Haptic device with controlled traction forces

Abstract

A haptic device comprising a substrate having a surface, a first actuator that modulates a friction experienced by a user's finger touching the substrate surface, a second actuator that oscillates the substrate surface laterally, such that the combined effect of the first and second actuator is a net shear force applied to the user's finger, a finger position sensor that detects and measures location of the user's finger relative to the substrate surface, and a control device that receives at least one parameter related to the location of the user's finger and controls the first actuator and second actuator to simulate the feel of a shape different from that of the substrate.

What is claimed: 
     
         1 . A haptic device comprising
 a substrate having a surface,   a first actuator that modulates a friction experienced by a user's finger touching the substrate surface;   a second actuator that oscillates the substrate surface laterally, such that the combined effect of the first and second actuator is a net shear force applied to the user's finger;   a finger position sensor that detects and measures location of the user's finger relative to the substrate surface, and   a control device that receives at least one parameter related to the location of the user's finger and controls the first actuator and second actuator to simulate the feel of a shape different from that of the substrate.   
     
     
         2 . The haptic device of  claim 1  in which the simulation contains one or more sources. 
     
     
         3 . The haptic device of  claim 1  in which the simulation contains one or more sinks. 
     
     
         4 . The haptic device of  claim 1  in which the simulation contains both sources and sinks. 
     
     
         5 . The haptic device of  claim 1  in which the simulation is that of a toggle switch. 
     
     
         6 . The haptic device of  claim 1  in which the form resembles a spring. 
     
     
         7 . The haptic device of  claim 1  in which the form resembles a damper. 
     
     
         8 . The haptic device of  claim 1  wherein the substrate comprises a flat plate. 
     
     
         9 . The haptic device of  claim 1  wherein the form resembles that of a button. 
     
     
         10 . The haptic device of  claim 1  wherein the form resembles that of a slider control. 
     
     
         11 . A method of controlling the substrate having a surface of a haptic device, the method comprising:
 modulating a friction experienced by a user's finger touching the substrate surface by a first actuator;   oscillating the substrate surface laterally, such that the combined effect of the first and second actuator is a net shear force applied to the user's finger by a second actuator;   detecting and measuring a location of the user's finger relative to the substrate surface by a finger position sensor, and   controlling the first actuator and second actuator by a control device that receives at least one parameter related to the location of the user's finger to simulate the feel of a shape different from that of the substrate.   
     
     
         12 . The method of  claim 11  in which the simulation contains one or more sources. 
     
     
         13 . The method of  claim 11  in which the simulation contains one or more sinks. 
     
     
         14 . The method of  claim 11  in which the simulation contains both sources and sinks. 
     
     
         15 . The method of  claim 11  in which the simulation is that of a toggle switch. 
     
     
         16 . The method of  claim 11  in which the form resembles a spring. 
     
     
         17 . The method of  claim 11  in which the form resembles a damper. 
     
     
         18 . The method of  claim 11  wherein the substrate comprises a flat plate. 
     
     
         19 . The method of  claim 11  wherein the form resembles that of a button. 
     
     
         20 . The method of  claim 11  wherein the form resembles that of a slider control.