Method for providing high bandwidth force feedback with improved actuator feel
First Claim
1. A method, comprising:
- sensing a position of a user manipulable object in at least one degree of freedom; and
providing a force on the user manipulable object, in response to position data associated with the sensed position, the force being provided using a motor coupled to the user manipulable object, the motor including a rotor within a housing of the motor, the rotor defining a longitudinal axis, the rotor having a tooth projecting therefrom in a direction skewed from the longitudinal axis.
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Accused Products
Abstract
A method and apparatus for providing low-cost, realistic force feedback including an improved actuator. The invention provides force sensations to a user and includes an interface device coupled to a host computer and allowing a user to interact with a host application program. A user object, such as a joystick, is moveable by a user in at least one rotary degree of freedom. A sensor reports a locative signal to the host computer to indicate a position of the user object. An actuator outputs forces on the user object in response to signals from the host computer and program. The actuator includes a housing, a set of grounded magnets provided on opposing surfaces of the housing and creating a magnetic field, and a rotor coupled to the user object positioned between the magnets. The rotor rotates about an axis of rotation and includes a shaft and teeth spaced around the shaft. An electric current flows through one or more coils on the teeth to cause the rotor to rotate. The teeth and the magnets are provided in a skewed, helical arrangement relative to each other so that, as the rotor rotates, a first tooth gradually exits the magnetic field as the next consecutive tooth gradually enters the magnetic field, thereby significantly reducing a cogging effect of the rotor when the user object is moved by the user and increasing the fidelity of forces experienced by the user.
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Citations
24 Claims
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1. A method, comprising:
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sensing a position of a user manipulable object in at least one degree of freedom; and
providing a force on the user manipulable object, in response to position data associated with the sensed position, the force being provided using a motor coupled to the user manipulable object, the motor including a rotor within a housing of the motor, the rotor defining a longitudinal axis, the rotor having a tooth projecting therefrom in a direction skewed from the longitudinal axis. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method, comprising:
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receiving a force signal from a host computer;
sensing a position of a user manipulable object in at least one degree of freedom;
outputting a force in response to the force signal and a position signal using a grounded actuator coupled to the user manipulable object, the position signal associated with the sensed position, the ground actuator configured to provide a reduced cogging effect; and
amplifying the force output by said ground actuator using a transmission coupled between the actuator and the user manipulable object, the amplified forced being output to the user manipulable object. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method, comprising:
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sensing a position of a user manipulable object in at least one degree of freedom; and
outputting a force to the user manipulable object using a grounded actuator coupled to the user manipulable object, the actuator having a means for reducing a cogging effect as a shaft of the actuator is rotated. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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Specification