US 6,437,771 B1 · Force feedback device including flexure member between actuator and user object

Abstract

A method and apparatus for providing force sensations in virtual environments includes a human/computer interface device and method used in conjunction with a host computer and which can provide feel sensations to a user of the device. A user manipulatable object physically contacted by a user, such as a joystick, stylus, pool cue, or other object, is movable in multiple degrees of freedom using a gimbal mechanism. A local microprocessor, separate from the host computer, enables communication with the host computer and receives commands from the host, decodes the commands, outputs actuator signals in accordance with commands, receives sensor signals, and reports data to the host in response to commands. Actuators generate feel sensations by providing a force on the user object in response to actuator signals from the local microprocessor, and sensors detect the motion of the user object and reports sensor signals to the local microprocessor. Memory is included locally to the local microprocessor for storing program instructions and routines enabling feel sensations and host-microprocessor communication. The feel sensation generated on the user is, in one embodiment, a damping sensation simulating a feel of motion through a fluid. In another embodiment, the feel sensation is a wall sensation simulating the feel of impacting a surface or obstruction.

Claims28

Dependent claims

An interface device used in conjunction with a host computer for monitoring user manipulations and for enabling the simulation of feel sensations in response to said user manipulations, said feel sensations generated in accordance with application software running on said host computer and in accordance with images output on a computer display device by said host computer, said interface device comprising:

a user object being physically contacted by a user and movable in at least two degrees of freedom by said user;
at least one sensor that detects motion of said user object along said degrees of freedom with respect to a ground surface, wherein said at least one sensor outputs output sensor signals representative of said motion of said user object;
an actuator coupled to said user object and generating at least one of a plurality of feel sensations by outputting a force that is transmitted to said user object;
a flexure member coupled and providing torsional flex between said user object and said actuator in at least one of said degrees of freedom, said flexure member flexing to allow said user object to move with respect to said actuator;
a local microprocessor separate from said host computer system for enabling communication with said host computer, for receiving commands from said host computer, for controlling said feel sensations in accordance with one or more of said commands, for reading said sensor signals, and for reporting sensor data based on said sensor signals to said host computer, said local microprocessor controlling feel sensations simultaneously with said software running on said host computer;
and
a communication interface for transmitting signals from said host computer to said local microprocessor and from said local microprocessor to said host computer.

4 more elements

A force feedback interface device used in conjunction with a host computer for monitoring user manipulations and for enabling the simulation of feel sensations in response to said user manipulations, said feel sensations generated in accordance with application software running on said host computer and in accordance with images output on a computer display device by said host computer, said interface device comprising:

a user object being physically contacted by a user and movable in at least one degree of freedom by said user;
at least one sensor that detects motion of said user object in said degree of freedom with respect to a ground surface, wherein said at least one sensor outputs sensor signals representative of said motion of said user object;
an actuator generating at least one of a plurality of different types of feel sensations by outputting forces that are transmitted to said user object;
a flexure member coupled between said user object and said actuator, said flexure member providing torsional flex between said actuator and said user object, wherein said flexure member flexes to allow said user object to move with respect to said actuator;
and
a local microprocessor separate from said host computer that enables communication with said host computer, receives data from said host computer, controls feel sensations in accordance with said data, reads said sensor signals, and reports sensor data based on said sensor signals to said host computer, said local microprocessor controlling said feel sensations simultaneously with said software running on said host computer.

3 more elements

Dependencies are inferred from the claim text.

Force feedback device including flexure member between actuator and user object

Life of this patent

Force feedback device including flexure member between actuator and user object

Life of this patent

Abstract

Claims28