US6046727A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Three dimensional position sensing interface with force output
Assignee: Immersion Corp
•
Filing: 1999-02-09
•
Granted: 2000-04-04
•
Expires: 2019-02-09
Abstract
Abstract A method and apparatus for use with a computer for tracking the position of a user manipulatable object and for providing forces to lock the apparatus. The manipulatable object is coupled to a mechanical linkage which is supportable on a fixed surface and is tracked by sensors for sensing the location and/or orientation of the object. Force generators coupled to the linkage can lock one or more joints of the linkage in position. A multiprocessor system architecture is disclosed wherein a host computer system is interfaced with a dedicated microprocessor which is responsive to the output of the sensors and provides the host computer with information derived from the sensors. The host computer runs an application program which responds to sensor information and can display images in accordance therewith.
Inventors
- 👤 Louis B. Rosenberg
- 👤 Bernard G. Jackson
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 15:08
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/016; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1692; G01; G01B; G01B21/00; G01B21/02; G01B21/04; G01B5/00; G01B5/004; G01B5/008; G01B7/00; G01B7/004; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/4202; G05B19/4207; G05G; G05G5/00; G05G5/03; G05G9/00; G05G9/02; G05G9/04; G05G9/047; G05G9/04737; G06F3/011; G06F3/03; G06F3/033; G06F3/0346; G06F3/0354; G06F3/03545; G06F3/038; G06F3/0383; A; A63; A63F; A63F2300/00; A63F2300/10; A63F2300/1037; G06F2203/00; G06F2203/01; G06F2203/015; H; H01; H01H; H01H3/00; H01H2003/008
Claims Analysis
Total Claims: 26
Claim 1
Independent Claim
193 words
A position sensing device for use in conjunction with a host computer and a fixed surface, said device comprising: a user manipulatable object moveable by a user; a mechanical linkage coupled to said fixed surface by a base rotary joint and coupled to said user manipulatable object by an object rotary joint, said mechanical linkage allowing at least five degrees of freedom in the motion of said object with respect to said fixed surface, wherein said mechanical linkage provides said degrees of freedom through a structure of substantially rigid members joined by a plurality of rotary joints, said mechanical linkage providing said user the ability to manipulate both a location and an orientation of said object in three dimensional space; at least one sensor for producing a locative signal which is responsive to and corresponding with a position of said user manipulatable object, said locative signal providing information about the location of said user manipulatable object for use by said host computer; and at least one force generator for locking a corresponding rotary joint of said mechanical linkage in response to force signals provided to said position sensing device from said host computer.
Claim 2
Dependent Claim
193 words
A position sensing device for use in conjunction with a host computer and a fixed surface, said device comprising: a user manipulatable object moveable by a user; a mechanical linkage coupled to said fixed surface by a base rotary joint and coupled to said user manipulatable object by an object rotary joint, said mechanical linkage allowing at least five degrees of freedom in the motion of said object with respect to said fixed surface, wherein said mechanical linkage provides said degrees of freedom through a structure of substantially rigid members joined by a plurality of rotary joints, said mechanical linkage providing said user the ability to manipulate both a location and an orientation of said object in three dimensional space; at least one sensor for producing a locative signal which is responsive to and corresponding with a position of said user manipulatable object, said locative signal providing information about the location of said user manipulatable object for use by said host computer; and at least one force generator for locking a corresponding rotary joint of said mechanical linkage in response to force signals provided to said position sensing device from said host computer.
Claim 3
Dependent Claim
31 words
A position sensing device as recited in claim 1 further comprising a microprocessor that receives said force signals from said host computer and provides said force signals to said force generator.
Claim 4
Dependent Claim
35 words
A position sensing device as recited in claim 2 wherein said microprocessor receives said locative signal from said at least one sensor and outputs a signal based on said locative signal to said host computer.
Claim 5
Dependent Claim
38 words
A position sensing device as recited in claim 1 wherein images are displayed on a computer display apparatus coupled to said host computer, and wherein said force signals are correlated to information displayed on said computer display apparatus.
Claim 6
Dependent Claim
51 words
A position sensing device as recited in claim 1 wherein one of said images displayed by said computer display apparatus is manipulated in accordance with said location of said user manipulatable object, said manipulated image including a cursor having a position on said computer display apparatus influenced by said locative signal.
Claim 7
Dependent Claim
51 words
A position sensing device as recited in claim 1 wherein a configuration of said degrees of freedom allow said user to rotate said object about a fixed point in space when three degrees of freedom closest to said fixed surface are held fixed and when remaining degrees of freedom are moved.
Claim 8
Dependent Claim
27 words
An interactive device as recited in claim 1 wherein said mechanical linkage further includes a counter weight for opposing a gravitational weight of said user manipulatable object.
Claim 9
Dependent Claim
26 words
An interactive device as recited in claim 1 wherein said mechanical linkage further includes a spring for opposing a gravitational weight of said user manipulatable object.
