Spherical three-dimensional controller

• US 9,176,577 B2
• Filed: 09/07/2012
• Issued: 11/03/2015
• Est. Priority Date: 09/09/2011
• Status: Active Grant

• Current Assignee: Intel Corporation
• Original Assignee: Intel Corporation
• Inventors: Jangaard, Lars A., Ferren, Bran, Kleeman, Elijah H.
• Primary Examiner(s): JOHNSON, ALLISON WALTHALL
• Application Number:
  US13/994,685
• Publication Number:
  US 20130257719A1
• Time in Patent Office: 1,152 Days
• Field of Search: 345/156, 345/158, 345/167, 345/184
• US Class Current: 1/1
• CPC Class Codes: G06F 1/1616 with folding flat displays, e.g. laptop computers or notebooks having a clamshell configuration, with body parts pivoting to an open position around an axis parallel to the plane they define in closed position
• CPC Class Codes: G06F 1/169 the I/O peripheral being an integrated pointing device, e.g. trackball in the palm rest area, mini-joystick integrated between keyboard keys, touch pads or touch stripes G06F1/1643 takes precedence; constructional details of pointing devices G06F3/033
• CPC Class Codes: G06F 3/01 Input arrangements or combined input and output arrangements for interaction between user and computer G06F3/16 takes precedence
• 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

Abstract

A three-dimensional control apparatus including a casing, the casing including a first surface and a second surface, the first surface being opposite to the second surface; and a three-dimensional (3D) controller including a first cap actuator, the first cap actuator including a first rounded control surface, at least a portion of the first rounded control surface extending beyond the first surface of the casing; a second cap actuator, the second cap actuator including a second rounded control surface, at least a portion of the second rounded control surface extending beyond the first surface of the casing, the first rounded control surface being aligned with the second rounded control surface; a first sensor to detect force on the first cap actuator; and a second cap sensor to detect force on the second cap actuator.

Claims

1. An apparatus comprising:

a casing, the casing including a first surface and a second surface, the first surface being opposite to the second surface; and

a three-dimensional (3D) controller including;

a first cap actuator, the first cap actuator including a first rounded control surface, at least a portion of the first rounded control surface extending beyond the first surface of the casing;

a second cap actuator, the second cap actuator including a second rounded control surface, at least a portion of the second rounded control surface extending beyond the second surface of the casing, the first rounded control surface being aligned with the second rounded control surface;

a first sensor to detect force on the first cap actuator applied to any of four quadrants of the first sensor;

a second sensor to detect force on the second cap actuator applied to any of four quadrants of the second sensor; and

a third sensor to detect a rotational force about the first cap actuator and a fourth sensor to detect a rotational force about the second cap actuator;

wherein the apparatus is to determine inputs for five of six degrees of freedom based on forces detected by the first sensor and the second sensor for the four quadrants of the first sensor and the second sensor, the five of six degrees of freedom being translation about a first axis parallel to the first surface and second surface, translation about a second axis parallel to the first surface and second surface and orthogonal to the first axis, translation about a third axis orthogonal to the first surface and the second surface and passing through a center of the first cap actuator and the second cap actuator, rotation about the first axis, and rotation about the second axis; and

wherein the apparatus is to determine input for a sixth degree of freedom based on rotational forces detected by the third sensor and the fourth sensor, the sixth degree of freedom being a rotation about the third axis.

2. The apparatus of claim 1, wherein the first cap actuator includes an extension to provide force on the third sensor and the second cap actuator includes an extension to provide force on the fourth sensor.

3. The apparatus of claim 1, wherein a force on the first cap actuator and a force on the second cap actuator that are both above a certain threshold further generates an alternate command.

4. The apparatus of claim 1, wherein the first rounded control surface and the second rounded control surface are shaped as spherical caps, the first rounded control surface and the second rounded control surface forming portions of a virtual sphere.

5. The apparatus of claim 1, wherein the first sensor and the second sensor are force-sensing resistors.

6. The apparatus of claim 5, wherein the first cap actuator and the second cap actuator include protrusions to provide force on each quadrant of the first sensor and the second sensor.

7. The apparatus of claim 1, wherein the first cap actuator is partially within the casing or is on the first surface, and wherein the second cap actuator is partially within the casing or is on the second surface.

8. The apparatus of claim 1, wherein the input for translation about the first axis or the second axis is proportional to a difference between:

a minimum of a first force detected on a first quadrant by the first sensor and a second force detected on the corresponding first quadrant by the second sensor; and

a minimum of a third force detected on a second quadrant by the first sensor and a fourth force detected on the corresponding second quadrant by the second sensor, the second quadrant being opposite to the first quadrant.

9. The apparatus of claim 1, wherein the input for rotation about the first axis or the second axis is proportional to a difference between:

a minimum of a first force detected on a first quadrant by the first sensor and a second force detected on a second quadrant by the second sensor, the second quadrant being opposite to the first quadrant; and

a minimum of a third force detected on the second quadrant by the first sensor and a fourth force detected on the first quadrant by the second sensor.

10. The apparatus of claim 1, wherein the input for rotation about the third axis is proportional to a difference between:

an average of forces on each of the four quadrants detected by the first sensor; and

an average of forces on each of the four quadrants detected by the second sensor.

11. The apparatus of claim 1, wherein the input for rotation about the third axis is proportional to a difference between a first rotational force detected by the third sensor and a second rotational force detected by the fourth sensor.

