Force feedback mouse interface
First Claim
1. A mouse interface device for interfacing a user'"'"'s motion with a host computer and providing force feedback to said user, said mouse interface device comprising:
- a mouse object contacted and manipulated by a user and moveable in a planar workspace with respect to a reference surface;
a planar linkage including a plurality of members rotatably coupled to each other, said linkage including a first base member rotatably coupled to said reference surface, a link member rotatable coupled to said first base member, a second base member rotatable coupled to said reference surface, and an object member rotatable coupled to said link member and rotatable coupled to said second base member, wherein said mouse object is coupled to one of said link member and said object member, and wherein said first base member and said second base member pivot about a single axis with respect to said reference surface;
two electromagnetic actuators providing forces in said planar workspace of said mouse object, said forces caused by interactions between an electric current and a magnetic field, wherein each of said actuators includes a coil portion and a magnet portion, said coil portion and magnet portion moveable relative to each other, and wherein said actuators are controlled from commands output by said host computer; and
at least one sensor coupled to said reference surface and separate from said two actuators, said sensor detecting movement between said coil portion and said magnet portion of at least one of said actuators, wherein said sensor provides a sensor signal including information describing said movement from which a position of said mouse object in said planar workspace can be determined.
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Accused Products
Abstract
A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage and including two members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.
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Citations
56 Claims
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1. A mouse interface device for interfacing a user'"'"'s motion with a host computer and providing force feedback to said user, said mouse interface device comprising:
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a mouse object contacted and manipulated by a user and moveable in a planar workspace with respect to a reference surface; a planar linkage including a plurality of members rotatably coupled to each other, said linkage including a first base member rotatably coupled to said reference surface, a link member rotatable coupled to said first base member, a second base member rotatable coupled to said reference surface, and an object member rotatable coupled to said link member and rotatable coupled to said second base member, wherein said mouse object is coupled to one of said link member and said object member, and wherein said first base member and said second base member pivot about a single axis with respect to said reference surface; two electromagnetic actuators providing forces in said planar workspace of said mouse object, said forces caused by interactions between an electric current and a magnetic field, wherein each of said actuators includes a coil portion and a magnet portion, said coil portion and magnet portion moveable relative to each other, and wherein said actuators are controlled from commands output by said host computer; and at least one sensor coupled to said reference surface and separate from said two actuators, said sensor detecting movement between said coil portion and said magnet portion of at least one of said actuators, wherein said sensor provides a sensor signal including information describing said movement from which a position of said mouse object in said planar workspace can be determined. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An interface device for providing force feedback to a user of said interface device, wherein a host computer is coupled to said interface device and implements a graphical environment with which said user interacts, said interface device comprising:
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a user object physically contacted and manipulated by a user in two degrees of freedom with respect to a reference surface; a mechanical support linkage including a plurality of members, said support linkage being a closed loop five bar linkage coupled to said user object and providing said two degrees of freedom substantially in a single plane, said linkage including two base members coupled to said reference surface and rotatable about the same axis; a plurality of voice coil actuators, each of said actuators including a wire coil rigidly integrated with one of said base members of said linkage such that said wire coil rotates with said integrated base member, wherein said wire coil moves through a magnetic field provided by a plurality of grounded magnets, and wherein at least one housing provides a flux path and surrounds said magnets, each of said wire coils being coupled to an end of a different member of said support linkage, said coils guided through said magnetic field by said linkage; and at least one sensor detecting movement of said members having said wire coils, wherein said sensor includes an emitter that emits a beam of energy and a detector that detects said beam, wherein both said emitter and said detector of said sensor are coupled to said reference surface. - View Dependent Claims (17, 18, 19, 20, 21)
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22. A force feedback mouse interface for interfacing with a host computer system implementing a graphical environment, the force feedback mouse interface comprising:
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a mouse object resting on a reference surface to be physically contacted by a user and moved in two degrees of freedom in a planar workspace; a planar closed loop linkage coupling said mouse object to said reference surface and allowing movement of said mouse object in said two degrees of freedom, said linkage including a plurality of members, each of said members rotatably coupled to two others of said members or rotatable coupled to one of said members and to said surface; two grounded voice coil actuators, each of said actuators including a wire coil provided on a different member of said linkage, each of said wire coils pivoting about the same axis of rotation, wherein each of said actuators includes a plurality of grounded magnets in a flux path housing surrounding said wire coil, wherein said housing of one of said actuators is positioned above and contacting said housing of said other actuator, and wherein each of said actuators is receptive to a control signal operative to control an output force from said actuator on said member having said wire coil; and at least one grounded sensor, said sensor detecting motion of said mouse object in said two degrees of freedom, said sensor outputting a sensor signal indicative of said motion. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30)
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31. An interface device for providing force feedback and interfacing with a host computer system implementing a graphical environment, the interface device comprising:
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a mouse object resting on a reference surface to be physically contacted by a user and moved in two degrees of freedom in a planar workspace; a planar closed loop linkage coupling said mouse object to said reference surface at one location on said reference surface and allowing movement of said mouse object in said two degrees of freedom, said linkage including a plurality of members rotatably coupled together by bearings, each of said members rotatably coupled to two others of said members or rotatable coupled to one of said members and to said surface; two grounded actuators, each of said actuators providing a force in said two degrees of freedom; and at least one grounded sensor, said sensors detecting motion of said mouse object in said two degrees of freedom, said sensor outputting a sensor signal indicative of said motion. - View Dependent Claims (32, 33, 34, 35, 36)
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37. A user interface device for interfacing a user'"'"'s motion with a host computer and for providing force feedback to said user, said interface device comprising:
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a user manipulatable object contacted and manipulatable by a user and moveable in two degrees of freedom with respect to a ground surface, said two degrees of freedom defining x-y planar workspace; at least one actuator coupled to said user manipulatable object through a linkage mechanism, said actuator providing forces in said planar workspace to be felt by said user as resistance or assistance to motion of said user manipulatable object in said x-y planar workspace; at least one motion sensor tracking the motion of said user manipulatable object within said x-y planar workspace; a z-axis force sensor for measuring a force applied by said user upon said user manipulatable object along an axis approximately orthogonal to said planar workspace, thereby measuring how hard said user pushes against said user manipulatable object into or out of said x-y planar workspace; and a control processor for modulating said forces produced by said at least one actuator within said x-y planar workspace, said forces conveying a feel sensation to said user. - View Dependent Claims (38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56)
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Specification