WO2001041636A1

WO2001041636A1 - Open loop tactile feedback

Info

Publication number: WO2001041636A1
Application number: PCT/US2000/004172
Authority: WO
Inventors: Ralph Lander
Original assignee: Ralph Lander
Priority date: 1999-12-12
Filing date: 2000-02-17
Publication date: 2001-06-14
Also published as: AU3495000A

Abstract

Tactile output devices (8) are provided that are controlled by a control device (3). The control device (3) is provided such as to control the various parameters of the tactile output devices (8). A regulator device (7) is provided such as to process the control device signal into an understandable signal for the tactile ouput device (8).

Description

# 9c

PATENT APPLICATION OF Ralph H Lander for

OPEN LOOP TACTILE FEEDBACK

This invention is m the field of tactile communication through computers and involves, m particular, the interactive stimulation of human muscles, limbs, and body joints.

Background of the Invention

It has become increasingly apparent that the Internet represents a significant frontier in the field of communication, allowing users from all corners of the world to interact through the transit of audio and visual information The introduction of a tactile medium would greatly enhance the interactive capabilities of the world wide web The present inventor recognized the need for tactile communication in association with the enhancement of visual and audio information. With the Internet, this philosophy can been taken a step further. Besides seeing and hearing a user in real-time from anywhere in the world, a user can now control the force and the magnitude of a massaging device through the Internet. A father or mother away from home, for example, can get in touch with their tnree year old daugnter througn the world wide web by placing their hanα onto a pressure sensitive pac Tn s pad sends the pressure signals to a second pad used by their αaughter allowing the daugnter to feel the touch of her parents, while they communicate with eacn other over the pnone Other variations of sucn devices can be implemented involving various body limbs such as to accommodate various disabilities, applications and industries.

Summary of the Invention In accorαance with tnis invention for monitoring and controlling movement of human limbs, and mechanical members, tactile output devices 8 are provided that are controlled by a control device 3. Tactile output devices 8 such as linear or rotary motors can drive mechanical devices such as to form a robotic device 2 , Fig. Ic, or these linear or rotary motors can also drive a system such as to move any form of liquid gas, or air, Fig. Id Other tactile output devices 8 are provided. These tactile output devices 8 could be of vibrating output, electro magnetic output, temperature changing output, etc

Materials 4 are provided so that they can be combined with the motor and/or the tactile output devices. The material encases the tactile output device 8, not only for comfort and safety purpose but to allow for easy handling of sucn a device. These Materials 4 can simulate the effect of organic material, as, for example to simulate the texture and density of the skin and flesh of a human hand.

A control device 3 is provided such as to control the various parameters of the tactile output device 8. This control device could comprise of analog or digital means. The control device 3 could be operated by hand. Alternatively, the controller could comprise cf an input medium providing a regulator 7 with pre- recorαeα or pre-programmed information Sucn pre-recorded information could be derived from a video tape player audio taoe player DVD, CD-ROM, etc

A regulating device 7 is provided such as to process the control device 3 signal into an understandable signal for the tactile output device 8 This regulating device 7 could De of analog or digital means This regulating device ⁿ could be a desktop computer digitally computing the particular input and output values This regulating device 7 could be connected to a network 9 allowing it to communicate witn other computing devices

Brief Description of the Drawings

Various embodiments of the present invention are described below with reference to the drawings, in which like items are identified by the same reference designation, and m which: Fig. 1 is shown a block diagram of a tactile output device, regulator, control device assembly. Fig. lb is an illustration of a tactile output device comprising of a linear or a rotary motor Fig. Ic is an illustration of a robotic assembly driven by a linear or a rotary motor. Fig. Id is shown a block diagram of a linear or rotary motor driving a system such as to move any form of liquid, gas, or air Fig. lβ is snown a clock diagram of tactile output devices that could be of vibrating output, electro magnetic output, temperature changing output, etc. Fig. 2 is an illustration of a material tnat can simulate the effect of organic material, as, for example, to simulate the texture and density of the skin and flesh of a human hand. Fig. 2b is an illustration of a tactile output device that is encased for comfort, safety, and ease of handling Fig. 3 is an _llustratιon of a hand held controlling αevice Fig. 3b is an illustration of a cortrol device comprising of a ;joy- sticK Fig. 3c is an stration of a control device comprising of a computer. Fig. 3d s an ..lustration of a control device comprising of a roPotic assembly a user nolds on to Fig. 3β is shown a olock diagram of a control device comprising of a playoack device Fig. 4 is snown a clock diagram of a regulating device that could be an analog or digital system Fig. 4b is an illustration of a regulating device comprising of a computer . Fig. 4c is an illustration of a regulating device that is connected to the Internet allowing it to communicate with other computing devices. Fig. 4d is an illustration of a regulator and a tactile output device communicating wireless. Fig. 5 is shown a block diagram of the system of the present invention conbmed with video conferencing system. Fig. 6A is shown a block diagram of a processor controlled regulator. Fig. 6B is shown a olock diagram of an analog system that allows various playback and real-time media to control a tactile feedback device. Fig. 7 is shown a block diagram of a digital system that allows various playback and real-time medα.a to control a tactile feedback device Fig. 8a is shown a olock diagram of a system adapted to record and read additional information off and onto video tape. Fig. 8b is shown a block diagram of signal recording process onto a VHS tape. Fig. 8c is an illustration of system of the present invention showing the tactile signal location on a Video line. Fig. 9 is a System over view Fig . 10 is a block diagram of a VIDEO DATA ENCODEF

