Force feedback interface apparatus including backlash and for generating feel sensations

• US 6,154,198 A
• Filed: 09/17/1997
• Issued: 11/28/2000
• Est. Priority Date: 01/18/1995
• Status: Expired due to Term

• Current Assignee: Immersion Corporation Delaware
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): CHANG, KENT WU
• Application Number:
  US08/932,316
• Time in Patent Office: 1,168 Days
• Field of Search: 345/156, 345/157, 345/161, 345/7, 74/471 XY, 434/45, 463/38, 273/148 B, 273/317
• US Class Current: 345/161
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A63F 13/21 characterised by their sensors, purposes or types
• CPC Class Codes: A63F 13/235 using a wireless connection, e.g. infrared or piconet
• CPC Class Codes: A63F 13/24 Constructional details thereof, e.g. game controllers with detachable joystick handles
• CPC Class Codes: A63F 13/245 specially adapted to a particular type of game, e.g. steering wheels
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 2300/1006 having additional degrees of freedom
• 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 2300/1062 being specially adapted to a type of game, e.g. steering wheel
• CPC Class Codes: A63F 2300/8082 Virtual reality
• CPC Class Codes: G05G 2009/0474 characterised by means converting mechanical movement into electric signals
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• 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: G05G 9/04737 with six degrees of freedom
• 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 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device
• CPC Class Codes: G09B 23/28 : for medicine
• CPC Class Codes: G09B 9/28 : Simulation of stick forces or the like

Abstract

An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling simulation of feel sensations in response to the manipulations. A user manipulatable object is pivotally attached to a ground surface and is moveable in two degrees of freedom. Actuators output forces transmitted to the user manipulatable object and at least one sensor detects motion of the object. Two slotted yoke members transmit forces from the actuators to the object. A local processor executes a software process in response to host commands which derives force values to be applied to the user manipulatable object.

Claims

1. An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling simulation of feel sensations in response to said user manipulations, said feel sensations being generated in accordance with software running on said host computer, said input/output device comprising:

a user manipulatable object physically contacted by a user at one end and pivotally attached to a ground surface at another end, said pivot allowing said user manipulatable object to be movable in at least two degrees of freedom by said user with respect to said ground surface;

first and second actuators coupled to said ground surface for generating feel sensations by outputting forces that are transmitted to said user manipulable object in at least two degrees of freedom with respect to said ground surface;

first and second slotted yoke members for transmitting forces from said first and second actuators to said user manipulatable object, said user manipulatable object passing through a first slot included in said first slotted yoke member and through a second slot included in said second slotted yoke member;

a local processor separate from said host computer for executing a software process in response to a command sent to said input/output device from said host computer, said software process setting a damping constant representing a degree of resistance to be imposed upon said user manipulatable object by said actuators, and said software process deriving force values to be applied to said actuators to cause said output of said forces, wherein said derivation is based at least in part upon said damping constant and a velocity of said user manipulatable object; and

at least one sensor for detecting motion of said user manipulatable object with respect to said ground surface, said at least one sensor reporting a representation of said sensor signals to said local processor.

2. An input/output device as recited in claim 1 wherein each of said first and second slotted yoke members introduces backlash into a coupling between said actuators and said user manipulatable object.

3. An input/output device as recited in claim 2 wherein said backlash is detectable within a resolution of said at least one sensor.

4. An input/output device as recited in claim 3 wherein said local processor uses said detection of said backlash in said derivation of said force values.

5. An input/output device as recited in claim 3 wherein said local processor uses said detection of said backlash in determining a change in direction of said motion of said user manipulatable object.

6. An input/output device as recited in claim 3 wherein said local processor uses said detection of said backlash in a process that generates a wall sensation using said output forces.

7. An input/output device as recited in claim 1 wherein said feel sensation is a damping sensation simulating a feel of motion through a fluid.

8. An input/output device as recited in claim 1 wherein a difference between a current position of said user object detected by said sensor and a previous position of said user manipulatable object detected by said sensor is determined by said local processor in parallel to code executed by said host computer.

9. An input/output device as recited in claim 7 wherein said local processor receives commands from said host computer, decodes said commands, outputs actuator signals in accordance with said commands to control said actuators, and reports a representation of said sensor signals to said host computer.