Probe apparatus and method for tracking the position and orientation of a stylus and controlling a cursor

• US 6,125,337 A
• Filed: 12/15/1998
• Issued: 09/26/2000
• Est. Priority Date: 07/16/1993
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Microscribe, LLC
• Inventors: Schena, Bruce M., Rosenberg, Louis B., Jackson, Bernard G.
• Primary Examiner(s): WACHSMAN, HAL D
• Application Number:
  US09/212,075
• Time in Patent Office: 651 Days
• Field of Search: 702/153, 702/33, 702/36, 702/94, 702/95, 702/115, 702/150-152, 702/155-159, 702/166-168, 702/170-172, 702/188, 702/173-175, 702/FOR 123 , 702/FOR 124, 702/FOR 136, 702/FOR 144-FOR 149, 700/56-62, 700/64-66, 700/159, 700/160, 700/163, 700/169, 700/178-180, 700/184-187, 700/192-195, 700/275, 700/302, 700/303, 901/14, 901/15, 901/27-29, 33/556, 33/558, 33/559, 33/502-505, 33/561, 33/551, 33/553-555, 33/1 MP, 33/1 PT, 33/1 CC, 73/866.5, 73/1.79, 73/1.81, 74/813 R, 74/813 C, 74/490.01, 74/490.05, 74/490.06, 74/471 XY, 345/179, 345/157, 345/158, 345/156, 318/568.2, 318/568.21, 318/568.25
• US Class Current: 702/153
• 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: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 21/04 by measuring coordinates of points
• CPC Class Codes: G01B 21/042 Calibration or calibration artifacts G01B3/30, G01B9/02072 take precedence
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G05B 19/4207 in which a model is traced or scanned and corresponding data recorded
• CPC Class Codes: G05B 2219/37021 Robot controls position of touch probe
• CPC Class Codes: G05B 2219/37043 Touch probe, store position of touch point on surface
• CPC Class Codes: G05B 2219/39015 With different manipulator configurations, contact known sphere, ballbar
• CPC Class Codes: G05B 2219/39021 With probe, touch reference positions
• CPC Class Codes: G05B 2219/39024 Calibration of manipulator
• CPC Class Codes: G05B 2219/39048 Closed loop kinematic self calibration, grip part of robot with hand
• CPC Class Codes: G05B 2219/45055 Assembly
• CPC Class Codes: G05B 2219/45061 Measuring robot
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• 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

Abstract

A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system by tracing a stylus of a probe apparatus over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the joints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the tip of the stylus at an arbitrary point in a work volume and varying the stylus'"'"' orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only possible home position and assigning assumed starting angles to the sensors. A rotary table can be used to support the object being digitized, where the rotation of the rotary table and object during digitization is sensed and included in coordinate calculations. A mesh representation of the object is developed by a computer system by incrementally creating and displaying triangles from data points of contour lines of the mesh. A selection template allows commands to be selected by the stylus by defining a template having selection areas within the probe'"'"'s work volume and associating the selection areas with specific commands to the host computer.

Claims

1. A human computer interface apparatus for allowing a user to manually manipulate a probe within a three dimensional volume while a host computer tracks a position of said probe with respect to a fixed surface within said volume, said host computer displaying a user-controlled cursor on a display screen at a position derived from a position of said probe in said three dimensional volume such that said position of said cursor is updated on said display screen in accordance with said position of said probe, said human computer interface apparatus comprising:

a probe manipulable by a user;

a support base;

a movable linkage allowing said probe to be moved in at least five degrees of freedom with respect to said fixed surface, said movable linkage including a first, second, and third joint configuration, wherein said first joint configuration couples said probe to a first link member, allowing said probe to move in two degrees of freedom of rotation with respect to said first link member, said second joint configuration couples said first link member to a second link member, allowing at least rotation of said first link member with respect to said second link member, and said third joint configuration couples said second link member to said support base, allowing said second link member to move in two degrees of freedom of rotation with respect to said support base;

a sensor associated with each of said first, second, and third joint configurations, wherein each of said sensors measures said rotation in a degree of freedom allowed by said associated joint configuration; and

a microprocessor electrically coupled to said sensors and separate from said host computer, said microprocessor reading data from said sensors that collectively represents said position of said probe and reporting a representation of said data to said host computer, said microprocessor receiving and responding to host signals sent from said host computer, wherein said host signals cause said microprocessor to report said representation of said data and to modify parameters stored within memory local to said microprocessor and separate from said host computer.