Fig . 11 s a block diagram of a VIDEO ' SERIAL DATA DECODER

Fig. 12 s a b ocκ diagram of a REMOTE DATA DECODER

Fig. 13 is a b.ocκ diagram of a other digital devices connecting to the Decoder

Fig. 14 s a is a block diagram of a DIGITAL DATA DECODER

Fig . 15 is a is a block diagram of an Analog DATA DECODEF

Fig. 16 The si ole device controller 94 can also be used to record tactile output data into a file.

Detailed Description of the Invention Fig. 1. Here is shown a block diagram of a tactile output device 8, adapted to be controlled by a controller 3 constructed m accordance with the teachings of the present invention. This tactile output device 8 could comprise of a linear or rotary DC motor 8b, shown in Fig. lb. Such a linear or rotary motor 8b can comprise of electro-magnetic, hydraulic, or any other suitable means of force- feedback. These linear or rotary motors can drive mecnanical devices sucn as to form a robotic device 2 , shown in Fig. Ic . These linear or rotary motors 8b can also drive a system such as to move any form of liquid gas, or air, shown in Fig. Id. Alternatively, a cam slightly off center could be attached to the motor shaft making the operating motor vibrate. The tactile output device 8 could comprise of a voice coil transducer 8d, shown in Fig. lβ . This would allow for the control over the Amplitude, the frequency and/or the tactile wavefor- just as used m audio feedback.

Fig. 2 Here is shown an illustration of a material 4, adapted to simulate the effect of organic material, as, for example, to simulate the texture and density of the skin and flesh of a numan hand constructed m accordance with the teachings of the present invention This material 4 is comoined with the motor, voice coil actuator and/or another tactile output device In one empodiment of the present invention this material 4 encases the tactile output device 6 such that the user of the system of the present invention is protected from any discomfort or harm. In another eiruooαiment of the present invention his Material 4 can create realistic looking, operating, and feeling ooαy parts. Alternatively, the tactile output device 8 can be encased not only for comfort and safety purpose but to allow for the easy Handling of such a device, shown in Fig. 2b. The tactile output device 8 can also be sealed water and/or air tignt, preventing liquid from seeking in and/or to generate a vacuum with the device.

Fig. 3 Here is shown an illustration of a hand held controlling device 3, adapted to send controlling signals to the regulator 7 constructed m accordance with the teachings of the present invention. A control device 3 can directly control the various parameters of the tactile output device 8. This control device could comprise of analog or digital means. The control device 3 could comprise of a hand neld regulator 7 as to regulate the revolution frequency of the motor, the frequency of the voice coil transducer, the amplitude of the voice coil transducer, the waveform of the voice coil transducer, the temperature of a heating device, etc. This regulator 7 and 3 could use a linear dial, rotary dial, etc., to control the tactile output device 8, as shown in Fig. 3. Such a control device could use a potentiometer that changes the magnitude of the electricity going to tne tactile output device. In one embodiment of the present invention the control device 3 comprises of a ₃oy-stιck, shown in Fig 3b. In another embodiment of the present invention the control device 3 comprises of a computer keyboard. Or the control device 3 can comprise of a GUI operating through a visual monitor and which can be accessed tnrougn a computer mouse, keyooarα, or other computer peripherals, shown in Fig. 3c This controller 3 could be a rocotic devise controlling another robotic device that imitates tne controller motion, shown in Fig. 3d. Alternatively, tne controller 3 could comprise of an input medium providing a regulator 7 with pre-recorded or pre-programmed information. In one embodiment of the present invention sucn pre-recorded information is derived from a video tape player In another embodiment of the present invention sucn pre-recorded information is derived from a audio tape player. Alternatively, such pre- recorded information can be derived from a CD-ROM player. Or such pre-recorded information could be derived from a broadcast, shown in Fig. 3e. These control devices could operate by remote using infrared, or radio frequency, etc., shown in Fig. 3f.

Fig. 4 Here is shown a block diagram of a regulating device 7 adapted to process a signal send by a controller 3 into an understandable signal for the tactile output device 8 constructed in accordance with the teachings of the present invention This regulating device 7 could be of analog or digital means. In one embodiment of tne present invention this regulating device 7 comprises of a computer digitally computing the particular input and output values, shown in Fig. 4b. In another embodiment of the present invention this regulating device 7 includes a Monitor such as to communicate visually. Fig. 4c In another emoodiment of the present invention this regulating device 7 is connected to a network 9 allowing it to communicate with other computing devices. In another embodiment of the present invention this regulating device 7 is connected to the Internet 9 allowing it to communicate with other computing devices. In another embodiment of the present invention this regulating device 7 is connected to tne World Wide Web 9 allowing it to communicate with other computing devices. Fig 4d Tnese regu±ators 7 could operate by remote using infrared, or radio frequency, etc

