Facebook Patent | Artificial reality devices, including haptic devices and coupling sensors

Patent: Artificial reality devices, including haptic devices and coupling sensors

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Publication Number: 20210081048

Publication Date: 20210318

Applicant: Facebook

Abstract

An apparatus for creating haptic stimulations is provided. The apparatus includes an inflatable bladder and a support structure attached to a portion of the inflatable bladder. The inflatable bladder is fluidically coupled to a pressure-changing device that is configured to control a fluid pressure of the inflatable bladder. The support structure includes a predefined pattern of cuts, and is configured to expand (or otherwise deform) in one or more directions according to a design of the predefined pattern of cuts and in relation with a fluid pressure inside the inflatable bladder. When the inflatable bladder receives the fluid from the source, the inflatable bladder expands, which causes the support structure to expand in the one or more directions and also to reinforce the inflatable bladder in the one or more directions. A wearable device and a system for creating haptic simulations are also disclosed.

Claims

1. An apparatus for creating haptic stimulations, comprising: an inflatable bladder fluidically coupled to a pressure-changing device, the pressure-changing device being configured to control a fluid pressure of the inflatable bladder; and a support structure, attached to a portion of the inflatable bladder, that includes a predefined pattern of cuts, the support structure being configured to deform in one or more directions according to (i) a design of the predefined pattern of cuts and (ii) in relation with a fluid pressure inside the inflatable bladder, wherein: when the inflatable bladder receives fluid via the pressure-changing device, the inflatable bladder expands, which causes the support structure to (i) deform in the one or more directions and also (ii) reinforce the inflatable bladder in the one or more directions.

2. The apparatus of claim 1, wherein: the support structure is configured to be planar when the fluid pressure inside the inflatable bladder is below a threshold pressure; and the support structure is configured to form a three-dimensional shape when the fluid pressure inside the inflatable bladder is at or above the threshold pressure.

3. The apparatus of claim 1, wherein the one or more directions include at least one out-of-plane direction.

4. The apparatus of claim 1, wherein the support structure undergoes strain hardening in the one or more directions when the pressure-changing device increases the fluid pressure inside the inflatable bladder to or above a threshold pressure.

5. The apparatus of claim 1, wherein the support structure is configured to: (i) have a first strain in the one or more directions when the inflatable bladder has a first fluid pressure; and (ii) have a second strain, greater than the first strain, in the one or more directions when the inflatable bladder has a second fluid pressure that is greater than the first fluid pressure.

6. The apparatus of claim 1, wherein the support structure is further configured to impart an amount of force onto the inflatable bladder, whereby the amount of force is related to the fluid pressure inside the inflatable bladder.

7. The apparatus of claim 1, wherein the predefined pattern of cuts of the support structure imparts anisotropic properties onto the support structure.

8. The apparatus of claim 1, wherein the support structure is configured to: (i) have a first three-dimensional shape when the inflatable bladder has a first fluid pressure; and (ii) have a second three-dimensional shape, distinct from the first three-dimensional shape, when the inflatable bladder has a second fluid pressure that is smaller than the first fluid pressure.

9. The apparatus of claim 8, wherein the support structure is further configured to: impart a first amount of force onto the inflatable bladder when the support structure has the first three-dimensional shape; and impart a second amount of force, greater than the first amount of force, onto the inflatable bladder when the support structure has the second three-dimensional shape.

10. The apparatus of claim 1, wherein the predefined pattern of cuts includes any of: orthogonal cuts or triangular cuts.

11. The apparatus of claim 1, wherein cuts of the predefined pattern of cuts are no greater than 5 millimeters in size.

12. The apparatus of claim 1, wherein: the support structure includes a material that has a larger tensile strength than a material of the inflatable bladder; and the predefined pattern of cuts is defined by the material of the support structure.

13. The apparatus of claim 1, wherein: the support structure includes a thin film; and the predefined pattern of cuts is defined by the thin film.

14. The apparatus of claim 1, wherein: the pressure-changing device is in communication with a computing device; and the pressure-changing device is configured to change the fluid pressure of the inflatable bladder in response to receiving one or more signals from the computing device.

15. The apparatus of claim 14, wherein: the computing device is in communication with a head-mounted display that presents content to a wearer of the head-mounted display, the head-mounted display including an electronic display; and the one or more signals correspond to content displayed on the electronic display.

16. A wearable device for creating haptic stimulations, comprising: a garment configured to be worn on a portion of a wearer’s body; and a haptic assembly attached to the garment, the haptic assembly comprising: an inflatable bladder fluidically coupled to a pressure-changing device, the pressure-changing device being configured to control a fluid pressure of the inflatable bladder; a support structure, attached to a portion of the inflatable bladder, that includes a predefined pattern of cuts, the support structure being configured to deform in one or more directions according to (i) a design of the predefined pattern of cuts and (ii) in relation to a fluid pressure inside the inflatable bladder, wherein when the inflatable bladder receives fluid via the pressure-changing device, the inflatable bladder expands, thereby: (i) providing a haptic stimulation to a wearer of the garment; and (ii) causing the support structure to (a) deform in the one or more directions and (b) reinforce the inflatable bladder in the one or more directions.

17. A system for creating haptic stimulations, comprising: a computing device; a pressure-changing device in communication with the computing device; a garment configured to be worn on a portion of a wearer’s body; and a haptic assembly comprising: an inflatable bladder fluidically coupled to a pressure-changing device, the pressure-changing device being configured to control a fluid of the inflatable bladder; a support structure, attached to a portion of the inflatable bladder, that includes a predefined pattern of cuts, the support structure being configured to deform in one or more directions according to (i) a design of the predefined pattern of cuts and (ii) in relation with a fluid pressure inside the inflatable bladder, wherein when the inflatable bladder receives fluid via the pressure-changing device, the inflatable bladder expands, thereby: (i) providing a haptic stimulation to a wearer of the garment; and (ii) causing the support structure to (a) expand in the one or more directions and also (b) reinforce the inflatable bladder in the one or more directions.

18. The system of claim 17, further comprising: a head-mounted display in communication the computing device, wherein the computing device is configured to: generate an instruction that corresponds to visual data to be displayed by the head-mounted display; send the instruction to the pressure-changing device, wherein the instruction, when received by the pressure-changing device, causes the pressure-changing device to change the fluid pressure inside the inflatable bladder; and send the visual data to the head-mounted display.

Description

RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Application No. 62/899,112, filed Sep. 11, 2019, entitled “Planar-to-3D Structures for Patterning Reinforcements on Arbitrarily Shaped Fluidic Actuators,” U.S. Provisional Application No. 62/930,500, filed Nov. 4, 2019, entitled “Wearable Devices with Magneto-Fluid Actuators for Creating Haptic Feedback,” U.S. Provisional Application No. 62/938,127, filed Nov. 20, 2019, entitled “Haptic Devices with Integrated Grounding and Haptic-Feedback Mechanisms,” and U.S. Provisional Application No. 62/941,511, filed Nov. 27, 2019, entitled “Coupling Quality Sensor for Human Coupled Devices,” each of which is incorporated by reference herein in its entirety.