2. A human computer interface apparatus as recited in claim 1 wherein said probe controls a three-dimensional motion of said cursor in a three-dimensional environment displayed by said display screen.

3. A human computer interface apparatus as recited in claim 1 wherein said first joint configuration allows said probe to rotate about an axis passing through a length of said probe, said rotation allowed when said first link member is held fixed with respect to said fixed surface.

4. A human computer interface apparatus as recited in claim 1 wherein said joint configurations allow said probe to rotate about an axis extending through a length of said probe while motion in all other degrees of freedom of said probe is fixed.

5. A human computer interface apparatus as recited in claim 1 wherein said host signals from said host computer include high level host commands parsed by said microprocessor, including a command to cease reporting a repeated stream of said representation of said data.

6. A human computer interface apparatus as recited in claim 1 wherein exactly one degree of freedom of rotation of said first link member is allowed with respect to said second link member.

7. A human computer interface apparatus as recited in claim 1 wherein said probe includes a switch that can be manually depressed by the user in order to send a command to said host computer, wherein a signal is sent to said host computer when said switch is manually depressed, said signal indicating to said host computer of said depressing of said switch.

8. A human computer interface apparatus as recited in claim 7 wherein said signal is used by said host computer to select a function of an application program implemented by said host computer.

9. A human computer interface apparatus as recited in claim 1 further comprising a foot pedal manually actuable by said user to send a command to said host computer that allows said user to hold said probe without disturbance when said foot pedal is actuated.

10. A human computer interface apparatus as recited in claim 1 wherein said third joint configuration includes a counterweight for counterbalancing a weight of said second joint configuration.

11. A human computer interface apparatus as recited in claim 1 wherein said first link member and said second link member are unable to rotate with respect to each other about either of longitudinal axes extending parallel to a length of each of said first and second link members.

12. A human computer interface apparatus as recited in claim 1 wherein at least one of said joint configurations is operative to provide over 360 degrees of rotational movement about an axis of rotation of said at least one joint configuration.

13. A human computer interface apparatus as recited in claim 12 wherein a multistage stop joint provides said over 360 degrees of rotational movement.

14. A human computer interface apparatus as recited in claim 1 wherein said first joint configuration provides three degrees of freedom of rotation to said probe with respect to said first link member.

15. A human computer interface apparatus as recited in claim 1 wherein said probe is a stylus.

16. A probe apparatus for controlling a cursor, said cursor being displayed on a computer display apparatus by a host computer in a displayed environment, a position of said cursor in said displayed environment being derived from a representation of locative data received by said host computer, said probe apparatus allowing a user to manually manipulate a probe within a three dimensional volume while reporting said representation of locative data to said host computer, wherein said host computer tracks a position of said probe within said volume using said representation of locative data, wherein user control of said probe in three-dimensional space controls motion of said cursor in said displayed environment on said computer display apparatus, said probe apparatus comprising:

a movable linkage allowing said probe to be moved in at least five degrees of freedom with respect to a fixed surface, said movable linkage including a first, second, and third joint configuration, wherein said first joint configuration couples said probe to a first link member and allows said probe to move in two degrees of freedom of rotation with respect to said first link member, said second joint configuration couples said first link member to a second link member and allows rotation of said first link member with respect to said second link member, and said third joint configuration couples said second link member to a support base and allows said second link member to move in two degrees of freedom of rotation with respect to said fixed surface;

one or more sensors associated with each of said first, second, and third joint configurations, wherein each of said one or more sensors measures the rotation of a degree of freedom allowed by said associated joint configuration and provides said representation of locative data to said host computer to allow said host computer to display said cursor at a position derived from said locative data; and

a microprocessor, separate from said host computer, for reading locative data from said one or more sensors and reporting a representation of said locative data to said host computer upon request from said host computer, wherein said host computer manipulates a displayed location of said cursor in response to said reported representation, wherein said microprocessor receives and responds to signals sent from said host computer, said microprocessor following instructions stored within memory local to said microprocessor and separate from said host computer.

