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US 12,656,872 B2Granted
System and method for device feedback control
AssigneeApple Inc.
InventorsMax Fahrenkopf, Matthew D. Fortier
Life of this patent
Estimating the term…
Abstract
A system applies a feedback force along the first axis in response to a repositioning force applied to a component by a user. A controller determines a target position for the component and varies the feedback force in accordance with a position of the component with respect to the target position wherein the feedback force is different in a first direction away from the target position than in a second direction toward the target position.
Claims20
A device, comprising:
- a member that connects a first part of the device to a second part of the device to allow movement of the second part with respect to the first part about a first axis;
- one or more actuators that are configured to apply a feedback force to the second part along the first axis in response to a repositioning force applied to the second part by a user;
- a camera configured to obtain images of an environment around the device, wherein the camera is coupled to the second part such that movement of the second part with respect to the first part moves the camera with respect to the first part;
- and
- a controller configured to detect an entity using the images from the camera, determine a target position for the second part according to a position of the entity, and to vary the feedback force in accordance with a position of the second part with respect to the target position wherein a magnitude of the feedback force is different in a first direction away from the target position than in a second direction toward the target position.
2 more elements
A method, comprising:
- obtaining images of an environment using a camera coupled to a second part such that movement of the second part with respect to a first part moves the camera with respect to the first part;
- detecting an entity using the images from the camera;
- determining a target position for the second part with respect to the first part according to a position of the entity;
- comparing a current position of the second part to the target position;
- sensing an external force that is applied to the second part;
- determining whether a direction of the external force corresponds to movement of the second part away from the target position or movement of the second part toward the target position;
- and
- applying a feedback force to the second part using one or more actuators, wherein the feedback force is applied according to a first magnitude in response to determining that the direction of the external force corresponds to movement of the second part away from the target position, and the feedback force is applied according to a second magnitude in response to determining that the direction of the external force corresponds to movement of the second part toward the target position.
5 more elements
A non-transitory computer-readable storage device comprising program instructions, wherein the program instructions, when executed by a processor, cause the processor to perform operations, the operations comprising:
- obtaining images of an environment using a camera coupled to a second part such that movement of the second part with respect to a first part moves the camera with respect to the first part;
- detecting an entity using the images from the camera;
- determining a target position for the second part with respect to the first part according to a position of the entity;
- comparing a current position of the second part to the target position;
- sensing an external force that is applied to the second part;
- determining whether a direction of the external force corresponds to movement of the second part away from the target position or movement of the second part toward the target position;
- and
- applying a feedback force to the second part using one or more actuators, wherein the feedback force is applied according to a first magnitude in response to determining that the direction of the external force corresponds to movement of the second part away from the target position, and the feedback force is applied according to a second magnitude in response to determining that the direction of the external force corresponds to movement of the second part toward the target position.
5 more elements
Dependencies are inferred from the claim text.