Operator input device with tactile feedback

• US 6,917,867 B2
• Filed: 04/10/2003
• Issued: 07/12/2005
• Est. Priority Date: 04/10/2003
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated, University of Illinois at Chicago (University of Illinois)
• Original Assignee: Caterpillar Incorporated, University of Illinois at Chicago (University of Illinois)
• Inventors: Krone, John James, Velamakanni, Sairam Gopalan, Huang, Xiaodong, Cetinkunt, Sabri
• Primary Examiner(s): Chin, Gary
• Application Number:
  US10/411,403
• Publication Number:
  US 20040204811A1
• Time in Patent Office: 824 Days
• Field of Search: 701/51, 701/50, 374/14, 374/15, 172/4.5, 172/6, 172/9, 345/156, 345/161, 345/162, 414/699
• US Class Current: 701/50
• CPC Class Codes: G05G 2009/04718 with cardan or gimbal type joint
• CPC Class Codes: G05G 2009/04748 Position sensor for rotary movement, e.g. potentiometer
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

An operator input device includes an operator interface mechanism operable by an operator, a position sensor, a brake controller, and a resistive actuator. The operator interface mechanism is moveable in at least first and second directions along an axis. The position sensor is coupled to the operator interface mechanism for transmitting an operator interface mechanism position signal as a function of the position of the operator interface mechanism. The brake controller is coupled to the position sensor for receiving the operator interface mechanism position signal and responsively transmitting a brake signal. The resistive actuator is coupled to the brake controller and the operator interface mechanism and receives the brake signal and responsively applies a resistive force to the operator interface mechanism.

Claims

1. An operator input device, comprising:

operator interface mechanism operable by an operator, the operator interface mechanism being moveable in at least first and second directions along an axis;

a position sensor coupled to the operator interface mechanism for transmitting an operator interface mechanism position signal as a function of the position of the operator interface mechanism;

a brake controller coupled to the position sensor for receiving the operator interface mechanism position signal and responsively transmitting a brake signal; and

,

a resistive actuator coupled to the brake controller and the operator interface mechanism for receiving the brake signal and responsively applying a resistive force to the operator interface mechanism, the resistive force opposing force applied to the operator interface mechanism by the operator, the resistive force providing a detent function and a detent pre-feel function to the operator interface mechanism.

2. An operator input device, asset forth in claim 1, wherein the detent function is defined with respect to a programmable position of the operator interface mechanism.

3. An operator input device, as set forth in claim 2, wherein the detent pre-feel function is defined by an increasing resistive force followed by a decreasing resistive force.

4. An operator input device, an set forth in claim 1, wherein a maximum detent pre-feel force associated with the detent pre-feel function is less than a maximum detent force associated with the detent function.

5. An operator input device, as set forth in claim 1, wherein the operator interface mechanism includes a handle and a rotating shaft coupled to the handle.

6. An operator input device, as set forth in claim 5, wherein the resistive actuator is one of a liner brake and a rotary brake.

7. An operator input device, as set forth in claim 1, wherein the resistive actuator is operable to provide a plurality of resistive forces to the operator interface mechanism.

8. An operator input device, as set forth in claim 1, wherein the operator interface mechanism includes one of a throttle, a gear shift, handle, lever, and joystick.

9. An operator input device, comprising:

an operator interface mechanism operable by an operator, the operator interface mechanism being moveable in at least first and second directions along an axis;

a position sensor coupled to the operator interface mechanism for transmitting an operator interface mechanism position signal as a function of the position of the operator interface mechanism;

a brake controller coupled to the position sensor for receiving the operator interface mechanism position signal and responsively transmitting a brake signal; and

,

a resistive actuator coupled to the brake controller and the operator interface mechanism for receiving the brake signal and responsively applying a resistive force to the operator interface mechanism, the resistive force opposing force applied to the operator interface mechanism by the operator, the resistive force providing at least two detent functions in one of the first and second directions.

10. An operator input device, as set forth in claim 9, wherein the operator interface mechanism includes a handle and a rotating shaft coupled to the handle.

11. An operator input device, as set forth in claim 10, wherein the resistive actuator is one of a linear brake and a rotary brake.

12. An operator input device, as set forth in claim 9, wherein the resistive actuator is operable to provide a plurality of resistive forces to the operator interface mechanism.

13. An operator input device, as set forth in claim 9, wherein the operator interface mechanism includes one of a throttle, a gear shift, handle, lever, and joystick.

14. An operator input device, as set forth in claim 9, wherein the resistive force provides at least two detent functions in both the first and second direction.

15. An operator input device, as set forth in claim 9, wherein at least one of the detent functions includes a detent pre-feel.

16. An operator input device, as set forth in claim 9, wherein at least one of the detent functions is defined with respect to a programmable position of the operator interface mechanism.

