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Haptic communication system using cutaneous actuators for simulation of continuous human touch

專利號
US10867526B2
公開日期
2020-12-15
申請人
Facebook, Inc.（US CA Menlo Park）
發(fā)明人
Ali Israr; Freddy Abnousi; Frances Wing Yee Lau
IPC分類
H04B3/36; G09B21/00; G01L5/00; G06N20/00; G06N3/04; G06N3/08; G10L13/00; G10L21/02; G08B6/00; G09B21/04; G10L15/02; G10L15/22; G10L21/0272; G06F3/01; G06F3/16; G10L25/18; G10L25/48; G10L19/00; G10L15/16; G10L21/06
技術(shù)領(lǐng)域
haptic,cutaneous,actuator,actuators,signals,speech,in,phoneme,may,vibrations
地域： CA CA Menlo Park

摘要

A haptic communication device includes an array of cutaneous actuators to generate haptic sensations corresponding to actuator signals received by the array. The haptic sensations include at least a first haptic sensation and a second haptic sensation. The array includes at least a first cutaneous actuator to begin generating the first haptic sensation at a first location on a body of a user at a first time. A second cutaneous actuator begins generating the second haptic sensation at a second location on the body of the user at a second time later than the first time.

說明書

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Application No. 62/486,337, filed Apr. 17, 2017; U.S. Provisional Application No. 62/552,791, filed Aug. 31, 2017; U.S. Provisional Application No. 62/574,389, filed Oct. 19, 2017; and U.S. Provisional Application No. 62/621,977, filed Jan. 25, 2018, all of which are incorporated by reference herein in their entirety.

BACKGROUND Field of the Disclosure

The present disclosure generally relates to haptic communication, and specifically to a haptic communication system using cutaneous actuators.

Description of the Related Arts

Haptic, kinesthetic, and cutaneous communication refers to the ways in which humans communicate and interact via the sense of touch, and measure information arising from physical interaction with their environment. Haptic sense and touch includes information about surfaces and textures, and is a component of communication that is nonverbal and nonvisual. However, haptic communication between users often depends on whether the users are present in the same location. Haptic communication between users at different locations is often not feasible. Moreover, users having dual-sensory (deaf-blind) impairment may have difficulty in communication through audio and/or visual means. For example, deaf-blind people may miss out on certain information, thereby increasing their reliance on friends, family or interpreting services if these are available. Deaf-blind persons may also find it difficult to use a social networking system that relies on visual and audio cues.

