# US 2019/0356202 A1 · Haptic Device

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- Number: US 2019/0356202 A1
- Document ID: US20190356202A1
- Status: Published application
- Kind: A1
- Application number: 16/525,929
- Filed: 2019-07-30
- Published: 2019-11-21
- Earliest claimed: 2016-03-20
- Inventors: Eric K. Wang
- Web page: https://patentgrep.com/patent/US20190356202A1

## CPC

- H02K 11/21: Devices for sensing speed or position, or actuated thereby (specially adapted for machines having non-mechanical commutating devices H02K29/06, H02K29/14)
- G08B 6/00: Tactile signalling systems, e.g. tactile personal calling systems
- H02K 5/15: Mounting arrangements for bearing-shields or end plates
- H02K 5/1732: {radially supporting the rotary shaft at both ends of the rotor (H02K5/1737 takes precedence)}
- H02K 7/04: Balancing means
- H02K 7/116: with gears
- H02K 5/24: specially adapted for suppression or reduction of noise or vibrations
- H02K 7/1166: {comprising worm and worm-wheel (structural association with bearings specially adapted for worm gear drives H02K7/081)}
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS

## Abstract

One embodiment is an untethered, handheld, kinesthetic, haptic device that produces torque using gyroscopic precession to eliminate the need for a grounded surface. In particular, one embodiment is a haptic device that includes: (a) an angular momentum generator apparatus; and (b) a torque generator apparatus coupled to the angular momentum generator apparatus; wherein: (i) the angular momentum generator apparatus is adapted to generate one or more predetermined values of angular momentum; and (ii) the torque generator apparatus is adapted to apply a torque to the angular momentum generator apparatus to cause the angular momentum generator apparatus to rotate about a rotation direction which is perpendicular to a direction of the angular momentum generated by the angular momentum generator apparatus.

## Claims

### Claim 1

A haptic device comprises:
an angular momentum generator apparatus; and
a torque generator apparatus coupled to the angular momentum generator apparatus;
wherein:
the angular momentum generator apparatus is adapted to generate one or more predetermined values of angular momentum; and
the torque generator apparatus is adapted to apply a torque to the angular momentum generator apparatus to cause the angular momentum generator apparatus to rotate about a rotation direction which is perpendicular to a direction of the angular momentum generated by the angular momentum generator apparatus.

### Claim 2 (depends on 1)

The haptic device of claim 1 which further comprises:
a base coupled to the torque generator apparatus.

### Claim 3 (depends on 2)

The haptic device of claim 2 wherein the base is coupled to the torque generator apparatus so that steady/continuous rotation of the angular momentum generator apparatus caused by the torque generator apparatus does not cause a rotation of the base.

### Claim 4 (depends on 3)

The haptic device of claim 3 which further comprises a handle mechanism coupled to the base.

### Claim 5 (depends on 4)

The haptic device of claim 4 which further comprises:
a controller and a position sensor;
wherein:
the position sensor is coupled to the controller and is adapted to detect rotation positions of the angular momentum generator apparatus;
the controller is coupled to the angular momentum generator apparatus and to the torque generator apparatus; and
the controller is adapted:
(a) to cause the angular momentum generator apparatus to generate the predetermined values of angular momentum; and
(b) to cause the torque generator apparatus to rotate the angular momentum generator apparatus at one or more predetermined values of angular velocity.

### Claim 6 (depends on 5)

The haptic device of claim 5 wherein the controller is adapted to cause the angular momentum generator apparatus to generate an angular momentum having a zero magnitude during at least a portion of its rotation about the rotation direction and to generate an angular momentum whose magnitude is non-zero during at least another portion of its rotation about the rotation direction.

### Claim 7 (depends on 6)

The haptic device of claim 6 which further comprises a handle mechanism coupled to the base.

### Claim 8 (depends on 7)

The haptic device of claim 7 wherein the handle mechanism is adapted to be held using two hands.

### Claim 9 (depends on 8)

The haptic device of claim 8 wherein the handle mechanism comprises two handles.

### Claim 10 (depends on 6)

The haptic device of claim 6 wherein the angular momentum generator apparatus comprises one or more gyroscopes.

### Claim 11 (depends on 7)

The haptic device of claim 7 wherein the controller is adapted to receive input specifying a direction and magnitude for haptic output at the handle mechanism.