Tactiley responsive user interface device and method therefor

• US 5,889,672 A
• Filed: 06/03/1998
• 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): Elmore, Reba I.
• Assistant Examiner(s): PATEL, RAMESH B
• Application Number:
  US09/089,799
• Time in Patent Office: 300 Days
• Field of Search: 364/188, 364/189, 364/190-194, 345/157, 345/158, 345/160, 345/161, 345/162, 345/163, 345/164, 345/165, 345/166, 345/167, 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 programmable input and output device electrically coupled to a host computer running a host application, said device comprising:

a moveable member manipulatable by a human user in at least one degree of freedom;

a sensor that produces position signals specifying the position of said moveable member with respect to said at least one degree of freedom;

a memory, separate from a memory of said host computer and local to said device, in which a plurality of tactile responsiveness definitions are stored and are individually accessible in accordance with requirements of said host application;

a processor that is electrically coupled to said memory to access a desired tactile responsiveness definition that is selected from said plurality of stored tactile responsiveness definitions in accordance with requirements of said host application, said processor producing a torque signal in accordance with said selected tactical responsiveness definition; and

an actuator electrically coupled to said processor and mechanically coupled to said moveable member, said actuator applying a torque upon said moveable member in said at least one degree of freedom in response to said torque signal, thereby generating a tactile responsiveness to said moveable member, the direction and a magnitude of said torque being specified by said selected tactile responsiveness definition.

2. The device of claim 1 wherein said actuator is a first actuator, and further comprising a second actuator.

3. The device of claim 2 wherein said first and second actuators operate in conjunction according to at least one selected tactile responsiveness definition.

4. The device of claim 3 wherein said moveable member is manipulatable in a plurality degrees of freedom.

5. The device of claim 4 wherein said movable member is a joystick.

6. The device of claim 1 wherein at least one of said tactile responsiveness definitions is downloaded from said host computer to said processor and stored in said memory during execution of said host application.

7. The device of claim 1 wherein at least one of said tactile responsiveness definitions is resident within said memory upon power-up of said device.

8. The device of claim 7 wherein said memory is a non volatile ROM type memory.

9. The device of claim 1 wherein said device can access said selectable tactile responsiveness definitions that are either a) downloaded from said host computer and stored in said local memory or b) resident in said local memory.

10. The device of claim 1 wherein said tactile responsiveness definition defines a torque versus position profile.

11. The device of claim 10 wherein said profile defines a progressively increasing torque with a change in position of said moveable member in one direction.

12. The device of claim 10 wherein said profile defines a detent.

13. The device of claim 10 wherein said profile defines a hard stop.

14. The device of claim 1 wherein said tactile responsiveness definition includes a stored table of torque values.

15. The device of claim 1 wherein said movable member is a wheel.

16. The device of claim 1 wherein a portion of said memory is non-volatile and is used for permanently storing a plurality of predetermined tactile responsiveness definitions, wherein said processor can select one of said permanently stored tactile responsiveness definitions in accordance with the host application.

17. The device of claim 1 wherein said processor receives a plurality of tactile responsiveness definitions from said host computer and stores said plurality of tactile responsiveness definitions in said memory.

18. The device of claim 1 wherein said processor determines a velocity of said moveable member from said position signals.

19. The device of claim 18 wherein said processor generates said torque signal in accordance with said velocity.

20. A programmable tactile simulation device electrically coupled to a host computer running a host application, said device comprising:

a) a movable member manipulatable by a human user in at least one degree of freedom;

b) a sensor that produces position signals specifying the position of said movable member with respect to said one degree of freedom;

c) a memory in which a plurality of tactile responsiveness definitions are stored, at least one of said tactile responsiveness definitions including data received from said host computer across a communication connection; and

d) a processor that is electrically coupled to said memory, said processor receiving said data from said host computer to store said data in said memory, and accessing desired tactile responsiveness definitions in accordance with requirements of said host application, said processor controlling an output of at least one actuator that is mechanically coupled to said movable member, thereby generating a desired tactile responsiveness on said movable member.

21. A programmable tactile simulation device as recited in claim 20 wherein at least one of said tactile responsiveness definitions defines a torque versus position relationship.

22. A programmable tactile simulation device as recited in claim 20 wherein at least two tactile responsiveness definitions are stored in said memory and wherein each of said two definitions defines a different torque versus position relationship.

23. A programmable tactile simulation device as recited in claim 20 wherein said tactile responsiveness definition includes a table of values.

24. A programmable tactile simulation device as recited in claim 23 wherein said table includes data indicating the magnitude of a torque to be output by said motor.

25. A programmable tactile simulation device as recited in claim 20 wherein said movable member is coupled to said motor through a flexible cable.

26. A programmable tactile simulation device as recited in claim 20 wherein said movable member is a joystick.

27. A programmable tactile simulation device as recited in claim 20 wherein said movable member is a mouse.

28. A programmable tactile simulation device as recited in claim 20 wherein said movable member is a trackball.

29. A programmable tactile simulation device as recited in claim 20 wherein said processor conveys to said host computer data specifying the position of said movable member so that said host computer can display a cursor in an appropriate location.

30. A method for providing tactile sensations for a moveable member of a programmable tactile simulation device, the method comprising:

a) providing a movable member manipulatable by a human user in at least one degree of freedom;

b) producing position signals specifying the position of said movable member with respect to said one degree of freedom;

c) storing a plurality of tactile responsiveness definitions local to said programmable tactile simulation device, at least one of said tactile responsiveness definitions including data received from a host computer across a communication connection; and

d) accessing at least one of said tactile responsiveness definitions in accordance with requirements of a host application running on said host computer, and controlling an output torque of at least one actuator mechanically coupled to said movable member in accordance with said at least one accessed tactile responsiveness definition, thereby generating a desired tactile responsiveness on said movable member.

31. The method of claim 30 wherein said tactile responsiveness definition defines a torque versus position profile, and wherein said actuator is controlled to output a progressively increasing torque with a change in position of said moveable member in one direction.

32. The method of claim 30 wherein said actuator is controlled to output a detent.

33. The method of claim 30 wherein said actuator is controlled to output a hard stop.

34. The method of claim 30 further comprising determining a velocity of said moveable member from said position signals and controlling an output torque in accordance with said velocity.