Haptic device attribute control

• US 6,433,771 B1
• Filed: 05/20/1997
• Issued: 08/13/2002
• Est. Priority Date: 12/02/1992
• Status: Expired due to Term

• Current Assignee: Cybernet Haptic Systems Corporation
• Original Assignee: Cybernet Haptic Systems Corporation
• Inventors: Peurach, Thomas M., Yocum, Todd
• Primary Examiner(s): Chow, Dennis-Doon
• Assistant Examiner(s): Nelson, Alecia D.
• Application Number:
  US08/859,157
• Time in Patent Office: 1,911 Days
• Field of Search: 345/156, 345/157, 345/161, 345/163
• US Class Current: 345/156
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/35416 3-D joystick
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 9/04737 with six degrees of freedom
• 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

Abstract

In a force-reflection system wherein a basic force pattern including a plurality of behavioral attributes is applied to a user-moveable member, apparatus and methods are disclosed for altering one or more of the behavioral attributes without changing the basic force pattern. The invention may be used to adjust attributes such as amplitude maximum and average, play-out rate, and play-out lead/lag in conjunction with any type of user-manipulable member, including a joystick, wheel, yoke, or non-contact arrangement. The invention may be implemented at a high or low level, and arrays of haptic controls or equivalent graphical user interface (GUI) elements may be used to define haptic force temporal sequences for replay.

Claims

1. A method for providing control over force output from a force feedback device, said force feedback device being coupled to a host computer, the method comprising:

providing a graphical control in a graphical environment displayed by said host computer, wherein a user of said force feedback device can adjust said graphical control to a plurality of settings by interfacing via said graphical environment with said graphical control, said graphical control being settable to a particular one of said plurality of settings; and

modifying a magnitude of a plurality of force sensations output by said force feedback device in accordance with said particular setting of said graphical control, B wherein the relative magnitude of said plurality of force sensations with respect to each other remains substantially unchanged regardless of which of said settings of said graphical control is set.

2. A method as recited in claim 1, wherein said graphical control is a slider.

3. A method as recited in claim 1, wherein said graphical control is a graphical knob.

4. A method as recited in claim 1, wherein all of said magnitudes of said force sensations output from said actuators are modified in accordance with said setting of said graphical control.

5. A method as recited in claim 1, wherein a program running on said host computer provides a value in accordance with said setting of said graphical control, said value causing said modification of said magnitudes of said force sensations.

6. A method as recited in claim 5, wherein said value is provided to an Application Programmer Interface (API) provided on said host computer, wherein said API modulates force sensation data in accordance with said value and sends said modulated force sensation data to an embedded device controller of said force feedback device.

7. A method as recited in claim 1 wherein said force feedback device includes a joystick, and wherein said graphical control determines an overall amplitude level of a centering spring force on said joystick.

8. A method as recited in claim 1, wherein said graphical control determines amplitude levels for a vibration force sensation.

9. A method as recited in claim 1 wherein data representing said particular setting of said graphical control is provided to an embedded force feedback controller of said force feedback device.

10. A force feedback device including a control over force output from said force feedback device, sad force feedback device being coupled to a host computer, the force feedback device comprising:

a movable member having a position or orientation adjustable by a user of said force feedback device;

at least one actuator coupled to said device and capable of outputting a plurality of force sensations to be felt by said user, each force sensation having a magnitude;

at least one sensor that senses motion or position of said movable member, and

a control coupled to said force feedback device, wherein a user of said force feedback device can set said control to a particular one of a plurality of available settings, and wherein the magnitude of each force sensation output by said force feedback device is scaled in accordance with said particular setting of said control, wherein the relative magnitudes of said force sensations with respect to each other remains substantially unchanged regardless of which of said settings of said control is set, and wherein said control is integrated in-line directly in a power controlling system of said at least one actuator of said force feedback device such that said control directly adjusts power to said at least one actuator.

11. A force feedback device as recited in claim 10 further comprising an embedded controller in said farce feedback device, said embedded controller controlling said force sensations output by said at least one actuator.

12. A force feedback device as recited in claim 11 wherein said setting of said control is read by said embedded controller, wherein said embedded controller uses said setting in scaling the magnitude of said force sensations.

13. A force feedback device as recited in claim 10 wherein said control is a fit control, and further comprising a second control coupled to said fore feedback device and adjustable by said user to at least two settings, said second control controlling an attribute of said force sensations output by said force feedback device different from said magnitudes.

14. force feedback device as recited in claim 13, wherein said different attribute is a frequency of said force sensations output by said at least one actuator.

15. A force feedback device as recited in claim 13, wherein said different attribute is a phase of said force sensations output by said at least one actuator.

16. A force feedback device as recited in claim 13 wherein said different attribute is a centering spring force output by said at least one actuator.

17. A method according to claim 10 wherein the control is a physical control.

18. A force feedback device as recited in claim 17 wherein said physical control is a knob.

19. A force feedback device as recited in claim 17 wherein said physical control is a slider.