Non linear predictive model for haptic waveform generation

A system, comprising:

• a sequencer that divides a reference waveform into reference sequences;
• a sequence adjuster;
• a model of a haptic rendering signal chain, wherein the haptic rendering signal chain includes a haptic transducer load and a driver to the load;
• wherein for each reference sequence of the reference sequences:
• (a) the sequence adjuster transforms the reference sequence into a test sequence using one or more parameters;
• (b) the model generates an output in response to the test sequence;
• (c) an error signal is generated that measures a difference between the output and the reference sequence;
• (d) if the error signal is above a threshold:
• the one or more parameters are adjusted based on the error signal;
• operations (a) through (d) are repeated until the error signal is below the threshold in which case the test sequence becomes a selected sequence;
• and
• the selected sequence is sent to the haptic rendering signal chain;
• wherein the haptic rendering signal chain further includes a sensor that senses signals comprising a load current and/or a load voltage of the load;
• wherein the model of the haptic rendering signal chain includes a model of the sensor;
• and
• an estimator that transforms the outputs of the model of the sensor into a signal that estimates a modeled haptic effect rendered by the model of the haptic rendering signal chain in response to each of the test sequences.