Low cost force feedback interface with efficient power sourcing

• US 5,929,607 A
• Filed: 04/02/1997
• Issued: 07/27/1999
• Est. Priority Date: 09/27/1995
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Schena, Bruce M., Rosenberg, Louis B., Braun, Adam C.
• Primary Examiner(s): Tso, Edward H.
• Application Number:
  US08/825,726
• Time in Patent Office: 846 Days
• Field of Search: 320/118, 320/132, 320/148, 320/161, 320/162, 320/166, 320/FOR 104, 320/FOR 118, 320/FOR 138, 320/DIG. 10, 463/36, 463/38, 345/157, 345/161, 307/66
• US Class Current: 320/166
• CPC Class Codes: A63F 13/21 characterised by their sensors, purposes or types
• CPC Class Codes: A63F 13/23 for interfacing with the game device, e.g. specific interfaces between game controller and console
• CPC Class Codes: A63F 13/235 using a wireless connection, e.g. infrared or piconet
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 13/57 Simulating properties, behaviour or motion of objects in the game world, e.g. computing tyre load in a car race game A63F13/56 takes precedence
• CPC Class Codes: A63F 13/803 Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
• CPC Class Codes: A63F 2300/1025 details of the interface with the game device, e.g. USB version detection
• CPC Class Codes: A63F 2300/1031 using a wireless connection, e.g. Bluetooth, infrared connections
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: A63F 2300/64 for computing dynamical parameters of game objects, e.g. motion determination or computation of frictional forces for a virtual car
• CPC Class Codes: A63F 2300/8017 Driving on land or water; Flying
• CPC Class Codes: A63F 2300/8082 Virtual reality
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 2009/04777 with additional push or pull action on the handle
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• CPC Class Codes: G06F 1/266 Arrangements to supply power to external peripherals either directly from the computer or under computer control, e.g. supply of power through the communication port, computer controlled power-strips
• CPC Class Codes: G06F 2203/014 Force feedback applied to GUI
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• 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 3/0383 : Signal control means within the pointing device
• CPC Class Codes: H01H 2003/008 : with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction
• CPC Class Codes: H04L 67/131 : Protocols for games, networked simulations or virtual reality

Abstract

A method and apparatus for providing low cost force feedback using efficient power sourcing. A power storage device may be included in a force feedback interface device for storing power provided by an input signal. For example, the power storage device can be a capacitor. The interface device also includes an actuator for outputting forces on a user manipulatable object, such as a joystick, and the interface device is connected to a host computer. The stored power can be used, at least in part, to drive the actuator to output desired forces. A device microprocessor may also be included in the interface device to sense when the power storage device is sufficiently charged. In a different embodiment, power for the interface device is received from two sources; for example, a power supply is used for the actuators of the device and power from the host computer is used for other components of the interface device.

Claims

1. A circuit for storing power in a force feedback interface device that interfaces a user with a host computer system, said circuit comprising:

a capacitor for storing power provided by a signal input to said circuit;

a sensing device coupled to said capacitor for sensing when said capacitor is fully charged; and

a control device for providing a control signal to an actuator so that said actuator can apply force to a user object of said interface device, wherein said stored power is supplied to said actuator to apply said force.

2. A circuit as recited in claim 1 wherein said sensing device includes an analog to digital converter and a microprocessor operative to monitor said input signal to determine when said capacitor is fully charged, wherein said stored power is supplied to said actuator when said capacitor is fully charged.

3. A circuit as recited in claim 1 further comprising a driver circuit for receiving said control signal and for amplifying said control signal using said supplied stored power to drive said actuator.

4. A circuit as recited in claim 3 further comprising a current limiter coupled to said input signal for limiting a current of said input signal to a predetermined value and providing said limited current to said capacitor.

5. A circuit as recited in claim 3 wherein said input signal is received from a game port interface bus coupled to a game port of said host computer system.

6. A circuit as recited in claim 3 wherein said input signal is received from an interface bus coupled to a control port of said host computer system, wherein said host computer system is a video game console.

7. A circuit as recited in claim 3 wherein said input signal is received from a power supply included in said interface device.

8. A force feedback interface device that interfaces a user with a host computer system and is operative to store power locally to said interface device, said interface device comprising:

a user object graspable by a user and manipulable by said user in at least one degree of freedom;

a sensor that detects motion of said user object in said degree of freedom and produces a locative sensor signal, wherein a representation of said locative sensor signal is conveyed to said host computer across said communication bus, thereby allowing a software application running on said host computer to update a process in response to manipulation of said user object;

an actuator physically coupled to said user object and applying forces upon said user object in said degree of freedom, said forces resisting motion of said user object in said degree of freedom; and

a chargeable energy storage device for storing power provided by a signal input to said interface device over said communication bus, said stored power being provided to said actuator to, at least in part, drive said actuator to apply said forces.

9. An interface device as recited in claim 8 wherein said chargeable energy storage device includes a capacitor.

10. An interface device as recited in claim 8 wherein said chargeable energy storage device is coupled to a sensing device that senses when said energy storage device is charged.

