CN100342422C - 使用电活性聚合物的触觉装置 - Google Patents
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- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D7/00—Indicating measured values
- G01D7/007—Indication of measured value by tactile means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
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- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
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- G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
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- G—PHYSICS
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- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
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- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
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Abstract
本触觉反馈接口装置使用电活性聚合物(EAP)致动器来提供触觉感受和/或感知能力。触觉反馈接口装置与主机(14)保持通讯并包括一个检测用户对接口装置的操纵情况的传感器(112)装置和一个响应于输入信号用于向用户输出通过致动器的运动产生的力的电活性聚合物致动器(18)。输出的力向用户提供触觉感受。描述了使用EAP致动器的接口装置的各种实施例,包括提供直接作用力、惯性力以及制动力的实施例。
Description
技术领域
本发明总体涉及用于使人跟计算机系统建立接口的接口装置,更具体而言涉及用于使得用户向计算机系统提供输入以及使得计算机系统向用户提供触觉反馈的低成本的计算机接口装置。
背景技术
用户能够与由计算机显示的环境交互作用以在计算机上执行各种功能和任务,例如打游戏、体验仿真系统或虚拟现实环境、使用计算机辅助设计系统、操作图形用户接口(GUI)、浏览网页、等等。用于这种交互应用的常见人机接口装置包括鼠标、操纵杆、跟踪球、游戏键盘、转向轮盘、触笔、输入板、压敏球、诸如此类,它们连接于控制着所显示的环境的计算机系统上。通常,计算机响应于用户对物理操纵介质(manipulandum)如操纵杆手柄或鼠标的操纵而更新环境。计算机通过向计算机发送位置格信号的接口装置上的传感器而感知用户对用户对象的操纵。在其它应用中,利用接口装置如遥控器就可使得用户能够与电子装置或电子器具的功能交互作用。
在一些接口装置中,还向用户提供力(肌肉运动知觉)反馈和/或触觉型反馈,本文中共同通称为“触觉反馈”。这些类型的接口装置能够提供可由操纵接口装置的用户操纵介质,如操纵杆手柄、鼠标、轮盘等的用户感觉到的物理感觉。一个或多个发动机或其它致动器与该操纵介质相联接,并且连接于控制计算机系统上。计算机通过向致动器发送控制信号或命令而与显示的事件一起并且一致地控制操纵介质和/或装置外壳上的力。这样,当用户抓住或接触接口装置或接口装置的可操纵对象时,计算机系统就能够与其它所提供的反馈一起向用户传送物理力感觉。
家庭消费者市场中的现有触觉反馈控制器的一个问题是这类装置的制造成本很高,从而使得这些装置对于消费者来说太过昂贵。这些制造费用中的一大部分是由于这些触觉反馈装置中包括有多个复杂的致动器及相应的控制电子装置而产生的。此外,优质的机械和力传动组件例如联动装置和轴承也进一步加大了装置的成本。也存在一些低成本触觉装置,但是其输出触觉感受的能力受到很大限制。
因此需要提供一种制造成本较低但又能向用户提供有力的触觉反馈以便增强与计算机应用的交互作用的触觉反馈装置。
发明内容
本发明目的在于使用电活性聚合物(EAP)致动器在接口装置中提供触觉反馈,与许多用于触觉装置的已有技术相比,它能更有效地提供触觉感受,并且成本更低。
更具体而言,本发明的触觉反馈接口装置与执行主应用程序的主机保持通讯,并由用户操纵。接口装置包括一个传感器装置和一个电活性聚合物致动器,传感器装置检测用户对接口装置的操纵情况并输出表示操纵情况的传感器信号,而电活性聚合物致动器可对输入信号做出响应并可向用户输出由致动器的运动产生的力。输出力向用户提供了触觉感受。接口装置也可包括一个与用户保持物理接触的装置外壳。在某些实施例中,力和触觉感受可能会与由主机执行的事件或交互作用相关。
本文中描述了使用EAP致动器的接口装置的各种实施例。由电活性聚合物致动器输出的力可为通过移动惯性质量而产生的惯性力。由电活性聚合物致动器输出的力可为旋转力、线性力或者通过弯曲EAP元件或EAP元件的面积扩张而产生的力。电活性聚合物致动器可以在接口装置上移动一个按钮以向用户输出力,或者致动器可以移动装置外壳的一个或多个部分。EAP致动器也可对着接口装置的运动部分移动一个起制动蹄片作用的元件,以便对运动部分,例如轮盘的轴、医学工具、盘或其它部分产生阻力。EAP致动器可为所述接口装置上的旋转轮、轨迹点控制器、旋钮、旋转球、触笔或其它操纵介质提供触觉感受。也可使用一个或多个(例如一阵列)电活性聚合物致动器来移动构件直接与用户的皮肤接触或者与用户的皮肤做剪切运动以便提供触觉感受。一种方法同样提供用于触觉感受输出的EAP致动器。
在本发明的其它方面中,与主机保持通讯的触觉反馈接口装置包括一个装置外壳和一个电活性聚合物(EAP)元件,装置外壳与所述用户保持物理接触,而EAP元件能够检测用户对接口装置的操纵介质的操纵情况并输出表示操纵情况的传感器信号,并且能够响应于输入信号向用户输出力,该力通过EAP元件的运动产生并向用户提供触觉感受。EAP元件可以检测用户与操纵介质的接触情况,或者检测用户在EAP元件上所产生的压力量。
本发明有利地为使用电活性聚合物致动器的触觉反馈装置提供了触觉反馈感觉。这些致动器具有若干优点,包括具有高能量密度、快速响应时间、形状和性能特征的可定制性、紧凑性、易可控性、低能耗、运动的高输出力和偏转/量、固有刚度、传感和致动功能、较低的原料成本、以及较低的制造成本,从而使得它们合乎触觉反馈和传感装置的需要。
对本领域的普通技术人员来说,通过阅读本发明的以下说明以及研究附图,可以清楚了解本发明的这些及其它优点。
附图说明
图1是一个方块图,示出了适用于本发明的一种触觉反馈系统;
图2a是弯曲运动中的一种电活性聚合物元件的侧视图;
图2b是弯曲运动中的一种电活性聚合物元件的俯视图;
图2c是一种能够提供线性运动和弯曲运动的电活性聚合物夹层结构的侧视图;
