US6154198A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Force feedback interface apparatus including backlash and for generating feel sensations
Assignee: Immersion Corp
•
Filing: 1997-09-17
•
Granted: 2000-11-28
•
Expires: 2017-09-17
Abstract
Abstract An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling simulation of feel sensations in response to the manipulations. A user manipulatable object is pivotally attached to a ground surface and is moveable in two degrees of freedom. Actuators output forces transmitted to the user manipulatable object and at least one sensor detects motion of the object. Two slotted yoke members transmit forces from the actuators to the object. A local processor executes a software process in response to host commands which derives force values to be applied to the user manipulatable object.
Inventors
- 👤 Louis B. Rosenberg
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-05 04:04
CPC Classifications
G; G05; G05G; G05G9/00; G05G9/02; G05G9/04; G05G9/047; A; A63; A63F; A63F13/00; A63F13/20; A63F13/21; A63F13/23; A63F13/235; A63F13/24; A63F13/245; A63F13/25; A63F13/28; A63F13/285; G06; G06F; G06F3/00; G06F3/01; G06F3/016; G06F3/03; G06F3/033; G06F3/0346; G06F3/0354; G06F3/03545; G06F3/038; G06F3/0383; G09; G09B; G09B23/00; G09B23/28; G09B9/00; G09B9/02; G09B9/08; G09B9/28; A61; A61B; A61B90/00; A61B90/50; A63F2300/00; A63F2300/10; A63F2300/1006; A63F2300/1025; A63F2300/1031; A63F2300/1037; A63F2300/1062; A63F2300/80; A63F2300/8082; G05G2009/0474; G05G2009/04766; G05G9/04737; G06F2203/00; G06F2203/01; G06F2203/015
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
304 words
An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling simulation of feel sensations in response to said user manipulations, said feel sensations being generated in accordance with software running on said host computer, said input/output device comprising: a user manipulatable object physically contacted by a user at one end and pivotally attached to a ground surface at another end, said pivot allowing said user manipulatable object to be movable in at least two degrees of freedom by said user with respect to said ground surface; first and second actuators coupled to said ground surface for generating feel sensations by outputting forces that are transmitted to said user manipulable object in at least two degrees of freedom with respect to said ground surface; first and second slotted yoke members for transmitting forces from said first and second actuators to said user manipulatable object, said user manipulatable object passing through a first slot included in said first slotted yoke member and through a second slot included in said second slotted yoke member; a local processor separate from said host computer for executing a software process in response to a command sent to said input/output device from said host computer, said software process setting a damping constant representing a degree of resistance to be imposed upon said user manipulatable object by said actuators, and said software process deriving force values to be applied to said actuators to cause said output of said forces, wherein said derivation is based at least in part upon said damping constant and a velocity of said user manipulatable object; and at least one sensor for detecting motion of said user manipulatable object with respect to said ground surface, said at least one sensor reporting a representation of said sensor signals to said local processor.
Claim 2
Dependent Claim
304 words
An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling simulation of feel sensations in response to said user manipulations, said feel sensations being generated in accordance with software running on said host computer, said input/output device comprising: a user manipulatable object physically contacted by a user at one end and pivotally attached to a ground surface at another end, said pivot allowing said user manipulatable object to be movable in at least two degrees of freedom by said user with respect to said ground surface; first and second actuators coupled to said ground surface for generating feel sensations by outputting forces that are transmitted to said user manipulable object in at least two degrees of freedom with respect to said ground surface; first and second slotted yoke members for transmitting forces from said first and second actuators to said user manipulatable object, said user manipulatable object passing through a first slot included in said first slotted yoke member and through a second slot included in said second slotted yoke member; a local processor separate from said host computer for executing a software process in response to a command sent to said input/output device from said host computer, said software process setting a damping constant representing a degree of resistance to be imposed upon said user manipulatable object by said actuators, and said software process deriving force values to be applied to said actuators to cause said output of said forces, wherein said derivation is based at least in part upon said damping constant and a velocity of said user manipulatable object; and at least one sensor for detecting motion of said user manipulatable object with respect to said ground surface, said at least one sensor reporting a representation of said sensor signals to said local processor.
