Force feedback device with spring selection mechanism

• US 6,380,925 B1
• Filed: 02/04/2000
• Issued: 04/30/2002
• Est. Priority Date: 10/31/1997
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Martin, Kenneth M., Braun, Adam C., Levin, Michael D.
• Primary Examiner(s): Shalwala, Bipin
• Assistant Examiner(s): PIZIALI, JEFFREY J
• Application Number:
  US09/498,536
• Time in Patent Office: 816 Days
• Field of Search: 345/156, 345/157, 345/161, 463/37, 463/38, 273/148.B, 318/568.11, 414/5, 434/45
• US Class Current: 345/161
• CPC Class Codes: A63F 13/22 Setup operations, e.g. calibration, key configuration or button assignment
• CPC Class Codes: A63F 13/24 Constructional details thereof, e.g. game controllers with detachable joystick handles
• 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 2300/1018 Calibration; Key and button assignment
• 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 2300/1043 being characterized by constructional details
• CPC Class Codes: A63F 2300/1062 being specially adapted to a type of game, e.g. steering wheel
• CPC Class Codes: A63F 2300/8017 Driving on land or water; Flying
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device. A moveable member included in a force feedback mechanism is moveable in a degree of freedom to transmit forces to the user manipulatable object, such as a joystick handle. A spring member can be selectively coupled and decoupled between a grounded member and the moveable member. The spring member provides a spring force on the moveable member that biases the joystick handle to a desired position, such as the center of the degree of freedom. A dynamic calibration procedure reduces inaccuracies when sensing the position of the user manipulandum by only reading new range limits when the actuator is not outputting a force in the direction of that limit. A capstan drive mechanism is preferably coupled between the actuator and linkage mechanism, where a capstan drum includes a curved end over which the cable is routed, the curved end including flanges to substantially prevent the cable from slipping of the sides of the end. The capstan drum includes a tensioning spring member coupled to one or both ends of the cable for tensioning the cable.

Claims

1. A force feedback interface device for providing forces on a user manipulating said interface device, said interface device capable of communicating with a host computer, said force feedback interface device comprising:

a user manipulandum for physical contact by a user;

a sensor operative to detect a position of said user manipulandum in a degree of freedom;

an actuator coupled to said user manipulandum operative to apply a force to said user manipulandum;

a linkage mechanism coupled between said actuator and said user manipulandum, said linkage mechanism providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; and

a coupling device for coupling a spring to said manipulandum, said coupling device coupled to said linkage mechanism and selectively allowing a physical spring to be coupled to said linkage mechanism to provide a spring force on said user manipulandum, wherein said coupling device includes a catch mechanism coupled to said physical spring, said catch mechanism including two catch members which may be selectively engaged and selectively disengaged with each other to selectively allow said spring to be coupled to said linkage mechanism.

2. A force feedback interface device as recited in claim 1 wherein said spring is coupled between a moveable member of said linkage mechanism and a grounded surface.

3. A force feedback interface device as recited in claim 1 wherein one of said catch members includes a latch for engaging another one of said catch members, wherein when said latch is engaged, said spring member is decoupled from said linkage mechanism, and when said latch is disengaged, said spring member is coupled to said linkage mechanism.

4. A force feedback interface device as recited in claim 1 wherein said spring provides a spring force that approximately centers said user manipulandum in said degree of freedom.

5. A force feedback interface device as recited in claim 4 wherein said actuator is a first actuator, and further comprising a second actuator, wherein a first member of said linkage mechanism is coupled between said first actuator and said user manipulandum and a second member of said linkage mechanism is coupled between said second actuator and said user manipulandum.

6. A force feedback interface device as recited in claim 5 wherein said spring selection mechanism is a first spring selection mechanism coupled to said first member, and further comprising a second spring selection mechanism coupled to said second member.

7. A force feedback interface device as recited in claim 1 further comprising a capstan drive mechanism coupled between said actuator and said linkage mechanism, wherein said capstan drive mechanism includes a capstan pulley coupled to said actuator, a capstan drum coupled to said linkage mechanism, and a cable coupling said capstan pulley to said capstan drum.