Fig. 5 Alternative-: tne system of tne present invention 200 can be used in combination with a v.deo conferencing system 201 that runs over a direct telephone 1 connection While the user interacts with another user through the video conferencing system, the system of the present invention 200 communicates via Internet

Fig. 6A Here is shown a block diagram of a digital system combining tactile feedback with pre-recorded playback or live and real-time interactive controllers constructed m accordance with the teachings of the present invention. This system includes a tactile output device 8 generating the tactile feedback. This system includes material 4 such as to enclose the tactile output device 8. The tactile output device 8 can be connected to the material 4 (not shown) to translate a stimulant such as vibrational patterns to the user wnile the system of the present invention accomplishes a particular function. The tactile output device 8 is connected to a digital four quadrant regulator 32. This regulator has the ability of either setting a precise value of voltage or current to the tactile output device 8 to develop tactile feedback indicative to the level of selected forces developed while operating the system of the present invention A processor 28 s also connected to and digitally controls the programmable regulator 32 such that the voltage or current and thereby the pattern supplied to the tactile output device 8 is accurately regulated. The system of the present invention comprises a tactile output device {which could be any of tne systems described previously) . A common bus connects the processor 28 to the digitally controlled regulator 16. 1 And the respective regulator 32 is being adjusted cv the microprocessor 28 sucn

I tnat tne tactile out^put cevice 8 generates a particular feedbacK magnitude,

3 freσαeπcj , and/or waverorr

4 The feedback pattern ceve.cped by tne tactile output device 8 is maintained

5 precisely oy the regulator 16

6 The regulator 32 ana tne tactile output device 8 are connected by conducting

7 wire 17c wnich may vary depending upon the particular application, such that 6 tne user can feel tne tact-.e output device 8 feedbacK, as the processor control 9 of tne tactile feedback system is being m effect.

IC Usually the feedbacK of tactile output device 8 i - be varied as a function of

11 the controller [such as a playback device 3 (not snown) , real-time control

12 devices (not shown) ] , or a selected blend of these including host computer

13 output 18. These variations are being controlled by the processor 28 achieving,

14 for human sensors, contmuos system feedback to the tactile output device 8 and

15 thereby complete sensory tactile feedback to the user.

16 The calculation and setting of the tactile output device 8 feedback takes second

17 priority over the play-back controller 3, real-time controller 3, and other host

18 computer information and is interrupted when the time interval flag is set. Thus

19 the tactile output device 8 feedbacK takes second priority over tne play-oacK

20 controller 3, real-time controller 3, and other host computer information are

21 set every time increment, out more then one time increment is needed to set

22 tactile output device c torque and the tactile output device 8 feedback.

23 Compared to a human reaction time tne update time of tne microprocessor 28, is

24 so frequent that tne user feels a virtually continues tactile feedbacK applied

25 to the material 4 oy tne tactile output device 8 whicn is directly indicative of

26 the selected forces developed while operating the system.

27 The processor 28 is connected to the host computer 18 (any suitable computer

28 system may be used) which is connected to interface with the processor 28.

29 The system of the present invention is particularly adapted for combining

30 tactile feedback witn visual and audio feedback. Each of tne memory systems snown m Fig. 6A requires a tactile output device 8, as well as a digitally programmable four quadrant regulator. Sucn a tactile feedback assembly s shown in fig. 6A. The subsystem may comprise a processor, host computer and other common equipment ror each force generation medium. Two processors may operate in parallel, such as in applications wnere very high throughput is needed, one setting control signals and other nost information, while the other sets tactile output device patterns. Althougn the previously described system m Fig. 6A is illustrated as being m a single plane of motion or feedback, it should clearly understood that with proper gimballmg and multiple tactile feedback generation medium and processor " units, multiple planes of feedback are readily configured using combinations and multiples of the system described in Fig. 6A.

