Providing force feedback to a user of an interface device based on interactions of a user-controlled complaint paddle with a simulated object in a graphical environment
First Claim
1. A method for providing a user of a manipulandum with haptic feedback simulating an interaction of a simulated object with a simulated compliant paddle whose movement is controlled by movement of the manipulandum, the method comprising:
- determining a first haptic force during a first stage of the interaction, the first haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) a mass of the simulated object, the first stage of the interaction beginning with a collision of the simulated object with the simulated compliant paddle and continuing to a maximum flexibility point of the simulated compliant paddle;
determining a second haptic force during a second stage of the interaction, the second haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) the mass of the simulated object, the second stage of the interaction corresponding to a rebounding of the simulated compliant paddle and a release of the simulated object from the simulated compliant paddle, the second stage of the interaction beginning in response to the simulated compliant paddle reaching the maximum flexibility point;
actuating one or more actuators that are coupled to the manipulandum to impart the first haptic force to the manipulandum during the first stage of the interaction; and
actuating at least one of the one or more actuators to impart the second haptic force to the manipulandum during the second stage of the interaction.
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Accused Products
Abstract
A method and apparatus for providing force feedback to a user operating a human/computer interface device in conjunction with a graphical user interface (GUI) displayed by a host computer system. A physical object, such as a joystick or a mouse, controls a graphical object, such as a cursor, within the GUI. The GUI allows the user to interface with operating system functions implemented by the computer system. A signal is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators. This desired force sensation is associated with at least one of the graphical objects and operating system functions of the graphical user interface and is determined by a location of the cursor in the GUI with respect to targets that are associated with the graphical objects. The graphical objects include icons, windows, pull-down menus and menu items, scroll bars (“sliders”), and buttons. The force sensation assists the user to select a desired operating system function or physically informs the user of the graphical objects encountered by the cursor within the GUI. A microprocessor local to the interface apparatus and separate from the host computer can be used to control forces on the physical object.
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Citations
18 Claims
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1. A method for providing a user of a manipulandum with haptic feedback simulating an interaction of a simulated object with a simulated compliant paddle whose movement is controlled by movement of the manipulandum, the method comprising:
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determining a first haptic force during a first stage of the interaction, the first haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) a mass of the simulated object, the first stage of the interaction beginning with a collision of the simulated object with the simulated compliant paddle and continuing to a maximum flexibility point of the simulated compliant paddle; determining a second haptic force during a second stage of the interaction, the second haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) the mass of the simulated object, the second stage of the interaction corresponding to a rebounding of the simulated compliant paddle and a release of the simulated object from the simulated compliant paddle, the second stage of the interaction beginning in response to the simulated compliant paddle reaching the maximum flexibility point; actuating one or more actuators that are coupled to the manipulandum to impart the first haptic force to the manipulandum during the first stage of the interaction; and actuating at least one of the one or more actuators to impart the second haptic force to the manipulandum during the second stage of the interaction. - View Dependent Claims (2, 3, 4, 9, 16)
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5. A system comprising:
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a manipulandum; at least one actuator coupled to the manipulandum; a sensor configured to generate sensor signals indicative of a position of the manipulandum; and a processor configured to; determine a first haptic force during a first stage of an interaction of a simulated object with a simulated compliant paddle controlled by the position of the manipulandum, the first haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) a mass of the simulated object, the first stage of the interaction beginning with a collision of the simulated object with the simulated compliant paddle and continuing to a maximum flexibility point of the simulated compliant paddle; determine a second haptic force during a second stage of the interaction, the second haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) the mass of the simulated object, the second stage of the interaction corresponding to a rebounding of the simulated compliant paddle and a release of the simulated object from the simulated compliant paddle, the second stage of the interaction beginning in response to the simulated compliant paddle reaching the maximum flexibility point; actuate the at least one actuator based on the sensor signals and on the interaction of the simulated object and the simulated compliant paddle, said actuation configured to impart to the manipulandum the first and second haptic forces corresponding to the first and second stages of the interaction, respectively. - View Dependent Claims (6, 7, 8, 10, 17)
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11. A non-transitory computer-readable medium comprising program code for executing a processor-executable method for providing a user of a manipulandum with haptic feedback simulating an interaction of a simulated object with a simulated compliant paddle whose movement is controlled by movement of the manipulandum, the method comprising:
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determine a first haptic force during a first stage of the interaction, the first haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) a mass of the simulated object, the first stage of the interaction beginning with a collision of the simulated object with the simulated compliant paddle and continuing to a maximum flexibility point of the simulated compliant paddle; determine a second haptic force during a second stage of the interaction, the second haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) the mass of the simulated object, the second stage of the interaction corresponding to a rebounding of the simulated compliant paddle and a release of the simulated object from the simulated compliant paddle, the second stage of the interaction beginning in response to the simulated compliant paddle reaching the maximum flexibility point; actuating one or more actuators that are coupled to the manipulandum to impart the first haptic force to the manipulandum during the first stage of the interaction; and actuating at least one of the one or more actuators to impart the second haptic force to the manipulandum during the second stage of the interaction. - View Dependent Claims (12, 13, 14, 15, 18)
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Specification