Touch sensitive input control device

• US 5,729,249 A
• Filed: 08/01/1995
• Issued: 03/17/1998
• Est. Priority Date: 11/26/1991
• Status: Expired due to Term

• Current Assignee: Sandio Technology Corp.
• Original Assignee: Itu Research, Inc.
• Inventors: Yasutake, Taizo
• Primary Examiner(s): BRIER, JEFFERY A
• Application Number:
  US08/509,797
• Time in Patent Office: 959 Days
• Field of Search: 345/156, 345/157, 345/167, 345/168, 345/173-177, 345/139, 73/862.041, 73/862.043, 73/862.05
• US Class Current: 345/173
• CPC Class Codes: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03547 Touch pads, in which fingers can move on a surface
• 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: G06F 3/0488 using a touch-screen or digitiser, e.g. input of commands through traced gestures
• CPC Class Codes: G06V 30/228 of three-dimensional handwriting, e.g. writing in the air

Abstract

A family of controllers incorporate multiple force/touch sensitive input elements to provide intuitive input in up to six degrees of freedom, including position and rotation, in either a Cartesian, cylindrical or spherical coordinate system. Six dimensions of input can be generated without requiring movement of the controller, which provides a controller suitable for controlling cursors and display objects in an interactive computer system and for equipment such as heavy cranes and fork lift trucks. Position information is obtained either by use of a "pushing" or "dragging" metaphor. Rotational information is provided by either a "pushing," "twisting," or "gesture" metaphor. In certain embodiments, the same sensor is used for both position and rotational inputs, and the two are differentiated by the magnitude of the force applied to the sensor.

Claims

1. A touch-sensitive manually operable controller for providing positive and negative control information relative to each of three axes, the controller having six touch-sensitive sensors mounted on its outer surface, the sensors oriented to detect manual touches on the outer surface, two sensors mounted on opposing sides of the controller relative to each axis of a Cartesian coordinate system,

the controller providing positive X-axis control information in response to touch pressure applied in the positive X direction to a first sensor mounted parallel to a Y-Z plane, and providing Y-axis and Z-axis control information in response to translation of the touch pressure on the first sensor in the Y axis and Z-axis directions, respectively,

providing negative X-axis control information in response to touch pressure applied in the negative X direction to a second sensor mounted parallel to the Y-Z plane, and providing Y-axis and Z-axis control information in response to translation of the touch pressure applied to the second sensor in the Y axis and Z-axis directions, respectively,

providing positive Y-axis control information in response to touch pressure applied in a positive Y direction to a third sensor mounted parallel to an X-Z plane, and providing X-axis and Z-axis control information in response to translation of the touch pressure applied to the third sensor in the X axis and Z-axis directions, respectively,

providing negative Y-axis control information in response to touch pressure applied in a negative Y direction to a fourth sensor mounted parallel to the X-Z plane, and providing X-axis and Z-axis control information in response to translation of the touch pressure applied to the fourth sensor in the X axis and Z-axis directions, respectively,

providing positive Z-axis control information in response to touch pressure applied in a positive Z direction to a fifth sensor mounted parallel to an X-Y plane, and providing X-axis and Y-axis control information in response to translation of the touch pressure applied to the fifth sensor in the X axis and Y-axis directions, respectively, and

providing negative Z-axis control information in response to touch pressure applied in a negative Z direction to a sixth sensor mounted parallel to the X-Y plane, and providing X-axis and Y-axis control information in response to translation of the touch pressure applied to the sixth sensor in the X axis and Y-axis directions, respectively.

2. A touch-sensitive manually operable controller as in claim 1 for use as an input device for an interactive graphics computer.

3. An interactive graphics computer system including the controller of claim 1, wherein the apparent position of an object in the display is changed to correspond to the control information provided by the controller.

4. A touch-sensitive manually operable controller as in claim 1 for use as an input device for heavy equipment.

5. Heavy equipment including the controller of claim 1, wherein the position of a member of the heavy equipment is moved to correspond to the control information provided by the controller.

