Control knob with control modes and force feedback

• US 6,686,911 B1
• Filed: 10/02/2000
• Issued: 02/03/2004
• Est. Priority Date: 11/26/1996
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Braun, Adam C., Levin, Michael D., Martin, Kenneth M., Schena, Bruce M., Rosenberg, Louis B.
• Primary Examiner(s): Saras, Steven
• Assistant Examiner(s): ENGLISH, ALECIA DIANE
• Application Number:
  US09/680,408
• Time in Patent Office: 1,219 Days
• Field of Search: 345/184, 345/156, 345/161, 345/970, 345/974, 364/188, 200/566
• 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: 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 3/0362 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: 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: Y10S 715/974 Slider control as on-screen object in operator interface
• CPC Class Codes: Y10T 74/20201 Control moves in two planes

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. 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 at least one degree of freedom to adjust said value;

an actuator operative to provide forces on said user manipulatable object in said degree of freedom;

a sensor operative to detect a position of said user manipulatable object in said at least one degree of freedom and outputs a sensor signal including information representing said position; and

at least one microprocessor operative to control said actuator and read values from said sensor, said at least one 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.

2. An interface control device as recited in claim 1 wherein said at least one degree of freedom includes a rotary degree of freedom, and wherein said user manipulatable object includes a rotary knob.

3. An interface control device as recited in claim 1 wherein said at least one degree of freedom includes a linear degree of freedom, and wherein said user manipulatable object includes a slider control knob.

4. An interface control device as recited in claim 1 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 an origin position.

5. An interface control device as recited in claim 1 wherein said force opposing said movement is a spring force.

6. An interface control device as recited in claim 1 wherein said microprocessor controls said actuator to output at least one force detent during movement of said knob in said position control mode.

7. An interface control device as recited in claim 1 wherein said rate of change is related to a displacement of said user manipulatable with respect to an origin position.

8. An interface control device as recited in claim 1 wherein said rate control mode is used to control the value of a volume, bass, treble, or balance function of said device.

9. An interface control device as recited in claim 1 wherein said position control mode is used to control the value of a volume, bass, treble, or balance function of said device.

10. An interface control device as recited in claim 1 wherein said rate control mode is used to control a position of a physical component in a vehicle.

11. An interface control device as recited in claim 1 wherein said rate control mode applies a spring restoring force to said user manipulatable object in a direction toward said origin position, wherein said rate of change of said value is zero at said origin position.

12. An interface control device as recited in claim 1 wherein said at least one microprocessor includes two microprocessors used in conjunction, said two microprocessors including a local microprocessor controlling at least some of force sensations output on said user manipulatable object, and a host controller controlling a user interface of said electronic device.

13. A control knob device for providing output input to a vehicular processor provided in a vehicle, 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 movable in a plurality of transverse directions approximately perpendicular to said axis;

a transverse sensor operative to detect a transverse position of said knob in any of said transverse directions, said position of said knob in said transverse direction provided to said vehicular processor to select a mode of a vehicular system;

a rotational sensor operative to detect a rotary position of said knob in said rotary degree of freedom, said position of said knob provided in said vehicular processor to control a function within said selected mode of said vehicular system; and

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

14. A control knob device as recited in claim 13 wherein said knob is also movable 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.

15. A control knob device as recited in claim 13 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.

16. A control knob device as recited in claim 13 further comprising a microprocessor coupled to said rotational sensor and to said transverse sensor, said microprocessor receiving sensor signals from said sensors and controlling a function of a 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 16 wherein said device is an audio device.

18. A control knob device as recited in claim 13 further comprising a display, wherein an image on said display is changed in response to manipulation of said knob in said transverse direction.

19. 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 operative to provide forces on said user manipulatable object in said degree of freedom;

a sensor operative to detect a position of said user manipulatable object in said degree of freedom and outputs a sensor signal including information representing said position; and

one or more microprocessors operative to control said forces provided by said actuator and receive said sensor signal from said sensor, wherein said one or more microprocessors are 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 one or more microprocessors control said actuator to output at least one force detent during movement of said user manipulatable object in said position control mode.

20. An interface control device as recited in claim 19 wherein said rate control mode applies a spring restoring force to said user manipulatable object in a direction toward an origin position, wherein said rate of change of said value is zero at said origin position.

