Force feedback device with microprocessor receiving low level commands

• US 20020033841A1
• Filed: 10/09/2001
• Published: 03/21/2002
• Est. Priority Date: 07/16/1993
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Granted Patent: US 7,061,467 B2
• Time in Patent Office: Days
• US Class Current: 345/701
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 2300/1025 details of the interface with the game device, e.g. USB version detection
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 21/04 by measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G05B 19/4207 in which a model is traced or scanned and corresponding data recorded
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 2009/04777 with additional push or pull action on the handle
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device
• CPC Class Codes: H01H 2003/008 with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction

Abstract

A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about an object grasped and moved by the user, such as a joystick. The microprocessor provides the sensor data to a host computer that is coupled to the interface device by a communication bus that preferably includes a serial interface. In a “host-controlled” embodiment, the host computer calculates force values using the sensor data and other parameters of a host application program and sends the force values to the local microprocessor, which directly provides the force values to actuators to apply forces to the user object. In a “reflex” embodiment, the host computer sends high level supervisory commands to the local microprocessor, and the microprocessor independently implements a local process based on the high level command for reading sensor data and providing force values to the actuators using sensor data and other parameters.

Claims

1. A system for controlling an electromechanical interface apparatus manipulated by a user, the system comprising:

a host computer system for receiving an input control signal and for providing a host output control signal, wherein said host computer system updates a process in response to said input control signal;

a processor local to said interface apparatus and separate from said host computer system for receiving said host output control signal from said host computer system and providing a processor output control signal;

an actuator for receiving said processor output control signal and providing a force along a degree of freedom to a user manipulable object coupled to said actuator in accordance with said processor output control signal; and

a sensor for detecting motion of said manipulable object along said degree of freedom and outputting said input control signal including information representative of the position and motion of said object.

2. A system as recited in claim 1 wherein said sensor outputs said input control signal to said processor, and wherein said processor provides said input control signal to said host computer.

3. A system as recited in claim 1 wherein said host output control signal output by said host computer is a force command that is relayed directly to said actuator by said processor.

4. A system as recited in claim 2 wherein said processor is operative in a reflex process to provide said processor output control signal to said actuator in response to said position and motion of said object independently of said host output control signal.

5. A system as recited in claim 4 wherein said host output signal is a high level command from said host computer system, and wherein said processor implements one of a plurality of local processes selected in accordance with said high level command to implement said reflex process.

6. A system as recited in claim 5 wherein said host computer can override said reflex process such that said host output signal includes a force command that is relayed directly to said actuator by said processor.

7. A system as recited in claim 2 wherein said object is grasped and moved by said user.

8. A system as recited in claim 7 wherein said object includes a joystick.

9. A system as recited in claim 7 wherein said object includes a mouse.

10. A system as recited in claim 8 wherein said joystick can be moved by said user in a plurality of degrees of freedom, and wherein said system further comprises an actuator for providing a force along a degree of freedom of said object, and a sensor for detecting motion of said object in said degree of freedom for each of said plurality of degrees of freedom.

11. A system as recited in claim 2 further comprising a serial interface for outputting said host output control signal from said host computer system and for receiving said input control signal to said host computer system.

12. A system as recited in claim 6 further comprising a serial interface for outputting said host output control signal from said host computer system and for receiving said input control signal to said host computer system

13. A system as recited in claim 2 further comprising a parallel interface for outputting said host output control signal from said host computer system and for receiving said input control signal to said host computer system.

14. A system as recited in claim 11 further comprising an additional interface for providing said input signal to said host computer system through a game port of said host computer system.

15. A system as recited in claim 11 further comprising a digital to analog converter coupled to said local microprocessor that receives said host output control signal in digital form and converts said host output control signal to analog form.

16. A system as recited in claim 2 wherein said actuator is a servo motor.

17. A system as recited in claim 2 wherein said actuator is a voice coil.

18. A system as recited in claim 2 wherein said actuator is a brake, and wherein said force is a resistive force for resisting a user force applied to said object by said user along said degree of freedom.

19. A system as recited in claim 2 wherein said process updated by said host computer system includes simulation software or game software.

20. A system as recited in claim 19 wherein said host computer system displays images on a visual output device and manipulates said images in accordance with said position and motion of said object.

21. A system as recited in claim 19 wherein said host computer system includes a display device for displaying a view of a video game implemented by said game software to said user, wherein said user can interact with said video game by manipulating said object.

