any suitable known or other machine-readable storage medium. The memory 204 may comprise non-transitory computer readable storage medium, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. The memory 204 may include a suitable combination of any type of computer memory that is locatedeither internally or externally to device, for example random-access memory (RAM), read-only memory (ROM), compact disk read-only memory (CDROM), electro-optical memory, magnetooptical memory, erasable programmable read-only memory (EPROM), and electrically-erasable programmable read-only memory (EEPROM), Ferroelectric RAM (FRAM) or the like. Memory 204 may comprise any storage means (e.g., devices) suitable for retrievably storing machine-readable instructions 206 executable by processing unit 202.

[0090] The methods and systems described herein 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 computing device 200. 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 disk, 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 which cause a computer, or more specifically the processing unit 202 of the computing device 200, to operate in a specific and predefined manner to perform the functions described herein, for example those described in the methods 150, 180.

[0091] 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.

[0092] The embodiments described herein are implemented by physical computer hardware, including computing devices, servers, receivers, transmitters, processors, memory, displays, and networks. The embodiments described herein provide useful physical machines and particularly configured computer hardware arrangements. The embodiments described herein are directed to electronic machines and methods implemented by electronic machines adapted for processing and transforming electromagnetic signals which represent various types of information. Theembodiments described herein pervasively and integrally relate to machines, and their uses; and the embodiments described herein have no meaning or practical applicability outside their use with computer hardware, machines, and various hardware components. Substituting the physical hardware particularly configured to implement various acts for non-physical hardware, using mental steps for example, may substantially affect the way the embodiments work. Such computer hardware limitations are clearly essential elements of the embodiments described herein, and they cannot be omitted or substituted for mental means without having a material effect on the operation and structure of the embodiments described herein. The computer hardware is essential to implement the various embodiments described herein and is not merely used to perform steps expeditiously and in an efficient manner.

[0093] 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.

[0094] Herein, the expressions “about” and “substantially” include variations of up to plus or minus 5% of the respective value and / or parameter. In the context of the present disclosure, the expression “substantially” is meant to encompass slight variations, which may for example be caused by manufacturing processes, manufacturing tolerances, and so on. For instance, “substantially equal” implies slight variations of the value or property of up to plus or minus 5%. Similarly, “substantially” when used in the context of the occurrence times of different events also includes small variations of up to 5% of a total duration of the events in question.

[0095] It is noted that various connections are set forth between elements in the preceding description and in the drawings. It is noted that these connections are general and, unless specified otherwise, may be direct or indirect and that this specification is not intended to be limiting in this respect. A coupling between two or more entities may refer to a direct connection or an indirect connection. An indirect connection may incorporate one or more intervening entities. The term “connected” or "coupled to" may therefore include both direct coupling (in which two elements that are coupled to each other contact each other) and indirect coupling (in which at least one additional element is located between the two elements).

[0096] It is further noted that various method or process steps for embodiments of the present disclosure are described in the following description and drawings. The description may present the method and / or process steps as a particular sequence. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. As one of ordinary skill in the art would appreciate, other sequences of steps may be possible. Therefore, the particular order of the steps set forth in the description should not be construed as a limitation.

[0097] Furthermore, no element, component, or method step in the present disclosure is intended to be dedicated to the public regardless of whether the element, component, or method step is explicitly recited in the claims. As used herein, the terms “comprises,” “comprising,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0098] While various aspects of the present disclosure have been disclosed, it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the present disclosure. For example, the present disclosure as described herein includes several aspects and embodiments that include particular features. Although these particular features may be described individually, it is within the scope of the present disclosure that some or all of these features may be combined with any one of the aspects and remain within the scope of the present disclosure. References to “various embodiments,” “one embodiment,” “an embodiment,” “an example embodiment,” etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. The use of the indefinite article “a” as used herein with reference to a particular element is intended to encompass “one or more” such elements, and similarly the use of the definite article “the” in reference to a particular element is not intended to exclude the possibility that multiple of such elements may be present.

