Force feedback interface device having isometric functionality

• US 6,232,891 B1
• Filed: 09/24/1998
• Issued: 05/15/2001
• Est. Priority Date: 11/26/1996
• 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:
  US09/160,985
• Time in Patent Office: 964 Days
• Field of Search: 341/20, 341/27, 345/163, 345/167, 345/145, 345/168, 304/709.01
• US Class Current: 341/20
• CPC Class Codes: G05G 2009/0477 holding the member in a number of definite positions
• 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: 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 3/0362 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: G06F 3/0395 Mouse pads
• 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 force feedback interface having isotonic and isometric control capability coupled to a host computer that displays a graphical environment such as a GUI. The interface includes a user manipulatable physical object movable in physical space, such as a mouse or puck. A sensor detects the object'"'"'s movement and an actuator applies output force on the physical object. A mode selector selects isotonic and isometric control modes of the interface from an input device such as a physical button or from an interaction between graphical objects. Isotonic mode provides input to the host computer based on a position of the physical object and updates a position of a cursor, and force sensations can be applied to the physical object based on movement of the cursor. Isometric mode provides input to the host computer based on an input force applied by the user to the physical object, where the input force is determined from a sensed deviation of the physical object in space. The input force opposes an output force applied by the actuator and is used to control a function of an application program, such as scrolling a document or panning or zooming a displayed view. An overlay force, such as a jolt or vibration, can be added to the output force in isometric mode to indicate an event or condition in the graphical environment.

Claims

1. A method of providing pan, scroll, or zoom functions for a displayed image on a display screen of a host computer, the method comprising:

providing a user manipulatable object coupled to an actuator, said user manipulatable object being moved in at least one degree of freedom by a user, wherein a force output by said actuator is controlled by a local microprocessor;

causing a resistance using said actuator to oppose said movement of said user manipulatable object in said at least one degree of freedom; and

performing a scroll, pan, or zoom function for said displayed image in response to said movement of said user manipulatable object against said resistance.

2. A method as recited in claim 1 wherein said resistance applied by said actuator is a function of a displacement of said user manipulatable object from a locally defined origin.

3. A method as recited in claim 2 wherein a rate of said scrolling, panning, or zooming is a function of said displacement of said user manipulatable object with respect to said origin.

4. A method as recited in claim 1 wherein said actuator applies additional forces to said user manipulatable object in response to graphical objects displayed on said computer screen.

5. A method as recited in claim 4 wherein said displayed image is a displayed document, and wherein said additional forces include a force that is applied to said user manipulatable object in response to scrolling past a boundary of a page of said displayed document.

6. A method as recited in claim 4 wherein said displayed image is a displayed document, and wherein said additional force includes a force that is applied in response to reaching an end of a displayed document or image that is scrolled, panned, or zoomed in a particular direction.

7. A method as recited in claim 1 wherein a magnitude of said resistance to said user manipulatable object is dependent at least in part upon a size of a file or image that is being scrolled, panned, or zoomed.

8. A method as recited in claim 1 wherein said actuator is a servo motor that is controlled by a local microprocessor separate from said host computer.

9. A method as recited in claim 1 wherein said actuator is a voice coil actuator that is controlled by a local microprocessor separate from said host computer.

10. A method as recited in claim 1 wherein said resistance is applied in a particular direction, and said scroll, pan, or zoom function is performed only when said user manipulatable object is moved opposite to said particular direction.

11. A method for allowing isometric control from a user utilizing a force feedback interface device coupled to a host computer displaying a graphical environment, the method comprising:

receiving a sensor signal from a sensor, said sensor signal including information from which a motion of a user manipulatable object in a degree of freedom is derived;

causing a resistance to be output in opposition to said motion of said user manipulatable object in said degree of freedom using an actuator;

providing to said host computer an indication of a deviation of said user manipulatable object against said resistance, said deviation being in reference to a reference position of said user manipulatable object when said resistance was first applied; and

causing an overlaid force to be output on said user manipulatable object based on an event occurring in said graphical environment in addition to said resistance.