17. A probe apparatus as recited in claim 16 wherein said signals from said host computer to said microprocessor include high level host commands, at least one of said high level host commands including a request to report a single set of said representation of said locative data or a request to report a repeated stream of said representation of said locative data over time.

18. A probe apparatus as recited in claim 16 including a human computer interface apparatus wherein said first joint configuration allows said probe to rotate about an axis passing through a length of said probe when said first link member is held fixed with respect to said fixed surface.

19. A probe apparatus as recited in claim 16 wherein said probe includes a switch that can be manually depressed by the user in order to send a command to said host computer.

20. A probe apparatus as recited in claim 16 further comprising a foot pedal that can be manually depressed by the user in order to send a command to said host computer while not disturbing a user'"'"'s ability to hold said probe steady.

21. A probe apparatus as recited in claim 16 further comprising a counter weight for counterbalancing the weight of said second link member.

22. A probe apparatus as recited in claim 16 wherein said second joint configuration allows said second link member to move in two degrees of freedom of rotation with respect to said first link member.

23. A system for measuring spatial coordinates and controlling a cursor displayed on a computer display apparatus, said system comprising:

a host computer for displaying said cursor in a displayed environment displayed on said computer display apparatus, a position of said cursor in said displayed environment being derived from a representation of locative data received by said host computer; and

an interface apparatus for allowing a user to manually manipulate a probe within a three dimensional volume while reporting said representation of locative data to said host computer, wherein said host computer tracks a position of said probe within said volume using said representation of locative data, wherein said probe is movable in at least five degrees of freedom with respect to a fixed surface, and wherein user control of said probe in three-dimensional space controls motion of said cursor in said displayed environment on said computer display apparatus, said interface apparatus including;

(a) a movable linkage including a first, second, and third joint configuration, wherein said first joint configuration couples said probe to a first link member and allows said probe to move in two degrees of freedom of rotation with respect to said first link member, said second joint configuration couples said first link member to a second link member and allows rotation of said first link member with respect to said second link member, and said third joint configuration couples said second link member to a support base and allows said second link member to move in two degrees of freedom of rotation with respect to said fixed surface;

(b) one or more sensors associated with each of said first, second, and third joint configurations, wherein each of said one or more sensors measures the rotation of a degree of freedom allowed by said associated joint configuration; and

(c) a switch that can be manually depressed by the user in order to send a command to said host computer, said switch being physically coupled to said probe; and

(d) a microprocessor, separate from said host computer, for reading locative data from said one or more sensors and reporting said representation of said locative data to said host computer, wherein said host computer manipulates a displayed location of said cursor in response to said reported representation, wherein said microprocessor receives and responds to host signals sent from said host computer, said host signals causing said microprocessor to report said representation to said host computer and modify parameters stored within memory local to said microprocessor and separate from said host computer.

24. A system as recited in claim 23 wherein said host signals from said host computer to said microprocessor request a single set of said representation of said locative data and a repeated stream of said representation of said locative data over time.

25. A system as recited in claim 23 wherein said interface apparatus includes a foot pedal that can be manually depressed by the user in order to send a command to said host computer while not disturbing a user'"'"'s ability to hold said probe steady.

26. A system as recited in claim 23 wherein said second joint configuration allows said second link member to move in two degrees of freedom of rotation with respect to said first link member.

