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

專(zhuān)利號(hào)
US10867526B2
公開(kāi)日期
2020-12-15
申請(qǐng)人
Facebook, Inc.（US CA Menlo Park）
發(fā)明人
Ali Israr; Freddy Abnousi; Frances Wing Yee Lau
IPC分類(lèi)
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(shuō)明書(shū)

Taking an example of creating the sensation of a virtual actuator vibrating at an amplitude of A at location 834B of FIG. 8C, the amplitudes AC, AD, AE of the vibrations generated by three actuators 802C, 802D, 802E are set to AC=α×A, AD=β×A and AE=γ×A, respectively, where α, β, and γ are determined as functions of distances rC, rD, rE from the cutaneous actuators to the virtual actuator location. In one embodiment, α, β, and γ are determined as follows:
α=rC/(rC+rD+rE)??(2)
β=rD/(rC+rD+rE)??(3)
γ=rE/(rC+rD+rE)??(4)

In other embodiments, α, β, and γ are determined as functions of Barycentric coordinates aC, aD, aE of the location of the cutaneous actuators 802C, 802D, 802E using one of the following equations:
AC=aC×A;AD=aD×A;AE=aE×A??(5)
AC=log(aC+1)/log(Amax+1)×A;AD=log(aD+1)/log(Amax+1)×A;
AE=log(aE+1)/log(Amax+1)×A??(6)
AC=√{square root over (aC)}×A;AD=√{square root over (aD)}×A;AE=√{square root over (aE)}×A??(7)
where Amax is aC+aD+aE.

權(quán)利要求

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