Claim 10
Dependent Claim
70 words
An interactive device as recited in claim 1 wherein said linkage allows six degrees of freedom in motion of said object, wherein three of said degrees of freedom closest to said user manipulatable object allow an orientation of said object to be adjusted in three dimensional space while three degrees of freedom closest to said fixed surface allow a location of said object to be adjusted in three dimensional space.
Claim 11
Dependent Claim
61 words
An interactive device as recited in claim 1 further including a switch coupled to said user manipulatable object, said switch capable of being in multiple states in response to user interaction, wherein a state of said switch being transmitted to said host computer and wherein an action is taken by said host computer in response to said state of said switch.
Claim 12
Dependent Claim
42 words
An interactive device as recited in claim 1 wherein a configuration of said joints allows said user manipulatable object to spin freely about an axis extending through the length of said object while all others of said joints remain fixed in position.
Claim 13
Dependent Claim
228 words
A position sensing device for use in conjunction with a host computer, said position sensing device comprising: a user manipulatable object engagable by a user's hand to allow manipulations of said user manipulatable object; a mechanical linkage coupled to a fixed surface and coupled to said user manipulatable object, said linkage for supporting said object while allowing at least five degrees of freedom in the motion of said object with respect to said fixed surface, said mechanical linkage providing said degrees of freedom through a structure of substantially rigid members joined by rotary joints, said mechanical linkage providing said user the ability to manipulate both a location and orientation of said user manipulatable object in three dimensional space; at least one force generator for locking a joint of said mechanical linkage for one of said at least five degrees of freedom in response to force feedback commands provided by said host computer; a device microprocessor separate from said host computer, said device microprocessor enabling communication between said device and said host computer; one or more sensors coupled to said device microprocessor for producing a locative signal which is responsive to and corresponding with the position of said user manipulatable object in three dimensional space; and memory local to said device microprocessor and separate from memory of said host computer for locally storing a representation of said locative signal.
Claim 14
Dependent Claim
228 words
A position sensing device for use in conjunction with a host computer, said position sensing device comprising: a user manipulatable object engagable by a user's hand to allow manipulations of said user manipulatable object; a mechanical linkage coupled to a fixed surface and coupled to said user manipulatable object, said linkage for supporting said object while allowing at least five degrees of freedom in the motion of said object with respect to said fixed surface, said mechanical linkage providing said degrees of freedom through a structure of substantially rigid members joined by rotary joints, said mechanical linkage providing said user the ability to manipulate both a location and orientation of said user manipulatable object in three dimensional space; at least one force generator for locking a joint of said mechanical linkage for one of said at least five degrees of freedom in response to force feedback commands provided by said host computer; a device microprocessor separate from said host computer, said device microprocessor enabling communication between said device and said host computer; one or more sensors coupled to said device microprocessor for producing a locative signal which is responsive to and corresponding with the position of said user manipulatable object in three dimensional space; and memory local to said device microprocessor and separate from memory of said host computer for locally storing a representation of said locative signal.
Claim 15
Dependent Claim
59 words
A position sensing device as recited in claim 12 further comprising a communication bus connecting said device microprocessor and said host computer, said bus used in conveying force feedback commands from said host computer to said device microprocessor, said bus also used in conveying a representation of said locative signal from said position sensing device to said host computer.
Claim 16
Dependent Claim
36 words
A position sensing device as recited in claim 12 wherein said device microprocessor computes said position and orientation of said user manipulatable object using data from said sensors and knowledge of link lengths and device kinematics.
Claim 17
Dependent Claim
27 words
A position sensing device as recited in claim 12 wherein said device microprocessor monitors and decodes host commands including said force feedback commands from said host computer.
Claim 18
Dependent Claim
25 words
A position sensing device as recited in claim 15 wherein said device microprocessor reads said one or more sensors in response to said decoded commands.
Claim 19
Dependent Claim
23 words
A position sensing device as recited in claim 15 wherein said device microprocessor controls said force generators in response to said decoded commands.
Claim 20
Dependent Claim
39 words
A position sensing device as recited in claim 12 wherein said memory stores program instructions for setting communication parameters for enabling communication between said microprocessor and said host computer and for decoding at least one of said host commands.
Claim 21
Dependent Claim
77 words
A position sensing device as recited in claim 12 further including a plurality of command routines stored in said local memory, at least one of said command routines allowing said microprocessor to control said force generator in accordance with at least one of said decoded host commands, and at least one of said command routines reporting a representation of said locative signal to said host computer in accordance with at least one of said decoded host commands.
Claim 22
Dependent Claim
56 words
A position sensing device as recited in claim 12 wherein said locative signal is used by said host computer to manipulate an image displayed by said host computer in accordance with said location of said user manipulatable object, said displayed image including a cursor having a position on a display screen influenced by said locative signal.