Processor control Fig. 6B Here is shown a block diagram of the microprocessor controlled elements for providing tactile feedback to a user constructed m accordance with the teachings of the present invention. The system includes a first a microprocessor chip 28, (comprising of any currently available digital processing devices) which controls the system. Multiple tristate buffer logic is included which communicates its contents to the digitally controlled register 32. A ROM memory 22 is available whicn contains information such as to sequence the microprocessor. Similar a RAM memory 23 is available whicn is able to botn store and recall processing information. And at least one - 5 volt generating chip is included such as to power Universal Asynchronous Receiver/Transmitter (UART) . These components of the processor control circuitry of FIG. 6B can be divided into multiple functional elements, specific to configuration and operation. Some of the other elements shown as a separate components of the block diagram in Fig. 6B may be included into such a processor or the host computer, however, depending onto the processing device that is used. To implement the system of the present invention these elements ^' may be included as separate components. Preprogrammed control data for the microprocessor 28 is provided by a read-only memory (ROM) 22 unit. Data stored in the ROM memory 22 sequences the processor 28, to perform calculations thereon in order to determine the displacement, velocity, or acceleration of the motor, at periodic intervals. These calculations can also be used to determine the output amplitude, frequency and waveform of a tactile output device 8, such as a voice coil transducer. Similarly, to both store and recall processing information a random access memory (RAM) 23 is available to the microprocessor 28 through bus 24. An address decoder 25 is connected to the microprocessor 28 through a bus 27 and to the RAM 23 through a bus 18. A buffer memory register 29 is connected to the address decoder via data line 31 and to the processor 28 through a bus 30. Buffer 29 contents are via a bus 35 communicated to the digitally controlled register 32. Current flow through, or voltage applied to the motor is precisely controlled by a regulator 32. Furtherm the same or a different regulator precisely controls current flow through, or voltage applied to a transducer or any other tactile output device (such as vibrating membranes, heat generators, etc.) . A selected tristate which is connected to the programmable current source 32 is actuated by the address decoding logic 25. According to the control device 3 signal input, a digital number is selected by the processor 28, and supplied in through buffer 29 and bus 35 to the digitally controlled regulator 32. A precise value of voltage or current is defined by this digital number which will be set by the programmable regulator 32, and thus establish a precise selected value of torque, speed to be placed on the motor shaft. As well as to establish a precise selected value of vibration, static's, temperature, etc. tc the membrane of a transducer, generator, etc. cr any other tactile output device. To receive serial data through the UART from the host computer 18, the microprocessor 2S is bootstrapt at start up by data stored in the ROM memory 22. These data are input via a direct memory access function of the microprocessor to the RAM memory 23 connected to the microprocessor 28. The microprocessor 28 may be polled through the UART at selected times, such as to send data from and ' to the host processor 18. The host computer and the microprocessor 28 are usually in constant communication via a communication port which may include any conventional communication module such as ether-net, fiber channel, Rs-422 interface, etc. A separate power supply 33 provides power for the communication module interface. This power unit may or may not be included into a microprocessor depending onto the particular microprocessor implemented. In general, the microprocessor 28 and the host computer 18 are in constant communication via some type of interface to provide a operator communications link as well as to receive program instructions. The microprocessor may also operate in stand alone mode in some applications, and a host computer is only used for initial program input. Instead of supplying a digital number in through buffer 29 and bus 35 to the digitally controlled regulator 32, a digital number is supplied in through buffer 29 and bus 35 to a transmitter 21 (this transmitter could comprise of Infra Red, Radio, or ultrasound devices) . A signal representing the digital number is send to a receiver 20 and the receiver 20 supplies the digital number in through buffer 29 and bus 35b to the digitally controlled regulator 32b. The receiver 20, regulator 32b assembly further includes a power supply 33b (comprising of either an AC or DC power source) . The receiver 22, regulator 32b and power supply 33b assembly may be placed close to with the tactile output device 8 enclosed by the same material 4. Alternatively, the receiver 20, regulator 32b and power supply 33b assembly may be separate from the tactile output device 8 and communicate through a conducting wire (not snown, .

Fig. 7 Here _s snown a clock diagram of an analog system compining tactile feedbacK witr pre-recorded playback or live and real-time interactive controllers constructed m accordance with the teachings of the present invention. This system includes a tactile output device 8 generating the tactile feedback. This system includes material 4 such as to enclose the tactile output device 8. The tactile output device 8 can be connected to tne material 4 (not shown) to translate a stimulant, such as vibrational patterns to the user, while the system of the present invention accomplishes a particular function. The tactile output device 8 is connected to regulator 7. This regulator has the ability of either setting a precise value of voltage or current to the tactile output device 8 to develop tactile feedback indicative to the level of selected forces developed while operating the system of the present invention. A controller 3 is also connected to and controls the regulator 7 such that the voltage or current and tnereby the pattern supplied to the tactile output device 8 is accurately regulated The system of the present invention comprises a tactile output device 8 (which could be any of the systems described previously) , a controller 3 (which could be any of the systems described previously), and an analog regulator ^"" . A conducting wire connects tne controller 3 to tne regulator And the respective regulator 7 is being adjusted by the controller 3 such that the tactile output device 8 generates a particular feedback magnitude, frequency, and/ or waveform. The feedback pattern developed by the tactile output device 8 is maintained precisely by the regulator 7 . The regulator 7 and the tactile output device 8 are connected by conducting wire 17c which may vary depending upon tne particular application, such that the user can feel the tactile output device 8 feedback, as the controller 3 commands to the regulator 7 and the tactile output device 8 are being m effect. Usually the feedback of tactile output device 8 will be varied as a function of controller 3 [such as an information playback device (not shown), a real-time control device mot shown)], or a selected blend of these. These variations are being controlled by the controller 3 achieving, for human sensors, continuos system feedback to the tactile output device 8 and thereby complete sensory tactile feedback to the user. The physical connection between the regulator 7 and the tactile output device 8 may be the same or may be different or, by implementing various conducting wires, they may be generically the same. The controller 3 is also connected to the host computer 18 (any suitable computer system may be used) which is connected to interface with the controller 3. ' The system of the present invention is particularly adapted for combining tactile feedback with visual and audio feedback. Each of the memory systems shown in Fig. 7 requires a tactile output device 8, as well as a regulator 7. Such a tactile feedback assembly is shown in fig. 7. Instead of supplying a signal in through a conducting wire to the amplifier, a signal is supplied in through a transmitter 21 (this transmitter could comprise of Infra Red, Radio, or ultrasound devices) . The signal is send to a receiver 22 and the receiver 22 supplies the signal in to the amplifier 32. The receiver 22, amplifier 19 assembly further includes a power supply 23 (comprising of either an AC or DC power source) . The receiver 22, amplifier and power supply 33b assembly may be placed close to with the tactile output device 8 enclosed by the same material 4. Alternatively, the receiver 22, amplifier 19 and power supply 33b assembly may be separate from the tactile output device 8 and communicate through a conducting wire (not shown) . Although tne previously described system m Fig " are illustrated as being in a single plane of "oticn or feedbacK, it should clear.y understood that with proper gimoaliing ar.c multiple tactile feedbacx generation meoι-.r and regulator units, multiple planes of feedback are readily configured using combinations and multiples of the system described m Fig. 7

