Control knob with multiple degrees of freedom and force feedback

• US 6,154,201 A
• Filed: 10/26/1998
• Issued: 11/28/2000
• Est. Priority Date: 11/26/1996
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Martin, Kenneth M., Schena, Bruce M., Rosenberg, Louis B., Braun, Adam C., Levin, Michael D.
• Primary Examiner(s): Saras, Steven J.
• Assistant Examiner(s): ENGLISH, ALECIA DIANE
• Application Number:
  US09/179,382
• Time in Patent Office: 764 Days
• Field of Search: 345/184, 345/156, 345/161, 345/970, 345/974, 74/471 XY, 74/485, 74/553, 463/38, 463/370, 463/30, 318/109, 318/685, 341/20, 341/22, 341/35, 364/188, 200/566, 381/109
• US Class Current: 345/184
• 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: G01C 21/3664 Details of the user input interface, e.g. buttons, knobs or sliders, including those provided on a touch screen; remote controllers; input using gestures
• CPC Class Codes: G05G 2009/0477 holding the member in a number of definite positions
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• 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 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0219 Special purpose keyboards
• 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 3/03548 Sliders, in which the moving part moves in a plane
• 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: G06F 3/0395 Mouse pads
• CPC Class Codes: G06F 3/0482 Interaction with lists of selectable items, e.g. menus
• CPC Class Codes: G06F 3/0485 Scrolling or panning
• CPC Class Codes: H01H 2003/008 with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction
• CPC Class Codes: Y10S 715/97 Instrumentation and component modelling, e.g. interactive control panel
• CPC Class Codes: Y10T 74/20262 Rotary control shaft

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 control knob device for providing input to a processor of a device, said control knob comprising:

a control knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a plurality of transverse directions approximately perpendicular to said axis;

a rotational sensor that detects a rotary position of said knob in said rotary degree of freedom, said position of said knob provided to said processor;

a transverse sensor operative to detect a transverse position of said knob in any of said transverse directions, wherein said position of said knob in a particular transverse direction is provided to said processor to select one of a plurality of modes of said device to be active, wherein at least two of said transverse directions each select a different one of said modes; and

an actuator coupled to said knob and operative to output a processor-controlled force sensation in said rotary degree of freedom about said axis, wherein said force sensation is based on said selected mode, and wherein one of said modes, when active, provides different force sensations to said knob than another one of said modes, when active.

2. A control knob device as recited in claim 1 wherein said knob is also moveable in a linear degree of freedom approximately parallel to said axis, and further comprising a linear sensor operative to detect a position of said knob in said linear degree of freedom.

3. A control knob device as recited in claim 2 wherein said knob can be pushed by a user, said pushing motion being detected by said linear sensor.

4. A control knob device as recited in claim 2 wherein said knob can be pulled by a user, said pulling motion being detected by said linear sensor.

5. A control knob device as recited in claim 1 wherein said knob is moveable in at least four transverse directions, and wherein said transverse sensor is operative to detect when said knob is moved in any of said transverse directions.

6. A control knob device recited in claim 1 wherein said transverse sensor includes a hat switch having a plurality of individual switches, each of said individual switches detecting movement of said knob in a particular transverse direction.

7. A control knob device as recited in claim 6 wherein said knob is moveable in four transverse directions spaced approximately orthogonal to each other, and wherein said hat switch includes four individual switches.

8. A control knob device as recited in claim 1 wherein said processor includes a microprocessor coupled to said rotational sensor and to said transverse sensor, said microprocessor receiving sensor signals from said sensors and controlling said modes in response to said sensor signals.

9. A control knob device as recited in claim 8 wherein said rotary position of said knob controls an audio function of a vehicular audio system.

10. A control knob device as recited in claim 1 wherein said processor includes a microprocessor coupled to said rotational sensor and to said transverse sensor, said microprocessor receiving sensor signals from said sensors and controlling said modes of device in response to said sensor signals, said microprocessor sending force feedback signals to said actuator to control forces output by said actuator.

11. A control knob device as recited in claim 1 further comprising a display, wherein an image on said display is changed in response to manipulation of said knob in said transverse direction.

12. A control knob device as recited in claim 1 wherein a flexible member is coupled between said knob and said actuator to allow said movement in said tranverse direction.

13. A control knob device as recited in claim 12 wherein said flexible member is a spring member.

14. A control knob device as recited in claim 12 wherein said flexible member includes a base plate and a plurality of bent flexible portions coupled to said base plate.

51. A knob device as recited in claim 1 wherein said rotary position of said knob determines a particular setting within said mode selected by said transverse position, said setting being adjustable by varying said rotary position of said knob.

