Low cost force feedback device with actuator for non-primary axis

• US 6,088,019 A
• Filed: 06/23/1998
• Issued: 07/11/2000
• Est. Priority Date: 06/23/1998
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Hjerpe, Richard A.
• Assistant Examiner(s): Laneau, Ronald
• Application Number:
  US09/103,281
• Time in Patent Office: 749 Days
• Field of Search: 345/156, 345/157, 345/161, 345/163
• US Class Current: 345/156
• CPC Class Codes: A63F 13/213 comprising photodetecting means, e.g. cameras, photodiodes or infrared cells A63F13/219, A63F13/655 take precedence
• CPC Class Codes: A63F 13/23 for interfacing with the game device, e.g. specific interfaces between game controller and console
• 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 13/426 involving on-screen location information, e.g. screen coordinates of an area at which the player is aiming with a light gun
• CPC Class Codes: A63F 13/54 involving acoustic signals, e.g. for simulating revolutions per minute [RPM] dependent engine sounds in a driving game or reverberation against a virtual wall
• CPC Class Codes: A63F 13/803 Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
• CPC Class Codes: A63F 2300/1006 having additional degrees of freedom
• CPC Class Codes: A63F 2300/1025 details of the interface with the game device, e.g. USB version detection
• 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 2300/1087 comprising photodetecting means, e.g. a camera
• CPC Class Codes: A63F 2300/6081 generating an output signal, e.g. under timing constraints, for spatialization
• CPC Class Codes: A63F 2300/8017 Driving on land or water; Flying
• 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 3/03543 : 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

A force feedback interface and method including an actuator in a non-primary axis or degree of freedom. The force feedback interface device is connected to a host computer that implements a host application program or graphical environment. The interface device includes a user manipulatable object, a sensor for detecting movement of the user object, and an actuator to apply output forces to the user object. The actuator outputs a linear force on the user object in non-primary linear axis or degree of freedom that is not used to control a graphical object or entity implemented by the host computer, and movement in the non-primary degree of freedom is preferably not sensed by sensors. The axis extends through the user object, and there are preferably no other actuators in the device, thus allowing the force feedback device to be very cost effective. Force sensations such as a jolt, vibration, a constant force, and a texture force can be output on the user object with the actuator. The force sensations can be output in a direction perpendicular to a planar degree of freedom, radial to spherical degree of freedom, and/or along a lengthwise axis of the user object.

Claims

1. A force feedback mouse device coupled to a host computer system implementing a host application program, the mouse device comprising:

a mouse housing physically contacted by a user and movable in physical space in at least two degrees of freedom with respect to a ground, wherein a cover portion of said mouse housing is movably coupled to a base portion of said mouse by at least one hinge and wherein said user contacts said cover portion with a palm of a hand of said user, said cover portion including at least a portion of a top surface of said mouse housing;

at least one sensor operative to detect said movement of said mouse in physical space in two degrees of freedom with respect to said ground and to output sensor signals representative of said movement, said two degrees of freedom being approximately within a single plane; and

an actuator coupled to said mouse housing and operative to apply a linear output force in a direction approximately perpendicular to said single plane, said force applied along an axis extending through said mouse to said cover portion of said mouse housing rested upon by said hand of said user such that said cover portion is moved with respect to said base portion.

2. A force feedback mouse device as recited in claim 1 wherein one end of said cover portion is moved with respect to said base portion.

3. A force feedback mouse device as recited in claim 2 wherein said cover portion of said mouse moves as a result of receiving said force, wherein said movement is not sensed by said force feedback interface device.

4. A force feedback mouse device as recited in claim 2 wherein said actuator moves said cover portion of said housing in said direction approximately perpendicular to said plane, wherein said cover portion is a substantial portion of a top surface of said mouse housing.

5. A force feedback mouse device as recited in claim 4 wherein said cover portion is rotatable coupled to said base portion such that said cover portion moves approximately rotationally with respect to said base portion.

6. A force feedback mouse device as recited in claim 5 wherein said cover portion is coupled to said base portion by a mechanical hinge.