SUMMARY

權(quán)利要求

1
The invention claimed is:1. A haptic communication device, comprising:an array of cutaneous actuators configured to generate haptic sensations corresponding to actuator signals, the array of cutaneous actuators comprising at least a first cutaneous actuator placed at a first location on a body of a user and a second cutaneous actuator placed at a second location on the body of the user, the first location and the second location both being separate locations on a contiguous part of the user's body; anda signal generator coupled to the array, the signal generator configured to:generate a first actuator signal, the first actuator signal transmitted to the first cutaneous actuator to cause the first cutaneous actuator to begin generating a first haptic sensation at the first location at a first time; andgenerate a second actuator signal, the second actuator signal transmitted to the second cutaneous actuator to cause the second cutaneous actuator to begin generating a second haptic sensation at the second location at a second time that is later than the first time, the second haptic sensation in conjunction with the first haptic sensation forming a sensation of a smooth continuous tactile motion along the contiguous part of the user's body from the first location to the second location, wherein the first cutaneous actuator and the second cutaneous actuator are indistinguishable to the user, and wherein the signal generator configures the first actuator signal and the second actuator signal such that the first haptic sensation overlaps in time with the second haptic sensation by an overlap time.2. The haptic communication device of claim 1, wherein the haptic sensations correspond to words of a social touch lexicon comprising one or more of greeting, parting, giving attention, helping, consoling, calming, pleasant, and reassuring touches.3. The haptic communication device of claim 1, wherein the array of cutaneous actuators is configured to generate the haptic sensations by altering an amplitude or a frequency of the first haptic sensation and the second haptic sensation.4. The haptic communication device of claim 1, wherein the first cutaneous actuator is further configured to end generation of the first haptic sensation after a time interval indicating a duration time of the first haptic sensation.5. The haptic communication device of claim 1, wherein an overlap time of the first haptic sensation and the second haptic sensation increases as a duration time of the first haptic sensation increases.6. The haptic communication device of claim 1, wherein the haptic sensations are haptic vibrations, and a frequency of the haptic vibrations is between 1 Hz and 300 Hz.7. The haptic communication device of claim 1, wherein the haptic sensations are haptic vibrations, and an amplitude of the haptic vibrations is between 15 dB sensation level (SL) and 30 dB SL.8. The haptic communication device of claim 7, wherein a frequency of the haptic vibrations is between 20 Hz and 70 Hz.9. The haptic communication device of claim 1, wherein a spacing distance separating the first cutaneous actuator and the second cutaneous actuator is less than 40 mm.10. The haptic communication device of claim 1, wherein a distance separating the first cutaneous actuator and a last cutaneous actuator of the array is less than 15 cm.11. The haptic communication device of claim 1, wherein the array of cutaneous actuators is a two-dimensional array comprising one or more rows of cutaneous actuators and one or more columns of cutaneous actuators.12. The haptic communication device of claim 11, wherein a spacing distance separating a first row of cutaneous actuators and a second row of cutaneous actuators is less than 40 mm.13. A haptic communication method, comprising:generating, by a signal generator coupled to an array of cutaneous actuators, one or more actuator signals, the array of cutaneous actuators comprising at least a first cutaneous actuator placed at a first location on a body of the user, and a second cutaneous actuator placed at a second location on the body of the user, the first location and the second location both being separate locations on a contiguous part of the user's body, the generating of the one or more actuator signals comprising:generating a first actuator signal, the first actuator signal transmitted to the first cutaneous actuator to cause the first cutaneous actuator to begin generating a first haptic sensation at the first location at a first time; andgenerating a second actuator signal, the second actuator signal transmitted to the second cutaneous actuator to cause the second cutaneous actuator to begin generating a second haptic sensation at the second location at a second time that is later than the first time, the second haptic sensation in conjunction with the first haptic sensation forming a sensation of a smooth continuous tactile motion along the contiguous part of the user's body from the first location to the second location, wherein the first cutaneous actuator and the second cutaneous actuator are indistinguishable to the user, and wherein the signal generator configures the first actuator signal and the second actuator signal such that the first haptic sensation overlaps in time with the second haptic sensation by an overlap time.14. The haptic communication method of claim 13, wherein an overlap time between the generating of the first haptic sensation and the second haptic sensation increases as a duration time of the first haptic sensation increases.15. The haptic communication method of claim 13, further comprising:transmitting the first haptic sensation and the second haptic sensation to a plurality of users by varying an overlap time of the first haptic sensation and the second haptic sensation, each user wearing the array of cutaneous actuators;receiving ratings of the smooth continuous tactile motion from the users based on the overlap time; andaggregating the received ratings to determine a preferred overlap time corresponding to a highest rating.16. The haptic communication method of claim 13, further comprising:transmitting the first haptic sensation and the second haptic sensation to a plurality of users by varying one or more frequencies of the first haptic sensation and the second haptic sensation, each user wearing an array of cutaneous actuators;receiving ratings of the smooth continuous tactile motion from the users based on the one or more frequencies; andaggregating the received ratings to determine a preferred one or more frequencies corresponding to a highest rating.17. The haptic communication method of claim 13, further comprising:transmitting the first haptic sensation and the second haptic sensation to a plurality of users by varying an amplitude of the first haptic sensation and the second haptic sensation, each user wearing the array of cutaneous actuators;receiving ratings of the smooth continuous tactile motion from the users based on the amplitude; andaggregating the received ratings to determine a preferred amplitude corresponding to a highest rating.18. A non-transitory computer-readable storage medium storing executable computer program instructions, the computer program instructions comprising instructions for:generating, by a signal generator coupled to an array of cutaneous actuators, one or more actuator signals, the array of cutaneous actuators comprising at least a first cutaneous actuator placed at a first location on a body of the user, and a second cutaneous actuator placed at a second location on the body of the user, the first location and the second location both being separate locations on a contiguous part of the user's body, the generating of the one or more actuator signals comprising:generating a first actuator signal, the first actuator signal transmitted to the first cutaneous actuator to cause the first cutaneous actuator to begin generating a first haptic sensation at the first location at a first time; andgenerating a second actuator signal, the second actuator signal transmitted to the second cutaneous actuator to cause the second cutaneous actuator to begin generating a second haptic sensation at the second location at a second time that is later than the first time, the second haptic sensation in conjunction with the first haptic sensation forming a sensation of a smooth continuous tactile motion along the contiguous part of the user's body from the first location to the second location, wherein the first cutaneous actuator and the second cutaneous actuator are indistinguishable to the user, and wherein the signal generator configures the first actuator signal and the second actuator signal such that the first haptic sensation overlaps in time with the second haptic sensation by an overlap time.
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