Method and apparatus for tactilely responsive user interface

• US 5,889,670 A
• Filed: 01/11/1996
• Issued: 03/30/1999
• Est. Priority Date: 10/24/1991
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Haberman, Seth M., Schuler, Chester L.
• Primary Examiner(s): PATEL, RAMESH B
• Assistant Examiner(s): Brown, Thomas E.
• Application Number:
  US08/585,198
• Time in Patent Office: 1,174 Days
• Field of Search: 364/188-190, 345/157, 345/158, 345/160-167, 345/168, 318/560, 318/561, 318/637-638, 318/568, 318/600, 318/601, 318/615, 318/616, 318/646
• US Class Current: 700/83
• 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 2203/014 Force feedback applied to GUI
• 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

A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.

Claims

1. A user interface device to manipulate a position of a cursor on a screen display in an electronic apparatus, comprising:

a tracking element actuatable to track the position of said cursor on said screen display;

at least one motor interconnected to said tracking element and having a position sensor connected thereto, each said position sensor generating a motor position signal indicative of the position of a respective motor;

a controller receiving cursor position information from said electronic apparatus and motor position information from a respective sensor;

a store of force-position information accessible to said controller, said controller accessing said store of force-position information in response to at least one of said cursor position information and said motor position signal to generate, using said at least one motor, a positive or negative force in said tracking element as a function of a position of said cursor on said screen display.

2. The user interface device of claim 1 wherein said tracking element is a sphere interfaced to said at least one motor by at least two sets of wheels contacting said sphere and said at least two sets of wheels are aligned on mutually orthogonal axes.

3. The user interface device of claim 2 wherein each of said at least two sets of wheels comprises a hub about which a pair of frames is disposed and each of said pair of frames includes gripping members staggered in a manner so that there is always a gripping member in contact with said sphere.

4. The user interface device of claim 1 wherein said at least one motor comprises a plurality of motors and each of said plurality of motors has an associated complementary motor connected in series.

5. The user interface device of claim 1 wherein said at least one motor comprises a plurality of motors and each of said plurality of motors has an associated complementary bearing.

6. The user interface device of claim 1 wherein said at least one motor comprises a plurality of motors each interconnected to said tracking element by at least one set of wheels aligned on mutually orthogonal axes and configured to sense or impart motion of the tracking element on a respective axis.

7. The user interface device of claim 6 wherein said plurality of motors each interconnected to said tracking element by at least one set of wheels aligned on mutually orthogonal axes are configured to sense or impart motion of the tracking element on mutually orthogonally disposed x and y-axes.

8. The user interface device of claim 7 further including at least one set of wheels configured to sense or impart motion of the tracking element on a z-axis orthogonally disposed with respect to said x and y-axes.

9. A method of generating tactile responsiveness in a user interface device having a tracking element manipulating a position of a displayed element on a display screen of an electronic device, said method comprising the steps of:

positioning a plurality of drive/position assemblies along mutually orthogonal axes with respect to said tracking element, each of said plurality of drive/position assemblies including a motor and an associated sensor to drive and sense position of said tracking element;

interfacing said user interface device to said display screen via a controller that receives information from said associated sensor of each of said plurality of drive/position assemblies and from said electronic device to track movement of said tracking element and the position on said display screen of said displayed element;

storing force-position relation information, accessible to said controller, as a function of the position on the display screen of the displayed element; and

accessing said force-position information via said controller and generating a signal to each of said plurality of drive/position assemblies to effect a positive or negative force to respectively assist or resist motion of said tracking element depending upon the position of said displayed element on said display screen.

10. The method of claim 9 wherein said step of positioning a plurality of drive/position assemblies further includes positioning a corresponding plurality of complementary slave assemblies along corresponding mutually orthogonal axes, each of said complementary slave assemblies being electrically connected in series with a respective one of said plurality of drive/position assemblies.

11. The method of claim 9 wherein the step of interfacing said user interface device to said display screen via said controller includes interconnecting said electronic device to said controller to send and receive information about the position of the displayed element on said display screen between said electronic device and said controller, and interconnecting said plurality of drive/position assemblies to said controller to send said signal to each of said plurality of drive/position assemblies to effect said positive or negative force to respectively assist or resist motion of said tracking element depending upon the position of said displayed element on said display screen.

12. A user interface device having tactile feedback capabilities, comprising:

an actuatable member for imparting a tactile feedback to a user of said user interface device;

a motor interconnected to said actuatable member;

a position sensor in communication with said motor, said position sensor providing position information of said motor;

a controller receiving said position information from at least said position sensor;

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

a drive signal source generating a drive signal to said motor in accordance with said at least one force value, said drive signal causing a force in said motor to provide said tactile feedback to said actuatable member to assist or resist motion of said actuatable member.

13. The user interface device of claim 12 further including a counter receiving said position information of said motor and providing a count to said controller, said controller outputting a force value corresponding to said position information in accordance with said store of force-position relation information.

14. The user interface device of claim 13 wherein said force value is a digital force value and further including a digital to analog converter receiving said digital force value and converting said digital force value to an analog force signal.

15. The user interface device of claim 14 further including a power amplifier receiving said analog force signal and generating said drive signal to said motor in accordance with said at least one force value, said drive signal being proportional to said analog force signal.

16. The actuator of claim 12 wherein said controller is a microprocessor receiving said position information on at least one port thereof.

17. The actuator of claim 16 wherein said microprocessor includes resident erasable programmable read only memory which is used for said store of force-position relation information.

18. The actuator of claim 12 wherein said drive signal source is a current source including a power amplifier and said drive signal is a current provided by said power amplifier.

