Throttle functionality of haptic controller

{
  "publication_number": "US9811066B1",
  "country": "US",
  "kind": "B1",
  "title": "Throttle functionality of haptic controller",
  "abstract": "Example implementations may relate to a haptic hand-holdable controller configured with throttle functionality. An example device may take the form of a haptic controller, which senses tactile information and provides force feedback. The haptic hand-holdable controller may implement a throttle where a motor varies feedback to the hand-holdable controller to simulate a throttle.",
  "claims": [
    "1. A haptic controller configured to operate a robotic system, the haptic controller comprising: a rotatable knob coupled to a base; at least one motor that is operable to apply a torque-generating force to the rotatable knob; one or more touch sensors arranged to sense touch input on a surface of the rotatable knob; and a control system configured to: operate the haptic controller in a first operational mode specifying one or more parameters for control of the rotatable knob by the at least one motor; analyze input data from the one or more touch sensors to detect a throttle mode input, wherein the detected throttle mode input comprises multi-touch data corresponding to a throttle grip on the rotatable knob; and responsive to the throttle mode input, switch from the first operational mode to operate the haptic controller in a throttle mode, wherein the throttle mode comprises operation of the at least one motor to affect the rotation of the rotatable knob to simulate a throttle.",
    "2. The haptic controller of claim 1, wherein the throttle mode input comprises one or more of (i) touch data received from the one or more touch sensors and (ii) inertial data from one or more sensors.",
    "3. The haptic controller of claim 2, wherein the touch data corresponds to a throttle grip on a curved touchpad.",
    "4. The haptic controller of claim 1, wherein, during operation in the throttle mode, the control system is configured to: operate the at least one motor to apply torque-generating force to the rotatable knob such that the rotatable knob can be rotated within a range of rotation from an initial position to a stop position; and operate the motor to apply torque-generating force to the rotatable knob corresponding to a return-to-center function for the rotatable knob.",
    "5. The haptic controller of claim 4, wherein the control system is further configured to apply a sonic output, by oscillating torque through the motor, at the initial position and the stop position.",
    "6. The haptic controller of claim 4, wherein operation in the throttle mode further operating the at least one motor to provide a second stop position for the rotatable knob, wherein the second stop position is in the opposite direction of rotation from the stop position.",
    "7. The haptic controller of claim 1, wherein the control system is further configured to (i) set an initial position upon detecting the throttle mode input, (ii) detect a movement from the initial position, and (iii) in response to detecting the movement from the initial position, apply torque-generating force to the rotatable knob to return the rotatable knob to the initial position.",
    "8. The haptic controller of claim 1, wherein the control system is further configured to apply a force-derivative torque to the rotatable knob in response to an applied knob force, wherein the force-derivative torque is related to the derivative of the applied knob force.",
    "9. The haptic controller of claim 1, wherein the control system is further configured to apply a velocity-dependent damping torque to the rotatable knob in response to an applied knob force, wherein the velocity-dependent damping torque is related to the velocity of the applied knob force.",
    "10. The haptic controller of claim 9, wherein the velocity-dependent damping torque further comprises a viscous damping factor.",
    "11. The haptic controller of claim 1, wherein the control system is further configured to apply a sonic output by oscillating torque through the motor.",
    "12. A method comprising: operating, by a computing device, a haptic controller in a first operational mode, wherein the haptic controller comprises a rotatable knob coupled to a base, one or more touch sensors, and at least one motor operable to apply a torque-generating force to the rotatable knob, and wherein the first operational mode specifies one or more parameters for control of the rotatable knob by the at least one motor; analyzing, by the computing device, input data from the one or more touch sensors to detect a throttle mode input, wherein the detected throttle mode input comprises multi-touch data corresponding to a throttle grip on the rotatable knob; and responsive to the throttle mode input, the computing device switching from operating the haptic controller in the first operational mode to operating the haptic controller in a throttle mode, wherein operating the haptic controller in the throttle mode comprise operating the at least one motor to affect the rotation of the rotatable knob to simulate a throttle.",
