Isotonic-isometric force feedback interface

• US 6,259,382 B1
• Filed: 02/04/2000
• Issued: 07/10/2001
• 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:
  US09/499,338
• Time in Patent Office: 522 Days
• Field of Search: 341/20, 341/23, 345/163, 345/167, 345/145, 345/168, 345/161, 364/709.1, 744/71.XY
• 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 for enabling isotonic and isometric control from a user utilizing a single interface device coupled to a host computer system displaying a graphical environment, the method comprising:

receiving a selection of a control mode of said interface device, wherein said control mode is either an isotonic control mode or an isometric control mode, and wherein said selection of said mode includes closing a switch located on a user manipulatable physical object of said interface device;

providing isotonic input to said host computer system if said interface device is in said isotonic mode, wherein said isotonic input is used by said host computer system to update a position of a user-controlled graphical object in said graphical environment; and

providing isometric input to said host computer system if said interface device is in said isometric mode, wherein said isometric input is used by said host computer system to control an isometric function of said graphical environment based on an input force applied by said user to said physical object, said isometric input being provided as motion of said physical object opposing an output force generated by computer-controlled actuators.

2. A method as recited in claim 1 wherein said motion of said physical object is in one or more degrees of freedom of said physical object.

3. A method as recited in claim 2 wherein said output force is a spring force resisting motion of said physical object in at least one of said degrees of freedom.

4. A method as recited in claim 1 further comprising applying a force to said physical object in said isotonic mode based on a position of said user-controlled graphical object in said graphical environment.

5. A method as recited in claim 4 wherein said switch on said physical object is a button.

6. A method as recited in claim 1 wherein said isometric function includes scrolling a displayed document, panning a displayed view, or zooming a displayed view.

7. A method as recited in claim 3 further comprising outputting an overlay force in addition to said spring force to said physical object.

8. A force feedback device in communication with a host computer displaying a graphical environment and enabling isotonic and isometric control from a user, the force feedback device comprising:

a user manipulatable physical object moveable in at least one degree of freedom by a user;

at least one actuator outputting a force in said at least one degree of freedom; and

a switch provided on said user manipulatable physical object, said switch enabling a selection of a control mode of said interface device, wherein said control mode is either an isotonic control mode or an isometric control mode, and wherein said user selects said control mode by closing said switch,

wherein said force feedback device provides isotonic input to said host computer if said force feedback device is in said isotonic mode, wherein said isotonic input is used by said host computer system to update a position of a user-controlled graphical object in said graphical environment, and wherein said force feedback device provides isometric input to said host computer system if said force feedback device is in said isometric mode, wherein said isometric input is used by said host computer to control an isometric function of said graphical environment based on an input force applied by said user to said physical object, said isometric input being provided as motion of said physical object opposing an output force generated by said at least one actuator.

9. A force feedback device as recited in claim 8 wherein said output force is a spring force resisting motion of said physical object in said at least one degree of freedom.

10. A force feedback device as recited in claim 8 further comprising applying a force to said physical object in said isotonic mode based on a position of said user-controlled graphical object in said graphical environment.

11. A force feedback device as recited in claim 8 wherein said switch on said physical object is a button.

12. A force feedback device as recited in claim 8 wherein said isometric function includes scrolling a displayed document, panning a displayed view, or zooming a displayed view.

13. A force feedback device as recited in claim 9 further comprising outputting an overlay force in addition to said spring force to said physical object.

14. A method for enabling isotonic and isometric control from a user utilizing a force feedback interface device in communication with a host computer system displaying a graphical environment, the method comprising:

enabling a control mode of said interface device, wherein said control mode is either an isotonic control mode or an isometric control mode, and wherein said control mode is determined by a position of a cursor displayed in a displayed window of said graphical environment, wherein said isotonic control mode is active when said cursor is moved within said window, and wherein said isometric control mode is active when said cursor is moved into or against a border of said window;

enabling a provision of isotonic input to said host computer system in said isotonic control mode while said cursor is moved within said window, wherein said isotonic input is used by said host computer system to update a position of said cursor in said window in accordance with motion of a user manipulatable physical object of said force feedback interface device; and

enabling a provision of isometric input to said host computer system in said isometric control mode when said cursor is moved into or against said border of said window, wherein said isometric input is used by said host computer system to control a scrolling of at least one item displayed in said window, said isometric input being provided as motion of said physical object opposing an output force on said physical object generated by computer-controlled actuators of said force feedback interface device in said isometric control mode.

15. A method as recited in claim 14 wherein a speed of said scrolling is controlled by an amount of deviation of said physical object past a reference position, said reference position determined when said cursor is moved within a predetermined distance of said border of said window.

16. A method as recited in claim 15 wherein said isometric mode is entered when said cursor is moved from an inside of said window in a direction towards outside said window.

17. A method as recited in claim 14 wherein said at least one item displayed in said window includes text characters.

18. A method as recited in claim 17 wherein a text document is displayed in said window.

19. A method as recited in claim 14 wherein said isometric control mode is entered only when a velocity of said cursor is under a predetermined threshold velocity.

20. A method as recited in claim 14 wherein said at least one object in said window can be selected by said cursor when said cursor is positioned on said at least one object by said user activating a control of said force feedback interface device.

21. A method as recited in claim 14 wherein said cursor is not positioned in accordance with said movement of said physical object when said force feedback device is in said isometric mode.

22. A method for enabling isotonic and isometric control from a user utilizing a force feedback interface device in communication with a host computer system displaying a graphical environment, the method comprising:

enabling a display of a window in said graphical environment on a display device;

receiving sensor input from one or more sensors of said force feedback interface device, said sensor input describing motion of a user manipulatable physical object in at least one degree of freedom;

enabling isotonic control over a cursor displayed in said window if said cursor is positioned within said window, wherein a position of said cursor is updated in said window in accordance with said sensor input; and

enabling isometric control over at least one object displayed in said window if said cursor has been moved into or against a border of said window, wherein at least one item displayed in said window is scrolled in accordance with motion of said physical object in opposition to an output force on said physical object generated by computer-controlled actuators of said force feebdack interface device in said isometric control mode.

23. A method as recited in claim 22 wherein said isometric mode is entered when said cursor is moved from an inside of said window in a direction towards outside said window.

24. A method as recited in claim 22 wherein a text document is displayed in said window.

25. A method as recited in claim 22 wherein said at least one object in said window can be selected by said cursor when said cursor is positioned on said at least one object by said user activating a control of said force feedback interface device.

26. A method as recited in claim 23 wherein said cursor is not positioned in accordance with said movement of said physical object when said force feedback device is in said isometric mode.