Force feedback system including multi-tasking graphical host environment and interface device

• US 8,527,873 B2
• Filed: 08/14/2006
• Issued: 09/03/2013
• Est. Priority Date: 11/14/1997
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Braun, Adam C., Beamer, Jonathan L., Rosenberg, Louis B., Chang, Dean C.
• Primary Examiner(s): Nguyen, Kevin M
• Application Number:
  US11/504,131
• Publication Number:
  US 20100271295A1
• Time in Patent Office: 2,577 Days
• Field of Search: 345/156, 345/157, 345/161, 345/163, 341/20, 341/27, 463/2, 463/36, 463/37, 715/701, 715/702
• US Class Current: 715/701
• CPC Class Codes: G05B 19/00 Programme-control systems
• 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 2203/0333 Ergonomic shaped mouse for one hand
• 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 3/03548 Sliders, in which the moving part moves in a plane
• CPC Class Codes: G06F 3/04842 Selection of displayed objects or displayed text elements G06F3/0482 takes precedence
• CPC Class Codes: H04L 67/02 based on web technology, e.g. hypertext transfer protocol [HTTP]
• CPC Class Codes: H04L 67/75 Indicating network or usage conditions on the user display
• CPC Class Codes: H04L 69/329 in the application layer [OSI layer 7]

Abstract

A force feedback system provides components for use in a force feedback system including a host computer and a force feedback interface device. An architecture for a host computer allows multi-tasking application programs to interface with the force feedback device without conflicts. One embodiment of a force feedback device provides both relative position reporting and absolute position reporting to allow great flexibility. A different device embodiment provides relative position reporting device allowing maximum compatibility with existing software. Information such as ballistic parameters and screen size sent from the host to the force feedback device allow accurate mouse positions and cursor positions to be determined in the force feedback environment. Force feedback effects and structures are further described, such as events and enclosures.

Claims

1. A digital processing system having haptic capabilities, comprising:

a manipulandum having at least two degrees of freedom;

a local interface device configured to be in communication with a host computer configured to keep a plurality of application programs operating in a multi-tasking environment and to maintain a plurality of force profiles associated with at least some of the plurality of application programs, wherein said host computer is configured to provide haptic instructions to said local interface device in response to one of said plurality of force profiles of said plurality of application programs and movements of said manipulandum,

said local interface device coupled to said manipulandum and configured to detect said movements of said manipulandum,

said local interface device comprising a local microprocessor, said local microprocessor configured to;

maintain a screen reference frame,

maintain a cursor position within said screen reference frame,

maintain at least one device reference frame and a device position of said local interface device within said device reference frame, wherein said device reference frame is associated with said screen reference frame and said device position is associated with said cursor position,

translate said device position within said device reference frame to said cursor position within said screen reference frame, and

selectively activate at least one of a plurality of actuators to create a force feedback at least partially in response to said haptic instructions.

2. The system of claim 1, wherein said manipulandum includes one of a mouse, a joystick, a cubical-shaped hand grip, a fingertip receptacle, and a handheld remote control.

3. The system of claim 2, wherein said manipulandum incorporates said plurality of said actuators.

4. The system of claim 1, wherein a display is coupled to said host computer.

5. The system of claim 1, wherein said local microprocessor is configured to decode haptic instructions from said host computer.

6. The system of claim 5, wherein said local microprocessor is further configured to read sensor signals and calculate appropriate forces in response to said haptic instructions from said host computer.

7. The system of claim 6, wherein said local microprocessor issues force feedback instructions to said plurality of actuators based on said calculated appropriate forces.

8. The system of claim 1, wherein said local microprocessor is further configured to maintain a ballistic frame associated with a change in position of said manipulandum.

9. The system of claim 8, wherein said local microprocessor is configured to translate said device position within said device reference frame to a ballistic position within said ballistic frame, and to translate said ballistic position to said cursor position within said screen reference frame.