Method and apparatus for controlling force feedback for a computer interface device

A method for providing force feedback using a force feedback device in communication with a host computer, the method comprising:

• providing a user manipulatable object for said force feedback device, said user manipulatable object moveable in at least one degree of freedom and physically contacted by a user;
• sensing positions of said user manipulatable object in said at least one degree of freedom with at least one sensor and producing sensor signals therefrom;
• using a microprocessor local to said force feedback device and separate from said host computer to receive said sensor signals and to retrieve a force profile from a memory device local to said force feedback device, said force profile including a sequence of stored force magnitudes to be output as a function of time;
• outputting said sensor signals to said host computer from said microprocessor;
• and
• outputting said force magnitudes as a function of time to an actuator coupled to said microprocessor, wherein said actuator outputs forces derived from said force magnitudes to said user.

A force feedback device manipulated by a user and communicating with a host computer implementing a host application program in parallel with operation of said force feedback interface device, said host computer updating said host application program in response to input data, said force feedback device comprising:

• at least one sensor detecting motion of a user manipulatable object of said force feedback device in at least one degree of freedom and outputting a sensor signal representative of a position or motion of said user manipulatable object in said at least one degree of freedom, said user manipulatable object being physically contacted and manipulated by a user;
• an actuator receiving actuator signals and outputting forces to a user of said force feedback device in accordance with said actuator signals;
• and
• a microprocessor local to said force feedback device and separate from said host computer, said microprocessor operative to receive said sensor signal from said at least one sensor and send sensor information derived from said sensor signal to said host computer, wherein said microprocessor receives host commands from said host computer and outputs control signals based on said host commands, said actuator signals received by said actuator being based on said control signals, and wherein said microprocessor is operative to receive both high level host commands and low level host commands selectively sent by said host computer, said high level host commands causing said microprocessor to determine force information in said control signals based on parameters in said high level host commands, and said low level host commands including force information that is directly output by said microprocessor in said control signals.

A method for providing force feedback to a user manipulating a force feedback device, said force feedback device communicating with a host computer implementing a host application program in parallel with operation of said force feedback device, the method comprising:

• detecting motion of a user manipulable object of said force feedback device in at least one degree of freedom and providing a sensor signal representative of a position of said user manipulatable object in said at least one degree of freedom, said user manipulatable object being physically contacted and manipulated by a user;
• sending sensor information derived from said sensor signal to said host computer, said host computer updating said host application program in response to said sensor information;
• receiving host commands from said host computer on a microprocessor local to said force feedback device and separate from said host computer, wherein said microprocessor can receive high level host commands and can receive low level host commands, said high level host commands and low level host commands being selectively sent by said host computer;
• and
• outputting control signals from said microprocessor based on said host commands, wherein said high level host commands cause said microprocessor to output said control signals based on parameters in said high level host commands, said output performed during time periods between receiving host commands, and said low level host commands including low level force information and cause said microprocessor to output said control signals based on said low level force information only when each of said low level host commands are received and not during periods between receiving said low level host commands, wherein an actuator of said force feedback device receives actuator signals that are based on said control signals, said actuator outputting forces to a user of said force feedback device in accordance with said actuator signals.

A force feedback device manipulated by a user and communicating with a host computer implementing a host application program in parallel with operation of said force feedback interface device, said host computer updating said host application program in response to input data, said force feedback device comprising:

• at least one sensor detecting motion of a user manipulable object of said force feedback device in at least one degree of freedom and outputting a sensor signal representative of a position of said user manipulatable object in said at least one degree of freedom, said user manipulatable object being physically contacted and manipulated by a user;
• an actuator operative to receive actuator signals and output forces to a user of said force feedback device in accordance with said actuator signals;
• and
• a microprocessor local to said force feedback device and separate from said host computer, said microprocessor operative to receive said sensor signal from said at least one sensor and send sensor information derived from said sensor signal to said host computer, wherein said microprocessor receives host commands from said host computer and outputs control signals based on said host commands, said actuator signals received by said actuator being based on said control signals, and wherein said microprocessor is operative to receive both high level host commands and low level host commands selectively sent by said host computer, said high level host commands causing said microprocessor to determine force information in said control signals based on a position of said user manipulatable object in said at least one degree of freedom or based on time, and said low level host commands causing said microprocessor to output said control signals based on low level information in said low level host commands and not based on said position of said user manipulatable object nor based on time.