Method and apparatus for controlling force feedback interface systems utilizing a host computer
First Claim
1. A system comprising:
- a host computer system for receiving an input control signal and for providing a high-level host command having at least one parameter to control forces, wherein said at least one parameter comprises magnitude parameter or a duration parameter, wherein said host computer system updates a process in response to said input control signal, and wherein said host computer system is configured to provide said high-level host command in response to receiving said input control signal; and
a user interface apparatus comprising a housing and a user-manipulable object, and having disposed within the housing;
a processor for receiving said high-level host command from said host computer system and in response to receiving said high-level host command, generating a processor output control signal based on the high-level host command and the at least one parameter, wherein, if said parameter is a magnitude parameter, a magnitude of the processor output control signal is based on said magnitude parameter, wherein, if said parameter is a duration parameter, a duration of the processor output control signal is based on said duration parameter, and generating and providing the processor output control signal based on said sensor signal,an actuator for receiving said processor output control signal and providing a force along a degree of freedom to said user-manipulable object in accordance with said processor output control signal, said user-manipulable object being coupled to said actuator and being graspable and movable by said user, anda sensor for detecting motion of said user-manipulable object along said degree of freedom and outputting a sensor signal including information representative of the position and motion of said user-manipulable object, wherein said processor is further configured to provide said input control signal to said host computer system.
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Abstract
A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.
190 Citations
14 Claims
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1. A system comprising:
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a host computer system for receiving an input control signal and for providing a high-level host command having at least one parameter to control forces, wherein said at least one parameter comprises magnitude parameter or a duration parameter, wherein said host computer system updates a process in response to said input control signal, and wherein said host computer system is configured to provide said high-level host command in response to receiving said input control signal; and a user interface apparatus comprising a housing and a user-manipulable object, and having disposed within the housing; a processor for receiving said high-level host command from said host computer system and in response to receiving said high-level host command, generating a processor output control signal based on the high-level host command and the at least one parameter, wherein, if said parameter is a magnitude parameter, a magnitude of the processor output control signal is based on said magnitude parameter, wherein, if said parameter is a duration parameter, a duration of the processor output control signal is based on said duration parameter, and generating and providing the processor output control signal based on said sensor signal, an actuator for receiving said processor output control signal and providing a force along a degree of freedom to said user-manipulable object in accordance with said processor output control signal, said user-manipulable object being coupled to said actuator and being graspable and movable by said user, and a sensor for detecting motion of said user-manipulable object along said degree of freedom and outputting a sensor signal including information representative of the position and motion of said user-manipulable object, wherein said processor is further configured to provide said input control signal to said host computer system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method comprising the steps of:
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providing a force feedback interface device comprising a housing and a user-manipulable object having a degree of freedom; sensing positions of said user-manipulable object along said degree of freedom with a sensor disposed within the housing and producing electrical sensor signals therefrom; utilizing a microprocessor disposed within the housing to communicate with said host computer system to provide said electrical sensor signals to said host computer system and to receive a high-level host command from said host computer system, said high-level host command including at least one parameter and generated in response to said electrical sensor signals, wherein said at least one parameter comprises magnitude parameter or a duration parameter; and in response to receiving said high-level host command, creating a force on said user-manipulable object along said degree of freedom by independently utilizing said microprocessor and said high-level host command to control an actuator disposed within the housing and coupled to said user-manipulable object, wherein, if said parameter is a magnitude parameter, a magnitude of the force is based on said magnitude parameter, wherein, if said parameter is a duration parameter, a duration of the force is based on said duration parameter. - View Dependent Claims (14)
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Specification