Designing force sensations for force feedback computer applications

• US 6,697,086 B2
• Filed: 12/11/2000
• Issued: 02/24/2004
• Est. Priority Date: 12/01/1995
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Chang, Dean C., Rosenberg, Louis B.
• Primary Examiner(s): Razavi, Michael
• Assistant Examiner(s): FOULADI SEMNANI, FARANAK
• Application Number:
  US09/734,630
• Publication Number:
  US 20020054021A1
• Time in Patent Office: 1,170 Days
• Field of Search: 345/156, 345/157, 345/161, 345/163, 345/700, 345/701, 345/702, 345/744, 345/762, 318/568.11, 318/568.25, 744/71.XY, 463/30, 463/37, 463/38, 434/45
• US Class Current: 715/700
• CPC Class Codes: A63F 2300/1025 details of the interface with the game device, e.g. USB version detection
• 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: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 2009/04777 with additional push or pull action on the handle
• 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 2203/014 Force feedback applied to GUI
• 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 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device
• 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 design interface tool for designing force sensations for use with a host computer and force feedback interface device. A force feedback device is connected to a host computer that displays the interface tool. Input from a user is received in the interface to select a type of force sensation to be commanded by a host computer and output by a force feedback interface device. Input, such as parameters, is then received from the user which designs and defines physical characteristics of the selected force sensation. A graphical representation of the characterized force sensation is displayed on the host computer which provides a visual demonstration of a feel of the characterized force sensation so that the user can view an effect of parameters on said force sensation. The characterized force sensation is output to a user manipulatable object of the force feedback device so that the user can feel the designed force sensation, where the graphical representation is updated in conjunction with the output of the force sensation. The user can iteratively modify force sensation characteristics and feel the results, and store the characterized force sensations.

Claims

1. A method for graphically allowing a user to adjust the feel of a simulated surface sensation, said method comprising:

displaying a graphical surface that is representative of a force output at different displacements of a user manipulatable object of a force feedback interface device, wherein said force represents the feel of engaging said graphical surface;

providing control points on said graphical surface that can be manipulated by said user to modify the feel of said simulated surface sensation; and

causing said simulated surface sensation to be output by actuators of said force feedback interface device coupled to a host computer such that said actuators of said force feedback interface device modify an output force as a function of displacement of said user manipulatable object of said force feedback interface device in accordance with requirements of engaging said graphical surface.

2. A method as recited in claim 1, wherein at least one of said control points allows said user to modify the stiffness of said graphical surface.

3. A method as recited in claim 1, wherein a combination of two of said control points allows said user to modify the slope of said surface.

4. A method as recited in claim 1, wherein at least one of said control points allows said user to modify a damping parameter.

5. A method for graphically allowing a user to design a feel of a simulated liquid sensation to be displayed by a force feedback interface device coupled to a host computer, said method comprising:

enabling a display of a graphical profile that is representative of a force output at different displacements of a user manipulatable object of said force feedback interface device, wherein said force provides said simulated liquid sensation;

enabling control points on said graphical profile that can be manipulated by said user to modify the feel of said simulated liquid sensation; and

enabling said simulated liquid sensation to be output by actuators of said force feedback interface device coupled to said host computer such that said actuators of said force feedback interface device modify an output force as a function of velocity of said user manipulatable object of said force feedback interface device in accordance with requirements of said graphical profile of said simulated liquid sensation.

6. A method as recited in claim 5, wherein said graphical profile includes visual representations of said liquid.

7. A method as recited in claim 5, wherein at least one of said control points allows said user to modify the viscosity of said liquid.

8. A method as recited in claim 5, wherein a combination of two of said control points allows said user to adjust the flow of said liquid.

9. A method as recited in claim 5, wherein a manipulation of one of said control points affects a positive damping of said simulated liquid sensation and a manipulation of another of said control points affects a negative damping of said simulated liquid sensation.

10. A method as recited in claim 5, wherein a symmetry mode can be selected that causes said graphical profile to remain symmetrical about a center regardless of how said user manipulates said control points.

11. A method as recited in claim 9, wherein one of said control points can be pulled below a displayed horizon line to cause a damping parameter to become a negative value and therefore represent an unstable liquid sensation.

12. A method as recited in claim 5, wherein said graphical profile is associated with a specific axis of motion of said user manipulatable object, wherein said user manipulatable object can be moved in a plurality of axes of motion.

13. A method as recited in claim 5, wherein a mode can be selected by said user that associates said graphical profile with a simulated liquid sensation that is implemented on multiple axes of said force feedback interface device simultaneously.

14. A method as recited in claim 5, wherein said graphical profile can be displayed at a given angle in a two axis plane, said angle being selectable by said user.

15. A graphical method for allowing a user to design a feel of a simulated texture sensation to be displayed by a force feedback interface device coupled to a host computer, said method comprising:

enabling a display of a graphical profile that is representative of a force output over a displacement of a user manipulatable object of said force feedback interface device, wherein said force provides said simulated texture sensation;

enabling the provision of control points on said graphical profile that can be manipulated by said user to modify the feel of said simulated texture sensation; and

enabling said simulated texture sensation to be caused to be output to a user by actuators of said force feedback interface device coupled to said host computer such that said actuators of said force feedback interface device modify said output force as a function of displacement of said user manipulatable object in accordance with requirements of said graphical profile of said simulated texture sensation.

16. A method as recited in claim 15, wherein said graphical profile includes a spatial grid.

17. A method as recited in claim 15, wherein said graphical profile is associated with a specific axis of motion of a user manipulatable object of said force feedback interface device, wherein said user manipulatable object can be moved in a plurality of axes of motion.

18. A method as recited in claim 15, wherein a mode can be selected by said user that associates said graphical profile with a simulated texture sensation that is implemented on multiple axes of said force feedback interface device simultaneously.

19. A method as recited in claim 15, wherein said graphical profile can be displayed at a given angle in a two axis plane, said angle being selectable by said user.

20. A method as recited in claim 15, wherein said graphical profile indicates a direction as determined by a direction parameter that is determined by said user.

21. A method as recited in claim 15, wherein said graphical profile indicates a magnitude of said texture sensation as determined by a strength parameter that is determined by said user.