Force feedback system
AssigneeImmersion 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 for controlling force feedback in a force feedback system using a computer mediated control system, said force feedback system including at least one actuator and at least one position sensor, said method comprising:
- receiving input information through a communication port of said computer mediated control system, wherein commands are decoded and from said input information;
- receiving position data read by said position sensor, said position data indicative of a position of a user manipulatable member of said force feedback system;
- outputting output data on said communication port, said output data including data derived from said position data;
- storing a plurality of force feedback effects in a memory;
- and
- iterating through said force feedback effects to determines a force contribution from each of said force feedback effects, and outputting a force value based on said force contributions, said force value causing a force based on said force value to be output by said actuator to a user of said force feedback system.
A computer mediated control system for use in a force feedback system, said force feedback system including at least one actuator and at least one position sensor, said control system comprising:
- means for receiving input information through a communication port of said control system, wherein force values are read and commands are decoded from said input information;
- means for outputting output data on said communication a port, said output data including position data that has been read by said position sensor;
- means for storing a plurality of force feedback effects;
- means for iterating through said force feedback effects to determine a force contribution from each of said force feedback effects;
- and
- means for summing said force contributions from each of said force feedback effects and outputting a resultant force feedback value to cause a force based on said force feedback value to be output by said actuator to a user of said force feedback system.
A computer mediated control system for use in a force feedback system, said force feedback system including at least one actuator and at least one position sensor, said control system comprising:
- a memory storing a plurality of force feedback effects, each of said force feedback effects providing forces to be output to a user of said force feedback system;
- and
- a computer mediated controller coupled to said at least one actuator and to said at least one position sensor, wherein said controller:
- receives input information through a communication port of said computer mediate controller and decodes commands from said input information,
- reads force values from said communication port,
- outputs output data on said communication port, said output data including position data from said at least one position sensor,
- determines at least one installed force feedback effect to contribute to output of said force feedback system;
- processes said installed force feedback effect to determine a force contribution from said installed force feedback effect;
- and
- outputs a force feedback value based on said determined force contribution to cause a force based on said force feedback value to be output by said actuator to the user of said force feedback system.
A force feedback device, comprising:
- a user manipulatable member having at least one degree or freedom of motion and being manipulatable by a user physically contacting said member;
- at least one actuator outputting forces on said member in said degree of freedom;
- at least one position sensor for determining a position of said member in said at least one degree of freedom;
- a computer mediated controller coupled to said actuator and to said at least one position sensor, wherein said controller:
- receives input information through a communication port of said computer mediated controller and decodes commands from said input information,
- reads force values from said communication port,
- outputs output data on said communication port, said output data including position data from said position sensor,
- determines at least one installed force feedback effect to contribute to output of said force feedback system;
- processes said installed force feedback effect to determine a force contribution from said installed force feedback effect;
- and
- outputs a force feedback value based on said determined force contribution to cause a force based on said force feedback value to be output by said actuator to the user of said force feedback system.
Dependencies are inferred from the claim text.