US Patent 11763647 Multimode haptic patch and multimodal haptic feedback interface

A multimodal haptic feedback interface installed with a multimode haptic patch stimulates a skin area of a user to provide a haptic feedback including first and second haptic-feedback components to be sensed under static tactile sensing and dynamic tactile sensing, respectively. The patch is mounted with mechanical actuators, electrostimulation electrodes and thermoelectric pellets. The actuators generate a two-dimensional pattern of pressure on the skin area for generating the first haptic-feedback component. The electrostimulation electrodes electrically stimulates the skin area, causing the user to feel a vibration or pressure for generating the second haptic-feedback component. The actuators and electrostimulation electrodes are optimized only for static tactile sensing and dynamic tactile sensing, respectively, reducing an implementation cost while optimized for accuracy in haptic feedback generation. The thermoelectric pellets, realized as Peltier-effect heat pumps, generate a two-dimensional pattern of temperature change on the skin area for providing a thermal feedback to the user.