Magnetically-controllable, active haptic interface system and apparatus

• US 6,283,859 B1
• Filed: 11/10/1998
• Issued: 09/04/2001
• Est. Priority Date: 11/10/1998
• Status: Expired due to Term

• Current Assignee: Lord Corporation (Parker-Hannifin Corporation)
• Original Assignee: Lord Corporation (Parker-Hannifin Corporation)
• Inventors: Koester, Stephen P., Carlson, J. David
• Primary Examiner(s): Sager, Mark
• Assistant Examiner(s): HOTALING, JOHN M
• Application Number:
  US09/189,198
• Time in Patent Office: 1,029 Days
• Field of Search: 463/36-38, 192/21, 192/21.5, 192/841, 475/205-207, 475/149, 310/92-94, 310/96, 310/97-99, 310/103, 434/62, 188/266, 188/267, 188/267.2
• US Class Current: 463/36
• CPC Class Codes: B62D 5/006 power actuated
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

According to the present invention, a haptic interface system, also known as a force feedback system, comprises a motor for supplying actuating energy and a magnetically-controllable device that transfers the actuating energy into force feedback sensations. The magnetically-controllable device contains a magnetically-controllable medium beneficially providing variable resistance forces in proportion to the strength of an applied magnetic field. The system further comprises a computer system having a processor that runs an interactive program or event, a video display for displaying the interactive program or event, and a haptic interface device in operable contact with an operator for controlling inputs to the interactive program. Based on the received inputs and on processing the interactive program, the computer system provides a variable output signal, corresponding to a feedback force, to control the magnetically-controllable device in transferring the actuating energy into feedback force that is actively applied to haptic interface device.

Claims

1. A haptic interface system for providing force feedback to an operator, comprising:

a computer system for receiving a variable input signal and providing a variable output signal, said computer system adapted for running an interactive program that processes said variable input signal and in response derives said variable Output signal;

a device including a magnetically-controllable medium, said device receives said variable output signal and provides a variable, active, force feedback based upon said variable output signal;

a magnetic field generating device energizable by said variable output signal to provide a variable strength magnetic field;

a first member adjacent to said magnetic field generating deivice, said first member adapted to receive an actuating energy;

a second member adjacent to said magnetic field generating device adn in communication with said gaptic interface device;

a haptic interface device adapted to be in operative contact with said operator for controlling and responding to said inteactive program, said haptic interface device in communication with said device and having a plurality of positions, said haptic interface device reciving said force feedback; and

said magnetically-controllable medium located between said first and said second member, said magnetically-controllable medium providing variable resistance forces in response to said variable strength magnetic field between said first member and said second member for controlling said force feedback applied to said haptic interface device.

2. A haptic interface system as recited in claim 1, wherein said device comprises:

a magnetic field generating device energizable by said variable output signal to provide a variable strength magnetic field;

a first member adjacent to said magnetic field generating device;

a second member adjacent to said magnetic field generating device and in communication with said haptic interface device;

a motor in communication with at least said second member, said motor providing actuating energy; and

said magnetically-controllable medium located between said first member and said second member, said magnetically-controllable medium providing variable resistance forces in response to said variable strength magnetic field between said first member and said second member for controlling said force feedback applied to said haptic interface device.

3. A haptic interface system as recited in claim 2, wherein said computer system further comprises a control unit having a microprocessor and firmware and

a motor in communication with said first member, said motor providing said actuating energy.

4. A haptic interface system as recited in claim 3, further comprising an amplifier device in communication with said control unit and said device, said amplifier device receiving said modified output signal and providing an amplified output signal to said device.

9. A haptic interface system as recited in claim 4, wherein said absorbent element is an open-celled foam.

10. A baptic interface system as recited in claim 9, wherein said absorbent element is a polyurethane material.

11. A haptic interface system as recited in claim 4, wherein said absorbent element is formed as a matrix structure having open spaces for retaining said magnetically-controllable medium.

12. A haptic interface system as recited in claim 11, wherein said magnetic field generating device is a coil.

13. A haptic interface system as recited in claim 12, wherein said coil comprises a wire having a number of turns and a gauge, wherein said number of turns and said gauge are dependent upon the desired range of said variable strength magnetic field.

