Safe and low cost computer peripherals with force feedback for consumer applications

A force feedback interface device for use with a host computer displaying a graphical environment, said interface device providing sensor signals to said host computer which are used by said host computer to update said graphical environment in response to user manipulation of said interface device, said interface device providing force sensations to the user and user-selected reflex capability wherein a force sensation is generated locally in response to a selection of a user-selectable control of said interface device, the interface device comprising:

• a sensor for determining the position of a user object in a degree of freedom and for providing sensor signals representing said position to said host computer via an interface bus, wherein said host computer updates said graphical environment in response to said sensor signals;
• an actuator for applying forces on said user object in said degree of freedom when said actuator receives an activation signal;
• and
• a user-selectable control coupled to said interface device, wherein when said user selects said user-selectable control, a reflex process local to said interface device is initiated in which said selection of said user-selectable control is locally detected and in which said activation signal is sent to said actuator and commands said actuator to apply said forces on said user object in said degree of freedom by varying a magnitude of said forces over time, thereby initiating force feedback on said interface device independently of said host computer.

A method for interfacing a force feedback interface device manipulated by a user with a host computer system, the method comprising the steps of:

• providing a user manipulable joystick included in said force feedback interface device, said joystick having a degree of freedom;
• sensing positions of said joystick along said degree of freedom with a sensor and producing electrical sensor signals therefrom, said sensor signals being sent to said host computer system over an interface bus to said host computer system, said host computer system updating application software implemented by said host computer system in accordance with said sensor signals;
• utilizing a microprocessor local to said joystick and separate from said host computer system to communicate with said host computer system to receive host commands from said host computer system;
• providing at least one input switch coupled to said microprocessor;
• enabling said input switch by at least one of said host commands to initiate a specified force sensation on said user object when said input switch is activated by a user as locally detected by said microprocessor, said force sensation being specified by at least one of said host commands from said host computer system;
• and
• outputting processor force commands from said microprocessor to an actuator when said input switch is activated by said user, said actuator being coupled to said joystick and being operative to apply said specified force sensation to said joystick in accordance with said processor force commands.

An interface apparatus for interfacing motion of a user with a host computer and enabling said host computer to track motion of said user and to command feedback forces to said user, said interface apparatus comprising:

• a user object being physically contacted and manipulable by a user and having at least one degree of freedom of movement;
• a device microprocessor provided local to said interface apparatus and separate from said host computer and being controlled by software instructions stored in a memory device separate from said host computer, said microprocessor being coupled to said host computer by a serial interface bus and receiving host commands from said host computer on said first interface bus;
• an actuator coupled to said user object for applying a force along said degree of freedom to said user object, wherein said actuator applies said force in response to microprocessor force commands produced by said device microprocessor;
• a thermal sensor for detecting a temperature of said actuator, said thermal sensor providing a temperature signal to said microprocessor such that said microprocessor can deactivate said actuator when said temperature of said actuator rises above a predetermined threshold;
• and
• a sensor coupled to said user object for detecting a position of said user object along said degree of freedom and for outputting a locative sensor signal which represents said position of said user manipulable object, said locative sensor signal being received by said host computer, and wherein said host computer modifies a displayed process in response to said locative sensor signal.

An interface apparatus for interfacing motion of a joystick with a host computer and enabling said host computer to track motion of said user manipulable object and to command feedback forces to said user manipulable object, said interface apparatus comprising:

• a joystick being physically contacted and manipulable by a user and having at least one degree of freedom of movement with respect to a ground surface, wherein said joystick includes a safety break-away handle that breaks off from said interface apparatus when a force over a predetermined threshold is applied to said joystick;
• a device microprocessor provided local to said interface apparatus and separate from said host computer and being controlled by software instructions stored in a memory device separate from said host computer, said microprocessor being coupled to said host computer by a serial interface bus and receiving host commands from said host computer on said first interface bus;
• an actuator coupled to said user object for applying a force along said degree of freedom to said user object, wherein said actuator applies said force in response to microprocessor force commands produced by said device microprocessor;
• and
• a sensor coupled to said user object for detecting a position of said user object along said degree of freedom and for outputting a locative sensor signal which represents said position of said user manipulable object, said locative sensor signal being received by said host computer, and wherein said host computer modifies a displayed process in response to said locative sensor signal.

An interface apparatus for interfacing motion of a user with a host computer and enabling said host computer to track motion of said user, to update an execute software process in response to said motion, and to command feedback forces to said user, said interface apparatus providing a button-reflex capability wherein a force sensation is generated locally in response to a press of a button on said interface apparatus, said interface apparatus comprising:

• a user object being physically contacted and manipulable by a user and having at least one degree of freedom of movement;
• a device microprocessor provided local to said interface apparatus and separate from said host computer and being controlled by software instructions stored in a local device separate from said host computer, said microprocessor being coupled to said host computer by an interface bus and receiving host commands from said host computer on said interface bus, wherein said host commands include a supervisory command which affects implementation of said software instructions by said device microprocessor;
• at least one button-actuated switch coupled to said device microprocessor, wherein said supervisory command enables said switch to initiate a force sensation specified by a parameter in said supervisory command on said user object when said button-actuated switch is manipulated to a particular state by said user;
• a sensor coupled to said user object for detecting a position of said user object along said degree of freedom and for outputting a locative sensor signal which represents said position of said user manipulable object, said locative sensor signal being received by said host computer on said interface bus, and wherein said host computer modifies a displayed process in response to said locative sensor signal;
• and
• an actuator coupled to said user object for applying a force along said degree of freedom to said user object, wherein said actuator applies said force in response to microprocessor force signals produced by said device microprocessor.

A force feedback interface device for use with a host computer running a software application, said interface device providing a button-reflex capability wherein a force sensation is generated locally in response to a press of a button on said interface apparatus by a user, said interface device comprising:

• a user object for manipulation by a user in at least one degree of freedom with respect to an origin;
• a sensor for detecting motion of said user object in said degree of freedom and for producing a locative sensor signal, wherein a representation of said locative sensor signal is conveyed to said host computer, thereby allowing said software application to update a process in response to manipulation of said user object;
• a user adjustable button local to said interface apparatus and electrically coupled to said local microprocessor, a state of said button being conveyed to said host computer to allow said software application to update a process in response to said state of said button;
• an actuator physically coupled to said user object, said actuator applying forces to said user object in said degree of freedom;
• and
• a local microprocessor separate from said host computer and electronically coupled to said actuator, said local microprocessor executing a local process, said local microprocessor coupled to said host computer by a communication bus and outputting signals to said actuator such that said actuator applies said forces in response to said signals produced by said local microprocessor, wherein said local process locally generates force sensations by modulating a magnitude of said forces produced by said actuator over a period of time, said local process having button-reflex capability wherein said local generation of a force sensation may be initiated in response to a locally detected change in said state of said user adjustable button.