Fig. 8-13 The regulating device 7 translates information send by the controller 3 to control particular values and parameters at the tactile output device 8. Sucn control information could comprise of real-time information derived from a controller 3. Or such generated information could comprise of pre-recorded information derived from a playback controller 3.

Figs. 8, 8b and 8c Here is shown an embodiment of the present invention, adapted to record and read additional information off and onto video tape without effecting the audio, or the video signal on a television screen. On every Half frame approximately the first 20 lines are available to record additional information. These 20 lines can be used to store additional information The modulation process comprises of a mix of analog, and digital. This process is an alteration of the PCM (Pulse Code Modulation) . Every Half frame carries information, which is constant on these lines. This kind of coding results in a data rate of 50 (PAL) or 60 (NTSC) values per Second. This Signal can be continuously sustained (see also Fig. 8c) This signal is then send to a Sample & Hold switc.n 'Fig 8a) The recording of sucn additional information is similarlsee Fig. So) Fig. 8 Here is snown an embodiment of the present invention, adapted to read additional information off a VHS video tape. The row selector is basically a counter, which counts the horizontal sync, impulses. It's triggering the Sample and Hold process for the selected line. (i.e. after the 7th HΞY C impulse, the Row Selector generates an impulse for the Sample and Hold unit") Fig. 8b Here is snown an embodiment or the present invention, adapted to record additional information onto video tape In order to write a signal onto a selected video line c_. neec to add it This is wnat tne mixer does Tne row selector is working -_^l-.e described above, except that tne generated impulse is as long as a video l_r.e, in PAL 50.9 micro seconds This signal indicates to "record" the tactile s±gnai onto the video One can imagine the Mixer as a "gated DC recorder"

Fig. 9 To record device control data onto a video tape, connect the equipment as shown in the System Overview Diagram It is recommended to connect the decoder 87 downstream from the recording VCR 88. With devices 71/72 connected to the decoder 87, the operator will get a real-time feedback of the device manipulation.

The Video data encoder 96 is placed between the playback VCR 89 and the Recording VCR 88. This feeds the video signal from the playback VCR 89 through the Video data encoder 96 into the Recording VCR 88.

Video data encoder 96 specifications and controls

Power input 9 VDC , 2.1mm jack, positive center Current draw 50 mi 11lamps Switch power switch Video input 75 on video input, buffered Video output 75 ohm video output, buffered LED 95 power indicator Device Sliders 2 slider controls, 1 for each device, 71 and 72

VIDEO / SERIAL DATA DECODER M

The video ' serial data decoder 87 received encoded data from two sources, a video input 89 and serial port 90. The input select switch 67 determines which data source will be processed.

In the serial mode, the control data is received through the 9600 _baud port. This port is a receive only port. The received data is checked for message formatting and parity. Once accepted, it is written to the digital-to-analog converter .

The control values for device 71 are also sent to the infrared port.

The activity LED 90 on the decoder 87 indicates the presence of valid video or serial control data. If it stops blinking, then the decoder is not processing valid data.

Video / serial data decoder - specifications and controls • Power input 9 VDC , 2.1mm jack, positive center Current draw 45 milliampε, without motors Device interface A and E output 3.2 VDC max. 200 milliamps max. connection 2 pm, 0.1" male header . Adiustments per device Offset 0 to 1.2 VDC typical Range 0 to 3.0 VDC typical Switch power switch Switch select between video and serial recommend power cycle after selection. LED 91 power indicator LED 90 blinks when receiving valid video or serial control data

LED 92 IF link to remote, 1200 baud, 7E1 format

RΞ-232 port Receive only port, DE-9Ξ connector, 9600 bau_d, 7E1 format

Video input 89 Phono jack, 75 ohm termination

REMOTE DATA DECODER

The remote data decoder 99 receives its device control data over the IR link 93 from the decoder 87. The control data is a copy of the device 71 data. Therefore, if all devices are connected to the decoder and remote, the device on the remote will operate the same as device 71 on the decoder.

Like the decoder, the remote has a range and offset adjustment, for the motor output. The output has been set to a minimum of 0.2 volts (0% control) and 1.3 volts (100% control) .

The activity LED 92b on the remote 99 indicates the presence of the IR data link. If it stops blinking, then the IR link has been broken. When the IR link goes out, the remote holds the motor control at the last valid setting, If the link outage lasts over about a 1/2 second, then the remote turns off the motor.