17. An operator input device, comprising:

an operator interface mechanism operable by an operator, the operator interface mechanism being moveable in at least first and second directions along an axis;

a position sensor coupled to the operator interface mechanism for transmitting an operator interface mechanism position signal as a function of the position of the operator interface mechanism;

a brake controller coupled to the position sensor for receiving the operator interface mechanism position signal and responsively transmitting a brake signal;

an operator input mechanism coupled to the brake controller for delivering an input signal to the brake controller in response to actuation by the operator; and

,

a resistive actuator coupled to the brake controller and the operator interface mechanism for receiving the brake signal and responsively applying a resistive force to the operator interface mechanism, the resistive force opposing force applied to the operator interface mechanism by the operator, the resistive force providing a detent function to the operator interface mechanism, the detent function defined with respect to a programmable position of the operator interface mechanism, the brake controller for receiving the input signal and responsively setting the programmable position.

18. An operator input device, as set forth in claim 17, the resistive force providing at least two detent functions in one of the first and second directions.

19. An operator input device, as set forth in claim 17, wherein the operator interface mechanism includes a handle and a rotating shaft coupled to the handle and the resistive actuator is a rotary brake.

20. An operator input device, as set forth in claim 17, wherein the resistive actuator is operable to provide a plurality of resistive forces to the operator interface mechanism.

21. An operator input device, as set forth in claim 17, wherein each detent function includes a detent pre-feel.

22. An operator input device, as set forth in claim 17, wherein the operator interface mechanism includes one of a throttle, a gear shift, handle, lever, and joystick.

23. An operator input device, comprising:

an operator interface mechanism operable by an operator, the operator interface mechanism being moveable in at least first and second directions along an axis;

a position sensor coupled to the operator interface mechanism for transmitting an operator interface mechanism position signal as a function of the position of the operator interface mechanism;

a biasing member coupled to the operator interface mechanism for biasing the operator interface mechanism towards a neutral position;

a brake controller coupled to the position sensor for receiving the operator interface mechanism position signal and responsively transmitting a brake signal; and

,

a resistive actuator coupled to the brake controller and the operator interface mechanism for receiving the brake signal end responsively applying a resistive force to the operator interface mechanism, the resistive force opposing force applied to the operator interface mechanism by the operator, the resistive force providing a detent function, the brake controller for detecting a return to the neutral position and responsively applying an overshoot elimination force.

24. An operator input device, as set forth in claim 23, the resistive force providing at least two detent functions in one of the first and second directions.

25. An operator input device, as set forth in claim 23, the resistive force providing a detent pre-feel function.

26. An operator input device, as set forth in claim 23, wherein the operator interface mechanism includes a handle and a rotating shaft coupled to the handle and the resistive actuator is a rotary brake.

27. An operator input device, as set forth in claim 23, wherein the operator interface mechanism includes one of a throttle, a gear shift, handle, lever, and joystick.

28. An operator input device for controlling an aspect of a machine, comprising:

an operator interface mechanism operable by an operator, the operator interface mechanism being moveable in at least first end second directions along an axis;

a position sensor coupled to the operator interface mechanism for transmitting an operator interface mechanism position signal as a function of the position of the operator interface mechanism;

a sensing device coupled to the machine for determining a parameter of the machine and delivering a parameter signal, and the parameter is one of a velocity and acceleration associated with the operator interface mechanism;

a brake controller coupled to the position sensor and to the sensing device for receiving the operator interface mechanism position signal and the parameter signal and responsively transmitting a brake signal as a function thereof and,

a resistive actuator coupled to the brake controller and the operator interface mechanism for receiving the brake signal and responsively applying a resistive force to the operator interface mechanism, the resistive force opposing force applied to the operator interface mechanism by the operator.

29. An operator input device, as set forth in claim 28, wherein the operator input device controls an actuator having a movable element, the parameter being initiation of movement of the movable element.

30. An operator input device, as set forth in claim 29, wherein the sensing device is a second position sensor coupled to the actuator and the initiation of movement of the moveable element is defined by the velocity of the moveable element.

31. An operator input device, as set forth in claim 30,wherein the initiation of movement is detected when the velocity of the moveable element is greater than a predetermined value.

32. An operator input device, as set forth in claim 28, wherein the brake controller determines the one of the velocity and the acceleration as a function of the operator interface mechanism position signal.

33. An operator input device, as set forth in claim 32, wherein the resistive force increases as the one of the velocity and acceleration increases.

34. An operator input device, as set forth in claim 28, wherein the operator input device controls an actuator having a movable element, the parameter being position of the moveable element.

35. An operator input device, as set forth in claim 34, wherein the sensing device is a second position sensor coupled to the actuator, the resistive force applied to the operator interface mechanism being greater as the moveable element approaches a predetermined position.

36. An operator input device, as set forth in claim 35, wherein the predetermined position is one of minimum displacement and a maximum displacement.

37. An operator input device, as set forth in claim 35, wherein the predetermined position is programmable by the operator.

38. An operator input device, as set forth in claim 28, wherein the operator input device controls an actuator having a movable element and the sensing device senses a load applied to the actuator.

39. An operator input device, as set forth in claim 38, wherein the resistive force, the resistive force increasing as the load applied to the actuator increases.

40. An operator input device, as set forth in claim 28, wherein the machine is a mobile machine, the sensing device senses a velocity associated with the mobile machine, the resistive force increasing as the velocity increases.

41. An operator input device, as set forth in claim 28, wherein the sensing device senses an acceleration associated with the machine, the sensing device including an accelerometer for sensing an acceleration associated with the machine, the resistive force increasing as the acceleration increases.