TECHNICAL FIELD

[0002] This application relates generally to haptic stimulation, including creating haptic stimulations on users of virtual and/or augmented reality devices, and measuring the quality of human coupled devices.

BACKGROUND

[0003] Virtual and augmented reality devices have wide applications in various fields, including engineering design, medical surgery practice, military simulated practice, and video gaming. Haptic or kinesthetic stimulations recreate the sense of touch by applying forces, vibrations, and/or motions to a user, and are frequently implemented with virtual and augmented reality devices. In certain applications, haptic stimulations are desired at locations where dexterity and motion of the user cannot be constrained. Conventional haptic creating devices, however, are cumbersome and therefore detract from the user experience.

[0004] Artificial-reality devices have wide applications in various fields, including engineering design, medical surgery practice, military simulated practice, and video gaming. Haptic or kinesthetic stimulations (i.e., haptic feedback) recreate the sense of touch by applying forces, vibrations, and/or motions to a user, and are frequently implemented with artificial-reality devices (e.g., virtual-reality devices, augmented-reality devices, etc.). In certain applications, haptic stimulations are desired at locations where dexterity and motion of the user cannot be constrained. Conventional haptic-feedback creating devices, however, are cumbersome and therefore detract from the user experience.

[0005] Moreover, in the real world, when a person contacts a physical object (e.g., grasps a glass of water), vertical and shearing stresses are perceived by the person due to the physical object’s inertia and weight. Additionally, upon making contact with a physical object, a person’s skin may also be locally deformed by the physical object’s ridges and textures. Such a stimulation is known as skin shear, and the ability of a haptic-feedback creating device to recreate such skin shear is essential for the believability of artificial-reality scenes that involve grasping (or other similar interactions) with virtual objects.

[0006] Artificial-reality devices (e.g., virtual-reality devices, augmented-reality devices, etc.) have wide applications in various fields, including engineering design, medical surgery practice, military simulated practice, and video gaming. Haptic or kinesthetic stimulations recreate the sense of touch by applying forces, vibrations, and/or motions to a user, and are frequently implemented with artificial-reality devices in the form of a wearable device. Performance of these wearable devices with haptic-creating mechanisms is closely related to how well these mechanisms are attached to a user’s body during operation, and how reliably they transfer forces to the user’s body. “Grounding” refers to the part of wearable devices responsible for transferring the forces from a haptic-creating mechanism to the user’s body. Careful grounding design is critical for a wearable device’s performance and, in turn, a user’s experience with the artificial-reality device as a whole. Furthermore, at present, skin shear haptic displays are bulky and represent undue encumbrance on a user’s body, such as the fingertip.

[0007] Virtual reality (VR) and/or augmented reality (AR) technologies allow users to interact with technologies in different ways, e.g., VR and/or AR allows a user to tactilely interact with the digital world. Wearable devices for VR and/or AR may allow users to interact with the digital world through a medium distinct from an electronic device’s screen. For example, a wearable device, such as a glove, is fitted to a user to provide haptic feedback on the user’s hand to provide an immersive VR and/or AR interaction. However, determining whether the wearable device is in proper contact with the user (e.g., so that the wearable device can provide adequate and consistent haptic feedback to the user) presents a challenge.

SUMMARY

[0008] The present application consolidates the disclosures of the four provisional applications to which it claims priority.

[0009] Accordingly, there is a need for devices and systems that can create haptic stimulations on a user without constraining dexterity and motion of the user. One solution is a wearable device that includes novel haptic mechanisms, referred to herein as “haptic assemblies.” The haptic assemblies include a bladder that is made from flexible and durable materials that do not encumber the user but are still able to create adequate haptic stimulations. Further, the bladders are airtight such that a pressure inside the bladders can be varied to create various haptic stimulations. By changing the pressure, a respective bladder can go from being flexible to having some degree of rigidity (and vice versa), and it is this transition that creates the haptic stimulations felt by the user. The haptic assemblies also include a support structure that is coupled to the bladder. The support structure is made from a material that is stronger and less elastic than the materials of the bladder. However, the support structure includes a predefined pattern of cuts that allows the support structure to have anisotropic properties (e.g., the support structure is rigid or semi-rigid in one or more first directions and elastic or semi-elastic in one or more second directions). In view of the above, the support structure may be able to expand or otherwise elastically deform in one or more directions due to the predefined pattern of cuts so that the support structure can conform to a shape or expansion of a bladder while reinforcing a shape, strength, and/or durability of the bladder due to the anisotropic properties of the support structure.

[0010] (A1) In accordance with some embodiments, the solution explained above can be implemented on an apparatus that includes an inflatable bladder and a support structure that is attached to the inflatable bladder. The inflatable bladder is fluidically coupled (e.g., pneumatically, electrically, hydraulically, etc.) to a pressure-changing device (e.g., a pneumatic device, a hydraulic device, etc.) that is configured to control a fluid pressure (e.g., pressurized state) of the inflatable bladder. The support structure includes a predefined pattern of cuts, and is configured to deform (e.g., elastically deform, expand, lengthen, or otherwise shift) in one or more directions according to a design of the predefined pattern of cuts and in relation to (e.g. based on) a fluid pressure inside the inflatable bladder. When the inflatable bladder receives the fluid from the source, the inflatable bladder expands, which causes the support structure to expand in the one or more directions and also to reinforce the inflatable bladder in the one or more directions. In some embodiments, as the support structure expands or otherwise deforms, it strains and exerts a force against the portion of the inflatable bladder, thereby constricting expansion of the inflatable bladder in the one or more directions. In some embodiments, the support structure is strain hardened when expanded in the one or more directions. In some embodiments, the support structure is elastic. In some embodiments, the inflatable bladder is configured to receive a fluid from the pressure-changing device.

[0011] In some embodiments, the support structure is configured to have a variable shape according to a design of the predefined pattern of cuts and in relation with (e.g., based on) the fluid pressure inside the inflatable bladder. The support structure is configured to impart an amount of force that is related to the fluid pressure inside the inflatable bladder.

[0012] (A2) In accordance with some embodiments, the solution explained above can be implemented on a wearable device that includes a garment configured to be worn on a portion of a wearer’s body, and a haptic assembly coupled to the garment. The haptic assembly has the structure of the apparatus of A1.

[0013] (A3) In accordance with some embodiments, the solution explained above can be implemented by a system that includes a computing device, a pressure-changing device in communication with the computing device, and a haptic assembly that may or may not be in communication with the computing device. The haptic assembly has the structure of the apparatus of A1. Furthermore, the computing device is configured to control a pressurized state of the haptic assembly by controlling the pressure-changing device.

