EP0875819A1
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Offline force effect rendering
Assignee: Microsoft Corp
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Filing: 1998-02-13
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Granted: —
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Expires: 2018-02-13
Abstract
Abstract A processor in a haptic joystick renders force effects that are applied to control handle gripped by a user. A plurality of force effects specified by a host computer to the processor are stored in a random access memory (RAM) that is coupled to the processor. Further, a plurality of force effects are stored in a read only memory (ROM) that is coupled to the processor. The processor employs a scheduler to render the force effects in a specified order, for specified time intervals. The scheduler controls how the force effects are rendered, i.e., sequentially, concatenated, and/or superimposed. A play list employed by the scheduler indicates for each increment of a servo clock when each force effect should be rendered by the processor. The scheduler has a round robin queue that can implement at least five types of effects, including: behavioral, synthesized, wave table, variable parameter, and process list.
Inventors
- 👤 Timothy Osborne
- 👤 Manolito E. Adan
- 👤 Bin An
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-29 13:42
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/016; A; A63; A63F; A63F13/00; A63F13/25; A63F13/28; A63F13/285; G06F2203/00; G06F2203/01; G06F2203/015
Claims Analysis
Total Claims: 57
Claim 1
Independent Claim
154 words
A force feedback device that is responsive to a request from a host
computer to generate scheduled force effects, comprising: (a) a member adapted to be grasped by a user of the force feedback
device; (b) a prime mover coupled to the member, said prime mover
producing a force that acts on the member; (c) a processor coupled to the prime mover, said processor rendering the
force effect to produce a drive signal that is coupled to the prime mover, causing the
prime mover to generate a force corresponding to the force effects; and (d) a scheduler implemented by the processor, said scheduler
scheduling the force effects so that they are generated during time intervals
requested by the host computer; (e) a communication link coupling the host computer to the processor,
said communication link conveying the request to render the force effects from
the host computer to the processor, for scheduling the force effects.
Claim 2
Dependent Claim
31 words
The force feedback device of Claim 1, wherein the scheduler
establishes an order of execution for the force effects in response to commands
received from the host computer in the request.
Claim 3
Dependent Claim
32 words
The force feedback device of Claim 1, wherein the scheduler
establishes a start time and a stop time for each force effect generated in response
to commands received from the host computer.
Claim 4
Dependent Claim
40 words
The force feedback device of Claim 1, further comprising a servo
clock that is employed to determine a duration for each of the time intervals, said
scheduler responding to the servo clock to control the duration of a force effect.
Claim 5
Dependent Claim
27 words
The force feedback device of Claim 1, wherein a plurality of the
force effects are executed concurrently, causing a superimposition of said
plurality of the force effects.
Claim 6
Dependent Claim
18 words
The force feedback device of Claim 1, wherein one force effect
comprises a plurality of other force effects.
Claim 7
Dependent Claim
58 words
The force feedback device of Claim 1, further comprising a
memory in which a profile of a force effect initially received from the host
computer and an identifier that is assigned to said profile are stored, said
scheduler receiving the unique identifier for each force effect requested by the
host computer for use in scheduling the force effects.
Claim 8
Dependent Claim
43 words
The force feedback device of Claim 7, wherein the scheduler
receives the unique identifier and a modification of a parameter of the profile that
was stored from the host computer, said processor employing the modification of
the parameter when rendering the force effect.
Claim 9
Dependent Claim
41 words
The force feedback device of Claim 7, wherein the processor
receives a plurality of force effect profiles from the host computer that are
combined into a single force effect by the scheduler, said single force effect being
assigned a unique identifier.
Claim 10
Dependent Claim
54 words
The force feedback device of Claim 1, further comprising a
memory that stores a table of predefined force effect profiles, each of said profiles
being assigned a unique identifier, said unique identifiers being used by the
scheduler in identifying each predefined force effect that is included in the
scheduled force effects to be generated.
Claim 11
Dependent Claim
45 words
The force feedback device of Claim 1, wherein each force effect
belongs to one of a plurality of different classes, said plurality of different classes
including: a behavior class, a wave table class, a synthesized class, a variable
parameter class, and a process list class.
Claim 12
Dependent Claim
41 words
The force feedback device of Claim 1, further comprising a switch
that is coupled to the processor, said scheduler mapping a force effect to the switch
so that said force effect is rendered by the processor when the switch is actuated.
Claim 13
Dependent Claim
27 words
The force feedback device of Claim 12, wherein the processor
receives a request from the host computer indicating said force effect that is
mapped to the switch.
Claim 14
Dependent Claim
44 words
The force feedback device of Claim 12, wherein the scheduler
immediately causes the force effect mapped to the switch to be rendered and
generated when the switch is actuated and stops said force effect from being
generated when the switch is no longer actuated.
Claim 15
Dependent Claim
22 words
The force feedback device of Claim 1, wherein the communication
link comprises a game port and a musical instrument digital interface port.
Claim 16
Dependent Claim
17 words
The force feedback device of Claim 1, wherein the communication
link comprises a universal serial bus port.
