Providing force feedback using an interface device including an indexing function

• US 6,061,004 A
• Filed: 05/29/1998
• Issued: 05/09/2000
• Est. Priority Date: 11/26/1995
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Horabik, Michael
• Assistant Examiner(s): WONG, ALBERT KANG
• Application Number:
  US09/087,022
• Time in Patent Office: 711 Days
• Field of Search: 341/20, 341/34, 341/35, 341/27, 345/179, 345/161, 345/156, 345/157, 345/158, 345/163, 345/164, 345/165, 345/166, 345/184, 345/168, 74/471 XY, 364/709.01
• US Class Current: 341/20
• CPC Class Codes: G06F 2203/014 Force feedback applied to GUI
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0354 with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03548 Sliders, in which the moving part moves in a plane

Abstract

A method and apparatus for providing force feedback including an indexing function. A force feedback interface device is coupled to a host computer system displaying a graphical environment. A position of a user-manipulated physical object in a degree of freedom, such as a planar workspace, is sensed by the device, and a user-controlled graphical object is dislplayed on a display screen at a position corresponding to the physical object position. An indexing indication is provided by the user to activate an indexing mode, during which the user-controlled graphical object is displayed at a fixed position on said display screen, regardless of the position of the physical object. The user is able to redefine an offset between the position of the physical object and the position of tile user-controlled graphical object during the indexing mode. A safety switch can be used to activate the indexing mode.

Claims

1. A method for providing an indexing feature in a force feedback interface device coupled to a host computer system displaying a graphical environment, said method comprising:

sensing a position of a user-manipulated physical object in a planar workspace, wherein said position is relayed to said host computer system, said host computer system displaying a user-controlled graphical object on a display screen at a position derived from said position of said user-manipulated physical object in said planar workspace;

applying forces from at least one actuator of said force feedback interface device to said physical object;

receiving an indexing indication from said user that an indexing mode is active, wherein said user-controlled graphical object is displayed at a fixed position on said display screen by said host computer, regardless of said position of said physical object, while said indexing mode is active; and

ceasing said application of said forces to said physical object while said indexing mode is active;

whereby said user is able to redefine an offset between said position of said physical object and said position of said user-controlled graphical object when said indexing mode is active.

2. A method as recited in claim 1 wherein said application of said forces to said physical object is ceased when a safety switch of said force feedback device is opened by said user.

3. A method as recited in claim 2 wherein said safety switch is closed when said user applies weight to said physical object when manipulating said physical object, and wherein said safety switch is open when said user removes said weight from said physical object.

4. A method as recited in claim 3 wherein said indexing indication is provided by opening said safety switch, thereby allowing said application of forces to cease while said user redefines said offset between said physical object and said user-controlled graphical object.

5. A method as recited in claim 1 wherein said position of said physical object is reported to said host computer system to update said position of said graphical object when said indexing mode is inactive, and wherein said position of said physical object is not reported to said host computer when said indexing mode is active.

6. A method as recited in claim 5 wherein said indexing indication from said user is a change of a state of a switch or button coupled to said physical object.

7. A method as recited in claim 1 wherein said indexing indication results from said user causing said physical object to move in a direction approximately perpendicular to said planar workspace, thereby causing a switch of said force feedback interface device to change state.

8. A method as recited in claim 1 wherein said indexing indication results from said user pressing a button coupled to said physical object.

9. A force feedback interface device for providing input from a force feedback interface device to a host computer system displaying a graphical environment, said force feedback interface device comprising:

a user manipulable physical object grasped by a user and moveable in a planar workspace, wherein a position of said physical object in said planar workspace determines a corresponding position of a user-controlled graphical object in said graphical environment;

an actuator coupled to said physical object operative to apply a force in said planar workspace to said physical object;

a sensor operative to a sense said position of said physical object in said planar workspace;

an indexing selector operative to activate an indexing mode of said physical object, wherein said user-controlled graphical object is not updated in said graphical environment according to said position of said physical object when said indexing mode is active; and

a safety switch coupled to said actuator and operative to prevent said actuator from outputting said force on said user manipulable object when said safety switch is opened by said user, wherein said safety switch allows said user to additionally activate said indexing mode.

10. A force feedback interface device as recited in claim 9 wherein said user manipulable physical object is a puck, and wherein said safety switch is closed by the weight of said user'"'"'s fingers or hand resting on said puck when manipulating said user manipulable physical object.

