Force feedback interface having isotonic and isometric functionality
First Claim
1. An interface device allowing isotonic and isometric interaction with a host computer system from a user, the interface device comprising:
- a user manipulatable object physically contacted by a user and movable in physical space in at least two degrees of freedom with respect to a ground;
a sensor operative to detect said movement of said user manipulatable object in physical space in said two degree of freedom with respect to said ground;
an actuator coupled to said user manipulatable object operative to apply an output force in at least one degree of freedom of said user manipulatable object;
a mode selector for selecting an isotonic interaction mode and an isometric interaction mode of said interface device, wherein said isotonic mode provides input to said host computer system based on movement a position of said user manipulatable object in said physical space, and wherein said isometric mode provides input to said host computer system based on an input force applied by said user to said user manipulatable object, said input force being determined based on said movement detected by said sensor in a direction opposing said output force generated by said actuator.
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Accused Products
Abstract
A force feedback interface having isotonic and isometric control capability coupled to a host computer that displays a graphical environment such as a GUI. The interface includes a user manipulatable physical object movable in physical space, such as a mouse or puck. A sensor detects the object'"'"'s movement and an actuator applies output force on the physical object. A mode selector selects isotonic and isometric control modes of the interface from an input device such as a physical button or from an interaction between graphical objects. Isotonic mode provides input to the host computer based on a position of the physical object and updates a position of a cursor, and force sensations can be applied to the physical object based on movement of the cursor. Isometric mode provides input to the host computer based on an input force applied by the user to the physical object, where the input force is determined from a sensed deviation of the physical object in space. The input force opposes an output force applied by the actuator and is used to control a function of an application program, such as scrolling a document or panning or zooming a displayed view. An overlay force, such as a jolt or vibration, can be added to the output force in isometric mode to indicate an event or condition in the graphical environment.
533 Citations
64 Claims
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1. An interface device allowing isotonic and isometric interaction with a host computer system from a user, the interface device comprising:
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a user manipulatable object physically contacted by a user and movable in physical space in at least two degrees of freedom with respect to a ground; a sensor operative to detect said movement of said user manipulatable object in physical space in said two degree of freedom with respect to said ground; an actuator coupled to said user manipulatable object operative to apply an output force in at least one degree of freedom of said user manipulatable object; a mode selector for selecting an isotonic interaction mode and an isometric interaction mode of said interface device, wherein said isotonic mode provides input to said host computer system based on movement a position of said user manipulatable object in said physical space, and wherein said isometric mode provides input to said host computer system based on an input force applied by said user to said user manipulatable object, said input force being determined based on said movement detected by said sensor in a direction opposing said output force generated by said actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of providing an isometric control mode for an interface device coupled to a host computer, the method comprising:
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receiving an indication to engage an isometric control mode of said interface device; determining a deviation of a user manipulable physical object in a provided plurality of degrees of freedom, said deviation indicative of an input force from said user on said user manipulable object; applying a resistive force using an computer-controlled actuator to said user manipulable object opposing said input force; and using said determined deviation to control an isometric function of an application program implemented by said host computer. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A method for enabling isotonic and isometric control from a user utilizing a single interface device coupled to a host computer system displaying a graphical environment, the method comprising:
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receiving a selection of a control mode of said interface device, wherein said control mode is either an isotonic control mode or an isometric control mode; providing isotonic input to said host computer system if said interface device is in said isotonic mode, wherein said isotonic input is used by said host computer system to update a position of a user-controlled graphical object in said graphical environment to correspond to a position of a user-manipulated physical object in provided degrees of freedom; and providing isometric input to said host computer system if said interface device is in said isometric mode, wherein said isometric input is used by said host computer system to control an isometric function of said graphical environment based on an input force applied by said user to said physical object, said isometric input being provided as input force from said user opposing an output force generated by computer-controlled actuators. - View Dependent Claims (40, 41, 42, 43, 44, 45)
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46. A method for providing isometric input from an interface device to a host computer displaying a graphical environment on a display device, said method comprising:
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displaying a user-controlled graphical object at a position in said graphical environment displayed by said host computer; receiving input to said host computer from said interface device indicating movement of a user manipulatable physical object of said interface device caused by a user; implementing an isometric function of said graphical environment utilizing said input; maintaining said user-controlled graphical object at said position in said graphical environment regardless of said movement of said user manipulable physical object. - View Dependent Claims (47, 48, 49, 50)
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51. A force feedback interface device for interfacing with a host computer implementing an application program, said interface device comprising:
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a user manipulandum being physically contacted by a user of said interface device and moveable within a planar workspace; mode selection means for selecting a control mode for said user manipulandum and said interface device, said control mode being either an isotonic control mode or an isometric control mode; an actuator coupled to said user manipulandum for applying forces to said user manipulandum; a sensor operative to detect a deviation of said user manipulandum from said local origin caused by said user and output sensor signals; and a local microprocessor coupled to said actuator and to said sensor and being separate from said host computer, said local microprocessor receiving said sensor signals and providing actuator signals to said actuator, wherein said local microprocessor is coupled to said host computer by a communication bus. - View Dependent Claims (52, 53, 54, 55, 56, 57, 58)
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59. An apparatus for interfacing isotonic and isometric interactions between a user utilizing a single interface device and a host computer system displaying a graphical environment, the apparatus comprising:
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means for receiving a selection of a control mode of said interface device, wherein said control mode is either an isotonic control mode or an isometric control mode; means for providing isotonic input to said host computer system if said interface device is in said isotonic mode, wherein said isotonic input is used by said host computer system to update a position of a user-controlled graphical object in said graphical environment to correspond to a position of a user-manipulated physical object in provided degrees of freedom; means for applying a force to said physical object in said isotonic mode; and means for providing isometric input to said host computer system if said interface device is in said isometric mode, wherein said isometric input is used by said host computer system to control an isometric function of said graphical environment based on an input force applied by said user to said physical object, wherein said input force is determined based on a user-imparted physical deviation of said user manipulable object in one or more of said degrees of freedom. - View Dependent Claims (60, 61, 62, 63, 64)
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Specification