Claim 17
Dependent Claim
19 words
The force feedback device of Claim 1, wherein the communication
link comprises a game port and a serial port.
Claim 18
Dependent Claim
36 words
The force feedback device of Claim 1, further comprising a
plurality of prime movers coupled to the member, at least one of said plurality of
prime movers acting on the member to produce each force effect.
Claim 19
Dependent Claim
55 words
The force feedback device of Claim 1, further comprising a sensor,
said sensor producing a signal indicative of whether the user is gripping the
member, said processor being coupled to the sensor and responding to the signal
by preventing the prime mover from producing any force effect when the user is
not gripping the member.
Claim 20
Dependent Claim
32 words
The force feedback device of Claim 1, wherein a superimposed
force effect comprising multiple force effects that are executed simultaneously is
among the plurality of scheduled force effects controlled by the scheduler.
Claim 21
Dependent Claim
31 words
The force feedback device of Claim 1, wherein a sequential force
effect comprising multiple force effects that are executed sequentially is among
the plurality of scheduled effects controlled by the scheduler.
Claim 22
Dependent Claim
50 words
The force feedback device of Claim 1, wherein a concatenated
force effect comprising multiple force effects that are executed sequentially and
have a predetermined envelope is among the plurality of scheduled effects
controlled by the scheduler, said envelope controlling an amplitude of said
multiple force effects that are executed sequentially.
Claim 23
Dependent Claim
187 words
A force feedback device that generates force effects in accord with
a schedule, comprising: (a) a force generator that responds to a drive signal by producing a
force that acts on a member, said member transmitting the force to a user in
contact with the member so that the user experiences a force effect; (b) a sensor that detects a position of the member and produces a
signal indicative of the position, said signal being used in defining at least one of
the force effects; (c) a memory for storing data that specify the force effects; and (d) a processor, coupled to the force generator, the sensor, and the
memory, said processor executing machine instructions that are stored in the memory
and carrying out a plurality of functions defined by said machine instructions,
including determining when each force effect is initiated and a duration of each force
effect in accord with the schedule, said processor rendering each force effect as
specified by the data stored in the memory, and when a force effect is required by the
schedule, providing a corresponding drive signal to the force generator.
Claim 24
Dependent Claim
22 words
The force feedback device of Claim 23, wherein an order in which
the force effects are executed is defined in the schedule.
Claim 25
Dependent Claim
26 words
The force feedback device of Claim 23, wherein a relative start
time and a duration of each of the force effects are specified in the schedule.
Claim 26
Dependent Claim
49 words
The force feedback device of Claim 23, further comprising a servo
clock that is employed by the processor to determine a time interval for
completing the plurality of force effects defined by the schedule, said processor
terminating any force effect being produced at an end of said time interval.
Claim 27
Dependent Claim
16 words
The force feedback device of Claim 23, wherein the schedule
provides for superimposing multiple force effects.
Claim 28
Dependent Claim
22 words
The force feedback device of Claim 23, wherein a force effect
included on the schedule comprises a combination of other force effects.
Claim 29
Dependent Claim
78 words
The force feedback device of Claim 23, wherein the processor
stores profiles for the plurality of force effects in the memory and assigns unique
identifiers to the plurality of force effects, each unique identifier being associated
with a profile for a different one of the plurality of force effects, the processor
rendering a force effect that is specified in the schedule by the unique identifier
for said force effect, in accord with the profile for said force effect.
Claim 30
Dependent Claim
29 words
The force feedback device of Claim 29, wherein a change in a
parameter of a profile is stored in the memory by the processor to alter a force effect.
Claim 31
Dependent Claim
26 words
The force feedback device of Claim 29, wherein a plurality of profiles
are combined to indicate a single force effect that is assigned a unique identifier.
Claim 32
Dependent Claim
17 words
The force feedback device of Claim 23, wherein a plurality of
profiles are predefined in the memory.
Claim 33
Dependent Claim
48 words
The force feedback device of Claim 23, wherein each of the force
effects is characterized as one of a plurality of different classes, said plurality of
different classes including: a behavior class, a wave table class, a synthesized
class, a variable parameter class, and a process list class.
Claim 34
Dependent Claim
35 words
The force feedback device of Claim 23, further comprising a
switch that is coupled to the processor, a force effect being mapped to the switch
and rendered by the processor when the switch is actuated.
Claim 35
Dependent Claim
40 words
The force feedback device of Claim 23, further comprising a plurality
of force generators coupled to the member, at least one of said plurality of force
generators acting on the member to produce each of the plurality of force effects.
Claim 36
Dependent Claim
54 words
The force feedback device of Claim 23, further comprising a
sensor, said sensor producing a signal indicative of whether the user is gripping
the member, said processor being coupled to the sensor and responding to the
signal by preventing the force generator from producing any force when the user
is not gripping the member.
Claim 37
Dependent Claim
31 words
The force feedback device of Claim 23, wherein a superimposed
force effect comprising multiple force effects that are executed simultaneously is
among the plurality of force effects included on the schedule.