21. An interface control device as recited in claim 19 wherein one or more microprocessors includes two microprocessors used in conjunction, said two microprocessors including a local microprocessor controlling at least some of force sensations output on said user manipulatable object, and a host controller controlling a user interface of said electronic device.

22. A programmable tactile interface comprising:

a rotary wheel to be manipulated by a user;

a sensor able to detect the rotary motion of said wheel;

an actuator coupled to said rotary wheel and able to apply tactile sensations to said wheel; and

a processor electrically coupled to said sensor and to said actuator, said processor controlling said actuator to enable both isometric and isotonic interface modes for said rotary wheel, such that when said wheel is in isometric mode, a spring return sensation is felt by said user when rotating said wheel, and when said wheel is in isotonic mode, spatial detents are felt by said user when rotating said wheel.

23. A programmable tactile interface as recited in claim 22 wherein information from said sensor is used to update a graphical user interface.

24. A programmable tactile interface as recited in claim 23 wherein said graphical user interface displays a menu or list of items such that rotation of said rotary wheel allows the user to select said items in said menu or list.

25. A programmable tactile interface as recited in claim 24 wherein said isometric mode allows said user to scroll through said menu or list using said wheel, wherein a speed of scrolling said menu or list is based on how hard the user pushes against said spring return sensation.

26. A programmable tactile interface as recited in claim 25 wherein temporal sensations are overlaid on top of said spring return sensation, said temporal sensations indicating said speed of scrolling.

27. A programmable tactile interface as recited in claim 26 wherein said temporal sensations are jolts.

28. A programmable tactile interface as recited in claim 26 wherein said temporal sensations are vibrations.

29. A programmable tactile interface as recited in claim 25 wherein a jolt or vibration sensation is overlaid on top of said spring return sensation to indicate that an end of travel has been reached in said scrolled menu or list.

30. A programmable tactile interface as recited in claim 25 wherein a jolt or vibration sensation is overlaid on top of said spring return sensation to indicate that a page-break has been scrolled past in said scrolled menu or list.

31. A programmable tactile interface as recited in claim 22 wherein said programmable tactile interface is used to control audio/video equipment, wherein said isotonic mode is used to control at least one of volume, balance, or station selection, and wherein said isometric mode is used for scrolling through a menu or list.

32. A programmable tactile interface as recited in claim 22 wherein said programmable tactile interface is used to control audio/video equipment, wherein said isotonic mode is used when selecting discrete stations, wherein detent force sensations output on said wheel are associated with a plurality of said stations, and wherein said isometric mode is used when rewinding or fast-forwarding through image and/or sound data.

33. A method for providing a programmable tactile interface that enables scrolling of a graphical list, said method comprising:

providing a rotary wheel to be implemented by a user;

providing a sensor for detecting the rotary motion of said wheel;

providing an actuator for applying tactile sensations to said wheel;

enabling an isometric control mode for said rotary wheel such that a user can displace said wheel against a simulated spring return generated by said actuator, said displacement of said wheel affecting a speed of scrolling of said graphical list; and

enabling temporal tactile sensations to be imparted in conjunction with said simulated spring return, said temporal tactile sensations indicating items scrolling by.

34. A method as recited in claim 33 wherein said temporal tactile sensation indicates a page break scrolling by.

35. A programmable tactile interface comprising:

providing a rotary wheel to be manipulated by a user;

providing a sensor able to detect the rotary motion of said wheel;

providing an actuator coupled to said rotary wheel and able to apply tactile sensations to said wheel; and

enabling a processor electrically coupled to said sensor and to said actuator, said processor controlling said actuator to enable both isometric and isometric interface modes for said rotary wheel, such that when said wheel is in isometric mode, a spring return sensation is felt by said user when rotating said wheel, and when said wheel is in isotonic mode, spatial detents are felt by said user when rotating said wheel.

36. A method as recited in claim 35 wherein information from said sensor is used to update a graphical user interface.

37. A method as recited in claim 36 wherein said graphical user interface displays a menu or list of items such that rotation of said rotary wheel allows the user to select said items in said menu or list.

38. A method as recited in claim 37 wherein said isometric mode allows said user to scroll through said menu or list using said wheel, wherein a speed of scrolling said menu or list is based on how hard the user pushes against said spring return sensation.

39. A method as recited in claim 38 wherein temporal sensations are overlaid on top of said spring return sensation, said temporal sensations indicating said speed of scrolling.

