Method and apparatus for providing tactile sensations using an interface device

• US 6,195,592 B1
• Filed: 03/23/1999
• Issued: 02/27/2001
• Est. Priority Date: 10/24/1991
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Haberman, Seth M., Schuler, Chester L.
• Primary Examiner(s): Gordon, Paul P.
• Assistant Examiner(s): PATEL, RAMESH B
• Application Number:
  US09/274,704
• Time in Patent Office: 707 Days
• Field of Search: 700/17, 700/81, 700/83, 700/84, 700/85, 345/157, 345/158, 345/160, 345/168, 345/167, 318/561, 318/652, 318/601, 318/687, 709/203, 709/204, 709/217, 709/218
• US Class Current: 700/83
• CPC Class Codes: G05B 19/108 characterised by physical layout of switches; switches co-operating with display; use of switches in a special way
• CPC Class Codes: G05B 19/231 the positional error is used to control continuously the servomotor according to its magnitude
• CPC Class Codes: G05B 2219/23053 Knob with tactile feedback, representing clicks, detents programmed
• CPC Class Codes: G05B 2219/35459 Knob, handle, handwheel delivers pulses, electronic handwheel, digipot
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05B 2219/43186 Pulses from handle, knob, hand wheel control speed
• CPC Class Codes: G05B 2219/45184 Filming, photography, camera
• CPC Class Codes: G06F 2203/014 Force feedback applied to GUI
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03549 Trackballs G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/0362 with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• CPC Class Codes: G11B 27/02 Editing, e.g. varying the order of information signals recorded on, or reproduced from, record carriers
• CPC Class Codes: G11B 27/028 with computer assistance
• CPC Class Codes: G11B 27/031 Electronic editing of digitised analogue information signals, e.g. audio or video signals
• CPC Class Codes: G11B 27/034 on discs G11B27/036, G11B27/038 take precedence
• CPC Class Codes: G11B 27/34 Indicating arrangements indicating means incorporated in magazine or cassette G11B23/046 and G11B23/0875; indicating measured values in general G01D
• 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 implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.

Claims

1. A method of providing an interface device for use with a host computer, said interface device providing selectively programmable tactile sensations, said method comprising:

providing a grippable member in said interface device to be engaged and manipulated by a user;

providing a motor in said interface device that produces a tactile sensation felt by said user via said interface device;

providing a tactile control microprocessor in communication with said host computer via a communication link, said host computer running a host software application, said tactile control microprocessor for controlling said motor in accordance with the requirements of said host software application;

providing local memory accessible by said tactile control microprocessor;

receiving tactile data from said host computer and storing a representation of said tactile data in said local memory, said tactile data defining a desired tactile sensation to be generated by said interface device; and

providing firmware run by said tactile control microprocessor, said firmware using said tactile data to influence control of said motor so as to produce said desired tactile sensation in accordance with said requirements of said main software application.

2. A method as recited in claim 1 wherein multiple sets of tactile data are received from said host computer and stored simultaneously in said local memory, each set of said tactile data describing a different desired tactile sensation, wherein each of said sets of tactile data are independently selectable by said tactile control microprocessor in accordance with said requirements of said host software application.

3. A method as recited in claim 2 wherein said sets of tactile data are stored in a table within said local memory, wherein a particular tactile sensation is selected from said table in accordance with said requirements of said host software application.

4. A method as recited in claim 1 wherein said motor is a first motor, and further comprising providing a second motor in said interface device such that said tactile control microprocessor can modulate a force output by both said first and second motors, said first and second motors working in conjunction to produce said desired tactile sensation.

5. A method as recited in claim 1 further comprising providing a sensor to track a position of said grippable member.

6. A method as recited in claim 5 wherein said tactile control microprocessor reads a sensor signal from said sensor and modulates said force output by said motor with respect to said position and in accordance with said tactile data stored in said local memory.

7. A method as recited in claim 6 wherein said microprocessor derives velocity data from said sensor signal and uses said velocity data when modulating the force upon said motor.

8. A method as recited in claim 1 wherein default tactile data is stored in said local memory upon power up of said interface device prior to receiving tactile data from said host computer.

9. A method as recited in claim 1 wherein said tactile data includes a torque value.

10. A method as recited in claim 1 wherein said tactile data includes a torque profile.

11. A method as recited in claim 1 wherein said tactile data includes a position.

12. A method as recited in claim 1 wherein said tactile data describes a feel of a detent.

13. A method as recited in claim 1 wherein said tactile data describes a feel of a progressively increasing force as said grippable member is moved in a particular direction.

14. A method as recited in claim 1 wherein said tactile data describes a feel of said grippable member hitting a hard stop.

