Six degree of freedom graphic object controller

• US 5,095,303 A
• Filed: 03/27/1990
• Issued: 03/10/1992
• Est. Priority Date: 03/27/1990
• Status: Expired due to Term

• Current Assignee: Apple Inc.
• Original Assignee: Apple Computer Incorporated (Apple Inc.)
• Inventors: Mustafa, Musa, Clark, Michael R.
• Primary Examiner(s): Brier, Jeffery A.
• Application Number:
  US07/499,931
• Time in Patent Office: 714 Days
• Field of Search: 340/710, 340/709, 340/706, 340/711, 74/471, 74/471 R, 273/148 B, 364/578
• US Class Current: 345/164
• CPC Class Codes: G05G 1/01 Arrangements of two or more controlling members with respect to one another double foot control, e.g. for instruction vehicles G05G1/34; mounting units comprising an assembly with two or more pedals G05G1/36
• CPC Class Codes: G06F 3/0312 for tracking the rotation of a spherical or circular member, e.g. optical rotary encoders used in mice or trackballs using a tracking ball or in mouse scroll wheels tracking relative movement in co-operation with a regularly or irregularly patterned surface, e.g. as in optical mice G06F3/0317; constructional details of scroll or thumb-wheels G06F3/0362; optical rotary encoders G01D5/3473
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/0362 with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• CPC Class Codes: H01H 13/84 characterised by ergonomic functions, e.g. for miniature keyboards; characterised by operational sensory functions, e.g. sound feedback legends H01H13/83
• CPC Class Codes: H01H 3/02 Operating parts, i.e. for operating driving mechanism by a mechanical force external to the switch

Abstract

A six degrees of freedom interactive display controller device is disclosed, comprising a hand manipulable housing unit having an opening for the passage of a mouse ball, two motion detectors for detecting the movement of the mouse ball and converting that motion to output signals controlling the tranlational movement of an object on the display of a computer, a finger operated conveyor belt or roller for controlling the translational motion of the object with respect to a third translational axis, a first finger controlled mechanism, such as a wheel and motion encoders, affixed to the housing for controlling the rotational motion (pitch) of the object with respect to a first one of the translational axes, a second finger controlled mechanism affixed to the housing for controlling the rotational motion (roll) of the object with respect to a second one of the translational axes, and a third finger controlled mechanism affixed to the housing unit for controlling the rotational motion (yaw) of the object with respect to a third one of the translational axes. All translation and rotation controls are operable to be physcially moved in a direction which corresponds to the desired simulated direction of movement of the object on the display. The physical motion of each control is unbounded and the actual physical position of the housing unit is independent of the simulated position of the object on the display.

Claims

1. A device for providing signals indicative of an object'"'"'s location on a display, comprising:

a housing operative to be manipulated by a user;

a first translation position indicating means affixed to said housing for producing a first signal indicative of a first position of said object on said display with respect to a first translational axis;

a second translation position indicating means affixed to said housing for producing a second signal indicative of a second position of said object on said display with respect to a second translation axis;

a third translation position indicating means affixed to said housing, including a bidirectional controller operated by one or more fingers of said user, for producing a third signal indicative of a third position of said object on said display with respect to a third translation axis, said bidirectional controller having a belt operative to be bidirectionally moved by said fingers of said user and means for detecting the bidirectional movement of said belt and converting the detected movement of said belt to said third signal, said belt having two broad side surfaces having a plurality of fingertip sized holes formed therein through which said fingers can be inserted; and

a first orientation indicating means affixed to said housing for converting the motion of a first bidirectional manipulator operated by said fingers of said user into a first orientation signal indicative of the orientation of said object on said display with respect to one of said first, second or third translational axis;

whereby a movement of said device over a surface results in said first and second positions of said object being defined on said display, whereby a movement of said bidirectional controller results in said third position of said object being defined on said display, and whereby a movement of said first bidirectional manipulator results in a change in the orientation of said object.

2. The device as recited in claim 1, wherein said third translational axis corresponds to a vertical axis on said display, and wherein said housing further includes a belt tower rising from said housing for enclosing said belt, said tower having an aperture through which said fingers can be inserted to engage said belt, said belt being physically aligned within said tower to substantially correspond to the displayed alignment of said vertical axis, whereby vertical movements of said belt directly correspond to changes in the position of said object on said display with respect to said vertical axis.

3. The device as recited in claim 1, wherein said first bidirectional manipulator includes:

a wheel having means operative to be bidrectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said wheel and converting the detected movement of said wheel to said first orientation signal.

4. The device as recited in claim 3, wherein said wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said first translational axis, whereby the rotational movement of said wheel visually corresponds to changes in the orientation of said object on said display with respect to said first translational axis.

