Magnetically-controllable, semi-active haptic interface system and apparatus

• US 6,339,419 B1
• Filed: 11/10/1998
• Issued: 01/15/2002
• 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: Jolly, Mark R., Carlson, J. David
• Primary Examiner(s): Shalwala, Bipin
• Assistant Examiner(s): OSORIO, RICARDO
• Application Number:
  US09/189,487
• Time in Patent Office: 1,162 Days
• Field of Search: 345/156, 345/161, 345/163, 345/168, 463/37, 463/38, 463/30, 434/45, 244/223
• US Class Current: 345/156
• 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 3/0338 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 3/0354 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 3/0362 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: H01H 2003/008 with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction

Abstract

A haptic interface system or force feedback system having a magnetically-controllable device that provides resistance forces opposing movement. The magnetically-controllable device is adapted for use with a force feedback computer system to provide force feedback sensations to the system'"'"'s operator. 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 that runs an interactive program or event, a video display display, and a haptic interface device (e.g. joystick, steering wheel) in operable contact with an operator for controlling inputs and responses 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 for providing dissipative resistance forces to oppose the movement of the haptic interface device and to provide the operator with a force feedback sensation.

Claims

1. A haptic interface system for providing resistance forces to a haptic interface device movable by an operator in at least one direction of displacement, the haptic interface system comprising:

a controller for receiving a variable input signal and providing a variable output signal, said controller adapted for running an interactive program that processes said interactive program and said variable input signal and in response derives said variable output signal corresponding to a semi-active, variable resistance force; and

a magnetically-controllable device that receives said variable output signal and provides said variable resistance force in proportion to said variable output signal, said magnetically controllable device comprising a volume of a magnetically controllable medium, the variable resistance forces being provided by changing the rheology of the magnetically controllable medium in response to said output signal to thereby directly control the ease of movement of the haptic interface device, said variable resistance forces being provided to resist displacement of the haptic interface device by the operator in at least one direction of displacement of said device.

2. The haptic interface system as recited in claim 1, the haptic 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 and directions of displacement, wherein an ease of movement of said haptic interface device among said plurality of positions is controlled by said variable resistance force.

3. The haptic interface system as recited in claim 2, further comprising 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.

4. The haptic interface system as recited in claim 3, wherein said magnetically-controllable 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 connected to said haptic interface device; and

wherein said magnetically-controllable medium is located between said first member and said second member.

5. The haptic interface system as recited in claim 4, further comprising an absorbent element disposed between said first member and said second member, said absorbent element containing said magnetically-controllable medium.

6. The haptic interface system as recited in claim 5, wherein said absorbent element is compressed by a compression amount from a resting state.

7. The haptic interface system as recited in claim 6, wherein said compression amount is in the range of about 30% to 70% of said resting state.

8. The haptic interface system as recited in claim 5, wherein said absorbent element is an open-celled foam.

9. The haptic interface system as recited in claim 8, wherein said absorbent element is a polyurethane material.

10. The haptic interface system as recited in claim 4, wherein said magnetically controllable medium is a magnetorheological fluid.

11. The haptic interface system as recited in claim 10, wherein said magnetic-field generating device is a coil.

12. The haptic interface system as recited in claim 11, 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 a desired range of said variable strength magnetic field.

13. The haptic interface system as recited in claim 12, 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.

14. The haptic interface system as recited in claim 4, wherein said variable resistance force is transferred to said haptic interface device through said second member.

15. The haptic interface system as recited in claim 14, wherein said second member is adapted for movement relative to said first member.

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

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

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

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

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

21. The haptic interface system as recited in claim 19, wherein said haptic interface device comprises a steering wheel.

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

23. The haptic interface system as recited in claim 3, wherein said controller further comprises a host computer that runs said interactive program.

24. The haptic interface system as recited in claim 23, wherein said controller further comprises a 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 variable output signal to said magnetically-controllable device.

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

26. The 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 controller.

27. A haptic interface unit for providing resistance forces to a haptic interface device movable by an operator in at least one direction of displacement, the haptic interface unit comprising:

a magnetically-controllable device adapted to provide a variable resistance force in proportion to a received variable output signal generated by a controller processing an interactive program, said variable resistance forces being provided to resist travel of the haptic interface device by the operator in at least one direction of displacement of said device, said magnetically controlled device comprising a magnetically controllable medium, the variable resistance forces being provided by changing the rheology of the magnetically controllable medium in response to said output signal to thereby directly control the ease of movement of the haptic interface device.

28. Interface unit as recited in claim 27, wherein said magnetically-controllable device further 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

wherein the magnetically-controllable medium is located between said first member and said second member.

29. The haptic interface unit as recited in claim 28, wherein the haptic interface device is 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.

30. The haptic interface unit as recited in claim 29, further comprising a control unit that provides a signal to said magnetically-controllable device to control said variable resistance force.