Bidirectional Haptic Feedback Membrane for XR Controllers
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Solution Overview
Problem
Current technologies lack compact, cost-effective, hand-held devices that enable dual human-and-robot extended reality (XR) feedback with integrated force-haptic signals, failing to effectively capture high-quality multimodal demonstrations.
Innovation Solution
The introduction of generic sensory-actuator membranes for XR controllers that simultaneously stimulate and detect contact points and forces, enabling real-time vibration feedback and mapping dynamic cues into time-varying vibration patterns for users and continuous control targets for robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If separate sensors and actuators are used for haptic feedback, then measurement precision and actuation capability are improved, but device complexity and cost increase
Solution Approach 1:
The patent combines force sensing and haptic actuation functions into a single integrated unit. The force sensor serves dual purposes: detecting user input forces and providing haptic feedback to the user. This merging eliminates the need for separate sensor and actuator components, reducing device complexity while maintaining measurement precision through the sensor's inherent capabilities.
Solution Approach 2:
The force sensor is designed to perform multiple functions simultaneously: it detects user-applied forces, generates haptic feedback vibrations, and provides tactile cues. This multi-functionality allows a single component to replace what would traditionally require separate specialized components, thereby reducing overall system complexity while preserving measurement accuracy.
2Reliability
If multiple sensors and actuators are integrated for comprehensive feedback, then feedback quality and robot control precision are improved, but manufacturing cost and device complexity increase
Solution Approach 1:
The integration of force sensing and haptic actuation into a single unit reduces the total number of components that need to be manufactured and assembled. This merging simplifies the manufacturing process while maintaining reliable bidirectional communication between the user and robot through the unified force feedback mechanism.
Solution Approach 2:
The multi-functional force sensor reduces manufacturing complexity by eliminating the need to produce and integrate separate sensor and actuator assemblies. The single component approach streamlines supply chain management, quality control, and assembly procedures while delivering comprehensive haptic feedback functionality.
3Productivity
If force-haptic feedback is integrated into XR interface, then teleoperation quality and robot control are improved, but device complexity and cost increase
Solution Approach 1:
The XR controller integrates force sensing and haptic feedback capabilities into a unified interface, allowing teleoperators to receive and send force information naturally through hand interactions. This merging enables intuitive control without adding perceptible complexity to the user interface, thereby improving teleoperation efficiency.
Solution Approach 2:
The XR controller's force sensor serves multiple purposes: detecting user manipulation forces, providing haptic feedback during teleoperation, and enabling natural hand-based control gestures. This multi-functionality enhances teleoperation productivity without requiring additional specialized controls or interfaces.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution allows for low-latency, bidirectional haptic feedback, enhancing force closure control and other advanced applications, particularly in teleoperation and automation of vision-force tasks, where precise interactions are required.
Implementation Method 1
The actuators are driven by vibration signals to generate vibrations that provide haptic feedback to the user
Implementation Method 2
simultaneously detect user grasp contact and pressure through analysis of back electromotive force (EMF) signals generated by the sensor-actuator units
Data Source
AI summary
A bidirectional haptic feedback system, including: a flexible membrane configured to be mounted on a handheld controller; sensor-actuator units arranged on the flexible membrane, the sensor-actuator units respectively including a damping mechanism configured to mechanically isolate vibrations between adjacent sensor-actuator units; a control system configured to: generate vibration signals within selected frequency bands within a proximity to a natural resonant frequency range of the sensor-actuator units to drive the actuators of the sensor-actuator units to deliver haptic feedback to a user based on a state of the robot; simultaneously detect user grasp contact and pressure through analysis of back electromotive force (EMF) signals generated by the sensor-actuator units; and adjust robot control parameters dynamically in response to the detected grasp contact and pressure.