Force feedback interface device with sensor
First Claim
1. A device, comprising:
- a manipulandum having a protrusion extending therefrom;
a sensor having a stationary planar surface configured to measure at least one of a position or movement of the protrusion in contact therewith wherein the protrusion moves with respect to the stationary planar surface, the sensor configured to measure a force applied to the planar surface when the manipulandum is moved in a direction substantially perpendicular to the planar surface, wherein the sensor is configured to output a sensor signal associated with at least one of the sensed position or movement or force; and
an actuator coupled to and spaced apart from the sensor, the actuator configured to receive a feedback signal associated with the sensor signal and generate haptic feedback based on the feedback signal.
3 Assignments
0 Petitions
Accused Products
Abstract
A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage and including two members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.
-
Citations
31 Claims
-
1. A device, comprising:
-
a manipulandum having a protrusion extending therefrom; a sensor having a stationary planar surface configured to measure at least one of a position or movement of the protrusion in contact therewith wherein the protrusion moves with respect to the stationary planar surface, the sensor configured to measure a force applied to the planar surface when the manipulandum is moved in a direction substantially perpendicular to the planar surface, wherein the sensor is configured to output a sensor signal associated with at least one of the sensed position or movement or force; and an actuator coupled to and spaced apart from the sensor, the actuator configured to receive a feedback signal associated with the sensor signal and generate haptic feedback based on the feedback signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
-
-
16. A device, comprising:
-
a manipulandum moveable in an x-y plane and having a protrusion extending from a portion thereof, the manipulandum configured to operate a graphical object in a graphical user interface; a sensor having a stationary planar surface configured to be in contact with the protrusion and measure at least one of a position or movement of the protrusion when the protrusion is moved along the stationary planar surface, the sensor configured to measure a force applied by the protrusion to the planar surface when the manipulandum is moved in a direction substantially perpendicular to the planar surface; and at least one actuator configured to provide haptic feedback based on the measured force applied to the sensor. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
-
-
27. A method, comprising:
-
measuring at least one of a position or a motion of a protrusion in contact with and moving with respect to a stationary planar surface of a sensor, wherein the protrusion is coupled to a manipulandum; measuring a force applied from the protrusion to the planar surface of the sensor when the manipulandum is moved in a direction substantially perpendicular to the planar surface; receiving a feedback signal associated with at least one of the detected position, motion, or force of the protrusion, the feedback signal based on data values associated with a graphical object in a graphical display, the graphical object controlled by the manipulandum; and outputting haptic feedback to the manipulandum via an actuator upon receiving the feedback signal. - View Dependent Claims (28, 29, 30, 31)
-
Specification