7. A force feedback mouse device as recited in claim 4 wherein said output force is correlated with a graphical representation displayed by said host computer system, wherein a position of said mouse housing in said plane corresponds with a position of a cursor displayed in said graphical representation.

8. A force feedback mouse device as recited in claim 7 wherein said output force is a jolt correlated with the interaction of said user-controlled cursor with a graphical object displayed in a graphical user interface.

9. A force feedback mouse device as recited in claim 8 wherein said jolt is output with a magnitude dependent on a characteristic of said graphical object with which said cursor interacts.

10. A force feedback mouse device as recited in claim 9 wherein said characteristic of said graphical object is a type of said graphical object, wherein said type includes one of an icon, a window, and a menu item.

11. A force feedback mouse device as recited in claim 7 wherein said graphical representation includes a representation of a 3-D area having more than two elevations, and wherein said output force is correlated with an elevation of a portion of said graphical representation on which said cursor is displayed.

12. A force feedback mouse device as recited in claim 1 wherein said actuator is a linear actuator.

13. A force feedback mouse device as recited in claim 12 wherein said linear actuator is a voice coil actuator.

14. A force feedback mouse device as recited in claim 1 wherein said sensor includes two sensors, each of said sensors detecting movement of said mouse housing in one of said degrees of freedom in said single plane.

15. A force feedback mouse device as recited in claim 1 wherein said force is included in a force sensation, said force sensation being one of a jolt, vibration, constant force, and texture force.

16. A force feedback mouse device as recited in claim 1 wherein said actuator outputs said force directly on said mouse housing, wherein no transmission system is provided between said actuator and said mouse housing.

17. A force feedback mouse device as recited in claim 1 further comprising a microprocessor separate from said host computer and local to said mouse device said microprocessor receiving force information from said host computer system and providing control signals to said actuator based at least in part on said force information.

18. A force feedback mouse device as recited in claim 17 wherein said microprocessor receives said sensor signal from said at least one sensor and reports sensor data based on said sensor signal to said host computer system.

19. A force feedback mouse device as recited in claim 1 wherein said cover portion includes said entire top surface of said mouse housing which which said user contacts.

20. A force feedback mouse device as recited in claim 1 wherein said moveable cover portion is a portion of a contacted area of said mouse housing, wherein a substantial portion of said hand of said user contacts said cover portion.

21. A force feedback mouse device as recited in claim 1 wherein said hinge is a flexure coupled between said base portion and said cover portion.

22. A force feedback mouse device as recited in claim 1 wherein said cover portion is rotatably coupled to said base portion, wherein said cover portion is rotated only a short distance such that said cover portion is moved approximately linearly and approximately perpendicular to said two planar degrees of freedom.

23. A tactile feedback mouse coupled to a host computer system implementing a host application program, the mouse comprising:

a housing physically contacted by a hand of a user and movable in a plurality of degrees of freedom, two of said degrees of freedom being substantially in a single plane, wherein a cover portion of said housing is contacted by at least a portion of a palm of said hand of said user when said user operates said mouse, said cover portion being rotatably coupled to a base portion of said housing;

at least one sensor coupled to said housing and operative to detect a position of said housing in said two planar degrees of freedom and to output a sensor signal representative of said movement;

an actuator coupled to said housing and operative to apply a linear output force in a direction approximately perpendicular to said two planar degrees of freedom, said force applied to said cover portion of said housing rested upon by said palm of said user'"'"'s hand such that said cover portion is rotated with respect to said base portion, said rotation causing a tactile sensation to said user'"'"'s palm; and

at least one button coupled to said housing that causes an input signal to be sent to said host computer system when said button is pressed by said user.

24. A tactile feedback mouse as recited in claim 23 wherein said cover portion is rotated a short distance such that said cover portion is moved approximately linearly and approximately perpendicular to said two planar degrees of freedom.

25. A tactile feedback mouse as recited in claim 23 wherein said cover portion is coupled to said base portion by a hinge.

