Interface device for sensing position and orientation and outputting force to a user

• US 20020063685A1
• Filed: 01/08/2002
• Published: 05/30/2002
• Est. Priority Date: 07/16/1993
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B., Jackson, Bernard G.
• Granted Patent: US 6,987,504 B2
• Time in Patent Office: Days
• US Class Current: 345/156
• 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 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• CPC Class Codes: G05G 9/04737 with six degrees of freedom
• 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

An interface device for use with a computer that provides locative data to a computer for tracking a user manipulatable physical object and provides feedback to the user through output forces. The physical object is movable in multiple degrees of freedom and is tracked by sensors for sensing the location and orientation of the object. A device processor can be responsive to the output of the sensors and can provide the host computer with information derived from the sensors. The host computer can provides images on a display, where the computer responds to the provided sensor information and force feedback is correlated with the displayed images via force feedback commands from the host computer.

Claims

1. A device for use in conjunction with a computer display apparatus and a fixed surface, comprising:

a stylus;

means supportable on a fixed surface and coupled to said stylus for supporting said stylus while allowing at least a plurality of degrees of freedom in the motion of said stylus; and

means for producing a stylus locative signal responsive to and corresponding with the position of the stylus at any point in time during its normal operation, said stylus locative signal providing information for use by a computer display apparatus.

2. A device as recited in claim 1 wherein supporting means is a mechanical linkage.

3. A device as recited in claim 2 wherein said stylus locative signal means is in communication with said mechanical linkage.

4. A device as recited in claim 1 wherein said stylus locative signal means is in communication with said stylus.

5. A device as recited in claim 1 further comprising:

a remote unit having switch capable of being in an on state and an off state; and

command means triggered by said switch when said switch is in its on state for generating a command signal for receipt by a computer.

6. A device as recited in claim 5 wherein said remote unit is a foot pedal unit.

7. A device as recited in claim 2 wherein said mechanical linkage includes three individual components.

8. A device as recited in claim 2 wherein said mechanical linkage includes at least three joints.

9. A device as recited in claim 1 further comprising means for providing resistance to the motion of the stylus.

10. A device as recited in claim 1 wherein said stylus has pencil-like configuration which can be manually manipulated.

11. A device as recited in claim 1 further comprising:

feedback means for generating force by said support means in response to force signals provided to said device, said force signals correlated to information displayed on computer display apparatus.

13. A method as recited in claim 12 wherein support apparatus is a mechanical linkage.

14. A method as recited in claim 13 wherein said stylus locative signal means is in communication with said mechanical linkage.

15. A method as recited in claim 12 wherein said stylus locative signal means is in communication with said stylus.

16. A method as recited in claim 12 further comprising the steps of:

providing a remote unit having switch capable of being in an on state and an off state; and

providing a command signal generator triggered by said switch when said switch is in its on state for generating a command signal for receipt by a computer.

17. A method as recited in claim 16 wherein said remote unit is a foot pedal unit.

18. A method as recited in claim 13 wherein said mechanical linkage includes three individual components.

19. A method as recited in claim 13 wherein said mechanical linkage includes at least three joints.

20. A method as recited in claim 12 further comprising means for providing resistance to the motion of the stylus.

21. A method as recited in claim 12 wherein said stylus has pencil-like configuration which can be manually manipulated.

22. A device as recited in claim 11 further comprising the steps of:

providing feedback means for generating force by said support means in response to force signals provided to said device, said force signals correlated to information displayed on computer display apparatus.

24. A device as recited in claim 21 wherein said remote command control unit is a foot pedal unit.

26. A system as recited in claim 23 wherein said remote command control unit is a foot pedal unit.

12. A method for interfacing a user and a computer display apparatus, comprising the steps of:

providing a stylus;

coupling to said stylus a support apparatus supportable on a fixed surface for supporting said stylus while allowing at least a plurality of degrees of freedom in the motion of said stylus; and

providing means for producing a stylus locative signal responsive to and corresponding with the position of the stylus at any point in time during its normal operation, said stylus locative signal providing information for use by a computer display apparatus.

23. In a computer system having a main unit and cursor control functions and command control functions which are triggered remotely from said main unit, a device for interfacing a user and computer, comprising:

a remote command control unit separate from a cursor control unit having a switch capable of being in an on state and an off state;

command means triggered by said switch when said switch is in its on state for generating a command signal representative of a command from a user to a computer; and

transmission means for transmitting said command signal to said computer.

25. In a computer system having a main unit and cursor control functions and command control functions which are triggered remotely from said main unit, a system for interfacing a user and computer comprising the steps of:

providing a remote command control unit separate from a cursor control unit having a switch capable of being in an on state and an off state;

generating a command signal representative of a command from a user to a computer when said switch is in its on state; and

transmitting said command signal to said computer.