14. A haptic interface system as recited in claim 13, wherein said output signal comprises a voltage and a current, and wherein said number of turns and said gauge are dependent upon a desired range of said voltage and said current, and wherein said voltage and said current are dependent upon a desired range of said variable strength magnetic field.

15. A haptic interface system as recited in claim 3, wherein said resistance forces are transferred to said haptic interface device through to second member.

16. A haptic interface system as recited in claim 15, wherein said second member is adapted for movement relative to said first member.

17. A haptic interface system as recited in claim 15, wherein said second member is adapted for rotational movement relative to said first member.

18. A haptic interface system as recited in claim 15, wherein said haptic interface device comprises a steering device.

19. A haptic interface system as recited in claim 18, wherein said haptic interface device comprises a joystick.

20. A haptic interface system as recited in claim 18, wherein said haptic interface device comprises a steering wheel.

21. A haptic interface system as recited in claim 1, wherein said interactive program is a video game.

22. A haptic interface system as recited in claim 2, wherein said computer system further comprises a host computer having a processor that runs said interactive program.

23. A haptic interface system as recited in claim 22, wherein said computer system further comprises a control unit having a microprocessor and firmware, said control unit modifying said variable input signal received from said sensor and providing a modified variable input signal to said host computer, said control unit further modifying said variable output signal and providing a modified output signal to said magnetically-controllable device.

24. A haptic interface system as recited in claim 23, further comprising an amplifier device in communication with said control unit and said magnetically-controllable device, said amplifier device receiving said modified output signal and providing an amplified output signal to said magnetically-controllable device.

25. A haptic interface system as recited in claim 1, further comprising a video display for displaying images resulting from the processing of said interactive program by said computer system.

5. A haptic interface system for providing force feedback to an operator, comprising:

a computer system for receiving a variable input signal and providing a variable output signal corresponding to a feedback force, said computer system adapted for running an interactive program that processes said variable input signal and in response derives said variable output signal;

a motor for providing actuating energy;

a device including an absorbent element containing a magnetically-controllable medium that provides variable resistance, said device in communication with said computer system for receiving said variable output signal and providing a variable, active, feedback force from said actuating energy by varying the resistance of said magnetically-controllable medium based upon said variable output signal; and

a haptic interface device adapted to be in operative contact with said operator for controlling and responding to said interactive program, said haptic interface device in communication with said device and having a plurality of positions, said haptic interface device receiving said feedback force.

6. A haptic interface system for providing force feedback to an operator, comprising:

a host computer for receiving a variable input signal and providing a variable output signal and a video signal, said computer system adapted for running an interactive program that processes said variable input signal and in response derives said variable output signal;

a device including a magnetically-controllable medium, said device receives said variable output signal and provides a variable, active, force feedback based upon said variable output signal;

a haptic interface device adapted to be in operable contact with said operator for controlling and responding to said interactive program, said haptic interface device in communication with said device and having a plurality of positions, said haptic interface device receiving said force feedback;

a sensor for identifying a detected position within said plurality of positions of said haptic interface device, said sensor providing said variable input signal based on said detected position; and

a control unit having a microprocessor and firmware, said control unit in communication with said host computer, said sensor and said device, said control unit modifying said variable input signal into a format recognizable by said host computer, said control unit further modifying said variable output signal into a format recognizable by said device.

7. A haptic interface system as recited in claim 6, wherein said device comprises:

a motor for providing said actuating energy;

a first energizable portion responsive to said variable output signal, and in communication with said motor, for providing force feedback actuating energy in a first rotational direction; and

a second energizable portion responsive to said control signals, and in communication with said motor, for providing force feedback actuating energy in a second rotational direction.

8. A haptic interface unit, comprising:

a motor for providing actuating energy; and

a device including a magnetically-controllable medium, said device for receiving a variable input signal corresponding to a feedback force, said device variably transferring said actuating energy to produce said feedback force based on said output signal.