[0014] The wearable devices discussed above, in some instances, are worn on the user’s body (e.g., a hand, an arm, a wrist, or an ankle) and can be used to stimulate areas of the body. Moreover, the wearable device can be in communication with a remote device (e.g., a virtual reality device and/or an augmented reality device, among others), and the wearable device can stimulate the body based on an instruction from the remote device. As an example, the remote device may display media content to a user (e.g., via a head-mounted display), and the remote device may also instruct the wearable device to create haptic stimulations that correspond to the media content displayed to the user and/or other information collected by the wearable device.

[0015] Thus, the devices and systems described herein provide benefits including but not limited to: (i) stimulating areas of the body that correspond to media content and sensor data, (ii) the wearable device does not encumber free movement of a user’s body until desired, and (iii) multiple wearable devices can be used simultaneously.

[0016] In accordance with some embodiments, a computer system includes one or more processors/cores and memory storing one or more programs configured to be executed by the one or more processors/cores. The one or more programs include instructions for performing the operations of any of the methods described herein. In accordance with some embodiments, a non-transitory computer-readable storage medium has stored therein instructions that, when executed by one or more processors/cores of a computer system, cause the computer system to perform the operations of any of the methods described herein. In accordance with some embodiments, a system includes a wearable device, a head-mounted display (HMD), an external device (e.g., pressure-changing device 210, FIG. 2) and a computer system to provide video/audio feed to the HMD and instructions to the wearable device, the HMD, and/or the external device.

[0017] Accordingly, there is a need for devices and systems that can apply haptic stimulations to users of artificial-reality devices without constraining dexterity and motion of the users. Furthermore, there is also a need for devices and systems that can render believable skin shear stimulations. To illustrate skin shear, in a simple artificial-reality scene, a user’s avatar may (i) grab a glass of water from a table, (ii) hold and raise the glass, and (iii) then empty the glass by rotating/tipping the glass. Thus, to render this haptic interaction, the devices and systems need to allow for control of stretch direction and intensity. One solution is a haptic device that includes a novel arrangement of magnets that are configured to interact with each other to render various haptic stimulations on a user, including skin shear stimulations. This haptic device also uses fluid pressure to move the magnets, and, thus, the haptic device may be referred to herein as a magneto-fluid actuator.

[0018] (C1) In some embodiments, the solution explained above can be implemented on a haptic device that includes: (A) a housing that (i) supports a flexible membrane and (ii) defines a plurality of channels configured to receive a fluid from a source, (B) an end-effector magnet, coupled to the flexible membrane, configured to impart (i.e., deliver, apply) one or more haptic stimulations to a portion of a user’s body (e.g., a skin shear stimulation), and (C) a plurality of secondary magnets, housed by the housing, configured to move (e.g., repel) the end-effector magnet through magnetic force. Moreover, a distance separating the end-effector magnet from the plurality of secondary magnets is varied according to a fluid pressure in one or more of the plurality of channels.

[0019] (C2) In some embodiments of C1, each respective secondary magnet is: (i) aligned with a corresponding channel of the plurality of channels (i.e., a distinct one of the plurality of channels), and (ii) configured to elevate from a default position toward the end-effector magnet and move the end-effector magnet through the magnetic force, in response to the source increasing the fluid pressure in the corresponding channel, of the plurality of channels, that is aligned with the respective secondary magnet.

[0020] (C3) In some embodiments of C2, the haptic device further includes one or more bladders, each being positioned between a respective secondary magnet of the plurality of secondary magnets and the corresponding channel of the plurality of channels. Furthermore, each respective bladder of the one or more bladders is configured to expand and elevate the respective secondary magnet toward the end-effector magnet, in response to the source increasing the fluid pressure in the corresponding channel. Note that, in some embodiments, a respective bladder and a respective secondary magnet collectively form a pocket/bubble actuator.

[0021] (C4) In some embodiments of any of C2-C3, the flexible membrane is configured to stretch in response to the respective secondary magnet moving the end-effector magnet through the magnetic force.

[0022] (C5) In some embodiments of any of C2-C4, movement of the end-effector magnet by the respective secondary magnet causes the portion of the user’s body to experience a haptic stimulation (e.g., when the respective secondary magnet is elevated from the default position toward the end-effector magnet).

[0023] (C6) In some embodiments of any of C1-C5, the end-effector magnet is configured to impart a first haptic stimulation (e.g., a skin shear stimulation) to the portion of the user’s body when the fluid pressure in one or more (less than all) of the plurality of channels is increased from a default pressure level, said fluid pressure increase causing one or more (less than all) of the plurality of secondary magnets to elevate toward and move the end-effector magnet through the magnetic force. Furthermore, the end-effector magnet is configured to impart a second haptic stimulation (e.g., a pure pressure stimulation), different from the first haptic stimulation, to the portion of the user’s body when the fluid pressure in each of the plurality of channels is increased from the default pressure level (e.g., to the same pressure level), said fluid pressure increase causing each of the plurality of secondary magnets to elevate toward and move the end-effector magnet through the magnetic force. Note that the fluid pressure in each channel can be increased at the same rate, or different rates. In other words, each secondary magnet may be elevated to the same height or one or more different heights. In some instances, increasing at different rates can cause the user to experience a range of shear-type stimulations.

[0024] (C7) In some embodiments of any of C1-C6, the end-effector magnet is configured to impart different shear stimulations to the portion of the user’s body depending on (i) which of the plurality of channels experiences a fluid pressure increase, and (ii) a magnitude of the fluid pressure increase.

[0025] (C8) In some embodiments of any of C1-C7, each respective channel includes: (i) an inlet that is to receive the fluid from the source, and (ii) an outlet that is aligned with a respective secondary magnet of the plurality of secondary magnets, whereby the fluid received from the source fills the respective channel and applies a force to the respective secondary magnet via the outlet (e.g., a respective bladder 309).

[0026] (C9) In some embodiments of any of C1-C8, when the fluid pressure in each of the plurality of channels is at a default pressure level, the end-effector magnet is positioned in a default position. In contrast, when the fluid pressure in at least one of the plurality of channels is increased above the default pressure level, the end-effector magnet is magnetically repelled by the at least one of the plurality of secondary magnets.

[0027] (C10) In some embodiments of any of C1-C9, the haptic device also includes a substrate. In such embodiments, the plurality of secondary magnets is coupled to the substrate, the flexible membrane is positioned on a first plane, and the substrate is positioned on a second plane that is parallel to and offset from the first plane. For example, the substrate is beneath the flexible membrane.

[0028] (C11) In some embodiments of any of C1-C10, each of the plurality of channels is individually serviced by the source.

