Haptic trackball device

• US 7,710,399 B2
• Filed: 03/15/2004
• Issued: 05/04/2010
• Est. Priority Date: 06/23/1998
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Alarcon, Ramon, Shahoian, Erik J., Bruneau, Ryan D., Rosenberg, Louis B.
• Primary Examiner(s): Dinh; Duc Q
• Application Number:
  US10/799,660
• Publication Number:
  US 20040174340A1
• Time in Patent Office: 2,241 Days
• Field of Search: 345156-167, 345/168
• US Class Current: 345/167
• CPC Class Codes: A63F 13/24 Constructional details thereof, e.g. game controllers with detachable joystick handles
• CPC Class Codes: A63F 13/245 specially adapted to a particular type of game, e.g. steering wheels
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 13/803 Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
• 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: A63F 2300/1062 being specially adapted to a type of game, e.g. steering wheel
• CPC Class Codes: A63F 2300/8017 Driving on land or water; Flying
• 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 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/03547 Touch pads, in which fingers can move on a surface
• CPC Class Codes: G06F 3/03549 Trackballs G06F3/03541 takes precedence
• 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: H04L 69/329 in the application layer [OSI layer 7]

Abstract

A low-cost haptic feedback trackball device for providing haptic feedback to a user for enhancing interactions in a graphical environment provided by a computer. The trackball device includes a sensor device that detects the movement of a sphere in two rotary degrees of freedom. An actuator applies a force preferably along a z-axis perpendicular to the plane of the surface supporting the device, where the force is transmitted through the housing to the user. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in the displayed graphical environment. Preferably, at least one compliant element is provided between a portion of the housing contacted by the user and the support surface, where the compliant element amplifies the force output from the actuator by allowing the contacted portion of the housing to move with respect to the support surface. The force can be an inertial force, contact force, or a combination of forces that provide tactile sensations to the user.

Claims

1. An apparatus, comprising:

a housing;

a sphere positioned in the housing, the sphere being rotatable in at least one rotary degree of freedom relative to the housing, wherein the sphere rotates in response to a user'"'"'s digit directly contacting and manipulating the sphere;

a sensor coupled to the housing and configured to output sensor signals associated with a rotation of the sphere in the at least one rotary degree of freedom by the user'"'"'s direct contact;

at least one roller coupled to the sphere; and

an actuator coupled to the housing and configured to output haptic feedback to the sphere by vibrating the at least one roller based on the sensor signals, wherein any force to assist or resist motion of the sphere is supplemental to the haptic feedback that is output via the at least one roller.

2. The apparatus of claim 1, further comprising an inertial mass coupled to the actuator, the actuator and the inertial mass collectively configured to output the haptic feedback, the haptic feedback being an inertial haptic feedback.

3. The apparatus of claim 1, wherein the haptic feedback is associated with a graphical representation displayed by a graphical user interlace, a position of the sphere in the at least one rotary degree of freedom being associated with data values of a position of a cursor displayed in the graphical user interface.

4. The apparatus of claim 1, wherein the haptic feedback is associated with a simulated interaction of a cursor and a simulated graphical object in a graphical user interface.

5. The apparatus of claim 1, wherein the haptic feedback is associated with data values associated with movement of a cursor between menu items in a displayed graphical menu.

6. The apparatus of claim 1, wherein the haptic feedback includes a force sensation, the force sensation being at least one of a pulse, a vibration, and a texture.

7. The apparatus of claim 1, wherein the haptic feedback is a vibrotactile haptic feedback that is provided by a moving element.

8. The apparatus of claim 1, further comprising a microprocessor coupled to the sensor and the actuator, the microprocessor being configured to send haptic feedback signals to the actuator based on host commands received from a host computer, the microprocessor further configured to send locative data to the host computer, the locative data being associated with the sensor signals and the movement of the sphere.

