Systems and methods for multi-rate control of haptic effects with sensor fusion

A method comprising:

• receiving a first sensor signal from a first sensor, the first sensor configured to sense the output of a haptic output device;
• receiving a second sensor signal from a second sensor, the second sensor configured to sense the output of the haptic output device;
• fusing the first sensor signal and the second sensor signal to create a fused sensor signal;
• receiving a reference signal;
• determining an error between the reference signal and the fused sensor signal;
• generating a haptic signal based at least in part on first sensor signal, the second sensor signal, and the error;
• and
• transmitting the haptic signal to a haptic output device configured to output a haptic effect based on the haptic signal.

A system comprising:

• a haptic output device configured to output a haptic effect;
• a first sensor configured to sense the output of the haptic output device and generate a first sensor signal;
• a processor in communication with the first sensor, the processor configured to:
• sample the first sensor signal from the first sensor at a first rate;
• sample a second sensor signal from a second sensor the second sensor configured to sense the output of the haptic output device;
• fuse the first sensor signal and the second sensor signal to create a fused sensor signal;
• receive a reference signal;
• determine an error between the fused sensor signal and the reference signal;
• generate a haptic signal based at least in part on the reference signal and the error;
• transmit the haptic signal to a haptic output device configured to output a haptic effect based on the haptic signal;
• and
• sample the first sensor signal at a second rate, wherein the second rate is lower than the first rate.

A system comprising:

• a haptic output device configured to output a haptic effect;
• a first sensor configured to sense the output of the haptic output device and generate a first sensor signal;
• a second sensor configured to sense the output of the haptic output device and generate a second sensor signal;
• a processor in communication with the first sensor, the processor configured to:
• receive the first sensor signal from the first sensor;
• receive the second sensor signal from the second sensor;
• fuse the first sensor signal and the second sensor signal to create a fused sensor signal:
• receive a reference signal:
• determine an error between the reference signal and the fused sensor signal:
• generate a haptic signal based at least in part on the first sensor signal, and the second sensor signal, and the error:
• and
• transmit the haptic signal to a haptic output device configured to output a haptic effect based on the haptic signal.

A non-transitory computer readable medium comprising program code, which when executed by a processor is configured to cause the processor to:

• sample a first sensor signal from the first sensor at a first rate;
• sample a second sensor signal from a second sensor the second sensor configured to sense the output of a haptic output device;
• fuse the first sensor signal and the second sensor signal to create a fused sensor signal;
• receive a reference signal;
• determine an error between the fused sensor signal and the reference signal;
• generate a haptic signal based at least in part on the reference signal and the error;
• transmit the haptic signal to the haptic output device configured to output a haptic effect based on the haptic signal.