图2d是一种能够提供多自由度的运动的呈圆柱构型的电活性聚合物元件的透视图;
图2e是一种能够提供面积扩张的元件的电活性聚合物结构的透视图;
图2f是一种能够提供轴向运动的元件的呈圆柱结构的电活性聚合物结构的透视图;
图3是适用于本发明的EAP致动器的一种实例性鼠标接口装置的透视图;
图3a是一个鼠标实施例的侧视图,其中按钮在电活性聚合物致动器作用下沿其自由度运动;
图3b是一个鼠标实施例的俯视图,其中按钮在电活性聚合物致动器作用下侧向运动;
图3c是一个鼠标实施例的俯视图,其中按钮包括一阵列的多个电活性聚合物致动器;
图4a是一个实施例的示意图,其中惯性质量在电活性聚合物致动器作用下线性运动以提供惯性感觉;
图4b是一个实施例的示意图,其中惯性质量在电活性聚合物致动器作用下旋转运动以提供惯性感觉;
图4c是一个实施例的视图,其中多个惯性质量在电活性聚合物致动器作用下运动;
图5a是一个鼠标实施例的侧视图,其中鼠标的整个顶盖部分在电活性聚合物致动器作用下运动以提供触觉感受;
图5b是一个鼠标实施例的俯视图,其中鼠标的两侧部在电活性聚合物致动器作用下运动以提供触觉感受;
图5c是一个鼠标实施例的俯视图,其中鼠标的顶部在电活性聚合物致动器作用下运动以提供触觉感受;
图5d是一个鼠标实施例的侧视图,其中鼠标的后顶部在电活性聚合物致动器作用下运动以提供触觉感受;
图6是一个实施例的俯视图,其中一个球体由电活性聚合物致动器制动;
图7a是一个轮盘实施例的侧视图,其中可旋转的轮盘包括一个在电活性聚合物致动器作用下旋转运动的惯性质量;
图7b和7c示出了一个包括许多面积扩张的电活性聚合物致动器的轮盘实施例;
图7d是一个轮盘实施例的透视图,其中可旋转的轮盘由电活性聚合物致动器制动;
图7e是一个轮盘实施例的侧视图,其中整个可旋转的轮盘在电活性聚合物致动器作用下侧向和垂直运动;
图8a是一个轨迹点控制器的透视图,其中电活性聚合物致动器提供了沿其自由度的触觉反馈;
图8b和8c是一个轨迹点控制器的透视图和侧视图,其中电活性聚合物致动器通过对着用户线性移动升降杆而提供触觉反馈;
图8d是一个轨迹点控制器的透视图,其中电活性聚合物致动器提供了沿线性自由度的触觉反馈;
图9a是一个垂直销的透视图,它在电活性聚合物致动器作用下对着用户的手指线性运动;
图9b和9c是图9a的垂直销阵列的透视图;
图9d和9e是一个垂直销的侧视图,它在电活性聚合物致动器作用下对着用户的手指侧向运动;
图10是一个装置的侧视图,其中电活性聚合物致动器提供了医学工具上的制动力;
图11是一个装置的侧视图,其中电活性聚合物致动器提供了作用于接口装置上的触发器上的力;
图12a是一个旋钮的前视图,其中电活性聚合物致动器提供了沿旋钮的旋转自由度的直接旋转力;
图12b是一个旋钮的透视图,其中电活性聚合物致动器提供了沿旋钮的旋转自由度的制动力;
图13是一个转盘的侧视图,其中电活性聚合物致动器提供了沿盘的旋转自由度的制动力;
图14a是一个触笔的侧视图,其中电活性聚合物致动器提供了作用于触笔尖端的线性力;
图14b是一个触笔的侧视图,其中电活性聚合物致动器提供了作用于触笔前端的线性力;
图14c是一个触笔的侧视图,其中电活性聚合物致动器提供了作用于触笔上的按钮上的力;
图14d和14e是一个触笔的侧视图和透视图,其中电活性聚合物致动器提供了从触笔本体向外的力;
图15a是一个转向轮盘的前视图,其中电活性聚合物致动器提供了惯性力;
图15b是一个操纵杆手柄的侧视图,其中电活性聚合物致动器提供了惯性力;
图15c和15d是一个操纵杆手柄的透视图和侧视图,其中电活性聚合物致动器提供了沿操纵杆手柄自由度的制动力;
图16是一个旋转圆柱控制器的透视图,其中电活性聚合物致动器提供了沿圆柱自由度的制动力;
图17a是一个触觉元件的侧视图,其中电活性聚合物致动器为元件提供了线性运动;以及
图17b是一个触觉元件的侧视图,其中电活性聚合物致动器为元件提供了侧向、剪切运动。
具体实施方式
图1是一个方块图,示出了适用于本发明的任一所述实施例的一种力反馈系统。力反馈系统包括主机系统14和接口装置12。
主机系统14优选地包括一个主微处理器100、一个时钟102、一个显示屏26、以及一个音频输出装置104。主机还包括其它众所周知的组件,例如随机存取存储器(RAM)、只读存储器(ROM)以及输入/输出(I/O)电子装置(图中未示出)。
主机14可为个人计算机或者工作站,并且可以运行任一种大家熟知的操作系统。另外,主机系统14还可为通常连接于电视机或其它显示器上的各种家用视频游戏控制台系统之一,例如可从Nintendo、Sega、Sony或Microsoft公司得到的各种此类系统。在其它实施例中,主机系统14可为一个能够用于例如向用户提供互动电视功能的“机顶盒”,或者一台使用户能够使用例如用于互联网或者万维网的标准连接和协议而与局域网或者全球网交互作用的“网络计算机”或“互联网计算机”。在其它实施方案中,主机可为一种器具装置或电子装置、车载计算机,等等。
主机14优选地执行一个主应用程序,用户通过包括触觉反馈功能的接口装置12而与该主应用程序交互作用。举例来说,主应用程序可为视频游戏、文字处理器或电子制表软件、网页或者执行HTML或VRML指令的浏览器、科学分析程序、虚拟现实训练程序或应用程序、或使用鼠标12输入并向装置12输出力反馈命令的其它应用程序。在本文中,为简明起见,各种操作系统,例如WindowsTM、MS-DOS、MacOS、Linux、Be、等等,也都称作“应用程序”。在本文中,计算机14可以称作提供了一个“图形环境”,该图形环境可以为图形用户接口、游戏、仿真系统、或其它视觉环境。计算机显示“图形对象”或者“计算机对象”,它们不是物理对象,而是可由计算机14作为图像显示于显示屏26上的数据和/或程序的本地软件单元集,本领域的普通技术人员对于这些都非常熟知。使这些软件与计算机输入/输出(I/O)装置连接的适用软件驱动程序可从California州San Jose市的Immersion Corporation获得。
显示装置26可以包括于主机14中,可为标准显示屏(液晶显示器、阴极射线管显示器、平板显示器,等等)、三维护目镜、或任一其它视频输出装置。通常,主应用程序提供待显示于显示装置26上的图像和/或其它反馈,例如听觉信号。音频输出装置104,例如扬声器,优选地通过放大器、过滤器和其它本领域的普通技术人员所熟知的电路系统联接于主微处理器100上,当“音频事件”在执行主应用程序过程中出现时向用户提供声音输出。其它类型的外设,例如存储装置(硬盘驱动器、光盘驱动器、软盘驱动器等等)、打印机和其它输入输出装置也可联接于主处理器100上。
接口装置12通过总线20联接于计算机14上,总线20在装置12与计算机14之间保持信号通讯,并且在一些实施例中,也可向装置12提供能量。在其它实施例中,信号可以通过无线发送/接收方式在装置12与计算机14之间传送。在一些实施例中,致动器所用的能量可以通过装置上提供的能量存储装置,例如电容器或者一个或多个电池,来补充或由其单独供应。总线20优选为双向式以便在主机14与装置12之间沿任一种方向传送信号。总线20可为串行接口总线,例如RS232串行接口、RS-422、通用串行总线(USB)、乐器指令数字接口、或本领域的普通技术人员所熟知的其它协议;或者并行总线或无线连接方式。