26. A haptic interface system for providing force feedback to an operator, comprising:

a computer system for receiving a variable input signal and providing a variable output signal corresponding to a feedback force, said computer system adapted for running an interactive program that processes said variable input signal and in response derives said variable output signal;

a motor for providing actuating energy;

a magnetically-controllable device including an absorbent element containing a magnetically-controllable medium that provides variable resistance, said magnetically-controllable device in communication with said computer system for receiving said variable output signal and providing a variable, active, feedback force from said actuating energy by varying the resistance of said magnetically-controllable medium based upon said variable output signal; and

a haptic interface device adapted to be in operative contact with said operator for controlling and responding to said interactive program, said haptic interface device in communication with said magnetically-controllable device and having a plurality of positions, said haptic interface device receiving said feedback force;

a magnetic field generating device energizable by said variable output signal to provide a variable strength magnetic field;

a first member adjacent to said magnetic field generating device, said first member adapted to receive said actuating energy;

a second member adjacent to said magnetic field generating device and in communication with said haptic interface device;

said magnetically-controllable medium located between said first and said second member, said magnetically-controllable medium providing variable resistance forces in response to said variable strength magnetic field between said first member and said second member for controlling said force feedback applied to said haptic interface device.

27. A haptic interface system for providing force feedback to an operator, comprising:

a host computer for receiving a variable input signal and providing a variable output signal and a video signal, said computer system adapted for running am interactive program that processes said variable input signal and in response derives said variable output signal;

a magnetically-controllable device including a magnetically-controllable medium, said device receives said variable output signal and provides a variable, active, force feedback based upon said variable output signal;

a haptic interface device adapted to be in operable contact with said operator for controlling and responding to said interactive program, said haptic interface device in communication with said magnetically-controllable device and having a plurality of positions, said haptic interface device receiving said force feedback;

a sensor for identifying a detected position within said plurality of positions of said haptic interface device, said sensor providing said variable input signal based on said detected position; and

a control unit having a microprocessor and firmware, said control unit in communication with said host computer, said sensor and said magnetically-controllable device, said control unit modifying said variable input signal into a format recognizable by said host computer, said control unit further modifying said variable output signal into a format recognizable by said magnetically-controllable device

a magnetic field generating device energizable by said variable output signal to provide a variable strength magnetic field;

a first member adjacent to said magnetic field generating device, said first member adapted to receive said actuating energy;

a second member adjacent to said magnetic field generating device and in communication with said haptic interface device;

said magnetically-controllable medium located between said first and said second member, said magnetically-controllable medium providing variable resistance forces in response to said variable strength magnetic field between said first member and said second member for controlling said force feedback applied to said haptic interface device.

28. A haptic interface system as recited in claim 27, wherein said magnetically-controllable device comprises:

a motor for providing actuating energy;

a first energizable portion responsive to said variable output signal, and in communication with said motor, for providing force feedback actuating energy in a first rotational direction; and

a second energizable portion responsive to said control signals, and in communication with said motor, for providing force feedback actuating energy in a second rotational direction.

29. A force feedback control system, comprising:

a computer system for receiving a variable input signal and providing a variable output signal, said computer system adapted for running an interactive program that processes said variable input signal and in response derives said variable output signal corresponding to a level of rotational force feedback;

a rotatable shaft for transferring said level of rotational force feedback;

a rotor fixedly attached to said shaft, said rotor having a first side and a second side;

a sensor device in communication with said rotatable shaft and said computer system, said sensor device providing said variable input signal representative of a rotational position of said rotatable shaft to said computer system;

a first rotatable member adjacent to said first side of said rotor;

a second rotatable member adjacent to said second side of said rotor;

a first coil disposed between said first rotatable member and said rotor, said first coil energizable in response to said variable output signal to produce a first, variable-strength magnetic field;

a second coil disposed between said second rotatable member and said rotor, said second coil energizable in response to said variable output signal to produce a second, variable-strength magnetic field;

a first absorbent matrix comprising a magnetically-controllable medium disposed between said first rotatable member and said rotor, said first absorbent matrix providing variable resistance between said first rotatable member and said rotor in proportion to the strength of said first magnetic field;

a second absorbent matrix comprising said magnetically-controllable medium disposed between said second rotatable member and said rotor, said second absorbent matrix providing variable resistance between said second rotatable member and said rotor in proportion to the strength of said second magnetic field; and

a motor for providing said rotational force feedback energy in communication with said first rotatable member and said second rotatable member, said motor adapted for rotating said shaft in a first direction by transferring energy through said first rotatable member to said rotor and said motor adapted for rotating said shaft in a second direction by transferring energy through said second rotatable member to said rotor through the selective energization of said first coil and said second coil.