19. The user interface device of claim 16 wherein said microprocessor is separate from and coupled to a main CPU.

20. A user interface device manipulated by a user and providing electronically controllable and flexibly programmable tactile feel, the user interface device comprising:

a user manipulatable object grasped by a user and moveable by said user in at least one degree of freedom;

a motor coupled to said user manipulatable object and providing force on said user manipulatable object in said degree of freedom, wherein said force is varied as said user manipulatable object changes position in said degree of freedom, said varied force creating a tactile feel perceived by said user when said user manipulatable object is moved by said user in said degree of freedom, said tactile feel defined at least in part by information received by said user interface device from a main CPU running a main software application;

a control microprocessor separate from said main CPU, said control microprocessor executing a tactile control process separate from said main software application, said control microprocessor coupled to said main CPU by a communication interface;

a sensor apparatus coupled to said control microprocessor and responsive to manipulation of said user manipulatable object, said sensor apparatus providing said control microprocessor with positional information corresponding with said manipulation of said user manipulatable object; and

memory accessible to said control microprocessor and storing force profile information enabling a plurality of distinct force profiles, wherein said force profile information informs said control microprocessor how to implement a force profile by modulating said force as a function of a position of said user manipulatable object in said degree of freedom to achieve one of a plurality of tactile feels, wherein a particular force profile is selected and executed by said control microprocessor in accordance with requirements of said main software application.

21. A user interface device as recited in claim 20 wherein said control microprocessor is operative to select and execute a force profile causing said motor to generate a tactile feel of a detent at a particular location in said degree of freedom.

22. A user interface device as recited in claim 20 wherein said control microprocessor is operative to select and execute a force profile causing said motor to generate a tactile feel of a progressively increasing force in a particular direction of said degree of freedom.

23. A user interface device as recited in claim 20 wherein said control microprocessor is operative to select and execute at least one force profile resulting in a feel of a simulated hard stop at a particular location in said degree of freedom.

24. A user interface device as recited in claim 20 wherein said control microprocessor computes a representation of a velocity of said user manipulatable object by evaluating a rate of change of said positional information.

25. A user interface device as recited in claim 20 wherein an external velocity signal is accessible to said microprocessor, said external velocity signal representing a velocity of said user manipulatable object.

26. A user interface device as recited in claim 25 wherein said velocity signal includes an analog signal processed by an analog to digital converter for digital processing by said microprocessor.

27. A user interface device as recited in claim 20 wherein said motor is a first motor, and further comprising a second motor, said first and second motor coupled to said control microprocessor.

28. A user interface device as recited in claim 27 wherein said first and second motors operate in conjunction to create a tactile feel based on a single force profile.

29. A user interface device as recited in claim 20 wherein said motor is a servo motor.

30. A user interface device as recited in claim 20 wherein said motor is a linear motor.

31. A user interface device as recited in claim 20 wherein said main CPU downloads information describing at least one force profile to said control microprocessor.

32. A user interface device as recited in claim 20 wherein said memory includes non-volatile memory.

33. A user interface device as recited in claim 20 wherein at least one of said force profiles includes a table of information stored in memory.

34. A user interface device as recited in claim 33 wherein said table includes a series of force values and a series of position values.

35. A user interface device as recited in claim 34 wherein said table is downloaded to said control microprocessor from said main CPU to facilitate flexible programming.

36. A user interface device as recited in claim 20 wherein said control microprocessor can store, modify, and select force profiles to provide a desired tactile feel.

37. A method for providing electronically controllable and programmable tactile feel with a user interface device manipulated by a user, the method comprising:

providing a force on a user manipulatable object in a degree of freedom using a motor coupled to said user manipulatable object, said user manipulatable object being grasped and moveable by said user, wherein said force is varied as said user manipulatable object is moved in said degree of freedom, thereby creating a tactile feel perceived by said user and defined at least in part by information received by said user interface device from a main CPU running a main software application;

executing a tactile control process using a control microprocessor separate from said main software application and in communication with said main CPU;

providing position information to said control microprocessor using a sensor apparatus, said position information indicating a position of said user manipulatable object in said degree of freedom; and

providing force profile information to said control microprocessor from memory accessible to said control microprocessor, said force profile information enabling a plurality of distinct force profiles, wherein said force profile information informs said control microprocessor how to implement a force profile by modulating said force as a function of a position of said user manipulatable object in said at least one degree of freedom to achieve one of a plurality of tactile feels, wherein a particular force profile is selected and executed by said control microprocessor in accordance with requirements of said main software application.

38. A method as recited in claim 37 wherein one of said force profiles causes said motor to generate a tactile feel of a detent at a particular location in said degree of freedom.

39. A method as recited in claim 37 wherein one of said force profiles causes said motor to generate a tactile feel of a progressively increasing force in a particular direction of said degree of freedom.

40. A method as recited in claim 37 at least one of said force profiles causes a feel of a simulated hard stop at a particular location in said degree of freedom.

41. A method as recited in claim 37 further comprising computing a representation of a velocity of said user manipulatable object using said control microprocessor by evaluating a rate of change of said positional information.

42. A method as recited in claim 37 further comprising downloading information describing at least one force profile to said control microprocessor from said main CPU.

43. A method as recited in claim 42 wherein said information includes a table including a series of force values and a series of position values, said table downloaded to said control microprocessor from said main CPU to facilitate flexible programming.

44. A method as recited in claim 37 further comprising storing, modifying, and selecting force profiles using said control microprocessor to provide a desired tactile feel.