Interface device for sensing position and orientation and outputting force to a user

• US 6,987,504 B2
• Filed: 01/08/2002
• Issued: 01/17/2006
• Est. Priority Date: 07/16/1993
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B., Jackson, Bernard G.
• Primary Examiner(s): Osorio, Ricardo
• Application Number:
  US10/043,374
• Publication Number:
  US 20020063685A1
• Time in Patent Office: 1,470 Days
• Field of Search: 345/156, 345/157, 345/158, 345/161, 345/162, 345/163, 345/179, 345/180, 703/6, 703/7, 178 1801- 1807, 178 1901- 1905
• US Class Current: 345/156
• 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: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 21/04 by measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G05B 19/4207 in which a model is traced or scanned and corresponding data recorded
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• CPC Class Codes: G05G 9/04737 with six degrees of freedom
• 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 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device
• CPC Class Codes: H01H 2003/008 with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction

Abstract

An interface device for use with a computer that provides locative data to a computer for tracking a user manipulatable physical object and provides feedback to the user through output forces. The physical object is movable in multiple degrees of freedom and is tracked by sensors for sensing the location and orientation of the object. A device processor can be responsive to the output of the sensors and can provide the host computer with information derived from the sensors. The host computer can provides images on a display, where the computer responds to the provided sensor information and force feedback is correlated with the displayed images via force feedback commands from the host computer.

Claims

1. A method, comprising:

receiving a locative signal associated with a position and an orientation of a user-manipulable object in a plurality of degrees of freedom;

displaying an image in a graphical environment, the image correlated with the position and the orientation of the user-manipulable object; and

outputting a feedback force signal corresponding to at least one of the plurality of degrees of freedom of the user-manipulable object, the feedback force responsive to the locative signal,

wherein the user-manipulable object includes a stylus coupled to a mechanical linkage, the mechanical linkage configured to enable the user-manipulable object to be movable in the plurality of degrees of freedom.

2. The method of claim 1, wherein the stylus is adapted for at least one of hand use, foot use, and mouse use.

3. The method of claim 1, wherein the image displayed in the graphical environment includes a cursor, a motion of the cursor being correlated with the position and the orientation of the user-manipulable object.

4. The method of claim 1, further comprising using the feedback force to effect a motion of the user-manipulable object in the at least one of the plurality of degree of freedom.

5. An apparatus, comprising:

a user-manipulable object moveable in a plurality of degrees of freedom;

at least one sensor coupled to the user-manipulable object, the at least one sensor being operative to provide a locative signal associated with a position and an orientation of the user-manipulable object in the plurality of degrees of freedom; and

a force generator coupled to the user-manipulable object and configured to output a feedback force in at least one of the plurality of degrees of freedom of the user-manipulable object, the feedback force correlated with the locative signal,

wherein the user-manipulable object includes a stylus coupled to a mechanical linkage, the mechanical linkage configured to enable the user-manipulable object to be movable in the plurality of degrees of freedom.

6. The apparatus of claim 5, wherein the locative signal is configured to enable a display an image in a graphical environment, the image is correlated with the position and the orientation of the user-manipulable object.

7. The apparatus of claim 5, wherein the stylus is adapted for at least one of hand use, foot use, and mouse use.

8. The apparatus of claim 5, wherein the mechanical linkage includes a plurality of joints, at least one joint from the plurality of joints is coupled to a support base.

9. The apparatus of claim 8, wherein the plurality of the joints include at least one rotary joint.

10. The apparatus of claim 9, wherein the plurality of the joints include at least one linear joint.

11. The apparatus of claim 8, wherein the feedback force operates to effect a motion of the user-manipulable object associated with at least one joint from the plurality of the joints.

12. The apparatus of claim 11, wherein the feedback force includes at least one of a resistive force and an elastic force.

13. The apparatus of claim 5, further comprising a processor in communication with the at least one sensor and the force generator, the processor operable to receive the locative signal from the at least one sensor and output a control signal to the force generator, the control signal causing the force generator to output the feedback force.

14. An apparatus, comprising:

a mechanical linkage having a first end and a second end, the first end of the mechanical linkage being coupled to a stylus, the second end of the mechanical linkage being coupled to a support base, the mechanical linkage including a plurality of joints configured to allow the stylus to be manipulable in a plurality of degrees of freedom;

a plurality of sensors coupled to the plurality of joints of the mechanical linkage, the plurality of sensors operative to provide a locative signal associated with a position and an orientation of the stylus; and

a force generator coupled to the mechanical linkage, the force generator configured to output a feedback force responsive to the position and the orientation of the stylus.

15. The apparatus of claim 14, further comprising a processor in communication with the sensors and the force generator, the processor operable to receive the locative signal from the plurality of sensors and output a control signal to the force generator, the force generator configured to output the feedback force in response to the control signal.

16. The apparatus of claim 14, wherein the processor is operable to send an image signal configured to enable an image being displayed in a graphical environment, the image correlated with the position and orientation of the stylus.

17. The apparatus of claim 14, further comprising an auxiliary sensor coupled to the stylus.

18. The apparatus of claim 17, wherein the auxiliary sensor includes at least one of an ultrasonic sensor, an optical sensor, and a magnetic sensor.

19. The apparatus of claim 14, wherein the plurality of degrees of freedom include at least five degrees of freedom.

20. The apparatus of claim 14, wherein the stylus is adapted for at least one of hand use, foot use, and mouse use.

21. The apparatus of claim 14, further comprising a resistance mechanism coupled to the mechanical linkage.

22. The apparatus of claim 21, wherein the resistance mechanism includes at least one of counter weights and springs.

23. A processor-executable program, stored on a computer-readable medium, comprising:

code to receive a locative signal associated with a position and an orientation of a user-manipulable object in a plurality of degrees of freedom;

code to display an image in a graphical environment, the image correlated with the position and the orientation of the user-manipulable object; and

code to output a feedback force signal corresponding to at least one of the plurality of degrees of freedom of the user-manipulable object, the feedback force responsive to the locative signal,

wherein the user-manipulable object includes a stylus coupled to a mechanical linkage, the mechanical linkage configured to enable the user-manipulable object to be movable in the plurality of degrees of freedom.

24. The processor-executable program of claim 23, the image including a cursor displayed in the graphical environment, the processor-executable program further comprising:

code to correlate a motion of the cursor with the position and the orientation of the user-manipulable object.

25. The processor-executable program of claim 23, wherein the feedback force is associated with the at least one of the plurality of degrees of freedom of the user-manipulable object.