装置12可以包括一个本地微处理器110。本地微处理器110可任选地包括于装置12的外壳中以便与装置的其它组件保持有效通讯连接。处理器110被看成是装置12本地的,这里的“本地”在本文中是指处理器110为独立于主机系统14的任一处理器的分离式微处理器。“本地”优选地还指处理器110专用于装置12的触觉反馈和传感器输入输出。微处理器110可以提供有软件指令(例如固件)以等待来自主机14的命令或请求、解码命令或请求、并根据命令或请求处理/控制输入输出信号。此外,处理器110通过读取传感器信号和借助于这些传感器信号、时间信号以及根据主机命令选定的所存储或中继的指令来计算合适的力,可以独立于主机14操作。可用作本地微处理器110的适用微处理器包括低端微处理器以及比较高级的力反馈处理器,例如Immersion Touchsense Processor处理器。微处理器110可以包括一块微处理器芯片、多块处理器和/或协处理器芯片、和/或数字信号处理器(DSP)能力。
微处理器110可以接收来自传感器112的信号,并根据由主机14通过总线20提供的指令向致动器18提供信号。举例来说,在一种本地控制实施例中,主机14通过总线20向微处理器110提供高级监控命令,然后微处理器110对这些命令进行解码并根据这些高级命令独立于主机14管理对传感器和致动器的低级力控制环。这项操作在美国专利US Patents 5,739,811和5,734,373中进行了更详细的描述。在主控制环中,力命令从主机输出至微处理器110并指示微处理器输出具有指定特征的力或力感觉。本地微处理器110向主机报告数据,例如描述装置在一个或多个所提供的自由度上的位置的位置格数据。这些数据还描述了按钮、开关等等的状态。主机利用这些位置格数据来更新运行的程序。在本地控制环中,致动器信号从微处理器110提供给致动器18而传感器信号从传感器112和其他输入装置118提供给微处理器110。在本文中,“触觉感受”一词是指向用户提供感觉的由致动器18输出的一个力或一序列力。举例来说,振动、一次摇动或肌理感觉都看作是触觉感受。微处理器110可以处理输入的传感器信号以便确定由随后的存储的指令输出的合适的输出致动器信号。微处理器在本地确定输出至用户对象的力时,以及向主机报告由传感器信号得到的位置格数据时,可以使用传感器信号。
在其它实施例中,可以给装置12本地提供其它硬件以便提供与微处理器110相似的功能。举例来说,可以利用包括固定逻辑的硬件状态机来向致动器18提供信号并接受来自传感器112的传感器信号,以及输出触觉信号。
在一个不同的主机控制的实施例中,主机14可以通过总线20提供低级力命令,这些命令通过微处理器110或其它电路系统直接发送至致动器18。这样,主机14就直接控制和处理送往和来自装置12的所有信号,举例来说,主机直接控制致动器18的输出的力并且直接接收来自传感器112和输入装置118的传感器信号。其它实施例可以采用一种“混合型”组织方案,其中某些类型的力(例如闭环作用)只由本地微处理器控制,而其它类型的作用(例如开环作用)可以由主机控制。
本地存储器122,例如RAM和/或ROM,优选地联接于装置12中的微处理器110上以便存储微处理器110的指令并存储临时和其它数据。此外,本地时钟124可以联接于微处理器110上以便提供计时数据,与主机14的系统时钟102类似。
传感器112检测装置(例如外壳或操纵介质)在各个自由度上的位置或运动并且向微处理器110(或主机14)提供包括表示位置或运动的信息的信号。适用于检测运动的传感器包括数字光学编码器、其它光学传感器系统、线性光学编码器、电位计、光学传感器、速度传感器、加速度传感器、应变仪,或者也可以使用其它类型的传感器,并且既可使用相对型传感器,也可使用绝对型传感器。光学传感器接口114可以用于将传感器信号转变为微处理器110和/或主机系统14能够解译的信号,对于这点本领域的普通技术人员都非常熟知。
致动器18响应于从微处理器110和/或主机14接收的信号而向外壳、操纵介质、按钮或装置的其它部分发送力。装置12优选地包括一个或多个可在装置12(或其组件)上产生力和使用户产生触觉感受的致动器。致动器为电活性聚合物(EAP)致动器,在下文中将对其进行更详细的描述,并且它们“由计算机控制”,例如致动器输出的力最终要受由控制器例如微处理器、特定用途集成电路等等产生的信号控制。其它许多类型的致动器可以与本文中所述的电活性聚合物致动器一起使用,包括旋转式直流马达、音圈致动器、运动式磁铁致动器、气压/液压致动器、螺线管、扬声器音圈、压电致动器、无源致动器(制动器),等等。致动器接口116可以任选地连接于致动器18与微处理器110之间以便将来自微处理器110的信号转变为适于驱动致动器18的信号。接口116可以包括功率放大器、开关、数-模控制器(DACs)、模-数控制器(ADCs)、以及其它组件,本领域的普通技术人员对此都非常熟知。
在本文的某些实施方案中,致动器能够在装置的外壳或操纵介质上施加短期力感觉,或者通过移动一个惯性质量来实现。这种短期力感觉可以被描述为“脉冲”。在某些实施例中,“脉冲”可以大致沿特定的方向进行。在某些实施例中,“脉冲”的幅值可以进行控制;“脉冲”的感知可以进行控制,可存在正负偏差;可以施加一种“周期性力感觉”,而该周期性感觉具有一定的幅值和频率,例如正弦波;周期感觉可以从正弦波、方波、锯齿上行波、锯齿下行波以及三角波中选择;可以对周期信号施加包络线,以容许随着时间过去幅值的振动。波形可以从主机“流”入装置中,或者可以通过包括各种参数例如幅值、频率和持续时间的高级命令传送。
其它输入装置118可以包括于装置12中,并在用户进行操纵时向微处理器110或主机14发送输入信号。这些输入装置包括按钮、拨盘、开关、滚轮、旋钮或其它控制器或机构。电源120可任选地包括于与致动器接口116和/或致动器18相联接的装置12中,以便向致动器提供电能,或者电源也可作为分离式的组件。另外,能量可以从与装置12分离的电源获取,或者能量也可以通过总线20接收。另外,接收到的能量可以由装置12存储和调整并在需要驱动致动器18时使用或者作为补充能量的形式使用。
接口装置12可以为任意各种类型;下文中将对一些实施例进行进一步的描述。举例来说,装置12可以为具有平面自由度的鼠标装置,其中其整个外壳进行运动。另外,装置上的操纵介质,例如操纵杆手柄、旋钮、转向轮盘、跟踪球,等等,可以由用户移动而由传感器跟踪。装置12还可为游戏键盘、操纵杆、转向轮盘、触笔、触垫、球控制器、指垫、旋钮、跟踪球或其它装置,其中一些实施例在下文中将进行描述。另外,用于选择电视、盒式录像机、立体声系统、互联网计算机或网络计算机(例如Web-TVTM)的功能的手持式遥控装置也可以与本文中所述的触觉反馈组件一起使用,或者手机、个人数字助理等等。由致动器18产生的力可以施加于装置12的外壳和/或可动式操纵介质例如操纵杆手柄、转向轮盘、旋钮、按钮等等上。
触觉反馈装置中的电活性聚合物
电活性聚合物(EAP)为一类能够进行配制和/或处理以便呈现各种各样的物理性能、电性能和电光性能的聚合物。
