Haptic device for creating vibration-, pressure-, and shear-based haptic cues

{
  "publication_number": "US10706693B1",
  "country": "US",
  "kind": "B1",
  "title": "Haptic device for creating vibration-, pressure-, and shear-based haptic cues",
  "abstract": "A haptic device is provided that includes a first haptic assembly, comprising (i) a first end effector, and (ii) a first actuator coupled with the first end effector. The first actuator is configured to move the first end effector in first direction(s). The first haptic assembly is configured to create a first haptic stimulation or a second haptic stimulation, felt by a wearer of the haptic device, when the first actuator moves the first end effector in the first direction(s). The haptic device includes a second haptic assembly, comprising: (i) a second end effector, and (ii) a second actuator coupled with the second end effector. The second actuator is configured to move the second end effector in second direction(s). The second haptic assembly is configured to create a third haptic stimulation, felt by the wearer, when the second actuator moves the second end effector in the second direction(s).",
  "claims": [
    "1. A haptic device comprising: a support structure supporting a first haptic assembly and a second haptic assembly, wherein: the first haptic assembly, comprises: a first end effector; and a first actuator coupled with the first end effector, the first actuator being configured to move the first end effector in one or more first directions along an axis, wherein the first haptic assembly is configured to create a first haptic stimulation or a second haptic stimulation, felt by a wearer of the haptic device, when the first actuator moves the first end effector in the one or more first directions; the second haptic assembly, comprises: a second end effector; and a second actuator, different from and positioned proximate to the first actuator within the support structure along the axis, coupled with the second end effector, the second actuator being configured to rotate the second end effector in one or more second directions about the axis, wherein the second haptic assembly is configured to create a third haptic stimulation, felt by the wearer of the haptic device, when the second actuator rotates the second end effector in the one or more second directions about the axis; and the first haptic stimulation is a vibration stimulation, the second haptic stimulation is a pressure stimulation, and third haptic stimulation is a shear stimulation.",
    "2. The haptic device of claim 1, wherein the second actuator is positioned closer to the wearer's skin, relative to the first actuator, when the haptic device is attached to the wearer.",
    "3. The haptic device of claim 1, wherein the first end effector and the second end effector are adjacent to the wearer's skin when the haptic device is attached to the wearer.",
    "4. The haptic device of claim 1, wherein: the haptic device has opposing first and second ends; and the first end effector is an elongated annulus that extends from the first actuator to the second end of the haptic device.",
    "5. The haptic device of claim 1, wherein: the first actuator is positioned along a first axis; the one or more first directions are opposing directions defined along the first axis; and the first end effector is configured to move back and forth in the one or more first directions along the first axis.",
    "6. The haptic device of claim 5, wherein: the one or more second directions are opposing rotational directions around the first axis; and the second end effector is configured to rotate about the first axis.",
    "7. The haptic device of claim 6, wherein the first and second actuators are coaxially aligned along the first axis.",
    "8. The haptic device of claim 1, wherein the support structure encloses, at least partially, the first and second haptic assemblies, and the support structure is configured to anchor the first and second haptic assemblies to the wearer.",
    "9. The haptic device of claim 1, wherein the second end effector includes an end cover made from silicone.",
    "10. The haptic device of claim 1, wherein the first haptic assembly is further configured to create the first haptic stimulation and the second haptic stimulation simultaneously.",
    "11. The haptic device of claim 1, wherein the first and second haptic assemblies are further configured to create the first haptic stimulation and/or the second haptic stimulation simultaneously with the third haptic stimulation.",
    "12. The haptic device of claim 11, wherein the first and second haptic assemblies are able to convey approximately 2 bits of information to the wearer of the haptic device by creating the first haptic stimulation and/or the second haptic stimulation simultaneously with the third haptic stimulation.",
    "13. The haptic device of claim 1, further comprising one or more processors in communication with a remote computing device, wherein the one or more processors are configured to receive an instruction from the remote computing device and control operation of the first and second actuators based on the instruction.",
    "14. The haptic device of claim 13, wherein: a first processor of the one or more processors is configured to control operation of the first actuator; and a second processor, distinct from the first processor, of the one or more processors is configured to control operation of the second actuator.",
