Isotonic-isometric haptic feedback interface
First Claim
1. A device, comprising:
- a manipulandum movable in at least two degrees of freedom;
a sensor configured to detect a movement of the manipulandum;
an actuator coupled to the manipulandum and configured to apply an output force in at least one degree of freedom of the manipulandum; and
a mode selector configured to select one of an isotonic interaction mode and an isometric interaction mode, when in the isotonic mode, the mode selector being configured to provide input to a host computer based on the movement of the manipulandum, when in the isometric mode, the mode selector configured to provide input to the host computer based on an input force applied to the manipulandum, the output force being based on the movement detected by the sensor, the movement being in a direction opposing the output force generated by the actuator.
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Abstract
A force feedback interface having isotonic and isometric control capability coupled to a host computer that displays a graphical environment such as a GUI. The interface includes a user manipulatable physical object movable in physical space, such as a mouse or puck. A sensor detects the object'"'"'s movement and an actuator applies output force on the physical object. A mode selector selects isotonic and isometric control modes of the interface from an input device such as a physical button or from an interaction between graphical objects. Isotonic mode provides input to the host computer based on a position of the physical object and updates a position of a cursor, and force sensations can be applied to the physical object based on movement of the cursor. Isometric mode provides input to the host computer based on an input force applied by the user to the physical object, where the input force is determined from a sensed deviation of the physical object in space. The input force opposes an output force applied by the actuator and is used to control a function of an application program, such as scrolling a document or panning or zooming a displayed view. An overlay force, such as a jolt or vibration, can be added to the output force in isometric mode to indicate an event or condition in the graphical environment.
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Citations
30 Claims
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1. A device, comprising:
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a manipulandum movable in at least two degrees of freedom;
a sensor configured to detect a movement of the manipulandum;
an actuator coupled to the manipulandum and configured to apply an output force in at least one degree of freedom of the manipulandum; and
a mode selector configured to select one of an isotonic interaction mode and an isometric interaction mode, when in the isotonic mode, the mode selector being configured to provide input to a host computer based on the movement of the manipulandum, when in the isometric mode, the mode selector configured to provide input to the host computer based on an input force applied to the manipulandum, the output force being based on the movement detected by the sensor, the movement being in a direction opposing the output force generated by the actuator. - View Dependent Claims (2, 3)
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4. A method, comprising:
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receiving an indication to engage an isometric control mode of an interface device;
determining a movement of a manipulandum in at least one of a plurality of degrees of freedom, the deviation being based on an input force imparted to the manipulandum;
outputting a control signal associated with an isometric function of an application program based on the determined deviation; and
applying via an actuator a resistive force to the manipulandum opposing the input force, the resistive force being based on the control signal. - View Dependent Claims (5, 6)
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7. A device, comprising:
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a manipulandum configured to be moved within a substantially planar workspace;
a mode selector configured to select a control mode for the manipulandum, the control mode being one of an isotonic control mode and an isometric control mode;
an actuator coupled to the manipulandum and being configured to apply a force to the manipulandum;
a sensor configured to detect a deviation of the manipulandum from a local origin, the sensor further configured to output a sensor signal based on the deviation; and
a local microprocessor coupled to the actuator and to the sensor, the local microprocessor configured to receive the sensor signal and to provide an actuator signal to the actuator, the local microprocessor being coupled to a host computer by a communication bus. - View Dependent Claims (8, 9, 10, 11)
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12. A method, comprising:
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sensing a movement of a manipulandum in at least one degree of freedom;
outputting via an actuator a force to oppose the movement of the manipulandum in the at least one degree of freedom, the magnitude of the force being determined by a local microprocessor separate from a host computer; and
performing at least one of a scroll, a pan, or a zoom function for a displayed image in a graphical user interface in response to the movement of the manipulandum. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method, comprising:
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receiving a sensor signal based on movement of a manipulandum in a degree of freedom, the movement being in a first direction;
applying via an actuator a resistance in a second direction opposite the first direction; and
adjusting a value of an audio parameter in response to the movement of the manipulandum, the adjusting being a function of a magnitude of the movement, the audio parameter being used, at least in part, in the output of an audio signal. - View Dependent Claims (23, 24, 25)
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26. A method, comprising:
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receiving a sensor signal based on movement of a manipulandum in a degree of freedom, the movement being in a first direction;
applying via an actuator a resistance in a second direction opposite the first direction; and
adjusting a value of a video parameter in response to the movement of the manipulandum, the adjusting being a function of a magnitude of the movement, the video parameter being configured to output an image on a display to indicate the magnitude of the movement. - View Dependent Claims (27, 28, 29, 30)
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Specification