当例如通过施加电压而激活时,EAP材料就可经受显著的物理运动或变形,通常称作电致伸缩。这些变形可以沿材料的长度、宽度、厚度、半径等方向进行,并且在某些情况下应变可能超过10%。在常见的材料中,这么大的弹性应变值非常罕见,并且如果它们利用适当的电子系统进行完全控制的话,弹性应变值将更加罕见。这类材料可以用于在紧凑、易控、低能量、快速并且可能成本低廉的包装中进行发挥用途的工作。由于具有这些性能,它们通常被称作“电子肌肉”。这种变形性能可以用于本发明中以在触觉反馈装置中向用户提供力。
这些材料中许多也可用作高质量的传感器,特别是用于时变(即交流)信号。当发生机械变形(例如受到弯曲、拉伸等)时,大多数EAP材料会产生可以进行电测量的差动电压。这种本来产生电势的能力使得它们有广泛前景用作本发明的触觉反馈装置中的力传感器、位置传感器、速度传感器、加速度传感器、压力传感器等等。这些材料中许多呈现双向性能,因而既可用作传感器又可用作致动器,或者同时用作传感器和致动器,根据系统设计而定。
现在,主要有四类EAP,它们分别具有各种优点、缺点和问题。这四类是凝胶剂聚合物、离子型聚合物(离子型聚合物金属复合材料或IPMC)、导电型聚合物和电限制性聚合物。任一种这些类型的EAP都可用于本发明,尽管某些类型可能比其它类型更适用于特定的应用场合。在Kornbluh等的论文“High-field electrostriction ofelastomeric polymer dielectrics for actuator”、M.Shahinpoor的“Electro-mechanics of iono-elastic beams as electrically-controllable artificial muscles”、K.Oguro等的“PolymerElectrolyte Actuator with Gold Electrode”、以及R.Lumia等的“Microgripper design using electro-active polymers”中对各种EAP结构进行了描述,上述论文选自SPIE Conf.on ElectroactivePolymer Actuators and Devices,SPIE Vol.3669,1999。
在多数EAP材料中,致动机理都是基于离子种类进入或移出聚合物网络的运动。目前,其中商业上最可行的为电致伸缩型聚合物这一类。
电限制性聚合物目前可以分成两类:电介质型和相变型。电介质型聚合物通常为由其间带有电介质聚合物的两个导电(顺电)电极构成的夹层结构。在高电场(例如几百至几千伏)条件下,电极的吸引力会挤压介于其间的电介质从而产生显著的运动(应变)。在某些情况下,这种应变可能会大于50%。
相变型电限制性材料在存在电场的情况下也会呈现高应变(变形)能力,但是机理在于分子链级的铁电到顺电转变。这种材料的一个实例已由Q.M.Zhang等人研制出来,为电子放射聚偏氟乙烯-三氟乙烯(P(VDF-TrFE))共聚物,在论文“ElectromechanicalBehavior of Electroactive P(VDF-TrFE)Copolymers”,SPIE Conf.on Electroactive Polymer Actuators and Devices,SPIE Vol.3669,1999中进行了描述。当进行处理时,P(VDF-TrFE)呈现异常的应变(在某些情况下>10%)、极高的能量密度(焦耳/立方厘米)、以及很高的物理刚度(弹性模量)。有人提出这类材料呈现的能量密度超过传统的压电陶瓷(PZT)和磁电限制性材料。因此,如本发明所述,P(VDF-TrFE)可能是用于触觉装置的包括固有感知能力的近乎完美的致动器材料。
EAP材料通常为现有聚合物的衍生物,因此也有与这些现有产品共同的处理步骤。这种共性使得EAP材料可能经济地进行大量生产,并能提供可重复的质量标准。对于在触觉装置中的应用,EAP材料(特别是P(VDF-TrFE))与传统的传感和致动方法相比具有许多潜在的优点。举例来说,EAP材料具有高能量密度、快速响应时间、可定制性(形状和性能特征)、紧凑性、易可控性、低能耗、运动的高输出力和偏转/量、固有刚度、传感和致动功能、较低的原料成本、以及较低的制造成本。
构型
EAP致动器和传感器可以按照几种不同的方法成型。下文中对部分这些构型进行描述。
弯曲:可以提供一种夹层/分层式“双压电晶片元件”结构,它能沿两个方向产生单轴位移或力。举例来说,图2a中示出了EAP结构200的侧视图。可以进行脱离结构200的平面的弯曲运动,如图2a中所示。例如,这可以利用IPMC结构或者由一个金电极和一个碳电极在一个夹层结构中包围的聚合物来实现。另外,如图2b的俯视图中所示,也可以在结构202的平面内进行弯曲,例如通过阳离子利用水阻力进行。也可以利用弯曲梁来做传感器,例如置于两个电极之间的IEM-Pt复合材料传感器。
线性运动:图2c示出了一个多层弯曲梁204的侧视图,它既能弯曲,又能沿纵向(沿长度方向)产生位移和力。梁204可包括一个上电极206a、一个下电极206b、一个中间电极206c,由标准导电材料制成。两个弹性体层208位于电极之间。如箭头209所示,梁204的线性运动通过同时致动上电极和下电极而产生。弯曲运动通过致动上电极或者下电极而产生(中间电极接地)。其它实施例可以通过使用夹层结构而只提供线性运动、轴向偏转而没有弯曲运动。
多自由度:图2d示出了圆柱210的透视图,它可利用施加于四个电极上的组合信号而沿两个自由度(四个方向)偏转。本实例中示出了四个电极211,它们位于弹性体圆柱层207上。在其他实施例中,可以提供其它的电极的三维结构以便沿两个自由度(四个方向)或另外的自由度偏转。举例来说,可以提供具有三角形或其它多边形横截面的结构。
面积扩张:图2e示出的结构包括挤压于两个顺从型电极213之间的一个软电介质212。电介质212例如沿一个或多个线性方向发生面积扩张,如箭头214所示。在其它实施例中,电介质,例如伸展于位于两个电极之间的刚性支架上的聚合物薄膜,可以沿径向扩张(在圆形电介质中)。也可使用其它形状的电介质。电介质的厚度同时会受到压缩,如箭头215所示。
轴向运动:图2f示出了两聚合物层的夹层结构,这两个聚合物层滚压入圆柱216中,其中电连接和机械连接位于区域218处,而活性扩张区域220位于重叠的电极之间并包括重叠的电极。所得到的轴向运动由箭头219表示。在其它实施例中,夹层结构可以滚压入线圈中以便产生旋转运动(力矩)。
隔膜:薄隔膜可以利用平面扩张来产生平面内或平面外的偏转、孔隙的闭合、等等。
触觉装置实施例
EAP致动器和传感器在触觉装置中所考虑的主要用途种类为惯性振动致动器、线性致动器、旋转致动器、制动器、以及各种各样的用途。这些用途种类中许多都在下文中在所提供的本发明的触觉装置的实施例中进行了描述。
应当指出,在以下实施例中所述的EAP致动器可由本地微处理器根据固件和/或主机命令或信号控制,或者由主机直接控制致动器。
图3示出了可用于本发明的接口装置12的一个实例。鼠标装置250为一个具有外壳252的装置,外壳252可由用户沿两个平面自由度(x轴和y轴)移动以便向主机提供控制信号,例如用于控制光标在所显示的图形环境中的位置。本领域的普通技术人员都熟知,鼠标装置250包括一个或多个传感器来检测其x位置和y位置,例如球和滚子传感器装置、光学传感器、或其它类型的传感器。可以提供一个滚轮254来使得用户能够通过旋转滚轮来提供另外的输入。用户可以按压鼠标按钮256来向主机提供输入信号。
