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Method and apparatus for controlling force feedback interface systems utilizing a host computer

  • US 5,734,373 A
  • Filed: 12/01/1995
  • Issued: 03/31/1998
  • Est. Priority Date: 07/16/1993
  • Status: Expired due to Term
First Claim
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1. An interface device for use with a host computer displaying a graphical environment, said host computer updating said graphical environment in response to user manipulation of said interface device and commanding force feedback sensations utilizing said interface device in response to said manipulation and in coordination with events within said graphical environment, said interface device comprising:

  • a user manipulatable object grasped by a user;

    a support mechanism which supports said user manipulatable object with respect to an origin while allowing a plurality of degrees of freedom in the motion of said user manipulatable object with respect to said origin;

    an actuator coupled to said user manipulatable object for providing a force resistance to motion of said user manipulatable object along at least one of said degrees of freedom with respect to said origin, said resistance to motion generated in response to commands from said host computer and in coordination with said graphical environment;

    a sensor outputting a locative signal responsive to and corresponding with manipulation of said user manipulable object along at least said degree of freedom in which said resistance is provided;

    a user adjustable switch apparatus outputting a state signal representing the state of said switch apparatus;

    a local microprocessor separate from said host computer, coupled to said host computer by a communication interface and coupled to said actuator, said sensor, and to said user adjustable switch, said local microprocessor executing a local process in parallel with host execution of said graphical environment, said local process involving the execution of a plurality of local routines, wherein said local process executed by said local microprocessor is stored in local memory coupled to said local microprocessor, wherein said local processenables communication between said interface device and said host computer,decodes commands sent by said host computer to said interface device over said communication interface,controls said actuator in response to at least one decoded command received from said host computer, wherein said control of said actuator is coordinated with an event occurring in said parallel host computer execution of said graphical environment, thereby locally creating a feel sensation that corresponds with a relevant displayed event within said graphical environment,reports a representation of said locative signal to said host computer, wherein said host computer updates said parallel execution of said graphical environment in response to said representation of said locative signal, andreports a representation of said state signal to said host computer, wherein said host computer updates said parallel execution of said graphical environment in response to said switch state,and wherein a plurality of host commands are received by said local microprocessor over said communication interface; and

    a plurality of command routines stored in memory local to said microprocessor, wherein particular ones of said command routines are executed in response to particular ones of said received host commands, wherein at least one of said host commands causes execution of a command routine for reporting data from said local microprocessor to said host computer, at least one of said host commands causes the execution of a force routine, said force routine being a command routine that causes said force generator to produce a resistance to motion of said user object along at least one of said degrees of freedom.

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