6. A touch-sensitive manually operable controller as in claim 1 wherein the positive and negative X-axis control information, the positive and negative Y-axis control information, or the positive and negative Z-axis control information, when provided without the control information for said translation, are provided to a computer system to rotate a controlled object about the X-axis, the Y-axis, or the Z-axis, respectively.

7. A touch-sensitive manually operable controller as in claim 1 wherein the Y-axis and Z-axis control information, the X-axis and Z-axis control information, or the X-axis and Y-axis control information provided in response to said translation are provided to a computer system to translate a controlled object along one or more of said axes.

8. A touch-sensitive manually operable controller as in claim 1 wherein each of said sensors includes a central sensor and a plurality of edge sensors disposed about the periphery of said central sensor.

15. A method of moving a displayed or actual object using a controller as in claim 8, including the steps of:

moving the object in response to detection of movement of a touch point on one of the central sensors;

sensing a touch on one of the edge sensors as a continuation of a movement of touch points on the central sensor; and

continuing the movement of the object as long as the touch on the edge sensor is maintained.

9. A method for controlling a three-dimensional display of an interactive graphical computer by use of a three-dimensional controller, the method including the steps of:

providing a three-dimensional display of an object;

detecting a touch applied to the controller in a positive X-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a positive X-movement of the object within the display coordinate system in response;

detecting a touch applied to the controller in a negative X-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a negative X-movement of the object within the display coordinate system in response;

detecting a touch applied to the controller in a positive Y-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond a positive Y-movement of the object within the display coordinate system in response;

detecting a touch applied to the controller in a negative Y-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a negative Y-movement of the object within the display coordinate system in response;

detecting a touch applied to the controller in a positive Z-direction relative to a Cartesian coordinate system centered on the controller and changing the display to indicate a positive Z-movement of the object within the display coordinate system in response;

detecting a touch applied to the controller in a negative Z-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a negative Z-movement of the object within the display coordinate system in response;

detecting a translational change in a positive X-direction of a touch applied to the controller, a pressure of said touch being directed in a positive Y-direction, a negative Y-direction, a positive Z-direction, or a negative Z-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a positive X-movement of the object within the display coordinate system in response;

detecting a translational change in a negative X-direction of a touch applied to the controller, a pressure of said touch being directed in a positive Y-direction, a negative Y-direction, a positive Z-direction, or a negative Z-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a negative X-movement of the object within the display coordinate system in response;

detecting a translational change in a positive Y-direction of a touch applied to the controller, a pressure of said touch being directed in a positive X-direction, a negative X-direction, a positive Z-direction, or a negative Z-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a positive Y-movement of the object within the display coordinate system in response;

detecting a translational change in a negative Y-direction of a touch applied to the controller, a pressure of said touch being directed in a positive X-direction, a negative X-direction, a positive Z-direction, or a negative Z-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a negative Y-movement of the object within the display coordinate system in response;

detecting a translational change in a positive Z-direction of a touch applied to the controller, a pressure of said touch being directed in a positive X-direction, a negative X-direction, a positive Y-direction, or a negative Y-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a positive Z-movement of the object within the display coordinate system in response; and

detecting a translational change in a negative Z-direction of a touch applied to the controller, a pressure of said touch being directed in a positive X-direction, a negative X-direction, a positive Y-direction, or a negative Y-direction relative to a Cartesian coordinate system centered on the controller and changing the display to correspond to a negative Z-movement of the object within the display coordinate system in response.

10. A touch-sensitive manually operable controller for providing control signals in two dimensions, the controller being generally in the shape of a cube having six sides and comprising:

six generally planar touch-sensitive central sensors, each of the sensors disposed centrally on one of the sides of the controller such that two sensors are perpendicular to each of the three axes of a Cartesian coordinate system and for providing first control signals responsive to the position of touches applied to the central sensors, the first control signals defining the position of the touch in two dimensions; and

six touch-sensitive edge sensors tactilely distinguished from the central sensors, each of the edge sensors being positioned on a different side of the controller about the periphery of one of the central sensors, the edge sensors providing second control signals in response to touches applied to the edge sensors.

11. A touch-sensitive manually operable controller as in claim 10 wherein each edge sensor is inclined and raised relative to the central sensor on the side of the edge sensor.

