# US 10,372,219 B1 · Pneumatically controlled haptic mechanisms with nested internal structures for haptic feedback

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- Number: US 10,372,219 B1
- Document ID: US10372219B1
- Status: Granted
- Kind: B1
- Application number: 16/058,950
- Filed: 2018-08-08
- Granted: 2019-08-06
- Earliest claimed: 2018-08-08
- Assignees: Facebook Technologies, LLC
- Applicants: Facebook Technologies, LLC
- Inventors: Zachary Daniel West; Aaron Alan Ambuske; John Dietrich Martin; Brian Fletcher; Nicholas Roy Corson; Brian Cox; Charles Stewart; Tristan Thomas Trutna
- Web page: https://patentgrep.com/patent/US10372219B1

## CPC

- G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user}
- F15B 15/10: the motor being of diaphragm type
- G02B 27/017: {Head mounted}
- G06F 3/012: {Head tracking input arrangements}
- G06F 3/014: {Hand-worn input/output arrangements, e.g. data gloves}
- G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
- G02B 2027/0187: {slaved to motion of at least a part of the body of the user, e.g. head, eye}
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- F15B: SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS

## Abstract

An apparatus for creating haptic stimulations is provided. The apparatus includes pod(s) coupled to a garment, each pod including: (i) an outer internal structure that defines an opening, (ii) an inner internal structure disposed in the opening defined by the outer internal structure, and (iii) an airtight bladder, pneumatically coupled with a pneumatic device, surrounding the inner and outer internal structures. Further, when a bladder of a respective pod is at a first pressure, respective top surfaces of the internal structures contact a first portion of a user's body, said contact with the first portion of the body having a first area, and when the bladder is at a second pressure, the top surface of the inner internal structure and/or the top surface of the outer internal structure contact a second portion of the user's body, said contact with the second portion of the body having a second area.

## Claims

### Claim 1

An apparatus for creating haptic stimulations, comprising:
one or more pods coupled to a garment, each pod including:
(i) an outer internal structure that defines an opening;
(ii) an inner internal structure disposed in the opening defined by the outer internal structure; and
(iii) an airtight bladder, pneumatically coupled with a pneumatic device, surrounding the inner and outer internal structures, the pneumatic device being configured to control a pressure inside the bladder,
wherein:
when a bladder of a respective pod is at a first pressure, respective top surfaces of the inner and outer internal structures contact a first portion of a user's body, said contact with the first portion of the user's body having a first surface area; and
when the bladder of the respective pod is at a second pressure different from the first pressure, the top surface of the inner internal structure and/or the top surface of the outer internal structure contact a second portion of the user's body, said contact with the second portion of the user's body having a second surface area different from the first surface area.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein:
the opening is a first opening; and
the inner internal structure defines a second opening with a largest dimension that is shorter than a largest dimension of the first opening.

### Claim 3 (depends on 2)

The apparatus of claim 2, wherein:
the inner internal structure is a first inner internal structure; and
each pod further comprises a second inner internal structure disposed in the second opening defined by the first inner internal structure.

### Claim 4 (depends on 3)

The apparatus of claim 3, wherein:
when the bladder of the respective pod is at a third pressure different than the first and second pressures:
the top surface of the first inner internal structure and/or a top surface of the second inner internal structure contact a third portion of the user's body, said contact with the third portion of the user's body having a third surface area different from the first and second surface areas.

### Claim 5 (depends on 4)

The apparatus of claim 4, wherein:
the second pressure is greater than the first pressure;
the third pressure is greater than the second pressure;
the third surface area is less than the second surface area; and
the second surface area is less than the first surface area.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein the outer internal structure and inner internal structure of each pod are configured to:
(i) have a first degree of flexibility when the bladder of the respective pod is at the first pressure; and
(ii) have a second degree of flexibility, less than the first degree of flexibility, when the bladder is at the second pressure.

### Claim 7 (depends on 1)

The apparatus of claim 1, wherein:
the top surface of the inner internal structure extends from the top surface of the outer internal structure to a first height when at the second pressure.

### Claim 8 (depends on 1)

The apparatus of claim 1, wherein:
when the bladder of the respective pod is at the first pressure, the respective top surfaces of the inner and outer structures are at respective first heights; and
when the bladder of the respective pod is at the second pressure, the respective top surfaces of the inner and outer structures are at respective second heights different from the respective first heights.

### Claim 9 (depends on 1)

The apparatus of claim 1, wherein:
the top surface of the inner internal structure extends from the top surface of the outer internal structure to a first height when the bladder of the respective pod is at the first pressure; and
the top surface of the inner internal structure extends from the top surface of the outer internal structure to a second height greater than the first height when the bladder of the respective pod is at the second pressure, which is greater than the first pressure.