27. A probe apparatus coupled to a host computer, said host computer receiving a representation of locative data from said probe apparatus, said probe apparatus allowing a user to manually manipulate a probe within a three dimensional volume while reporting said representation of locative data to said host computer, wherein said host computer tracks a position of said probe within said volume using said representation of locative data, said probe apparatus comprising:

a movable linkage allowing said probe to be moved in at least five degrees of freedom with respect to a fixed surface, said movable linkage including a first, second, and third joint configuration, wherein said first joint configuration couples said probe to a first link member and allows said probe to move in two degrees of freedom of rotation with respect to said first link member, said second joint configuration couples said first link member to a second link member and allows rotation of said first link member with respect to said second link member, and said third joint configuration couples said second link member to a support base and allows said second link member to move in two degrees of freedom of rotation with respect to said fixed surface;

one or more sensors associated with each of said first, second, and third joint configurations, wherein each of said one or more sensors measures the rotation of a degree of freedom allowed by said associated joint configuration and outputs said representation of locative data;

a peripheral button being actuatable by said user and having a status of on or off, wherein said status of said peripheral button is output from said peripheral button;

a microprocessor, separate from said host computer, for reading said locative data from said one or more sensors and reporting said representation of said locative data to said host computer upon request from said host computer to allow said host computer to display a cursor in a displayed environment at a position derived from said representation of locative data, wherein said microprocessor receives and responds to signals sent from said host computer, said microprocessor following instructions stored within memory local to said microprocessor and separate from said host computer, and wherein said microprocessor is coupled to said peripheral button, reads said status of said peripheral button, and reports said status of said peripheral button to said host computer upon request from said host computer.

28. A probe apparatus as recited in claim 27, wherein said position of said cursor in said displayed environment is derived from said representation of said locative data received by said host computer from said probe apparatus, and wherein said host computer manipulates a location of said cursor in response to receiving said representation of said locative data.

29. A probe apparatus as recited in claim 28 wherein said host computer displays a plurality of menu items in said displayed environment, and wherein said cursor can be moved to select one of said menu items.

30. A probe apparatus as recited in claim 28 wherein said peripheral button is one of a foot pedal and a button positioned on a stylus of said probe.

31. A probe apparatus as recited in claim 28 wherein said host computer has a plurality of modes selectable by said user, said modes including a cursor control mode for controlling said position of said cursor with said representation of said locative data, and a 3-D modeling mode for receiving said representation of locative data as coordinates traced from a 3-D object with said probe apparatus.

32. A probe apparatus as recited in claim 27 further comprising at least one additional peripheral button.

33. A method for using a probe apparatus to control a cursor, said cursor being displayed on a computer display apparatus by a host computer in a displayed environment, said probe apparatus allowing a user to manually manipulate a probe within a three dimensional volume while said host computer tracks a position of said probe within said volume said method comprising:

providing a movable linkage that provides said probe with at least five degrees of freedom with respect to a fixed surface, said movable linkage including a first, second, and third joint configuration, wherein said first joint configuration couples said probe to a first link member and allows said probe to move in two degrees of freedom of rotation with respect to said first link member, said second joint configuration couples said first link member to a second link member and allows rotation of said first link member with respect to said second link member, and said third joint configuration couples said second link member to a support base and allows said second link member to move in two degrees of freedom of rotation with respect to said fixed surface;

measuring the rotation of a degree of freedom allowed by each of said first, second, and third joint configuratins using one or more sensors associated with each of said first, second, and third joint configurations; and

reading locative data from said one or more sensors and reporting a representation of said locative data to said host computer upon request from said host computer using a microprocessor, separate from said host computer, wherein said host computer manipulates a displayed location of said cursor in response to said reported representation of said locative data, wherein said microprocessor receives and responds to signals sent from said host computer, said microprocessor following instructions stored within memory local to said microprocessor and separate from said host computer.

34. A method as recited in claim 33 wherein said host computer displays a plurality of menu items in said displayed environment, and wherein said cursor can be controlled by said user to select one of said menu items using said probe apparatus.

35. A method as recited in claim 33 further comprising sending an indication of a button press to said host computer when a button on said probe apparatus is pressed by said user, said indication of said button press being used to select a function of said host computer.

36. A method as recited in claim 33 wherein said host computer has a plurality of modes selectable using said probe apparatus, said modes including a cursor control mode for controlling said location of said cursor with said representation of said locative data, and a 3-D modeling mode for receiving said representation of locative data as coordinates traced from a 3-D object with said probe apparatus.