11. A force feedback interface device as recited in claim 9 wherein said physical object is a mouse, and wherein said safety switch is closed by the weight of said user'"'"'s fingers or hand resting on said mouse when manipulating said physical object.

12. A force feedback interface device as recited in claim 9 wherein said position of said physical object is reported to said host computer system to update said position of said graphical object when said indexing mode is inactive, and wherein said position of said physical object is not reported to said host computer when said indexing mode is active.

13. A force feedback interface device as recited in claim 12 further comprising a microprocessor local to said force feedback interface device and separate from said host computer system, wherein said microprocessor reports said position of said physical object when said indexing mode is inactive.

14. A force feedback interface device as recited in claim 9 wherein said indexing selector includes a button operative to activate said indexing mode when pressed by said user.

15. A force feedback interface device as recited in claim 9 wherein said indexing selector includes a pressure sensor operative to sense a pressure of a user'"'"'s hand or finger on said user manipulatable physical object.

16. A force feedback interface device as recited in claim 9 wherein said indexing selector is integrated with said safety switch in a single input device.

17. A force feedback interface device as recited in claim 9 wherein said indexing selector is a button separate from said safety switch.

18. A force feedback interface device as recited in claim 9 wherein said indexing selector includes a microprocessor separate from said host computer, said microprocessor detecting said state of said safety switch to determine when to activate said indexing mode.

19. A force feedback interface device for providing input from a force feedback interface device to a host computer displaying a graphical environment, said force feedback interface device comprising:

a user manipulable physical object grasped by a user and moveable in at least one degree of freedom, wherein a position of said physical object in said degree of freedom influences position of a user-controlled graphical object in said graphical environment;

an actuator coupled to said physical object operative to apply a force in said degree of freedom to said physical object;

a sensor operative to a sense said position of said physical object in said degree of freedom; and

a microprocessor separate from said host computer and coupled to said actuator and to said sensor, said microprocessor outputting control signals to said actuator and receiving said position from said sensor, said microprocessor operative to activate and deactivate an indexing mode of said force feedback interface device, wherein said microprocessor reports said position of said physical object to said host computer when said indexing mode is inactive, and wherein said microprocessor does not report said position of said physical object to said host computer when said indexing mode is active.

20. A force feedback interface device as recited in claim 19 wherein said user-controlled graphical object is not updated in said graphical environment according to said position of said physical object when said position is not reported to said host computer.

21. A force feedback interface device as recited in claim 19 further comprising a safety switch coupled to said actuator and operative to prevent said actuator from outputting said force on said user manipulable object when said safety switch is opened by said user, wherein said safety switch allows said user to additionally activate said indexing mode.

22. A force feedback interface device as recited in claim 19 wherein said user manipulable physical object is a mouse and wherein said degree of freedom is provided in a planar workspace of said mouse.

23. A force feedback interface device as recited in claim 19 wherein said microprocessor activates said indexing mode when the activation of a switch or button coupled to said physical object by said user is detected by said microprocessor.

24. A force feedback interface device as recited in claim 23 wherein said activation of said switch coupled to said physical object includes causing said physical object to move in a direction away from a planar surface located under said physical object, thereby causing said switch of said physical object to change state.

25. A force feedback interface device for providing input from a force feedback interface device to a host computer displaying a graphical environment, said force feedback interface device comprising:

a user manipulable physical object grasped by a user and moveable in at least one degree of freedom, wherein a position of said physical object in said degree of freedom determines a corresponding position of a user-controlled graphical object in said graphical environment;

an actuator coupled to said physical object operative to apply a force in said degree of freedom to said physical object;

a sensor operative to sense said position of said physical object in said degree of freedom; and

a mode selector separate from said host computer and operative to select an indexing mode of said force feedback interface device, wherein said mode selector causes a signal to be output to said host computer, said signal indicating to said host computer whether said indexing mode is active, wherein when said indexing mode is active, said host computer does not update said position of said user-controlled graphical object in said graphical environment based on said position of said physical object in said degree of freedom, and wherein said force application by said actuator is disabled when said said indexing mode is active.

26. A force feedback interface device as recited in claim 25 wherein said mode selector includes a microprocessor separate from said host computer.

27. A force feedback interface device as recited in claim 25 wherein said mode selector includes a switch having a state changeable by said user to select said indexing mode.

28. A force feedback interface device as recited in claim 25 wherein said user manipulable physical object is a mouse and wherein said degree of freedom is provided in a planar workspace of said mouse.