52. A knob device as recited in claim 51 wherein said modes are applicable to a vehicle and include a fan speed adjustment mode, a temperature adjustment mode, and a mechanical component moving mode.

53. A knob device as recited in claim 1 wherein said modes include a position control mode and a rate control mode.

54. A knob device as recited in claim 1 wherein said force sensation associated with one of said modes includes force detents.

55. A knob device as recited in claim 54 wherein said force sensation associated with a different one of said modes is a spring sensation.

56. A knob device as recited in claim 1 wherein said processor-controlled force sensation is based on said rotary position of said knob or motion of said knob in said rotary degree of freedom.

57. A knob device as recited in claim 2 wherein said motion in said linear degree of freedom inputs a selection input to said processor to select a highlighted option displayed on a display screen of said device.

58. A knob device as recited in claim 1 wherein said transverse position of said knob is a map manipulation function of a navigation system, said navigation system displaying a geographical map on said display screen.

15. A control knob device for providing input to a control processor, said knob device comprising:

a control knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a linear degree of freedom approximately parallel to said axis and in a plurality of transverse directions approximately perpendicular to said axis;

a rotational sensor that detects a rotary position of said knob in said rotary degree of freedom;

a linear sensor that detects a linear position of said knob in said linear degree of freedom;

a transverse switch device that detects a transverse position of said knob in any of said transverse directions; and

an actuator coupled to said knob and operative to output a force sensation in said rotary degree of freedom about said axis, wherein said force sensation is based on a mode selected by said transverse position, said mode being one of a plurality of modes provided by said control processor, and

wherein said rotary position and said linear position are provided to said control processor to control a function of an electronic device coupled to said control processor, said function provided in said selected mode.

16. A control knob device as recited in claim 15 wherein said processor includes a microprocessor coupled to said rotational sensor and to said linear sensor, said microprocessor receiving sensor signals from said sensors and controlling said function of said electronic device in response to said sensor signals, said microprocessor sending force feedback signals to said actuator to control forces output by said actuator.

17. A control knob device as recited in claim 15 wherein said knob can be pushed by a user, said pushing motion being detected by said linear sensor.

18. A control knob device as recited in claim 15 wherein said knob can be pulled by a user, said pulling motion being detected by said linear sensor.

19. A control knob device as recited in claim 15 wherein said knob can be pushed or pulled by a user, said pushing motion and said pulling motion being detected by said linear sensor.

20. A control knob device as recited in claim 15 further comprising a flexible member that provides a spring force on said knob in a transverse direction towards a center position of said knob when said knob is moved in a direction opposite to said transverse direction.

21. A control knob device as recited in claim 15 further comprising a spring member for biasing said knob to a center position in said linear degree of freedom.

22. A control knob device as recited in claim 15 wherein said linear sensor includes a grounded switch that is contacted by a pusher member coupled to said knob when said knob is moved in said linear degree of freedom.

23. A control knob device as recited in claim 15 wherein said linear sensor detects a position of said knob within a detectable continuous range of motion of said knob, and wherein said linear sensor outputs a sensor signal indicative of said position.

59. A knob device as recited in claim 15 wherein said processor is a vehicular processor that controls a plurality of functions of one or more vehicular systems in a vehicle.

60. A knob device as recited in claim 15 wherein said function of said electronic device controlled by said rotary position includes at least one of a volume, a channel selection, and a temperature control, and wherein said linear position controls the selection of said function by said user.

24. A method for controlling functions of a device from input provided by a control knob, the method comprising:

reading a rotary sensor signal from a rotary sensor, said rotary sensor signal being representative of a position of a control knob in a rotary degree of freedom about an axis extending through said knob;

reading a transverse switch signal from a transverse switch, said transverse switch signal indicating when said knob is moved in a transverse degree of freedom approximately perpendicular to said axis;

reading a linear sensor signal from a linear sensor, said linear sensor signal being representative of a position of said knob in a linear degree of freedom approximately parallel to said axis;

using at least one of said rotary sensor signal and said transverse switch signal to select a mode for controlling a function of said device;

using said linear sensor signal to select a setting within said selected mode; and

providing a force feedback signal to an actuator that is coupled to said knob, said force feedback signal being based at least in part on said selected mode, wherein said force feedback signal is used to output a force sensation on said knob.

25. A method as recited in claim 24 wherein said force feedback signal is also based at least in part on said rotary sensor signal.

26. A method as recited in claim 24 wherein said device is a vehicular device and said modes include at least two of a radio frequency mode for adjusting a frequency of a radio tuner, a temperature mode for adjusting a temperature in an area of a vehicle, and a mechanical component mode for controlling a physical position of a mechanical component in said vehicle.

27. A method as recited in claim 24 wherein said device is a vehicular device and said function of said vehicular device includes adjusting a displayed image based on at least one said rotary sensor signal and said transverse switch signal.