[0029] (C12) In some embodiments of C11, the haptic device also includes one or more processors in communication with a computer device. In such embodiments, the one or more processors are configured to receive an instruction from the computer device and control operation of the source based on the instruction. Alternatively, in some embodiments, the source is controlled by a computing device (e.g., operates based on instructions directly from the computing device).

[0030] (C13) In some embodiments of any of C11-C12, the source is a pneumatic device, and the fluid is air.

[0031] (C14) In some embodiments of any of C1-C13, the end-effector magnet is aligned with a primary axis, and each of the plurality of magnets is aligned with a distinct secondary axis that (i) parallels the primary axis and (ii) is offset from the primary axis in a unique direction.

[0032] (C15) In some embodiments of any of C1-C14, when in a first state, the end-effector magnet is not magnetically influenced by any of the plurality of secondary magnets and, when in a second state, the end-effector magnet is magnetically influenced by one or more secondary magnets, less than all, of the plurality of secondary magnets (may or may not be equal influence). Furthermore, when in a third state, the end-effector magnet is magnetically influenced (e.g., may or may not be equal influence) by each secondary magnet of the plurality of secondary magnets.

[0033] (C16) In another yet aspect, a haptic device is provided that includes the means for performing the functions of any of C1-C15. For example, the haptic device may include means for supporting a membrane, a first magnetic means for imparting one or more haptic stimulations to a portion of a user’s body, a second magnetic means for moving the first magnetic means through magnetic force (and so on).

[0034] (D1) In another yet aspect, a wearable device is provided that includes a wearable structure to be worn on a portion of a user’s body. The wearable device also includes one or more haptic assemblies, whereby each haptic assembly is coupled to the wearable structure. Furthermore, each haptic assembly includes the structure of the haptic device of C1 (and also, in some embodiments, the structure of C2-C15).

[0035] (D2) In some embodiments of D1, the wearable structure is a glove, and the one or more haptic assemblies are distributed along digits of the glove.

[0036] (E1) In another aspect, a system is provided that includes a computing device and a fluid source in communication with the computing device. The system also includes a wearable device that includes at least one haptic assembly that has the structure of the haptic device of A1 (and also, in some embodiments, the structure of C2-C15).

[0037] (E2) In some embodiments of E1, the fluid source is configured to inject fluid into one or more target channels of the plurality of channels at a desired pressure in response to receiving an instruction from the computing device. In addition, the instruction specifies the desired pressure and the one or more target channel.

[0038] Existing wearable devices do not implement adequate grounding mechanisms. Most designers have focused their efforts on basic passive grounding techniques, such as a Velcro strap that is used to secure the haptic-creating mechanisms (and the wearable device generally) to the user’s hand. This approach results in a cumbersome grounding solution where each strap requires large pretension to adequately secure a haptic-creating mechanisms to the user’s body. Due to the design and nature of the straps, this approach also restricts blood flow, making these devices uncomfortable. Furthermore, donning and doffing a wearable device with these types of straps is a labor intensive task, as each strap has to be physically undone and reattached between uses, which makes the entire artificial-reality experience sub-optimal.

[0039] Accordingly, there is a need for devices and systems that can be used to ground wearable devices (and their associated components, such as haptic-creating mechanisms) to a user’s body. There is also a need for devices and systems that can create adequate skin shear while fitting into a glove (or similar article of clothing) form factor (i.e., the devices are not bulky and cumbersome). Embodiments herein cover a wearable device that implements active grounding techniques. Active grounding refers to a grounding assembly that actuates some mechanism or device to effectuate grounding. One example of active grounding involves bladders, which can be inflated or deflated to attach or detach a wearable device to a user’s body Active grounding devices can be computer controlled, meaning that said devices can be controlled to provide optimal grounding forces and fit to a particular user (e.g., body size will change from user to user). Thus, active grounding provides a much more ergonomic and optimal user experience. Furthermore, active grounding can reduce the donning and doffing time of the wearable device considerably as the inflatable bladders can be deflated quickly, meaning that the wearable device can be attached and detached to the user’s body with ease.

[0040] Moreover, the wearable device also includes the ability to create a wide range of haptic stimulations, in addition to providing optimal grounding forces. In particular, a soft robotic approach is used to generate shear (tangential) and compression (normal) forces to the user’s body simultaneously (or separately). For the case of one degree-of-freedom shear, a single belt is attached to two rotary actuators (the “belt-rotatory actuator assembly”), whereby the belt wraps around a portion of the user’s body, such as his or her fingertip. When one of the actuators is pressurized, the belt is pulled in one direction and generates shear force. When both actuators are pressurized, the belt is pulled from both ends and generates compression force on the user’s fingertip. Notably, to obtain an efficient actuation, the two rotary actuators have a novel folded design that can generate high force and displacement simultaneously. Note that the wearable device can achieved two degrees-of-freedom shear (or more) by including multiple instances of the belt-rotatory actuator assembly (as shown in FIGS. 28A and 28B).

[0041] (F1) In some embodiments, a haptic device is provided that includes a housing having a first structure configured to be positioned on a distal phalange of a user’s finger, and a second structure configured to be positioned at a joint connecting the distal phalange and an intermediate phalange of the user’s finger. The haptic device also includes a first bladder that is (i) positioned on an inner surface of the first structure and (ii) fluidically coupled to a fluid source. The haptic device also includes a second bladder that is (i) positioned on an inner surface of the second structure and (ii) fluidically coupled to the fluid source.

[0042] (F2) In some embodiments of F1, the inner surface of the first structure defines a first channel, and the first bladder is positioned in the first channel.

[0043] (F3) In some embodiments of F2, the inner surface of the second structure defines a second channel, and the second bladder is positioned in the second channel.

[0044] (F4) In some embodiments of any of F1-F3, the housing also includes (i) a first port shaped to receive a first conduit that is coupled with the fluid source, whereby the first port extends through the housing to the inner surface of the first structure, and (ii) a second port shaped to receive a second conduit that is coupled with the fluid source, whereby the second port extends through the housing to the inner surface of the second structure.

[0045] (F5) In some embodiments of F4, fluid from the fluid source travels through the first conduit to the first port and inflates the first bladder. Likewise, fluid from the fluid source travels through the second conduit to the second port and inflates the second bladder.

[0046] (F6) In some embodiments of any of F1-F5, the first bladder is configured to (i) inflate in response to receiving a fluid from the fluid source and (ii) tighten around the distal phalange of the user’s finger when inflated to a desired pressure. Also, the second bladder is configured to (i) inflate in response to receiving the fluid from the source and (ii) tighten around the joint connecting the distal phalange and the intermediate phalange of the user’s finger when inflated to a desired pressure.

