Method and device for inputting force intensity and rotation intensity based on motion sensing

An input device for operating in a three-dimensional space and inputting user instructions, the device comprising:

• a first operation unit that calculates a first rotation angle in a coordinate system independent of the attitude of the device based on the output value of a first angular rate sensor, wherein the first rotation angle is a first representation of an attitude angle of the input device;
• a second operation unit that calculates a second rotation angle in the coordinate system based on the output of a first linear acceleration sensor, wherein the second rotation angle is a second representation of the attitude angle of the input device;
• an attitude measuring unit that calculates the attitude angle of the input device by combining the first rotation angle and the second rotation angle;
• and
• an intensity calculation unit that calculates rotation intensity in the coordinate system based on the angular rate of the input device and the attitude angle of the input device obtained from the attitude angle measuring unit,
• wherein the calculated first rotation angle and the second rotation angle are combined by a weighted average, and
• wherein a weight used in the weighted average is estimated by a predetermined movement estimation function, the movement estimation function setting the weight to reflect only a second rotation angle on the attitude angle if there is no movement in the device, the movement estimation function setting the weight to reflect only a first rotation angle on the attitude angle if the device movement is at the maximum level, and the movement estimation function setting the weight to a value between the value at no movement and the value at the maximum movement if the device movement is between no movement and the maximum movement.

A method of inputting user instructions using an input device operating in a three-dimensional space, the method comprising:

• calculating a first rotation angle in a coordinate system independent of the attitude of the device based on the output value of a first angular rate sensor, wherein the first rotation angle is a first representation of an attitude angle of the input device;
• calculating a second rotation angle in the coordinate system based on the output value of a first linear acceleration sensor, wherein the second rotation angle is a second representation of the attitude angle of the input device;
• calculating the attitude angle of the input device by combining the first rotation angle and the second rotation angle;
• and
• calculating force intensity in the coordinate system using the acceleration of the input device and the attitude angle of the input device obtained from an attitude angle measuring unit,
• wherein the calculated first rotation angle and the second rotation angle are combined by a weighted average, and
• wherein a weight used in the weighted average is estimated by a predetermined movement estimation function, the movement estimation function setting the weight to reflect only a second rotation angle on the attitude angle if there is no movement in the device, the movement estimation function setting the weight to reflect only a first rotation angle on the attitude angle if the device movement is at the maximum level, and the movement estimation function setting the weight to a value between the value at no movement and the value at the maximum movement if the device movement is between no movement and the maximum movement.

A method of inputting user instructions using an input device operating in a three-dimensional space, the method comprising:

• calculating a first rotation angle in a coordinate system independent of the attitude of the device based on the output value of a first angular rate sensor, wherein the first rotation angle is a first representation of an attitude angle of the input device;
• calculating a second rotation angle in the coordinate system based on the output value of a first linear acceleration sensor, wherein the second rotation angle is a second representation of the attitude angle of the input device;
• calculating the attitude angle of the input device by combining the first rotation angle and the second rotation angle;
• and
• calculating rotation intensity in the coordinate system using the angular rate of the device and the attitude angle of the input device,
• wherein the calculated first rotation angle and the second rotation angle are combined by a weighted average, and
• wherein a weight used in the weighted average is estimated by a predetermined movement estimation function, the movement estimation function setting the weight to reflect only a second rotation angle on the attitude angle if there is no movement in the device, the movement estimation function setting the weight to reflect only a first rotation angle on the attitude angle if the device movement is at the maximum level, and the movement estimation function setting the weight to a value between the value at no movement and the value at the maximum movement if the device movement is between no movement and the maximum movement.