8. A force feedback interface device as recited in claim 7 wherein said capstan drum includes a tensioning spring member coupled to both ends of said cable for tensioning said cable.

9. A force feedback interface device as recited in claim 7 wherein said capstan drum includes a curved end over which said cable is routed, and wherein said curved end includes flanges arranged on sides of said curved end to substantially prevent said cable from slipping off said sides of said curved end.

10. A force feedback interface device as recited in claim 1 wherein said user manipulandum is a joystick handle.

11. A force feedback interface device as recited in claim 1 wherein said linkage mechanism is a closed loop five-member linkage.

12. A force feedback interface device as recited in claim 1 wherein a first one of coupled between said spring and said linkage mechanism, wherein said first catch member operates as a switch and is moveable by said user.

13. A force feedback interface device as recited in claim 7 further comprising a stop coupled to a ground, said stop preventing motion of said user manipulandum in a direction past a predetermined range, wherein said user manipulandum impacts said stop before said capstan drum reaches a limit to movement.

14. A force feedback interface device as recited in claim 1 wherein a sensing range for said force feedback interface device is dynamically determined, wherein said sensing range does not include positions of said user manipulandum sensed during said force application by said actuators in a direction towards a range limit corresponding with said positions.

15. A force feedback interface device as recited in claim 1 wherein a moveable member of said linkage mechanism is rotatable about an axis of rotation, and wherein a particular one of said catch members includes an aperture and said moveable member includes two pegs, wherein each of said pegs extends through said aperture on opposite sides of said axis of rotation, and wherein one of said pegs engages said particular one of said catch members when said moveable member is rotated, thereby exerting a spring force from said spring member on said moveable member when said spring is coupled to said manipulandum.

16. A force feedback interface device for providing forces on a user manipulating said interface device, said interface device capable of communicating with a host computer, said force feedback interface device comprising:

a user manipulandum for physical contact by a user;

a sensor for detecting a position of said user manipulandum in a degree of freedom;

an actuator coupled to said user manipulandum for applying a force to said user manipulandum such that said force is felt by said user;

a linkage mechanism coupled between said actuator and said user manipulandum, said linkage mechanism providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; and

a device for selectively coupling and decoupling a spring member to said user manipulandum, said spring member being coupled between said user manipulandum and a linkage mechanism, wherein said spring member is decoupled from said user manipulandum when said actuator is to output said force on said user manipulandum, and wherein said spring member is coupled to said user manipulandum when said actuator is not intended to output forces on said user manipulandum.

17. A force feedback interface device as recited in claim 16 wherein said spring member provides a centering spring force on said user manipulandum when coupled to said user manipulandum for centering said user manipulandum in a degree of freedom.

18. A force feedback interface device as recited in claim 16 wherein said spring member is coupled to said manipulandum when said actuator is not powered by a power supply.

19. A force feedback interface device for providing forces on a user manipulating said interface device, said interface device capable of communicating with a host computer, said force feedback interface device comprising:

a user manipulandum for physical contact by a user;

means for detecting a position of said user manipulandum in a degree of freedom;

means, coupled to said user manipulandum, for applying a force to said user manipulandum;

linkage means coupled between said actuator and said user manipulandum, said linkage means providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; and

coupling means for coupling a spring to said manipulandum, said coupling means coupled to said linkage mechanism and selectively allowing a physical spring to be coupled to said linkage mechanism to provide a spring force on said user manipulandum, wherein said coupling means includes catch means coupled to said physical spring, said catch means including two catch members which may be selectively engaged and selectively disengaged with each other to selectively allow said spring to be coupled to said linkage means.

20. A force feedback interface device as recited in claim 19 further comprising means for dynamically determining a sensing range for said force feedback interface device, wherein said sensing range does not include positions of said user manipulandum sensed during said force application by said actuators in a direction towards a range limit corresponding with said positions.