US 12,271,549 B2
Method and system of measuring tactile force feedback
Kyle O'Rourke, Campbell, CA (US)
Assigned to Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed by SANCTUARY COGNITIVE SYSTEMS CORPORATION, Vancouver (CA)
Filed on Sep. 13, 2022, as Appl. No. 17/944,108.
Claims priority of provisional application 63/243,703, filed on Sep. 13, 2021.
Prior Publication US 2023/0297186 A1, Sep. 21, 2023
Int. Cl. G06F 3/041 (2006.01)
CPC G06F 3/04166 (2019.05) 15 Claims
OG exemplary drawing
 
1. A method comprising:
executing a first scan of a force-sensitive tactile sensing array at a first sensitivitystate, wherein the force-sensitive tactile sensing array comprises a plurality of sensing points arranged in a plurality of columns in a grid, wherein executing the first scan of the force-sensitive tactile sensing arrayat the first sensitivity state comprises a plurality of iterations through the columns, wherein each iteration comprises switching only one of the columns to a first read mode and all other remaining columns to a first sensitivity state scanning mode, wherein the first read mode corresponds to coupling only one of the columns to ground and the first sensitivitystate scanning mode corresponds to coupling all other remaining columns to an input voltage;
determining one or more active sensing points from the plurality of sensing points based at least in part on an output of the first scan, wherein each active sensing point corresponds to a sensing point receiving a force greater than a threshold force;
executing a second scan of the force-sensitive tactile sensing arrayat a second sensitivity state that is different from the first sensitivity state, wherein executing the second scan of the force-sensitive tactile sensing arrayat the second sensitivity state comprises a plurality of iterations through the columns, wherein each iteration comprises switching only one of the columns to a second read mode and all other remaining columns to a second sensitivity state scanning mode, wherein the second read mode corresponds to coupling only one of the columns to ground and the second sensitivity state scanning mode corresponds to no input condition at all other remaining columns or coupling all other remaining columns to a high-impedance circuit; and
determining a force value for at least one active sensing point of the one or more active sensing points based at least in part on an output of the second scan.