关于鼠标实施例250,描述了三种一般类型的触觉反馈;也可以采用其它类型,并且可以全部利用其它类型的触觉反馈装置(操纵杆、跟踪球、转向轮盘、膝上型传感器垫,等等)来实现。这三种一般类型的触觉反馈为按钮触觉反馈、惯性触觉反馈以及外壳运动触觉反馈)。
图3a-3c总体上示出了按钮上的触觉反馈的输出。按钮触觉反馈可以通过几种不同的方式来提供。在图3a中,利用EAP致动器来提供触觉反馈并沿如箭头所示的按钮自由度,即沿点击或移动按钮的方向,致动按钮256的运动,其中按钮可以移至如虚线所示的另一个位置。EAP结构(图中未示出)可以,举例来说,直接联接于按钮上,或者通过传送或中间构件(弹簧、挠曲构件等)联接于按钮上。例如,线性延伸的EAP致动器可以沿其自由度压动或拉动按钮。
在图3b的俯视图中,EAP致动器沿按钮运动方向的侧向给按钮256a提供触觉反馈,该侧向运动方向即基本垂直于按钮运动,并且在鼠标实施例的情况中基本平行于沿其自由度的鼠标运动的运动方向。EAP致动器可以直接联接于按钮上或者通过中间构件连接于按钮上。例如,线性运动的EAP致动器可以从按钮256a的侧面压动或拉动按钮。此外,按钮可以沿x轴或y轴运动,或者可以例如使用两个EAP致动器沿这两根轴运动。触觉按钮也可以通过按钮256b来实现,它是一个可以进行点击或按压以提供输入信号的标准按钮,并且它还可以包括一个提供于该按钮上的补片258。补片可为能够由EAP致动器独立于按钮256b的周围部分而移动的分离式薄膜或构件。举例来说,如图所示,补片258可以位于按钮256b的中心附近;另外,补片可以位于按钮256b的一侧或一边。
图3c为另一个按钮实施例的俯视图,其中触觉EAP元件262的触觉阵列260可以置于按钮256上或者其附近。阵列中的每个EAP元件262可以单独沿z轴向上或向下移动,从而在用户的一个手指安放于按钮上时,能够向与阵列或者阵列的一部分接触的用户传送多种感觉。在其它实施例中,可以提供一维阵列(单排元件)来代替所示的二维阵列。下文中将对EAP触觉阵列进行更详细的描述。
另一种一般类型的触觉反馈是惯性反馈,它涉及的是相对于惯性地面移动一个质量以便向用户传送振动或脉冲形式的振感。惯性触觉反馈可以使用本发明的EAP致动器来提供。图4a示出了一种使用EAP致动器的线性摇动器270,其中质量M由可沿轴向移动的EAP结构272作用而线性移动,如箭头274所示。振感控制波形274输入摇动器中以使得EAP致动器来回振动。这就在与EAP致动器相连接的装置外壳上产生一个惯性力。这种反馈可以提供给鼠标、游戏键盘、操纵杆手柄或底座、任一种装置上的触发器按钮、触笔、输入板、手套、旋钮、遥控器、或装置上的其它手提式装置或结构。
图4b示出了一种旋转式惯性EAP致动器280、它包括一个构型近似线圈的EAP元件282以便沿旋转自由度移动惯性质量284从而向与致动器相联接的外壳或结构提供旋转惯性力。元件282的内端288可以接地以便为振动的元件另一端提供参考。举例来说,质量284可以近似绕着转轴线A振动,其中极限位置的实例由虚线所示。正负极连接286,如同本文中所有带有这种连接的所示实施例一样,表示信号或者波形可以施加于EAP致动器上以便使其移动。
图4c示出了一种多轴摇动器模块290,它包括三个质量M1、M2和M3,分别联接于与图4a中的结构相似的相关EAP致动器结构292上。优选地,每个EAP结构沿不同的轴线(x、y和z)定向以使得质量能够沿相关轴线线性运动。当全部三个质量同时运动时,就沿全部三个自由度提供惯性力,使得能够向触觉装置的用户输出更复杂逼真的惯性触觉反馈。在其它实施例中,只提供两个自由度上的质量和致动器,或者可以沿不同角度定向。
外壳运动的触觉反馈为另一种一般类型的触觉反馈,也可以使用一个或多个EAP致动器根据本发明输出。图5a示出了鼠标300的整个外壳302(或者除了底板以外的外壳的整个顶部)的上下运动,如箭头304和虚线306所示。EAP致动器308可以直接与可动式外壳相联接,如图所示,并且做线性运动。或者EAP元件可以通过铰链、挠曲构件或其它结构而联接于外壳上。在其它实施例中,EAP致动器可以进行弯曲以产生上下运动。
图5b示出了一个鼠标320,它包括一个或多个位于鼠标的侧外壳324中或其上的可动段322,而EAP致动器可以联接于每个可动段上以便使其移动。举例来说,软性材料或者铰链,例如橡胶或软性塑料,可以将可动段322联接于外壳324的其它部分上以便进行运动。可以使用弯曲、线性运动或者面积膨胀的EAP致动器来移动各个段322。
在图5c中,鼠标330包括可在对开式壳体构型中移动的外壳324的整个部分322,使得专用EAP致动器联接于每个部分322上以便独立于另一个部分322而驱动其相关部分。当这些部分运动时,接触运动部分322的用户手掌将会感受到触觉感受,例如振动感之类。另外,各部分322可以同时驱动或者利用一个与两个部分都保持连接的EAP致动器驱动。
图5d示出的鼠标340包括一个如箭头346所示并由一个EAP致动器驱动,可相对于外壳其它部分344运动的外壳的上部342,其中用户的手掌与可动部分接触以感受触觉接触力。可以利用铰链或其它挠曲构件将可动部分342与底座部分344相联接。在其它实施例中可以提供尺寸不同的部分342。
球触觉反馈提供了作用于球,例如跟踪球装置、用于鼠标装置中的传感器机构中的球、或者其它摩擦运动装置上的触觉力,以便输出沿接口装置的运动自由度的触觉反馈。举例来说,如图6中所示,球致动装置350包括一个球体或球352、一个X滚子354、一个Y滚子356、一个X传感器358、一个Y传感器360、一个X EAP制动器362、一个Y EAP制动器364以及一个支承着制动器的支架366。球352对着圆柱形滚子354和356滚动(可以通过使用例如在弹簧作用下对着球偏移的第三滚子而使球对着这些滚子偏移)。通过提供连接于滚子上的编码器轮盘和用于检测轮盘中的狭槽或标志的发射器检测器,编码器传感器358和360可以检测滚子从而检测球沿x和y轴的位置,这一点已为大家熟知。EAP制动器362和364各包括一个位于其朝向滚子354或356的一端的制动蹄片368。EAP制动器上提供有用于引起EAP元件从而引起制动蹄片368产生线性运动的控制电子信号,以便使得制动蹄片与滚动构件354和/或356保持摩擦接触。这种摩擦接触对球352的运动产生阻力,用户感受到的就是对运动的阻力和触觉反馈。EAP制动器362和364可以移动不同的距离以在滚子上产生不同大小的摩擦,从而在球上产生不同大小的摩擦。在这类实施例中,这种阻力也会产生对鼠标沿其自由度上的阻力。
接口装置12的某些实施例可以包括一个轮盘,例如图3中所示的鼠标轮盘254。轮盘可以由用户的手指转动以向计算机提供表示轮盘位置或运动的位置信号,可以利用这些信号来滚动主机所显示的文档、移动光标和在列表中选择某项,或者执行本领域的普通技术人员所熟知的其它功能。触觉反馈可以使用EAP致动器沿轮盘的旋转自由度和/或在轮盘自身上输出。举例来说,图7a示出的轮盘380包括一个EAP旋转式惯性摇动器382。摇动器包括一个曲线形EAP元件384和一个位于元件384端部的质量386。质量386可利用周期波形作为输入信号而保持振动,与图4b中所示的摇动器相似。这就在轮盘380上产生惯性感觉,并传送至用户的手指388。
