Force feedback device including single-phase, fixed-coil actuators

• US 7,061,466 B1
• Filed: 05/04/2000
• Issued: 06/13/2006
• Est. Priority Date: 05/07/1999
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Schena, Bruce M., Moore, David F., Shahoian, Erik J.
• Primary Examiner(s): Osorio, Ricardo
• Assistant Examiner(s): Said, Mansour M.
• Application Number:
  US09/565,207
• Time in Patent Office: 2,231 Days
• Field of Search: 345156-160, 345161-169, 345/173, 200/6.A, 200/5.R, 200176-178
• US Class Current: 345/156
• CPC Class Codes: F16F 15/03 using magnetic or electromagnetic means F16F9/53, F16F15/005 take precedence
• CPC Class Codes: F16F 6/00 Magnetic springs magnetic spring arrangements for the suppression of vibration in systems F16F15/03; Fluid magnetic springs , i.e. magnetic spring combined with a fluid
• CPC Class Codes: G05G 2009/0474 characterised by means converting mechanical movement into electric signals
• CPC Class Codes: G05G 2009/04755 Magnetic sensor, e.g. hall generator, pick-up coil
• 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: G06F 2203/015 Force feedback applied to a joystick
• 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 force feedback interface device that provides force feedback to a joystick handle manipulated by a user. A force feedback device inputs control signals to a computer and outputs forces to a user of the force feedback device. The device includes a housing gripped by the user of the force feedback device and a joystick handle manipulable in at least two rotary degrees of freedom by the user, such as a gamepad. Sensors detect a position of the joystick handle and two direct drive actuators each provide torque in a rotary degree of freedom. Each of the actuators is a brushless, single phase actuator having a grounded excitation coil and a moving magnetic material. The joystick is mechanically constrained to not move past either of two limits where the torque output by the actuator in an unenergized state changes direction. The joystick handle can be oriented such that a center position is substantially at a local minimum reluctance position of the actuator, where the joystick is mechanically constrained to not move substantially past either local maximum reluctance position adjacent to the local minimum reluctance position. The local minimum reluctance position can in some embodiments provide a centering spring force on the joystick handle.

Claims

1. A force feedback device for inputting control signals to a computer and for outputting force comprising:

a manipulandum manipulable in at least two degrees of freedom; and

at least one actuator coupled to said manipulandum, said actuator configured to provide torque to said manipulandum in an unenergized state, said actuator having a plurality of coils, all of said plurality of coils operated in the same magnitude and direction.

2. A device as recited in claim 1, wherein said at least one actuator comprises four permanent magnetic poles and four electromagnetic poles.

3. A device as recited in claim 1, wherein said manipulandum is configured to have a center position, and wherein a centering spring force is operable to bias said manipulandum toward said center position.

4. A device as recited in claim 1, wherein said manipulandum comprises a support element provided with a contact surface.

5. A device as recited in claim 1 wherein said manipulandum comprises a partial sphere.

6. A device as recited in claim 1, further comprising a gimbal mechanism configured to provide said at least two degrees of freedom to said manipulandum.

7. A device as recited in claim 6, wherein said gimbal mechanism comprises a five-bar closed loop linkage.

8. A device as recited in claim 1, further comprising a handheld housing configured to house said manipulandum and said actuator.

9. A device as recited in claim 1 further comprising at least one sensor coupled to said manipulandum configured to detect a position of said manipulandum in at least one of said degrees of freedom and to output a sensor signal indicative of said position, wherein said sensor comprises an optical encoder.

10. A device as recited in claim 9, wherein said sensor comprises an encoder member rigidly coupled to a rotor of said actuator, said encoder member comprising at least one encoder pattern.

11. A device as recited in claim 1, wherein said actuator comprises a rotor, said rotor comprising two magnets in at least a partially cylindrical shape.

12. A device as recited in claim 1 wherein said manipulandum comprises a joystick.

13. A device as recited in claim 1 wherein said manipulandum comprises a dial.

14. A device as recited in claim 1 wherein said angular range comprises approximately 50 degrees.

15. A device as recited in claim 1, wherein said actuator comprises a rotating shaft.

16. A force feedback device for inputting control signals to a computer and for outputting force comprising:

a housing;

a manipulandum manipulable in at least two degrees of freedom;

at least one sensor configured to output at least one sensor signal indicative of a position of said manipulandum in at least one of said degrees of freedom; and

at least one actuator coupled to said manipulandum, said actuator operable in an unenergized state to provide torque to said manipulandum, said actuator having a plurality of coils, all of said plurality of coils operated in the same magnitude and direction.

17. A device as recited in claim 16 wherein said manipulandum is configured to have a center position, and wherein a centering spring force biases said manipulandum toward said center position.

18. A device as recited in claim 16, wherein said actuator comprises four permanent magnetic poles and four electromagnetic poles.

19. A device as recited in claim 16, wherein said manipulandum comprises a support element, said support element comprising a contact surface.

20. A device as recited in claim 16, wherein said manipulandum comprises a sphere.

21. A device as recited in claim 16, further comprising a gimbal mechanism coupled between said at least one actuator and said manipulandum, said gimbal mechanism operable to provide said at least two degrees of freedom to said manipulandum.

22. A device as recited in claim 21, wherein said gimbal mechanism comprises a five-bar closed loop linkage.

23. A device as recited in claim 16, further comprising a handheld gamepad, said handheld gamepad comprising said manipulandum and said actuator.

24. A device as recited in claim 16, wherein said sensor comprises an optical encoder.

25. A device as recited in claim 24, wherein said actuator comprises a rotor and said sensor comprises an encoder member rigidly coupled to said rotor of said actuator, said encoder member comprising at least one encoder pattern.

26. A device as recited in claim 25, wherein said sensor comprises a reticle positioned between said encoder member and an emitter, said reticle comprising a pattern similar to said encoder pattern.

27. A device as recited in claim 25, wherein said sensor comprises at least four detectors configured to provide signals about 45 degrees out of phase with each other.

28. A device as recited in claim 16, wherein said actuator comprises a rotor, said rotor comprising two magnets in at least a partially cylindrical shape.

29. A device as recited in claim 16, further comprising a processor coupled to said sensor and to said actuator, said processor operable to control programmable forces output on said manipulandum.

30. A method for providing a force feedback device for inputting control signals to a computer and for outputting force comprising:

providing a housing;

providing a manipulandum manipulable in at least two degrees of freedom; and

providing at least one actuator operable in an unenergized state to provide torque to said manipulandum, said actuator having a plurality of coils, all of said plurality of coils operated in the same magnitude and direction.

31. A method as recited in claim 30 further comprising providing to said manipulandum a center position, wherein a centering force biases said manipulandum toward said center position.

32. A method as recited in claim 30, wherein said actuator comprises four permanent magnetic poles and four electromagnetic poles.

33. A method as recited in claim 30 further comprising using a gimbal mechanism for providing said at least two degrees of freedom to said manipulandum.

34. A method as recited in claim 30 wherein said manipulandum is in the form of a handheld gamepad.

35. A method as recited in claim 30 wherein a rotor of said actuator includes two magnets in at least a partially cylindrical shape.

36. A method as recited in claim 30 wherein said actuator is a brushless, single phase actuator.

37. A method as recited in claim 30, wherein said actuator comprises a grounded excitation coil.