Haptic feedback effects for control, knobs and other interface devices

• US 6,636,197 B1
• Filed: 02/14/2001
• Issued: 10/21/2003
• Est. Priority Date: 11/26/1996
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Vassallo, Steven P., Martin, Kenneth M., Goldenberg, Alex S., Braun, Adam C.
• Primary Examiner(s): Saras, Steven
• Assistant Examiner(s): ENGLISH, ALECIA DIANE
• Application Number:
  US09/783,936
• Time in Patent Office: 979 Days
• Field of Search: 345/156, 345/157, 345/161, 345/163, 345/164, 345/165, 345/184
• US Class Current: 345/156
• 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: B60K 2360/126 Rotatable input devices for instruments
• CPC Class Codes: B60K 2370/126 Rotatable input devices
• CPC Class Codes: B60K 2370/158 Haptic output
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/25 using haptic output
• CPC Class Codes: G05G 1/02 Controlling members for hand actuation by linear movement, e.g. push buttons
• CPC Class Codes: G05G 1/08 Controlling members for hand actuation by rotary movement, e.g. hand wheels
• 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 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 2203/014 Force feedback applied to GUI
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0219 Special purpose keyboards
• 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: G06F 3/0395 Mouse pads
• CPC Class Codes: G06F 3/0482 Interaction with lists of selectable items, e.g. menus
• CPC Class Codes: G06F 3/0485 Scrolling or panning
• CPC Class Codes: H01H 2003/008 with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction
• CPC Class Codes: H01H 25/008 : Operating part movable both angularly and rectilinearly, the rectilinear movement being perpendicular to the axis of angular movement
• CPC Class Codes: H01H 25/06 : Operating part movable both angularly and rectilinearly, the rectilinear movement being along the axis of angular movement
• CPC Class Codes: Y10T 74/20012 : Multiple controlled elements

Abstract

The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.

Claims

1. A method for providing a scrolling list for use with a haptic feedback device, the method comprising:

causing a display of a menu on a display device, said menu including a plurality of menu items, wherein at least one said menu items in said menu is not displayed concurrently with said other menu items;

causing a display of a cursor for highlighting one of said menu items, wherein said highlighted menu item can be selected by moving said cursor when a manipulandum of said force feedback device is manipulated;

when said cursor is moved to a border of said menu, enabling a spring force to be output, said spring force resisting motion of said manipulandum that would cause said cursor to move past said border of said menu; and

enabling a rate control mode to be entered when said manipulandum is moved to cause said cursor to move past said border of said menu, wherein at least one undisplayed menu item is scrolled onto said display device at a rate determined by a distance that said manipulandum is moved past said border of said menu.

2. A method as recited in claim 1 further comprising causing a detent force to be output when said cursor moves from one of said menu items to a different one of said menu items.

3. A method as recited in claim 1 further comprising causing a jolt output force to be output on said manipulandum when each of said undisplayed items is scrolled onto said display screen.

4. A method as recited in claim 1 wherein said manipulandum comprises a rotary knob movable in a rotary degree of freedom to move said cursor.

5. A method as recited in claim 1 further comprising displaying said at least one undisplayed menu item on said display device, and removing from said display an equal number of displayed menu items at a different border of said menu.

6. A method as recited in claim 1 further comprising displaying said menu items of said menu consecutively on said display device.

7. A method for providing a barrier force effect for use with a force feedback device, the method comprising:

enabling a knob to be rotatable in a rotary degree of freedom about an axis of rotation, said knob provided at an origin position when at rest;

sensing motion of said knob in said rotary degree of freedom;

determining that a barrier force is to be applied to said knob in a first direction, said barrier force being provided beginning at a particular position in said rotary degree of freedom;

enabling an output of a first barrier force resisting a rotation of said knob in a said first direction in said rotary degree of freedom, wherein said barrier force increases in magnitude the further that said knob is moved past said particular position, said magnitude having a lower rate of increase when said manipulandum moves through an initial region past said particular position in said particular direction;

enabling the adjustment of a value or position of a controlled object when said user rotates said knob in said first direction to a first position and then rotates said knob in a second direction in said degree of freedom opposite to said first direction, wherein an amount of said adjustment is based at least in part on at least one of an amount of rotation in said first direction from said origin position and an amount of rotation in said second direction from said first position, and wherein said adjustment includes moving a cursor through a list, wherein said cursor is moved over a number of items in said list, said number based on a velocity of rotation of said knob in said second direction.

8. A method as recited in claim 7 wherein said first force is a spring force.

9. A method as recited in claim 7 wherein said first force is an inertia force.

10. A method as recited in claim 7 wherein said adjustment includes moving a cursor through a list, wherein said cursor is moved over a number of items in said list, said number based on said amount of rotation in said first direction.

11. A method as recited in claim 7 wherein said adjustment includes moving a cursor through a list, wherein said cursor is moved over a number of items in said list, said number based on said amount of rotation in said second direction.

12. A method as recited in claim 7 wherein said adjustment includes moving a cursor through a list, wherein said cursor is moved over a number of items in said list, and wherein a jolt force is output on said knob for each item moved over by said cursor.

13. A method as recited in claim 7 further comprising enabling an output of an assistive force in said second direction when said user moves said knob in said second direction after moving said knob in said first direction.

14. A method for providing a jog shuttle control using force feedback, the method comprising:

providing a knob, said knob rotatable by a user in a rotary degree of freedom, said knob having an origin position;

outputting a first spring force on said knob over an entire range of motion of said knob, said first spring force having a first stiffness, said first spring force biasing said knob to said origin position; and

outputting a second spring force on said knob, said second spring force having a second stiffness greater than said first stiffness and said second spring force biasing said knob to said origin position, wherein said second spring force is only output on said knob when said knob is positioned in a range less than said entire range of motion, said range approximately centered around said origin position.

15. A method as recited in claim 14 further comprising changing a value or function implemented by a processor according to a rate control paradigm, wherein a rate of said change is determined by a distance of said knob from said origin position.

16. A method as recited in claim 15 wherein a jolt force is output on said knob for each value or predetermined number of values that is changed.