Claim 3
Dependent Claim
31 words
An input/output device as recited in claim 1 wherein each of said first and second slotted yoke members introduces backlash into a coupling between said actuators and said user manipulatable object.
Claim 4
Dependent Claim
22 words
An input/output device as recited in claim 2 wherein said backlash is detectable within a resolution of said at least one sensor.
Claim 5
Dependent Claim
25 words
An input/output device as recited in claim 3 wherein said local processor uses said detection of said backlash in said derivation of said force values.
Claim 6
Dependent Claim
32 words
An input/output device as recited in claim 3 wherein said local processor uses said detection of said backlash in determining a change in direction of said motion of said user manipulatable object.
Claim 7
Dependent Claim
30 words
An input/output device as recited in claim 3 wherein said local processor uses said detection of said backlash in a process that generates a wall sensation using said output forces.
Claim 8
Dependent Claim
24 words
An input/output device as recited in claim 1 wherein said feel sensation is a damping sensation simulating a feel of motion through a fluid.
Claim 9
Dependent Claim
51 words
An input/output device as recited in claim 1 wherein a difference between a current position of said user object detected by said sensor and a previous position of said user manipulatable object detected by said sensor is determined by said local processor in parallel to code executed by said host computer.
Claim 10
Dependent Claim
45 words
An input/output device as recited in claim 7 wherein said local processor receives commands from said host computer, decodes said commands, outputs actuator signals in accordance with said commands to control said actuators, and reports a representation of said sensor signals to said host computer.
References Cited (Backward Citations)
US2906179A
Cited
US3490059A
Cited
US3903614A
Cited
US3919691A
Cited
US3795150A
Cited
US3944798A
Cited
US4148014A
Cited
US4216467A
Cited
US4391282A
Cited
US4638798A
Cited
US4398889A
Cited
US4448083A
Cited
US4560983A
Cited
US4477043A
Cited
US4550617A
Cited
US4489304A
Cited
US4604016A
Cited
US4601206A
Cited
US4654648A
Cited
US4782327A
Cited
US4632341A
Cited
US4704909A
Cited
US5103404A
Cited
US4811608A
Cited
US4787051A
Cited
US4689449A
Cited
US4879556A
Cited
US4800721A
Cited
US4839838A
Cited
US4961138A
Cited
US4823634A
Cited
US5251127A
Cited
US4907970A
Cited
US4861269A
Cited
US5116180A
Cited
US4962448A
Cited
US5007085A
Cited
US4907973A
Cited
US5044956A
Cited
US5116051A
Cited
US4949119A
Cited
US5007300A
Cited
US5076517A
Cited
US5390296A
Cited
US4961038A
Cited
US5209131A
Cited
US5216948A
Cited
US5107080A
Cited
US5072361A
Cited
US5184319A
Cited
US5095303A
Cited
US5128671A
Cited
US5197003A
Cited
US5181181A
Cited
US5296846A
Cited
US5142506A
Cited
US5193963A
Cited
US5781172A
Cited
US5223776A
Cited
US5142931A
Cited
US5354162A
Cited
US5143505A
Cited
US5156363A
Cited
US5275565A
Cited
US5146566A
Cited
US5445166A
Cited
US5243266A
Cited
US5185561A
Cited
US5889672A
Cited
US5889670A
Cited
US5220260A
Cited
US5414337A
Cited
US5228356A
Cited
US5230623A
Cited
US5379663A
Cited
US5589828A
Cited
US5264768A
Cited
US5286203A
Cited
US5790108A
Cited
US5629594A
Cited
US5459382B1
Cited
US5459382A
Cited
US5872438A
Cited
US5389865A
Cited
US5412880A
Cited
US5402582A
Cited
US5429140A
Cited
US5405152A
Cited
US5396266A
Cited
US5513100A
Cited
US5734373A
Cited
US5880714A
Cited
US5701140A
Cited
US5576727A
Cited
US5739811A
Cited
US5587937A
Cited
US5436640A
Cited
US5384460A
Cited
US5473235A
Cited
US5742278A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2003-11-28 | 2004-05-29 | 2004-11-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-11-28 | 2008-05-29 | 2008-11-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-11-28 | 2012-05-29 | 2012-11-28 | $7700.00 | Window Closed / Lapsed |