US5459382A — Method and system for providing a tactile virtual…

Claim 1

Independent Claim 154 words

A method for providing a tactile virtual reality in response to a user position and orientation, the method comprising the steps of: storing data representative of the virtual reality, including one or more virtual objects having virtual surfaces; generating an electrical signal for each of a plurality of degrees of freedom of the user as a function of the user position and orientation in three-dimensional space; synthesizing user velocity and acceleration from the electrical signals to determine user-applied force; mapping the user position, orientation and applied force into the virtual reality to determine interactions between the user and any objects in the virtual reality; generating at least one virtual reality force field in response to the interactions; generating a force signal for each degree of freedom as a function of the force field; and directing a tactile force on the user for each force signal, the generating tactile forces providing the tactile virtual reality.

Claim 2

Independent Claim 154 words

A method for providing a tactile virtual reality in response to a user position and orientation, the method comprising the steps of: storing data representative of the virtual reality, including one or more virtual objects having virtual surfaces; generating an electrical signal for each of a plurality of degrees of freedom of the user as a function of the user position and orientation in three-dimensional space; synthesizing user velocity and acceleration from the electrical signals to determine user-applied force; mapping the user position, orientation and applied force into the virtual reality to determine interactions between the user and any objects in the virtual reality; generating at least one virtual reality force field in response to the interactions; generating a force signal for each degree of freedom as a function of the force field; and directing a tactile force on the user for each force signal, the generating tactile forces providing the tactile virtual reality.

Claim 3

Dependent Claim 16 words

The method of claim 1 wherein the number of degrees of freedom is six or more.

Claim 4

Dependent Claim 36 words

The method of claim 2 wherein the step of generating the electrical signals includes the step of sensing position and orientation of the user's hand and wherein the tactile forces are directed to the user's hand.

Claim 5

Dependent Claim 41 words

The method of claim 1, wherein the step of synthesizing user velocity and acceleration from the electrical signals to determine user-applied force includes the step of sampling the electrical signals at regular intervals to synthesize estimates of user velocity and acceleration.

Claim 6

Dependent Claim 44 words

The method of claim 1, further including the step of computing a torque contribution associated with each degree of freedom based upon user position, orientation and applied force to assist in determining the interaction between the user and any objects in the virtual reality.

Claim 7

Dependent Claim 21 words

The method of claim 5, further including the step of applying the torque contributions to a running sum of such contributions.

Claim 8

Dependent Claim 27 words

The method of claim 1, further including the step of generating an altered force field view by performing a mathematical transformation on the position and orientation data.

Claim 9

Independent Claim 157 words

A system for providing a tactile virtual reality in response to a user position and orientation, the system comprising: a six-axis interface device including an actuator for each axis of the device and a member movable by the user, the interface device being responsive to the position and orientation of the member to generate electrical signals representative of the position and orientation of the member; and a programmed computer operative to: store data representative of the virtual reality, including any virtual objects therewithin, analyze the position and orientation of the member relative to the objects to determine any interaction therebetween, generate at least one virtual reality force field in response to the interaction, and generate a force signal for each axis of the device as a function of the force field, wherein the actuators are responsive to their respective force signals to provide a force to each axis of the device for creating the tactile virtual reality.

Claim 10

Independent Claim 157 words

A system for providing a tactile virtual reality in response to a user position and orientation, the system comprising: a six-axis interface device including an actuator for each axis of the device and a member movable by the user, the interface device being responsive to the position and orientation of the member to generate electrical signals representative of the position and orientation of the member; and a programmed computer operative to: store data representative of the virtual reality, including any virtual objects therewithin, analyze the position and orientation of the member relative to the objects to determine any interaction therebetween, generate at least one virtual reality force field in response to the interaction, and generate a force signal for each axis of the device as a function of the force field, wherein the actuators are responsive to their respective force signals to provide a force to each axis of the device for creating the tactile virtual reality.

Claim 11

Dependent Claim 24 words

The system of claim 8 wherein the member includes switch means for disabling the actuators if the user breaks tactile contact with the member.

Claim 12

Dependent Claim 15 words

The system of claim 8 wherein the member includes a handle grippable by the user.

Claim 13

Dependent Claim 23 words

The system of claim 8 wherein the interface device further comprises an encoder coupled to each actuator for generating the corresponding electrical signals.

Claim 14

Dependent Claim 11 words

The system of claim 11 wherein the encoders are optical encoders.

Claim 15

Dependent Claim 21 words

The system of claim 8 wherein at least one virtual reality force field includes a mathematical function in the computer program.

Claim 16

Dependent Claim 20 words

The system of claim 8 wherein the virtual reality force field includes limits and stops implemented by the computer program.

Claim 17

Dependent Claim 38 words

The system of claim 8 wherein the means for generating is capable of generating a plurality of virtual reality force fields, and wherein the member includes a switch means for selecting one of the virtual reality force fields.

Claim 18

Dependent Claim 11 words

The system of claim 8 wherein the actuators are electric motors.

Claim 19

Dependent Claim 11 words

The system of claim 16 wherein the electric motors are back-drivable.

Claim 20

Dependent Claim 172 words

A locally self-contained system for providing a tactile virtual reality in response to a user position and orientation, comprising: (a) a multi-axis, user-moveable member including an actuator and position sensor dedicated to each axis; (b) an interface device in communication with each actuator and each position sensor, the interface device being operative to: generate an electrical signal representative of the position and orientation of the member, and activate one or more of the actuators in response to a received force signal; (c) a programmed computer in communication with the interface device, the computer being programmed to perform the following functions: receive an electrical signal from the interface device representative of the position and orientation of the member with respect to time, determine a user-applied force to the member by synthesizing velocity and acceleration from the periodic position readings, generate at least one virtual reality force field in response to the user-applied force, generate a force signal as a function of the force field, and output the force signal to the interface device.

Claim 21

Dependent Claim 172 words

A locally self-contained system for providing a tactile virtual reality in response to a user position and orientation, comprising: (a) a multi-axis, user-moveable member including an actuator and position sensor dedicated to each axis; (b) an interface device in communication with each actuator and each position sensor, the interface device being operative to: generate an electrical signal representative of the position and orientation of the member, and activate one or more of the actuators in response to a received force signal; (c) a programmed computer in communication with the interface device, the computer being programmed to perform the following functions: receive an electrical signal from the interface device representative of the position and orientation of the member with respect to time, determine a user-applied force to the member by synthesizing velocity and acceleration from the periodic position readings, generate at least one virtual reality force field in response to the user-applied force, generate a force signal as a function of the force field, and output the force signal to the interface device.

Claim 22

Dependent Claim 56 words

The locally self-contained system of claim 18, wherein the actuator and position sensor associated with a particular axis are in physical communication with one another, enabling the superposition of translational displacement with force application, and angular displacement with torque, thereby permitting an arbitrary, programmed application of forces, torques and displacements to the member in any direction.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	1998-10-16	1999-04-17	1999-10-17	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2002-10-16	2003-04-17	2003-10-17	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2006-10-16	2007-04-17	2007-10-17	$7700.00	Window Closed / Lapsed

Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor

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