# US 12,111,968 B2 · Haptic feedback system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,968 B2 - Document ID: US12111968B2 - Status: Granted - Kind: B2 - Application number: 18/050,373 - Filed: 2022-10-27 - Published: 2023-06-08 - Granted: 2024-10-08 - Earliest claimed: 2021-11-25 - Assignees: Electronics and Telecommunications Research Institute - Applicants: Electronics and Telecommunications Research Institute - Inventors: Wooseup Youm; Hye Jin Kim; YuLim Min; Yun-Jeong Kim; Hanbit Jin; Chan-Hwa Hong - Web page: https://patentgrep.com/patent/US12111968B2 ## CPC - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract Provided is a haptic waveform storage system including a sensor configured to measure a target object to generate a sensing signal including tactile texture information, a waveform extraction unit configured to extract a basic frequency and an envelope from the sensing signal and generate haptic waveform information including information about the basic frequency and the envelope, and a library storage unit configured to store the haptic waveform information. ## Claims ### Claim 1 A haptic waveform storage system comprising: a sensor configured to measure a target object to generate a sensing signal including tactile texture information; a waveform extraction unit configured to extract a basic frequency and an envelope from the sensing signal and generate haptic waveform information including information about the basic frequency and the envelope; and a library storage unit configured to store the haptic waveform information, wherein the waveform extraction unit is configured to set a reciprocal number of the basic frequency as a basic period and extract a point having highest intensity from the sensing signal every basic period to extract the envelope. ### Claim 2 (depends on 1) The haptic waveform storage system of claim 1, wherein the waveform extraction unit is configured to calculate the basic frequency based on a rising time of the sensing signal. ### Claim 3 (depends on 1) The haptic waveform storage system of claim 1, wherein the waveform extraction unit is configured to receive a class setting input for classifying a type of the target object to classify and label the haptic waveform information, and the library storage unit is configured to store the labeled haptic waveform information in a library form. ### Claim 4 (depends on 3) The haptic waveform storage system of claim 3, wherein the number of classes in the class setting input is determined according to the type of the target object, a type of a material, and a type of a measurement situation. ### Claim 5 (depends on 3) The haptic waveform storage system of claim 3, wherein the library storage unit includes a class table, wherein the class table is configured to store the haptic waveform information in a library form. ### Claim 6 (depends on 1) The haptic waveform storage system of claim 1, wherein the library storage unit includes a data storage medium. ### Claim 7 A method for operating a haptic waveform storage system, the method comprising: generating a sensing signal including tactile texture information by measuring a target object; calculating a basic frequency based on a rising time of the sensing signal; extracting an envelope by setting a basic period corresponding to a reciprocal number of the basic frequency and by extracting a point having highest intensity from the sensing signal every basic period; and storing haptic waveform information including information about the basic frequency and the envelope in a library storage unit. ### Claim 8 (depends on 7) The method of claim 7, comprising: receiving a class setting input for classifying a type of the target object; classifying and labeling the haptic waveform information based on the class setting input; and storing, in the library storage unit, the labeled haptic waveform information in a library form. ### Claim 9 (depends on 8) The method of claim 8, wherein the number of classes in the class setting input is determined according to the type of the target object, a type of a material, and a type of a measurement situation. ### Claim 10 (depends on 8) The method of claim 8, wherein the library storage unit includes a class table, wherein the class table stores the haptic waveform information in a library form. ### Claim 11 (depends on 7) The method of claim 7, wherein the library storage unit includes a data storage medium. ### Claim 12 A haptic feedback system comprising: a haptic waveform storage system configured to generate haptic waveform information from a target object and store the haptic waveform information in a library storage unit; and a haptic waveform generation system configured to generate a tactile texture waveform based on the haptic waveform information stored in the library storage unit, wherein the haptic waveform information includes information about a basic frequency calculated from a sensing signal measured from the target object and an envelope extracted from the sensing signal, wherein the haptic waveform storage system is configured to calculate the basic frequency based on a rising time of the sensing signal and generate the haptic waveform information including information about the basic frequency and the envelope, and wherein the haptic waveform generation system is configured to generate a rendered waveform signal by generating a sinewave having the same frequency as the basic frequency and combining the sinewave with the envelope, and generate the tactile texture waveform based on the rendered waveform signal. ### Claim 13 (depends on 12) The haptic feedback system of claim 12, wherein the haptic waveform generation system includes: a signal rendering unit configured to receive the haptic waveform information from the library storage unit and generate the rendered waveform signal; and a terminal configured to generate the tactile texture waveform by reproducing the rendered waveform signal. ### Claim 14 (depends on 13) The haptic feedback system of claim 13, wherein the terminal is a virtual reality (VR) device in which virtual reality is implemented, and the terminal is configured to generate a class selection signal including class information corresponding to an object interacting in the virtual reality, and wherein the signal rendering unit is configured to receive the haptic waveform information from the library storage unit based on the class selection signal. ### Claim 15 (depends on 14) The haptic feedback system of claim 14, wherein the terminal includes an interface directly connected to a hand of a user, wherein the interface is configured to generate the tactile texture waveform by reproducing the rendered waveform signal. ### Claim 16 (depends on 12) The haptic feedback system of claim 12, wherein the haptic waveform storage system is configured to set a reciprocal number of the basic frequency as a basic period and extract a point having highest intensity from the sensing signal every basic period to extract the envelope. ### Claim 17 (depends on 14) The haptic feedback system of claim 14, wherein the library storage unit includes a data storage medium. ### Claim 18 (depends on 14) The haptic feedback system of claim 14, wherein the library storage unit includes a class table configured to store the haptic waveform information.