Remote data decoder 99 - specifications and controls

Power input 6 VDC, 2 button snap connector Current draw 5 milliamps, without motor Device interface output 3 2 VDC max.

200 milliamps max. connection 2 pin , 0 . 1 " male header .

Adjustments

Offset 0 to 1.2 VDC typical

Range 0 to 3.0 VDC typical

^' Switch power switch

LED 92b Blinks when IR link is connected, stops blinking when link is out.

SIMPLE DEVICE CONTROLLER

The Simple Device Control 94 runs under Windows 95. Place the ' sdc . ini ' file into the system folder. Once the program is started, it will send a steady stream on control data out the serial port. The serial port must be connected to the decoder. If it is not, then the program will appear as if it ' locked-up ' , this is because Windows 95 will hold up the program waiting for the proper hardware handshaking between the computer port and decoder .

Fig. 10 VIDEO DATA EMCODER

The video encoder 39 has 75 ohm buffers 37 in the input 38 and output 39 circuits. The peak-to-peak value of the output waveform is equal to the input value .

The sync separator 40 extracts horizontal 60 and vertical 61 sync pulses from the video input 38. Also, this circuit also controls the sampling of the blanking voltage level on the video input.

The sample and hold blanking voltage circuit 41 samples the video input 38 based on a timing signal from the sync separator 40. The sample and hold blanking voltage circuit 41 then holds this blanking voltage level at its output. This is defined as a logic ' 0 ' . The summing circuit 42 adds 0.7 volts to the blanking voltage level and then holds this voltage at its output. This is defined as a logic '1' .

The line select circuitry 43 generates an output signal at the beginning of the predefined video line. The current implementation uses an up/down counter and is hardwired to select line 14, although it may be modified to select any line.

The 3 channel analog switcn 44 selects between the 3 inputs based on the control logic control signals, to construct a new video signal for the selected line.

The control logic 45 uses inputs from the line select circuit 43 and two device control timers 46, and 47 to generate output control signals to the 3 channel analog switch 44. First it inserts the device control data onto a 53 microsecond wide control window 48 starting 8 microseconds after the line sync (the output waveform on designated control video line pulse width is function of device control level). Inside the control window 48, any original video data is replaced by the control waveform whose signal level moves between logic levels of '0' and ' 1' . The control waveform consists of two pulses, whose width indicated the control value from 0% to 100%. A control value of 0% is represented by a pulse width of 2 microseconds while a value of 100% has a 22 microsecond width. The first pulse is the control value for device 49 and the second is for device 50.

The adjustable timer 46, and 47 generates the control pulse widths based on the setting of the device control potentiometers .

An AC Adapter 52 provides the Video data encoder 36 with 6Volt DC power supply 53.

Fig. 11 VIDEO / SERIAL DATA DECODER The video/serial data decoder 54/55 received encoded data from two sources, a video input 56 and serial port 57 through RS 232 57b. The input select switch determines which data source will be processed. The video input 56 nas a 75 ohm termination and buffer 5c The sync separator 59 extracts horizontal 60 and vertical 61 sync pulses from the video input . Also, this circuit also controls the sampling of the blanking voltage level m the video data slicer 62 on the video input. The data slicer 62 converts tne analog control pulses to logic levels. The slicer level is set to the blanκmg voltage plus 0.3 volts. The line select circuitry 63 generates an output signal at the beginning of the predefined video line. The current implementation uses an up/down counter and is hardwired to select line 14, although it may be modified to select any line. The interval counter 64 measures the width of the control pulses. It uses the _ line select signal to trigger its activity. The data processing 65 receives the control signals from either the serial data receiver 66 or interval counter 64, depending on the input select switch 67. The data is converted to digital control values and is latched into the dual DAC 68. The data processing 65 also performs data integrity checks on the incoming data and filters out any anomalies which may cause undesired spikes or gaps in the control levels. The serial data receiver 66 and processing circuitry 65 bring in the digital control message. It performs data integrity checks. The control data is converted to digital values and is latched into the DAC 68. The device control data ranges between 0 and full scale. The decoder 54 '55 has a range and offset adjustment 83/84 for the device output used to set the minimum and maximum voltages for the device which will then correspond to the 0 or full scale control values. The Regulator 85/86 follows the input range of the control voltage and It may limit the output to the tactile output device 71/72. The serial data receiver 66 interfaces to the serial input port 57. This is used when the control data _s being received from a computer ratner than a video source The serial data transmitter 69 interlaces to tne infrared transmitter 7C to send a digital message to the remote unit Tnis message includes tne digital control value for device 71 The four sections, serial data receiver 66, transmitter 69, interval counter 64 and data processing 65, may be implemented m a microcontroller 73 The device control data ranges between 0 and full scale The decoder has a range and offset adjustment for eacn of the two device outputs used to set the minimum and maximum voltages for the devices which will then correspond to the 0 or full scale control values. An AC Adapter 74 provides the data encoder 55/54 with 9Volt DC power supply 75.

