Enhancing inertial tactile feedback in computer interface devices having increased mass

• US 20010026264A1
• Filed: 01/26/2001
• Published: 10/04/2001
• Est. Priority Date: 06/23/1998
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Granted Patent: US 6,686,901 B2
• Time in Patent Office: Days
• US Class Current: 345/156
• CPC Class Codes: A63F 13/211 using inertial sensors, e.g. accelerometers or gyroscopes
• CPC Class Codes: A63F 13/214 for locating contacts on a surface, e.g. floor mats or touch pads
• CPC Class Codes: A63F 13/235 using a wireless connection, e.g. infrared or piconet
• CPC Class Codes: A63F 13/245 specially adapted to a particular type of game, e.g. steering wheels
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 13/803 Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
• CPC Class Codes: A63F 2300/1031 using a wireless connection, e.g. Bluetooth, infrared connections
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: A63F 2300/1062 being specially adapted to a type of game, e.g. steering wheel
• CPC Class Codes: A63F 2300/1068 being specially adapted to detect the point of contact of the player on a surface, e.g. floor mat, touch pad
• CPC Class Codes: A63F 2300/308 Details of the user interface
• CPC Class Codes: A63F 2300/8017 Driving on land or water; Flying
• CPC Class Codes: A63F 2300/8082 Virtual reality
• 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 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• 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 3/0354 with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
• CPC Class Codes: G06F 3/03543 : Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/03545 : Pens or stylus
• CPC Class Codes: G06F 3/0362 : with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• CPC Class Codes: H04L 69/329 : in the application layer [OSI layer 7]

Abstract

Method and apparatus for enhancing inertial tactile feedback in computer interface devices having an increased mass, such as wireless devices having the increased mass due to batteries or other power storage elements. A haptic feedback control device is in communication with a host computer and includes a housing, a sensor device that detects movement of a manipulandum or the housing, an actuator that outputs an inertial force transmitted through said housing to said user by moving an inertial mass, and a component, such as a power storage element coupled to the housing to provide power to the actuator. The component or power storage element is inertially decoupled from the housing to reduce the mass of the haptic feedback device with respect to the inertial mass, thereby allowing stronger haptic sensations to be experienced by the user for a given size of the inertial mass.

Claims

1. A haptic feedback device in communication with a host computer implementing a host application program, the device comprising:

a housing that is physically contacted by said user;

a sensor device coupled to said housing of said device, said sensor device detecting a movement of a manipulandum or said housing and outputting sensor signals representative of said movement; and

an actuator coupled to said housing of said tactile feedback device, said actuator operative to output an inertial force, wherein said inertial force is generated by moving an inertial mass, said inertial force transmitted through said housing to said user contacting said housing; and

a power storage element coupled to said housing and providing power to said actuator and to said sensor device, said power storage element being inertially decoupled from said housing to reduce the mass of said haptic feedback device with respect to said inertial mass, thereby allowing stronger haptic sensations to be experienced by said user for a given size of said inertial mass.

2. A haptic feedback device as recited in

claim 1

wherein said power storage element is at least one battery.

3. A haptic feedback device as recited in

claim 2

wherein said power storage element is coupled to said housing by a compliant layer or member.

4. A haptic feedback device as recited in

claim 3

wherein said compliant layer or member is a layer of foam coupled between said at least one battery and said housing.

5. A haptic feedback device as recited in

claim 4

further comprising an attachment member coupled between said foam and said battery, wherein said battery may be detached from said attachment member by said user.

6. A haptic feedback device as recited in

claim 1

wherein said compliant layer or member is a spring member.

7. A haptic feedback device as recited in

claim 4

wherein said battery is rechargeable.

8. A haptic feedback device as recited in

claim 4

further comprising a connector coupled to said housing and electrically coupled to said at least one battery, said connector capable of being connected to a recharging device to allow said battery to be recharged when power has been drained from said battery.

9. A haptic feedback device as recited in

claim 1

wherein said sensor signals are provided to said host computer via wireless transmission, and wherein said haptic feedback device receives information from said host via wireless reception.

10. A haptic feedback device as recited in

claim 9

wherein said wireless transmission and reception is implemented via radio signals.

11. A haptic feedback device as recited in

claim 1

wherein said inertial mass is oscillated harmonically with a harmonic drive signal.

12. A haptic feedback device as recited in

claim 1

wherein said inertial mass is moved linearly.

13. A haptic feedback device as recited in

claim 1

wherein said inertial mass is a spinning eccentric mass.

14. A haptic feedback device as recited in

claim 1

wherein said actuator is moved as said inertial mass.

