Enhancing inertial tactile feedback in computer interface devices having increased mass

• US 6,686,901 B2
• Filed: 01/26/2001
• Issued: 02/03/2004
• Est. Priority Date: 06/23/1998
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Hjerpe, Richard
• Assistant Examiner(s): Laneau, Ronald
• Application Number:
  US09/771,116
• Publication Number:
  US 20010026264A1
• Time in Patent Office: 1,103 Days
• Field of Search: 345/156, 345/163, 345/161, 345/164, 345/157, 345/167, 345/168
• US Class Current: 345/156
• CPC Class Codes: A63F 13/211 using inertial sensors, e.g. accelerometers or gyroscopes
• CPC Class Codes: A63F 13/214 for locating contacts on a surface, e.g. floor mats or touch pads
• CPC Class Codes: A63F 13/235 using a wireless connection, e.g. infrared or piconet
• 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 13/803 Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
• CPC Class Codes: A63F 2300/1031 using a wireless connection, e.g. Bluetooth, infrared connections
• 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 2300/1062 being specially adapted to a type of game, e.g. steering wheel
• CPC Class Codes: A63F 2300/1068 being specially adapted to detect the point of contact of the player on a surface, e.g. floor mat, touch pad
• CPC Class Codes: A63F 2300/308 Details of the user interface
• CPC Class Codes: A63F 2300/8017 Driving on land or water; Flying
• CPC Class Codes: A63F 2300/8082 Virtual reality
• 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 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 3/03543 : Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03545 : Pens or stylus
• 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: H04L 69/329 : in the application layer [OSI layer 7]

Abstract

Method and apparatus for enhancing inertial tactile feedback in computer interface devices having an increased mass, such as wireless devices having the increased mass due to batteries or other power storage elements. A haptic feedback control device is in communication with a host computer and includes a housing, a sensor device that detects movement of a manipulandum or the housing, an actuator that outputs an inertial force transmitted through said housing to said user by moving an inertial mass, and a component, such as a power storage element coupled to the housing to provide power to the actuator. The component or power storage element is inertially decoupled from the housing to reduce the mass of the haptic feedback device with respect to the inertial mass, thereby allowing stronger haptic sensations to be experienced by the user for a given size of the inertial mass.

Claims

1. A haptic feedback device in communication with a host computer, the device comprising:

a housing;

a sensor device coupled to said housing, said sensor device operable to detect a movement of at least one of a manipulandum and said housing and to output a sensor signal representative of said movement; and

an actuator coupled to said housing, said actuator operable to output an inertial force, by moving an inertial mass, said inertial force transmitted through said housing; and

a power storage element coupled to said housing and operable to provide power to at least one of said actuator and to said sensor device, said power storage element being inertially decoupled from said housing to reduce the mass of said haptic feedback device with respect to said inertial mass.

2. A haptic feedback device as recited in claim 1 wherein said power storage element comprises at least one battery.

3. A haptic feedback device as recited in claim 1 wherein said power storage element is coupled to said housing by a compliant member.

4. A haptic feedback device as recited in claim 3 wherein said compliant member comprises a layer of foam coupled between said power storage element and said housing.

5. A haptic feedback device as recited in claim 4 further comprising an attachment member coupled between said layer of foam and said storage element, wherein said storage element may be detached from said attachment member.

6. A haptic feedback device as recited in claim 3 wherein said compliant member comprises a spring member.

7. A haptic feedback device as recited in claim 2 wherein said at least one battery is rechargeable.

8. A haptic feedback device as recited in claim 7 further comprising a connector coupled to said housing and electrically coupled to said at least one battery, said connector capable of being connected to a recharging device to allow said battery to be recharged.

9. A haptic feedback device as recited in claim 1 further comprising a wireless communication link between said sensor device and said host computer.

10. A haptic feedback device as recited in claim 9 wherein said wireless communication link comprises radio signals.

11. A haptic feedback device as recited in claim 1 wherein said inertial mass is operable to oscillate harmonically in response to a harmonic drive signal.