在图7b中,轮盘400包括多个沿径向扩张的EAP致动器402。如图7c中所示,每个EAP致动器402可与上文中图2e所示的面积扩张致动器相似,以便为轮盘400提供扩张的外表面。多个EAP致动器提供于轮盘的圆周周围,而每个致动器的扩张可单独受到控制以便根据与用户手指接触的这些致动器的集体运动向用户手指提供触觉感受。另外可以使用其它类型的EAP致动器,例如线性运动元件。
在图7d中,所示的EAP制动器装置410包括一个EAP制动器412,EAP制动器412包括一个与制动蹄片416相联接的EAP线性运动结构414。制动蹄片416与轮盘420的转轴418保持摩擦接触,与图6的EAP制动器相似,以便在轮盘的旋转自由度上产生阻力。
图7e示出的轮盘装置430使用一个EAP致动器在轮盘上提供与轮盘的转轴线平行的侧向运动或力。线性运动EAP致动器432可以联接于转轴434上(或者联接于旋转地联接在轴上的构件上)以便给轮盘438提供水平力和运动,如箭头436所示。同样,在某些实施例中,线性运动EAP致动器440可以联接于所示的构件上以便在整个轮盘装置430上提供如箭头442所示的垂直力或运动。这些实施例也可以用于各种装置中所用的旋转式控制按钮。
其它接口装置12可以使用EAP致动器来提供触觉反馈。举例来说,在图8a中,示出了一个“轨迹点”控制器450,它通常位于膝上型计算机或其它计算机的标准计算机键盘上的按键之间,通过沿如箭头452所示的正常位移方向运动而用于控制光标或其它指示功能。举例来说,轨迹点可以在两个自由度上平移或旋转移动。轨迹点450可以提供有EAP致动器454,它可以受到控制以便沿两个方向做线性垂直(z轴)运动从而向操纵轨迹点的用户手指提供z轴触觉反馈。在某些实施例中,EAP致动器454还可以起或者另外起传感器的作用,以便检测用户何时接触轨迹点和/或用户在轨迹点上施加的z轴压力或位移大小。z轴压力大小可以用来控制应用程序中的数值或参数,例如速率控制函数(滚动、扫视、缩放、游戏中虚拟车辆的速度,等等)或者表示第三维的光标的位置。轨迹点控制器可以看作接口装置以及接口装置的操纵介质。
在图8b中,轨迹点控制器460可以包括一个线性运动EAP致动器,它与图8a中的致动器相似,但是位于垂直立柱462的空心内部。轨迹点的帽461可以具有一定构造以容许力气大的用户抓住,并且包括一个孔465。如图8c中所示,EAP致动器464可以受到控制以便将与EAP致动器464相联接的升降杆466或其它构件伸出孔而到达与轨迹点控制器460的顶部接触的用户手指的皮肤。升降杆可以缩回或伸出以向用户提供肌理感觉。
图8d示出了轨迹点控制器470的另一个实施例,其中EAP致动器用于提供沿轨迹点控制器的控制的垂直的x-y方向的触觉反馈。四个线性运动EAP致动器472环绕着控制器的底座474依次相隔90度角安放,以便向中心垂直立柱476提供线性力和/或运动。立柱可以由用户作用而沿x-方向和/或y-方向线性运动以便控制光标、数值,等等。应当指出,除了轨迹点控制器之外,图8a-8d所示的实施例可以用于标准、较大尺寸的操纵杆或者其它类型的接口装置。
触觉阵列为多个垂直“销”,它们在销的接触表面处形成了一个与销的定向相垂直的接触平面。销的接触表面与用户手指或者手掌相接触。每个销可以单独垂直于销的纵向轴线运动,以便使得各个销的集体运动能够向用户传送不同的触觉感受。图9a示出了单个“销”490,它用作能够如箭头496所示进行线性运动的EAP致动器494。触觉帽492位于EAP销494上以便可由用户接触。在图9b中,多个图9a的销490置于一个矩阵中形成触觉阵列500,其中每个销490可以单独受到控制而沿任一个方向垂直运动。相邻的表面502为用户的手指提供了参考表面。在图9c中,示出了EAP销490的高密度阵列504,其中每个EAP销可以代表一个象素尺寸元件。当越过图形环境中的某些特征或与其交互作用时,这个销阵列可以用于向用户发出触觉指示。举例来说,该阵列可以用作跟踪板,而用户手指在阵列上的位置决定着光标或实体在图形环境中的位置。可以对销阵列进行矩阵扫描(或者单独寻址)以便感知用户的手指当前在阵列中的位置。当用户的手指移过窗口的边界时,与边界位置对应的EAP销向上运动,给用户的手指以越过三维边界的感觉。其它所显示的特征例如图标、文件夹等等,也可同样发出触觉指示。高密度阵列504还可用于根据计算机环境中执行的交互作用或事件提供其它触觉感受。
图9d示出了使用上述EAP销的另一个实施例510。可以提供一个侧向运动触觉元件/阵列,而垂直于其纵向轴(沿侧向)移动销就会提供触觉感受。每个销沿侧向移动以提供用户皮肤的伸张感觉或剪切感觉,而不是象图9a-9c中的实施例那样使用户皮肤缩进。在各个销之间可提供有更多空间以便进行侧向运动。当使用EAP致动器时,提供这种侧向运动的一种方法是将两个线性运动EAP致动器512置于一个接地元件上,并将一个柔性膜片514(或其它构件)置于致动器512上,而侧向运动元件516则置于柔性膜片514上,如图9d中所示。一个或者两个EAP致动器512垂直运动(如果两个同时运动,则沿相反的方向),使得柔性膜片发生挠曲而侧向元件516如箭头518所示左右摇动。另外,如图9e中所示,能够利用如上文图2b中所示的控制信号和/或具有夹层结构的元件直接侧向移动的EAP结构520可以用于提供所需的侧向运动。致动器520可以沿一个自由度侧向运动,或者在某些实施例中沿两个自由度运动。
EAP致动器可以用于在某些特定应用中提供特定的力。举例来说,图10为用于医学装置中的EAP制动器530的侧视图,其中导管线532(或腹腔镜延伸部分、针或医学或其它用具的其它部分)在用于提供医学用具上的力以便模拟医学程序的触觉反馈医学仿真中使用。EAP制动器包括一个与能够对着导管线532侧向运动的制动蹄片536相联接的EAP元件534,在管线的线性自由度上产生磨擦。摩擦值可以通过将EAP制动器移动不同的距离而进行调整。另一个EAP制动器可以用于提供沿管线532的旋转自由度上的阻力。
触发器装置也可使用EAP致动器。图11为包括一个触发器542的装置540的侧视图,其中触发器542受到用户的按压以便向游戏、仿真系统或者其它程序或装置提供信号。触发器542可以包括于接口装置例如游戏键盘、操纵杆、鼠标等等中。举例来说,触发器542可以绕着旋转轴线B旋转,该旋转轴线可为与接口装置外壳联接的联接器。EAP致动器544可以位于触发器与接地开关546之间。当部分548受到按压时,开关546发送指示致动的信号。弹簧550使接触板552在正常情况下从开关546上偏移开;当板552由EAP致动器544移动时,弹簧受压缩因而板就会打中开关546的部分548,将其致动。同时,弹簧550将触发器偏移回其初始位置或静止位置,提供阻止触发器运动的弹簧阻力。EAP致动器可用于与触发器运动相对运动或者与其一起运动,以便向推压触发器的用户提供触觉感受(这种EAP力可为550的弹簧力起补充作用或者取而代之)。这样,致动器就使得触发器更易于或者更难以使开关改变状态。举例来说,可以输出不同的阻力、阻尼、脉冲或振动,如同本文中所述的所有线性EAP致动器实施例中那样。
图12a示出的旋钮560可以用于控制多种装置的功能。螺旋线或线圈EAP致动器562可以位于旋钮内部以便使得EAP致动器在其致动时对旋钮施加一个力矩。这样就可以沿旋钮的旋转自由度提供阻力或力,如箭头564所示,尽管应当使用旋转范围有限的旋钮。
