Interface device for sensing position and orientation and outputting force feedback
First Claim
1. A human interface device comprising:
- an arm having a first end and a second end, the first end adapted to receive a user manipulatable object graspable by a user to operate the device and the second end coupled to a base, the arm having a plurality of linkages serially linked end to end with one another from the base, each linkage pivotably moveable with respect to an adjacent linkage via a joint to allow the user manipulatable object to be moved in a plurality of degrees of freedom with respect to a single point from the base; and
a sensor coupled to the arm and configured to provide a locative signal associated with a position of the first end with respect to the base when the user manipulatable object is moved in at least one degree of freedom.
4 Assignments
0 Petitions
Accused Products
Abstract
An interface device for use with a computer that provides locative data to a computer for tracking a user manipulatable physical object and provides feedback to the user through output forces. The physical object is movable in multiple degrees of freedom and is tracked by sensors for sensing the location and orientation of the object. A device processor can be responsive to the output of the sensors and can provide the host computer with information derived from the sensors. The host computer can provide images on a display where the computer responds to the provided sensor information and force feedback is correlated with the displayed images via force feedback commands from the host computer.
-
Citations
20 Claims
-
1. A human interface device comprising:
-
an arm having a first end and a second end, the first end adapted to receive a user manipulatable object graspable by a user to operate the device and the second end coupled to a base, the arm having a plurality of linkages serially linked end to end with one another from the base, each linkage pivotably moveable with respect to an adjacent linkage via a joint to allow the user manipulatable object to be moved in a plurality of degrees of freedom with respect to a single point from the base; and a sensor coupled to the arm and configured to provide a locative signal associated with a position of the first end with respect to the base when the user manipulatable object is moved in at least one degree of freedom. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A computer executable software program include code having a set of instructions configured to perform a method, the method comprising:
-
receiving a locative signal associated with a position of a user manipulatable object along a plurality of degrees of freedom, the user manipulatable object graspable by a user and coupled to a first end of an arm having a second end coupled to a base, wherein the arm includes a plurality of linkages end to end in a serial fashion, each linkage pivotably moveable with respect to one another via joints to allow the user manipulatable object to be moveable in the plurality of degrees of freedom with respect to a single point in the base; and outputting a signal in response to and corresponding with the locative signal. - View Dependent Claims (9, 10, 11, 12, 13, 14)
-
-
15. A device adapted for use in conjunction with a computer, the device comprising:
-
a user manipulatable object adapted to be grasped by a user; means for allowing movement of the user manipulatable object in a plurality of degrees of freedom, the means for allowing including a plurality of linkages linked serially end to end and pivotably moveable with respect to one another via joints to allow the user manipulatable object to be moveable about a single point therefrom; and means for producing a locative signal conesponding with the position of the user manipulatable object, wherein the means for producing is adapted to send the locative signal to the computer. - View Dependent Claims (16, 17, 18, 19, 20)
-
Specification