    "15. The haptic device of claim 1, wherein: the first actuator is a voice coil; and the second actuator is a direct current (DC) motor.",
    "16. A wearable device comprising: an array of haptic devices, each haptic device comprising: a support structure supporting a first haptic assembly and a second haptic assembly, wherein: the first haptic assembly, comprises: a first end effector; and a first actuator coupled with the first end effector, the first actuator being configured to move the first end effector in one or more first directions along an axis, wherein the first haptic assembly is configured to create a first haptic stimulation or a second haptic stimulation, felt by a wearer of the haptic device, when the first actuator moves the first end effector in the one or more first directions; the second haptic assembly, comprises: a second end effector; and a second actuator, different from and positioned proximate to the first actuator within the support structure along the axis, coupled with the second end effector, the second actuator being configured to rotate the second end effector in one or more second directions about the axis, wherein the second haptic assembly is configured to create a third haptic stimulation, felt by the wearer of the haptic device, when the second actuator rotates the second end effector in the one or more second directions along the axis; and the first haptic stimulation is a vibration stimulation, the second haptic stimulation is a pressure stimulation, and the third haptic stimulation is a shear stimulation.",
    "17. A method comprising: at a haptic device comprising (i) a first haptic assembly including a first end effector and a first actuator coupled with the first end effector, (ii) a second haptic assembly distinct from the first haptic assembly, the second haptic assembly including a second end effector and a second actuator different from and positioned proximate to the first actuator, and (iii) a support structure supporting the first haptic assembly and the second haptic assembly: receiving a first instruction from a computer system to transition a first actuator of the first haptic assembly from a first state to a second state, wherein the first actuator is configured to move a first end effector in one or more first directions along an axis once transitioned to the second state; in response to receiving the first instruction: transitioning the first actuator to the second state based on the instruction, wherein the first haptic assembly creates a first haptic stimulation or a second haptic stimulation, felt by a wearer of the haptic device, when the first actuator moves the first end effector in the one or more first directions along the axis; receiving a second instruction from the computer system to transition a second actuator of the second haptic assembly from a first state to a second state, wherein the second actuator is configured to move the second end effector in one or more second directions; and in response to receiving the second instruction: transitioning the second actuator of the second haptic assembly to the second state, wherein the second haptic assembly creates a third haptic stimulation, felt by the wearer of the haptic device, when the second actuator moves the second end effector in the one or more second directions."
  ],
  "description_excerpt": "This application relates generally to haptic stimulation, including but not limited to creating haptic stimulations on users of virtual and/or augmented reality devices.\n\nVirtual and augmented reality devices have wide applications in various fields, including engineering design, medical surgery practice, military simulated practice, and video gaming. Haptic or kinesthetic stimulations recreate the sense of touch by applying forces, vibrations, or motions to a user, and are frequently implemented with virtual and augmented reality devices. In certain applications, haptic stimulations are desired at locations where dexterity and motion of the user cannot be impeded. Conventional haptic devices that are to be worn, however, are cumbersome and therefore impede dexterity and motion of the user. Furthermore, conventional haptic devices are typically limited to one type of haptic stimulation, typically vibration (i.e., information transfer is one dimensional). Challenges persist in creating haptic devices with compact designs that are able to create multiple types of haptic stimulations (i.e., a single device with multi-dimensional information transfer capabilities).\n\nAccordingly, there is a need for devices and systems that do not impede dexterity and motion of a user (e.g., a compact design), and that are able to create multiple haptic stimulations to increase information transfer to a user. One solution is a haptic device that includes novel haptic assemblies therein.",
  "cpc": [
    "G08B 6/00",
    "A61B 5/7455",
    "A63F 13/211",
    "A63F 13/213",
    "A63F 13/24",
    "A63F 13/285",
    "B25J 13/02"
  ],
  "ipc": [
    "A63F 13/285",
    "G08B 6/00"
  ],
  "assignees": [
    "Facebook Technologies LLC"
  ],
  "inventors": [
    "Pablo Castillo Canales",
    "Ali Israr"
  ],
  "filing_date": "2019-01-09",
  "publication_date": "2020-07-07",
  "grant_date": "2020-07-07",
  "priority_date": "2018-01-11",
  "application_number": "US-201916244018-A",
  "family_id": "71408479",
  "cited_by_count": 108,
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    "US20170042467A1",
    "US20160058375A1",
    "US20170322626A1"
  ]
}