Pointing device with forced feedback button

• US 6,243,078 B1
• Filed: 02/18/1999
• Issued: 06/05/2001
• Est. Priority Date: 06/23/1998
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Hjerpe, Richard
• Assistant Examiner(s): Laneau, Ronald
• Application Number:
  US09/253,132
• Time in Patent Office: 838 Days
• Field of Search: 345/161, 345/163, 345/156, 345/157, 345/160, 345/158
• US Class Current: 345/161
• CPC Class Codes: A63F 13/235 using a wireless connection, e.g. infrared or piconet
• 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 13/533 for prompting the player, e.g. by displaying a game menu
• CPC Class Codes: A63F 13/803 Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
• 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 2300/308 Details of the user interface
• CPC Class Codes: A63F 2300/8017 Driving on land or water; Flying
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 2203/014 Force feedback applied to GUI
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• 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 3/033 Pointing devices displaced or positioned by the user , e.g. mice, trackballs, pens or joysticks; Accessories therefor digitisers characterised by the transducing means G06F3/041
• CPC Class Codes: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03545 Pens or stylus
• 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: H04L 69/329 : in the application layer [OSI layer 7]

Abstract

A low-cost force feedback interface device for providing low cost force feedback for enhancing interactions and manipulations in a graphical environment provided by a computer. One embodiment provides a mouse movable in a planar workspace and providing output sensor signals representative of that movement. Mouse button movement is detected to send command signals to the host computer, and an actuator coupled to the button applies an output force in the degree of freedom of the button. In a different embodiment, a force feedback pointing device includes a cylindrical member that may be rotated about an axis and translated along that axis to provide sensor signals to control a position of a graphical object such as a cursor. A command sensor detects motion of the cylindrical member perpendicular to the translation, such as when the cylindrical member is pressed down by the user. An actuator applies an output force in the perpendicular degree of freedom of the cylindrical member. The output force is correlated with interaction of the controlled cursor with other graphical objects in the graphical environment. The force sensation can be a jolt, vibration, constant force, texture force, or other type of force.

Claims

1. A force feedback mouse coupled to a host computer implementing a host application program, said mouse physically contacted by a user and movable in a planar workspace, the mouse comprising:

a sensor device coupled to a housing of said mouse, said sensor device detecting said movement of said mouse in said planar workspace and to output sensor signals representative of said movement;

a button coupled to said housing of said mouse and having a degree of freedom and a sensor for detecting a position of said button, such that when said button is pressed by said user to a predetermined position, a command signal is sent to said host computer;

a microprocessor-controlled actuator coupled to said button of said mouse, said actuator operative to apply an output spring force in said degree of freedom of said button; and

a microprocessor local to said force feedback mouse and separate from said host computer and coupled to said sensor device and to said actuator, said microprocessor receiving a command from said host computer that causes said microprocessor to control said actuator to create said spring force in said degree of freedom of said button, said spring force having a magnitude specified by said command.

2. A force feedback mouse as recited in claim 1 wherein a grounded portion of said actuator is coupled to said housing of said mouse and a moving portion of said actuator is coupled to said button.

3. A force feedback mouse as recited in claim 1 wherein said actuator is a linear actuator that applies a linear output force in said degree of freedom of said button.

4. A force feedback mouse as recited in claim 3 wherein said linear actuator is a voice coil actuator.

5. A force feedback mouse as recited in claim 1 wherein said sensor includes a contact switch for detecting a depressed position of said button.

6. A force feedback mouse as recited in claim 1 wherein said sensor detects a range of at least three positions of said button in said degree of freedom of said button.

7. A force feedback mouse as recited in claim 6 wherein said output force is dependent, at least in part, on said position of said button in said degree of freedom.

8. A force feedback mouse as recited in claim 1 wherein said output spring force is correlated with a graphical representation displayed by said host computer, wherein a position of said mouse in said planar workspace corresponds with a position of a cursor displayed in said graphical representation.

9. A force feedback mouse as recited in claim 1 wherein said magnitude of said spring force is dependent on a characteristic of said graphical object with which said cursor interacts.

10. A force feedback mouse as recited in claim 9 wherein said characteristic of said graphical object is a type of said graphical object, wherein said type includes one of an icon, a window, and a menu item.

11. A force feedback mouse as recited in claim 1 wherein said microprocessor is operative to receive said sensor signals from said sensors and report locative data to said host computer derived from said sensor signals and indicative of said movement of said mouse.

12. A force feedback mouse as recited in claim 1 wherein said microprocessor receives low-level force commands from said host computer, said low-level force commands being transmitted to said actuator to be output as forces.

13. A force feedback pointing device coupled to a host computer implementing a host application program, said pointing device physically contacted by a user and movable to provide input to said host computer, the pointing device comprising:

a cylindrical member operative to rotate about an axis and to translate along said axis;

a sensor device coupled to said cylindrical member operative to detect said rotation and said translation of said cylindrical member and to output sensor signals representative of said rotation and said translation, wherein said sensor signals are used by said host computer to control a position of a graphical object in a displayed graphical environment;

a command sensor for detecting a motion of said cylindrical member in a degree of freedom approximately perpendicular to said translation, such that when said cylindrical member is pressed by said user to a predetermined position in said perpendicular degree of freedom, a command signal is sent to said host computer; and

an actuator coupled to said cylindrical member and operative to apply a linear output force in said perpendicular degree of freedom of said cylindrical member, wherein said actuator receives a signal derived from a command sent from said host computer that causes said actuator to create a spring force in said degree of freedom of said cylindrical member, said spring force having a stiffness specified by said command.