Claim 38
Dependent Claim
31 words
The force feedback device of Claim 23, wherein a sequential force
effect comprising multiple force effects that are executed sequentially is among
the plurality of force effects included on the schedule.
Claim 39
Dependent Claim
49 words
The force feedback device of Claim 23, wherein a concatenated
force effect comprising multiple force effects that are executed sequentially and
have a predetermined envelope is among the force effects included on the
schedule, said envelope controlling an amplitude of said multiple of force effects
that are executed sequentially.
Claim 40
Independent Claim
95 words
A method for controlling a device that generates force effects,
comprising the steps of: (a) storing data that define the force effects in a memory of the device; (b) creating a schedule of force effects that defines when each force effect
that is included on the schedule should be initiated and a duration of each force effect; (c) as a function of the schedule, providing a drive signal that enables
a force corresponding to the force effect to be produced by the device, so that the
force effects are generated in accord with the schedule.
Claim 41
Dependent Claim
32 words
The method of Claim 40, wherein the step of creating the schedule
includes the step of specifying an order in which the force effects are to be
produced, to define the schedule.
Claim 42
Dependent Claim
30 words
The method of Claim 40, wherein the step of creating the schedule
includes the step of indicating a start time and duration for each force effect, to
define the schedule.
Claim 43
Dependent Claim
22 words
The method of Claim 40, further comprising the step of
terminating a force effect following a lapse of a predefined time interval.
Claim 44
Dependent Claim
15 words
The method of Claim 40, wherein the schedule specifies multiple
force effects that are superimposed.
Claim 45
Dependent Claim
20 words
The method of Claim 40, wherein a force effect specified by the
schedule comprises a combination of other force effects.
Claim 46
Dependent Claim
37 words
The method of Claim 40, further comprising the steps of: (a) assigning a unique identifier to each force effect; and (b) specifying each force effect included in the schedule with the
unique identifier for said force effect.
Claim 47
Dependent Claim
26 words
The method of Claim 46, further comprising the step of modifying
a parameter of the data that define a force effect to change the force effect.
Claim 48
Dependent Claim
21 words
The method of Claim 46, wherein data specifying a plurality of
force effects are combined to specify a single force effect.
Claim 49
Dependent Claim
57 words
The force feedback device of Claim 40, further comprising the steps of: (a) storing data that define predefined force effects in the memory,
each of the force effects being assigned a unique identifier; and (b) in response to a request to produce one of the predefined force
effects identified by the unique identifier, producing said force effect.
Claim 50
Dependent Claim
40 words
The method of Claim 40, wherein each force effect is one of a
plurality of classes, said plurality of classes including: a behavior class, a wave
table class, a synthesized class, a variable parameter class, and a process list class.
Claim 51
Dependent Claim
41 words
The method of Claim 40, further comprising the steps of (a) providing a switch that is coupled to the device; and (b) mapping a force effect to the switch so that said force effect is
produced when the switch is actuated.
Claim 52
Dependent Claim
35 words
The method of Claim 40, wherein at least a portion of the data
defining the force effects are transmitted to the device from a host computer to
which the device is adapted to be coupled.
Claim 53
Dependent Claim
21 words
The method of Claim 40, wherein a force effect included on the
schedule comprises multiple force effects that are produced simultaneously.
Claim 54
Dependent Claim
43 words
The method of Claim 40, wherein a concatenated force effect included
on the schedule comprises multiple force effects that are produced sequentially, the
concatenated force effect having a pre-determined envelope, said envelope controlling
an amplitude of the force effects that are produced sequentially.
Claim 55
Dependent Claim
22 words
The method of Claim 40, wherein a sequential force effect included
on the schedule comprises multiple force effects that are produced sequentially.
Claim 56
Dependent Claim
175 words
A force feedback device that is responsive to a request from a host
computer to generate a force effect, comprising: (a) a member adapted to be grasped by a user of the force feedback device; (b) a prime mover coupled to the member, said prime mover
producing a force that acts on the member; (c) a processor coupled to the prime mover, said processor rendering
the force effect to produce a drive signal that is coupled to the prime mover,
causing the prime mover to generate a force corresponding to the force effect; and (d) a communication link coupling the host computer to the processor,
the communication link conveying the request to render the force effect from the
host computer to the processor, said processor determining whether the processor
is linked to the host computer through a musical instrument digital interface port
or through a serial port and automatically configuring the communication link to
employ an appropriate one of a musical instrument digital interface protocol and a
serial protocol to communicate with the host computer.
Claim 57
Dependent Claim
128 words
A force feedback device, comprising: (a) a member adapted to be grasped by a user of the force feedback
device; (b) a prime mover coupled to the member, said prime mover
producing a force that acts on the member; (c) a sensor that detects a position of the member and produces a
signal indicative of the position; (d) a processor coupled to the prime mover and to the sensor, said
processor responding to the signal to determine a deviation in the position of the
member away from a centered position and producing a drive signal that is
supplied to the prime mover to cause it to generate a restoring force that is
applied to the member, said restoring force tending to move the member to the
centered position.
References Cited (Backward Citations)
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