### Claim 10 (depends on 1)

The apparatus of claim 1, wherein the outer internal structure and inner internal structure of each pod include two substrates connected through and separated by a material formed between the two substrates.

### Claim 11 (depends on 10)

The apparatus of claim 10, wherein:
the material is a spun filament mesh;
the filament mesh in a first pod of the one or more pods is configured to make the inner internal structure of the first pod take a first shape when the bladder of the first pod is at the first pressure;
the filament mesh in a second pod, distinct from the first pod, of the one or more pods is configured to make the inner internal structure of the second pod take a second shape, different from the first shape, when the bladder of the second pod is at the second pressure; and
the filament mesh in the second pod is deposited in a different pattern from the filament mesh in the first pod.

### Claim 12 (depends on 11)

The apparatus of claim 11, wherein:
the first shape taken by the first pod includes a single ridge or dome; and
the second shape taken by the second pod includes multiple ridges or domes that extend to multiple heights.

### Claim 13 (depends on 1)

The apparatus of claim 1, wherein:
the pneumatic device is in communication with a remote computing device; and
the pneumatic device is configured to change a pressure of the bladder in one or more respective pods of the one or more pods in response to receiving one or more signals from the remote computing device.

### Claim 14 (depends on 13)

The apparatus of claim 13, wherein:
the remote computing device is in communication with a head-mounted display that presents content to the user, the head-mounted display including an electronic display; and
the one or more signals correspond to content displayed on the electronic display.

### Claim 15 (depends on 14)

The apparatus of claim 14, further comprising one or more sensors, coupled to the garment, configured to generate spatial and motion data about the user's movements,
wherein the spatial and motion data are communicated to the remote computing device.

### Claim 16 (depends on 15)

The apparatus of claim 15, wherein:
the one or more signals further correspond to the spatial and motion data; and
the one or more signals are generated by the remote computing device to impede the user's movements.

### Claim 17 (depends on 1)

The apparatus of claim 1, wherein a difference between the first area of contact and the second area of contact is substantially proportional to a difference between the first pressure and the second pressure.

### Claim 18 (depends on 1)

The apparatus of claim 1, wherein:
when the bladder of the respective pod is at the first pressure, the user experiences a haptic stimulation at the first portion of his or her body;
when the bladder of the respective pod is at the second pressure, the user experiences a different haptic stimulation at the second portion of his or her body; and
the second surface area is less than the first surface area.

### Claim 19 (depends on 18)

The apparatus of claim 18, wherein:
the first portion of the user's body includes dorsal surfaces of a distal phalange of a finger and an intermediate phalange of the finger; and
the second portion of the user's body includes:
the dorsal surface of the distal phalange of the finger;
the dorsal surface of the intermediate phalange of the finger; or
a joint region between the dorsal surfaces of the distal phalange and the intermediate phalange of the finger.

### Claim 20

A wearable device for creating haptic stimulations, comprising:
a garment configured to be worn on a portion of a user's body; and
one or more pods coupled to the garment, each pod including:
(i) an outer internal structure that defines an opening;
(ii) an inner internal structure disposed in the opening defined by the outer internal structure; and
(iii) an airtight bladder, pneumatically coupled with a pneumatic device, surrounding the inner and outer internal structures, the pneumatic device being configured to control a pressure inside the bladder,
wherein:
when a bladder of a respective pod is at a first pressure, respective top surfaces of the inner and outer internal structures contact a first portion of a user's body, said contact with the first portion of the user's body having a first surface area; and
when the bladder of the respective pod is at a second pressure different from the first pressure, the top surface of the inner internal structure and/or the top surface of the outer internal structure contact a second portion of the user's body, said contact with the second portion of the user's body having a second surface area different from the first surface area.

### Claim 21

A system for creating haptic stimulations, comprising:
a computing device;
a pneumatic device in communication with the computing device;
a wearable device in communication with the computing device, comprising:
one or more pods coupled to a garment of the wearable device, each pod including:
(i) an outer internal structure that defines an opening;
(ii) an inner internal structure disposed in the opening defined by the outer internal structure; and
(iii) an airtight bladder, pneumatically coupled with a pneumatic device, surrounding the inner and outer internal structures, the pneumatic device being configured to control a pressure inside the bladder,
wherein:
when a bladder of a respective pod is at a first pressure, respective top surfaces of the inner and outer internal structures contact a first portion of a user's body, said contact with the first portion of the user's body having a first surface area; and
when the bladder of the respective pod is at a second pressure different from the first pressure, the top surface of the inner internal structure and/or the top surface of the outer internal structure contact a second portion of the user's body, said contact with the second portion of the user's body having a second surface area different from the first surface area.