Virtual reality force emulation

• US H2,017 H1
• Filed: 04/02/1998
• Issued: 04/02/2002
• Est. Priority Date: 04/02/1998
• Status: Abandoned Application

• Current Assignee: Daniel W. Repperger, David Johnson, Kurtis R. Johnson, Michael J. Krier
• Original Assignee: Daniel W. Repperger, David Johnson, Kurtis R. Johnson, Michael J. Krier
• Inventors: Repperger, Daniel W., Krier, Michael J., Johnson, Kurtis R., Johnson, David C.
• Primary Examiner(s): Carone, Michael J.
• Application Number:
  US90/538,50
• Publication Number:
  US H2,017 H1
• Time in Patent Office: 1,461 Days
• Field of Search: 345008, 345156, 345157, 345158, 345161, 345169
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

Multi-dimensional, non-linked method and apparatus for producing a simulated feeling of force on a preselected location on a human operator in a synthesized environment accomplished by generating a first, constant, stationary electromagnetic field and a second, varying electromagnetic field local to the human operator. The variance of the second electromagnetic field is controlled by electrical currents which are responsive to parameters describing the position and orientation of said preselected location on the human operator and such variance results in attraction and repulsion of the first and second electromagnetic fields emulating a feeling of force on the human subject.

Claims

1. A non-linked method for providing a feeling of force to a human operator comprising the steps of:

generating a first, constant, stationary electromagnetic field;

sensing three-dimensional position and orientation of said human operator relative to said first, constant, stationary electromagnetic field;

communicating data from said sensing step to a microprocessing computing device;

generating an electric signal responsive to data from said communicating step;

producing a second, varying electromagnetic field local to said human operator responsive to said electrical signal from said generating step; and

coupling a force generated by interaction of said first and second electromagnetic fields to said human operator.

2. The method of claim 1 for providing a feeling of force to a human operator wherein said generating step further includes the step of providing a helmhotz-coil generated electromagnetic field.

3. The method of claim 1 for providing a feeling of force to a human operator wherein said sensing step further includes the steps of:

establishing a coordinate system relative to said human subject; and

sensing movement of said human subject by measuring angular and linear displacement of said human subject relative to said coordinate system.

4. The method of claim 1 for providing a feeling of force to a human operator further including the step of generating an electric signal in each of x, y and z coordinate axes.

5. The method of claim 3 for providing a feeling of force to a human operator, wherein said sensing step further includes the steps of:

mounting said human operator with position sensing equipment; and

mounting said human operator with force actuating equipment.

6. The method of claim 4 for providing a feeling of force to a human operator, wherein said mounting said human operator with position sensing equipment further includes the step of mounting said sensing equipment on a glove type device on a hand of said human operator.

7. An non-linked system for providing a feeling of force to a human operator comprising:

a first, constant, stationary electromagnetic field generating apparatus;

sensing apparatus appended to said human operator for locating three-dimensional orientation of said human operator relative to said first, constant, stationary electromagnetic field;

a second electromagnetic field local to said human operator and responsive to three-dimensional position and orientation data of said human operator;

a computer apparatus capable of varying said second electromagnetic field to generate attractive and repulsive forces acting on said human operator in response to signals received from said sensing apparatus.

8. The system of claim 7 for providing a feeling of force to a human operator further including data communication means for communicating data from said sensing apparatus to said microprocessing computing device.

9. The system of claim 7 for providing a feeling of force to a human operator wherein said attractive and repulsive forces are generated by an electric signal.

10. The system of claim 7 for providing a feeling of force to a human operator further including a second electromagnetic field existing on x, y and z axis of a world coordinate system.

11. The system of claim 10 for providing a feeling of force to a human operator wherein said second electromagnetic field of three-dimensions comprises

a first metal core in the x-plane of the world coordinate system having current carrying coils thereon;

a second metal core in the y-plane of the world coordinate system orthogonal to said first metal core having current carrying coils thereon;

a third metal core in the z-plane of the world coordinate system orthogonal to said first and second metal cores having current carrying coils thereon; and

said current carrying coils of said first, second and third metal cores having a current running therethrough and generating an associated electromagnetic field that attract and repel said first electromagnetic field.

12. The system of claim 11 for providing a feeling of force to a human operator wherein said second electromagnetic field of three dimensions comprises

a first core of anisotropic material in the x-plane of the world coordinate system having current carrying coils thereon;

a second core of anisotropic material in the x-plane of the world coordinate system having current carrying coils thereon;

a third metal core in orthogonal to said first and second metal cores having current carrying coils thereon; and

said current carrying coils of said first, second and third metal cores having a current running therethrough and generating an associated electromagnetic field that attract and repel said first electromagnetic field.

13. The system of claim 7 for providing a feeling of force to a human operator wherein said sensing apparatus further comprises:

means for establishing a coordinate system relative to said human subject; and

sensing means for sensing movement of said human subject by measuring angular and linear displacement of said human subject relative to said coordinate system.

14. The system of claim 13 for providing a feeling of force to a human operator wherein said sensing means further includes:

goiniometers for sensing position of said human subject; and

force actuators for sensing three -dimensional orientation of said human subject.

15. The system of claim 13 for providing a feeling of force to a human operator wherein said sensing means further includes a glove-type device for mounting said goiniometers and force actuators on the hand of said human operator.

16. The system of claim 8 for providing a feeling of force to a human operator wherein said electromagnetic devices are externally powered.

17. An untethered system for providing force virtual reality to a human operator comprising:

a first, constant, stationary electromagnetic field;

externally powered sensing apparatus appended to a glove-type device on a hand of said human operator for determining three-dimensional angular and linear orientation of said hand of said human operator relative to said first, constant, stationary electromagnetic field;

a second electromagnetic field local to said human operator and responsive to three-dimensional angular and linear orientation data of said hand of said human operator;

a microprocessing computing device operative to receive and generate data to vary said second electromagnetic field to generate attractive and repulsive forces between said first and second electromagnetic fields which direct a force on said human operator.