Human-computer interface

• US 6,833,826 B1
• Filed: 08/14/2000
• Issued: 12/21/2004
• Est. Priority Date: 05/06/2000
• Status: Expired due to Term

• Current Assignee: Meta Platforms, Inc. (f/k/a Facebook, Inc.)
• Original Assignee: Novint Technologies, Inc.
• Inventors: Anderson, Thomas G.
• Primary Examiner(s): Mengistu, Amare
• Application Number:
  US09/638,186
• Time in Patent Office: 1,590 Days
• Field of Search: 345/157, 345/156, 345/158, 345/159, 345/161, 345/163, 345/419, 345/424
• US Class Current: 345/163
• 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 3/0481 based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
• CPC Class Codes: G06F 3/04815 Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object

Abstract

The present invention provides a method of human-computer interfacing. Force feedback allows intuitive navigation and control near a boundary between regions in a computer-represented space. For example, the method allows a user to interact with a virtual craft, then push through the windshield of the craft to interact with the virtual world surrounding the craft. As another example, the method allows a user to feel transitions between different control domains of a computer representation of a space. The method can provide for force feedback that increases as a user'"'"'s locus of interaction moves near a boundary, then perceptibly changes (e.g., abruptly drops or changes direction) when the boundary is traversed.

Claims

1. A method of allowing a user using an input device to interface with two domains in a three-dimensional computer environment, which environment comprises a display presenting a display plane to the user, comprising:

a) determining the position relative to the display plane of a user'"'"'s locus of interaction, which position is moveable over a range of motion bounded by extremes thereof;

b) determining which domain corresponds to the position;

c) interfacing to the user according to the determined domain;

d) as the position of the locus moves toward a boundary for transition from the determined domain to the other domain, applying a resistive force to the input device resisting further motion toward the boundary; and

e) if the position of the locus moves past the boundary, then reducing the resistive force by a perceptible amount.

2. The method of claim 1, wherein the position of said boundary is dependent upon which domain contains the locus.

3. The method of claim 1, wherein feedback to the user in a domain is diminished for a time after a transition between domains.

4. The method of claim 1, wherein feedback to the user in a domain is diminished by scaling feedback by a function that increases with time elapsed since the most recent domain transition.

5. The method of claim 1, wherein the first domain makes accessible to the user a boundary to a third domain, and wherein the second domain does not make accessible to the user a boundary to said third domain.

6. The method of claim 1 wherein the interface to the user depends on which domain contains the locus.

7. A method of allowing a user using an input device to interface with two domains in a computer environment, comprising:

a) determining the position of a user'"'"'s locus of interaction;

b) determining which domain corresponds to the position;

c) interfacing to the user according to the determined domain;

d) as the position of the locus moves toward a boundary for transition from the determined domain to the other domain, applying a resistive force to the input device resisting further motion toward the boundary, wherein the resistive force when the locus is in the first domain is;

i) Substantially zero when the locus is outside a first border portion of the first domain corresponding to that portion of the first domain within a threshold distance from a first boundary representing a boundary for transitions from the first domain to the second domain;

ii) Increases from zero to a maximum value as the locus moves within the first border portion to the first boundary;

iii) Decreases to substantially zero as the locus moves past the first boundary; and

e) if the position of the locus moves past the boundary, then reducing the resistive force by a perceptible amount.

8. The method of claim 7, wherein the resistive force when the locus is in the second domain is:

a) Substantially zero when the locus is outside a second border portion of the second domain corresponding to that portion of the second domain within a threshold distance from a second boundary representing a boundary for transitions from the second domain to the first domain;

b) Increases from zero to a maximum value as the locus moves within the second border portion to the second boundary;

c) Decreases to substantially zero as the locus moves past the second boundary.