Fig. 12 REMOTE DATA DECODER The infrared receiver 76 converts the infrared signals to electrical signals. The serial data receiver and processing circuitry 77 (this circuitry may be part of the microcontroller bring in the digital control message. It performs data integrity checks. Also it fills in control gaps caused by short infrared link outages. The control data is converted to digital values and is latched into the DAC 78. The device control data ranges between 0 and full scale. The decoder 80 has a range and offset adjustment 79 for the device output used to set the minimum and maximum voltages for tne device which will then correspond to the 0 or full scale control values The Regulator 82 follows the input range of tne control voltage and it may int the output to the tactile output device 71 A 6Volt DC power supply 81 provides the Remote data encoder 80 with electricity.

Fiσ. 13 SIMPLE DEVICE CONTROLLER The Simple Device Control 94 runs under Windows 95. Place the 'sdc.ini file 100 into the system folder 101. Once the program 102 is started, it will send a steady stream on control data out the serial port 103. The serial port must be connected to the decoder 104. If it is not, then the program will appear as if it 'locked-up', this is because Windows 95 will hold up the program waiting for the proper hardware handshaking between the computer port 103 and decoder 104. The Simple Device Control 'mi' file 100 has the following format and flexibility; [SDCConfigj port=COM2 set to desired port baud=9600 leave at 9600 parity=E leave at Even partity frequency=5 number of control messages sent per second recommend setting to 5 databits=7 leave at 7 bit data stopbits=l recommend settng to 1 stop bit

On the display 105 are two vertical slide bars labeled device 71 and 72 and markings from 0 to 100%, with 256 minor increments. At the top of the slide bars, display the current slide pointer position m both per cent % and hex value 106/107. From the computer console 99, the operator will be able to manipulate the slide bars as follows; Mouse 98 - point, click and drag the slide pointer with the mouse. Keyboard 97 - Tab between the two slides and exit button to select. Keyboard 97 - Page up/down, Up/down arrows to move the slide pointer. Up/down arrow moves the pointer 1 increments. Page up/down arrow moves the pointer by 10 increments. Home, goes to maximum value. End, goes to the minimum value. Fig . 1 4 If the medium _ε c.σita. such as digital audio tape, DVD, CD-ROM, CD's, computers, Internet etc information can easily be processed ano extracted since digital information _s very manageable. A DVD Player 108 for example can connect to the decoder 104 through, S-Video 110, Infra red port 109 receiving digital data The serial data receiver 107 will process information from, for example, a infrared receiver 106 instead througn the RS-232. When the serial data receiver 107 receives information the decoder 104 processes information much m the same way as described m Fig. 11.

Fig. 15 Analog DATA DECODER If the decoder 104 connects to an analog output of for example, the audio output of a DVD player 105, this has a termination and a buffer lllβ. Then the data slicer 107 The sync separator 59 controls the sampling of the blanking voltage level in the data slicer 107 on the video input. The data slicer 107 converts the analog control pulses to logic levels. The slicer level is set to a particular blanking voltage. The data processing 65 receives the control signals from the Data slicer 107. The data is converted to digital control values and is latched into the dual DAC 68. The data processing 65 also performs data integrity checks on the incoming data and filters out any anomalies which may cause undesired spikes or gaps m the control levels. The device control data ranges between 0 and full scale. The decoder 54/55 has a range and offset adjustment 83/84 for the device output used to set the minimum and maximum voltages for the device which will then correspond to the 0 or full scale control values. The Regulator 85/86 follows the input range of the control voltage and It may limit the output to the tactile output device 71/72. The device control data ranges between 0 and full scale The decoder has a range ano offset adjustment for each or the two device outputs used to set the minimum ano maximum voltages for tne devices .vnich xll tnen correspond to the 0 or full scale control values

An AC Adapter 74 provides the data encoder 55/54 with 9Volt DC power supply 75 Most of the process for the analog application other then Video is the same.

Fig. 16 The simple device controller 94 can also be used to record tactile output data into a file 115 This file 115 can be combined with an Mpeg file 116. These two files 115/116 can be played back in a synchronized mode. These two files 115/116 can be recordet onto a DVD player 108. Using this conzept a variety of digital file data can be combined with with the tactile file 115.

