Haptic feedback effects for control knobs and other interface devices

• US 7,327,348 B2
• Filed: 08/14/2003
• Issued: 02/05/2008
• Est. Priority Date: 11/26/1996
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Vassallo, Steven P., Martin, Kenneth M., Braun, Adam C., Goldenberg, Alex S.
• Primary Examiner(s): Shalwala; Bipin
• Assistant Examiner(s): Kovalick; Vincent E.
• Application Number:
  US10/641,243
• Publication Number:
  US 20040032395A1
• Time in Patent Office: 1,636 Days
• Field of Search: 345/156, 345/161, 345/163, 345/167, 345/184, 345/970, 345/157, 345/158, 345/159, 341/20, 341/35, 364/188, 463/30, 463/38, 744/71.R, 318/568.11, 318/568.16
• US Class Current: 345/156
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: B60K 2360/126 Rotatable input devices for instruments
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/25 using haptic output
• CPC Class Codes: G05G 1/02 Controlling members for hand actuation by linear movement, e.g. push buttons
• CPC Class Codes: G05G 1/08 Controlling members for hand actuation by rotary movement, e.g. hand wheels
• CPC Class Codes: G05G 2009/0477 holding the member in a number of definite positions
• 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 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 2203/014 Force feedback applied to GUI
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0219 Special purpose keyboards
• CPC Class Codes: G06F 3/0354 with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
• CPC Class Codes: G06F 3/0362 with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• CPC Class Codes: G06F 3/0395 Mouse pads
• CPC Class Codes: G06F 3/0482 Interaction with lists of selectable items, e.g. menus
• CPC Class Codes: G06F 3/0485 Scrolling or panning
• CPC Class Codes: H01H 2003/008 with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction
• CPC Class Codes: H01H 25/008 Operating part movable both angularly and rectilinearly, the rectilinear movement being perpendicular to the axis of angular movement
• CPC Class Codes: H01H 25/06 Operating part movable both angularly and rectilinearly, the rectilinear movement being along the axis of angular movement
• CPC Class Codes: Y10T 74/20012 : Multiple controlled elements

Abstract

The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.

Claims

1. A method, comprising:

receiving a signal associated with a motion of a manipulandum in a degree of freedom;

determining a position and a direction of the motion of the manipulandum in the degree of freedom based on the signal;

outputting a first force signal if the determination indicates that the manipulandum moves towards a predetermined position in the degree of freedom; and

outputting a second force signal if the determination indicates that the manipulandum moves away from the predetermined position in the degree of freedom.

2. A method as recited in claim 1 further comprising correlating the motion of the manipulandum with a motion of a cursor displayed in a graphical interface, wherein the predetermined position of the manipulandum corresponds with a border between a first feature and a second feature displayed in the graphical interface, each accessible by the cursor, and wherein the first force signal is output when the cursor moves from the first feature towards the border, and the second force signal is output when the cursor moves away from the border towards the second feature.

3. A method as recited in claim 2 wherein at least one of the first and second features comprises one of a screen, a menu, an object, and a visual function displayed in the graphical interface.

4. A method as recited in claim 2 wherein the first force signal is associated with a resistive force, and the second force signal is associated with an assistive force.

5. A method as recited in claim 4 wherein the resistive force is characterized by a first force function magnitude that increases as the position of the manipulandum approaches the predetermined position, and the assistive force is characterized by a second force function magnitude that decreases as the position of manipulandum retreats from the predetermined position.

6. A method as recited in claim 2 wherein the first force signal is associated with a first resistive force, and the second force signal is associated with a second resistive force.

7. A method as recited in claim 6 wherein the resistive first force is characterized by a first force function magnitude that increases as the position of the manipulandum approaches the predetermined position, and the second resistive force is characterized by a second force function magnitude that decreases as the position of the manipulandum retreats from the predetermined position.

8. A method as recited in claim 1 further comprising correlating the motion of the manipulandum with a motion of a cursor displayed in a graphical interface, and wherein the predetermined position of the manipulandum corresponds with a selection point displayed in the graphical interface, accessible by the cursor, and wherein the first force signal is output when the cursor moves towards the selection point, and the second force signal is output when the cursor moves away from the selection point.

9. A method as recited in claim 8 wherein the selection point is associated with one of a menu item, an object, a numeric value, and a visual function displayed in the graphical interface.

10. A method as recited in claim 1 wherein the degree of freedom comprises a rotary degree of freedom.

11. A computer-readable medium on which is encoded processor-executable program code, the computer-readable medium comprising:

program code to display a menu in a graphical interface, the menu including a displayed section and an undisplayed section, each having at least one menu item;

program code to correlate a motion of a cursor displayed in the graphical interface with a motion of a manipulandum;

program code to display at least a portion of the undisplayed section by the cursor; and

program code to output a force signal to a haptic actuator coupled to the manipulandum, when the at least one menu item in the undisplayed section is displayed.

12. The computer-readable medium of claim 11 wherein the force signal is associated with a jolt force.

13. The computer-readable medium of claim 11 further comprising program code to output a detent force signal when the cursor moves between two menu items in the displayed section.

14. The computer-readable medium of claim 11 further comprising program code to output a resistive force signal to the haptic actuator, wherein a magnitude of the resistive force increases with a rate at which the menu items in the undisplayed section are displayed.

15. The computer-readable medium of claim 14 wherein the resistive force comprises a spring force.

16. The computer-readable medium of claim 11 further comprising program code to output a barrier force signal when the cursor reaches an end of the undisplayed section.

17. The computer-readable medium of claim 11 wherein the manipulandum is movable in a rotary degree of freedom.

18. A computer-readable medium on which is encoded processor-executable program code, the computer-readable medium comprising:

program code to output a force signal, the force signal being associated with a force for resisting a rotation of a manipulandum about an axis of rotation;

program code to receive an input signal associated with a translation of the manipulandum along the axis of rotation relative to a predetermined position; and

program code to cease outputting the force signal when the input signal indicates the translation of the manipulandum relative to the predetermined position.

19. The computer-readable medium of claim 18 wherein the force comprises one of a barrier force and a spring force.

20. The computer-readable medium of claim 18 further comprising program code to output a jolt force signal when the input signal indicates the translation of the manipulandum relative to the predetermined position.

21. The computer-readable medium of claim 19 further comprising program code to output a spring force signal when the manipulandum completes a rotation, wherein the spring force is configured to enable the manipulandum to return to the predetermined position along the axis of rotation.

22. The computer-readable medium of claim 18 further comprising program code to correlate the rotation of the manipulandum with a motion of a cursor displayed in a graphical interface.

23. A computer-readable medium on which is encoded processor-executable program code, the computer-readable medium comprising:

program code to receive a signal associated with a displacement of a manipulandum from a predetermined position in a degree of freedom;

program code to increase a rate of change of a feature displayed in a graphical interface with the displacement; and

program code to output a force signal, the force signal being associated with a resistive force, and a magnitude of the resistive force correlated with the displacement.

24. The computer-readable medium of claim 23 wherein the feature comprises one of a numeric value and a function type displayed in the graphical interface.

25. The computer-readable medium of claim 23 further comprising program code to increase the magnitude of the resistive force with the displacement.

26. The computer-readable medium of claim 25 wherein the resistive force comprises one of a spring force and a barrier force.

27. The computer-readable medium of claim 23 further comprising program code to output a barrier force signal when the feature ceases to change.

28. The computer-readable medium of claim 23 wherein the degree of freedom comprises a rotary degree of freedom.