Force output adjustment in force feedback devices based on user contact
First Claim
1. A method comprising:
- receiving a sensor signal that relates to a motion of a manipulandum in at least one degree of freedom;
determining a degree of user contact with the manipulandum associated with the received sensor signal; and
outputting a force having a magnitude in the at least one degree of freedom, the force magnitude being associated with the determined degree of user contact;
wherein said determining a degree of user contact includes comparing a motion of the manipulandum with a predicted motion of the manipulandum based on a model of motion of said manipulandum.
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Accused Products
Abstract
A method and apparatus for adjusting force output from force feedback devices based on user contact with the device. A degree of user contact with a manipulandum of the device is determined by examining the motion of the manipulandum in at least one degree of freedom. A force is output in the degree of freedom of the manipulandum by an actuator of the force feedback device, where a magnitude of the force is adjusted in accordance with the degree of user contact. The force output can be stopped if the user is not contacting the manipulandum, or the forces can be reduced in magnitude if the user has a light contact or reduced grip on the manipulandum. The device can also continue to monitor manipulandum motion to determine when the user is again interacting with the manipulandum and to reapply or increase the magnitude of the forces.
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Citations
23 Claims
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1. A method comprising:
- receiving a sensor signal that relates to a motion of a manipulandum in at least one degree of freedom;
determining a degree of user contact with the manipulandum associated with the received sensor signal; and
outputting a force having a magnitude in the at least one degree of freedom, the force magnitude being associated with the determined degree of user contact;
wherein said determining a degree of user contact includes comparing a motion of the manipulandum with a predicted motion of the manipulandum based on a model of motion of said manipulandum. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
- receiving a sensor signal that relates to a motion of a manipulandum in at least one degree of freedom;
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12. An apparatus comprising:
- a manipulandum that is moveable in at least one degree of freedom;
a movement-sensor coupled to said manipulandum;
a force-feedback actuator coupled to said manipulandum; and
a processor coupled to said force-feedback actuator and to said movement sensor; and
, a memory coupled to said processor, said memory storing instructions to receive sensor signals that relate to a motion of a manipulandum in at least one degree of freedom, determine a degree of user contact with the manipulandum associated with the received sensor signals, and output a force in the at least one degree of freedom, the force magnitude being associated with the determined degree of user contact;
wherein said determine a degree of user contact includes comparing a motion of the manipulandum with a predicted motion of the manipulandum based on a model of motion of said manipulandum.
- a manipulandum that is moveable in at least one degree of freedom;
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13. Processor-executable code comprising:
- code to receive a sensor signal that relates to a motion of a manipulandum in at least one degree of freedom;
code to determine a degree of user contact with the manipulandum associated with the received sensor signal; and
code to output a force in the at least one degree of freedom, the force magnitude being associated with the determined degree of user contact;
wherein said code to determine a degree of user contact includes code to compare a motion of the manipulandum with a predicted motion of the manipulandum based on a model of motion of said manipulandum. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
- code to receive a sensor signal that relates to a motion of a manipulandum in at least one degree of freedom;
Specification