61. A method as recited in claim 26, wherein said transverse switch signal picks said mode, said linear position selects said mode, said rotary position adjusts an audio volume, temperature setting, or physical component position in said mode.

62. A method as recited in claim 24 wherein said force feedback signal controls a different force sensation for different selected modes.

28. An interface control device including force feedback and providing rate control and position control modes to control a value used in an electronic device, the interface control device comprising:

a user manipulatable object grasped by a user and movable in a degree of freedom to adjust said value;

an actuator coupled to said user manipulatable object and providing forces on said user manipulatable object in said degree of freedom;

a sensor that detects a position of said user manipulatable object in said degree of freedom and outputs a sensor signal including information representing said position; and

a microprocessor coupled to said actuator and to said sensor, said microprocessor controlling said forces provided by said actuator and receiving said sensor signal from said sensor, wherein said microprocessor is capable of commanding a position control mode and a rate control mode for said user manipulatable object, wherein one of said position control mode and rate control mode is active for said interface control device at any one time, said commanded mode being based on selection input from said user, wherein said position control mode sets said value directly based on a position of said user manipulatable object in said degree of freedom, and wherein said rate control mode controls a rate of change of said value based on a position of said user manipulatable object in said degree of freedom with respect to an origin position in said degree of freedom.

29. An interface control device as recited in claim 28 wherein said degree of freedom is a rotary degree of freedom, and wherein said user manipulatable object includes a rotary knob.

30. An interface control device as recited in claim 28 wherein said degree of freedom is a linear degree of freedom, and wherein said user manipulatable object includes a slider control knob.

31. An interface control device as recited in claim 28 wherein said rate control mode provides a force on said user manipulatable object using said actuator, said force being applied in a direction opposing a movement of said user manipulatable object away from said origin position.

32. An interface control device as recited in claim 31 wherein said force opposing said movement is a spring force.

33. An interface control device as recited in claim 29 wherein said microprocessor controls said actuator to output at least one force detent during movement of said knob in said position control mode.

34. An interface control device as recited in claim 28 wherein said microprocessor controls said actuator to output at least one force jolt during said change of said value in said rate control mode.

35. An interface control device as recited in claim 28 wherein said rate control mode is used to control the value of a volume, bass, treble, or balance function of said device.

36. An interface control device as recited in claim 28 wherein said position control mode is used to control the value of a volume, bass, treble, or balance function of said device.

37. An interface control device as recited in claim 28 wherein said rate control mode is used to control a position of a physical component in a vehicle.

63. An interface control device as recited in claim 28 wherein said microprocessor is included in said electronic device and controls a function of said electronic device with said value.

66. An interface control device as recited in claim 32 wherein said force output in said rate control mode also includes at least one force jolt output during said change of said value in said rate control mode.

38. A method for providing detent forces for a force feedback control, the method comprising:

outputting a first force for a first detent on a user manipulatable object contacted by a user and moveable in a degree of freedom, said first force being output when said user manipulatable object is moved within a range of said first detent, said first force being output by a electronically-controlled actuator, wherein said first force assists movement of said user manipulatable object toward an origin position of said first detent and wherein said first force resists movement of said user manipulatable object away from said origin position of said first detent, and wherein said first force has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said first detent; and

outputting a second force for a second detent on said user manipulatable object when said user manipulatable object is moved within a range of said second detent, said second force being output by said actuator and said second detent having an origin position different from said origin position of said first detent, wherein said second force assists movement of said user manipulatable object toward an origin position of said second detent and wherein said second force resists movement of said user manipulatable object away from said origin position of said second detent, and wherein said second force has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said second detent, wherein a portion of said range of said first detent overlaps a portion of said range of said second detent.

39. A method as recited in claim 38 wherein said magnitude increases for said first and second forces have a predetermined range, outside of which said magnitude goes to zero.

40. A method as recited in claim 38 wherein a deadband is provided around said origin of said first detent and around said origin of said second detent, wherein a magnitude of said first force and said second force is zero when said user manipulatable object is positioned within said deadband.

41. A method as recited in claim 38 wherein when said user manipulatable object is moved in a particular direction from said first detent to said second detent, said first detent range has an endpoint positioned after a beginning point of said second detent range such that a force at said beginning point of said second detent range has less magnitude than a force at an endpoint of said second detent range.

42. A method as recited in claim 41 wherein when said user manipulatable object is moved in a direction opposite to said particular direction from said second detent to said first detent, a force at a first-encountered point of said first detent range has less magnitude than a force at a last-encountered point of said first detent range.

43. A method as recited in claim 41 wherein said first detent range does not overlap past said origin of said second detent.