图12b示出了包括一个EAP致动器的旋钮装置570。旋钮572联接于旋转轴574上,而旋转轴574联接于可包括一个摩擦表面的圆柱形制动器构件576上。EAP致动器578包括一个制动蹄片580,制动蹄片580由致动器578移动以与制动器构件576接触。这种接合提供了轴574和旋钮572上的摩擦力。这个实施例使得旋钮使用时具有不受限制(连续)的旋转范围。可以使用一个线性EAP元件,如同以上制动实施例中所述。
图13为用于转盘的制动实施例590的侧视图。盘592绕轴线C旋转。卡钳594位于盘的一端,而EAP致动器596联接于卡钳的一端。EAP致动器可以作线性运动以便将制动蹄片598对着盘的旋转横截表面运动,从而产生对盘的摩擦阻力。制动蹄片600可以位于卡钳594的另一端,与制动蹄片598相对。这种盘可以联接于各种对象上,例如操纵杆手柄或鼠标、或者车辆中的转轴上。
触笔形的接口装置也可以提供有EAP致动器以向触笔用户产生触觉反馈。触笔可用于在屏幕上指向或选择对象,或者通过使触笔与输入板或与显示屏表面接触而画线或写线,例如在个人数字助理(PDA)、触摸屏、图形输入板、膝上型计算机等等上。举例来说,图14a示出了具有一个可动式尖端612的触笔610,其中尖端由与尖端相联接并位于触笔外壳内部的EAP致动器614移动。EAP致动器线性运动并使得尖端构件616通过触笔外壳上的孔线性运动。EAP致动器可以进行控制以便在尖端上进而向握着触笔的用户产生振动、脉冲或其它力感觉。
图14b示出了一个不同的实施例620,它使得触笔的前端部622相对于触笔的后部624做线性运动。橡胶波纹管626可以位于运动的前部与后部之间,而EAP致动器(图中未示出)可以位于触笔外壳的内部。EAP致动器可为线性运动元件,它与前端部622相联接以便移动该前端部,与移动图14a中所示的尖端构件的过程类似。与相对于图14a所述的类似,可以向用户输出触觉感受。
触笔的其它特征也可使用EAP致动器来致动。在图14c中,所示的触笔640具有一个按钮642,通过如图所示将一个线性运动的EAP致动器644与按钮相联接,按钮642可以(由主机或其它控制器)进行控制以便做前后线性运动。举例来说,可以致动按钮以便响应于受控光标与其它显示对象之间的交互作用。
在图14d中,触笔650包括一个扩张式把手652,它可以使用EAP致动器实现。圆柱形把手提供了一个可由握住圆柱形把手的用户在触觉上辨知的扩张式圆周。把手可以扩张和收缩以便提供各种触觉感受,例如脉冲、振动、三维表面仿真,等等。把手可以使用多个EAP致动器654(图中示出了四个)来实现,这些致动器为盘形、并在施加致动信号时沿圆周扩张,如图14e中所示,该图示出了单个EAP致动器654。这些致动器可以与上文中相对于图2所述的EAP结构相似。
其它装置也可以与EAP致动器一起使用。举例来说,如图15a中所示,转向轮盘控制器装置的转向轮盘660可以提供有一个EAP惯性摇动器662,EAP惯性摇动器662联接于轮盘中或者轮盘上以便向接触转向轮盘的用户提供惯性力,并且与所显示的事件或交互作用一致。惯性摇动器可以与上文参照图4a所述的摇动器相似。也可以提供制动器以在转向轮盘的自由度上施加摩擦力,与图12b的旋钮类似。图15b示出了操纵杆控制器的操纵杆手柄666,其中手柄同样装有一个提供于操纵杆手柄中用于向操纵杆手柄输出惯性力的惯性EAP致动器668。
图15c为向操纵杆提供从动力反馈的操纵杆实施例680的透视图。操纵杆手柄682安放于两个旋转构件684a和684b的孔中。当手柄682沿一个方向旋转时,相应的构件684也会旋转。摩擦制动器盘686a和686b与其相关旋转构件684a和684b相联接。EAP制动器688a和688b提供盘686上的摩擦力,而这就会在操纵杆手柄的两个自由度上产生阻力(图中未示出的传感器检测操纵杆手柄的旋转运动)。举例来说,EAP制动器可以包括线性运动元件,与本文中所述的其它制动器实施例类似。图15d示出了一个可用作EAP制动器688的EAP制动器卡钳的一个实例,其中联接于卡钳支承件691上的线性运动EAP致动器690可以与同盘686保持摩擦接触的制动蹄片692相联接。
本文中公开的EAP制动器也可用于其它控制器上。举例来说,图16为圆柱形指针控制器700的透视图,它包括一个圆柱702,圆柱702能够如箭头704所示绕其纵向轴线旋转以便提供沿一个自由度的输入(例如沿一根轴线移动光标),并且能够如箭头706所示在支架708上平行于其转轴平移以提供另一个自由度上的输入(例如沿另一根轴线移动光标)。传感器(图中未示出)检测旋转和平移运动。这种控制器在美国专利U.S.Patent No.4,896,554中进行了更为详细的描述。在一个实施例中,EAP制动器710可以对着联接于圆柱上的轴712移动制动蹄片以便提供沿旋转自由度的摩擦制动力。该EAP制动器和圆柱可以在支架708上线性平移,而另一个EAP制动器714可以在支架上施加沿平移自由度的制动摩擦力。
图17a示出的实施例720使用EAP致动器提供皮肤触器。皮肤触器与上文所述的销栅阵列相似,其中一个或多个运动元件接触用户的皮肤以提供触觉感受。在触觉手套中可以提供一个或多个皮肤触器来与用户的手指和手掌接合,在内衣上的阵列中可以提供一个或多个皮肤触器来与用户的胸或其它身体部分接合,或者提供于可接触用户皮肤的其它区域。在图17a中,EAP线性运动致动器722联接于触器元件724上,而触器元件穿过支承件726上的开口线性运动到达用户的皮肤。触器元件优选地按照一定波形运动和/或振动,与上文所述的销栅阵列相似。
图17b示出了具有触器元件的另一个实施例730。线性运动EAP致动器732联接于支承件734上。触器元件736联接于与致动器732的端部相联接的构件738上。当致动器732线性运动时,触器元件侧向运动,如箭头740所示。这种运动使用户的皮肤伸展,而非将元件移到皮肤上。包围着触器元件的接地表面,以及触器元件自身,可以包括凸脊742或凸耳以与用户皮肤接合。接地表面上的固定凸脊将用户皮肤的接合部分保持就位,而触器元件736上的运动凸脊使用户皮肤的接合部分的中间区域伸展,产生高效的触觉感受。
尽管本发明依据几个优选实施例进行了描述,但是应当理解,对于本领域的普通技术人员来说,通过阅读说明书和研究附图,将会很清楚本发明的改变、变更和其等价方案。举例来说,利用本发明的致动器可以提供许多不同的触觉感受。此外,为描述清楚起见,使用了某些术语,但并非对本发明进行限制。
Claims (35)
1.一种装置,其包括:
一外壳;
一传感器,该传感器构制成检测该外壳的至少一部分的运动,该传感器构制成将与该外壳的运动相关联的传感器信号输出到主应用程序,该输出传感器信号与主应用程序的图形用户接口的图形对象相关联;以及
一电活性聚合物致动器,该致动器联接到外壳上,并且这样构制,即当该输出传感器信号表明该图形对象处于图形用户接口中所期望的位置时,该致动器响应从主应用程序接收力反馈信号而输出触觉反馈力。
2.根据权利要求1所述的装置,其特征在于,触觉反馈力与由主机执行的事件相关联,该主机执行主应用程序。
3.根据权利要求1所述的装置,其特征在于,由电活性聚合物致动器输出的触觉反馈力为通过移动一个质量体而产生的惯性力。
4.根据权利要求1所述的装置,其特征在于,其还包括一按钮,触觉反馈力通过该按钮输出。