    "13. The method of claim 12, wherein operation in the throttle mode comprises operating the at least one motor to implement a return-to-center function for the rotatable knob.",
    "14. The method of claim 12, wherein detecting the throttle mode input comprises detecting one or more of (i) touch data received from the one or more touch sensors and (ii) inertial data from one or more sensors.",
    "15. The method of claim 14, wherein the touch data indicates a throttle grip on the rotatable knob.",
    "16. The method of claim 12, wherein operation in the throttle mode comprises operating the at least one motor to control rotation of the rotatable knob between: (i) an initial position and (ii) a stop position.",
    "17. A method comprising: operating, by a computing device, a haptic controller in a first operational mode, wherein the haptic controller comprises a rotatable knob coupled to a base, one or more touch sensors, and at least one motor operable to apply a torque-generating force to the rotatable knob, and wherein the first operational mode specifies one or more parameters for control of the rotatable knob by the at least one motor; analyzing, by the computing device, input data from at least the one or more touch sensors to detect a throttle mode input, wherein the detected throttle mode input comprises multi-touch data corresponding to a throttle grip on the rotatable knob; in response to detecting the throttle mode input, the computing device switching from operating the haptic controller in the first operational mode to operating the haptic controller in a throttle mode; and while operating in the throttle mode: setting an initial position of the rotatable knob in relation to the base; detecting a movement of the rotatable knob in relation to the base; and operating the at least one motor to return the rotatable knob to the initial position.",
    "18. The method of claim 17, further comprising, in response to returning the rotatable knob to the initial position, oscillating torque through the motor to produce a sonic output.",
    "19. The method of claim 17, further comprising applying a force-derivative torque to the rotatable knob in response to an applied knob force, wherein the force-derivative torque is related to the derivative of the applied knob force.",
    "20. The method of claim 17, further comprising applying a velocity-dependent damping torque to the rotatable knob in response to an applied knob force, wherein the velocity-dependent damping torque is related to the velocity of the applied knob force."
  ],
  "description_excerpt": "Robotic systems may be used for applications involving material handling, welding, assembly, and dispensing, among others. Over time, the manner in which these robotic systems operate is becoming more intelligent, more efficient, and more intuitive. As robotic systems become increasingly prevalent in numerous aspects of modern life, the need for robotic systems capable of working alongside humans becomes apparent. Therefore, a demand for such robotic systems has helped open up a field of innovation in controllers, sensing techniques, as well as component design and assembly.\n\nExample implementations may relate to a controller system that includes a rotatable knob having one or more touch sensors and an inertial measurement unit. With this arrangement, the controller system may be configured such that a throttle grip on the touch sensors, in combination with a horizontal orientation of the controller, loads a throttle operational mode onto the controller. The throttle operational mode may include both controller functionality, such as a return-to-center function, and configurable controller output (e.g., rotation of the knob and touch data received from the touch sensors may generate input data that represents intended control actions provided by a user holding the controller.\n\nIn one aspect, a controller system is provided. The controller system includes a rotatable knob coupled to a base. The controller system also includes at least one motor that is operable to apply a torque-generating force to the rotatable knob and one or more touch sensors arranged to sense touch input on a surface of the rotatable knob.",
  "cpc": [
    "G06F 3/02",
    "G05B 15/02",
    "G06F 3/016",
    "G06F 3/03547",
    "G06F 3/0362",
    "G06F 3/0488",
    "Y10S 901/02"
  ],
  "ipc": [
    "G05B 15/02",
    "G06F 3/01",
    "G06F 3/02"
  ],
  "assignees": [
    "X Development LLC"
  ],
  "inventors": [
    "Jeffrey Linnell"
  ],
  "filing_date": "2015-12-14",
  "publication_date": "2017-11-07",
  "grant_date": "2017-11-07",
  "priority_date": "2015-12-14",
  "application_number": "US-201514968535-A",
  "family_id": "60189796",
  "cited_by_count": 8,
  "citations": [
    "US4002043A",
    "US5004391A",
    "US5129283A",
    "US5587937A",
    "US6005551A",
    "US6371890B1",
    "US6586860B1",
    "US20020036622A1",
    "US20030076297A1",
    "US6833846B2",
    "US6978694B2",
    "US20040257339A1",
    "JP2005068935A",
    "US8531392B2",
    "US20070236450A1",
    "US20090009491A1",
    "US20110053691A1",
    "US8226484B2",
    "US9069396B2",
    "US20160089212A1"
  ]
}