Force feedback joystick with digital signal processor controlled by host processor
First Claim
1. A programmable input and output device for use with a digital computer to which it is electrically coupled, said device comprising:
- a. a moveable member manipulatable by a human user in at least one degree-of-freedom;
b. a sensor that produces position signals specifying a position of said moveable member with respect to said one degree-of-freedom;
c. a memory in which force effect definitions and for associating each of said stored definitions with a unique effect identifier for each force effect definition are stored;
d. a processor that is electrically coupled to the memory to access the force effect definitions in response to force commands received from the digital computer, said processor producing a control signal in response to the force commands; and
e. an actuator, electrically coupled to the processor and mechanically coupled to said movable member, said actuator applying a force to said moveable member in said one degree-of-freedom in response to the control signal, a direction and a magnitude of said force being specified by at least one of said force effect definitions that is referenced by a corresponding effect identifier included in said force commands.
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Accused Products
Abstract
A force feedback joystick unit connected to the serial port of a personal computer applies a variety of force effects to the joystick handle in response to commands from the executing personal computer program. Forces are applied to the joystick, which is mounted on a gimbal support for movement in two degrees of freedom, by a pair of drive motors which operate under the control of a digital signal processor (DSP). The DSP is programmed to respond to predetermined commands issued by a program executing on the personal computer to produce basic force effects including a constant force, a spring force proportional to the displacement of the joystick handle from a reference, a damping force proportional to the velocity of the joystick, and a time varying force effect having a selectable waveform, magnitude and period. More complex forces effects are produced by combining the basic effects. Custom force effects can be defined by the executing application program, the definitions being downloadable from the personal computer into the DSP which thereafter produces the defined custom force effect upon subsequent command from the personal computer. Multiple force effects, including both basic predefined effects and complex custom effects can be simultaneously operative and can be independently initiated and terminated by commands from the personal computer.
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Citations
19 Claims
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1. A programmable input and output device for use with a digital computer to which it is electrically coupled, said device comprising:
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a. a moveable member manipulatable by a human user in at least one degree-of-freedom; b. a sensor that produces position signals specifying a position of said moveable member with respect to said one degree-of-freedom; c. a memory in which force effect definitions and for associating each of said stored definitions with a unique effect identifier for each force effect definition are stored; d. a processor that is electrically coupled to the memory to access the force effect definitions in response to force commands received from the digital computer, said processor producing a control signal in response to the force commands; and e. an actuator, electrically coupled to the processor and mechanically coupled to said movable member, said actuator applying a force to said moveable member in said one degree-of-freedom in response to the control signal, a direction and a magnitude of said force being specified by at least one of said force effect definitions that is referenced by a corresponding effect identifier included in said force commands. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A programmable input and output device for use with a digital computer to which it is electrically coupled, said device comprising:
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a. a moveable member manipulatable by a user in a plurality of degrees-of-freedom; b. a sensor that produces position signals specifying a position of said moveable member with respect to said plurality of degrees-of-freedom; c. a memory in which force effect definitions with a unique effect identifier for each force effect definition are stored; d. a processor that is electrically coupled to the memory to access the force effect definitions in response to force commands received from the digital computer, said processor producing a control signal in response to the force commands; and e. an actuator, electrically coupled to the processor and mechanically coupled to said movable member, said actuator applying a force to said movable member in at least one of said plurality of degrees-of-freedom in response to the control signal, a direction and a magnitude of said force being specified by at least one of said force effect definitions that is referenced by a corresponding effect identifier included in said force commands.
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Specification