44. A method as recited in claim 38 wherein said user manipulatable object is a knob and said degree of freedom is a rotary degree of freedom.

45. A method for providing detent forces for a force feedback control, the method comprising:

defining a periodic wave;

using at least a portion of said periodic wave to define a detent force curve, said detent force curve defining a force to be output on a user manipulatable object based on a position of said user manipulatable object in a degree of freedom, said user manipulatable object being contacted and moveable by a user; and

using data describing said detent force curve to command said force on said user manipulatable object, said force being output by a electronically-controlled actuator.

46. A method as recited in claim 45 wherein said defining a periodic wave includes specifying a type, a period and a magnitude for said periodic wave.

47. A method as recited in claim 45 wherein said using at least a portion of said periodic wave to define a detent force curve includes specifying a portion of said periodic wave to define a width of said detent force curve.

48. A method as recited in claim 47 wherein said using at least a portion of said periodic wave to define a detent force curve includes specifying a phase and an offset to be applied to said periodic wave to define said detent force curve.

49. A method as recited in claim 45 wherein said using at least a portion of said periodic wave to define a detent force curve includes specifying an increment distance, wherein successive detent force curves in said degree of freedom are spaced apart by said increment distance.

50. A method as recited in claim 45 wherein said user manipulatable object is a knob moveable in a rotary degree of freedom.

64. An interface control device as recited in 28 wherein said force output by said actuator provides a force sensation that is different in said position control mode than in said rate control mode.

65. An interface control device as recited in claim 64 wherein said force output in said position control mode includes at least one force detent output during movement of said user manipulatable object, and wherein said force output in said rate control mode is a spring force opposing motion of said user manipulatable object away from said origin position.

68. A knob controller device as recited in claim 65 wherein said knob is moveable in four transverse directions spaced approximately orthogonal to each other, and wherein said hat switch includes four individual switches.

67. A knob controller device comprising:

a knob coupled to a grounded surface, said knob rotatable in a rotary degree of freedom about an axis extending through said knob, said knob also moveable in a transverse direction approximately perpendicular to said axis;

a rotational sensor that detects a position of said knob in said rotary degree of freedom;

a transverse sensor operative to detect a position of said knob in said transverse direction, wherein said transverse sensor includes a hat switch having a plurality of individual switches, each of said individual switches detecting movement of said knob in a particular transverse direction; and

an actuator coupled to said knob and operative to output a force in said rotary degree of freedom about said axis.

69. An interface control device including force feedback and providing rate control and position control modes, the interface control device comprising:

a user manipulatable object grasped by a user and movable in a degree of freedom;

an actuator coupled to said user manipulatable object and providing forces on said user manipulatable object in said degree of freedom;

a sensor that detects a position of said user manipulatable object in said degree of freedom and outputs a sensor signal including information representing said position; and

a microprocessor coupled to said actuator and to said sensor, said microprocessor controlling said forces provided by said actuator and receiving said sensor signal from said sensor, wherein said microprocessor is capable of commanding a position control mode and a rate control mode for said user manipulatable object, wherein one of said position control mode and rate control mode is active for said interface control device at any one time, wherein said position control mode controls a value based on a position of said user manipulatable object in said degree of freedom, and wherein said rate control mode controls a rate of change of said value based on a position of said user manipulatable object in said degree of freedom, and wherein said microprocessor controls said actuator to output at least one force detent during movement of said user manipulatable object in said position control mode.

70. A method for providing detent forces for a force feedback control, the method comprising:

outputting a first force for a first detent on a knob contacted by a user and moveable in a rotary degree of freedom, said first force being output when said knob is moved within a range of said first detent, said first force being output by a electronically-controlled actuator, wherein said first force assists movement of said knob toward an origin position of said first detent and wherein said first force resists movement of said knob away from said origin position of said first detent; and

outputting a second force for a second detent on said knob when said knob is moved within a range of said second detent, said second force being output by said actuator and said second detent having an origin position different from said origin position of said first detent, wherein said second force assists movement of said knob toward an origin position of said second detent and wherein said second force resists movement of said knob away from said origin position of said second detent, wherein a portion of said range of said first detent overlaps a portion of said range of said second detent.

71. A method as recited in claim 70 wherein when said user manipulatable object is moved in a particular direction from said first detent to said second detent, said first detent range has an endpoint positioned after a beginning point of said second detent range such that a force at said beginning point of said second detent range has less magnitude than a force at an endpoint of said second detent range.

72. A method as recited in claim 71 wherein said first force for said first detent has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said first detent, and wherein said second force for said second detent has a magnitude that increases the further that said user manipulatable object is positioned from said origin of said second detent.

73. A method as recited in claim 71 wherein said first detent range does not overlap past said origin of said second detent.