9. The apparatus of claim 1, wherein the haptic feedback being associated with a command received from a host computer.

10. An apparatus, comprising:

a housing;

a sphere positioned in the housing, the sphere being rotatable in at least one rotary degree of freedom relative to the housing, wherein the sphere rotates in response to a user'"'"'s digit directly contacting and manipulating the sphere;

a sensor coupled to the housing and configured to output sensor signals associated with a rotation of the sphere in the at least one rotary degree of freedom by the user'"'"'s direct contact;

at least one roller coupled to the sphere; and

an actuator coupled to the housing, the actuator being configured to output haptic feedback to the sphere based on the sensor signals by vibrating the at least one roller, wherein any force to assist or resist motion of the sphere is supplemental to the haptic feedback that is output via the at least one roller; and

at least one compliant element coupled to the housing and the actuator, the at least one compliant element being configured to amplify the haptic feedback.

11. The apparatus of claim 10, wherein the at least one compliant element includes a compliant coupling between the housing and a support for the housing.

12. The apparatus of claim 10, wherein at least a portion of the sphere extends from the housing, the haptic feedback being output approximately along an axis substantially normal to a point of the sphere.

13. The apparatus of claim 10, wherein the haptic feedback is associated with a simulated interaction of a cursor with a simulated graphical object displayed in a graphical environment.

14. The apparatus of claim 10, further comprising an inertial mass coupled to the actuator, the actuator and the inertial mass collectively configured to output the haptic feedback, the haptic feedback being an inertial haptic feedback.

15. The apparatus of claim 14, further comprising a flexure member, the flexure member being configured to provide a centering spring force to the inertial mass.

16. The apparatus of claim 10, wherein the haptic feedback is a vibrotactile force, the actuator being configured to drive a moving element.

17. The apparatus of claim 10, further comprising a microprocessor coupled to the sensor and the actuator, the microprocessor being configured to output haptic feedback signals to the actuator based on host commands received from a host computer, the microprocessor further being configured to send locative data to the host computer, the locative data being associated with the sensor signals and the movement of the sphere.

18. The apparatus of claim 10, the actuator being a first actuator, the apparatus further comprising a second actuator configured to output a second haptic feedback in the at least one rotary degree of freedom.

19. The apparatus of claim 18, wherein said second actuator is a passive brake configured to provide a resistance to rotation of the sphere.

20. An apparatus, comprising:

a sphere positioned within a housing and moveable in at least one rotary degree of freedom relative to the housing;

a sensor configured to output sensor signals associated with a movement of the sphere in the rotary degree of freedom by directly contacting the sphere via a user'"'"'s digit;

at least one roller coupled to the sphere; and

an actuator configured to output haptic feedback to the sphere based on sensor signals by vibrating the at least one roller, wherein any force to assist or resist motion of the sphere is supplemental to the haptic feedback that is output via the at least one roller.

21. The apparatus of claim 20, further comprising an inertial mass coupled to the actuator, the actuator and the inertial mass collectively configured to output the haptic feedback, the haptic feedback being an inertial haptic feedback.

22. The apparatus of claim 20, wherein the haptic feedback is associated with a graphical representation displayed by a graphical user interlace, a position of the sphere in the at least one rotary degree of freedom being associated with data values of a position of a cursor displayed in the graphical user interlace.

23. The apparatus of claim 20, wherein the haptic feedback is associated with a simulated interaction of a cursor and a simulated graphical object in a graphical user interlace.

24. The apparatus of claim 20, wherein the haptic feedback is associated with data values associated with movement of a cursor between menu items in a displayed graphical menu.

25. The apparatus of claim 20, wherein the haptic feedback includes a force sensation, the force sensation being at least one of a pulse, a vibration, and a texture.

26. The apparatus of claim 20, further comprising a microprocessor coupled to the sensor and the actuator, the microprocessor being configured to send haptic feedback signals to the actuator based on host commands received from a host computer, the microprocessor further configured to send locative data to the host computer, the locative data being associated with the sensor signals and the movement of the sphere.

27. The apparatus of claim 20, wherein the haptic feedback being associated with a command received from a host computer.