Force feedback system
AssigneeCybernet Systems Corporation
InventorsCharles J. Jacobus, Alan J. Riggs, Mark J. Taylor
Life of this patent
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Abstract
A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.
Claims24
A method of controlling a force-feedback interface device having one or more axes, comprising the steps of:
- establishing a multi-layer communication arrangement including a first iterative loop and a control process accessible by the first loop;
- then, through each pass of the first loop, performing the following steps:
- a) collecting position values associated with each axis of the device;
- b) determining a force contribution for each axis of the device in accordance with the control process;
- and
- b) outputting the force contribution to each respective axis of the device.
A method of controlling a force-feedback interface device having one or more axes, comprising the steps of:
- establishing a first iterative loop having a time interval related to device responsiveness;
- installing a control function accessible by the first loop;
- then, through each pass of the first loop, performing the following steps:
- a) collecting position values associated with each axis of the device;
- b) computing estimates of device velocity and acceleration based upon the collected position values;
- c) determining a force contribution for each axis of the device in accordance with the installed control function;
- and
- d) outputting the force contribution to each respective axis of the device.
A method of controlling a force-feedback interface device having one or more axes, comprising the steps of:
- establishing a multi-layer communication architecture including first and second iterative loops, the second loop providing for the insertion of multiple, superimposed control functions;
- initializing the first iterative loop with stored configuration parameters;
- then, through each pass of the first loop:
- a) determining a force contribution for each axis of the device in accordance with one or more of the control functions;
- and
- b) outputting the force contribution to each respective axis of the device.
A system for interacting with a simulated environment, comprising:
- a multi-axis joystick;
- an actuator associated with each axis;
- an encoder for sensing the position and movement of the joystick;
- a programmed computer for:
- a) storing data representative of the simulated environment including one or more virtual objects,
- b) determining user interactions with the objects based upon the position and movement of the joystick, and
- c) generating force-field values as a function of the interactions;
- and
- a controller interfaced to the actuators and to the encoder for:
- a) communicating-the position and movement of the joystick, as sensed by the encoder, to the programmed computer,
- b) receiving the force-field values from the programmed computer, and
- c) delivering a force command to the actuators as a function of the force-field values.
Dependencies are inferred from the claim text.