5.根据权利要求4所述的装置,其特征在于,按钮构制成沿按钮的一运动自由度与触觉反馈力相对应。
6.根据权利要求4所述的装置,其特征在于,按钮构制成通过侧向运动与触觉反馈力相对应,该侧向运动近似垂直于按钮的一运动自由度。
7.根据权利要求1所述的装置,其特征在于,由电活性聚合物致动器输出的触觉反馈力为一旋转力。
8.根据权利要求1所述的装置,其特征在于,由电活性聚合物致动器输出的触觉反馈力为一线性力。
9.根据权利要求1所述的装置,其特征在于,电活性聚合物致动器构制成移动该外壳的部分。
10.根据权利要求1所述的装置,其特征在于,电活性聚合物致动器构制成改变一运动部分的摩擦阻力。
11.根据权利要求1所述的装置,其特征在于,电活性聚合物致动器构制成向联接于该外壳上的转轮输出触觉反馈力。
12.根据权利要求8所述的装置,其特征在于,电活性聚合物致动器构制成将一构件的一部分从该外壳的内部移动到该外壳的外部。
13.根据权利要求12所述的装置,其特征在于,电活性聚合物致动器为多个电活性聚合物致动器其中之一,该多个电活性聚合物致动器布置于一触觉阵列中。
14.根据权利要求1所述的装置,其特征在于,该外壳构制为一触笔。
15.根据权利要求1所述的装置,其特征在于,该外壳构制为一轨迹点操纵杆控制器。
16.一种装置,其包括:
一传感器,该传感器构制成通过使用者来检测该装置的至少一部分的运动,该传感器构制成将与该运动相关联的传感器信号输出到主应用程序;以及
一电活性聚合物致动器,该致动器联接到该装置上,并且构制成将与该输出传感器信号相关联的触觉反馈力输出到该使用者,该电活性聚合物致动器构制成响应从主应用程序接收主机信号,其中,当输出传感器信号表明该装置处于所期望的位置时,主应用程序输出该主机信号。
17.根据权利要求16所述的装置,其特征在于,由电活性聚合物致动器输出的触觉反馈力为通过移动一个质量体而产生的惯性力。
18.根据权利要求16所述的装置,其特征在于,其还包括一按钮,触觉反馈力通过该按钮输出。
19.根据权利要求16所述的装置,其特征在于,由电活性聚合物致动器输出的触觉反馈力为一旋转力。
20.根据权利要求16所述的装置,其特征在于,由电活性聚合物致动器输出的触觉反馈力为一线性力。
21.根据权利要求16所述的装置,其特征在于,电活性聚合物致动器包括至少两层电活性聚合物材料,电活性聚合物致动器构制成根据每一层电活性聚合物材料的特性而弯曲。
22.根据权利要求16所述的装置,其特征在于,电活性聚合物致动器包括由两个电极包围着的电介质,该电介质构制成在被输入信号致动时面积发生扩张。
23.根据权利要求16所述的装置,其特征在于,电活性聚合物致动器构制成移动该装置的部分。
24.根据权利要求16所述的装置,其特征在于,电活性聚合物致动器构制成改变一运动部分的摩擦阻力。
25.根据权利要求16所述的装置,其特征在于,电活性聚合物致动器构制成将一构件的一部分从该装置的内部移动到该装置的外部。
26.一种装置,其包括:
一外壳;以及
一电活性聚合物元件,该电活性聚合物元件联接到该外壳上,并且构制成响应由使用者所施加的变形,将传感器信号输出到主应用程序,其中该电活性聚合物元件这样构制,即响应从主应用程序接收输入信号而产生供该使用者感受的触觉感受,其中该输入信号与该传感器信号相关联。
27.根据权利要求26所述的装置,其特征在于,电活性聚合物元件构制成检测该外壳的接触情况。
28.根据权利要求26所述的装置,其特征在于,电活性聚合物元件构制成检测该电活性聚合物元件上施加的压力量。
29.根据权利要求26所述的装置,其特征在于,由电活性聚合物元件输出的触觉反馈力为一线性力。
30.根据权利要求26所述的装置,其特征在于,该外壳构制为一操纵杆或轨迹点控制器。
31.一种方法,其包括:
由使用者来检测外壳的运动,并将与检测到的运动相关联的传感器信号输出到主应用程序;以及
通过使电活性聚合物致动器变形,输出一触觉反馈力以供使用者感受,该触觉反馈力取决于:当该输出传感器信号表明一由该外壳控制的图形对象满足由该主应用程序提供的条件时,从主应用程序输入的信号。
32.根据权利要求31所述的方法,其特征在于,电活性聚合物致动器构制成输出一旋转力。
33.根据权利要求31所述的方法,其特征在于,电活性聚合物致动器构制成输出一线性力。
34.根据权利要求31所述的方法,其特征在于,电活性聚合物致动器构制成改变一运动部分的摩擦阻力。
35.根据权利要求31所述的方法,其特征在于,电活性聚合物致动器构制成移动该外壳的部分。
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- 2001-05-24 JP JP2001587412A patent/JP2003534620A/ja not_active Withdrawn
- 2001-05-24 CN CNB018133460A patent/CN100342422C/zh not_active Expired - Fee Related
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2008
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Also Published As
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CN1444758A (zh) | 2003-09-24 |
US7339572B2 (en) | 2008-03-04 |
JP5349672B2 (ja) | 2013-11-20 |
AU2001264961A1 (en) | 2001-12-03 |
US20090184923A1 (en) | 2009-07-23 |
US20070146317A1 (en) | 2007-06-28 |
US20080143693A1 (en) | 2008-06-19 |
JP5215340B2 (ja) | 2013-06-19 |
JP2013080483A (ja) | 2013-05-02 |
JP2008257748A (ja) | 2008-10-23 |
JP2010182315A (ja) | 2010-08-19 |
EP1303853A4 (en) | 2009-03-11 |
US20020054060A1 (en) | 2002-05-09 |
EP1303853A1 (en) | 2003-04-23 |
USRE44277E1 (en) | 2013-06-11 |
EP2385518A2 (en) | 2011-11-09 |
EP2385518A3 (en) | 2012-02-15 |
US7511706B2 (en) | 2009-03-31 |
US7679611B2 (en) | 2010-03-16 |
US7196688B2 (en) | 2007-03-27 |
JP2003534620A (ja) | 2003-11-18 |
WO2001091100A1 (en) | 2001-11-29 |
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