11. An interface device as recited in claim 10 further comprising a local microprocessor, separate from said host computer, and operative to monitor said input signal to determine when said capacitor is charged, wherein said actuator applies said forces in response to signals produced by said local microprocessor, wherein a local process executed by said local microprocessor locally generates a force sensation by modulating a magnitude of said forces produced by said actuator over a period of time in response to commands received from said host computer across said communication bus.

12. An interface device as recited in claim 9 wherein said chargeable energy storage device includes a control device for providing a control signal to an actuator so that said actuator can apply force to a user object of said interface device, wherein said stored power is supplied to said actuator with said control signal to apply said force.

13. An interface device as recited in claim 12 further comprising a driver circuit for receiving said control signal and for amplifying said control signal using said supplied stored power to drive said actuator.

14. An interface device as recited in claim 8 wherein said input signal is received from a game port interface bus coupled to a game port of said host computer system.

15. A force feedback interface device for use with a host computer running a software application, said interface device providing force sensations controlled by a local microprocessor, wherein said host computer and said local microprocessor are connected by a communication bus, and wherein said interface receives electrical power from two different sources, said interface device comprising:

a user object graspable by a user and manipulable by said user in at least one degree of freedom;

a sensor that detects motion of said user object in said degree of freedom and produces a locative sensor signal, wherein a representation of said locative sensor signal is conveyed to said host computer across said communication bus, thereby allowing a software application running on said host computer to update a process in response to manipulation of said user object;

an actuator physically coupled to said user object and applying forces upon said user object in said degree of freedom, said forces resisting motion of said user object in said degree of freedom, and wherein power to drive said actuator is drawn, at least in part, from a first power source; and

a local microprocessor separate from said host computer and electrically coupled to said actuator, said local microprocessor executing a local process, said local microprocessor coupled to said actuator such that said actuator applies said forces in response to signals produced by said local microprocessor, wherein said local process locally generates a force sensation by modulating a magnitude of said forces produced by said actuator over a period of time in response to commands received from said host computer across said communication bus, said microprocessor receiving power, at least in part, from a second power source such that said interface device can report data to said host computer when said first power source is not connected.

16. An interface device as recited in claim 15 wherein said first power source is an external power supply.

17. An interface device as recited in claim 15 wherein said second power source is said host computer, and wherein power is drawn from said host computer across said communication bus.

18. An interface device as recited in claim 16 wherein said communication bus is a game port.

19. An interface device as recited in claim 18 wherein said communication bus is a Universal Serial Bus.

20. An interface device as recited in claim 15 wherein one of said power sources includes a power storage device provided on said interface device for storing at least a portion of said power provided to drive said actuator.

21. An interface device as recited in claim 20 wherein said power storage device includes a capacitor for storing at least a portion of said power provided to drive said actuator.

22. An interface device as recited in claim 15 wherein power is drawn from said communication bus over time and stored in a power storage circuit, said power storage circuit operative to be discharged rapidly across said actuator, thereby allowing said actuator to produce a transient force sensation of greater magnitude than if powered directly from said communication bus.

23. An interface device as recited in claim 17 wherein said communication bus is a game port.

24. An interface device as recited in claim 17 wherein said communication bus is a Universal Serial Bus.

25. A force feedback interface device for use with a host computer running a software application, said interface device providing force sensations generated by a local microprocessor, said host computer and said local microprocessor connected by a Universal Serial Bus interface, said interface device comprising:

a user object graspable by a user and manipulable in at least one degree of freedom with respect to an origin;

a sensor for detecting motion of said user object in said degree of freedom and for producing a locative sensor signal, wherein a representation of said locative sensor signal is conveyed to said host computer across said Universal Serial Bus, thereby allowing said software application to update a process in response to manipulation of said user object;

an actuator physically coupled to said user object through a transmission, said actuator applying forces upon said user object along said degree of freedom to produce said force sensation, wherein power to drive said actuator is drawn in part from said Universal Serial Bus; and

a local microprocessor separate from said host computer and electrically coupled to said actuator, said local microprocessor executing a local process, said local microprocessor coupled to said actuator such that said actuator applies said forces in response to signals produced by said local microprocessor, wherein said local process locally generates a force sensation by modulating a magnitude of said forces produced by said actuator over a period of time in response to commands received from said host computer across said Universal Serial Bus.

26. An interface device as recited in claim 25 wherein power is drawn from said Universal Serial Bus over time and stored in a power storage circuit, said power storage circuit able to be discharged rapidly across said actuator, thereby allowing said actuator to produce a transient force sensation of greater magnitude than if drawing power directly from the Universal Serial Bus.

27. An interface device as recited in claim 25 wherein said user object is a mouse.

28. An interface device as recited in claim 25 wherein said user object is a joystick.

29. A method for providing power to a force feedback interface device that interfaces a user with a host computer system, the method comprising:

storing power in a power storage device included in said interface device, said power provided by a signal input to said power storage device;

sensing when said power storage device is sufficiently charged to provide power to said actuator to output a force; and

providing a control signal to an actuator to cause said actuator to apply force to a user object of said interface device, wherein said control signal uses said stored power to cause said actuator to apply said force.

30. A method as recited in claim 29 wherein said power storage device includes a capacitor which is sufficiently charged when said capacitor is fully charged.

31. A method as recited in claim 29 further comprising a driver circuit for receiving said control signal and for amplifying said control signal using said supplied stored power to drive said actuator.