26. A tactile feedback mouse as recited in claim 23 further comprising a microprocessor separate from said host computer system and local to said mouse, said microprocessor receiving force information from said host computer system and providing control signals to said actuator based at least in part on said force information.

27. A tactile feedback mouse as recited in claim 26 wherein said microprocessor receives said sensor signal from said at least one sensor and reports sensor data based on said sensor signal to said host computer system.

28. A tactile feedback mouse as recited in claim 23 wherein said actuator is a linear actuator.

29. A tactile feedback mouse as recited in claim 28 wherein said linear actuator is a voice coil actuator.

30. A tactile feedback mouse as recited in claim 23 wherein said at least one sensor includes two sensors, each of said sensors detecting movement of said housing in one of said degrees of freedom in said single plane.

31. A tactile feedback mouse as recited in claim 23 wherein said output force is correlated with a graphical representation displayed by said host computer system, wherein a position of said housing in said plane corresponds with a position of a user-controlled cursor displayed in said graphical representation.

32. A tactile feedback mouse as recited in claim 31 wherein said output force is a jolt correlated with the interaction of said cursor with a graphical object displayed in a graphical user interface.

33. A tactile feedback mouse as recited in claim 31 wherein said output force is a jolt or a vibration having a magnitude dependent on a characteristic of said graphical object with which said cursor interacts.

34. A tactile feedback mouse as recited in claim 33 wherein said magnitude of said jolt or said vibration is different when said cursor interacts with an active window than when said cursor interacts with a background window.

35. A tactile feedback mouse as recited in claim 33 wherein said magnitude of said jolt or said vibration is different when said cursor interacts with an icon associated with one application program than when said cursor interacts with an icon associated with a different application program.

36. A tactile feedback mouse as recited in claim 33 wherein said graphical representation is a game, and wherein said magnitude of said jolt or said vibration is based on a severity of a collision or explosion in said game.

37. A tactile feedback mouse as recited in claim 31 wherein said output force is part of a texture sensation, wherein a spacing between bumps of said texture sensation is dependent on a characteristic of a graphical object with which said cursor interacts.

38. A tactile feedback mouse as recited in claim 31 wherein said output force is a vibration that is output while said cursor is positioned inside a boundary of said graphical object.

39. A tactile feedback mouse as recited in claim 31 wherein said graphical representation includes a representation of a 3-D area having different elevations, and wherein said output force is correlated with an elevation of a portion of said graphical representation on which said cursor is displayed.

40. A tactile feedback mouse as recited in claim 31 wherein said cover portion is moved to different distances from said base portion based on a simulated elevation of an area or object displayed in said graphical representation with which said cursor interacts.

41. A tactile feedback mouse as recited in claim 23 wherein said tactile sensation is one of a vibration and texture force.

42. A method for providing tactile sensations to a user of a host computer, wherein a mouse interface device is coupled to a host computer displaying a graphical environment, the method comprising:

providing a mouse interface device that is moveable in a plurality of degrees of freedom by said user, two of said degrees of freedom being substantially in a single plane, said mouse device having a cover portion and a base portion, wherein said cover portion is coupled to said base portion by a hinge and can be moved with respect to said base portion, wherein said cover portion is physically contacted by a palm of a hand of said user;

providing sensor data to said host computer, said sensor data representing a position of said mouse device in said two planar degrees of freedom;

receiving tactile data from said host computer, said tactile data describing, at least in part, a tactile sensation to be output to said user;

causing an actuator to move said cover portion of said mouse device with respect to said base portion of said mouse device using said tactile data, said movement causing said cover portion to move approximately perpendicularly to said two planar degrees of freedom and providing said tactile sensation to said user.

43. A method as recited in claim 42 wherein said tactile sensation is a jolt or a vibration.

44. A method as recited in claim 42 wherein said user contacts said cover portion with a palm of a hand of said user, said cover portion including at least a portion of a top surface of said mouse housing.

45. A method as recited in claim 42 wherein said tactile sensation is output when a user-controlled cursor displayed in said graphical environment interacts with a graphical object displayed in said graphical environment.