Control knob with multiple degrees of freedom and force feedback

• US 20070152988A1
• Filed: 11/21/2006
• Published: 07/05/2007
• Est. Priority Date: 11/26/1996
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Levin, Michael, Martin, Kenneth, Schena, Bruce, Rosenberg, Louis, Braun, Adam
• Granted Patent: US 7,489,309 B2
• Time in Patent Office: Days
• US Class Current: 345/184
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.

Claims

1. A device comprising:

a manipulandum configured to be displaced in a degree of freedom;

a means for sensing a displacement of said manipulandum in said degree of freedom;

a means for selecting a mode associated with said displacement of said manipulandum in said degree of freedom, said mode comprising at least one of a position control mode and a rate control mode;

an actuator configured to output a processor-controlled force sensation to said manipulandum, said force sensation associated with said mode; and

a processor configured to receive a sensing signal from said sensing means and to output to the actuator a control signal associated with the sensing signal, the control signal configured to cause said actuator to output the processor-controlled force sensation.

2. The device of claim 1, wherein said degree of freedom comprises a first degree of freedom and a second degree of freedom.

3. The device of claim 2, wherein the first degree of freedom comprises a rotary degree of freedom, and the second degree of freedom comprises a translatory degree of freedom, and wherein the translatory degree of freedom is co-axial with the axis of rotation of the rotary degree of freedom.

4. A method comprising:

providing a manipulandum configured to be displaced in a first degree of freedom and a second degree of freedom;

providing a means for sensing a position of said manipulandum in the first degree of freedom;

providing a means for selecting a mode associated with the position of said manipulandum, said mode comprising at least one of a position control mode and a rate control mode;

providing an actuator configured to output a processor-controlled force sensation to said manipulandum, said force sensation associated with said mode; and

providing a processor configured to control said force sensation output from said actuator and to receive a signal from said sensing means, said first microprocessor configured to associate a value with a position of said manipulandum in said position control mode and to control a rate of change of said value in said rate control mode.

5. The device of claim 4, wherein the first degree of freedom comprises a rotary degree of freedom, and the second degree of freedom comprises a translatory degree of freedom, and wherein the translatory degree of freedom is co-axial with the axis of rotation of the rotary degree of freedom.

6. A device comprising:

a manipulandum coupled to a grounded surface, the manipulandum moveable in a rotary degree of freedom and a transverse degree of freedom;

a first sensor configured to sense a rotary position of the manipulandum and transmit a first sensor signal to a processor;

a second sensor configured to detect a transverse position of the manipulandum and transmit a second sensor signal to a processor;

a processor configured to receive the first and second sensor signals and to transmit an actuator signal to the actuator, the actuator signal configured to cause an actuator to output a force in the rotary degree of freedom.

7. The device of claim 6, wherein the second sensor signal is based at least in part on the transverse position, and is configured to select a mode of operation of the manipulandum.

8. The device of claim 7, wherein the mode of operation comprises a first mode of operation and a second mode of operation.

9. The device of claim 8, wherein the force comprises a first force and a second force, and wherein the first force is configured to be output during the first mode of operation, and the second force is configured to be output during the second mode of operation.