Claim 23
Independent Claim
194 words
A method for sensing the position of a user manipulatable object using a position sensing device coupled to a host computer, the method comprising: providing a mechanical linkage coupled to a fixed surface and coupled to a user manipulatable object, said linkage for supporting said object while allowing at least five degrees of freedom in the motion of said object with respect to said fixed surface, said mechanical linkage providing said degrees of freedom through a structure of substantially rigid members joined by rotary joints, said mechanical linkage providing said user the ability to manipulate both a location and orientation of said object in three dimensional space; sensing a position of said user manipulatable object using at least one sensor coupled to said mechanical linkage, said at least one sensor producing a locative signal which is responsive to and corresponding with the position of said user manipulatable object in three dimensional space, wherein a representation of said locative signal is provided to said host computer; and locking a joint of said mechanical linkage for one of said at least five degrees of freedom in response to force feedback commands provided by said host computer.
Claim 24
Independent Claim
194 words
A method for sensing the position of a user manipulatable object using a position sensing device coupled to a host computer, the method comprising: providing a mechanical linkage coupled to a fixed surface and coupled to a user manipulatable object, said linkage for supporting said object while allowing at least five degrees of freedom in the motion of said object with respect to said fixed surface, said mechanical linkage providing said degrees of freedom through a structure of substantially rigid members joined by rotary joints, said mechanical linkage providing said user the ability to manipulate both a location and orientation of said object in three dimensional space; sensing a position of said user manipulatable object using at least one sensor coupled to said mechanical linkage, said at least one sensor producing a locative signal which is responsive to and corresponding with the position of said user manipulatable object in three dimensional space, wherein a representation of said locative signal is provided to said host computer; and locking a joint of said mechanical linkage for one of said at least five degrees of freedom in response to force feedback commands provided by said host computer.
Claim 25
Dependent Claim
56 words
A method as recited in claim 21 further comprising monitoring and decoding host commands including said force feedback commands from said host computer using a device microprocessor separate from said host computer, and locally storing a representation of said locative signal in memory local to said device microprocessor and separate from memory of said host computer.
Claim 26
Dependent Claim
45 words
A method as recited in claim 21 further comprising manipulating an image displayed by said host computer in accordance with said location of said user manipulatable object, said displayed image including a cursor having a position on a display screen influenced by said locative signal.
References Cited (Backward Citations)
US2906179A
Cited
US3531868A
Cited
US3919691A
Cited
US3923166A
Cited
US3890958A
Cited
US3944798A
Cited
US4216467A
Cited
US4638798A
Cited
US4398889A
Cited
US4477973A
Cited
US4593470A
Cited
US4670851A
Cited
US4703443A
Cited
US4571834A
Cited
US4688983A
Cited
US4676002A
Cited
US4653011A
Cited
US4654648A
Cited
US4632341A
Cited
US4769763A
Cited
US4679331A
Cited
US5103404A
Cited
US5591924A
Cited
US4811608A
Cited
US4787051A
Cited
US4803413A
Cited
US4791934A
Cited
US4945305A
Cited
US4849692A
Cited
US4879556A
Cited
US4750487A
Cited
US5148377A
Cited
US4819195A
Cited
US4945501A
Cited
US4800721A
Cited
US4839838A
Cited
US4961138A
Cited
US4891889A
Cited
US4961267A
Cited
US4775289A
Cited
US4888877A
Cited
US5088046A
Cited
US5251127A
Cited
US5040306A
Cited
US4982504A
Cited
US4907970A
Cited
US4942545A
Cited
US5050608A
Cited
US4962591A
Cited
US5007085A
Cited
US4907973A
Cited
US5189806A
Cited
US5116051A
Cited
US5044956A
Cited
US5088055A
Cited
US5007300A
Cited
US4983901A
Cited
US5187874A
Cited
US5184306A
Cited
US5076517A
Cited
US5204824A
Cited
US5139261A
Cited
US5289273A
Cited
US5182557A
Cited
US5209131A
Cited
US5216948A
Cited
US5107080A
Cited
US5259894A
Cited
US5072361A
Cited
US5631861A
Cited
US5184319A
Cited
US5132672A
Cited
US5095303A
Cited
US5128671A
Cited
US5251156A
Cited
US5181181A
Cited
US5296846A
Cited
US5142506A
Cited
US5223776A
Cited
US5417696A
Cited
US5142931A
Cited
US5354162A
Cited
US5143505A
Cited
US5131844A
Cited
US5275565A
Cited
US5146566A
Cited
US5445166A
Cited
US5243266A
Cited
US5185561A
Cited
US5259120A
Cited
US5220260A
Cited
US5414337A
Cited
US5228356A
Cited
US5230623A
Cited
US5467763A
Cited
US5379663A
Cited
US5589828A
Cited
US5512919A
Cited
US5428748A
Cited
US5264768A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2003-04-04 | 2003-10-04 | 2004-04-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-04-04 | 2007-10-04 | 2008-04-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-04-04 | 2011-10-04 | 2012-04-04 | $7700.00 | Window Closed / Lapsed |