30. A force feedback control system as recited in claim 29, further comprising a haptic interface device, in communication with said rotatable shaft, for receiving said rotational force feedback.

31. A force feedback control system as recited in claim 30, wherein said haptic interface device comprises a steering device.

32. A force feedback control system as recited in claim 30, wherein said haptic interface device comprises a joystick.

33. A force feedback control system as recited in claim 30, wherein said motor is in communication with said computer system and responsive to said force feedback control signals.

34. A device for providing active force feedback to an operator, comprising:

a rotatable shaft;

a rotor in communication with said shaft, said rotor having a first side and a second side;

a first rotatable member on said first side of said rotor;

a second rotatable member on said second side of said rotor;

a magnetically-controllable medium disposed between said first rotatable, member and said rotor and disposed between said second rotatable member and said rotor, said magnetically-controllable medium having a shear rate that varies in response to the strength of an applied magnetic field for providing variable resistance between each of said first rotatable member and said rotor and said second rotatable member and said rotor; and

a motor in communication with said first rotatable member and said second rotatable member, said motor adapted for bi-directionally rotating said shaft through the selective application of said magnetic field to said magnetically-controllable medium.

35. A device as recited in claim 34, wherein said motor is adapted for rotating said first rotatable member and said second rotatable member in opposite directions.

36. A device as recited in claim 35, wherein said motor is adapted for rotating said first rotatable member and said second rotatable member at the same time.

37. A device as recited in claim 36, further comprising:

a first coil disposed on said first side of said rotor, said first coil energizable to produce a magnetic field interacting with said magnetically-controllable medium for providing resistance forces between said first rotatable member and said rotor for rotating said shaft in a first direction; and

a second coil disposed on said second side of said rotor, said second coil energizable to produce a magnetic field interacting with said magnetically-controllable medium for providing resistance forces between said second rotatable member and said rotor for rotating said shaft in a second direction.

38. A device as recited in claim 37, further comprising:

a first absorbent structure disposed between said first rotatable member and said rotor, said first absorbent structure containing a portion of said magnetically-controllable medium; and

a second absorbent structure disposed between said second rotatable member and said rotor, said second absorbent structure containing a portion of said magnetically-controllable medium.

39. A device as recited in claim 38, wherein each of said first absorbent structure and said second absorbent structure is compressed by a compression amount from a resting state.

40. A device as recited in claim 39, wherein said compression amount is in the range of about 30-70% of said resting state.

41. A device as recited in claim 38, wherein each of said first absorbent structure and said second absorbent structure is an open-celled foam.

42. A device as recited in claim 38, further comprising said rotor fixedly attached to said shaft, said rotor having a first recess within said first side and a second recess in said second side, and wherein said first coil is disposed within said first recess and said second coil is disposed within said second recess.

43. A device as recited in claim 38, wherein said first rotatable member comprises a first recess and said second rotatable member comprises a second recess, and wherein said first coil is disposed within said first recess and said second coil is disposed within said second recess.

44. A device as recited in claim 38, wherein said first rotatable member and said second rotatable member each comprise a body portion, and wherein said motor further comprises an output shaft that interconnects with said body portion.

45. A device as recited in claim 44, wherein said body portion for each of said first rotatable member and said second rotatable member further comprises a circumferential flange, and wherein said output shaft interacts with said circumferential flange.

46. A device as recited in claim 45, wherein said output shaft transfers rotational energy.

47. A device as recited in claim 45, wherein said output shaft transfers linear energy.