Actuator having electronically controllable tactile responsiveness

• US 5,559,412 A
• Filed: 05/03/1995
• Issued: 09/24/1996
• Est. Priority Date: 10/24/1991
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Lex Computer and Management Corp.
• Inventors: Schuler, Chester L.
• Primary Examiner(s): Martin, David S.
• Application Number:
  US08/434,176
• Time in Patent Office: 510 Days
• Field of Search: 318/560, 318/561, 318/637-638, 318/569, 318/600-601, 318/615-616, 318/646, 318/652, 318/687, 360/13, 360/14.1, 360/14.2, 360/14.3, 360/72.2, 360/33.1, 340/726, 340/723, 340/792, 369/30, 369/32, 358/335, 358/338-339
• US Class Current: 318/561
• CPC Class Codes: G05B 19/108 characterised by physical layout of switches; switches co-operating with display; use of switches in a special way
• CPC Class Codes: G05B 19/231 the positional error is used to control continuously the servomotor according to its magnitude
• CPC Class Codes: G05B 2219/23053 Knob with tactile feedback, representing clicks, detents programmed
• CPC Class Codes: G05B 2219/35459 Knob, handle, handwheel delivers pulses, electronic handwheel, digipot
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05B 2219/43186 Pulses from handle, knob, hand wheel control speed
• CPC Class Codes: G05B 2219/45184 Filming, photography, camera
• 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 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03549 Trackballs 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: G11B 27/02 Editing, e.g. varying the order of information signals recorded on, or reproduced from, record carriers
• CPC Class Codes: G11B 27/028 with computer assistance
• CPC Class Codes: G11B 27/031 Electronic editing of digitised analogue information signals, e.g. audio or video signals
• CPC Class Codes: G11B 27/034 on discs G11B27/036, G11B27/038 take precedence
• CPC Class Codes: G11B 27/34 Indicating arrangements indicating means incorporated in magazine or cassette G11B23/046 and G11B23/0875; indicating measured values in general G01D
• 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 actuator having electronically controllable tactile responsiveness which is flexibly programmable to facilitate provision in a single actuator of torque-position characteristics, such as a selectable number of detents per actuation through its full operative path. A rotary actuator facilitates provision in a single actuator, of torque versus angular position characteristics, such as a selectable number of detents per revolution. The actuator is in communication with a servo motor having a position encoder which outputs position information to a controller that has access to torque-position relation information. The controller outputs a digital torque signal, in accordance with the torque-position relation information, which is converted to an analog current signal applied to the servo motor to generate torque in the servo motor. The torque, presenting a tactile response to a human interacting with the actuator, is sensed as a detent or a plurality of detents. Similarly, an exercise machine actuator and a linear/joystick actuator are implemented having controllable tactile responsiveness that is electronically controllable in accordance with a selectable torque profile.

Claims

1. An actuator having tactile feedback capabilities, comprising:

an actuatable member for receiving a tactile feedback;

a servo motor having said actuatable member attached thereto;

a position encoder in communication with said servo motor, said encoder providing position information of said servo motor relative to a reference position;

a controller receiving said position information from said encoder;

a store of force-position relation information accessible to said controller, said controller outputting at least one force value in response to said position information and said store of force-position relation information; and

a drive signal source generating a drive signal to said servo motor in response to said at least one force value, said drive signal causing a force in said servo motor, said force providing said tactile feedback to said actuatable member.