40. A method as recited in claim 38 wherein a jolt or vibration sensation is overlaid on top of said spring return sensation to indicate that an end of travel has been reached in said scrolled menu or list.

41. A device comprising:

a manipulandum;

an actuator operable to output a force to said manipulandum;

a sensor operable to detect a position of said manipulandum and output a sensor signal, said sensor signal comprising information associated with said position; and

at least one microprocessor operable to control said actuator and receive said signal from said sensor, said at least one microprocessor operable to associate a value with said position of said manipulandum in a position control mode and to control a rate of change of said value in a rate control mode.

42. The device as recited in claim 41, wherein said force is associated with said sensor signal.

43. The device as recited in claim 41, wherein said manipulandum is operable to be displaced in at least one degree of freedom.

44. The device as recited in claim 41, wherein said at least one degree of freedom comprises a rotart degree of freedom.

45. The device as recited in claim 44, wherein said manipulandum is operable to be displaced in a plurality of transverse directions with respect to an axis of said rotary degree of freedom.

46. The device as recited in claim 45, wherein said sensor comprises a hat switch having a plurality of individual switches, each of said individual switches operable to detect a transverse position of said manipulandum in one of the plurality of said transverse directions.

47. The device as recited in claim 43, wherein said at least one degree of freedom comprises a linear degree of freedom.

48. The device as recited in claim 41, wherein said at least one microprocessor is operable to control said force to said manipulandum in said rate control mode.

49. The device as recited in claim 41, wherein said force comprises a biasing force.

50. The device as recited in claim 41, wherein said at least one microprocessor is in communication with said actuator and said sensor.

51. The device as recited in claim 41, wherein said actuator is operable to output at least one force detent during a displacement of said manipulandum in said position control mode.

52. The device as recited in claim 41, wherein said rate of change associates with a displacement of said manipulandum with respect to a designated position of said manipulandum.

53. The device as recited in claim 52, wherein said at least one microprocessor is operable to control a biasing force applied to said manipulandum in a direction toward said designated position in said rate control mode, wherein a value of said rate of change comprises zero at said designated position.

54. The device as recited in claim 41, wherein said at least one microprocessor is operable to control said position of said manipulandum in said rate control mode.

55. The device as recited in claim 41, wherein said at least one microprocessor comprises two microprocessors, said two microprocessors comprising a local microprocessor and a host controller, said local microprocessor operable to control said force to said manipulandum.

56. A device comprising:

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

means for sensing a displacement of said manipulandum in said first and second degrees of freedom;

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

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

a first microprocessor operable to control said force sensation output from said actuator and to receive a signal from said sensing means, said first microprocessor operable 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.

57. The device as recited in claim 56, wherein said first degree of freedom comprises a linear degree of freedom.

58. The device as recited in claim 56, wherein said first degree of freedom comprises a rotart degree of freedom.

59. The device as recited in claim 58, wherein said manipulandum is operable to be displaced in a plurality of transverse directions with respect to an axis of said rotary degree of freedom.

60. The device as recited in claim 59, wherein said sensor comprises a hat switch comprising a plurality of individual switches, each of said individual switches operable to detect a transverse position of said manipulandum in one of the plurality of said transverse directions.

61. The device as recited in claim 56, wherein said first microprocessor is operable to control said force sensation in said rate control mode.

62. The device as recited in claim 56, wherein said force sensation comprises at least on of a biasing force, a damping force, a texture force, a jolt, an obstruction force, an assistive force, a periodic force, and an end-of-travel force.

63. The device as recited in claim 56, wherein said first microprocessor is in communication with said actuator and said sensing means.

64. The device as recited in claim 56, wherein said actuator is operable to output a force detent during said displacement of said manipulandum in said position control mode.

65. The device as recited in claim 56, wherein said rate of change is associated with said displacement of said manipulandum with respect to a designated position of said manipulandum.

66. The device as recited in claim 65, wherein said first microprocessor is operable to control a biasing force applied to said manipulandum in a direction toward said designated position in said rate control mode, wherein a value of said rate of change comprises zero at said designated position.

67. The device as recited in claim 56, wherein said first microprocessor is operable to control said position of said manipulandum in said rate control mode.

68. The device as recited in claim 56, further comprising a second microprocessor operable to control said first microprocessor.