22. A system as recited in claim 2 further comprising a clock coupled to said host computer system, wherein said host computer system accesses said clock to determine, in part, said force provided by said actuator.

23. A system as recited in claim 2 further comprising a clock coupled to said processor, wherein said processor accesses said clock to determine, in part, said force provided by said actuator.

24. A system as recited in claim 2 further comprising a housing for said interface apparatus, wherein said actuator, said sensor, and said processor are included within said housing.

26. A method as recited in claim 25 wherein said position signal is input to said processor and is input to said host computer system from said processor.

27. A method as recited in claim 26 wherein said host force command is substantially equivalent to said processor force command.

28. A method as recited in claim 26 wherein said host force command is a high level command instructing said processor to select one of a plurality of force subroutines available to said processor, wherein each of said force subroutines instructs said processor to output force commands to said actuator and input position signals from said sensor independently of said host computer system.

29. A method as recited in claim 26 wherein said host force command can be either a low level force command substantially equivalent to said processor force command, or a high level force command instructing said processor to select one of a plurality of force subroutines to output force commands to said actuator and input position signals from said sensor independently of said host computer system.

30. A method as recited in claim 25 wherein said object includes a joystick that can be moved by said user in two degrees of freedom.

31. A method as recited in claim 26 wherein said object includes a joystick that can be moved by said user in three degrees of freedom.

32. A method as recited in claim 26 further comprising a step of updating game or simulation software implemented by said host computer system in accordance with said position signals.

33. A method as recited in claim 32 further comprising a step of displaying images on a visual output device and manipulating said images in accordance with said position signal.

34. A method as recited in claim 32 wherein said host computer receives said position signal and outputs said host force command signal using a serial interface.

35. A method as recited in claim 34 wherein said serial interface is a Universal Serial Bus (USB) interface.

36. A method as recited in claim 34 further comprising a step of determining a magnitude of said force provided by said actuator.

37. A method as recited in claim 36 wherein said magnitude of said force is determined, in part, from a position of said object along said degree of freedom.

38. A method as recited in claim 36 wherein said magnitude of said force is determined, in part, from a position and a velocity of said object moving along said degree of freedom.

39. A method as recited in claim 36 wherein said magnitude of said force is determined, in part, from an acceleration of said object along said degree of freedom.

40. A method as recited in claim 36 wherein said magnitude of said force is determined, in part, from a clock providing timing information for said force commands.

41. A method as recited in claim 36 wherein said magnitude of said force is determined, in part, from input data provided by a button input device included in said force feedback interface device.

42. A method as recited in claim 36 wherein said magnitude of said force is determined, in part, from a position signal input from a second force feedback interface device coupled to said host computer system and interacting with a host application program implemented by said host computer system.

43. A method as recited in claim 34 further comprising a step of using calibration parameters stored in a memory device for adjusting said force consistently with output forces of a plurality of other force feedback interface devices having variations in physical properties resulting from a manufacturing process.

25. A method for controlling a force feedback interface device manipulated by a user, the method comprising the steps of:

inputting a position signal to a host computer system from a sensor, said position signal including information representative of the position and motion of an object of said interface device grasped by said user;

outputting a host force command from a host computer system to a processor local to said force feedback interface device;

outputting a processor force command from said processor to an actuator; and

providing a force from said actuator to said object grasped by said user, wherein a direction and a magnitude of said force is in accordance with said processor force command.

44. A force feedback interface device manipulated by a user and communicating with a host computer system implementing a host application program, said host computer system updating said host application program in response to input signals, said force feedback interface device comprising:

a processor, separate from said host computer system, for communicating with said host computer system via a communication bus by receiving a host force command from said host computer system;

a user object movable in a degree of freedom by a user and being physically contacted by said user;

an actuator electrically coupled to said processor for applying a force along a degree of freedom to said user object in accordance with a processor force command from said processor, said processor force command being derived from said host force command; and

a sensor for detecting a position of said user object along said degree of freedom and outputting said input signals to said host computer system, said input signals including information representative of said position of said user object.

45. A force feedback interface device as recited in claim 44 wherein said sensor is electrically coupled to said processor, and wherein said sensor outputs said input signals to said processor, and wherein said processor sends said input signals to said host computer system.

46. A force feedback interface device as recited in claim 45 wherein said host force command is substantially equivalent to said processor force command.

