Force feedback device for simulating combat

• US 20060030383A1
• Filed: 09/22/2005
• Published: 02/09/2006
• Est. Priority Date: 12/01/1995
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B., Brave, Scott B.
• Granted Patent: US 8,747,196 B2
• Time in Patent Office: Days
• US Class Current: 463/1
• CPC Class Codes: A63B 24/00 Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
• CPC Class Codes: A63F 11/0051 Indicators of values, e.g. score counters
• CPC Class Codes: A63F 13/10 Control of the course of the game, e.g. start, progess, end
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 13/335 using Internet
• CPC Class Codes: A63F 13/45 Controlling the progress of the video game
• CPC Class Codes: A63F 13/573 using trajectories of game objects, e.g. of a golf ball according to the point of impact
• CPC Class Codes: A63F 13/577 using determination of contact between game characters or objects, e.g. to avoid collision between virtual racing cars
• CPC Class Codes: A63F 13/812 Ball games, e.g. soccer or baseball
• 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: A63F 2300/64 for computing dynamical parameters of game objects, e.g. motion determination or computation of frictional forces for a virtual car
• CPC Class Codes: A63F 2300/8011 Ball
• CPC Class Codes: B25J 9/1689 Teleoperation
• 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 2203/014 Force feedback applied to GUI
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0383 : 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
• CPC Class Codes: H04L 67/131 : Protocols for games, networked simulations or virtual reality

Abstract

A method and apparatus for providing force feedback to a user operating a human/computer interface device and interacting with a computer-generated simulation. In one aspect, a computer-implemented method simulates the interaction of simulated objects displayed to a user who controls one of the simulated objects manipulating a physical object of an interface device. The position of the simulated object, as provided within the simulation and as displayed, is mapped directly to the physical position of the user object. This mapping is broken under conditions that are effective to provide force feedback to the user which imparts a physical sensation corresponding to the interaction of the simulated objects. In another aspect, hand-to-hand combat is simulated wherein a user controls a simulated object by manipulating a physical object, such a sword hilt, to allow the user to utilize a wide range of physical skill and dexterity in interacting with the simulation. In another aspect, a simulation apparatus provides a display device such as one or more display screens or a projection device, and which also provides an intuitive mechanical interface device for the user to skillfully and dexterously manipulate objects within a computer-generated simulation.

Claims

1. An interactive electronic combat game apparatus comprising:

a display device configured to display images of a battle;

a first weapon handle configured to be grasped by a first user, said first weapon handle configured to provide a tactile feedback to the first user; and

a processor operationally connected to said display device and said first weapon handle, said processor designed to execute a program for an interactive electronic combat game.

2. The apparatus of claim 1 further comprising:

a sensor operationally connected to said processor, said sensor designed to sense a position or movement of said weapon handle.

3. The apparatus of claim 2 further comprising:

a second sensor operationally connected to said processor, said second sensor designed to work in conjunction with said first sensor to determine a position or movement of said weapon handle.

4. The apparatus of claim 3 further comprising:

a third sensor operationally connected to said controller, said third sensor designed to work in conjunction with said first and second sensors to determine a position or movement of said first weapon handle.

5. The apparatus of claim 1 wherein:

the interactive electronic combat game comprises a first simulated object;

the program is configured to implement the motion of said first simulated object in response to motion of said first weapon handle;

the first weapon handle has a physical position in a physical environment; and

a position control mapping between said simulated location of said first simulated object and said physical position of said weapon handle is created.

6. The apparatus of claim 5 wherein said electronic combat game further comprises a second simulated object having boundaries such that said second simulated object impedes the simulated motion of said first simulated object when the trajectory of said first simulated object intersects said boundaries of said second simulated object.

7. The apparatus of claim 6 wherein the tactile feedback is a physical sensation that corresponds to the simulated physical interaction of said first simulated object with said second simulated object when the trajectory of said first simulated object intersects the boundaries of said second simulated object, wherein said position control mapping between said first weapon handle and said first simulated object is broken during said interaction when providing said physical sensation.

8. The apparatus of claim 7 wherein the tactile feedback generates a restoring force that is proportional to the magnitude by which said mapping is broken when said first simulated object intersects said boundaries of said second simulated object.

9. The apparatus of claim 8 wherein said magnitude is proportional to the degree to which said commands, when processed using said program, exceed the result of said interaction between said first simulated object and said second simulated object as determined by said program.

10. The apparatus of claim 8 wherein said restoring force is a spring force having the mathematical form:

F=kx where F is said restoring force, x is a magnitude of a deviation of said spatial correlation including a deviation between the current location of the first simulated object and a location of said first simulated object had said mapping not been broken, and k is a spring constant parameter.

11. The apparatus of claim 10 wherein said restoring force includes a damping force and said restoring force has the mathematical form:

F=kx+bv where F is said restoring force, x is a magnitude of a deviation of said spatial correspondence including a deviation between the current location of the first simulated object and a location of said first simulated object had said mapping not been broken, v is a function of a velocity of said weapon handle, and k and b are constant parameters.

12. The apparatus of claim 8 wherein said second simulated object can be moved within said interactive electronic combat game and on said display device.

13. The apparatus of claim 12 wherein said second simulated object moves on said display device during said interactive electronic combat game in response to manipulations of a second weapon handle by a second user, said second weapon handle being coupled to a second interactive electronic combat game apparatus, said second interactive electronic combat game apparatus being coupled to said first interactive electronic combat game apparatus through a network interface.