12. A haptic feedback device as recited in claim 1 wherein said inertial mass is operable to move linearly.

13. A haptic feedback device as recited in claim 1 wherein said inertial mass comprises a spinning eccentric mass.

14. A haptic feedback device as recited in claim 1 wherein said actuator is moved as said inertial mass.

15. A haptic feedback device as recited in claim 1 further comprising a flexure coupled to said actuator, said flexure comprising at least two flex joints.

16. A haptic feedback device as recited in claim 1 wherein said haptic feedback device comprises a gamepad.

17. A haptic feedback device as recited in claim 16 wherein said actuator comprises a first actuator and said inertial mass comprises a first inertial mass, and further comprising a second actuator operable to move a second inertial mass, wherein said first and second actuators are configured to operate in conjunction.

18. A haptic feedback device as recited in claim 1 wherein said haptic feedback device comprises a mouse.

19. A haptic feedback device as recited in claim 18 wherein said actuator is operable to output said inertial force along a z-axis substantially perpendicular to a planar workspace of said mouse.

20. A haptic feedback device as recited in claim 19 wherein said inertial force is correlated with a graphical representation displayed by said host computer, wherein a position of said mouse in said planar workspace corresponds with a position of a cursor displayed in said graphical representation.

21. A haptic feedback device in communication with a host computer, the device comprising:

a housing;

a sensor device coupled to said housing, said sensor device operable to detect a movement of at least one of a manipulandum and said housing and operable to output a sensor signal representative of said movement; and

an actuator coupled to said housing, said actuator operable to output an inertial force by moving an inertial mass; and

a component coupled to said housing by a compliant member, said component being inertially decoupled from said housing to reduce the mass of said haptic feedback device with respect to said inertial mass.

22. A haptic feedback device as recited in claim 21 wherein said component comprises a power storage element.

23. A haptic feedback device as recited in claim 22 wherein said compliant member comprises a layer of foam coupled between said power storage element and said housing.

24. A haptic feedback device as recited in claim 21 further comprising a wireless communication link between said haptic feedback device and said host computer.

25. A haptic feedback device as recited in claim 21 wherein said inertial mass is operable to oscillate harmonically in response to a harmonic drive signal.

26. A haptic feedback device as recited in claim 21 wherein said inertial mass is operable to move rotationally.

27. A haptic feedback device as recited in claim 21 wherein said actuator is moved as said inertial mass.

28. A method for providing haptic feedback to an interface device, the method comprising:

detecting motion of said interface device or a manipulandum thereof and providing an indication of said motion to a host computer;

receiving information from said host computer indicating that a tactile sensation is to be output, said tactile sensation being correlated with an event occurring within a graphical environment; and

outputting an inertial force with respect to an inertial ground on a housing of said interface device, by oscillating an inertial mass coupled to an actuator, wherein said inertial force is transmitted through said housing, wherein a mass of a power storage element included in said interface device is inertially decoupled from said housing of said interface device.

29. A method as recited in claim 28 wherein said power storage element is inertially decoupled by providing a compliant member between said power storage element and said housing.

30. A method as recited in claim 28 wherein enabling said output comprises moving said inertial mass bi-directionally along an axis to cause said inertial force along said axis.

31. A method as recited in claim 30 further comprising correlating said inertial force with an interaction between a user-controlled cursor and a graphical object displayed in a graphical environment.

32. A method as recited in claim 28 wherein said inertial force comprises a periodic force sensation.

33. A method as recited in claim 32 wherein said periodic force sensation comprises at least one of a frequency and a magnitude which can be specified by said host computer.

34. A method as recited in claim 32 further comprising streaming a sequence of force values to be output as said periodic inertial force from said host computer to said interface device.