47. A force feedback interface device as recited in claim 45 wherein said host force command is a high level command instructing said processor to select one of a plurality of force subroutines available to said processor, wherein each of said force subroutines instructs said processor to output force commands to said actuator and input position signals from said sensor independently of said host computer system.

48. A force feedback interface device as recited in claim 47 wherein said host force command can be either a low level force command substantially equivalent to said processor force command, or a high level force command instructing said processor to select one of a plurality of force subroutines to output force commands to said actuator and input position signals from said sensor independently of said host computer system.

49. A force feedback interface device as recited in claim 45 further comprising circuitry for receiving position signals from said sensor and for calculating velocity or acceleration values from said position signals, said velocity and acceleration values being included in said input signals.

50. A force feedback interface device as recited in claim 45 wherein said user object is a joystick movable in two degrees of freedom.

51. A force feedback interface device as recited in claim 45 wherein said communication bus includes a serial interface.

52. A force feedback interface device as recited in claim 45 wherein said actuator is a servo motor.

53. A force feedback interface device as recited in claim 51 wherein said actuator is a voice coil.

54. A force feedback interface device as recited in claim 45 further comprising a gimbal mechanism coupled to said user object to provide said degree of freedom, wherein said gimbal mechanism includes a closed loop five member linkage.

55. A force feedback interface device as recited in claim 50 further comprising a slotted yoke mechanism coupled to said joystick, said slotted yoke mechanism providing at least two degrees of freedom to said object.

57. A method as recited in claim 53 wherein said step of creating a force on said object includes the steps of:

selecting a subroutine process by said microprocessor in accordance with said host force commands;

outputting processor force commands from said microprocessor to said actuator utilizing said subroutine process and said electrical sensor signals.

58. A method as recited in claim 57 wherein a host force command is output by said host computer system when a change in a type of said force on said object is required, said change being based on, at least in part, a software process implemented by said host computer system.

59. A method as recited in claim 58 wherein said change is additionally based on said electrical sensor signals and timing information provided by a clock coupled to said microprocessor.

60. A method as recited in claim 58 wherein said type of said force includes one of the group consisting of spring force, damping force, and inertia force.

61. A method as recited in claim 56 wherein said step of creating a force on said object includes the step of outputting said host force command directly to said actuator from said microprocessor to control said actuator.

62. A method as recited in claim 61 further comprising a step of selecting a subroutine process by said host computer system based on said electrical sensor signals and a software process implemented by said host computer system, wherein said host force commands are based on said selected subroutine and said electrical sensor signals.

63. A method as recited in claim 57 further comprisig a step of said microprocessor retrieving a plurality of stored digital force values and outputting said stored force values to said actuator.

64. A method as recited in claim 63 wherein said stored digital force values are output to said actuator based on timing information provided by a system clock.

65. A method as recited in claim 63 wherein said stored digital force values are output to said actuator based on said electrical sensor signals.

66. A method as recited in claim 62 further comprising a step of said host computer retrieving a plurality of stored digital force values and outputting said stored force values to said actuator.

67. A method as recited in claim 56 wherein said microprocessor and said host computer system are coupled together by a serial communication interface.

68. A method as recited in claim 56 further comprising a step of said host computer system outputting audio feedback to said user when an audio event occurs in a host application program, said audio feedback being output in synchronization with said output of said force within a tolerance of about 30 milliseconds when said force is desired to correspond to said audio event.

69. A method as recited in claim 68 wherein said said onset of said audio feedback occurs within about 30 milliseconds of an onset of said corresponding force, and wherein said audio feedback has an amplitude in direct proportion to a magnitude of said force.

70. A method as recited in claim 56 wherein said host computer system outputs visual images on a display screen according to visual events in a host application program, said visual events being synchronized with said output of said force within a tolerance of about 30 milliseconds when said force is desired to correspond to said visual event.

56. A method for interfacing motion of an object with a host computer system, the method comprising the steps of:

providing an object having a degree of freedom;

sensing positions of said object along said degree of freedom with a sensor and producing electrical sensor signals therefrom;

utilizing a microprocessor local to said object to communicate with said host computer system to provide said electrical sensor signals to said host computer system and to receive host force commands from said host computer system; and

creating a force on said object along said degree of freedom by using said microprocessor and said host force commands to control an actuator coupled to said object.