14. A force feedback pointing device as recited in claim 13 wherein said actuator is a linear actuator.

15. A force feedback pointing device as recited in claim 14 further comprising a microprocessor local to said force feedback pointing device and separate from said host computer and coupled to said sensor device and to said actuator, said microprocessor receiving said command from said host computer that causes said microprocessor to control said actuator to create said spring force in said degree of freedom of said cylindrical member.

16. A force feedback pointing device as recited in claim 13 wherein said axis of said cylindrical member is approximately parallel to a horizontal plane, and wherein said rotation of said cylindrical member controls a vertical position and said translation of said cylindrical member controls a horizontal position of said graphical object in said graphical environment, said graphical object being a cursor.

17. A force feedback pointing device as recited in claim 13 wherein said command sensor is a contact switch.

18. A force feedback pointing device as recited in claim 13 wherein said command sensor is a continuous range sensor.

19. A force feedback pointing device as recited in claim 13 wherein said output force is correlated with an interaction of said cursor with a different graphical object in said graphical environment.

20. A force feedback pointing device as recited in claim 19 wherein said output force is a jolt or vibration force sensation.

21. A method for providing force feedback in a mouse input device coupled to a host computer, the method comprising:

outputting sensor signals to said host computer, said sensor signals representing a position of said mouse device in a planar workspace;

outputting a button signal to said host computer in response to a button on said mouse being moved by a user in a degree of freedom of said button; and

outputting a jolt on said button in said degree of freedom of said button based on a host command sent to said mouse device from said host computer, said jolt correlated with the interaction of a user-controlled cursor with a graphical object displayed in a graphical user interface, said jolt including an impulse of force that rises to a maximum magnitude and then is reduced in magnitude or turned off, said impulse of force moving said button in said degree of freedom of said button.

22. A method as recited in claim 21 wherein said force is in a linear direction and is output by a linear actuator coupled to said mouse device.

23. A method as recited in claim 21 wherein said jolt is output on said button when said cursor is moved between two menu items in a displayed menu.

24. A method as recited in claim 21 wherein said jolt is output with a maximum magnitude dependent on a characteristic of said graphical object with which said cursor interacts.

25. A method as recited in claim 24 wherein said characteristic of said graphical object is a type of said graphical object, wherein said type includes one of an icon, a window, and a menu item.

26. A method as recited in claim 21 wherein said jolt is one of a plurality of jolts included in a vibration force sensation output to said user.

27. A force feedback mouse coupled to a host computer implementing a host application program, said mouse physically contacted by a user and movable in a planar workspace, the mouse comprising:

a sensor device coupled to a housing of said mouse, said sensor device detecting said movement of said mouse in said planar workspace and to output sensor signals representative of said movement;

a button coupled to said housing of said mouse and having a degree of freedom and a button sensor for detecting a position of said button, such that when said button is pressed by said user to a predetermined position, a command signal is sent to said host computer;

an actuator coupled to said button of said mouse, said actuator operative to apply an output jolt in said degree of freedom of said button; and

a microprocessor local to said force feedback mouse and separate from said host computer and coupled to said sensor device and to said actuator, said microprocessor receiving a command from said host computer that causes said microprocessor to control said actuator to create said jolt in said degree of freedom of said button, said jolt including an impulse of force that rises to a maximum magnitude and then is reduced in magnitude or turned off, said impulse of force moving said button in said degree of freedom of said button.

28. A force feedback mouse as recited in claim 27 wherein said jolt is one of a plurality of sequentially-output jolts included in a vibration force sensation output to said user.

29. A force feedback mouse as recited in claim 27 wherein said jolt is correlated with the interaction of a user-controlled cursor with a graphical object displayed in a graphical user interface.

30. A force feedback mouse as recited in claim 29 wherein said jolt is output with a maximum magnitude dependent on a characteristic of said graphical object with which said cursor interacts.

31. A force feedback mouse as recited in claim 29 wherein said jolt is output when said cursor moves between menu items in a displayed graphical menu.

32. A force feedback mouse as recited in claim 27 wherein a grounded portion of said actuator is coupled to said housing of said mouse and a moving portion of said actuator is coupled to said button.

33. A force feedback mouse as recited in claim 27 wherein said actuator is a linear actuator that applies a linear output force in said degree of freedom of said button.

34. A force feedback mouse as recited in claim 27 wherein said button sensor detects a range of at least three positions of said button in said degree of freedom of said button.

35. A force feedback mouse as recited in claim 27 wherein said output force is dependent, at least in part, on said position of said button in said degree of freedom.

36. A force feedback mouse in communication with a host computer providing a graphical environment, said mouse physically contacted by a user and movable in a planar workspace, the mouse comprising:

a sensor device coupled to a housing of said mouse, said sensor device detecting said movement of said mouse in said planar workspace and to output sensor signals representative of said movement, wherein said host computer receives said sensor signals and displays a cursor in said graphical environment based on said sensor signals;

a button coupled to said housing of said mouse and having a degree of freedom and a sensor for detecting a position of said button, such that when said button is pressed by said user to a predetermined position, a command signal is sent to said host computer;

an actuator coupled to said button of said mouse, said actuator operative to apply an output bump force in said degree of freedom of said button; and

a microprocessor local to said force feedback mouse and separate from said host computer and coupled to said sensor device and to said actuator, said microprocessor receiving a command from said host computer that causes said microprocessor to control said actuator to create said bump force in said degree of freedom of said button, wherein a plurality of said bump forces are output as a texture sensation when said cursor is moved over a texture area in said graphical environment.