12. A touch-sensitive manually operable controller as in claim 10 wherein each edge sensor further distinguishes between touches applied to different positions on the edge sensor.

13. A touch-sensitive manually operable controller as in claim 12 wherein each edge sensor is inclined and raised relative to the central sensor on the side of the edge sensor.

14. A touch-sensitive manually operable controller as in claim 10 wherein the edge sensors further distinguish between forces applied to different positions on the edge sensor.

16. A method of manipulating a displayed or actual object using a controller as in claim 10, the method comprising the steps of:

detecting touches on two parallel edge sensors; and

rotating the displayed or actual object about an object axis that corresponds to an axis parallel to the two edge sensors.

17. A method of manipulating a displayed or actual object using a controller as in claim 10, the method comprising the steps of:

detecting touch on one edge sensor; and

rotating the displayed or actual object about an object axis that corresponds to an axis parallel to the edge sensor.

18. A touch-sensitive manually operable controller as in claim 10 wherein said edge sensors each include four individual edge sensors, each of said four individual edge sensors being aligned along an edge of said controller.

19. A method of manipulating a displayed or actual object using a touch-sensitive manually operable controller for providing control signals in two dimensions, the controller comprising a six generally planar touch-sensitive sensors, each sensor for providing signals responsive to the position of a touch applied to the sensor, the signals defining the position of the touch in two dimensions, two of the sensors aligned with each of the three axes of a Cartesian coordinate system such that each of said three axes perpendicularly extends through two of said sensors, the method comprising the steps of:

detecting movement of touch positions on opposing sensors;

detecting that the movement is in substantially opposite directions; and

rotating the displayed or actual object.

20. A method as recited in claim 19 wherein said rotation step is accomplished only if a pressure of said touch positions is above a predetermined threshold pressure.

21. A method as recited in claim 19 further comprising the steps of:

detecting a pressure of two touch positions on opposing sensors;

translating the displayed or actual object in a direction corresponding to the direction of greater pressure.

22. A method as recited in claim 21 wherein said translation step is accomplished only if at least one of said pressures is greater than a threshold.

23. An input device for an interactive graphical computer including six touch-sensitive generally planar sensors mounted symmetrically on the outer surface of the device, two of the sensors aligned with a Y-Z plane of a Cartesian coordinate system, two of the sensors aligned with an X-Z plane, and two aligned on with an X-Y plane, all six sensors oriented to detect touch pressure directed toward a surface of the sensor and to detect translational movement of the touch pressure along the surface of the sensors and for providing control signals indicative of the location of the touch pressure on said sensor, the direction of the movement of the touch pressure on said sensor, and the magnitude of the touch pressure applied to said sensor.

24. A method for controlling an object in three dimensions using a controller having six planar sides, two of said sides perpendicular to each of the three axes of a Cartesian coordinate system, wherein each of said sides includes a generally planar touch-sensitive central sensor disposed centrally on said side of the controller, and at least one touch-sensitive edge sensor tactilely distinguished from the central sensor and positioned about the periphery of the central sensor, said method comprising the steps of:

providing a translation command to a computer system to translate said object when pressure is applied to at least one of said central sensors; and

providing a rotation command to said computer system to rotate said object when pressure is applied to at least one of said edge sensors.

25. A method as recited in claim 24 wherein said translation command is provided when pressure is simultaneously applied to opposing central sensors, wherein said translation command commands said object to translate in a direction corresponding to a direction of said pressure having a greater magnitude.

26. A method as recited in claim 25 wherein said translation command is provided when pressure is simultaneously applied to opposing central sensors at two touch points and said two touch points are simultaneously translated on the surface of said opposing central sensors, wherein said translation command commands said object to translate in a direction corresponding to a direction of said touch points on said central sensors.

27. A method as recited in claim 24 wherein said rotation command is provided when pressure is simultaneously applied to parallel and diagonally opposing edge sensors, wherein said rotation command commands said object to rotate about an axis of said object that corresponds to an axis parallel to said parallel edge sensors.

28. A method as recited in claim 24 further comprising a step of providing said rotation command when movement of touch positions on opposing central sensors is detected and when said movement is in substantially opposite directions.