5. The device as recited in claim 1, and further comprising a second orientation indicating means affixed to said housing for converting the motion of second birdirectional manipulator operated by said fingers into a second orientation signal indicative of the orientation of said object on said display system with respect to one of said first, second or third translational axis.

6. The device as recited in claim 5, wherein said first bidirectional manipulator includes:

a first wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said first wheel and converting the detected movement of said first wheel to said first orientation signal.

7. The device as recited in claim 6, wherein said second bidirectional manipulator includes:

a second wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said second wheel and converting the detected movement of said second wheel to said second orientation signal.

8. The device as recited in claim 7, wherein said first wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said first translational axis, and wherein said second wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said second translation axis, whereby rotational movements of said first wheel visually correspond to changes in the orientation of said object on said display with respect to said first translational axis and rotational movements of said second wheel visually correspond to changes in the orientation of said object on said display with respect to said second translational axis.

9. The device as recited in claim 5, and further comprising a third orientation indicating means affixed to said housing for converting the motion of a third bidirectional manipulator operated by said fingers into a third orientation signal indicative of the orientation of said object on said display system with respect to one of said first, second or third translational axis.

10. The device as recited in claim 9, wherein said first bidirectional manipulator includes:

a first wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidrectional movement of said first wheel and converting the detected movement of said first wheel to said first orientation signal.

11. The device as recited in claim 10, wherein said second bidirectional manipulator includes:

a second wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said second wheel and converting the detected movement of said second wheel to said second orientation signal.

12. The device as recited in claim 11, wherein said third bidirectional manipulator includes:

a third wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said third wheel and converting the detected movement of said third wheel to said third orientation signal.

13. The device as recited in claim 12, wherein said first wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said first translational axis, and wherein said second wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said second translational axis, and wherein said third wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said third translational axis, whereby rotational movements of said first wheel visually correspond to changes in the orientation of said object on said display with respect to said first translational axis, whereby rotational movements of said second wheel visually correspond to changes in the orientation of said object on said display with respect to said second translational axis, and whereby rotational movements of said third wheel visually correspond to changes in the orientation of said object on said display with respect to said third translational axis.

14. The device as recited in claim 9, wherein said first bidirectional manipulator is physically aligned in relation to said housing so as to move in a manner corresponding to the direction of rotation about said first translational axis, and wherein said second bidirectional manipulator is physically aligned in relation to said housing so as to move in a manner corresponding to the direction of rotation about said second translational axis, and wherein said third bidirectional manipulator is physically aligned in relation to said housing so as to move in a manner corresponding the direction of rotation about said third translatinal axis, whereby movements of said first bidirectional manipulator visually correspond to changes in the orientation of said object on said display with respect to said first translational axis, whereby movements of said second wheel visually correspond to changes in the orientation of said object on said display with respect to said second translational axis, and whereby movements of said third bidirectional manipultor visually correspond to changes in the orientation of said object on said display with respect to said third translational axis.

15. The device as recited in claim 1, wherein the bidirectional movement of said belt is unbounded.

16. The device as recited in claim 1, wherein said housing further includes a belt enclosure affixed to said housing for extending a portion of said belt away from said housing, said enclosure having an aperture through which said fingers can be inserted to engage said belt.

17. A device for providing signals indicative of an object'"'"'s location on a display, comprising:

a housing operative to be manipulated by a user;

a first translation position indicating means affixed to said housing for producing a first signal indicative of a first position of said object on said display with respect to a first translational axis;

a second translation position indicating means affixed to said housing for producing a second signal indicative of a second position of said object on said display with respect to a second translational axis;

a third translation position indicating means affixed to said housing including a bidirectional controller operated by one or more fingers of said user, for producing a third signal indicative of a third position of said object on said display with respect to a third translational axis,

said bidirectional controller including a roller operative to be bidirectionally moved by said fingers and having means for detecting bidirectional movement of said roller and converting the detected movement of said roller to said third signal.

said roller being affixed to said housing in such a manner that said user can operate said roller equally as well when said device is stationary as when said device is being moved across a surface by said user; and

a first orientation indicating means affixed to said housing for converting the motion of a first bidirectional manipulator operated by said fingers of said user into a first orientation signal indicative of the orientation of said object on said display with respect to one of said first, second or third translational axis;

whereby a movement of said device over said surface results in said first and second positions of said object being defined on said display, whereby a movement of said bidirectional controller results in said third position of said object being defined on said display, and whereby a movement of said first bidirectional manipulator results in a change in the orientation of said object.

18. The device as recited in claim 17, wherein said first bidirectional manipulator includes:

a wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said wheel and converting the detected movement of said wheel to said first orientation signal.

19. The device as recited in claim 18, wherein said wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said first translational axis, whereby the rotational movement of said wheel visually corresponds to changes in the orientation of said object on said display with respect to said first translational axis.

