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Hybrid control of haptic feedback for host computer and interface device

  • US 20030018403A1
  • Filed: 06/25/2002
  • Published: 01/23/2003
  • Est. Priority Date: 11/13/1996
  • Status: Active Grant
First Claim
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1. A haptic feedback interface device in communication with a host computer, said host computer running and displaying a graphical environment, said haptic feedback interface device comprising:

  • a user manipulatable object physically contacted by a user and moveable in at least one degree of freedom;

    at least one actuator outputting forces, said forces felt by said user;

    at least one sensor detecting motion of said user manipulatable object in said at least one degree of freedom and outputting a sensor signal indicative of said motion; and

    a device microcontroller coupled to said at least one actuator and to said at least one sensor and local to said haptic feedback interface device, said microcontroller outputting force values to said actuator to control said forces and receiving said sensor signal from said at least one sensor, wherein said microcontroller determines a closed loop force value based at least in part on said sensor signal and outputs said closed loop force value to said at least one actuator, and wherein said microcontroller does not compute open loop force values but instead receives open loop force values from said host computer and directs said open loop force values to said at least one actuator, wherein said forces output by said actuator are based on said closed loop and open loop force values.

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