Gyro-stabilized platforms for force-feedback applications

• US 5,754,023 A
• Filed: 10/22/1996
• Issued: 05/19/1998
• Est. Priority Date: 10/26/1995
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Cybernet Systems Corporation
• Inventors: Jacobus, Charles J., Roston, Gerald P.
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US08/736,016
• Time in Patent Office: 574 Days
• Field of Search: 318/561, 318/567, 318/568.1, 318/568.11, 318/566, 318/628, 318/648, 318/649, 414/4, 414/5
• US Class Current: 318/561
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: F16F 15/00 Suppression of vibrations in systems damping of non-rotary systems using inertia effect F16F7/10; prevention or isolation of vibrations in machine tools B23Q11/0032; suppression of driveline vibrations in hybrid vehicle transmissions B60W30/20 ; vehicle seat suspension devices B60N2/50; methods or devices for protecting against, or damping of, acoustic waves, e.g. sound G10K11/16; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion vibration absorbing or balancing means for aircraft propellers B64C11/008, for rotorcraft rotors B64C27/001 ; testing static and dynamic balance of machines or structures G01M1/00
• CPC Class Codes: G05B 13/042 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: G05B 2219/37164 Pulse derived from encoder built into ball bearing
• CPC Class Codes: G05B 2219/37174 Encoder with infrared
• CPC Class Codes: G05B 2219/40122 Manipulate virtual object, for trajectory planning of real object, haptic display
• CPC Class Codes: G05B 2219/41274 Flywheel as power buffer
• CPC Class Codes: G05B 5/01 electric
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Force feedback in large, immersive environments is provided by device which a gyro- stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.

Claims

1. A spatially unrestricted force-feedback device, comprising:

a body;

gyroscopic means connected to the body to provide an inertial reference to stabilize the body in at least one spatial dimension;

a user-interactable member connected to the body; and

force-feedback means coupled to the member, enabling a user of the device to experience the feedback of forces relative to the gyroscopically stabilized body.

2. The device of claim 1, wherein the user-interactable member is a joystick.

3. The device of claim 1, wherein the user-interactable member includes a handle.

4. The device of claim 1, wherein the user-interactable member is a steering wheel.

5. The device of claim 1, wherein the user-interactable member is a device associated with the simulation of a sport.

6. The device of claim 1, further including:

a computer system modeling a virtual environment including one or more virtual objects; and

wherein

the user-interactable member is in electrical communication with the computer system to generate forces on the member as a function of an activity involving an object within the virtual environment.

7. The device of claim 1, wherein the gyroscopic means includes a momentum wheel, and wherein a torque is produced on the member through accelerating and decelerating the angular velocity of the wheel.

8. The device of claim 7, including three momentum wheels to stabilize the body in three dimensions.

9. The device of claim 1, wherein the gyroscopic means takes the form of a reaction sphere operative to produce arbitrary reaction torques about three linearly independent axes of the body.

10. The device of claim 1, further including an angular position measuring device to determine the state of the body in space.

11. The device of claim 10, wherein the angular position measuring device is a potentiometer.

12. The device of claim 10, wherein the angular position measuring device as an encoder.

13. The device of claim 1, further including an angular velocity measuring device to determine the state of the gyroscopic means.

14. The device of claim 13, wherein the angular velocity measuring device is a tachometer.

15. The device of claim 13, wherein the state of the gyroscopic means is determined by numerically differentiating the angular position of the body.

16. The device of claim 1, further including an active control system to provide device stability.

17. A spatially unrestricted force-feedback device, comprising:

a body;

an active control system to stabilize the body in space;

three rotatable reaction wheels coupled to the body;

means for determining the angular velocity of each wheel;

an angular position measuring device to determine the state of the body in the space;

a user-interactable member connected to the body; and

force-feedback means using the angular velocity and position of the body as inputs to produce torque on the member about three arbitrary axes through the coordinated acceleration and deceleration of the angular velocity of each wheel.

18. The device of claim 17, wherein the angular position measuring device is an inertial measuring unit.

19. The device of claim 17, wherein the angular velocity measuring device uses numerical differentiation to determine the angular position of the body.

20. A method of generating a spatially unrestricted haptic environment, comprising the steps of:

providing a body in space having a user-interactable force-feedback device;

geo-stabilizing the body in one or more dimensions;

simulating a virtual environment modeling one or more virtual objects; and

interfacing the user-interactable force-feedback device to the virtual environment, enabling the user to experience a force representative of an activity within the virtual environment involving one or more of the objects.

21. The method of claim 20, further including the step of:

slowly and continually removing angular momentum from the body so as to minimize the effect on a user.

22. The method of claim 20, further including the steps of:

receiving an input disturbance on the body;

stabilizing the body through a pole placement, with the location of the poles being determined through optimal control theory; and

canceling out the disturbance inputs to produce a desired torque output immune to the input disturbance.

23. The method of claim 20, further including the step of:

receiving an external force generated through a remote physical device; and

producing a scaled representation of the force received relative to a point on the physical device.

24. The method of claim 23, wherein the scaled representation is such that the maximum force applicable to the physical device is mapped into the maximum force which the device is capable of producing.