12. A method as recited in claim 11 wherein said force feedback interface device is capable of allowing isotonic control from a user, and further comprising receiving a signal indicating that isometric control is to be provided.

13. A method as recited in claim 12 wherein said signal indicating that isometric control is to be provided is a signal from a button on said user manipulatable object.

14. A method as recited in claim 12 wherein said signal indicating that isometric control is to be provided is a signal sent to said force feedback interface device from said host computer that has determined that said isometric control is to be provided.

15. A method as recited in claim 12 wherein when said isometric control is not provided, said isotonic control is provided and wherein a representation of a position of said user manipulatable object in said degree of freedom is sent to said host computer when said isotonic control is provided.

16. A method as recited in claim 11 wherein said host computer uses said deviation to control a scrolling, panning, or zooming function in said graphical environment.

17. A method as recited in claim 16 wherein said event occurring in said graphical environment includes reaching a limit to a displayed image that is scrolled, panned, or zoomed in a particular direction.

18. A method as recited in claim 11 wherein said event occurring in said graphical environment includes scrolling past a boundary of a page of a document displayed by said host computer.

19. A method as recited in claim 11 wherein said resistance output in opposition to said motion of said user manipulatable object is a spring return force.

20. A method as recited in claim 11 wherein said resistance is output in either direction of said degree of freedom based on the particular direction that said user manipulatable object is moved.

21. A method as recited in claim 11 wherein said user manipulatable object is moveable in two planar degrees of freedom, and wherein said resistance can be applied in either of said planar degrees of freedom.

22. A method as recited in claim 11 wherein a magnitude of said resistance to said user manipulatable object is dependent at least in part upon a size of a file or image displayed on said host computer that is being manipulated based on said deviation.

23. A method of controlling an audio parameter stored within an electrical system based on input from a user, the method comprising:

receiving a sensor signal from a sensor, said sensor signal including information from which a motion of a user manipulatable object in a degree of freedom is derived;

applying a resistance opposing said motion of said user manipulatable object, said resistance being applied using an actuator; and

adjusting a value of said audio parameter in response to said user pushing said user manipulatable object against said resistance, said adjusting being a function of a magnitude of said pushing, wherein said audio parameter is used, at least in part, in the output of an audio signal to said user.

24. A method as recited in claim 23 wherein said audio parameter is used to control a pitch of said audio signal output to said user.

25. A method as recited in claim 23 wherein said audio parameter is adjusted based on a distance said user manipulatable object is pushed in said degree of freedom.

26. A method as recited in claim 25 wherein a pitch of a tone of said audio signal output to said user is based on said distance said user manipulatable object is pushed after said resistance is first applied.

27. A method as recited in claim 23 wherein said user manipulatable object is moveable in two planar degrees of freedom.

28. A method of controlling a visual parameter stored within an electrical system based on input from a user, the method comprising:

receiving a sensor signal from a sensor, said sensor signal including information from which a motion of a user manipulatable object in a degree of freedom is derived;

applying a resistance opposing said motion of said user manipulatable object, said resistance being applied using an actuator; and

adjusting a value of said visual parameter in response to said user pushing said user manipulatable object against said resistance, said adjusting being a function of a magnitude of said pushing, wherein said visual parameter is used, at least in part, in the output of an image to said user on a display device to indicate said degree of said pushing.

29. A method as recited in claim 28 wherein said image is indicative of a magnitude of deviation of said user manipulatable object from a reference position when said user manipulatable object is pushed against said resistance.

30. A method as recited in claim 29 wherein said visual parameter is a color parameter, wherein a color of said image indicates said magnitude of said deviation.

31. A method as recited in claim 29 wherein said visual parameter is used to display a value on said display screen, said value indicating said magnitude of said deviation.

32. A method as recited in claim 29 wherein said visual parameter is used to display a bar graph on said display screen, said bar graph indicating said magnitude of said deviation.