Isometric haptic feedback interface

• US 6,636,161 B2
• Filed: 07/10/2001
• Issued: 10/21/2003
• 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:
  US09/903,209
• Publication Number:
  US 20010040553A1
• Time in Patent Office: 833 Days
• Field of Search: 341/20, 341/23, 345/145, 345/168, 345/163, 345/158, 345/358
• 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. An interface device providing pan, scroll, or zoom functions for a displayed image on a display screen of a host computer, the interface device comprising:

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

at least one sensor operative to detect said movement of said user manipulatable object; and

an actuator coupled to said user manipulatable object, wherein a force resistance is output by said actuator as controlled by a processor to oppose said movement of said user manipulatable object in said at least one degree of freedom, wherein a scroll, pan, or zoom function for said displayed image is performed in response to said movement of said user manipulatable object against said resistance.

2. An interface device as recited in claim 1 wherein said resistance applied by said actuator is a function of a displacement of said user manipulatable object from a locally defined origin.

3. An interface device as recited in claim 2 wherein a rate of said scrolling, panning, or zooming is a function of said displacement of said user manipulatable object with respect to said origin.

4. An interface device as recited in claim 1 wherein said actuator applies additional forces to said user manipulatable object in response to events or objects displayed on said computer screen.

5. An interface device as recited in claim 4 wherein said displayed image is a displayed document, and wherein said additional forces include a force that is applied to said user manipulatable object in response to scrolling past a boundary of a page of said displayed document.

6. An interface device as recited in claim 4 wherein said displayed image is a displayed document, and wherein said additional force includes a force that is applied in response to reaching an end of a displayed document or image that is scrolled, panned, or zoomed in a particular direction.

7. An interface device as recited in claim 1 wherein a magnitude of said resistance to said user manipulatable object is dependent at least in part upon a size of a file or image that is being scrolled, panned, or zoomed.

8. An interface device as recited in claim 1 wherein said actuator is a servo motor that is controlled by said processor, said processor being a local microprocessor that is separate from said host computer.

9. An interface device as recited in claim 1 wherein said actuator is a voice coil actuator.

10. An interface device as recited in claim 1 wherein said resistance is applied in a particular direction, and said scroll, pan, or zoom function is performed only when said user manipulatable object is moved opposite to said particular direction.

11. A haptic feedback interface device allowing isometric control from a user, said interface device coupled to a host computer displaying a graphical environment, the interface device comprising:

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

at least one sensor providing a sensor signal, said sensor signal including information from which a motion of said user manipulatable object is derived, and wherein a deviation of said user manipulatable object from a reference position is determined based on said sensor signal, said deviation being used to provide isometric control over a value or object implemented by said host computer; and

an actuator outputting a tactile sensation to said user, said tactile sensation being output during said isometric control based on an event occurring in said graphical environment.

12. A haptic feedback interface device as recited in claim 11 wherein said tactile sensation includes resistance to said motion of said user manipulatable object.

13. A haptic feedback interface device as recited in claim 11 wherein said haptic feedback interface device is capable of allowing isotonic control from a user.

14. A haptic feedback interface device as recited in claim 11 wherein a signal indicating that isometric control is to be provided sent to said host computer is a signal from a button on said interface device.

15. A haptic feedback interface device as recited in claim 13 wherein when said isometric control is not provided, said isotonic control is provided and wherein a representation of a position of said user manipulatable object in said degree of freedom is sent to said host computer when said isotonic control is provided.

16. A haptic feedback interface device as recited in claim 11 wherein said host computer uses said deviation to control a scrolling, panning, or zooming function in said graphical environment.

17. A haptic feedback interface device as recited in claim 16 wherein said isometric control is provided in response to reaching a limit to an image displayed by said host computer that is scrolled, panned, or zoomed in a particular direction.

18. A haptic feedback interface device as recited in claim 16 wherein said tactile sensation is output in response to scrolling past a boundary of a page of a document displayed by said host computer.

19. A haptic feedback interface device as recited in claim 12 wherein said resistance is a spring return force.

20. A haptic feedback interface device as recited in claim 12 wherein said resistance is output in either direction of said degree of freedom based on the particular direction that said user manipulatable object is moved.

21. A method of scrolling a list of data based on input from a user, said list of data being visually displayed by a computer, the method comprising:

receiving a sensor signal from a sensor, said sensor signal including information from which a motion of a user manipulatable object in a degree of freedom is derived;

causing a resistance to be applied which opposes said motion of said user manipulatable object, said resistance being applied using an actuator; and

causing said displayed list of data to be scrolled in response to said user pushing said user manipulatable object against said resistance, a speed of said scrolling being controlled, at least in part, by a magnitude of said pushing.

22. A method as recited in claim 21 wherein said displayed list of data is a document displayed by an application program running on said computer.

23. A method as recited in claim 21 wherein said resistance is a spring return force.

24. A method as recited in claim 21 wherein said resistance is applied when said user controls a displayed cursor with said user manipulatable object to move against a particular displayed surface.

25. A method as recited in claim 21 wherein said resistance is applied when said user activates a switch on said user manipulatable object.

26. A method as recited in claim 21 further comprising causing an effect force to be applied to said user object simultaneously with said resistance.

27. A method of controlling a scrolling function of a computer using an interface device, the method comprising:

causing a restoring force to be applied which acts to return a user manipulatable object of said interface device towards an origin within a degree of freedom of said user manipulatable object, said restoring force being applied using an actuator;

causing an effect force to be applied which provides an overlaid temporal sensation felt by a user of said interface device, said effect force being applied simultaneously with said application of said restoring force using said actuator; and

causing a scrolling function on said host computer to be implemented, wherein a speed of scrolling for said scrolling function is influenced by data from a sensor of said interface device, said sensor detecting user-caused motion of said user object against said restoring force in said degree of freedom.

28. A method as recited in claim 27 wherein said overlaid temporal sensations with events displayed by said host computer is coordinated using a communication bus between said interface device and said computer.

29. A method as recited in claim 27 wherein said user manipulatable object can be moved in two planar degrees of freedom.

30. A method as recited in claim 29 wherein said actuator is a voice coil actuator.

31. A method as recited in claim 27 wherein said restoring force is simulated as a spring force.

32. A method as recited in claim 27 wherein said restoring force is simulated as a spring force.

33. A method as recited in claim 27 wherein said effect force is a simulated jolt force.

34. A method as recited in claim 27 wherein said effect force is a simulated vibration force.

35. A method as recited in claim 27 wherein said effect force is a vibration sensation, the frequency of said vibration providing an indication of said speed of said scrolling.