Computer interface apparatus including linkage having flex

• US 6,697,048 B2
• Filed: 12/22/2000
• Issued: 02/24/2004
• Est. Priority Date: 01/18/1995
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B., Schena, Bruce M.
• Primary Examiner(s): BRIER, JEFFERY A
• Application Number:
  US09/748,051
• Publication Number:
  US 20010020937A1
• Time in Patent Office: 1,159 Days
• Field of Search: 345/161, 345/156, 345/157, 345/184, 463/30, 463/36-38, 273/148.B, 200/6.A, 738/620.5, 244/223
• US Class Current: 345/161
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• 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: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 21/04 by measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G05B 19/4207 in which a model is traced or scanned and corresponding data recorded
• CPC Class Codes: G05G 2009/0474 characterised by means converting mechanical movement into electric signals
• CPC Class Codes: G05G 2009/04759 Light-sensitive detector, e.g. photoelectric
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• 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: G05G 9/04737 with six degrees of freedom
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device
• CPC Class Codes: G09B 23/28 for medicine
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
• CPC Class Codes: G09B 9/28 Simulation of stick forces or the like
• 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 method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.

Claims

1. An interface apparatus for interfacing motion of a user with a computer system, said interface apparatus comprising:

a user manipulatable object physically contacted by said user and moveable by said user in at least two rotary degrees of freedom;

a linkage coupled to said user manipulatable object and providing said at least two rotary degrees of freedom to said user manipulatable object, each rotary degree of freedom being about an axis of rotation, said linkage including a plurality of members, wherein a selected number of said plurality of members have been formed as a unitary member in which flex is provided between said selected number of members, said flex permitting motion between said selected number of members that allows motion of said user manipulatable object in at least one of said rotary degrees of freedom, wherein said plurality of members of said linkage are formed as a closed-loop linkage in which said members are flexibly coupled to each other as segments of said unitary member; and

at least one sensor able to detect a position or motion of said user manipulatable object along said at least two degrees of freedom and outputting sensor signals, wherein said sensor signals, or a representation thereof, are received by said computer system.

2. An interface apparatus as recited in claim 1 further comprising an electronically-controllable actuator coupled to said linkage and able to apply a force along at least one of said at least two degrees of freedom to said user manipulatable object through said unitary member.

3. An interface apparatus as recited in claim 2 wherein said actuator is a first actuator coupled to a ground member, and further comprising a second actuator coupled to a ground member of said linkage, said second actuator being operative to apply a force in a degree of freedom to said user manipulatable object in response to signals received from said computer system.

4. An interface apparatus as recited in claim 2 wherein said actuator includes a voice coil actuator for imparting a force on said user object using magnetic fields and controlled by an electrical current.

5. An interface apparatus as recited in claim 1 wherein said closed loop linkage includes:

a ground member coupled to a ground surface;

first and second extension members, each extension member being coupled to said ground member; and

first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to each other at ends not coupled to said extension members and wherein at least one of said central members is coupled to said user manipulatable object, said central members coupled to each other approximately at said coupling of said user manipulatable object to said at least one of said central members.

6. An interface apparatus as recited in claim 5 wherein said central members are coupled to an object member which is coupled to said user manipulatable object.

7. An interface apparatus as recited in claim 5 wherein said first and second central members are flexible and wherein said first and second central members and said first and second extension members are flexibly coupled to each other and form said unitary member.

8. An interface apparatus as recited in claim 5 wherein said ground member is rotatably coupled to said first and second extension members by bearings, said bearings allowing said first and second extension members to be rotated about said axes of rotation.

9. An interface apparatus as recited in claim 5 wherein said central members are flexibly coupled to an object member which is coupled to said user manipulatable object.

10. An interface apparatus as recited in claim 5 wherein said end of said first central member is flexibly coupled to said first extension member, and said end of said second central member is flexibly coupled to said second extension member.

11. An interface apparatus as recited in claim 5 wherein said two axes of rotation are fixed with respect to said ground member, said first and second extension members being rotatable about said fixed axes of rotation, and wherein said central members are rotatable about first and second floating axes, said floating axes being movable with respect to said ground member.

12. An interface apparatus as recited in claim 1 wherein at least one of said members flexibly coupled in said unitary member is relatively narrow in a dimension in which said member is desired to flex, and is relatively wide in other dimensions in which said member is desired to be stiff.

13. An interface apparatus as recited in claim 1 wherein said user manipulatable object is a joystick handle.

14. A flexure linkage for providing motion to a user manipulatable object of an interface device, said interface device in communication with a computer system, said flexure linkage comprising:

a first member coupled to said user manipulatable object;

a second member coupled to said first member, wherein flex is provided between said second member and said first member; and

a third member coupled to said first member, wherein flex is provided between said third member and said first member, and wherein said first, second and third members form a unitary member;

wherein said flexure linkage provides at least two rotary degrees of freedom to said user manipulatable object about axes of rotation with respect to a ground such that said user manipulatable object can be moved by a user in said at least two rotary degrees of freedom and a position of said user manipulatable object in said two rotary degrees of freedom can be provided to said computer system.

15. A flexure linkage as recited in claim 14 wherein said first and second members are coupled to an object member which is coupled to said user manipulatable object.

16. A flexure linkage as recited in claim 14 wherein at least one of said members flexibly coupled in said unitary member is relatively narrow in a dimension in which said member is desired to flex, and is relatively wide in other dimensions in which said member is desired to be stiff.

17. A method for interfacing motion of a user manipulatable object with a computer system, the method comprising:

providing said user manipulatable object physically contacted by a user and moveable by said user;

providing a linkage including a plurality of members wherein said plurality of members of said linkage are formed as a closed-loop linkage;

providing flex between a selected number of said members to provide at least two rotary degrees of freedom to said user manipulatable object about axes of rotation, wherein said selected number of members are formed as a unitary member; and

sensing a position or motion of said user manipulatable object in said at least two rotary degrees of freedom and outputting sensor signals, wherein said sensor signals, or a representation thereof, are received by said computer system.

18. A method as recited in claim 17 further comprising applying a force along at least one of said at least two degrees of freedom to said user manipulatable object through said unitary member.

19. A method as recited in claim 17 wherein said axes of rotation are fixed with respect to a ground member of said plurality of members, wherein said plurality of members includes first and second extension members and a first central member coupled to said first extension member and a second central member coupled to said second extension member, wherein said first and second extension members being rotatable about said fixed axes of rotation, and wherein said central members are rotatable about first and second floating axes, said floating axes being movable with respect to said ground member.