Haptic feedback control devices
First Claim
1. A haptic feedback control device for inputting control signals to a computer and for outputting forces to a user of the control device, the control device comprising:
- a grip;
a pair of moveable pincher members coupled to said grip and each contacted by a finger of said user when said device is operated, each of said pincher members being moveable in a degree of freedom, both of said degrees of freedom approximately within a single plane, wherein when a first one of said pincher members is moved, a second one of said pincher members is also moved approximately the same distance either towards or away from said first pincher member;
an actuator coupled to said pair of pincher members, said actuator outputting a force on said pincher members in said degrees of freedom of said pincher members; and
a sensor that detects a position of both said pincher members in said degree of freedom and outputs a sensor signal indicative of said position which is received by said computer.
3 Assignments
0 Petitions
Accused Products
Abstract
Haptic feedback control devices of the present invention include several embodiments. One embodiment includes a housing and a pair of moveable pincher members coupled to the housing. Each pincher member is contacted by a finger of the user when the device is operated and moveable in a degree of freedom approximately within a single plane. An actuator outputs force feedback on the pincher members and a sensor detects a position of the pincher members in the degrees of freedom. The device housing can include a fixed portion and a moveable portion, where the user contacts both fixed and moveable portions. A coupling, such as a flexure, allows the moveable portion to move relative to the fixed portion in a direction parallel to an outer surface of the moveable portion contacted by the user. An actuator outputs a force on the flexure to cause the moveable portion to move, such as an oscillating force to cause vibration. These improvements allow a user to feel force feedback and tactile feedback when operating the device. Applications include telemanipulator devices as well as interface devices and game controllers for computers.
466 Citations
50 Claims
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1. A haptic feedback control device for inputting control signals to a computer and for outputting forces to a user of the control device, the control device comprising:
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a grip;
a pair of moveable pincher members coupled to said grip and each contacted by a finger of said user when said device is operated, each of said pincher members being moveable in a degree of freedom, both of said degrees of freedom approximately within a single plane, wherein when a first one of said pincher members is moved, a second one of said pincher members is also moved approximately the same distance either towards or away from said first pincher member;
an actuator coupled to said pair of pincher members, said actuator outputting a force on said pincher members in said degrees of freedom of said pincher members; and
a sensor that detects a position of both said pincher members in said degree of freedom and outputs a sensor signal indicative of said position which is received by said computer. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
a housing that includes said grip, said housing having a moveable portion and a fixed portion, wherein said moveable portion is moveable with respect to said fixed portion;
a second actuator coupled to said moveable portion, said second actuator outputting a force to cause said moveable portion to move.
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12. A haptic feedback control device as recited in claim 11 further comprising a flexure coupled between said second actuator and said moveable portion.
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13. A haptic feedback control device as recited in claim 12 wherein said actuator causes said moveable portion to vibrate with respect to said fixed portion.
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14. A haptic feedback control device as recited in claim 1 wherein said control device is a master device in a telemanipulator system such that said grip is coupled to a linkage of a plurality of members to provide at least three degrees of freedom of motion to said control device, and wherein said computer controls a slave device in response to motion of said master device.
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15. A haptic feedback control device as recited in claim 14 wherein said slave device includes an arm linkage and an opening/closing gripper, said gripper being controlled by said pincher members.
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16. A haptic feedback control device as recited in claim 1 further comprising a roller coupled to said housing and operative to rotate about an axis, and a sensor coupled to said roller and operative to output a sensor signal indicative of a position of said roller about said axis.
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17. A haptic feedback control device for inputting control signals to a computer and for outputting forces to a user of the control device, the control device comprising:
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a housing including a fixed portion and a moveable portion, wherein said user engages both said fixed portion and said moveable portion of said housing when using said device;
a coupling coupled between said moveable portion and said fixed portion and allowing said moveable portion to move relative to said fixed portion in a direction parallel to an outer surface of said moveable portion, said portion of said outer surface being contacted by said user when said housing is grasped by said user; and
an actuator coupled to said coupling, said actuator outputting a force on said coupling to cause said moveable portion to move with respect to said fixed portion. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. An interface device including haptic feedback and coupled to a host computer, the interface device comprising:
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a housing including a fixed portion and a moveable portion, wherein a user grips an outer surface of said housing when using said device;
an engageable control operative to receive a user'"'"'s finger through an opening in said moveable portion in said housing such that said moveable portion at least partially surrounds said engageable control, said engageable control outputting a signal when engaged by said user'"'"'s finger, said signal being received by said host computer; and
an actuator coupled to said housing and operative to output a force on said moveable portion of said housing to cause said moveable portion to vibrate with respect to said fixed portion of said housing such that said user engaging said control with said finger feels a shear vibration on said finger. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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44. A method for controlling an object with a haptic feedback control device, the method comprising:
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outputting a control signal to a computer, said control signal including information describing a manipulation by a user of said haptic feedback control device, wherein said manipulation includes moving a finger pad of said control device in a degree of freedom such that said information in said control signal includes a representation of a position of said finger pad in said degree of freedom; and
receiving haptic feedback signals from said computer, said haptic feedback signals including;
information causing a force to be output on said finger pad in said degree of freedom, and information causing a vibration of a moveable portion of a housing of said control device surrounding said finger pad. - View Dependent Claims (45, 46, 47, 48, 49, 50)
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Specification