15. A method as recited in claim 1 wherein said tactile data includes a selectable number of detents to be felt by the user as said grippable member is manipulated.

16. An interface device for use with a host computer, said interface device having selectively programmable tactile responsiveness, said interface device comprising;

a grippable member to be engaged and manipulated by a user;

a motor coupled to said interface device that produces a tactile sensation felt by said user;

a local memory, wherein tactile data from said host computer is stored in said local memory, said tactile data describing said tactile sensation to be produced by said motor; and

a tactile control microprocessor in communication with said host computer via a communication link and coupled to said local memory, said host computer running a host software application, said tactile control microprocessor controlling said motor in accordance with the requirements of said host software application, wherein firmware is run by said tactile control microprocessor, said firmware accessing said tactile data from said memory and using said tactile data to influence control of said motor so as to produce said tactile sensation in accordance with said requirements of said main software application.

17. An interface device as recited in claim 16 wherein multiple sets of tactile data are received from said host computer and stored simultaneously in said local memory, each set of said tactile data describing a different desired tactile sensation, wherein each of said sets of tactile data are independently selectable by said tactile control microprocessor in accordance with said requirements of said host software application.

18. An interface device as recited in claim 16 wherein said motor is a first motor, and further comprising providing a second motor in said interface device such that said tactile control microprocessor can modulate a force output by both said first and second motors, said first and second motors working in conjunction to produce said tactile sensation.

19. An interface device as recited in claim 16 further comprising a sensor tracking a position of said grippable member.

20. An interface device as recited in claim 19 wherein said tactile control microprocessor reads a sensor signal from said sensor and modulates said force output by said motor with respect to said position and in accordance with said tactile data stored in said local memory.

21. An interface device as recited in claim 19 wherein said motor is a servo motor and said sensor is an optical encoder.

22. An interface device as recited in claim 16 wherein said tactile data includes at least one of a torque value, a torque profile, and a position.

23. An interface device as recited in claim 16 wherein said grippable member is a knob.

24. An interface device as recited in claim 16 wherein said tactile data describes a feel of a progressively increasing force as said grippable member is moved in a particular direction.

25. An interface device as recited in claim 16 wherein said local memory is external to said tactile control microprocessor.

26. An interface device as recited in claim 16 wherein said local memory is resident on said tactile control microprocessor.

27. An interface device for use with a host computer, said interface device enabling programmable tactile responsiveness, said interface device comprising:

an engageable member to be engaged and manipulated by a user;

a motor coupled to said interface device such that controlling a current through said motor produces a tactile sensation felt by said user operating said interface device;

a local memory, wherein tactile data from said host computer is stored in said local memory, said tactile data used in describing said tactile sensation to be generated by the interface device; and

a tactile control microcontroller separate from and in communication with said host computer via a communication link and coupled to said local memory, said host computer running a host software application, said tactile control microcontroller controlling said motor in accordance with the requirements of said host software application, wherein firmware is run by said tactile control microcontroller, said firmware accessing said tactile data from said memory and using said tactile data to influence control of said motor so as to produce said tactile sensation in accordance with said requirements of said main software application.

28. An interface device as recited in claim 27 further comprising a sensor coupled to said engageable member and tracking a position of said engageable member.

29. An interface device as recited in claim 27 wherein said motor is a first motor, and further comprising providing a second motor in said interface device such that said tactile control microcontroller controls a force output by both said first and second motors, said first and second motors working in conjunction to produce said tactile sensation.

30. An interface device as recited in claim 27 wherein multiple sets of tactile data are received from said host computer and stored simultaneously in said local memory, each set of said tactile data describing a different tactile sensation.

31. An interface device as recited in claim 27 wherein said local memory is external to said tactile control microcontroller.

32. An interface device as recited in claim 27 wherein said local memory is resident on said tactile control microcontroller.

33. A method of providing an interface device for use with a host computer, said interface device providing selectively programmable tactile sensations, said method comprising:

providing a grippable member in said interface device to be engaged and manipulated by a user;

providing a motor in said interface device that produces a tactile sensation felt by said user via said interface device;

providing a tactile control microprocessor in communication with said host computer via a communication link, said host computer running a host software application, said tactile control microprocessor controlling said motor in accordance with the requirements of said host software application, receiving tactile data from said host computer, and storing said tactile data, said tactile data determining a desired tactile sensation to be generated by said interface device, and wherein said microprocessor uses said tactile data to influence control of said motor so as to produce said desired tactile sensation in accordance with said requirements of said main software application; and

providing local memory accessible by said tactile control microprocessor, wherein said local microprocessor stores said tactile data in said local memory.