14. The apparatus of claim 12 wherein said force feedback corresponds to a restoring force that is proportional to the magnitude of said breaking of said mapping.

15. The apparatus of claim 12 wherein said restoring force includes a weighting factor such that the location L on said display device of the simulated objects shown on said display device is determined by the equation:

5 L=(w1+w2'"'"'2)(w1+w2).

16. The apparatus of claim 1 wherein said weapon handle is at least partially concealed from the view of said user such that said user cannot view the user'"'"'s hands when operating said interactive electronic combat game apparatus.

17. The apparatus of claim 1 further comprising a second display device and a second weapon handle, and wherein said processor is configured to generate location and kinematic information about said first simulated object in response to input supplied by both of said weapon handles.

18. The apparatus of claim 1 wherein said processor is coupled with a second processor executing said interactive electronic combat game, said second processor being responsive to input from a second weapon handle, said processors being coupled such that said electronic combat game apparatuses communicate input information from said weapon handles.

19. The apparatus of claim 1 wherein the weapon handle is the handle of a sword, mace, staff, or spear.

20. The apparatus of claim 1 wherein the interactive electronic combat game is a sword game.

21. An interactive electronic game apparatus comprising:

a display device for displaying images corresponding to an interactive electronic game;

a first user object configured to be grasped by a first user, the first user object providing tactile feedback to the first user during at least a portion of an interactive electronic game play; and

a processor operationally coupled to the display device and the first user object, the processor executing a program for the interactive electronic game, wherein at least a portion of the interactive electronic game comprises a simulated sword battle.

22. The apparatus of claim 21 wherein the program executed by the processor causes tactile feedback to be provided to the first user object during the simulated sword battle.

23. The apparatus of claim 21 wherein the user object is a sword hilt.

24. The apparatus of claim 21 wherein the user object is a mace, staff, or a spear.

25. The apparatus of claim 21 wherein the user object is at least a portion of a weapon.

26. An apparatus for allowing a user to interact with a computer-generated simulation of combat, the apparatus comprising:

a processor configured to implement a computer-generated simulation of combat, said simulation including a first simulated object;

a display device coupled to said processor configured to display said first simulated object; and

a force feedback interface device coupled to said processor and including a physical user object which is grasped by a user, said user object being movable in a planar workspace corresponding to a simulated plane within said simulation to move said first simulated object within said simulation according to a position control mapping, and wherein said processor is operative to command forces output to said user via said force feedback interface device.

27. An apparatus as recited in claim 26 wherein a plurality of users operate said apparatus, and wherein said display device includes a plurality of display screens such that each user views an associated display screen.

28. An apparatus as recited in claim 26 wherein said display device includes a projection device configured to display images upon a surface.

29. An apparatus as recited in claim 28 wherein said projection device is a front-projection device positioned on the same side of said surface as said images displayed on said surface.

30. An apparatus as recited in claim 28 wherein said projection device is a rear-projection device positioned on the opposite side of said surface to said images displayed on said surface.

31. An apparatus as recited in claim 26 wherein said force feedback interface device includes a first link and a second link, said first link being rotatably coupled to ground and said second link being rotatably coupled to said first link, and wherein said user object is coupled to said second link.

32. An apparatus as recited in claim 26 wherein said force feedback interface device includes a five member linkage.

33. An apparatus as recited in claim 32 wherein said five member linkage includes a first link coupled to a ground, a second link coupled between said first link and said user object, a third link coupled to said ground, and a fourth link coupled between said third link and said user object.

34. An apparatus as recited in claim 26 wherein said user object can be moved in a first and second degree of freedom rotary degree of freedom, and wherein a displayed orientation of said first simulated object is changed according to movement of said user object in said rotary degree of freedom.

35. An apparatus as recited in claim 26 wherein said user object comprises a sword hilt.

36. An apparatus as recited in claim 26 wherein said interface device includes a slider coupled to said handle configured to move said handle in a linear degree of freedom along a support, said support being rotatably coupled to a ground member for moving said handle in a rotary degree of freedom.

37. A computer-implemented method for providing force feedback to a user operating an interactive electronic combat game apparatus comprising simulating interaction of a first graphical object with a second graphical object, wherein the first graphical object is controlled by a user manipulating a first physical object of the interface device, wherein the position of the first graphical object is mapped directly to the position of the first physical object.

38. The method of claim 37 wherein said second graphical object defines a set of boundaries such that said second graphical object impedes the simulated motion of said first graphical object when the trajectory of said first graphical object intersects said boundaries of said second graphical object.

39. The method of claim 37 further comprising breaking said mapping between a simulated location of the first graphical object and a physical position of said physical object when said first graphical object interacts with said second graphical object such that said physical position of said first physical object is no longer spatially correlated with said location of said first graphical object, said breaking occurring under conditions effective to provide visual feedback and force feedback to said user which are effective to impart to said user a physical sensation that corresponds to the interaction of the graphical objects.

40. The method of claim 37 wherein the first graphical object is a weapon.

41. The method of claim 40 wherein the weapon is a sword, mace, staff, or spear.

42. An interactive electronic combat game apparatus comprising a means for displaying images of a battle and a means for providing a tactile feedback to a user.