Control knob with multiple degrees of freedom and force feedback
First Claim
1. A device comprising:
- a manipulandum operable to be displaced in a degree of freedom;
a means for sensing a displacement of said manipulandum in said degree of freedom;
a means for selecting a mode associated with said displacement of said manipulandum in said degree of freedom, said mode comprising at least one of a position control mode and a rate control mode;
an actuator operable to output a processor-controlled force sensation to said manipulandum, said force sensation associated with said mode; and
a processor operable to receive a sensing signal from said sensing means and to output to the actuator a control signal associated with the sensing signal, the control signal operable to cause said actuator to output the processor-controlled force sensation, said processor further operable to associate a value with a position of said manipulandum in said position control mode and to control a rate of change of said value in said rate control mode.
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Accused Products
Abstract
The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
87 Citations
16 Claims
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1. A device comprising:
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a manipulandum operable to be displaced in a degree of freedom; a means for sensing a displacement of said manipulandum in said degree of freedom; a means for selecting a mode associated with said displacement of said manipulandum in said degree of freedom, said mode comprising at least one of a position control mode and a rate control mode; an actuator operable to output a processor-controlled force sensation to said manipulandum, said force sensation associated with said mode; and a processor operable to receive a sensing signal from said sensing means and to output to the actuator a control signal associated with the sensing signal, the control signal operable to cause said actuator to output the processor-controlled force sensation, said processor further operable to associate a value with a position of said manipulandum in said position control mode and to control a rate of change of said value in said rate control mode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method comprising:
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providing a manipulandum; providing an actuator operable to output a force to said manipulandum; providing a sensor operable to detect a position of said manipulandum and to output a sensor signal, said sensor signal comprising information associated with said position; and providing a processor operable to control said actuator and to receive said sensor signal from said sensor, said processor operable to associate a value with said position of said manipulandum in a position control mode and to control a rate of change of said value in a rate control mode.
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15. A method comprising:
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providing a manipulandum operable to be displaced in a first degree of freedom and a second degree of freedom; providing a means for selecting a mode associated with a position of said manipulandum, said mode comprising at least one of a position control mode and a rate control mode; providing an actuator operable to output a processor-controlled force sensation to said manipulandum, said force sensation associated with said mode; and providing a processor operable to control said force sensation output from said actuator and to receive a signal from a sensing means, said processor operable to associate a value with a position of said manipulandum in said position control mode and to control a rate of change of said value in said rate control mode.
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16. A method comprising:
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providing a manipulandum operable to be displaced in a degree of freedom; providing a means for sensing a displacement of said manipulandum in said degree of freedom; providing a means for selecting a mode associated with said displacement of said manipulandum in said degree of freedom, said mode comprising at least one of a position control mode and a rate control mode; providing an actuator operable to output a processor-controlled force sensation to said manipulandum, said force sensation associated with said mode; and providing a processor operable to receive a sensing signal from said sensing means and to output to the actuator a control signal associated with the sensing signal, the control signal operable to cause said actuator to output the processor-controlled force sensation, said processor further operable to associate a value with a position of said manipulandum in said position control mode and to control a rate of change of said value in said rate control mode.
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Specification