[0047] (F7) In some embodiments of F6, the haptic device also includes a sensor configured to measure a size the user’s finger. In such embodiments, the desired pressures for the first and second bladders are set based on the size of the user’s finger measured by the sensor. In some embodiments, the sensor is configured to measure a grounding force applied to the user and said measurements are used to adaptively adjust the desire pressures for the first and second bladders to obtain a desired comfortable grounding force.

[0048] (F8) In some embodiments of F7, the fluid source is in communication with the sensor, and the fluid source is configured to change the pressure in the first and second bladders in response to receiving one or more signals from the sensor.

[0049] (F9) In some embodiments of any of F1-F8, the fluid source is in communication with a computing device, and the fluid source is configured to change the pressure in the first and second bladders in response to receiving one or more signals from the computing device.

[0050] (F10) In some embodiments of F9, the computing device is in communication with a head-mounted display that presents content to the user, the head-mounted display including an electronic display. In such embodiments, the one or more signals correspond to content displayed on the electronic display.

[0051] (F11) In some embodiments of F9, the computing device receives measurements gathered by the sensor, and generates the one or more signals based on the measurements gathered by the sensor.

[0052] (F12) In some embodiments of any of F1-F11, when in an inactive state, the first and second bladders are unpressurized. When in an active state, the first and second bladders are pressurized to the desired pressures.

[0053] (F13) In some embodiments of any of F1-F12, when the user’s finger has a first size, the desired pressures for the first and second bladders are set to first pressure levels. When the user’s finger has a second size greater than the first size, the desired pressures for the first and second bladders are set to second pressure levels that are less than the first pressure levels.

[0054] (F14) In some embodiments of any of F1-F13, the first and second bladders are set to (i.e., inflated to) distinct pressure levels.

[0055] (F15) In some embodiments of any of F1-F14, the housing defines an open space that separates the first and second structures. Moreover, the haptic device also includes an actuator coupled to the housing and positioned in the open space defined by the housing, whereby the actuator is configured to apply haptic stimulations to the user (e.g., shear-based haptic ques and/or compression-based haptic ques).

[0056] (F16) In some embodiments of F15, the actuator includes (i) a belt configured to wrap, at least partially, around the user’s finger, and (ii) a first inflatable pocket coupled to a first end portion of the belt, and (iii) a second inflatable pocket coupled to a second end portion of the belt.

[0057] (F17) In some embodiments of F16, the first inflatable pocket is fluidically coupled to the fluid source, and when the first inflatable pocket receives a fluid from the fluid source, the first inflatable pocket is configured to pull the belt in a first direction. Also, the second inflatable pocket is fluidically coupled to the fluid source, and when the second inflatable pocket receives a fluid from the fluid source, the second inflatable pocket is configured to pull the belt in a second direction, which is opposite the first direction.

[0058] (F18) In some embodiments of any of F16-F17, when the first and second inflatable pockets each receives the fluid from the fluid source, the first and second inflatable pockets are configured to pull the belt in the first and second directions simultaneously.

[0059] (F19) In some embodiments of any of F16-F18, the actuator further includes third and fourth pockets coupled to distinct portions of the belt. In such embodiments, when inflated by the fluid source, the third and fourth pockets are configured to pull the belt in distinct third and fourth directions that are different from the first and second directions.

[0060] (F21) In another aspect, an artificial-reality device is provided that includes a computer, a fluid/pressure source in communication with the computer, and a haptic device in communication with the computer. The haptic device has the structure of the device of F1-F19.

[0061] (F22) In another aspect, a wearable device is provided that includes a gourmet and at least one haptic device coupled to the gourmet. The at least one haptic device has the structure of the device of F1-F19.

[0062] (G1) In yet another aspect, a haptic device is provided that includes a housing having a first structure configured to be positioned on a first portion of a user, and a second structure configured to be positioned on a second portion of the user. The haptic device also includes an actuator coupled to the housing and positioned in an open space defined by the housing between the first and second structures, whereby the actuator is configured to apply a haptic stimulation to the user in response to receiving a fluid from a fluid source.

[0063] (G2) In some embodiments of G1, the haptic device also includes a first bladder (i) positioned on an inner surface of the first structure and (ii) configured to expand in response to receiving a fluid from the fluid source. The haptic device may also include a second bladder (i) positioned on an inner surface of the second structure and (ii) configured to expand in response to receiving a fluid from the fluid source.

[0064] (G3) In some embodiments of any of G1-G2, the haptic device has the structure of the device of any of F1-F19.

[0065] Accordingly, there is a need for methods, devices, and systems for determining whether a wearable device is in proper contact with a user’s skin or clothing, in order to provide a consistent fit and haptic feedback. Embodiments herein are directed toward a sensor system that employs transmit and receive electrodes to determine whether contact (and, in some cases, the quality of the contact) is made between the wearable device and the user.

[0066] In some embodiments, a wearable device is provided that includes a plurality of sensors (e.g., electrodes). The wearable device in some instances is worn on the user’s wrist (or various other body parts) and is used to send and receive signals identifying whether one or more sensors are in direct contact with the user. In some embodiments, the wearable device adjusts a fit of itself, or a separate wearable structure, to provide a custom fit for the user (i.e., the fit is dynamically changed based on the present circumstances). Moreover, the wearable device can be in communication with a host system (e.g., a virtual reality device and/or an augmented reality device, among others), and the wearable device can adjust a fit of itself, or the separate wearable structure, based on instructions from the host system. As an example, the host system may present media to a user (e.g., may instruct a head-mounted display to display images of the user holding a cup), and the host system may also instruct the wearable device to adjust a fit of the wearable device so that haptic feedback generated by the wearable device (or, a particular structure of the wearable device) is properly applied to the user (e.g., adjust the fit so that an actuator (or some other component) of the wearable device is placed in proper contact with the user’s skin).

[0067] The devices, systems, and methods described herein provide benefits including but not limited to: (i) generating coupling information between a sensor and a user, (ii) determining a contact pressure and/or a proximity between the sensor and the user, (iii) reporting the coupling information, and (iv) dynamically adjusting a fit of the wearable structure according to the coupling information (if needed). Also, the sensor system described herein that is used to detect coupling with the user has a streamlined, simplified design that reduces manufacturing costs, and an overall encumbrance of the wearable device.

[0068] (H1) In accordance with some embodiments, a method is performed at a wearable device that is detachably coupled to an appendage of a user. The wearable device includes a transmit and a receive electrode. The method includes instructing the transmit electrode to transmit a set of signals to be received by the receive electrode. The set of signals transmitted by the transmit electrode creates a signal pathway between the transmit and receive electrodes and at least some signals in the set of signals are received by the receive electrode. The method further includes receiving, from the receive electrode, coupling information indicating a proximity of the receive electrode to the user’s appendage. In some embodiments, the coupling information is generated based on, at least in part, the signals in the set of signals are received by the receive electrode. In accordance with a determination that the coupling information does not satisfy a coupling criterion, reporting a coupling deficiency between the receive electrode and the user’s appendage. The coupling deficiency can be used to determine that the wearable device (or some structure of the wearable device) is not properly positioned on the user’s body.