[0099] The embodiments described in this document provide non-limiting examples of possible implementations of the present technology. Upon review of the present disclosure, a person of ordinary skill in the art will recognize that changes may be made to the embodimentsdescribed herein without departing from the scope of the present technology. Yet further modifications could be implemented by a person of ordinary skill in the art in view of the present disclosure, which modifications would be within the scope of the present technology.

Claims

CLAIMS1. A haptic device adapted to be held or worn by a user, the haptic device comprising: a housing; an actuator configured to generate a haptic effect within an isolated haptic feedback region of the haptic device, the actuator being in communication with a controller; and a haptic feedback transmitter located within the housing and coupled to the actuator, the haptic feedback transmitter including an end effector in registry with an aperture in the housing, the aperture circumscribing and defining the isolated haptic feedback region; wherein the controller is configured to provide control signals to the actuator to actuate the end effector of the haptic feedback transmitter for transmitting the haptic effect to the user within the isolated haptic feedback region.

2. The haptic device of claim 1 , wherein the haptic effect includes a vibration and the actuator is a vibration actuator configured to generate the vibration within the isolated haptic feedback region.

3. The haptic device of claim 2, wherein a tip of the end effector forms a vibrating surface within the isolated haptic feedback region, the vibrating surface being adapted to contact skin of the user.

4. The haptic device of any one of claims 1 to 3, wherein the end effector is one of a plurality of end effectors forming an array of end effectors, and the aperture is one of a plurality of apertures each receiving one of the plurality of end effectors therein.

5. The haptic device of claim 4, wherein, the plurality of end effectors of the array of end effectors extend outwardly from a base of the haptic feedback transmitter to the plurality of apertures, the base being coupled to and driven by the actuator.

6. The haptic device of claim 4, wherein the plurality of end effectors of the array of end effectors are spaced apart and isolated from each other, the control signals being configured for causing a receiving end effector of the plurality of end effectors to transmitthe haptic effect to the user within the isolated haptic feedback region corresponding to the receiving end effector.

7. The haptic device of claim 4, wherein the controller is configured to provide the control signals to the actuator so that one or more of the end effectors of the array of end effectors is selectively and independently actuated by the actuator.

8. The haptic device of any one of claims 1 to 7, wherein the actuator includes an eccentric rotating mass, a linear resonant actuator, a voice coil, a piezo haptic actuator, a solenoid haptic actuator, an ultrasonic transducer, an electrotactile stimulator, a temperature generator, a microfluidic deformable actuator, and / or an impact actuator.

9. The haptic device of any one of claims 1 to 8, further comprising a skin detection sensor, the skin detection sensor being in communication with the controller and being configured to provide detection signals to the controller indicative of a presence of skin of the user over or within the isolated haptic feedback region.

10. The haptic device of claim 9, wherein the skin detection sensor at least partially surrounds the aperture in the housing defining the isolated haptic feedback region.11 . The haptic device of claim 9, wherein, in response to receiving the detection signals, the controller is configured to provide the control signals to the actuator to output the haptic effect to the user within the isolated haptic feedback region via the end effector of the haptic feedback transmitter.

12. The haptic device of claim 9, wherein the skin detection sensor includes a pressure detector, a temperature sensor, a capacitive sensor, a resistive sensor, an optical sensor, a force sensor, pressure sensor and / or a piezoelectric sensor.

13. The haptic device of claim 12, wherein the skin detection sensor includes the capacitive sensor configured to detect the presence of skin of the user and the force sensor configured to detect pressure applied by the user within the isolated haptic feedback region.

14. The haptic device of claim 4, wherein the array of end effectors is displaceable between an extended position and a depressed position, wherein in the extended position a tip of each end effector of the array of end effectors protrudes outwardly relative to the housingand through the plurality of apertures in the housing, and in the depressed position the tip of said each end effector is located closer to the housing than in the extended position.

15. The haptic device of claim 14, wherein the array of end effectors is configured to output the haptic effect to the user when in both the extended position and the depressed position.

