Force feedback and texture simulating interface device

• US 6,979,164 B2
• Filed: 11/15/1999
• Issued: 12/27/2005
• Est. Priority Date: 02/02/1990
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Kramer, James F.
• Primary Examiner(s): Underwood, Donald W.
• Application Number:
  US09/439,766
• Publication Number:
  US 20010043847A1
• Time in Patent Office: 2,234 Days
• Field of Search: 414/5, 414/4, 345/156, 703/7, 700/245, 700/264, 335/03, 340/407.1, 340/467, 318/568.16, 364/156
• US Class Current: 414/5
• CPC Class Codes: B25J 13/025 comprising haptic means
• 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 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A man-machine interface is disclosed which provides force, texture, pressure and temperature information to sensing body parts. The interface is comprised of a force-generating device (900) that produces a force which is transmitted to a force-applying device (902) via force-transmitting means (908). The force-applying device applies the generated force to a sensing body part. A force sensor (909) associated with the force-applying device measures the actual force applied to the sensing body part, while angle sensors (917) measure the angles of relevant joint body parts. A computing device (911) uses the joint body part position information to determine a desired force value to be applied to the sensing body part. The computing device combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device. In this manner, the computing device may control the actual force applied to a sensing body part to a desired force which depends upon the positions of related body parts. In addition, the interface is comprised of a displacement-generating device (901) which produces a displacement which is transmitted to a displacement-applying device (902) (e.g., a texture simulator) via displacement-generating means (920). The displacement-applying device applies the generated displacement to a sensing body part. The force-applying device and displacement-applying device may be combined to simultaneously provide force and displacement information to a sensing body part. Furthermore, pressure and temperature-applying devices may be combined to also provide pressure and temperature sensations to a sensing body part. In addition, a force-applying device may be attached to a sensing body part and apply force to the sensing body part, where the force is applied relative to a reference location not rigidly affixed to the living body.

Claims

1. An apparatus, comprising:

a force feedback member including a jointed hinge member having at least a first portion and a second portion, at least one of the first portion and the second portion configured to output a force associated with a position signal;

a first sensor configured to output the position signal, the position signal being associated with a position of the force feedback member;

an actuator, the actuator and the force feedback member collectively being configured to output force feedback based on the position signal; and

a second sensor configured to measure the force feedback output collectively by the actuator and the force feedback member.

2. An apparatus comprising:

a force feedback member including a force applying platform, the force applying platform configured to output a force associated with a force feedback;

a first sensor configured to output a position signal, the position signal configured to associate with a position of the force feedback member;

an actuator, the actuator and the force feedback member collectively configured to output the force feedback in response to the position signal;

a second sensor configured to measure the force feedback output collectively by the actuator and the force feedback member; and

a force feedback interface, the force applying platform being biased away from the force feedback interface by a biasing member.

3. An apparatus comprising:

a force feedback member including a force applying platform, the force applying platform being configured to output a force associated with a force feedback;

a first sensor configured to output a position signal, the position signal being associated with a position of the force feedback member;

an actuator, the actuator and the force feedback member collectively being configured to output the force feedback based on the position signal; and

a second sensor configured to measure the force feedback output collectively by the actuator and the force feedback member, the second sensor including a force sensing platform, the force sensing platform being configured to determine a magnitude of the force applied by the force applying platform.

4. The apparatus of claim 3, wherein the force feedback is applied at least in part by a fluid.

5. The apparatus of claim 3, wherein:

the force feedback is a simulated texture; and

the force applying platform including at least one texture-simulating element configured to simulate texture associated with the force feedback.

8. The apparatus of claim 3, wherein the force feedback member further includes:

an elongated element; and

at least one guide element coupled to the elongated element, the elongated element being configured to output force feedback based an a force feedback signal.

9. The apparatus of claim 8, wherein the elongated element is a tendon.

10. The apparatus of claim 8, wherein the elongated element is a tubular member carrying a fluid.

6. An apparatus, comprising:

a force feedback member including a force applying platform, the force applying platform including at least one pin configured to simulate texture associated with a force feedback;

a first sensor configured to output a position signal, the position signal being associated with a position of the force feedback member;

an actuator, the actuator and the force feedback member collectively being configured to output a simulated texture based on the position signal; and

a second sensor configured to measure the force feedback output collectively by the actuator and the force feedback member.

7. The apparatus of claim 6, wherein the pin is configured to selectively extend and refract from a force feedback application portion of the force applying platform.

11. A method, comprising:

outputting a position signed associated with a position of a force feedback interface;

receiving a force feedback signal associated with the position signal;

outputting force feedback via the force feedback interface with at least one of a plurality of force feedback members, the outputting the force feedback being based on the force feedback signal;

determining a magnitude of force feedback output at the force feedback interface; and

moving a force applying platform from a first position that is removed from the force feedback interface to a second position that is located at the force feedback interface, force feedback being output in response to the moving.

12. The method of claim 11, further comprising:

outputting a texture feedback via the force feedback interface of at least one of the plurality of force feedback members based on the force feedback signal.

13. A method comprising:

outputting a position signal associated with a position of a force feedback interface;

receiving a force feedback signal associated with the position signal;

outputting force feedback via the force feedback interface with at least one of a plurality of force feedback members, the outputting the force feedback being based on the force feedback signal;

determining a magnitude of force feedback output at the force feedback interface;

outputting a texture feedback via the force feedback interface of at least one of the plurality of force feedback members based on the force feedback signal; and

moving a pin from a first position that is removed from the force feedback interface to a second position disposed adjacent to the force feedback interface.