35. A tactile feedback device in communication with a host computer, the tactile feedback device comprising:

a manipulatable object;

sensing means for detecting a movement of said manipulatable object, said sensing means operable to output a sensor signal representative of said movement, wherein at least one of a position and a motion of said manipulatable object is determined from said sensor signals; and

force generation means for outputting an inertial force with respect to an inertial ground, wherein said inertial force is generated by oscillating an inertial mass approximately along said axis with respect to said housing, said inertial force transmitted through said housing; and

power means for providing power to said force generation means, said power means being inertially decoupled from a housing of said tactile feedback device for reducing the mass of said tactile feedback device with respect to said inertial mass.

36. A tactile feedback device as recited in claim 35 wherein said power means is coupled to said housing by a compliant member.

37. A tactile feedback device as recited in claim 35 further comprising a wireless communication means between said sensor device and said host computer.

38. A tactile feedback device as recited in claim 35 wherein said force generation means is operable to output said inertial force along a z-axis substantially perpendicular to a planar workspace of said manipulatable object.

39. A device comprising:

a housing;

a first inertial mass disposed in said housing;

a first actuator coupled to said housing, said first actuator operable to displace said first inertial mass; and

a component coupled to said housing, said component inertially decoupled from said housing.

40. A device as recited in claim 39, wherein said displacement of said first inertial mass is operable to output an inertial force through said housing.

41. A device as recited in claim 39 wherein said device further comprises a processor in communication with said first actuator.

42. A device as recited in claim 39 wherein said device further comprises a sensor in communication with said housing, said sensor operable to detect a change in position of said housing and to output a sensor signal correlated with said change in position.

43. A device as recited in claim 42 wherein said component comprises a power storage element operable to provide power to at least one of said first actuator and to said sensor.

44. A device as recited in claim 43, wherein said power storage element comprises a battery.

45. A device as recited in claim 43, wherein said first inertial mass comprises said power storage element.

46. A device as recited in claim 39 wherein said component is coupled to a compliant member, said compliant member coupled to said housing.

47. A device as recited in claim 39 wherein said first inertial mass is operable to oscillate harmonically in response to a harmonic drive signal.

48. A device as recited in claim 39 wherein said first inertial mass is operable to be displaced linearly.

49. A device as recited in claim 39 wherein said first inertial mass comprises an eccentric mass, said eccentric mass operable to rotate about an axis.

50. A device as recited as in claim 39 further comprising a flexure coupled to said first actuator.

51. A device as recited in claim 39 further comprising:

a second inertial mass; and

a second actuator operable to displace said second inertial mass.

52. A method comprising:

providing a housing;

disposing a first inertial mass in said housing;

coupling a component to said housing, said component inertially decoupled from said housing; and

coupling a first actuator to said housing, said first actuator operable to displace said inertial mass.

53. A method as recited in claim 52 further comprising:

coupling a compliant member to said housing; and

providing a processor in communication with said first actuator.

54. A method as recited in claim 52 further comprising providing a sensor in communication with said housing, said sensor operable to detect a change in position of said housing and to output a sensor signal correlated with said change in position.

55. A method as recited in claim 52 wherein said displacement of said inertial mass is operable to transmit an inertial force through said housing.

56. A method as recited in claim 55, wherein said inertial force comprises a periodic force, said periodic force comprising at least one of a frequency and a magnitude, said processor operable to control said frequency and said magnitude.

57. A method as recited in claim 56 further comprising streaming a plurality of force values, said force values comprising said periodic force.

58. A method as recited in claim 52, wherein said component comprises a power storage element operable to provide power to at least one of said first actuator and to said sensor.

59. A method as recited in claim 58, wherein said power storage element comprises a battery.

60. A method as recited in claim 52, wherein said first inertial mass comprises said power storage element.

61. A method as recited in claim 53 further comprising coupling said component to a compliant member.

62. A method as recited in claim 52 further comprising coupling a flexure to said first actuator.

63. A method as recited in claim 52 further comprising:

providing a second inertial mass; and

providing a second actuator operable to displace said second inertial mass.