Force feeback interface device with touchpad sensor
First Claim
1. A mouse interface device for interfacing a user'"'"'s motion with a host computer and providing force feedback to said user, said mouse interface device comprising:
- a mouse object contacted and manipulated by a user and moveable in a planar workspace with respect to a ground surface;
a planar linkage including a plurality of members rotatably coupled to each other, said linkage including a first member coupled to said mouse object and a second member coupled to said ground surface;
two electromagnetic actuators providing forces in said planar workspace of said mouse object, said forces caused by interactions between an electric field and a magnetic field, wherein each of said actuators includes a coil portion integrated with one of said members of said linkage and a magnet portion coupled to said ground surface through which said moveable portion moves, and wherein said actuators are controlled from commands output by said host computer;
at least one sensor coupled to said ground surface and separate from said two actuators, said sensor detecting movement of said moveable portion of one of said actuators, wherein said sensor provides a sensor signal including information describing said movement of said moveable portion from which a position of said mouse object in said planar workspace can be determined.
3 Assignments
0 Petitions
Accused Products
Abstract
A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage and including two members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.
-
Citations
46 Claims
-
1. A mouse interface device for interfacing a user'"'"'s motion with a host computer and providing force feedback to said user, said mouse interface device comprising:
-
a mouse object contacted and manipulated by a user and moveable in a planar workspace with respect to a ground surface;
a planar linkage including a plurality of members rotatably coupled to each other, said linkage including a first member coupled to said mouse object and a second member coupled to said ground surface;
two electromagnetic actuators providing forces in said planar workspace of said mouse object, said forces caused by interactions between an electric field and a magnetic field, wherein each of said actuators includes a coil portion integrated with one of said members of said linkage and a magnet portion coupled to said ground surface through which said moveable portion moves, and wherein said actuators are controlled from commands output by said host computer;
at least one sensor coupled to said ground surface and separate from said two actuators, said sensor detecting movement of said moveable portion of one of said actuators, wherein said sensor provides a sensor signal including information describing said movement of said moveable portion from which a position of said mouse object in said planar workspace can be determined. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
-
-
22. An interface device for providing force feedback to a user of said interface device, wherein a host computer is coupled to said interface device and implements a graphical environment with which said user interacts, said interface device comprising:
-
a user object physically contacted and manipulated by a user in two degrees of freedom with respect to a ground surface;
a mechanical support linkage including a plurality of members, said support linkage coupled to said user object and providing said two degrees of freedom, said linkage including two base members coupled to said ground surface;
a plurality of voice coil actuators, each of said actuators including a wire coil integrated with one of said base members of said linkage, wherein said wire coil moves through a magnetic field provided by a plurality of grounded magnets surrounding said wire coil, and wherein a housing providing a flux path surrounds said magnets, each of said wire coils being coupled to an end of a different member of said support linkage, said coils guided through said magnetic field by said linkage; and
a sensor detecting movement of said members having said wire coils, wherein said sensor includes an emitter that emits a beam of energy and a detector that detects said beam, wherein both said emitter and said detector of said sensor are coupled to said ground surface. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31)
-
-
32. A force feedback mouse interface for interfacing with a host computer system implementing a graphical environment, the force feedback mouse interface comprising:
-
a mouse object resting on a planar grounded surface to be physically contacted by a user and moved in two degrees of freedom in a planar workspace, said workspace having predetermined limits to movement;
a planar closed loop linkage coupling said mouse object to said grounded surface and allowing movement of said mouse object in said two degrees of freedom, said linkage including a plurality of members, each of said members rotatably coupled to two others of said members;
two grounded voice coil actuators, each of said actuators including a wire coil provided on a different member of said linkage, each of said wire coils pivoting about a single axis of rotation, wherein each of said actuators includes a plurality of grounded magnets in a flux path housing surrounding said wire coil, wherein said housing of one of said actuators is positioned above and contacting said housing of said other actuator, and wherein each of said actuators is receptive to a control signal operative to control an output force from said actuator on said member having said wire coil;
at least one grounded sensor, said sensors detecting motion of said mouse object in said two degrees of freedom, said sensor outputting a sensor signal indicative of said motion. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40)
-
-
41. An interface for providing force feedback and interfacing with a host computer system implementing a graphical environment, the interface comprising:
-
a mouse object resting on a planar grounded surface to be physically contacted by a user and moved in two degrees of freedom in a planar workspace, said workspace having predetermined limits to movement of said mouse object;
a planar closed loop linkage coupling said mouse object to said grounded surface at one location on said grounded surface and allowing movement of said mouse object in said two degrees of freedom, said linkage including a plurality of members rotatably coupled together by bearings, each of said members rotatably coupled to two others of said members;
two grounded actuators, each of said actuators providing a force in said two degrees of freedom;
at least one grounded sensor, said sensors detecting motion of said mouse object in said two degrees of freedom, said sensor outputting a sensor signal indicative of said motion. - View Dependent Claims (42, 43, 44, 45, 46)
-
Specification