Conclusions, Ramifications, and Scope

Accordingly it can be seer that a highly flexible and interactive system has been created allowing users to interact with tactile feedback that is controlled by a variety of mediums Also it can be seen that aesthetically shaped, and more important, dermatologically compatible devices can be created, that include tactile functionality and interactively Although the description above contains specificity s, these should not be construed as limiting the scope of the invention but as merely providing examples of some of the preferred embodiments of this invention. Various other embodiments and ramifications are possible withm its scope. For example, in some instances the material that encases the tactile output device could comprise of silicon, rubber, plastic, skin imitations as used m current adult toys, etc. the tactile output device may use temperature feedback, vibrational feedback robotic devices, hydraulic feedback, suction devices, temperature c_hanging devices, or any other suited feedback means to interact with this svstem It can be seen that a variety of devices analog and digital can connect the Video serial Data encoder Communication means other than a personal computer can be used for feedback sucn as prerecorded information from DVD player, CD-ROM, television, Internet, or any other suitable medium. The serial link can be replaced with a Infrared port, an S-Video output, or can use amalog or digital outputs available on current electronic devices. Transforming means mig_ht be replaced oy any another suitable electricity manipulation means other then a potentiometer means Also, the components of this system such as computing means, transforming means, and tactile output means may not be physically connected, but implement a wire less communication system. Each unit of the system of the present invention the controller, the tactile output device, and the regulator, don't have to be separate units they can be combined such that they are physically a part of each other. The embodiments of the system of the present invention can be combined such as, for example, the system of the present invention can be linked to the Internet through a computer or through television communications and the user can talk with each other over the pnone system. To reduce bandwidth over the Internet a variety of solutions are available. Video conferencing over the pnone system can be used to supply with visual and audio connections. The simple device controller or a similar computer program can be used to record tactile feedback to a file that can be used m synchronization with an Mpeg file. Also this recordet tactile file can oe used with other Format such as DVD format, CD-ROM format, Http format, etc. The voltage and amperage input may vary with the tactile output device that is used with the system of the present invention. A software controller such as a simple device controller can be used to control ■ the system of the present invention from other computing platforms such as Macintosh, Lmex, etc. The decoder and encoder system of tne present invention can be adapted to connect to DVD, CD-ROM, etc. player. Thus the scope cf tne invention should be determined by the appended claims and their legal equivalents, rather then by the examples given.

Claims

What is claimed is:

1. A system for controlling sensory tactile stimulation of a user including: a motor means wnich generates vibrations ; a materia. means enclosing said motor means as to protect said motor means from liquid and said material means translates said motor means vibrational energy; a regulating means, and said regulating means translates an input signal coming from a controlling means into an understandable output signal for said motor means ; a controlling means, and said controlling means originates said signal that is send to said motor means.

2. A controlling system as set forth m claim 1 wherein said motor attaches a weight to its axis to generate vibrations.

3. A controlling system as set forth in claim 1 wherein said controlling means generates live information to supply said regulating means with a signal .

4. A controlling system as set forth in claim 3 wherein said live information is generated off a computing means.

5. A controlling system as set forth in claim 3 wherein said live information is transmitted through the Internet.

6. A controlling system as set forth claim 1 wherein said controlling means plays back pre-recorded information to supply said regulating means with a signal.

" A controlling system as set forth m claim 6 wnere said recorded information is located on video tape

8. A controlling system as set forth claim 6 wherein said recorded information is located on Digital Video Disk (DVD) .

9. A controlling system as set forth in claim 1 wherein said regulating means translates an input signal coming from a controlling means into a variable output signal for said motor means; said variable output allows said motor to generate a range of vibrations between zero and maximum strength.

10. A system for controlling including: a motor means; a pump means being driven by said motor means as to propel non solid material means . a regulating means, and said regulating means translates an input signal coming from a controlling means into an understandable output signal for said motor means , a controlling means, and said controlling means originates said signal that is send to said motor means.

11. A controlling system as set forth in claim 10, wherein said controlling means is transmitted through the Internet.

12. A controlling system as set forth in claim 10 wherein said regulating means translates an input signal coming from a controlling means into a variable output signal for said motor means; said variable output allows said motor to control said pump output ranging om zero to maximum output .

12 A system for controlling sensory tactile stimulation of a user including a temperature change means a regulating means and said regulating means translates an input signal coming from a controlling means into an understandable output signal for said temperature change means ^• a controlling means, and said controlling means communicates said signal . Said signal is a recording being played back

14. A system for controlling sensory tactile stimulation of a user including: a temperature change means ; a regulating means, and said regulating means translates an input signal coming from a controlling means into an understandable output signal for said temperature change means; a controlling means, and said controlling means communicates said signal Said signal s transmitted via computer.

15 A system for controlling sensory tactile stimulation of a user including a voice coil transducer means as to generate vibrations a regulating means, and said regulating means translates an input signal coming from a controlling means into an understandable output signal for said voice coil transducer means; a controlling means, and said controlling means originates said signal that is send to voice coil transducer means.

16. A controlling system as set ^forth m claim 15 wherein said voice coil transducer means generates independent frequency and amplitude values

17. A controlling system as set forth in claim 15 wherein said controlling means generates live information to supply said regulating means with a signal.

18. A controlling system as set forth in claim 17, wherein said live information is generated off a computing means.

19. A controlling system as set forth in claim 17, wherein said live information is transmitted through the Internet.

20. A controlling system as set forth in claim 15 wherein said controlling means plays back pre-recorded information to supply said regulating means with a signal.

21. A controlling system as set forth in claim 20 wherein said recorded information is located on video tape.

22. A controlling system as set forth m claim 20 wherein said recorded information is located on Digital Video DISK (DVD) .

23. A controlling system as set forth in claim 15 wherein said regulating means translates an input signal coming from a controlling means into a variable output signal for voice coil transducer means; said variable output allows said voice coil transducer to generate a range of vibrations between zero and maximum strength.

24. A system for controlling sensory tactile stimulation cf a user including- a voice co l transducer means as to generate vibrations; a regulating means, and sa d regulating means translates an input signal coming from a controlling means into an understandable output signal for said voice coil transducer means; a hand control means, and said hand control means originates said signal that is send to said voice coil transducer means.