Haptic controller with touch-sensitive control knob

A controller comprising:

• a rotatable knob;
• at least one motor that is operable to apply torque to the rotatable knob;
• one or more touch sensors comprising at least one touch sensor arranged on one or more surfaces of the rotatable knob;
• and
• a control system configured to:
• receive touch data generated by the one or more touch sensors;
• receive operating data indicating one or more operating modes for the rotatable knob, wherein the one or more operating modes are associated with at least one grip;
• based on a comparison of the touch data to predetermined grip data that specifies parameters for detection of a plurality of grips on the rotatable knob, detect when each of the plurality of grips occurs on the rotatable knob, wherein the plurality grips comprises at least a first and second grip;
• when a first grip from the plurality of grips is detected, set a first operating mode as a current operating mode for the rotatable knob;
• when a second grip from the plurality of grips is detected, set a second operating mode as the current operating mode for the rotatable knob, wherein operation in the second operating mode changes the manner in which the motor applies torque to the rotatable knob, as compared to operation in the first operating mode;
• and
• operate the at least one motor to apply torque to the rotatable knob in accordance with the current operating mode.

A method comprising:

• detecting, by a computing system, touch data generated by one or more touch sensors arranged on a rotatable knob of a controller, wherein the one or more touch sensors are arranged on the rotatable knob so as to generate touch data that provides a basis for distinguishing between two or more grips on the rotatable knob;
• detecting first touch data with the one or more sensors on the rotatable knob;
• based on a comparison of the first touch data to predetermined grip data that specifies parameters for detection of a plurality of grips including a first grip and a palming grip on the rotatable knob, determining that the first touch data corresponds to the first grip of the plurality of grips on the rotatable knob, and responsively, generating first command data for a computing device;
• detecting second touch data with the one or more touch sensors on the rotatable knob;
• based on a comparison of the second touch data to the predetermined grip data, determining that the second touch data corresponds to a second grip different from the first grip of the plurality of grips on the rotatable knob, and responsively, generating second command data for the computing device, wherein the first touch data is indicative of the first grip on the rotatable knob and the second touch data is indicative of the palming grip on the rotatable knob and the predetermined grip data is configured to distinguish between the first grip where one or more fingers touch the rotatable knob and the palming grip where a palm touches the rotatable knob,
• wherein the rotatable knob has a cylindrical shape configured for holding in two hands whereby a first end of the cylindrical shape is held by a left hand while a second end of the cylindrical shape, opposite the first end, is held by a right hand.