20. The device as recited in claim 17, and further comprising a second orientation indicating means affixed to said housing for converting the motion of a second bidirectional manipulator operated by said fingers into a second orientation signal indicative of the orientation of said object on said display system with respect to one of said first, second or third translational axis.

21. The device as recited in claim 20, wherein said first bidirectional manipulator includes:

a first wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said first wheel and converting the detected movement of said first wheel to said first orientation signal.

22. The device as recited in claim 21, wherein said second bidirectional manipulator includes:

a second wheel having means opertive to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said second wheel and converting the detected movement of said second wheel to said second orientation signal.

23. The device as recited in claim 22, wherein said first wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said first translational axis, and wherein said second wheel is physically aligned in relation to said housing so as to rotate in manner corresponding to the direction of rotation about said second translational axis, whereby rotational movements of said first wheel visually correspond to changes in the orientation of said object on said display with respect to said first translational axis and rotational movements of said second wheel visually correspond to changes in the orientation of said object on said display with respect to said second translational axis.

24. The device as recited in claim 20, and further comprising a third orientation indicating means affixed to said housing for converting the motion of a third bidirectional manipulator operated by said fingers into a third orientation signal indicative of the orientation of said object on said display system with respect to one of said first, second or third translational axis.

25. The device as recited in claim 24, wherein said first bidirectional manipulator includes:

a first wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said first wheel and converting the detected movement of said first wheel to said first orientation signal.

26. The device as recited in claim 25, wherein said second bidirectional manipulator includes:

a second wheel having means operative to be bidirectionally moved by said fingers of said user; and

means for detecting the bidirectional movement of said second wheel and converting the detected movement of said second wheel to said second orientation signal.

27. The device as recited in claim 26, wherein said third bidirectional manipulator includes:

a third wheel having means operative to be bidirectionally moved by said fingers of said user; and

mans for detecting the bidirectional movement of said third wheel and converting the detected movement of said third wheel to said third orientation signal.

28. The device as recited in claim 27, wherein said first wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said first translational axis, and wherein said second wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said second translational axis, and wherein said third wheel is physically aligned in relation to said housing so as to rotate in a manner corresponding to the direction of rotation about said third translational axis, whereby rotational movements of said first wheel visually correspond to changes in the orientation of said object on said display with respect to said first translational axis, whereby rotational movements of said second wheel visually correspond to changes in the orientation of said object on said display with respect to said second translational axis, and whereby rotational movements of said third wheel visually correspond to changes in the orientation of said object on said display with respect to said third translational axis.

29. The device as recited in claim 24, wherein said first bidirectional manipulator is physically aligned in relation to said housing so as to move in a manner corresponding to the direction of rotation about said first translational axis, and wherein said second bidirectional manipulator is physically aligned in relation to said housing so as to move in a manner corresponding to the direction of rotation about said second translational axis, and wherein said third bidirectional manipulator is physically aligned in relation to said housing so as to move in a manner corresponding the direction of rotation about said third translational axis, whereby movements of said first bidirectional manipulator visually correspond to changes in the orientation of said object on said display with respect to said first translational axis, whereby movements of said second wheel visually correspond to changes in the orientation of said object on said display with respect to said second translational axis, and whereby movements of said third bidirectional manipulator visually correspond to changes in the orientation of said object on said display with respect to said third translational axis.

30. Apparatus for generating signals indicative of the three-dimensional position and orientation of an object, comprising:

an external housing;

a first translation position indicating means mounted to said housing for producing a first signal indicative of a first position of said object along a first axis;

a second translation position indicating means mounted to said housing for producing a second signal indicative of a second position of said object along a second axis;

a third translation position indicating means mounted to said housing for converting the motion of a bidirectional controller into a third signal indicative of a third position of said object along a third axis, said bidirectional controller having a belt opertive to be bidirectionally moved by a finger of said user and means for detecting the bidirectional movement of said belt and converting the detected movement of said belt to said third signal, said belt including a plurality of fingertip sized holes formed therein through which said finger can be inserted; and

a first orientation indicating means affixed to said housing for converting the motion of a first bidirectional manipulator operated by one or more fingers of a user into a first orientation signal indicative of the orientation of said object with respect to one of said first, second or third axes;

whereby movement of said apparatus over a surface results in said first and second positions of said object being defined, whereby movement of said bidirectional controller results in said third position of said object being defined, and whereby a movement of said first bidirectional manipulator results in a change in the orientation of said object.

31. The device as recited in claim 30, and further comprising a second orientation indicating means affixed to said housing for converting the motion of a second bidirectional manipulator operated by said fingers into a second orientation signal indicative of the orientation of said object with respect to one of said first, second or third axes.

32. The device as recited in claim 31 and further comprising a third orientation indicating means affixed to said housing for converting the motion of a third bidirectional manipulator operated by said fingers into a third orientation signal indicative of the orientation of said object with respect to one of said first, second or third axes.