[0069] (H2) In some embodiments of the method of H1, the transmit electrode is located on the user’s appendage at a first location and the receive electrode is located on the user’s appendage at a second location distinct from the first location of the transmit electrode.

[0070] (H3) In some embodiments of the method of any of H1-H2, the receive electrode includes an electrode and a dielectric composite textile fabric in contact with the user’s appendage.

[0071] (H4) In some embodiments of the method of H3, the receive electrode further includes a shield layer and a silicone layer.

[0072] (H5) In some embodiments of the method of any of H1-H4, the transmit electrode includes a shield layer, an electrode, a silicone layer, and a dielectric composite textile fabric in contact with the user’s appendage.

[0073] (H6) In some embodiments of the method of any of H1-H5, further including (i) a wearable structure configured to be worn on the user’s appendage and (ii) an actuator configured to adjust a fit of the wearable structure. The method further includes adjusting, via the actuator, a fit of the wearable structure worn on the user’s appendage based at least in part on the coupling information. For example, the coupling information (and, in turn, the coupling deficiency) may indicate that the wearable structure is positioned too far away from the user’s skin, such that a fit of the wearable structure is suboptimal. In such a circumstance, the actuator can be used to adjust the fit of the wearable structure according to the coupling information so that the wearable structure has a better fit.

[0074] (H7) In some embodiments of the method of H6, adjusting the fit of the wearable structure causes a position of the receive electrode to change.

[0075] (H8) In some embodiments of the method of any of H6-H7, adjusting the fit of the wearable structure causes a position of the transmit electrode to change.

[0076] (H9) In some embodiments of the method of any of H1-H8, the transmit electrode includes an electrode and skin of the user’s appendage. The electrode is physically coupled to the skin of the user’s appendage. In some embodiments, a textile material is coupled to the skin and the electrode is physically coupled to the textile material.

[0077] (H10) In some embodiments of the method of any of H1-H9, the coupling information includes information indicating a change in capacitance.

[0078] (H11) In some embodiments of the method of any of H1-H10, the coupling information indicates the existence of an air gap between the receive electrode and the user’s appendage. In some embodiments, the coupling information indicates a contact pressure between the electrode and the user’s appendage.

[0079] (H12) In some embodiments of the method of any of H1-H11, the coupling information is compared against baseline coupling information to determine whether the coupling information satisfies the coupling criterion. The baseline coupling information may include a measured capacitance of direct contact between the user’s appendage and the receive electrode (i.e., a perfect fit).

[0080] (H13) In another aspect, a system is provided that includes a wearable device, a wearable structure, and a computer system, and the system is configured to perform the method steps described above in any of H1-H12.

[0081] (H14) In yet another aspect, one or more wearable devices are provided and the one or more wearable devices include means for performing the method described in any one of H1-H12.

[0082] (H15) In still another aspect, a non-transitory computer-readable storage medium is provided (e.g., as a memory device, such as external or internal storage, that is in communication with a wearable device). The non-transitory computer-readable storage medium stores executable instructions that, when executed by a wearable device with one or more processors/cores, cause the wearable device to perform the method described in any one of H1-H12.

[0083] In accordance with some embodiments, a plurality of wearable device each includes one or more processors/cores and memory storing one or more programs configured to be executed by the one or more processors/cores. The one or more programs in each wearable devices includes instructions for performing one or more of the operations of the method described above. In accordance with some embodiments, a non-transitory computer-readable storage medium has stored therein instructions that, when executed by one or more processors/cores of a wearable device, cause the wearable device to perform some of the operations of the method described above (e.g., operations of the receive or transmit electrodes). In accordance with some embodiments, a system includes a wearable device (or multiple wearable devices), a head-mounted display (HMD), and a computer system to provide video/audio feed to the HMD and instructions to the wearable device.

BRIEF DESCRIPTION OF THE DRAWINGS

[0084] For a better understanding of the various described embodiments, reference should be made to the Description of Embodiments below, in conjunction with the following drawings in which like reference numerals refer to corresponding parts throughout the figures and specification.

[0085] FIG. 1 is a block diagram illustrating an exemplary haptics system, in accordance with various embodiments.

[0086] FIG. 2 is a schematic of an exemplary haptics system in accordance with some embodiments.

[0087] FIGS. 3A-3B show various views of a simplified haptic assembly in accordance with some embodiments.

[0088] FIG. 3C shows a portion of a representative wearable device that includes multiple haptic assemblies in accordance with some embodiments.

[0089] FIG. 3D shows a plurality of support structures in accordance with some embodiments.

[0090] FIGS. 4A-4B show side views of a simplified haptic assembly in accordance with some embodiments.

[0091] FIGS. 4C-4D show support structures that are shaped in a predefined manner in accordance with some embodiments.

[0092] FIG. 5 shows an exemplary wearable device in accordance with some embodiments.

[0093] FIG. 6 is a flow diagram illustrating a method of managing creation of haptic stimulations in accordance with some embodiments.

[0094] FIG. 7 shows an embodiment of an artificial-reality device.

[0095] FIG. 8 shows an embodiment of an augmented-reality headset and a corresponding neckband.

[0096] FIG. 9 shows an embodiment of a virtual-reality headset.

[0097] FIG. 10 is a block diagram illustrating an example haptics system, in accordance with various embodiments.

[0098] FIG. 11 is a schematic of an example haptics system in accordance with some embodiments.

[0099] FIGS. 12A to 12C show various views of a representative haptic assembly in accordance with some embodiments.

[0100] FIG. 13 shows an oblique view of a representative haptic assembly in accordance with some embodiments.

[0101] FIGS. 14A-14C show cross-sectional views of a representative haptic assembly in accordance with some embodiments.

[0102] FIG. 15 shows a user’s finger in contact with a representative haptic assembly.

[0103] FIGS. 16A and 16B show two simplified illustrations are different haptic creating devices.

[0104] FIG. 17 is a flow diagram illustrating a method of creating haptic stimulations in accordance with some embodiments.

[0105] FIG. 18 illustrates an embodiment of an artificial-reality device.

[0106] FIG. 19 illustrates an embodiment of an augmented-reality headset and a corresponding neckband.

[0107] FIG. 20 illustrates an embodiment of a virtual-reality headset.

[0108] FIG. 21 is a block diagram illustrating an example system, in accordance with various embodiments.

[0109] FIG. 22 is a schematic of an example system in accordance with some embodiments.

[0110] FIG. 23 shows a representative haptic-feedback mechanism attached to a user’s index finger in accordance with some embodiments.