12. A method comprising:

detecting forces on a first actuator of a control apparatus and a second actuator of the control apparatus, wherein detecting the force includes detection of one or more of;

forces on any of four quadrants of a first sensor for the first actuator,

forces on any of four quadrants of a second sensor for the second actuator, and

a rotational force about the first actuator detected by a third sensor and a rotational force about the second actuator detected by a fourth sensor; and

interpreting the forces as one of a plurality of inputs including;

determining inputs for five of six degrees of freedom based on forces detected by the first sensor and the second sensor for the four quadrants of the first sensor and the second sensor, the five of six degrees of freedom being translation about a first axis parallel to the first surface and second surface, translation about a second axis parallel to the first surface and second surface and orthogonal to the first axis, translation about a third axis orthogonal to the first surface and the second surface and passing through a center of the first cap actuator and the second cap actuator, rotation about the first axis, and rotation about the second axis; and

determining an input for a sixth degree of freedom based on rotational forces detected by the third sensor and the fourth sensor, the sixth degree of freedom being a rotation about the third axis.

13. The method of claim 12, wherein the plurality of inputs includes an alternative input, further comprising interpreting the force as the alternate input if a force on the first actuator and a force on the second actuator are both above a certain threshold.

14. The method of claim 12, wherein the input for translation about the first axis or the second axis is proportional to a difference between:

a minimum of a first force detected on a first quadrant by the first sensor and a second force detected on the corresponding first quadrant by the second sensor; and

a minimum of a third force detected on a second quadrant by the first sensor and a fourth force detected on the corresponding second quadrant by the second sensor, the second quadrant being opposite to the first quadrant.

15. The method of claim 12, wherein the input for rotation about the first axis or the second axis is proportional to a difference between:

a minimum of a first force detected on a first quadrant by the first sensor and a second force detected on a second quadrant by the second sensor, the second quadrant being opposite to the first quadrant; and

a minimum of a third force detected on the second quadrant by the first sensor and a fourth force detected on the first quadrant by the second sensor.

16. The method of claim 12, wherein the input for rotation about the third axis is proportional to a difference between:

an average of forces on each of the four quadrants detected by the first sensor; and

an average of forces on each of the four quadrants detected by the second sensor.

17. The method of claim 12, wherein the input for rotation about the third axis is proportional to a difference between a first rotational force detected by the third sensor and a second rotational force detected by the fourth sensor.

18. A system comprising:

a processor to interpret commands;

a synchronous dynamic random access memory (SDRAM) to hold data including data from one or more input devices;

a casing including a first surface and a second surface; and

a three-dimensional (3D) controller including;

a first cap actuator, the first cap actuator including a first rounded control surface, at least a portion of the first rounded control surface extending beyond the first surface of the casing;

a second cap actuator, the second cap actuator including a second rounded control surface, at least a portion of the second rounded control surface extending beyond the second surface of the casing, the first rounded control surface being aligned with the second rounded control surface;

a first sensor to detect force on the first cap actuator applied to any of four quadrants parallel to the first surface; and

a second sensor to detect force on of the second cap actuator applied to any of four quadrants parallel to the second surface, and

a third sensor to detect a rotational force about the first cap actuator and a fourth sensor to detect a rotational force about the second cap actuator,

wherein the system is to determine inputs for five of six degrees of freedom based on forces detected by the first sensor and the second sensor for the four quadrants of the first sensor and the second sensor, the five of six degrees of freedom being translation about a first axis parallel to the first surface and second surface, translation about a second axis parallel to the first surface and second surface and orthogonal to the first axis, translation about a third axis orthogonal to the first surface and the second surface and passing through a center of the first cap actuator and the second cap actuator, rotation about the first axis, and rotation about the second axis; and

wherein the system is to determine input for a sixth degree of freedom based on rotational forces detected by the third sensor and the fourth sensor, the sixth degree of freedom being a rotation about the third axis.

19. The system of claim 18, wherein the system is a laptop computer, and wherein the casing includes a display casing holding a display.

20. The system of claim 19, further comprising a second 3D controller, and wherein the 3D controller is installed in a first side of the display casing and the second 3D controller is installed in an opposite second side of the display casing.

21. The system of claim 18, wherein the first surface is a surface that faces a user operating the system and wherein the second surface is a surface that faces away from a user operating the system.

22. A non-transitory computer-readable storage medium having stored thereon data representing sequences of instructions that, when executed by a processor, cause the processor to perform operations comprising:

detecting forces on a first actuator of a control apparatus and a second actuator of the control apparatus, wherein detecting the force includes detection of one or more of;

forces on any of four quadrants of a first sensor for the first actuator,

forces on any of four quadrants of a second sensor for the second actuator, and

a rotational force about the first actuator detected by a third sensor and a rotational force around the second actuator detected by a fourth sensor; and

interpreting the forces as one of a plurality of inputs including;

determining inputs for five of six degrees of freedom based on forces detected by the first sensor and the second sensor for the four quadrants of the first sensor and the second sensor, the five of six degrees of freedom being translation about a first axis parallel to the first surface and second surface, translation about a second axis parallel to the first surface and second surface and orthogonal to the first axis, translation about a third axis orthogonal to the first surface and the second surface and passing through a center of the first cap actuator and the second cap actuator, rotation about the first axis, and rotation about the second axis; and

determining an input for a sixth degree of freedom based on rotational forces detected by the third sensor and the fourth sensor, the sixth degree of freedom being a rotation about the third axis.