Method and apparatus for shaping force signals for a force feedback device
First Claim
1. A method for generating a force signal for creating a feel sensation upon a user through a force feedback device, comprising:
- providing a source wave;
providing a set of control parameters, said control parameters including at least one of a steady-state magnitude value, a frequency value, and a duration value for said source wave, said steady-state magnitude value representing a steady-state magnitude of said source wave, said frequency value representing a frequency of said source wave, and said duration value representing a duration of said feel sensation;
providing a set of impulse parameters, including;
an impulse value, said impulse value specifying an impulse force level of said source wave applied to said user, said impulse force level being different than said steady-state magnitude;
a settle time, said settle time representing a time required for a magnitude of said force signal to change from said impulse force level to said steady-state magnitude; and
forming, using a processor, said force signal from said source wave, said set of control parameters, and said set of impulse parameters.
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Abstract
A method and apparatus for shaping force signals for a force feedback device. A source wave is provided and is defined by a set of control parameters (including a steady state magnitude, a frequency value and a duration value) and modified by a set of impulse parameters (including an impulse magnitude, and a settle time representing a time required for the impulse magnitude to change to the steady-state magnitude). Optionally, application parameters specifying a direction of force signal and trigger parameters specifying activating buttons can also be provided for the source wave. Using a host processor or a local processor, the force signal is formed from the source wave and the sets of control parameters and impulse parameters, where the force signal includes an impulse signal followed by a continual steady-state signal after an expiration of the settle time. A feel sensation is generated to a user of the force feedback device as physical forces produced by actuators on the force feedback device in response to the force signal. The steady-state magnitude value is lower than a magnitude value of a non-impulse-shaped force signal required to create a corresponding feel sensation having a similar apparent sensation to the user.
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Citations
44 Claims
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1. A method for generating a force signal for creating a feel sensation upon a user through a force feedback device, comprising:
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providing a source wave; providing a set of control parameters, said control parameters including at least one of a steady-state magnitude value, a frequency value, and a duration value for said source wave, said steady-state magnitude value representing a steady-state magnitude of said source wave, said frequency value representing a frequency of said source wave, and said duration value representing a duration of said feel sensation; providing a set of impulse parameters, including; an impulse value, said impulse value specifying an impulse force level of said source wave applied to said user, said impulse force level being different than said steady-state magnitude; a settle time, said settle time representing a time required for a magnitude of said force signal to change from said impulse force level to said steady-state magnitude; and forming, using a processor, said force signal from said source wave, said set of control parameters, and said set of impulse parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A computer-implemented method for forming an impulse-shaped force signal, comprising
specifying a source wave to a processor, said source wave representing a predefined type of wave; -
providing a set of control parameters to said processor, said set of control parameters including at least one of a steady-state magnitude value, a frequency value, a duration value for said source wave, said steady-state magnitude value representing a steady-state magnitude of said source wave, said frequency value representing a frequency of said source wave, and said duration value representing a duration of said feel sensation; providing a set of impulse parameters to said processor, including; an impulse value, said impulse value specifying an impulse force level of said source wave, said impulse force level being higher than said steady-state magnitude, and a settle time, said settle time representing a time required for a magnitude of said force signal to decay from said impulse force level to said steady-state magnitude, wherein said force signal is continually generated by said processor at said steady-state magnitude after an expiration of said settle time until terminated; and forming said impulse-shaped force signal with said processor from said source wave, said set of control parameters, and said set of impulse parameters. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A force feedback interface device manipulated by a user and communicating with a host computer system implementing a host application program, said host computer system updating said host application program in response to input signals, said force feedback interface device comprising:
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a user object movable by a user and being physically contacted by said user; a sensor for detecting a position of said user object and outputting said input signals, said input signals including information representative of said position of said user object; a local microprocessor, separate from said host computer system, for communicating with said host computer system via a communication bus, said local microprocessor outputting an impulse-shaped force signal; and an actuator electrically coupled to said local microprocessor and receiving said impulse-shaped force signal, said actuator applying a force to said user object in accordance with said impulse-shaped force signal such that a force having an impulse magnitude followed by a different steady-state magnitude is applied to said user object. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A method for generating a force signal for creating a feel sensation upon a user using a force feedback device, comprising:
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receiving an indication of a source wave; receiving a set of control parameters, said control parameters including at least one of a steady-state magnitude value, a frequency value, and a duration value for said source wave, said steady-state magnitude value representing a steady-state magnitude of said force signal, said frequency value representing a frequency of said force signal, and said duration value representing a duration of said feel sensation; receiving a set of impulse parameters, including; an impulse value, said impulse value specifying an impulse force level of said force signal, said impulse force level being different than said steady-state magnitude; a settle time, said settle time representing a time required for a magnitude of said force signal to change from said impulse force level to said steady-state magnitude; and forming, using a processor, said force signal from said indication of said source wave, said set of control parameters, and said set of impulse parameters. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A force feedback interface device manipulatable by a user and communicating with a host computer system implementing a host application program, said host computer system updating said host application program in response to input signals, said force feedback interface device comprising:
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a user manipulatable object movable by a user and being physically contacted by said user; a sensor for detecting a position of said user manipulatable object and outputting said input signals, said input signals including information representative of said position of said user manipulatable object; an actuator receiving an impulse-shaped force signal, said actuator applying a force to said user manipulatable object in accordance with said impulse-shaped force signal such that a force having an impulse magnitude followed by a steady-state magnitude different from said impulse magnitude is applied to said user manipulatable object. - View Dependent Claims (43, 44)
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Specification