[0111] FIGS. 24A and 24B show a representative haptic-feedback mechanism in different pressure states in accordance with some embodiments.

[0112] FIG. 24C shows additional components of the representative haptic-feedback mechanism from FIGS. 24A and 24B.

[0113] FIGS. 25A and 25B show an example actuator to be included with a representative haptic-feedback mechanism in accordance with some embodiments.

[0114] FIGS. 26A through 26C show varies views of a representative haptic-feedback mechanism in accordance with some embodiments.

[0115] FIG. 27 shows an example actuator to be included with a representative haptic-feedback mechanism in accordance with some embodiments.

[0116] FIGS. 28A and 28B show varies views of a representative haptic-feedback mechanism in accordance with some embodiments.

[0117] FIG. 29 is a flowchart for a method of controlling a haptic device in accordance with some embodiments.

[0118] FIG. 30 shows an embodiment of an artificial-reality device.

[0119] FIG. 31 shows an embodiment of an augmented-reality headset and a corresponding neckband.

[0120] FIG. 32 shows an embodiment of a virtual-reality headset.

[0121] FIG. 33A is a block diagram illustrating an example system, in accordance with various embodiments.

[0122] FIG. 33B is a block diagram illustrating an example system, in accordance with various embodiments.

[0123] FIG. 34 is a block diagram illustrating an example wearable device in accordance with some embodiments.

[0124] FIG. 35 is an example view of a wearable device on a user’s wrist, in accordance with some embodiments.

[0125] FIG. 36 is an example cross-sectional view of an electrode of a wearable device, in accordance with some embodiments.

[0126] FIG. 37 is an example view of a wearable device on a user’s finger in accordance with some embodiments.

[0127] FIG. 38 shows sensor response diagrams in accordance with some embodiments.

[0128] FIG. 39A shows example signal pathways between wearable devices in accordance with some embodiments.

[0129] FIGS. 39B and 39C show an example wearable device that includes a plurality of actuators in accordance with some embodiments.

[0130] FIG. 40 is a flow diagram illustrating a method of determining coupling quality in accordance with some embodiments.

[0131] FIG. 41 illustrates an embodiment of an artificial reality device.

[0132] FIG. 42 illustrates an embodiment of an augmented reality headset and a corresponding neckband.

[0133] FIG. 43 illustrates an embodiment of a virtual reality headset.

DESCRIPTION OF EMBODIMENTS

[0134] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. In the following description, numerous specific details are set forth in order to provide an understanding of the various described embodiments. However, it will be apparent to one of ordinary skill in the art that the various described embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

[0135] The terminology used in the description of the various described embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term “and/or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “comprises,” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

[0136] As used herein, the term “if” is, optionally, construed to mean “when” or “upon” or “in response to determining” or “in response to detecting” or “in accordance with a determination that,” depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining” or “in response to determining” or “upon detecting [the stated condition or event]” or “in response to detecting [the stated condition or event]” or “in accordance with a determination that [a stated condition or event] is detected,” depending on the context.

[0137] As used herein, the term “exemplary” is used in the sense of “serving as an example, instance, or illustration” and not in the sense of “representing the best of its kind.”

[0138] FIG. 1 is a block diagram illustrating an artificial-reality system 100 in accordance with various embodiments. While some example features are illustrated, various other features have not been illustrated for the sake of brevity and so as not to obscure pertinent aspects of the example embodiments disclosed herein. To that end, as a non-limiting example, the system 100 includes one or more wearable devices 120 (sometimes referred to as “wearable apparatuses,” or simply “apparatuses”), which are used in conjunction with a computer system 130 (sometimes referred to a “remote computer system”) and a head-mounted display 110. In some embodiments, the system 100 provides the functionality of an artificial-reality device with haptics feedback, an augmented reality device with haptics feedback, or a combination thereof.

[0139] The head-mounted display 110 presents media to a user. Examples of media presented by the head-mounted display 110 include images, video, audio, or some combination thereof. In some embodiments, audio is presented via an external device (e.g., speakers and/or headphones) that receives audio information from the head-mounted display 110, the computer system 130, or both, and presents audio data based on the audio information.

[0140] The head-mounted display 110 includes an electronic display 112, sensors 114, and a communication interface 116. The electronic display 112 displays images to the user in accordance with data received from the computer system 130. In various embodiments, the electronic display 112 may comprise a single electronic display 112 or multiple electronic displays 112 (e.g., one display for each eye of a user).

[0141] The sensors 114 include one or more hardware devices that detect spatial and motion information about the head-mounted display 110. Spatial and motion information can include information about the position, orientation, velocity, rotation, and acceleration of the head-mounted display 110. For example, the sensors 114 may include one or more inertial measurement units (IMUs) that detects rotation of the user’s head while the user is wearing the head-mounted display 110. This rotation information can then be used (e.g., by the engine 134) to adjust the images displayed on the electronic display 112. In some embodiments, each IMU includes one or more gyroscopes, accelerometers, and/or magnetometers to collect the spatial and motion information. In some embodiments, the sensors 114 include one or more cameras positioned on the head-mounted display 110.

[0142] The communication interface 116 enables input and output to the computer system 130. In some embodiments, the communication interface 116 is a single communication channel, such as HDMI USB, VGA, DVI, or DisplayPort. In other embodiments, the communication interface 116 includes several distinct communication channels operating together or independently. In some embodiments, the communication interface 116 includes hardware capable of data communications using any of a variety of custom or standard wireless protocols (e.g., IEEE 802.15.4, Wi-Fi, ZigBee, 6LoWPAN, Thread, Z-Wave, Bluetooth Smart, ISA100.11a, WirelessHART, or MiWi) and/or any other suitable communication protocol. The wireless and/or wired connections may be used for sending data collected by the sensors 114 from the head-mounted display to the computer system 130. In such embodiments, the communication interface 116 may also receive audio/visual data to be rendered on the electronic display 112.

[0143] The wearable device 120 includes a garment worn by the user (e.g., a glove, a shirt, or pants). In some embodiments, the wearable device 120 collects information about a portion of the user’s body (e.g., the user’s hand) that can be used as input for artificial-reality applications 132 executing on the computer system 130. In the illustrated embodiment, the wearable device 120 includes a haptic assembly 122, sensors 124, and a communication interface 126. The wearable device 120 may include additional components that are not shown in FIG. 1, such as a power source (e.g., an integrated battery, a connection to an external power source, a container containing compressed air, or some combination thereof), one or more processors, and memory.

[0144] The haptic assembly 122 (sometimes referred to as a “haptic feedback mechanism”) provides haptic feedback (i.e., haptic stimulations) to the user by forcing a portion of the user’s body (e.g., hand) to move in certain ways and/or preventing the portion of the user’s body from moving in certain ways. To accomplish this, the haptic assembly 122 is configured to apply a force that counteracts movements of the user’s body detected by the sensors 114, increasing the rigidity of certain portions of the wearable device 120, or some combination thereof. Various embodiments of the haptic assembly 122 are described with reference to FIGS. 3A-4D. The wearable device 120 may include one or more haptic assemblies 122, as shown in FIGS. 3A-3B and 4A-4B.