15. A haptic feedback device as recited in

claim 14

wherein said actuator is coupled to a flexure, said flexure including at least two flex joints.

16. A haptic feedback device as recited in

claim 1

wherein said haptic feedback device is a gamepad.

17. A haptic feedback device as recited in

claim 16

wherein said actuator is a first actuator and said inertial mass is a first inertial mass, and further comprising a second actuator that moves a second inertial mass, wherein said first and second actuators may be operated in conjunction.

18. A haptic feedback device as recited in

claim 1

wherein said haptic feedback device is a mouse.

19. A haptic feedback device as recited in

claim 18

wherein said actuator outputs said inertial force along a z-axis substantially perpendicular to a planar workspace of said mouse.

20. A haptic feedback device as recited in

claim 19

wherein said inertial force is correlated with a graphical representation displayed by said host computer, wherein a position of said mouse in said planar workspace corresponds with a position of a cursor displayed in said graphical representation.

22. A haptic feedback device as recited in

claim 20

wherein said component is a power storage element.

24. A haptic feedback device as recited in

claim 20

wherein said sensor signals are provided to said host computer via wireless transmission, and wherein said haptic feedback device receives information from said host via wireless reception.

25. A haptic feedback device as recited in

claim 20

wherein said inertial mass is oscillated harmonically with a harmonic drive signal.

26. A haptic feedback device as recited in

claim 20

wherein said inertial mass is moved rotationally.

27. A haptic feedback device as recited in

claim 20

wherein said actuator is moved as said inertial mass.

21. A haptic feedback device in communication with a host computer implementing a host application program, the device comprising:

a housing that is physically contacted by said user;

a sensor device coupled to said housing of said device, said sensor device detecting a movement of a manipulandum or said housing and outputting sensor signals representative of said movement; and

an actuator coupled to said housing of said tactile feedback device, said actuator operative to output an inertial force to said user contacting said housing by moving an inertial mass; and

a component coupled to said housing by a compliant layer or member, said component being inertially decoupled from said housing to reduce the mass of said haptic feedback device with respect to said inertial mass, thereby allowing stronger haptic sensations to be experienced by said user.

23. A haptic feedback device as recited in

claim 21

wherein said compliant layer or member is a layer of foam coupled between said at power storage element and said housing.

28. A method for providing haptic feedback to a user interacting with a graphical environment displayed by a host computer, the user manipulating an interface device, the method comprising:

enabling a detection of motion of said interface device or a manipulandum thereof and enabling a provision of an indication of said motion to said host computer;

enabling a reception of information from said host computer indicating that a tactile sensation is to be output, said tactile sensation being correlated with an interaction or event occurring within said graphical environment; and

enabling an output of an inertial force with respect to an inertial ground on a housing of said interface device, said inertial force caused by oscillating an inertial mass coupled to an actuator, wherein said inertial force is transmitted through said housing and said user can contact said housing and experience said inertial force, wherein a mass of a power storage element included in said interface device is inertially decoupled from said housing of said interface device.

29. A method as recited in

claim 28

wherein said power storage element is inertially decoupled by providing a compliant layer or member between said power storage element and said housing.

30. A method as recited in

claim 28

wherein said actuator moves said inertial mass bidirectionally along an axis to cause said inertial force along said axis.

31. A method as recited in

claim 30

wherein said inertial force is correlated with an interaction between a user-controlled cursor and a graphical object displayed in said graphical environment.

32. A method as recited in

claim 28

wherein said inertial force is a periodic force sensation.

33. A method as recited in

claim 32

wherein said periodic force sensation has at least one of a frequency and a magnitude which can be specified by said host computer.

34. A method as recited in

claim 32

wherein a sequence of force values to be output as said periodic inertial force is streamed from said host computer to said interface device.

35. A tactile feedback device in communication with a host computer implementing a host application program, the tactile feedback device comprising:

a manipulatable object that is physically contacted and moved by said user;

sensing means for detecting said movement of said manipulatable object, said sensing means outputting sensor signals representative of said movement, wherein a position or motion of said manipulatable object is determined from said sensor signals and used by said host computer; and

force generation means for outputting an inertial force with respect to an inertial ground, wherein said inertial force is generated by oscillating an inertial mass approximately along said axis with respect to said housing, said inertial force transmitted through said housing to said user contacting said housing; and

power means for providing power to said force generation means, said power means being inertially decoupled from a housing of said tactile feedback device for reducing the mass of said tactile feedback device with respect to said inertial mass, thereby allowing stronger haptic sensations to be experienced by said user.