Systems and methods for multi-level closed loop control of haptic effects

A system comprising:

• a haptic output device configured to output a haptic effect;
• a sensor configured to sense the output of the haptic output device and generate a sensor signal;
• a processor in communication with the sensor and configured to:
• receive a reference signal;
• select closed loop processing or open loop processing to transmit a signal to the haptic output device based on at least one of:
• i) availability of a sensor signal from the sensor, or ii) a state of the haptic output device,
• wherein, closed loop processing is selected based on:
• a) the sensor signal from the sensor being available;
• or b) the state of the haptic output device, closed loop processing comprising:
• determining an error based at least in part on the reference signal and the sensor signal;
• generating a haptic signal based at least in part on the reference signal and the error;
• and
• transmitting the haptic signal to the haptic output device configured to output a haptic effect based on the haptic signal;
• and
• wherein, open loop processing is selected based on:
• a) the sensor signal from the sensor being unavailable;
• or b) the state of the haptic output device, open loop processing comprising:
• transmitting the reference signal to the haptic output device configured to output a haptic effect based on the reference signal.

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

• receive a reference signal;
• select closed loop processing or open loop processing to transmit a signal to a haptic output device, the selection based on at least one of:
• (i) availability of a sensor signal from a sensor configured to sense the output of the haptic output device;
• or (ii) a state of the haptic output device;
• wherein, closed loop processing is selected based on:
• a) the sensor signal from the sensor being available;
• or b) the state of the haptic output device, and closed loop processing comprises:
• determining an error between the sensor signal and the reference signal;
• generating a haptic signal based at least in part on the reference 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;
• wherein, open loop processing is selected based on:
• a) the sensor signal from the sensor being unavailable;
• or b) the state of the haptic output device, and open loop processing comprises:
• transmitting the reference signal to the haptic output device to output a haptic effect based on the reference signal.