[0145] The sensors 124 include one or more hardware devices that detect spatial and motion information about the wearable device 120. Spatial and motion information can include information about the position, orientation, velocity, rotation, and acceleration of the wearable device 120 or any subdivisions of the wearable device 120, such as fingers, fingertips, knuckles, the palm, or the wrist when the wearable device 120 is a glove. The sensors 124 may be IMUs, as discussed above with reference to the sensors 114.

[0146] The communication interface 126 enables input and output to the computer system 130. In some embodiments, the communication interface 126 is a single communication channel, such as USB. In other embodiments, the communication interface 126 includes several distinct communication channels operating together or independently. For example, the communication interface 126 may include separate communication channels for receiving control signals for the haptic assembly 122 and sending data from the sensors 124 to the computer system 130. The one or more communication channels of the communication interface 126 can be implemented as wired or wireless connections. In some embodiments, the communication interface 126 includes hardware capable of data communications using any of a variety of custom or standard wireless protocols (e.g., IEEE 802.15.4, Wi-Fi, ZigBee, 6LoWPAN, Thread, Z-Wave, Bluetooth Smart, ISA100.11a, WirelessHART, or MiWi), custom or standard wired protocols (e.g., Ethernet, HomePlug, etc.), and/or any other suitable communication protocol, including communication protocols not yet developed as of the filing date of this document.

[0147] The computer system 130 includes a communication interface 136 that enables input and output to other devices in the system 100. The communication interface 136 is similar to the communication interface 116 and the communication interface 126.

[0148] The computer system 130 is a computing device that executes artificial-reality applications 132 (e.g., virtual-reality applications, augmented-reality applications, or the like) to process input data from the sensors 114 on the head-mounted display 110 and the sensors 124 on the wearable device 120. The computer system 130 provides output data for (i) the electronic display 112 on the head-mounted display 110 and (ii) the haptic assembly 122 on the wearable device 120.

[0149] In some embodiments, the computer system 130 sends instructions (e.g., the output data) to the wearable device 120. In response to receiving the instructions, the wearable device 120 creates one or more haptic stimulations (e.g., activates one or more of the haptic assemblies 122). Alternatively, in some embodiments, the computer system 130 sends instructions to an external device, such as a pressure-changing device (see pressure-changing device 210, FIG. 2), and in response to receiving the instructions, the external device creates one or more haptic stimulations (e.g., the output data bypasses the wearable device 120). Alternatively, in some embodiments, the computer system 130 sends instructions to the wearable device 120, which in turn sends the instructions to the external device. The external device then creates of one or more haptic stimulations. Although not shown, in the embodiments that include a distinct external device, the external device may be connected to the head-mounted display 110, the wearable device 120, and/or the computer system 130 via a wired or wireless connection. The external device may be a pressure-changing device, such as a pneumatic device, a hydraulic device, some combination thereof, or any other device capable of adjusting pressure (e.g., fluid pressure).

[0150] The computer system 130 can be implemented as any kind of computing device, such as an integrated system-on-a-chip, a microcontroller, a desktop or laptop computer, a server computer, a tablet, a smart phone or other mobile device. Thus, the computer system 130 includes components common to typical computing devices, such as a processor, random access memory, a storage device, a network interface, an I/O interface, and the like. The processor may be or include one or more microprocessors or application specific integrated circuits (ASICs). The memory may be or include RAM, ROM, DRAM, SRAM and MRAM, and may include firmware, such as static data or fixed instructions, BIOS, system functions, configuration data, and other routines used during the operation of the computing device and the processor. The memory also provides a storage area for data and instructions associated with applications and data handled by the processor.

[0151] The storage device provides non-volatile, bulk, or long term storage of data or instructions in the computing device. The storage device may take the form of a magnetic or solid state disk, tape, CD, DVD, or other reasonably high capacity addressable or serial storage medium. Multiple storage devices may be provided or available to the computing device. Some of these storage devices may be external to the computing device, such as network storage or cloud-based storage. The network interface includes an interface to a network and can be implemented as either wired or wireless interface. The I/O interface interfaces the processor to peripherals (not shown) such as, for example and depending upon the computing device, sensors, displays, cameras, color sensors, microphones, keyboards, and USB devices.

[0152] In the example shown in FIG. 1, the computer system 130 further includes artificial-reality applications 132 and an artificial-reality engine 134. In some embodiments, the artificial-reality applications 132 and the artificial-reality engine 134 are implemented as software modules that are stored on the storage device and executed by the processor. Some embodiments of the computer system 130 include additional or different components than those described in conjunction with FIG. 1. Similarly, the functions further described below may be distributed among components of the computer system 130 in a different manner than is described here.

[0153] Each artificial-reality application 132 is a group of instructions that, when executed by a processor, generates artificial-reality content for presentation to the user. An artificial-reality application 132 may generate artificial-reality content in response to inputs received from the user via movement of the head-mounted display 110 or the wearable device 120. Examples of artificial-reality applications 132 include gaming applications, conferencing applications, and video-playback applications.

[0154] The artificial-reality engine 134 is a software module that allows artificial-reality applications 132 to operate in conjunction with the head-mounted display 110 and the wearable device 120. In some embodiments, the artificial-reality engine 134 receives information from the sensors 114 on the head-mounted display 110 and provides the information to an artificial-reality application 132. Based on the received information, the artificial-reality engine 134 determines media content to provide to the head-mounted display 110 for presentation to the user via the electronic display 112 and/or a type of haptic feedback to be created by the haptic assembly 122 of the wearable device 120. For example, if the artificial-reality engine 134 receives information from the sensors 114 on the head-mounted display 110 indicating that the user has looked to the left, the artificial-reality engine 134 generates content for the head-mounted display 110 that mirrors the user’s movement in an artificial environment.

[0155] Similarly, in some embodiments, the artificial-reality engine 134 receives information from the sensors 124 on the wearable device 120 and provides the information to an artificial-reality application 132. The application 132 can use the information to perform an action within the artificial world of the application 132. For example, if the artificial-reality engine 134 receives information from the sensors 124 that the user has closed his fingers around a position corresponding to a coffee mug in the artificial environment and raised his hand, a simulated hand in the artificial-reality application 132 picks up the artificial coffee mug and lifts it to a corresponding height. As noted above, the information received by the artificial-reality engine 134 can also include information from the head-mounted display 110. For example, cameras on the head-mounted display 110 may capture movements of the wearable device 120, and the application 132 can use this additional information to perform the action within the artificial world of the application 132.

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