16. The haptic device of any one of claims 1 to 15, wherein the controller is configured to sequentially provide the control signals in a sequence to the actuator, the sequence being generated by the controller based on a predetermined haptic pattern received by the controller.

17. The haptic device of any one of claims 1 to 16, wherein the actuator is one of an array of actuators.

18. The haptic device of any one of claims 1 to 17, wherein the haptic effect includes skin stretch.

19. The haptic device of any one of claims 1 to 18, wherein the haptic effect includes skin deformation.

20. A haptic device adapted to be held or worn by a user, the haptic device comprising: a housing; an actuator attached to the housing and configured to generate a haptic effect within an isolated haptic feedback region of the haptic device, the actuator being in communication with a controller; and a skin detection sensor located adjacent to the isolated haptic feedback region, the skin detection sensor being in communication with the controller and being configured to provide detection signals to the controller indicative of the presence of skin of the user over or near the isolated haptic feedback region; wherein, in response to receiving the detection signals, the controller is configured to provide control signals to the actuator to output the haptic effect to the user within the isolated haptic feedback region.

21. The haptic device of claim 20, wherein the skin detection sensor at least partially surrounds the isolated haptic feedback region.

22. A haptic device adapted to be held or worn by a user, the haptic device comprising: a housing; two or more isolated haptic feedback regions within the haptic device, the two or more isolated haptic feedback regions being isolated from each other, each of the two or more isolated haptic feedback regions having an actuator attached to the housing and an end effector configured to generate haptic effects within each of the two or more isolated haptic feedback regions; and a controller in communication with the actuator, the controller being configured to sequentially provide separate control signals to each said actuator of the two or more isolated haptic feedback regions, each control signal being configured for causing the end effector within a respective one of the two or more isolated haptic feedback regions to transmit a haptic effect to the user within respective ones of the two or more isolated haptic feedback regions.

23. The haptic device of claim 22, further comprising a skin detection sensor located at least partially over or adjacent to the two or more isolated haptic feedback regions, the skin detection sensor being in communication with the controller and being configured to provide detection signals to the controller indicative of the presence of the skin of a user over or near the two or more isolated haptic feedback region.

24. The haptic device of any one of claims 20 to 23, further comprising a haptic feedback transmitter located within the housing and coupled to the actuator, the haptic feedback transmitter including an end effector in registry with an aperture in the housing, the aperture circumscribing and defining the isolated haptic feedback region.

25. The haptic device of claim 24, wherein the end effector is one of a plurality of end effectors forming an array of end effectors, the isolated haptic feedback region being one of a plurality of isolated haptic feedback regions each in registry with the plurality of end effectors, isolated haptic feedback region.

26. The haptic device of claim 25, wherein the plurality of end effectors are spaced apart and isolated from each other, the control signals being configured for causing a receiving end effector of the plurality of end effectors to transmit the haptic effect to the user within a corresponding one of the plurality of isolated haptic feedback regions.

27. The haptic device of claim 25, wherein the array of end effectors is displaceable between an extended position and a depressed position, and wherein, in the extended position, a tip of each end effector of the array of end effectors protrudes outwardly relative to the housing through the aperture corresponding thereto, and in the depressed position the tip of said each end effector is located closer to the housing than in the extended position.

28. The haptic device of claim 27, wherein the array of end effectors is configured to output the haptic effect to the user when in both the extended position and the depressed position.

29. The haptic device of claim 20 or 21 , wherein the controller is configured to sequentially provide the control signals in a sequence to the actuator, the sequence being generated by the controller based on a predetermined haptic pattern received by the controller.

30. A method for controlling a haptic device adapted to be held or worn by a user, the haptic device having a housing and an actuator within the housing, the method comprising: receiving an indication of a predefined haptic pattern; generating a sequence of control signals based on the predefined haptic pattern; and sequentially providing the control signals to the actuator, the actuator being coupled to a plurality of end effectors spaced apart and isolated from each other, each control signal being configured for causing a receiving end effector of the plurality of end effectors to transmit a haptic effect to a user within an isolated haptic feedback region of the haptic device.

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