9. A method of allowing a user using an input device to interface with two domains in a computer environment, comprising:

a) determining the position of a user'"'"'s locus of interaction, where the user'"'"'s control of the locus is moveable over a range of motion bounded by extremes thereof;

b) determining which domain corresponds to the position;

c) interfacing to the user according to the determined domain;

d) as the position of the locus moves toward a boundary for transition from the determined domain to the other domain, applying a resistive force to the input device resisting further motion toward the boundary; and

e) if the position of the locus moves past the boundary, then reducing the resistive force by a perceptible amount;

f) wherein, when the user is interfacing with the first domain the boundary corresponds to a region near a first extreme of the range of motion of the user'"'"'s control of the locus, and when the user is interfacing with the second domain the boundary corresponds to a region near a second extreme of the range of motion of the user'"'"'s control of the locus.

10. A method of communicating to a user the position of a point of user focus relative to a boundary in a computer environment, comprising applying force to a user controlled focus object, where the force is directed away from the boundary, wherein the force is:

a) Substantially zero when the point of user focus is outside a border region corresponding to a region within a threshold distance from said boundary;

b) Increases from zero to a maximum value as the point of user focus moves within the border region to said boundary;

c) Decreases to substantially zero as the point of user focus moves past said boundary.

11. In a computer interface comprising a representation of a personal space that is moveable by a user through a virtual space, wherein a user manipulates a pointer apparatus, which pointer apparatus is manipulable over a range of motion bounded by extremes thereof, to indicate whether the user is interfacing with the personal space or with the virtual space, a method of communicating to the user transitions therebetween comprising:

a) determining the position of a representation of the pointer apparatus relative to a boundary between the personal space representation and virtual space; and

b) applying force, directed substantially away from the boundary, to the pointer apparatus when the pointer object approaches the boundary;

c) wherein the force is at a minimum when the pointer apparatus representation is distant from the boundary, and where the force is at a maximum when the pointer apparatus representation is near the boundary.

12. In a computer interface comprising a representation of a personal space moveable by a user through a virtual space, wherein a user manipulates a pointer apparatus to indicate whether the user is interfacing with the personal space or with the virtual space, where the pointer apparatus is manipulable over a range of motion bounded by extreme thereof, a method of communicating to the user transitions there between comprising:

a) determining the position of a representation of the pointer apparatus relative to a boundary between the personal space representation and virtual space; and

b) applying force, directed substantially away from the boundary, to the pointer apparatus when the pointer apparatus approaches the boundary;

c) wherein, when the user is interfacing with the personal space, the boundary between the personal space representation and the virtual space corresponds to a region near a first extreme of the range of motion of the pointer apparatus, and, when the user is interfacing with the virtual space, the boundary between the personal space representation and the virtual space corresponds to a region near a second extreme of the range of motion of the pointer apparatus.

13. The method of claim 12 wherein the first extreme is substantially opposite the second extreme.

14. In a computer interface comprising a representation of a personal space moveable by a user through a virtual space, wherein a user manipulates a pointer apparatus to indicate whether the user is interfacing with the personal space or with the virtual space, a method of communicating to the user transitions therebetween comprising:

a) determining the position of a representation of the pointer apparatus relative to a boundary between the personal space representation and virtual space; and

b) applying force, directed substantially away from the boundary, to the pointer apparatus when the pointer object approaches the boundary;

c) wherein the force is;

i) Substantially zero when the representation of the pointer object is outside a border region corresponding to a region within a threshold distance from said boundary;

ii) Increases from zero to a maximum value as the representation of the pointer object moves within the border region to said boundary;

iii) Decreases to substantially zero as the representation of the pointer object moves past said boundary.

15. A method of interfacing between a computer and a user interacting with a plurality of domains separated by boundaries, wherein the interface comprises a representation of a three-dimensional space, and comprises a display characterized by a display plane presented to the user, wherein the user interacts with an active domain selected according to the position of a user locus of interaction, comprising:

a) Determining the position of the user'"'"'s locus of interaction relative to the boundaries, where the boundaries are substantially independent of the position of the locus relative to the display plane;

b) Determining feedback forces from the position, the active domain, and the boundaries;

c) Combining the feedback forces to determine a net feedback force;

d) Applying the net feedback force to a user input device;

e) If the locus moves past a boundary, then making the domain into which the locus moves the active domain and compensating for undesirable effects of the domain transition.